int main()
{
int i;
char buffer[200];
size_t dummy_size_t;
setupHandlers();
FILE *p = popen("echo Hallo World", "r");
while (!feof(p)) {
int n = fread(buffer, 200, 1, p);
dummy_size_t = write(2, buffer, n);
}
fclose(p);
for (i = 0; i < 1000000; i++) ;
return 0;
}
SignalManager::SignalManager(QGuiApplication* app) : QObject(NULL), m_app(app)
{
if (setupHandlers())
{
QLOG_ERROR() << "Failed to install SignalDaemon handlers.";
}
QLOG_DEBUG() << "Signal handlers installed successfully.";
if (socketpair(AF_UNIX, SOCK_STREAM, 0, SignalManager::sigtermFd))
{
QLOG_ERROR() << "Couldn't create TERM socketpair";
}
snTerm = new QSocketNotifier(SignalManager::sigtermFd[1], QSocketNotifier::Read, this);
connect(snTerm, SIGNAL(activated(int)), this, SLOT(handleSignal()));
}
int main(void)
{
glm::mat3 sphereToCard;
if (!loadMatrix("rotation.calibration", sphereToCard))
{
std::cerr << "Warning: could not found rotation calibration" << std::endl;
}
if (!leds.initialize())
{
std::cerr << "Failed to initialize leds" << std::endl;
return -1;
}
GY85 gy85;
if (!gy85.initialize())
{
std::cerr << "Failed to initialize GY-85" << std::endl;
return -1;
}
Timer timer;
if (!timer.initialize())
{
std::cerr << "Failed to initialize timer" << std::endl;
return -1;
}
setupHandlers();
Mode mode(leds);
if (!mode.loadScript())
{
std::cerr << "Failed to load script" << std::endl;
return -1;
}
for (;;)
{
float dt = timer.getElapsedTime();
gy85.update(dt);
glm::vec3 accelerometer;
gy85.getAccelerometer(accelerometer);
glm::vec3 compass;
gy85.getCompass(compass);
glm::mat3 worldToCard;
computeToWorldMatrix(accelerometer, compass, worldToCard);
glm::mat3 cardToWorld = glm::inverse(worldToCard);
glm::mat3 sphereToWorld = cardToWorld * sphereToCard;
leds.updateWorldPositions(sphereToWorld);
leds.clear();
if (mode.update(dt))
{
leds.render();
}
else
{
usleep(100000);
}
}
return 0;
}
static int gConfigure(int gFile)
{
CHECK(ITG3200_Init(gFile, ITG3200_ID, true));
struct ITG3200_Acquisition confAcquisition = {
.lowPassFilter = ITG3200_LOWPASSFILTER_42,
.sampleRateDivider = 0,
};
CHECK(ITG3200_ConfigureAcquisition(gFile, &confAcquisition));
struct ITG3200_Power confPower = {
.clockSource = ITG3200_CLOCKSOURCE_PLL_X,
};
CHECK(ITG3200_ConfigurePower(gFile, &confPower));
return 0;
}
int main(void)
{
int adapter;
char filename[20];
for (adapter = 0; adapter < MAX_ADAPTERS; ++adapter)
{
snprintf(filename, 20, "/dev/i2c-%d", adapter);
if (!access(filename, R_OK | W_OK))
break;
}
if (adapter == MAX_ADAPTERS)
{
fprintf(stderr, "No I2C adapter found\n");
return -1;
}
aFile = open(filename, O_RDWR);
if (aConfigure(aFile))
{
fprintf(stderr, "Failed to initialize accelerometer\n");
return closeAndExit(-1);
}
cFile = open(filename, O_RDWR);
if (cConfigure(cFile))
{
fprintf(stderr, "Failed to initialize compass\n");
return closeAndExit(-1);
}
gFile = open(filename, O_RDWR);
if (gConfigure(gFile))
{
fprintf(stderr, "Failed to initialize gyroscope\n");
return closeAndExit(-1);
}
ADXL345_ReadData(aFile, &aX.data, &aY.data, &aZ.data);
HMC5883L_ReadData(cFile, &cX.data, &cY.data, &cZ.data);
