/** polling of child status
@returns 0 - no signal
*/
static int child_waitpid(int hc)
{
struct child_stat *child = mls(CLIST, hc);
int status;
if( child->stat != CHILD_RUNNING ) return child->stat;
int err = waitpid(child->pid,&status,WNOHANG );
if( err == 0 ) return 0;
if( err == -1 ) {
TRACE(trace_child,"error in waitpid\n");
child->stat = CHILD_EXIT_FAILURE;
child->error = CHILD_ERR_PROCESS_NOT_FOUND;
return -3;
}
if (WIFEXITED(status)) {
child->exit_value = WEXITSTATUS(status);
TRACE(trace_child,"Child exited, status=%d\n", WEXITSTATUS(status));
child->stat =
WEXITSTATUS(status) ?
CHILD_EXIT_FAILURE : CHILD_EXIT_SUCCESS;
return WEXITSTATUS(status) ? 2 : 1;
}
return 0;
}
/** vergleiche die ersten n zeichen des arrays m und des strings s
*/
int m_isequal( int m, const char *s, int n)
{
if( m > 0 && m_len(m) >= n && s && *s ) {
return ( strncmp( s, (char*)mls(m,0), n ) == 0 );
}
return 0;
}
/** create a child process and connect a pipe
to child stdout
*/
static void child_exec(int hc)
{
char *null_string = NULL;
struct child_stat *child = mls(CLIST, hc);
if( pipe2( child->fd, O_NONBLOCK ) ) ERR("pipe2");
if( pipe2( child->fd+2, O_NONBLOCK ) ) ERR("pipe2");
pid_t cpid = fork();
if (cpid == -1) ERR("fork");
if (cpid == 0) { /* Child reads from pipe */
dup2(child->fd[1],1); /* make STDOUT==1 same as WRITE-TO==1 end
of pipe-A */
dup2(child->fd[2],0); /* make STDIN==0 sama es READ-FROM==0 end
of pipe-B */
xclose(child->fd+0); /* Close unused read end pipe-A */
xclose(child->fd+3); /* Close unused write end pipe-B */
m_put(child->args,&null_string);
// execlp( child->filename, child->filename, NULL );
execvp( child->filename, m_buf(child->args) );
m_drop(child->args);
perror( "can not exec child process" );
_exit(EXIT_FAILURE); /* never reached */
}
xclose( child->fd+1 ); /* close unused WRITE end of pipe-A */
xclose( child->fd+2 ); /* close unused READ end of pipe-B */
child->stat = CHILD_RUNNING;
child->pid = cpid;
}
// from the resample demo
int main (int argc, char** argv) {
std::string infile = "../../recordings/mark1_pcd/1316652689.744386960.pcd";
std::string smoothfile = "scan-mls.pcd";
std::string outmesh = "scan.vtk"; // there's a ply export in pcl 1.2, but ... we don't have that
if(argc > 1) {
if(strcmp(argv[1], "-s") == 0) {
if(access(infile.c_str(), R_OK) >= 0) {
std::cout << "running Moving Least Squares smoothing, this takes about 30s\n";
mls(infile, smoothfile);
} else {
print_usage();
std::cout << " ! unable to find " << infile << std::endl;
}
} else if(strcmp(argv[1], "-v") == 0) {
if(access(smoothfile.c_str(), R_OK) >= 0) {
viz(smoothfile);
} else {
print_usage();
std::cout << " ! unable to find " << smoothfile << std::endl;
}
} else if(strcmp(argv[1], "-r") == 0) {
if(access(smoothfile.c_str(), R_OK) >= 0) {
std::cout << "running greedy projection, this takes about 4s\n";
recons(smoothfile, outmesh);
} else {
print_usage();
std::cout << " ! unable to find " << smoothfile << std::endl;
}
} else {
print_usage();
}
} else {
print_usage();
}
}
int execute(int argc, char** argv) {
if(argc < 0) {
fprintf(stderr, "Erreur : pas assez d'argument dans la fonction d'execution\n");
