Beispiel #1
0
/**
 * A high level function which rotates Create for
 * a given angle and with given speed. The signs of
 * parameters should be same
 * @param angle an integer value in degrees.
 * 	Range: -32768 – 32767
 * @param speed an integer value. Range -500-500
 */
int Create::rotate(int angle, int speed) {

	if (angle*speed < 0) return EXIT_FAILURE; //sign test
	std::vector<char> input;

	if (speed < VELOCITY_MIN)
		speed = VELOCITY_MIN;
	else if (speed > VELOCITY_MAX)
		speed = VELOCITY_MAX;

	input.push_back(DRIVE_DIRECT);
	input.push_back(intToBytes((short int) speed, 1));
	input.push_back(intToBytes((short int) speed, 0));
	input.push_back(intToBytes((short int) -speed, 1));
	input.push_back(intToBytes((short int) -speed, 0));

	if (angle < ANGLE_MIN)
		angle = ANGLE_MIN;
	else if (angle > ANGLE_MAX)
		angle = ANGLE_MAX;

	input.push_back(WAIT_ANGLE);
	input.push_back(intToBytes((short int) angle, 1));
	input.push_back(intToBytes((short int) angle, 0));

	input.push_back(DRIVE_DIRECT);
	input.push_back(0);
	input.push_back(0);
	input.push_back(0);
	input.push_back(0);

	return writePort(input);
}
Beispiel #2
0
/************************************************************
*  startRobot - send a command to the sample changer
*  returns immediately without waiting for the sample changer to complete
*/
int startRobot( char cmd, int smpnum )
{
  char *ptr;
  char  chrbuf[20];
  char  chrbuf1[128];
  int   i, wbyte, rbyte, stat;

  tcflush(serialPort,TCIFLUSH);    /* clear serial port */

  sprintf(chrbuf,"%c", cmd);
  ptr = chrbuf;

  /* Sending alphabetical part of command to robot  */
  wbyte= write(serialPort, ptr, 1);  

  stat = readPort(serialPort, 0, 6);

  if (stat == SMPTIMEOUT)  /* and read the echo back till end of text "0x03" */
     return(stat);

  /*-- these commands require a parameter --*/
  if (cmd == 'F' || cmd == 'M' || cmd == 'A' || cmd == 'V')
  {
     writePort(serialPort,smpnum);
  }

  write(serialPort, "\r",1);         /*  Sending "cr" , The end of command  */
  
  return (0);
}
Beispiel #3
0
void writeNetlistInterface(QXmlStreamWriter &stream, const QVariantList &v)
{
    stream.writeStartElement("interface");

    for (int i = 1; i < v.size(); i++)
    {
        QVariant v2 = v[i];
        if (v2.type() == QVariant::List)
        {
            QVariantList l2 = v2.toList();
            if (l2.size() > 0)
            {
                QString tag = l2.first().toString();
                if (tag == "port")
                {
                    writePort(stream, l2);
                }
                else
                {
                    qWarning("Unexpected tag '%s' in 'interface' tag", qPrintable(tag));
                }
            }
        }
    }

    stream.writeEndElement();
}
Beispiel #4
0
static int initialize(cchar *ip, int port)
{
    if ((app->appweb = maCreateAppweb()) == 0) {
        mprUserError("Can't create HTTP service for %s", mprGetAppName());
        return MPR_ERR_CANT_CREATE;
    }
    MPR->appwebService = app->appweb;

    if ((app->server = maCreateServer(app->appweb, "default")) == 0) {
        mprUserError("Can't create HTTP server for %s", mprGetAppName());
        return MPR_ERR_CANT_CREATE;
    }
    if (maConfigureServer(app->server, app->configFile, app->home, app->documents, ip, port) < 0) {
        /* mprUserError("Can't configure the server, exiting."); */
        return MPR_ERR_CANT_CREATE;
    }
    if (app->workers >= 0) {
        mprSetMaxWorkers(app->workers);
    }
#if BLD_WIN_LIKE
    writePort(app->server);
#elif BLD_UNIX_LIKE
    app->traceToggle = mprAddSignalHandler(SIGUSR2, traceHandler, 0, 0, MPR_SIGNAL_AFTER);
#endif
    return 0;
}
Beispiel #5
0
/**
 * A high level function which rotates Create for
 * a given distance with given speed. The signs of
 * parameters should be same
 * @param distance an integer value in mm.
 * 	Range: -32768 – 32767
 * @param speed an integer value. Range -500-500
 */
int Create::translate(int distance, int speed) {

