void read_waypoint(FILE *file) {
uint32_t num_points;
fscanf(file, "%d\n", &num_points);
double s_dist = 0;
int32_t prev_east, prev_north, cur_east, cur_north;
for (int i = 0; i < num_points; ++i) {
char cs[2];
uint32_t ns[6];
if (fscanf(file, "%c %d %d %d %c %d %d %d\n", &cs[0], &ns[0], &ns[1],
&ns[2], &cs[1], &ns[3], &ns[4], &ns[5]) <= 0) {
fprintf(stderr, "file cannot be read\n");
}
prev_east = cur_east;
prev_north = cur_north;
cur_north = ns[0] * 60*60 + ns[1] * 60 + ns[2];
cur_east = ns[3] * 60*60 + ns[4] * 60 + ns[5];
if (cs[0] == 'S') {
cur_north = -cur_north;
}
if (cs[1] == 'W') {
cur_east = -cur_east;
}
if (i > 0) {
straight_line(prev_east, prev_north, cur_east, cur_north, &s_dist);
}
}
}
int print_it(t_ref *d_ref, t_mlx *d_mlx)
{
conv_point(d_ref);
straight_line(d_ref->conv, d_mlx);
del_lst(&(d_ref->conv));
mlx_put_image_to_window(d_mlx->mlx, d_mlx->win, d_mlx->img, 0, 0);
return (1);
}
void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
if(do_this == TRUE){
Five_msec_Delay(FOR_ONE_SECOND); //pause
display_2 = "FORWARD"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
straight_line(); //forward
Five_msec_Delay(FOR_ONE_SECOND); //pause
display_2 = "REVERSE"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
straight_line_reverse(); //reverse
Five_msec_Delay(FOR_ONE_SECOND);
display_2 = "FORWARD"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
straight_line(); //forward
Five_msec_Delay(FOR_ONE_SECOND);
display_2 = "CW-SPIN"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
clockwise_spin(); //forward
Five_msec_Delay(FOR_ONE_SECOND);
display_2 = "CCW-SPIN"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
counterclockwise_spin(); //forward
Five_msec_Delay(FOR_ONE_SECOND); //pause
display_2 = ""; //clear display
posL2 = LINE_POS_1;
Display_Process(); //push display
do_this = FALSE;
}
}
//------------------------------------------------------------------------------
}
