void drawAxes()
{
// Draw the origin
glPushMatrix();
glScalef(5,5,5);
glShadeModel(GL_FLAT);
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
// x axis
glColor3f(1.0, 0.0, 0.0);
glVertex3d( 0.0, 0.0, 0.0 );
glVertex3d( 1.0, 0.0, 0.0 );
// y axis
glColor3f(0.0, 1.0, 0.0);
glVertex3d( 0.0, 0.0, 0.0 );
glVertex3d( 0.0, 1.0, 0.0 );
// z axis
glColor3f(0.0, 0.0, 1.0);
glVertex3d( 0.0, 0.0, 0.0 );
glVertex3d( 0.0, 0.0, 1.0 );
glEnd();
glColor3f(1.0f, 0.0f, 0.0f);
glRasterPos3f(1.2f, 0.0f, 0.0f);
printString("X");
glColor3f(0.0, 1, 0.0);
glRasterPos3f(0.0f, 1.2f, 0.0f);
printString("Y");
glColor3f(0.0f, 0.0f, 1.0f);
glRasterPos3f(0.0f, 0.0f, 1.2f);
printString("Z");
glPopMatrix();
glEnable(GL_LIGHTING);
}
void TaskStat(void) /* a task to track statistics */
{
unsigned max, switchCount, idleCount;
int tmp;
YKDelayTask(1);
printString("Welcome to the YAK kernel\r\n");
printString("Determining CPU capacity\r\n");
YKDelayTask(1);
YKIdleCount = 0;
YKDelayTask(5);
max = YKIdleCount / 25;
YKIdleCount = 0;
YKNewTask(TaskPrime, (void *) &TaskPRMStk[TASK_STACK_SIZE], 32);
YKNewTask(TaskWord, (void *) &TaskWStk[TASK_STACK_SIZE], 10);
YKNewTask(TaskSpace, (void *) &TaskSStk[TASK_STACK_SIZE], 11);
YKNewTask(TaskPunc, (void *) &TaskPStk[TASK_STACK_SIZE], 12);
while (1)
{
YKDelayTask(20);
YKEnterMutex();
switchCount = YKCtxSwCount;
idleCount = YKIdleCount;
YKExitMutex();
printString ("<<<<< Context switches: ");
printInt((int)switchCount);
printString(", CPU usage: ");
tmp = (int) (idleCount/max);
printInt(100-tmp);
printString("% >>>>>\r\n");
YKEnterMutex();
YKCtxSwCount = 0;
YKIdleCount = 0;
YKExitMutex();
}
}
void printHeader()
{
int screen_height, screen_weight;
char header_buf[ 1024 ];
clear();
getmaxyx( stdscr, screen_height, screen_weight );
printString( "h,? - help; z - toggle color-mode; q,F10,Ctrl-c - quit",
A_NORMAL, getW (), NEWLINE );
if( is_colorize )
attron( COLOR_PAIR( 1 ) );
sprintf(
header_buf,
" +User%c .+cpu(%) %c . +read(B/s)%c . +write(B/s) %c . CAUSE ",
sort_type == 3 ? '*' : ' ', !sort_type ? '*' : ' ', sort_type
== 1 ? '*' : ' ', sort_type == 2 ? '*' : ' ' );
printString( header_buf, (is_colorize) ? A_NORMAL : A_REVERSE, getW(),
NEWLINE );
if( is_colorize ) attroff( COLOR_PAIR( 1 ) );
}
/*
* printf(char *fmt, ... ) - prints a sequence of data formatted as the format
* argument specifies
*
* This function emulates the stdio.h printf() functionality in C and will send
* the output to the Serial connection using printByte(). The resulting
* string sent over serial is limited to 128 chars.
