int main(int argc, char **argv) {
config_parser_t parser;
epos_node_t node;
config_parser_init(&parser,
"Start EPOS controller in the selected operation mode",
"Establish the communication with a connected EPOS device and attempt to "
"start the controller in the selected operation mode. The controller will "
"be stopped if SIGINT is received. The communication interface depends "
"on the momentarily selected alternative of the underlying CANopen "
"library.");
epos_node_init_config_parse(&node, &parser, 0, argc, argv,
config_parser_exit_error);
config_parser_destroy(&parser);
signal(SIGINT, epos_signaled);
epos_node_connect(&node);
error_exit(&node.error);
epos_control_start(&node.control);
error_exit(&node.error);
while (!quit);
epos_control_stop(&node.control);
error_exit(&node.error);
epos_node_disconnect(&node);
error_exit(&node.error);
epos_node_destroy(&node);
return 0;
}
int main(int argc, char **argv) {
config_parser_t parser;
epos_node_t node;
config_parser_init(&parser,
"Start EPOS controller in homing mode",
"Establish the communication with a connected EPOS device and attempt to "
"start the controller in homing mode. The controller will be stopped "
"if SIGINT is received or the homing operation is completed. The "
"communication interface depends on the momentarily selected alternative "
"of the underlying CANopen library.");
epos_node_init_config_parse(&node, &parser, 0, argc, argv,
config_parser_exit_error);
config_parser_destroy(&parser);
signal(SIGINT, epos_signaled);
epos_node_connect(&node);
error_exit(&node.error);
epos_node_home(&node, 0.0);
if (node.dev.error.code != EPOS_DEVICE_ERROR_WAIT_TIMEOUT)
error_exit(&node.error);
while (!quit) {
if (epos_home_wait(&node, 0.1) != EPOS_DEVICE_ERROR_WAIT_TIMEOUT)
error_exit(&node.dev.error);
};
epos_home_stop(&node);
error_exit(&node.dev.error);
epos_node_disconnect(&node);
error_exit(&node.error);
epos_node_destroy(&node);
return 0;
}
/**
* @brief 用text_line全局样式对象初始化text_line对象
*
* @param tl text_line指针
*
* @return 成功返回0，否则返回-1
**/
static si_t text_line_init_with_default_style(struct text_line * tl)
{
char tmp_str[TMP_ARRAY_SIZE] = {'\0'};
si_t tmp_int = -1;
/* text_line全局样式对象指针 */
struct text_line_style * style = &text_line_default_style;
/* 如果text_line全局样式对象尚未加载配置 */
if(!style->flag)
{
struct config_parser parser;
/* 初始化配置处理器 */
if(config_parser_init(TEXT_LINE_STYLE_FILE, &parser) != 0)
{
EGUI_PRINT_ERROR("fail to init text_line style from config file %s.", TEXT_LINE_STYLE_FILE);
return -1;
}
/* 从配置读取各项配置,赋予style指针 */
config_parser_get_int(&parser, "area_x", &(style->area_x));
config_parser_get_int(&parser, "area_y", &(style->area_y));
config_parser_get_int(&parser, "area_width", &(style->area_width));
config_parser_get_int(&parser, "area_height", &(style->area_height));
config_parser_get_int(&parser, "border_size", &(style->border_size));
config_parser_get_int(&parser, "maximum_width", &(style->maximum_width));
config_parser_get_int(&parser, "minimum_width", &(style->minimum_width));
config_parser_get_int(&parser, "maximum_height", &(style->maximum_height));
config_parser_get_int(&parser, "minimum_height", &(style->minimum_height));
config_parser_get_str(&parser, "cursor", tmp_str);
if((tmp_int = get_cursor_enum_from_str(tmp_str)) >= 0)
{
style->cursor = tmp_int;
}
config_parser_get_int(&parser, "back_color_r", &(style->back_color_r));
config_parser_get_int(&parser, "back_color_g", &(style->back_color_g));
config_parser_get_int(&parser, "back_color_b", &(style->back_color_b));
