main()
{
char c,s[10];
int y[3],x[4],i;
timeinit();
while(1)
{
if(rrawad(&i) == 0)
{
x[3] = x[2];
x[2] = x[1];
x[1] = x[0];
x[0] = i;
y[2] = y[1];
y[1] = y[0];
y[0] = (x[0] + 3 * x[1] + 3 * x[2] + x[3] - 2 * y[2]) / 6;
sprintf(s,"%6u",y[0]);
disp(s,10);
sprintf(s,"%5u",x[0]);
disp(s,0);
fprintf(stderr,"%d\n",tmcount);
}
if((c = rrawkey()))
{
fprintf(stderr,"%d\n",(unsigned char)c);
if(c < 10)
printf("i1%d\n",c);
else if(c < 20)
printf("i0%d\n",c - 10);
}
}
}
int program_make(struct program *prog, struct shader **shader, int num)
{
int i;
GLchar log[256] = "nil";
GLsizei len = 0;
GLint res = GL_FALSE;
if (!prog) {
errno = EFAULT;
return -1;
}
timeinit();
prog->id = glCreateProgram();
if (prog->id == 0) {
glerr("glCreateProgram() failed");
return -1;
}
prog->shader = shader;
prog->shader_num = num;
for (i = 0; i < num; i++) {
if (make_shader(shader[i]) < 0) {
_err("shader %s failed\n", shader[i]->name);
goto err;
}
glAttachShader(prog->id, shader[i]->id);
}
timestart();
glLinkProgram(prog->id);
glGetProgramiv(prog->id, GL_LINK_STATUS, &res);
if (res != GL_TRUE) {
_err("failed to link program\n");
goto err;
}
timestop("program %d linked\n", prog->id);
return prog->id;
err:
if (prog->id > 0) {
glGetProgramInfoLog(prog->id, sizeof (log), &len, log);
_msg("len: %d, log: %s\n", len, log);
}
program_clean(prog);
return -1;
}
static int make_shader(struct shader *shader)
{
GLint res = GL_FALSE;
GLsizei len = 0;
GLchar log[4096] = "nil";/* FIXME: some drivers return wrong values for
* GL_INFO_LOG_LENGTH use a fixed size instead
*/
timeinit();
if (!shader) {
errno = EFAULT;
return -1;
}
timestart();
shader->id = glCreateShader(shader->type);
if (shader->id == 0) {
glerr("glCreateShader(%s) failed", shader->name);
goto error;
}
glShaderSource(shader->id, 1, &shader->code, NULL);
glCompileShader(shader->id);
glGetShaderiv(shader->id, GL_COMPILE_STATUS, &res);
if (res != GL_TRUE) {
glerr("glCompileShader(%s) failed", shader->name);
goto error;
}
timestop("compiled shader %s, id %d type 0x%04x\n", shader->name,
shader->id, shader->type);
return 0;
error:
if (shader->id > 0) {
glGetShaderInfoLog(shader->id, sizeof(log), &len, log);
_msg("len: %d, log: %s\n", len, log);
glDeleteShader(shader->id);
shader->id = 0;
}
return -1;
}
void
main(int argc, char **argv)
{
Word *w;
char *s, *temp;
char *files[256], **f = files, **ff;
int sflag = 0;
int i;
int tfd = -1;
Biobuf tb;
Bufblock *buf;
Bufblock *whatif;
/*
* start with a copy of the current environment variables
* instead of sharing them
*/
Binit(&bout, 1, OWRITE);
buf = newbuf();
whatif = 0;
USED(argc);
for(argv++; *argv && (**argv == '-'); argv++)
{
bufcpy(buf, argv[0], strlen(argv[0]));
insert(buf, ' ');
switch(argv[0][1])
{
case 'a':
aflag = 1;
break;
case 'd':
if(*(s = &argv[0][2]))
while(*s) switch(*s++)
{
case 'p': debug |= D_PARSE; break;
case 'g': debug |= D_GRAPH; break;
case 'e': debug |= D_EXEC; break;
}
else
debug = 0xFFFF;
break;
case 'e':
explain = &argv[0][2];
break;
case 'f':
if(*++argv == 0)
badusage();
*f++ = *argv;
bufcpy(buf, argv[0], strlen(argv[0]));
insert(buf, ' ');
break;
case 'i':
iflag = 1;
break;
case 'k':
kflag = 1;
break;
case 'n':
nflag = 1;
break;
case 's':
sflag = 1;
break;
case 't':
tflag = 1;
break;
case 'u':
uflag = 1;
break;
case 'w':
if(whatif == 0)
whatif = newbuf();
else
insert(whatif, ' ');
if(argv[0][2])
bufcpy(whatif, &argv[0][2], strlen(&argv[0][2]));
else {
if(*++argv == 0)
badusage();
bufcpy(whatif, &argv[0][0], strlen(&argv[0][0]));
}
break;
default:
badusage();
}
}
#ifdef PROF
{
extern etext();
monitor(main, etext, buf, sizeof buf, 300);
}
#endif
if(aflag)
iflag = 1;
usage();
