int globalInit(void) {
if (estgbconf.useFileConfig) {
if (readFileConfig() != 0) {
printf(
"Warning! Failed to read config files. Checking for command line config...\n");
}
}
if (!checkConfig()) {
printHelp();
printConfig();
printf("Configuration error. Nothing to do.\n\n");
return 0;
}
if (telebot_create(&estgbconf.handle, estgbconf.token)
!= TELEBOT_ERROR_NONE) {
printf("Error. Telebot create failed (bad token?)\n\n");
return 0;
}
if (estgbconf.proxy_addr != NULL) {
estgbconf.ret = telebot_set_proxy(estgbconf.handle,
estgbconf.proxy_addr, estgbconf.proxy_auth);
if (estgbconf.ret != TELEBOT_ERROR_NONE) {
printf("Warning! Failed to init proxy: %d \n", estgbconf.ret);
}
}
return 1;
}
void syncToConfigFile(void) {
dn_error_t dnErr;
INT8U fileBytes[sizeof(spiNetApp_configFileStruct_t)];
spiNetApp_configFileStruct_t* fileContents;
dn_fs_handle_t configFileHandle;
fileContents = (spiNetApp_configFileStruct_t*)fileBytes;
// prepare file content
fileContents->period = spiNetApp_vars.period;
// open file
configFileHandle = dn_fs_open(
ACCELAPP_CONFIG_FILENAME,
DN_FS_OPT_CREATE,
sizeof(spiNetApp_configFileStruct_t),
DN_FS_MODE_OTH_RW
);
ASSERT(configFileHandle >= 0);
// write file
dnErr = dn_fs_write(
configFileHandle,
0, // offset
(INT8U*)fileContents,
sizeof(spiNetApp_configFileStruct_t)
);
ASSERT(dnErr >= 0);
// close file
dn_fs_close(configFileHandle);
// print
printConfig();
}
int parseCommandLine(int argc,
const char* argv[],
Json::Features& features,
std::string& path,
bool& parseOnly) {
parseOnly = false;
if (argc < 2) {
return printUsage(argv);
}
int index = 1;
if (std::string(argv[1]) == "--json-checker") {
features = Json::Features::strictMode();
parseOnly = true;
++index;
}
if (std::string(argv[1]) == "--json-config") {
printConfig();
return 3;
}
if (index == argc || index + 1 < argc) {
return printUsage(argv);
}
path = argv[index];
return 0;
}
void Version()
{
for(auto i = -128; i<=127; i++)
{
MsgParameter.config_getConfReplyVersion = to_string(i);
printConfig( to_string(i) );
}
}
int main(int argc, char *argv[])
{
pid_t pid ;
int stat ;
pthread_t pthread_cancel_id, pthread_sms_id, pthread_cois_id ;
int ret ;
isDup(argv[0]) ;
if((pid = fork()) < 0)
return -1;
else if(pid != 0)
exit(0);
setsid() ;
set_signal() ;
if (argc > 1) {
if (argc == 3) {
if (strcmp(argv[1], "-f") == 0) {
strcpy(config_file_path, argv[2]);
}
else {
printf("---------------------------------\n");
printf("-%s [-f ConfigFilePath]\n", argv[0]);
printf("---------------------------------\n");
}
}
else {
printf("---------------------------------\n");
printf("-%s [-f ConfigFilePath]\n", argv[0]);
printf("---------------------------------\n");
}
}
else
sprintf(config_file_path, "../config/TCenter.Config");
memset(&Config, 0, sizeof(CONFIG_T)) ;
readConfig(config_file_path, &Config) ;
Log = openLog(argv[0], Config.LOG_FILE, LOG_MODE) ;
#ifdef _FOR_STAT_
StatLog = openLog(argv[0], Config.STAT_LOG_PATH, LOG_MODE) ;
#endif
printLog(HEAD, "=====[Program Start]=====\n") ;
printConfig(&Config) ;
pthread_mutex_init(&p_lock, NULL);
thread_count = 0;
Worker() ;
exit_handler() ;
return M_TRUE ;
}
/**
* Called from the USB-handler to set the sampling configuration
* The sampling config is used for std reading and snooping.
