off_t
loadsetsize( FILE *tran )
{
char tline[ LINE_MAX ], line[ LINE_MAX ];
char **targv;
int tac, linenum = 0;
off_t size = 0;
while ( fgets( tline, LINE_MAX, tran ) != NULL ) {
linenum++;
strcpy( line, tline );
if (( tac = argcargv( tline, &targv )) == 0 ) {
continue;
}
switch ( *targv[ 0 ] ) {
case 'a':
case 'f':
break;
default:
continue;
}
linecheck( line, tac, linenum );
size += strtoofft( targv[ 6 ], NULL, 10 );
}
rewind( tran );
return( size );
}
off_t
lcksum_loadsetsize( FILE *tran, char *prefix )
{
char tline[ LINE_MAX ], line[ LINE_MAX ];
char *d_path = NULL;
char **targv;
int tac, linenum = 0;
off_t size = 0;
while ( fgets( tline, LINE_MAX, tran ) != NULL ) {
linenum++;
strcpy( line, tline );
if (( tac = argcargv( tline, &targv )) <= 1 ) {
continue;
}
if ( prefix != NULL ) {
if (( d_path = decode( targv[ 1 ] )) == NULL ) {
fprintf( stderr, "%d: path too long\n", linenum );
exit( 2 );
}
if ( strncmp( d_path, prefix, strlen( prefix )) != 0 ) {
continue;
}
}
switch ( *targv[ 0 ] ) {
case 'a':
case 'f':
linecheck( line, tac, linenum );
size += strtoofft( targv[ 6 ], NULL, 10 );
default:
size += PROGRESSUNIT;
break;
}
}
rewind( tran );
return( size );
}
off_t
applyloadsetsize( FILE *tran )
{
char tline[ LINE_MAX ], line[ LINE_MAX ];
char **targv;
int tac, linenum = 0;
off_t size = 0;
while ( fgets( tline, LINE_MAX, tran ) != NULL ) {
linenum++;
strcpy( line, tline );
/* skip empty lines and transcript marker lines */
if (( tac = argcargv( tline, &targv )) <= 1 ) {
continue;
}
switch ( *targv[ 0 ] ) {
case '+':
switch ( *targv[ 1 ] ) {
case 'a':
case 'f':
linecheck( line, tac, linenum );
size += strtoofft( targv[ 7 ], NULL, 10 );
default:
break;
}
default:
break;
}
size += PROGRESSUNIT;
}
rewind( tran );
return( size );
}
static int range_check(struct index ind, int count, char *lbuff)
{
int i,j,k,cc1,cc2,start,force=0;
char tmpbuff[BUFFERLEN],errbuff[BUFFERLEN];
for (i=count;i<ind.num+1;i++) {
if (ind.p[i].enc[0]==range_close) {
SPRINTF(errbuff,"Warning: Unmatched range closing operator \'%c\',",range_close);
SAPPENDF(errbuff,"%s.",ind.idx[0]);
warn_printf(efp, "%s\n", errbuff);
ind.p[i].enc++;
}
if (ind.p[i].enc[0]==range_open) {
start=i;
ind.p[i].enc++;
for (j=i;j<ind.num+1;j++) {
if (strcmp(ind.p[start].enc,ind.p[j].enc)) {
if (ind.p[j].enc[0]==range_close) {
ind.p[j].enc++;
ind.p[j].enc[0]='\0';
force=1;
break;
}
else if (j!=i && ind.p[j].enc[0]==range_open) {
SPRINTF(errbuff,"Warning: Unmatched range opening operator \'%c\',",range_open);
for (k=0;k<ind.words;k++) SAPPENDF(errbuff,"%s.",ind.idx[k]);
warn_printf(efp, "%s\n", errbuff);
ind.p[j].enc++;
}
if (strlen(ind.p[j].enc)>0) {
SPRINTF(tmpbuff,"%s%s%s",encap_prefix,ind.p[j].enc,encap_infix);
SAPPENDF(tmpbuff,"%s%s%s",ind.p[j].page,encap_suffix,delim_n);
linecheck(lbuff,tmpbuff);
}
}
}
if (j==ind.num+1) {
SPRINTF(errbuff,"Warning: Unmatched range opening operator \'%c\',",range_open);
for (k=0;k<ind.words;k++) SAPPENDF(errbuff,"%s.",ind.idx[k]);
warn_printf(efp, "%s\n", errbuff);
}
i=j-1;
}
else if (prange && i<ind.num) {
if (chkcontinue(ind.p,i)
&& (!strcmp(ind.p[i].enc,ind.p[i+1].enc)
|| ind.p[i+1].enc[0]==range_open))
continue;
else {
i++;
break;
}
}
else {
i++;
break;
}
}
cc1=pnumconv(ind.p[i-1].page,ind.p[i-1].attr[0]);
cc2=pnumconv(ind.p[count].page,ind.p[count].attr[0]);
if (cc1>=cc2+2 || (cc1>=cc2+1 && strlen(suffix_2p)) || force) {
