int main()
{
char s[100];
double a, b;
struct complex C1, C2;
printf("Введите комплексное число в формате a, b: ");
scanf("%lf%lf", &a, &b);
C1 = cRead(a, b);
cPrint(C1);
printf("Введите комплексное число в формате a,b: ");
scanf("%lf%lf", &a, &b);
C2 = cRead(a,b);
cPrint(C2);
printf("РЎСѓРјРјР°: ");
cPrint(cAdd(C1, C2));
printf("Разность: ");
cPrint(cSub(C1, C2));
printf("Произведение: ");
cPrint(cMul(C1, C2));
printf("Частное: ");
cPrint(cDiv(C1, C2));
printf("Модуль 1-ого: %f: \n", cAbs(C1));
printf("Аргумент 1-ого: %f: \n", cArg(C1));
printf("Сопряжённое 1-ого: "); cPrint(cConj(C1));
printf("Re 1-РѕРіРѕ: %f: \n", cReal(C1));
printf("Im 1-РѕРіРѕ: %f: \n", cImag(C1));
return 0;
}
int main(){
Complex C1, C2, CADD;
C1 = cRead();
C2 = cRead();
Complex_Output(C1);
Complex_Output(C2);
CADD = cAdd(C1, C2);
Complex_Output(CADD);
Complex_Output(cMul(C1,C2));
printf("\nArg(C1) = %lf", Arg(C1));
printf("\nMODUL(C2) = %lf", Modul(C1));
return 0;
}
uint16_t checkHeader(Client &client, uint16_t *contentLength) {
char buf[70];
uint8_t p = 0;
int c = 0;
bool done = false; // when we read the blank line or error
uint16_t ret = 401; // not found
if (contentLength) *contentLength = 0;
//Serial.print("__bss_end 0x");Serial.println(__bss_end,HEX);
if (client == NULL) {
Serial.println("Client NULL!!");
return ret;
}
// read until \r\n\r\n then check header values
while (!done) {
// read a single line up to a newline \n
p = cRead(&client, buf, sizeof(buf), '\n');
// Serial.print("read "); Serial.println(p);
// process the data in the line
if (p && buf[p-1] == '\n') { // did we succeed in reading a line?
buf[p] = 0; // end the string
//Serial.println(buf);
++c;
if (c >= 20) {
client.flush();
return 402;
}
//Serial.print("read line of length "); Serial.print(p); Serial.println(": ");
//Serial.println(buf);
char *h;
if ((h = strstr(buf, "HTTP")) != NULL) {
char *q = strchr(h, ' ') ;
if (q != NULL) {
ret = atoi(q+1);
//Serial.print("status "); Serial.println(buf);
if (ret != 200) {
client.flush();
return ret;
}
}
} else if (contentLength != NULL && !strncasecmp_P(buf, PSTR("Content-Length:"), 15)) {
char *q = strchr(buf, ' ') ;
if (q != NULL) {
*contentLength = atoi(q+1);
}
} else if (p == 2) { // blank line, done with header
done = true;
}
} else {
Serial.println("failed");
// somthing went wrong, didn't read a full line
ret = 403; // indicate we're not successful
client.flush();
done = true;
}
}
//Serial.print("status "); Serial.println(ret);
return ret;
}
void CScreenJoin::ReadCurServerList()
{
m_nSelectedServer = 0;
IServerDirectory *pServerDir = g_pClientMultiplayerMgr->GetServerDir();
IServerDirectory::TPeerList cPeers = pServerDir->GetPeerList();
m_cServerList.resize(cPeers.size());
IServerDirectory::TPeerList::const_iterator iCurPeer = cPeers.begin();
TServerList::iterator iCurServer = m_cServerList.begin();
for (; iCurPeer != cPeers.end(); ++iCurPeer, ++iCurServer)
{
// Indicate that the server's an invalid entry until we get everything..
