// move:
void move(int order){
if(order == BALL1);
if(order == BALL2){
findLine();
turnLeftLine();
moveLine();
}
if(order == BALL3){
moveBack1();
turnLeft();
}
if(order == BALL4){
moveBack2();
turnBack();
}
if(order == STORAGE1){
turnBack();
moveBack();
turnLeft();
}
if(order == STORAGE2){
findLine();
turnRight();
}
}
bool_t CacheRec::getWord(word_t pos, word_t *dest){
int offset = 0;// may jump across lines
if(pos+4>len) return FALSE;
word_t i = findLine(pos, TRUE, &offset);
int d = cB-offset;
byte_t *start = contents+(i<<cb)+offset;
if(d<4){// exceed
memcpy((byte_t*)dest,start,d);
//dump(stdout, i, 1);
i = findLine(pos+d, TRUE);
if(i<0){
printf("invalid pos\n");
return FALSE;
}
memcpy(((byte_t*)dest)+d, contents+(i<<cb), 4-d);
//dump(stdout, i, 1);
//printf("get cross-line word %.8x at pos %.4x\n", *dest, pos);
}else{
*dest = *(word_t *)start;
}
#ifdef CHECK_CACHE
if(checker){
int val;
checker->getWord(pos, &val);
if(*dest != val){
printf("CHECK failed at pos 0x%.4x: %.8x not %.8x\n", pos, val, *dest);
dump(stdout,0,nlines);
//*dest = val;
//return FALSE;
}
}
#endif
return TRUE;
}
bool_t CacheRec::setWord(word_t pos, word_t val){
int offset;// may jump across lines
if(pos+4>len) return FALSE;
word_t i = findLine(pos, TRUE, &offset);
int d = cB-offset;
byte_t *start = contents+((i<<cb)+offset);
if(d<4){// exceed
memcpy(start,(byte_t*)&val,d);
dirty[i] = TRUE;
//dump(stdout, i, 1);
i = findLine(pos+d, TRUE);
if(i<0){
printf("invalid pos\n");
return FALSE;
}
memcpy(contents+(i<<cb), ((byte_t*)&val)+d, 4-d);
dirty[i] = TRUE;
//dump(stdout, i, 1);
//printf("set cross-line word %d at pos %d\n", val, pos);
}else{
*(word_t *)start = val;
dirty[i] = TRUE;
}
#ifdef CHECK_CACHE
if(checker){
checker->setWord(pos, val);
}
#endif
return TRUE;
}
/*
* Insert a new line with the specified text.
* The line is inserted so as to become the specified line,
* thus pushing any existing and further lines down one.
* The inserted line is also set to become the current line.
* Returns TRUE if successful.
*/
static int insertLine(int num, const char *data, int len)
{
LINE *newLp, *lp;
if ((num < 1) || (num > lastNum + 1)) {
bb_error_msg("inserting at bad line number");
return FALSE;
}
newLp = xmalloc(sizeof(LINE) + len - 1);
memcpy(newLp->data, data, len);
newLp->len = len;
if (num > lastNum)
lp = &lines;
else {
lp = findLine(num);
if (lp == NULL) {
free((char *) newLp);
return FALSE;
}
}
newLp->next = lp;
newLp->prev = lp->prev;
lp->prev->next = newLp;
lp->prev = newLp;
lastNum++;
dirty = TRUE;
return setCurNum(num);
}
/*
* Search for a line which contains the specified string.
* If the string is "", then the previously searched for string
* is used. The currently searched for string is saved for future use.
* Returns the line number which matches, or 0 if there was no match
* with an error printed.
