task main()
{
waitForStart();
while (true)
{
getJoystickSettings(joystick);
// Flag OI
if ( joy2Btn(6) )
motor[flag] = 20;
else if ( joy2Btn(5) )
motor[flag] = -20;
else
setFlagRaiserMotor(joy2Btn(2));
// Winch+Collector OI
setWinchMotor(dbc(joystick.joy2_y1, 10));
setCollectorRoller(joy2Btn(7)||joy2Btn(8), joy2Btn(8));
// Drivetrain OI
motor[leftDrive] = dbc(-joystick.joy1_y1, 8);
motor[rightDrive] = dbc(joystick.joy1_y2, 8);
// Auto arm OI
motor[autoArm] = dbc(joystick.joy2_y2, 8)/2;
}
}
bool DBC::advance(const IterationStrategy &strategy, YDB_CALLBACK_FUNCTION callback, void *extra) const {
int r;
if (strategy.forward) {
r = dbc()->c_getf_next(dbc(), strategy.getf_flags(), callback, extra);
} else {
r = dbc()->c_getf_prev(dbc(), strategy.getf_flags(), callback, extra);
}
if (r == DB_NOTFOUND) {
return false;
} else if (r != 0 && r != -1) {
handle_ft_retval(r);
}
return true;
}
uint32 ReadMapDBC(int const locale)
{
HANDLE localeFile;
char localMPQ[512];
sprintf(localMPQ, "%s/Data/%s/locale-%s.MPQ", input_path, langs[locale], langs[locale]);
if (!SFileOpenArchive(localMPQ, 0, MPQ_OPEN_READ_ONLY, &localeFile))
exit(1);
printf("Read Map.dbc file... ");
HANDLE dbcFile;
if (!SFileOpenFileEx(localeFile, "DBFilesClient\\Map.dbc", SFILE_OPEN_PATCHED_FILE, &dbcFile))
{
printf("Fatal error: Cannot find Map.dbc in archive!\n");
exit(1);
}
DBCFile dbc(dbcFile);
if(!dbc.open())
{
printf("Fatal error: Invalid Map.dbc file format!\n");
exit(1);
}
size_t map_count = dbc.getRecordCount();
map_ids = new map_id[map_count];
for(uint32 x = 0; x < map_count; ++x)
{
map_ids[x].id = dbc.getRecord(x).getUInt(0);
strcpy(map_ids[x].name, dbc.getRecord(x).getString(1));
}
printf("Done! (%u maps loaded)\n", map_count);
return map_count;
}
void ReadAreaTableDBC()
{
Log sLog;
sLog.Write("Read AreaTable.dbc file...");
DBCFile dbc("DBFilesClient\\AreaTable.dbc");
if(!dbc.open())
{
sLog.Write("Fatal error: Invalid AreaTable.dbc file format!");
assert(false);
}
size_t area_count = dbc.getRecordCount();
size_t maxid = dbc.getMaxId();
areas = new uint16[maxid + 1];
memset(areas, 0xff, (maxid + 1) * sizeof(uint16));
for(uint32 x = 0; x < area_count; ++x)
areas[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
maxAreaId = dbc.getMaxId();
sLog.Write("Done! (%u areas loaded)", area_count);
}
void ReadLiquidTypeTableDBC(int const locale)
{
HANDLE localeFile;
char localMPQ[512];
sprintf(localMPQ, "%s/Data/%s/locale-%s.MPQ", input_path, langs[locale], langs[locale]);
if (!SFileOpenArchive(localMPQ, 0, MPQ_OPEN_READ_ONLY, &localeFile))
exit(1);
printf("Read LiquidType.dbc file...");
HANDLE dbcFile;
if (!SFileOpenFileEx(localeFile, "DBFilesClient\\LiquidType.dbc", SFILE_OPEN_PATCHED_FILE, &dbcFile))
{
printf("Fatal error: Cannot find LiquidType.dbc in archive!\n");
exit(1);
}
DBCFile dbc(dbcFile);
if(!dbc.open())
{
printf("Fatal error: Invalid LiquidType.dbc file format!\n");
exit(1);
}
size_t LiqType_count = dbc.getRecordCount();
size_t LiqType_maxid = dbc.getMaxId();
LiqType = new uint16[LiqType_maxid + 1];
memset(LiqType, 0xff, (LiqType_maxid + 1) * sizeof(uint16));
for(uint32 x = 0; x < LiqType_count; ++x)
LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
printf("Done! (%u LiqTypes loaded)\n", LiqType_count);
}
uint32 ReadMapDBC()
{
printf("Read Map.dbc file... ");
DBCFile dbc("DBFilesClient\\Map.dbc");
if(!dbc.open())
{
printf("Fatal error: Invalid Map.dbc file format!\n");
exit(1);
}
size_t map_count = dbc.getRecordCount();
map_ids = new map_id[map_count];
for(uint32 x = 0; x < map_count; ++x)
{
map_ids[x].id = dbc.getRecord(x).getUInt(0);
const char* map_name = dbc.getRecord(x).getString(1);
size_t max_map_name_length = sizeof(map_ids[x].name);
if (strlen(map_name) >= max_map_name_length)
{
printf("Fatal error: Map name too long!\n");
exit(1);
}
strncpy(map_ids[x].name, map_name, max_map_name_length);
map_ids[x].name[max_map_name_length - 1] = '\0';
}
printf("Done! (" SZFMTD "maps loaded)\n", map_count);
return map_count;
}
uint32 ReadMapDBC()
{
printf("Read Map.dbc file... ");
HANDLE dbcFile;
if (!SFileOpenFileEx(LocaleMpq, "DBFilesClient\\Map.dbc", SFILE_OPEN_PATCHED_FILE, &dbcFile))
{
printf("Fatal error: Cannot find Map.dbc in archive!\n");
exit(1);
}
DBCFile dbc(dbcFile);
if (!dbc.open())
{
printf("Fatal error: Invalid Map.dbc file format!\n");
exit(1);
}
size_t map_count = dbc.getRecordCount();
map_ids = new map_id[map_count];
for(uint32 x = 0; x < map_count; ++x)
{
map_ids[x].id = dbc.getRecord(x).getUInt(0);
strcpy(map_ids[x].name, dbc.getRecord(x).getString(1));
}
SFileCloseFile(dbcFile);
printf("Done! (%u maps loaded)\n", map_count);
return map_count;
}
void ReadAreaTableDBC()
{
printf("Read AreaTable.dbc file...");
HANDLE dbcFile;
if (!SFileOpenFileEx(LocaleMpq, "DBFilesClient\\AreaTable.dbc", SFILE_OPEN_PATCHED_FILE, &dbcFile))
{
printf("Fatal error: Cannot find AreaTable.dbc in archive!\n");
exit(1);
}
DBCFile dbc(dbcFile);
if(!dbc.open())
{
printf("Fatal error: Invalid AreaTable.dbc file format!\n");
exit(1);
}
size_t area_count = dbc.getRecordCount();
maxAreaId = dbc.getMaxId();
areas = new uint16[maxAreaId + 1];
for (uint32 x = 0; x < area_count; ++x)
areas[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
SFileCloseFile(dbcFile);
printf("Done! (%u areas loaded)\n", area_count);
}
void DBConfWindow::verifyTables() {
DBCon dbc(dbSettings, "check-tables");
if (dbc.isOpen()) {
QString tableCheck = "SHOW TABLES;";
statusBox->insertPlainText(tr("\nVerifying db tables exist...\n"));
QSqlQuery results = dbc.execQuery(tableCheck);
QStringList dbTableList;
while (results.next()) {
QString dbt = results.value(0).toString();
dbTableList.append(dbt);
}
DBTableList expected = dbSettings->getTables();
foreach (DBTable* table, expected) {
statusBox->insertPlainText("-> " + table->name() + ": ");
if (dbTableList.contains(table->name())) {
statusBox->setTextColor(Qt::green);
statusBox->insertPlainText(tr("exists"));
} else {
statusBox->setTextColor(Qt::red);
statusBox->insertPlainText(tr("missing"));
}
statusBox->setTextColor(Qt::black);
scrollToEnd();
statusBox->insertPlainText("\n");
}
void DBConfWindow::testConnection() {
statusBox->setVisible(true);
QString dbTypeStr = dbSettings->dbTypeStr();
