void vg_highlight(int win, int x, int y)
{
int j;
const static int modus = A_BOLD;
move(0,0);
clrtoeol();
//Nötig, da der Rand 1 dick ist
x++;
y++;
// Hebe die gewinnende Kombination hervor
if(win & WINX)
for(j=0;j<4;j++)
mvchgat(y, x+j, 1, modus, 0, NULL);
if(win & WINY)
for(j=0;j<4;j++)
mvchgat(y+j, x, 1, modus, 0, NULL);
if(win &WINR)
for(j=0;j<4;j++)
mvchgat(y+j, x+j, 1, modus, 0, NULL);
if(win & WINL)
for(j=0;j<4;j++)
mvchgat(y+j, x-j, 1, modus, 0, NULL);
}
/* Show standard header line */
void nhexScreenHeader(void)
{
if(nhexScreen.iChunks == -1) return;
mvprintw(0, 0, "%s-v%s",PACKAGE,VERSION);
clrtoeol();
mvprintw(0, nhexScreen.iCols-21, "|Press <F12> for menu");
mvchgat(0, 0, -1, A_REVERSE, 0, NULL);
mvchgat(nhexScreen.iRows+1, 0, -1, A_REVERSE, 0, NULL);
refresh();
}
void FalloutDisplay::highlight(const std::vector < Character > & hl_list, int on)
{
for (auto hl : hl_list)
{
if (on)
{
mvchgat(hl.get_y(), hl.get_x(), 1, A_REVERSE, 1, NULL);
}
else
{
mvchgat(hl.get_y(), hl.get_x(), 1, A_NORMAL, 1, NULL);
}
}
refresh();
}
void flash_box(const int x0, const int y0, const int x1, const int y1) {
int j;
/* if (!visual_feedback)
return;*/
for (j = y0; j <= y1; ++j)
mvchgat(j, x0, -1 /*x1 - x0 + 1*/, A_REVERSE, 0, NULL);
refresh();
usleep(500000);
for (j = y0; j <= y1; ++j)
mvchgat(j, x0, x1 - x0 + 1, A_NORMAL, 0, NULL);
refresh();
}
static void
test_chgat(void)
{
STATUS st;
init_status(stdscr, &st);
do {
switch (st.ch) {
case '.': /* change from current position */
chgat(st.count, st.attr, st.pair, (void *) 0);
touch_if_needed(stdscr, st.y_val);
break;
case ',': /* change from beginning of window */
mvchgat(0, 0, st.count, st.attr, st.pair, (void *) 0);
touch_if_needed(stdscr, 0);
move(st.y_val, st.x_val);
break;
case 'w':
do_subwindow(stdscr, &st, test_wchgat);
break;
case 'q':
return;
default:
update_status(stdscr, &st);
break;
}
} while ((st.ch = getch()) != ERR);
}
/** highlight the first n characters of the call input field
*
* \param n number of characters to highlight
*/
void highlightCall(unsigned int n) {
attr_t attrib = modify_attr(A_NORMAL);
/* use NORMAL here as normal display
uses STANDOUT */
mvchgat(12, 29, n, attrib, C_INPUT, NULL);
}
void set_foreground_color_at(int x, int y, const color_t& color)
{
int index = y * sys::get_terminal_width() + x;
_foreground_color_index_map[index] = color;
color_t current_back = get_background_color_at(x, y);
int colors = color_to_curses_color(color, current_back);
if (colors & A_BOLD)
{
colors &= ~A_BOLD;
mvchgat( y, x, 1, A_BOLD, colors, 0 );
}
else
{
mvchgat( y, x, 1, 0, colors, 0 );
}
}
void showprocs(struct myproc **procs, struct procstat *pst)
{
int y = -pos_top + TOP_OFFSET - 1;
struct myproc *topproc;
// this f***s up everything. why?