*/
static NOINLINE int searchLines(const char *str, int num1, int num2)
{
const LINE *lp;
int len;
if (bad_nums(num1, num2, "search"))
return 0;
if (*str == '\0') {
if (searchString[0] == '\0') {
bb_error_msg("no previous search string");
return 0;
}
str = searchString;
}
if (str != searchString)
strcpy(searchString, str);
len = strlen(str);
lp = findLine(num1);
if (lp == NULL)
return 0;
while (num1 <= num2) {
if (findString(lp, str, len, 0) >= 0)
return num1;
num1++;
lp = lp->next;
}
bb_error_msg("can't find string \"%s\"", str);
return 0;
}
void line_follow_mm(int distance)
{
int reqCount = distance/5.338;
int error = 0;
ShaftCountLeft = 0;
forward();
while(ShaftCountLeft < reqCount)
{
error = getError();
if(error > -100 && error < 100)
{
leftSpeed = forwardLeftSpeed - error*kp;
rightSpeed = forwardRightSpeed + error*kp;
velocity(leftSpeed, rightSpeed);
}
else if(error == -100)
findLine();
}
}
void commonController::lineChange( commonLineControl *line )
{
/*
RPCPubSub::publish( "LineControl", line->lineName, line->getState()?"set":"unset" ); // we also want time of change and time in state?
*/
commonLineControl * pttout = findLine( "PTTOut", false );
commonLineControl *pttin = findLine( "PTTIn", true );
commonLineControl *l1 = findLine( "L1", true );
commonLineControl *l2 = findLine( "L2", true );
if ( pttout && pttin && l1 && l2 )
{
setLines( pttout->getState(), pttin->getState(), l1->getState(), l2->getState() );
}
LineSet *ls = LineSet::GetLineSet();
ls->publish( line->lineName, line->getState() );
}
Rect2i Layout::getImageRect(std::size_t index) const
{
const std::pair<std::size_t, LineInfo> line = findLine(index);
const int x = (index - line.first) % columns_ * cellStepX_;
const int y = (index - line.first) / columns_ * cellStepY_ + line.second.cellTop;
return Rect2i(x, y, x + imageWidth_, y + line.second.imageHeight);
}
QString DiffView::stringAtLine(int lineno)
{
int pos;
if ( (pos = findLine(lineno)) != -1 )
return items.at(pos)->line;
else
return QString();
}
/*
* Print lines in a specified range.
* The last line printed becomes the current line.
* If expandFlag is TRUE, then the line is printed specially to
* show magic characters.
*/
static int printLines(int num1, int num2, int expandFlag)
{
const LINE *lp;
const char *cp;
int ch, count;
if (bad_nums(num1, num2, "print"))
return FALSE;
lp = findLine(num1);
if (lp == NULL)
return FALSE;
while (num1 <= num2) {
if (!expandFlag) {
write(1, lp->data, lp->len);
setCurNum(num1++);
lp = lp->next;
continue;
}
/*
* Show control characters and characters with the
* high bit set specially.
*/
cp = lp->data;
count = lp->len;
if ((count > 0) && (cp[count - 1] == '\n'))
count--;
while (count-- > 0) {
ch = *cp++;
if (ch & 0x80) {
fputs("M-", stdout);
ch &= 0x7f;
}
if (ch < ' ') {
bb_putchar('^');
ch += '@';
}
if (ch == 0x7f) {
bb_putchar('^');
ch = '?';
}
bb_putchar(ch);
}
fputs("$\n", stdout);
setCurNum(num1++);
lp = lp->next;
}
return TRUE;
}
word_t CacheRec::invalidate(word_t pos, bool_t wb){
int i;
if((i=findLine(pos))<0)
return -1;
if(wb && dirty[i]){/* write back */
commit(i);
}
valid[i] = FALSE;
return i;
}
/*
* Delete lines from the given range.
*/
static BOOL
deleteLines(NUM num1, NUM num2)
{
LINE * lp;
LINE * nlp;
LINE * plp;
NUM count;
if ((num1 < 1) || (num2 > lastNum) || (num1 > num2))
{
fprintf(stderr, "Bad line numbers for delete\n");
return FALSE;
}
lp = findLine(num1);
if (lp == NULL)
return FALSE;
if ((curNum >= num1) && (curNum <= num2))
{
if (num2 < lastNum)
setCurNum(num2 + 1);
else if (num1 > 1)
setCurNum(num1 - 1);
else
curNum = 0;
}
count = num2 - num1 + 1;
if (curNum > num2)
curNum -= count;
lastNum -= count;
while (count-- > 0)
{
nlp = lp->next;
plp = lp->prev;
plp->next = nlp;
nlp->prev = plp;
lp->next = NULL;
lp->prev = NULL;
lp->len = 0;
free(lp);
lp = nlp;
}
dirty = TRUE;
return TRUE;
}
/*
* Set the current line number.