statusBox->insertPlainText(tr("\nVerifying %1 driver is installed...").arg(dbTypeStr));
bool isValidDBDriver = DBCon::isValidDatabaseDriver("Q" + dbTypeStr);
if (isValidDBDriver) {
statusBox->insertPlainText(tr("yes\n"));
}
else {
statusBox->setTextColor(Qt::red);
statusBox->insertPlainText(tr("no"));
statusBox->setTextColor(Qt::black);
statusBox->insertPlainText("\n");
}
statusBox->insertPlainText(tr("Attempting to connect to database...\n"));
DBCon dbc(dbSettings, "test-database");
if (dbc.isValid()) {
statusBox->insertPlainText(tr("Database connection driver is valid\n"));
}
if (dbc.isOpenError()) {
statusBox->setTextColor(Qt::red);
statusBox->insertPlainText(tr("Error opening database connection:\n"));
statusBox->insertPlainText(dbc.lastError());
statusBox->setTextColor(Qt::black);
statusBox->insertPlainText("\n");
}
else if (dbc.isOpen()) {
statusBox->insertPlainText(tr("Connection to database has been opened successfully!\n"));
statusBox->setTextColor(Qt::blue);
statusBox->insertPlainText(tr("You should save the database settings now."));
statusBox->setTextColor(Qt::black);
}
scrollToEnd();
}
void ReadLiquidTypeTableDBC()
{
printf("Read LiquidType.dbc file...");
HANDLE dbcFile;
if (!SFileOpenFileEx(LocaleMpq, "DBFilesClient\\LiquidType.dbc", SFILE_OPEN_PATCHED_FILE, &dbcFile))
{
printf("Fatal error: Cannot find LiquidType.dbc in archive!\n");
exit(1);
}
DBCFile dbc(dbcFile);
if(!dbc.open())
{
printf("Fatal error: Invalid LiquidType.dbc file format!\n");
exit(1);
}
size_t liqTypeCount = dbc.getRecordCount();
size_t liqTypeMaxId = dbc.getMaxId();
LiqType = new uint16[liqTypeMaxId + 1];
memset(LiqType, 0xff, (liqTypeMaxId + 1) * sizeof(uint16));
for(uint32 x = 0; x < liqTypeCount; ++x)
LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
SFileCloseFile(dbcFile);
printf("Done! (%u LiqTypes loaded)\n", liqTypeCount);
}
lat_objeto *nodo_analizar_arbol(lat_vm *vm, ast *tree) {
lat_bytecode *bcode = (lat_bytecode *)lat_asignar_memoria(sizeof(lat_bytecode) * MAX_BYTECODE_FUNCTION);
int i = nodo_analizar(vm, tree, bcode, 0);
dbc(OP_END, 0, 0, NULL);
nodo_liberar(tree);
return lat_definir_funcion(vm, bcode);
}
void ThreadPool::run() {
if(isRunning) return; //Threads are already running.
isRunning = true;
for(int i = 0; i < count; i++) {
threads.push_back(std::thread([&] (void) -> void {
DBConnection dbc(dbWriteLock);
dbc.open(DB_FILE);
ServiceLocator sl;
sl.setAsServiceLocator();
sl.setDBConnection(&dbc);
initFunction();
while(true) {
poolLock.wait();
if(!isRunning) break;
int handle = this->popHandle();
sl.setClientSocketHandle(handle);
runFunction(handle);
}
deinitFunction();
dbc.close();
}));
}
}
solid_object *parse_tree(ast_node *tree)
{
solid_bytecode *bcode = (solid_bytecode *) malloc(
sizeof(solid_bytecode) * 1024);
int i = parse_node(tree, bcode, 0);
dbc(OP_END, 0, 0, NULL);
return define_function(bcode, NULL);
}
bool
MapModuleNotice::save(DataBuffer* dataBuffer, int version)
{
DataBufferChecker dbc(*dataBuffer, "MapModuleNotice::save");
dbc.assertRoom(getSizeInDataBuffer(version));
mc2dbg << "Saves MapModuleNotice" << endl;
if ( version > 0 ) {
// Version of MapModuleNotice on disk.
