int main()
{
rcc_clock_enable();
delay_config();
usart6_init(115200);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED4);
STM_EVAL_LEDInit(LED5);
STM_EVAL_LEDInit(LED6);
//android远程控制初始化
remote_control_init();
//红外测距模块ADC初始化
adc_tim_trig_config(500, 8400);
//电机初始化
motor_init();
//光电开关初始化
light_senser_init();
//编码器初始化
capture_config();
//系统运行时间初始化
micros_time_init();
#ifndef DEBUG_HAHA
// //等待开始信号
// usart_wait_signal();
// //发送应答信号
// usart_send_signal();
while(remote_flag == 0);
if(car_mode == MODE_SINGLE){
usart_sendByte(USART6, '1');
}
else{
usart_sendByte(USART6, '0');
}
//设置小车前进速度
car_set_global_speed();
#endif
STM_EVAL_LEDOn(LED3);
while(1){
#ifdef DEBUG_HAHA
my_debug();
#else
control_process();
#endif
}
}
const char *
mfn_kill(MFUNARGS)
{
int i = atoi(argv[0]);
if (i > 0) {
if (in_timequeue(i)) {
if (!control_process(perms, i)) {
ABORT_MPI("KILL",NOPERM_MESG);
}
i = dequeue_process(i);
} else {
i = 0;
}
} else if (i == 0) {
i = dequeue_prog(perms, 0);
} else {
ABORT_MPI("KILL","Invalid process ID");
}
sprintf(buf, "%d", i);
return buf;
}
void
prim_kill(PRIM_PROTOTYPE)
{
/* i -- i */
CHECKOP(1);
oper1 = POP();
if (oper1->type != PROG_INTEGER)
abort_interp("Non-integer argument (1)");
if (oper1->data.number == fr->pid) {
do_abort_silent();
} else {
if (mlev < LMAGE) {
if (!control_process(ProgUID, oper1->data.number)) {
abort_interp(tp_noperm_mesg);
}
}
result = dequeue_process(oper1->data.number);
}
CLEAR(oper1);
PushInt(result);
}
int cgiMain() {
int result;
#ifdef DEBUG
fprintf(stderr, "========== LED.CGI Start ===========.\n");
#endif
// 初始化 session
session_start(g_session_datadir);
do {
if (session_get("USERNAME") != NULL) {
if (strcmp(session_get("USERNAME"), g_login_username) == 0) {
result = control_process();
break;
}
}
result = login_process();
} while (0);
#ifdef DEBUG
fprintf(cgiOut, "========== LED.CGI End ===========.\n");
#endif
return result;
}
void
do_dequeue(int descr, dbref player, const char *arg1)
{
char buf[BUFFER_LEN];
int count;
dbref match;
struct match_data md;
timequeue tmp, ptr = tqhead;
if (*arg1 == '\0') {
notify_nolisten(player, "What event do you want to dequeue?", 1);
} else {
if (!string_compare(arg1, "all")) {
if (!Wizard(OWNER(player))) {
notify_nolisten(player, "Permission denied", 1);
return;
}
while (ptr) {
tmp = ptr;
tqhead = ptr = ptr->next;
free_timenode(tmp);
process_count--;
}
tqhead = NULL;
muf_event_dequeue(NOTHING, 0);
notify_nolisten(player, "Time queue cleared.", 1);
} else {
if (!number(arg1)) {
init_match(descr, player, arg1, NOTYPE, &md);
match_absolute(&md);
match_everything(&md);
match = noisy_match_result(&md);
if (match == NOTHING) {
notify_nolisten(player, "I don't know what you want to dequeue!", 1);
return;
}
if (!valid_objref(match)) {
notify_nolisten(player, "I don't recognize that object.", 1);
return;
}
if ((!Wizard(OWNER(player))) && (OWNER(match) != OWNER(player))) {
notify_nolisten(player, "Permission denied.", 1);
return;
}
count = dequeue_prog(match, 0);
if (!count) {
notify_nolisten(player, "That program wasn't in the time queue.", 1);
return;
}
if (count > 1) {
snprintf(buf, sizeof(buf), "%d processes dequeued.", count);
} else {
snprintf(buf, sizeof(buf), "Process dequeued.");
}
notify_nolisten(player, buf, 1);
} else {
if ((count = atoi(arg1))) {
if (!(control_process(player, count))) {
notify_nolisten(player, "Permission denied.", 1);
return;
}
if (!(dequeue_process(count))) {
notify_nolisten(player, "No such process!", 1);
return;
}
process_count--;
notify_nolisten(player, "Process dequeued.", 1);
} else {
notify_nolisten(player, "What process do you want to dequeue?", 1);
}
}
}
}
return;
}