static void accept_new(int accept_fd)
{
int from, to, feid, teid;
while (1) {
from = net_accept(cos_spd_id(), accept_fd);
assert(from != accept_fd);
if (-EAGAIN == from) {
return;
} else if (from < 0) {
BUG();
return;
}
feid = evt_get();
assert(feid > 0);
if (0 < net_accept_data(cos_spd_id(), from, feid)) BUG();
teid = evt_get();
assert(teid > 0);
to = tsplit(cos_spd_id(), td_root, "", 0, TOR_RW, teid);
if (to < 0) {
printc("torrent split returned %d", to);
BUG();
}
mapping_add(from, to, feid, teid);
}
}
static void
accept_new(int accept_fd)
{
int from, to, feid, teid;
while (1) {
feid = evt_get();
assert(feid > 0);
from = from_tsplit(cos_spd_id(), accept_fd, "", 0, TOR_RW, feid);
assert(from != accept_fd);
if (-EAGAIN == from) {
evt_put(feid);
return;
} else if (from < 0) {
printc("from torrent returned %d\n", from);
BUG();
return;
}
teid = evt_get();
assert(teid > 0);
to = tsplit(cos_spd_id(), td_root, "", 0, TOR_RW, teid);
if (to < 0) {
printc("torrent split returned %d", to);
BUG();
}
mapping_add(from, to, feid, teid);
}
}
static void *
gdb_mapping_add(uintptr_t vaddr, unsigned len, unsigned prot, size_t *valid) {
//kprintf("map add %x, nocache,dir,raw=%x/%x %x/%x %x/%x\n", vaddr, nocache.start, nocache.end, direct.start, direct.end, raw.start, raw.end);
if(MAP_IN_RANGE(inout, vaddr)) {
if(debug_flag > 2) kprintf("in/out access for 0x%x\n", vaddr);
*valid = len;
return (void *)vaddr;
}
if(MAP_IN_RANGE(raw, vaddr)) {
if(debug_flag > 2) kprintf("raw access for 0x%x\n", vaddr);
*valid = len;
return (void *)vaddr;
}
if(MAP_IN_RANGE(direct, vaddr)) {
paddr_t paddr;
if(vaddrinfo(NULL, vaddr, &paddr, valid) == PROT_NONE) return(NULL);
if(debug_flag > 2) kprintf("direct access for 0x%x\n", vaddr);
return (void *)vaddr;
}
if(MAP_IN_RANGE(nocache, vaddr)) {
if(debug_flag > 2) kprintf("nocache access for 0x%x\n", vaddr);
prot |= PROT_NOCACHE;
}
return mapping_add(vaddr, len, prot, valid);
}
static void
accept_new(int accept_fd)
{
int eid;
eid = evt_get();
assert(eid > 0);
pid_torrent = from_tsplit(cos_spd_id(), accept_fd, "", 0, TOR_RW, eid);
assert(pid_torrent!= accept_fd);
printc("accept_new: eid %d pid_torrent %d (accept_fd %d)\n",
eid, pid_torrent, accept_fd);
if (-EAGAIN == pid_torrent) {
evt_free(cos_spd_id(), eid);
return;
} else if (pid_torrent < 0) {
printc("pwrite to id_torrent %d\n", pid_torrent);
BUG();
return;
}
mapping_add(pid_torrent, 0, eid, 0);
}
int main(int argc,char *argv[]) {
char *name = NULL;
int c;
int joystick = -1;
int num_joysticks;
unsigned int i;
memset(mappings,0,sizeof(mappings));
while ((c = getopt(argc,argv,":hn:j:m:"))!=-1) {
switch (c) {
case 'h':
usage(argv[0],0);
break;
case 'j':
joystick = atoi(optarg);
break;
case 'm':
if (mapping_add(optarg)==-1) {
fprintf(stderr,"Failed to add mapping\n");
usage(argv[0],1);
}
break;
case 'n':
name = optarg;
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
// initialize NXT
nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
// initialize Joystick
if (SDL_Init(SDL_INIT_JOYSTICK)==-1) {
printf("Can't init SDL: %s\n", SDL_GetError());
return 1;
}
num_joysticks = SDL_NumJoysticks();
if (joystick==-1) {
for (i=0; i<num_joysticks; i++) {
printf("#%u:\t%s\n",i,SDL_JoystickName(i));
}
return 0;
}
if (joystick>=num_joysticks) {
fprintf(stderr,"Joystick #%u doesn't exist\n",joystick);
return 1;
}
joy = SDL_JoystickOpen(joystick);
SDL_JoystickEventState(SDL_IGNORE);
atexit(quit);
// run mappings
while (1) {
SDL_JoystickUpdate();
for (i=0; i<MAPPING_MAXNUM; i++) {
if (mappings[i].present) {
int axis = SDL_JoystickGetAxis(joy,mappings[i].axis);
if (axis!=-1) {
int power = (int)((float)axis*mappings[i].factor);
nxt_motor_run(nxt, mappings[i].motor, power);
}
}
}
SDL_Delay(10);
}
return nxt_error(nxt);
}
