void LIR_Assembler::emit_op0(LIR_Op0* op) {
switch (op->code()) {
case lir_word_align: {
while (code_offset() % BytesPerWord != 0) {
_masm->nop();
}
break;
}
case lir_nop:
assert(op->info() == NULL, "not supported");
_masm->nop();
break;
case lir_label:
Unimplemented();
break;
case lir_build_frame:
build_frame();
break;
case lir_std_entry:
_masm->align(CodeEntryAlignment);
_masm->set_code_start();
_masm->entry(_compilation->codeprofile());
build_frame();
break;
case lir_osr_entry:
Unimplemented();
//osr_entry();
break;
case lir_breakpoint:
breakpoint();
break;
case lir_membar:
membar();
break;
case lir_membar_acquire:
membar_acquire();
break;
case lir_membar_release:
membar_release();
break;
case lir_get_thread:
get_thread(op->result_opr());
break;
default:
ShouldNotReachHere();
break;
}
}
int main(){
uint8_t buffer[256];
uint8_t params[8] = {0xFF, 0xFD, 0xFD, 0xFF, 0xFF, 0xFF, 0xFD, 0x87};
uint8_t size = build_frame(0x04, 0xFF, params, 8, buffer);
uint8_t i;
for(i=0; i < size; i++){
printf("0x%2.2X ", buffer[i]);
}
printf("\n");
return EXIT_SUCCESS;
}
static GtkWidget *build_settings(GtkWindow * main_window)
{
GtkWidget *vbox, *hbox, *lvbox, *rvbox;
vbox = gtk_vbox_new(FALSE, 0);
gtk_container_set_border_width(GTK_CONTAINER(vbox), 5);
hbox = gtk_hbox_new(TRUE, 10);
gtk_box_pack_start(GTK_BOX(vbox), hbox, FALSE, TRUE, 0);
lvbox = gtk_vbox_new(FALSE, 5);
gtk_box_pack_start(GTK_BOX(hbox), lvbox, FALSE, TRUE, 0);
rvbox = gtk_vbox_new(FALSE, 5);
gtk_box_pack_start(GTK_BOX(hbox), rvbox, FALSE, TRUE, 0);
game_settings = GAMESETTINGS(game_settings_new(TRUE));
game_rules = GAMERULES(game_rules_new());
game_resources = GAMERESOURCES(game_resources_new());
game_devcards = GAMEDEVCARDS(game_devcards_new());
game_buildings = GAMEBUILDINGS(game_buildings_new());
/* Caption */
build_frame(lvbox, _("Game parameters"),
GTK_WIDGET(game_settings));
/* Caption */
build_frame(lvbox, _("Rules"), GTK_WIDGET(game_rules));
/* Caption */
build_frame(lvbox, _("Resources"), GTK_WIDGET(game_resources));
/* Caption */
build_frame(rvbox, _("Buildings"), GTK_WIDGET(game_buildings));
/* Caption */
build_frame(rvbox, _("Development cards"),
GTK_WIDGET(game_devcards));
g_signal_connect(G_OBJECT(game_settings), "check",
G_CALLBACK(check_vp_cb), main_window);
return vbox;
}
int fc_init(void)
{
if (!is_initialized)
{
is_initialized = 1;
char *serial_port;
opcd_param_t params[] =
{
{"serial_port", &serial_port},
{"setting", &setting},
OPCD_PARAMS_END
};
opcd_params_apply("actuators.mk_fc.", params);
int ret;
/* perform initialization once here: */
if ((ret = serial_open(&port, serial_port, 57600, ICRNL, ICANON, 0)) != 0)
{
return ret;
}
else
{
const struct timespec dreq_period = {0, DREQ_THREAD_TIMEOUT_MS * NSEC_PER_MSEC};
frame_t frame;
char data = 1;
LOG(LL_INFO, "setting up mikrokopter interface");
build_frame(frame, OUT_NC_REDIRECT_UART, (const plchar_t *)&data, 0);
serial_write_line(&port, frame);
rpm = malloc(sizeof(float) * platform_motors());
for (int i = 0; i < platform_motors(); i++)
{
rpm[i] = 0.0f;
}
periodic_thread_start(&dreq_thread, dreq_thread_func, DREQ_THREAD_NAME,
DREQ_THREAD_PRIORITY, dreq_period, NULL);
simple_thread_start(&sread_thread, sread_thread_func, SREAD_THREAD_NAME,
SREAD_THREAD_PRIORITY, NULL);
LOG(LL_INFO, "mikrokopter interface up and running");
}
}
else
{
LOG(LL_DEBUG, "mikrokopter interface already running");
}
return 0;
}
SIMPLE_THREAD_END
PERIODIC_THREAD_BEGIN(dreq_thread_func)
{
const char interval = 10;
frame_t frame;
PERIODIC_THREAD_LOOP_BEGIN
{
build_frame(frame, OUT_FC_DEBUG, (const plchar_t *)&interval, 1);
serial_write_line(&port, frame);
}
PERIODIC_THREAD_LOOP_END
}
static int motors_action(char action, char setting)
{
frame_t frame;
char data[2];
if (action == 'e') /* start motors */
{
data[0] = action;
data[1] = setting;
build_frame(frame, OUT_FC_MOTORS_ACTION,
