int startup(int argc, char *argv[])
{ int i, len; FULL_CHAR *arg;
OBJECT t, y, res, s; /* current token, parser output */
BOOLEAN stdin_seen; /* TRUE when stdin file seen */
int source_file_count; /* number of source files in command */
FULL_CHAR *cross_db; /* name of cross reference database */
FULL_CHAR *outfile; /* name of output file */
FULL_CHAR *lib; /* name of library directory */
FILE *out_fp;
long MemCheckLong;
FULL_CHAR oname[MAX_BUFF], oval[MAX_BUFF], buff[MAX_BUFF], *p;
int bp; OBJECT z;
BOOLEAN seen_wordcount;
#if LOCALE_ON
char catname[MAX_BUFF], *loc;
#endif
/* find the name of the library directory, from envt or else from -D */
lib = AsciiToFull(getenv("LOUTLIB"));
if( lib == (FULL_CHAR *) NULL )
lib = AsciiToFull(LIB_DIR);
/* set locale if that's what we are doing */
#if LOCALE_ON
loc = setlocale(LC_MESSAGES, "");
if( loc == (char *) NULL )
{ Error(1, 6, "unable to initialize locale", WARN, no_fpos);
loc = "C";
}
sprintf(catname, "%s/%s/%s/LC_MESSAGES/errors.%s",
lib, LOCALE_DIR, loc, loc);
MsgCat = catopen(catname, 0);
#endif
/* initialise various modules, add current directory to search paths */
TotalWordCount = 0;
seen_wordcount = FALSE;
BackEnd = PS_BackEnd;
PlainCharWidth = PLAIN_WIDTH;
PlainCharHeight = PLAIN_HEIGHT;
PlainFormFeed = FALSE;
InitializeAll = FALSE;
UseCollate = COLLATE;
AllowCrossDb = TRUE;
InMemoryDbIndexes = TRUE;
Encapsulated = FALSE;
SafeExecution = SAFE_DFT ? TRUE : FALSE;
Kern = TRUE;
MemInit();
InitSym();
LexInit();
InitFiles();
AddToPath(SOURCE_PATH, MakeWord(WORD, STR_EMPTY, no_fpos));
AddToPath(DATABASE_PATH, MakeWord(WORD, STR_EMPTY, no_fpos));
AddToPath(INCLUDE_PATH, MakeWord(WORD, STR_EMPTY, no_fpos));
/* read command line */
stdin_seen = FALSE;
AltErrorFormat = FALSE;
cross_db = CROSS_DB;
outfile = STR_STDOUT;
source_file_count = 0;
New(CommandOptions, ACAT);
for( i = 1; i < argc; i++ )
{
if( *argv[i] == CH_HYPHEN ) switch( *(argv[i]+1) )
{
case CH_FLAG_OUTFILE:
/* read name of output file */
if( (outfile = GetArg(argv, argc, &i)) == NULL )
Error(1, 7, "usage: -o <filename>", FATAL, no_fpos);
if( StringEndsWith(outfile, SOURCE_SUFFIX) )
Error(1, 28, "-o: output file name %s ends with %s",
FATAL, no_fpos, outfile, SOURCE_SUFFIX);
break;
case CH_FLAG_SUPPRESS:
/* suppress references to OldCrossDb and NewCrossDb */
AllowCrossDb = FALSE;
break;
case CH_FLAG_MEMCR:
/* don't use in-memory database indexes */
InMemoryDbIndexes = FALSE;
break;
case CH_FLAG_NOKERN:
/* suppress kerning */
Kern = FALSE;
break;
case CH_FLAG_NOCOLLATE:
/* suppress local collation */
UseCollate = FALSE;
break;
case CH_FLAG_COLLATE:
/* invoke local collation */
UseCollate = TRUE;
break;
case CH_FLAG_CROSS:
/* read name of cross reference database */
if( (cross_db = GetArg(argv, argc, &i)) == NULL )
Error(1, 8, "usage: -c <filename>", FATAL, no_fpos);
break;
case CH_FLAG_ERRFILE:
/* read log file name */
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 9, "usage: -e <filename>", FATAL, no_fpos);
ErrorInit(arg);
break;
case CH_FLAG_ALTERR:
/* alternative error message format */
AltErrorFormat = TRUE;
break;
case CH_FLAG_EPSFIRST:
/* -EPS produces encapsulated PostScript output */
if( !StringEqual(AsciiToFull(argv[i]+1), STR_EPS) )
Error(1, 10, "usage: -EPS", FATAL, no_fpos);
