// Inssert real-time science data into an EPM data packet.
void InsertGripRealtimeDataInfo( EPMTelemetryPacket *epm_packet, const GripRealtimeDataInfo *realtime_packet ) {
char *ptr;
int slice;
int sensor;
int i;
// Point to the actual data in the packet.
ptr = epm_packet->sections.rawData;
// Set the acquisition ID and packet count for that acquisition.
ptr += insert_ulong( ptr, realtime_packet->acquisitionID );
ptr += insert_ulong( ptr, realtime_packet->rtPacketCount );
for ( slice = 0; slice < RT_SLICES_PER_PACKET; slice++ ) {
// Insert the manipulandum pose data.
ptr += insert_ulong( ptr, realtime_packet->dataSlice[slice].poseTick );
for ( i = X; i <= Z; i++ ) ptr += insert_short( ptr, (short) (realtime_packet->dataSlice[slice].position[i] * 10.0));
for ( i = X; i <= M; i++ ) ptr += insert_float( ptr, (float) realtime_packet->dataSlice[slice].quaternion[i] );
for ( i = 0; i < 2; i++ ) ptr += insert_ulong( ptr, realtime_packet->dataSlice[slice].markerVisibility[i] );
*ptr = realtime_packet->dataSlice[slice].manipulandumVisibility; ptr++;
// Insert the analog data.
ptr += insert_ulong( ptr, realtime_packet->dataSlice[slice].analogTick );
for ( sensor = 0; sensor < 2; sensor++ ) {
for ( i = X; i <= Z; i++ ) ptr += insert_short( ptr, (short) (realtime_packet->dataSlice[slice].ft[sensor].force[i] * 100.0));
for ( i = X; i <= Z; i++ ) ptr += insert_short( ptr, (short) (realtime_packet->dataSlice[slice].ft[sensor].torque[i] * 1000.0));
}
for ( i = X; i <= Z; i++ ) ptr += insert_long( ptr, (long) (realtime_packet->dataSlice[slice].acceleration[i] * 1000.0 * 9.8));
}
}
int
main P2C(int, argc, string *, argv)
{
register char *cp;
int blanks_done, indent, i;
char *program_name = "";
kpse_set_program_name (argv[0], NULL); /* In case we use FATAL. */
for (i = 1; i < argc; i++)
{
if (STREQ(argv[i],"-t"))
tex = true;
else
program_name = argv[i];
}
while (fgets (buf, BUFSIZ, stdin))
{
remove_newline (buf);
blanks_done = false;
for (cp = buf; *cp; ++cp) ;
while (cp != buf && *--cp == ' ') ;
while (*cp == '.')
{
join (cp + 1);
while (*cp)
++cp;
while (*--cp == ' ') ;
}
for (cp = buf, indent = 0; *cp == ' ' || *cp == '\t'; ++cp)
{
if (*cp == ' ')
indent++;
else
indent += 8;
}
if (!*cp)
{ /* All blanks, possibly with "{" */
puts (buf);
continue;
}
if (*cp == '{')
{
do_blanks (indent);
putchar ('{');
++cp;
while (*cp == ' ' || *cp == '\t')
++cp;
blanks_done = true;
if (!*cp)
{
putchar ('\n');
continue;
}
}
if (!blanks_done)
do_blanks (indent);
if (strncmp (cp, "read ( input", 12) == 0)
{
char variable_name[20];
if (sscanf (cp, "read ( input , %s )", variable_name) != 1)
{
fprintf (stderr, "sscanf failed\n");
uexit (1);
}
printf ("%s = getint();\n", variable_name);
continue;
}
if (strncmp (cp, "lab", 3) == 0 && strchr (cp, ':'))
{
do
{
putchar (*cp);
}
while (*cp++ != ':');
while (*cp == ' ')
++cp;
putchar (' ');
}
if (strncmp (cp, "else write", 10) == 0)
{
puts ("else");
do_blanks (indent);
cp += 5;
while (*cp == ' ')
++cp;
}
if (bare (cp, '{'))
{
while (*cp != '{')
{