*
* Other functions may read samples and ignore the sampling config,
* such as functions to read the UID from a prox tag or similar.
*
* Values set to '0' implies no change (except for averaging)
* @brief setSamplingConfig
* @param sc
*/
void setSamplingConfig(sample_config *sc) {
if(sc->divisor != 0) config.divisor = sc->divisor;
if(sc->bits_per_sample != 0) config.bits_per_sample = sc->bits_per_sample;
if(sc->trigger_threshold != -1) config.trigger_threshold = sc->trigger_threshold;
config.decimation = (sc->decimation != 0) ? sc->decimation : 1;
config.averaging = sc->averaging;
if(config.bits_per_sample > 8) config.bits_per_sample = 8;
printConfig();
}
int writeConfig()
{
FILE *config_file = fopen(had_used_config_file,"w");
if(!config_file)
return 0;
g_debug("saving config file %s",had_used_config_file);
printConfig((void*)fprintf,(void*)config_file);
fclose(config_file);
return 1;
}
void CmdPin::printPort(int index, bool config)
{
printf("GPIO %c: ", 'A' + index);
for (int pin = 15; pin >= 0; --pin)
{
if (config)
{
printf("\n %2i ", pin);
printConfig(mGpio[index], pin);
}
else
{
printValue(mGpio[index], pin);
if ((pin % 4) == 0) printf(" ");
}
}
printf("\n");
}
/**
* Main function
*
* @param argc Command line argument count
* @param argv Command line argument value string array
* @return Error code: 0 = OK, else error
*/
int main (int argc, char **argv)
{
int result;
scanOptions(argc, argv);
printConfig();
atexit(closeProtocol);
openProtocol();
// Additional parameters given for writing ?
if (writeCnt > 0)
result = writeSlave();
else
result = pollSlave();
if (result == FTALK_SUCCESS)
return (EXIT_SUCCESS);
else
return (EXIT_FAILURE);
}
static int parseCommandLine(
int argc, const char* argv[], Options* opts)
{
opts->parseOnly = false;
opts->write = &useStyledWriter;
if (argc < 2) {
return printUsage(argv);
}
int index = 1;
if (JSONCPP_STRING(argv[index]) == "--json-checker") {
opts->features = Json::Features::strictMode();
opts->parseOnly = true;
++index;
}
if (JSONCPP_STRING(argv[index]) == "--json-config") {
printConfig();
return 3;
}
if (JSONCPP_STRING(argv[index]) == "--json-writer") {
++index;
JSONCPP_STRING const writerName(argv[index++]);
if (writerName == "StyledWriter") {
opts->write = &useStyledWriter;
} else if (writerName == "StyledStreamWriter") {
opts->write = &useStyledStreamWriter;
} else if (writerName == "BuiltStyledStreamWriter") {
opts->write = &useBuiltStyledStreamWriter;
} else {
printf("Unknown '--json-writer %s'\n", writerName.c_str());
return 4;
}
}
if (index == argc || index + 1 < argc) {
return printUsage(argv);
}
opts->path = argv[index];
return 0;
}
int main()
{
int canDetectSensors = 0;
SENSOR_DEVICE_HANDLE hDevice =
verboseOpenDevice(NULL);
if(!hDevice) {
return 0;
}
canDetectSensors = SensDev_canDetectSensors(hDevice);
printf("Device can detect sensors: %d\n", canDetectSensors);
if(canDetectSensors) {
ExperimentConfig * newConfig;
SensDev_getCurrentConfig(hDevice, &newConfig);
printConfig(newConfig);
}
SensDev_close(hDevice);
}
void CommHandler(void) //UART4 Interrupt handler implementation
{
int c = GetChar();
if (c >= 0)
{
//ConfigMode = 1;
LEDon();
//print("got char %02X\r\n", c);
switch (c)
{
case 'b':
print("rebooting into boot loader ...\r\n");
Delay_ms(1000);
bootloader();
break;
case 'c':
debugCnt ^= 1;
print("counter messages %s\r\n", debugCnt ? "on" : "off");
break;
case 'd':
