bool turn_left(int speed)
{
int portA = ROBOT_WHEEL_LEFT_PORT;
int portB = ROBOT_WHEEL_RIGHT_PORT;
bool keep_turning2;
int forward_distance = command_get_forward_distance_mm();
motors_set_speed(portA, -30);
motors_set_speed(portB, 30+speed);
sleep_ms(500);
forward_distance = command_get_forward_distance_mm();
if ( forward_distance < 200) //Tune this parameter!!!!
{
keep_turning2 = true;
}
else
{
sleep_ms(800); // TURN BIT MORE TO MAKE SURE RIGHT SENSOR MEASURES WALL CORRECTLY
keep_turning2 = false;
}
return keep_turning2;
}
void *send_function(void *arg)
{
int sockfd,val,len,i=0;
char buffer[MAX_PKT_SIZE] = {"welcome to linux hello\0"}; //MAX_PKT_SIZE
//接收线程detach自己
pthread_detach(pthread_self());
sockfd = *( (int*)arg );
printf("[send_function]sockfd:%d \n",sockfd);
val = 1;
len = sizeof(int);
Setsockopt(sockfd, SOL_TCP, TCP_NODELAY,(void *)&val, len);
//根据不同测试场景需要选择是否设置sndbuf
val = 40000;
len = sizeof(int);
Setsockopt(sockfd, SOL_SOCKET, SO_SNDBUF,(void *)&val, len);
sleep_ms(1000-3);
while(i<17)
{
sleep_ms(3);
Write(sockfd,buffer,50);
i++;
}
//sleep_ms(50);
//Write(sockfd,buffer,100);
return 0;
}
void *thread_main8(void *arg)
{
/* The mutator will patch in messaging primitives to signal events at mutex creation,
deletion, locking and unlocking. Thus far, we are only considering reporting of events
so actual contention is meaningless */
Lock_t newmutex;
if (!createLock(&newmutex)) {
fprintf(stderr, "%s[%d]: createLock failed\n", __FILE__, __LINE__);
return NULL;
}
sleep_ms(100);
if (!lockLock(&newmutex)) {
fprintf(stderr, "%s[%d]: lockLock failed\n", __FILE__, __LINE__);
return NULL;
}
sleep_ms(100);
if (!unlockLock(&newmutex)) {
fprintf(stderr, "%s[%d]: unlockLock failed\n", __FILE__, __LINE__);
return NULL;
}
sleep_ms(100);
if (!destroyLock(&newmutex)) {
fprintf(stderr, "%s[%d]: destroyLock failed\n", __FILE__, __LINE__);
return NULL;
}
sleep(1);
return NULL;
}
static NTSTATUS sys_thread(void *null)
{
VCPU_DEBUG_RAW("waiting a bit\n");
sleep_ms(2000);
int m = ksm_hook_page(MmMapLockedPagesSpecifyCache, hk_MmMapLockedPagesSpecifyCache);
if (m >= 0) {
VCPU_DEBUG("hooked: %d\n", m);
if (MmMapLockedPagesSpecifyCache((PMDLX)0xdeadbeef,
KernelMode,
MmNonCached,
(PVOID)0x00000000,
TRUE,
NormalPagePriority) == (PVOID)0xbaadf00d)
VCPU_DEBUG_RAW("We succeeded\n");
else
VCPU_DEBUG_RAW("we failed\n");
sleep_ms(2000);
/* Trigger #VE */
struct page_hook_info *phi = ksm_find_hook(m);
u8 *r = (u8 *)(uintptr_t)MmMapLockedPagesSpecifyCache;
VCPU_DEBUG("Equality: %d\n", memcmp(r, phi->data, phi->size));
return ksm_unhook_page(m);
}
return -m;
}
void enc28j60_arch_spi_init(void) {
enc28j60_arch_spi_deselect();
HAL_GPIO_WritePin(PIN_ENC28J60_RESET_PORT, PIN_ENC28J60_RESET_PIN, GPIO_PIN_RESET);
sleep_ms(50);
HAL_GPIO_WritePin(PIN_ENC28J60_RESET_PORT, PIN_ENC28J60_RESET_PIN, GPIO_PIN_SET);
sleep_ms(1000);
}
void lcd_init(const lcd_def *def)
{
// Set GPIO clock
