static void
digit_help(char *s, long flag)
{
long n = atoi(s);
if (n < 0 || n > MAX_SECTION+4)
pari_err(e_SYNTAX,"no such section in help: ?",s,s);
if (n == MAX_SECTION+1)
community();
else if (flag & h_LONG)
external_help(s,3);
else
commands(n);
return;
}
void ScrubbingToolBar::RegenerateTooltips()
{
#if wxUSE_TOOLTIPS
auto fn = [&]
(AButton &button, const wxString &label, const wxString &command)
{
LocalizedCommandNameVector commands( 1u, { label, command } );
ToolBar::SetButtonToolTip(button, commands);
};
auto project = GetActiveProject();
if (project) {
auto &scrubber = project->GetScrubber();
const auto scrubButton = mButtons[STBScrubID];
const auto seekButton = mButtons[STBSeekID];
wxString label;
label = (
scrubber.Scrubs()
/* i18n-hint: These commands assist the user in finding a sound by ear. ...
"Scrubbing" is variable-speed playback, ...
"Seeking" is normal speed playback but with skips
*/
? _("Stop Scrubbing")
: _("Start Scrubbing")
);
fn(*scrubButton, label, wxT("Scrub"));
label = (
scrubber.Seeks()
/* i18n-hint: These commands assist the user in finding a sound by ear. ...
"Scrubbing" is variable-speed playback, ...
"Seeking" is normal speed playback but with skips
*/
? _("Stop Seeking")
: _("Start Seeking")
);
fn(*seekButton, label, wxT("Seek"));
label = (
project->GetRulerPanel()->ShowingScrubRuler()
? _("Hide Scrub Ruler")
: _("Show Scrub Ruler")
);
fn(*mButtons[STBRulerID], label, wxT("ToggleScrubRuler"));
}
#endif
}
void customEvent(QEvent *e)
{
if (e->type() == QEvent::User) {
m_noEventSent = true;
QVector<Command> commands(0xff);
m_receiveQueue->dequeue(commands);
foreach (const Command &c, commands) {
switch (c.command) {
case SetStreamSize:
QCOMPARE(c.data.type(), QVariant::Int);
if (c.data.toInt() != 0) {
m_gotStreamSize = true;
if (m_gotSeekable) {
m_timer.start(0, this);
}
}
break;
case SetSeekable:
QCOMPARE(c.data.type(), QVariant::Bool);
m_gotSeekable = true;
if (m_gotStreamSize) {
m_timer.start(0, this);
}
break;
case Write:
if (!m_inSeek && !m_inReset) {
m_sendQueue->enqueue(EnoughData);
++m_receivedWrites;
if (0 == m_receivedWrites % 10000) {
qDebug() << "Thread1 received" << m_receivedWrites << "Write commands.";
}
}
break;
case EndOfData:
QCOMPARE(m_inSeek, 0);
QCOMPARE(m_inReset, 0);
break;
case SeekDone:
--m_inSeek;
break;
case ResetDone:
--m_inReset;
break;
default:
qFatal("invalid command %d sent to backend thread", c.command);
}
}
}
/*!
Removes the command with \a type and \a syntax.
*/
void IrcCommandParser::removeCommand(IrcCommand::Type type, const QString& syntax)
{
Q_D(IrcCommandParser);
bool changed = false;
QMutableMapIterator<QString, IrcCommandInfo> it(d->commands);
while (it.hasNext()) {
IrcCommandInfo cmd = it.next().value();
if (cmd.type == type && (syntax.isEmpty() || !syntax.compare(cmd.fullSyntax(), Qt::CaseInsensitive))) {
it.remove();
if (!d->commands.contains(cmd.command))
changed = true;
}
}
if (changed)
emit commandsChanged(commands());
}
/*
* Load a file of user definitions.
*/
void
load(char *name)
{
FILE *in, *oldin;
if ((in = Fopen(name, "r")) == NULL)
return;
oldin = input;
input = in;
loading = 1;
sourcing = 1;
commands();
loading = 0;
sourcing = 0;
input = oldin;
(void)Fclose(in);
}
int main(int argc, char **argv)
{
Aria::init();
ArServerBase robotServer;
if (!robotServer.open(5000))
{
printf("Could not open robot server port\n");
Aria::exit(1);
}
ArServerBase clientServer;
if (!clientServer.open(7272))
{
printf("Could not open robot server port\n");
Aria::exit(1);
}
ArCentralManager switchManager(&robotServer, &clientServer);
switchManager.addForwarderAddedCallback(
new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderAdded),
100);
switchManager.addForwarderRemovedCallback(
new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderRemoved),
100);
// Start a small handler to monitor communication between the server and
// client.
ArServerHandlerCommMonitor commMonitor(&clientServer);
ArServerHandlerCommands commands(&clientServer);
commands.setPrefix("CentralServer");
ArServerSimpleServerCommands serverCommands(&commands, &clientServer,
false);
commands.addCommand(
"NetworkLogConnections", "Logs the connections to the central server, and to all the forwarded connections",
new ArFunctorC<ArCentralManager>
(&switchManager, &ArCentralManager::logConnections));
clientServer.runAsync();
robotServer.run();
Aria::exit(0);
}
void
rop3(int c)
{
if (iostats() == 0 && c == 'e')
edited++;
if (c == 'e') {
if (wasalt || firstpat) {
register line *addr = zero + oldadot;
if (addr > dol)
addr = dol;
if (firstpat) {
globp = (*firstpat) ? firstpat : "$";
commands(1,1);
firstpat = 0;
} else if (addr >= one) {
if (inopen)
dot = addr;
markpr(addr);
} else
goto other;
} else
other:
if (dol > zero) {
if (inopen)
dot = one;
markpr(one);
}
if(FIXUNDO)
undkind = UNDNONE;
if (inopen) {
vcline = 0;
vreplace(0, EX_LINES, lineDOL());
}
}
if (laste) {
#ifdef VMUNIX
tlaste();
#endif
laste = 0;
ex_sync();
}
}
void
main(int argc, char *argv[])
{
char *p1, *p2;
Binit(&bcons, 0, OREAD);
notify(notifyf);
ARGBEGIN {
case 'o':
oflag = 1;
vflag = 0;
break;
} ARGEND
USED(argc);
if(*argv && (strcmp(*argv, "-") == 0)) {
argv++;
vflag = 0;
}
if(oflag) {
p1 = "/fd/1";
p2 = savedfile;
while(*p2++ = *p1++)
;
globp = L"a";
} else
if(*argv) {
p1 = *argv;
p2 = savedfile;
while(*p2++ = *p1++)
if(p2 >= &savedfile[sizeof(savedfile)])
p2--;
globp = L"r";
}
zero = malloc((nlall+5)*sizeof(int*));
tfname = mktemp("/tmp/eXXXXX");
init();
setjmp(savej);
commands();
quit();
}
std::shared_ptr<Chip> IdOnDemandReaderUnit::createChip(std::string type)
{
std::shared_ptr<Chip> chip;
std::shared_ptr<ReaderCardAdapter> rca;
if (type == CHIP_GENERICTAG)
{
chip.reset(new GenericTagIdOnDemandChip());
std::shared_ptr<Commands> commands(new GenericTagIdOnDemandCommands());
commands->setChip(chip);
chip->setCommands(commands);
rca = getDefaultReaderCardAdapter();
rca->setDataTransport(getDataTransport());
commands->setReaderCardAdapter(rca);
}
else
{
chip = ReaderUnit::createChip(type);
}
return chip;
}
CompilationInfoForFile CompilationDatabase::GetCompilationInfoForFile(
const std::string &path_to_file ) {
ReleaseGil unlock;
CompilationInfoForFile info;
if ( !is_loaded_ )
return info;
lock_guard< mutex > lock( compilation_database_mutex_ );
CompileCommandsWrap commands(
clang_CompilationDatabase_getCompileCommands(
compilation_database_,
path_to_file.c_str() ), clang_CompileCommands_dispose );
uint num_commands = clang_CompileCommands_getSize( commands.get() );
if ( num_commands < 1 ) {
return info;
}
// We always pick the first command offered
CXCompileCommand command = clang_CompileCommands_getCommand(
commands.get(),
0 );
info.compiler_working_dir_ = CXStringToString(
clang_CompileCommand_getDirectory( command ) );
uint num_flags = clang_CompileCommand_getNumArgs( command );
info.compiler_flags_.reserve( num_flags );
for ( uint i = 0; i < num_flags; ++i ) {
info.compiler_flags_.push_back(
CXStringToString( clang_CompileCommand_getArg( command, i ) ) );
}
return info;
}
void Arguments::showHelp(int exitCode)
{
QTextStream out(stdout, QIODevice::WriteOnly);
#ifdef UNLZS
out << "unlzs [files...] [output directory]\n";
#else
out << "lzs [-d] [files...] [output directory]\n";
#endif
out << "Options\n";
QMapIterator<QString, QString> it(commands());
while (it.hasNext()) {
it.next();
out << "\t" << qPrintable(it.key()) << "\n";
out << "\t" << "\t" << qPrintable(it.value()) << "\n";
}
out.flush();
::exit(exitCode);
}
/**
* Converts Java String[] to char** and delegates to ExecuteProcess().
*/
static pid_t ProcessManager_exec(JNIEnv* env, jclass, jobjectArray javaCommands,
jobjectArray javaEnvironment, jstring javaWorkingDirectory,
jobject inDescriptor, jobject outDescriptor, jobject errDescriptor,
jboolean redirectErrorStream) {
ExecStrings commands(env, javaCommands);
ExecStrings environment(env, javaEnvironment);
// Extract working directory string.
const char* workingDirectory = NULL;
if (javaWorkingDirectory != NULL) {
workingDirectory = env->GetStringUTFChars(javaWorkingDirectory, NULL);
}
pid_t result = ExecuteProcess(env, commands.get(), environment.get(), workingDirectory,
inDescriptor, outDescriptor, errDescriptor, redirectErrorStream);
// Clean up working directory string.
if (javaWorkingDirectory != NULL) {
env->ReleaseStringUTFChars(javaWorkingDirectory, workingDirectory);
}
return result;
}
vector<float> CirclePlanner::get_action()
{
// ok, we've updated belief. Now pick action
float ax = -cos(_bearing_max * M_PI/180.0);
float ay = sin(_bearing_max * M_PI/180.0);
// prevent circle from switching directions
// if dot product is negative from last attempt, direction is different
if (ax*last[0] + ay*last[1] < 0.0)
{
ax = -ax;
ay = -ay;
}
vector<float>commands (3);
commands[0] = _uav.max_step * ay;
commands[1] = _uav.max_step * ax;
commands[2] = 0.0;
// preserve current action as last to check for direction
last[0] = ax;
last[1] = ay;
return commands;
}
void IMAP::emitResponses()
{
if ( clientHasBug( NoUnsolicitedResponses ) && commands()->isEmpty() )
return;
// first, see if expunges are permitted
bool can = false;
bool cannot = false;
List<Command>::Iterator c( commands() );
while ( c && !cannot ) {
// expunges are permitted in idle mode
if ( c->state() == Command::Executing && c->name() == "idle" )
can = true;
// we cannot send an expunge while a command is being
// executed (not without NOTIFY at least...)
else if ( c->state() == Command::Executing )
cannot = true;
// group 2 contains commands during which we may not send
// expunge, group 3 contains all commands that change
// flags.
else if ( c->group() == 2 || c->group() == 3 )
cannot = true;
// if there are MSNs in the pipeline we cannot send
// expunge. the copy rule is due to RFC 2180 section
// 4.4.1/2
else if ( c->usesMsn() && c->name() != "copy" )
cannot = true;
// if another command is finished, we can.
else if ( c->state() == Command::Finished && !c->tag().isEmpty() )
can = true;
++c;
}
if ( cannot )
can = false;
bool any = false;
Buffer * w = writeBuffer();
List<ImapResponse>::Iterator r( d->responses );
uint n = 0;
while ( r ) {
if ( !r->meaningful() ) {
r->setSent();
}
else if ( !r->sent() && ( can || !r->changesMsn() ) ) {
EString t = r->text();
if ( !t.isEmpty() ) {
w->append( "* ", 2 );
w->append( t );
w->append( "\r\n", 2 );
n++;
}
r->setSent();
any = true;
}
if ( r->sent() )
d->responses.take( r );
else
++r;
}
if ( !any )
return;
c = commands()->first();
while ( c ) {
c->checkUntaggedResponses();
++c;
}
}
int main(int argc, char **argv)
{
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
// robot
ArRobot robot;
/// our server
ArServerBase server;
// set up our parser
ArArgumentParser parser(&argc, argv);
// set up our simple connector
ArSimpleConnector simpleConnector(&parser);
// set up a gyro
ArAnalogGyro gyro(&robot);
// load the default arguments
parser.loadDefaultArguments();
// parse the command line... fail and print the help if the parsing fails
// or if the help was requested
if (!simpleConnector.parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
simpleConnector.logOptions();
exit(1);
}
if (!server.loadUserInfo("userServerTest.userInfo"))
{
printf("Could not load user info, exiting\n");
exit(1);
}
server.logUsers();
// first open the server up
if (!server.open(7272))
{
printf("Could not open server port\n");
exit(1);
}
// sonar, must be added to the robot
ArSonarDevice sonarDev;
// add the sonar to the robot
robot.addRangeDevice(&sonarDev);
ArIRs irs;
robot.addRangeDevice(&irs);
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
// a laser in case one is used
ArSick sick(361, 180);
// add the laser to the robot
robot.addRangeDevice(&sick);
// attach stuff to the server
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
ArServerInfoDrawings drawings(&server);
drawings.addRobotsRangeDevices(&robot);
// ways of moving the robot
ArServerModeStop modeStop(&server, &robot);
ArServerModeDrive modeDrive(&server, &robot);
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
ArServerModeWander modeWander(&server, &robot);
modeStop.addAsDefaultMode();
modeStop.activate();
// set up the simple commands
ArServerHandlerCommands commands(&server);
// add the commands for the microcontroller
ArServerSimpleComUC uCCommands(&commands, &robot);
// add the commands for logging
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot);
// add the commands for the gyro
ArServerSimpleComGyro gyroCommands(&commands, &robot, &gyro);
// add the commands to enable and disable safe driving to the simple commands
modeDrive.addControlCommands(&commands);
// Forward any video if we have some to forward.. this will forward
// from SAV or ACTS, you can find both on our website
// http://robots.activmedia.com, ACTS is for color tracking and is
// charged for but SAV just does software A/V transmitting and is
// free to all our customers... just run ACTS or SAV before you
// start this program and this class here will forward video from it
// to MobileEyes
ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
// make a camera to use in case we have video
ArPTZ *camera = NULL;
ArServerHandlerCamera *handlerCamera = NULL;
// if we have video then set up a camera
if (videoForwarder.isForwardingVideo())
{
bool invertedCamera = false;
camera = new ArVCC4(&robot, invertedCamera,
ArVCC4::COMM_UNKNOWN, true, true);
camera->init();
handlerCamera = new ArServerHandlerCamera(&server, &robot, camera);
}
server.logCommandGroups();
server.logCommandGroupsToFile("userServerTest.commandGroups");
// now let it spin off in its own thread
server.runAsync();
// set up the robot for connecting
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
// set up the laser before handing it to the laser mode
simpleConnector.setupLaser(&sick);
robot.enableMotors();
// start the robot running, true so that if we lose connection the run stops
robot.runAsync(true);
sick.runAsync();
// connect the laser if it was requested
if (!simpleConnector.connectLaser(&sick))
{
printf("Could not connect to laser... exiting\n");
Aria::shutdown();
return 1;
}
robot.waitForRunExit();
// now exit
Aria::shutdown();
exit(0);
}
void f_commands (void)
{
push_refed_array(commands(current_object));
}
vmain()
{
register int c, cnt, i;
char esave[TUBECOLS];
char *oglobp;
char d;
line *addr;
int ind, nlput;
int shouldpo = 0;
int onumber, olist, (*OPline)(), (*OPutchar)();
vch_mac = VC_NOTINMAC;
/*
* If we started as a vi command (on the command line)
* then go process initial commands (recover, next or tag).
