void printParam()
{
std::cout << "class CShip" << std::endl;
printSpeed();
printCoord();
printGeneralParam();
std::cout << "; port_registry = " << m_port_registry << "; num_pass = "******"\n \n" <<std::endl;
}
void Finger::printDetails(void)
{
MYSERIAL.print("Finger ");
MYSERIAL.print(fingerIndex);
MYSERIAL.print(" ");
printSpeed();
printPos();
printDir();
printReached(true); // print new line after
}
int main(void)
{
setlocale(LC_ALL, "en_US.UTF-8");
int x,y,height,width;
char *data = inputString(stdin, 1024);
freopen("/dev/tty", "rw", stdin);
// enabling ncurses mode
WINDOW *win = initscr();
keypad(win, TRUE);
noecho();
cbreak();
curs_set(0);
// create colorpair for pivot character
start_color();
use_default_colors();
init_pair(1,COLOR_RED,-1);
// get terminal size
getmaxyx(win,height,width);
y=height/2;
x=width/2;
// print info
mvaddstr(1,1,INFO);
mvaddstr(height-2,1,USAGE);
// print pivot markers
attron(COLOR_PAIR(1));
mvaddstr(y-1,x,MARKTOP);
mvaddstr(y+1,x,MARKBOT);
attroff(COLOR_PAIR(1));
refresh();
int speed = 350;
printSpeed(speed);
fastread(data,x,y,speed);
free(data);
endwin();
return 0;
}
uint32_t lookupPacketSamplingRate(SFLAdaptor *adaptor, HSPSFlowSettings *settings)
{
// This falls back on the default "sampling=<n>" setting if the speed is unknown or zero
uint32_t sampling_n = settings->samplingRate;
char *method = "global_default";
if(adaptor) {
HSPAdaptorNIO *adaptorNIO = (HSPAdaptorNIO *)adaptor->userData;
if(adaptorNIO->up == NO) {
sampling_n = 0;
method = "interface_down";
}
else {
char speedStr[51];
if(adaptor->ifSpeed) {
if(printSpeed(adaptor->ifSpeed, speedStr, 50)
&& lookupApplicationSettings(settings, NULL, speedStr, &sampling_n, NULL)) {
method = speedStr;
}
else {
// calcuate default sampling rate based on link speed. This ensures
// that a network switch comes up with manageable defaults even if
// the config file is empty...
sampling_n = adaptor->ifSpeed / HSP_SPEED_SAMPLING_RATIO;
if(sampling_n < HSP_SPEED_SAMPLING_MIN) {
sampling_n = HSP_SPEED_SAMPLING_MIN;
}
method = "speed_default";
}
}
}
if(debug) {
myLog(LOG_INFO, "%s (speed=%"PRIu64") using %s sampling rate = %u",
adaptor->deviceName,
adaptor->ifSpeed,
method,
sampling_n);
}
}
return sampling_n;
}
/**
* Main loop.
*/
int main(void) {
int32_t lastSpeedCalc = 0;
int32_t lastDebug = 0;
int32_t lastDebug2 = 0;
// initalize all modules
initAll();
// enable interrupts (i.e timers start from here)
sei();
// The LOOP
while(1) {
// read serial port
readCommand(); // communication.c
// apply speed calculation and run odometer
if (uptime() >= lastSpeedCalc + SPEED_CALC_PERIOD) {
lastSpeedCalc += SPEED_CALC_PERIOD;
calculateSpeeds(); // motors.c
if (pidOn) {
runPID(); // motors.c
}
//if (debug1) printSpeed(CPUCHAR);
runOdometer(); // odometer.c
navigator();
}
// read sensors and apply position correction
positionCorrection(); // odometer.c
// print debug loop 2
if (uptime() >= (lastDebug2 + 20)) {
lastDebug2 = uptime();
if (debug6) printf("%d, %d\r\n", p_LsensVal, p_RsensVal);
}
// print debug
if ((debugPeriod) && uptime() >= (lastDebug + debugPeriod)) {
lastDebug += debugPeriod;
//if (debug1) printf(">21%02x\r", speed0 >> 4);
//if (debug1) printf(">21%04x\r>22%04x\r", readADC(0), readADC(1));
//if (debug2) printf("%ld\t%ld\r\n", timer, timer20);
//if (debug2) printf_P(PSTR("%d\t%d\r\n"), p_L, p_R);
if (debug3) printf_P(PSTR("%d, %d / %d, %d / %d, %d / %u, %u\r\n"),
p_Ltrans, p_Lrel, p_Rtrans, p_Rrel, p_Lerr, p_Rerr, posCorrLeftFailed, posCorrRightFailed);
//if (debug4) printf_P(PSTR("%ld\t%ld\r\n"), ticks0, ticks1);
//if (debug5) printSpeed(CPUCHAR);
//if (debug5) printf_P(PSTR("%d\t%d\r\n"), speed0, speed1);
//if (debug6) printf_P(PSTR("%d\t%d\r\n"), accel0, accel1);
if (debug7) printf_P(PSTR("%u\t%u\r\n"), power0, power1);
// debug for GUI
printTicks(CPUCHAR);
printSpeed(CPUCHAR);
printAccel(CPUCHAR);
printAbsDist(CPUCHAR);
printRelDist(CPUCHAR);
printSensors(CPUCHAR);
}
}
while(1);
}
// fast read looper
void fastread(char *data, int x, int y, int speed)
{
bool run = false;
bool pause = false;
bool last = false;
int ch;
char *curr = data;
int length = 0;
int pivot = 0;
int maxlen = strlen(data)-1;
while(true)
{
// reset line
mvprintw(y,0," ");
clrtoeol();
char *next = curr;
next = strpbrk(next,DELIM);
// did we hit the end of the string?