/* for(topproc = gui_proc_first(procs)->child_first; topproc; topproc = topproc->child_next) */
topproc = gui_proc_first(procs);
showproc(topproc, &y, 0);
if(++y < LINES){
move(y, 0);
clrtobot();
}
if(search){
const int red = !search_proc && *search_str;;
if(red)
attron(COLOR_PAIR(1 + COLOR_RED));
mvprintw(0, 0, "%d %c%s", search_offset, "/?"[search_pid], search_str);
if(red)
attroff(COLOR_PAIR(1 + COLOR_RED));
clrtoeol();
if(search_proc){
int ty;
if(search_proc_to_idx(&ty, procs)){
pos_top = ty - LINES / 2;
if(pos_top < 0)
pos_top = 0;
}
}
}else{
int y;
time_t now;
time(&now);
STATUS(0, 0, "%d processes, %d running, %d owned, %d zombies, load averages: %.2f, %.2f, %.2f, uptime: %s",
pst->count, pst->running, pst->owned, pst->zombies, pst->loadavg[0], pst->loadavg[1], pst->loadavg[2], uptime_from_boottime(pst->boottime.tv_sec));
// Mem stuf
STATUS(1, 0, "Mem: %s", format_memory(pst->memory));
// CPU %
STATUS(2,0, "CPU: %s", format_cpu_pct(pst->cpu_pct));
clrtoeol();
y = 3 + pos_y - pos_top;
mvchgat(y, 0, 47, A_UNDERLINE, 0, NULL);
move(y, 47);
}
}
// do the business with curses
void render_line (int linenum, const char *legend, double barpercent,
int bar_colour, int bg_colour,
const char *shownrate) {
int startpos, graphcols, graphlimit;
int barchar;
int i;
// are we below what is visible or above?
// first return if not this many lines on the screen
if(linenum < start_row || linenum > (start_row+(screen_max_rows-1))) {
mvprintw(linenum, 0, "linenum=%d, < start_row = %d name=%s percent %f %s\n", linenum, start_row,legend, barpercent, shownrate);
return;
}
linenum -= start_row; // displaying this section on screen
startpos = 0;
graphcols = screen_max_cols - startpos;
graphlimit = int(graphcols * (barpercent/100));
// hack for mono terminals - translate bar colour
if(bar_colour == COLOR_GREEN)
barchar = ACS_HLINE;
if(bar_colour == COLOR_YELLOW)
barchar = ACS_BOARD;
if(bar_colour == COLOR_RED)
barchar = ACS_BLOCK;
mvprintw(linenum,0,"%s", legend);
clrtoeol();
if(!has_colors()) {
// need the line of whatever character is appropriate
for(i = 0; i < graphlimit;i++)
addch(barchar);
}
// now the rate - put on top of the bar in the case of the no color version
mvprintw(linenum, 35, "%d", graphlimit);
mvprintw(linenum, 40 + ((screen_max_cols-startpos)/2-strlen((const char *)shownrate)),(const char *)shownrate);
if(has_colors()) {
// whole line background
mvchgat(linenum,0,screen_max_cols,A_NORMAL,bg_colour,NULL);
// show the graph part as a colour if possible
mvchgat(linenum,startpos,graphlimit, A_NORMAL,bar_colour, NULL );
}
}
static void show_path(struct regedit *regedit)
{
int start_pad = 0;
int start_win = PATH_START_X;
if (PATH_START_X + regedit->path_len > COLS) {
start_pad = 3 + PATH_START_X + regedit->path_len - COLS;
mvprintw(PATH_START_Y, start_win, "...");
start_win += 3;
}
copywin(regedit->path_label, regedit->main_window, 0, start_pad,
PATH_START_Y, start_win, PATH_START_Y, PATH_MAX_Y, false);
mvchgat(0, 0, COLS, A_BOLD, PAIR_YELLOW_CYAN, NULL);
}
void ConsoleView::initView() {
initscr();
raw();
keypad(stdscr, TRUE);
start_color();
init_pair(1, COLOR_WHITE, COLOR_BLACK);
getmaxyx(stdscr, m_height, m_width);
attron(A_BOLD);
printw("Welcome");
mvchgat(0, 0, -1, A_BLINK, 1, NULL);
attroff(A_BOLD);
refresh();