*/
if (initev) {
oglobp = globp;
globp = initev;
hadcnt = cnt = 0;
i = tchng;
addr = dot;
goto doinit;
}
/*
* NB:
*
* The current line is always in the line buffer linebuf,
* and the cursor at the position cursor. You should do
* a vsave() before moving off the line to make sure the disk
* copy is updated if it has changed, and a getDOT() to get
* the line back if you mung linebuf. The motion
* routines in ex_vwind.c handle most of this.
*/
for (;;) {
/*
* Decode a visual command.
* First sync the temp file if there has been a reasonable
* amount of change. Clear state for decoding of next
* command.
*/
TSYNC();
vglobp = 0;
vreg = 0;
hold = 0;
seenprompt = 1;
wcursor = 0;
Xhadcnt = hadcnt = 0;
Xcnt = cnt = 1;
splitw = 0;
if (i = holdupd) {
if (state == VISUAL)
ignore(peekkey());
holdupd = 0;
/*
if (LINE(0) < ZERO) {
vclear();
vcnt = 0;
i = 3;
}
*/
if (state != VISUAL) {
vcnt = 0;
vsave();
vrepaint(cursor);
} else if (i == 3)
vredraw(WTOP);
else
vsync(WTOP);
vfixcurs();
}
/*
* Gobble up counts and named buffer specifications.
*/
for (;;) {
looptop:
#ifdef MDEBUG
if (trace)
fprintf(trace, "pc=%c",peekkey());
#endif
if (isdigit(peekkey()) && peekkey() != '0') {
hadcnt = 1;
cnt = vgetcnt();
forbid (cnt <= 0);
}
if (peekkey() != '"')
break;
ignore(getkey()), c = getkey();
/*
* Buffer names be letters or digits.
* But not '0' as that is the source of
* an 'empty' named buffer spec in the routine
* kshift (see ex_temp.c).
*/
forbid (c == '0' || !isalpha(c) && !isdigit(c));
vreg = c;
}
reread:
/*
* Come to reread from below after some macro expansions.
* The call to map allows use of function key pads
* by performing a terminal dependent mapping of inputs.
*/
#ifdef MDEBUG
if (trace)
fprintf(trace,"pcb=%c,",peekkey());
#endif
op = getkey();
maphopcnt = 0;
do {
/*
* Keep mapping the char as long as it changes.
* This allows for double mappings, e.g., q to #,
* #1 to something else.
*/
c = op;
op = map(c,arrows);
#ifdef MDEBUG
if (trace)
fprintf(trace,"pca=%c,",c);
#endif
/*
* Maybe the mapped to char is a count. If so, we have
* to go back to the "for" to interpret it. Likewise
* for a buffer name.
*/
if ((isdigit(c) && c!='0') || c == '"') {
ungetkey(c);
goto looptop;
}
if (!value(REMAP)) {
c = op;
break;
}
if (++maphopcnt > 256)
error("Infinite macro loop");
} while (c != op);
/*
* Begin to build an image of this command for possible
* later repeat in the buffer workcmd. It will be copied
* to lastcmd by the routine setLAST
* if/when completely specified.
*/
lastcp = workcmd;
if (!vglobp)
*lastcp++ = c;
/*
* First level command decode.
*/
switch (c) {
/*
* ^L Clear screen e.g. after transmission error.
*/
/*
* ^R Retype screen, getting rid of @ lines.
* If in open, equivalent to ^L.
* On terminals where the right arrow key sends
* ^L we make ^R act like ^L, since there is no
* way to get ^L. These terminals (adm31, tvi)
* are intelligent so ^R is useless. Soroc
* will probably foul this up, but nobody has
* one of them.
*/
case CTRL(l):
case CTRL(r):
if (c == CTRL(l) || (KR && *KR==CTRL(l))) {
vclear();
vdirty(0, vcnt);
}
if (state != VISUAL) {
/*
* Get a clean line, throw away the
* memory of what is displayed now,
* and move back onto the current line.
*/
vclean();
vcnt = 0;
vmoveto(dot, cursor, 0);
continue;
}
vredraw(WTOP);
/*
* Weird glitch -- when we enter visual
* in a very small window we may end up with
* no lines on the screen because the line
* at the top is too long. This forces the screen
* to be expanded to make room for it (after
* we have printed @'s ick showing we goofed).
*/
if (vcnt == 0)
vrepaint(cursor);
vfixcurs();
continue;
/*
* $ Escape just cancels the current command
* with a little feedback.
*/
case ESCAPE:
beep();
continue;
/*
* @ Macros. Bring in the macro and put it
* in vmacbuf, point vglobp there and punt.
*/
case '@':
c = getesc();
if (c == 0)
continue;
if (c == '@')
c = lastmac;
if (isupper(c))
c = tolower(c);
forbid(!islower(c));
lastmac = c;
vsave();
CATCH
char tmpbuf[BUFSIZ];
regbuf(c,tmpbuf,sizeof(vmacbuf));
macpush(tmpbuf, 1);
ONERR
lastmac = 0;
splitw = 0;
getDOT();
vrepaint(cursor);
continue;
ENDCATCH
vmacp = vmacbuf;
goto reread;
/*
* . Repeat the last (modifying) open/visual command.
*/
case '.':
/*
* Check that there was a last command, and
* take its count and named buffer unless they
* were given anew. Special case if last command
* referenced a numeric named buffer -- increment
* the number and go to a named buffer again.
* This allows a sequence like "1pu.u.u...
* to successively look for stuff in the kill chain
* much as one does in EMACS with C-Y and M-Y.
*/
forbid (lastcmd[0] == 0);
if (hadcnt)
lastcnt = cnt;
if (vreg)
lastreg = vreg;
else if (isdigit(lastreg) && lastreg < '9')
lastreg++;
vreg = lastreg;
cnt = lastcnt;
hadcnt = lasthad;
vglobp = lastcmd;
goto reread;
/*
* ^U Scroll up. A count sticks around for
* future scrolls as the scroll amount.
* Attempt to hold the indentation from the
* top of the screen (in logical lines).
*
* BUG: A ^U near the bottom of the screen
* on a dumb terminal (which can't roll back)
* causes the screen to be cleared and then
* redrawn almost as it was. In this case
* one should simply move the cursor.
*/
case CTRL(u):
if (hadcnt)
vSCROLL = cnt;
cnt = vSCROLL;
if (state == VISUAL)
ind = vcline, cnt += ind;
else
ind = 0;
vmoving = 0;
vup(cnt, ind, 1);
vnline(NOSTR);
continue;
/*
* ^D Scroll down. Like scroll up.
*/
case CTRL(d):
#ifdef TRACE
if (trace)
fprintf(trace, "before vdown in ^D, dot=%d, wdot=%d, dol=%d\n", lineno(dot), lineno(wdot), lineno(dol));
#endif
if (hadcnt)
vSCROLL = cnt;
cnt = vSCROLL;
if (state == VISUAL)
ind = vcnt - vcline - 1, cnt += ind;
else
ind = 0;
vmoving = 0;
vdown(cnt, ind, 1);
#ifdef TRACE
if (trace)
fprintf(trace, "before vnline in ^D, dot=%d, wdot=%d, dol=%d\n", lineno(dot), lineno(wdot), lineno(dol));
#endif
vnline(NOSTR);
#ifdef TRACE
if (trace)
fprintf(trace, "after vnline in ^D, dot=%d, wdot=%d, dol=%d\n", lineno(dot), lineno(wdot), lineno(dol));
#endif
continue;
/*
* ^E Glitch the screen down (one) line.
* Cursor left on same line in file.
*/
case CTRL(e):
if (state != VISUAL)
continue;
if (!hadcnt)
cnt = 1;
/* Bottom line of file already on screen */
forbid(lineDOL()-lineDOT() <= vcnt-1-vcline);
ind = vcnt - vcline - 1 + cnt;
vdown(ind, ind, 1);
vnline(cursor);
continue;
/*
* ^Y Like ^E but up
*/
case CTRL(y):
if (state != VISUAL)
continue;
if (!hadcnt)
cnt = 1;
forbid(lineDOT()-1<=vcline); /* line 1 already there */
ind = vcline + cnt;
vup(ind, ind, 1);
vnline(cursor);
continue;
/*
* m Mark position in mark register given
* by following letter. Return is
* accomplished via ' or `; former
* to beginning of line where mark
* was set, latter to column where marked.
*/
case 'm':
/*
* Getesc is generally used when a character
* is read as a latter part of a command
* to allow one to hit rubout/escape to cancel
* what you have typed so far. These characters
* are mapped to 0 by the subroutine.
*/
c = getesc();
if (c == 0)
continue;
/*
* Markreg checks that argument is a letter
* and also maps ' and ` to the end of the range
* to allow '' or `` to reference the previous
* context mark.
*/
c = markreg(c);
forbid (c == 0);
vsave();
names[c - 'a'] = (*dot &~ 01);
ncols[c - 'a'] = cursor;
anymarks = 1;
continue;
/*
* ^F Window forwards, with 2 lines of continuity.
* Count repeats.
*/
case CTRL(f):
vsave();
if (vcnt > 2) {
addr = dot + (vcnt - vcline) - 2 + (cnt-1)*basWLINES;
forbid(addr > dol);
dot = addr;
vcnt = vcline = 0;
}
vzop(0, 0, '+');
continue;
/*
* ^B Window backwards, with 2 lines of continuity.
* Inverse of ^F.
*/
case CTRL(b):
vsave();
if (one + vcline != dot && vcnt > 2) {
addr = dot - vcline - 2 + (cnt-1)*basWLINES;
forbid (addr <= zero);
dot = addr;
vcnt = vcline = 0;
}
vzop(0, 0, '^');
continue;
/*
* z Screen adjustment, taking a following character:
* z<CR> current line to top
* z<NL> like z<CR>
* z- current line to bottom
* also z+, z^ like ^F and ^B.
* A preceding count is line to use rather
* than current line. A count between z and
* specifier character changes the screen size
* for the redraw.
*
*/
case 'z':
if (state == VISUAL) {
i = vgetcnt();
if (i > 0)
vsetsiz(i);
c = getesc();
if (c == 0)
continue;
}
vsave();
vzop(hadcnt, cnt, c);
continue;
/*
* Y Yank lines, abbreviation for y_ or yy.
* Yanked lines can be put later if no
* changes intervene, or can be put in named
* buffers and put anytime in this session.
*/
case 'Y':
ungetkey('_');
c = 'y';
break;
/*
* J Join lines, 2 by default. Count is number
* of lines to join (no join operator sorry.)
*/
case 'J':
forbid (dot == dol);
if (cnt == 1)
cnt = 2;
if (cnt > (i = dol - dot + 1))
cnt = i;
vsave();
vmacchng(1);
setLAST();
cursor = strend(linebuf);
vremote(cnt, join, 0);
notenam = "join";
vmoving = 0;
killU();
vreplace(vcline, cnt, 1);
if (!*cursor && cursor > linebuf)
cursor--;
if (notecnt == 2)
notecnt = 0;
vrepaint(cursor);
continue;
/*
* S Substitute text for whole lines, abbrev for c_.
* Count is number of lines to change.
*/
case 'S':
ungetkey('_');
c = 'c';
break;
/*
* O Create a new line above current and accept new
* input text, to an escape, there.
* A count specifies, for dumb terminals when
* slowopen is not set, the number of physical
* line space to open on the screen.
*
* o Like O, but opens lines below.
*/
case 'O':
case 'o':
vmacchng(1);
voOpen(c, cnt);
continue;
/*
* C Change text to end of line, short for c$.
*/
case 'C':
if (*cursor) {
ungetkey('$'), c = 'c';
break;
}
goto appnd;
/*
* ~ Switch case of letter under cursor
*/
case '~':
{
char mbuf[4];
setLAST();
mbuf[0] = 'r';
mbuf[1] = *cursor;
mbuf[2] = cursor[1]==0 ? 0 : ' ';
mbuf[3] = 0;
if (isalpha(mbuf[1]))
mbuf[1] ^= ' '; /* toggle the case */
macpush(mbuf, 1);
}
continue;
/*
* A Append at end of line, short for $a.
