int xTime::getMin(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return tm.tm_min;
}
time_t xTime::getDayStart(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return time - (tm.tm_hour * 60 + tm.tm_min) * 60 - tm.tm_sec;//直接计算比使用mktime函数效率更高
}
int xTime::getWeek(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return tm.tm_wday;
}
int xTime::getHour(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return tm.tm_hour;
}
int xTime::getMonth(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return tm.tm_mon+1;
}
int xTime::getYear(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return tm.tm_year+1900;
}
long getLocalMsTime() {
return (long)(1000*getLocalTime());
}
void applyRotation(int actuator) {
float t = getLocalTime();
//int pos = dynamixelApi_getPositionEstimate(actuator, rotations[actuator].dir);
int pos = dynamixelApi_getPosition(actuator);
float f = rotations[actuator].frequency;
float pd = rotations[actuator].phaseDiff/6.28f; //0-1
float dt = controllers[actuator].lastUpdateTime-t;
//if(actuator==1) printf("%f sec\n",t);
float percentPos;
percentPos = f*t+pd;
int goalPos = ((int)(percentPos*DYNAMIXEL_MAX_POS_FULL))%DYNAMIXEL_MAX_POS_FULL;
if(rotations[actuator].dir) goalPos = DYNAMIXEL_MAX_POS_FULL-goalPos;
if(goalPos>DYNAMIXEL_MAX_POS_VALID) goalPos =DYNAMIXEL_MAX_POS_VALID;
if(goalPos<0) goalPos = 0;
int error = (goalPos-pos);
int speed;
bool atValidAngle = dynamixelApi_isAtValidAngle(actuator, rotations[actuator].dir);
if(atValidAngle) {
if(rotations[actuator].dir == true) {
if(error>512) {
error = error-DYNAMIXEL_MAX_POS_VALID;
}
if(error<0 && error>-512) {
controllers[actuator].integral = controllers[actuator].integral + myAbs(error)*dt;
float derivative = (myAbs(error) - controllers[actuator].previousError)/dt;
speed = controllers[actuator].P*myAbs(error) + controllers[actuator].I*controllers[actuator].integral + controllers[actuator].D*derivative;
speed += controllers[actuator].avrSpeed;
controllers[actuator].previousError = myAbs(error);
}
else {
speed = -controllers[actuator].P*myAbs(error);
speed += controllers[actuator].avrSpeed;
}
}
else if(rotations[actuator].dir == false) {
if(error<-512) {
error = error+DYNAMIXEL_MAX_POS_VALID;
}
if(error>0&&error<512) {
controllers[actuator].integral = controllers[actuator].integral + myAbs(error)*dt;
float derivative = (myAbs(error) - controllers[actuator].previousError)/dt;
speed = controllers[actuator].P*myAbs(error) + controllers[actuator].I*controllers[actuator].integral + controllers[actuator].D*derivative;
speed += controllers[actuator].avrSpeed;
controllers[actuator].previousError = myAbs(error);
}
else {
speed = -controllers[actuator].P*myAbs(error);
speed += controllers[actuator].avrSpeed;
}
}
if(speed>1023) speed = 1023;
if(speed<=150) speed = 150;
controllers[actuator].previousError = myAbs(error);
rotations[actuator].speed = speed;
rotations[actuator].changed = true;
}
else {
speed = controllers[actuator].avrSpeed;// controllers[actuator].avrSpeed;
if(speed<150) {
speed = 150;
}
controllers[actuator].integral = 0;
controllers[actuator].previousError = 0;
rotations[actuator].speed = speed;
rotations[actuator].changed = true;
error = 0;
}
controllers[actuator].lastUpdateTime = t;
if(!rotations[actuator].pause) {
controllers[actuator].avrSpeed = (1.0-0.05)*controllers[actuator].avrSpeed+0.05*speed;
if(rotations[actuator].changed ) {
dynamixelApi_wheelMove(actuator, rotations[actuator].speed, rotations[actuator].dir);
rotations[actuator].changed = false;
}
}
else {
float periodeTime = 1.0f/rotations[actuator].frequency;
if(t-rotations[actuator].pauseStart > periodeTime) {
rotations[actuator].pause = false;
}
dynamixelApi_wheelMove(actuator, 0, rotations[actuator].dir);
}
int loopTimeMs=1000*(getLocalTime()-t);
if(actuator==0||actuator==0) {
//printf("%i: avr speed = %f, error = %i\n",actuator,controllers[actuator].avrSpeed, error);
}
if(loopTimeMs>20) {
printf("%i: %i ms loop time (warning)\n",actuator,loopTimeMs);
}
//printf("{%i, %li, %i, %i, %i, %i, %i},\n",actuator,getLocalMsTime(),dynamixelApi_getPosition(actuator),dynamixelApi_getPositionEstimate(actuator,rotations[actuator].dir),goalPos,error,speed);
//fprintf(posLog, "%i %li %i %i %i %i %i %i %f\n",actuator,getLocalMsTime(),dynamixelApi_getPosition(actuator),dynamixelApi_getPositionEstimate(actuator,rotations[actuator].dir),goalPos,error,speed,1023*(int)atValidAngle,controllers[actuator].avrSpeed);
//fflush(posLog);
//ase_printf("%i: Dynamixel at %i \n", i, pos);
}
int HGameTime::getServerTime()
{
return getLocalTime()-m_deltaTime;
}
PassRefPtr<SharedBuffer> MHTMLArchive::generateMHTMLData(Page* page, bool useBinaryEncoding)
{
Vector<PageSerializer::Resource> resources;
PageSerializer pageSerializer(&resources);
pageSerializer.serialize(page);
String boundary = generateRandomBoundary();
String endOfResourceBoundary = makeString("--", boundary, "\r\n");
String dateString;
time_t localTime = time(0);
tm localTM;
getLocalTime(&localTime, &localTM);
dateString = makeRFC2822DateString(localTM.tm_wday, localTM.tm_mday, localTM.tm_mon, 1900 + localTM.tm_year, localTM.tm_hour, localTM.tm_min, localTM.tm_sec, calculateUTCOffset() / (1000 * 60));
StringBuilder stringBuilder;
stringBuilder.append("From: <Saved by WebKit>\r\n");
stringBuilder.append("Subject: ");
// We replace non ASCII characters with '?' characters to match IE's behavior.
