Ejemplo n.º 1
0
int driveAndReadLight(float power, float distance, bool encodingCorrection) {
    float photoValue = 3.3;
    left.SetPower(power * LEFT_MODIFIER);
    right.SetPower(power);
    leftencoder.ResetCounts();
    rightencoder.ResetCounts();
    float start = TimeNow();
    while (rightencoder.Counts() < distance * COUNTS_PER_INCH && TimeNow() - start < UNIVERSAL_TIMEOUT) {
        if (rightencoder.Counts() % COUNTS_PER_CHECK == 0 && encodingCorrection) {
            //Look at encoder counts and adjust right motor based on results
            if (rightencoder.Counts() != 0) {
                left.SetPower(power * rightencoder.Counts() / rightencoder.Counts());
            }
        }
        LCD.Clear();
        LCD.Write("The value of the left encoder is ");
        LCD.WriteLine(rightencoder.Counts());
        LCD.Write("The value of the right encoder is ");
        LCD.WriteLine(rightencoder.Counts());
        if (photosensor.Value() < photoValue) {
            photoValue = photosensor.Value();
        }
        Sleep(50);
    }
    left.SetPower(0);
    right.SetPower(0);
    return photoValue < RED_BLUE_THRESHOLD ? RED : BLUE;
}
Ejemplo n.º 2
0
void turnUntilRPSHeading(int angle, float power, float timeoutSeconds, float turnModifier) {
    int start = TimeNow();
    while (abs(angle - wonka.Heading()) > RPS_TURNING_TOLERANCE && (TimeNow() - start) < timeoutSeconds) {
        turnToRPSHeading(angle, power, CLOSEST, false, turnModifier);
        Sleep(RPS_DELAY_TIME);
    }
}
Ejemplo n.º 3
0
/* Rotates robot indefinitely.
 *
 * Direction of rotation is specified through the cw parameter.
 *
 * PARAM bot : struct robot*
 *    Points to struct with all the robot's peripherals
 *
 * PARAM cw : bool
 *    Whether the robot will turn clockwise. If false, the
 *    robot will turn counterclockwise
 *
 * RETURN void
 *    This method returns nothing
 */
void rot_tst(struct robot *bot, bool cw) {

  // Variable declarations
  double start_time = TimeNow();
  double end_time;

  // Begin rotation
  if (cw) { // Rotate clockwise

    (*bot->l_mot).SetPower(LM_PWR_RR);
    (*bot->r_mot).SetPower(RM_PWR_RR);

  } else { // Rotate counterclockwise

    (*bot->l_mot).SetPower(LM_PWR_LR);
    (*bot->r_mot).SetPower(RM_PWR_LR);
  }

  // Wait until the middle button is pressed
  while (!(*bot->btns).MiddlePressed());

  // Mark the time
  end_time = TimeNow();

  // Cease rotation
  (*bot->l_mot).SetPower(0);
  (*bot->r_mot).SetPower(0);

  // Display elapsed time
  LCD.Write("Time elapsed: ");
  LCD.WriteLine(end_time - start_time);

  // Give time to remove finger from button
  Sleep(200);
}
Ejemplo n.º 4
0
/* Moves the robot backward indefinitely.
 * Stops when middle button on button board is pressed.
 *
 * PARAM bot : struct robot*
 *    Points to struct with all the robot's peripherals
 *
 * RETURN void
 *    This method returns nothing
 */
void bck_tst(struct robot *bot) {

  // Variable declarations
  double start_time = TimeNow();
  double end_time;

  // Begin backward motion
  (*bot->l_mot).SetPower(-1 * LM_PWR_FW);
  (*bot->r_mot).SetPower(-1 * RM_PWR_FW);

  // Wait until the middle button is pressed
  while (!(*bot->btns).MiddlePressed());

  // Mark the time
  end_time = TimeNow();

  // Cease backward motion
  (*bot->l_mot).SetPower(0);
  (*bot->r_mot).SetPower(0);