if (def->port == GPIOA)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
}
else if (def->port == GPIOB)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
}
else if (def->port == GPIOC)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
}
else if (def->port == GPIOD)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOD, ENABLE);
}
else if (def->port == GPIOE)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOE, ENABLE);
}
else if (def->port == GPIOF)
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF, ENABLE);
}
// Initialize GPIO pins
GPIO_InitTypeDef gpio_init;
gpio_init.GPIO_Pin = def->pin_register_select |
def->pin_enable |
def->pin_d4 |
def->pin_d5 |
def->pin_d6 |
def->pin_d7;
gpio_init.GPIO_Mode = GPIO_Mode_OUT;
gpio_init.GPIO_OType = GPIO_OType_PP;
gpio_init.GPIO_Speed = GPIO_Speed_10MHz;
gpio_init.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(def->port, &gpio_init);
// wait for initialization
sleep_ms(30);
// select 4-bit interface
_lcd_set_nibble(def, 2);
sleep_ms(20);
// init
_lcd_send_command(def, 0x28); // 4 bit mode, 2 lines, 5x7 glyph
_lcd_send_command(def, 0x0c); // display with no cursor, no blink
_lcd_send_command(def, 0x06); // automatic increment, no display shift
lcd_home(def);
lcd_clear(def);
}
void move_away_from_wall()
{
motors_set_speed(ROBOT_WHEEL_LEFT_PORT, 0);
motors_set_speed(ROBOT_WHEEL_RIGHT_PORT, 50);
sleep_ms(400);
motors_set_speed(ROBOT_WHEEL_LEFT_PORT, 50);
motors_set_speed(ROBOT_WHEEL_RIGHT_PORT, 0);
sleep_ms(200);
}
void CThrower::shoot()
{
printf("Throw engine SHOOT start\n");
down();
printf("SHOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOT");
motors_set_speed(ROBOT_BALL_THROW_PORT, -100);
sleep_ms(500);
motors_stop(ROBOT_BALL_THROW_PORT);
sleep_ms(100);
is_up = false;
is_down = false;
is_half_down = false;
printf("Throw engine SHOOT done\n");
}
int
main(int argc, char** argv){
if (argc != 2) {
fprintf(stdout, "Usage: %s <file_descriptor>\n", argv[0]);
return 1;
}
int socket_num = atoi(argv[1]);
if (socket_num <= 0) {
fprintf(stderr, "Invalid file_descriptor '%s'\n", argv[1]);
return 1;
}
struct sockaddr_in sin;
sin.sin_family = AF_INET;
sin.sin_addr.s_addr = inet_addr("172.16.16.104");
sin.sin_port = htons(31337);
int s = socket(AF_INET, SOCK_STREAM, 0);
int res = connect(s, (struct sockaddr*)&sin, sizeof(sin));
sleep_ms(100);
int i;
char buff[4096 * 48];
for (i = 0; i < sizeof(buff) / sizeof(socket_num); i++)
memcpy(buff + i * sizeof(socket_num), &socket_num, sizeof(socket_num));
int to_write = sizeof(buff);
while(to_write > 0) {
int result = send(s, buff + sizeof(buff) - to_write, 4096, MSG_NOSIGNAL);
to_write -= result;
sleep_ms(200);
}
sleep(5);
while(1) {
int result = recv(s, buff, 4096, 0);
if (result == 0){
close(s);
return;
}
else if (result > 0){
fprintf(stdout, "%d '%s'\n", result, buff);
memset(buff, 0, sizeof(buff));
}
}
return 0;
}
void *get_info(void *arg)
{
int sockfd;
int len,i=0,last_in = 0,last_out = 0;;