	if (distance*speed < 0) return EXIT_FAILURE; //sign test

	std::vector<char> input;

	if (speed < VELOCITY_MIN)
		speed = VELOCITY_MIN;
	else if (speed > VELOCITY_MAX)
		speed = VELOCITY_MAX;

	input.push_back(DRIVE_DIRECT);
	input.push_back(intToBytes((short int) speed, 1));
	input.push_back(intToBytes((short int) speed, 0));
	input.push_back(intToBytes((short int) speed, 1));
	input.push_back(intToBytes((short int) speed, 0));

	if (distance < DISTANCE_MIN)
		distance = DISTANCE_MIN;
	else if (distance > DISTANCE_MAX)
		distance = DISTANCE_MAX;

	input.push_back(WAIT_DISTANCE);
	input.push_back(intToBytes((short int) distance, 1));
	input.push_back(intToBytes((short int) distance, 0));

	input.push_back(DRIVE_DIRECT);
	input.push_back(0);
	input.push_back(0);
	input.push_back(0);
	input.push_back(0);

	return writePort(input);
}
Beispiel #6
0
void AtomicModel::write(std::ostream& out) const
{
    out << "<model name=\"" << getName().c_str() << "\" "
        << "type=\"atomic\" ";

    if (not conditions().empty()) {
	out << "conditions=\"";

        std::vector < std::string >::const_iterator it =
            conditions().begin();
        while (it != conditions().end()) {
            out << it->c_str();
            ++it;
            if (it != conditions().end()) {
                out << ",";
            }
        }

        out << "\" ";
    }

    out << "dynamics=\"" << dynamics().c_str() << "\" ";

    if (not observables().empty()) {
        out << "observables=\"" << observables().c_str() << "\" ";
    }

    writeGraphics(out);

    out << ">\n";

    writePort(out);

    out << "</model>\n";
}
Beispiel #7
0
static int createEndpoints(int argc, char **argv)
{
    cchar   *endpoint;
    char    *ip;
    int     argind, port, secure;

    ip = 0;
    port = -1;
    endpoint = 0;
    argind = 0;

    if ((app->appweb = maCreateAppweb()) == 0) {
        mprLog("error appweb", 0, "Cannot create HTTP service");
        return MPR_ERR_CANT_CREATE;
    }
    if ((app->server = maCreateServer(app->appweb, "default")) == 0) {
        mprLog("error appweb", 0, "Cannot create HTTP server");
        return MPR_ERR_CANT_CREATE;
    }
    loadStaticModules();
    mprGC(MPR_GC_FORCE | MPR_GC_COMPLETE);

    if (argind == argc) {
        if (maParseConfig(app->server, app->configFile, 0) < 0) {
            return MPR_ERR_CANT_CREATE;
        }
    } else {
        app->documents = sclone(argv[argind++]);
        if (argind == argc) {
            if (maConfigureServer(app->server, NULL, app->home, app->documents, NULL, ME_HTTP_PORT, 0) < 0) {
                return MPR_ERR_CANT_CREATE;
            }
        } else while (argind < argc) {
            endpoint = argv[argind++];
            mprParseSocketAddress(endpoint, &ip, &port, &secure, 80);
            if (maConfigureServer(app->server, NULL, app->home, app->documents, ip, port, 0) < 0) {
                return MPR_ERR_CANT_CREATE;
            }
        }
    }
    if (app->workers >= 0) {
        mprSetMaxWorkers(app->workers);
    }
    /*
        Call any ESP initializers from slink.c
     */
    appwebStaticInitialize();
    
#if ME_WIN_LIKE
    writePort(app->server);
#elif ME_UNIX_LIKE
    addSignals();
#endif
    mprGC(MPR_GC_FORCE | MPR_GC_COMPLETE);
    return 0;
}
Beispiel #8
0
void Port::fullStop(){
	vector<uint8_t > data;
	data.push_back((uint8_t )115);
	data.push_back((uint8_t )255);
	data.push_back((uint8_t )255);
	data.push_back((uint8_t )255);
	data.push_back((uint8_t )255);
	data.push_back((uint8_t )255);
	writePort(data);
}
Beispiel #9
0
/**
 * Auxiliary function for demo commands
 * @param demoID is the ID of the requested demo
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::demoCode(int demoID) {

	std::vector<char> input;

	input.push_back(DEMO);
	input.push_back(demoID);

	return writePort(input);

