int main()
{
foo f;
{
boost::thread testThread(boost::bind(&foo::abc, &f));
}
{
boost::thread testThread(&foo::abc, &f);
}
{
boost::thread testThread(&foo::abc, boost::ref(f));
}
return 0;
}
int main()
{
testThread();
testAtomic();
return 0;
}
int FThread::setFunParam(const ft_funparam_t *p_fp) {
int ret = testThread();
if (ret) {
return ret;
}
::memcpy(&this->funparam, p_fp, sizeof(this->funparam));
return 0;
}
void WorkerQtTest::postFromOutsideTest()
{
TestHandler handler;
std::thread testThread(std::bind(&runFromOutsideTest, std::ref(handler), m_worker));
m_worker->getFuture().wait();
RUN_BASIC_TEST_CHECKS(handler);
testThread.join();
}
int
main (int argc, char *const *argv)
{
int errorCount = 0;
errorCount += testStartError ();
errorCount += testStartStop ();
errorCount += testExternalRun ();
errorCount += testThread ();
errorCount += testMultithread ();
if (errorCount != 0)
fprintf (stderr, "Error (code: %u)\n", errorCount);
return errorCount != 0; /* 0 == pass */
}
int FThread::start() {
int ret = testThread();
if (ret) {
return ret;
}
void *p_fp = ::malloc(sizeof(this->funparam)); // free by startThread if pthread_create call success !!!
::memcpy(p_fp, &this->funparam, sizeof(this->funparam));
ret = ::pthread_create(&this->threadHandle, NULL, startThread, p_fp);
if (ret) {
this->threadHandle = 0;
::free(p_fp);
return ret;
}
return 0;
}
int main()
{
printf("This works %d%%\n", 100);
printf("Hello World!\n");
printf("Norm nums: %d %u %x %c %s%s", -1, -2, 0xabcdefab, 'X', "x", "\n");
// Note: these don't work with __simple_printf!
printf("BFill nums: %4d %12u %10x %3c %3s%s", -1, -2, 0xabcdefab, 'X', "x", "\n");
printf("LFill nums: %04d %012u %010x %3c %3s%s", -1, -2, 0xabcdefab, 'X', "x", "\n");
#pragma GCC diagnostic ignored "-Wformat"
// The underlying library actively ignores the zeros -- we want to test it!
printf("RFill nums: %-04d %-012u %-010x %-3c %-3s%s", -1, -2, 0xabcdefab, 'X', "x", "\n");
// The underlying library detects and handles this error - we want to test it!
printf("%");
#pragma GCC diagnostic warning "-Wformat"
#ifdef __TINY_IO_H
putstr("Put* nums: ");
putdec(-1);
putchar(' ');
putudec(-1);
putchar(' ');
puthex(0xabcdefab);
putchar(' ');
putchar('X');
putchar(' ');
putstr("x");
putchar(' ');
putfnum(0xabcdefab, 16, 0, 10, '0');
putchar('\n');
putlhex(-10000000000L);
putchar(' ');
putldec(-10000000000L);
putchar(' ');
putlfnum(0xabcdefabcdef, 16, 0, 16, '0');
putchar('\n');
#endif
char buf[80];
sprintf(buf, "Norm nums: %d %u %x %c %s", -1, -2, 0xabcdefab, 'X', "x");
puts(buf);
int d;
unsigned u, x;
char c;
char s[20];
int n = sscanf(buf, "Norm nums: %d %u %x %c %s\n", &d, &u, &x, &c, s);
printf("Scan nums: %d %u %x %c %s (%d scanned)\n", d, u, x, c, s, n);
printf("\nGimme a character: ");
char ch = getchar();
printf("\nYou typed: ");
putchar(ch);
putchar('\n');
int age;
do {
printf("\nHow old are you? ");
scanf("%u", &age);
} while (!age);
printf("In ten years, you'll be: %d\n\n", age + 10);
sprintf(buf, "BFill nums: %4d %12u %10x %3c %3s", -1, -2, 0xabcdefab, 'X', "x");
puts(buf);
n = sscanf(buf, "BFill nums: %4d %12u %10x %3c %3s\n",&d, &u, &x, &c, s);
printf("Scan nums: %d %u %x %c %s (%d scanned)\n", d, u, x, c, s, n);
sprintf(buf, "LFill nums: %04d %012u %010x %3c %3s", -1, -2, 0xabcdefab, 'X', "x");
puts(buf);
n = sscanf(buf, "LFill nums: %04d %012u %010x %3c %3s\n",&d, &u, &x, &c, s);
printf("Scan nums: %d %u %x %c %s (%d scanned)\n", d, u, x, c, s, n);