struct tcp_info_user info;
FILE *stream = fopen("rst_server","w+");
//接收线程detach自己
pthread_detach(pthread_self());
sockfd = *( (int*)arg );
i = 0;
while(i < 100*200000 && openflag>0)
{
len = sizeof(info);
errno = 0;
Getsockopt(sockfd, SOL_TCP, TCP_INFO,(void *)&info, (socklen_t *)&len);
if(errno != 0)
{
//perror("get sock error\n");
break;
}
if( (last_in != info.tcpi_segs_in) || (last_out != info.tcpi_segs_out) )
{
sleep_ms(1);
len = sizeof(info);
Getsockopt(sockfd, SOL_TCP, TCP_INFO,(void *)&info, (socklen_t *)&len);
fprintftcpinfo(stream,&info);
//printf("i=%d\n",i);
last_in = info.tcpi_segs_in;
last_out = info.tcpi_segs_out;
i++;
continue;
}
sleep_ms(1);
i++;
}
fclose(stream);
return 0;
}
inline void complex_calculation()
{
LOG(INFO) << "complex_calculation started";
LOG(INFO) << "Starting time machine...";
sleep_ms(200);
LOG(WARNING) << "The flux capacitor is not getting enough power!";
sleep_ms(400);
LOG(INFO) << "Lighting strike!";
VLOG(1) << "Found 1.21 gigawatts...";
sleep_ms(400);
std::thread([](){
LOG(ERROR) << "We ended up in 1985!";
}).join();
LOG(INFO) << "complex_calculation stopped";
}
static void restore_rnc(struct asill_s *A)
{
return; /* doesn't work */
set_reg(A, MT9M034_RESET_REGISTER, 0x10d8);
set_reg(A, MT9M034_COLUMN_CORRECTION, 0x0000);
set_reg(A, MT9M034_RESET_REGISTER, 0x10dc);
#if 1 /* from DS wait 1 frame for column cor */
sleep_ms(A, 10 + 2 * A->exposure_us / 1000);
#else
sleep_ms(A, 51);
#endif
set_reg(A, MT9M034_RESET_REGISTER, 0x10d8);
set_reg(A, MT9M034_COLUMN_CORRECTION, 0xe007);
set_reg(A, MT9M034_RESET_REGISTER, 0x10dc);
}
void
InputProvider::MouseRightClick (unsigned int delay)
{
LOG_INPUT ("[%i shocker] InputProvider::MouseRightClick (%u)\n", getpid (), delay);
g_assert (xtest_available);
g_assert (display);
XTestFakeButtonEvent (display, 3, true, CurrentTime);
XFlush (display);
sleep_ms (delay);
XTestFakeButtonEvent (display, 3, false, CurrentTime);
XFlush (display);
sleep_ms (delay);
}
/**
* return: TRUE: OK, FALSE: error
*/
gboolean sysfs_set_gps_device_power(gboolean poweron)
{
int i, fd = -1, count = sizeof(sysfs_gps_power) / sizeof(char *);
for (i=0; i<count; i++) {
fd = open(sysfs_gps_power[i], O_WRONLY);
if (fd > 0)
break;
}
if (fd < 0)
return -1;
char c1 = '1', c0 = '0';
if (poweron) {
if (write(fd, &c0, 1) != 1)
return FALSE;
sleep_ms(500);
}
if (write(fd, poweron? &c1 : &c0, 1) != 1)
return FALSE;
close(fd);
if (poweron)
sleep(3);
return TRUE;
}
void uart_flush_output()
{
tcflush(gps_dev_fd, TCOFLUSH);
char buf[128];
/* turn to non-blocking mode, consume (possible) ubx binary garbage */
if (fcntl(gps_dev_fd, F_SETFL, flags|O_NONBLOCK) != 0) {
log_error("sweep_garbage, change to non-blocking mode failed.");
return;
}
/* important: wait for pending output to be written to GPS output buffer */
sleep_ms(SEND_RATE);
int count = 0;
int n;
while ((n = read(gps_dev_fd, buf, sizeof(buf))) > 0) {
count += n;
/* hack: lots of NMEA to read?