  // Display elapsed time
  LCD.Write("Time elapsed: ");
  LCD.WriteLine(end_time - start_time);

  // Give time to remove finger from button
  Sleep(200);
}
Ejemplo n.º 5
0
VOID
BenchmarkThreadPool(
    PLW_THREAD_POOL pPool,
    PBENCHMARK_SETTINGS pSettings,
    PULONG64 pullDuration,
    PULONG64 pullBytesTransferred
    )
{
    PLW_TASK_GROUP pGroup = NULL;
    PSOCKET* ppSockets1 = NULL;
    PSOCKET* ppSockets2 = NULL;
    size_t i = 0;
    ULONG64 ullTotal = 0;
    LONG64 llStart = 0;
    LONG64 llEnd = 0;
    ULONG64 ullTime = 0;
    NTSTATUS status;

    gpPool = pPool;
    gpSettings = pSettings;

    status = LwRtlCreateTaskGroup(gpPool, &pGroup);
    ASSERT_SUCCESS(status);

    status = LW_RTL_ALLOCATE_ARRAY_AUTO(&ppSockets1, gpSettings->ulPairs);
    ASSERT_SUCCESS(status);

    status = LW_RTL_ALLOCATE_ARRAY_AUTO(&ppSockets2, gpSettings->ulPairs);
    ASSERT_SUCCESS(status);

    for (i = 0; i < gpSettings->ulPairs; i++)
    {
        NTSTATUS status = CreateSocketPair(pGroup, &ppSockets1[i], &ppSockets2[i]);
        
        ASSERT_SUCCESS(status);
    }
    
    status = TimeNow(&llStart);
    ASSERT_SUCCESS(status);
    
    LwRtlWakeTaskGroup(pGroup);
    LwRtlWaitTaskGroup(pGroup);
    
    status = TimeNow(&llEnd);
    ASSERT_SUCCESS(status);
    
    ullTime = (ULONG64) (llEnd - llStart);
    
    LwRtlFreeTaskGroup(&pGroup);

    for (i = 0; i < gpSettings->ulPairs; i++)
    {
        ullTotal += ppSockets1[i]->ullTotalTransferred;
    }

    *pullDuration = ullTime;
    *pullBytesTransferred = ullTotal;
}
Ejemplo n.º 6
0
void TurnLeftForTime(float time)
{
    rMotor.SetPercent(80);
    lMotor.SetPercent(80);

    float startTime = TimeNow();
    float dTime = 0.0;
    while( dTime < time)
    {
        dTime = TimeNow() - startTime;
    }

    rMotor.Stop();
    lMotor.Stop();
}
Ejemplo n.º 7
0
void BackwardsForTime(float time)
{
    rMotor.SetPercent(-1 * 80);
    lMotor.SetPercent(80);

    float startTime = TimeNow();
    float dTime = 0.0;
    while( dTime < time)
    {
        dTime = TimeNow() - startTime;
    }

