int main(void)
{
init();
while (true) {
main_step();
}
}
int main(void)
{
main_init();
while(1) {
main_step();
}
}
/* executed on the actual hardware */
void main_realtime(int argc, char *argv[])
{
main_init(argc, argv);
main_realtime_init();
interval_t interval;
interval_init(&interval);
DATA_DEFINITION();
PERIODIC_THREAD_LOOP_BEGIN
{
dt = interval_measure(&interval);
sensor_status = platform_read_sensors(&marg_data, &gps_data, &ultra_z, &baro_z, &voltage, ¤t, channels);
main_step(dt, &marg_data, &gps_data, ultra_z, baro_z, voltage, current, channels, sensor_status, 0);
}
PERIODIC_THREAD_LOOP_END
}
void baseRateTask(void *arg)
{
runModel = (rtmGetErrorStatus(main_M) == (NULL)) && !rtmGetStopRequested
(main_M);
while (runModel) {
sem_wait(&baserateTaskSem);
main_step();
/* Get model outputs here */
runModel = (rtmGetErrorStatus(main_M) == (NULL)) && !rtmGetStopRequested
(main_M);
}
sem_post(&termSem);
pthread_exit((void *)0);
}
void main_event_handler()
{
ULONG result;
UWORD Code;
static char *strinfo, *args;
static char *path;
int line=0;
int *iptr;
struct Node *node;
uint32 addr;
struct Process *pr;
while ((result = RA_HandleInput(MainWinObj, &Code)) != WMHI_LASTMSG && done != TRUE)
{
switch (result & WMHI_CLASSMASK)
{
case WMHI_CLOSEWINDOW:
done = TRUE;
break;
case WMHI_ICONIFY:
if( RA_Iconify(MainWinObj) )
mainwin = NULL;
break;
case WMHI_UNICONIFY:
mainwin = RA_Uniconify(MainWinObj);
if( !mainwin )
done = TRUE;
break;
case WMHI_MENUPICK:
if (Code != MENUNULL)
switch (MENUNUM(Code))
{
case MENU_FILE:
switch(ITEMNUM(Code))
{
case MENU_PREFS:
preferences_open_window();
break;
case MENU_MODULES:
modules_open_window();
break;
case MENU_ABOUT:
show_about();
break;
case MENU_QUIT:
done = TRUE;
break;
}
}
break;
case WMHI_GADGETUP:
switch(result & WMHI_GADGETMASK)
{
case GAD_SELECT_BUTTON:
strinfo = request_file(mainwin, &path);
if (!strinfo)
break;
strcpy (filename, strinfo);
if (strlen(path) > 0)
{
strcpy (childpath, path);
}
if(!request_arguments(&args))
{
console_printf(OUTPUT_WARNING, "User aborted!");
break;
}
main_load (strinfo, path, args);
break;
case GAD_RELOAD_BUTTON:
main_load(strinfo, path, args);
break;
case GAD_ATTACH_BUTTON:
if(!isattached)
{
pr = attach_select_process();
if(main_attach (pr))
button_set_detach();
}
else
{
console_printf(OUTPUT_SYSTEM, "Detaching from external process...");
detach();
stabs_free_stabs();
button_set_attach();
enable(TRUE, GAD_SELECT_BUTTON, TAG_END);
enable(FALSE, GAD_START_BUTTON, GAD_PAUSE_BUTTON, GAD_KILL_BUTTON, GAD_STEPOVER_BUTTON,
GAD_STEPINTO_BUTTON, GAD_STEPOUT_BUTTON, GAD_SETBREAK_BUTTON, GAD_HEX_BUTTON, TAG_END);
console_printf(OUTPUT_SYSTEM, "Done!");
}
break;
case GAD_START_BUTTON:
main_play();
break;
case GAD_PAUSE_BUTTON:
main_pause();
break;
case GAD_STEPOVER_BUTTON:
main_step();
break;
case GAD_STEPINTO_BUTTON:
main_into();
break;
case GAD_STEPOUT_BUTTON:
main_out();
break;
case GAD_KILL_BUTTON:
main_kill();
break;
#if 0
case GAD_CRASH_BUTTON:
crash();
break;
#endif
case GAD_SETBREAK_BUTTON:
breakpoints_open_window();
break;
case GAD_VARIABLES_LISTBROWSER:
variables_handle_input();
break;
case GAD_SIGNAL_BUTTON:
sigwin_open_window();
break;
case GAD_IMPORT_BUTTON:
import_open_window();
break;
case GAD_X_BUTTON:
console_clear();
break;
case GAD_HEX_BUTTON:
hex_open_window();
break;
case GAD_DISASSEMBLER_LISTBROWSER:
disassembler_show_selected();
break;
case GAD_DISASSEMBLER_STEP_BUTTON:
asmstep();
should_continue = FALSE;
asm_trace = TRUE;
break;
case GAD_DISASSEMBLER_SKIP_BUTTON:
asmskip();
disassembler_makelist();
break;
case GAD_SOURCE_LISTBROWSER:
source_handle_input();
source_show_currentline();
break;
case GAD_SOURCELIST_LISTBROWSER:
sourcelist_handle_input();
break;
case GAD_AREXX_BUTTON:
case GAD_AREXX_STRING:
{
char *str;
IIntuition->GetAttrs( MainObj[GAD_AREXX_STRING], STRINGA_TextVal, &str, TAG_DONE );
strcpy (arexxcommandstring, str);
arexxexecute.MethodID = AM_EXECUTE;
arexxexecute.ape_CommandString = arexxcommandstring;
arexxexecute.ape_PortName = "AREXXDB101";
arexxexecute.ape_IO = (BPTR)NULL;
IIntuition->SetAttrs( MainObj[GAD_AREXX_STRING], STRINGA_TextVal, "", TAG_DONE );
IIntuition->RefreshGadgets ((struct Gadget *)MainObj[GAD_AREXX_STRING], mainwin, NULL);
console_printf(OUTPUT_AREXX, arexxcommandstring);
IIntuition->IDoMethodA(arexx_obj, (Msg)&arexxexecute);
//IIntuition->ActivateGadget((struct Gadget *)MainObj[GAD_AREXX_STRING], mainwin, NULL);
ILayout->ActivateLayoutGadget((struct Gadget *)MainObj[GAD_TOPLAYOUT], mainwin, NULL, (uint32)MainObj[GAD_AREXX_STRING]);
break;
}
}
break;
}
}
return;
}
