t_point *get_point(char *bu)
{
t_var var;
char *value;
t_point *bpoints;
initvar(&var);
bpoints = malloc(sizeof(t_point) * nbpoints(bu));
while (bu[var.i])
{
if (ft_isdigit(bu[var.i]) == 0 && bu[var.i] != '\n' && bu[var.i] != '-')
var.i++;
else if (bu[var.i] == '\n')
incremvar(&var.m, &var.i, &var.j, 1);
else
{
bu = bu + var.i;
var.i = 0;
while (chartester(bu[var.i]) == 0)
incremvar(&var.k, &var.i, &var.j, 0);
value = ft_strncpy(ft_strnew(var.k), bu, var.k);
bpoints[var.l] = add_point(value, var.m, var.j);
incremvar(&var.j, &var.l, &var.k, 1);
}
}
bpoints[var.l] = add_point("-1", -1, -1);
return (bpoints);
}
void
init(shinstance *psh) {
/* from /Volumes/ScratchHFS/bird/kBuild/svn/trunk/src/kash/exec.c: */
{
hash_special_builtins(psh);
}
/* from /Volumes/ScratchHFS/bird/kBuild/svn/trunk/src/kash/input.c: */
{
psh->basepf.nextc = psh->basepf.buf = psh->basebuf;
}
/* from /Volumes/ScratchHFS/bird/kBuild/svn/trunk/src/kash/options.c: */
{
memcpy(&psh->optlist[0], &ro_optlist[0], sizeof(psh->optlist));
}
/* from /Volumes/ScratchHFS/bird/kBuild/svn/trunk/src/kash/var.c: */
{
char **envp;
initvar(psh);
for (envp = sh_environ(psh) ; *envp ; envp++) {
if (strchr(*envp, '=')) {
setvareq(psh, *envp, VEXPORT|VTEXTFIXED);
}
}
}
}
void
shprocvar(shinstance *psh)
{
struct var **vpp;
struct var *vp, **prev;
for (vpp = psh->vartab ; vpp < psh->vartab + VTABSIZE ; vpp++) {
for (prev = vpp ; (vp = *prev) != NULL ; ) {
if ((vp->flags & VEXPORT) == 0) {
*prev = vp->next;
if ((vp->flags & VTEXTFIXED) == 0)
ckfree(psh, vp->text);
if ((vp->flags & VSTRFIXED) == 0)
ckfree(psh, vp);
} else {
if (vp->flags & VSTACK) {
vp->text = savestr(psh, vp->text);
vp->flags &=~ VSTACK;
}
prev = &vp->next;
}
}
}
initvar(psh);
}
void
init() {
/* from input.c: */
{
extern char basebuf[];
basepf.nextc = basepf.buf = basebuf;
}
#ifdef XXX
/* from var.c: */
{
static char *imports[] =
{"PATH", "TERM", "HOME", "USER", "PS1", 0};
int x;
initvar();
for (x = 0; imports[x]; ++x) {
char *p, *q;
extern char *getenv();
extern void *malloc();
p = getenv(imports[x]);
if (p) {
q = malloc(strlen(p) + strlen(imports[x]) +
4);
if (q) {
sprintf(q, "%s=%s", imports[x], p);
setvareq(q, 0);
}
free(p);
}
}
}
#else
initvar();
#endif /* XXX */
}
AutoNavigator::AutoNavigator(GameObject& owner, PluginId pid) :
Property::Concept(owner, "AutoNavigator", pid)
{
initvar(ID::PV_TriggerRadius);
require("ThrustControl");
require("Physical");
requestEvent(ID::GOE_VALUE_UPDATED);
requestEvent(ID::GOE_AUTONAVIGATE);
assert(ownerHandle() == rootModule() &&
"AutoNavigator: This code may contain some out-dated assumptions.");
}
void
init() {
/* from input.c: */
{
basepf.nextc = basepf.buf = basebuf;
}
/* from trap.c: */
{
signal(SIGCHLD, SIG_DFL);
}
/* from output.c: */
{
#ifdef USE_GLIBC_STDIO
initstreams();
#endif
}
/* from var.c: */
{
char **envp;
static char ppid[32] = "PPID=";
const char *p;
struct stat st1, st2;
initvar();
for (envp = environ ; *envp ; envp++) {
if (strchr(*envp, '=')) {
setvareq(*envp, VEXPORT|VTEXTFIXED);
}
}
fmtstr(ppid + 5, sizeof(ppid) - 5, "%ld", (long) getppid());
setvareq(ppid, VTEXTFIXED);
p = lookupvar("PWD");
if (p)
if (*p != '/' || stat(p, &st1) || stat(".", &st2) ||
st1.st_dev != st2.st_dev || st1.st_ino != st2.st_ino)
p = 0;
setpwd(p, 0);
}
}
void
init(void) {
/* from input.c: */
{
extern char basebuf[];
basepf.nextc = basepf.buf = basebuf;
}
/* from var.c: */
{
char **envp;
extern char **environ;
initvar();
for (envp = environ ; *envp ; envp++) {
if (strchr(*envp, '=')) {
setvareq(*envp, VEXPORT|VTEXTFIXED);
}
}
}
}
int
main(int argc, char *argv[])
{
register int i;
int argi;
Source *s;
struct block *l;
int restricted, errexit;
char **wp;
struct env env;
pid_t ppid;
#ifdef MEM_DEBUG
chmem_set_defaults("ct", 1);
/* chmem_push("+c", 1); */
#endif /* MEM_DEBUG */
#ifdef OS2
setmode (0, O_BINARY);
setmode (1, O_TEXT);
#endif
/* make sure argv[] is sane */
if (!*argv) {
static const char *empty_argv[] = {
"pdksh", (char *) 0
};
argv = (char **)__UNCONST(empty_argv);
argc = 1;
}
kshname = *argv;
ainit(&aperm); /* initialize permanent Area */
/* set up base environment */
memset(&env, 0, sizeof(env));
env.type = E_NONE;
ainit(&env.area);
e = &env;
newblock(); /* set up global l->vars and l->funs */
/* Do this first so output routines (eg, errorf, shellf) can work */
initio();
initvar();
initctypes();
inittraps();
#ifdef KSH
coproc_init();
#endif /* KSH */
/* set up variable and command dictionaries */
tinit(&taliases, APERM, 0);
tinit(&aliases, APERM, 0);
tinit(&homedirs, APERM, 0);
/* define shell keywords */
initkeywords();
/* define built-in commands */
tinit(&builtins, APERM, 64); /* must be 2^n (currently 40 builtins) */
for (i = 0; shbuiltins[i].name != NULL; i++)
builtin(shbuiltins[i].name, shbuiltins[i].func);
for (i = 0; kshbuiltins[i].name != NULL; i++)
builtin(kshbuiltins[i].name, kshbuiltins[i].func);
init_histvec();
def_path = DEFAULT__PATH;
#if defined(HAVE_CONFSTR) && defined(_CS_PATH)
{