ITG3200_ReadData(gFile, &gX.data, &gY.data, &gZ.data);
ITG3200_ReadTemperature(gFile, &gT.data);
initCoordinate(&aX);
initCoordinate(&aY);
initCoordinate(&aZ);
initCoordinate(&cX);
initCoordinate(&cY);
initCoordinate(&cZ);
initCoordinate(&gX);
initCoordinate(&gY);
initCoordinate(&gZ);
initCoordinate(&gT);
setupHandlers();
initscr();
noecho();
curs_set(false);
running = 1;
while (running)
{
ADXL345_ReadData(aFile, &aX.data, &aY.data, &aZ.data);
HMC5883L_ReadData(cFile, &cX.data, &cY.data, &cZ.data);
ITG3200_ReadData(gFile, &gX.data, &gY.data, &gZ.data);
ITG3200_ReadTemperature(gFile, &gT.data);
updateCoordinate(&aX);
updateCoordinate(&aY);
updateCoordinate(&aZ);
updateCoordinate(&cX);
updateCoordinate(&cY);
updateCoordinate(&cZ);
updateCoordinate(&gX);
updateCoordinate(&gY);
updateCoordinate(&gZ);
updateCoordinate(&gT);
clear();
mvprintw(0, 0, "%16s: %8d X %8d Y %8d Z\n", "Accelerometer", aX.data, aY.data, aZ.data);
mvprintw(1, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Smoothed", aX.smoothed, aY.smoothed, aZ.smoothed);
mvprintw(2, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Min", aX.min, aY.min, aZ.min);
mvprintw(3, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Max", aX.max, aY.max, aZ.max);
mvprintw(4, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Normalized", aX.normalized, aY.normalized, aZ.normalized);
mvprintw(6, 0, "%16s: %8d X %8d Y %8d Z\n", "Compass", cX.data, cY.data, cZ.data);
mvprintw(7, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Smoothed", cX.smoothed, cY.smoothed, cZ.smoothed);
mvprintw(8, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Min", cX.min, cY.min, cZ.min);
mvprintw(9, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Max", cX.max, cY.max, cZ.max);
mvprintw(10, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Normalized", cX.normalized, cY.normalized, cZ.normalized);
mvprintw(12, 0, "%16s: %8d X %8d Y %8d Z\n", "Gyroscope", gX.data, gY.data, gZ.data);
mvprintw(13, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Smoothed", gX.smoothed, gY.smoothed, gZ.smoothed);
mvprintw(14, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Min", gX.min, gY.min, gZ.min);
mvprintw(15, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Max", gX.max, gY.max, gZ.max);
mvprintw(16, 0, "%16s: %8.1f X %8.1f Y %8.1f Z\n", "Normalized", gX.normalized, gY.normalized, gZ.normalized);
mvprintw(18, 0, "%16s: %8d %8.1f °C\n", "Temperature", gT.data, ITG3200_ConvertTemperature(gT.data));
mvprintw(19, 0, "%16s: %8.1f %8.1f °C\n", "Smoothed", gT.smoothed, ITG3200_ConvertTemperature(gT.smoothed));
mvprintw(20, 0, "%16s: %8.1f %8.1f °C\n", "Min", gT.min, ITG3200_ConvertTemperature(gT.min));
mvprintw(21, 0, "%16s: %8.1f %8.1f °C\n", "Max", gT.max, ITG3200_ConvertTemperature(gT.max));
mvprintw(22, 0, "%16s: %8.1f\n", "Normalized", gT.normalized);
refresh();
usleep(DELAY);
}
endwin();
close(aFile);
close(cFile);
close(gFile);
return 0;
}
Parser::Parser(TokenStream& tokens, DataHandler& data)
: ts(tokens), current(), data_handler(data), handlers(),
program(new Ast::Block(&data))
{
setupHandlers();
}