putchar (*cp);
++cp;
}
++cp;
puts ("{");
indent += 4;
do_blanks (indent);
while (*cp == ' ')
++cp;
}
if (strncmp (cp, "write (", 7) && strncmp (cp, "writeln (", 9))
{
/* if not a write/writeln, just copy it to stdout and continue */
puts (cp);
continue;
}
cmd = cp;
while (!whole (buf)) /* make sure we have whole stmt */
{
fgets (&buf[strlen (buf)], BUFSIZ - strlen (buf), stdin);
remove_newline (buf);
}
while (*cp != '(')
++cp;
++cp;
while (*(cp + 1) == ' ')
++cp;
/* Some writes start with a variable, instead of a file. */
if (*(cp + 1) == '"' || *(cp + 1) == '\''
|| strncmp (cp + 1, "buffer", 6) == 0
|| strncmp (cp + 1, "xchr", 4) == 0
|| strncmp (cp + 1, "k ,", 3) == 0
|| strncmp (cp + 1, "s ,", 3) == 0
|| strncmp (cp + 1, "dig", 3) == 0
|| strncmp (cp + 1, "HEX", 3) == 0
|| strncmp (cp + 1, "versionstring", 13) == 0
|| strncmp (cp + 1, "kpathseaversionstring", 21) == 0
)
strcpy (filename, "stdout");
else
{
file = filename;
while (*cp != ',' && *cp != ')')
*file++ = *cp++;
*file = '\0';
}
if (*cp == ')')
{
printf ("putc%s ('\\n', %s);\n", oem, filename);
continue;
}
argp = ++cp;
as = args;
while (*cp == ' ')
++cp;
while (*cp != ')')
{
if (*cp == '\'' || strncmp (cp, "xchr", 4) == 0
|| (strncmp (cp ,"HEX", 3) == 0
&& (STREQ (program_name, "ofm2opl")
|| STREQ (program_name, "opl2ofm")
|| STREQ (program_name, "ovp2ovf")
|| STREQ (program_name, "ovf2ovp")))
|| strncmp (cp, "ASCII04", 7) == 0
|| strncmp (cp, "ASCII1", 6) == 0
|| strncmp (cp, "ASCIIall", 8) == 0
|| strncmp (cp, "months", 6) == 0
|| strncmp (cp, "nameoffile", 10) == 0
|| (strncmp (cp, "buffer", 6) == 0
&& (STREQ (program_name, "vptovf")
|| STREQ (program_name, "pltotf")
|| STREQ (program_name, "ovp2ovf")
|| STREQ (program_name, "ofm2opl")))
|| (((strncmp (cp, "buf", 3) == 0
|| strncmp (cp, "xdig", 4) == 0
|| strncmp (cp, "xext", 4) == 0
|| strncmp (cp, "xhyf", 4) == 0)
&& STREQ (program_name, "patgen")))
)
{
*as++ = '%';
*as++ = 'c';
if (tex && strncmp (cp, "xchr", 4) == 0)
{
*cp = 'X';
cp = strchr (cp, '[');
*cp = '(';
cp = advance_cp(cp,1);
*cp++ = ')';
}
else if (*cp == '\'')
cp += 2;
}
else if (*cp == '"')
{
*as++ = '%';
*as++ = 's';
while (*++cp != '"') /* skip to end of string */
if (*cp == '\\')
++cp; /* allow \" in string */
}
/* More kludge -- versionstring is a string, not a number, so
we have to use %s. */
else if (strncmp (cp, "versionstring", 13) == 0)
{
*as++ = '%';
*as++ = 's';
}
else
{
*as++ = '%';
*as++ = 'l';
*as++ = 'd';
cp = insert_long (cp);
cp = skip_balanced (cp); /* It's a numeric expression */
}
while (*cp != ',' && *cp != ')')
++cp;
while (*cp == ',' || *cp == ' ')
++cp;
}
if (strncmp (cmd, "writeln", 7) == 0)
{
*as++ = '\\';
*as++ = 'n';
}
*as = '\0';
if (strcmp (args, "%c") == 0)
{
for (as = argp; *as; ++as) ;
while (*--as != ')') ;
*as = '\0';
printf ("putc%s (%s, %s);\n", oem, argp, filename);
}
else if (STREQ (args, "%s"))
printf ("Fputs%s (%s, %s\n", oem, filename, argp);
else
printf ("fprintf%s (%s, \"%s\", %s\n", oem, filename, args, argp);
}
return EXIT_SUCCESS;
}