size_t len = confstr(_CS_PATH, (char *) 0, 0);
char *new;
if (len > 0) {
confstr(_CS_PATH, new = alloc(len + 1, APERM), len + 1);
def_path = new;
}
}
int main(void)
{
DDRC |= (1<<PORTC6) | (1<<PORTC7); //init LEDs
//servoTx;
SERVO_init(); //Init servos
USART_init();
init_counters();
set_counter_1(10000);
initvar();
sei();
SERVO_update_EEPROM(BROADCASTING_ID);
//move_to_std();
// ------ TESTCODE FOR READING SERVO -------
//servoGoto(1, 3.14/3, 0x200);
SERVO_update_EEPROM(BROADCASTING_ID); // NOTE: needs to run once for SERVO_get position to work
//----------------------------
_delay_ms(3000);
reset_counter_1();
set_counter_1(3000);
while(1)
{
/*
uint8_t r = USART_getRotation();
uint8_t s = USART_getSpeed();
uint8_t d = USART_getDirection();
if(s != 0 || r != 50)
{
std_pos_flag = 0;
reset_counter_1();
}
move_robot(d, r, s);
if(r == 50 && s == 0 && d == 0)
{
_delay_ms(50);
//PORTD ^= (1<<PORTD5);
cli();
USART_send_ready();
sei();
}
*/
/*change_z(-130);
move_to_std();
for(int i = 0; i < 5; ++i)
{
move_robot(0,50,100);
//_delay_ms(2000);
}
_delay_ms(1000);
move_to_std();
_delay_ms(1000);
*/
climb();
//climb_all_one_leg();
//SERVO_update_data(12);
//USART_SendValue(SERVO_get_load());
USART_DecodeRxFIFO();
_delay_ms(200);
}
}
static int
main_init(int argc, const char *argv[], Source **sp, struct block **lp)
{
int argi, i;
Source *s = NULL;
struct block *l;
unsigned char restricted_shell, errexit, utf_flag;
char *cp;
const char *ccp, **wp;
struct tbl *vp;
struct stat s_stdin;
#if !defined(_PATH_DEFPATH) && defined(_CS_PATH)
ssize_t k;
#endif
#if defined(MKSH_EBCDIC) || defined(MKSH_FAUX_EBCDIC)
ebcdic_init();
#endif
set_ifs(TC_IFSWS);
#ifdef __OS2__
os2_init(&argc, &argv);
#endif
/* do things like getpgrp() et al. */
chvt_reinit();
/* make sure argv[] is sane, for weird OSes */
if (!*argv) {
argv = empty_argv;
argc = 1;
}
kshname = argv[0];
/* initialise permanent Area */
ainit(&aperm);
/* max. name length: -2147483648 = 11 (+ NUL) */
vtemp = alloc(offsetof(struct tbl, name[0]) + 12, APERM);
/* set up base environment */
env.type = E_NONE;
ainit(&env.area);
/* set up global l->vars and l->funs */
newblock();
/* Do this first so output routines (eg, errorf, shellf) can work */
initio();
/* determine the basename (without '-' or path) of the executable */
ccp = kshname;
goto begin_parsing_kshname;
while ((i = ccp[argi++])) {
if (mksh_cdirsep(i)) {
ccp += argi;
begin_parsing_kshname:
argi = 0;
if (*ccp == '-')
++ccp;
}
}
if (!*ccp)
ccp = empty_argv[0];
/*
* Turn on nohup by default. (AT&T ksh does not have a nohup
* option - it always sends the hup).
*/
Flag(FNOHUP) = 1;
/*
* Turn on brace expansion by default. AT&T kshs that have
* alternation always have it on.
*/
Flag(FBRACEEXPAND) = 1;
/*
* Turn on "set -x" inheritance by default.
*/
Flag(FXTRACEREC) = 1;
/* define built-in commands and see if we were called as one */
ktinit(APERM, &builtins,
/* currently up to 54 builtins: 75% of 128 = 2^7 */
7);
for (i = 0; mkshbuiltins[i].name != NULL; i++)
if (!strcmp(ccp, builtin(mkshbuiltins[i].name,
mkshbuiltins[i].func)))
Flag(FAS_BUILTIN) = 1;
if (!Flag(FAS_BUILTIN)) {
/* check for -T option early */
argi = parse_args(argv, OF_FIRSTTIME, NULL);
if (argi < 0)
return (1);
#if defined(MKSH_BINSHPOSIX) || defined(MKSH_BINSHREDUCED)
/* are we called as -sh or /bin/sh or so? */
if (!strcmp(ccp, "sh" MKSH_EXE_EXT)) {
/* either also turns off braceexpand */
#ifdef MKSH_BINSHPOSIX
/* enable better POSIX conformance */
change_flag(FPOSIX, OF_FIRSTTIME, true);
#endif
#ifdef MKSH_BINSHREDUCED
/* enable kludge/compat mode */
change_flag(FSH, OF_FIRSTTIME, true);
#endif
}
#endif
}
initvar();
inittraps();
coproc_init();
/* set up variable and command dictionaries */
ktinit(APERM, &taliases, 0);
ktinit(APERM, &aliases, 0);
#ifndef MKSH_NOPWNAM
ktinit(APERM, &homedirs, 0);
#endif
/* define shell keywords */
initkeywords();
init_histvec();
/* initialise tty size before importing environment */
change_winsz();
#ifdef _PATH_DEFPATH
def_path = _PATH_DEFPATH;
#else
#ifdef _CS_PATH
if ((k = confstr(_CS_PATH, NULL, 0)) > 0 &&
confstr(_CS_PATH, cp = alloc(k + 1, APERM), k + 1) == k + 1)
def_path = cp;
else
#endif
/*
* this is uniform across all OSes unless it
* breaks somewhere hard; don't try to optimise,
* e.g. add stuff for Interix or remove /usr
* for HURD, because e.g. Debian GNU/HURD is
* "keeping a regular /usr"; this is supposed
* to be a sane 'basic' default PATH
*/
def_path = MKSH_UNIXROOT "/bin" MKSH_PATHSEPS
MKSH_UNIXROOT "/usr/bin" MKSH_PATHSEPS
MKSH_UNIXROOT "/sbin" MKSH_PATHSEPS
MKSH_UNIXROOT "/usr/sbin";
#endif
/*
* Set PATH to def_path (will set the path global variable).
* (import of environment below will probably change this setting).
*/
vp = global(TPATH);
/* setstr can't fail here */
setstr(vp, def_path, KSH_RETURN_ERROR);
#ifndef MKSH_NO_CMDLINE_EDITING
/*
* Set edit mode to emacs by default, may be overridden
* by the environment or the user. Also, we want tab completion
* on in vi by default.