Encapsulated = TRUE;
break;
case CH_FLAG_DIRPATH:
/* add directory to database and sysdatabase paths */
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 11, "usage: -D <directoryname>", FATAL, no_fpos);
AddToPath(DATABASE_PATH, MakeWord(WORD, arg, no_fpos));
AddToPath(SYSDATABASE_PATH, MakeWord(WORD, arg, no_fpos));
break;
case CH_FLAG_ENCPATH:
/* add directory to character mapping path */
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 12, "usage: -C <directoryname>", FATAL, no_fpos);
AddToPath(MAPPING_PATH, MakeWord(WORD, arg, no_fpos));
break;
case CH_FLAG_FNTPATH:
/* add directory to font path */
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 13, "usage: -F <directoryname>", FATAL, no_fpos);
AddToPath(FONT_PATH, MakeWord(WORD, arg, no_fpos));
break;
case CH_FLAG_HYPPATH:
/* add directory to hyph path */
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 14, "usage: -H <directoryname>", FATAL, no_fpos);
AddToPath(HYPH_PATH, MakeWord(WORD, arg, no_fpos));
break;
case CH_FLAG_INCPATH:
/* add directory to include and sysinclude paths */
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 15, "usage: -I <directoryname>", FATAL, no_fpos);
AddToPath(INCLUDE_PATH, MakeWord(WORD, arg, no_fpos));
AddToPath(SYSINCLUDE_PATH, MakeWord(WORD, arg, no_fpos));
break;
case CH_FLAG_INCLUDE:
/* read sysinclude file and strip any .lt suffix */
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 16, "usage: -i <filename>", FATAL, no_fpos);
len = StringLength(arg) - StringLength(SOURCE_SUFFIX);
if( len >= 0 && StringEqual(&arg[len], SOURCE_SUFFIX) )
StringCopy(&arg[len], STR_EMPTY);
debug0(DFS, D, " calling DefineFile from main (1)");
DefineFile(arg, STR_EMPTY, no_fpos, SOURCE_FILE, SYSINCLUDE_PATH);
break;
case CH_FLAG_HYPHEN:
/* declare hyphenation file */
if( FirstFile(HYPH_FILE) != NO_FILE )
Error(1, 17, "two -h options illegal", FATAL, no_fpos);
if( (arg = GetArg(argv, argc, &i)) == NULL )
Error(1, 18, "usage: -h <filename>", FATAL, no_fpos);
debug0(DFS, D, " calling DefineFile from main (2)");
DefineFile(arg, STR_EMPTY, no_fpos, HYPH_FILE, INCLUDE_PATH);
DefineFile(arg, HYPH_SUFFIX, no_fpos, HYPH_PACKED_FILE, INCLUDE_PATH);
break;
case CH_FLAG_VERSION:
fprintf(stderr, "%s\n", LOUT_VERSION);
fprintf(stderr, "%-28s %s\n",
"Basser Lout written by:", "Jeffrey H. Kingston ([email protected])");
fprintf(stderr, "%-28s %s\n",
"Free source available from:", "ftp://ftp.cs.usyd.edu.au/jeff/lout");
fprintf(stderr, "%-28s %s %s\n",
"This executable compiled:", __TIME__, __DATE__);
fprintf(stderr, "%-28s %s%s%s\n", "System include directory:",
lib, STR_DIR, INCL_DIR);
fprintf(stderr, "%-28s %s%s%s\n", "System database directory:",
lib, STR_DIR, DATA_DIR);
fprintf(stderr, "Database index files created afresh automatically:%s\n",
USE_STAT ? " yes" : " no");
fprintf(stderr, "Safe execution (disabling system()) is default:%s\n",
SAFE_DFT ? " yes" : " no");
fprintf(stderr, "strcoll() used for sorting by default:%s\n",
COLLATE ? " yes" : " no");
fprintf(stderr, "PDF compression on:%s\n",
PDF_COMPRESSION ? " yes" : " no");
fprintf(stderr, "Debugging (-d, -dd, -ddd flags) available:%s\n",
DEBUG_ON ? " yes" : " no");
fprintf(stderr, "\n");
fprintf(stderr, "Basser Lout comes with ABSOLUTELY NO WARRANTY.\n");