}
Beispiel #10
0
void calibration(void)
{
	/* Apply 2 pulses to TCK. */
	writePort(g_ucPinTCK, 0x00);
	writePort(g_ucPinTCK, 0x01);
	writePort(g_ucPinTCK, 0x00);
	writePort(g_ucPinTCK, 0x01);
	writePort(g_ucPinTCK, 0x00);

	ispVMDelay(0x8001);

	/* Apply 2 pulses to TCK. */
	writePort(g_ucPinTCK, 0x01);
	writePort(g_ucPinTCK, 0x00);
	writePort(g_ucPinTCK, 0x01);
	writePort(g_ucPinTCK, 0x00);
}
Beispiel #11
0
/**
 * This command causes Create to wait for
 * the specified time. During this time,
 * Create’s state does not change, nor
 * does it react to any inputs, serial or
 * otherwise.
 * @param time an integer value specifies time
 * 	to wait in tenths of a second with a resolution
 * 	of 15 ms. Range: 0-255
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::waitTime(int time) {

	std::vector<char> input;

	if (time < TIME_MIN)
		time = TIME_MIN;
	else if (time > TIME_MAX)
		time = TIME_MAX;

	input.push_back(WAIT_TIME);
	input.push_back((unsigned char) time);

	return writePort(input);
}
Beispiel #12
0
/**
 * This command causes Create to wait until
 * it has rotated through specified angle in
 * degrees. When Create turns counterclockwise,
 * the angle is incremented. When Create turns
 * clockwise, the angle is decremented. Until
 * Create turns through the specified angle,
 * its state does not change, nor does it
 * react to any inputs, serial or otherwise.
 * @param angle an integer specifies the angle
 * 	Range: -32767 -32768
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::waitAngle(int angle) {

	std::vector<char> input;

	if (angle < ANGLE_MIN)
		angle = ANGLE_MIN;
	else if (angle > ANGLE_MAX)
		angle = ANGLE_MAX;

	input.push_back(WAIT_ANGLE);
	input.push_back((short int) intToBytes(angle, 1));
	input.push_back((short int) intToBytes(angle, 0));

	return writePort(input);
}
Beispiel #13
0
/**
 * This command causes iRobot Create to wait until
 * it has traveled the specified distance in mm.
 * When Create travels forward, the distance is
 * incremented. When Create travels backward, the
 * distance is decremented. If the wheels are
 * passively rotated in either direction, the
 * distance is incremented. Until Create travels
 * the specified distance, its state does not
 * change, nor does it react to any inputs,
 * serial or otherwise.
 * @param distance an integer specifies the distance
 * 	Range: -32767 -32768
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::waitDistance(int distance) {

	std::vector<char> input;

	if (distance < DISTANCE_MIN)
		distance = DISTANCE_MIN;
	else if (distance > DISTANCE_MAX)
		distance = DISTANCE_MAX;

	input.push_back(WAIT_DISTANCE);
	input.push_back(intToBytes((short int) distance, 1));
	input.push_back(intToBytes((short int) distance, 0));

	return writePort(input);
}
Beispiel #14
0
/**
 * This command causes Create to wait until it detects
 * the specified event. Until the specified event is
 * detected, Create’s state does not change, nor does
 * it react to any inputs, serial or otherwise.
 * @param event an integer specifies the even id
 * 	see Create OI for event IDs
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::waitEvent(int event) {

	std::vector<char> input;

	if (event < EVENT_WHEEL_DROP)
		event = EVENT_NONE;
	else if (event > EVENT_OI_MODE && event < EVENT_OI_MODE_NOT)
		event = EVENT_NONE;
	else if (event > EVENT_WHEEL_DROP_NOT)
		event = EVENT_NONE;

	input.push_back(WAIT_EVENT);
	input.push_back((unsigned char) event);

	return writePort(input);
}
void txPacket1(int port_num)
{
  int idx;

  uint8_t checksum = 0;
  uint8_t total_packet_length = packetData[port_num].tx_packet[PKT_LENGTH] + 4; // 4: HEADER0 HEADER1 ID LENGTH
  uint8_t written_packet_length = 0;

  if (g_is_using[port_num])
  {
    packetData[port_num].communication_result = COMM_PORT_BUSY;
    return ;
  }
  g_is_using[port_num] = True;