    rMotor.Stop();
    lMotor.Stop();
}
Ejemplo n.º 8
0
bool drivePastRPSCoordinate(float power, float coordinate, bool y, bool facingIncreasingDirection, float timeoutSeconds) {
    float start = TimeNow();
    while (y && (facingIncreasingDirection && wonka.Y() < coordinate || !facingIncreasingDirection && wonka.Y() > coordinate) ||
                    !y && (facingIncreasingDirection && wonka.X() < coordinate || !facingIncreasingDirection && wonka.X() > coordinate)
           && (TimeNow() - start) < timeoutSeconds) {
        left.SetPower(power);
        right.SetPower(power);
        LCD.Write("RPS X: ");
        LCD.WriteLine(wonka.X());
        LCD.Write("RPS Y: ");
        LCD.WriteLine(wonka.Y());
    }
    left.Stop();
    right.Stop();
    return (TimeNow() - start) < timeoutSeconds;
}
Ejemplo n.º 9
0
bool driveUntilSwitchPress(float power, int switchId, float timeoutDistance) {
    leftencoder.ResetCounts();
    rightencoder.ResetCounts();
    left.SetPower(power * LEFT_MODIFIER);
    right.SetPower(power);
    float start = TimeNow();
    while (((switchId == FRONT_SWITCH && frontSwitch.Value()) ||
            (switchId == BACK_SWITCH && backSwitch.Value()) ||
            (switchId == RIGHT_SWITCH && rightSwitch.Value() ||
             (switchId == FORKLIFT_SWITCH && forkliftSwitch.Value()))) &&
                    rightencoder.Counts() < timeoutDistance * COUNTS_PER_INCH
           && TimeNow() - start < UNIVERSAL_TIMEOUT);
    left.Stop();
    right.Stop();
    return rightencoder.Counts() < timeoutDistance * COUNTS_PER_INCH;
}
Ejemplo n.º 10
0
void MainWindow::CreateStatusbar()
{
    shebei = new QLabel;
    shebei->setText(tr("设备ID:"));
    sbid = new QLabel;
    sbid->setText(m_strDevID);
    kjl = new QLabel;
    kjl->setText(tr("      快精灵"));
    time = new QLabel;
    QDateTime im = QDateTime::currentDateTime();
    QString str = im.toString("yyyy-MM-dd hh:mm:ss");
    time->setText(str);
    QTimer* timTm = new QTimer;
    connect(timTm,SIGNAL(timeout()),this,SLOT(TimeNow()));
    timTm->start(1000);
    jiaoshi = new ClickedLabel;
    jiaoshi->setText(tr("<u>校时</u>"));
    jiaoshi->setEnabled(false);
    m_jiaozhun = new ClickedLabel;
    m_jiaozhun->setText(tr("<u>屏幕校准</u>"));
    connect(m_jiaozhun, SIGNAL(clicked()), this, SLOT(OnJiaoZhun()));
    help = new ClickedLabel;
    help->setText(tr("<u>帮助</u>"));
    connect(help, SIGNAL(clicked()), this, SLOT(OnHelp()));

    QStatusBar* statusBar = this->statusBar();
    statusBar->addWidget(shebei,1);
    statusBar->addWidget(sbid,2);
    statusBar->addWidget(kjl,3);
    statusBar->addWidget(time,4);
    statusBar->addWidget(jiaoshi,5);
    statusBar->addWidget(m_jiaozhun,6);
    statusBar->addWidget(help,7);
}
Ejemplo n.º 11
0
static void HandleRPCFailure(long cid, long rcode, long op)
{

    ConnVector[cid].Status = BROKEN;

    if (rcode == RPC2_CONNBUSY)
	{
	connbusies++;
	return;
	}

    if (op == 7 && rcode == RPC2_NAKED)
	{
	lostunbinds++;
	assert(RPC2_Unbind(ConnVector[cid].ConnHandle) == RPC2_SUCCESS);
        FLUSH();
	return;
	}

    printf ("\n%s: call %ld on %#x to %s for %s failed (%s) at %s", MYNAME,
	op, ConnVector[cid].ConnHandle,
	ConnVector[cid].RemoteHost.Value.Name,
	ConnVector[cid].NameBuf, RPC2_ErrorMsg(rcode), TimeNow());
    DumpAndQuit(op);
}
Ejemplo n.º 12
0
static
NTSTATUS
WorkWait(
    PLW_WORK_THREAD pThread
    )
{
    NTSTATUS status = STATUS_SUCCESS;
    struct timespec ts = {0};
    LONG64 llDeadline = 0;
    int err = 0;
    BOOLEAN bLastThread = FALSE;
    PLW_WORK_THREADS pThreads = pThread->pThreads;
    
    while (pThreads->ulQueued == 0)
    {
        if (pThreads->bShutdown)
        {
            status = STATUS_CANCELLED;
            GOTO_ERROR_ON_STATUS(status);
        }

        if (pThread->pThreads->ulWorkThreadTimeout && !bLastThread)
        {
            status = TimeNow(&llDeadline);
            GOTO_ERROR_ON_STATUS(status);