*/
change_flag(FEMACS, OF_SPECIAL, true);
#if !MKSH_S_NOVI
Flag(FVITABCOMPLETE) = 1;
#endif
#endif
/* import environment */
init_environ();
/* override default PATH regardless of environment */
#ifdef MKSH_DEFPATH_OVERRIDE
vp = global(TPATH);
setstr(vp, MKSH_DEFPATH_OVERRIDE, KSH_RETURN_ERROR);
#endif
/* for security */
typeset(TinitIFS, 0, 0, 0, 0);
/* assign default shell variable values */
typeset("PATHSEP=" MKSH_PATHSEPS, 0, 0, 0, 0);
substitute(initsubs, 0);
/* Figure out the current working directory and set $PWD */
vp = global(TPWD);
cp = str_val(vp);
/* Try to use existing $PWD if it is valid */
set_current_wd((mksh_abspath(cp) && test_eval(NULL, TO_FILEQ, cp,
Tdot, true)) ? cp : NULL);
if (current_wd[0])
simplify_path(current_wd);
/* Only set pwd if we know where we are or if it had a bogus value */
if (current_wd[0] || *cp)
/* setstr can't fail here */
setstr(vp, current_wd, KSH_RETURN_ERROR);
for (wp = initcoms; *wp != NULL; wp++) {
c_builtin(wp);
while (*wp != NULL)
wp++;
}
setint_n(global("OPTIND"), 1, 10);
kshuid = getuid();
kshgid = getgid();
kshegid = getegid();
safe_prompt = ksheuid ? "$ " : "# ";
vp = global("PS1");
/* Set PS1 if unset or we are root and prompt doesn't contain a # */
if (!(vp->flag & ISSET) ||
(!ksheuid && !strchr(str_val(vp), '#')))
/* setstr can't fail here */
setstr(vp, safe_prompt, KSH_RETURN_ERROR);
setint_n((vp = global("BASHPID")), 0, 10);
vp->flag |= INT_U;
setint_n((vp = global("PGRP")), (mksh_uari_t)kshpgrp, 10);
vp->flag |= INT_U;
setint_n((vp = global("PPID")), (mksh_uari_t)kshppid, 10);
vp->flag |= INT_U;
setint_n((vp = global("USER_ID")), (mksh_uari_t)ksheuid, 10);
vp->flag |= INT_U;
setint_n((vp = global("KSHUID")), (mksh_uari_t)kshuid, 10);
vp->flag |= INT_U;
setint_n((vp = global("KSHEGID")), (mksh_uari_t)kshegid, 10);
vp->flag |= INT_U;
setint_n((vp = global("KSHGID")), (mksh_uari_t)kshgid, 10);
vp->flag |= INT_U;
setint_n((vp = global("RANDOM")), rndsetup(), 10);
vp->flag |= INT_U;
setint_n((vp_pipest = global("PIPESTATUS")), 0, 10);
/* Set this before parsing arguments */
Flag(FPRIVILEGED) = (kshuid != ksheuid || kshgid != kshegid) ? 2 : 0;
/* this to note if monitor is set on command line (see below) */
#ifndef MKSH_UNEMPLOYED
Flag(FMONITOR) = 127;
#endif
/* this to note if utf-8 mode is set on command line (see below) */
UTFMODE = 2;
if (!Flag(FAS_BUILTIN)) {
argi = parse_args(argv, OF_CMDLINE, NULL);
if (argi < 0)
return (1);
}
/* process this later only, default to off (hysterical raisins) */
utf_flag = UTFMODE;
UTFMODE = 0;
if (Flag(FAS_BUILTIN)) {
/* auto-detect from environment variables, always */
utf_flag = 3;
} else if (Flag(FCOMMAND)) {
s = pushs(SSTRINGCMDLINE, ATEMP);
if (!(s->start = s->str = argv[argi++]))
errorf(Tf_optfoo, "", "", 'c', Treq_arg);
while (*s->str) {
if (ctype(*s->str, C_QUOTE))
break;
s->str++;
}
if (!*s->str)
s->flags |= SF_MAYEXEC;
s->str = s->start;
#ifdef MKSH_MIDNIGHTBSD01ASH_COMPAT
/* compatibility to MidnightBSD 0.1 /bin/sh (kludge) */
if (Flag(FSH) && argv[argi] && !strcmp(argv[argi], "--"))
++argi;
#endif
if (argv[argi])
kshname = argv[argi++];
} else if (argi < argc && !Flag(FSTDIN)) {
s = pushs(SFILE, ATEMP);
#ifdef __OS2__
/*
* A bug in OS/2 extproc (like shebang) handling makes
* it not pass the full pathname of a script, so we need
* to search for it. This changes the behaviour of a
* simple "mksh foo", but can't be helped.
*/
s->file = argv[argi++];
if (search_access(s->file, X_OK) != 0)
s->file = search_path(s->file, path, X_OK, NULL);
if (!s->file || !*s->file)
s->file = argv[argi - 1];
#else
s->file = argv[argi++];
#endif
s->u.shf = shf_open(s->file, O_RDONLY, 0,
SHF_MAPHI | SHF_CLEXEC);
if (s->u.shf == NULL) {
shl_stdout_ok = false;
warningf(true, Tf_sD_s, s->file, cstrerror(errno));
/* mandated by SUSv4 */
exstat = 127;
unwind(LERROR);
}
kshname = s->file;
} else {
Flag(FSTDIN) = 1;
s = pushs(SSTDIN, ATEMP);
s->file = "<stdin>";
s->u.shf = shf_fdopen(0, SHF_RD | can_seek(0),
NULL);
if (isatty(0) && isatty(2)) {
Flag(FTALKING) = Flag(FTALKING_I) = 1;
/* The following only if isatty(0) */
s->flags |= SF_TTY;
s->u.shf->flags |= SHF_INTERRUPT;
s->file = NULL;
}
}
/* this bizarreness is mandated by POSIX */
if (fstat(0, &s_stdin) >= 0 && S_ISCHR(s_stdin.st_mode) &&
Flag(FTALKING))
reset_nonblock(0);
/* initialise job control */
j_init();
/* do this after j_init() which calls tty_init_state() */
if (Flag(FTALKING)) {
if (utf_flag == 2) {
#ifndef MKSH_ASSUME_UTF8
/* auto-detect from locale or environment */
utf_flag = 4;
#else /* this may not be an #elif */
#if MKSH_ASSUME_UTF8
utf_flag = 1;
#else
/* always disable UTF-8 (for interactive) */
utf_flag = 0;
#endif
#endif
}
#ifndef MKSH_NO_CMDLINE_EDITING
x_init();
#endif
}
#ifdef SIGWINCH
sigtraps[SIGWINCH].flags |= TF_SHELL_USES;
setsig(&sigtraps[SIGWINCH], x_sigwinch,
SS_RESTORE_ORIG|SS_FORCE|SS_SHTRAP);
#endif
l = e->loc;
if (Flag(FAS_BUILTIN)) {
l->argc = argc;
l->argv = argv;
l->argv[0] = ccp;
} else {
l->argc = argc - argi;
/*
* allocate a new array because otherwise, when we modify
* it in-place, ps(1) output changes; the meaning of argc
* here is slightly different as it excludes kshname, and
* we add a trailing NULL sentinel as well
*/
l->argv = alloc2(l->argc + 2, sizeof(void *), APERM);
l->argv[0] = kshname;
memcpy(&l->argv[1], &argv[argi], l->argc * sizeof(void *));
l->argv[l->argc + 1] = NULL;
getopts_reset(1);
}
/* divine the initial state of the utf8-mode Flag */
ccp = null;
switch (utf_flag) {
/* auto-detect from locale or environment */
case 4:
#if HAVE_SETLOCALE_CTYPE
ccp = setlocale(LC_CTYPE, "");
#if HAVE_LANGINFO_CODESET
if (!isuc(ccp))
ccp = nl_langinfo(CODESET);
#endif
if (!isuc(ccp))
ccp = null;
#endif
/* FALLTHROUGH */
/* auto-detect from environment */
case 3:
/* these were imported from environ earlier */
if (ccp == null)
ccp = str_val(global("LC_ALL"));
if (ccp == null)
ccp = str_val(global("LC_CTYPE"));
if (ccp == null)
ccp = str_val(global("LANG"));
UTFMODE = isuc(ccp);
break;
/* not set on command line, not FTALKING */
case 2:
/* unknown values */
default:
utf_flag = 0;
/* FALLTHROUGH */
/* known values */
case 1:
case 0:
UTFMODE = utf_flag;
break;
}
/* Disable during .profile/ENV reading */
restricted_shell = Flag(FRESTRICTED);
Flag(FRESTRICTED) = 0;
errexit = Flag(FERREXIT);
Flag(FERREXIT) = 0;
/*
* Do this before profile/$ENV so that if it causes problems in them,
* user will know why things broke.