  // check max packet length
  if (total_packet_length > TXPACKET_MAX_LEN)
  {
    g_is_using[port_num] = False;
    packetData[port_num].communication_result = COMM_TX_ERROR;
    return;
  }

  // make packet header
  packetData[port_num].tx_packet[PKT_HEADER0] = 0xFF;
  packetData[port_num].tx_packet[PKT_HEADER1] = 0xFF;

  // add a checksum to the packet
  for (idx = 2; idx < total_packet_length - 1; idx++)   // except header, checksum
  {
    checksum += packetData[port_num].tx_packet[idx];
  }
  packetData[port_num].tx_packet[total_packet_length - 1] = ~checksum;

  // tx packet
  clearPort(port_num);
  written_packet_length = writePort(port_num, packetData[port_num].tx_packet, total_packet_length);
  if (total_packet_length != written_packet_length)
  {
    g_is_using[port_num] = False;
    packetData[port_num].communication_result = COMM_TX_FAIL;
    return;
  }

  packetData[port_num].communication_result = COMM_SUCCESS;
}
Beispiel #16
0
/*
 * Initialize the Create
 * @param mode the starting mode of Create
 */
void Create::initialize(Mode mode) {

	/*
	 * When create is activated first it starts with
	 * Off mode. Once it receives the Start command,
	 * you can enter into any one of the four operating
	 * modes
	 */

	std::vector<char> input;
	input.push_back(START);
	if ( writePort(input) == EXIT_FAILURE ){
		std::cerr<<"Create could not be started!"<<std::endl;
		exit(1);
	}

	setMode(mode);
}
Beispiel #17
0
/**
 * Sets the mode of create
 * @param mode_ the mode for the create
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::setMode(Mode mode_) {

	std::vector<char> input;

	switch (mode_) {

	/**
	 * When the OI is in Passive mode, you can request
	 * and receive sensor data using any of the sensors
	 * commands, but you cannot change the current
	 * command parameters for the actuators (motors,
	 * speaker, lights, low side drivers, digital outputs)
	 * to something else. To change how one of the
	 * actuators operates, you must switch from Passive
	 * mode to Full mode or Safe mode.
	 */
	case PASSIVE:
		input.push_back(PASSIVE_MODE);
		break;
	/**
	 * Safe mode gives you full control of Create, with
	 * the exception of detection of a cliff, detection
	 * of wheel drop or charger plugin
	 */
	case SAFE:
		input.push_back(SAFE_MODE);
		break;
	/**
	 * Full mode gives you complete control over Create,
	 * all of its actuators, and all of the safety-related
	 * conditions that are restricted when the OI is in
	 * Safe mode
	 */
	case FULL:
		input.push_back(FULL_MODE);
		break;
	default:
		break;

	}

	mode = mode_;
	return writePort(input);
}
Beispiel #18
0
/**
 * This command lets you control the forward and backward
 * motion of Create’s drive wheels independently.
 * @params rightVel an integer value which specifies the
 * 	speed of right wheel. Range: -500-500
 * @params leftVel an integer value which specifies the
 * 	speed of left wheel. Range: -500-500
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::driveDirect(int rightVel, int leftVel) {

	std::vector<char> input;

	if (rightVel < VELOCITY_MIN)
		rightVel = VELOCITY_MIN;
	else if (rightVel > VELOCITY_MAX)
		rightVel = VELOCITY_MAX;
	if (leftVel < VELOCITY_MIN)
		leftVel = VELOCITY_MIN;
	else if (leftVel > VELOCITY_MAX)
		leftVel = VELOCITY_MAX;

	input.push_back(DRIVE_DIRECT);
	input.push_back(intToBytes((short int) rightVel, 1));
	input.push_back(intToBytes((short int) rightVel, 0));
	input.push_back(intToBytes((short int) leftVel, 1));
	input.push_back(intToBytes((short int) leftVel, 0));

