void initialize_car(struct car* c) {
read_car_state(c);
(c->motor).left = 0;
(c->motor).right = 0;
c->speed = 0;
c->direction = 0;
c->state = STATE_STANDBY;
c->laps = 0;
c->lap_timer = LAP_DELAY;
c->track_direction = DIRECTION_UNKNOWN;
c->temperature = 0;
c->magnet = 0;
recorder_init(&c->recorder);
write_car_state(c);
}
int main(int argc, char ** argv)
{
int ret = EXIT_FAILURE;
bg_mediaconnector_t conn;
gavl_time_t delay_time = GAVL_TIME_SCALE / 100;
gavl_metadata_t m;
gavftools_block_sigpipe();
bg_mediaconnector_init(&conn);
gavftools_init();
/* Create plugin regsitry */
/* Initialize streams */
recorder_init(&rec);
bg_cmdline_arg_set_parameters(global_options, "-aud", rec.as.parameters);
bg_cmdline_arg_set_parameters(global_options, "-vid", rec.vs.parameters);
gavftools_set_cmdline_parameters(global_options);
/* Handle commandline options */
bg_cmdline_init(&app_data);
bg_cmdline_parse(global_options, &argc, &argv, NULL);
out_plug = gavftools_create_out_plug();
/* Open plugins */
if(!recorder_open(&rec, &conn))
{
bg_log(BG_LOG_ERROR, LOG_DOMAIN, "Opening recorder plugins failed");
goto the_end;
}
gavl_metadata_init(&m);
gavftools_set_output_metadata(&m);
/* Open output plug */
if(!bg_plug_open_location(out_plug, gavftools_out_file,
(const gavl_metadata_t *)0,
(const gavl_chapter_list_t*)0))
goto the_end;
gavl_metadata_free(&m);
/* Initialize output plug */
if(!bg_plug_setup_writer(out_plug, &conn))
{
bg_log(BG_LOG_ERROR, LOG_DOMAIN, "Setting up plug writer failed");
goto the_end;
}
/* Initialize threads */
bg_mediaconnector_start(&conn);
bg_mediaconnector_create_threads(&conn, 0);
bg_mediaconnector_threads_init_separate(&conn);
bg_mediaconnector_threads_start(&conn);
/* Main loop */
while(1)
{
if(gavftools_stop() ||
bg_mediaconnector_done(&conn) ||
bg_plug_got_error(out_plug))
break;
gavl_time_delay(&delay_time);
}
bg_mediaconnector_threads_stop(&conn);
/* Cleanup */
ret = EXIT_SUCCESS;
the_end:
bg_log(BG_LOG_INFO, LOG_DOMAIN, "Cleaning up");
bg_mediaconnector_free(&conn);
if(out_plug)
bg_plug_destroy(out_plug);
recorder_cleanup(&rec);
gavftools_cleanup();
if(audio_section)
bg_cfg_section_destroy(audio_section);
if(video_section)
bg_cfg_section_destroy(video_section);
return ret;
}
void sim_start(int argc, char** argv) {
int c;
int index;
uint8_t time_scale = DEFAULT_TIME_SCALE;
while ((c = getopt_long (argc, argv, shortopts, opts, &index)) != -1)
switch (c) {
case 'q':
verbose = 0;
break;
case 'g':
trace_gcode = 1;
break;
case 'p':
trace_pos = 1;
break;
case 'v':
verbose += 1;
break;
case 't':
time_scale = (uint8_t) atoi(optarg);
break;
case 'o':
recorder_init(optarg ? optarg : "datalog.out");
break;
default:
sim_error("Unexpected result in getopt_long handler");
}
// Record the command line arguments to the datalog, if active
record_raw("# commandline: ");
for (index = 0; index < argc; index++) {
record_raw(argv[index]);
record_raw(" ") ;
}
record_raw("\n");
// Store remaining arguments list for serial sim
g_argc = argc - optind + 1;
g_argv = argv + optind - 1;
if (argc < 2) usage(argv[0]);
// Initialize timer
sim_timer_init(time_scale);
// Record pin names in datalog
#define NAME_PIN_AXES(x) \
add_trace_var(#x "_X" , TRACE_##x + 0); \
add_trace_var(#x "_Y" , TRACE_##x + 1); \
add_trace_var(#x "_Z" , TRACE_##x + 2); \
add_trace_var(#x "_E" , TRACE_##x + 3);
NAME_PIN_AXES(POS);
#define NAME_PIN(x) add_trace_var(#x , TRACE_PINS + x);
NAME_PIN(X_STEP_PIN);
NAME_PIN(X_DIR_PIN);
NAME_PIN(X_MIN_PIN);
NAME_PIN(X_ENABLE_PIN);
NAME_PIN(Y_STEP_PIN);
NAME_PIN(Y_DIR_PIN);
NAME_PIN(Y_MIN_PIN);
NAME_PIN(Y_ENABLE_PIN);
NAME_PIN(Z_STEP_PIN);
NAME_PIN(Z_DIR_PIN);
NAME_PIN(Z_MIN_PIN);
NAME_PIN(Z_ENABLE_PIN);
NAME_PIN(E_STEP_PIN);
NAME_PIN(E_DIR_PIN);
NAME_PIN(E_ENABLE_PIN);
NAME_PIN(STEPPER_ENABLE_PIN);
}
