void timer_task()
{
int i;
for (i = 0; i < timer_ref_idx; i++) {
timer_handle(timer_ref[i]);
}
}
static inline Handle<Timer> create(int clock, bool non_block = true)
{
int flag = non_block ? (TFD_NONBLOCK | TFD_CLOEXEC) : TFD_CLOEXEC;
Handle<Timer> timer_handle(::timerfd_create(clock, flag));
if (!timer_handle)
throw std::system_error(util::errc(), "ops::Timer::create");
return std::move(timer_handle);
}
static gboolean
my_timer_handle(GSource* source)
{
SHOW_CHECKPOINT;
timer_handle ();
timers_count--;
addTimeout();
return FALSE;
}
void module_wait_pipes_input (void (*as_msg_handler)
(send_data_type type,
send_data_type * body))
{
fd_set in_fdset, out_fdset;
int retval;
struct timeval tv;
struct timeval *t = NULL;
int max_fd = 0;
ASMessage msg;
int as_fd = get_module_in_fd ();
FD_ZERO (&in_fdset);
FD_ZERO (&out_fdset);
FD_SET (x_fd, &in_fdset);
max_fd = x_fd;
if (as_fd >= 0) {
FD_SET (as_fd, &in_fdset);
if (max_fd < as_fd)
max_fd = as_fd;
}
if (timer_delay_till_next_alarm
((time_t *) & tv.tv_sec, (time_t *) & tv.tv_usec))
t = &tv;
retval =
PORTABLE_SELECT (min (max_fd + 1, fd_width), &in_fdset, &out_fdset,
NULL, t);
if (retval > 0) {
/* check for incoming module connections */
if (as_fd >= 0)
if (FD_ISSET (as_fd, &in_fdset))
if (ReadASPacket (as_fd, msg.header, &(msg.body)) > 0) {
as_msg_handler (msg.header[1], msg.body);
free (msg.body);
}
}
/* handle timeout events */
timer_handle ();
}
int main(void)
{
Initialize();
timer_start(TIMER_TEMP, TIMER_TEMP_DELAY);
timer_start(TIMER_LCD, TIMER_LCD_DELAY);
timer_start(TIMER_TURN90, TIMER_TURN90_DELAY);
timer_start(TIMER_RECULE, TIMER_RECULE_DELAY);
/*
u08 tempmic;
while (!GetMicValLuca(LEVELMIC, &tempmic)) {
snprintf(str_l1, LCD_SIZE, "%02x - %02x", tempmic, LEVELMIC);
}*/
int nb_s = 0;
while (1) {
timer_handle();
//Check switches
if (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_STARTSTOP)) {
while (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_STARTSTOP));
if (!enable) {
enable = 1;
} else {
enable = 0;
}
}
if (enable) {
if (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_MODESEL)) {
while (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_MODESEL));
mode++;
mode %= 3;
}
}
if (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_VAL)) {
while (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_VAL));
val_buttons++;
val_buttons %= MAX_SPEED;
}
if (enable) {
switch (mode) {
case MODE_LINE:
FollowLine();
break;
case MODE_SUMO:
StayInside();
break;
case MODE_CARRE:
DoCarre();
break;
}
} else {
//Stop
AVANCE(0);
}
//Test the timer
if (timer_complete(TIMER_TEMP)) {
timer_start(TIMER_TEMP, 500);
nb_s ++;
//snprintf(str_l1, LCD_SIZE, "%d", nb_s);
}
if (timer_complete(TIMER_LCD)) {
if (!enable) {
snprintf(str_l1, LCD_SIZE, "off");
} else {
char mode_str[20];
switch (mode) {
case MODE_LINE: snprintf(mode_str, LCD_SIZE, "line"); break;
case MODE_SUMO: snprintf(mode_str, LCD_SIZE, "sumo"); break;
case MODE_CARRE: snprintf(mode_str, LCD_SIZE, "carr"); break;
default: snprintf(mode_str, LCD_SIZE, "????"); break;
}
snprintf(str_l1, LCD_SIZE, "%s %02d ", mode_str, val_buttons);
}
timer_start(TIMER_LCD, TIMER_LCD_DELAY);
lcd_str_out(1,1, str_l1);
lcd_str_out(2,1, str_l2);
}
}
return 0;
}
