int AnDepArrayArrayCmp(const void* _One, const void* _Two) {
int _LenOne = ArrayLen(((const struct AnimalDep*)_One)->Tbl);
int _LenTwo = ArrayLen(((const struct AnimalDep*)_Two)->Tbl);
int _Result = 0;
if(_LenOne != _LenTwo)
return _LenOne - _LenTwo;
for(int i = 0; i < _LenOne; ++i) {
if((_Result = GoodBaseCmp(((const struct AnimalDep*)_One)->Tbl[i], ((const struct AnimalDep*)_Two)->Tbl[i])) != 0)
return _Result;
}
return 0;
}
void AnimalDepAddAn(const struct AnimalDep* _Dep, const struct Array* _Tbl) {
int _Len = 0;
int _DepLen = 0;
for(int i = 0; i < _Tbl->Size; ++i) {
_Len = ArrayLen(((struct AnimalDep*)_Tbl->Table[i])->Animals->Table);
if(_Len <= 1)
continue;
_DepLen = ArrayLen(_Dep->Tbl);
for(int j = 0; j < _DepLen; ++j) {
if(BinarySearch(_Dep->Tbl[j], _Tbl->Table, _Tbl->Size, AnDepArrayCmp) == NULL)
return;
}
((struct AnimalDep*)_Tbl->Table[i])->Nutrition += _Dep->Nutrition;
}
}
int SemaphoresQuery(int semid,unsigned short **arrptr) {
union semun se;
struct semid_ds ds;
int r;
unsigned short *arr=0;
se.buf = &ds;
r = semctl(semid,0,IPC_STAT,se);
if (r < 0) {
return LockErrorSemctlBase-errno;
}
//printf("semaphores=%d\n",ds.sem_nsems);
arr = malloc(4+sizeof(unsigned short)*ds.sem_nsems);
arr += 2; // skip 4 bytes which hold length
ArrayLen(arr) = ds.sem_nsems;
se.array = arr;
r = semctl(semid, 0, GETALL,se);
if (r < 0) {
return LockErrorSemctlBase;
}
*arrptr = arr;
return ds.sem_nsems;
}
int AnDepArrayCmp(const void* _One, const void* _Two) {
int _Result = GoodBaseCmp(_One, ((const struct AnimalDep*)_Two)->Tbl[0]);
int _Len = ArrayLen(((const struct AnimalDep*)_Two)->Tbl);
if(_Len == 1 && _Result == 0)
return 0;
else if(_Len != 1)
return -1;
return _Result;
}
int FoodArrayAnDepArray(const void* _One, const void* _Two) {
int _LenOne = ArrayLen(_One);
int _LenTwo = ArrayLen(((const struct AnimalDep*)_Two)->Tbl);
int _Return = 0;
int i;
if(_LenOne != _LenTwo) {
_Return = GoodBaseCmp(((const void**)_One)[0], ((const struct AnimalDep*)_Two)->Tbl[0]);
if(_Return == 0)
return _LenOne - _LenTwo;
return _Return;
}
for(i = 0; i < _LenOne; ++i) {
if((_Return = GoodBaseCmp(((const void**)_One)[i], ((const struct AnimalDep*)_Two)->Tbl[i])) != 0)
return _Return;
}
return 0;
}
int main(void)
{
char *s1 = "abcde";
char s2[] = "abc";
int a[] = {1, 2, 3, 0};
int *b = a;
printf("%d\n", StrLen(s1));
printf("%d\n", StrLen(s2));
printf("%d\n", ArrayLen(a));
printf("%d\n", ArrayLen(b));
add1(&tmp);
printf("%d\n", tmp);
return 0;
}
void MavDbgSender::start(void) {
char key[PARAM_REGISTRY_ID_SIZE + 1];
for (uint8_t i=0; i<MAV_DBG_VAL_MAX; i++) {
memset(key, 0, sizeof(key));
construct_key(i, key);
param_registry.valueSearch(key, &dbg_val_registry[i].decimator);
}
for (size_t i=0; i<ArrayLen(vector_names); i++) {
memset(key, 0, sizeof(key));
construct_key(vector_names[i], key);
param_registry.valueSearch(key, &dbg_vect_registry[i].decimator);
strncpy(dbg_vect_registry[i].msg.name, vector_names[i], sizeof(mavlink_debug_vect_t::name));
}
ready = true;
}
/**
* @brief Pack and send debug vector via mavlink.
* @details External time parameter needs when you need to send
* multiple messages with the same timestamp.
*/
void MavDbgSender::send(const char *name, float x, float y, float z, uint64_t time_usec) {
size_t idx = ~0U;
for (size_t i=0; i<ArrayLen(vector_names); i++) {
if (0 == strncmp(name, vector_names[i], sizeof(mavlink_debug_vect_t::name))) {
idx = i;
}
}
osalDbgCheck(~0U != idx);
auto &v = dbg_vect_registry[idx];
v.cycles++;
if ((0 != *v.decimator) && (v.cycles >= *v.decimator)) {
v.cycles = 0;
v.msg.x = x;
v.msg.y = y;
v.msg.z = z;
v.msg.time_usec = time_usec;
v.mail.fill(&v.msg, MAV_COMP_ID_SYSTEM_CONTROL, MAVLINK_MSG_ID_DEBUG_VECT);
mav_postman.post(v.mail);
}
}
"acc_bias",
"gyr_bias",
"acc_scale",
"gyr_scale",
"mag_data",
"maneuver"
};
struct dbg_vect_ {
const uint32_t *decimator = nullptr;
size_t cycles = 0;
mavlink_debug_vect_t msg;
mavMail mail;
};
static dbg_vect_ dbg_vect_registry[ArrayLen(vector_names)];
/*
******************************************************************************
* EXTERNS
******************************************************************************
*/
/*
******************************************************************************
* PROTOTYPES
******************************************************************************
*/
/*
******************************************************************************