* Returns TRUE if successful.
*/
static int setCurNum(int num)
{
LINE *lp;
lp = findLine(num);
if (lp == NULL)
return FALSE;
curNum = num;
curLine = lp;
return TRUE;
}
/*
* Write the specified lines out to the specified file.
* Returns TRUE if successful, or FALSE on an error with a message output.
*/
static int writeLines(const char * file, int num1, int num2)
{
LINE *lp;
int fd, lineCount, charCount;
if ((num1 < 1) || (num2 > lastNum) || (num1 > num2)) {
bb_error_msg("bad line range for write");
return FALSE;
}
lineCount = 0;
charCount = 0;
fd = creat(file, 0666);
if (fd < 0) {
perror(file);
return FALSE;
}
printf("\"%s\", ", file);
fflush(stdout);
lp = findLine(num1);
if (lp == NULL) {
close(fd);
return FALSE;
}
while (num1++ <= num2) {
if (write(fd, lp->data, lp->len) != lp->len) {
perror(file);
close(fd);
return FALSE;
}
charCount += lp->len;
lineCount++;
lp = lp->next;
}
if (close(fd) < 0) {
perror(file);
return FALSE;
}
printf("%d lines, %d chars\n", lineCount, charCount);
return TRUE;
}
/*
* Insert a new line with the specified text.
* The line is inserted so as to become the specified line,
* thus pushing any existing and further lines down one.
* The inserted line is also set to become the current line.
* Returns TRUE if successful.
*/
static BOOL
insertLine(NUM num, const char * data, LEN len)
{
LINE * newLp;
LINE * lp;
if ((num < 1) || (num > lastNum + 1))
{
fprintf(stderr, "Inserting at bad line number\n");
return FALSE;
}
newLp = (LINE *) malloc(sizeof(LINE) + len - 1);
if (newLp == NULL)
{
fprintf(stderr, "Failed to allocate memory for line\n");
return FALSE;
}
memcpy(newLp->data, data, len);
newLp->len = len;
if (num > lastNum)
lp = &lines;
else
{
lp = findLine(num);
if (lp == NULL)
{
free((char *) newLp);
return FALSE;
}
}
newLp->next = lp;
newLp->prev = lp->prev;
lp->prev->next = newLp;
lp->prev = newLp;
lastNum++;
dirty = TRUE;
return setCurNum(num);
}
void LineGraphEdge::drawLine(Widget w,
const BoxRegion& exposed,
const GraphGC& gc) const
{
// Get node starting points
BoxPoint pos1 = from()->pos();
BoxRegion region1 = from()->region(gc);
if (from()->selected())
{
pos1 += gc.offsetIfSelected;
region1.origin() += gc.offsetIfSelected;
}
BoxPoint pos2 = to()->pos();
BoxRegion region2 = to()->region(gc);
if (to()->selected())
{
pos2 += gc.offsetIfSelected;
region2.origin() += gc.offsetIfSelected;
}
// If nodes overlap, don't draw the edge.
if (region1 <= region2)
return;
// Get the line points
BoxPoint l1, l2;
findLine(pos1, pos2, region1, region2, l1, l2, gc);
// If there is no edge (adjacent nodes), don't draw it.
