genLexDescr( )
#endif
{
ListNode *p;
FILE *dlgFile = fopen(OutMetaName(DlgFileName), "w");
require(dlgFile!=NULL, eMsg1("genLexFile: cannot open %s", OutMetaName(DlgFileName)) );
#if SPECIAL_FOPEN
special_fopen_actions(OutMetaName(DlgFileName)); /* MR1 */
#endif
fprintf(dlgFile, "<<\n");
fprintf(dlgFile, "/* %s -- DLG Description of scanner\n", DlgFileName);
fprintf(dlgFile, " *\n");
fprintf(dlgFile, " * Generated from:");
{int i; for (i=0; i<NumFiles; i++) fprintf(dlgFile, " %s", FileStr[i]);}
fprintf(dlgFile, "\n");
fprintf(dlgFile, " *\n");
fprintf(dlgFile, " * Terence Parr, Will Cohen, and Hank Dietz: 1989-1994\n");
fprintf(dlgFile, " * Purdue University Electrical Engineering\n");
fprintf(dlgFile, " * With AHPCRC, University of Minnesota\n");
fprintf(dlgFile, " * ANTLR Version %s\n", Version);
fprintf(dlgFile, " */\n\n");
if ( GenCC )
{
if ( !UserDefdTokens ) fprintf(dlgFile, "#include \"%s\"\n", DefFileName);
else fprintf(dlgFile, "#include %s\n", UserTokenDefsFile);
fprintf(dlgFile, "#include \"%s\"\n", ATOKEN_H);
if ( GenAST ) fprintf(dlgFile, "#include \"%s\"\n", ASTBASE_H);
if ( HdrAction != NULL ) dumpAction( HdrAction, dlgFile, 0, -1, 0, 1 );
}
else
{
fprintf(dlgFile, "#include <stdio.h>\n");
fprintf(dlgFile, "#define ANTLR_VERSION %s\n", VersionDef);
if ( strcmp(ParserName, DefaultParserName)!=0 )
fprintf(dlgFile, "#define %s %s\n", DefaultParserName, ParserName);
if ( strcmp(ParserName, DefaultParserName)!=0 )
fprintf(dlgFile, "#include \"%s\"\n", RemapFileName);
if ( HdrAction != NULL ) dumpAction( HdrAction, dlgFile, 0, -1, 0, 1 );
if ( FoundGuessBlk )
{
fprintf(dlgFile, "#define ZZCAN_GUESS\n");
fprintf(dlgFile, "#include <setjmp.h>\n");
}
if ( OutputLL_k > 1 ) fprintf(dlgFile, "#define LL_K %d\n", OutputLL_k);
if ( DemandLookahead ) fprintf(dlgFile, "#define DEMAND_LOOK\n");
fprintf(dlgFile, "#include \"antlr.h\"\n");
if ( GenAST ) {
fprintf(dlgFile, "#include \"ast.h\"\n");
}
if ( UserDefdTokens )
fprintf(dlgFile, "#include %s\n", UserTokenDefsFile);
/* still need this one as it has the func prototypes */
fprintf(dlgFile, "#include \"%s\"\n", DefFileName);
fprintf(dlgFile, "#include \"dlgdef.h\"\n");
fprintf(dlgFile, "LOOKAHEAD\n");
fprintf(dlgFile, "void zzerraction()\n");
fprintf(dlgFile, "{\n");
fprintf(dlgFile, "\t(*zzerr)(\"%s\");\n", DLGErrorString);
fprintf(dlgFile, "\tzzadvance();\n");
fprintf(dlgFile, "\tzzskip();\n");
fprintf(dlgFile, "}\n");
}
fprintf(dlgFile, ">>\n\n");
/* dump all actions */
/* MR1 */
/* MR1 11-Apr-97 Provide mechanism for inserting code into DLG class */
/* MR1 via <<%%lexmember ....>> & <<%%lexprefix ...>> */
/* MR1 */
if (LexActions != NULL) {
for (p = LexActions->next; p!=NULL; p=p->next)
{
/* MR1 */ fprintf(dlgFile, "<<%%%%lexaction\n");
dumpAction( (char *)p->elem, dlgFile, 0, -1, 0, 1 );
fprintf(dlgFile, ">>\n\n");
}
};
/* MR1 */ if (GenCC) {
/* MR1 */ fprintf(dlgFile,"<<%%%%parserclass %s>>\n\n",CurrentClassName);
/* MR1 */ };
/* MR1 */ if (LexPrefixActions != NULL) {
/* MR1 */ for (p = LexPrefixActions->next; p!=NULL; p=p->next)
/* MR1 */ {
/* MR1 */ fprintf(dlgFile, "<<%%%%lexprefix\n");
/* MR1 */ dumpAction( (char *)p->elem, dlgFile, 0, -1, 0, 1 );
/* MR1 */ fprintf(dlgFile, ">>\n\n");
/* MR1 */ }
/* MR1 */ };
/* MR1 */ if (LexMemberActions != NULL) {
/* MR1 */ for (p = LexMemberActions->next; p!=NULL; p=p->next)
/* MR1 */ {
/* MR1 */ fprintf(dlgFile, "<<%%%%lexmember\n");
/* MR1 */ dumpAction( (char *)p->elem, dlgFile, 0, -1, 0, 1 );
/* MR1 */ fprintf(dlgFile, ">>\n\n");
/* MR1 */ }
