int main() {
closure = pi_default_closure();
pi_gpio_setup(closure);
pi_gpio_pin_t gpioe = PIN_ENABLE;
pi_gpio_pin_t gpioa1 = PIN_COIL_A1;
pi_gpio_pin_t gpioa2 = PIN_COIL_A2;
pi_gpio_pin_t gpiob1 = PIN_COIL_B1;
pi_gpio_pin_t gpiob2 = PIN_COIL_B2;
pin_enable = pi_gpio_claim_output(closure, gpioe, PI_GPIO_HIGH);
pin_coil_a1 = pi_gpio_claim_output(closure, gpioa1, PI_GPIO_LOW);
pin_coil_a2 = pi_gpio_claim_output(closure, gpioa2, PI_GPIO_LOW);
pin_coil_b1 = pi_gpio_claim_output(closure, gpiob1, PI_GPIO_LOW);
pin_coil_b2 = pi_gpio_claim_output(closure, gpiob2, PI_GPIO_LOW);
move_forward(5, 356);
move_backward(30, 45);
pi_gpio_write(pin_enable, PI_GPIO_LOW);
pi_gpio_release(pin_enable);
pi_gpio_release(pin_coil_a1);
pi_gpio_release(pin_coil_a2);
pi_gpio_release(pin_coil_b1);
pi_gpio_release(pin_coil_b2);
pi_gpio_teardown(closure);
return 0;
}
void Legs::move_according_state(){
/*
Given the current state, update the moviment.
*/
switch (get_current_state()) {
case FORWARD:
move_forward();
break;
case BACKWARD:
move_backward();
break;
case LEFT:
turn_left();
break;
case RIGHT:
turn_right();
break;
case BYELEFT:
bye_bye_left();
break;
case BYERIGHT:
bye_bye_right();
break;
case STOP:
zero_pos();
break;
default:
zero_pos();
break;
}
}
static range<I> rotate_right(I begin, I end)
{
I lm1 = prev(end);
iterator_value_t<I> tmp = iter_move(lm1);
I fp1 = move_backward(begin, lm1, end).second;
*begin = std::move(tmp);
return {fp1, end};
}
static void
move_to_bottom (void)
{
while ((*currentpoint != '\0') && (*currentpoint != CHAR_NODE_END))
currentpoint++;
currentpoint--;
move_backward (1);
}
static range<I> rotate_right(I begin, I end)
{
I lm1 = prev(end);
auto tmp = std::move(*lm1);
I fp1 = move_backward(begin, lm1, end).second;
*begin = std::move(tmp);
return {fp1, end};
}
inline void linear_insert(I begin, I end, C &pred, P &proj)
{
iterator_value_t<I> val = iter_move(end);
if(pred(proj(val), proj(*begin)))
{
move_backward(begin, end, end + 1);
*begin = std::move(val);
}
else
detail::unguarded_linear_insert(end, std::move(val), pred, proj);
}
void process(t_env *e)
{
if (e->input->a == 1)
move_left(e);
else if (e->input->d == 1)
move_right(e);
if (e->input->w == 1)
move_forward(e);
else if (e->input->s == 1)
move_backward(e);
}
void perform_action(gamestate_t *gs, int action)
{
switch(action)
{
case 0: noop(gs); qbLog("Noop"); break;
case 1: turn_left(gs); qbLog("turn left"); break;
case 2: turn_right(gs); qbLog("turn right"); break;
case 3: move_forward(gs); qbLog("move forward"); break;
case 4: move_backward(gs); qbLog("move backward"); break;
case 5: jump(gs); qbLog("jump"); break;
case 6: shoot(gs); qbLog("shoot"); break;
}
}
int loop_event(t_app *app)
{
if (app->player.move_forward == 1)
move_forward(app);
if (app->player.move_backward == 1)
move_backward(app);
if (app->player.turn_left == 1)
turn_left(app);
if (app->player.turn_right == 1)
turn_right(app);
refresh(app);
return (0);
}
void loop()
{
if (Serial.available() > 0)
{
int command = Serial.read();
Serial.print(command, DEC);
Serial.print(" ");
switch (command)
{
case 1:
move_stop();
delay(500);
move_forward();
break;
case 2:
move_stop();
delay(500);
turn_left();
break;
case 3:
move_stop();
delay(500);
turn_right();
break;
case 4:
move_stop();
delay(500);
move_backward();
break;
case 5:
move_stop();
break;
case 6:
front_led_control(true);
break;