m_UARTState = createNewWindow(4, m_width, 0, 0);
m_RtFinderView = createNewWindow(m_height - 10, (m_width >> 1) - 1, 5, 0);
m_ObjFinderView = createNewWindow(m_height - 10, (m_width >> 1) - 1, 5,
(m_width >> 1) + 1);
m_ControllerView = createNewWindow(4, m_width, m_height - 5, 0);
refresh();
}
static void exe_instruction(t_proc *proc, t_env *e)
{
int i;
i = -1;
while (g_op_tab[++i].nb_arg)
{
if (proc->inst.opc == g_op_tab[i].op_code)
{
g_op_tab[i].f(e, proc);
if ((e->verbose & VERBOSE_PC) == VERBOSE_PC)
print_adv(proc, e, 1);
mvchgat(proc->pos / 64 + 2, proc->pos % 64 * 3 + 6, 2, A_NORMAL,\
proc->champ_color, NULL);
proc->pos = proc->pc;
break ;
}
}
proc->pos = proc->pc;
}
int main(int argc, char *argv[])
{ initscr(); /* Start curses mode */
start_color(); /* Start color functionality */
init_pair(1, COLOR_CYAN, COLOR_BLACK);
printw("A Big string which i didn't care to type fully ");
mvchgat(0, 0, -1, A_BLINK, 1, NULL);
/*
* First two parameters specify the position at which to start
* Third parameter number of characters to update. -1 means till
* end of line
* Forth parameter is the normal attribute you wanted to give
* to the charcter
* Fifth is the color index. It is the index given during init_pair()
* use 0 if you didn't want color
* Sixth one is always NULL
*/
refresh();
getch();
endwin(); /* End curses mode */
return 0;
}
void printcall(void) {
extern char hiscall[];
extern int miniterm;
extern int cqmode;
extern int cwstart;
int currentterm;
attr_t attrib = modify_attr(A_STANDOUT);
currentterm = miniterm;
miniterm = 0;
attron(COLOR_PAIR(C_INPUT) | attrib);
mvprintw(12, 29, " ");
mvprintw(12, 29, hiscall);
if ((cqmode == CQ) && (cwstart > 0))
mvchgat(12, 29 + cwstart, 12 - cwstart,
attrib | A_UNDERLINE, C_INPUT, NULL);
refreshp();
miniterm = currentterm;
}
int draw_sidebar(int menu) {
BUFFY *tmp;
#ifndef USE_SLANG_CURSES
attr_t attrs;
#endif /* ifndef USE_SLANG_CURSES */
short delim_len = strlen(SidebarDelim);
short color_pair;
static bool initialized = false;
static int prev_show_value;
static short saveSidebarWidth;
int lines = 0;
int SidebarHeight;
if (globals.has_option(OPTSTATUSONTOP) || globals.has_option(OPTHELP))
lines++; /* either one will occupy the first line */
/* initialize first time */
if (!initialized) {
prev_show_value = globals.has_option(OPTSIDEBAR);
saveSidebarWidth = SidebarWidth;
if (!globals.has_option(OPTSIDEBAR)) SidebarWidth = 0;
initialized = true;
}
/* save or restore the value SidebarWidth */
if (prev_show_value != globals.has_option(OPTSIDEBAR)) {
if (prev_show_value
&& !globals.has_option(OPTSIDEBAR)) {
saveSidebarWidth = SidebarWidth;
SidebarWidth = 0;
} else if (!prev_show_value && globals.has_option(OPTSIDEBAR)) {
mutt_buffy_check(1); /* we probably have bad or no numbers */
SidebarWidth = saveSidebarWidth;
}
prev_show_value = globals.has_option(OPTSIDEBAR);
}
/* if ( SidebarWidth == 0 ) return 0; */
if ((SidebarWidth > 0)
&& globals.has_option(OPTSIDEBAR)
&& (delim_len >= SidebarWidth)) {
globals.unset_option(OPTSIDEBAR);
/* saveSidebarWidth = SidebarWidth; */
if (saveSidebarWidth > delim_len) {
SidebarWidth = saveSidebarWidth;
mutt_error(_(
"Value for sidebar_delim is too long. Disabling sidebar."));
sleep(2);
} else {
SidebarWidth = 0;
mutt_error(_(