#ifdef __TINY_IO_H
printf("\nEnter a string up to 4 characters: ");
safe_gets(s, 5);
printf("You entered: %s\n", s);
printf("\nEnter a decimal: ");
d = getdec();
printf("You entered: %d\n", d);
printf("\nEnter an unsigned decimal: ");
u = getudec();
printf("You entered: %d\n", u);
printf("\nEnter a hex number: ");
u = gethex();
printf("You entered: %x\n", u);
printf("\nEnter a 1-4 digit number: ");
d = getfnum(10, 1, 4);
printf("You entered: %d\n", (int)d);
long long ld;
unsigned long long lu, lx;
printf("\nEnter a long long decimal: ");
ld = getldec();
printf("You entered: "); putldec(ld); putchar('\n');
printf("\nEnter an unsigned long long decimal: ");
lu = getludec();
printf("You entered: "); putludec(lu); putchar('\n');
printf("\nEnter a long long hex number: ");
lx = getlhex();
printf("You entered: "); putlhex(lx); putchar('\n');
printf("\nEnter a 1-12 digit long long number: ");
ld = getlfnum(10, 1, 12);
printf("You entered: "); putldec(ld); putchar('\n');
#endif
_serialLock = 1;
printf("\n\nMultithreaded tests.\n"
"Note this will be quite messed up because multiple cogs\n"
"will be doing I/O on a character-by-character basis...\n");
_start_cog_thread(threadStack(0), &testThread, (void*)1, &tls[0]);
_start_cog_thread(threadStack(1), &testThread, (void*)2, &tls[1]);
testThread(0);
printf("\nBye!\n");
return 0;
}
void Robot::OperatorControl() //teleop code
{
CameraServer::GetInstance()->SetQuality(50);
CameraServer::GetInstance()->StartAutomaticCapture("cam0");
bool testThreadRun = true;
bool updateThreadRun = true;
std::thread testThread(threadTestFunction, &testThreadRun);
std::thread updateThread(updatePositionFunction, &updateThreadRun, &driveStick, &position);
float throttle;
float moveValue;
float rotateValue;
float shooterSpeed;
float shooterAngle;
shooter.Enable();
driveTrain.Enable();
while(IsOperatorControl() && IsEnabled())
{
throttle = (((-driveStick.GetRawAxis(Constants::driveL2)) + 1.0)/2.0); //[0, 1]
moveValue = throttle * driveStick.GetY();
rotateValue = -driveStick.GetX();
shooterSpeed = -driveStick.GetRawAxis(Constants::driveRightStickY); //change
shooterAngle = 0; //change
SmartDashboard::PutNumber("Throttle Value", throttle);
SmartDashboard::PutNumber("Move Value", moveValue);
SmartDashboard::PutNumber("Rotate Value", rotateValue);
float shooterSpeed = -driveStick.GetRawAxis(Constants::driveRightStickY);
if (shooterSpeed < -0.35) {
shooterSpeed = -0.35;
}
driveTrain.ArcadeDrive(moveValue, rotateValue, true);
shooter.SetSpeed(shooterSpeed, -shooterSpeed);
if (driveStick.GetRawButton(Constants::calibrateButton)) {
position.Calibrate();
}
if (driveStick.GetRawButton(Constants::shootButton)) {
if (!shooter.HasBall()) {
shooter.LoadBall();
}
if (shooter.HasBall()) {
shooter.PrepareShooter(shooterAngle, shooterSpeed); //TODO: Change these. Get physics major's equation
}
Wait(1); //how long to wait to shoot. Will need to be adjusted with testing
if (shooter.Angle() > shooterAngle - 2 && shooter.Angle() < shooterAngle + 2 && shooter.WheelSpeed() == shooterSpeed) {
shooter.Shoot();
}
}
SmartDashboard::PutNumber("xPos", position.GetX());
SmartDashboard::PutNumber("yPos", position.GetY());
SmartDashboard::PutString("Version", "Noah 2/14/16, 11:16 PM");
}
shooter.Disable();
driveTrain.Disable();
testThreadRun = false;
testThread.join();
updateThreadRun = false;
updateThread.join();
driveTrain.SetSafetyEnabled(true);
}
