int main() {
// Optical__value_all
u8 Optical_value_all;
// Optical__value_signal
u8 Optical_value_signal;
int Speed, Dir;
float Ultrasonic_value_all[3];
int i;
init_platform();
OptInit();
MotorInit();
BluetoothInit();
while (1) {
Optical_value_all = OptGetAll();
printf("optical_all : %X \r\n", Optical_value_all);
OptGetSingle(Opt1, &Optical_value_signal);
printf("optical_CH1 : %X \r\n", Optical_value_signal);
OptGetSingle(Opt2, &Optical_value_signal);
printf("optical_CH2 : %X \r\n", Optical_value_signal);
OptGetSingle(Opt3, &Optical_value_signal);
printf("optical_CH3 : %X \r\n", Optical_value_signal);
OptGetSingle(Opt4, &Optical_value_signal);
printf("optical_CH4 : %X \r\n", Optical_value_signal);
OptGetSingle(Opt5, &Optical_value_signal);
printf("optical_CH5 : %X \r\n\r\n", Optical_value_signal);
UltraGetAll(Ultrasonic_value_all);
for (i = 0; i < 3; i++) {
printf("u%d : %f mm\r\n", i, Ultrasonic_value_all[i]);
usleep(1000);
}
printf("\r\n");
SetMotorSpeed(MotorL, 30);
SetMotorSpeed(MotorR, -80);
Speed = GetMotorSpeed(MotorL);
printf("MotorL Speed : %d \r\n", Speed);
Speed = GetMotorSpeed(MotorR);
printf("MotorR Speed : %d \r\n", Speed);
Dir = GetMotorDir(MotorL);
printf("MotorL Dir : %d \r\n", Dir);
Dir = GetMotorDir(MotorR);
printf("MotorR Dir : %d \r\n\r\n", Dir);
usleep(50 * 1000);
BluetoothSend("Hello World\r\n",11);
}
cleanup_platform();
return 0;
}
/* The main program. Parse the command line and do it... */
int main(int argc, char **argv)
{
static int version = 0;
static int rpflag = 0;
static int basisflag = 0;
static int compress = 0;
static int quiet = 0;
static int statistics = 0;
static int mhflag = 0;
static struct s_options options[] = {
{OPT_FLAG, "b", (char*)&basisflag, "Print only the basis in report."},
{OPT_FLAG, "c", (char*)&compress, "Don't compress the action table."},
{OPT_FSTR, "D", (char*)handle_D_option, "Define an %ifdef macro."},
{OPT_FLAG, "g", (char*)&rpflag, "Print grammar without actions."},
{OPT_FSTR, "l", (char*)handle_l_option, "Set an output language (c, c++, d)."},
{OPT_FLAG, "m", (char*)&mhflag, "Output a makeheaders compatible file"},
{OPT_FLAG, "q", (char*)&quiet, "(Quiet) Don't print the report file."},
{OPT_FLAG, "s", (char*)&statistics,
"Print parser stats to standard output."},
{OPT_FLAG, "x", (char*)&version, "Print the version number."},
{OPT_FLAG,0,0,0}
};
int i;
struct lemon lem;
OptInit(argv,options,stderr);
if( version ){
printf("Lemon version 1.0\n");
exit(0);
}
if( OptNArgs()!=1 ){
ErrorMsg("lemon", LINENO_NONE, "Exactly one filename argument is required.\n");
exit(1);
}
memset(&lem, 0, sizeof(lem));
lem.errorcnt = 0;
/* Initialize the machine */
Strsafe_init();
Symbol_init();
State_init();
lem.argv0 = argv[0];
lem.filename = OptArg(0);
lem.basisflag = basisflag;
Symbol_new("$");
lem.errsym = Symbol_new("error");
lem.errsym->useCnt = 0;
/* Parse the input file */
Parse(&lem);
if( lem.errorcnt ) exit(lem.errorcnt);
if( lem.nrule==0 ){
ErrorMsg(lem.filename, LINENO_NONE, "Empty grammar.\n");
exit(1);
}
/* Count and index the symbols of the grammar */
lem.nsymbol = Symbol_count();
Symbol_new("{default}");
lem.symbols = Symbol_arrayof();
for(i=0; i<=lem.nsymbol; i++) lem.symbols[i]->index = i;
qsort(lem.symbols,lem.nsymbol+1,sizeof(struct symbol*),
(int(*)())Symbolcmpp);
for(i=0; i<=lem.nsymbol; i++) lem.symbols[i]->index = i;
for(i=1; isupper(lem.symbols[i]->name[0]); i++);
lem.nterminal = i;
/* Generate a reprint of the grammar, if requested on the command line */
if( rpflag ){
Reprint(&lem);
}else{
/* Initialize the size for all follow and first sets */
SetSize(lem.nterminal+1);
/* Find the precedence for every production rule (that has one) */
FindRulePrecedences(&lem);
/* Compute the lambda-nonterminals and the first-sets for every
** nonterminal */
FindFirstSets(&lem);
/* Compute all LR(0) states. Also record follow-set propagation
** links so that the follow-set can be computed later */
lem.nstate = 0;
FindStates(&lem);
lem.sorted = State_arrayof();
/* Tie up loose ends on the propagation links */
FindLinks(&lem);
/* Compute the follow set of every reducible configuration */
FindFollowSets(&lem);
/* Compute the action tables */
FindActions(&lem);
/* Compress the action tables */
if( compress==0 ) CompressTables(&lem);
/* Reorder and renumber the states so that states with fewer choices
** occur at the end. */
ResortStates(&lem);
/* Generate a report of the parser generated. (the "y.output" file) */
if( !quiet ) ReportOutput(&lem);
/* Generate the source code for the parser */
ReportTable(&lem, mhflag);
/* Produce a header file for use by the scanner. (This step is
** omitted if the "-m" option is used because makeheaders will
** generate the file for us.) */
if (! mhflag && language != LANG_D)
ReportHeader(&lem);
}
if( statistics ){
LogMsg(LOGLEVEL_INFO, lem.filename, LINENO_NONE,
"Parser statistics: %d terminals, %d nonterminals, %d rules\n",
lem.nterminal, lem.nsymbol - lem.nterminal, lem.nrule);
LogMsg(LOGLEVEL_INFO, lem.filename, LINENO_NONE,
" %d states, %d parser table entries, %d conflicts\n",
lem.nstate, lem.tablesize, lem.nconflict);
}
if( lem.nconflict ){
LogMsg(LOGLEVEL_WARNING, lem.filename, LINENO_NONE, "%d parsing conflicts.\n", lem.nconflict);
}
exit(lem.errorcnt + lem.nconflict);
return (lem.errorcnt + lem.nconflict);
}