"Value for sidebar_delim is too long. Disabling sidebar. Please set your sidebar_width to a sane value."));
sleep(4); /* the advise to set a sane value should be seen long
enough */
}
saveSidebarWidth = 0;
return 0;
}
if ((SidebarWidth == 0) || !globals.has_option(OPTSIDEBAR)) {
if (SidebarWidth > 0) {
saveSidebarWidth = SidebarWidth;
SidebarWidth = 0;
}
globals.unset_option(OPTSIDEBAR);
return 0;
}
/* get attributes for divider */
SETCOLOR(MT_COLOR_STATUS);
#ifndef USE_SLANG_CURSES
attr_get(&attrs, &color_pair, 0);
#else /* ifndef USE_SLANG_CURSES */
color_pair = attr_get();
#endif /* ifndef USE_SLANG_CURSES */
SETCOLOR(MT_COLOR_NORMAL);
/* draw the divider */
SidebarHeight = LINES - 1;
if (globals.has_option(OPTHELP) || !globals.has_option(OPTSTATUSONTOP))
SidebarHeight--;
for (; lines < SidebarHeight; lines++) {
move(lines, SidebarWidth - delim_len);
addstr(NONULL(SidebarDelim));
#ifndef USE_SLANG_CURSES
mvchgat(lines, SidebarWidth - delim_len, delim_len, 0, color_pair,
NULL);
#endif /* ifndef USE_SLANG_CURSES */
}
if (Incoming == 0) return 0;
lines = 0;
if (globals.has_option(OPTSTATUSONTOP) || globals.has_option(OPTHELP))
lines++; /* either one will occupy the first line */
if ((known_lines != LINES) || (TopBuffy == 0) || (BottomBuffy == 0))
calc_boundaries(menu);
if (CurBuffy == 0) CurBuffy = Incoming;
tmp = TopBuffy;
SETCOLOR(MT_COLOR_NORMAL);
for (; tmp
&& lines < SidebarHeight; tmp = tmp->next) {
if (tmp == CurBuffy)
SETCOLOR(MT_COLOR_INDICATOR);
else if (tmp->msg_unread > 0)
SETCOLOR(MT_COLOR_NEW);
else if (tmp->msg_flagged > 0)
SETCOLOR(MT_COLOR_FLAGGED);
else
SETCOLOR(MT_COLOR_NORMAL);
move(lines, 0);
if (Context
&& (!strcmp(tmp->path, Context->path)
|| !strcmp(tmp->realpath, Context->path))) {
tmp->msg_unread = Context->unread;
tmp->msgcount = Context->msgcount;
tmp->msg_flagged = Context->flagged;
}
/* check whether Maildir is a prefix of the current folder's path */
short maildir_is_prefix = 0;
if ((strlen(tmp->path) > strlen(Maildir))
&& (strncmp(Maildir, tmp->path, strlen(Maildir)) == 0))
maildir_is_prefix = 1;
/* calculate depth of current folder and generate its display name with indented spaces */
int sidebar_folder_depth = 0;
char *sidebar_folder_name =
globals.has_option(OPTSIDEBARSHORTPATH) ? (char *) mutt_basename(tmp->path)
: (char *)(tmp->path + maildir_is_prefix * (strlen(Maildir) + 1));
if (maildir_is_prefix
&& globals.has_option(OPTSIDEBARFOLDERINDENT)) {
char *tmp_folder_name;
int i;
tmp_folder_name = tmp->path + strlen(Maildir) + 1;
for (i = 0; i < strlen(tmp->path) - strlen(Maildir); i++) {
if ((tmp_folder_name[i] == '/')
|| (tmp_folder_name[i] == '.')) sidebar_folder_depth++;
}
if (sidebar_folder_depth > 0) {
if (globals.has_option(OPTSIDEBARSHORTPATH)) {
tmp_folder_name = strrchr(tmp->path, '.');
if (tmp_folder_name == NULL)
tmp_folder_name = (__typeof__(tmp_folder_name)) mutt_basename(tmp->path);
else
tmp_folder_name++;
} else
tmp_folder_name = tmp->path + strlen(Maildir) + 1;
sidebar_folder_name = (__typeof__(sidebar_folder_name))
malloc(strlen(tmp_folder_name) + sidebar_folder_depth * strlen(NONULL(SidebarIndentStr)) + 1);
sidebar_folder_name[0] = 0;
for (i = 0; i < sidebar_folder_depth; i++)
strncat(sidebar_folder_name, NONULL(
SidebarIndentStr),
strlen(NONULL(SidebarIndentStr)));
