void prepare_gd()
{
PrintTextToGD ( 0 , 0 , 0 , "VEX Debugger Utility\n" ) ;
PrintTextToGD ( 1 , 0 , 0 , "by James Swineson\n" ) ;
PrintFrameToGD ( 1 , 1 , 6 , 20 , 0 ) ; // print frame
PrintFrameToGD ( 8 , 1 , 11 , 31 , 0 ) ; // print frame
PrintFrameToGD ( 14 , 1 , 17 , 51 , 0 ) ; // print frame
PrintFrameToGD ( 19 , 1 , 21 , 52 , 0 ) ; // print frame
}
static void printCommands(Command* cmd, DisplayLine* cache, unsigned char* line, int indent,
Rect innerRect, unsigned char height, unsigned char width)
{
// make sure we don't overflow the window //
if(*line >= height) return;
// NULL indicates root node, print scheduler Commands //
if(!cmd) {
ListNode* node = runningList.firstNode;
while(node != NULL) {
printCommands(node->data, cache, line, indent, innerRect, height, width);
node = node->next;
}
return;
}
// determine line color //
Color color = Color_Black;
if(cmd->startTime == -1) {
color = Color_DarkYellow;
} else if(Command_timeSinceInitialized(cmd) < 1000) {
color = Color_DarkGreen;
}
// print this Command if changed //
if(cmd->objectId != cache[*line].objectId || color != cache[*line].color) {
// compute display characteristics: position //
unsigned char top = innerRect.top + *line;
unsigned char left = innerRect.left;
unsigned char xwidth = width - indent;
// print command and increment line counter //
PrintTextToGD(top, left, color, "%*s%-*.*s\n", indent, "", xwidth, xwidth,
Command_getName(cmd));
cache[*line] = (DisplayLine) { .objectId = cmd->objectId, .color = color };
}
(*line)++;
// test for CommandGroup //
if(CommandGroup_isGroup(cmd)) {
// print children //
ListNode* node = CommandGroup_getChildList(cmd)->firstNode;
while(node != NULL) {
GroupEntry* entry = node->data;
printCommands(entry->command, cache, line, indent + 2, innerRect, height, width);
node = node->next;
}
// print current node last //
Command* xcmd = CommandGroup_getCurrentCommand(cmd);
if(xcmd) printCommands(xcmd, cache, line, indent + 2, innerRect, height, width);
}
}
void main_process()
{
print_debug_inf_before_launch();
DefineRobotMotors(2, 1, 3, 2, 7, 6, 0, 0, 0, 0);
StartTimer(6);
while(1) // main loop(joystick)
{
PresetTimer(6, 0);
prepare_gd();
print_gd_debug_inf();
Arcade4(1, 3, 1, 3, 2, 7, 6, 0, 0, 0, 0);
JoystickDigitalToMotorAndLimit(1, 5, 1, 127, 0, 2, -127, 0, 8);
JoystickDigitalToMotorAndLimit(1, 5, 1, -127, 0, 2, 127, 0, 9);
JoystickDigitalToMotorAndLimit(1, 6, 1, -127, 0, 2, 127, 0, 4);
JoystickDigitalToMotorAndLimit(1, 7, 1, -127, 0, 2, 127, 0, 5);
PrintTextToGD ( 22 , 3 , 0 , "Loop time: %4d\n" , GetTimer(6) ) ;
}
}
void print_gd_debug_inf()
{
int i;
int ja[4] = {0, 0, 0, 0}; // joystick analog 1-4
unsigned char j5[2] = {0, 0}; // u, d
unsigned char j6[2] = {0, 0}; // u, d
unsigned char j7[4] = {0, 0, 0, 0}; // u, d, l, r
unsigned char j8[4] = {0, 0, 0, 0}; // u, d, l, r
int j_accelerometer[2] = {0, 0}; // x, y
for(i = 0; i < 4; i++){ja[i] = GetJoystickAnalog( 1 , i+1 ) ;}
j5[0] = GetJoystickDigital ( 1 , 5 , 2 ) ;
j5[1] = GetJoystickDigital ( 1 , 5 , 1 ) ;
j6[0] = GetJoystickDigital ( 1 , 6 , 2 ) ;
j6[1] = GetJoystickDigital ( 1 , 6 , 1 ) ;
j7[0] = GetJoystickDigital ( 1 , 7 , 2 ) ;
j7[1] = GetJoystickDigital ( 1 , 7 , 1 ) ;
j7[2] = GetJoystickDigital ( 1 , 7 , 3 ) ;
j7[3] = GetJoystickDigital ( 1 , 7 , 4 ) ;
j8[0] = GetJoystickDigital ( 1 , 8 , 2 ) ;
j8[1] = GetJoystickDigital ( 1 , 8 , 1 ) ;
j8[2] = GetJoystickDigital ( 1 , 8 , 3 ) ;
j8[3] = GetJoystickDigital ( 1 , 8 , 4 ) ;
j_accelerometer[0] = GetJoystickAccelerometer( 1 , 1 ) ;
j_accelerometer[1] = GetJoystickAccelerometer( 1 , 2 ) ;
PrintTextToGD ( 2 , 3 , 8388608 , "Channel 1 = %4d\n" , ja[0] ) ;
PrintTextToGD ( 3 , 3 , 8388608 , "Channel 2 = %4d\n" , ja[1] ) ;
PrintTextToGD ( 4 , 3 , 8388608 , "Channel 3 = %4d\n" , ja[2] ) ;
PrintTextToGD ( 5 , 3 , 8388608 , "Channel 4 = %4d\n" , ja[3] ) ;
PrintTextToGD ( 9 , 3 , 16384 , "Channel 5: Up = %d; Down = %d\n" , j5[0], j5[1] ) ;
PrintTextToGD ( 10 , 3 , 16384 , "Channel 6: Up = %d; Down = %d\n" , j6[0], j6[1] ) ;
PrintTextToGD ( 15 , 3 , 16744448 , "Channel 7: Up = %d; Down = %d; Left = %d; Right = %d\n" , j7[0], j7[1], j7[2], j7[3] ) ;
PrintTextToGD ( 16 , 3 , 16744448 , "Channel 8: Up = %d; Down = %d; Left = %d; Right = %d\n" , j8[0], j8[1], j8[2], j8[3] ) ;
PrintTextToGD ( 20 , 3 , 255 , "Gamepad Accelerometer: AxisX = %4d; AxisY = %4d\n" , j_accelerometer[0], j_accelerometer[1] ) ;
}