void ConsoleAddText(char *text)
{
int l, size;
DrawConsole = true;
SendMessage(HEdit1, WM_SETREDRAW, 0, 0);
SendMessage(HEdit1, EM_SETREADONLY, 0, 0);
// set the carriage in the end of the text
l = SendMessage(HEdit1, WM_GETTEXTLENGTH, 0, 0);
size = l + strlen(text) + strchrn(text, '\n');
if (HEdit1_size <= size)
{
SendMessage(HEdit1, WM_GETTEXT, HEdit1_size, (LPARAM)HEdit1_buf);
SendMessage(HEdit1, WM_SETTEXT, 0, (LPARAM)(HEdit1_buf + size + 1 - HEdit1_size));
l = SendMessage(HEdit1, WM_GETTEXTLENGTH, 0, 0);
}
SendMessage(HEdit1, EM_SETSEL, l, l);
while (*text)
SendMessage(HEdit1, WM_CHAR, *text++, 1);
SendMessage(HEdit1, EM_SETREADONLY, 1, 0);
SendMessage(HEdit1, WM_SETREDRAW, 1, 0);
}
void onPacket(char* payload, uint16_t len
, BSPConsoleReplyFn replyFn, void* replyParam) {
# define COMMAND_BUFFER_SIZE 256
static char commandBuffer[COMMAND_BUFFER_SIZE];
static char* bufferPtr = commandBuffer;
# define REPLY_BUFFER_SIZE 1024
char reply[REPLY_BUFFER_SIZE];
if((bufferPtr + len) >= (commandBuffer + COMMAND_BUFFER_SIZE)) {
/* Too big; can't handle it */
sprintf(reply, "Command length > maximum allowed %d\n"
, COMMAND_BUFFER_SIZE);
replyFn(reply, REPLY_BUFFER_SIZE, replyParam);
} else { /* Buffer away the command */
char* found = strchrn(payload, ';', len);
if(!found) { /* Command continues in later packet */
strncpy(bufferPtr, payload, len);
bufferPtr += len;
} else {
/* Command end received; form a whole command WITHOUT
command end; Continue from last partial string */
strncpy(bufferPtr, payload, found - payload);
/* Terminating NULL at the end of the complete command */
commandBuffer[(bufferPtr-commandBuffer) + (found-payload)] = 0;
sprintf(reply, "Received signal: %s\n", commandBuffer);
replyFn(reply, REPLY_BUFFER_SIZE, replyParam);
if(!onCommandline(commandBuffer)) {
sprintf(reply, "Invalid signal.\n%s", USAGE);
replyFn(reply, REPLY_BUFFER_SIZE, replyParam);
}
replyFn(PROMPT, REPLY_BUFFER_SIZE, replyParam);
bufferPtr = commandBuffer; /* Restore the temp pointer to head */
if(len > (++found - payload)) { /* Copy remainder */
uint16_t remain;
remain = len - (found - payload);
strncpy(bufferPtr, found, remain);
bufferPtr += remain;
}
}
}
}
/* Read keys using MMAP to speed things up */
std::vector<Keypoint> ReadKeysMMAP(FILE *fp)
{
int i, j, num, len, val, n;
std::vector<Keypoint> kps;
struct stat sb;
/* Stat the file */
if (fstat(fileno(fp), &sb) < 0) {
printf("[ReadKeysMMAP] Error: could not stat file\n");
return kps;
}
char *file = (char *)mmap(NULL, sb.st_size, PROT_READ, MAP_SHARED,
fileno(fp), 0);
char *file_start = file;
char string_buf[1024];
char *str = string_buf;
/* Find the first '\n' */
char *newline = strchr(file, '\n');
int pos = (int) (newline - file);
memcpy(str, file, pos);
str[pos] = 0;
if (sscanf(str, "%d %d%n", &num, &len, &n) != 2) {
printf("[ReadKeysMMAP] Invalid keypoint file beginning.");
return kps;
}
#ifdef KEY_LIMIT
num = MIN(num, 65536); // we'll store at most 65536 features per
// image
#endif /* KEY_LIMIT */
file += (pos + 1);
if (len != 128) {
printf("[ReadKeysMMAP] Keypoint descriptor length invalid "
"(should be 128).");
return kps;
}
for (i = 0; i < num; i++) {
str = string_buf;
/* Allocate memory for the keypoint. */
unsigned char *d = new unsigned char[len];
float x, y, scale, ori;
/* Find the first '\n' */
newline = strchr(file, '\n');
pos = (int) (newline - file);
memcpy(str, file, pos);
str[pos] = 0;
if (sscanf(str, "%f %f %f %f%n", &y, &x, &scale, &ori, &n) != 4) {
printf("[ReadKeysMMAP] Invalid keypoint file format.");
return kps;
}
file += (pos + 1);
/* Find the next seven '\n's */
str = string_buf;
char *seventh_newline = strchrn(file, '\n', 7);
pos = (int) (seventh_newline - file);
memcpy(str, file, pos);
str[pos] = 0;
for (j = 0; j < len; j++) {
if (sscanf(str, "%d%n", &val, &n) != 1 || val < 0 || val > 255) {
printf("[ReadKeysMMAP] Invalid keypoint file value.");
return kps;
}
d[j] = (unsigned char) val;
str += n;
}
file += (pos + 1);
if (desc)
kps.Add(Keypoint(x, y, d));
else
kps.Add(Keypoint(x, y));
}
/* Unmap */
if (munmap(file_start, sb.st_size) < 0) {
printf("[ReadKeysMMAP] Error: could not unmap memory\n");
return kps;
}
return kps;
}