*/
case 'A':
operate('$', 1);
appnd:
c = 'a';
/* fall into ... */
/*
* a Appends text after cursor. Text can continue
* through arbitrary number of lines.
*/
case 'a':
if (*cursor) {
if (state == HARDOPEN)
putchar(*cursor);
cursor++;
}
goto insrt;
/*
* I Insert at beginning of whitespace of line,
* short for ^i.
*/
case 'I':
operate('^', 1);
c = 'i';
/* fall into ... */
/*
* R Replace characters, one for one, by input
* (logically), like repeated r commands.
*
* BUG: This is like the typeover mode of many other
* editors, and is only rarely useful. Its
* implementation is a hack in a low level
* routine and it doesn't work very well, e.g.
* you can't move around within a R, etc.
*/
case 'R':
/* fall into... */
/*
* i Insert text to an escape in the buffer.
* Text is arbitrary. This command reminds of
* the i command in bare teco.
*/
case 'i':
insrt:
/*
* Common code for all the insertion commands.
* Save for redo, position cursor, prepare for append
* at command and in visual undo. Note that nothing
* is doomed, unless R when all is, and save the
* current line in a the undo temporary buffer.
*/
vmacchng(1);
setLAST();
vcursat(cursor);
prepapp();
vnoapp();
doomed = c == 'R' ? 10000 : 0;
if(FIXUNDO)
vundkind = VCHNG;
vmoving = 0;
CP(vutmp, linebuf);
/*
* If this is a repeated command, then suppress
* fake insert mode on dumb terminals which looks
* ridiculous and wastes lots of time even at 9600B.
*/
if (vglobp)
hold = HOLDQIK;
vappend(c, cnt, 0);
continue;
/*
* ^? An attention, normally a ^?, just beeps.
* If you are a vi command within ex, then
* two ATTN's will drop you back to command mode.
*/
case ATTN:
beep();
if (initev || peekkey() != ATTN)
continue;
/* fall into... */
/*
* ^\ A quit always gets command mode.
*/
case QUIT:
/*
* Have to be careful if we were called
* g/xxx/vi
* since a return will just start up again.
* So we simulate an interrupt.
*/
if (inglobal)
onintr();
/* fall into... */
#ifdef notdef
/*
* q Quit back to command mode, unless called as
* vi on command line in which case dont do it
*/
case 'q': /* quit */
if (initev) {
vsave();
CATCH
error("Q gets ex command mode, :q leaves vi");
ENDCATCH
splitw = 0;
getDOT();
vrepaint(cursor);
continue;
}
#endif
/* fall into... */
/*
* Q Is like q, but always gets to command mode
* even if command line invocation was as vi.
*/
case 'Q':
vsave();
/*
* If we are in the middle of a macro, throw away
* the rest and fix up undo.
* This code copied from getbr().
*/
if (vmacp) {
vmacp = 0;
if (inopen == -1) /* don't screw up undo for esc esc */
vundkind = VMANY;
inopen = 1; /* restore old setting now that macro done */
}
return;
/*
* ZZ Like :x
*/
case 'Z':
forbid(getkey() != 'Z');
oglobp = globp;
globp = "x";
vclrech(0);
goto gogo;
/*
* P Put back text before cursor or before current
* line. If text was whole lines goes back
* as whole lines. If part of a single line
* or parts of whole lines splits up current
* line to form many new lines.
* May specify a named buffer, or the delete
* saving buffers 1-9.
*
* p Like P but after rather than before.
*/
case 'P':
case 'p':
vmoving = 0;
#ifdef notdef
forbid (!vreg && value(UNDOMACRO) && inopen < 0);
#endif
/*
* If previous delete was partial line, use an
* append or insert to put it back so as to
* use insert mode on intelligent terminals.
*/
if (!vreg && DEL[0]) {
forbid ((DEL[0] & (QUOTE|TRIM)) == OVERBUF);
vglobp = DEL;
ungetkey(c == 'p' ? 'a' : 'i');
goto reread;
}
/*
* If a register wasn't specified, then make
* sure there is something to put back.
*/
forbid (!vreg && unddol == dol);
/*
* If we just did a macro the whole buffer is in
* the undo save area. We don't want to put THAT.
*/
forbid (vundkind == VMANY && undkind==UNDALL);
vsave();
vmacchng(1);
setLAST();
i = 0;
if (vreg && partreg(vreg) || !vreg && pkill[0]) {
/*
* Restoring multiple lines which were partial
* lines; will leave cursor in middle
* of line after shoving restored text in to
* split the current line.
*/
i++;
if (c == 'p' && *cursor)
cursor++;
} else {
/*
* In whole line case, have to back up dot
* for P; also want to clear cursor so
* cursor will eventually be positioned
* at the beginning of the first put line.
*/
cursor = 0;
if (c == 'P') {
dot--, vcline--;
c = 'p';
}
}
killU();
/*
* The call to putreg can potentially
* bomb since there may be nothing in a named buffer.
* We thus put a catch in here. If we didn't and
* there was an error we would end up in command mode.
*/
addr = dol; /* old dol */
CATCH
vremote(1, vreg ? putreg : put, vreg);
ONERR
if (vreg == -1) {
splitw = 0;
if (op == 'P')
dot++, vcline++;
goto pfixup;
}
ENDCATCH
splitw = 0;
nlput = dol - addr + 1;
if (!i) {
/*
* Increment undap1, undap2 to make up
* for their incorrect initialization in the
* routine vremote before calling put/putreg.
*/
if (FIXUNDO)
undap1++, undap2++;
vcline++;
nlput--;
/*
* After a put want current line first line,
* and dot was made the last line put in code
* run so far. This is why we increment vcline
* above and decrease dot here.
*/
dot -= nlput - 1;
}
#ifdef TRACE
if (trace)
fprintf(trace, "vreplace(%d, %d, %d), undap1=%d, undap2=%d, dot=%d\n", vcline, i, nlput, lineno(undap1), lineno(undap2), lineno(dot));
#endif
vreplace(vcline, i, nlput);
if (state != VISUAL) {
/*
* Special case in open mode.
* Force action on the screen when a single
* line is put even if it is identical to
* the current line, e.g. on YP; otherwise
* you can't tell anything happened.
*/
vjumpto(dot, cursor, '.');
continue;
}
pfixup:
vrepaint(cursor);
vfixcurs();
continue;
/*
* ^^ Return to previous file.
* Like a :e #, and thus can be used after a
* "No Write" diagnostic.
*/
case CTRL(^):
forbid (hadcnt);
vsave();
ckaw();
oglobp = globp;
if (value(AUTOWRITE))
globp = "e! #";
else
globp = "e #";
goto gogo;
/*
* ^] Takes word after cursor as tag, and then does
* tag command. Read ``go right to''.
*/
case CTRL(]):
grabtag();
oglobp = globp;
globp = "tag";
goto gogo;
/*
* & Like :&
*/
case '&':
oglobp = globp;
globp = "&";
goto gogo;
/*
* ^G Bring up a status line at the bottom of
* the screen, like a :file command.
*
* BUG: Was ^S but doesn't work in cbreak mode
*/
case CTRL(g):
oglobp = globp;
globp = "file";
gogo:
addr = dot;
vsave();
goto doinit;
#ifdef SIGTSTP
/*
* ^Z: suspend editor session and temporarily return
* to shell. Only works with Berkeley/IIASA process
* control in kernel.
*/
case CTRL(z):
forbid(dosusp == 0 || !ldisc);
vsave();
oglobp = globp;
globp = "stop";
goto gogo;
#endif
/*
* : Read a command from the echo area and
* execute it in command mode.
*/
case ':':
forbid (hadcnt);
vsave();
i = tchng;
addr = dot;
if (readecho(c)) {
esave[0] = 0;
goto fixup;
}
getDOT();
/*
* Use the visual undo buffer to store the global
* string for command mode, since it is idle right now.
*/
oglobp = globp; strcpy(vutmp, genbuf+1); globp = vutmp;
doinit:
esave[0] = 0;
fixech();
/*
* Have to finagle around not to lose last
* character after this command (when run from ex
* command mode). This is clumsy.
*/
d = peekc; ungetchar(0);
if (shouldpo) {
/*
* So after a "Hit return..." ":", we do
* another "Hit return..." the next time
*/
pofix();
shouldpo = 0;
}
CATCH
/*
* Save old values of options so we can
* notice when they change; switch into
* cooked mode so we are interruptible.
*/
onumber = value(NUMBER);
olist = value(LIST);
OPline = Pline;
OPutchar = Putchar;
#ifndef CBREAK
vcook();
#endif
commands(1, 1);
if (dot == zero && dol > zero)
dot = one;
#ifndef CBREAK
vraw();
#endif
ONERR
#ifndef CBREAK
vraw();
#endif
copy(esave, vtube[WECHO], TUBECOLS);
ENDCATCH
fixol();
Pline = OPline;
Putchar = OPutchar;
ungetchar(d);
globp = oglobp;
/*
* If we ended up with no lines in the buffer, make
* a line, and don't consider the buffer changed.
*/
if (dot == zero) {
fixzero();
sync();
}
splitw = 0;
/*
* Special case: did list/number options change?
*/
if (onumber != value(NUMBER))
setnumb(value(NUMBER));
if (olist != value(LIST))
setlist(value(LIST));
fixup:
/*
* If a change occurred, other than
* a write which clears changes, then
* we should allow an undo even if .
* didn't move.
*
* BUG: You can make this wrong by
* tricking around with multiple commands
* on one line of : escape, and including
* a write command there, but its not
* worth worrying about.
*/
if (FIXUNDO && tchng && tchng != i)
vundkind = VMANY, cursor = 0;
/*
* If we are about to do another :, hold off
* updating of screen.
*/
if (vcnt < 0 && Peekkey == ':') {
getDOT();
shouldpo = 1;
continue;
}
shouldpo = 0;
/*
* In the case where the file being edited is
* new; e.g. if the initial state hasn't been
* saved yet, then do so now.
*/
if (unddol == truedol) {
vundkind = VNONE;
Vlines = lineDOL();
if (!inglobal)
savevis();
addr = zero;
vcnt = 0;
if (esave[0] == 0)
copy(esave, vtube[WECHO], TUBECOLS);
}
/*
* If the current line moved reset the cursor position.
*/
if (dot != addr) {
vmoving = 0;
cursor = 0;
}
/*
* If current line is not on screen or if we are
* in open mode and . moved, then redraw.
*/
i = vcline + (dot - addr);
if (i < 0 || i >= vcnt && i >= -vcnt || state != VISUAL && dot != addr) {
if (state == CRTOPEN)
vup1();
if (vcnt > 0)
vcnt = 0;
vjumpto(dot, (char *) 0, '.');
} else {
/*
* Current line IS on screen.
* If we did a [Hit return...] then
* restore vcnt and clear screen if in visual
*/
vcline = i;
if (vcnt < 0) {
vcnt = -vcnt;
if (state == VISUAL)
vclear();
else if (state == CRTOPEN) {
vcnt = 0;
}
}
/*
* Limit max value of vcnt based on $
*/
i = vcline + lineDOL() - lineDOT() + 1;
if (i < vcnt)
vcnt = i;
/*
* Dirty and repaint.
*/
vdirty(0, LINES);
vrepaint(cursor);
}
/*
* If in visual, put back the echo area
* if it was clobberred.
*/
if (state == VISUAL) {
int sdc = destcol, sdl = destline;
splitw++;
vigoto(WECHO, 0);
for (i = 0; i < TUBECOLS - 1; i++) {
if (esave[i] == 0)
break;
vputchar(esave[i]);
}
splitw = 0;
vgoto(sdl, sdc);
}
continue;
/*
* u undo the last changing command.
*/
case 'u':
vundo(1);
continue;
/*
* U restore current line to initial state.
*/
case 'U':
vUndo();
continue;
fonfon:
beep();
vmacp = 0;
inopen = 1; /* might have been -1 */
continue;
}
/*
* Rest of commands are decoded by the operate
* routine.
*/
operate(c, cnt);
}
}
// Return commands to restore this breakpoint, using the dummy number
// NR. If AS_DUMMY is set, delete the breakpoint immediately in order
// to increase the breakpoint number. If ADDR is set, use ADDR as
// (fake) address. If COND is set, use COND as (fake) condition.