strncat(sidebar_folder_name, tmp_folder_name,
strlen(tmp_folder_name));
}
}
printw("%.*s", SidebarWidth - delim_len + 1,
make_sidebar_entry(sidebar_folder_name, tmp->msgcount,
tmp->msg_unread, tmp->msg_flagged));
if (sidebar_folder_depth > 0)
free(sidebar_folder_name);
lines++;
}
SETCOLOR(MT_COLOR_NORMAL);
for (; lines < SidebarHeight; lines++) {
int i = 0;
move(lines, 0);
for (; i < SidebarWidth - delim_len; i++)
addch(' ');
}
return 0;
}
void draw()
{
int y, x;
int color;
void *dumb;
int snowbar, hpbar;
erase();
offset_x = player->x - (COLS / 2);
offset_y = player->y - (LINES / 2);
for(y=0; y<LINES; y++)
for(x=0; x<COLS; x++) {
if(x+offset_x < 0 || x+offset_x >= map->width
|| y+offset_y < 0 || y+offset_y >= map->height)
continue;
color = map->snow[y+offset_y][x+offset_x] + 1;
if(map->trees[y+offset_y][x+offset_x]) {
mvprintw(y, x, "&");
mvchgat(y, x, 1, COLOR_PAIR(color+4) | A_BOLD, color+4, dumb);
} else
mvchgat(y, x, 1, COLOR_PAIR(color), color, dumb);
}
color = map->snow[player->y][player->x] + 1;
mvprintw(player->y-offset_y, player->x-offset_x, "@");
mvchgat(player->y-offset_y, player->x-offset_x, 1, COLOR_PAIR(color)|A_BOLD, color, dumb);
for(x = al_first(monsters); x != al_end(monsters); x = al_next(x, monsters)) {
monster curr = (monster)al_retrieve(x, monsters);
ai(curr);
if(curr->hidden)
continue;
color = map->snow[curr->y][curr->x] + 1;
mvprintw(curr->y-offset_y, curr->x-offset_x, "%c", curr->symbol);
mvchgat(curr->y-offset_y, curr->x-offset_x, 1, COLOR_PAIR(color)|A_BOLD, color, dumb);
}
snowbar = (double)(LINES+1) * ((double)snow_count / (double)100);
hpbar = (double)(LINES+1) * ((double)player->hp / (double)100);
for(y=0; y<snowbar; y++) {
mvprintw(LINES-y, 0, " ");
mvchgat(LINES-y, 0, 1, COLOR_PAIR(9), 9, dumb);
}
for(y=0; y<hpbar; y++) {
mvprintw(LINES-y, 1, " ");
mvchgat(LINES-y, 1, 1, COLOR_PAIR(10), 10, dumb);
}
while(!al_empty(messages)) {
mvprintw(0, 2, "%s", al_retrieve(al_first(messages),messages));
al_delete(al_first(messages), messages);
if(!al_empty(messages))
getch();
}
refresh();
}
static char *_get_input(CTX *ctx, char *str, char *dflt)
{
//TODO KEY_ESC cancelation
static char in[1000];
char *ptr = in;
noecho();
attron( COLOR_PAIR( 2 ) );
mvchgat( ctx->rows - 4, 2, -1, A_INVIS, 0, NULL );
move( ctx->rows - 3, 2 );
for( int i = 0; i < ctx->cols; i++ ) addch( ' ' );
mvprintw( ctx->rows - 3, 2, "%s > ", str );
int y, x;
getyx( stdscr, y, x );
attron( A_BOLD );
curs_set( 2 );
if( dflt ) {
strcpy( ptr, dflt );
printw( dflt );
ptr += strlen( ptr );
} else
memset( in, 0, sizeof( in ) );
int end = 0,
c = getch();
do {
refresh();
switch( c ) {
case KEY_BACKSPACE:
if( ptr != in )
*(--ptr) = '\0';
break;
case '\n':
end = 1;
c = '\0';
default:
if( strspn( (char*)&c, " ()*,._")
|| BTWN( c, 0x30, 0x39 )
|| BTWN( c, 0x41, 0x5a )
|| BTWN( c, 0x61, 0x7a ) )
*(ptr++) = c;
}
mvprintw( y, x, "%s", in );
for( int i = 0; i < ctx->cols - strlen( in ) - 3; i++ ) addch( ' ' );
move( y, x + strlen( in ) );
} while ( !end && ( c = getch() ) );
curs_set( 0 );
attroff( A_BOLD );
attroff( COLOR_PAIR( 2 ) );
noecho();
return in;
}
int do_mode_zero()
{
int err; /* Generic error variable for function calls */
int busCount; /* Number of WAMs defined in the configuration file */
int i; /* For iterating through the pucks */
