void query_client(client_t *c, FILE *rsp)
{
if (c == NULL) {
fprintf(rsp, "null");
} else {
fprintf(rsp, "{");
fprintf(rsp, "\"className\":\"%s\",", c->class_name);
fprintf(rsp, "\"instanceName\":\"%s\",", c->instance_name);
fprintf(rsp, "\"borderWidth\":%u,", c->border_width);
fprintf(rsp, "\"state\":\"%s\",", STATE_STR(c->state));
fprintf(rsp, "\"lastState\":\"%s\",", STATE_STR(c->last_state));
fprintf(rsp, "\"layer\":\"%s\",", LAYER_STR(c->layer));
fprintf(rsp, "\"lastLayer\":\"%s\",", LAYER_STR(c->last_layer));
fprintf(rsp, "\"urgent\":%s,", BOOL_STR(c->urgent));
fprintf(rsp, "\"shown\":%s,", BOOL_STR(c->shown));
fprintf(rsp, "\"tiledRectangle\":");
query_rectangle(c->tiled_rectangle, rsp);
fprintf(rsp,",");
fprintf(rsp, "\"floatingRectangle\":");
query_rectangle(c->floating_rectangle, rsp);
fprintf(rsp, "}");
}
}
void print_rule_consequence(char **buf, rule_consequence_t *csq)
{
char *rect_buf = NULL;
print_rectangle(&rect_buf, csq->rect);
if (rect_buf == NULL) {
rect_buf = malloc(1);
*rect_buf = '\0';
}
asprintf(buf, "monitor=%s desktop=%s node=%s state=%s layer=%s split_dir=%s split_ratio=%lf hidden=%s sticky=%s private=%s locked=%s marked=%s center=%s follow=%s manage=%s focus=%s border=%s rectangle=%s",
csq->monitor_desc, csq->desktop_desc, csq->node_desc,
csq->state == NULL ? "" : STATE_STR(*csq->state),
csq->layer == NULL ? "" : LAYER_STR(*csq->layer),
csq->split_dir, csq->split_ratio,
ON_OFF_STR(csq->hidden), ON_OFF_STR(csq->sticky), ON_OFF_STR(csq->private),
ON_OFF_STR(csq->locked), ON_OFF_STR(csq->marked), ON_OFF_STR(csq->center), ON_OFF_STR(csq->follow),
ON_OFF_STR(csq->manage), ON_OFF_STR(csq->focus), ON_OFF_STR(csq->border), rect_buf);
free(rect_buf);
}
int main (int argc, char **argv) {
int current_state;
//#ifdef USE_GPS
#if 1
FILE * waypoint_file;
int i=0;
double * p;
#endif
char c;
debug = 0;
#ifdef USE_KILL_SWITCH
kill_switch_asserted = 1;
#endif
// Enable Control-C detection
signal(SIGINT, exit_routine);
// Set default speeds
navigation_speed = 5;
object_avoidance_speed = 5;
search_speed = 5;
track_speed = 5;
// Process command line args
while ((c = getopt(argc, argv, "dhs:")) != 255) {
switch(c) {
case 'd':
debug = 1;
break;
case 'h':
fprintf(stderr, USAGE);
exit(0);
case 's':
if(!optarg)
exit(0);
if(sscanf(optarg, "%d,%d,%d,%d", &navigation_speed,
&object_avoidance_speed, &search_speed, &track_speed) != 4) {
fprintf(stderr,"Insufficient or incorrect args\n");
fprintf(stderr, USAGE);
}
break;
case '?':
exit(0);
break;
}
}
//#ifdef USE_GPS
#if 1
// Open the waypoint file for reading
if(!(waypoint_file = fopen("waypoints", "r"))) {
fprintf(stderr,"main: could not open waypoints file\n");
exit(0);
}
// Read in the number of waypoints
fscanf(waypoint_file, "num_waypoints = %d", &num_waypoints);
fgetc(waypoint_file);
// Make space in memory for waypoint values
if(!(waypoints = (double *)malloc(num_waypoints*2*sizeof(double)))) {
fprintf(stderr,"main: malloc failed\n");
exit(0);
}
// Read in waypoint coordinates
for(i=0,p=waypoints; i<num_waypoints; ++i, p+=2) {
fscanf(waypoint_file, "target_lat =%lf\ntarget_long = %lf", p, p+1);
fgetc(waypoint_file);
}
// Set initial target waypoint
state_data.target_lat = waypoints[current_waypoint_idx];
state_data.target_long = waypoints[current_waypoint_idx+1];
#endif
// Begin with init state
current_state = next_state = INIT_STATE;
// Initially no errors
snprintf(state_data.error_str, sizeof(state_data.error_str), "NO_ERROR");
while (1) {
prev_state = current_state;
current_state = next_state;
strcpy(state_data.current_state_str, STATE_STR(current_state));
switch (current_state) {
case INIT_STATE:
if(debug) {
// Set LCD to white
set_lcd_color("255,255,255");
write_lcd("INIT_STATE", 0, 0);
}
init_state();
break;
case NAVIGATION_STATE:
if(debug) {
// Set LCD to light green
set_lcd_color("124,252,0");
write_lcd("NAVIGATION_STATE", 0, 0);
}
navigation_state();
break;
case OBJECT_AVOIDANCE_STATE:
if(debug) {
// Set LCD to light blue
set_lcd_color("0,191,255");
write_lcd("OBJECT_AVOIDANCE_STATE", 0, 0);
}
object_avoidance_state();
break;
case TRACK_STATE:
if (debug) {
// Set LCD to orange-red
set_lcd_color("255,69,0");
write_lcd("TRACK_STATE", 0, 0);
}
track_state();
break;
case DONE_STATE:
if (debug) {
// Set LCD to purple
set_lcd_color("160,32,240");
write_lcd("DONE_STATE", 0, 0);
}
done_state();
#ifdef USE_GPS
free(waypoints);
#endif
exit(0);
break;
case PAUSE_STATE:
if(debug) {
// Set LCD to black
set_lcd_color("0,0,0");
write_lcd("PAUSE_STATE", 0, 0);
}
pause_state();
break;
case ERROR_STATE:
if (debug) {
// Set LCD to firebrick red
set_lcd_color("178,34,34");
write_lcd("ERROR_STATE", 0, 0);
write_lcd(state_data.error_str, 1, 0);
write_lcd("Please check device connection and reboot", 2, 0);
}
while(1)
sleep(1);
break;
}
usleep(1000);
}
}