if(!next || (int)(next-data)>=maxlen){
run = false;
last = true;
}
// length of the chararray (not neccessarely charachter count in utf8)
length = (int)(next-curr);
// calulate character count
int charlength = 0;
for(int i=0; i<length; i+=byteInChar((unsigned char)*(curr+i)))
++charlength;
// which letter to highlight
pivot = pivotLetter(charlength);
int pos = pivot;
// print characters before pivot letter, if any
if(pivot > 0)
{
char pre[pivot*4+1];
int offset=0;
for(int i=0; i<pivot; i++)
{
pre[i+offset]=*(curr+i+offset);
// if wide character copy the rest and alter offset
int charsize = byteInChar((unsigned char)pre[i+offset]);
for(int j=1; j<charsize; j++)
{
++offset;
pre[i+offset]=*(curr+i+offset);
}
}
// apply offset
pivot+=offset;
pre[pivot] = '\0';
mvprintw(y,x-pos,"%s",pre);
}
// print pivot letter
char mid[5];
int offset=0;
mid[0]=*(curr+pivot);
// if wide character copy the rest and alter offset
int charsize = byteInChar((unsigned char)mid[0]);
for(int i=1; i<charsize; i++)
{
++offset;
mid[i]=*(curr+pivot+offset);
}
// apply offset
pivot+=offset;
mid[1+offset] = '\0';
attron(COLOR_PAIR(1));
mvprintw(y,x,"%s",mid);
attroff(COLOR_PAIR(1));
// print characters after pivot letter, if any
if(length>pivot+1)
{
char end[length-pivot];
strncpy(end, curr+pivot+1, length-pivot-1);
end[length-pivot-1] = '\0';
mvprintw(y,x+1,"%s",end);
}
if(*next == '-')
mvprintw(y,x+length-pivot,"-");
refresh();
if(pause)
{
// pause was set -> stop run, reset pause flag
pause = false;
run = false;
}
do
{
// nonblocking keyboard input if running, blocking otherwise
if(run && !last)
timeout(0);
ch = getch();
switch(ch)
{
case ' ':
// toggle pause
if(run)
run = false;
else if(!last)
run = true;
break;
case 'q':
// quit
return;
break;
case 'k':
// less speed
speed+=50;
printSpeed(speed);
break;
case 'j':
// more speed
speed-=50;
if(speed < 50)
speed = 50;
printSpeed(speed);
break;
case 'h':
// previous word, pause
run = true;
pause = true;
last = false;
next = backwards(data, next-2, DELIM);
do
next = backwards(data, --next, DELIM);
while(strchr(DELIM,*(--next)) && (int)(next-data)>0);
break;
case 'l':
// next word, pause
run = true;
pause = true;
break;
case 'g':
// back to start
next = data;
--next;
last = false;
pause = true;
run = true;
break;
default:
break;
}
int delay = 0;
if(charlength>8)
delay = 200;
else if(charlength>12)
delay = 400;
else if(charlength>16)
delay = 600;
if(run)
usleep(1000*1000*60/speed+delay);
}
while(last || !run);
// skip multiple whitespaces until a word begins
while(next && (int)(next-data)<maxlen && strchr(DELIM,*(++next)))
next = strpbrk(next,DELIM);
// if we hit the end go back until last word begins
if((int)(next-data)>=maxlen)
{
--next;
do
next = backwards(data, next, DELIM);
while(strchr(DELIM,*(--next)) && (int)(next-data)>0);
next = backwards(data, next, DELIM);
++next;
}
curr = next;
}
}
void Finger::printSpeed(void)
{
printSpeed(0);
}