fprintf(stderr, "This is free software, and you are welcome to\n");
fprintf(stderr, "redistribute it under certain conditions. For\n");
fprintf(stderr, "details on both points, consult the GNU General\n");
fprintf(stderr, "Public License (distributed with this software).\n");
exit(0);
break;
case CH_FLAG_WORDS:
seen_wordcount = TRUE;
break;
case CH_FLAG_PDF:
BackEnd = PDF_BackEnd;
break;
case CH_FLAG_FFPLAIN:
if( StringEqual(AsciiToFull(argv[i]+1), STR_PDF) )
{
BackEnd = PDF_BackEnd;
break;
}
PlainFormFeed = TRUE;
/* NB NO BREAK */
case CH_FLAG_PLAIN:
BackEnd = Plain_BackEnd;
if( *(argv[i]+2) != '\0' )
{ float len1, len2; FULL_CHAR units1, units2;
if( sscanf(argv[i]+2, "%f%c%f%c",&len1,&units1,&len2,&units2) != 4 )
{ Error(1, 19, "usage: lout -%c<length><length>",
FATAL, no_fpos, *(argv[i]+1));
}
switch( units1 )
{
case CH_UNIT_CM: PlainCharWidth = len1 * CM; break;
case CH_UNIT_IN: PlainCharWidth = len1 * IN; break;
case CH_UNIT_PT: PlainCharWidth = len1 * PT; break;
case CH_UNIT_EM: PlainCharWidth = len1 * EM; break;
default: Error(1, 20, "lout -%c: units must be c, i, p, or m",
FATAL, no_fpos, *(argv[i]+1));
break;
}
switch( units2 )
{
case CH_UNIT_CM: PlainCharHeight = len2 * CM; break;
case CH_UNIT_IN: PlainCharHeight = len2 * IN; break;
case CH_UNIT_PT: PlainCharHeight = len2 * PT; break;
case CH_UNIT_EM: PlainCharHeight = len2 * EM; break;
default: Error(1, 21, "lout -%c: units must be c, i, p, or m",
FATAL, no_fpos, *(argv[i]+1));
break;
}
}
break;
case CH_FLAG_INITALL:
InitializeAll = TRUE;
AllowCrossDb = FALSE;
break;
case CH_FLAG_USAGE:
PrintUsage(stderr);
exit(0);
break;
case CH_FLAG_DEBUG:
debug_init(AsciiToFull(argv[i]));
break;
case CH_FLAG_MEMCHECK:
sscanf(argv[i], "-m%ld", &MemCheckLong);
MemCheck = (POINTER) MemCheckLong;
fprintf(stderr, "checking memory location %ld\n", (long) MemCheck);
break;
case '\0':
/* read stdin as file name */
if( stdin_seen )
Error(1, 23, "standard input specified twice", FATAL, no_fpos);
stdin_seen = TRUE;
debug0(DFS, D, " calling DefineFile from main (3)");
DefineFile(STR_STDIN, STR_EMPTY, no_fpos, SOURCE_FILE, SOURCE_PATH);
break;
case CH_FLAG_OPTION:
/* read command-line document option */
if( sscanf(argv[i]+2, "%[^{ ] { %[^}] }", oname, oval) != 2 ||
StringLength(oname) == 0 || StringLength(oval) == 0 )
Error(1, 24, "error in command-line option %s", FATAL, no_fpos,
argv[i]+2);
y = MakeWord(WORD, oname, no_fpos);
Link(CommandOptions, y);
New(y, ACAT);
Link(CommandOptions, y);
bp = 0;
for( p = oval; *p != '\0'; p++ ) switch( *p )
{
case ' ':
case '\t':
case '\n':
case '{':
case '}':
if( bp > 0 )
{ buff[bp++] = '\0';
if( Down(y) != y )
{ OBJECT g;
New(g, GAP_OBJ);
hspace(g) = 1; vspace(g) = 0;
FposCopy(fpos(g), *no_fpos);
Link(y, g);
}
z = MakeWord(WORD, buff, no_fpos);
Link(y, z);
bp = 0;
}
break;
default:
buff[bp++] = *p;
break;
}
if( bp > 0 )
{ buff[bp++] = '\0';
z = MakeWord(WORD, buff, no_fpos);
Link(y, z);
}
if( Down(y) == y )
Error(1, 25, "error in command-line option %s", FATAL, no_fpos,
argv[i]+2);
break;
case CH_FLAG_SAFE:
/* ensure safe execution by disabling system calls */
SafeExecution = TRUE;
break;
case CH_FLAG_UNSAFE:
/* allow unsafe execution */
SafeExecution = FALSE;
break;
default:
PrintUsage(stderr);
Error(1, 26, "unknown command line flag %s", FATAL, no_fpos, argv[i]);
break;
}
else
{ /* argument is source file, strip any .lout suffix and define it */
arg = AsciiToFull(argv[i]);
len = StringLength(arg) - StringLength(SOURCE_SUFFIX);
if( len >= 0 && StringEqual(&arg[len], SOURCE_SUFFIX) )
StringCopy(&arg[len], STR_EMPTY);
debug0(DFS, D, " calling DefineFile from main (4)");
DefineFile(AsciiToFull(argv[i]), STR_EMPTY, no_fpos,
SOURCE_FILE, SOURCE_PATH);
source_file_count++;
}
} /* for */
if( UseCollate )
{
if (!setlocale (LC_COLLATE, ""))
Error(1, 30, "unable to initialize collation", WARN, no_fpos);
}
/* start timing if required */
ifdebug(DPP, D, ProfileOn("main"));
/* open output file, or stdout if none specified, and initialize printer */
if( StringEqual(outfile, STR_STDOUT) )
{
#if OS_DOS
/* For DOS/Win32 we need to set binary mode on stdout to prevent
PDF compressed streams and xrefs from being corrupted - Uwe 12/98 */
if( BackEnd->code != PLAINTEXT &&
_setmode(_fileno(stdout), _O_BINARY) == -1 )
Error(1, 31, "cannot set binary mode on stdout", FATAL, no_fpos);
#endif
out_fp = stdout;
}
else
{ out_fp = StringFOpen(outfile,
BackEnd->code == PLAINTEXT ? WRITE_TEXT : WRITE_BINARY);
if( out_fp == null )
Error(1, 27, "cannot open output file %s", FATAL, no_fpos, outfile);
}
/* initialize miscellaneous modules */
ColourInit();
LanguageInit();
BackEnd->PrintInitialize(out_fp);
/* append default directories to file search paths */
AddToPath(FONT_PATH, MakeWordThree(lib, STR_DIR, AsciiToFull(FONT_DIR)));
AddToPath(HYPH_PATH, MakeWordThree(lib, STR_DIR, AsciiToFull(HYPH_DIR)));
AddToPath(MAPPING_PATH, MakeWordThree(lib, STR_DIR, AsciiToFull(MAPS_DIR)));
AddToPath(SYSDATABASE_PATH,MakeWordThree(lib,STR_DIR, AsciiToFull(DATA_DIR)));
AddToPath(DATABASE_PATH, MakeWordThree(lib, STR_DIR, AsciiToFull(DATA_DIR)));
AddToPath(SYSINCLUDE_PATH,MakeWordThree(lib, STR_DIR, AsciiToFull(INCL_DIR)));
AddToPath(INCLUDE_PATH, MakeWordThree(lib, STR_DIR, AsciiToFull(INCL_DIR)));
/* use stdin if no source files were mentioned */
if( source_file_count == 0 )
{ debug0(DFS, D, " calling DefineFile from main (5)");
DefineFile(STR_STDIN, STR_EMPTY, no_fpos, SOURCE_FILE, SOURCE_PATH);
}
/* load predefined symbols into symbol table */
StartSym = nilobj; /* Not a mistake */
StartSym = load(KW_START, 0, FALSE, FALSE, TRUE, NO_PREC );
GalleySym = load(KW_GALLEY, 0, FALSE, FALSE, TRUE, NO_PREC );
ForceGalleySym= load(KW_FORCE_GALLEY, 0, FALSE, FALSE, TRUE, NO_PREC );
InputSym = load(KW_INPUT, 0, FALSE, FALSE, TRUE, NO_PREC );
PrintSym = load(KW_PRINT, 0, FALSE, FALSE, TRUE, NO_PREC );
FilterInSym = load(KW_FILTERIN, 0, FALSE, FALSE, FALSE, NO_PREC );
FilterOutSym = load(KW_FILTEROUT, 0, FALSE, FALSE, FALSE, NO_PREC );
FilterErrSym = load(KW_FILTERERR, 0, FALSE, FALSE, FALSE, NO_PREC );
OptGallSym = load(KW_OPTGALL, 0, FALSE, TRUE, FALSE, DEFAULT_PREC);
VerbatimSym = load(KW_VERBATIM,VERBATIM,FALSE, TRUE, FALSE, DEFAULT_PREC);
RawVerbatimSym= load(KW_RAWVERBATIM,RAW_VERBATIM,FALSE,TRUE,FALSE,DEFAULT_PREC);
load(KW_BEGIN, BEGIN, FALSE, FALSE, FALSE, BEGIN_PREC );
load(KW_END, END, FALSE, FALSE, FALSE, END_PREC );
load(KW_ENV, ENV, FALSE, FALSE, FALSE, NO_PREC );
load(KW_ENVA, ENVA, FALSE, FALSE, FALSE, NO_PREC );