// Differs from the version of index.db, but does
// not exist in index.db version 0
dataBuffer->writeNextLong( 1 );
}
dataBuffer->writeNextLong(m_mapID);
dataBuffer->writeNextLong(m_countryCode);
dataBuffer->writeNextLong(m_creationTime);
dataBuffer->writeNextShort(0); // Number of strings
dataBuffer->writeNextByte(0); // Current status. Not used.
dataBuffer->writeNextByte(m_neighbourMaps.size());
mc2dbg4 << "[MMN]: Saving mapnotice with mapID " << m_mapID << endl;
mc2dbg4 << ", nbrStrings = 0, nbrNeighbours = "
<< m_neighbourMaps.size() << endl;
mc2dbg4 << " m_neighbourMaps: [";
// Save neighbour maps
for( set<uint32>::const_iterator it = m_neighbourMaps.begin();
it != m_neighbourMaps.end();
++it ) {
dataBuffer->writeNextLong(*it);
mc2dbg4 << *it << " ";
}
mc2dbg4 << "]" << endl;
// Save the strings.
// Removed
// Save the GfxData
m_gfxData->save( *dataBuffer );
MC2BoundingBox bbox;
m_gfxData->getMC2BoundingBox(bbox);
mc2dbg << "Saved gfx with bbox:" << endl;
bbox.dump();
if ( version > 0 ) {
mc2dbg4 << "[MMN]: Saving map name \"" << m_mapName << "\" for map id "
<< m_mapID << endl;
dataBuffer->writeNextString(m_mapName);
}
return (true);
}
void ExtractGameobjectModels()
{
printf("Extracting GameObject models...");
DBCFile dbc(LocaleMpq, "DBFilesClient\\GameObjectDisplayInfo.dbc");
if(!dbc.open())
{
printf("Fatal error: Invalid GameObjectDisplayInfo.dbc file format!\n");
exit(1);
}
std::string basepath = szWorkDirWmo;
basepath += "/";
std::string path;
FILE * model_list = fopen((basepath + "temp_gameobject_models").c_str(), "wb");
for (DBCFile::Iterator it = dbc.begin(); it != dbc.end(); ++it)
{
path = it->getString(1);
if (path.length() < 4)
continue;
FixNameCase((char*)path.c_str(), path.size());
char * name = GetPlainName((char*)path.c_str());
FixNameSpaces(name, strlen(name));
char * ch_ext = GetExtension(name);
if (!ch_ext)
continue;
strToLower(ch_ext);
bool result = false;
if (!strcmp(ch_ext, ".wmo"))
result = ExtractSingleWmo(path);
else if (!strcmp(ch_ext, ".mdl")) // TODO: extract .mdl files, if needed
continue;
else //if (!strcmp(ch_ext, ".mdx") || !strcmp(ch_ext, ".m2"))
result = ExtractSingleModel(path);
if (result)
{
uint32 displayId = it->getUInt(0);
uint32 path_length = strlen(name);
fwrite(&displayId, sizeof(uint32), 1, model_list);
fwrite(&path_length, sizeof(uint32), 1, model_list);
fwrite(name, sizeof(char), path_length, model_list);
}
}
fclose(model_list);
printf("Done!\n");
}
task gyroTask()
{
float lastTime = nPgmTime;
while(1)
{
gyroData.degsec = HTGYROreadRot(GYRO);
gyroData.deg += dbc(gyroData.degsec,1)*((nPgmTime-lastTime)/1000);
lastTime = nPgmTime;
wait1Msec(1);
}
}
void
IDTranslationTable::load(DataBuffer& dbuf)
{
DataBufferChecker dbc(dbuf, "IDTranslationTable::load");
if ( m_version != 0) {
loadOld( dbuf, 0 ); // ok to use 0 here? when is load() used?
