void put_poms_out(){
printf("put poms out \n");
turn_left();
double sec= seconds();
while(analog10(LEFT_SENSOR)<left_blk-150&&analog10(RIGHT_SENSOR)<right_blk-150&&(sec+1)>seconds()){ }
forward();
while(analog10(LEFT_SENSOR)<left_blk-150&&analog10(RIGHT_SENSOR)<right_blk-150){}
if(analog10(LEFT_SENSOR)>=left_blk-150&&analog10(RIGHT_SENSOR)>=right_blk-150){
put_out();
}
else if(analog10(LEFT_SENSOR)>=left_blk-150){
turn_left();
while(analog10(RIGHT_SENSOR)>=right_blk-150){}
stop();
msleep(1000);
forward();
while(analog10(LEFT_SENSOR)<left_blk-150){}
stop();
msleep(1000);
turn_left();
while(analog10(RIGHT_SENSOR)<right_blk-150){}
put_out();
}
else if(analog10(RIGHT_SENSOR)>=right_blk-150){
turn_right();
while(analog10(LEFT_SENSOR)>=left_blk-150){}
stop();
msleep(1000);
forward();
while(analog10(RIGHT_SENSOR)<right_blk-150){}
stop();
msleep(1000);
turn_right();
while(analog10(LEFT_SENSOR)<left_blk-150){}
put_out();
}
}
int main(void) {
uint8_t buf[1 << 16], *out;
uint8_t state = 0;
unsigned i, j, type = 0x20;
struct {
uint8_t buf[256];
unsigned pos;
} psbuf[2], *cps = NULL;
for (;;) {
ssize_t got = read(0, (out = buf), sizeof(buf));
if (got < 0) die("Read error: %m");
if (got == 0) break;
for (i = 0; i < (unsigned) got; i++) {
switch (state) {
case 0x57: /* 0x00000001 */
type = buf[i] & 0x1F;
switch (type) {
case NUT_SPS:
case NUT_PPS:
/* if we have PPS/SPS record it in the appropriate buffer */
cps = &psbuf[type == NUT_SPS ? 0 : 1 ];
cps->pos = 0;
break;
case NUT_CODED_SLICE_IDR:
/* If we have an IDR (key) frame push the stored SPS/PPS out in front of it */
if (!cps) {
got -= push_out(&out, &buf[i] - out);
for (j = 0; j < 2; j++)
put_out(psbuf[j].buf, psbuf[j].pos);
}
default:
/* Anything other than SPS/PPS: stop recording */
cps = NULL;
break;
}
break;
}
/* state of last four bytes packed into one byte; two bits for unseen/zero/over
* one/one (0..3 respectively).
*/
state = (state << 2) | (buf[i] == 0x00 ? 1 : buf[i] == 0x01 ? 3 : 2);
if (cps) {
if (cps->pos == sizeof(cps->buf)) {
fprintf(stderr, "Warning: SPS/PPS overrun!\n");
/* discard and forget about it. SPS/PPS are quite small -
* if this buffer fills it's more likely that we're being
* given something other than h264 than that the SPS or PPS is
* that large.
*/
cps->pos = 0;
cps = NULL;
}
cps->buf[cps->pos++] = buf[i];
}
}
/* push whatever is left at the end */
push_out(&out, got);
}
return 0;
}
static size_t push_out(uint8_t **buf, size_t len) {
put_out(*buf, len);
*buf += len;
return len;
}