            llDeadline += (LONG64) 1000000000ll * pThread->pThreads->ulWorkThreadTimeout;
            ts.tv_sec = llDeadline / 1000000000ll;
            ts.tv_nsec = llDeadline % 1000000000ll;
            err = pthread_cond_timedwait(&pThread->pThreads->Event, &pThread->pThreads->Lock, &ts);
        }
        else
        {
            err = pthread_cond_wait(&pThread->pThreads->Event, &pThread->pThreads->Lock);
        }

        bLastThread = pThreads->ulWorkItemCount && pThreads->ulStarted == 1;

        switch(err)
        {
        case ETIMEDOUT:
            if (!bLastThread)
            {
                status = STATUS_TIMEOUT;
                GOTO_ERROR_ON_STATUS(status);
            }
            break;
        default:
            status = LwErrnoToNtStatus(err);
            GOTO_ERROR_ON_STATUS(status);
        }
    }

error:

    return status;
}
Ejemplo n.º 13
0
void Game::PhaseChange(Phase::Base *next, Time transition_time)
{
	if (!next)
		return;
	if (Transitioning())
		EndTransition();
	transition_ends = TimeNow() + transition_time;
	next_phase = next;
}
Ejemplo n.º 14
0
void Sensor1ISR(void){
	if(TimeSince(lastSensor1Trigger) > sensorTimeout){
		lastSensor1Trigger = TimeNow();
		Sensor1OutOn();
		LogMsg(SENSOR, MESSAGE, "Sensor 1 Triggered");
		TaskScheduleAdd(Sensor1OutOff, TASK_MEDIUM_PRIORITY, 10, 0);
	}
	ADCComparatorIntClear(ADC0_BASE, 0x0F);
}
Ejemplo n.º 15
0
void Sensor2ISR(void){
	if(TimeSince(lastSensor2Trigger) > sensorTimeout){
		lastSensor2Trigger = TimeNow();
		Sensor2OutOn();
		TaskScheduleAdd(Sensor2OutOff, TASK_MEDIUM_PRIORITY, 10, 0);
	}

	ADCComparatorIntClear(ADC0_BASE, 0x0F);
}
Ejemplo n.º 16
0
void drive(float power, float distance, bool encodingCorrection, bool debug, float leftModifier) {
    if (debug) {
        leftencoder.ResetCounts();
        rightencoder.ResetCounts();
        LCD.WriteLine("Press the switch to begin moving.");
        while (stopSwitch.Value());
        while (!stopSwitch.Value());
        left.SetPower(power * LEFT_MODIFIER);
        right.SetPower(power);
        while (stopSwitch.Value());
        while (!stopSwitch.Value());
        left.Stop();
        right.Stop();
        LCD.Clear();
        LCD.Write("The distance traveled was ");
        LCD.WriteLine(rightencoder.Counts() * COUNTS_PER_INCH);
        LCD.WriteLine("Press the switch to resume.");
        while (stopSwitch.Value());
        while (!stopSwitch.Value());
    } else {
        left.SetPower(power * LEFT_MODIFIER * leftModifier);
        right.SetPower(power);
        leftencoder.ResetCounts();
        rightencoder.ResetCounts();
        float start = TimeNow();
        while (rightencoder.Counts() < distance * COUNTS_PER_INCH && TimeNow() - start < UNIVERSAL_TIMEOUT) {
            if (rightencoder.Counts() % COUNTS_PER_CHECK == 0 && encodingCorrection) {
                //Look at encoder counts and adjust right motor based on results
                if (rightencoder.Counts() != 0) {
                    left.SetPower(power * rightencoder.Counts() / rightencoder.Counts());
                }
            }
            LCD.Clear();
            LCD.Write("The value of the left encoder is ");
            LCD.WriteLine(rightencoder.Counts());
            LCD.Write("The value of the right encoder is ");
            LCD.WriteLine(rightencoder.Counts());
            Sleep(50);
        }
        left.SetPower(0);
        right.SetPower(0);
    }
}
Ejemplo n.º 17
0
/*
 * 打印日志
 *
 * @level	入参
 * @src_file	入参
 * @src_line	入参
 * @fmt		入参
 * @...		入参
 *
 * 返回:
 * 	0	成功
 * 	-1	open错
 * 	-2	配置错
 */
int Log(int level, char *src_file, int src_line, char *fmt, ...)
{
	int	fd;
	char	msg[1024 + 128] = {0};
	char	buf[1024 + 128] = {0};