case 7:
front_led_control(false);
break;
case 8:
rear_led_control(true);
break;
case 9:
rear_led_control(false);
break;
default:
move_stop();
front_led_control(false);
rear_led_control(false);
}
}
}
int key_press(int keycode, t_env *e)
{
if (keycode == KEY_ALPHA_Q)
move_leftward(e->map, 1);
else if (keycode == KEY_ALPHA_W)
move_forward(e->map, 1);
else if (keycode == KEY_ALPHA_E)
move_rightward(e->map, 1);
else if (keycode == KEY_ALPHA_A)
turn_left(e->map, 1);
else if (keycode == KEY_ALPHA_S)
move_backward(e->map, 1);
else if (keycode == KEY_ALPHA_D)
turn_right(e->map, 1);
return (0);
}
static void
help_prev_link (gboolean move_up)
{
const char *new_item;
new_item = select_prev_link (selected_item);
selected_item = new_item;
if ((selected_item == NULL) || (selected_item < currentpoint))
{
if (move_up)
move_backward (1);
else if ((link_area != NULL) && (link_area->data != NULL))
selected_item = ((Link_Area *) link_area->data)->link_name;
else
selected_item = NULL;
}
}
int key_release(int keycode, t_env *e)
{
if (keycode == KEY_ESC)
exit(0);
else if (keycode == KEY_ALPHA_Q)
move_leftward(e->map, 0);
else if (keycode == KEY_ALPHA_W)
move_forward(e->map, 0);
else if (keycode == KEY_ALPHA_E)
move_rightward(e->map, 0);
else if (keycode == KEY_ALPHA_A)
turn_left(e->map, 0);
else if (keycode == KEY_ALPHA_S)
move_backward(e->map, 0);
else if (keycode == KEY_ALPHA_D)
turn_right(e->map, 0);
else if (keycode == KEY_ALPHA_M)
e->map->is_minimap = !e->map->is_minimap;
return (0);
}
static cb_ret_t
help_execute_cmd (unsigned long command)
{
cb_ret_t ret = MSG_HANDLED;
switch (command)
{
case CK_Help:
help_help (whelp);
break;
case CK_Index:
help_index (whelp);
break;
case CK_Back:
help_back (whelp);
break;
case CK_Up:
help_prev_link (TRUE);
break;
case CK_Down:
help_next_link (TRUE);
break;
case CK_PageDown:
move_forward (help_lines - 1);
break;
case CK_PageUp:
move_backward (help_lines - 1);
break;
case CK_HalfPageDown:
move_forward (help_lines / 2);
break;
case CK_HalfPageUp:
move_backward (help_lines / 2);
break;
case CK_Top:
move_to_top ();
break;
case CK_Bottom:
move_to_bottom ();
break;
case CK_Enter:
help_select_link ();
break;
case CK_LinkNext:
help_next_link (FALSE);
break;
case CK_LinkPrev:
help_prev_link (FALSE);
break;
case CK_NodeNext:
help_next_node ();
break;
case CK_NodePrev:
help_prev_node ();
break;
case CK_Quit:
dlg_stop (whelp);
break;
default:
ret = MSG_NOT_HANDLED;
}
return ret;
}
static int
help_event (Gpm_Event * event, void *vp)
{
Widget *w = WIDGET (vp);
GSList *current_area;
Gpm_Event local;
if (!mouse_global_in_widget (event, w))
return MOU_UNHANDLED;
if ((event->type & GPM_UP) == 0)
return MOU_NORMAL;
local = mouse_get_local (event, w);
/* The event is relative to the dialog window, adjust it: */
local.x -= 2;
local.y -= 2;
if ((local.buttons & GPM_B_RIGHT) != 0)
{
currentpoint = history[history_ptr].page;
selected_item = history[history_ptr].link;
history_ptr--;
if (history_ptr < 0)
history_ptr = HISTORY_SIZE - 1;
send_message (w->owner, NULL, MSG_DRAW, 0, NULL);
return MOU_NORMAL;
}
/* Test whether the mouse click is inside one of the link areas */
for (current_area = link_area; current_area != NULL; current_area = g_slist_next (current_area))
{
Link_Area *la = (Link_Area *) current_area->data;
/* Test one line link area */
if (local.y == la->y1 && local.x >= la->x1 && local.y == la->y2 && local.x <= la->x2)
