/*
* Main procedure loops over user requests.
*/
int main()
{
int i = 0 ;
char c ; // Command Read From Input.
// Open CD ROM Drive.
if ( cd_init() < 0 )
{
show_error( ERROR, cd_error ) ;
return 1;
}
// Shows possible commands.
show_usage();
// While Not Quit.
while ((c = read_cmd()) != 'q' )
{
if (( i = valid_cmd( c )) == -1 )
{
printf("Unrecognised command: `%c'\n", c ) ;
}
else
{
(*myCmdStruct[i].func)() ;
}
}
// Stop Device.
cd_exit();
return 0 ;
}
static int check_cdrom_str(void)
{
char *str;
if ((str = get_string_var(CD_DEVICE_VAR)))
{
if (!drive)
cd_init(str);
return 1;
}
put_it("%s: /SET CD_DEVICE - The name of the CDROM device",cparse(cdrom_prompt));
return 0;
}
void set_cd_device(Window *win, char *str, int blah)
{
if (drive)
close(drive);
if (!str || !check_mount(str))
{
put_it("%s: ERROR: CDROM is already mounted, please unmount, and try again",cparse(cdrom_prompt));
set_string_var(CD_DEVICE_VAR,NULL);
return;
}
if (cd_init(str) < 0)
{
put_it("%s: ERROR: Could not initalize the CDROM, check if a disk is inside",cparse(cdrom_prompt));
set_string_var(CD_DEVICE_VAR,NULL);
return;
}
put_it("%s: CDROM device is now set to - %s",cparse(cdrom_prompt),str);
set_string_var(CD_DEVICE_VAR,str);
}
char *my_lcd(int fd, FILE *fp, char *param, char **pwds)
{
char *d;
if (!(param = get_path(fd, fp, param)) ||
!strcmp(param, ESYNTAX) || !strcmp(param, ENOTTAKEN))
return (param);
d = cd_init(fd, fp, param, pwds);
if (!d || !strcmp(d, EBADSEQ))
return (d);
if (d[0] != '/')
{
param = d;
d = malloc(sizeof(*d) * (strlen(param) + strlen(pwds[CURRENT]) + 2));
if (!d)
return (alloc_err(fd, fp, 0));
strcpy(d, pwds[CURRENT]);
if (strcmp(d + strlen(d) - 10, "Anonymous/"))
strcat(d, "/");
strcat(d, param);
free(param);
}
return (process_cd(fd, fp, d, pwds));
}
static GstStateChangeReturn
cdplayer_change_state (GstElement * element, GstStateChange transition)
{
CDPlayer *cdp;
GstState state = GST_STATE (element);
GstState pending = GST_STATE_PENDING (element);
g_return_val_if_fail (GST_IS_CDPLAYER (element), GST_STATE_CHANGE_FAILURE);
cdp = CDPLAYER (element);
switch (pending) {
case GST_STATE_READY:
if (state != GST_STATE_PAUSED) {
if (cd_init (CDPLAYER_CD (cdp), cdp->device) == FALSE) {
return GST_STATE_CHANGE_FAILURE;
}
cdp->num_tracks = cdp->cd.num_tracks;
cdp->cddb_discid = cd_cddb_discid (CDPLAYER_CD (cdp));
}
break;
case GST_STATE_PAUSED:
/* ready->paused is not useful */
if (state != GST_STATE_READY) {
if (cd_pause (CDPLAYER_CD (cdp)) == FALSE) {
return GST_STATE_CHANGE_FAILURE;
}
cdp->paused = TRUE;
}
break;
case GST_STATE_PLAYING:
if (cdp->paused == TRUE) {
if (cd_resume (CDPLAYER_CD (cdp)) == FALSE) {
return GST_STATE_CHANGE_FAILURE;
}
cdp->paused = FALSE;
} else {
if (cd_start (CDPLAYER_CD (cdp), cdp->start_track,
cdp->end_track) == FALSE) {
return GST_STATE_CHANGE_FAILURE;
}
}
break;
case GST_STATE_NULL:
/* stop & close fd */
if (cd_stop (CDPLAYER_CD (cdp)) == FALSE
|| cd_close (CDPLAYER_CD (cdp)) == FALSE) {
return GST_STATE_CHANGE_FAILURE;
}
break;
default:
break;
}
if (GST_ELEMENT_CLASS (parent_class)->change_state) {
GST_ELEMENT_CLASS (parent_class)->change_state (element, transition);
}
return GST_STATE_CHANGE_SUCCESS;
}
int main(int argc, char *argv[])
{
volumenode *left_node, *right_node;
cd_parameter p;
p.max_length = atoi(argv[9]);
p.max_triangle = atoi(argv[10]);
left_node = cd_init(argv[1], &p);