	char	*pdate = DateNow(NULL);
	char	*ptime = TimeNow(NULL);
	va_list	args;

	switch(gnLogType)
	{
		case 0:
			fd = STDOUT_FILENO;
			break;
		case 1:
			memset(gsLogFile, 0, sizeof(gsLogFile));
			strcpy(gsLogFile, BuildFile("./log/logfile"));
			fd = open(gsLogFile, O_RDWR | O_APPEND | O_CREAT, 0644);
			if(fd == -1)
				return -1;
			break;
		default:
			return -2;
	}

	va_start(args, fmt);
	vsprintf(msg, fmt, args);
	va_end(args);

	sprintf(buf + strlen(buf), "[PID=%5d]", getpid());

	sprintf(buf + strlen(buf), "[%4s/", BufToStr(pdate, 4));
	sprintf(buf + strlen(buf), "%2s", BufToStr(pdate + 4, 2));
	sprintf(buf + strlen(buf), "/%2s]", BufToStr(pdate + 4, 2));
	
	sprintf(buf + strlen(buf), "[%2s", BufToStr(ptime, 2));
	sprintf(buf + strlen(buf), ":%2s", BufToStr(ptime + 2, 2));
	sprintf(buf + strlen(buf), ":%2s]", BufToStr(ptime + 4, 2));

//	sprintf(buf + strlen(buf), "[%15s: %04d]", src_file, src_line);

	if(strlen(buf) == 0)
		sprintf(buf, "%s\n", msg);
	else
		sprintf(buf + strlen(buf), " %s\n", msg);
	
	write(fd, buf, strlen(buf));
	
	if(fd != STDOUT_FILENO)
		close(fd);
	
	return 0;
}
Ejemplo n.º 18
0
void Pin::Run() {
    //Back up, turn right
    drive(FORWARD_POWER * -1, DISTANCE_1, false, false);
    turnToRPSHeading(90, TURN_POWER, RIGHT, false, 1);
    turnUntilRPSHeading(90, TURN_POWER);
    //Drive to RPS coordinate representing skid alignment
    drive(FORWARD_POWER, DISTANCE_1, false, false);
    driveToRPSCoordinate(RPS_POWER, skidX, false, true);
    Sleep(200);
    //Adjust before pulling out pin
    turnUntilRPSHeading(90, TURN_POWER);
    //Drive backwards, move forklift down, drive forwards, move forklift up
    drive (FORWARD_POWER * -1, DISTANCE_2, false, false);
    forklift.SetDegree(PIN_DOWN_ANGLE);
    float start = TimeNow();
    while (TimeNow() - start < .5);
    drive(FORWARD_POWER, DISTANCE_3, false, false);
    forklift.SetDegree(PIN_ANGLE);
    start = TimeNow();
    while (TimeNow() - start < .5);
    forklift.SetDegree(START_ANGLE);
    //Drive back then forwards again
    start = TimeNow();
    while (TimeNow() - start < .5);
    drive(PIN_POWER * -1, DISTANCE_3, false, false);
    drive(PIN_POWER, DISTANCE_2, false, false);
}
Ejemplo n.º 19
0
void CGameConsole::Toggle(int Type)
{
	if(m_ConsoleType != Type && (m_ConsoleState == CONSOLE_OPEN || m_ConsoleState == CONSOLE_OPENING))
	{
		// don't toggle console, just switch what console to use
	}
	else
	{
		if (m_ConsoleState == CONSOLE_CLOSED || m_ConsoleState == CONSOLE_OPEN)
		{
			m_StateChangeEnd = TimeNow()+m_StateChangeDuration;
		}
		else
		{
			float Progress = m_StateChangeEnd-TimeNow();
			float ReversedProgress = m_StateChangeDuration-Progress;