*/
if (!current_wd[0] && Flag(FTALKING))
warningf(false, "can't determine current directory");
if (Flag(FLOGIN))
include(MKSH_SYSTEM_PROFILE, 0, NULL, true);
if (!Flag(FPRIVILEGED)) {
if (Flag(FLOGIN))
include(substitute("$HOME/.profile", 0), 0, NULL, true);
if (Flag(FTALKING)) {
cp = substitute("${ENV:-" MKSHRC_PATH "}", DOTILDE);
if (cp[0] != '\0')
include(cp, 0, NULL, true);
}
} else {
include(MKSH_SUID_PROFILE, 0, NULL, true);
/* turn off -p if not set explicitly */
if (Flag(FPRIVILEGED) != 1)
change_flag(FPRIVILEGED, OF_INTERNAL, false);
}
if (restricted_shell) {
c_builtin(restr_com);
/* After typeset command... */
Flag(FRESTRICTED) = 1;
}
Flag(FERREXIT) = errexit;
if (Flag(FTALKING) && s)
hist_init(s);
else
/* set after ENV */
Flag(FTRACKALL) = 1;
alarm_init();
*sp = s;
*lp = l;
return (0);
}
main()
{
int16 i;
int16 j;
int16 test[100];
//一、 system initialize: pll clock:150M;hispcp=1 100m/2; lospcp=2 100m/4;eWM,ADC,cpu Timer clock enabled
InitSysCtrl(); //修改了默认时钟到150MHz,关闭了无关外设时钟
// DELAY_US(1000000);
//二、initialize GPIO:set the GPIO to it's default state: 普通GPIO状态,均为输入,输入采样方式为第一种,均为上拉使能.
//epwm disable pull up
InitGpio(); //全部引脚初始化
//用户自定义IO初始化(主要包括:逻辑输入输出引脚)
InitLogicIO();
//串口初始化
InitScicGpio();
InitSci();
//初始化触摸屏变量
initvar();
// MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
//EPwm初始化
// InitEPwmGpio(); //PWM IO初始化
//InitEPwm1Gpio();
//InitEPwm2Gpio(); //所有PWM模块都需要开启
//InitEPwm3Gpio();
//InitEPwm4Gpio();
//InitEPwm5Gpio();
//InitEPwm6Gpio();
//三、initialize interrupts:disable cpu interrupt; disabel all pie interrupts and clear all pie interrupt flags
DINT;
InitPieCtrl();
IER=0x0000;
IFR=0x0000;
//initialize Pie interrupts and enable pie
InitPieVectTable();
//用户自定义的中断初始化
EALLOW;
PieVectTable.TINT0 = &cpu_timer0_isr; //Cpu timer0 interrupt
PieVectTable.XINT1 = &xint1_isr;
EDIS;
//四、initialize peripherials and setup peripherials
InitFlash();
InitXintf();
//ADC initialize
InitAdc();
//ADC setup
SetupAdc();
// Adc_Inquire();
//Epwm Setup
// SetupEPwm(); //pwm开始产生
//CPU timer0 initialize
InitCpuTimers();
// Configure CPU-Timer 0 to interrupt every msecond:
// 150MHz CPU Freq, 3m second Period (in uSeconds)
ConfigCpuTimer(&CpuTimer0, 150, 3000);
StartCpuTimer0();
//五、User specific code, enable interrupts:
//在开始中断之前先进行测试循环。此时进行单步运行
//1. I/O test
//测试程序，GPIOA的低18位为通用I/O输入
//测试程序，GPIOA的24,25,26,27为通用I/O输入，GPIOB的48-61为通用I/O输入
//由于I/o口均有上拉，所以只要测试输入0时是否正确即可。这样最大限度保护芯片。
for(i=0;i<100;i++)
{
j=i;
}
// EALLOW;
// GpioCtrlRegs.GPADIR.all = 0x0003FFFF; // GPIO functionality GPIO0-GPIO15
// EDIS;
// GpioDataRegs.GPACLEAR.all = 0x0003FFFF;
// GpioDataRegs.GPASET.all = 0x0001AAAA;
// GpioDataRegs.GPATOGGLE.all = 0x0003FFFF;
//2. Communication Test: //具体通讯是否成功还需要更多程序
//测试RS485通讯芯片
GpioDataRegs.GPASET.bit.GPIO21=1;
GpioDataRegs.GPATOGGLE.bit.GPIO22=1;
//测试CAN通讯芯片
GpioDataRegs.GPATOGGLE.bit.GPIO19=1;
for(i=0;i<100;i++)
{
j=i;
}
//测试RS485通讯芯片
GpioDataRegs.GPASET.bit.GPIO21=1;
GpioDataRegs.GPATOGGLE.bit.GPIO22=1;
//测试CAN通讯芯片
GpioDataRegs.GPATOGGLE.bit.GPIO19=1;
for(i=0;i<100;i++)
{
j=i;
}
// 3. A/D Test
//软件启动adc转换
for(i=0;i<100;i++)
{
AdcRegs.ADCTRL2.bit.SOC_SEQ1=1;
Adc_Inquire();
}
// 4. PWM Test //每次测一个单相，这样子发现错误及时下电
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMA_Wait1=1000;
*FPGA_PWMA_Duty1=1000;
*FPGA_PWMA_Wait2=2000;
*FPGA_PWMA_Duty2=2000;
*FPGA_PWMA_Wait3=3000;
*FPGA_PWMA_Duty3=3000;
*FPGA_PWMA_Wait4=4000;
*FPGA_PWMA_Duty4=4000;
*FPGA_PWMA_Wait5=5000;
*FPGA_PWMA_Duty5=5000;
*FPGA_PWMA_Wait6=6000;
*FPGA_PWMA_Duty6=6000;
*FPGA_PWMA_Wait7=1000;
*FPGA_PWMA_Duty7=1000;
*FPGA_PWMA_Wait8=2000;
*FPGA_PWMA_Duty8=2000;
*FPGA_PWMA_Wait9=3000;
*FPGA_PWMA_Duty9=3000;
*FPGA_PWMA_Wait10=4000;
*FPGA_PWMA_Duty10=4000;
*FPGA_PWMA_Wait11=5000;
*FPGA_PWMA_Duty11=5000;
*FPGA_PWMA_Wait12=6000;
*FPGA_PWMA_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMB_Wait1=1000;
*FPGA_PWMB_Duty1=1000;
*FPGA_PWMB_Wait2=2000;
*FPGA_PWMB_Duty2=2000;
*FPGA_PWMB_Wait3=3000;
*FPGA_PWMB_Duty3=3000;
*FPGA_PWMB_Wait4=4000;
*FPGA_PWMB_Duty4=4000;
*FPGA_PWMB_Wait5=5000;
*FPGA_PWMB_Duty5=5000;
*FPGA_PWMB_Wait6=6000;
*FPGA_PWMB_Duty6=6000;
*FPGA_PWMB_Wait7=1000;
*FPGA_PWMB_Duty7=1000;
*FPGA_PWMB_Wait8=2000;
*FPGA_PWMB_Duty8=2000;
*FPGA_PWMB_Wait9=3000;
*FPGA_PWMB_Duty9=3000;
*FPGA_PWMB_Wait10=4000;
*FPGA_PWMB_Duty10=4000;
*FPGA_PWMB_Wait11=5000;
*FPGA_PWMB_Duty11=5000;
*FPGA_PWMB_Wait12=6000;
*FPGA_PWMB_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMC_Wait1=1000;
*FPGA_PWMC_Duty1=1000;
*FPGA_PWMC_Wait2=2000;
*FPGA_PWMC_Duty2=2000;
*FPGA_PWMC_Wait3=3000;
*FPGA_PWMC_Duty3=3000;
*FPGA_PWMC_Wait4=4000;