	return writePort(input);
}
Beispiel #19
0
/**
 * This command controls the Create's drive wheels.
 * @param speed an integer value which specifies the average
 * 	speed of the drive wheels in millimeters per second (mm/s)
 * 	Range: -500-500
 * @param radius an integer value which specifies the
 * 	radius in millimeters at which Create will turn. (higher radius
 * 	makes movement straight) Range: -2000-2000
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::drive(int speed, int radius) {

	std::vector<char> input;

	if (speed < VELOCITY_MIN)
		speed = VELOCITY_MIN;
	else if (speed > VELOCITY_MAX)
		speed = VELOCITY_MAX;

	if (radius < RADIUS_MIN)
		radius = RADIUS_MIN;
	else if (radius > RADIUS_MAX)
		radius = RADIUS_MAX;

	input.push_back(DRIVE);
	input.push_back(intToBytes((short int) speed, 1));
	input.push_back(intToBytes((short int) speed, 0));
	input.push_back(intToBytes((short int) radius, 1));
	input.push_back(intToBytes((short int) radius, 0));

	return writePort(input);
}
Beispiel #20
0
/*
 * General command function which sends the given characters to port
 * @param input an array of characters where each byte represents a byte
 * @return EXIT_FAILURE or EXIT_SUCCESS
 */
int Create::command(std::vector<char> &input) {

	return writePort(input);
}
Beispiel #21
0
MAIN(appweb, int argc, char **argv)
{
    Mpr         *mpr;
    MaHttp      *http;
    cchar       *ipAddrPort, *documentRoot, *argp, *logSpec;
    char        *configFile, *ipAddr, *homeDir, *timeText, *ejsPrefix, *ejsPath, *changeRoot;
    int         workers, outputVersion, argind, port;
    
    documentRoot = 0;
    changeRoot = ejsPrefix = ejsPath = 0;
    ipAddrPort = 0;
    ipAddr = 0;
    port = -1;
    logSpec = 0;
    server = 0;
    outputVersion = 0;
    workers = -1;

    configFile = BLD_FEATURE_CONFIG_FILE;
    homeDir = BLD_FEATURE_SERVER_ROOT;

    mpr = mprCreate(argc, argv, memoryFailure);
    argc = mpr->argc;
    argv = mpr->argv;

#if BLD_FEATURE_ROMFS
    extern MprRomInode romFiles[];
    mprSetRomFileSystem(mpr, romFiles);
#endif

    if (osInit(mpr) < 0) {
        exit(2);
    }
    if (mprStart(mpr, 0) < 0) {
        mprUserError(mpr, "Can't start MPR for %s", mprGetAppName(mpr));
        mprFree(mpr);
        return MPR_ERR_CANT_INITIALIZE;
    }

    for (argind = 1; argind < argc; argind++) {
        argp = argv[argind];
        if (*argp != '-') {
            break;
        }
        if (strcmp(argp, "--config") == 0) {
            if (argind >= argc) {
                return printUsage(mpr);
            }
            configFile = argv[++argind];

#if BLD_UNIX_LIKE
        } else if (strcmp(argp, "--chroot") == 0) {
            if (argind >= argc) {
                return printUsage(mpr);
            }
            changeRoot = mprGetAbsPath(mpr, argv[++argind]);
#endif

        } else if (strcmp(argp, "--debug") == 0 || strcmp(argp, "-D") == 0 || 
                strcmp(argp, "-d") == 0 || strcmp(argp, "--debugger") == 0) {
            mprSetDebugMode(mpr, 1);

        } else if (strcmp(argp, "--ejs") == 0) {
            if (argind >= argc) {
                return printUsage(mpr);
            }
            ejsPrefix = mprStrdup(mpr, argv[++argind]);
            if ((ejsPath = strchr(ejsPrefix, ':')) != 0) {
                *ejsPath++ = '\0';
            }
            ejsPath = mprGetAbsPath(mpr, ejsPath);

        } else if (strcmp(argp, "--home") == 0) {
            if (argind >= argc) {
                return printUsage(mpr);
            }
            homeDir = mprGetAbsPath(mpr, argv[++argind]);
            if (chdir((char*) homeDir) < 0) {
                mprPrintfError(mpr, "%s: Can't change directory to %s\n", mprGetAppName(mpr), homeDir);
                exit(2);
            }