// Return true iff successful.
bool BreakPoint::get_state(std::ostream& os, int nr, bool as_dummy,
string pos, string cond)
{
if (pos.empty())
{
if (line_nr() > 0)
pos = file_name() + ":" + itostring(line_nr());
else
pos = string('*') + address();
}
if (cond == char(-1))
cond = real_condition();
const string num = "@" + itostring(nr) + "@";
switch (gdb->type())
{
case BASH:
case GDB:
case MAKE:
case PYDB:
case DBG:
{
switch (type())
{
case BREAKPOINT:
{
switch (dispo())
{
case BPKEEP:
case BPDIS:
os << "break " << pos << "\n";
break;
case BPDEL:
os << "tbreak " << pos << "\n";
break;
}
break;
}
case WATCHPOINT:
{
os << gdb->watch_command(expr(), watch_mode()) << "\n";
break;
}
case TRACEPOINT:
case ACTIONPOINT:
{
// Not handled - FIXME
break;
}
}
if (!as_dummy)
{
// Extra infos
if (!enabled() && gdb->has_disable_command())
os << gdb->disable_command(num) << "\n";
int ignore = ignore_count();
if (ignore > 0 && gdb->has_ignore_command())
os << gdb->ignore_command(num, ignore) << "\n";
if (!cond.empty() && gdb->has_condition_command())
os << gdb->condition_command(num, cond) << "\n";
if (commands().size() != 0)
{
os << "commands " << num << "\n";
for (int i = 0; i < commands().size(); i++)
os << commands()[i] << "\n";
os << "end\n";
}
}
break;
}
case DBX:
{
string cond_suffix = "";
if (!cond.empty())
{
if (gdb->has_handler_command())
cond_suffix = " -if " + cond;
else
cond_suffix = " if " + cond;
}
switch (type())
{
case BREAKPOINT:
if (!func().empty())
{
os << "stop in " << func() << "\n";
}
else if (pos.contains('*', 0))
{
os << "stop at " << pos.after('*') << cond_suffix << '\n';
}
else
{
os << "file " << pos.before(':') << "\n";
os << "stop at " << pos.after(':') << cond_suffix << "\n";
}
break;
case WATCHPOINT:
os << "stop " << expr() << cond_suffix << '\n';
break;
case TRACEPOINT:
case ACTIONPOINT:
{
// Not handled - FIXME
break;
}
}
if (!as_dummy)
{
// Extra infos
if (!enabled() && gdb->has_disable_command())
os << gdb->disable_command(num) << "\n";
int ignore = ignore_count();
if (ignore > 0 && gdb->has_ignore_command())
os << gdb->ignore_command(num, ignore) << "\n";
}
break;
}
case JDB:
{
os << "stop at " << pos << "\n";
break;
}
case XDB:
{
string cond_suffix;
if (!cond.empty() && !gdb->has_condition_command())
cond_suffix = " {if " + cond + " {} {Q;c}}";
if (pos.contains('*', 0))
os << "ba " << pos.after('*') << cond_suffix << '\n';
else
os << "b " << pos << cond_suffix << "\n";
if (!as_dummy)
{
// Extra infos
if (!enabled() && gdb->has_disable_command())
os << gdb->disable_command(num) << "\n";
int ignore = ignore_count();
if (ignore > 0 && gdb->has_ignore_command())
os << gdb->ignore_command(num, ignore) << "\n";
}
break;
}
case PERL:
{
string cond_suffix;
if (!cond.empty())
cond_suffix = " " + cond;
os << "f " << pos.before(':') << "\n";
if (type() == BREAKPOINT)
os << "b " << pos.after(':') << cond_suffix << "\n";
if (commands().size() != 0)
{
os << "a " << pos.after(':') << " ";
for (int i = 0; i < commands().size(); i++)
os << commands()[i] << ";";
os << "\n";
}
break;
}
}
if (as_dummy && gdb->has_delete_command())
{
// Delete the breakpoint just created
os << gdb->delete_command(num) << "\n";
}
return true;
}
int
main(int argc, char** argv)
{
char* s;
NoP(argc);
if (s = strrchr(*argv, '/')) s++;
else s = *argv;
ed.restricted = streq(s, "red");
error_info.id = s;
error_info.write = helpwrite;
init();
for (;;)
{
for (;;) {
switch (optget(argv, usage)) {
case 'O':
ed.reflags |= REG_LENIENT;
continue;
case 'S':
ed.reflags &= ~REG_LENIENT;
continue;
case 'h':
ed.help = 1;
continue;
case 'o':
ed.msg = sfstderr;
sfstrseek(ed.buffer.file, 0, SEEK_SET);
sfputr(ed.buffer.file, "/dev/stdout", 0);
continue;
case 'p':
sfstrseek(ed.buffer.prompt, 0, SEEK_SET);
sfputr(ed.buffer.prompt, opt_info.arg, 0);
ed.prompt = 1;
continue;
case 'q':
signal(SIGQUIT, SIG_DFL);
ed.verbose = 1;
continue;
case 's':
ed.verbose = 0;
continue;
case '?':
ed.help++;
error(ERROR_USAGE|4, "%s", opt_info.arg);
ed.help--;
break;
case ':':
ed.help++;
error(2, "%s", opt_info.arg);
ed.help--;
continue;
}
break;
}
if (!*(argv += opt_info.index) || **argv != '-' || *(*argv + 1))
break;
ed.verbose = 0;
}
if (*argv) {
if (*(argv + 1))
error(ERROR_USAGE|4, "%s", optusage(NiL));
sfprintf(ed.buffer.global, "e %s", *argv);
if (!(ed.global = sfstruse(ed.buffer.global)))
error(ERROR_SYSTEM|3, "out of space");
}
edit();
sfdcslow(sfstdin);
setjmp(ed.again);
commands();
quit(0);
exit(0);
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
ArSimpleConnector simpleConnector(&parser);
// The base server object, manages all connections to clients.
ArServerBase server;
// This object simplifies configuration and opening of the ArServerBase
// object.
ArServerSimpleOpener simpleOpener(&parser);
// parse the command line. fail and print the help if the parsing fails
// or if the help was requested with -help
parser.loadDefaultArguments();
if (!simpleConnector.parseArgs() || !simpleOpener.parseArgs() ||
!parser.checkHelpAndWarnUnparsed())
{
simpleConnector.logOptions();
simpleOpener.logOptions();
exit(1);
}
// Use the ArSimpleOpener to open the server port
if (!simpleOpener.open(&server))
{
ArLog::log(ArLog::Terse, "Error: Could not open server on port %d", simpleOpener.getPort());
exit(1);
}
//
// Create services attached to the base server:
//
// Robot position etc.:
ArServerInfoRobot serverInfoRobot(&server, &robot);
// Robot control modes (only one mode can be active at once):
ArServerModeStop modeStop(&server, &robot);
// old ArServerModeDrive modeDrive(&server, &robot);
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
ArServerModeWander modeWander(&server, &robot);
modeStop.addAsDefaultMode();
modeStop.activate();
// This provides a simple way to add new commands.
ArServerHandlerCommands commands(&server);
// Add our custom command. ArServerHandlerCommands also has other methods
// for adding commands taht take different kinds of arguments, or no
// arguments.
ArGlobalFunctor1<ArArgumentBuilder*> customCommandFunctor(&customCommandHandler);
commands.addStringCommand("ExampleCustomCommand", "Example of a custom command. simpleServerExample will print out the text sent with the command.", &customCommandFunctor);
// These objects provide various debugging and diagnostic custom commands:
ArServerSimpleComUC uCCommands(&commands, &robot); // Get information about the robot
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // Control logging
modeRatioDrive.addControlCommands(&commands); // Drive mode diagnostics
// This provides the client (e.g. MobileEyes) with a simple table of string values
// (called an InfoGroup). An InfoGroup is kept globally by Aria.
// The values in the table sent to clients are retrieved periodically by calling a
// functor.
ArServerInfoStrings stringInfo(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
// Here are some example entries in the InfoGroup:
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
//
// Connect to the robot:
//
if (!simpleConnector.connectRobot(&robot))
{
printf("Error: Could not connect to robot... exiting\n");
Aria::shutdown();
return 1;
}
robot.enableMotors();
robot.runAsync(true);
// The simple opener might have information to display right before starting
// the server thread:
simpleOpener.checkAndLog();
// now let the server base run in a new thread, accepting client connections.
server.runAsync();
ArLog::log(ArLog::Normal, "Server is now running... Press Ctrl-C to exit.");
robot.waitForRunExit();
Aria::shutdown();
exit(0);
}
static void
vmap_ldinfo (LdInfo *ldi)
{
struct stat ii, vi;
struct vmap *vp;
int got_one, retried;
int got_exec_file = 0;
uint next;
int arch64 = ARCH64 ();
/* For each *ldi, see if we have a corresponding *vp.
If so, update the mapping, and symbol table.
If not, add an entry and symbol table. */
do
{
char *name = LDI_FILENAME (ldi, arch64);
char *memb = name + strlen (name) + 1;
int fd = LDI_FD (ldi, arch64);
retried = 0;
if (fstat (fd, &ii) < 0)
{
/* The kernel sets ld_info to -1, if the process is still using the
object, and the object is removed. Keep the symbol info for the
removed object and issue a warning. */
warning (_("%s (fd=%d) has disappeared, keeping its symbols"),
name, fd);
continue;
}
retry:
for (got_one = 0, vp = vmap; vp; vp = vp->nxt)
{
struct objfile *objfile;
/* First try to find a `vp', which is the same as in ldinfo.
If not the same, just continue and grep the next `vp'. If same,
relocate its tstart, tend, dstart, dend values. If no such `vp'
found, get out of this for loop, add this ldi entry as a new vmap
(add_vmap) and come back, find its `vp' and so on... */
/* The filenames are not always sufficient to match on. */
if ((name[0] == '/' && strcmp (name, vp->name) != 0)
|| (memb[0] && strcmp (memb, vp->member) != 0))
continue;
/* See if we are referring to the same file.
We have to check objfile->obfd, symfile.c:reread_symbols might
have updated the obfd after a change. */
objfile = vp->objfile == NULL ? symfile_objfile : vp->objfile;
if (objfile == NULL
|| objfile->obfd == NULL
|| bfd_stat (objfile->obfd, &vi) < 0)
{
warning (_("Unable to stat %s, keeping its symbols"), name);
continue;
}
if (ii.st_dev != vi.st_dev || ii.st_ino != vi.st_ino)
continue;
if (!retried)
close (fd);
++got_one;
/* Found a corresponding VMAP. Remap! */
vmap_secs (vp, ldi, arch64);
/* The objfile is only NULL for the exec file. */
if (vp->objfile == NULL)
got_exec_file = 1;
/* relocate symbol table(s). */
vmap_symtab (vp);
/* Announce new object files. Doing this after symbol relocation
makes aix-thread.c's job easier. */
if (vp->objfile)
observer_notify_new_objfile (vp->objfile);
/* There may be more, so we don't break out of the loop. */
}
/* if there was no matching *vp, we must perforce create the sucker(s) */
if (!got_one && !retried)
{
add_vmap (ldi);
++retried;
goto retry;
}
}
while ((next = LDI_NEXT (ldi, arch64))
&& (ldi = (void *) (next + (char *) ldi)));
/* If we don't find the symfile_objfile anywhere in the ldinfo, it
is unlikely that the symbol file is relocated to the proper
address. And we might have attached to a process which is
running a different copy of the same executable. */
if (symfile_objfile != NULL && !got_exec_file)
{
warning (_("Symbol file %s\nis not mapped; discarding it.\n\
If in fact that file has symbols which the mapped files listed by\n\
\"info files\" lack, you can load symbols with the \"symbol-file\" or\n\
\"add-symbol-file\" commands (note that you must take care of relocating\n\
symbols to the proper address)."),
symfile_objfile->name);
free_objfile (symfile_objfile);
gdb_assert (symfile_objfile == NULL);
}
void
global(bool k)
{
register char *gp;
register int c;
register line *a1;
char globuf[GBSIZE], *Cwas;
int lines = lineDOL();
char *oglobp = globp;
Cwas = Command;
if (inglobal)
error("Global within global@not allowed");
markDOT();
setall();
nonzero();
if (skipend())
error("Global needs re|Missing regular expression for global");
c = ex_getchar();
ignore(compile(c, 0));
savere(scanre);
gp = globuf;
while ((c = ex_getchar()) != '\n') {
switch (c) {
case EOF:
c = '\n';
goto brkwh;
case '\\':
c = ex_getchar();
switch (c) {
case '\\':
ungetchar(c);
break;
case '\n':
break;
default:
*gp++ = '\\';
break;
}
break;
}
*gp++ = c;
if (gp >= &globuf[GBSIZE - 2])
error("Global command too long");
}
brkwh:
ungetchar(c);
ex_newline();
*gp++ = c;
*gp++ = 0;
inglobal = 1;
for (a1 = one; a1 <= dol; a1++) {
*a1 &= ~01;
if (a1 >= addr1 && a1 <= addr2 && execute(0, a1) == k)
*a1 |= 01;
}
/* should use gdelete from ed to avoid n**2 here on g/.../d */
saveall();
if (inopen)
inopen = -1;
for (a1 = one; a1 <= dol; a1++) {
if (*a1 & 01) {
*a1 &= ~01;
dot = a1;
globp = globuf;
commands(1, 1);
a1 = zero;
}
}
globp = oglobp;
inglobal = 0;
endline = 1;
Command = Cwas;
netchHAD(lines);
setlastchar(EOF);
if (inopen) {
ungetchar(EOF);
inopen = 1;
}
}
PUBLIC int
main(int argc, char *argv[])
{
jmp_buf jmpbuf;
struct sigaction sa;
struct name *to, *cc, *bcc, *smopts;
#ifdef MIME_SUPPORT
struct name *attach_optargs;
struct name *attach_end;
#endif
char *subject;
const char *ef;
char nosrc = 0;
const char *rc;
int Hflag;
int i;
/*
* For portability, call setprogname() early, before
* getprogname() is called.
*/
(void)setprogname(argv[0]);
/*
* Set up a reasonable environment.
* Figure out whether we are being run interactively,
* start the SIGCHLD catcher, and so forth.
* (Other signals are setup later by sig_setup().)
*/
(void)sigemptyset(&sa.sa_mask);
sa.sa_flags = SA_RESTART;
sa.sa_handler = sigchild;
(void)sigaction(SIGCHLD, &sa, NULL);
if (isatty(0))
assign(ENAME_INTERACTIVE, "");
image = -1;
/*
* Now, determine how we are being used.
* We successively pick off - flags.
* If there is anything left, it is the base of the list
* of users to mail to. Argp will be set to point to the
* first of these users.
*/
rc = NULL;
ef = NULL;
to = NULL;
cc = NULL;
bcc = NULL;
smopts = NULL;
subject = NULL;
Hflag = 0;
#ifdef MIME_SUPPORT
attach_optargs = NULL;
attach_end = NULL;
while ((i = getopt(argc, argv, ":~EH:INT:a:b:c:dfinr:s:u:v")) != -1)
#else
while ((i = getopt(argc, argv, ":~EH:INT:b:c:dfinr:s:u:v")) != -1)
#endif
{
switch (i) {
case 'T':
/*
* Next argument is temp file to write which
* articles have been read/deleted for netnews.
*/
Tflag = optarg;
if ((i = creat(Tflag, 0600)) < 0) {
warn("%s", Tflag);
exit(1);
}
(void)close(i);
break;
#ifdef MIME_SUPPORT
case 'a': {
struct name *np;
np = nalloc(optarg, 0);
if (attach_end == NULL)
attach_optargs = np;
else {
np->n_blink = attach_end;
attach_end->n_flink = np;
}
attach_end = np;
break;
}
#endif
case 'u':
/*
* Next argument is person to pretend to be.