(const plchar_t *)data, 2);
}
else /* stop motors */
{
data[0] = 'd';
build_frame(frame, OUT_FC_MOTORS_ACTION,
(const plchar_t *)data, 1);
}
int result;
do
{
serial_write_line(&port, frame);
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
ts = timespec_add_ms(ts, 100);
pthread_mutex_lock(&ack_mutex);
result = pthread_cond_timedwait(&ack, &ack_mutex, &ts);
pthread_mutex_unlock(&ack_mutex);
}
while (result == ETIMEDOUT);
return 0;
}
CEXPORT JSBool def_animate_now(JSContext *cx, unsigned argc, jsval *vp) {
JS_BeginRequest(cx);
jsval *vals = JS_ARGV(cx, vp);
JSObject *thiz = JSVAL_TO_OBJECT(JS_THIS(cx, vp));
if (JSVAL_IS_OBJECT(*vals)) {
JSObject *target = JSVAL_TO_OBJECT(*vals);
if (target) {
build_frame(cx, target, argc, vp, view_animation_now);
}
}
jsval thiz_val = OBJECT_TO_JSVAL(thiz);
JS_SET_RVAL(cx, vp, thiz_val);
JS_EndRequest(cx);
return JS_TRUE;
}
PERIODIC_THREAD_END
int fc_write_motors(mixer_in_t *data)
{
struct ExternControl ext_ctrl;
frame_t frame;
bzero(&ext_ctrl, sizeof(struct ExternControl));
ext_ctrl.gas = 255.0 * data->gas;
ext_ctrl.pitch = data->pitch * 127.0;
ext_ctrl.roll = data->roll * 127.0;
ext_ctrl.yaw = data->yaw * 127.0;
ext_ctrl.config = 1;
build_frame(frame, OUT_FC_EXTERN_CONTROL,
(const plchar_t *)&ext_ctrl,
sizeof(struct ExternControl));
return serial_write_line(&port, frame);
}
void LIR_Assembler::emit_op0(LIR_Op0* op) {
switch (op->code()) {
case lir_word_align: {
_masm->align(BytesPerWord);
break;
}
case lir_nop:
assert(op->info() == NULL, "not supported");
_masm->nop();
break;
case lir_label:
Unimplemented();
break;
case lir_build_frame:
build_frame();
break;
case lir_std_entry:
// init offsets
offsets()->set_value(CodeOffsets::OSR_Entry, _masm->offset());
_masm->align(CodeEntryAlignment);
if (needs_icache(compilation()->method())) {
check_icache();
}
offsets()->set_value(CodeOffsets::Verified_Entry, _masm->offset());
_masm->verified_entry();
build_frame();
offsets()->set_value(CodeOffsets::Frame_Complete, _masm->offset());
break;
case lir_osr_entry:
offsets()->set_value(CodeOffsets::OSR_Entry, _masm->offset());
osr_entry();
break;
case lir_24bit_FPU:
set_24bit_FPU();
break;
case lir_reset_FPU:
reset_FPU();
break;
case lir_breakpoint:
breakpoint();
break;
case lir_fpop_raw:
fpop();
break;
case lir_membar:
membar();
break;
case lir_membar_acquire:
membar_acquire();
break;
case lir_membar_release:
membar_release();
break;
case lir_membar_loadload:
membar_loadload();
break;
case lir_membar_storestore:
membar_storestore();
break;
case lir_membar_loadstore:
membar_loadstore();
break;
case lir_membar_storeload:
membar_storeload();
break;
case lir_get_thread:
get_thread(op->result_opr());
break;
default:
ShouldNotReachHere();
break;
}
}
void handle_pending_frame(Sender * sender,
LLnode ** outgoing_frames_head_ptr)
{
Frame* frame;
char* buf;
if (sender->fin == 2)
return;
if (sender->fin == 1)
return;
while ((sender->LFS - sender->LAR) < sender->SWS)
{
//calc whether LAR has been at the out part
//if ((sender->LFS) == (sender->FSS + 1))
if ((sender->LFS) == (sender->FSS))
{
//no more packets
sender->fin = 1;
//print_sender(sender);
break;
}
frame = build_frame(sender);
buf = add_chksum(frame);
//buf = convert_frame_to_char(frame);
// add into the sender buffer;
int pos;
pos = frame->seq % sender->SWS;
free (sender->buffer[pos]);
*(sender->buffer + pos) = (struct Frame*)frame;
/* buffer lookup
Frame* see;
int i;
for (i = 0; i < sender->SWS; i++)
{
see = sender->buffer[i];
fprintf(stderr, "%s\n", see->data);
}
*/
struct timeval now;
gettimeofday(&now, NULL);
//long long t;
//long wait_time = 1000000;
/*
now.tv_usec = now.tv_usec + wait_time;
if (now.tv_usec < wait_time)
{
now.tv_sec++;
now.tv_usec = now.tv_usec - wait_time;
}
*/
//now.tv_sec++;
sender->timestamp[pos] = now;
ll_append_node(outgoing_frames_head_ptr, buf);
}
}