/* GUI stuff */
enum {
MODE_TOZERO,
MODE_CANCEL,
MODE_PRINTVALS,
MODE_JSELECT,
MODE_EDIT
} mode;
int joint;
int decplace;
vect_n * jangle;
char newhome[80];
char zeromag[80];
clear();
mvprintw(0,0,"Starting Zero Calibration Mode");
/* Ensure the WAM is set up, power cycled, and in the home position */
mvprintw(2,0,"To begin the calibration, follow the following steps:");
mvprintw(3,0," a) Ensure that all WAM power and signal cables are securely fastened.");
mvprintw(4,0," b) Ensure that the WAM is powered on (receiving power).");
mvprintw(5,0," c) E-STOP the WAM (Important!).");
mvprintw(6,0," d) Release all E-STOPs.");
mvprintw(7,0," e) Place the WAM in Shift+Idle mode.");
mvprintw(8,0," f) Carefully ensure that the WAM is in its home (folded) position.");
mvprintw(9,0,"Press [Enter] to continue.");
refresh();
while (btkey_get()!=BTKEY_ENTER) usleep(10000);
/* Initialize system buses */
err = ReadSystemFromConfig("../../wam.conf", &busCount);
if(err) return -1;
/* Spin off the CAN thread */
startDone = 0;
btrt_thread_create(&can_thd,"can",45,(void*)can_thd_function,NULL);
while (!startDone) usleep(10000);
/* Spin off the magenc thread, which also detecs puck versions into mechset */
/* EEK! Why must this be such high priority? */
mz_mechset = (int *) malloc( wam->dof * sizeof(int) );
mz_magvals = (int *)calloc( wam->dof, sizeof(int) );
mz_magvals_set = 0;
btrt_thread_create(&magenc_thd, "mage", 91, (void*)magenc_thd_function, NULL);
/* Spin off the WAM thread */
wam_thd.period = 0.002; /* Control loop period in seconds */
btrt_thread_create(&wam_thd,"ctrl",90,(void*)WAMControlThread,(void*)wam);
/* Allow the user to shift-activate */
mvprintw(11,0,"Place the WAM in Shift+Activate mode,");
mvprintw(12,0,"and press [Enter] to continue.");
refresh();
while (btkey_get()!=BTKEY_ENTER) usleep(10000);
/* Hold position */
SetJointSpace(wam);
MoveSetup(wam, 1.0, 1.0);
MoveWAM(wam,wam->Jpos);
/* Start the user interface */
mode = MODE_TOZERO;
joint = 0;
jangle = new_vn(wam->dof);
set_vn(jangle,wam->Jpos);
clear();
done = 0;
signal(SIGINT, sigint);
while (!done)
{
char buf[80];
int j;
int line;
enum btkey key;
/* Display the Zeroing calibration stuff ... */
mz_magvals_set = 1;
mvprintw(0, 0, "Joint Position (rad): %s", sprint_vn(buf, wam->Jpos));
line = 2;
if (mode == MODE_TOZERO)
{
attron(A_BOLD);
mvprintw(line++, 0, "--> ] Move To Current Zero");
attroff(A_BOLD);
}
else
mvprintw(line++, 0, " ] Move To Current Zero");
if (mode == MODE_CANCEL)
{
attron(A_BOLD);
mvprintw(line++, 0, "--> ] Cancel Calibration");
attroff(A_BOLD);
}
else
mvprintw(line++, 0, " ] Cancel Calibration");
if (mode == MODE_PRINTVALS)
{
attron(A_BOLD);
mvprintw(line++, 0, "--> ] Print Calibrated Values and Exit");
attroff(A_BOLD);
}
else
mvprintw(line++, 0, " ] Print Calibrated Values and Exit");
if (mode == MODE_JSELECT)
{
attron(A_BOLD);
mvprintw(line, 0, "--> ] Joint:");
attroff(A_BOLD);
}
else
mvprintw(line, 0, " ] Joint:");
mvprintw(line+1, 5, "-------");
if (mode == MODE_EDIT) attron(A_BOLD);
mvprintw(line+2, 5, " Set:");
if (mode == MODE_EDIT) attroff(A_BOLD);
mvprintw(line+3, 5, "Actual:");
mvprintw(line+5, 5, " Motor:");
mvprintw(line+6, 5, "MagEnc:");
for (j=0; j<wam->dof; j++)
{
if ((mode == MODE_JSELECT || mode == MODE_EDIT) && j==joint)
{
