int main(int argc, char **argv)
{
SHAPEFILE *sha;
SHAPEFILE_RECORD *rec;
PROJECTION *proj;
int rc;
int i, max;
DBUG_ENTER("main");
DBUG_PROCESS(argv[0]);
DBUG_PUSH("d:t");
if(argc != 2)
{
printf("usage %s <shapefile>\n", argv[0]);
DBUG_RETURN(-1);
}
if(!(sha = shapefile_init(0)))
{
printf("Couldn't init\n");
DBUG_RETURN(-2);
}
if((rc= shapefile_open(sha, argv[1], 'r')) < 0)
{
printf("Couldn't open\n");
DBUG_RETURN(-3);
}
proj = projection_init();
if(sha->flags & SHAPEFILE_HAS_PRJ)
{
projection_set(proj, sha->prj->proj4_def, "+proj=latlong");
shapefile_set_projection(sha, proj);
}
shapefile_dump(sha);
max = sha->dbf->numrecords < 100 ? sha->dbf->numrecords : 100;
for(i=1; i<max; i+=10)
{
shapefile_seek_record(sha, i);
if((rec = shapefile_read_next(sha)))
{
shapefile_record_dump(rec);
shapefile_record_free(rec);
} else {
printf("Error reading record\n");
return 4;
}
printf("\n\n\n");
}
shapefile_close(sha);
shapefile_free(sha);
DBUG_RETURN(0);
}
int main(int argc, char *argv[])
{
// Set the translation part to be the identity.
locked_matrix[3][0] = locked_matrix[3][1] = locked_matrix[3][2] = 0;
locked_matrix[0][3] = locked_matrix[1][3] = locked_matrix[2][3] = 0;
locked_matrix[3][3] = 1;
locked_matrix[0][0] = locked_matrix[1][1] = locked_matrix[2][2] = 1;
locked_matrix[0][1] = locked_matrix[1][0] = locked_matrix[2][0] = locked_matrix[0][2]= locked_matrix[2][1] = locked_matrix[1][2]=0;
memcpy(&final_matrix,locked_matrix[0],sizeof last_matrix);
try
{
bcm_host_init();
opengl_init();
projection_init();
textures_init();
model_board_init();
printf("AHRS Textures loaded\n");
fflush(stdout);
uint32_t time_start = 0;
int missed = 0;
uint32_t time_fps = 0;
int fps = 0;
uint32_t time_delay = 0;
//non blocking sdtin read
fcntl(STDIN_FILENO, F_SETFL, fcntl(STDIN_FILENO, F_GETFL, 0) | O_NONBLOCK);
while(1)
{
time_start += 20;
uint32_t predicted_delay = time_start - millis(); //calc predicted delay
if (predicted_delay > 20) predicted_delay = 0; //check for overflow
if (predicted_delay != 0){
delay(predicted_delay);
time_delay += predicted_delay;
}else{
time_start = millis(); //reset timer to now
printf("AHRS Skipping Idle...\n");
missed++;
}
int count = 1;
char buffer[100];
//stdin is line buffered so we can cheat a little bit
while (count > 0){ // dump entire buffer
count = read(STDIN_FILENO, buffer, sizeof(buffer));
if (count > 1){ //ignore blank lines
buffer[count-1] = '\0'; //replace last char with string ending
//printf("!%s!\n",buffer);
//check the line
int temp[4];
int result = sscanf(buffer,"%d %d %d", &temp[0], &temp[1], &temp[2]);
if (result != 3){
fprintf(stderr, "AHRS Unrecognized input with %d items.\n", result);
}else{
acceleration[0] = temp[1];
acceleration[1] = temp[2];
acceleration[2] = 0;
frame = temp[0];
}
}
}
if (state != frame){
printf("AHRS Entering Mode %d\n",frame);
state = frame;
changes++;
}
redraw_scene();
fps++;
if (time_fps < millis()){
printf("AHRS FPS:%d mis:%d idle:%d%% changes:%d\n",fps,missed,time_delay/10, changes);
fps = 0;
time_delay = 0;
time_fps += 1000;
if (time_fps < millis()) time_fps = millis()+1000;
}
}
opengl_deinit();
bcm_host_deinit();
return 0;
}
catch(const std::exception & error)
{
std::cerr << "Error: " << error.what() << std::endl;
exit(9);
}
}