break;
/* Test two line link area */
if (la->y1 + 1 == la->y2)
{
/* The first line */
if (local.y == la->y1 && local.x >= la->x1)
break;
/* The second line */
if (local.y == la->y2 && local.x <= la->x2)
break;
}
/* Mouse will not work with link areas of more than two lines */
}
/* Test whether a link area was found */
if (current_area != NULL)
{
Link_Area *la = (Link_Area *) current_area->data;
/* The click was inside a link area -> follow the link */
history_ptr = (history_ptr + 1) % HISTORY_SIZE;
history[history_ptr].page = currentpoint;
history[history_ptr].link = la->link_name;
currentpoint = help_follow_link (currentpoint, la->link_name);
selected_item = NULL;
}
else if (local.y < 0)
move_backward (help_lines - 1);
else if (local.y >= help_lines)
move_forward (help_lines - 1);
else if (local.y < help_lines / 2)
move_backward (1);
else
move_forward (1);
/* Show the new node */
send_message (w->owner, NULL, MSG_DRAW, 0, NULL);
return MOU_NORMAL;
}
void
msg_list_window::add_msgs_page(const msgs_filter* f, bool if_results _UNUSED_)
{
m_filter = new msgs_filter(*f);
QFont body_font;
QFont list_font;
QByteArray headerview_setup;
msgs_page* current = m_pages->current_page();
// current may be null if we're instantiating the first page
if (current) {
body_font = m_msgview->font();
list_font = m_qlist->font();
if (m_qlist->sender_recipient_swapped())
m_qlist->swap_sender_recipient(false);
headerview_setup = m_qlist->header()->saveState();
}
// new splitter
QStackedWidget* stackw = m_pages->stacked_widget();
QSplitter* l=new QSplitter(Qt::Vertical, this);
stackw->addWidget(l);
m_qlist = new mail_listview(l);
m_qlist->set_threaded(display_vars.m_threaded);
m_qlist->m_msg_window=this;
if (current)
m_qlist->setFont(list_font);
m_qlist->init_columns();
if (current)
m_qlist->header()->restoreState(headerview_setup);
if (!m_filter->m_fetched)
m_filter->fetch(m_qlist);
else
m_filter->make_list(m_qlist);
msg_list_postprocess();
m_msgview = new message_view(l, this);
if (current)
m_msgview->setFont(body_font);
connect(m_msgview, SIGNAL(on_demand_show_request()), this, SLOT(display_msg_contents()));
connect(m_msgview, SIGNAL(popup_body_context_menu()), this, SLOT(body_menu()));
connect(m_msgview, SIGNAL(page_back()), this, SLOT(move_backward()));
connect(m_msgview, SIGNAL(page_forward()), this, SLOT(move_forward()));
m_qAttch = new attch_listview(l);
connect(m_qAttch, SIGNAL(itemDoubleClicked(QTreeWidgetItem*,int)),
this, SLOT(attch_selected(QTreeWidgetItem*,int)));
connect(m_qAttch, SIGNAL(init_progress(const QString)),
this, SLOT(install_progressbar(const QString)));
connect(m_qAttch, SIGNAL(progress(int)), this, SLOT(show_progress(int)));
connect(m_qAttch, SIGNAL(finish_progress()), this, SLOT(uninstall_progressbar()));
connect(this, SIGNAL(abort_progress()), m_qAttch, SLOT(download_aborted()));
// splitter for 3 panes: list of messages / body / attachments list
static const int splitter_default_sizes[3] = {100,400,25};
QList<int> lsizes;
if (current) {
lsizes = current->m_page_splitter->sizes();
// don't allow any zero size for panels. This is necessary to avoid having the
// attachment list being almost invisible to the user
for (int i=0; i<3; i++) {
if (lsizes.at(i)==0) {
lsizes.replace(i, splitter_default_sizes[i]);
}
}
}
else {
for (int i=0; i<3; i++) {
int sz;
