ListNode* addTwoNumbers(ListNode* l1, ListNode* l2) {
ListNode * result = new ListNode(0);
ListNode * it=result;
int remain = 0;
while (l1!=NULL&&l2!=NULL) {
handle(it,l1->val,l2->val,remain);
l1 = l1->next;
l2 = l2->next;
}
while (l1!=NULL) {
handle2(it,l1->val,remain);
l1 = l1->next;
}
while (l2!=NULL) {
handle2(it,l2->val,remain);
l2 = l2->next;
}
if (remain)
{
it->next = new ListNode(remain);
}
return result->next;
}
bool getKeyboardOrder(MotorOdom05& motor)
{
char rep;
read(0,&rep,1);
switch (rep) {
// motor
case 27 :
read(0,&rep,1);
read(0,&rep,1);
switch (rep) {
case 'A' : handle8(); break;
case 'B' : handle2(); break;
case 'D' : handle4(); break;
case 'C' : handle6(); break;
}
break;
case '8' : handle8(); break;
case '2' : handle2(); break;
case '4' : handle4(); break;
case '6' : handle6(); break;
// emergency stop
case '5' :
case ' ' :
setEmergencyStopOrder();
break;
case 'r' :
case 'R' :
motor.reset();
order.speedLeft=0;
order.speedRight=0;
return true;
case 'p' :
case 'P' :
{
MotorPosition posLeft, posRight;
CoderPosition codLeft, codRight;
if (useCache_) {
motor.getCacheMotorPosition(posLeft, posRight);
motor.getCacheOdomPosition(codLeft, codRight);
} else {
motor.getMotorPosition(posLeft, posRight);
motor.getOdomPosition(codLeft, codRight);
}
printf("Position: hctl: l=%d,\tr=%d\t odometer:l=%d,\tr=%d\n",
posLeft, posRight, codLeft, codRight);
}
break;
case 'w' :
case 'W' :
MotorPWM pwmLeft, pwmRight;
if (useCache_) {
motor.getCacheMotorPwm(pwmLeft, pwmRight);
} else {
motor.getMotorPwm(pwmLeft, pwmRight);
}
printf("PWM: left=%d,\tright=%d\n",pwmLeft, pwmRight);
break;
case 'c' :
case 'C' :
useCache_=!useCache_;
printf("useCache=%s\n", useCache_?"TRUE":"FALSE");
break;
case 'h' :
case 'H' :
showUsage();
break;
// exit
case 'q':
case 'Q':
case '-':
return false;
break;
default:
break;
}
checkMotorOrder();
if (useCache_) {
motor.setSpeedAndCachePosition(order.speedLeft, order.speedRight);
} else {
motor.setSpeed(order.speedLeft, order.speedRight);
}
return true;
}
MojErr handle2Cancel(int val, const char* val2)
{
handle2(val, val2);
m_slot2Cancel.cancel();
return MojErrNone;
}
// Save icon referenced by handle 'hIcon' as file with name 'szPath'.
// The generated ICO file has the color depth specified in 'nColorBits'.
