int main( int argc, char const ** argv )
{
whio_stream * wout = whio_stream_for_filename( "/dev/stdout", "w+" );
assert( wout );
std::ostringstream sout;
whio::ostreambuf_whio os( sout, wout, true );
sout << "Hi, world!\n";
wout->api->flush(wout);
whio_stream * win = whio_stream_for_filename( "/dev/stdin", "r" );
assert( win );
{
std::istringstream din;
whio::istreambuf_whio os( din, win, true );
MARKER("Enter an INTEGER and tap ENTER, then CTRL-D: ");
fflush(stdout);
int x = -1;
din >> x;
MARKER("read int=%d\n",x);
}
return 0;
}
/*
This function must only be called after startNewRigidBody has been called.
*/
bool vrpn_Tracker_PhaseSpace::addRigidMarker(int sensor, int led_id, float x, float y, float z)
{
#ifdef DEBUG
printf("%s %d %d %f %f %f\n", __PRETTY_FUNCTION__, sensor, led_id, x, y, z);
#endif
if(!owlRunning) return false;
if(slave) return false;
if(numRigids == 0) {
fprintf(stderr, "Error: Attempting to add rigid body marker with no rigid body defined.");
return false;
}
if(numMarkers >= VRPN_PHASESPACE_MAXMARKERS) {
fprintf(stderr, "Error: Maximum markers (%d) exceeded.\n", VRPN_PHASESPACE_MAXMARKERS);
return false;
}
float xyz[3];
xyz[0] = x;
xyz[1] = y;
xyz[2] = z;
owlMarkeri(MARKER(numRigids,sensor),OWL_SET_LED,led_id);
owlMarkerfv(MARKER(numRigids,sensor),OWL_SET_POSITION,&xyz[0]);
if(!owlGetStatus())
return false;
numMarkers++;
return true;
}
int ociw_res_finalize(db_wrap_result * self)
{
RES_DECL(DB_WRAP_E_BAD_ARG);
/*
MARKER("Freeing result handle @%p/%p/@%p\n",(void const *)self, (void const *)wres, (void const *)wres->result);
*/
if (wres->st)
{
OCI_StatementFree(wres->st);
wres->st = NULL;
/*
NONE of the OCI demo code shows us how to free an
OCI_Resultset object (in fact, the demo code mostly doesn't
clean up at all), but the docs state that cleaning up the
statement also cleans the result set.
*/
wres->result = NULL;
}
else if (wres->result)
{
MARKER("POSSIBLE ERROR??? Result object but not Statement?");
}
free(self->impl.data);
*self = ociw_res_empty;
free(self);
return 0;
}
static Bool
I810_SetMode(ScrnInfoPtr pScrn, DGAModePtr pMode)
{
int index = pScrn->pScreen->myNum;
I810Ptr pI810 = I810PTR(pScrn);
MARKER();
if (!pMode) { /* restore the original mode */
DPRINTF(PFX, "Restoring original mode (from DGA mode)\n");
if (pI810->DGAactive) {
pScrn->currentMode = I810SavedDGAModes[index];
pScrn->SwitchMode(index, pScrn->currentMode, 0);
pScrn->AdjustFrame(index, 0, 0, 0);
pI810->DGAactive = FALSE;
}
} else {
if (!pI810->DGAactive) {
DPRINTF(PFX, "Setting DGA mode\n");
I810SavedDGAModes[index] = pScrn->currentMode;
pI810->DGAactive = TRUE;
}
pScrn->SwitchMode(index, pMode->mode, 0);
}
return TRUE;
}
static int
I810_GetViewport(ScrnInfoPtr pScrn)
{
I810Ptr pI810 = I810PTR(pScrn);
MARKER();
return pI810->DGAViewportStatus;
}
static void
I810_BlitTransRect(ScrnInfoPtr pScrn,
int srcx, int srcy,
int w, int h, int dstx, int dsty, unsigned long color)
{
MARKER();
/* this one should be separate since the XAA function would
* prohibit usage of ~0 as the key */
}
static void
I810_Sync(ScrnInfoPtr pScrn)
{
