int main(int argc, char** argv)
{
if (argc != 3)
{
die_printf("Usage: %s <nitf/xml-file/nitf-dir> <sidd|sicd>\n", argv[0]);
}
// Is the data type SICD or SIDD
std::string dataType = argv[2];
// Ignore case to be safe
str::lower(dataType);
// And check that everything is ok
if (dataType != "sicd" && dataType != "sidd")
die_printf("Error - data type should be sicd or sidd");
// Do this prior to reading any XML
registerHandlers();
// The input file (an XML or a NITF file)
sys::Path inputFile(argv[1]);
std::vector<sys::Path> paths;
if (inputFile.isDirectory())
{
std::vector<std::string> listing = inputFile.list();
for (unsigned int i = 0; i < listing.size(); ++i)
{
if (str::endsWith(listing[i], "ntf") || str::endsWith(listing[i],
"nitf")
|| str::endsWith(listing[i], "xml"))
{
paths.push_back(sys::Path(inputFile, listing[i]));
}
}
}
else
{
paths.push_back(inputFile);
}
for (unsigned int i = 0; i < paths.size(); ++i)
{
std::cout << "Parsing file: " << paths[i].getPath() << std::endl;
run(paths[i].getPath(), dataType);
}
return 0;
}
bool Oomd::prepareRun() {
if (cgroups_.size() == 0) {
XLOG(ERR) << "OOM detection or OOM killer classes not injected";
return false;
}
if (!tunables_) {
XLOG(ERR) << "Tunables not injected";
return false;
}
if (!registerHandlers()) {
XLOG(ERR) << "Unable to register signal handlers";
return false;
}
updateTunables();
return true;
}
int main( int argc, const char **argv)
{
int maxfd = 1, select_resp = 0;
char stdin_buffer[256] = {0}, serial_buffer[256] = {0};
int stdin_idx = 0;
int c = 0;
struct timeval timeout;
fd_set readfd, writefd;
fd_set readfd_b, writefd_b;
ps = new protocol::PacketServer();
registerHandlers(ps);
ps->start();
createPacketBoards();
int i,j;
double left, right;
double sensors_value[8];
int sensors[6];
// Pesos de pre definidos para la rueda izquierda (-s# para la derecha)
double w0 = -0.9, w2 = -0.2, w5 = 0.35, w7 = 0.6;
// Pesos de prueba para la rueda izquierda (-s# para la derecha)
double w1 = -0.85, w3 = 0.6, w4 = 0.5, w6 = 0.8;
// Definicion de los pesos para braitenberg
double bc[8][2] = { {w0,-w0}, {w1,-w1}, {w2,-w2}, {w3,w3},
{w4,w4}, {w5,-w5}, {w6,-w6}, {w7,-w7}};
/* main loop */
for (;;) {
/* get sensors values */
//Derecha
distanceSensorHandler2->getValue(sensors, 6);
for (i = 0; i < 4; i++) {
sensors_value[i] = sensors[i];
}
//Izquierda
distanceSensorHandler0->getValue(sensors, 6);
for (i = 0; i < 4; i++) {
sensors_value[7-i] = sensors[i];
}
left = 40.0;
right = 40.0;
for (j = 0; j < 8; j++) {
left += bc[j][0] * sensors_value[j];
right += bc[j][1] * sensors_value[j];
printf("Valor (%d): %g\n",j,sensors_value[j]);
}
// Para que vaya mas rapido...
//left *=20;
//right *=20;
/* set speed values */
dcMotorHandler0->setSpeed(right);
dcMotorHandler1->setSpeed(left);
printf("Left: %g\tRight: %g\n", left, right);
delay_centecimos(1);
}
return 0;
}
//--------------------------------------------------------------------------------
kissmq::kissmq() : Server("localhost", "9100", 1)
{
kisscpp::LogStream log(-1, __PRETTY_FUNCTION__, "/tmp/kissmq.log", true);
registerHandlers();
}