//
bool SaveIcon(HICON hIcon, DWORD& szSize ,int nColorBits, const TCHAR* szPath)
{
ASSERT(nColorBits == 4 || nColorBits == 8 || nColorBits == 24 || nColorBits == 32);
if (offsetof(ICONDIRENTRY, nOffset) != 12)
{
return false;
}
CDC dc;
dc.Attach(::GetDC(NULL)); // ensure that DC is released when function ends
// Open file for writing:
CFile file;
if (!file.Open(szPath, CFile::modeWrite | CFile::modeCreate))
{
return false;
}
// Write header:
UCHAR icoHeader[6] = { 0, 0, 1, 0, 1, 0 }; // ICO file with 1 image
file.Write(icoHeader, sizeof(icoHeader));
// Get information about icon:
ICONINFO iconInfo;
GetIconInfo(hIcon, &iconInfo);
CGdiHandle handle1(iconInfo.hbmColor), handle2(iconInfo.hbmMask); // free bitmaps when function ends
BITMAPINFO bmInfo = { 0 };
bmInfo.bmiHeader.biSize = sizeof(BITMAPINFOHEADER);
bmInfo.bmiHeader.biBitCount = 0; // don't get the color table
if (!GetDIBits(dc, iconInfo.hbmColor, 0, 0, NULL, &bmInfo, DIB_RGB_COLORS))
{
return false;
}
// Allocate size of bitmap info header plus space for color table:
int nBmInfoSize = sizeof(BITMAPINFOHEADER);
if (nColorBits < 24)
{
nBmInfoSize += sizeof(RGBQUAD) * (int)(1 << nColorBits);
}
CAutoVectorPtr<UCHAR> bitmapInfo;
bitmapInfo.Allocate(nBmInfoSize);
BITMAPINFO* pBmInfo = (BITMAPINFO*)(UCHAR*)bitmapInfo;
memcpy(pBmInfo, &bmInfo, sizeof(BITMAPINFOHEADER));
// Get bitmap data:
ASSERT(bmInfo.bmiHeader.biSizeImage != 0);
CAutoVectorPtr<UCHAR> bits;
bits.Allocate(bmInfo.bmiHeader.biSizeImage);
pBmInfo->bmiHeader.biBitCount = nColorBits;
pBmInfo->bmiHeader.biCompression = BI_RGB;
if (!GetDIBits(dc, iconInfo.hbmColor, 0, bmInfo.bmiHeader.biHeight, (UCHAR*)bits, pBmInfo, DIB_RGB_COLORS))
{
return false;
}
// Get mask data:
BITMAPINFO maskInfo = { 0 };
maskInfo.bmiHeader.biSize = sizeof(BITMAPINFOHEADER);
maskInfo.bmiHeader.biBitCount = 0; // don't get the color table
if (!GetDIBits(dc, iconInfo.hbmMask, 0, 0, NULL, &maskInfo, DIB_RGB_COLORS))
{
return false;
}
ASSERT(maskInfo.bmiHeader.biBitCount == 1);
CAutoVectorPtr<UCHAR> maskBits;
maskBits.Allocate(maskInfo.bmiHeader.biSizeImage);
CAutoVectorPtr<UCHAR> maskInfoBytes;
maskInfoBytes.Allocate(sizeof(BITMAPINFO) + 2 * sizeof(RGBQUAD));
BITMAPINFO* pMaskInfo = (BITMAPINFO*)(UCHAR*)maskInfoBytes;
memcpy(pMaskInfo, &maskInfo, sizeof(maskInfo));
if (!GetDIBits(dc, iconInfo.hbmMask, 0, maskInfo.bmiHeader.biHeight, (UCHAR*)maskBits, pMaskInfo, DIB_RGB_COLORS))
{
return false;
}
// Write directory entry:
ICONDIRENTRY dir;
dir.nWidth = (UCHAR)pBmInfo->bmiHeader.biWidth;
dir.nHeight = (UCHAR)pBmInfo->bmiHeader.biHeight;
dir.nNumColorsInPalette = (nColorBits == 4 ? 16 : 0);
dir.nReserved = 0;
dir.nNumColorPlanes = 0;
dir.nBitsPerPixel = pBmInfo->bmiHeader.biBitCount;
dir.nDataLength = pBmInfo->bmiHeader.biSizeImage + pMaskInfo->bmiHeader.biSizeImage + nBmInfoSize;
dir.nOffset = sizeof(dir) + sizeof(icoHeader);
file.Write(&dir, sizeof(dir));
// Write DIB header (including color table):
int nBitsSize = pBmInfo->bmiHeader.biSizeImage;
pBmInfo->bmiHeader.biHeight *= 2; // because the header is for both image and mask
pBmInfo->bmiHeader.biCompression = 0;
pBmInfo->bmiHeader.biSizeImage += pMaskInfo->bmiHeader.biSizeImage; // because the header is for both image and mask
file.Write(&pBmInfo->bmiHeader, nBmInfoSize);
// Write image data:
file.Write((UCHAR*)bits, nBitsSize);
// Write mask data:
file.Write((UCHAR*)maskBits, pMaskInfo->bmiHeader.biSizeImage);
szSize = file.GetLength();
file.Close();
return true;
}