attron(A_BOLD);
mvprintw(line+0, 13 + 9*j, "[Joint %d]",j+1);
attroff(A_BOLD);
}
else
mvprintw(line+0, 13 + 9*j, " Joint %d ",j+1);
/* total with 8, 5 decimal points (+0.12345) */
if ( mode==MODE_EDIT && j==joint )
{
int boldplace;
mvprintw(line+1, 13 + 9*j, " _._____ ",j+1);
mvprintw(line+2, 13 + 9*j, "% 08.5f ",jangle->q[j]);
boldplace = decplace + 1;
if (decplace) boldplace++;
mvprintw(line+1, 13 + 9*j + boldplace,"x");
mvchgat(line+2, 13 + 9*j+boldplace, 1, A_BOLD, 0, NULL );
}
else
{
mvprintw(line+1, 13 + 9*j, " ------- ",j+1);
mvprintw(line+2, 13 + 9*j, "% 08.5f ",jangle->q[j]);
}
mvprintw(line+3, 13 + 9*j, "% 08.5f ",getval_vn(wam->Jpos,j));
mvprintw(line+5, 13 + 9*j, " Motor %d",j+1);
if (mz_mechset[j])
mvprintw(line+6, 13 + 9*j, " %04d",mz_magvals[j]);
else
mvprintw(line+6, 13 + 9*j, " (None)",mz_magvals[j]);
}
refresh();
/* Wait a bit ... */
usleep(5E4);
key = btkey_get();
/* If the user is in menu mode, work the menu ... */
if (mode != MODE_EDIT) switch (key)
{
case BTKEY_UP:
mode--;
if ((signed int)mode < 0) mode = 0;
break;
case BTKEY_DOWN:
mode++;
if (mode > MODE_JSELECT) mode = MODE_JSELECT;
break;
case BTKEY_ENTER:
switch (mode)
{
case MODE_TOZERO:
if (!MoveIsDone(wam)) break;
fill_vn(jangle,0.0);
MoveWAM(wam,jangle);
break;
case MODE_CANCEL:
done = -1;
break;
case MODE_PRINTVALS:
if (!MoveIsDone(wam)) break;
done = 1;
break;
case MODE_JSELECT:
mode = MODE_EDIT;
decplace = 4;
break;
}
break;
default:
if (mode == MODE_JSELECT) switch (key)
{
case BTKEY_LEFT:
joint--;
if (joint < 0) joint = 0;
break;
case BTKEY_RIGHT:
joint++;
if (joint >= wam->dof) joint = wam->dof - 1;
break;
}
break;
}
/* We're in joint edit mode */
else switch (key)
{
case BTKEY_LEFT:
decplace--;
if (decplace < 0) decplace = 0;
break;
case BTKEY_RIGHT:
decplace++;
if (decplace > 5) decplace = 5;
break;
case BTKEY_BACKSPACE:
mode = MODE_JSELECT;
break;
/* Actually do the moves */
case BTKEY_UP:
if (!MoveIsDone(wam)) break;
jangle->q[joint] += pow(10,-decplace);
MoveWAM(wam,jangle);
break;
case BTKEY_DOWN:
if (!MoveIsDone(wam)) break;
jangle->q[joint] -= pow(10,-decplace);
MoveWAM(wam,jangle);
break;
default:
break;
}
}
if (done == 1)
{
vect_n * vec;
/* Save the new home location */
vec = new_vn(wam->dof);
set_vn( vec, sub_vn(wam->park_location,jangle) );
sprint_vn(newhome,vec);
destroy_vn(&vec);
/* Save the zeromag values */
for (i=0; i<wam->dof; i++) if (!mz_mechset[i]) mz_magvals[i] = -1;
sprintf(zeromag,"< %d",mz_magvals[0]);
for (i=1; i<wam->dof; i++)
sprintf(zeromag+strlen(zeromag),", %d",mz_magvals[i]);
sprintf(zeromag+strlen(zeromag)," >");
}
/* Re-fold, print, and exit */
clear();
mvprintw(0,0,"Moving back to the park location ...");
refresh();
MoveWAM(wam,wam->park_location);
while (!MoveIsDone(wam)) usleep(10000);
mvprintw(1,0,"Shift+Idle, and press [Enter] to continue.");
refresh();
while (btkey_get()!=BTKEY_ENTER) usleep(10000);
/* Stop threads ... */
wam_thd.done = 1;
usleep(10000);
can_thd.done = 1;
usleep(50000);
/* Stop ncurses ... */
endwin();
if (done == 1)
{
/* Print the results */
printf("\n");
printf("Zeroing calibration ended.\n");
printf("\n");
for (i=0; i<wam->dof; i++) if (!mz_mechset[i])
{
printf("Note: Some (or all) of your pucks do not support absolute\n");
printf("position measurement, either because they do not use magnetic\n");
