void ASTPrint( int lev, ASTNode node )
{
if (! node)
{
indent( lev ); ec_stderr_printf( "NULL" );
return;
}
/* Simplify our lives ... */
if (currentScope)
{
if (currentScope->type == PackageScope)
{
currentPackage = currentScope->target;
currentBytecode = EC_PACKAGECODE(currentScope->target);
} else
{
currentBytecode = currentScope->target;
}
currentLiteral = EC_COMPILEDLFRAME(currentBytecode);
}
switch ( node->type )
{
case nullType:
indent( lev ); ec_stderr_printf( "<nullType>" );
break;
case symbolType:
printSymbol( lev, node );
break;
case qualifiedSymbolType:
printQualifiedSymbol( lev, node );
break;
case constExprType:
printConstant( lev, node );
break;
case variableExprType:
printVariable( lev, node );
break;
case arrayConstructionExprType:
printArrayCons( lev, node );
break;
case hashConstructionExprType:
printHashCons( lev, node );
break;
case unaryExprType:
printUnary( lev, node );
break;
case binaryExprType:
printBinary( lev, node );
break;
case conditionalExprType:
printConditional( lev, node );
break;
case orExprType:
printOr( lev, node );
break;
case andExprType:
printAnd( lev, node );
break;
case assignExprType:
printAssign( lev, node );
break;
case simAssignExprType:
printSimAssign( lev, node );
break;
case arrayRefExprType:
printArrayRef( lev, node );
break;
case declNodeType:
printDecl( lev, node );
break;
case declAtomNodeType:
printDeclAtom( lev, node );
break;
case statementType:
printStatement( lev, node );
break;
case labeledStmtType:
printLabeledStmt( lev, node );
break;
case exprStmtType:
printExprStmt( lev, node );
break;
case ifStmtType:
printIf( lev, node );
break;
case whileStmtType:
printWhile( lev, node );
break;
case doStmtType:
printDo( lev, node );
break;
case forStmtType:
printFor( lev, node );
break;
case forInStmtType:
printForIn( lev, node );
break;
case breakStmtType:
printBreak( lev, node );
break;
case continueStmtType:
printContinue( lev, node );
break;
case gotoStmtType:
printGoto( lev, node );
break;
case tryStmtType:
printTry( lev, node );
break;
case catchStmtType:
printCatch( lev, node );
break;
case throwStmtType:
printThrow( lev, node );
break;
case importStmtType:
printImport( lev, node );
break;
case paramNodeType:
printParam( lev, node );
break;
case paramListType:
printParamList( lev, node );
break;
case callNodeType:
printCall( lev, node );
break;
case methodCallNodeType:
printMethodCall( lev, node );
break;
case stmtListType:
printStmtList( lev, node );
break;
case funcNodeType:
printFunction( lev, node );
break;
case returnNodeType:
printReturn( lev, node );
break;
case classNodeType:
printClass( lev, node );
break;
case methodNodeType:
printMethod( lev, node );
break;
case packageNodeType:
printPackage( lev, node );
break;
}
}
/////////////////////////////////////////////////////////////////////////////////////////
// CAN message dispatcher
void ProcessCANMessage(int index)
{
unsigned char fn_code;
unsigned char node_id;
//unsigned short obj_index;
//unsigned char sub_index;
unsigned char len;
unsigned char data[8];
unsigned char data_return = 0;
//int i;
while (0 == can_get_message(CAN_Ch[index], fn_code, node_id, len, data, false))
{
switch (fn_code)
{
case COBTYPE_TxSDO:
{
}
break;
case COBTYPE_TxPDO1:
{
UpdateStatus(index, node_id, MAKEWORD(data[4], data[5]));
printf("\tTxPDO1[node=%d]\n", node_id);
printf("\t\tstatus word = ");
printBinary(data[5]);
printf(" ");
printBinary(data[4]);
printf("b\n");
printf("\t\tDI = ");
printBinary(data[2]);
printf(" ");
printBinary(data[1]);
printf(" ");
printBinary(data[0]);
printf("b\n");
}
break;
case COBTYPE_TxPDO2:
{
printf("\tTxPDO2[node=%d]: ", node_id);
printf("%c%c[%d] = ", data[0], data[1], (data[2] | ((unsigned short)(data[3]&0x3F)<<8)));
if ((data[3]&0x40) != 0) {
printf("ERROR(%04X %04Xh)", MAKEWORD(data[6], data[7]), MAKEWORD(data[4], data[5]));
}
else {
if ((data[3]&0x80) != 0) {
printf("%f", (float)(MAKEWORD(data[4], data[5]), MAKEWORD(data[6], data[7])));
}
else {
printf("%d", (int)(MAKEWORD(data[4], data[5]), MAKEWORD(data[6], data[7])));
}
}
printf("\n");
}
break;
case COBTYPE_TxPDO3:
{
long enc_counter;
printf("\tTxPDO3[node=%d]\n", node_id);
enc_counter = MAKELONG(MAKEWORD(data[0], data[1]), MAKEWORD(data[2], data[3]));
printf("\t\tdemand position = %.1f (deg) / %d (count)\n", COUNT2DEG(enc_counter), enc_counter);
enc_counter = MAKELONG(MAKEWORD(data[4], data[5]), MAKEWORD(data[6], data[7]));
printf("\t\tactual position = %.1f (deg) / %d (count)\n", COUNT2DEG(enc_counter), enc_counter);
}
break;
case COBTYPE_TxPDO4:
{
printf("\tTxPDO4[node=%d]: ", node_id);
printf("\n");
}
break;
}
}
}
int main(int argc, char ** argv){
int input = atoi(argv[1]);
printBinary(input);
printf("number of 1 bits in input is: %d",bitCount(input));
}
