ipc_t mq_serve(ipcdata_t ipcdata)
{
int queue_id;
ipc_t newIpc = (ipc_t)malloc(sizeof(struct st_ipc_t));
newIpc->status = IPCSTAT_DISCONNECTED;
queue_id = init_queue();
newIpc->status = IPCSTAT_PREPARING;
if(queue_id == -1)
{
newIpc->status = IPCERR_MSGGETFAILED;
return newIpc;
}
newIpc->inbox = qnew();
newIpc->outbox = qnew();
newIpc->stop = 0;
newIpc->ipcdata = ipcdata;
newIpc->status = IPCSTAT_SERVING;
newIpc->thread = pthread_create(&(newIpc->thread), NULL, mq_serverLoop, newIpc);
return newIpc;
}
ipc_t mq_connect(ipcdata_t ipcdata)
{
int queue_id;
ipc_t newIpc = (ipc_t)malloc(sizeof(struct st_ipc_t));
newIpc->status = IPCSTAT_DISCONNECTED;
queue_id = init_queue();
newIpc->status = IPCSTAT_CONNECTING;
if(queue_id == -1)
{
newIpc->status = IPCERR_MSGGETFAILED;
return newIpc;
}
newIpc->id = ipcdata->queuedata.sendPrior;
newIpc->inbox = qnew();
newIpc->outbox = qnew();
newIpc->stop = 0;
newIpc->ipcdata = ipcdata;
newIpc->status = IPCSTAT_CONNECTED;
newIpc->thread = pthread_create(&(newIpc->thread), NULL, mq_clientLoop, newIpc);
return newIpc;
}
/**
* @function tryStep
*/
JG_RRT::StepResult JG_RRT::tryStep( const Eigen::VectorXd &qtry, int NNidx )
{
Eigen::VectorXd qnear( ndim );
Eigen::VectorXd qnew( ndim );
qnear = configVector[NNidx];
Eigen::VectorXd diff = ( qtry - qnear );
double edist = diff.norm();
// If the new node is nearer than the stepSize, don't add it
if( edist < stepSize )
{
return STEP_REACHED;
}
// Scale it in order to add it
double scale = stepSize / edist;
for( int i = 0; i < ndim; i++ )
{
qnew[i] = qnear[i] + diff[i]*scale;
}
if( !checkCollisions(qnew) )
{
addNode( qnew, NNidx );
return STEP_PROGRESS;
}
else
{
return STEP_COLLISION;
}
}
//--------------------------------------------------------------------------
// Make a copy
place_t *ida_export class_place_t__clone(const cp_t *ths)
{
class_place_t *p = qnew(class_place_t);
if ( p == NULL )
nomem("class_place");
memcpy(p, ths, sizeof(*ths));
return p;
}
/*
* NAME: hls->main()
* DESCRIPTION: implement hls command
*/
int hls_main(int argc, char *argv[])
{
hfsvol *vol;
int fargc, i;
char **fargv = 0;
int result = 0;
int flags, options, width;
char *ptr;
darray *dirs, *files;
options = T_MOD | S_NAME;
if (isatty(STDOUT_FILENO))
{
options |= F_MANY;
flags = HLS_QMARK_CTRL;
}
else
{
options |= F_ONE;
flags = 0;
}
#ifdef __EMX__
if (strcmp(bargv0, "hdir") == 0 || strcmp(bargv0, "hdir.exe") == 0)
#else
if (strcmp(bargv0, "hdir") == 0)
#endif
options = (options & ~F_MASK) | F_LONG;
width = 80;
ptr = getenv("COLUMNS");
if (ptr)
width = atoi(ptr);
# ifdef TIOCGWINSZ
{
struct winsize ws;
if (ioctl(STDOUT_FILENO, TIOCGWINSZ, &ws) != -1 &&
ws.ws_col != 0)
width = ws.ws_col;
}
# endif
while (1)
{
int opt;
opt = getopt(argc, argv, "1abcdfilmqrstxw:CFNQRSU");
if (opt == EOF)
break;
switch (opt)
{
case '?':
return usage();
case '1':
options = (options & ~F_MASK) | F_ONE;
break;
case 'a':
flags |= HLS_ALL_FILES;
break;
case 'b':
flags |= HLS_ESCAPE;
flags &= ~HLS_QMARK_CTRL;
break;
case 'c':
options = (options & ~(T_MASK | S_MASK)) | T_CREATE | S_TIME;
break;
case 'd':
flags |= HLS_IMMEDIATE_DIRS;
break;
case 'f':
flags |= HLS_ALL_FILES;
flags &= ~HLS_SIZE;
options &= ~S_MASK;
if ((options & F_MASK) == F_LONG)
options = (options & ~F_MASK) |
(isatty(STDOUT_FILENO) ? F_MANY : F_ONE);
break;
case 'i':
flags |= HLS_CATIDS;
break;
case 'l':
options = (options & ~F_MASK) | F_LONG;
break;
case 'm':
options = (options & ~F_MASK) | F_COMMAS;
break;
case 'q':
flags |= HLS_QMARK_CTRL;
flags &= ~HLS_ESCAPE;
break;
case 'r':
flags |= HLS_REVERSE;
break;
case 's':
flags |= HLS_SIZE;
break;
case 't':
options = (options & ~S_MASK) | S_TIME;
break;
case 'x':
options = (options & ~F_MASK) | F_HORIZ;
break;
case 'w':
width = atoi(optarg);
break;
case 'C':
options = (options & ~F_MASK) | F_MANY;
break;
case 'F':
flags |= HLS_INDICATOR;
break;
case 'N':
flags &= ~(HLS_ESCAPE | HLS_QMARK_CTRL);
break;
case 'Q':
flags |= HLS_QUOTE | HLS_ESCAPE;
flags &= ~HLS_QMARK_CTRL;
break;
case 'R':
flags |= HLS_RECURSIVE;
break;
case 'S':
options = (options & ~S_MASK) | S_SIZE;
break;
case 'U':
options &= ~S_MASK;
break;
}
}
vol = hfsutil_remount(hcwd_getvol(-1), HFS_MODE_RDONLY);
if (vol == 0)
return 1;
fargv = hfsutil_glob(vol, argc - optind, &argv[optind], &fargc, &result);
dirs = qnew();
files = qnew();
if (result == 0 && (dirs == 0 || files == 0))
{
fprintf(stderr, "%s: not enough memory\n", argv0);
result = 1;
}
if (result == 0)
{
if (fargc == 0)
{
if (queuepath(vol, ":", dirs, files, flags) == -1)
result = 1;
}
else
{
for (i = 0; i < fargc; ++i)
{
if (queuepath(vol, fargv[i], dirs, files, flags) == -1)
{
result = 1;
break;
}
}
}
}
if (result == 0 && process(vol, dirs, files, flags, options, width) == -1)
result = 1;
if (files)
qfree(files);
if (dirs)
qfree(dirs);
hfsutil_unmount(vol, &result);
if (fargv)
free(fargv);
return result;
}