load(KW_ENVB, ENVB, FALSE, FALSE, FALSE, NO_PREC );
load(KW_ENVC, ENVC, FALSE, FALSE, FALSE, NO_PREC );
load(KW_ENVD, ENVD, FALSE, FALSE, FALSE, NO_PREC );
load(KW_CENV, CENV, FALSE, FALSE, FALSE, NO_PREC );
load(KW_CLOS, CLOS, FALSE, FALSE, FALSE, NO_PREC );
load(KW_LVIS, LVIS, FALSE, FALSE, FALSE, NO_PREC );
load(KW_LUSE, LUSE, FALSE, FALSE, FALSE, NO_PREC );
load(KW_LEO, LEO, FALSE, FALSE, FALSE, NO_PREC );
load(KW_LBR, LBR, FALSE, FALSE, FALSE, LBR_PREC );
load(KW_RBR, RBR, FALSE, FALSE, FALSE, RBR_PREC );
load(KW_INCLUDE, INCLUDE, FALSE, FALSE, FALSE, NO_PREC );
load(KW_SYSINCLUDE, SYS_INCLUDE, FALSE, FALSE, FALSE, NO_PREC );
load(KW_PREPEND, PREPEND, FALSE, FALSE, FALSE, NO_PREC );
load(KW_SYSPREPEND, SYS_PREPEND, FALSE, FALSE, FALSE, NO_PREC );
load(KW_DATABASE, DATABASE, FALSE, FALSE, FALSE, NO_PREC );
load(KW_SYSDATABASE, SYS_DATABASE, FALSE, FALSE, FALSE, NO_PREC );
load(KW_USE, USE, FALSE, FALSE, FALSE, NO_PREC );
load(KW_NOT_REVEALED, NOT_REVEALED, FALSE, FALSE, FALSE, NO_PREC );
load(KW_CASE, CASE, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_YIELD, YIELD, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_BACKEND, BACKEND, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_XCHAR, XCHAR, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_FONT, FONT, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_SPACE, SPACE, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_YUNIT, YUNIT, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_ZUNIT, ZUNIT, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_BREAK, BREAK, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_UNDERLINE, UNDERLINE, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_COLOUR, COLOUR, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_COLOR, COLOUR, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_OUTLINE, OUTLINE, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_LANGUAGE, LANGUAGE, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_CURR_LANG, CURR_LANG, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_CURR_FAMILY, CURR_FAMILY, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_CURR_FACE, CURR_FACE, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_CURR_YUNIT, CURR_YUNIT, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_CURR_ZUNIT, CURR_ZUNIT, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_COMMON, COMMON, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_RUMP, RUMP, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_MELD, MELD, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_INSERT, INSERT, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_ONE_OF, ONE_OF, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_NEXT, NEXT, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_PLUS, PLUS, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_MINUS, MINUS, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_OPEN, OPEN, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_TAGGED, TAGGED, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_WIDE, WIDE, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HIGH, HIGH, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HSHIFT, HSHIFT, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_VSHIFT, VSHIFT, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_BEGIN_HEADER, BEGIN_HEADER, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_END_HEADER, END_HEADER, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_SET_HEADER, SET_HEADER, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_CLEAR_HEADER, CLEAR_HEADER, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_ONE_COL, ONE_COL, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_ONE_ROW, ONE_ROW, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HSCALE, HSCALE, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_VSCALE, VSCALE, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HCOVER, HCOVER, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_VCOVER, VCOVER, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_KERN_SHRINK, KERN_SHRINK, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_SCALE, SCALE, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HCONTRACT, HCONTRACT, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_VCONTRACT, VCONTRACT, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HLIMITED, HLIMITED, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_VLIMITED, VLIMITED, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HEXPAND, HEXPAND, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_VEXPAND, VEXPAND, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_STARTHVSPAN, START_HVSPAN, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_STARTHSPAN, START_HSPAN, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_STARTVSPAN, START_VSPAN, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HSPAN, HSPAN, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_VSPAN, VSPAN, FALSE, FALSE, FALSE, DEFAULT_PREC);
load(KW_PADJUST, PADJUST, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_HADJUST, HADJUST, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_VADJUST, VADJUST, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_ROTATE, ROTATE, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_BACKGROUND, BACKGROUND, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_INCGRAPHIC, INCGRAPHIC, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_SINCGRAPHIC, SINCGRAPHIC, FALSE, TRUE, FALSE, DEFAULT_PREC);
load(KW_PLAINGRAPHIC, PLAIN_GRAPHIC, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_GRAPHIC, GRAPHIC, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_LINK_SOURCE, LINK_SOURCE, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_LINK_DEST, LINK_DEST, TRUE, TRUE, FALSE, DEFAULT_PREC);
load(KW_CROSS, CROSS, TRUE, TRUE, FALSE, CROSSOP_PREC);
load(KW_FORCE_CROSS, FORCE_CROSS, TRUE, TRUE, FALSE, CROSSOP_PREC);
load(KW_NULL, NULL_CLOS, FALSE, FALSE, TRUE, NO_PREC );
load(KW_PAGE_LABEL, PAGE_LABEL, FALSE, TRUE, TRUE, DEFAULT_PREC);
#define setcat(s, mk, jn) has_mark(s)=mk, has_join(s)=jn
s=load(KW_VCAT_NN, VCAT, TRUE, TRUE, FALSE, VCAT_PREC); setcat(s,FALSE,FALSE);
s=load(KW_VCAT_MN, VCAT, TRUE, TRUE, FALSE, VCAT_PREC); setcat(s,TRUE, FALSE);
s=load(KW_VCAT_NJ, VCAT, TRUE, TRUE, FALSE, VCAT_PREC); setcat(s,FALSE,TRUE);
s=load(KW_VCAT_MJ, VCAT, TRUE, TRUE, FALSE, VCAT_PREC); setcat(s,TRUE, TRUE);
s=load(KW_HCAT_NN, HCAT, TRUE, TRUE, FALSE, HCAT_PREC); setcat(s,FALSE,FALSE);
