int main()
{
project1();
program2();
project3();
return 0;
}
void Blinker::_blink(void){
int maximumCount = 10;
switch(_program){
case 0:
program0(); break;
case 1:
maximumCount = 30;
program1(); break;
case 2:
maximumCount = 90;
program2(); break;
}
_program_count++;
if(_program_count > maximumCount){
_program++;
_program_count = 0;
for(int i = 0; i < _array_size; i++)
values[i] = 0;
}
if(_program > 2)
_program = 0;
}
int TestCustom59::execute()
{
mStoreCtx = NULL;
// Open the store.
bool lSuccess = true;
if (MVTApp::startStore())
{
mStoreCtx = MVTApp::getStoreCtx();
ISession * lSession = MVTApp::startSession();
MVTApp::mapURIs(lSession, "testcustom59.prop.", 2, mPropIds);
if (!program1(*lSession)) lSuccess = false;
if (!program2(*lSession)) lSuccess = false;
if (!program3(*lSession)) lSuccess = false;
if (!program4(*lSession)) lSuccess = false;
if (!program5(*lSession)) lSuccess = false;
if (!program5b(*lSession)) lSuccess = false;
if (!program6(*lSession)) lSuccess = false;
if (!program7(*lSession)) lSuccess = false;
if (!program8(*lSession)) lSuccess = false;
if (!program9(*lSession)) lSuccess = false;
if (!program10(*lSession)) lSuccess = false;
if (!program11(*lSession)) lSuccess = false;
// Cleanup.
lSession->terminate();
MVTApp::stopStore();
}
return lSuccess ? 0 : 1;
}
bool NMCFile::loadFile(const std::string& filename)
{
FILE* handle = NULL;
try{
handle = fopen(filename.c_str(), "rb");
if(handle == NULL) return false;
std::unique_ptr<char> name1(new char[33]); // US-ASCII chars
std::unique_ptr<char> name2(new char[33]);
unsigned int len = 0;
if(fread(name1.get(), sizeof(char), 32, handle) != 32){
fclose(handle);
return false;
}
if(fread(name2.get(), sizeof(char), 32, handle) != 32){
fclose(handle);
return false;
}
if(fread(&len, sizeof(unsigned int), 1, handle) != 1){ // assumes little endianess here...
fclose(handle);
return false;
}
if(len > 10000){ // sanity check [in practice values must be always "small"]
fclose(handle);
return false;
}
name1.get()[32] = '\0';
name2.get()[32] = '\0';
// next we read actual "program" data (floats)
std::unique_ptr<float> program1(new float[len]); // 32bit floats [little endian]
std::unique_ptr<float> program2(new float[len]);
if(fread(program1.get(), sizeof(float), len, handle) != len){
fclose(handle);
return false;
}
if(fread(program2.get(), sizeof(float), len, handle) != len){
fclose(handle);
return false;
}
// all data has been successfully read, stores values to internal class variables
signalName[0] = std::string(name1.get());
signalName[1] = std::string(name2.get());
// trimming
signalName[0].erase(signalName[0].find_last_not_of(" ")+1);
signalName[1].erase(signalName[1].find_last_not_of(" ")+1);
program[0].resize(len);
program[1].resize(len);
for(unsigned int i=0;i<len;i++){
program[0][i] = program1.get()[i];
program[1][i] = program2.get()[i];
}
fclose(handle);
return true;
}
catch(std::exception& e){
return false;
}
}
task main()
{
//waitForStart();
/*
list of programs
starting |what to
position |do
______________________________
1 ramp |knock down poles
2 parking |knock down poles
3 |
4 |
5 |
6 |
7 |
8 |
10 |
11 |
12 |
13 |
14 |
15 anywhere|go straight 5 seconds
*/
wait1Msec(2000);
disableDiagnosticsDisplay();
short colorValues[4];//these are the scanned values
int j;
long r;
long g;
long b;
// wait1Msec(500);
int minDifference = 32767; // MAX_INT
int selectedColor = 0;//this is the color closest to the scanned color
while(true)
{
for(j =0; j<4; j++)//get color sensor values
{
getColorSensorData(colorPort, 0, &colorValues[j]);
r = colorValues[0];
g = colorValues[1];
b = colorValues[2];
}
for(int i = 0; i < COLOR_COUNT; i++)//here we find the closest color in our database
{
difference(//passing in the database values and the scanned values to find the difference
colorTags[i][0],
colorTags[i][1],
colorTags[i][2],
r, g, b);
long diff = thediff;
if (diff <= minDifference) {//if the difference between the color in the database that we are currently checking and the scanned color
minDifference = diff; //is less than the smallest difference between the other database colors, then the database color we are
selectedColor = i; //currently checking is the closest match so far
}
nxtDisplayCenteredTextLine(0, "%d, %d", diff, minDifference);//print all the values
nxtDisplayCenteredTextLine(1, "%d,%d,%d", colorValues[0], colorValues[1], colorValues[2]);
nxtDisplayCenteredTextLine(4, "%d,%d,%d,", colorTags[i][0], colorTags[i][1], colorTags[i][2]);
}
nxtDisplayCenteredTextLine(2, "%s", colornames[selectedColor]);
nxtDisplayCenteredTextLine(3, "Is this the color?");
if(nNxtButtonPressed==2)
{
break;
}
}
waitForStart();
switch(selectedColor)
{
case 1:
program1();
break;
case 2:
program2();
break;
/*case 3:
break;
case 4:
break;
case 5:
break;
case 6:
break;
case 7:
break;
case 8:
break;
case 9:
break;
case 10:
break;
case 11:
break;
case 12:
break;
case 13:
break;
case 14:
break;*/
case 15:
program15();
break;
default:
program15();
break;
}
}