*FPGA_PWMC_Duty4=4000;
*FPGA_PWMC_Wait5=5000;
*FPGA_PWMC_Duty5=5000;
*FPGA_PWMC_Wait6=6000;
*FPGA_PWMC_Duty6=6000;
*FPGA_PWMC_Wait7=1000;
*FPGA_PWMC_Duty7=1000;
*FPGA_PWMC_Wait8=2000;
*FPGA_PWMC_Duty8=2000;
*FPGA_PWMC_Wait9=3000;
*FPGA_PWMC_Duty9=3000;
*FPGA_PWMC_Wait10=4000;
*FPGA_PWMC_Duty10=4000;
*FPGA_PWMC_Wait11=5000;
*FPGA_PWMC_Duty11=5000;
*FPGA_PWMC_Wait12=6000;
*FPGA_PWMC_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWMD_Wait1=1000;
*FPGA_PWMD_Duty1=1000;
*FPGA_PWMD_Wait2=2000;
*FPGA_PWMD_Duty2=2000;
*FPGA_PWMD_Wait3=3000;
*FPGA_PWMD_Duty3=3000;
*FPGA_PWMD_Wait4=4000;
*FPGA_PWMD_Duty4=4000;
*FPGA_PWMD_Wait5=5000;
*FPGA_PWMD_Duty5=5000;
*FPGA_PWMD_Wait6=6000;
*FPGA_PWMD_Duty6=6000;
*FPGA_PWMD_Wait7=1000;
*FPGA_PWMD_Duty7=1000;
*FPGA_PWMD_Wait8=2000;
*FPGA_PWMD_Duty8=2000;
*FPGA_PWMD_Wait9=3000;
*FPGA_PWMD_Duty9=3000;
*FPGA_PWMD_Wait10=4000;
*FPGA_PWMD_Duty10=4000;
*FPGA_PWMD_Wait11=5000;
*FPGA_PWMD_Duty11=5000;
*FPGA_PWMD_Wait12=6000;
*FPGA_PWMD_Duty12=6000;
for(i=0;i<100;i++)
{
j=i;
}
*FPGA_PWME_Wait1=1000;
*FPGA_PWME_Duty1=1000;
*FPGA_PWME_Wait2=2000;
*FPGA_PWME_Duty2=2000;
*FPGA_PWME_Wait3=3000;
*FPGA_PWME_Duty3=3000;
*FPGA_PWME_Wait4=4000;
*FPGA_PWME_Duty4=4000;
*FPGA_PWME_Wait5=5000;
*FPGA_PWME_Duty5=5000;
*FPGA_PWME_Wait6=6000;
*FPGA_PWME_Duty6=6000;
*FPGA_PWME_Wait7=1000;
*FPGA_PWME_Duty7=1000;
*FPGA_PWME_Wait8=2000;
*FPGA_PWME_Duty8=2000;
*FPGA_PWME_Wait9=3000;
*FPGA_PWME_Duty9=3000;
*FPGA_PWME_Wait10=4000;
*FPGA_PWME_Duty10=4000;
*FPGA_PWME_Wait11=5000;
*FPGA_PWME_Duty11=5000;
*FPGA_PWME_Wait12=6000;
*FPGA_PWME_Duty12=6000;
//PWM复位功能演示，复位以后，所有PWM为零。
GpioDataRegs.GPACLEAR.bit.GPIO31=1;
DELAY_US(1);
GpioDataRegs.GPASET.bit.GPIO31=1;
// 5. D/A Test
*DAC1=1024;
*DAC2=2048;
*DAC3=3072;
*DAC4=4095;
// 6.测试FPGA的I/O
// 首先测试是否结果为1
for(j=0;j<10;j++)
{
for(i=0; i<24; i++)
test[i]=*(FPGA_IO1_DATA+i);
i=0;
}
//再测试是否结果为0
for(j=0;j<100;j++)
{
for(i=0; i<24; i++)
test[i]=*(FPGA_IO1_DATA+i);
i=0;
}
//输出功能演示,只有输出使能的IO pin才能输出0
*FPGA_IODIR_LOW=0xFFFF;
*FPGA_IODIR_HIGH=0x00FF;
j=0;
for(i=0; i<24; i++)
{
*(FPGA_IO1_DATA+i)=j;
j=~j;
}
j=0;
for(i=0; i<24; i++)
{
j=~j;
*(FPGA_IO1_DATA+i)=j;
}
//复位功能演示，复位以后，所有IO上拉。且输出不使能
GpioDataRegs.GPACLEAR.bit.GPIO30=1;
DELAY_US(1);
GpioDataRegs.GPASET.bit.GPIO30=1;
j=*FPGA_IODIR_LOW;
j=*FPGA_IODIR_HIGH;
j=0;
for(i=0; i<24; i++)
*(FPGA_IO1_DATA+i)=j;
//开用到的中断，最后开中断。测试SCI 通讯以及DSP 和FPGA的通讯
EnableInterrupts(); //cpu timer0 中断
i=0;
// 六. 主循环IDLE loop. Just sit and loop forever (optional):
for(;;)
{
// ScicRegs.SCITXBUF=i;
DELAY_US(1000);
/*
if(GpioDataRegs.GPADAT.bit.GPIO27==0)
GpioDataRegs.GPBCLEAR.bit.GPIO50=1;
else
GpioDataRegs.GPBSET.bit.GPIO50=1;
if(GpioDataRegs.GPBDAT.bit.GPIO48==0)
GpioDataRegs.GPBCLEAR.bit.GPIO51=1;
else
GpioDataRegs.GPBSET.bit.GPIO51=1;
// ModebusRegsDataBuff[0]=i;
// GpioDataRegs.GPBTOGGLE.bit.GPIO60=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO61=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO58=1;
// GpioDataRegs.GPBTOGGLE.bit.GPIO59=1;
GpioDataRegs.GPBCLEAR.bit.GPIO53= 1;
GpioDataRegs.GPBCLEAR.bit.GPIO52= 1;
i++;
// if(i==2000)
if(i==FPGA_DATA_Test_length)
i=0;
// TestState=~TestState;
*/
slavecomm();
}
}
int main(int argc, char *argv[]) {
long length;
char *buffer;
char *server_url = NULL;
long i;
long filter=0;
#ifdef MUST_DISABLE_SIGFPE
signal(SIGFPE,SIG_IGN);
#endif
#ifdef MUST_DISABLE_FPMASK
fpsetmask(0);
#endif
optind = 0; opterr = 0; /* initialize getopt */
/* what do we get for cmdline arguments?
for (i=0;i<argc;i++)
printf("%d-'%s'\n",i,argv[i]); */
while (1) {
static struct option long_options[] = {
{ "filter", no_argument, 0, 'f' },
{ 0, 0, 0, 0}
};
int option_index = 0;
int opt;
opt = getopt_long(argc, argv, "f", long_options, &option_index);
if (opt == EOF) {
break;
}
switch(opt) {
case 'f':
filter=1;
break;
case '?':
printf("unknown commandline option '%s'\n",argv[optind-1]);
return -1;
}
}
if (!filter) {
rrdcgiDebug(0,0);
rrdcgiArg = rrdcgiInit();
server_url = getenv("SERVER_URL");
}
/* make sure we have one extra argument,
if there are others, we do not care Apache gives several */
/* if ( (optind != argc-2
&& strstr( getenv("SERVER_SOFTWARE"),"Apache/2") != NULL)
&& optind != argc-1) { */
if ( optind >= argc ) {
fprintf(stderr, "ERROR: expected a filename\n");
exit(1);
} else {
length = readfile(argv[optind], &buffer, 1);
}
if(rrd_test_error()) {
fprintf(stderr, "ERROR: %s\n",rrd_get_error());
exit(1);
}
/* initialize variable heap */
initvar();
#ifdef DEBUG_PARSER
/* some fake header for testing */
printf ("Content-Type: text/html\nContent-Length: 10000000\n\n\n");
