/**
* @brief startInteractiveMode : starts the interactive mode
* (blocks until it is exited)
* @param s : The sphero to control
*/
void InteractiveController::startInteractiveMode(Sphero *s)
{
this->s = s;
if(!isConnected()) return;
ja->startListener();
commandMode = mode::CLASSIC;
cout << "************************************" << endl;
cout << "* welcome to interactive mode *" <<endl;
classicHelp();
BufferToggle bt;
bt.off();
int input;
timeval lastInput, now;
double elapsedTime;
// start timer
gettimeofday(&lastInput, NULL);
do
{
input = getchar();
switch (commandMode)
{
case mode::CLASSIC:
handleKeysClassic(input, lastInput);
break;
case mode::CALIBRATE:
handleKeysCalibrate(input, lastInput);
break;
case mode::JOYSTICK:
handleKeysJoystick(lastInput);
break;
}
#ifdef MAP
if(input != -1)
cout << "You pressed key ID: " << input << endl;
#endif
gettimeofday(&now, NULL);
elapsedTime = (now.tv_sec - lastInput.tv_sec) * 1000.0; // sec to ms
elapsedTime += (now.tv_usec - lastInput.tv_usec) / 1000.0;
//cout << elapsedTime << endl;
if(elapsedTime >= 120)
s->roll((uint8_t) 0 % 256, (uint16_t) lastAngle % 0x10000);
usleep(8000);
}while(input != global::_KEY_QUIT);
bt.on();
ja->stop();
}
int main(int argc, const char * argv[]) {
if (argc < 2) {
cout << "Usage: " << argv[0] << " assembly_file_name.asm" << endl;
return 0;
}
SourceReader sourceReader(argv[1]);
sourceReader.findLabelAddresses();
sourceReader.constructInstructionList();
vector<Instruction> originalInstructionList = sourceReader.getInstructionList();
vector<SimulatedInstruction> simulatedInstructionList = vector<SimulatedInstruction>();
cout << "-------------Start Simulation-------------" << endl;
cout << "Original number of instructions : " << originalInstructionList.size() << endl;
cout << string(OUTPUT_WIDTH, '-') << endl;
for (Instruction instruction: originalInstructionList) {
simulatedInstructionList.push_back(SimulatedInstruction(instruction));
}
// Inserts an end instruction followed by 3 'NOPs' to terminate the instruction list
// An end NOP instruction is used to indicate the end of the instruction list
SimulatedInstruction end = SimulatedInstruction();
end.originalString = "end";
end.opcodeString = "end";
simulatedInstructionList.push_back(end);
fill_n(back_inserter(simulatedInstructionList), 3, SimulatedInstruction());
for (int i = 0; i < simulatedInstructionList.size(); i++) {
simulatedInstructionList[i].instructionLocation = i;
}
Simulator simulator(simulatedInstructionList);
cout << "Press enter to run the entire simulation without pauses" << endl;
cout << "Or press space to step through the simulation" << endl;
BufferToggle bt;
while (simulator.memoryStage.currentInstructionList.front().originalString != "end") {
bt.off();
char input = getchar();
bt.on();
if (input == ' ') {
cout << endl;
simulator.stepProcess();
} else if (input == '\n' || input == '\r') {
simulator.process();
}
}
simulator.printFinalOutput();
return 0;
}