I810Ptr pI810 = I810PTR(pScrn);
MARKER();
if (pI810->AccelInfoRec) {
(*pI810->AccelInfoRec->Sync) (pScrn);
}
}
static void
I810_FillRect(ScrnInfoPtr pScrn,
int x, int y, int w, int h, unsigned long color)
{
I810Ptr pI810 = I810PTR(pScrn);
MARKER();
if (pI810->AccelInfoRec) {
(*pI810->AccelInfoRec->SetupForSolidFill) (pScrn, color, GXcopy, ~0);
(*pI810->AccelInfoRec->SubsequentSolidFillRect) (pScrn, x, y, w, h);
SET_SYNC_FLAG(pI810->AccelInfoRec);
}
}
static void
I810_SetViewport(ScrnInfoPtr pScrn, int x, int y, int flags)
{
I810Ptr pI810 = I810PTR(pScrn);
vgaHWPtr hwp = VGAHWPTR(pScrn);
MARKER();
pScrn->AdjustFrame(pScrn->pScreen->myNum, x, y, flags);
/* wait for retrace */
while ((hwp->readST01(hwp) & 0x08)) ;
while (!(hwp->readST01(hwp) & 0x08)) ;
pI810->DGAViewportStatus = 0;
}
static void
I810_BlitRect(ScrnInfoPtr pScrn,
int srcx, int srcy, int w, int h, int dstx, int dsty)
{
I810Ptr pI810 = I810PTR(pScrn);
MARKER();
if (pI810->AccelInfoRec) {
int xdir = ((srcx < dstx) && (srcy == dsty)) ? -1 : 1;
int ydir = (srcy < dsty) ? -1 : 1;
(*pI810->AccelInfoRec->SetupForScreenToScreenCopy) (pScrn, xdir, ydir,
GXcopy, ~0, -1);
(*pI810->AccelInfoRec->SubsequentScreenToScreenCopy) (pScrn, srcx, srcy,
dstx, dsty, w, h);
SET_SYNC_FLAG(pI810->AccelInfoRec);
}
}
static Bool
I810_OpenFramebuffer(ScrnInfoPtr pScrn,
char **name,
unsigned char **mem, int *size, int *offset, int *flags)
{
I810Ptr pI810 = I810PTR(pScrn);
MARKER();
*name = NULL; /* no special device */
*mem = (unsigned char *)pI810->LinearAddr;
*size = pI810->FbMapSize;
*offset = 0;
*flags = DGA_NEED_ROOT;
DPRINTF(PFX,
" mem == 0x%.8x (pI810->LinearAddr)\n"
"size == %lu (pI810->FbMapSize)\n", *mem, *size);
return TRUE;
}
bool vrpn_Tracker_PhaseSpace::addMarker(int sensor,int led_id)
{
#ifdef DEBUG
printf("%s %d %d\n", __PRETTY_FUNCTION__, sensor, led_id);
#endif
if(!owlRunning) return false;
if(slave) return false;
if(numMarkers >= VRPN_PHASESPACE_MAXMARKERS) {
fprintf(stderr, "Error: Maximum markers (%d) exceeded.\n", VRPN_PHASESPACE_MAXMARKERS);
return false;
}
owlMarkeri(MARKER(0,sensor),OWL_SET_LED,led_id);
if(!owlGetStatus())
return false;
numMarkers++;
return true;
}
void PhasespaceCore::initializeCommunication() {
ROS_INFO_STREAM("[PhaseSpace] Initalizing the PhaseSpace...");
// opens a socket and configures the communication channels to pass data between the OWL server and client; this
// function will block until there is a connection or an error; returns the passed flags if OK
if (owlInit(server_ip_.c_str(), init_flags_) < 0) {
ROS_FATAL_STREAM("[PhaseSpace] Can't initialize the communication with OWL server: " << owlGetError());
throw excp_;
}
// initializes a point tracker:
// - OWL_CREATE: tells the system to create a tracker
// - OWL_POINT_TRACKER: specifies the creation of a point tracker
owlTrackeri(tracker_, OWL_CREATE, OWL_POINT_TRACKER);
// creates the marker structures, each with the proper id:
// - MARKER Macro: builds a marker id out of a tracker id and marker index
// - OWL_SET_LED: the following 'i' is an integer representing the LED ID of the marker
