bool ToolInvocation::run() {
std::vector<const char*> Argv;
for (const std::string &Str : CommandLine)
Argv.push_back(Str.c_str());
const char *const BinaryName = Argv[0];
IntrusiveRefCntPtr<DiagnosticOptions> DiagOpts = new DiagnosticOptions();
TextDiagnosticPrinter DiagnosticPrinter(
llvm::errs(), &*DiagOpts);
DiagnosticsEngine Diagnostics(
IntrusiveRefCntPtr<clang::DiagnosticIDs>(new DiagnosticIDs()), &*DiagOpts,
DiagConsumer ? DiagConsumer : &DiagnosticPrinter, false);
const std::unique_ptr<clang::driver::Driver> Driver(
newDriver(&Diagnostics, BinaryName));
// Since the input might only be virtual, don't check whether it exists.
Driver->setCheckInputsExist(false);
const std::unique_ptr<clang::driver::Compilation> Compilation(
Driver->BuildCompilation(llvm::makeArrayRef(Argv)));
const llvm::opt::ArgStringList *const CC1Args = getCC1Arguments(
&Diagnostics, Compilation.get());
if (CC1Args == NULL) {
return false;
}
std::unique_ptr<clang::CompilerInvocation> Invocation(
newInvocation(&Diagnostics, *CC1Args));
for (const auto &It : MappedFileContents) {
// Inject the code as the given file name into the preprocessor options.
auto *Input = llvm::MemoryBuffer::getMemBuffer(It.getValue());
Invocation->getPreprocessorOpts().addRemappedFile(It.getKey(), Input);
}
return runInvocation(BinaryName, Compilation.get(), Invocation.release());
}
bool ToolInvocation::run() {
std::vector<const char*> Argv;
for (int I = 0, E = CommandLine.size(); I != E; ++I)
Argv.push_back(CommandLine[I].c_str());
const char *const BinaryName = Argv[0];
DiagnosticOptions DefaultDiagnosticOptions;
TextDiagnosticPrinter DiagnosticPrinter(
llvm::errs(), DefaultDiagnosticOptions);
DiagnosticsEngine Diagnostics(llvm::IntrusiveRefCntPtr<clang::DiagnosticIDs>(
new DiagnosticIDs()), &DiagnosticPrinter, false);
const llvm::OwningPtr<clang::driver::Driver> Driver(
newDriver(&Diagnostics, BinaryName));
// Since the input might only be virtual, don't check whether it exists.
Driver->setCheckInputsExist(false);
const llvm::OwningPtr<clang::driver::Compilation> Compilation(
Driver->BuildCompilation(llvm::makeArrayRef(Argv)));
const clang::driver::ArgStringList *const CC1Args = getCC1Arguments(
&Diagnostics, Compilation.get());
if (CC1Args == NULL) {
return false;
}
llvm::OwningPtr<clang::CompilerInvocation> Invocation(
newInvocation(&Diagnostics, *CC1Args));
return runInvocation(BinaryName, Compilation.get(),
Invocation.take(), *CC1Args, ToolAction.take());
}
bool ToolInvocation::run() {
std::vector<const char*> Argv;
for (const std::string &Str : CommandLine)
Argv.push_back(Str.c_str());
const char *const BinaryName = Argv[0];
IntrusiveRefCntPtr<DiagnosticOptions> DiagOpts = new DiagnosticOptions();
TextDiagnosticPrinter DiagnosticPrinter(
llvm::errs(), &*DiagOpts);
DiagnosticsEngine Diagnostics(
IntrusiveRefCntPtr<clang::DiagnosticIDs>(new DiagnosticIDs()), &*DiagOpts,
DiagConsumer ? DiagConsumer : &DiagnosticPrinter, false);
const std::unique_ptr<clang::driver::Driver> Driver(
newDriver(&Diagnostics, BinaryName, Files->getVirtualFileSystem()));
// Since the input might only be virtual, don't check whether it exists.
Driver->setCheckInputsExist(false);
const std::unique_ptr<clang::driver::Compilation> Compilation(
Driver->BuildCompilation(llvm::makeArrayRef(Argv)));
// Just print the cc1 options if -### was present.
if (Compilation->getArgs().hasArg(driver::options::OPT__HASH_HASH_HASH)) {
Compilation->getJobs().Print(llvm::errs(), "\n", true);
return true;
}
// We expect to get back a command job. If there is no job
// everything was handled by the driver.
const driver::JobList &Jobs = Compilation->getJobs();
if (Jobs.size() == 0)
return true;
const llvm::opt::ArgStringList *const CC1Args = getCC1Arguments(
&Diagnostics, Compilation.get());
if (!CC1Args) {
return false;
}
std::unique_ptr<clang::CompilerInvocation> Invocation(
newInvocation(&Diagnostics, *CC1Args));
if(Diagnostics.hasUncompilableErrorOccurred())
return false;
// FIXME: remove this when all users have migrated!
for (const auto &It : MappedFileContents) {
// Inject the code as the given file name into the preprocessor options.
std::unique_ptr<llvm::MemoryBuffer> Input =
llvm::MemoryBuffer::getMemBuffer(It.getValue());
Invocation->getPreprocessorOpts().addRemappedFile(It.getKey(),
Input.release());
}
return runInvocation(BinaryName, Compilation.get(), Invocation.release(),
PCHContainerOps);
}
void AdafruitServoController::Init(vector<uint8_t> driversAddresses_,
uint8_t pwmFreq_, uint16_t pulseMin_,
uint16_t pulseMax_)
{
this->addresses = driversAddresses_;
this->pwmFreq = pwmFreq_;
this->pulseMax = pulseMax_;
this->pulseMin = pulseMin_;
for (const auto& addr : this->addresses)
{
try
{
unique_ptr<AdafruitServoDriver> newDriver (
new AdafruitServoDriver(addr));
newDriver->setPWMFreq(this->pwmFreq);
this->drivers.push_back( std::move(newDriver) );
}
catch (std::runtime_error& e)
{
throw e;
}
}
const uint8_t servosCount = (this->addresses.size() * SERVOS_PER_DRIVER) - 1; // -1 is for zero-indexing
this->servos.reserve(servosCount);
for (uint8_t i = 0; i < servosCount; i++)
{
std::pair<uint8_t, uint8_t> driverAndServoId = getDriverAndServoId(i);
Servo servo (driverAndServoId.first, driverAndServoId.second, 0, 0, 0);
// FIXME SUPER CRAZY HACK
// set all servos initially at 90*
servo.currentPulse = this->angleToPulse(90);
servo.desiredPulse = servo.currentPulse; // don't trigger another servo job in servo thread
this->drivers[servo.driverId]->setPWM(servo.servoId, 0,
servo.currentPulse);
this->servos.push_back(servo);
}
this->run = true;
this->servosThread = std::thread([this] { this->handleServos(); });
// sched_param sch_params;
// sch_params.sched_priority = sched_get_priority_max(SCHED_FIFO);
// pthread_setschedparam(this->servosThread.native_handle(), SCHED_FIFO,
// &sch_params);
}