*
* Parameters:
* fmt : FlashStringHelper defined in Flash memory
*
* Examples:
* USB.printf("%s\n", "Hello world");
* USB.printf("x:%d,y:%d,z:%d -bat: %d%c%c%c",
* ACC.getX(),
* ACC.getY(),
* ACC.getZ(),
* PWR.getBatteryLevel(),
* '%',
* '\r',
* '\n' );
*
*/
void WaspUSB::printf(char *fmt, ... )
{
secureBegin();
// resulting string limited to 128 chars
char tmp[128];
va_list args;
va_start (args, fmt );
vsnprintf(tmp, 128, fmt, args);
va_end (args);
printString(tmp, _uart);
secureEnd();
}
::Ice::DispatchStatus
Demo::Printer::___printString(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
{
__checkMode(::Ice::Normal, __current.mode);
::IceInternal::BasicStream* __is = __inS.is();
__is->startReadEncaps();
::std::string s;
__is->read(s);
__is->endReadEncaps();
printString(s, __current);
return ::Ice::DispatchOK;
}
void initUSART()
{
/* Set Baud Rate */
UBRR0L = 0x33;
/* Enable receiver and transmitter */
UCSR0B = ( 1 << RXEN0 ) | ( 1 << TXEN0 );
/* set frame format: 8data, 2 stop bit */
UCSR0C = ( 1 << UCSZ00 ) | ( 1 << UCSZ01 );
printString( "UART Initialized.\n\n" );
}
/* Everything above this line could be in a library that defines a font.
* To make it work, you've got to call makeRasterFont() before you start
* making calls to printString().
*/
void display(void)
{
GLfloat white[3] = { 1.0, 1.0, 1.0 };
int i, j;
char teststring[33];
glClear(GL_COLOR_BUFFER_BIT);
glColor3fv(white);
for (i = 32; i < 127; i += 32) {
glRasterPos2i(20, 200 - 18*i/32);
for (j = 0; j < 32; j++)
teststring[j] = (char) (i+j);
teststring[32] = 0;
printString(teststring);
}
glRasterPos2i(20, 100);
printString("The quick brown fox jumps");
glRasterPos2i(20, 82);
printString("over a lazy dog.");
glFlush ();
}
void printHex(unsigned int Number) {
char HexBuffer[5];
HexBuffer[4] = 0;
HexBuffer[3] = HexDigit(Number & 0x000f);
Number = Number >> 4;
HexBuffer[2] = HexDigit(Number & 0x000f);
Number = Number >> 4;
HexBuffer[1] = HexDigit(Number & 0x000f);
Number = Number >> 4;
HexBuffer[0] = HexDigit(Number & 0x000f);
printString(HexBuffer);
}
void loop(){
seq.rotation.update(getAnalogValue(SEQUENCER_ROTATE_CONTROL));
seq.step.update(getAnalogValue(SEQUENCER_STEP_CONTROL));
seq.fill.update(getAnalogValue(SEQUENCER_FILL_CONTROL));
seq.update();
#ifdef SERIAL_DEBUG
if(serialAvailable() > 0){
serialRead();
printString("a: [");
seq.dump();
printString("] ");
seq.print();
if(clockIsHigh())
printString(" clock high");
if(resetIsHigh())
printString(" reset high");
printNewline();
}
#endif
}
/* Returns joined network name. */
char* RemoteHomeWifi::getNetworkName() {
//static char netName[33];
char * netName = (char *) calloc (33, 1);
if (connectedToWifi) {
cleanSerialBuffer();
printString(AT_CHECK_AP_CONNECTION);
printCrLf();
_ser.find("\"");
_ser.readBytesUntil((char)34, netName, 32);
}
return netName;
}
int main(int argc, char ** argv)
{
if (argc == 1) {
print();
} else if (argc == 2) {
printInt(2);
} else {
printString(*argv);
}
return 0;
}
void CrlInfo::printName(const char *prefixStr)
{
#ifndef NDEBUG
CSSM_DATA_PTR val = fetchValidAttr(ATTR_DEX_PRINT_NAME);
if(val == NULL) {
ocspdCrlDebug("%s: X509 CRL <no name>", prefixStr);
}
else {
printString(prefixStr, val);
}
#endif
}
int print_delay_list(void)
{
int count = 0;
tcb_t* iter = YKBlockList;
while( iter )
{
printInt( iter->priority );
if (iter->state == DELAYED) {
printString( " Delay: " );
printInt( iter->delay );
}
else if (iter->state == SEMAPHORE) {
printString( " Semaphore: " );
printInt( iter->semaphore->value );
}
printNewLine();
iter = iter->next;
++count;
}
return count;
}
/*
Send/print unsigned or signed number over UART.