return i-1;
}
else return count;
}
/* write page block */
static void printpage(struct index *ind, FILE *fp, int num, char *lbuff)
{
int i,j,k,cc;
char buff[BUFFERLEN],tmpbuff[BUFFERLEN],errbuff[BUFFERLEN];
buff[0]=tmpbuff[0]='\0';
crcheck(lbuff,fp);
line_length=strlen(lbuff);
for(j=0;j<ind[num].num;j++) {
cc=range_check(ind[num],j,lbuff);
if (cc>j) {
if (pnumconv(ind[num].p[j].page,ind[num].p[j].attr[0])==pnumconv(ind[num].p[cc].page,ind[num].p[cc].attr[0])) {
j=cc-1;
continue;
}
/* range process */
if (ind[num].p[j].enc[0]==range_open
|| ind[num].p[j].enc[0]==range_close)
ind[num].p[j].enc++;
if (strlen(ind[num].p[j].enc)>0) {
SPRINTF(buff,"%s%s%s",encap_prefix,ind[num].p[j].enc,encap_infix);
}
if (strlen(suffix_3p)>0 && (pnumconv(ind[num].p[cc].page,ind[num].p[cc].attr[0])-pnumconv(ind[num].p[j].page,ind[num].p[j].attr[0]))==2) {
SAPPENDF(buff,"%s%s",ind[num].p[j].page,suffix_3p);
}
else if (strlen(suffix_mp)>0 && (pnumconv(ind[num].p[cc].page,ind[num].p[cc].attr[0])-pnumconv(ind[num].p[j].page,ind[num].p[j].attr[0]))>=2) {
SAPPENDF(buff,"%s%s",ind[num].p[j].page,suffix_mp);
}
else if (strlen(suffix_2p)>0 && (pnumconv(ind[num].p[cc].page,ind[num].p[cc].attr[0])-pnumconv(ind[num].p[j].page,ind[num].p[j].attr[0]))==1) {
SAPPENDF(buff,"%s%s",ind[num].p[j].page,suffix_2p);
}
else {
SAPPENDF(buff,"%s%s",ind[num].p[j].page,delim_r);
SAPPENDF(buff,"%s",ind[num].p[cc].page);
}
SAPPENDF(tmpbuff,"%s",buff);
buff[0]='\0';
if (strlen(ind[num].p[j].enc)>0) {
SAPPENDF(tmpbuff,"%s",encap_suffix);
}
linecheck(lbuff,tmpbuff);
j=cc;
if (j==ind[num].num) {
goto PRINT;
}
else {
SAPPENDF(tmpbuff,"%s",delim_n);
linecheck(lbuff,tmpbuff);
}
}
else if (strlen(ind[num].p[j].enc)>0) {
/* normal encap */
if (ind[num].p[j].enc[0]==range_close) {
SPRINTF(errbuff,"Warning: Unmatched range closing operator \'%c\',",range_close);
for (i=0;i<ind[num].words;i++) SAPPENDF(errbuff,"%s.",ind[num].idx[i]);
warn_printf(efp, "%s\n", errbuff);
ind[num].p[j].enc++;
}
if (strlen(ind[num].p[j].enc)>0) {
SAPPENDF(tmpbuff,"%s%s%s",encap_prefix,ind[num].p[j].enc,encap_infix);
SAPPENDF(tmpbuff,"%s%s%s",ind[num].p[j].page,encap_suffix,delim_n);
linecheck(lbuff,tmpbuff);
}
else {
SAPPENDF(tmpbuff,"%s%s",ind[num].p[j].page,delim_n);
linecheck(lbuff,tmpbuff);
}
}
else {
/* no encap */
SAPPENDF(tmpbuff,"%s%s",ind[num].p[j].page,delim_n);
linecheck(lbuff,tmpbuff);
}
}
if (ind[num].p[j].enc[0]==range_open) {
SPRINTF(errbuff,"Warning: Unmatched range opening operator \'%c\',",range_open);
for (k=0;k<ind[num].words;k++) SAPPENDF(errbuff,"%s.",ind[num].idx[k]);
warn_printf(efp, "%s\n", errbuff);
ind[num].p[j].enc++;
}
else if (ind[num].p[j].enc[0]==range_close) {
SPRINTF(errbuff,"Warning: Unmatched range closing operator \'%c\',",range_close);
for (k=0;k<ind[num].words;k++) SAPPENDF(errbuff,"%s.",ind[num].idx[k]);
warn_printf(efp, "%s\n", errbuff);
ind[num].p[j].enc++;
}
if (strlen(ind[num].p[j].enc)>0) {
SAPPENDF(tmpbuff,"%s%s%s",encap_prefix,ind[num].p[j].enc,encap_infix);
SAPPENDF(tmpbuff,"%s%s",ind[num].p[j].page,encap_suffix);
}
else {
SAPPENDF(tmpbuff,"%s",ind[num].p[j].page);
}
linecheck(lbuff,tmpbuff);
PRINT:
fputs(lbuff,fp);
fputs(delim_t,fp);
lbuff[0]='\0';
}
main(){
int ch;
while(ch!=EOF)
ch=linecheck();
}
int filecheck(const char *check_fname, instream_t check_in,
const char *in_fname, instream_t in,