*/
myname = optarg;
(void)unsetenv("MAIL");
break;
case 'i':
/*
* User wants to ignore interrupts.
* Set the variable "ignore"
*/
assign(ENAME_IGNORE, "");
break;
case 'd':
debug++;
break;
case 'r':
rc = optarg;
break;
case 's':
/*
* Give a subject field for sending from
* non terminal
*/
subject = optarg;
break;
case 'f':
/*
* User is specifying file to "edit" with Mail,
* as opposed to reading system mailbox.
* If no argument is given after -f, we read his
* mbox file.
*
* getopt() can't handle optional arguments, so here
* is an ugly hack to get around it.
*/
if ((argv[optind]) && (argv[optind][0] != '-'))
ef = argv[optind++];
else
ef = "&";
break;
case 'H':
/*
* Print out the headers and quit.
*/
Hflag = get_Hflag(argv);
break;
case 'n':
/*
* User doesn't want to source /usr/lib/Mail.rc
*/
nosrc++;
break;
case 'N':
/*
* Avoid initial header printing.
*/
assign(ENAME_NOHEADER, "");
break;
case 'v':
/*
* Send mailer verbose flag
*/
assign(ENAME_VERBOSE, "");
break;
case 'I':
case '~':
/*
* We're interactive
*/
assign(ENAME_INTERACTIVE, "");
break;
case 'c':
/*
* Get Carbon Copy Recipient list
*/
cc = cat(cc, lexpand(optarg, GCC));
break;
case 'b':
/*
* Get Blind Carbon Copy Recipient list
*/
bcc = cat(bcc, lexpand(optarg, GBCC));
break;
case 'E':
/*
* Don't send empty files.
*/
assign(ENAME_DONTSENDEMPTY, "");
break;
case ':':
/*
* An optarg was expected but not found.
*/
if (optopt == 'H') {
Hflag = get_Hflag(NULL);
break;
}
(void)fprintf(stderr,
"%s: option requires an argument -- %c\n",
getprogname(), optopt);
/* FALLTHROUGH */
case '?':
/*
* An unknown option flag. We need to do the
* error message.
*/
if (optopt != '?')
(void)fprintf(stderr,
"%s: unknown option -- %c\n", getprogname(),
optopt);
usage(); /* print usage message and die */
/*NOTREACHED*/
}
}
for (i = optind; (argv[i]) && (*argv[i] != '-'); i++)
to = cat(to, nalloc(argv[i], GTO));
for (/*EMPTY*/; argv[i]; i++)
smopts = cat(smopts, nalloc(argv[i], GSMOPTS));
/*
* Check for inconsistent arguments.
*/
if (to == NULL && (subject != NULL || cc != NULL || bcc != NULL))
errx(EXIT_FAILURE, "You must specify direct recipients with -s, -c, or -b.");
if (ef != NULL && to != NULL) {
errx(EXIT_FAILURE, "Cannot give -f and people to send to.");
}
if (Hflag != 0 && to != NULL)
errx(EXIT_FAILURE, "Cannot give -H and people to send to.");
#ifdef MIME_SUPPORT
if (attach_optargs != NULL && to == NULL)
errx(EXIT_FAILURE, "Cannot give -a without people to send to.");
#endif
tinit(); /* must be done before loading the rcfile */
input = stdin;
mailmode = Hflag ? mm_hdrsonly :
to ? mm_sending : mm_receiving;
spreserve();
if (!nosrc)
load(_PATH_MASTER_RC);
/*
* Expand returns a savestr, but load only uses the file name
* for fopen, so it's safe to do this.
*/
if (rc == NULL && (rc = getenv("MAILRC")) == NULL)
rc = "~/.mailrc";
load(expand(rc));
setscreensize(); /* do this after loading the rcfile */
#ifdef USE_EDITLINE
/*
* This is after loading the MAILRC so we can use value().
* Avoid editline in mm_hdrsonly mode or pipelines will screw
* up. XXX - there must be a better way!
*/
if (mailmode != mm_hdrsonly)
init_editline();
#endif
sig_setup();
switch (mailmode) {
case mm_sending:
(void)mail(to, cc, bcc, smopts, subject,
mime_attach_optargs(attach_optargs));
/*
* why wait?
*/
exit(senderr);
break; /* XXX - keep lint happy */
case mm_receiving:
case mm_hdrsonly:
/*
* Ok, we are reading mail.
* Decide whether we are editing a mailbox or reading
* the system mailbox, and open up the right stuff.
*/
if (ef == NULL)
ef = "%";
if (setfile(ef) < 0)
exit(1); /* error already reported */
if (value(ENAME_QUIET) == NULL)
(void)printf("Mail version %s. Type ? for help.\n",
version);
if (mailmode == mm_hdrsonly)
show_headers_and_exit(Hflag); /* NORETURN */
announce();
(void)fflush(stdout);
if (setjmp(jmpbuf) != 0) {
/* Return here if quit() fails below. */
(void)printf("Use 'exit' to quit without saving changes.\n");
}
commands();
/* Ignore these signals from now on! */
(void)signal(SIGHUP, SIG_IGN);
(void)signal(SIGINT, SIG_IGN);
(void)signal(SIGQUIT, SIG_IGN);
quit(jmpbuf);
break;
default:
assert(/*CONSTCOND*/0);
break;
}
return 0;
}
int main(int argc, char **argv)
{
// Initialize Aria and Arnl global information
Aria::init();
Arnl::init();
// The robot object
ArRobot robot;
// Parse the command line arguments.
ArArgumentParser parser(&argc, argv);
// Set up our simpleConnector, to connect to the robot and laser
//ArSimpleConnector simpleConnector(&parser);
ArRobotConnector robotConnector(&parser, &robot);
// Connect to the robot
if (!robotConnector.connectRobot())
{
ArLog::log(ArLog::Normal, "Error: Could not connect to robot... exiting");
Aria::exit(3);
}
// Set up where we'll look for files. Arnl::init() set Aria's default
// directory to Arnl's default directory; addDirectories() appends this
// "examples" directory.
char fileDir[1024];
ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(),
"examples");
// To direct log messages to a file, or to change the log level, use these calls:
//ArLog::init(ArLog::File, ArLog::Normal, "log.txt", true, true);
//ArLog::init(ArLog::File, ArLog::Verbose);
// Add a section to the configuration to change ArLog parameters
ArLog::addToConfig(Aria::getConfig());
// set up a gyro (if the robot is older and its firmware does not
// automatically incorporate gyro corrections, then this object will do it)
ArAnalogGyro gyro(&robot);
// Our networking server
ArServerBase server;
// Set up our simpleOpener, used to set up the networking server
ArServerSimpleOpener simpleOpener(&parser);
// the laser connector
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Tell the laser connector to always connect the first laser since
// this program always requires a laser.
parser.addDefaultArgument("-connectLaser");
// Load default arguments for this computer (from /etc/Aria.args, environment
// variables, and other places)
parser.loadDefaultArguments();
// Parse arguments
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
logOptions(argv[0]);
Aria::exit(1);
}
// This causes Aria::exit(9) to be called if the robot unexpectedly
// disconnects
ArGlobalFunctor1<int> shutdownFunctor(&Aria::exit, 9);
robot.addDisconnectOnErrorCB(&shutdownFunctor);
// Create an ArSonarDevice object (ArRangeDevice subclass) and
// connect it to the robot.
ArSonarDevice sonarDev;
robot.addRangeDevice(&sonarDev);
// This object will allow robot's movement parameters to be changed through
// a Robot Configuration section in the ArConfig global configuration facility.
ArRobotConfig robotConfig(&robot);
// Include gyro configuration options in the robot configuration section.
robotConfig.addAnalogGyro(&gyro);
// Start the robot thread.
robot.runAsync(true);
// connect the laser(s) if it was requested, this adds them to the
// robot too, and starts them running in their own threads
if (!laserConnector.connectLasers())
{
ArLog::log(ArLog::Normal, "Could not connect to all lasers... exiting\n");
Aria::exit(2);
}
// find the laser we should use for localization and/or mapping,
// which will be the first laser
robot.lock();
ArLaser *firstLaser = robot.findLaser(1);
if (firstLaser == NULL || !firstLaser->isConnected())
{
ArLog::log(ArLog::Normal, "Did not have laser 1 or it is not connected, cannot start localization and/or mapping... exiting");
Aria::exit(2);
}
robot.unlock();
/* Create and set up map object */
// Set up the map object, this will look for files in the examples
// directory (unless the file name starts with a /, \, or .
// You can take out the 'fileDir' argument to look in the program's current directory
// instead.
// When a configuration file is loaded into ArConfig later, if it specifies a
// map file, then that file will be loaded as the map.
ArMap map(fileDir);
// set it up to ignore empty file names (otherwise if a configuration omits
// the map file, the whole configuration change will fail)
map.setIgnoreEmptyFileName(true);
// ignore the case, so that if someone is using MobileEyes or
// MobilePlanner from Windows and changes the case on a map name,
// it will still work.
map.setIgnoreCase(true);
/* Create localization and path planning threads */
ArPathPlanningTask pathTask(&robot, &sonarDev, &map);
ArLog::log(ArLog::Normal, "Creating laser localization task");
// Laser Monte-Carlo Localization
ArLocalizationTask locTask(&robot, firstLaser, &map);
// Set some options on each laser that the laser connector
// connected to.
std::map<int, ArLaser *>::iterator laserIt;
for (laserIt = robot.getLaserMap()->begin();
laserIt != robot.getLaserMap()->end();
laserIt++)
{
int laserNum = (*laserIt).first;
ArLaser *laser = (*laserIt).second;
// Skip lasers that aren't connected
if(!laser->isConnected())
continue;
// add the disconnectOnError CB to shut things down if the laser
// connection is lost
laser->addDisconnectOnErrorCB(&shutdownFunctor);
// set the number of cumulative readings the laser will take
laser->setCumulativeBufferSize(200);
// add the lasers to the path planning task
pathTask.addRangeDevice(laser, ArPathPlanningTask::BOTH);
// set the cumulative clean offset (so that they don't all fire at once)
laser->setCumulativeCleanOffset(laserNum * 100);
// reset the cumulative clean time (to make the new offset take effect)
laser->resetLastCumulativeCleanTime();
// Add the packet count to the Aria info strings (It will be included in
// MobileEyes custom details so you can monitor whether the laser data is
// being received correctly)
std::string laserPacketCountName;
laserPacketCountName = laser->getName();
laserPacketCountName += " Packet Count";
Aria::getInfoGroup()->addStringInt(
laserPacketCountName.c_str(), 10,
new ArRetFunctorC<int, ArLaser>(laser,
&ArLaser::getReadingCount));
}
// Used for optional multirobot features (see below) (TODO move to multirobot
// example?)
ArClientSwitchManager clientSwitch(&server, &parser);
/* Start the server */
// Open the networking server
if (!simpleOpener.open(&server, fileDir, 240))
{
ArLog::log(ArLog::Normal, "Error: Could not open server.");
exit(2);
}
/* Create various services that provide network access to clients (such as
* MobileEyes), as well as add various additional features to ARNL */
// ARNL can optionally get information about the positions of other robots from a
// "central server" (see central server example program), if command
// line options specifying the address of the central server was given.
// If there is no central server, then the address of each other robot
// can instead be given in the configuration, and the multirobot systems
// will connect to each robot (or "peer") individually.
// TODO move this to multirobot example?
bool usingCentralServer = false;
if(clientSwitch.getCentralServerHostName() != NULL)
usingCentralServer = true;
// if we're using the central server then we want to create the
// multiRobot central classes
if (usingCentralServer)
{
// Make the handler for multi robot information (this sends the
// information to the central server)
//ArServerHandlerMultiRobot *handlerMultiRobot =
new ArServerHandlerMultiRobot(&server, &robot,
&pathTask,
&locTask, &map);
// Normally each robot, and the central server, must all have
// the same map name for the central server to share robot
// information. (i.e. they are operating in the same space).
// This changes the map name that ArServerHandlerMutliRobot
// reports to the central server, in case you want this individual
// robot to load a different map file name, but still report
// the common map file to the central server.