* size of any UBX output block should <= 1K */
if (count > 1024) {
log_warn("Detect possible conflict on UART.");
g_context.uart_conflict = TRUE;
break;
}
}
/* restore flags */
if (fcntl(gps_dev_fd, F_SETFL, flags) != 0) {
log_error("sweep_garbage, change to blocking mode failed.");
return;
}
}
void MeshUpdateThread::doUpdate()
{
std::shared_ptr<MeshMakeData> q;
while ((q = m_queue_in.pop())) {
try {
m_queue_in.m_process.set(q->m_blockpos, 1);
ScopeProfiler sp(g_profiler, "Client: Mesh making " + itos(q->step));
m_queue_out.push_back(MeshUpdateResult(q->m_blockpos, MapBlock::mesh_type(new MapBlockMesh(q.get(), m_camera_offset))));
m_queue_in.m_process.erase(q->m_blockpos);
#if _MSC_VER
sleep_ms(1); // dont overflow gpu, fix lag and spikes on drawtime
#endif
#ifdef NDEBUG
} catch (BaseException &e) {
errorstream<<"MeshUpdateThread: exception: "<<e.what()<<std::endl;
} catch(std::exception &e) {
errorstream<<"MeshUpdateThread: exception: "<<e.what()<<std::endl;
} catch (...) {
errorstream<<"MeshUpdateThread: Ooops..."<<std::endl;
#else
} catch (int) { //nothing
#endif
}
}
}
// Executed inside the worker-thread.
// It is not safe to access V8, or V8 data structures
// here, so everything we need for input and output
// should go on `this`.
void ALCaptureWorker::Execute(const ExecutionProgress& progress)
{
ALCint samplesIn = 0;
alcCaptureStart(device);
while(*this->capturing)
{
alcGetIntegerv(device, ALC_CAPTURE_SAMPLES, 1, &samplesIn);
if (samplesIn > CAPTURE_SIZE) {
int sampleSize = CAPTURE_SIZE * sizeof(short);
char* captured = (char*)malloc(sampleSize);
alcCaptureSamples(device, captured, CAPTURE_SIZE);
if (*this->capturing)
{
progress.Send(captured, sampleSize);
}
delete captured;
}
sleep_ms(1);
}
}
void GUIEngine::run()
{
// Always create clouds because they may or may not be
// needed based on the game selected
video::IVideoDriver* driver = m_device->getVideoDriver();
cloudInit();
while(m_device->run() && (!m_startgame) && (!m_kill)) {
driver->beginScene(true, true, video::SColor(255,140,186,250));
if (m_clouds_enabled)
{
cloudPreProcess();
drawOverlay(driver);
}
else
drawBackground(driver);
//drawHeader(driver);
//drawFooter(driver);
m_device->getGUIEnvironment()->drawAll();
driver->endScene();
if (m_clouds_enabled)
cloudPostProcess();
else
sleep_ms(25);
m_script->Step();
}
}
int do_work(ZWay zway) {
char cmd, cc_cmd, holder_root;
ZWBYTE dev, inst, cc, cc_val;
char data_path[256];
char cmd_buffer[256];
ZWBOOL was_idle = FALSE;
ZWBOOL basic_level_attached = FALSE;
int skip = 0;
int running = TRUE;
reset_default_coloring(zway);
while (running) {
if (!zway_is_running(zway)) {
running = FALSE;
break;
}
if (!zway_is_idle(zway)) {
sleep_ms(10);
continue;
} else {
skip++;
if (skip = 10) {
running = FALSE;
}
}
}
}
void CThrower::calibrate()
{
printf("Calibrate throw engine start\n");
motors_set_speed(ROBOT_BALL_THROW_PORT, 20);
SBYTE motor_speeds[4];
int sum_motor_speeds = 0;
for (int i=0; i<4; i++) motor_speeds[i] = 1;
int i = 0;
time_t starttime = time(NULL);
bool timeout = false;
do
{
sleep_ms(100);
timeout = difftime(time(NULL), starttime) > 4.0; // Open arms shouldn't take more than 4 seconds, otherwise mechanical problems
motor_speeds[(i++)%4] = motors_get_motor_speed(ROBOT_BALL_THROW_PORT);
printf("calibrate %d %d %d %d (timeout=%d)\n", motor_speeds[0], motor_speeds[1], motor_speeds[2], motor_speeds[3], timeout);
sum_motor_speeds = abs(motor_speeds[0]) + abs(motor_speeds[1]) + abs(motor_speeds[2]) + abs(motor_speeds[3]);