right_node = cd_init(argv[2], &p);
clock_t start, end;
start = clock();
JAngle robotangle(atof(argv[3]), atof(argv[4]), atof(argv[5]), atof(argv[6]),
atof(argv[7]), atof(argv[8]));
/* JAngle robotangle(0.0, -23.00, 52.500, 16.00, 19.00, 0.00); */
JAngle exangle(0.00, 0.00, 0.00, 0.00, 0.00, 0.00);
TRANS j0_trans = Transform::getTransWorldToBase(exangle);
TRANS j1_trans, j2_trans, j3_trans, j4_trans, j5_trans, j6_trans;
TRANS part_trans, newgun_trans;
Transform::getTransBaseToJoints(robotangle, j1_trans, j2_trans, j3_trans, j4_trans, j5_trans, j6_trans);
newgun_trans = Transform::getTrans6ToGun();
j1_trans = j0_trans * j1_trans;
j2_trans = j0_trans * j2_trans;
j3_trans = j0_trans * j3_trans;
j4_trans = j0_trans * j4_trans;
j5_trans = j0_trans * j5_trans;
j6_trans = j0_trans * j6_trans;
newgun_trans = j6_trans * newgun_trans;
part_trans = Transform::getTransWorldToWorkpiece(exangle);
/* newgun_trans.rot.mem[0][0] = -0.31028574744121573; */
/* newgun_trans.rot.mem[0][1] = -0.76055620150283443; */
/* newgun_trans.rot.mem[0][2] = 0.57033062278859459; */
/* newgun_trans.rot.mem[1][0] = -0.20326345994589520; */
/* newgun_trans.rot.mem[1][1] = 0.63914569443991687; */
/* newgun_trans.rot.mem[1][2] = 0.74173900202816612; */
/* newgun_trans.rot.mem[2][0] = -0.92865855985161161; */
/* newgun_trans.rot.mem[2][1] = 0.11422366494950395; */
/* newgun_trans.rot.mem[2][2] = -0.35291108452389802; */
/* /\* newgun_trans.pos.dx = -600.00000000000000; *\/ */
/* /\* newgun_trans.pos.dy = 429.99999998934874; *\/ */
/* /\* newgun_trans.pos.dz = 2087.0000000021946; *\/ */
/* newgun_trans.pos.dx = 94.771302128496586; */
/* newgun_trans.pos.dy = -505.20287976357167; */
/* newgun_trans.pos.dz = 1222.0426991063437; */
newgun_trans.rot.mem[0][0] = -0.036801385144649992;
newgun_trans.rot.mem[0][1] = -0.74802231932451657;
newgun_trans.rot.mem[0][2] = 0.66265244875711904;
newgun_trans.rot.mem[1][0] = 0.73624785273584337;
newgun_trans.rot.mem[1][1] = 0.42807339281869838;
newgun_trans.rot.mem[1][2] = 0.52411093263024766;
newgun_trans.rot.mem[2][0] = -0.67571055740849195;
newgun_trans.rot.mem[2][1] = 0.50716445079782491;
newgun_trans.rot.mem[2][2] = 0.53497613260186283;
newgun_trans.pos.dx = 159.55751427696521;
newgun_trans.pos.dy = 700.79742899056282;
newgun_trans.pos.dz = 2790.4503015644741;
part_trans.rot.mem[0][0] =-5.1036340138841535e-012;
part_trans.rot.mem[0][1] = 1.0000000000000000;
part_trans.rot.mem[0][2] = -5.1036340138841535e-012;
part_trans.rot.mem[1][0] = -1.0000000000000000;
part_trans.rot.mem[1][1] = -5.1036340138581062e-012;
part_trans.rot.mem[1][2] = -5.1036340139102000e-012;
part_trans.rot.mem[2][0] = -5.1036340138841527e-012;
part_trans.rot.mem[2][1] = -5.1036340139102008e-012;
part_trans.rot.mem[2][2] = 1.0000000000000000;
part_trans.pos.dx = -600.0000000000;
part_trans.pos.dy = 429.99999998934874;
part_trans.pos.dz = 2087.0000000021946;
/* TRANS gun; */
/* TRANS part; */
/* newgun_trans.rot.mem[0][0] = -0.31028574744121573; */
/* newgun_trans.rot.mem[0][1] = -0.76055620150283443; */
/* newgun_trans.rot.mem[0][2] = 0.57033062278859459; */
/* newgun_trans.rot.mem[1][0] = -0.20326345994589520; */
/* newgun_trans.rot.mem[1][1] = 0.63914569443991687; */
/* newgun_trans.rot.mem[1][2] = 0.74173900202816612; */
/* newgun_trans.rot.mem[2][0] = -0.92865855985161161; */
/* newgun_trans.rot.mem[2][1] = 0.11422366494950395; */