//handlerMultiRobot->overrideMapName("central.map");
// the range device that gets the multi robot information from
// the central server and presents it as virtual range readings
// to ARNL
ArMultiRobotRangeDevice *multiRobotRangeDevice = new ArMultiRobotRangeDevice(&server);
robot.addRangeDevice(multiRobotRangeDevice);
pathTask.addRangeDevice(multiRobotRangeDevice,
ArPathPlanningTask::BOTH);
// Set up options for drawing multirobot information in MobileEyes.
multiRobotRangeDevice->setCurrentDrawingData(
new ArDrawingData("polyDots", ArColor(125, 125, 0),
100, 73, 1000), true);
multiRobotRangeDevice->setCumulativeDrawingData(
new ArDrawingData("polyDots", ArColor(125, 0, 125),
100, 72, 1000), true);
// This sets up the localization to use the known poses of other robots
// for its localization in cases where numerous robots crowd out the map.
locTask.setMultiRobotCallback(multiRobotRangeDevice->getOtherRobotsCB());
}
// if we're not using a central server then create the multirobot peer classes
else
{
// set the path planning so it uses the explicit collision range for how far its planning
pathTask.setUseCollisionRangeForPlanningFlag(true);
// make our thing that gathers information from the other servers
ArServerHandlerMultiRobotPeer *multiRobotPeer = NULL;
ArMultiRobotPeerRangeDevice *multiRobotPeerRangeDevice = NULL;
multiRobotPeerRangeDevice = new ArMultiRobotPeerRangeDevice(&map);
// make our thing that sends information to the other servers
multiRobotPeer = new ArServerHandlerMultiRobotPeer(&server, &robot,
&pathTask, &locTask);
// hook the two together so they both know what priority this robot is
multiRobotPeer->setNewPrecedenceCallback(
multiRobotPeerRangeDevice->getSetPrecedenceCallback());
// hook the two together so they both know what priority this
// robot's fingerprint is
multiRobotPeer->setNewFingerprintCallback(
multiRobotPeerRangeDevice->getSetFingerprintCallback());
// hook the two together so that the range device can call on the
// server handler to change its fingerprint
multiRobotPeerRangeDevice->setChangeFingerprintCB(
multiRobotPeer->getChangeFingerprintCB());
// then add the robot to the places it needs to be
robot.addRangeDevice(multiRobotPeerRangeDevice);
pathTask.addRangeDevice(multiRobotPeerRangeDevice,
ArPathPlanningTask::BOTH);
// Set the range device so that we can see the information its using
// to avoid, you can comment these out in order to not see them
multiRobotPeerRangeDevice->setCurrentDrawingData(
new ArDrawingData("polyDots", ArColor(125, 125, 0),
100, 72, 1000), true);
multiRobotPeerRangeDevice->setCumulativeDrawingData(
new ArDrawingData("polyDots", ArColor(125, 0, 125),
100, 72, 1000), true);
// This sets up the localization to use the known poses of other robots
// for its localization in cases where numerous robots crowd out the map.
locTask.setMultiRobotCallback(
multiRobotPeerRangeDevice->getOtherRobotsCB());
}
/* Add additional range devices to the robot and path planning task (so it
avoids obstacles detected by these devices) */
// Add IR range device to robot and path planning task (so it avoids obstacles
// detected by this device)
robot.lock();
ArIRs irs;
robot.addRangeDevice(&irs);
pathTask.addRangeDevice(&irs, ArPathPlanningTask::CURRENT);
// Add bumpers range device to robot and path planning task (so it avoids obstacles
// detected by this device)
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
pathTask.addRangeDevice(&bumpers, ArPathPlanningTask::CURRENT);
// Add range device which uses forbidden regions given in the map to give virtual
// range device readings to ARNL. (so it avoids obstacles
// detected by this device)
ArForbiddenRangeDevice forbidden(&map);
robot.addRangeDevice(&forbidden);
pathTask.addRangeDevice(&forbidden, ArPathPlanningTask::CURRENT);
robot.unlock();
// Action to slow down robot when localization score drops but not lost.
ArActionSlowDownWhenNotCertain actionSlowDown(&locTask);
pathTask.getPathPlanActionGroup()->addAction(&actionSlowDown, 140);
// Action to stop the robot when localization is "lost" (score too low)
ArActionLost actionLostPath(&locTask, &pathTask);
pathTask.getPathPlanActionGroup()->addAction(&actionLostPath, 150);
// Arnl uses this object when it must replan its path because its
// path is completely blocked. It will use an older history of sensor
// readings to replan this new path. This should not be used with SONARNL
// since sonar readings are not accurate enough and may prevent the robot
// from planning through space that is actually clear.
ArGlobalReplanningRangeDevice replanDev(&pathTask);
// Service to provide drawings of data in the map display :
ArServerInfoDrawings drawings(&server);
drawings.addRobotsRangeDevices(&robot);
drawings.addRangeDevice(&replanDev);
/* Draw a box around the local path planning area use this
(You can enable this particular drawing from custom commands
which is set up down below in ArServerInfoPath) */
ArDrawingData drawingDataP("polyLine", ArColor(200,200,200), 1, 75);
ArFunctor2C<ArPathPlanningTask, ArServerClient *, ArNetPacket *>
drawingFunctorP(&pathTask, &ArPathPlanningTask::drawSearchRectangle);
drawings.addDrawing(&drawingDataP, "Local Plan Area", &drawingFunctorP);
/* Show the sample points used by MCL */
ArDrawingData drawingDataL("polyDots", ArColor(0,255,0), 100, 75);
ArFunctor2C<ArLocalizationTask, ArServerClient *, ArNetPacket *>
drawingFunctorL(&locTask, &ArLocalizationTask::drawRangePoints);
drawings.addDrawing(&drawingDataL, "Localization Points", &drawingFunctorL);
// "Custom" commands. You can add your own custom commands here, they will
// be available in MobileEyes' custom commands (enable in the toolbar or
// access through Robot Tools)
ArServerHandlerCommands commands(&server);
// These provide various kinds of information to the client:
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
ArServerInfoPath serverInfoPath(&server, &robot, &pathTask);
serverInfoPath.addSearchRectangleDrawing(&drawings);
serverInfoPath.addControlCommands(&commands);
// Provides localization info and allows the client (MobileEyes) to relocalize at a given
// pose:
ArServerInfoLocalization serverInfoLocalization(&server, &robot, &locTask);
ArServerHandlerLocalization serverLocHandler(&server, &robot, &locTask);
// If you're using MobileSim, ArServerHandlerLocalization sends it a command
// to move the robot's true pose if you manually do a localization through
// MobileEyes. To disable that behavior, use this constructor call instead:
// ArServerHandlerLocalization serverLocHandler(&server, &robot, true, false);
// The fifth argument determines whether to send the command to MobileSim.
// Provide the map to the client (and related controls):
ArServerHandlerMap serverMap(&server, &map);
// These objects add some simple (custom) commands to 'commands' for testing and debugging:
ArServerSimpleComUC uCCommands(&commands, &robot); // Send any command to the microcontroller
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // configure logging
ArServerSimpleComLogRobotConfig configCommands(&commands, &robot); // trigger logging of the robot config parameters
// ArServerSimpleServerCommands serverCommands(&commands, &server); // monitor networking behavior (track packets sent etc.)
// service that allows the client to monitor the communication link status
// between the robot and the client.
//
ArServerHandlerCommMonitor handlerCommMonitor(&server);
// service that allows client to change configuration parameters in ArConfig
ArServerHandlerConfig handlerConfig(&server, Aria::getConfig(),
Arnl::getTypicalDefaultParamFileName(),
Aria::getDirectory());
/* Set up the possible modes for remote control from a client such as
* MobileEyes:
*/
// Mode To go to a goal or other specific point:
ArServerModeGoto modeGoto(&server, &robot, &pathTask, &map,
locTask.getRobotHome(),
locTask.getRobotHomeCallback());
// Mode To stop and remain stopped:
ArServerModeStop modeStop(&server, &robot);
// Cause the sonar to turn off automatically
// when the robot is stopped, and turn it back on when commands to move
// are sent. (Note, if using SONARNL to localize, then don't do this
// since localization may get lost)
ArSonarAutoDisabler sonarAutoDisabler(&robot);
// Teleoperation modes To drive by keyboard, joystick, etc:
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
// ArServerModeDrive modeDrive(&server, &robot); // Older mode for compatability
// Prevent normal teleoperation driving if localization is lost using
// a high-priority action, which enables itself when the particular mode is
// active.
// (You have to enter unsafe drive mode to drive when lost.)
ArActionLost actionLostRatioDrive(&locTask, &pathTask, &modeRatioDrive);
modeRatioDrive.getActionGroup()->addAction(&actionLostRatioDrive, 110);
// Add drive mode section to the configuration, and also some custom (simple) commands:
modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings");
modeRatioDrive.addControlCommands(&commands);
// Wander mode (also prevent wandering if lost):
ArServerModeWander modeWander(&server, &robot);
ArActionLost actionLostWander(&locTask, &pathTask, &modeWander);
modeWander.getActionGroup()->addAction(&actionLostWander, 110);
// This provides a small table of interesting information for the client
// to display to the operator. You can add your own callbacks to show any
// data you want.
ArServerInfoStrings stringInfo(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
// Provide a set of informational data (turn on in MobileEyes with
// View->Custom Details)
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
Aria::getInfoGroup()->addStringDouble(
"Laser Localization Score", 8,
new ArRetFunctorC<double, ArLocalizationTask>(
&locTask, &ArLocalizationTask::getLocalizationScore),
"%.03f");
Aria::getInfoGroup()->addStringInt(
"Laser Loc Num Samples", 8,
new ArRetFunctorC<int, ArLocalizationTask>(
&locTask, &ArLocalizationTask::getCurrentNumSamples),
"%4d");
// Display gyro status if gyro is enabled and is being handled by the firmware (gyro types 2, 3, or 4).
// (If the firmware detects an error communicating with the gyro or IMU it
// returns a flag, and stops using it.)
// (This gyro type parameter, and fault flag, are only in ARCOS, not Seekur firmware)
if(robot.getOrigRobotConfig() && robot.getOrigRobotConfig()->getGyroType() > 1)
{
Aria::getInfoGroup()->addStringString(
"Gyro/IMU Status", 10,
new ArGlobalRetFunctor1<const char*, ArRobot*>(&getGyroStatusString, &robot)
);
}
// Setup the dock if there is a docking system on board.
ArServerModeDock *modeDock = NULL;
modeDock = ArServerModeDock::createDock(&server, &robot, &locTask,
&pathTask);
if (modeDock != NULL)
{
modeDock->checkDock();
modeDock->addAsDefaultMode();
modeDock->addToConfig(Aria::getConfig());
modeDock->addControlCommands(&commands);
}
// Make Stop mode the default (If current mode deactivates without entering
// a new mode, then Stop Mode will be selected)
modeStop.addAsDefaultMode();
// TODO move up near where stop mode is created?
/* Services that allow the client to initiate scanning with the laser to
create maps in Mapper3 (So not possible with SONARNL): */
ArServerHandlerMapping handlerMapping(&server, &robot, firstLaser,
fileDir, "", true);
// make laser localization stop while mapping
handlerMapping.addMappingStartCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(&locTask, &ArLocalizationTask::setIdleFlag, true));
// and then make it start again when we're doine
handlerMapping.addMappingEndCallback(
new ArFunctor1C<ArLocalizationTask, bool>
(&locTask, &ArLocalizationTask::setIdleFlag, false));
// Make it so our "lost" actions don't stop us while mapping
handlerMapping.addMappingStartCallback(actionLostPath.getDisableCB());
handlerMapping.addMappingStartCallback(actionLostRatioDrive.getDisableCB());
handlerMapping.addMappingStartCallback(actionLostWander.getDisableCB());
// And then let them make us stop as usual when done mapping
handlerMapping.addMappingEndCallback(actionLostPath.getEnableCB());
handlerMapping.addMappingEndCallback(actionLostRatioDrive.getEnableCB());
handlerMapping.addMappingEndCallback(actionLostWander.getEnableCB());
// don't let forbidden lines show up as obstacles while mapping
// (they'll just interfere with driving while mapping, and localization is off anyway)
handlerMapping.addMappingStartCallback(forbidden.getDisableCB());
// let forbidden lines show up as obstacles again as usual after mapping
handlerMapping.addMappingEndCallback(forbidden.getEnableCB());
/*
// If we are on a simulator, move the robot back to its starting position,
// and reset its odometry.
// This will allow localizeRobotAtHomeBlocking() below will (probably) work (it
// tries current odometry (which will be 0,0,0) and all the map
// home points.
// (Ignored by a real robot)
//robot.com(ArCommands::SIM_RESET);
*/
// create a pose storage class, this will let the program keep track
// of where the robot is between runs... after we try and restore
// from this file it will start saving the robot's pose into the
// file
ArPoseStorage poseStorage(&robot);
/// if we could restore the pose from then set the sim there (this
/// won't do anything to the real robot)... if we couldn't restore
/// the pose then just reset the position of the robot (which again
/// won't do anything to the real robot)
if (poseStorage.restorePose("robotPose"))
serverLocHandler.setSimPose(robot.getPose());
else
robot.com(ArCommands::SIM_RESET);
/* File transfer services: */
#ifdef WIN32
// Not implemented for Windows yet.
ArLog::log(ArLog::Normal, "Note, file upload/download services are not implemented for Windows; not enabling them.");
#else
// This block will allow you to set up where you get and put files
// to/from, just comment them out if you don't want this to happen
// /*
ArServerFileLister fileLister(&server, fileDir);
ArServerFileToClient fileToClient(&server, fileDir);
ArServerFileFromClient fileFromClient(&server, fileDir, "/tmp");
ArServerDeleteFileOnServer deleteFileOnServer(&server, fileDir);
// */
#endif
/* Video image streaming, and camera controls (Requires SAVserver or ACTS) */
// Forward any video if either ACTS or SAV server are running.
// You can find out more about SAV and ACTS on our website
// http://robots.activmedia.com. ACTS is for color tracking and is
// a seperate product. SAV just does software A/V transmitting and is
// free to all our customers. Just run ACTS or SAV server before you
// start this program and this class here will forward video from the
// server to the client.
ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
// make a camera to use in case we have video. the camera collection collects
// multiple ptz cameras
ArPTZ *camera = NULL;
ArServerHandlerCamera *handlerCamera = NULL;
ArCameraCollection *cameraCollection = NULL;
// if we have video then set up a camera
if (videoForwarder.isForwardingVideo())
{
cameraCollection = new ArCameraCollection();
cameraCollection->addCamera("Cam1", "PTZ", "Camera", "PTZ");
videoForwarder.setCameraName("Cam1");
videoForwarder.addToCameraCollection(*cameraCollection);
camera = new ArVCC4(&robot); //, invertedCamera, ArVCC4::COMM_UNKNOWN, true, true);
// To use an RVision SEE camera instead:
// camera = new ArRVisionPTZ(&robot);
camera->init();
handlerCamera = new ArServerHandlerCamera("Cam1",
&server,
&robot,
camera,
cameraCollection);
pathTask.addGoalFinishedCB(
new ArFunctorC<ArServerHandlerCamera>(
handlerCamera,
&ArServerHandlerCamera::cameraModeLookAtGoalClearGoal));
}
// After all of the cameras / videos have been created and added to the collection,
// then start the collection server.
//
if (cameraCollection != NULL) {
new ArServerHandlerCameraCollection(&server, cameraCollection);
}
/* Load configuration values, map, and begin! */
// When parsing the configuration file, also look at the program's command line options
// from the command-line argument parser as well as the configuration file.
// (So you can use any argument on the command line, namely -map.)
Aria::getConfig()->useArgumentParser(&parser);
puts("xxx");puts("aaa"); fflush(stdout);
// Read in parameter files.