Printable data for viewing on terminal.
Call this function: printNumber(number, DEC); printNumber(2246, DEC);
Base: DEC, HEX, OCT, BIN
Data must be number, int32_t.
*/
void printNumber(int32_t number, uint8_t base){
if (number < 0)
{
printString("-");
number = -number;
printUnsignedNumber(number, base);
}
else
{
printUnsignedNumber(number, base);
}
}
void STask(void) /* tracks statistics */
{
unsigned max, switchCount, idleCount;
int tmp;
YKDelayTask(1);
printString("Welcome to the YAK kernel\r\n");
printString("Determining CPU capacity\r\n");
YKDelayTask(1);
YKIdleCount = 0;
YKDelayTask(5);
max = YKIdleCount / 25;
YKIdleCount = 0;
YKNewTask(CharTask, (void *) &CharTaskStk[TASK_STACK_SIZE], 2);
YKNewTask(AllNumsTask, (void *) &AllNumsTaskStk[TASK_STACK_SIZE], 1);
YKNewTask(AllCharsTask, (void *) &AllCharsTaskStk[TASK_STACK_SIZE], 3);
while (1)
{
YKDelayTask(20);
YKEnterMutex();
switchCount = YKCtxSwCount;
idleCount = YKIdleCount;
YKExitMutex();
printString("<<<<< Context switches: ");
printInt((int)switchCount);
printString(", CPU usage: ");
tmp = (int) (idleCount/max);
printInt(100-tmp);
printString("% >>>>>\r\n");
YKEnterMutex();
YKCtxSwCount = 0;
YKIdleCount = 0;
YKExitMutex();
}
}
int main(void) {
float voltage1;
float voltage2;
float res1;
float res2;
// -------- Inits --------- //
initUSART();
setupADCSleepmode();
printString("\r\nDigital Voltmeter\r\n\r\n");
// ------ Event loop ------ //
while (1) {
initADC(0);
voltage1 = oversample16x();
printString("Thermistor 1:\r\n");
printFloat(voltage1);
//printVoltage(voltage1);
res1 = printThermRes(voltage1);
printTemp(res1);
printString("\r\n");
_delay_ms(100);
initADC(1);
voltage2 = oversample16x();
printString("Thermistor 2:\r\n");
printFloat(voltage2);
//printVoltage(voltage2);
res2 = printThermRes(voltage2);
printTemp(res2);
printString("\r\n");
_delay_ms(2500);
} /* End event loop */
return (0); /* This line is never reached */
}
/* This will tell ESP module to connect to the WiFi network. */
boolean RemoteHomeWifi::joinNetwork(String ssid, String password, String ip) {
cleanSerialBuffer();
if (ip.length() == 0) {
//enable dhcp
sendATCommand(AT_ENABLE_DHCP, ANSWER_OK);
} else {
//disable dhcp and set ip
sendATCommand(AT_DISABLE_DHCP, ANSWER_OK);
printString(AT_SET_IP_ADDR);
printStr(ip);
printString(AT_QUOTATION_MARK);
printString(CRLF);
_ser.find(ANSWER_OK);
}
printString( AT_JOIN_AP_PARAMS);
printStr(ssid);
printString(AT_QUOTATION_MARKS_WITH_COMMA);
printStr(password);
printString(AT_QUOTATION_MARK);
printCrLf();
_ser.setTimeout(19000);
boolean ret = _ser.find(ANSWER_OK);
setDefaultSerialTimeout();
delay(20);
return ret;
}
void askNums() {
printString("Enter the number of integers you want to read in.\n");
int num = readInt();
int* myNums = sbrk(sizeof(int) * num);
printString("Enter your numbers now.\n");