QString key;
key.sprintf("display/msglist/panel%d_size", i+1);
if (get_config().exists(key)) {
sz=get_config().get_number(key);
if (sz==0)
sz=splitter_default_sizes[i];
}
else
sz=splitter_default_sizes[i];
lsizes.append(sz);
}
}
/* avoid changing the listview's height each time the attachments view
is shown or hidden */
l->setStretchFactor(l->indexOf(m_qlist), 0);
l->setStretchFactor(l->indexOf(m_msgview), 1);
l->setStretchFactor(l->indexOf(m_qAttch), 0);
l->setSizes(lsizes);
m_qAttch->hide();
m_wSearch=NULL;
connect(m_qlist,SIGNAL(selection_changed()), this,SLOT(mails_selected()));
connect(m_qlist,SIGNAL(doubleClicked(const QModelIndex&)),
this,SLOT(mail_reply_all()));
connect(m_qlist, SIGNAL(clicked(const QModelIndex&)),
this, SLOT(action_click_msg_list(const QModelIndex&)));
connect(m_qlist, SIGNAL(scroll_page_down()), m_msgview, SLOT(page_down()));
if (m_pages->next_page()) {
// we're in the middle of a page list, and asked to go forward.
// let's remove all the pages that are after the current position
m_pages->cut_pages(m_pages->next_page());
}
int max_pages=get_config().get_number("msg_window_pages");
if (max_pages<2) max_pages=2;
if (m_pages->count() >= max_pages) {
free_msgs_page();
if (m_pages->count() >= max_pages) {
// Still no room for a new page? OK, forget it
DBG_PRINTF(5,"not enough pages!");
return;
}
}
// allocate and use a new page
msgs_page* page = new msgs_page();
page->m_page_filter = m_filter;
page->m_page_msgview = m_msgview;
page->m_page_attach = m_qAttch;
page->m_page_qlist = m_qlist;
page->m_page_current_item = NULL;
page->m_page_splitter = l;
page->m_msgs_window = this;
page->m_query_lvitem_id = m_query_lv->current_id();
m_pages->add_page(page);
m_pages->raise_page(page);
m_tags_box->reset_tags();
enable_forward_backward();
}
static void
help_mouse_callback (Widget * w, mouse_msg_t msg, mouse_event_t * event)
{
int x, y;
GSList *current_area;
if (msg != MSG_MOUSE_CLICK)
return;
if ((event->buttons & GPM_B_RIGHT) != 0)
{
/* Right button click */
help_back (whelp);
return;
}
/* Left bytton click */
/* The event is relative to the dialog window, adjust it: */
x = event->x - 1;
y = event->y - 1;
/* Test whether the mouse click is inside one of the link areas */
for (current_area = link_area; current_area != NULL; current_area = g_slist_next (current_area))
{
Link_Area *la = (Link_Area *) current_area->data;
/* Test one line link area */
if (y == la->y1 && x >= la->x1 && y == la->y2 && x <= la->x2)
break;
/* Test two line link area */
if (la->y1 + 1 == la->y2)
{
/* The first line || The second line */
if ((y == la->y1 && x >= la->x1) || (y == la->y2 && x <= la->x2))
break;
}
/* Mouse will not work with link areas of more than two lines */
}
/* Test whether a link area was found */
if (current_area != NULL)
{
Link_Area *la = (Link_Area *) current_area->data;
/* The click was inside a link area -> follow the link */
history_ptr = (history_ptr + 1) % HISTORY_SIZE;
history[history_ptr].page = currentpoint;
history[history_ptr].link = la->link_name;
currentpoint = help_follow_link (currentpoint, la->link_name);
selected_item = NULL;
}
else if (y < 0)
move_backward (help_lines - 1);
else if (y >= help_lines)
move_forward (help_lines - 1);
else if (y < help_lines / 2)
move_backward (1);
else
move_forward (1);
/* Show the new node */
send_message (w->owner, NULL, MSG_DRAW, 0, NULL);
}