int lockname (char *lock,char *fname,int op)
{
int ld;
char c,*s;
if (!((s = lockdir (lock,getenv ("TEMP"),NIL)) ||
(s = lockdir (lock,getenv ("TMP"),NIL)) ||
(s = lockdir (lock,getenv ("TMPDIR"),NIL)) ||
/* C:\TEMP is last resort */
(s = lockdir (lock,defaultDrive (),"TEMP")))) {
mm_log ("Unable to find temporary directory",ERROR);
return -1;
}
/* generate file name */
while (c = *fname++) switch (c) {
case '/': case '\\': case ':':
*s++ = '!'; /* convert bad chars to ! */
break;
default:
*s++ = c;
break;
}
*s++ = c; /* tie off name */
/* get the lock */
if (((ld = open (lock,O_BINARY|O_RDWR|O_CREAT,S_IREAD|S_IWRITE)) >= 0) && op)
flock (ld,op); /* apply locking function */
return ld; /* return locking file descriptor */
}
void FourWheelOmniPilot::drive (Robot* rob, float x_goal, float y_goal, float theta_goal, float x_goal2, float y_goal2, MoveType moveType){
switch (moveType)
{
case MoveType::facePoint:
facePointDrive(rob,x_goal,y_goal,theta_goal);
break;
case MoveType::dribble:
dribbleDrive(rob,x_goal,y_goal,theta_goal);
break;
default:
defaultDrive(rob,x_goal,y_goal,theta_goal, x_goal2, y_goal2);
}
}