return 0;
}
if(strcmp(argv[0], "cd") == 0) {
return mcd(argc, argv);
} else if(strcmp(argv[0], "mkdir") == 0) {
return mmkdir(argc, argv);
} else if(strcmp(argv[0], "cat") == 0) {
return mcat(argc, argv);
} else if(strcmp(argv[0], "ls") == 0) {
return mls(argc, argv);
} else if(strcmp(argv[0], "vim") == 0) {
return mvim(argc, argv);
} else {
printf("Commande non reconnu\n");
return 0;
}
}
static struct mcu_comm *mcu_ptr(uint ctx)
{
if(MCU_COMM<1 || ctx == 0 || ctx > m_len(MCU_COMM))
{
ERR("mcu ctx undefined %d", ctx); exit(1);
}
return mls(MCU_COMM, ctx-1 );
}
static void new_packet_cb(int err, int msg, int sln, void *ctx)
{
if( err ) return;
m_putc(msg,0);
TRACE(1,"packet received: %s", (char*)mls(msg,0) );
cp_func_t fn = cp_lookup(msg);
if(fn) {
err= fn( (void*)(intptr_t)msg, (void*)(intptr_t)sln );
if( err ) sln_set_exit_flag(1);
else sln_printf(sln,"OK");
}
else {
TRACE(1,"unknow command: %s", (char*)mls(msg,0) );
sln_printf(sln,"ERROR");
}
}
/** run child process "name", returns handle for process
returns: <=0 : error, no process forked
>0 : child process handle
*/
static struct child_stat *child_new(int *pos)
{
struct child_stat *child;
*pos=m_len(CLIST);
while( (*pos)-- ) {
child = mls(CLIST,*pos);
if( child->stat == CHILD_NOT_INIT ) return child;
}
return m_add2( CLIST, pos );
}
int child_start(Widget top, char *cmd, void (*cb)(int) )
{
int hc = child_init(cmd, 0);
struct child_stat *child = mls(CLIST, hc);
child->cb = cb;
child_exec(hc);
child->id = XtAppAddInput(XtWidgetToApplicationContext(top),
child_read_fd(hc),
(XtPointer) (XtInputReadMask),
child_input_cb,(XtPointer) hc );
return hc;
}
void child_close(int hc)
{
struct child_stat *child = mls(CLIST, hc);
if( child->stat == CHILD_NOT_INIT ) return;
child_close_handle(hc); /* get exit status */
XtRemoveInput(child->id); /* remove listener */
if(child->cb) child->cb(hc); /* tell app. */
m_free(child->line); /* free mem */
mrb_destroy(child->qin);
free( child->filename );
child->stat = CHILD_NOT_INIT;
m_free_strings(child->args,0);
}
/** kill child process and close file handles */
static int child_close_handle( int hc )
{
struct child_stat *child = mls(CLIST, hc);
if( child->stat == CHILD_RUNNING ) {
kill( child->pid, SIGKILL );
child_get_exit_value(child);
}
xclose( child->fd+0 );
xclose( child->fd+1 );
return child->error;
}
/**
* this function is called if some data has arrived
* sln_client_select -> sln_input_cb -> slop_put which calls this function
*/
static void process_new_packet(int error, int msg, int sln, void *ctx)
{
if( error ) return;
m_putc(msg,0);
TRACE(1,"Msg: %s\n", (char*)mls(msg,0));
int err;
cp_func_t fn = cp_lookup(msg);
if(fn) {
err= fn( (void*)(intptr_t)msg, (void*)(intptr_t)sln );
if( err ) sln_set_exit_flag(1);
}
}
int child_startv(Widget top, int cmd_m, void (*cb)(int) )
{
int l = m_len(cmd_m);
int i;
int hc = child_init(STR(cmd_m,0), 0);
struct child_stat *child = mls(CLIST, hc);
child->cb = cb;
for(i=1;i<l;i++) v_kset(child->args, STR(cmd_m, i), -1 );
child_exec(hc);
child->id = XtAppAddInput(XtWidgetToApplicationContext(top),
child_read_fd(hc),
(XtPointer) (XtInputReadMask),