ArLog::log(ArLog::Normal, "Loading config file %s into ArConfig (base directory %s)...", Arnl::getTypicalParamFileName(), Aria::getConfig()->getBaseDirectory());
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
ArLog::log(ArLog::Normal, "Trouble loading configuration file, exiting");
Aria::exit(5);
}
// Warn about unknown params.
if (!simpleOpener.checkAndLog() || !parser.checkHelpAndWarnUnparsed())
{
logOptions(argv[0]);
Aria::exit(6);
}
// Warn if there is no map
if (map.getFileName() == NULL || strlen(map.getFileName()) <= 0)
{
ArLog::log(ArLog::Normal, "");
ArLog::log(ArLog::Normal, "### No map file is set up, you can make a map with the following procedure");
ArLog::log(ArLog::Normal, " 0) You can find this information in README.txt or docs/Mapping.txt");
ArLog::log(ArLog::Normal, " 1) Connect to this server with MobileEyes");
ArLog::log(ArLog::Normal, " 2) Go to Tools->Map Creation->Start Scan");
ArLog::log(ArLog::Normal, " 3) Give the map a name and hit okay");
ArLog::log(ArLog::Normal, " 4) Drive the robot around your space (see docs/Mapping.txt");
ArLog::log(ArLog::Normal, " 5) Go to Tools->Map Creation->Stop Scan");
ArLog::log(ArLog::Normal, " 6) Start up Mapper3");
ArLog::log(ArLog::Normal, " 7) Go to File->Open on Robot");
ArLog::log(ArLog::Normal, " 8) Select the .2d you created");
ArLog::log(ArLog::Normal, " 9) Create a .map");
ArLog::log(ArLog::Normal, " 10) Go to File->Save on Robot");
ArLog::log(ArLog::Normal, " 11) In MobileEyes, go to Tools->Robot Config");
ArLog::log(ArLog::Normal, " 12) Choose the Files section");
ArLog::log(ArLog::Normal, " 13) Enter the path and name of your new .map file for the value of the Map parameter.");
ArLog::log(ArLog::Normal, " 14) Press OK and your new map should become the map used");
ArLog::log(ArLog::Normal, "");
}
// Print a log message notifying user of the directory for map files
ArLog::log(ArLog::Normal, "");
ArLog::log(ArLog::Normal,
"Directory for maps and file serving: %s", fileDir);
ArLog::log(ArLog::Normal, "See the ARNL README.txt for more information");
ArLog::log(ArLog::Normal, "");
// Do an initial localization of the robot. It tries all the home points
// in the map, as well as the robot's current odometric position, as possible
// places the robot is likely to be at startup. If successful, it will
// also save the position it found to be the best localized position as the
// "Home" position, which can be obtained from the localization task (and is
// used by the "Go to home" network request).
locTask.localizeRobotAtHomeBlocking();
// Let the client switch manager (for multirobot) spin off into its own thread
// TODO move to multirobot example?
clientSwitch.runAsync();
// Start the networking server's thread
server.runAsync();
// Add a key handler so that you can exit by pressing
// escape. Note that this key handler, however, prevents this program from
// running in the background (e.g. as a system daemon or run from
// the shell with "&") -- it will lock up trying to read the keys;
// remove this if you wish to be able to run this program in the background.
ArKeyHandler *keyHandler;
if ((keyHandler = Aria::getKeyHandler()) == NULL)
{
keyHandler = new ArKeyHandler;
Aria::setKeyHandler(keyHandler);
robot.lock();
robot.attachKeyHandler(keyHandler);
robot.unlock();
puts("Server running. To exit, press escape.");
}
ArnlASyncTaskExample asyncTaskExample(&pathTask, &robot, &modeGoto, &parser);
// Enable the motors and wait until the robot exits (disconnection, etc.) or this program is
// canceled.
robot.enableMotors();
robot.waitForRunExit();
Aria::exit(0);
}
int main(int argc, char **argv)
{
// mandatory init
Aria::init();
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
// set up our parser
ArArgumentParser parser(&argc, argv);
// load the default arguments
parser.loadDefaultArguments();
// robot
ArRobot robot;
// set up our simple connector
ArRobotConnector robotConnector(&parser, &robot);
// add a gyro, it'll see if it should attach to the robot or not
ArAnalogGyro gyro(&robot);
// set up the robot for connecting
if (!robotConnector.connectRobot())
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
ArDataLogger dataLogger(&robot, "dataLog.txt");
dataLogger.addToConfig(Aria::getConfig());
// our base server object
ArServerBase server;
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
ArServerSimpleOpener simpleOpener(&parser);
ArClientSwitchManager clientSwitchManager(&server, &parser);
// parse the command line... fail and print the help if the parsing fails
// or if the help was requested
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
// Set up where we'll look for files such as user/password
char fileDir[1024];
ArUtil::addDirectories(fileDir, sizeof(fileDir), Aria::getDirectory(),
"ArNetworking/examples");
// first open the server up
if (!simpleOpener.open(&server, fileDir, 240))
{
if (simpleOpener.wasUserFileBad())
printf("Bad user/password/permissions file\n");
else
printf("Could not open server port\n");
exit(1);
}
// Range devices:
ArSonarDevice sonarDev;
robot.addRangeDevice(&sonarDev);
ArIRs irs;
robot.addRangeDevice(&irs);
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
// attach services to the server
ArServerInfoRobot serverInfoRobot(&server, &robot);
ArServerInfoSensor serverInfoSensor(&server, &robot);
ArServerInfoDrawings drawings(&server);
// modes for controlling robot movement
ArServerModeStop modeStop(&server, &robot);
ArServerModeRatioDrive modeRatioDrive(&server, &robot);
ArServerModeWander modeWander(&server, &robot);
modeStop.addAsDefaultMode();
modeStop.activate();
// set up the simple commands
ArServerHandlerCommands commands(&server);
ArServerSimpleComUC uCCommands(&commands, &robot); // send commands directly to microcontroller
ArServerSimpleComMovementLogging loggingCommands(&commands, &robot); // control debug logging
ArServerSimpleComGyro gyroCommands(&commands, &robot, &gyro); // configure gyro
ArServerSimpleComLogRobotConfig configCommands(&commands, &robot); // control more debug logging
ArServerSimpleServerCommands serverCommands(&commands, &server); // control ArNetworking debug logging
ArServerSimpleLogRobotDebugPackets logRobotDebugPackets(&commands, &robot, "."); // debugging tool
// ArServerModeDrive is an older drive mode. ArServerModeRatioDrive is newer and generally performs better,
// but you can use this for old clients if neccesary.
//ArServerModeDrive modeDrive(&server, &robot);
//modeDrive.addControlCommands(&commands); // configure the drive modes (e.g. enable/disable safe drive)
ArServerHandlerConfig serverHandlerConfig(&server, Aria::getConfig()); // make a config handler
ArLog::addToConfig(Aria::getConfig()); // let people configure logging
modeRatioDrive.addToConfig(Aria::getConfig(), "Teleop settings"); // able to configure teleop settings
modeRatioDrive.addControlCommands(&commands);
// Forward video if either ACTS or SAV server are running.
// You can find out more about SAV and ACTS on our website
// http://robots.activmedia.com. ACTS is for color tracking and is
// a separate product. SAV just does software A/V transmitting and is
// free to all our customers. Just run ACTS or SAV server before you
// start this program and this class here will forward video from the
// server to the client.
ArHybridForwarderVideo videoForwarder(&server, "localhost", 7070);
// Control a pan/tilt/zoom camera, if one is installed, and the video
// forwarder was enabled above.
ArPTZ *camera = NULL;
ArServerHandlerCamera *handlerCamera = NULL;
ArCameraCollection *cameraCollection = NULL;
if (videoForwarder.isForwardingVideo())
{
bool invertedCamera = false;
camera = new ArVCC4(&robot, invertedCamera,
ArVCC4::COMM_UNKNOWN, true, true);
camera->init();
cameraCollection = new ArCameraCollection();
cameraCollection->addCamera("Cam1", "VCC4", "Camera", "VCC4");
handlerCamera = new ArServerHandlerCamera("Cam1",
&server,
&robot,
camera,
cameraCollection);
}
// You can use this class to send a set of arbitrary strings
// for MobileEyes to display, this is just a small example
ArServerInfoStrings stringInfo(&server);
Aria::getInfoGroup()->addAddStringCallback(stringInfo.getAddStringFunctor());
Aria::getInfoGroup()->addStringInt(
"Motor Packet Count", 10,
new ArConstRetFunctorC<int, ArRobot>(&robot,
&ArRobot::getMotorPacCount));
/*
Aria::getInfoGroup()->addStringInt(
"Laser Packet Count", 10,
new ArRetFunctorC<int, ArSick>(&sick,
&ArSick::getSickPacCount));
*/
// start the robot running, true means that if we lose connection the run thread stops
robot.runAsync(true);
// connect the laser(s) if it was requested
if (!laserConnector.connectLasers())
{
printf("Could not connect to lasers... exiting\n");
Aria::exit(2);
}
drawings.addRobotsRangeDevices(&robot);
// log whatever we wanted to before the runAsync
simpleOpener.checkAndLog();
// now let it spin off in its own thread
server.runAsync();
printf("Server is now running...\n");
// Add a key handler so that you can exit by pressing
// escape. Note that a key handler prevents you from running
// a program in the background on Linux, since it expects an
// active terminal to read keys from; remove this if you want
// to run it in the background.
ArKeyHandler *keyHandler;
if ((keyHandler = Aria::getKeyHandler()) == NULL)
{
keyHandler = new ArKeyHandler;
Aria::setKeyHandler(keyHandler);
robot.lock();
robot.attachKeyHandler(keyHandler);
robot.unlock();
printf("To exit, press escape.\n");
}
// Read in parameter files.
std::string configFile = "serverDemoConfig.txt";
Aria::getConfig()->setBaseDirectory("./");
if (Aria::getConfig()->parseFile(configFile.c_str(), true, true))
{
ArLog::log(ArLog::Normal, "Loaded config file %s", configFile.c_str());
}
else
{
if (ArUtil::findFile(configFile.c_str()))
{
ArLog::log(ArLog::Normal,
"Trouble loading configuration file %s, continuing",
configFile.c_str());
}
else
{
ArLog::log(ArLog::Normal,
"No configuration file %s, will try to create if config used",
configFile.c_str());
}
}
clientSwitchManager.runAsync();
robot.lock();
robot.enableMotors();
robot.unlock();
robot.waitForRunExit();
Aria::exit(0);
}
// Update breakpoint information
bool BreakPoint::update(string& info_output,
std::ostream& undo_commands,
bool& need_total_undo)
{
string file = file_name();
BreakPoint new_bp(info_output, arg(), number(), file);
bool changed = false;
myenabled_changed = false;
myposition_changed = false;
myfile_changed = false;
myaddress_changed = false;
need_total_undo = false;
const string num = "@" + itostring(number()) + "@";
if (new_bp.number() != number())
{
mynumber = new_bp.number();
need_total_undo = changed = true;
}
if (new_bp.type() != type())
{
mytype = new_bp.type();
need_total_undo = changed = myenabled_changed = true;
}
if (new_bp.dispo() != dispo())
{
need_total_undo = changed = myenabled_changed = true;
mydispo = new_bp.dispo();
}
if (new_bp.watch_mode() != watch_mode())
{
need_total_undo = changed = myenabled_changed = true;
mywatch_mode = new_bp.watch_mode();
}
if (new_bp.myenabled != myenabled)
{
changed = myenabled_changed = true;
myenabled = new_bp.myenabled;
if (myenabled)
{
if (gdb->has_disable_command())
undo_commands << gdb->disable_command(num) << "\n";
else
need_total_undo = true;
}
else
{
if (gdb->has_enable_command())
undo_commands << gdb->enable_command(num) << "\n";
else
need_total_undo = true;
}
}
if (type() == BREAKPOINT)
{
if (new_bp.address() != address())
{
changed = myaddress_changed = true;
myaddress = new_bp.address();
}
if (new_bp.func() != func())
{
changed = myposition_changed = true;
myfunc = new_bp.func();
}
if (new_bp.file_name() != file_name())
{
changed = myposition_changed = myfile_changed = true;
myfile_name = new_bp.file_name();
}
if (new_bp.line_nr() != line_nr())
{
changed = myposition_changed = true;
myline_nr = new_bp.line_nr();
}
}
else if (type() == WATCHPOINT)
{
if (new_bp.expr() != expr())
{
changed = true;
myexpr = new_bp.expr();
}
}
if (new_bp.infos() != infos())
{
changed = true;
myinfos = new_bp.infos();
}
if (new_bp.ignore_count() != ignore_count())
{
if (gdb->has_ignore_command())
undo_commands << gdb->ignore_command(num, myignore_count) << "\n";
else
need_total_undo = true;
changed = myenabled_changed = true;
myignore_count = new_bp.ignore_count();
}
if (new_bp.mycondition != mycondition)
{
if (gdb->has_condition_command())
undo_commands << gdb->condition_command(num, condition()) << "\n";
else
need_total_undo = true;
changed = myenabled_changed = true;
mycondition = new_bp.mycondition;
}
if (!equal(new_bp.commands(), commands()))
{
if (gdb->type() == GDB || gdb->type() == PYDB || gdb->type() == BASH)
{
undo_commands << "commands " << num << '\n';
for (int i = 0; i < commands().size(); i++)
undo_commands << commands()[i] << '\n';
undo_commands << "end\n";
}
changed = myenabled_changed = true;
mycommands = new_bp.commands();
}
return changed;
}
/*
* Main procedure. Process arguments and then
* transfer control to the main command processing loop
* in the routine commands. We are entered as either "ex", "edit" or "vi"
* and the distinction is made here. Actually, we are "vi" if
* there is a 'v' in our name, and "edit" if there is a 'd' in our
* name. For edit we just diddle options; for vi we actually
* force an early visual command, setting the external initev so
* the q command in visual doesn't give command mode.
*/
int
main(int ac, char **av)
{
#if 0
char *erpath = EXSTRINGS;
#endif
register char *cp;
register int c;
bool recov = 0;
bool ivis = any('v', av[0]);
bool itag = 0;
bool fast = 0;
#ifdef TRACE
register char *tracef;
#endif
/*
* Immediately grab the tty modes so that we wont
* get messed up if an interrupt comes in quickly.
