static void show_trace(FILE *stream, const erlang_trace *t)
{
fprintf(stream,
"Trace: Label: %ld, Flags: 0x%lx serial: %ld, prev: %ld From: ",
t->label,t->flags,t->serial,t->prev);
show_pid(stream,&t->from);
}
void show_welcome() {
while(m_usb.isConnected()) {
m_con.clear();
m_con << "****************************************" << endl;
m_con << "* Welcome to Self-Balance Robot *" << endl;
m_con << "* " VERSION " *" << endl;
m_con << "****************************************" << endl;
m_con << "[1] Calibrations" << endl;
m_con << "[2] PID Control tuning" << endl;
m_con << "[3] Save changed" << endl;
m_con << "[4] Load Default" << endl;
m_con << "[5] Dashboard" << endl;
switch(m_con.getc()) {
case '1' :
show_mpu6050();
break;
case '2' :
show_pid();
break;
case '3' :
saveConfigure();
break;
case '4' :
setDefault();
break;
case '5':
dashboard();
break;
case 'H':
m_con.printf("High-Water Mark:%d\n", getStackHighWaterMark());
m_con.getc();
break;
}
}
static int _log_prepare(int level, struct __sourceloc where)
{
if (level == LOG_LEVEL_SILENT)
return 0;
if (strbuf_is_empty(&logbuf))
strbuf_init(&logbuf, _log_buf, sizeof _log_buf);
open_logging(); // Put initial INFO message at start of log file
#ifndef ANDROID
const char *levelstr = "UNKWN:";
switch (level) {
case LOG_LEVEL_FATAL:
levelstr = "FATAL:";
break;
case LOG_LEVEL_ERROR:
levelstr = "ERROR:";
break;
case LOG_LEVEL_INFO:
levelstr = "INFO:";
break;
case LOG_LEVEL_WARN:
levelstr = "WARN:";
break;
case LOG_LEVEL_DEBUG:
levelstr = "DEBUG:";
break;
}
strbuf_sprintf(&logbuf, "%-6.6s ", levelstr);
#endif
if (show_pid())
strbuf_sprintf(&logbuf, "[%5u] ", getpid());
if (show_time()) {
struct timeval tv;
if (gettimeofday(&tv, NULL) == -1) {
strbuf_puts(&logbuf, "NOTIME______ ");
} else {
struct tm tm;
char buf[20];
if (strftime(buf, sizeof buf, "%T", localtime_r(&tv.tv_sec, &tm)) == 0)
strbuf_puts(&logbuf, "EMPTYTIME___ ");
else
strbuf_sprintf(&logbuf, "%s.%03u ", buf, tv.tv_usec / 1000);
}
}
if (where.file) {
strbuf_sprintf(&logbuf, "%s", _trimbuildpath(where.file));
if (where.line)
strbuf_sprintf(&logbuf, ":%u", where.line);
if (where.function)
strbuf_sprintf(&logbuf, ":%s()", where.function);
strbuf_putc(&logbuf, ' ');
} else if (where.function) {
strbuf_sprintf(&logbuf, "%s() ", where.function);
}
strbuf_putc(&logbuf, ' ');
return 1;
}
static void show_term(const char *termbuf, int *index, FILE *stream)
{
int type;
char smallbuf[EISHOWBUF];
int version;
long num;
double fnum;
erlang_pid pid;
erlang_port port;
erlang_ref ref;
int i, len;
char *s;
ei_get_type_internal(termbuf,index,&type,&len);
switch (type) {
case ERL_VERSION_MAGIC:
/* just skip past this */
ei_decode_version(termbuf,index,&version);
show_term(termbuf,index,stream);
break;
case ERL_ATOM_EXT:
ei_decode_atom(termbuf,index,smallbuf);
fprintf(stream,"%s",smallbuf);
break;
case ERL_STRING_EXT:
/* strings can be much longer than EISHOWBUF */
if (len < EISHOWBUF) s = smallbuf;
else if (!(s = malloc(len+1))) break; /* FIXME just break if can't? */
ei_decode_string(termbuf,index,s);
if (printable_list_p((uint8 *)s,len)) {
/* just show it as it is */
fprintf(stream,"\"%s\"",s);
} else {
/* show it as a list instead */
fprintf(stream,"[");
for (i=0; i<len; i++) {
if (i > 0) fprintf(stream,", ");
fprintf(stream,"%d",s[i]);
}
fprintf(stream,"]");
}
/* did we allocate anything? */
if (s && (s != smallbuf)) free(s);
break;
/* FIXME add case using ei_decode_longlong */
case ERL_SMALL_BIG_EXT:
case ERL_SMALL_INTEGER_EXT:
case ERL_INTEGER_EXT:
if (ei_decode_long(termbuf,index,&num) == 0) {
fprintf(stream,"%ld",num);
} else {
ei_decode_skip_bignum(termbuf,index,NULL);
fprintf(stream,"#Bignum");
}
break;
case ERL_FLOAT_EXT:
case NEW_FLOAT_EXT:
ei_decode_double(termbuf,index,&fnum);
fprintf(stream,"%f",fnum);
break;
case ERL_PID_EXT:
ei_decode_pid(termbuf,index,&pid);
show_pid(stream,&pid);
break;
case ERL_SMALL_TUPLE_EXT:
case ERL_LARGE_TUPLE_EXT:
ei_decode_tuple_header(termbuf,index,&len);
fprintf(stream,"{");
for (i=0; i<len; i++) {
if (i > 0) fprintf(stream,", ");
show_term(termbuf,index,stream);
}
fprintf(stream,"}");
break;
case ERL_LIST_EXT:
ei_decode_list_header(termbuf,index,&len);
fprintf(stream,"[");