			m_StateChangeEnd = TimeNow()+ReversedProgress;
		}

		if (m_ConsoleState == CONSOLE_CLOSED || m_ConsoleState == CONSOLE_CLOSING)
		{
			m_OldMouseModes = Input()->GetMouseModes();
			Input()->SetMouseModes(IInput::MOUSE_MODE_NO_MOUSE);
			m_pClient->m_pMenus->UseMouseButtons(false);
			m_ConsoleState = CONSOLE_OPENING;
			// reset controls
			m_pClient->m_pControls->OnReset();
		}
		else
		{
			Input()->SetMouseModes(m_OldMouseModes);
			m_pClient->m_pMenus->UseMouseButtons(true);
			m_pClient->OnRelease();
			m_ConsoleState = CONSOLE_CLOSING;
		}
	}

	m_ConsoleType = Type;
}
Ejemplo n.º 20
0
void SaveFramebuffer(VideoOutput& video, const Viewport& v)
{
#ifndef HAVE_GLES
    const StreamInfo& si = video.Streams()[0];
    if(video.Streams().size()==0 || (int)si.Width() != v.w || (int)si.Height() != v.h) {
        video.Close();
        return;
    }

    static basetime last_time = TimeNow();
    const basetime time_now = TimeNow();
    last_time = time_now;

    static std::vector<unsigned char> img;
    img.resize(v.w*v.h*4);

    glReadBuffer(GL_BACK);
    glPixelStorei(GL_PACK_ALIGNMENT, 1); // TODO: Avoid this?
    glReadPixels(v.l, v.b, v.w, v.h, GL_RGB, GL_UNSIGNED_BYTE, &img[0] );
    video.WriteStreams(&img[0]);
#endif // HAVE_GLES
}
Ejemplo n.º 21
0
void CGameConsole::Toggle(int Type)
{
	if(m_ConsoleType != Type && (m_ConsoleState == CONSOLE_OPEN || m_ConsoleState == CONSOLE_OPENING))
	{
		// don't toggle console, just switch what console to use
	}
	else
	{
		if (m_ConsoleState == CONSOLE_CLOSED || m_ConsoleState == CONSOLE_OPEN)
		{
			m_StateChangeEnd = TimeNow()+m_StateChangeDuration;
		}
		else
		{
			float Progress = m_StateChangeEnd-TimeNow();
			float ReversedProgress = m_StateChangeDuration-Progress;

			m_StateChangeEnd = TimeNow()+ReversedProgress;
		}

		if (m_ConsoleState == CONSOLE_CLOSED || m_ConsoleState == CONSOLE_CLOSING)
		{
			/*Input()->MouseModeAbsolute();
			m_pClient->m_pMenus->UseMouseButtons(false);*/
			m_ConsoleState = CONSOLE_OPENING;
			/*// reset controls
			m_pClient->m_pControls->OnReset();*/
		}
		else
		{
			Input()->MouseModeRelative();
			m_pClient->m_pMenus->UseMouseButtons(true);
			m_pClient->OnRelease();
			m_ConsoleState = CONSOLE_CLOSING;
		}
	}

	m_ConsoleType = Type;
}
Ejemplo n.º 22
0
//METHOD 18
void Pause(double time)
{
    SetPowerStop();

    //rMotor.Stop();
    //lMotor.Stop();

    //Sleep(time);

    double startTime = TimeNow();
    double dTime = 0.0;
    while( dTime < time )
    {
        logDataStuffs();
        dTime = TimeNow() - startTime;
    }

    //rMotor.Stop();
    //lMotor.Stop();

    SetPowerStop();
}
Ejemplo n.º 23
0
/* Moves the robot forward indefinitely.
 * Stops when middle button on button board is pressed.
 *
 * PARAM bot : struct robot*
 *    Points to struct with all the robot's peripherals
 *
 * RETURN void
 *    This method returns nothing
 */
void fwd_tst(struct robot *bot) {

