int32_t SharedVariant::getSpaceUsage() const {
int32_t size = sizeof(SharedVariant);
if (!IS_REFCOUNTED_TYPE(m_type)) return size;
switch (m_type) {
case KindOfObject:
if (getIsObj()) {
return size + m_data.obj->getSpaceUsage();
}
// fall through
case KindOfString:
size += sizeof(StringData) + m_data.str->size();
break;
default:
assert(is(KindOfArray));
if (getSerializedArray()) {
size += sizeof(StringData) + m_data.str->size();
} else if (isPacked()) {
auto size = m_data.packed->size();
size += sizeof(ImmutablePackedArray) + size * sizeof(SharedVariant*);
for (size_t i = 0, n = m_data.packed->size(); i < n; i++) {
size += m_data.packed->vals()[i]->getSpaceUsage();
}
} else {
auto array = m_data.array;
size += array->getStructSize();
for (size_t i = 0, n = array->size(); i < n; i++) {
size += array->getKeyIndex(i)->getSpaceUsage();
size += array->getValIndex(i)->getSpaceUsage();
}
}
break;
}
return size;
}
void SharedVariant::getStats(SharedVariantStats *stats) const {
stats->initStats();
stats->variantCount = 1;
switch (m_type) {
case KindOfUninit:
case KindOfNull:
case KindOfBoolean:
case KindOfInt64:
case KindOfDouble:
case KindOfStaticString:
stats->dataSize = sizeof(m_data.dbl);
stats->dataTotalSize = sizeof(SharedVariant);
break;
case KindOfObject:
if (getIsObj()) {
SharedVariantStats childStats;
m_data.obj->getSizeStats(&childStats);
stats->addChildStats(&childStats);
break;
}
// fall through
case KindOfString:
stats->dataSize = m_data.str->size();
stats->dataTotalSize = sizeof(SharedVariant) + sizeof(StringData) +
stats->dataSize;
break;
default:
assert(is(KindOfArray));
if (getSerializedArray()) {
stats->dataSize = m_data.str->size();
stats->dataTotalSize = sizeof(SharedVariant) + sizeof(StringData) +
stats->dataSize;
break;
}
if (isPacked()) {
stats->dataTotalSize = sizeof(SharedVariant) +
sizeof(ImmutablePackedArray);
auto size = m_data.packed->size();
stats->dataTotalSize += sizeof(SharedVariant*) * size;
for (size_t i = 0; i < size; i++) {
SharedVariant *v = m_data.packed->vals()[i];
SharedVariantStats childStats;
v->getStats(&childStats);
stats->addChildStats(&childStats);
}
} else {
auto array = m_data.array;
stats->dataTotalSize = sizeof(SharedVariant) + array->getStructSize();
for (size_t i = 0, n = array->size(); i < n; i++) {
SharedVariantStats childStats;
array->getKeyIndex(i)->getStats(&childStats);
stats->addChildStats(&childStats);
array->getValIndex(i)->getStats(&childStats);
stats->addChildStats(&childStats);
}
}
break;
}
}
std::vector<SDL_Rect> VideoManager::GetAvailableModes() {
/* All possible width
*/
#define EXPAND_VIDEO_MODE(name, width, height) \
width,
static int wL[] = {
#include "VideoModes.h"
};
#undef EXPAND_VIDEO_MODE
/* All possible height
*/
#define EXPAND_VIDEO_MODE(name, width, height) \
height,
static int hL[] = {
#include "VideoModes.h"
};
#undef EXPAND_VIDEO_MODE
// If the mode is supported, it will be added to the return list
std::vector<SDL_Rect> modes;
for (unsigned int i = 0; i < getStructSize(wL); i++) {
if (isModeAvailable(wL[i], hL[i], 16, true, NULL)) {
SDL_Rect r;
r.w = wL[i];
r.h = hL[i];
modes.push_back(r);
}
}
return modes;
}
Void roveCmdCntrl(UArg arg0, UArg arg1) {
//const FOREVER hack to kill the 'unreachable statement' compiler warning
extern const uint8_t FOREVER;
//initialized in main
extern PWM_Handle motor_0;
extern PWM_Handle motor_1;
extern PWM_Handle motor_2;
extern PWM_Handle motor_3;
extern PWM_Handle motor_4;
extern PWM_Handle motor_5;
base_station_msg_struct fromBaseMsg;
char commandBuffer[MAX_COMMAND_SIZE + 4];
int messageSize;
int deviceJack;
int motor_speed = 0;
int16_t arm_speed = 0;
int i = 0;
System_printf("roveCmdCntrlr init! \n\n");
System_flush();
while (FOREVER) {
// System_printf("CmdCntrl Is PENDING FOR MAIL!\n\n");
// System_flush();
Mailbox_pend(fromBaseStationMailbox, &fromBaseMsg, BIOS_WAIT_FOREVER);
switch (fromBaseMsg.id) {
// case 0 hack to make a happy switch
case 0:
break;
case motor_right_id:
//the left motors must be the negative of the right motors. Their phase is backwards
motor_speed =
-(((struct motor_control_struct*) (&fromBaseMsg))->speed);
DriveMotor(motor_0, motor_speed);
DriveMotor(motor_1, motor_speed);
DriveMotor(motor_2, -motor_speed);
break;
// end drive motor_right_id
case motor_left_id:
motor_speed =
(((struct motor_control_struct*) (&fromBaseMsg))->speed);
DriveMotor(motor_3, -motor_speed);
DriveMotor(motor_4, motor_speed);
DriveMotor(motor_5, -motor_speed);
break;
//end drive motor_left_id
case bms_emergency_command_id:
if((((struct bms_emergency_command*) (&fromBaseMsg)) -> command)
== 1)
{
digitalWrite(SOFT_RESET_GPIO_PIN, HIGH);
}
break;
default:
deviceJack = getDeviceJack(fromBaseMsg.id);
// flag for invalid struct size
if (getStructSize(fromBaseMsg.id) != -1) {
messageSize = buildSerialStructMessage((void *) &fromBaseMsg,
commandBuffer);
deviceWrite(deviceJack, commandBuffer, messageSize);
}
break;
} //endswitch
//debugging only:
// i = 0;
//
// System_printf("Cmd Cntrl Just Sent!: ");
//
// while (i < (messageSize)) {
//
// System_printf("%d, ", commandBuffer[i]);
// i++;
//
// } //end while
}
System_flush();
System_printf("Rove Cmd Cntrl Task Error: Forced Exit\n");
System_flush();
Task_exit();
} //endfnct: roveCmdCntrl() Task Thread
