void pid_init () // call this anytime before calling calculate_pid
{
// set up PID values
set_pid_constants_pitch(PITCH_CONST_P, PITCH_CONST_I, PITCH_CONST_D, PITCH_ALPHA);
set_pid_constants_roll(ROLL_CONST_P, ROLL_CONST_I, ROLL_CONST_D, ROLL_ALPHA);
set_pid_constants_yaw(YAW_CONST_P, YAW_CONST_I, YAW_CONST_D, YAW_ALPHA);
set_pid_constants_depth(DEPTH_CONST_P, DEPTH_CONST_I, DEPTH_CONST_D, DEPTH_ALPHA);
// Initialize target orientation
set_target_depth(0);
set_target_speed(0);
set_target_heading(0);
// Initialize motor linearization lookup table
init_lookup();
}
rktio_addrinfo_lookup_t *rktio_start_addrinfo_lookup(rktio_t *rktio,
const char *hostname, int portno,
int family, int passive, int tcp)
{
rktio_addrinfo_lookup_t *lookup;
char buf[32], *service;
struct rktio_addrinfo_t *hints;
if (portno >= 0) {
service = buf;
sprintf(buf, "%d", portno);
} else
service = NULL;
if (!hostname && !service) {
set_racket_error(RKTIO_ERROR_HOST_AND_PORT_BOTH_UNSPECIFIED);
return NULL;
}
hints = malloc(sizeof(rktio_addrinfo_t));
memset(hints, 0, sizeof(struct rktio_addrinfo_t));
RKTIO_AS_ADDRINFO(hints)->ai_family = ((family < 0) ? PF_UNSPEC : family);
if (passive) {
RKTIO_AS_ADDRINFO(hints)->ai_flags |= rktio_AI_PASSIVE;
}
if (tcp) {
RKTIO_AS_ADDRINFO(hints)->ai_socktype = SOCK_STREAM;
# ifndef PROTOENT_IS_INT
if (!proto) {
proto = getprotobyname("tcp");
}
# endif
RKTIO_AS_ADDRINFO(hints)->ai_protocol= PROTO_P_PROTO;
} else {
RKTIO_AS_ADDRINFO(hints)->ai_socktype = SOCK_DGRAM;
}
lookup = malloc(sizeof(rktio_addrinfo_lookup_t));
lookup->name = (hostname ? MSC_IZE(strdup)(hostname) : NULL);
lookup->svc = (service ? MSC_IZE(strdup)(service) : NULL);
lookup->hints = hints;
init_lookup(lookup);
return start_lookup(rktio, lookup);
}
int
main(void) {
setvbuf(stdin, 0, _IOFBF, 1024*1024);
long stdin_size = get_file_size(stdin);
uint8_t *buffer = calloc(stdin_size + LINE_LENGTH, 1);
assert(buffer);
lookup_t lookup;
pthread_mutex_t mutex;
job_t *job = 0;
init_lookup(
(const uint8_t *)"acbdghkmnsrutwvy",
(const uint8_t *)"TGVHCDMKNSYAAWBR",
&lookup);
pthread_mutex_init(&mutex, 0);
uint8_t *current = buffer;
uint8_t *end = buffer + stdin_size;
uint8_t *header_begin = 0;
uint8_t *header_end = 0;
uint8_t *body_begin = 0;
while (fgets_unlocked((char *)current, end - current, stdin)) {
if (current[0] == '>') {
if (body_begin != 0) {
job = do_process_block(
header_begin, header_end,
body_begin, current,
&lookup,
&mutex,
job);
}
size_t len = strlen((const char *)current);
header_begin = current;
header_end = current + len;
current += len;
body_begin = current;
} else {
if (current[LINE_LENGTH] == '\n') {
current += LINE_LENGTH;
} else {
size_t len = strlen((const char *)current);
if (current[len - 1] == '\n') {
--len;
}
current += len;
}
}
}
if (body_begin != 0) {
job = do_process_block(
header_begin, header_end,
body_begin, current,
&lookup,
&mutex,
job);
}
while (job) {
pthread_join(job->thread, 0);
if (job->free_buffer) {
free(job->buffer);
}
job = job->prev_job;
}
free(buffer);
return 0;
}
int revcomp_main(void) {
//setvbuf(input_file, 0, _IOFBF, 1024*1024);
//long stdin_size = get_file_size(input_file);
long lSize;
size_t result;
struct rqst_struct rqst;
rqst.bytes = MAXSIZE;
rqst.pid = PROC_ID;
rqst.id = CHUNK_ID;
lSize = rqst.bytes;
fprintf(stdout, "entering revcomp_main \n");
// copy the file into the buffer:
uint8_t *buffer = pnvread(lSize,&rqst);
//uint8_t *buffer = calloc(stdin_size + LINE_LENGTH, 1);
assert(buffer);
lookup_t lookup;
pthread_mutex_t mutex;
job_t *job = 0;
init_lookup(
(const uint8_t *)"acbdghkmnsrutwvy",