  // Variable declarations
  double start_time = TimeNow();
  double end_time;
  struct log_data entry;

  // Initialize log entry
  entry.fname = "fwd_test";
  entry.msg = "Moved forward for this many seconds";

  // Begin forward motion
  (*bot->l_mot).SetPower(LM_PWR_FW);
  (*bot->r_mot).SetPower(RM_PWR_FW);

  // Wait until the middle button is pressed
  while (!(*bot->btns).MiddlePressed());

  // Mark the time
  end_time = TimeNow();

  // Cease forward motion
  (*bot->l_mot).SetPower(0);
  (*bot->r_mot).SetPower(0);

  // Display elapsed time
  LCD.Write("Time elapsed: ");
  LCD.WriteLine(end_time - start_time);

  // Update log entry
  entry.value = end_time - start_time;

  // Give time to remove finger from button
  Sleep(250);

  // Log journal entry
  bot->journal = log(bot->journal, &entry);
}
Ejemplo n.º 24
0
static void ListenerBody(void *arg)
{
    long i;
    RPC2_RequestFilter reqfilter;
    RPC2_PacketBuffer *InBuff;
    RPC2_NewConnectionBody *newconnbody;
    RPC2_Handle newcid;

    LWP_DispatchProcess();	/* initial courtesy to parent */
    reqfilter.FromWhom = ONESUBSYS;
    reqfilter.ConnOrSubsys.SubsysId = SUBSYS_SRV;
    assert(reqfilter.ConnOrSubsys.SubsysId != -1);
    reqfilter.OldOrNew = NEW;

    InBuff = NULL;

    while (1)
	{
	RanDelay(MaxListenPause);

	if (InBuff != NULL) RPC2_FreeBuffer(&InBuff);
	i = RPC2_GetRequest(&reqfilter, &newcid, &InBuff, NULL, GetPasswd, RPC2_XOR, NULL);
	if (i != RPC2_SUCCESS)
	    {
	    printf("Listener error: ");
	    WhatHappened(i);
	    }

	switch(InBuff->Header.Opcode)
	    {
	    case RPC2_NEWCONNECTION: /* new connection */
		{
		newconnbody = (RPC2_NewConnectionBody *)InBuff->Body;

		if (VerboseFlag)
		    fprintf(stderr, "Newconn: %#x  \"%s\"  at  %s",
			newcid, (char*)&newconnbody->ClientIdent_SeqBody,
			TimeNow());

		RPC2_Enable(newcid);	/* unfreeze the connection */
		break;
		}
		
	    default: /* unknown opcode */
		assert(InBuff->Header.Opcode == RPC2_NEWCONNECTION);
	    break;
	    }

	}
}
Ejemplo n.º 25
0
static void BulkErr(RPC2_Handle cid, SE_Descriptor *sed, int retcode, int op)
{
    char *x;

    printf ("\n%s: File transfer failed  conn: %#x   code: %s  op: %d  time: %s\n", 
	MYNAME,	cid, RPC2_ErrorMsg(retcode), op, TimeNow());
    if (sed->Value.SmartFTPD.TransmissionDirection == CLIENTTOSERVER)
	x = "CLIENTTOSERVER";
    else x = "SERVERTOCLIENT";
    
    printf("\t\tFile: %s  Direction: %s\n",
    	sed->Value.SmartFTPD.FileInfo.ByName.LocalFileName, x);
    DumpAndQuit(op);  
}
Ejemplo n.º 26
0
void DelayQueue::synchronize() {
  // First, figure out how much time has elapsed since the last sync:
  EventTime timeNow = TimeNow();
  DelayInterval timeSinceLastSync = timeNow - fLastSyncTime;
  fLastSyncTime = timeNow;
  