int i;
for(i = 0; i < num; i++) {
*(myNums + i) = readInt();
}
int sum = 0;
int product = 1;
for(i = 0; i < num; i++) {
int j = myNums[i];
if(j == 0) {
continue;
}
sum += myNums[i];
product *= myNums[i];
}
printString("The sum of these numbers is ");
printInt(sum);
printString(".\n");
printString("The product of these numbers is ");
printInt(product);
printString(".\n");
}
void ParticleShaderText::drawParticle(int i)
{
int val = i;
if((useScalar) && (scalar))
val = (int) scalar->getScalar(i);
makeRasterFont();
char wholestring[6];
char teststring[5];
char zero[] = " ";
//glRasterPos3i(0,0,0);
glRasterPos2i(0,0);
sprintf(teststring,"%i",val);
strcpy(wholestring, zero);
strcat(wholestring,teststring);
printString(wholestring);
// GLfloat black[3] = {0.0, 1.0, 0.0};
// int j,k;
// int sSz = 5; // teststring size
//glPushAttrib(GL_COLOR_BUFFER_BIT);
//glClear(GL_COLOR_BUFFER_BIT);
// glColor3fv(black);
/*for (j = 32; j < 127; j += sSz) {
//glRasterPos2i(20, 200 - 18*j/sSz);
glRasterPos3i(0,0,0);
for (k = 0; k < sSz; k++)
teststring[k] = (char) (j+k);
teststring[sSz-1] = 0;
printString(teststring);
}*/
//glRasterPos2i(20, 100);
// float clr[4];
// glGetFloatv(GL_CURRENT_RASTER_COLOR,clr);
//printString("123");
//glRasterPos2i(20, 82);
//printString("over a lazy dog.");
//glFlush ();
//glPopAttrib();
}
void initADC( void )
{
/* reference voltage on AVCC. ADC defaults to channel 0 */
ADMUX |= (1 << REFS0);
/* ADC clock prescaler /16 */
ADCSRA |= (1 << ADPS2);
/* enable ADC */
ADCSRA |= (1 << ADEN);
printString("ADC initialized.\n\n");
}
void setup_avr(void) {
// Run at 8Mhz
CLKPR = (1 << CLKPCE); // Enable changing clock prescaler
CLKPR = 0; // Set to 8Mhz (no divider)
// Set port directions to output
DDRB |= (1 << LED);
#if DEBUG
initUSART();
printString("Therm running\r\n");
#endif
}
void shove(uint8_t color, uint8_t* sensors)
{
switch(color) {
case RED:
printString("shoving red\n");
break;
case GREEN:
printString("shoving green\n");
break;
case YELLOW:
printString("shoving yellow\n");
break;
case BLUE:
printString("shoving blue\n");
break;
case NONE:
printString("shoving none\n");
break;
default:
break;
}
}
void sensor_init(void)
{
i2c_start(SENSOR_WRITE);
i2c_write(0x80 | 0x00);
i2c_stop();
i2c_start(SENSOR_WRITE);
i2c_write(0x01 | 0x02);
i2c_stop();
i2c_start(SENSOR_WRITE);
i2c_write(0x80 | 0x14);
i2c_stop();
printString("Sensor initialized\n");
}
void listProcesses(){
int q;
char mess[20];
char proc[5];
proc[0] = ' ';
proc[1] = '#';
proc[2] = '\r';
proc[3] = '\n';
proc[4] = '\0';
mess[0] = 'P';
mess[1] = 'r';
mess[2] = 'o';
mess[3] = 'c';
mess[4] = 'e';
mess[5] = 's';
mess[6] = 's';
mess[7] = 'e';
mess[8] = 's';
mess[9] = ':';
mess[10] = '\r';
mess[11] = '\n';
mess[12] = '\0';
printString(mess);
setKernelDataSegment();