for (int i=0; i<init_marker_count_; i++) {
owlMarkeri(MARKER(tracker_, i), OWL_SET_LED, i);
}
// enables the tracker (it has to be disabled when the markers have to be added)
owlTracker(tracker_, OWL_ENABLE);
// checking the status will block until all commands are processed and any errors are sent to the client
if (!owlGetStatus()) {
ROS_FATAL_STREAM("[PhaseSpace] Initialization generic error: " << owlGetError());
throw excp_;
}
// sets frequency with default maximum value (OWL_MAX_FREQUENCY = 480 Hz):
// - OWL_FREQUENCY: specifies the rate at which the server streams data
owlSetFloat(OWL_FREQUENCY, OWL_MAX_FREQUENCY);
// enables the streaming of data
owlSetInteger(OWL_STREAMING, OWL_ENABLE);
}
CGridControl::CGridControl()
{
MARKER("CGridControl::CGridControl()");
}
CDialog::~CDialog()
{
MARKER("CDialog::~CDialog()");
}
void CDialog::OnLifetimeEvent(EDialogLifetimeEvent event)
{
MARKER("CDialog::OnLifetimeEvent()");
return;
}
CDialog::CDialog(): m_bChildrenInited(false)
{
MARKER("CDialog::CDialog()");
}
Bool
I810DGAInit(ScreenPtr pScreen)
{
ScrnInfoPtr pScrn = xf86Screens[pScreen->myNum];
I810Ptr pI810 = I810PTR(pScrn);
DGAModePtr modes = NULL, newmodes = NULL, currentMode;
DisplayModePtr pMode, firstMode;
int Bpp = pScrn->bitsPerPixel >> 3;
int num = 0;
MARKER();
pMode = firstMode = pScrn->modes;
while (pMode) {
newmodes = xrealloc(modes, (num + 1) * sizeof(DGAModeRec));
if (!newmodes) {
xfree(modes);
return FALSE;
}
modes = newmodes;
currentMode = modes + num;
num++;
currentMode->mode = pMode;
currentMode->flags = DGA_CONCURRENT_ACCESS | DGA_PIXMAP_AVAILABLE;
if (!pI810->noAccel)
currentMode->flags |= DGA_FILL_RECT | DGA_BLIT_RECT;
if (pMode->Flags & V_DBLSCAN)
currentMode->flags |= DGA_DOUBLESCAN;
if (pMode->Flags & V_INTERLACE)
currentMode->flags |= DGA_INTERLACED;
currentMode->byteOrder = pScrn->imageByteOrder;
currentMode->depth = pScrn->depth;
currentMode->bitsPerPixel = pScrn->bitsPerPixel;
currentMode->red_mask = pScrn->mask.red;
currentMode->green_mask = pScrn->mask.green;
currentMode->blue_mask = pScrn->mask.blue;
currentMode->visualClass = (Bpp == 1) ? PseudoColor : TrueColor;
currentMode->viewportWidth = pMode->HDisplay;
currentMode->viewportHeight = pMode->VDisplay;
currentMode->xViewportStep = (Bpp == 3) ? 2 : 1;
currentMode->yViewportStep = 1;
currentMode->viewportFlags = DGA_FLIP_RETRACE;
currentMode->offset = 0;
currentMode->address = pI810->FbBase;
currentMode->bytesPerScanline = ((pScrn->displayWidth * Bpp) + 3) & ~3L;
currentMode->imageWidth = pI810->FbMemBox.x2;
currentMode->imageHeight = pI810->FbMemBox.y2;
currentMode->pixmapWidth = currentMode->imageWidth;
currentMode->pixmapHeight = currentMode->imageHeight;
currentMode->maxViewportX = currentMode->imageWidth -
currentMode->viewportWidth;
/* this might need to get clamped to some maximum */
currentMode->maxViewportY = currentMode->imageHeight -
currentMode->viewportHeight;
pMode = pMode->next;
if (pMode == firstMode)
break;
}
pI810->numDGAModes = num;
pI810->DGAModes = modes;
return DGAInit(pScreen, &I810DGAFuncs, modes, num);
}