printf("encoders, or because they have not been updated to firmware r118.\n");
printf("\n");
break;
}
printf("Copy the following lines into your wam.conf file,\n");
printf("near the top, in the %s{} group.\n",wam->name);
printf("Make sure it replaces the old home = < ... > definition.\n");
printf("--------\n");
printf(" # Calibrated zero values ...\n");
printf(" home = %s\n",newhome);
for (i=0; i<wam->dof; i++) if (mz_mechset[i])
{ printf(" zeromag = %s\n",zeromag); break; }
printf("--------\n");
{
FILE * logfile;
logfile = fopen("cal-zero.log","w");
if (logfile)
{
fprintf(logfile," # Calibrated zero values ...\n");
fprintf(logfile," home = %s\n",newhome);
for (i=0; i<wam->dof; i++) if (mz_mechset[i])
{ fprintf(logfile," zeromag = %s\n",zeromag); break; }
fclose(logfile);
printf("This text has been saved to cal-zero.log.\n");
printf("\n");
}
else
{
syslog(LOG_ERR,"Could not write to cal-zero.log.");
printf("Error: Could not write to cal-zero.log.\n");
printf("\n");
}
}
printf("Note that you must E-Stop (or power-cycle) your WAM\n");
printf("for the calibrated settings to take effect!\n");
printf("\n");
}
return 0;
}
void showproc(struct myproc *proc, int *py, int indent)
{
struct myproc *p;
int y = *py;
if(y >= LINES)
return; /* FIXME */
if(y > 0){ // otherwise we're iterating over a process that's above pos_top
if(proc->pid != 0) { //dummy root node excluded
extern uid_t global_uid;
extern int max_unam_len, max_gnam_len;
const int owned = proc->uid == global_uid;
char buf[256];
int len = LINES;
int lock = proc->pid == lock_proc_pid;
int x;
move(y, 0);
if(lock)
attron(ATTR_LOCK);
else if(proc == search_proc)
attron(ATTR_SEARCH);
else if(proc->flag & P_JAILED)
attron(ATTR_JAILED);
else if(!owned)
attron(ATTR_NOT_OWNED);
if(!(proc->flag & P_JAILED)){ // non-jailed processes
len -= snprintf(buf, sizeof buf,
"% 7d %-7s "
"%-*s %-*s "
"%3.1f"
,
proc->pid, proc->state_str,
max_unam_len, proc->unam,
max_gnam_len, proc->gnam,
proc->pc_cpu
);
} else { // processes in a jail; display Jail ID
len -= snprintf(buf, sizeof buf,
"% 7d %3d %-7s "
"%-*s %-*s "
"%3.1f"
,
proc->pid, proc->jid, proc->state_str,
max_unam_len, proc->unam,
max_gnam_len, proc->gnam,
proc->pc_cpu
);
}
addstr(buf);
getyx(stdscr, y, x);
if(proc->state == SRUN){
mvchgat(y, 14, 7, 0, COLOR_RUNNING + 1, NULL);
move(y, x);
}
clrtoeol();
/* position for process name */
// TODO: add some define that adjusts offset here
x+=5; /* one after the state */
for(int indent_copy = indent; indent_copy > 0; indent_copy--)
x += INDENT;
mvprintw(y, x, "%s", proc->cmd, COLS - indent - len - 1);
/* basename shading */
if(owned && !lock){
const int bn_len = strlen(proc->basename);
int min_len = COLS - indent - len - 1;
if(min_len > bn_len)
min_len = bn_len;
x += proc->basename_offset;
attron(ATTR_BASENAME);
mvaddnstr(y, x, proc->basename, min_len);
}
if(lock)
attroff(ATTR_LOCK);
else if(proc == search_proc)
attroff(ATTR_SEARCH);
else if(owned)
attroff(ATTR_BASENAME);
else if(proc->flag & P_JAILED)
attroff(ATTR_JAILED);
else
attroff(ATTR_NOT_OWNED);
}
}
/*
* need to iterate over all children,
* since we may currently be on a process above the top
*/
for(p = proc->child_first; p; p = p->child_next){
y++;
showproc(p, &y, indent + 1);
}
*py = y;
}