config_parser_get_int(&parser, "back_color_a", &(style->back_color_a));
config_parser_get_int(&parser, "fore_color_r", &(style->fore_color_r));
config_parser_get_int(&parser, "fore_color_g", &(style->fore_color_g));
config_parser_get_int(&parser, "fore_color_b", &(style->fore_color_b));
config_parser_get_int(&parser, "fore_color_a", &(style->fore_color_a));
config_parser_get_int(&parser, "frame_color_r", &(style->frame_color_r));
config_parser_get_int(&parser, "frame_color_g", &(style->frame_color_g));
config_parser_get_int(&parser, "frame_color_b", &(style->frame_color_b));
config_parser_get_int(&parser, "frame_color_a", &(style->frame_color_a));
tmp_int = -1;
memset(tmp_str, 0, TMP_ARRAY_SIZE);
config_parser_get_str(&parser, "font", tmp_str);
if((tmp_int = get_font_enum_from_str(tmp_str)) >= 0)
{
style->font = tmp_int;
}
/* 退出配置处理器 */
config_parser_exit(&parser);
style->flag = 1;
}
/* 用text_line默认样式初始化text_line各样式属性 */
tl->area.x = style->area_x;
tl->area.y = style->area_y;
tl->area.width = style->area_width;
tl->area.height = style->area_height;
tl->border_size = style->border_size;
tl->maximum_width = style->maximum_width;
tl->minimum_width = style->minimum_width;
tl->maximum_height = style->maximum_height;
tl->minimum_height = style->minimum_height;
tl->cursor = style->cursor;
tl->back_color.r = style->back_color_r;
tl->back_color.g = style->back_color_g;
tl->back_color.b = style->back_color_b;
tl->back_color.a = style->back_color_a;
tl->fore_color.r = style->fore_color_r;
tl->fore_color.g = style->fore_color_g;
tl->fore_color.b = style->fore_color_b;
tl->fore_color.a = style->fore_color_a;
tl->frame_color.r = style->frame_color_r;
tl->frame_color.g = style->frame_color_g;
tl->frame_color.b = style->frame_color_b;
tl->frame_color.a = style->frame_color_a;
tl->font = style->font;
return 0;
}
static int load_config(const char *config)
{
struct config_parser *cp;
char *value;
int i;
if (!config || strlen(config) == 0)
cp = config_parser_init(TBOOT_CONFIG);
else
cp = config_parser_init(config);
if (!cp)
goto err;
/* init config with default values */
tboot_config = hashmapCreate(array_size(tc_keys), strhash, strcompare);
if (!tboot_config)
goto err;
for (i = 0; tc_keys[i]; i++)
hashmapPut(tboot_config, (void *)tc_keys[i], (void *)tc_values[i]);
/* parse config file */
value = config_parser_get(cp, UI_CONF_KEY);
if (value)
tboot_config_set(UI_CONF_KEY, value);
value = config_parser_get(cp, DISK_CONFIG_KEY);
if (value)
tboot_config_set(DISK_CONFIG_KEY, value);
value = config_parser_get(cp, PUSH_DIR_KEY);
if (value)
tboot_config_set(PUSH_DIR_KEY, value);
value = config_parser_get(cp, ROOTFS_KEY);
if (value)
tboot_config_set(ROOTFS_KEY, value);
value = config_parser_get(cp, ENABLE_NFS_KEY);
if (value)
tboot_config_set(ENABLE_NFS_KEY, value);
value = config_parser_get(cp, NFSURL_KEY);
if (value)
tboot_config_set(NFSURL_KEY, value);
value = config_parser_get(cp, DISK_FORCE_KEY);
if (value)
tboot_config_set(DISK_FORCE_KEY, value);
value = config_parser_get(cp, BAT_THRESHOLD_KEY);
if (value)
tboot_config_set(BAT_THRESHOLD_KEY, value);
value = config_parser_get(cp, LCD_DIM_TIMEOUT_KEY);
if (value)
tboot_config_set(LCD_DIM_TIMEOUT_KEY, value);
value = config_parser_get(cp, LCD_OFF_TIMEOUT_KEY);
if (value)
tboot_config_set(LCD_OFF_TIMEOUT_KEY, value);
value = config_parser_get(cp, LCD_DIM_BRIGHTNESS_KEY);
if (value)
tboot_config_set(LCD_DIM_BRIGHTNESS_KEY, value);
config_parser_free(cp);
tboot_config_dump();
return 0;
err:
if (cp)
config_parser_free(cp);
if (tboot_config)
hashmapFree(tboot_config);
return -1;
}