(const uint8_t *)"TGVHCDMKNSYAAWBR",
&lookup);
pthread_mutex_init(&mutex, 0);
uint8_t *current = buffer;
uint8_t *end = buffer + lSize;
uint8_t *header_begin = 0;
uint8_t *header_end = 0;
uint8_t *body_begin = 0;
fprintf(stderr,"Current %s \n",current);
if (current[0] == '>') {
if (body_begin != 0) {
job = do_process_block(
header_begin, header_end,
body_begin, current,
&lookup,
&mutex,
job);
}
size_t len = strlen((const char *)current);
header_begin = current;
header_end = current + len;
current += len;
body_begin = current;
} else {
if (current[LINE_LENGTH] == '\n') {
current += LINE_LENGTH;
} else {
size_t len = strlen((const char *)current);
if (current[len - 1] == '\n') {
--len;
}
current += len;
}
}
if (body_begin != 0) {
job = do_process_block(
header_begin, header_end,
body_begin, current,
&lookup,
&mutex,
job);
}
while (job) {
pthread_join(job->thread, 0);
if (job->free_buffer) {
nv_free(job->buffer);
}
job = job->prev_job;
}
fprintf(stdout, "revcomp main returning \n");
/*free(buffer);*/
return 0;
}
int main(int argc,char *args[])
{
int n,c;
unsigned long long prof,start,end;
end_of_data_ptr=sbrk(0);
time_now=time(NULL);
printf("\n");
printf(" ********************************************\n");
printf(" * Astonia 3 - The Conflict Server *\n");
printf(" * Version %d.%02d.%02d *\n",VERSION>>16,(VERSION>>8)&255,VERSION&255);
printf(" ********************************************\n");
printf(" * Copyright (C) 2001-2008 Intent Software *\n");
printf(" * Copyright (C) 1997-2001 Daniel Brockhaus *\n");
printf(" ********************************************\n");
printf("\n");
if (argc>1) {
while (1) {
c=getopt(argc,args,"a:m:i:dhc");
if (c==-1) break;
switch (c) {
case 'a': if (optarg) areaID=atoi(optarg); break;
case 'm': if (optarg) areaM=atoi(optarg); break;
case 'd': demon=1; break;
case 'h': fprintf(stderr,"Usage: %s [-a <areaID>] [-m <mirror>] [-n <use this class A net>] [-d] [-c]\n\n-d Demonize\n-c Disable concurrent database access\n\n",args[0]); exit(0);
case 'c': multi=0; break;
//case 'n': if (optarg) server_net=atoi(optarg); break;
case 'i': if (optarg) serverID=atoi(optarg); break;
}
}
}
if (!areaID) {
printf("No areaID given, assuming areaID=1\n");
areaID=1;
}
if (!areaM) {
printf("No mirror given, assuming areaM=1\n");
areaM=1;
}
if (!serverID) {
printf("No serverID given, assuming serverID=1\n");
serverID=1;
}
#ifdef STAFF
while (!check_staff_start()) sleep(1);
#endif
// set character number limit depending on area
switch(areaID) {
case 1: maxchars=512; break;
case 2: maxchars=896; break;
case 3: maxchars=384; break;
case 4: maxchars=2048; break;
case 5: maxchars=768; break;
case 6: maxchars=384; break;
case 7: maxchars=1280; break;
case 8: maxchars=384; break;
case 9: maxchars=1280; break;
case 10: maxchars=512; break;
case 11: maxchars=384; break;
case 12: maxitem=1024*48; maxchars=384; break;
case 13: maxchars=9*50+200; break;
case 14: maxchars=16*50+200; break;
case 15: maxchars=384; break;
case 16: maxchars=384; break;
case 17: maxchars=512; break;
case 18: maxchars=768; break;
case 19: maxchars=384; break;
case 20: maxchars=768; break;
case 21: maxchars=768; break;
case 22: maxchars=512; break;
case 23: maxchars=512; break;
case 24: maxchars=384; break;
case 25: maxchars=384+8*25*2; break;
case 26: maxchars=256; break;
case 27: maxchars=2048; break;
case 28: maxchars=384; break;
case 29: maxchars=512; break;
case 30: maxchars=384; break;
case 31: maxitem=1024*40; maxchars=512; break;
case 32: maxchars=1280; break;
case 33: maxchars=1600; break;