s=load(KW_HCAT_MN, HCAT, TRUE, TRUE, FALSE, HCAT_PREC); setcat(s,TRUE, FALSE);
s=load(KW_HCAT_NJ, HCAT, TRUE, TRUE, FALSE, HCAT_PREC); setcat(s,FALSE,TRUE);
s=load(KW_HCAT_MJ, HCAT, TRUE, TRUE, FALSE, HCAT_PREC); setcat(s,TRUE, TRUE);
s=load(KW_ACAT_NJ, ACAT, TRUE, TRUE, FALSE, ACAT_PREC); setcat(s,FALSE,TRUE);
s=load(KW_ACAT_MJ, ACAT, TRUE, TRUE, FALSE, ACAT_PREC); setcat(s,TRUE, TRUE);
/* intialize fonts and load @FontDef symbol */
FontInit();
/* intialize current time and load @Moment symbol */
InitTime();
/* initialize filter module */
FilterInit();
/* initialize enviroment table module */
EnvInit();
/* initialise scope chain to <StartSym> */
PushScope(StartSym, FALSE, FALSE);
/* initialise lexical analyser */
LexPush(FirstFile(SOURCE_FILE), 0, SOURCE_FILE, 1, FALSE);
/* process input files */
InitParser(cross_db);
t = NewToken(BEGIN, no_fpos, 0, 0, BEGIN_PREC, StartSym);
res = Parse(&t, StartSym, TRUE, TRUE);
debug0(DGT, D, "calling TransferEnd(res) from main()");
DisposeObject(CommandOptions);
TransferEnd(res);
TransferClose();
/* close various modules */
BackEnd->PrintAfterLastPage();
BackEnd->LinkCheck();
CrossClose();
CloseFiles();
/* remove any leftover filter temporary files */
FilterScavenge(TRUE);
/* print word count, if required */
if( seen_wordcount )
Error(1, 29, "total of all words printed: %d", WARN,no_fpos,TotalWordCount);
/* check for unbalanced error blocks */
CheckErrorBlocks();
/* wrapup */
ifdebug(DST, DD, CheckSymSpread() );
ifdebug(ANY, D, DeleteEverySym() );
debug0(DMA, D, "at end of run:");
ifdebug(DMA, D, DebugMemory() );
ifdebug(DPP, D, ProfileOff("main"));
ifdebug(DPP, D, ProfilePrint());
ifdebug(DET, D, EnvDebug());
#if LOCALE_ON
catclose(MsgCat);
#endif
exit(0);
return 0;
} /* end main */
/**
* @brief Initialize a module for reading fixed file
*
* Process flow
* -# Acquire a list of valid column numbers
* -# Compute a record length
* -# Allocate ((record length) * READ_LINE_NUM + 1) bytes for record buffer
* @param rd [in] Control information
* @return void
* @note Return to caller by ereport() if the number of fields in the table
* definition is not correspond to the number of fields in input file.
* @note Caller must release the resource by calling BinaryParserTerm() after calling this
* function.
*/
static void
BinaryParserInit(BinaryParser *self, Checker *checker, const char *infile, TupleDesc desc, bool multi_process, Oid collation)
{
int i;
size_t maxlen;
TupleCheckStatus status;
/*
* set default values
*/
self->need_offset = self->offset = self->offset > 0 ? self->offset : 0;
/*
* checking necessary setting items for fixed length file
*/
if (self->nfield == 0)
ereport(ERROR, (errcode(ERRCODE_INVALID_PARAMETER_VALUE),
errmsg("no COL specified")));
self->source = CreateSource(infile, desc, multi_process);
status = FilterInit(&self->filter, desc, collation);
if (checker->tchecker)
checker->tchecker->status = status;
TupleFormerInit(&self->former, &self->filter, desc);
/*
* Error if the number of input data fields is out of range to the number of
* fields
*/
if (self->former.minfields > self->nfield ||
self->former.maxfields < self->nfield)
ereport(ERROR, (errcode(ERRCODE_DATA_EXCEPTION),
errmsg("invalid field count (%d)", self->nfield)));
/* set function default value */