} else {
loadNew( dbuf, 0 );
}
dbc.assertPosition(getSizeInDataBuffer());
}
// copied from contrib/extractor/System.cpp
void ReadLiquidTypeTableDBC()
{
switch(expansion)
{
case 0:
{
printf("Setting liquid types...");
LiqType = new uint16[21];
memset(LiqType, 0xff, (21)*sizeof(uint16));
LiqType[1] = 0;
LiqType[2] = 1;
LiqType[3] = 2;
LiqType[4] = 3;
LiqType[21] = 3;
printf("Done! (5 LiqTypes set)\n");
}break;
case 1:
{
printf("Setting liquid types...");
LiqType = new uint16[62];
memset(LiqType, 0xff, (62)*sizeof(uint16));
LiqType[1] = 0;
LiqType[2] = 1;
LiqType[3] = 2;
LiqType[4] = 3;
LiqType[21] = 3;
LiqType[41] = 0;
LiqType[61] = 0;
printf("Done! (7 LiqTypes set)\n");
}break;
default:
{
printf("Read LiquidType.dbc file...");
DBCFile dbc("DBFilesClient\\LiquidType.dbc");
if(!dbc.open())
{
printf("Fatal error: Invalid LiquidType.dbc file format!\n");
exit(1);
}
size_t LiqType_count = dbc.getRecordCount();
size_t LiqType_maxid = dbc.getRecord(LiqType_count - 1).getUInt(0);
LiqType = new uint16[LiqType_maxid + 1];
memset(LiqType, 0xff, (LiqType_maxid + 1) * sizeof(uint16));
for(uint32 x = 0; x < LiqType_count; ++x)
LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
printf("Done! (%u LiqTypes loaded)\n", (unsigned int)LiqType_count);
}break;
}
}
void ReadAreaTableDBC()
{
printf("Read AreaTable.dbc file... ");
DBCFile dbc("DBFilesClient\\AreaTable.dbc");
dbc.open();
unsigned int area_count=dbc.getRecordCount();
uint32 maxid = dbc.getMaxId();
areas=new uint16[maxid + 1];
memset(areas, 0xff, sizeof(areas));
for(unsigned int x=0; x<area_count;++x)
areas[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
printf("Done! (%u areas loaded)\n", area_count);
}
void ReadLiquidTypeTableDBC()
{
printf("Read LiquidType.dbc file...");
DBCFile dbc("DBFilesClient\\LiquidType.dbc");
dbc.open();
size_t LiqType_count = dbc.getRecordCount();
size_t LiqType_maxid = dbc.getMaxId();
LiqType = new uint16[LiqType_maxid + 1];
memset(LiqType, 0xff, (LiqType_maxid + 1) * sizeof(uint16));
for(uint32 x = 0; x < LiqType_count; ++x)
LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
printf("Done! (%u LiqTypes loaded)\n", LiqType_count);
}
bool DBC::set_range(const IterationStrategy &strategy, const Bounds &bounds, YDB_CALLBACK_FUNCTION callback, void *extra) const {
int r = dbc()->c_set_bounds(dbc(), bounds.left_dbt(), bounds.right_dbt(), strategy.prelock, 0);
handle_ft_retval(r);
if (strategy.forward) {
if (bounds.left_infinite()) {
r = dbc()->c_getf_first(dbc(), strategy.getf_flags(), callback, extra);
} else {
r = dbc()->c_getf_set_range(dbc(), strategy.getf_flags(), const_cast<DBT *>(bounds.left_dbt()), callback, extra);
}
} else {
if (bounds.right_infinite()) {
r = dbc()->c_getf_last(dbc(), strategy.getf_flags(), callback, extra);
} else {
r = dbc()->c_getf_set_range_reverse(dbc(), strategy.getf_flags(), const_cast<DBT *>(bounds.right_dbt()), callback, extra);
}
}
if (r == DB_NOTFOUND) {
return false;
} else if (r != 0 && r != -1) {
handle_ft_retval(r);
}
return true;
}
uint32 ReadMapDBC()
{
printf("Read Map.dbc file... ");
DBCFile dbc("DBFilesClient\\Map.dbc");
dbc.open();
uint32 map_count=dbc.getRecordCount();
