/*
* A buffered line editing function.
*/
void
get_buffered_line(void) {
char c;
if (start_ndx != end_ndx) {
return;
}
while (1) {
c = usart_recv_blocking(USART2);
if (c == '\r') {
buf[end_ndx] = '\n';
end_ndx = inc_ndx(end_ndx);
buf[end_ndx] = '\0';
usart_send_blocking(USART2, '\r');
usart_send_blocking(USART2, '\n');
return;
}
/* ^H or DEL erase a character */
if ((c == '\010') || (c == '\177')) {
if (buf_len == 0) {
usart_send_blocking(USART2, '\a');
} else {
back_up();
}
/* ^W erases a word */
} else if (c == 0x17) {
while ((buf_len > 0) &&
(!(isspace((int) buf[end_ndx])))) {
back_up();
}
/* ^U erases the line */
} else if (c == 0x15) {
while (buf_len > 0) {
back_up();
}
/* Non-editing character so insert it */
} else {
if (buf_len == (BUFLEN - 1)) {
usart_send_blocking(USART2, '\a');
} else {
buf[end_ndx] = c;
end_ndx = inc_ndx(end_ndx);
usart_send_blocking(USART2, c);
}
}
}
}
int main()
{
// set up the 3pi
initialize();
int last_proximity = 0;
const int base_speed = 200;
const int set_point = 100; // what is the set point for?
// This is the "main loop" - it will run forever.
while(1)
{
// In case it gets stuck: for 1 second every 15 seconds back up
if (get_ms() % 15000 > 14000) {
back_up();
continue;
}
// If something is directly in front turn to the right in place
int front_proximity = analog_read(5);
if (front_proximity > 200) {
turn_in_place();
continue;
}
int proximity = analog_read(1); // 0 (far away) - 650 (close)
int proportional = proximity - set_point;
int derivative = proximity - last_proximity;
// Proportional-Derivative Control Signal
int pd = proportional / 3 + derivative * 20;
int left_set = base_speed + pd;
int right_set = base_speed - pd;
set_motors(left_set, right_set);
if (TIME_TO_DISPLAY) {
clear();
lcd_goto_xy(0,0);
print_long(proximity);
lcd_goto_xy(5,0);
print_long(pd);
lcd_goto_xy(0,1);
print_long(left_set);
lcd_goto_xy(4,1);
print_long(right_set);
}
last_proximity = proximity; // remember last proximity for derivative
}
// This part of the code is never reached.
while(1)
{
set_motors(0,0)
}
}
int
main(int argc, char *argv[])
{
fd_set rfds; /* the structure for the select call */
int code; /* return code from system calls */
char out_buff[MAXLINE]; /* from child and stdin */
int out_flag[MAXLINE] ; /* initialize the output flags */
char *program; /* a string to hold the child program invocation */
char **pargs = 0; /* holds parts of the command line */
int not_command = 1; /* a flag while parsing the command line */
/* try to get a pseudoterminal to play with */
if (ptyopen(&contNum, &serverNum, controllerPath, serverPath) == -1) {
perror("ptyopen failed");
exit(-1);
}
/* call the routine that handles signals */
catch_signals();
/* parse the command line arguments - as with the aixterm the command
argument -e should be last on the line. */
while(*++argv && not_command) {
if(!strcmp(*argv, "-f"))
load_wct_file(*++argv);
else if(!strcmp(*argv, "-e")) {
not_command = 0;
pargs = ++argv;
}
else {
fprintf(stderr, "usage: clef [-f fname] -e command\n");
exit(-1);
}
}
skim_wct();
#ifdef log
sprintf(logpath, "/tmp/cleflog%d", getpid());
logfd = open(logpath, O_CREAT | O_RDWR, 0666);
#endif
/* get the original termio settings, so the child has them */
if(tcgetattr(0,&childbuf) == -1) {
perror("clef trying to get the initial terminal settings");
exit(-1);
}
