static bool press_any_key(void) {
char k = 0;
bool need_nl = true;
printf("-- Press any key to proceed --");
fflush(stdout);
(void) read_one_char(stdin, &k, USEC_INFINITY, &need_nl);
if (need_nl)
putchar('\n');
return k != 'q';
}
int ask_char(char *ret, const char *replies, const char *text, ...) {
int r;
assert(ret);
assert(replies);
assert(text);
for (;;) {
va_list ap;
char c;
bool need_nl = true;
if (on_tty())
fputs(ANSI_HIGHLIGHT, stdout);
va_start(ap, text);
vprintf(text, ap);
va_end(ap);
if (on_tty())
fputs(ANSI_NORMAL, stdout);
fflush(stdout);
r = read_one_char(stdin, &c, USEC_INFINITY, &need_nl);
if (r < 0) {
if (r == -EBADMSG) {
puts("Bad input, please try again.");
continue;
}
putchar('\n');
return r;
}
if (need_nl)
putchar('\n');
if (strchr(replies, c)) {
*ret = c;
return 0;
}
puts("Read unexpected character, please try again.");
}
}
/*
* ttgetc - Read a character from the terminal, performing no editing
* and doing no echo at all.
*
* Args: return_on_intr -- Function to get a single character from stdin,
* recorder -- If non-NULL, function used to record keystroke.
* bail_handler -- Function used to bail out on read error.
*
* Returns: The character read from stdin.
* Return_on_intr is returned if read is interrupted.
* If read error, BAIL_OUT is returned unless bail_handler is
* non-NULL, in which case it is called (and usually it exits).
*
* If recorder is non-null, it is used to record the keystroke.
*/
int
ttgetc(int return_on_intr, int (*recorder)(int), void (*bail_handler)(void))
{
int c;
switch(c = read_one_char()){
case READ_INTR:
return(return_on_intr);
case BAIL_OUT:
if(bail_handler)
(*bail_handler)();
else
return(BAIL_OUT);
default:
return(recorder ? (*recorder)(c) : c);
}
}
int main(int argc, char *argv[]) {
int r;
Hashmap *a = NULL, *b = NULL;
unsigned iteration = 0;
usec_t last_refresh = 0;
bool quit = false, immediate_refresh = false;
_cleanup_free_ char *root = NULL;
CGroupMask mask;
log_parse_environment();
log_open();
r = cg_mask_supported(&mask);
if (r < 0) {
log_error_errno(r, "Failed to determine supported controllers: %m");
goto finish;
}
arg_count = (mask & CGROUP_MASK_PIDS) ? COUNT_PIDS : COUNT_USERSPACE_PROCESSES;
r = parse_argv(argc, argv);
if (r <= 0)
goto finish;
r = get_cgroup_root(&root);
if (r < 0) {
log_error_errno(r, "Failed to get root control group path: %m");
goto finish;
}
a = hashmap_new(&string_hash_ops);
b = hashmap_new(&string_hash_ops);
if (!a || !b) {
r = log_oom();
goto finish;
}
signal(SIGWINCH, columns_lines_cache_reset);
if (arg_iterations == (unsigned) -1)
arg_iterations = on_tty() ? 0 : 1;
while (!quit) {
Hashmap *c;
usec_t t;
char key;
char h[FORMAT_TIMESPAN_MAX];
t = now(CLOCK_MONOTONIC);
if (t >= last_refresh + arg_delay || immediate_refresh) {
r = refresh(root, a, b, iteration++);
if (r < 0) {
log_error_errno(r, "Failed to refresh: %m");
goto finish;
}
group_hashmap_clear(b);
c = a;
a = b;
b = c;
last_refresh = t;
immediate_refresh = false;
}
display(b);
if (arg_iterations && iteration >= arg_iterations)
break;
if (!on_tty()) /* non-TTY: Empty newline as delimiter between polls */
fputs("\n", stdout);
fflush(stdout);
if (arg_batch)
(void) usleep(last_refresh + arg_delay - t);
else {
r = read_one_char(stdin, &key, last_refresh + arg_delay - t, NULL);
if (r == -ETIMEDOUT)
continue;
if (r < 0) {
log_error_errno(r, "Couldn't read key: %m");
goto finish;
}
}
if (on_tty()) { /* TTY: Clear any user keystroke */
fputs("\r \r", stdout);
fflush(stdout);
}
if (arg_batch)