outstream_t out, outstream_t err) {
char checkbuf[BUFSZ];
char inbuf[BUFSZ];
char check_not_buf[BUFSZ];
unsigned check_linum = 0;
unsigned in_linum = 0;
/* For every line in 'check_in', attempt to find a matching line in 'in'. */
while (check_in(checkbuf, BUFSZ) != -1) {
const char *checkbuf2 = strip_whitespace(checkbuf);
++check_linum;
checkbuf[BUFSZ-1] = '\0';
if (!strncmp(checkbuf2, CHECK_NOT_STR, strlen(CHECK_NOT_STR))) {
strcpy(check_not_buf, strip_whitespace(checkbuf2 + strlen(CHECK_NOT_STR)));
continue;
} else if (!strncmp(checkbuf2, CHECK_STR, strlen(CHECK_STR))) {
const char *check = strip_whitespace(checkbuf2 + strlen(CHECK_STR));
unsigned saved_in_linum = in_linum;
int col = 0, not_col = 0;
while (in(inbuf, BUFSZ) != -1) {
++in_linum;
inbuf[BUFSZ-1] = '\0';
col = linecheck(check, inbuf);
if (col > 0)
break;
if (check_not_buf[0] != '\0') {
not_col = linecheck(check_not_buf, inbuf);
if (not_col > 0)
break;
}
}
if (col == 0 && not_col == 0) {
diag(err,
"%s:%d: expected string not found in input: %s",
check_fname, check_linum, check);
diag(err,
"%s:%d:%d: scanning from here",
in_fname, saved_in_linum, col);
return 1;
} else if (not_col > 0) {
diag(err,
"%s:%d: CHECK-NOT string found",
check_fname, check_linum);
diag(err,
"%s:%d:%d: here",
in_fname, saved_in_linum, not_col);
return 1;
}
check_not_buf[0] = '\0';
}
}
return 0;
}
/* Functions */
void Robot_drive_task(void)
{
Robot_PWM_init(); // Initialize motors
int32_t pid_coeff[3]; // PID Coefficients
int8_t e[3];
int8_t e2[3];
int32_t u;
int32_t u2;
pid_terms_calc(KP, KI, KD, F_SAMP, pid_coeff);
uint8_t blk_cnt[4]; // Consecutive BLK read counters
uint8_t num_iterations = 0;
fw_motors(5, 60); //Test :)
while(TRUE)
{
// Pend on semaphore - Light Sensor values updated
Semaphore_pend(Sema_lightsense, BIOS_WAIT_FOREVER);
switch(drivestate)
{
case DRIVESTATE_IDLE:
// Do nothing :)
break;
case DRIVESTATE_FWD:
linedetection(lightsnsr_val, blk_cnt, 0, 1, &num_iterations);
linecheck(&u, &u2, &num_iterations, num_moves);
error_calc(lightsnsr_val[0], e);
error_calc(lightsnsr_val[1], e2);
u = findu(e, u, pid_coeff);
u2 = findu(e2, u2, pid_coeff);
fwd_pid(u, u2, dutycycle);
break;
case DRIVESTATE_REV:
linedetection(lightsnsr_val, blk_cnt, 1, 0, &num_iterations);
linecheck(&u, &u2, &num_iterations, num_moves);
error_calc(lightsnsr_val[0], e);
error_calc(lightsnsr_val[1], e2);
u = findu(e, u, pid_coeff);
u2 = findu(e2, u2, pid_coeff);
rev_pid(u, u2, dutycycle);
break;
case DRIVESTATE_STRAFELEFT:
linedetection(lightsnsr_val, blk_cnt, 2, 3, &num_iterations);
linecheck(&u, &u2, &num_iterations, num_moves);
error_calc(lightsnsr_val[0], e);
error_calc(lightsnsr_val[1], e2);
u = findu(e, u, pid_coeff);
u2 = findu(e2, u2, pid_coeff);
tl_pid(u, u2, dutycycle);
break;
case DRIVESTATE_STRAFERIGHT:
linedetection(lightsnsr_val, blk_cnt, 3, 2, &num_iterations);
linecheck(&u, &u2, &num_iterations, num_moves);
error_calc(lightsnsr_val[0], e);
error_calc(lightsnsr_val[1], e2);
u = findu(e, u, pid_coeff);
u2 = findu(e2, u2, pid_coeff);
tl_pid(u, u2, dutycycle);
break;
case DRIVESTATE_TURNCW:
intersectiondetect(lightsnsr_val, blk_cnt, &num_iterations);
linecheck(&u, &u2, &num_iterations, num_moves);
break;
case DRIVESTATE_TURNCCW:
intersectiondetect(lightsnsr_val, blk_cnt, &num_iterations);
linecheck(&u, &u2, &num_iterations, num_moves);
break;
}
}
}