debugPrint ^= 1;
print("debug messages %s\r\n", debugPrint ? "on" : "off");
break;
case 'g':
Delay_ms(100);
PutChar('x');
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = configData[i];
PutChar(data);
}
break;
case 'G':
printConfig();
break;
#if 0
case 'H':
if (CharAvailable() >= CONFIGDATASIZE)
{
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = GetChar();
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
}
else
{
UnGetChar(c); // try again in next loop
}
break;
#endif
case 'h':
for (int i = 0; i < CONFIGDATASIZE; i++)
{
int data;
while ((data = GetChar()) < 0)
;
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
break;
case 'i':
ConfigMode = 1;
break;
case 'j':
ConfigMode = 0;
break;
case 'o':
debugOrient ^= 1;
print("Orientation messages %s\r\n", debugOrient ? "on" : "off");
break;
case 'p':
debugPerf ^= 1;
print("performance messages %s\r\n", debugPerf ? "on" : "off");
break;
case 'r':
debugRC ^= 1;
print("RC messages %s\r\n", debugRC ? "on" : "off");
break;
case 'R':
print("rebooting...\r\n");
Delay_ms(1000);
reboot();
break;
case 's':
debugSense ^= 1;
print("Sensor messages %s\r\n", debugSense ? "on" : "off");
break;
case 'u':
{
extern int bDeviceState;
printUSART("\r\nYY bDeviceState %3d VCPConnectMode %d\r\n", bDeviceState, GetVCPConnectMode());
break;
}
case '+':
testPhase += 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '-':
testPhase -= 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
default:
// TODO
break;
}
}
}
// "config" command
dn_error_t spiNetApp_cli_config(char const* buf, INT32U len) {
printConfig();
return DN_ERR_NONE;
}
void initConfigFile(void) {
dn_error_t dnErr;
INT8U fileBytes[sizeof(spiNetApp_configFileStruct_t)];
spiNetApp_configFileStruct_t* fileContents;
dn_fs_handle_t configFileHandle;
fileContents = (spiNetApp_configFileStruct_t*)fileBytes;
configFileHandle = dn_fs_find(ACCELAPP_CONFIG_FILENAME);
if (configFileHandle>=0) {
// file found: read it
// open file
configFileHandle = dn_fs_open(
ACCELAPP_CONFIG_FILENAME,
DN_FS_OPT_CREATE,
sizeof(spiNetApp_configFileStruct_t),
DN_FS_MODE_OTH_RW
);
ASSERT(configFileHandle >= 0);
// read file
dnErr = dn_fs_read(
configFileHandle,
0, // offset
(INT8U*)fileContents,
sizeof(spiNetApp_configFileStruct_t)
);
ASSERT(dnErr>=0);
// store configuration read from file into module variable
spiNetApp_vars.period = fileContents->period;
// close file
dn_fs_close(configFileHandle);
// print
printConfig();
} else {
// file not found: create it
// prepare file content
fileContents->period = spiNetApp_vars.period;
// create file
configFileHandle = dn_fs_open(
ACCELAPP_CONFIG_FILENAME,
DN_FS_OPT_CREATE,
sizeof(spiNetApp_configFileStruct_t),
DN_FS_MODE_SHADOW
);
ASSERT(configFileHandle >= 0);
// write file
dnErr = dn_fs_write(
configFileHandle,
0, // offset
(INT8U*)fileContents,
sizeof(spiNetApp_configFileStruct_t)
);
ASSERT(dnErr >= 0);
// close file
dn_fs_close(configFileHandle);
// print
printConfig();
}
}
// "config" command
dn_error_t spiNetApp_cli_config(INT8U* buf, INT32U len, INT8U offset) {
printConfig();
return DN_ERR_NONE;
}
void CommHandler(void) //UART4 Interrupt handler implementation
{
int c = GetChar();
if (c >= 0)
{
LEDon();
switch (c)
{
case 'a':
debugAutoPan ^= 1;
print("Autopan messages %s\r\n", debugAutoPan ? "on" : "off");
break;
case 'b':
print("rebooting into boot loader ...\r\n");
Delay_ms(1000);
bootloader();
break;