continue;
switch (key) {
case ' ':
immediate_refresh = true;
break;
case 'q':
quit = true;
break;
case 'p':
arg_order = ORDER_PATH;
break;
case 't':
arg_order = ORDER_TASKS;
break;
case 'c':
arg_order = ORDER_CPU;
break;
case 'm':
arg_order = ORDER_MEMORY;
break;
case 'i':
arg_order = ORDER_IO;
break;
case '%':
arg_cpu_type = arg_cpu_type == CPU_TIME ? CPU_PERCENT : CPU_TIME;
break;
case 'k':
arg_count = arg_count != COUNT_ALL_PROCESSES ? COUNT_ALL_PROCESSES : COUNT_PIDS;
fprintf(stdout, "\nCounting: %s.", counting_what());
fflush(stdout);
sleep(1);
break;
case 'P':
arg_count = arg_count != COUNT_USERSPACE_PROCESSES ? COUNT_USERSPACE_PROCESSES : COUNT_PIDS;
fprintf(stdout, "\nCounting: %s.", counting_what());
fflush(stdout);
sleep(1);
break;
case 'r':
if (arg_count == COUNT_PIDS)
fprintf(stdout, "\n\aCannot toggle recursive counting, not available in task counting mode.");
else {
arg_recursive = !arg_recursive;
fprintf(stdout, "\nRecursive process counting: %s", yes_no(arg_recursive));
}
fflush(stdout);
sleep(1);
break;
case '+':
if (arg_delay < USEC_PER_SEC)
arg_delay += USEC_PER_MSEC*250;
else
arg_delay += USEC_PER_SEC;
fprintf(stdout, "\nIncreased delay to %s.", format_timespan(h, sizeof(h), arg_delay, 0));
fflush(stdout);
sleep(1);
break;
case '-':
if (arg_delay <= USEC_PER_MSEC*500)
arg_delay = USEC_PER_MSEC*250;
else if (arg_delay < USEC_PER_MSEC*1250)
arg_delay -= USEC_PER_MSEC*250;
else
arg_delay -= USEC_PER_SEC;
fprintf(stdout, "\nDecreased delay to %s.", format_timespan(h, sizeof(h), arg_delay, 0));
fflush(stdout);
sleep(1);
break;
case '?':
case 'h':
#define ON ANSI_HIGHLIGHT
#define OFF ANSI_NORMAL
fprintf(stdout,
"\t<" ON "p" OFF "> By path; <" ON "t" OFF "> By tasks/procs; <" ON "c" OFF "> By CPU; <" ON "m" OFF "> By memory; <" ON "i" OFF "> By I/O\n"
"\t<" ON "+" OFF "> Inc. delay; <" ON "-" OFF "> Dec. delay; <" ON "%%" OFF "> Toggle time; <" ON "SPACE" OFF "> Refresh\n"
"\t<" ON "P" OFF "> Toggle count userspace processes; <" ON "k" OFF "> Toggle count all processes\n"
"\t<" ON "r" OFF "> Count processes recursively; <" ON "q" OFF "> Quit");
fflush(stdout);
sleep(3);
break;
default:
if (key < ' ')
fprintf(stdout, "\nUnknown key '\\x%x'. Ignoring.", key);
else
fprintf(stdout, "\nUnknown key '%c'. Ignoring.", key);
fflush(stdout);
sleep(1);
break;
}
}
r = 0;
finish:
group_hashmap_free(a);
group_hashmap_free(b);
return r < 0 ? EXIT_FAILURE : EXIT_SUCCESS;
}
int main(int argc, char *argv[]) {
int r;
Hashmap *a = NULL, *b = NULL;
unsigned iteration = 0;
usec_t last_refresh = 0;
bool quit = false, immediate_refresh = false;
log_parse_environment();
log_open();
r = parse_argv(argc, argv);
if (r <= 0)
goto finish;
a = hashmap_new(string_hash_func, string_compare_func);
b = hashmap_new(string_hash_func, string_compare_func);
if (!a || !b) {
r = log_oom();
goto finish;
}
signal(SIGWINCH, columns_lines_cache_reset);
if (!on_tty())
arg_iterations = 1;
while (!quit) {
Hashmap *c;
usec_t t;
char key;
char h[FORMAT_TIMESPAN_MAX];
t = now(CLOCK_MONOTONIC);
if (t >= last_refresh + arg_delay || immediate_refresh) {
r = refresh(a, b, iteration++);
if (r < 0)
goto finish;
group_hashmap_clear(b);
c = a;
a = b;
b = c;
last_refresh = t;
immediate_refresh = false;
}
r = display(b);
if (r < 0)
goto finish;
if (arg_iterations && iteration >= arg_iterations)
break;
if (arg_batch) {
usleep(last_refresh + arg_delay - t);
} else {
r = read_one_char(stdin, &key,
last_refresh + arg_delay - t, NULL);
if (r == -ETIMEDOUT)
continue;
if (r < 0) {
