void StepperMotor::step() {
string lsw("LSW: ");
lsw.append(((this->gpio_LSW->getValue() == GPIO::LOW) ? "LOW" : "HIGH"));
string rsw("RSW: ");
rsw.append(((this->gpio_RSW->getValue() == GPIO::LOW) ? "LOW" : "HIGH"));
console::debug(lsw.c_str());
console::debug(rsw.c_str());
string dir("Direction: ");
dir.append(((this->getDirection() == DIRECTION::CLOCKWISE)?"CLOCKWISE":"ANTICLOCKWISE"));
console::debug(dir.c_str());
// if ((this->gpio_LSW->getValue() == GPIO::HIGH)
// && (this->direction == DIRECTION::ANTICLOCKWISE)) {
// //switch is tripped...should go right...
//// this->setDirection(DIRECTION::CLOCKWISE);
// return;//limit reached
// }
// if ((this->gpio_RSW->getValue() == GPIO::HIGH)
// && (this->direction == DIRECTION::CLOCKWISE)) {
//// this->setDirection(DIRECTION::ANTICLOCKWISE);
// return;//limit reached
// }
if(!this->isAtLimit()){
this->gpio_STEP->setValue(GPIO::LOW);
this->gpio_STEP->setValue(GPIO::HIGH);
}
}
void JVMSPI_CheckEvents(JVMSPI_BlockedThreadInfo * blocked_threads,
int blocked_threads_count, jlong timeout_milli_seconds)
{
fd_set read_fds;
fd_set write_fds;
fd_set except_fds;
int i, num_fds, num_ready;
bool debugger_active = JVM_IsDebuggerActive();
#if ENABLE_JAVA_DEBUGGER
int dbg_socket_fd = -1;
if (debugger_active) {
dbg_socket_fd = JVM_GetDebuggerSocketFd();
}
#endif
FD_ZERO(&read_fds);
FD_ZERO(&write_fds);
FD_ZERO(&except_fds);
// [1] Gather the FDs that we want to check event for
num_fds = 1;
for (i=0; i<blocked_threads_count; i++) {
BlockingSocket *socket = (BlockingSocket *)blocked_threads[i].reentry_data;
if (socket->check_flags & CHECK_READ) {
FD_SET(socket->fd, &read_fds);
}
if (socket->check_flags & CHECK_WRITE) {
FD_SET(socket->fd, &write_fds);
}
if (socket->check_flags & CHECK_EXCEPTION) {
FD_SET(socket->fd, &except_fds);
}
if (num_fds < socket->fd) {
num_fds = socket->fd;
}
}
#if ENABLE_JAVA_DEBUGGER
if (debugger_active) {
if (dbg_socket_fd != -1) {
FD_SET(dbg_socket_fd, &read_fds);
if (num_fds < dbg_socket_fd) {
num_fds = dbg_socket_fd;
}
}
}
#endif
// [2] Call select() on the FDs, without appropriate timeout value
if (timeout_milli_seconds < 0) {
// Sleep forever until an event happens
GUARANTEE(blocked_threads_count > 0,
"can't sleep forever with no event sources!");
num_ready = jvm_select(num_fds+1, &read_fds, &write_fds, &except_fds,
NULL);
} else if (!debugger_active && blocked_threads_count == 0) {
// It's better to call Os::sleep than select() with no fds -- WinSock
// returns immediately with an error status if you don't pass any
// fds.
Os::sleep(timeout_milli_seconds);
num_ready = 0;
} else {
jlong sec, usec;
struct timeval timeout;
sec = timeout_milli_seconds / 1000;
usec = (timeout_milli_seconds % 1000) * 1000;
if (msw(sec) <= 0) {
timeout.tv_sec = lsw(sec);
} else {
// mmmm, are you sure you want to sleep so long??
timeout.tv_sec = 0x7fffffff;
}
timeout.tv_usec = lsw(usec);
num_ready = jvm_select(num_fds+1, &read_fds, &write_fds, &except_fds,
&timeout);
}
// [3] If a thread's FD is ready, change the thread's status to ready
if (num_ready > 0) {
for (i = 0; i < blocked_threads_count; i++) {
BlockingSocket *socket =
(BlockingSocket *)blocked_threads[i].reentry_data;
jboolean is_ready = KNI_FALSE;
if (socket->check_flags & CHECK_READ) {
if (FD_ISSET(socket->fd, &read_fds)) {
is_ready = KNI_TRUE;
}
}
if (socket->check_flags & CHECK_WRITE) {
if (FD_ISSET(socket->fd, &write_fds)) {
is_ready = KNI_TRUE;
}
}
if (socket->check_flags & CHECK_EXCEPTION) {
if (FD_ISSET(socket->fd, &except_fds)) {
// This happens only if a connect() call failed. Let's close
// the socket and make sure open0() returns -1:
//
// Note to QA: this block needs more testing!
jvm_shutdown(socket->fd, 2);
closesocket(socket->fd);
socket->fd = -1;
is_ready = KNI_TRUE;
}
}
if (is_ready) {
SNI_UnblockThread(blocked_threads[i].thread_id);
}
}
#if ENABLE_JAVA_DEBUGGER
if (debugger_active) {
if (FD_ISSET(dbg_socket_fd, &read_fds)) {
JVM_ProcessDebuggerCmds();
}
}
#endif
}
}
