void process(Servo *servo, Instruction b) {
enum opcode operation = OPCODE(b);
int parameter = PARAM(b);
switch(operation) {
case MOV:
mov(servo, parameter);
break;
case WAIT:
wait(servo, parameter);
break;
case LOOP_START:
loop_start(servo, parameter);
execute(servo, servo->recipe[servo->pc]);
break;
case END_LOOP:
end_loop(servo);
execute(servo, servo->recipe[servo->pc]);
break;
case RECIPE_END:
recipe_end(servo);
break;
default: /* Opcode not defined */
break;
}
}
void BusConnect (void)
{
_logger->log("Subscription " + _name +
" initiating MQTT bus connection.");
connect(global_config.mqtt_broker_ip.c_str(),
global_config.mqtt_broker_port);
loop_start();
}
void Client::connect()
{
configuration->configure(*this);
throwIfError("connect", mosqpp::mosquittopp::connect(configuration->address().c_str(), configuration->port()));
throwIfError("loop_start", loop_start());
}
Controller::Controller(const char* id, const char* host, int port) : mosquittopp(id) {
printf("Initializing MQTT connections...\n");
mosqpp::lib_init(); // Mandatory initialization for mosquitto library
loop_start();
connect_async(host, port, 60); //keepalive interval
faceDetector = new FaceDetector();
faceDetector->start_detector(-1, *new Size(240,180));
// faceDetector->start_detector(-1, *new Size(120,90));
};
myMosq(const char * _id,const char * _topic, const char * _host, int _port) : mosquittopp(_id)
{
mosqpp::lib_init(); // Mandatory initialization for mosquitto library
this->keepalive = 60; // Basic configuration setup for myMosq class
this->id = _id;
this->port = _port;
this->host = _host;
this->topic = _topic;
connect_async(host, // non blocking connection to broker request
port,
keepalive);
loop_start(); // Start thread managing connection / publish / subscribe
};
bool analyze(float * spectrum, bool initialized) {
#ifdef DETECT_PRINT
printf("\n");
#endif
++_iteration_;
loop_start(spectrum);
if (!initialized) {
NBL_WARN("Channel::analyze() not calling _analyze()")
}
bool ret = initialized ? _analyze() : false;
loop_end();
return ret;
}
jit_function_t bf_compile(jit_context_t cx, FILE *fp) {
jit_type_t params[1], putchar_params[1], signature, putchar_sig, getchar_sig;
jit_value_t ptr, uptr, ubyte, tmp;
bf_loop_t loop = NULL;
ubyte_ptr = jit_type_create_pointer(jit_type_ubyte, 1);
params[0] = ubyte_ptr;
putchar_params[0] = jit_type_ubyte;
signature = jit_type_create_signature(jit_abi_cdecl, jit_type_void, params, 1, 1);
putchar_sig = jit_type_create_signature(jit_abi_cdecl, jit_type_ubyte, putchar_params, 1, 1);
getchar_sig = jit_type_create_signature(jit_abi_cdecl, jit_type_ubyte, NULL, 0, 1);
jit_function_t function = jit_function_create(cx, signature);
ptr = jit_value_get_param(function, 0);
uptr = jit_value_create_nint_constant(function, ubyte_ptr, 1);
ubyte = jit_value_create_nint_constant(function, jit_type_ubyte, 1);
ops *unit = (ops*)malloc(sizeof(ops));
unit->count = 0;
int first = 1;
while(!feof(fp)) {
char c = fgetc(fp);
if (first) {
unit->token = c;
first = 0;
}
switch(c) {
case '>':
OPTIMIZE_TOKEN('>')
case '<':
OPTIMIZE_TOKEN('<')
case '+':
OPTIMIZE_TOKEN('+')
case '-':
OPTIMIZE_TOKEN('-')
case '.':
emitOpcodes(function, ptr, unit);
unit->token = '.';
tmp = jit_insn_load_relative(function, ptr, 0, jit_type_ubyte);
jit_insn_call_native(function, "putchar", putchar, putchar_sig, &tmp, 1, JIT_CALL_NOTHROW);
break;
case ',':
emitOpcodes(function, ptr, unit);
unit->token = ',';
jit_insn_call_native(function, "getchar", getchar, getchar_sig, NULL, 0, JIT_CALL_NOTHROW);
jit_insn_store_relative(function, ptr, 0, tmp);
break;
case '[':
emitOpcodes(function, ptr, unit);
unit->token = '[';
loop_start(function, &loop);
tmp = jit_insn_load_relative(function, ptr, 0, jit_type_ubyte);
jit_insn_branch_if_not(function, tmp, &loop->stop);
break;
case ']':
emitOpcodes(function, ptr, unit);
unit->token = ']';
loop_stop(function, &loop);
break;
}
}
jit_insn_return(function, NULL);
jit_function_compile(function);
return function;
}