if (l1 == l2)
return;
XDrawLine(XtDisplay(w), XtWindow(w), gc.edgeGC,
l1[X], l1[Y], l2[X], l2[Y]);
// Draw annotation
BoxPoint anno_pos = annotationPosition(gc);
if (annotation() != 0 && anno_pos.isValid())
{
annotation()->draw(w, anno_pos, exposed, gc);
}
// Get arrow angle
double alpha = atan2(double(l1[Y] - l2[Y]), double(l1[X] - l2[X]));
// Draw arrow head at L2
drawArrowHead(w, exposed, gc, l2, alpha);
}
bool_t CacheRec::setByte(word_t pos, byte_t val){
int offset;
word_t i = findLine(pos, TRUE, &offset);
if(i>=0){
contents[(i<<cb)+offset] = val;
dirty[i] = TRUE;
#ifdef CHECK_CACHE
if(checker){
checker->setByte(pos, val);
}
#endif
}else{
return FALSE; // invalid pos
}
}
/*
* Search for a line which contains the specified string.
* If the string is NULL, then the previously searched for string
* is used. The currently searched for string is saved for future use.
* Returns the line number which matches, or 0 if there was no match
* with an error printed.
*/
static NUM
searchLines(const char * str, NUM num1, NUM num2)
{
const LINE * lp;
int len;
if ((num1 < 1) || (num2 > lastNum) || (num1 > num2))
{
fprintf(stderr, "Bad line numbers for search\n");
return 0;
}
if (*str == '\0')
{
if (searchString[0] == '\0')
{
fprintf(stderr, "No previous search string\n");
return 0;
}
str = searchString;
}
if (str != searchString)
strcpy(searchString, str);
len = strlen(str);
lp = findLine(num1);
if (lp == NULL)
return 0;
while (num1 <= num2)
{
if (findString(lp, str, len, 0) >= 0)
return num1;
num1++;
lp = lp->next;
}
fprintf(stderr, "Cannot find string \"%s\"\n", str);
return 0;
}
/*
* Delete lines from the given range.
*/
static int deleteLines(int num1, int num2)
{
LINE *lp, *nlp, *plp;
int count;
if ((num1 < 1) || (num2 > lastNum) || (num1 > num2)) {
bb_error_msg("bad line numbers for delete");
return FALSE;
}
lp = findLine(num1);
if (lp == NULL)
return FALSE;
if ((curNum >= num1) && (curNum <= num2)) {
if (num2 < lastNum)
setCurNum(num2 + 1);
else if (num1 > 1)
setCurNum(num1 - 1);
else
curNum = 0;
}
count = num2 - num1 + 1;
if (curNum > num2)
curNum -= count;
lastNum -= count;
while (count-- > 0) {
nlp = lp->next;
plp = lp->prev;
plp->next = nlp;
nlp->prev = plp;
lp->next = NULL;
lp->prev = NULL;
lp->len = 0;
free(lp);
lp = nlp;
}
dirty = TRUE;
return TRUE;
}
int main(void) {
initIRSensor();
initMotor();
initGPIOLineSensor();
initServo();
SetServo(servo,0);
stage = 0;
//while(1){followLine();}
//while(1){followWall();}
//SetMotor(leftMotor, 1); SetMotor(rightMotor, 1);
while(true){
LineSensorReadArray(gls, line);
if (stage==0){ //start state
if(line[0]<0.5&&line[1]<0.5&&line[2]<0.5&&line[3]<0.5&&line[4]<0.5&&line[5]<0.5&&line[6]<0.5&&line[7]<0.5) {
followWall();
}else{
followLine();
}
}else if(stage==1){
//once 90degree turn passed
// SetMotor(leftMotor, 1);
// SetMotor(rightMotor, -1);
SetPin(PIN_F2, 1);
followWall();
if (wallPresent()) {followWall();}
else {
findLine();
}
SetPin(PIN_F2, 0);
}else if (stage==2){
//once line found again after walled section
SetPin(PIN_F1, 1);
if((line[0]<0.5&&line[1]<0.5&&line[2]<0.5&&line[3]<0.5&&line[4]<0.5&&line[5]<0.5&&line[6]<0.5&&line[7]<0.5)||
(mostDark())) { //line[0]>0.5&&line[1]>0.5&&line[2]>0.5&&line[3]>0.5&&line[4]>0.5&&line[5]>0.5&&line[6]>0.5&&line[7]>0.5)
findEnd();
}else{
followLine();
};
SetPin(PIN_F1, 0);
}else{//end of course look for flag
findObject();
break;
}
}
}
// move:
void move(int order){
if(order == 1){
mrp(LM, LM_SP_STR2, BALL_1_DIS);
mrp(RM, RM_SP_STR2, BALL_1_DIS);
bmd(LM);
bmd(RM);
ao();
}
if(order == 2){
findLine();
turnLeftLine();
moveLine();
}
if(order == 3){
}
}
/*
* Write the specified lines out to the specified file.