syminit();
initenv();
usage();
/*
assignment args become null strings
*/
temp = 0;
for(i = 0; argv[i]; i++) if(utfrune(argv[i], '=')){
bufcpy(buf, argv[i], strlen(argv[i]));
insert(buf, ' ');
if(tfd < 0){
temp = maketmp();
if(temp == 0) {
perror("temp file");
Exit();
}
close(create(temp, OWRITE, 0600));
if((tfd = open(temp, 2)) < 0){
perror(temp);
Exit();
}
Binit(&tb, tfd, OWRITE);
}
Bprint(&tb, "%s\n", argv[i]);
*argv[i] = 0;
}
if(tfd >= 0){
Bflush(&tb);
LSEEK(tfd, 0L, 0);
parse("command line args", tfd, 1);
remove(temp);
}
if (buf->current != buf->start) {
buf->current--;
insert(buf, 0);
}
symlook("MKFLAGS", S_VAR, (void *) stow(buf->start));
buf->current = buf->start;
for(i = 0; argv[i]; i++){
if(*argv[i] == 0) continue;
if(i)
insert(buf, ' ');
bufcpy(buf, argv[i], strlen(argv[i]));
}
insert(buf, 0);
symlook("MKARGS", S_VAR, (void *) stow(buf->start));
freebuf(buf);
if(f == files){
if(access(MKFILE, 4) == 0)
parse(MKFILE, open(MKFILE, 0), 0);
} else
for(ff = files; ff < f; ff++)
parse(*ff, open(*ff, 0), 0);
if(DEBUG(D_PARSE)){
dumpw("default targets", target1);
dumpr("rules", rules);
dumpr("metarules", metarules);
dumpv("variables");
}
if(whatif){
insert(whatif, 0);
timeinit(whatif->start);
freebuf(whatif);
}
execinit();
/* skip assignment args */
while(*argv && (**argv == 0))
argv++;
catchnotes();
if(*argv == 0){
if(target1)
for(w = target1; w; w = w->next)
mk(w->s);
else {
fprint(2, "mk: nothing to mk\n");
Exit();
}
} else {
if(sflag){
for(; *argv; argv++)
if(**argv)
mk(*argv);
} else {
Word *head, *tail, *t;
/* fake a new rule with all the args as prereqs */
tail = 0;
t = 0;
for(; *argv; argv++)
if(**argv){
if(tail == 0)
tail = t = newword(*argv);
else {
t->next = newword(*argv);
t = t->next;
}
}
if(tail->next == 0)
mk(tail->s);
else {
head = newword("command line arguments");
addrules(head, tail, strdup(""), VIR, mkinline, 0);
mk(head->s);
}
}
}
if(uflag)
prusage();
exits(0);
}
main( int argc, char **argv )
{
char c,s[10];
int y[3],x[4],i;//i為AD值
unsigned int x_w;
unsigned int y_w;
unsigned int net;
unsigned int tare = 0;//容器重(AD)
/*
char *c_addr;
int shmid;
*/
if( ( re = fopen( "/home/allways/simulator/src/simtogoal", "r+" ) ) == NULL )
printf( "%s\n", strerror( errno ) );
if( ( wr = fopen( "/home/allways/simulator/src/goaltosim", "w+" ) ) == NULL )
printf( "%s\n", strerror( errno ));
//printf("The argument has %d\n", argc );
//printf("test is %s\n",argv[0]);
/*
shmid = (int)atoi( argv[ 0 ] );
c_addr = shmat( shmid, 0, 0 );
printf("test is %s\n",c_addr);
shmdt( c_addr );
*/
timeinit();
while(1)
{
if( rrawad( &i ) == 0 )//i便是由函數rrawad所指回來的ad值
{
//i -= tare;//把皮重A/D減掉
x[3] = x[2];
x[2] = x[1];
x[1] = x[0];
x[0] = i;
y[2] = y[1];
y[1] = y[0];
y[0] = ( x[0] + 3 * x[1] + 3 * x[2] + x[3] - 2 * y[2] ) / 6;
//讓讀入的值只有整數而沒有小數點
sprintf(s,"%7u",x[0]);
disp(s,0);//生ad
x_w = ( x[ 0 ] - adstart ) * slope;
sprintf( s, "%6u", x_w );
disp(s,16);//生重量
sprintf(s,"%7u",y[0]);//y[0]是濾波後的值
disp(s,8);//熟ad
y_w = ( y[ 0 ] - adstart ) * slope;
sprintf(s,"%6u",y_w);
disp(s,23);//熟重量
net = y_w - tare;
//printf("net = %d\n",net);
sprintf(s,"%6u",net);
disp(s,30);//淨重
}
if( ( c = rrawkey() ) )//'0'表示目前沒有任何的按鍵被按
{
switch( c )
{
case 12 : tare = 0; break;//12為回歸鍵
case 13 : tare = y_w; break;//13扣重鍵
case 17 :
{
fprintf( wr, "c\n" );//做為校正傳值的記號
fflush( wr );
fscanf( re, "%lf", &adstart );
fscanf( re, "%lf", &slope );
//printf("adstart number: %f\n",adstart);
//printf("slope number: %f\n",slope);
break;
}
}
/*
if(c < 10)
{
printf("i1%d\n",c);
//fprintf(stderr,"i1%d\n",(unsigned char)c);
}
else if(c < 20)
{
printf("i0%d\n",c - 10);
//fprintf(stderr,"i0%d\n",(unsigned char)c-10);
}
*/
}
}
}