*/
gTTY(1);
normf = tty;
#if 0
/*
* For debugging take files out of . if name is a.out.
* If a 'd' in our name, then set options for edit.
*/
if (av[0][0] == 'a')
erpath += 9;
#endif
if (ivis) {
options[MAGIC].odefault = value(MAGIC) = 0;
options[BEAUTIFY].odefault = value(BEAUTIFY) = 1;
} else if (any('d', av[0])) {
value(OPEN) = 0;
value(REPORT) = 1;
value(MAGIC) = 0;
}
/*
* Open the error message file.
*/
draino();
#if 0
erfile = open(erpath, 0);
if (erfile < 0) {
flush();
exit(1);
}
#endif
pstop();
/*
* Initialize interrupt handling.
*/
oldhup = signal(SIGHUP, SIG_IGN);
if (oldhup == SIG_DFL)
signal(SIGHUP, onhup);
oldquit = signal(SIGQUIT, SIG_IGN);
ruptible = signal(SIGINT, SIG_IGN) == SIG_DFL;
if (signal(SIGTERM, SIG_IGN) == SIG_DFL)
signal(SIGTERM, onhup);
/*
* Initialize end of core pointers.
* Normally we avoid breaking back to fendcore after each
* file since this can be expensive (much core-core copying).
* If your system can scatter load processes you could do
* this as ed does, saving a little core, but it will probably
* not often make much difference.
*/
#ifdef UNIX_SBRK
fendcore = (line *) sbrk(0);
endcore = fendcore - 2;
#else
# define LINELIMIT 0x8000
fendcore = malloc(LINELIMIT * sizeof(line *));
endcore = fendcore + LINELIMIT - 1;
#endif
/*
* Process flag arguments.
*/
ac--, av++;
while (ac && av[0][0] == '-') {
c = av[0][1];
if (c == 0) {
hush = 1;
value(AUTOPRINT) = 0;
fast++;
} else switch (c) {
#ifdef TRACE
case 'T':
if (av[0][2] == 0)
tracef = "trace";
else {
tracef = tttrace;
tracef[8] = av[0][2];
if (tracef[8])
tracef[9] = av[0][3];
else
tracef[9] = 0;
}
trace = fopen(tracef, "w");
if (trace == NULL)
ex_printf("Trace create error\n");
setbuf(trace, tracbuf);
break;
#endif
#ifdef LISP
case 'l':
value(LISP) = 1;
value(SHOWMATCH) = 1;
break;
#endif
case 'r':
recov++;
break;
case 't':
if (ac > 1 && av[1][0] != '-') {
ac--, av++;
itag = 1;
/* BUG: should check for too long tag. */
CP(lasttag, av[0]);
}
break;
case 'v':
globp = "";
ivis = 1;
break;
default:
smerror("Unknown option %s\n", av[0]);
break;
}
ac--, av++;
}
if (ac && av[0][0] == '+') {
firstln = getn(av[0] + 1);
if (firstln == 0)
firstln = 20000;
ac--, av++;
}
/*
* If we are doing a recover and no filename
* was given, then execute an exrecover command with
* the -r option to type out the list of saved file names.
* Otherwise set the remembered file name to the first argument
* file name so the "recover" initial command will find it.
*/
if (recov) {
if (ac == 0) {
die++;
setrupt();
execl(EXRECOVER, "exrecover", "-r", NULL);
filioerr(EXRECOVER);
exit(1);
}
CP(savedfile, *av);
av++, ac--;
}
/*
* Initialize the argument list.
*/
argv0 = av;
argc0 = ac;
args0 = av[0];
erewind();
/*
* Initialize a temporary file (buffer) and
* set up terminal environment. Read user startup commands.
*/
init();
if (setexit() == 0) {
setrupt();
intty = isatty(0);
if (fast || !intty)
setterm("dumb");
else {
gettmode();
if ((cp = getenv("TERM")) != 0)
setterm(cp);
if ((cp = getenv("HOME")) != 0)
source(strcat(strcpy(genbuf, cp), "/.exrc"), 1);
}
}
/*
* Initial processing. Handle tag, recover, and file argument
* implied next commands. If going in as 'vi', then don't do
* anything, just set initev so we will do it later (from within
* visual).
*/
if (setexit() == 0) {
if (recov)
globp = "recover";
else if (itag)
globp = ivis ? "tag" : "tag|p";
else if (argc)
globp = "next";
if (ivis)
initev = globp;
else if (globp) {
inglobal = 1;
commands(1, 1);
inglobal = 0;
}
}
/*
* Vi command... go into visual.
* Strange... everything in vi usually happens
* before we ever "start".
*/
if (ivis) {
/*
* Don't have to be upward compatible with stupidity
* of starting editing at line $.
*/
if (dol > zero)
dot = one;
globp = "visual";
if (setexit() == 0)
commands(1, 1);
}
/*
* Clear out trash in state accumulated by startup,
* and then do the main command loop for a normal edit.
* If you quit out of a 'vi' command by doing Q or ^\,
* you also fall through to here.
*/
ungetchar(0);
globp = 0;
initev = 0;
setlastchar('\n');
setexit();
commands(0, 0);
cleanup(1);
return 0;
}
// ------------------------------------------------------------------------------
// TOP
// ------------------------------------------------------------------------------
int
top (int argc, char **argv)
{
// --------------------------------------------------------------------------
// PARSE THE COMMANDS
// --------------------------------------------------------------------------
// Default input arguments
char *uart_name = (char*)"/dev/ttyUSB0";
int baudrate = 57600;
// do the parse, will throw an int if it fails
parse_commandline(argc, argv, uart_name, baudrate);
// --------------------------------------------------------------------------
// PORT and THREAD STARTUP
// --------------------------------------------------------------------------
/*
* Instantiate a serial port object
*
* This object handles the opening and closing of the offboard computer's
* serial port over which it will communicate to an autopilot. It has
* methods to read and write a mavlink_message_t object. To help with read
* and write in the context of pthreading, it gaurds port operations with a
* pthread mutex lock.
*
*/
Serial_Port serial_port(uart_name, baudrate);
/*
* Instantiate an autopilot interface object
*
* This starts two threads for read and write over MAVlink. The read thread
* listens for any MAVlink message and pushes it to the current_messages
* attribute. The write thread at the moment only streams a position target
* in the local NED frame (mavlink_set_position_target_local_ned_t), which
* is changed by using the method update_setpoint(). Sending these messages
* are only half the requirement to get response from the autopilot, a signal
* to enter "offboard_control" mode is sent by using the enable_offboard_control()
* method. Signal the exit of this mode with disable_offboard_control(). It's
* important that one way or another this program signals offboard mode exit,
* otherwise the vehicle will go into failsafe.
*
*/
Autopilot_Interface autopilot_interface(&serial_port);
/*
* Setup interrupt signal handler
*
* Responds to early exits signaled with Ctrl-C. The handler will command
* to exit offboard mode if required, and close threads and the port.
* The handler in this example needs references to the above objects.
*
*/
serial_port_quit = &serial_port;
autopilot_interface_quit = &autopilot_interface;
signal(SIGINT,quit_handler);
/*
* Start the port and autopilot_interface
* This is where the port is opened, and read and write threads are started.
*/
serial_port.start();
autopilot_interface.start();
// --------------------------------------------------------------------------
// RUN COMMANDS
// --------------------------------------------------------------------------
/*
* Now we can implement the algorithm we want on top of the autopilot interface
*/
commands(autopilot_interface);
// --------------------------------------------------------------------------
// THREAD and PORT SHUTDOWN
// --------------------------------------------------------------------------
/*
* Now that we are done we can stop the threads and close the port
*/
autopilot_interface.stop();
serial_port.stop();
// --------------------------------------------------------------------------
// DONE
// --------------------------------------------------------------------------
// woot!
return 0;
}
hkDemo::Result WorldRayCastMultithreadedDemo::stepDemo()
{
// const WorldRayCastMultithreadedDemoVariant& variant = g_WorldRayCastMultithreadedDemoVariants[m_variantId];
m_time += m_timestep;
// The start point of the ray remains fixed in world space with the destination point of the
// ray being varied in both the X and Y directions. This is achieved with simple
// sine and cosine functions calls using the current time as the varying parameter:
hkReal xDir = 12.0f * hkMath::sin(m_time * 0.3f);
hkReal yDir = 12.0f * hkMath::cos(m_time * 0.3f);
// For this demo an array of size 1 is sufficient.
hkArray<hkpWorldRayCastOutput> resultArray(1);
const int numCommands = 1;
hkArray<hkpWorldRayCastCommand> commands(numCommands);
{
hkpWorldRayCastCommand& command = commands[0];
command.m_rayInput.m_from . set(0.0f, 0.0f, 15.0f);
command.m_rayInput.m_to . set( xDir, yDir, -15.0f);
command.m_rayInput.m_enableShapeCollectionFilter = false;
command.m_rayInput.m_filterInfo = 0;
command.m_results = resultArray.begin();
command.m_resultsCapacity = 1;
command.m_numResultsOut = 0;
}
//
// create the job header
//
hkpCollisionQueryJobHeader* jobHeader;
{
jobHeader = hkAllocateChunk<hkpCollisionQueryJobHeader>(1, HK_MEMORY_CLASS_DEMO);
}
//
// setup hkpWorldRayCastJob
//
m_world->markForRead();
hkpWorldRayCastJob worldRayCastJob(m_world->getCollisionInput(), jobHeader, commands.begin(), numCommands, m_world->m_broadPhase, &m_semaphore);
m_world->unmarkForRead();
//
// Put the job on the queue, kick-off the PPU/SPU threads and wait for everything to finish.
//
{
m_world->lockReadOnly();
//
// Put the raycast job on the job queue.
//
worldRayCastJob.setRunsOnSpuOrPpu();
m_jobQueue->addJob( worldRayCastJob, hkJobQueue::JOB_LOW_PRIORITY );
m_jobThreadPool->processAllJobs( m_jobQueue );
m_jobThreadPool->waitForCompletion();
//
// Wait for the one single job we started to finish.
//
m_semaphore.acquire();
m_world->unlockReadOnly();
}
//
// Display results.
//
if( commands[0].m_numResultsOut > 0 )
{
hkVector4 intersectionPointWorld;
intersectionPointWorld.setInterpolate4( commands[0].m_rayInput.m_from, commands[0].m_rayInput.m_to, commands[0].m_results->m_hitFraction );
HK_DISPLAY_LINE( commands[0].m_rayInput.m_from, intersectionPointWorld, hkColor::RED);
HK_DISPLAY_ARROW( intersectionPointWorld, commands[0].m_results->m_normal, hkColor::CYAN);
}
else
{
// Otherwise draw as GREY
HK_DISPLAY_LINE(commands[0].m_rayInput.m_from, commands[0].m_rayInput.m_to, hkColor::rgbFromChars(200, 200, 200));
}
//
// Free temporarily allocated memory.
//
hkDeallocateChunk(jobHeader, 1, HK_MEMORY_CLASS_DEMO);
return hkDefaultPhysicsDemo::stepDemo();
}
int main(int argc, char *argv[])
{
int i;
signal(SIGINT, SIG_IGN);
setbuf(stdin, NULL);
// windows only:
SYSTEM_INFO sysinfo;
std::cout << KENNY_PROG_VERSION << std::endl;
#ifdef KENNY_DEBUG_PERFT
std::cout << "KENNY_DEBUG_PERFT defined" << std::endl;
#endif
#ifdef KENNY_DEBUG_MOVES
std::cout << "KENNY_DEBUG_MOVES defined" << std::endl;
#endif
#ifdef KENNY_VERBOSE_EVAL
std::cout << "KENNY_VERBOSE_EVAL defined" << std::endl;
#endif
#ifdef KENNY_DEBUG_EVAL
std::cout << "KENNY_DEBUG_EVAL defined" << std::endl;
#endif
#ifdef KENNY_VERBOSE_SEE
std::cout << "KENNY_VERBOSE_SEE defined" << std::endl;
#endif
#ifdef KENNY_DEBUG_WINBOARD
std::cout << "KENNY_DEBUG_WINBOARD defined" << std::endl;
#endif
#ifdef KENNY_CUSTOM_VALUES
std::cout << "KENNY_CUSTOM_VALUES defined" << std::endl;
#endif
#ifdef KENNY_CUSTOM_POSVALS
std::cout << "KENNY_CUSTOM_VALUES defined" << std::endl;
#endif
#ifdef KENNY_CUSTOM_PSTABLES
std::cout << "KENNY_CUSTOM_PSTABLES defined" << std::endl;
#endif
#ifdef KENNY_CUSTOM_ENDGAME
std::cout << "KENNY_CUSTOM_ENDGAME defined" << std::endl;
#endif
dataInit();
board.init();
// windows only:
GetSystemInfo(&sysinfo);
if (sysinfo.wProcessorArchitecture == PROCESSOR_ARCHITECTURE_INTEL)
std::cout << "Version: X86, ";
else if (sysinfo.wProcessorArchitecture == PROCESSOR_ARCHITECTURE_IA64)
std::cout << "Version: IA64, ";
else if (sysinfo.wProcessorArchitecture == PROCESSOR_ARCHITECTURE_AMD64)
std::cout << "Version: X64, ";
std::cout << sysinfo.dwNumberOfProcessors << " CPU's (1 CPU used)" << std::endl;
std::cout << "Search structure = " << sizeof(board)/1024 << "kB" << std::endl;
// read the initialization file:
strcpy(PATHNAME, argv[0]);
strcpy(INIFILE, "KENNYx.ini"); // default name
// check command-line to see if we need to use another ini-file:
// usage: "KENNYx.exe i=somefile.ini"
for (i = 1; i < argc; i++)
{
if (!strncmp(argv[i], "i=", 2)) sscanf_s(argv[i]+2,"%s", INIFILE);
}
readIniFile();
std::cout << "'help' displays a list of commands" << std::endl;
commands();
return 0;
}