/* MR1 */ };
/* dump all regular expression rules/actions (skip sentinel node) */
if ( ExprOrder == NULL ) {
warnNoFL("no regular expressions found in grammar");
}
else dumpLexClasses(dlgFile);
fprintf(dlgFile, "%%%%\n");
fclose( dlgFile );
}
void ControllerThread::Main() {
PTime tBase; // base time for tStep multiplier
PTimeInterval tStep(1); // 1ms, loop step (1Hz); up to 14 bytes per step for 115200 serial line
PTime tNow; // current time
PTime tThen; // expected execution time
unsigned short i = 0; // multiplier for tStep
// initialize
PTRACE(1, "Arduino initialization");
char buffer[256];
PINDEX iRead = 0;
PINDEX len = 0;
// reset serial port
pserial->ClearDTR();
pserial->ClearRTS();
pserial->ClearBreak();
pserial->SetDTR();
pserial->SetRTS();
// drop junk from serial port
do {
if (shutdown.Wait(0)) {
return;
};
pserial->Read(buffer, 256); // flush serial data
} while (pserial->GetLastReadCount());
memset(buffer, 0, 256);
// waiting for 3 heat beat
do {
if (shutdown.Wait(0)) {
return;
};
pserial->Read(buffer, 256);
iRead = pserial->GetLastReadCount();
if (iRead == 2 && buffer[0] == 0 && buffer[1] == 0) {
len += iRead;
PTRACE(1, "HeatBeat from Arduino #" << len/2);
};
} while(len < 6);
PTRACE(1, "Arduino initialization done");
fReady = PTrue;
// reset Arduino
pushAction(0xFF, CMD_RESET);
pushAction(0xFF, CMD_SETBASE0); // X1
pushAction(0xFF, calibrationTable[0]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE1); // Y1
pushAction(0xFF, calibrationTable[1]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE2); // X2
pushAction(0xFF, calibrationTable[2]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE3); // Y2
pushAction(0xFF, calibrationTable[3]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE4); // LT
pushAction(0xFF, calibrationTable[4]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE5); // RT
pushAction(0xFF, calibrationTable[5]->GetAt(10000));
pushAction(0xFF, CMD_RESET);
// main loop
do {
bool fNewActions = false;
BYTE naction;
PInt32l value;
/*
* get x, y, button and other events
*/
PTRACE(6, "Main\t" << dumpAction("actions before population: "));
while(popAction(&naction, &value)) {
PIntArray *actionQueue = actionQueuePool[naction];
fNewActions = true;
PTRACE(6, "Main\tadd new value to actionQueuePool[" << (int)naction << "] with queue size " << actionQueue->GetSize());
actionQueue->SetAt(actionQueue->GetSize(), value);
};
if (fNewActions) {
PTRACE(6, "Main\t" << dumpAction("actions after population: "));
summarizeActions(); // summarize action events by type
PTRACE(6, "Main\t" << dumpAction("actions after summarization: "));
};
/*
* process actions:
* send current state to arduino
* then receive state from arduino
* and update actions after sucsessful transmit
*/
processActions();
/*
* wait next tStep ms
*/
i++;
tThen = tBase + tStep * i;
tNow = PTime();
// reset multiplier
if (i >= 255) {
i = 0;
tBase = tThen;
};
// step was too long (tThen less than tNow)
if (tNow.Compare(tThen) != LessThan) {
PTRACE(6, "Main\tnow: " << tNow.AsString("h:m:s.uuuu") << " then: " << tThen.AsString("h:m:s.uuuu") << " i: " << (int)i << " diff: " << (tNow - tThen).GetMilliSeconds() << "ms");
i += (tNow - tThen).GetMilliSeconds() / tStep.GetMilliSeconds() + 1; // number of steps + 1 step
tThen = tBase + tStep * i;
PTRACE(6, "Main\tcorrected then: " << tThen.AsString("h:m:s.uuuu") << " i: " << (int)i);
};
PTRACE(7, "Main\tstep " << (tThen - tNow).GetMilliSeconds() << "ms");
} while(!shutdown.Wait((tThen - tNow).GetMilliSeconds()));
}