map_ids=new map_id[map_count];
for(unsigned int x=0;x<map_count;x++)
{
map_ids[x].id=dbc.getRecord(x).getUInt(0);
strcpy(map_ids[x].name,dbc.getRecord(x).getString(1));
}
printf("Done! (%u maps loaded)\n", map_count);
return map_count;
}
int
SearchUnit::save(DataBuffer& buf) const
{
DataBufferChecker dbc(buf, "SearchUnit::save");
dbc.assertRoom(getSizeInDataBuffer());
// Write the version
buf.writeNextLong(0);
m_searchMap->save(buf);
m_ownedMultiStringSearch->save(buf);
// Done
dbc.assertPosition(getSizeInDataBuffer());
return getSizeInDataBuffer();
}
void
role_perms_edit_dialog::set_checkboxes()
{
db_ctxt dbc(true);
try {
if (m_role_oid > 0) {
db_role role(m_role_oid);
QList<db_obj_privilege> privs_for_read = db_obj_privilege::ability_privileges("read", &dbc);
m_initial_privs[priv_read] = role.has_multiple_privileges(privs_for_read, &dbc);
QList<db_obj_privilege> privs_for_update = db_obj_privilege::ability_privileges("update", &dbc);
m_initial_privs[priv_update] = role.has_multiple_privileges(privs_for_update, &dbc);
QList<db_obj_privilege> privs_for_trash = db_obj_privilege::ability_privileges("trash", &dbc);
m_initial_privs[priv_trash] = role.has_multiple_privileges(privs_for_trash, &dbc);
QList<db_obj_privilege> privs_for_delete = db_obj_privilege::ability_privileges("delete", &dbc);
m_initial_privs[priv_delete] = role.has_multiple_privileges(privs_for_delete, &dbc);
QList<db_obj_privilege> privs_for_compose = db_obj_privilege::ability_privileges("compose", &dbc);
m_initial_privs[priv_compose] = role.has_multiple_privileges(privs_for_compose, &dbc);
QList<db_obj_privilege> privs_for_basic_management = db_obj_privilege::ability_privileges("admin-level1", &dbc);
m_initial_privs[priv_basic_management] = role.has_multiple_privileges(privs_for_basic_management, &dbc);
}
else {
memset((void*)m_initial_privs, 0, sizeof(m_initial_privs));
}
m_perm_read->setChecked(m_initial_privs[priv_read]);
m_perm_update->setChecked(m_initial_privs[priv_update]);
m_perm_trash->setChecked(m_initial_privs[priv_trash]);
m_perm_delete->setChecked(m_initial_privs[priv_delete]);
m_perm_compose->setChecked(m_initial_privs[priv_compose]);
m_perm_basic_management->setChecked(m_initial_privs[priv_basic_management]);
}
catch(db_excpt& p) {
DBEXCPT (p);
}
}
// copied from contrib/extractor/System.cpp
void ReadLiquidTypeTableDBC()
{
HANDLE localeFile;
char localMPQ[1024];
snprintf(localMPQ, sizeof(localMPQ), "%smisc.MPQ", input_path);
if (FileExists(localMPQ)==false)
{ // Use misc.mpq
printf(localMPQ, "%s/Data/%s/locale-%s.MPQ", input_path);
}
if (!SFileOpenArchive(localMPQ, 0, MPQ_OPEN_READ_ONLY, &localeFile))
{
exit(1);
}
printf("Read LiquidType.dbc file...");
HANDLE dbcFile;
if (!SFileOpenFileEx(localeFile, "DBFilesClient\\LiquidType.dbc", SFILE_OPEN_PATCHED_FILE, &dbcFile))
{
if (!SFileOpenFileEx(localeFile, "DBFilesClient\\LiquidType.dbc", SFILE_OPEN_PATCHED_FILE, &dbcFile))
{
printf("Fatal error: Cannot find LiquidType.dbc in archive!\n");
exit(1);
}
}
DBCFile dbc(localeFile, "DBFilesClient\\LiquidType.dbc");
if (!dbc.open())
{
printf("Fatal error: Invalid LiquidType.dbc file format!\n");
exit(1);
}