/* newgun_trans.rot.mem[2][2] = -0.35291108452389802; */
/* newgun_trans.pos.dx = -600.00000000000000; */
/* newgun_trans.pos.dy = 429.99999998934874; */
/* newgun_trans.pos.dz = 2087.0000000021946; */
/* part_trans.rot.mem[0][0] =-5.1036340138841535e-012; */
/* part_trans.rot.mem[0][1] = 1.0000000000000000; */
/* part_trans.rot.mem[0][2] = -5.1036340138841535e-012; */
/* part_trans.rot.mem[1][0] = -1.0000000000000000; */
/* part_trans.rot.mem[1][1] = -5.1036340138581062e-012; */
/* part_trans.rot.mem[1][2] = -5.1036340139102000e-012; */
/* part_trans.rot.mem[2][0] = -5.1036340138841527e-012; */
/* part_trans.rot.mem[2][1] = -5.1036340139102008e-012; */
/* part_trans.rot.mem[2][2] = 1.0000000000000000; */
/* part_trans.pos.dx = 94.771302128496586; */
/* part_trans.pos.dy = -505.20287976357167; */
/* part_trans.pos.dz = 1222.0426991063437; */
vector3d tmp1, tmp2;
tmp1.x = newgun_trans.pos.dx;
tmp1.y = newgun_trans.pos.dy;
tmp1.z = newgun_trans.pos.dz;
tmp2.x = part_trans.pos.dx;
tmp2.y = part_trans.pos.dy;
tmp2.z = part_trans.pos.dz;
int i;
for (i = 0; i < 1; ++i) {
if (collision_detection2(right_node, part_trans.rot.mem, &tmp2, left_node, newgun_trans.rot.mem, &tmp1)) {
printf("\ncollision detected!\n\n");
} else {
printf("\nno collision!\n\n");
}
/* collision_detection2(left_top_node, right_top_node); */
}
end = clock();
printf("run %d times, time elapsed %f\n", i, (double)(end - start) / CLOCKS_PER_SEC);
#ifdef DEBUG
printf("cdcount = %d\n", cdcount);
printf("triangle_cd_count = %d\n", triangle_cd_count);
#endif
#ifdef SHOW
show_tree_recur(left_node, 0);
printf("rightnode\n");
show_tree_recur(right_node, 0);
#endif
cd_finish(left_node);
cd_finish(right_node);
return 0;
}
int main()
{
char cmd[20];
int done = 0;
int ret, trk, a, b;
if (cd_init() < 0) {
printf("Error initialising libcda (%s)\n", cd_error);
return 1;
}
show_cmds();
do {
printf(">>> ");
fflush(stdout);
scanf("%s", cmd);
switch (cmd[0]) {
case '?':
show_cmds();
break;
case 'p':
trk = input_int("Track");
ret = cd_play(trk);
if (ret != 0)
printf("Error occurred (%s)\n", cd_error);
break;
case 'r':
a = input_int("First track");
b = input_int("Last track");
ret = cd_play_range(a, b);
if (ret != 0)
printf("Error occurred (%s)\n", cd_error);
break;
case 'f':
trk = input_int("Start track");
ret = cd_play_from(trk);
if (ret != 0)
printf("Error occurred (%s)\n", cd_error);
break;
case 'P':
trk = cd_current_track();
if (trk)
printf("Playing track %d\n", trk);
else
printf("Not playing\n");
break;
case 'w':
cd_pause();
break;
case 'W':
cd_resume();
break;
case 'S':
ret = cd_is_paused();
if (ret)
printf("Paused\n");
else
printf("Not paused\n");
break;
case 's':
cd_stop();
break;
case 'i':
ret = cd_get_tracks(&a, &b);
if (ret != 0)
printf("Error occurred (%s)\n", cd_error);
else
printf("First track: %d\nLast track: %d\n", a, b);
break;
case 'a':
trk = input_int("Track");
ret = cd_is_audio(trk);
if (ret < 0)
printf("Error occurred (%s)\n", cd_error);
else
printf("Track %d is %s\n", trk, (ret ? "audio" : "data"));
break;
case 'v':
a = input_int("Left (0-255)");
b = input_int("Right (0-255)");
cd_set_volume(a, b);
break;
case 'V':
cd_get_volume(&a, &b);
printf("Left volume: %d\nRight volume: %d\n", a, b);
break;
case 'e':
cd_eject();
break;
case 'c':
cd_close();
break;
case 'q':
done = 1;
break;
default:
printf("Unrecognised command: `%c'\n", cmd[0]);
}
} while (!done);
cd_exit();
return 0;
}