for (i = self->nfield; i < self->former.maxfields; i++)
{
int index;
index = i - self->former.minfields;
self->former.isnull[i] = self->filter.defaultIsnull[index];
self->former.values[i] = self->filter.defaultValues[index];
}
/*
* Acquire record buffer as much as input file record length
*/
maxlen = 0;
for (i = 0; i < self->nfield; i++)
{
int len = self->fields[i].offset + self->fields[i].len;
maxlen = Max(maxlen, len);
}
if (self->rec_len <= 0)
self->rec_len = maxlen;
else if (self->rec_len < maxlen)
ereport(ERROR, (errcode(ERRCODE_INVALID_PARAMETER_VALUE),
errmsg("STRIDE should be %ld or greater (%ld given)",
(long) maxlen, (long) self->rec_len)));
self->buffer = palloc(self->rec_len * READ_LINE_NUM + 1);
}
int main(void)
{
u8 i;
u8 RecvBuf[32];
u8 SendBuf[32];
u8 offline = 0;
u8 recv_flag = 0;
u32 pd2ms=0,pd20ams=0,pd20bms=0,pd100ms=0;
SystemInit();
RCC_Configuration();
NVIC_Configuration();
GPIO_Configuration();
USART1_Configuration();
dbgPrintf(" Init Ticktack !\r\n");
cycleCounterInit();
SysTick_Config(SystemCoreClock / 1000);
for(i=0;i<2;i++)
{
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
}
FilterInit();
controllerInit();
dbgPrintf(" Init eeprom!\r\n");
FLASH_Unlock();
EE_Init();
EE_Read_ACC_GYRO_Offset();
/* 如果PID丢失或者错误，将下面两行注释去掉，重新编译烧写，运行一遍，可将PID还原，然后重新注释，再烧写一遍 */
//EE_Write_PID();
//EE_Write_Rate_PID();
EE_Read_PID();
EE_Read_Rate_PID();
dbgPrintf(" Init adc!\r\n");
ADC_DMA_Init();
dbgPrintf(" Init NRF24L01 !\r\n");
SPI_NRF_Init();
Nrf24l01_Init();
NRF24l01_SetRxMode();
while(Nrf24l01_Check())
{
dbgPrintf("NRF24L01 Fault !\r\n");
delay_ms(500);
}
dbgPrintf("NRF24L01 Is Detected !\r\n");
dbgPrintf("Init MPU6050...\r\n");
IIC_Init();
MPU6050_initialize();
dbgPrintf("Init Motor...\r\n");
Motor_Init();
Motor_SetPwm(0,0,0,0);
pd20bms = TIMIRQCNT + 10*ITS_PER_MS;
while(1)
{
if(TIMIRQCNT>pd2ms + 2*ITS_PER_MS-1) // every 4ms
{
GetEulerAngle();
if(lock_flag==UNLOCK)
AttitudeToMotors(angle.y,angle.x,angle.z);
else
{
MOTOR1=0;
MOTOR2=0;
MOTOR3=0;
MOTOR4=0;
}
Motor_SetPwm(MOTOR1,MOTOR2,MOTOR3,MOTOR4);
pd2ms = TIMIRQCNT;
}
if(TIMIRQCNT>pd20ams + 20*ITS_PER_MS-1) // every 20ms
{
if(NRF24l01_Recv(RecvBuf)>10)
{
if((RecvBuf[RecvBuf[2]+3]==CheckSum(RecvBuf, RecvBuf[2]+3))&&(RecvBuf[0]==0xAA))
{
if(RecvBuf[1]!=0xC0)
OP_LED1;
offline=0;
switch(RecvBuf[1])
{
case 0xC0: //control
Getdesireddata(RecvBuf);
OP_LED2;
break;
case 0x10: //W PID
SetPID(RecvBuf);
break;
case 0x11: //W Attitude
SetAccGyroOffset(RecvBuf);
break;
case 0x12: //W Control offset
break;
case 0x14: //W Rate PID
SetRatePID(RecvBuf);
break;
case 0x20: //R PID
recv_flag = RESEND;
GetPID(SendBuf);
break;
case 0x21: //R Attitude
recv_flag = RESEND;
GetAccGyroOffset(SendBuf);
break;
case 0x22: //R Control offset
break;
case 0x24: //R Rate PID
recv_flag = RESEND;
GetRatePID(SendBuf);
break;
case 0x40: //校准姿态
EnableCalibration();
break;
case 0x41: //校准遥控器零点
break;
default:
break;
}
}
}
pd20ams = TIMIRQCNT;
}
if(TIMIRQCNT>pd20bms + 20*ITS_PER_MS-1) // every 20ms
{
if(recv_flag==0)
GetState(SendBuf);
else
recv_flag--;
NRF_SendData(SendBuf);
OP_LED3;
pd20bms = TIMIRQCNT;
}
if(TIMIRQCNT>pd100ms + 100*ITS_PER_MS-1) // every 100ms
{
if(offline>20)
lock_flag = LOCK;
offline++;
// OP_LED4;
pd100ms = TIMIRQCNT;
}
}
}