for(q=0; q<NUMBEROFPROCESSENTRIES; q++){
if(processTable[q].active == 1){
printString(processTable[q].name);
restoreDataSegment();
proc[1] = '0'+q;
printString(proc);
setKernelDataSegment();
}
}
restoreDataSegment();
return;
}
/*
* tracks statistics
*/
void StatTask(void) {
unsigned max, switchCount, idleCount;
int tmp;
YKDelayTask(1);
printString("Welcome to the YAK kernel\r\n");
printString("Determining CPU capacity\r\n");
YKDelayTask(1);
YKIdleCount = 0;
YKDelayTask(5);
max = YKIdleCount / 25;
YKIdleCount = 0;
YKNewTask(ArrivalTask, (void *) &ArrivalTaskStk[TASK_STACK_SIZE], 25);
YKNewTask(CommunicationTask, (void *) &CommunicationTaskStk[TASK_STACK_SIZE], 20);
while (1)
{
YKDelayTask(20);
YKEnterMutex();
switchCount = YKCtxSwCount;
idleCount = YKIdleCount;
YKExitMutex();
printString("<CS: ");
printInt((int)switchCount);
printString(", CPU: ");
tmp = (int) (idleCount/max);
printInt(100-tmp);
printString(">\r\n");
YKEnterMutex();
YKCtxSwCount = 0;
YKIdleCount = 0;
YKExitMutex();
}
}
handleInterrupt21(int ax, int bx, int cx, int dx){
if(ax==0)
printString(bx);
if(ax==1)
readString(bx);
if(ax==2)
readSector(bx,cx);
if(ax==3)
readfile(bx,cx);
if(ax==4)
executeProgram(bx,cx);
if(ax==5)
terminate();
if(ax==6)
writeSector(bx,cx);
if(ax==7)
deleteFile(bx);
if(ax==8)
writeFile(bx,cx,dx);
if(ax>=9)
printString("Error");
}
void print_debug(RHTresult *result) {
#if DEBUG
printString("Bits:\r\n");
for(int i = 0; i < 43; i++) {
printByte(i);
printString(": ");
printByte(tries_b[i]);
printString("\r\n");
}
printString("\r\n\r\n");
printString("Temperature: ");
printWord(result->temperature);
printString("\r\n");
printString("Humidity: ");
printWord(result->humidity);
printString("\r\n");
printString("Checksum: ");
printByte(result->checksum);
printString("\r\n\r\n");
#endif
}
void printTime(int hours, int minutes, int seconds)
{
int decimalbuffer =0;
DecimalBuffer[0] = (hours%10)+'0';
DecimalBuffer[1] = (hours / 10)+'0';
DecimalBuffer[2] = ':';
DecimalBuffer[3] = (minutes%10)+'0';
DecimalBuffer[4] = (minutes / 10)+'0';
DecimalBuffer[5] = ':';
DecimalBuffer[6] = (seconds%10)+'0';
DecimalBuffer[7] = (seconds / 10)+'0';
printString(DecimalBuffer);
}
void PrenController::setCrossingFound(int distance) {
char str[50];
sprintf(str, "Crossing ahead: Distance to Crossing: %d", distance);
printString(str, CONTROLLER, 1);
// inform MC-Board
uartSender->setEngineSpeed(0, UARTSender::SOFT);
uartSender->setCameraPos(CAM_CHECK_STREET);
// inform ObjectFinder
objectStateObserver->updateCrossingState(true);
usleep(500 * 1000);
uartSender->setCameraPos(CAM_STRAIGHT);
uartSender->setEngineSpeed(MAX_ENGINE_SPEED);
}
void moveNow() {
delayMs(10000);
move(RIGHT);
delayMs(2000);
for (;;) {
clearScreen();
printString("looping");
move(RIGHT);
delayMs(3450);
move(LEFT);
delayMs(3500);
}
}