  // Then, adjust the delay queue for any entries whose time is up:
  DelayQueueEntry* curEntry = head();
  while (timeSinceLastSync >= curEntry->fDeltaTimeRemaining) {
    timeSinceLastSync -= curEntry->fDeltaTimeRemaining;
    curEntry->fDeltaTimeRemaining = DELAY_ZERO;
    curEntry = curEntry->fNext;
  }
  curEntry->fDeltaTimeRemaining -= timeSinceLastSync;
}
Ejemplo n.º 27
0
bool SharedMemoryVideo::GrabNext(unsigned char* image, bool wait)
{
    // If a condition variable exists, try waiting on it.
    if(_buffer_full) {
        if (wait) {
            _buffer_full->wait();
        } else if (!_buffer_full->wait(TimeNow())) {
            return false;
        }
    }

    // Read the buffer.
    _shared_memory->lock();
    memcpy(image, _shared_memory->ptr(), _frame_size);
    _shared_memory->unlock();

    return true;
}
Ejemplo n.º 28
0
void DelayQueue::synchronize() {
  // First, figure out how much time has elapsed since the last sync:
  EventTime timeNow = TimeNow();
  if (timeNow < fLastSyncTime) {
    // The system clock has apparently gone back in time; reset our sync time and return:
    fLastSyncTime  = timeNow;
    return;
  }
  DelayInterval timeSinceLastSync = timeNow - fLastSyncTime;
  fLastSyncTime = timeNow;

  // Then, adjust the delay queue for any entries whose time is up:
  DelayQueueEntry* curEntry = head();
  while (timeSinceLastSync >= curEntry->fDeltaTimeRemaining) {
    timeSinceLastSync -= curEntry->fDeltaTimeRemaining;
    curEntry->fDeltaTimeRemaining = DELAY_ZERO;
    curEntry = curEntry->fNext;
  }
  curEntry->fDeltaTimeRemaining -= timeSinceLastSync;
}
Ejemplo n.º 29
0
void driveToRPSCoordinate(float power, float coordinate, bool y, bool facingIncreasingDirection, float degree) {
    float start = TimeNow();
    bool direction; //true if forward
    while ((y && abs(coordinate - wonka.Y()) > RPS_DISTANCE_TOLERANCE && wonka.Y() != 0.0) || (!y && abs(coordinate - wonka.X()) > RPS_DISTANCE_TOLERANCE && wonka.X() != 0.0) && (TimeNow() - start) < LINEAR_TIME_LIMIT) {
        if (y) {
            direction = wonka.Y() < coordinate == facingIncreasingDirection;
        } else {
            direction = wonka.X() < coordinate == facingIncreasingDirection;
        }
        drive(FORWARD_POWER * (direction ? 1 : -1), RPS_DISTANCE_TOLERANCE / 2, false, false);
        LCD.Write("RPS X: ");
        LCD.WriteLine(wonka.X());
        LCD.Write("RPS Y: ");
        LCD.WriteLine(wonka.Y());
        if (degree >= 0) {
            turnToRPSHeading(degree, power, CLOSEST, false, 0.25);
        }
        Sleep(RPS_DELAY_TIME);
    }
    left.Stop();
    right.Stop();
}
Ejemplo n.º 30
0
void turn(bool isRight, float power, int degrees, bool withSkid) {
    if (!isRight) {
        right.SetPower(power);
        left.SetPower(-1 * power * LEFT_MODIFIER);
    } else {
        right.SetPower(-1 * power);
        left.SetPower(power * LEFT_MODIFIER);
    }
    leftencoder.ResetCounts();
    rightencoder.ResetCounts();
    float start = TimeNow();
    while (rightencoder.Counts() < degrees * (isRight ? countsPerDegreeRight : countsPerDegreeLeft) / (withSkid ? 1.0 : 1.0) && TimeNow() - start < UNIVERSAL_TIMEOUT) {
        LCD.Clear();
        LCD.Write("The value of the left encoder is ");
        LCD.WriteLine(rightencoder.Counts());
        LCD.Write("The value of the right encoder is ");
        LCD.WriteLine(rightencoder.Counts());
        Sleep(50);
    }
    left.SetPower(0);
    right.SetPower(0);
}