#endif
/* expand rrd directives in buffer recursivly */
for (i=0; buffer[i]; i++) {
if (buffer[i] != '<')
continue;
if (!filter) {
parse(&buffer, i, "<RRD::CV", cgiget);
parse(&buffer, i, "<RRD::CV::PATH", cgigetqp);
parse(&buffer, i, "<RRD::CV::QUOTE", cgigetq);
parse(&buffer, i, "<RRD::GETENV", rrdgetenv);
}
parse(&buffer, i, "<RRD::GETVAR", rrdgetvar);
parse(&buffer, i, "<RRD::GOODFOR", rrdgoodfor);
parse(&buffer, i, "<RRD::GRAPH", drawgraph);
parse(&buffer, i, "<RRD::INCLUDE", includefile);
parse(&buffer, i, "<RRD::PRINT", drawprint);
parse(&buffer, i, "<RRD::SETCONSTVAR", rrdsetvarconst);
parse(&buffer, i, "<RRD::SETENV", rrdsetenv);
parse(&buffer, i, "<RRD::SETVAR", rrdsetvar);
parse(&buffer, i, "<RRD::TIME::LAST", printtimelast);
parse(&buffer, i, "<RRD::TIME::NOW", printtimenow);
parse(&buffer, i, "<RRD::TIME::STRFTIME", printstrftime);
parse(&buffer, i, "<RRD::INTERNAL", rrdgetinternal);
}
if (!filter) {
printf ("Content-Type: text/html\n"
"Content-Length: %d\n",
strlen(buffer));
if (labs(goodfor) > 0) {
time_t now;
now = time(NULL);
printf("Last-Modified: %s\n", http_time(&now));
now += labs(goodfor);
printf("Expires: %s\n", http_time(&now));
if (goodfor < 0) {
printf("Refresh: %ld\n", labs(goodfor));
}
}
printf("\n");
}
/* output result */
printf("%s", buffer);
/* cleanup */
calfree();
if (buffer){
free(buffer);
}
donevar();
exit(0);
}
int
main(int argc, char *argv[])
{
int i;
int argi;
Source *s;
struct block *l;
int restricted, errexit;
char **wp;
struct env env;
pid_t ppid;
/* make sure argv[] is sane */
if (!*argv) {
static const char *empty_argv[] = {
"ksh", (char *) 0
};
argv = (char **) empty_argv;
argc = 1;
}
kshname = *argv;
ainit(&aperm); /* initialize permanent Area */
/* set up base environment */
memset(&env, 0, sizeof(env));
env.type = E_NONE;
ainit(&env.area);
e = &env;
newblock(); /* set up global l->vars and l->funs */
/* Do this first so output routines (eg, errorf, shellf) can work */
initio();
initvar();
initctypes();
inittraps();
coproc_init();
/* set up variable and command dictionaries */
ktinit(&taliases, APERM, 0);
ktinit(&aliases, APERM, 0);
ktinit(&homedirs, APERM, 0);
/* define shell keywords */
initkeywords();
/* define built-in commands */
ktinit(&builtins, APERM, 64); /* must be 2^n (currently 40 builtins) */
for (i = 0; shbuiltins[i].name != NULL; i++)
builtin(shbuiltins[i].name, shbuiltins[i].func);
for (i = 0; kshbuiltins[i].name != NULL; i++)
builtin(kshbuiltins[i].name, kshbuiltins[i].func);
init_histvec();
def_path = _PATH_DEFPATH;
{
size_t len = confstr(_CS_PATH, (char *) 0, 0);
char *new;
if (len > 0) {
confstr(_CS_PATH, new = alloc(len + 1, APERM), len + 1);
def_path = new;
}
}
void project::initoroject(QString fproject)
{
QElapsedTimer timerdebug;
this->name = fproject;
QSqlQuery query;
initvar();
this->addgroup("ALL", -1, 0, 0, "", 0);
this->addgroup("ALL", -1, 0, 1, "", 0);
if (query.exec("SELECT default_table, introindex, introref, introreel, indexbool FROM all_config WHERE project_name='" + fproject +"'"))
{
while(query.next())
{
default_table = (query.value(0).toInt());
introindex = (query.value(1).toString());
introref = (query.value(2).toString());
introreel = (query.value(3).toString());
indexbool = (query.value(4).toBool());
}
}
else
qDebug() << "error get info_project :" << query.lastError();
qDebug() << "init groupe";timerdebug.start();
if (query.exec("SELECT groupname, groupparent, id, type, description, gquestion FROM project_" + fproject + "_groupe"))
{
while(query.next())
{
this->addgroup(query.value(0).toString(),
query.value(1).toInt(),
query.value(2).toInt(),
query.value(3).toInt(),
query.value(4).toString(),
query.value(5).toInt());
}
}
else
qDebug() << "error get group :" << query.lastError();
qDebug() << "init group time" << timerdebug.elapsed() << "milliseconds";
qDebug() << "init question";timerdebug.start();
if (query.exec("SELECT question,groupid,id,qgroupid,sujet,type,typef,splitchar,value,ref_only FROM project_" + fproject + "_question"))
{
while(query.next())
{
this->addquestion(query.value(0).toString(),
query.value(1).toInt(),
query.value(2).toInt(),
query.value(3).toInt(),
query.value(4).toString(),
query.value(5).toString(),
query.value(6).toInt(),
query.value(7).toString(),
query.value(8).toInt(),
query.value(9).toInt(),
0);
}
}
else
qDebug() << "error get question :" << query.lastError();
qDebug() << "init question time" << timerdebug.elapsed() << "milliseconds";
qDebug() << "init persone";timerdebug.start();
if(query.exec("SELECT id, firstname,lastname,email,groupid,questionbool,refbool,jour FROM project_" + fproject + "_project"))