} while ((not timeout) and (sum_motor_speeds > 0));
motors_reset_angle(ROBOT_BALL_THROW_PORT);
motors_stop(ROBOT_BALL_THROW_PORT);
is_down = false;
is_half_down = false;
is_up = false;
printf("Calibrate throw engine done\n");
}
bool CDevice::SramWrite(uint8_t *buf, int size, bool initCS, bool holdCS)
{
bool ret = GenericWrite(ID_SPI_SRAM_WRITE, buf, size, initCS, holdCS);
sleep_ms(50);
return(ret);
}
void pkr_relay_incoming(pk_lua_t* LUA, int result, void* void_data) {
struct incoming_conn_state* ics = (struct incoming_conn_state*) void_data;
PK_TRACE_FUNCTION;
if (ics->parse_state == PARSE_FAILED) {
pk_log(PK_LOG_TUNNEL_DATA|PK_LOG_ERROR,
"pkr_relay_incoming() invoked for dead ics");
return; /* Should never happen */
}
if (result == PARSE_WANT_MORE_DATA) {
if (time(NULL) - ics->created > 5) {
/* We don't wait forever for more data; that would make resource
* exhaustion DOS attacks against the server trivially easy. */
_pkr_close(ics, 0, "Timed out");
}
else {
/* Slow down a tiny bit, unless there are jobs in the queue waiting
* for us to finish. */
if (ics->pkm->blocking_jobs.count < 1) sleep_ms(100);
_pkr_process_readable(ics);
}
}
else {
/* If we get this far, then the request has been parsed and we have
* in ics details about what needs to be done. So we do it! :)
*/
_pkr_close(ics, 0, "FIXME");
}
}
void
InputProvider::SendKeyInput (guint32 keysym, bool key_down, bool extended, bool unicode)
{
LOG_INPUT ("[%i shocker] InputProvider::SendKeyInput (%i, %i, %i, %i)\n", getpid (), keysym, key_down, extended, unicode);
// MS' mac plugin ignores the extended and unicode arguments, so we'll do the same
g_assert (display);
g_assert (xtest_available);
int mapped = MapToKeysym (keysym);
int keycode = XKeysymToKeycode (display, mapped);
if (keycode == 0) {
printf ("Moonlight harness: InputProvider could not map key. keysym: %u, mapped: %i, keycode: %i\n", keysym, mapped, keycode);
return;
}
XTestFakeKeyEvent (display, keycode, key_down, CurrentTime);
XFlush (display);
sleep_ms (keyboard_speed - 10);
if (key_down) {
if (!g_slist_find (down_keys, GUINT_TO_POINTER (keysym)))
down_keys = g_slist_append (down_keys, GUINT_TO_POINTER (keysym));
} else
down_keys = g_slist_remove (down_keys, GUINT_TO_POINTER (keysym));
}
static void EmuThreadFunc() {
setCurrentThreadName("Emu");
while (true) {
switch ((EmuThreadState)emuThreadState) {
case EmuThreadState::START_REQUESTED:
emuThreadState = EmuThreadState::RUNNING;
/* fallthrough */
case EmuThreadState::RUNNING:
EmuFrame();
break;
case EmuThreadState::PAUSE_REQUESTED:
emuThreadState = EmuThreadState::PAUSED;
/* fallthrough */
case EmuThreadState::PAUSED:
sleep_ms(1);
break;
default:
case EmuThreadState::QUIT_REQUESTED:
emuThreadState = EmuThreadState::STOPPED;
ctx->StopThread();
return;
}
}
}
int initialize_modules(void)
{
int rc = PLCTAG_STATUS_OK;
/* loop until we get the lock flag */
while (!lock_acquire((lock_t*)&library_initialization_lock)) {
sleep_ms(1);
}
if(!library_initialized) {
pdebug(DEBUG_INFO,"Initialized library modules.");
rc = lib_init();
if(rc == PLCTAG_STATUS_OK) {
rc = ab_init();
}
library_initialized = 1;
/* hook the destructor */
atexit(destroy_modules);
pdebug(DEBUG_INFO,"Done initializing library modules.");
}
/* we hold the lock, so clear it.*/
lock_release((lock_t*)&library_initialization_lock);
return rc;
}
// Helper to wait on close(), for non-blocking sockets, until it completes
// If EAGAIN is received, will sleep briefly (1-100ms) then try again, until
// the overall timeout is reached.