/* start the child process */
child_pid = fork();
switch(child_pid) {
case -1 :
perror("clef can't create a new process");
exit(-1);
case 0:
/* CHILD */
/* Dissasociate form my parents group so all my child processes
look at my terminal as the controlling terminal for the group */
setsid();
serverNum = open(serverPath,O_RDWR);
if (serverNum == -1) perror("open serverPath failed");
/* since I am the child, I can close ptc, and dup pts for all it
standard descriptors */
if (dup2(serverNum, 0) == -1) perror("dup2 0 failed");
if (dup2(serverNum, 1) == -1) perror("dup2 1 failed");
if (dup2(serverNum, 2) == -1) perror("dup2 2 failed");
if( (dup2(serverNum, 0) == -1) ||
(dup2(serverNum, 1) == -1) ||
(dup2(serverNum, 2) == -1) ) {
perror("clef trying to dup2");
exit(-1);
}
/* since they have been duped, close them */
close(serverNum);
close(contNum);
/* To make sure everything is nice, set off enhedit */
/* childbuf.c_line = 0; */
/* reconfigure the child's terminal get echoing */
if(tcsetattr(0, TCSAFLUSH, &childbuf) == -1) {
perror("clef child trying to set child's terminal");
exit(-1);
}
/* fire up the child's process */
if(pargs){
execvp( pargs[0], pargs);
perror("clef trying to execvp its argument");
fprintf(stderr, "Process --> %s\n", pargs[0]);
}
else{
program = getenv("SHELL");
if (!program)
program = strdup("/bin/sh");
else
program = strdup (program);
execlp( program,program, 0);
perror("clef trying to execlp the default child");
fprintf(stderr, "Process --> %s\n", program);
}
exit(-1);
break;
/* end switch */
}
/* PARENT */
/* Since I am the parent, I should start to initialize some stuff.
I have to close the pts side for it to work properly */
close(serverNum);
ppid = getppid();
/* Iinitialize some stuff for the reading and writing */
init_flag(out_flag, MAXLINE);
define_function_keys();
init_reader();
PTY = 1;
init_parent();
/* Here is the main loop, it simply starts reading characters from
the std input, and from the child. */
while(1) { /* loop forever */
/* use select to see who has stuff waiting for me to handle */
/* set file descriptors for ptc and stdin */
FD_ZERO(&rfds);
FD_SET(contNum,&rfds);
FD_SET(0,&rfds);
set_function_chars();
#ifdef log
{
char modepath[30];
sprintf(modepath, "\nMODE = %d\n", MODE);
write(logfd, modepath, strlen(modepath));
}
#endif
#ifdef logterm
{
struct termio ptermio;
char pbuff[1024];
tcgetattr(contNum, &ptermio);
sprintf(pbuff, "child's settings: Lflag = %d, Oflag = %d, Iflag = %d\n",
ptermio.c_lflag, ptermio.c_oflag, ptermio.c_iflag);
write(logfd, pbuff, strlen(pbuff));
}
#endif
code = select(FD_SETSIZE,(void *) &rfds, NULL, NULL, NULL);
for(; code < 0 ;) {
if(errno == EINTR) {
check_flip();
code = select(FD_SETSIZE,(void *) &rfds, NULL, NULL, NULL);
}
else {
perror("clef select failure");
exit(-1);
}
}
/* reading from the child **/
if( FD_ISSET(contNum,&rfds)) {
if( (num_read = read(contNum, out_buff, MAXLINE)) == -1) {
num_read = 0;
}
#ifdef log
write(logfd, "OUT<<<<<", strlen("OUT<<<<<"));
write(logfd, out_buff, num_read);
#endif
if(num_read > 0) {
/* now do the printing to the screen */
if(MODE!= CLEFRAW) {
back_up(buff_pntr);
write(1,out_buff, num_read);
print_whole_buff(); /* reprint the input buffer */
}
else write(1,out_buff, num_read);
}
} /* done the child stuff */
/* I should read from std input */
else {
if(FD_ISSET(0,&rfds)) {
num_read = read(0, in_buff, MAXLINE);