size_t LiqType_count = dbc.getRecordCount();
size_t LiqType_maxid = dbc.getMaxId();
LiqType = new uint16[LiqType_maxid + 1];
memset(LiqType, 0xff, (LiqType_maxid + 1) * sizeof(uint16));
for (size_t x = 0; x < LiqType_count; ++x)
LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
printf("Done! (%zu LiqTypes loaded)\n", LiqType_count);
}
void armBaseUpdate()
{
int potInput = HTSPBreadADC(S3, 0, 10)+BASE_OFFSET;
static int loopsStable = 0;
if ( abs(base.error) <= 60 ) // was 75
{
if ( loopsStable < 1000 ) loopsStable++;
}
else
loopsStable = 0;
if ( potInput < 500 && potInput > 270 )
{
// Arm is in top range - very little force needed to maintain position
base.Kp = 0.7;
base.Ki = 0.01;
base.errorSum = 0;
}
else
{
base.Kp = 1.5;
base.Ki = 0.07;
}
if ( abs(base.error) > 70 && base.target == BASE_PICKUP ) // Arm is headed forward and we are far away
base.Kd = 2.5; // increase D to prevent slaming against the floor
//else if ( potInput > 450 && base.target > 450 ) // TODO: check if this D modification is still needed
// base.Kd = 2.5;
else
base.Kd = 0.4;
if ( loopsStable <= 9 ) // was 20
motor[armBase] = dbc(limitVar(calcPID(base, potInput), 80), 23);
else
{
calcPID(base, potInput); // keep PID updated for error calculation
// even though we are not using it's output
base.errorSum = 0; // prevent I from building up
motor[armBase] = 0;
}
}
void ReadLiquidTypeTableDBC()
{
printf("Read LiquidType.dbc file...");
DBCFile dbc("DBFilesClient\\LiquidType.dbc");
if(!dbc.open())
{
printf("Fatal error: Invalid LiquidType.dbc file format!\n");
exit(1);
}
size_t liqTypeCount = dbc.getRecordCount();
size_t liqTypeMaxId = dbc.getMaxId();
LiqType = new uint16[liqTypeMaxId + 1];
memset(LiqType, 0xff, (liqTypeMaxId + 1) * sizeof(uint16));
for(uint32 x = 0; x < liqTypeCount; ++x)
LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
printf("Done! (" SZFMTD " LiqTypes loaded)\n", liqTypeCount);
}
// copied from contrib/extractor/System.cpp
void ReadLiquidTypeTableDBC()
{
printf("Read LiquidType.dbc file...");
DBCFile dbc("DBFilesClient\\LiquidType.dbc");
if(!dbc.open())
{
printf("Fatal error: Invalid LiquidType.dbc file format!\n");
exit(1);
}
size_t LiqType_count = dbc.getRecordCount();
size_t LiqType_maxid = dbc.getRecord(LiqType_count - 1).getUInt(0);
LiqType = new uint16[LiqType_maxid + 1];
memset(LiqType, 0xff, (LiqType_maxid + 1) * sizeof(uint16));
for(uint32 x = 0; x < LiqType_count; ++x)
LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3);
printf("Done! (%u LiqTypes loaded)\n", (unsigned int)LiqType_count);
}
/**
* @brief
*
*/
void ReadLiquidTypeTableDBC()
{
printf("Reading liquid types from LiquidType.dbc...");
DBCFile dbc("DBFilesClient\\LiquidType.dbc");
if (!dbc.open())
{
printf("Fatal error: Could not read LiquidType.dbc!\n");
exit(1);
}
size_t LiqType_count = dbc.getRecordCount();
size_t LiqType_maxid = dbc.getMaxId();
LiqType = new uint16[LiqType_maxid + 1];
memset(LiqType, 0xff, (LiqType_maxid + 1) * sizeof(uint16));
for (uint32 x = 0; x < LiqType_count; ++x)
{ LiqType[dbc.getRecord(x).getUInt(0)] = dbc.getRecord(x).getUInt(3); }
printf("Success! %lu liquid types loaded.\n", LiqType_count);
}