stringBuilder.append(replaceNonPrintableCharacters(page->mainFrame()->document()->title()));
stringBuilder.append("\r\nDate: ");
stringBuilder.append(dateString);
stringBuilder.append("\r\nMIME-Version: 1.0\r\n");
stringBuilder.append("Content-Type: multipart/related;\r\n");
stringBuilder.append("\ttype=\"");
stringBuilder.append(page->mainFrame()->document()->suggestedMIMEType());
stringBuilder.append("\";\r\n");
stringBuilder.append("\tboundary=\"");
stringBuilder.append(boundary);
stringBuilder.append("\"\r\n\r\n");
// We use utf8() below instead of ascii() as ascii() replaces CRLFs with ?? (we still only have put ASCII characters in it).
ASSERT(stringBuilder.toString().containsOnlyASCII());
CString asciiString = stringBuilder.toString().utf8();
RefPtr<SharedBuffer> mhtmlData = SharedBuffer::create();
mhtmlData->append(asciiString.data(), asciiString.length());
for (size_t i = 0; i < resources.size(); ++i) {
const PageSerializer::Resource& resource = resources[i];
stringBuilder.clear();
stringBuilder.append(endOfResourceBoundary);
stringBuilder.append("Content-Type: ");
stringBuilder.append(resource.mimeType);
const char* contentEncoding = useBinaryEncoding ? binary : base64;
stringBuilder.append("\r\nContent-Transfer-Encoding: ");
stringBuilder.append(contentEncoding);
stringBuilder.append("\r\nContent-Location: ");
stringBuilder.append(resource.url);
stringBuilder.append("\r\n\r\n");
asciiString = stringBuilder.toString().utf8();
mhtmlData->append(asciiString.data(), asciiString.length());
if (!strcmp(contentEncoding, binary)) {
const char* data;
size_t position = 0;
while (size_t length = resource.data->getSomeData(data, position)) {
mhtmlData->append(data, length);
position += length;
}
} else {
// FIXME: ideally we would encode the content as a stream without having to fetch it all.
const char* data = resource.data->data();
size_t dataLength = resource.data->size();
Vector<char> encodedData;
if (!strcmp(contentEncoding, quotedPrintable)) {
quotedPrintableEncode(data, dataLength, encodedData);
mhtmlData->append(encodedData.data(), encodedData.size());
mhtmlData->append("\r\n", 2);
} else {
ASSERT(!strcmp(contentEncoding, base64));
// We are not specifying insertLFs = true below as it would cut the lines with LFs and MHTML requires CRLFs.
base64Encode(data, dataLength, encodedData);
const size_t maximumLineLength = 76;
size_t index = 0;
size_t encodedDataLength = encodedData.size();
do {
size_t lineLength = std::min(encodedDataLength - index, maximumLineLength);
mhtmlData->append(encodedData.data() + index, lineLength);
mhtmlData->append("\r\n", 2);
index += maximumLineLength;
} while (index < encodedDataLength);
}
}
}
asciiString = makeString("--", boundary, "--\r\n").utf8();
mhtmlData->append(asciiString.data(), asciiString.length());
return mhtmlData.release();
}
void HGameTime::setServerTime(int stime)
{
m_deltaTime = getLocalTime() -stime;
}
static int32_t calculateUTCOffset()
{
#if OS(WINDOWS)
TIME_ZONE_INFORMATION timeZoneInformation;
DWORD rc = 0;
if (callGetTimeZoneInformationForYear_t timeZoneFunction = timeZoneInformationForYearFunction()) {
// If available, use the Windows API call that takes into account the varying DST from
// year to year.