#ifdef log
write(logfd, "IN<<<<<", strlen("IN<<<<<"));
write(logfd, in_buff, num_read);
#endif
check_flip();
if(MODE == CLEFRAW )
write(contNum, in_buff, num_read);
else
do_reading();
}
}
}
}
void
handle_function_key(int key,int chann)
{
/** this procedure simply adds the string specified by the function key
to the buffer ****/
int count, fd;
int amount = strlen(function_key[key].str);
int id;
int save_echo;
/*** This procedure takes the character at in_buff[num_proc] and adds
it to the buffer. It first checks to see if we should be inserting
or overwriting, and then does the appropriate thing *******/
switch ((function_key[key]).type) {
case IMMEDIATE:
if (INS_MODE) {
forwardcopy(&buff[curr_pntr + amount],
&buff[curr_pntr],
buff_pntr - curr_pntr);
forwardflag_cpy(&buff_flag[curr_pntr + amount],
&buff_flag[curr_pntr],
buff_pntr - curr_pntr);
for (count = 0; count < amount; count++) {
buff[curr_pntr + count] = (function_key[key].str)[count];
buff_flag[curr_pntr + count] = '1';
}
ins_print(curr_pntr, amount + 1);
buff_pntr = buff_pntr + amount;
}
else {
for (count = 0; count < amount; count++) {
buff[curr_pntr + count] = (function_key[key].str)[count];
buff_flag[curr_pntr + count] = '1';
myputchar((function_key[key].str)[count]);
}
}
num_proc = num_proc + 6;
curr_pntr = curr_pntr + amount;
buff_pntr = buff_pntr + amount;
send_function_to_child();
break;
case DELAYED:
if (INS_MODE) {
forwardcopy(&buff[curr_pntr + amount],
&buff[curr_pntr],
buff_pntr - curr_pntr);
forwardflag_cpy(&buff_flag[curr_pntr + amount],
&buff_flag[curr_pntr],
buff_pntr - curr_pntr);
for (count = 0; count < amount; count++) {
buff[curr_pntr + count] = (function_key[key].str)[count];
buff_flag[curr_pntr + count] = '1';
}
ins_print(curr_pntr, amount + 1);
buff_pntr = buff_pntr + amount;
}
else {
for (count = 0; count < amount; count++) {
buff[curr_pntr + count] = (function_key[key].str)[count];
buff_flag[curr_pntr + count] = '1';
myputchar((function_key[key].str)[count]);
}
}
num_proc = num_proc + 6;
curr_pntr = curr_pntr + amount;
buff_pntr = buff_pntr + amount;
fflush(stdout);
break;
case SPECIAL:
/* fprintf(stderr, "Here I am \n"); */
if (access(editorfilename, F_OK) < 0) {
fd = open(editorfilename, O_RDWR | O_CREAT, 0666);
write(fd, buff, buff_pntr);
back_up(buff_pntr);
close(fd);
}
else {
if (buff_pntr > 0) {
fd = open(editorfilename, O_RDWR | O_TRUNC);
write(fd, buff, buff_pntr);
back_up(buff_pntr);
close(fd);
}
}
#if defined(MACOSXplatform) || defined(BSDplatform)
bsdSignal(SIGCHLD, null_fnct,RestartSystemCalls);
#else
bsdSignal(SIGCLD, null_fnct,RestartSystemCalls);
#endif
switch (id = fork()) {
case -1:
perror("Special key");
break;
case 0:
execlp((function_key[12]).str,
(function_key[12]).str,
editorfilename, NULL);
perror("Returned from exec");
exit(0);
}
while (wait((int *) 0) < 0);
/** now I should read that file and send all it stuff thru the
reader *****/
fd = open(editorfilename, O_RDWR);
if (fd == -1) {
perror("Opening temp file");
exit(-1);
}
num_proc += 6;
/** reinitialize the buffer ***/
init_flag(buff_flag, buff_pntr);
init_buff(buff, buff_pntr);
/** reinitialize my buffer pointers **/
buff_pntr = curr_pntr = 0;
/** reset the ring pointer **/
current = NULL;
save_echo = ECHOIT;
ECHOIT = 0;
while ((num_read = read(fd, in_buff, MAXLINE))) {
do_reading();
}
close(fd);
break;
}
return;
}