{
while(query.next())
{
this->addperson(query.value(1).toString(),
query.value(2).toString(),
query.value(3).toString(),
query.value(0).toInt(),
&listquestion,
query.value(4).toInt(),
query.value(5).toInt(),
query.value(6).toInt(),
query.value(7).toInt());
}
}
else
qDebug() << "error get user :"******"init persone time" << timerdebug.elapsed() << "milliseconds";
qDebug() << "init fact";timerdebug.start();
if(query.exec("SELECT idperson,name,time,note,date_info, iteration, idquestion, str FROM project_" + fproject + "_reponse"))
{
qDebug() << "query select reponse time" << timerdebug.elapsed() << "milliseconds";
while(query.next())
{
this->addreponse(query.value(0).toInt(),
query.value(1).toString().toStdString(),
query.value(2).toInt(),
query.value(3).toInt(),
query.value(4).toDateTime().toString("dd/MM/yy hh:mm:ss"),
query.value(5).toInt(),
query.value(6).toInt(),
query.value(7).toString());
}
}
else
qDebug() << "error get reponse :" << query.lastError();
qDebug() << "init all reponse time" << timerdebug.elapsed() << "milliseconds";
qDebug() << "remplissage groupe persone";timerdebug.start();
vector<person>::iterator tmp;
tmp = this->listp.begin();
while (tmp != this->listp.end())
{
if (tmp->groupid > -1 && tmp->groupid < (int)(listgroup.size()))
this->listgroup[tmp->getGroupid()].addperson(*tmp);
tmp++;
}
qDebug() << "remplissage groupe personne time" << timerdebug.elapsed() << "milliseconds";
qDebug() << "remplissage groupe question";timerdebug.start();
vector<question>::iterator tmp2;
tmp2 = this->listquestion.begin();
while (tmp2 != this->listquestion.end())
{
if (tmp2->qgroupid > -1 && tmp2->qgroupid < (int)listqgroup.size())
this->listqgroup[tmp2->qgroupid].addquestion(*tmp2);
tmp2++;
}
qDebug() << "remplissage groupe question time" << timerdebug.elapsed() << "milliseconds";
}
int
main(int argc, char *argv[])
{
struct stackmark smark, smark2;
volatile int state;
char *shinit;
(void) setlocale(LC_ALL, "");
initcharset();
state = 0;
if (setjmp(main_handler.loc)) {
switch (exception) {
case EXEXEC:
exitstatus = exerrno;
break;
case EXERROR:
exitstatus = 2;
break;
default:
break;
}
if (state == 0 || iflag == 0 || ! rootshell ||
exception == EXEXIT)
exitshell(exitstatus);
reset();
if (exception == EXINT)
out2fmt_flush("\n");
popstackmark(&smark);
FORCEINTON; /* enable interrupts */
if (state == 1)
goto state1;
else if (state == 2)
goto state2;
else if (state == 3)
goto state3;
else
goto state4;
}
handler = &main_handler;
#ifdef DEBUG
opentrace();
trputs("Shell args: "); trargs(argv);
#endif
rootpid = getpid();
rootshell = 1;
initvar();
setstackmark(&smark);
setstackmark(&smark2);
procargs(argc, argv);
pwd_init(iflag);
if (iflag)
chkmail(1);
if (argv[0] && argv[0][0] == '-') {
state = 1;
read_profile("/etc/profile");
state1:
state = 2;
if (privileged == 0)
read_profile("${HOME-}/.profile");
else
read_profile("/etc/suid_profile");
}
state2:
state = 3;
if (!privileged && iflag) {
if ((shinit = lookupvar("ENV")) != NULL && *shinit != '\0') {
state = 3;
read_profile(shinit);
}
}
state3:
state = 4;
popstackmark(&smark2);
if (minusc) {
evalstring(minusc, sflag ? 0 : EV_EXIT);
}
state4:
if (sflag || minusc == NULL) {
cmdloop(1);
}
exitshell(exitstatus);
/*NOTREACHED*/
return 0;
}
int main(void)
{
LED_INIT;
//servoTx;
sei();
USART_init();
MPU_init();
SERVO_init();
init_counters();
initvar();
SERVO_update_EEPROM(BROADCASTING_ID);
wait(10);
move_to_std();
wait_until_gyro_stable();
LED0_ON;
USART_send_message("Gyro Stable");
// ------ TESTCODE FOR READING SERVO -------
//servoGoto(1, 3.14/3, 0x200);
SERVO_update_EEPROM(BROADCASTING_ID); // NOTE: needs to run once for SERVO_get position to work
//----------------------------
reset_counter_1();
set_counter_1(3000);
uint8_t readyCounter = 0;
while(1)
{
MPU_update();
if(USART_get_turn_flag())
{
turn_degrees(USART_get_turn_angle(), USART_get_turn_dir());
}
if(USART_get_climb_flag())
{
climb();
}
uint8_t r = USART_getRotation();
uint8_t s = USART_getSpeed();
uint8_t d = USART_getDirection();
if(s != 0 || r != 50)
{
std_pos_flag = 0;
reset_counter_1();
readyCounter = 3;
}
move_robot(d, r, s);
if(r == 50 && s == 0 && d == 0 && readyCounter)
{
cli();
USART_send_ready();
sei();
readyCounter--;
}
if(move_to_std_flag == 1)
{
move_to_std_flag = 0;
move_to_std();
}
/*climb();
for(int i = 0; i < 10; ++i)
{
move_robot(0,50,100);
//wait(2000);
}
*/
/*
change_z(-120);
move_to_std();
turn_degrees(180,1);
// Takes a predecided number of steps forward
// This is good when testing different things.