        } else if (strcmp(argp, "--log") == 0 || strcmp(argp, "-l") == 0) {
            if (argind >= argc) {
                return printUsage(mpr);
            }
            logSpec = argv[++argind];
            maStartLogging(mpr, logSpec);

        } else if (strcmp(argp, "--name") == 0 || strcmp(argp, "-n") == 0) {
            if (argind >= argc) {
                return printUsage(mpr);
            }
            mprSetAppName(mpr, argv[++argind], 0, 0);

        } else if (strcmp(argp, "--threads") == 0) {
            if (argind >= argc) {
                return printUsage(mpr);
            }
            workers = atoi(argv[++argind]);

        } else if (strcmp(argp, "--verbose") == 0 || strcmp(argp, "-v") == 0) {
            maStartLogging(mpr, "stdout:2");

        } else if (strcmp(argp, "--version") == 0 || strcmp(argp, "-V") == 0) {
            outputVersion++;

        } else {
            mprPrintfError(mpr, "Unknown switch \"%s\"\n", argp);
            printUsage(mpr);
            exit(2);
        }
    }

    if (argc > argind) {
        if (argc > (argind + 2)) {
            return printUsage(mpr);
        }
        ipAddrPort = argv[argind++];
        if (argc > argind) {
            documentRoot = argv[argind++];
        } else {
            documentRoot = ".";
        }
    }

    if (outputVersion) {
        mprPrintf(mpr, "%s %s-%s\n", mprGetAppTitle(mpr), BLD_VERSION, BLD_NUMBER);
        exit(0);
    }

    if (ipAddrPort) {
        mprParseIp(mpr, ipAddrPort, &ipAddr, &port, MA_SERVER_DEFAULT_PORT_NUM);
    } else {
#if BLD_FEATURE_CONFIG_PARSE
        if (configFile == 0) {
            configFile = mprStrcat(mpr, -1, mprGetAppName(mpr), ".conf", NULL);
        }
        if (!mprPathExists(mpr, configFile, R_OK)) {
            mprPrintfError(mpr, "Can't open config file %s\n", configFile);
            exit(2);
        }
#else
        return printUsage(mpr);
#endif
#if !BLD_FEATURE_ROMFS
        if (homeDir == 0) {
            homeDir = mprGetPathParent(mpr, configFile);
            if (chdir((char*) homeDir) < 0) {
                mprPrintfError(mpr, "%s: Can't change directory to %s\n", mprGetAppName(mpr), homeDir);
                exit(2);
            }
        }
#endif
    }
    homeDir = mprGetCurrentPath(mpr);
    if (checkEnvironment(mpr, argv[0], homeDir) < 0) {
        exit(3);
    }

#if BLD_UNIX_LIKE
    if (changeRoot) {
        homeDir = mprGetAbsPath(mpr, changeRoot);
        if (chdir(homeDir) < 0) {
            mprError(mpr, "%s: Can't change directory to %s", homeDir);
            exit(4);
        }
        if (chroot(homeDir) < 0) {
            if (errno == EPERM) {
                mprError(mpr, "%s: Must be super user to use the --chroot option", mprGetAppName(mpr));
            } else {
                mprError(mpr, "%s: Can't change change root directory to %s, errno %d",
                    mprGetAppName(mpr), homeDir, errno);
            }
            exit(5);
        }
    }
#endif

    /*
     *  Create the top level HTTP service and default HTTP server. Set the initial server root to "."
     */
    http = maCreateHttp(mpr);
    if (http == 0) {
        mprUserError(mpr, "Can't create HTTP service for %s", mprGetAppName(mpr));
        return MPR_ERR_CANT_INITIALIZE;
    }
    server = maCreateServer(http, "default", ".", 0, -1);
    if (server == 0) {
        mprUserError(mpr, "Can't create HTTP server for %s", mprGetAppName(mpr));
        return MPR_ERR_CANT_INITIALIZE;
    }
    if (maConfigureServer(mpr, http, server, configFile, ipAddr, port, documentRoot) < 0) {
        /* mprUserError(mpr, "Can't configure the server, exiting."); */
        exit(6);
    }
    if (mpr->ipAddr) {
        mprLog(mpr, 2, "Server IP address %s", mpr->ipAddr);
    }
    timeText = mprFormatLocalTime(mpr, mprGetTime(mpr));
    mprLog(mpr, 1, "Started at %s", timeText);
    mprFree(timeText);