* Returns TRUE if successful, or FALSE on an error with a message output.
*/
static int writeLines(const char *file, int num1, int num2)
{
LINE *lp;
int fd, lineCount, charCount;
if (bad_nums(num1, num2, "write"))
return FALSE;
lineCount = 0;
charCount = 0;
fd = creat(file, 0666);
if (fd < 0) {
bb_simple_perror_msg(file);
return FALSE;
}
printf("\"%s\", ", file);
fflush_all();
lp = findLine(num1);
if (lp == NULL) {
close(fd);
return FALSE;
}
while (num1++ <= num2) {
if (full_write(fd, lp->data, lp->len) != lp->len) {
bb_simple_perror_msg(file);
close(fd);
return FALSE;
}
charCount += lp->len;
lineCount++;
lp = lp->next;
}
if (close(fd) < 0) {
bb_simple_perror_msg(file);
return FALSE;
}
printf("%d lines, %d chars\n", lineCount, charCount);
return TRUE;
}
/*
* Print lines in a specified range.
* The last line printed becomes the current line.
* If expandFlag is TRUE, then the line is printed specially to
* show magic characters.
*/
static int printLines(int num1, int num2, int expandFlag)
{
const LINE *lp;
const char *cp;
int ch, count;
if (bad_nums(num1, num2, "print"))
return FALSE;
lp = findLine(num1);
if (lp == NULL)
return FALSE;
while (num1 <= num2) {
if (!expandFlag) {
write(STDOUT_FILENO, lp->data, lp->len);
setCurNum(num1++);
lp = lp->next;
continue;
}
/*
* Show control characters and characters with the
* high bit set specially.
*/
cp = lp->data;
count = lp->len;
if ((count > 0) && (cp[count - 1] == '\n'))
count--;
while (count-- > 0) {
ch = (unsigned char) *cp++;
fputc_printable(ch | PRINTABLE_META, stdout);
}
fputs("$\n", stdout);
setCurNum(num1++);
lp = lp->next;
}
return TRUE;
}
task main()
{
gyroCal();
move(82, 25);
turn(90, 20);
findLine(-40, 25);
move(15, 25);
lower();
tmove(-2000, 30); // raise house
raise();
findLine(40, 25);
turn(90, 20);
tmove(-2500, 30);
move(7, 30);
turn(90, 20);
findLine(-40, 25);
lower();
move(3, 25);
raise(); //flip stove
move(7, 30);
turn(270, 25);
tmove(-2000, 30);
findLine(40, 30);
move(5, 15);
turn(70, 15);
move(60, 30);
turn(20, 15);
tmove(2000, 25);
move(-4, 20);
turn(90, 15);
findLine(40, 20);
move(10, 15); // push sign
findLine(-40, 20);
move(-25, 30);
turn(90, 20);
tmove(-1500, 25);
move(22, 20);
turn(40, 20);
move(40, 20); //herd food
pmove(30, 20, 25);
move(-5, 20);
turn(70, 20);
tmove(1500, 20);
move(-2, 20);
turn(90, 15);
move(30, 20);
lower();
move(20, 20);
}
/* Class functions */
void startCustomer() {
int task, id;
int my_line = -1;
bool isSen = Customers[id].isSenator;
Acquire(DataLock);
id = numActiveCustomers;
numActiveCustomers++;
Release(DataLock);
/*implementation */
if (isSen) {
} else {
my_line = findLine('a', isSen, id);
getAppFiled(my_line, id);
numCustomers--;
}
Exit(0);
}
int Solution::maxPoints(vector<Point>& points){
if(points.size()<=2)return points.size();
int result=2;
for(int i=0;i<points.size()-2;i++){
int count=1;
for(int j=i+1;j<points.size()-1;j++){
int temp=count+1;
if(points[i].x==points[j].x && points[i].y==points[j].y){
count++;
continue;
}
for(int k=j+1;k<points.size();k++){
if(findLine(points,i,j,k)) temp++;
}
if(temp>result)result=temp;
}
if(result<count+1) result=count+1;
}
return result;
}
/*
* Search for a line which contains the specified string.