case 34: maxchars=1280; break;
case 35: maxchars=768; break;
case 36: maxchars=768; break;
case 37: maxchars=1024; break;
default: maxchars=768; break;
}
// set item and effect limit
if (!maxitem) maxitem=max(maxchars*12+10240,20480);
if (!maxeffect) maxeffect=max(maxchars*2,1024);
printf("serverID=%d, areaID=%d, areaM=%d, maxchars=%d, maxitem=%d, maxeffect=%d\n\n",
serverID,areaID,areaM,maxchars,maxitem,maxeffect);
if (demon) {
printf("Demonizing...\n\n");
if (fork()) exit(0);
for (n=0; n<256; n++) close(n);
setsid();
#ifndef STAFF
nologin=1;
#endif
}
// ignore the silly pipe errors:
signal(SIGPIPE,SIG_IGN);
// ignore sighup - just to be safe
signal(SIGHUP,SIG_IGN);
/*signal(SIGSEGV,sig_crash);
signal(SIGFPE,sig_crash);
signal(SIGBUS,sig_crash);
signal(SIGSTKFLT,sig_crash);*/
// shutdown gracefully if possible:
signal(SIGQUIT,sig_leave);
signal(SIGINT,sig_leave);
signal(SIGTERM,sig_leave);
// show profile info on CTRL-Z
signal(SIGTSTP,sig_showprof);
// init random number generator
srand(time_now);
if (!init_smalloc()) exit(1);
if (!init_mem()) exit(1);
if (!init_prof()) exit(1);
if (!init_log()) exit(1);
if (!init_database()) exit(1);
if (!init_lookup()) exit(1);
if (!init_sector()) exit(1);
if (!init_los()) exit(1);
if (!init_timer()) exit(1);
if (!init_notify()) exit(1);
if (!init_create()) exit(1);
if (!init_lib()) exit(1);
if (!init_io()) exit(1);
if (!init_path()) exit(1);
if (!init_effect()) exit(1);
if (!init_container()) exit(1);
if (!init_store()) exit(1);
if (!init_chat()) exit(1);
init_sound_sector();
xlog("AreaID=%d, AreaM=%d, entering game loop...",areaID,areaM);
dlog(0,0,"Server started");
prof_reset();
while (!quit) {
sprintf(args[0],"./server -a %d -m %d -i %d # %d on %d%% load (busy)",areaID,areaM,serverID,online,(10000-server_idle)/100);
start=rdtsc();
lock_server();
time_now=time(NULL);
prof=prof_start(26); tick_date(); prof_stop(26,prof);
prof=prof_start(22); tick_timer(); prof_stop(22,prof);
prof=prof_start(4); tick_char(); prof_stop(4,prof);
prof=prof_start(24); tick_effect(); prof_stop(24,prof);
prof=prof_start(36); tick_clan(); prof_stop(36,prof);
prof=prof_start(39); tick_club(); prof_stop(39,prof);
prof=prof_start(5); tick_player(); prof_stop(5,prof);
prof=prof_start(34); tick_login(); prof_stop(34,prof);
prof=prof_start(6); pflush(); prof_stop(6,prof);
prof=prof_start(7); io_loop(); prof_stop(7,prof);
prof=prof_start(3); tick_chat(); prof_stop(3,prof);
if (showprof) {
show_prof();
showprof=0;
}
prof=prof_start(8); prof_update(); prof_stop(8,prof);
end=rdtsc();
cycles=end-start;
if ((ticker&2047)==0) {
prof=prof_start(27); area_alive(0); prof_stop(27,prof);
prof=prof_start(28); backup_players(); prof_stop(28,prof);
call_stat_update();
read_motd();
reinit_log();
}
if ((ticker&255)==0) {
call_check_task();
call_area_load();
shutdown_warn();
#ifdef STAFF
check_staff_stop();
#endif
}
if ((ticker&255)==168) {
prof=prof_start(38);
consistency_check_items();
consistency_check_map();
consistency_check_chars();
consistency_check_containers();
prof_stop(38,prof);
}
unlock_server();
sprintf(args[0],"./server -a %d -m %d -i %d # %d on %d%% load (idle)",areaID,areaM,serverID,online,(10000-server_idle)/100);
prof=prof_start(1); tick_sleep(0); prof_stop(1,prof);
ticker++;
}
xlog("Left game loop");
respawn_check();
for (n=1; n<MAXCHARS; n++) {
if (ch[n].flags&CF_PLAYER) {
exit_char(n);
}
}
area_alive(1);
show_prof();
dlog(0,0,"Server stopped");
xlog("map check");
check_map();
exit_lib();
exit_database();
xlog("Clean shutdown");
showmem();
exit_log();
exit_io();
return 0;
}