#if BLD_FEATURE_EJS
    if (ejsPrefix) {
        createEjsAlias(mpr, http, server, ejsPrefix, ejsPath);
    }
#endif

#if BLD_FEATURE_MULTITHREAD
    if (workers >= 0) {
        mprSetMaxWorkers(http, workers);
    }
#endif
#if BLD_WIN_LIKE
    if (!ejsPrefix) {
        writePort(server->defaultHost);
    }
#endif

    if (maStartHttp(http) < 0) {
        mprUserError(mpr, "Can't start HTTP service, exiting.");
        exit(7);
    }

#if BLD_FEATURE_MULTITHREAD
    mprLog(mpr, 1, "HTTP services are ready with max %d worker threads", mprGetMaxWorkers(mpr));
#else
    mprLog(mpr, 1, "HTTP services are ready (single-threaded)");
#endif

    /*
     *  Service I/O events until instructed to exit
     */
    while (!mprIsExiting(mpr)) {
        mprServiceEvents(mpr->dispatcher, -1, MPR_SERVICE_EVENTS | MPR_SERVICE_IO);
    }

    /*
     *  Signal a graceful shutdown
     */
    mprLog(http, 1, "Exiting ...");
    maStopHttp(http);
    mprLog(http, 1, "Exit complete");

#if VXWORKS
    if (mprStop(mpr)) {
        mprFree(mpr);
    }
#endif
    return 0;
}
Beispiel #22
0
void Port::talkToSetare(int velocity, int angle, int rotation )
{
	unsigned char A = 0 ;
	float m1 , m2 , m3 , m4 ;
	// int e1 = 255 - abs(m1);
	// int e2 = 255 - abs(m2);
	// float x = (1.0*e1)/(e1 + e2) ;
	// m1 = 255*((-sin((45.0-angle)/180*3.14))*velocity / 100.0);
	// m2 = 255*((-cos((45.0-angle)/180*3.14))*velocity / 100.0);
	// m3 = -m1;
	// m4 = -m2;
	// m1 += ((     x *rotation)/100.0)*255; m1 = floor(m1);
	// m2 += (((1 - x)*rotation)/100.0)*255; m2 = floor(m2);
	// m3 += ((     x *rotation)/100.0)*255; m3 = floor(m3);
	// m4 += (((1 - x)*rotation)/100.0)*255;	m4 = floor(m4);
	
	float vx, vy;

	vx = sin((90.0-angle)/180*3.14);
	vy = cos((90.0-angle)/180*3.14);

	m1 = (vy-vx*sqrt(3)+rotation/100.0) / 3;
	m2 = (-2*vy + rotation/100.0) / 3;
	m3 = (vy+vx*sqrt(3)+rotation/100.0) / 3;

	float e = max(abs(m1*1000), max(abs(m2*1000), abs(m3*1000))) / 1000.0;

	m1 = (velocity/100.0)*((m1/e) * 255);
	m2 = (velocity/100.0)*((m2/e) * 255);
	m3 = (velocity/100.0)*((m3/e) * 255);
	m4 = 0;

	if (velocity == 0) {
		m1 = (rotation/100.0)*255;
		m2 = (rotation/100.0)*255;
		m3 = (rotation/100.0)*255;
	}

	if(m1>0)
		A|=1<<0;
	else if(m1<0)
		A|=1<<1;

	if(m2>0)
		A|=1<<2;
	else if(m2<0)
		A|=1<<3;

	if(m3>0)
		A|=1<<4;
	else if(m3<0)
		A|=1<<5;

	if(m4>0)
		A|=1<<6;
	else if(m4<0)
		A|=1<<7;

	vector<uint8_t> data;
	data.push_back((uint8_t)115);
	data.push_back((uint8_t)abs(m1));
	data.push_back((uint8_t)abs(m2));
	data.push_back((uint8_t)abs(m3));
	data.push_back((uint8_t)abs(m4));
	data.push_back((uint8_t)A);
	writePort(data);
	
	return;
}
void CWriterThread::run(){
  writePort();
  return;
}
Beispiel #24
0
void sclock(void)
{
	writePort(g_ucPinTCK, 0x01);
	writePort(g_ucPinTCK, 0x00);
}