SYSTEMTIME systemTime;
::GetSystemTime(&systemTime);
rc = timeZoneFunction(systemTime.wYear, nullptr, &timeZoneInformation);
if (rc == TIME_ZONE_ID_INVALID)
return 0;
} else {
rc = ::GetTimeZoneInformation(&timeZoneInformation);
if (rc == TIME_ZONE_ID_INVALID)
return 0;
}
int32_t bias = timeZoneInformation.Bias;
if (rc == TIME_ZONE_ID_DAYLIGHT)
bias += timeZoneInformation.DaylightBias;
else if (rc == TIME_ZONE_ID_STANDARD || rc == TIME_ZONE_ID_UNKNOWN)
bias += timeZoneInformation.StandardBias;
return -bias * 60 * 1000;
#else
time_t localTime = time(0);
tm localt;
getLocalTime(&localTime, &localt);
// Get the difference between this time zone and UTC on the 1st of January of this year.
localt.tm_sec = 0;
localt.tm_min = 0;
localt.tm_hour = 0;
localt.tm_mday = 1;
localt.tm_mon = 0;
// Not setting localt.tm_year!
localt.tm_wday = 0;
localt.tm_yday = 0;
localt.tm_isdst = 0;
#if HAVE(TM_GMTOFF)
localt.tm_gmtoff = 0;
#endif
#if HAVE(TM_ZONE)
localt.tm_zone = 0;
#endif
#if HAVE(TIMEGM)
time_t utcOffset = timegm(&localt) - mktime(&localt);
#else
// Using a canned date of 01/01/2009 on platforms with weaker date-handling foo.
localt.tm_year = 109;
time_t utcOffset = 1230768000 - mktime(&localt);
#endif
return static_cast<int32_t>(utcOffset * 1000);
#endif
}
double getLocalTime(const Arguments& arguments, http::server::reply& reply)
{
return getLocalTime(getTimeStamp(arguments, reply));
}
//以周一早上0点为起始时间
time_t xTime::getWeekStart(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return time - ((((tm.tm_wday + 6) % 7) * 24 + tm.tm_hour) * 60 + tm.tm_min) * 60 - tm.tm_sec;
}
int xTime::getDay(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return tm.tm_mday;
}
time_t xTime::getMonthStart(time_t time)
{
struct tm tm;
getLocalTime(tm, time);
return time - (((tm.tm_mday - 1) * 24 + tm.tm_hour) * 60 + tm.tm_min) * 60 - tm.tm_sec;
}
void *listenForKeyInput() {
while(1) {
char command;
printf("Type in a command: \n");
printf(" p - pause for one period\n");
printf(" q - turn left (pause left for one period)\n");
printf(" e - turn right (pause right for one period)\n");
printf(" f - Increase frequency\n");
printf(" g - Decrease frequency\n");
printf(" h - Increase lift modules phase-shift\n");
printf(" j - Decrease lift modules phase-shift\n");
printf(" k - Increase stride modules phase-shift\n");
printf(" l - Decrease stride modules phase-shift\n");
scanf("%c", &command);
printf("The command you typed was %c\n", command);
int i;
if(command=='p') {
for(i=0; i<getNumberOfActuators(); i++) {
rotations[i].pause = true;
rotations[i].pauseStart = getLocalTime();
}
}
//6,7,8,9
if(command=='q') {
for(i=0; i<getNumberOfActuators(); i++) {
if(i==4||i==5||i==6||i==7) {
rotations[i].pause = true;
rotations[i].pauseStart = getLocalTime();
}
}
}
if(command=='e') {
for(i=0; i<getNumberOfActuators(); i++) {
if(i==0||i==1||i==2||i==3) {
rotations[i].pause = true;
rotations[i].pauseStart = getLocalTime();
}
}
}
if(command=='f'||command=='g') {
for(i=0; i<getNumberOfActuators(); i++) {
if(command=='f') rotations[i].frequency += 0.1f;
if(command=='g') rotations[i].frequency -= 0.1f;
}
printf("New frequency = %f\n",rotations[0].frequency);
}
//stride modules: 4=>2,3=>1,8=>6,7=>5
//lift modules: 2=>0,5=>3,6=>4,9=>7
if(command=='h'||command=='j') {
for(i=0; i<getNumberOfActuators(); i++) {
if(i==0||i==3||i==4||i==7) {
if(command=='h') rotations[i].phaseDiff += 0.1f;
if(command=='j') rotations[i].phaseDiff -= 0.1f;
}
}
printf("New phase-shift for lift modules = %f\n",rotations[0].phaseDiff);
}
if(command=='k'||command=='l') {
for(i=0; i<getNumberOfActuators(); i++) {
if(i==2||i==1||i==6||i==5) {
if(command=='k') rotations[i].phaseDiff += 0.1f;
if(command=='l') rotations[i].phaseDiff -= 0.1f;
}
}
printf("New phase-shift for stride modules = %f\n",rotations[0].phaseDiff);
}
}
}