log_error("Couldn't read key: %s", strerror(-r));
goto finish;
}
}
fputs("\r \r", stdout);
fflush(stdout);
if (arg_batch)
continue;
switch (key) {
case ' ':
immediate_refresh = true;
break;
case 'q':
quit = true;
break;
case 'p':
arg_order = ORDER_PATH;
break;
case 't':
arg_order = ORDER_TASKS;
break;
case 'c':
arg_order = ORDER_CPU;
break;
case 'm':
arg_order = ORDER_MEMORY;
break;
case 'i':
arg_order = ORDER_IO;
break;
case '%':
arg_cpu_type = arg_cpu_type == CPU_TIME ? CPU_PERCENT : CPU_TIME;
break;
case '+':
if (arg_delay < USEC_PER_SEC)
arg_delay += USEC_PER_MSEC*250;
else
arg_delay += USEC_PER_SEC;
fprintf(stdout, "\nIncreased delay to %s.", format_timespan(h, sizeof(h), arg_delay, 0));
fflush(stdout);
sleep(1);
break;
case '-':
if (arg_delay <= USEC_PER_MSEC*500)
arg_delay = USEC_PER_MSEC*250;
else if (arg_delay < USEC_PER_MSEC*1250)
arg_delay -= USEC_PER_MSEC*250;
else
arg_delay -= USEC_PER_SEC;
fprintf(stdout, "\nDecreased delay to %s.", format_timespan(h, sizeof(h), arg_delay, 0));
fflush(stdout);
sleep(1);
break;
case '?':
case 'h':
fprintf(stdout,
"\t<" ON "p" OFF "> By path; <" ON "t" OFF "> By tasks; <" ON "c" OFF "> By CPU; <" ON "m" OFF "> By memory; <" ON "i" OFF "> By I/O\n"
"\t<" ON "+" OFF "> Increase delay; <" ON "-" OFF "> Decrease delay; <" ON "%%" OFF "> Toggle time\n"
"\t<" ON "q" OFF "> Quit; <" ON "SPACE" OFF "> Refresh");
fflush(stdout);
sleep(3);
break;
default:
fprintf(stdout, "\nUnknown key '%c'. Ignoring.", key);
fflush(stdout);
sleep(1);
break;
}
}
r = 0;
finish:
group_hashmap_free(a);
group_hashmap_free(b);
if (r < 0) {
log_error("Exiting with failure: %s", strerror(-r));
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
/**
* Runs the main part of the program. Note it is an infinite loop.
* @author Group B1
* @date 12/4/2012
*/
void run_robot(oi_t *oi)
{
int x = STARTING_X_POS;
int y = STARTING_Y_POS;
int o = STARTING_ORENTATION;
int msg = 0;
while(1){
char c = read_one_char();
oi_update(oi);
printf("11 %d\n", oi->virtual_wall);
lprintf("\n Group B1\n\n\n\n");
lprintf("%d %d %d %d\n%d", oi->cliff_left_signal , oi->cliff_frontleft_signal , oi->cliff_frontright_signal , oi->cliff_right_signal, oi->virtual_wall );
if( oi->cliff_left_signal > 1000 && oi->cliff_frontleft_signal > 1000 && oi->cliff_frontright_signal > 1000 && oi->cliff_right_signal > 1000 ){
printf("10\n");
}
if(c == FORWARD)
{
if(move_forward(oi, DEFAULT_DISTANCE) >= DEFAULT_DISTANCE){
if(o == NORTH){
y = y + 1 * STEP;
}
else if(o == EAST){
x = x + 1 * STEP;
}
else if(o == SOUTH){
y = y - 1 * STEP;
}
else if(o == WEST){
x = x - 1 * STEP;
}
printf("2 %d %d %d %d\n", x,y,o,msg);
}
}
else if(c == RIGHT_TURN)
{
turn_clockwise();
if(o == NORTH){
o = WEST;
}
else if(o == EAST){
o = NORTH;
}
else if(o == SOUTH){
o = EAST;
}
else if(o == WEST){
o = SOUTH;
}
printf("2 %d %d %d %d\n", x,y,o,msg);
}
else if(c == LEFT_TURN)
{
turn_counter_clockwise();
if(o == NORTH){
o = EAST;
}
else if(o == EAST){
o = SOUTH;
}
else if(o == SOUTH){
o = WEST;
}
else if(o == WEST){
o = NORTH;
}
printf("2 %d %d %d %d\n", x,y,o,msg);
}
else if(c == RESET)
{
move_servo(0);
x = STARTING_X_POS;
y = STARTING_Y_POS;
o = STARTING_ORENTATION;
msg = 0;
printf("2 %d %d %d %d\n", x,y,o,msg);
}
else if(c == MUSIC)
{
load_song();
oi_play_song(JAWS);
}
else if(c == SCAN)
{
oi_update(oi);
printf("1 %d %d %d %d %d ", oi->virtual_wall ,x,y,o,msg);
for(int i = 0 ; i <= 1800 ;i = i + 1)
{
move_servo(i * 1);
int x = ir_distance();
printf("%d ", x);
}
printf("\n");
move_servo(0);
}
}
}