* If the string is NULL, then the previously searched for string
* is used. The currently searched for string is saved for future use.
* Returns the line number which matches, or 0 if there was no match
* with an error printed.
*/
static int searchLines(const char *str, int num1, int num2)
{
const LINE *lp;
int len;
if ((num1 < 1) || (num2 > lastNum) || (num1 > num2)) {
bb_error_msg("bad line numbers for search");
return 0;
}
if (*str == '\0') {
if (searchString[0] == '\0') {
bb_error_msg("no previous search string");
return 0;
}
str = searchString;
}
if (str != searchString)
strcpy(searchString, str);
len = strlen(str);
lp = findLine(num1);
if (lp == NULL)
return 0;
while (num1 <= num2) {
if (findString(lp, str, len, 0) >= 0)
return num1;
num1++;
lp = lp->next;
}
bb_error_msg("cannot find string \"%s\"", str);
return 0;
}
/*
* Delete lines from the given range.
*/
static void deleteLines(int num1, int num2)
{
LINE *lp, *nlp, *plp;
int count;
if (bad_nums(num1, num2, "delete"))
return;
lp = findLine(num1);
if (lp == NULL)
return;
if ((curNum >= num1) && (curNum <= num2)) {
if (num2 < lastNum)
setCurNum(num2 + 1);
else if (num1 > 1)
setCurNum(num1 - 1);
else
curNum = 0;
}
count = num2 - num1 + 1;
if (curNum > num2)
curNum -= count;
lastNum -= count;
while (count-- > 0) {
nlp = lp->next;
plp = lp->prev;
plp->next = nlp;
nlp->prev = plp;
free(lp);
lp = nlp;
}
dirty = TRUE;
}
BoxPoint LineGraphEdge::annotationPosition(const GraphGC &gc) const
{
if (from() == to())
{
BoxRegion region = from()->region(gc);
if (from()->selected())
region.origin() += gc.offsetIfSelected;
LineGraphEdgeSelfInfo info(region, gc);
return info.anno_pos;
}
BoxPoint pos1 = from()->pos();
BoxRegion region1 = from()->region(gc);
BoxPoint pos2 = to()->pos();
BoxRegion region2 = to()->region(gc);
BoxPoint l1, l2;
findLine(pos1, pos2, region1, region2, l1, l2, gc);
if (from()->isHint() && to()->isHint())
{
// Between two hints -- don't draw anything
return BoxPoint();
}
if (to()->isHint())
{
// Draw at hint position
return to()->pos();
}
// Draw at mid-distance
return l1 + (l2 - l1) / 2;
}
bool_t CacheRec::getByte(word_t pos, byte_t *dest){
int offset;
word_t i = findLine(pos, TRUE, &offset);
if(i>=0){
*dest = contents[(i<<cb)+offset];
#ifdef CHECK_CACHE
if(checker){
byte_t val;
checker->getByte(pos, &val);
if( val != *dest){
printf("CHECK failed at pos 0x%.4x: %.2x not %.2x\n", pos, val, *dest);
dump(stdout,0,nlines);
//*dest = val;
//return FALSE;
}
}
#endif
return TRUE;
}else{
return FALSE; // invalid pos
}
}