iCurServer->m_sAddress.clear();
char aStringBuffer[256];
// Point at this server
if (!pServerDir->SetActivePeer(iCurPeer->c_str()))
continue;
// Read the name
CAutoMessage cMsg;
if (!pServerDir->GetActivePeerInfo(IServerDirectory::ePeerInfo_Name, cMsg))
continue;
{
CLTMsgRef_Read cRead(cMsg.Read());
cRead->ReadString(aStringBuffer, sizeof(aStringBuffer));
}
iCurServer->m_sName = aStringBuffer;
// Read the summary
if (!pServerDir->GetActivePeerInfo(IServerDirectory::ePeerInfo_Summary, cMsg))
continue;
{
CLTMsgRef_Read cRead(cMsg.Read());
cRead->ReadString(aStringBuffer, sizeof(aStringBuffer));
iCurServer->m_sMap = aStringBuffer;
iCurServer->m_nNumPlayers = cRead->Readuint8();
iCurServer->m_nMaxPlayers = cRead->Readuint8();
}
// Ok, this one's valid
iCurServer->m_sAddress = *iCurPeer;
}
}
int cameraComm::cWrite (int query, int pos)
{
// Read(clean) Buffer
char cmd[10];
cRead(NONE);
//sleep(1);
switch ( query )
{
case STC :
write( fd, "stc\n", 4);
break;
case ITF :
write( fd, "itf\n", 4);
break;
case SSP :
sprintf(cmd,"ssp %d\n",pos);
write( fd, cmd, strlen(cmd));
break;
case RTI :
write( fd, "rti\n", 4);
break;
case NET :
write( fd, "net\n", 4);
break;
case ESC :
write( fd, "esc\n", 4);
break;
//default : printf( "???" );
}
}
static void vTest9Dof()
{
static char str[40];
char cBuf[6] = {0, 0, 0, 0, 0, 0};
unsigned char* ucBuf = (unsigned char*) cBuf;
int x = 0,
y = 0,
z = 0;
if( !is9DofInit )
{
vInit9Dof();
return;
}
cBuf[0] = 0x32;
cWrite( BUS_9DOF, WRITE_9DOF, cBuf, 1 );
cBuf[0] = 0;
cRead( BUS_9DOF, READ_9DOF, cBuf, 6 );
// x = (unsigned) ucBuf[0] | ((unsigned) ucBuf[1] << 8);
// y = (unsigned) ucBuf[2] | ((unsigned) ucBuf[3] << 8);
// z = (unsigned) ucBuf[4] | ((unsigned) ucBuf[5] << 8);
x = *((int*) &ucBuf[0]);
y = *((int*) &ucBuf[2]);
z = *((int*) &ucBuf[4]);
/* Read bytes as signed! */
// sprintf(str, "[ADXL345] x=0x%04x, y=0x%04x, z=0x%04x", x, y, z);
sprintf(str, "[ADXL345] %04x%04x%04x -> x=%4d, y=%4d, z=%4d",
// *((unsigned*) &ucBuf[0]), *((unsigned*) &ucBuf[2]), *((unsigned*) &ucBuf[4]),
// *((unsigned*) &ucBuf[0]), *((unsigned*) &ucBuf[2]), *((unsigned*) &ucBuf[4]));
ucBuf[0]<<8 | ucBuf[1], ucBuf[2]<<8 | ucBuf[3], ucBuf[4]<<8 | ucBuf[5], /* force endianness */
x, y, z);
// sprintf(str, "[ADXL345] x=%+03d, y=%+03d, z=%+03d", x, y, z);
vConsolePuts(str);
}
int cameraComm::stateFunction(int actualState)
{
int nextState = 0;
int i =0;
int r;
switch (actualState)
{
case 1:
printf("CAMERA : Sending STC\n");
cWrite(STC);
cameraPosition = 134;
numAsk = MAX_NUM_ASK;
nextState = 2;
break;
case 2:
printf("CAMERA : Is there a Feature?... ");
usleep (500000);
r=cRead(ITF);// free buffer
cWrite(ITF);
r = 1;
//r = cRead(ITF);
while (r == 1 && i < 5)
{
usleep (500000);
r=cRead(ITF);
i++;
//printf(" i = %d ; r = %d\n", i, r);
}
if (r != 1)
{
if (value[0] == 0)
{
printf("No");
if (numAsk < MAX_NUM_ASK)
{
numAsk++;;
nextState = 2;
usleep(1000000);
printf("( %d/15)", numAsk);
}
else
nextState = 3;
printf("\n");
}
else if (value[0]==1)
{
printf("Yes\n");
nextState = 4;
}
}
else
{
printf("CAMERA : No answer from CMUcam\n");
nextState = 1;
}
break;
case 3:
//Other Processor Movement
nextState = 2;
