bool OpenPlannerSimulator::LoadSimulationData(PlannerHNS::WayPoint& start_p)
{
ostringstream fileName;
fileName << "SimuCar_";
fileName << m_SimParams.id;
fileName << ".csv";
string simuDataFileName = UtilityHNS::UtilityH::GetHomeDirectory()+UtilityHNS::DataRW::LoggingMainfolderName+UtilityHNS::DataRW::SimulationFolderName + fileName.str();
UtilityHNS::SimulationFileReader sfr(simuDataFileName);
UtilityHNS::SimulationFileReader::SimulationData data;
if(sfr.ReadAllData(data) == 0)
return false;
start_p = PlannerHNS::WayPoint(data.startPoint.x, data.startPoint.y, data.startPoint.z, data.startPoint.a);
start_p.v = data.startPoint.v;
start_p.cost = data.startPoint.c;
return true;
}
//----------------------------------------------------------------------
int idaapi ana(void)
{
//получить один байт
uchar code = ua_next_byte();
switch ( code )
{
//Mnemonic Operand Instruction Code
// B1 B2 B3 B4
case 0x00:
{
//ROR A, 1 0000 0000
cmd.itype = NEC_78K_0S_ror;
cmd.Op1.type = o_reg;
cmd.Op1.reg = rA;
cmd.Op2.type = o_imm;
cmd.Op2.value = 1;
cmd.Op2.regmode = 1;
} break;
case 0x02:
{
//RORC A, 1 0000 0010
cmd.itype = NEC_78K_0S_rorc;
cmd.Op1.type = o_reg;
cmd.Op1.reg = rA;
cmd.Op2.type = o_imm;
cmd.Op2.value = 1;
cmd.Op2.regmode = 1;
} break;
case 0x04:
{
//CLR1 CY 0000 0100
cmd.itype = NEC_78K_0S_clr1;
cmd.Op1.type = o_phrase;
cmd.Op1.reg = bCY;
} break;
case 0x05:
{
//XCH A, saddr 0000 0101 Saddr-offset
cmd.itype = NEC_78K_0S_xch;
cmd.Op1.type = o_reg;
cmd.Op1.reg = rA;
cmd.Op2.type = o_mem;
cmd.Op2.dtyp = dt_byte;
cmd.Op2.addr=saddr(ua_next_byte());
} break;
case 0x06:
{
//NOT1 CY 0000 0110
cmd.itype = NEC_78K_0S_not1;
cmd.Op1.type = o_phrase;
cmd.Op1.reg = bCY;
} break;
case 0x07:
{
//XCH A, sfr 0000 0111 Sfr-offset
cmd.itype = NEC_78K_0S_xch;
cmd.Op1.type = o_reg;
cmd.Op1.reg = rA;
cmd.Op2.type = o_mem;
cmd.Op2.dtyp = dt_byte;
cmd.Op2.addr = sfr(ua_next_byte());
} break;
case 0x08:
{
//NOP 0000 1000
cmd.itype = NEC_78K_0S_nop;
} break;
case 0x0A: // All 0x0A commands
{
uchar code2 = ua_next_byte();
switch ( code2 )
{
case 0x88:
case 0x98:
case 0xA8:
case 0xB8:
case 0xC8:
case 0xD8:
case 0xE8:
case 0xF8:
{
//BT saddr.bit, $addr16 0000 1010 1 B2 B1 B0 1000 Saddr-offset jdisp
cmd.itype = NEC_78K_0S_bt;
cmd.Op1.type = o_bit;
cmd.Op1.dtyp = dt_byte;
cmd.Op1.addr = saddr(ua_next_byte());
cmd.Op1.value = (code2>>4) & 0x07;
jdisp(cmd.Op2, ua_next_byte(), 4);
} break;
case 0x84:
case 0x94:
case 0xA4:
case 0xB4:
case 0xC4:
case 0xD4:
case 0xE4:
case 0xF4:
{
//BT sfr.bit, $addr16 0000 1010 1 B2 B1 B0 0100 Sfr-offset jdisp
//BT PSW.bit, $addr16 0000 1010 1 B2 B1 B0 1000 0001 1110 jdisp
cmd.itype = NEC_78K_0S_bt;
uchar code3 = ua_next_byte();
if ( code3==0x1E )
{
cmd.Op1.type = o_bit;
cmd.Op1.reg = rPSW;
cmd.Op1.value = (code2>>4)&0x07;
jdisp(cmd.Op2, code3, 4);
}
else
{
cmd.Op1.type = o_bit;
cmd.Op1.dtyp = dt_byte;
cmd.Op1.addr = sfr(code3);
cmd.Op1.value = (code2>>4) & 0x07;
jdisp(cmd.Op2, ua_next_byte(), 4);
}
} break;
case 0x08:
case 0x18:
case 0x28:
case 0x38:
case 0x48:
case 0x58:
case 0x68:
case 0x78:
{
//BF saddr.bit, $addr16 0000 1010 0 B2 B1 B0 1000 Saddr-offset jdisp
//BF PSW.bit, $addr16 0000 1010 0 B2 B1 B0 1000 0001 1110 jdisp
cmd.itype = NEC_78K_0S_bf;
uchar code3=ua_next_byte();
if ( code3==0x1E )
{
cmd.Op1.type = o_bit;
cmd.Op1.reg = rPSW;
cmd.Op1.value = (code2>>4)&0x07;
jdisp(cmd.Op2, ua_next_byte(), 4);
}
else
{
cmd.Op1.type = o_bit;
cmd.Op1.dtyp = dt_byte;
cmd.Op1.addr = saddr(code3);
cmd.Op1.value = (code2>>4) & 0x07;
jdisp(cmd.Op2, ua_next_byte(), 4);
}
} break;
int main ( int argc, char** argv )
{
int golombM;
int quant;
if (argc != 3 && argc != 5) {
usage(argc, argv);
return -1;
}
if (argc == 5) {
golombM = std::atoi(argv[3]);
quant = std::atoi(argv[4]);
} else {
golombM = GOLOMB_ENC_M;
quant = QUANTIZATION;
}
std::string finname(argv[1]);
std::string foutname(argv[2]);
SFReader sfr(finname);
BitStream bs(foutname, BitStream::WRITE);
MonkeyCoder pc(quant);
if (sfr.open()) {
printf("Unable to open file %s for reading!\n", argv[1]);
return -1;
}
if (bs.open()) {
printf("Unable to open file %s for writing!\n", argv[2]);
return -1;
}
bs.writeBits((uint32_t)sfr.getNFrames(), 32);
bs.writeBits((uint32_t)sfr.getSamplerate(), 32);
bs.writeBits((uint32_t)sfr.getChannels(), 32);
bs.writeBits((uint32_t)golombM, 32);
bs.writeBits((uint32_t)quant, 32);
if (sfr.open()) {
printf("Unable to open file %s for reading!\n", argv[1]);
return -1;
}
for (uint32_t i = 0; i < sfr.getNFrames(); i++) {
int16_t sample[2];
int32_t diff[2];
sfr.nextFrame(sample);
pc.encode(sample, diff);
Golomb::encode(golombM, diff[0], bs);
Golomb::encode(golombM, diff[1], bs);
}
sfr.close();
bs.close();
printf("Done! Encoded %u frames.\n", sfr.getNFrames());
}