child_input_cb,(XtPointer) hc );
return hc;
}
static void child_input_cb( XtPointer p, int *n, XtInputId *id )
{
int hc = (int) p;
struct child_stat *child = mls(CLIST, hc);
TRACE(trace_child,"");
if( child_read2(hc) ) {
child_close(hc);
return;
}
while( mrb_get_line(child->qin,child->line)==1) {
if( child->cb ) child->cb(hc);
m_clear(child->line);
};
}
int cmd_rect(int msg,void *ctx)
{
TRACE(1,"");
int x,y,wi,h;
sscanf( mls(msg,5), "%d %d %d %d", &x, &y, &wi, &h );
Widget w = CWNET.widget_draw1;
if( w ) {
Drawable d = XtWindow( w );
Display *dpy = XtDisplay(w);
GC gc = DefaultGC(dpy,DefaultScreen(dpy));
XSetForeground(dpy, gc, 0xffffff);
XDrawRectangle( dpy, d, gc, x,y,wi,h );
}
TRACE(1,"server told us to draw a rectange");
return 0;
}
int cmd_circle(int msg,void *ctx)
{
TRACE(1,"");
int x,y,r;
sscanf( mls(msg,7), "%d %d %d", &x, &y, &r );
/* lgfx_circle(lgfx, x,y,r); */
Widget w = CWNET.widget_draw1;
if( w ) {
Drawable d = XtWindow( w );
Display *dpy = XtDisplay(w);
GC gc = DefaultGC(dpy,DefaultScreen(dpy));
XSetForeground(dpy, gc, 0xffffff);
XDrawArc( dpy, d, gc, x,y,r,r,0,360*64 );
}
TRACE(1,"server told us to draw a circle %d %d %d",x,y,r);
return 0;
}
int main(int argc,char *argv[]) //该怎麽实现
{
int i,j,flag=1,k[20]={0};
char ml[50];
getcwd(ml,50); //获取当前目录路径
//命令解析表
char a[][5]={"-a","-l","-R","-al","-la","-aR",
"-Ra","-lR","-Rl","-alR","-aRl",
"-lRa","-laR","-Ral","-Rla"};
for(i=1;i<argc;i++)
{
flag=0;
for(j=0;j<15;j++)
if(!strcmp(a[j],argv[i]))
k[i-1]=j+1;
}
if(flag)
k[0]=0;
switch(k) // 命令映射表
{
case 0:mls(ml,0,0,0);break;
case 1:mls(ml,1,0,0);break; // a l R
case 2:mls(ml,0,1,0);break;
case 3:mls(ml,0,0,1);break;
case 4:
case 5:mls(ml,1,1,0);break;
case 6:
case 7:mls(ml,1,0,1);break;
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:mls(ml,1,1,1);break;
default:printf("你输入的参数有误");break;
}
}
/** fehlerprüfung und daten einlesen
*/
static int child_read2(int hc)
{
int err;
struct child_stat *child = mls(CLIST, hc);
TRACE(1,"");
/* einlesen ist non-blocking */
err = mrb_read_max(child->qin, child_read_fd(hc) );
if( ! err ) return 0;
/* irgendetwas geht fürchterlich schief
was ist mit dem subprocess? */
if( child_waitpid(hc) != 0 ) return 1;
/* subprocess läuft, wie sieht es mit errno aus? */
TRACE(1,"err %s", strerror(err) );
if( (err == EINTR) || (err == EWOULDBLOCK) ) return 0;
/* errno sagt nichts gutes, besser die verbindung beenden */
return 1;
}
/* GETTERS */
enum child_proc_state child_status(int hc)
{
struct child_stat *child = mls(CLIST, hc);
return child->stat;
}
int main (int argc, char** argv){
//greedy_proj();
mls();
return 0;
}
int child_read_fd(int hc)
{
struct child_stat *child = mls(CLIST, hc);
return child->fd[0];
}
int child_exit_status(int hc)
{
struct child_stat *child = mls(CLIST, hc);
return child->exit_value;
}
char* child_data(int hc)
{
struct child_stat *child = mls(CLIST, hc);
return m_buf(child->line);
}
static void* m_add2(int list, int *pos)
{
*pos = m_new(list,1);
return mls(list,*pos);
}
/** returns index of child argument list */
int child_args(int hc)
{
struct child_stat *child = mls(CLIST, hc);
return child->args;
}