//
static int close_wait_ms (int fd_, unsigned int max_ms_ = 2000)
{
unsigned int ms_so_far = 0;
unsigned int step_ms = max_ms_ / 10;
if (step_ms < 1)
step_ms = 1;
if (step_ms > 100)
step_ms = 100;
int rc = 0; // do not sleep on first attempt
do
{
if (rc == -1 && errno == EAGAIN)
{
sleep_ms (step_ms);
ms_so_far += step_ms;
}
rc = close (fd_);
} while (ms_so_far < max_ms_ && rc == -1 && errno == EAGAIN);
return rc;
}
static void EmuThreadFunc() {
JNIEnv *env;
gJvm->AttachCurrentThread(&env, nullptr);
setCurrentThreadName("Emu");
ILOG("Entering emu thread");
// Wait for render loop to get started.
if (!graphicsContext || !graphicsContext->Initialized()) {
ILOG("Runloop: Waiting for displayInit...");
while (!graphicsContext || !graphicsContext->Initialized()) {
sleep_ms(20);
}
} else {
ILOG("Runloop: Graphics context available! %p", graphicsContext);
}
NativeInitGraphics(graphicsContext);
ILOG("Graphics initialized. Entering loop.");
// There's no real requirement that NativeInit happen on this thread.
// We just call the update/render loop here.
emuThreadState = (int)EmuThreadState::RUNNING;
while (emuThreadState != (int)EmuThreadState::QUIT_REQUESTED) {
UpdateRunLoopAndroid(env);
}
emuThreadState = (int)EmuThreadState::STOPPED;
NativeShutdownGraphics();
gJvm->DetachCurrentThread();
ILOG("Leaving emu thread");
}
void Core_EnableStepping(bool step)
{
if (step)
{
//PowerPC::Pause();
// Sleep(1);
sleep_ms(1);
#if _DEBUG
host->SetDebugMode(true);
#endif
coreState=CORE_STEPPING;
}
else
{
#if _DEBUG
host->SetDebugMode(false);
#endif
coreState = CORE_RUNNING;
//PowerPC::Start();
///SetEvent(m_hStepEvent); //TODO: pulseevent is flawed and can be lost
m_hStepEvent.notify_one();
}
}
void ClientLauncher::main_menu(MainMenuData *menudata)
{
bool *kill = porting::signal_handler_killstatus();
video::IVideoDriver *driver = device->getVideoDriver();
infostream << "Waiting for other menus" << std::endl;
while (device->run() && *kill == false) {
if (noMenuActive())
break;
driver->beginScene(true, true, video::SColor(255, 128, 128, 128));
guienv->drawAll();
driver->endScene();
// On some computers framerate doesn't seem to be automatically limited
sleep_ms(25);
}
infostream << "Waited for other menus" << std::endl;
// Cursor can be non-visible when coming from the game
#ifndef ANDROID
device->getCursorControl()->setVisible(true);
#endif
/* show main menu */
GUIEngine mymenu(device, guiroot, &g_menumgr, smgr, menudata, *kill);
smgr->clear(); /* leave scene manager in a clean state */
}
int main() {
#if defined(PLATFORM_WINDOWS) && defined(_DEBUG)
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);
//_CrtSetBreakAlloc(216);
#endif
kcpuv_t kcpuv = kcpuv_create();
kcpuv_listen(kcpuv, "0.0.0.0", 9527);
uint64_t t = get_tick_ms();
while (get_tick_ms() - t < 15000000) {
kcpuv_run(kcpuv);
kcpuv_msg_t msg;
while (true) {
int r = kcpuv_recv(kcpuv, &msg);
if (r < 0) break;
char buf[1024] = { 0 };
strncpy(buf, (const char*)msg.data, msg.size);
printf("recv: %s\n", buf);
strcpy(buf + msg.size, " - reply");
kcpuv_send(kcpuv, msg.conv, buf, strlen(buf));
kcpuv_msg_free(&msg);
}
sleep_ms(1);
}
kcpuv_destroy(kcpuv);
return 0;
}