for (i=0; i<len; i++) {
if (i > 0) fprintf(stream,", ");
show_term(termbuf,index,stream);
}
/* get the empty list at the end */
ei_decode_list_header(termbuf,index,&len);
fprintf(stream,"]");
break;
case ERL_NIL_EXT:
ei_decode_list_header(termbuf,index,&len);
fprintf(stream,"[]");
break;
case ERL_REFERENCE_EXT:
case ERL_NEW_REFERENCE_EXT:
ei_decode_ref(termbuf,index,&ref);
fprintf(stream,"#Ref<%s",ref.node);
for (i = 0; i < ref.len; i++) {
fprintf(stream,".%u",ref.n[i]);
}
fprintf(stream,".%u>",ref.creation);
break;
case ERL_PORT_EXT:
ei_decode_port(termbuf,index,&port);
fprintf(stream,"#Port<%s.%u.%u>",port.node,port.id,port.creation);
break;
case ERL_BINARY_EXT:
ei_decode_binary(termbuf,index,NULL,&num);
fprintf(stream,"#Bin<%ld>",num);
break;
case ERL_LARGE_BIG_EXT:
/* doesn't actually decode - just skip over it */
/* FIXME if GMP, what to do here?? */
ei_decode_skip_bignum(termbuf,index,NULL);
fprintf(stream,"#Bignum");
break;
case ERL_FUN_EXT: {
char atom[MAXATOMLEN];
long idx;
long uniq;
const char* s = termbuf + *index, * s0 = s;
int n_free;
++s;
n_free = get32be(s);
*index += s - s0;
ei_decode_pid(termbuf, index, NULL); /* skip pid */
ei_decode_atom(termbuf, index, atom); /* get module, index, uniq */
ei_decode_long(termbuf, index, &idx);
ei_decode_long(termbuf, index, &uniq);
fprintf(stream,"#Fun<%s.%ld.%ld>", atom, idx, uniq);
for (i = 0; i < n_free; ++i) {
/* FIXME how to report error ?! */
if (ei_skip_term(termbuf, index) != 0)
fprintf(stderr,"<ERROR> show_msg: unknown type of term !");
}
break;
}
default:
fprintf(stream,"#Unknown<%d.%d>",type,len);
/* unfortunately we don't know how to skip over this type in
* the buffer if we don't even know what it is, so we return.
*/
return;
break;
}
}
static void show_msg(FILE *stream, int direction, const erlang_msg *msg,
const char *buf)
{
if (direction) fprintf(stream,"-> ");
else fprintf(stream,"<- ");
switch (msg->msgtype) {
case ERL_LINK:
fprintf(stream,"LINK From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: ");
show_pid(stream,&msg->to);
break;
case ERL_SEND:
fprintf(stream,"SEND To: ");
show_pid(stream,&msg->to);
fprintf(stream,"\n ");
/* show the message */
ei_efprint(stream,buf);
break;
case ERL_EXIT:
fprintf(stream,"EXIT From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: ");
show_pid(stream,&msg->to);
/* show the reason */
fprintf(stream,"\n Reason: ");
ei_efprint(stream,buf);
break;
case ERL_UNLINK:
fprintf(stream,"UNLINK From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: ");
show_pid(stream,&msg->to);
break;
case ERL_REG_SEND:
fprintf(stream,"REG_SEND From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: %s\n ",msg->toname);
/* show the message */
ei_efprint(stream,buf);
break;
case ERL_GROUP_LEADER:
fprintf(stream,"GROUP_LEADER From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: ");
show_pid(stream,&msg->to);
break;
case ERL_EXIT2:
fprintf(stream,"EXIT2 From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: ");
show_pid(stream,&msg->to);
/* show the reason */
fprintf(stream,"\n Reason: ");
ei_efprint(stream,buf);
break;
/* the new TT stuff below */
case ERL_EXIT_TT:
fprintf(stream,"EXIT_TT From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: ");
show_pid(stream,&msg->to);
fprintf(stream,"\n ");
show_trace(stream,&msg->token);
/* show the reason */
fprintf(stream,"\n Reason: ");
ei_efprint(stream,buf);
break;
case ERL_EXIT2_TT:
fprintf(stream,"EXIT2_TT From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: ");
show_pid(stream,&msg->to);
fprintf(stream,"\n ");
show_trace(stream,&msg->token);
/* show the reason */
fprintf(stream,"\n Reason: ");
ei_efprint(stream,buf);
break;
case ERL_SEND_TT:
fprintf(stream,"SEND_TT To: ");
show_pid(stream,&msg->to);
fprintf(stream,"\n ");
show_trace(stream,&msg->token);
fprintf(stream,"\n ");
/* show the message */
ei_efprint(stream,buf);
break;
case ERL_REG_SEND_TT:
fprintf(stream,"REG_SEND_TT From: ");
show_pid(stream,&msg->from);
fprintf(stream," To: %s\n ",msg->toname);
show_trace(stream,&msg->token);
fprintf(stream,"\n ");
/* show the message */
ei_efprint(stream,buf);
break;
default:
fprintf(stream,"Unknown message type: %ld",msg->msgtype);
}
fprintf(stream,"\n");
}