wait(100);
for(int i = 0; i < 10; ++i)
{
move_robot(0,50,100);
//wait(2000);
}
*/
USART_decode_rx_fifo();
}
}
int
main(int argc, char *argv[])
{
struct stackmark smark, smark2;
volatile int state;
char *shinit;
#ifdef CBSD
char *MY_APP = NULL;
char *cbsdpath = NULL;
char *workdir = NULL;
char *cbsd_disable_history = NULL; //getenv
chdir("/var/empty");
/* Only use history when stdin is a tty. */
if ( isatty(0) && isatty(1) ) {
cbsd_enable_history = 1;
}
#endif
(void) setlocale(LC_ALL, "");
initcharset();
state = 0;
if (setjmp(main_handler.loc)) {
switch (exception) {
case EXEXEC:
exitstatus = exerrno;
break;
case EXERROR:
exitstatus = 2;
break;
default:
break;
}
if (state == 0 || iflag == 0 || ! rootshell ||
exception == EXEXIT)
exitshell(exitstatus);
reset();
if (exception == EXINT)
out2fmt_flush("\n");
popstackmark(&smark);
FORCEINTON; /* enable interrupts */
if (state == 1)
goto state1;
else if (state == 2)
goto state2;
else if (state == 3)
goto state3;
else
goto state4;
}
handler = &main_handler;
#ifdef DEBUG
opentrace();
trputs("Shell args: "); trargs(argv);
#endif
rootpid = getpid();
rootshell = 1;
INTOFF;
initvar();
setstackmark(&smark);
setstackmark(&smark2);
#ifdef CBSD
if (argc>1) {
if (!strcmp(argv[1],"--help")) {
system("/usr/local/bin/cbsd help");
exit(0);
} else {
if (!strcmp(argv[1],"version")) {
printf("%s\n",VERSION);
exit(0);
}
}
}
cbsd_disable_history=lookupvar("NO_CBSD_HISTORY");
if ( cbsd_disable_history != NULL ) cbsd_enable_history=0;
workdir=lookupvar("workdir");
if ( workdir == NULL ) {
read_profile("/etc/rc.conf");
setvarsafe("workdir", lookupvar("cbsd_workdir"), 0);
}
workdir=lookupvar("workdir");
if ( workdir == NULL ) {
out2fmt_flush("cbsd: no workdir defined\n");
exitshell(1);
}
setvarsafe("PS1","cbsd@\\h> ",1);
setvarsafe("workdir",workdir,1);
workdir=lookupvar("workdir"); // ^^ after "setsave*" original is free
cbsdpath = calloc(MAXPATHLEN, sizeof(char *));
if (argv[1]) {
setvarsafe("CBSD_APP",basename(argv[1]),1);
}
if (cbsdpath == NULL) {
out2fmt_flush("cbsd: out of memory for cbsdpath\n");
exitshell(1);
}
// %s/modules must be first for opportunity to have a module commands greater priority than the original CBSD command.
// This makes it possible to write a 3rd party modules with altered functionality of the original code.
sprintf(cbsdpath,"%s/modules:%s/bin:%s/sbin:%s/tools:%s/jailctl:%s/nodectl:%s/system:/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin",workdir,cbsd_distdir,cbsd_distdir,cbsd_distdir,cbsd_distdir,cbsd_distdir,cbsd_distdir);
setvarsafe("PATH",cbsdpath,1);
ckfree(cbsdpath);
// read global params first (disable/enable colors, repos etc..)
read_profile("${workdir}/etc/defaults/global.conf");
read_profile("${workdir}/etc/global.conf");
if (lookupvar("NOCOLOR") != NULL ) {
putenv("NOCOLOR=1");
}
// non-interactive global env
if (lookupvar("NOINTER") != NULL ) {
setvarsafe("inter","1",1);
putenv("inter=0");
}
read_profile("/usr/local/cbsd/cbsd.conf");
read_profile("${workdir}/etc/defaults/logger.conf");
read_profile("${workdir}/etc/logger.conf");
if (cbsd_enable_history==1) {
cbsd_history_file=calloc(MAXPATHLEN, sizeof(char *));
sprintf(cbsd_history_file,"%s/%s",workdir,CBSD_HISTORYFILE);
}
#endif
procargs(argc, argv);
pwd_init(iflag);
INTON;
#ifndef CBSD
if (iflag)
chkmail(1);
#endif
if (argv[0] && argv[0][0] == '-') {
state = 1;
read_profile("/etc/profile");
state1:
state = 2;
if (privileged == 0)
read_profile("${HOME-}/.profile");
else
read_profile("/etc/suid_profile");
}
state2:
state = 3;
if (!privileged && iflag) {
if ((shinit = lookupvar("ENV")) != NULL && *shinit != '\0') {
state = 3;
read_profile(shinit);
}
}
state3:
state = 4;
popstackmark(&smark2);
if (minusc) {
evalstring(minusc, sflag ? 0 : EV_EXIT);
}
state4:
if (sflag || minusc == NULL) {
cmdloop(1);
}
exitshell(exitstatus);
/*NOTREACHED*/
return 0;
}