break;
case 4:
//printf("x =%d\n", cmuCam.getValue(2));
numAsk = 0;
if (value[1] >= 82 && value[1] <= 92)
{
printf("CAMERA : Is feature is in the horizontal range (82 - 92)? Yes (%d)\n", value[1]);
nextState = 6;
}
else
{
printf("CAMERA : Is feature is in the horizontal range (82 - 92)? No (%d)\n", value[1]);
nextState = 5;
}
break;
case 5:
speed = 0.5;
if (value[1] > 92)
{
if (cameraPosition < 50)
steering = 0.55;
else
steering = 0.6;
printf("CAMERA : Turning to the right (steering=%f)\n", steering);
}
else if (value[1] < 82)
{
if (cameraPosition < 50)
steering = 0.43;
else
steering = 0.4;
printf("CAMERA : Turning to the left (steering=%f)\n", steering);
}
//GIRAR
nextState = 2;
break;
case 6:
if (value[2] >= 138 && value[2] <= 148)
{
printf("CAMERA : Is the feature in the vertical range (138 - 148): Yes (%d)\n", value[2]);
nextState = 8;
}
else
{
printf("CAMERA : Is the feature in the vertical range (138 - 148): No (%d)\n", value[2]);
nextState = 7;
}
break;
case 7:
int newCameraPosition;
newCameraPosition = cameraPosition + (int)(0.3*(float)(143-value[2]));
if (newCameraPosition < 15)
{
newCameraPosition = 0;
}
if (newCameraPosition > 134)
{
newCameraPosition = 134;
}
if (newCameraPosition < cameraPosition + 20 && newCameraPosition > cameraPosition - 20 && newCameraPosition != 0 )//newCameraPosition == cameraPosition)
{
printf("CAMERA : CMUcam is in optimal position: %d\n", cameraPosition);
nextState = 8;
}
else
{
printf("CAMERA : CMUcam is not in optimal position: %d\n", cameraPosition);
cameraPosition = newCameraPosition;
nextState = 9;
}
break;
case 8:
speed = 0.6 + 0.5*((float)cameraPosition/134);//old Value: 0.4 (now 0.5)
if (speed > 0.8)
speed = 0.8;
steering = 0.5;
printf("CAMERA : Moving forward: speed = %f\n", speed);
//AVANZAR
nextState = 2;
break;
case 9:
printf("CAMERA : Setting new camera position: %d. \n", cameraPosition);
cWrite(SSP,cameraPosition);
if (cameraPosition == 0)
{
numAsk = 0;
nextState = 10;
}
else
nextState = 2;
break;
case 10:
printf("CAMERA : Is the camera ready to identify the feature?\n");
cWrite(ITF);
r = cRead(ITF);
while (r == 1 && i < 3)
{
usleep (500000);
r=cRead(ITF);
i++;
//printf(" i = %d ; r = %d\n", i, r);
}
if (r != 1)
{
if (value[0] == 0)
{
printf("\tNo\n");
nextState = 2;
}
else if (value[0]==1)
{
printf("\t(%d,%d) ", value[1], value[2]);
nextState = 11;
}
}
usleep(1000000);
cWrite(RTI);
r = 1;
while (r == 1 && i < 6)
{
usleep (500000);
r=cRead(RTI);
i++;
//printf(" i = %d ; r = %d\n", i, r);
}
if (r != 1)
{
if (value[0] == 0)
{
printf("\tNo\n");
if (numAsk < MAX_NUM_ASK)
{
numAsk++;;
nextState = 10;
printf("numAsk = %d", numAsk);
}
else
nextState = 2;
}
else if (value[0]==1)
{
printf("\tYes\n");
nextState = 11;
}
}
else
{
printf("CAMERA : No answer from CMUcam\n");
nextState = 1;
}
break;
case 11:
cWrite(NET);
r = cRead(NET);
while (r == 1 && i < 3)
{
usleep (500000);
r=cRead(NET);
i++;
//printf(" i = %d ; r = %d\n", i, r);
}
if (r != 1)
{
recognizedFeature = value[0];
featureColor = RED;
printf("CAMERA : Feature found: %d\n",recognizedFeature);
nextState = 1;
numAsk = MAX_NUM_ASK;
}
usleep (500000);
break;
}
return nextState;
}