case 'c':
debugCnt ^= 1;
print("counter messages %s\r\n", debugCnt ? "on" : "off");
break;
case 'd':
debugPrint ^= 1;
print("debug messages %s\r\n", debugPrint ? "on" : "off");
break;
case 'g':
Delay_ms(100);
PutChar('x');
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = configData[i];
PutChar(data);
}
break;
case 'G':
printConfig();
break;
#if 0
case 'H':
if (CharAvailable() >= CONFIGDATASIZE)
{
for (int i = 0; i < CONFIGDATASIZE; i++)
{
uint8_t data = GetChar();
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
}
else
{
UnGetChar(c); // try again in next loop
}
break;
#endif
case 'h':
for (int i = 0; i < CONFIGDATASIZE; i++)
{
int data;
while ((data = GetChar()) < 0)
;
if (data <= LARGEST_CONFIGDATA)
{
configData[i] = data;
}
}
configSave();
break;
case 'i':
ConfigMode = 1;
break;
case 'j':
ConfigMode = 0;
break;
case 'o':
debugOrient ^= 1;
print("Orientation messages %s\r\n", debugOrient ? "on" : "off");
break;
case 'O':
debugGravityVector ^= 1;
print("GVector messages %s\r\n", debugGravityVector ? "on" : "off");
break;
case 'S':
debugSetpoints ^= 1;
print("Setpoints messages %s\r\n", debugSetpoints ? "on" : "off");
break;
case 'p':
debugPerf ^= 1;
print("performance messages %s\r\n", debugPerf ? "on" : "off");
break;
case 'r':
debugRC ^= 1;
print("RC messages %s\r\n", debugRC ? "on" : "off");
break;
case 'R':
print("rebooting...\r\n");
Delay_ms(1000);
reboot();
break;
case 's':
debugSense ^= 1;
print("Sensor messages %s\r\n", debugSense ? "on" : "off");
break;
case 'u':
{
extern int bDeviceState;
printUSART("\r\nYY bDeviceState %3d VCPConnectMode %d\r\n", bDeviceState, GetVCPConnectMode());
break;
}
case 'v':
print("Version: %s\r\n", __EV_VERSION);
break;
case '+':
testPhase += 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
case '-':
testPhase -= 0.1;
print("test phase output %5.1f\r\n", testPhase);
break;
/*
case '?':
print("CLI documentation\r\n");
// print("\t'+' test phase output increase (now %5.1f)\r\n", testPhase);
//print("\t'-' test phase output decrease (now %5.1f)\r\n", testPhase);
print("\t'a' autopan messages display (now %s)\r\n", debugAutoPan ? "on" : "off");
print("\t'b' reboot into bootloader\r\n");
print("\t'c' counter messages display (now %s)\r\n", debugCnt ? "on" : "off");
print("\t'd' debug messages display (now %s)\r\n", debugPrint ? "on" : "off");
print("\t'g' dump configuration (binary)\r\n");
print("\t'G' dump configuration (hexadecimal)\r\n");
// print("\t'h' write and save config array\r\n");
print("\t'i' enter config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'j' leave config mode (now %s)\r\n", ConfigMode ? "on" : "off");
print("\t'o' orientation messages display (now %s)\r\n", debugOrient ? "on" : "off");
print("\t'p' performance messages display (now %s)\r\n", debugPerf ? "on" : "off");
print("\t'r' RC messages display (now %s)\r\n", debugRC ? "on" : "off");
print("\t'R' reboot\r\n");
print("\t's' toggle sensor messages display (now %s)\r\n", debugSense ? "on" : "off");
print("\t'u' print USB state (bDeviceState %3d VCPConnectMode %d)\r\n", bDeviceState, GetVCPConnectMode());
print("\t'v' print version (%s)\r\n", __EV_VERSION);
break;
*/
default:
// TODO
break;
}
}
}
void loop() {
if (safeMode) { // safeMode engaged, enter blocking loop wait for an OTA update
int safeDelay=30000; // five minutes in 100ms counts
while (safeDelay--) {
ArduinoOTA.handle();
delay(100);
}
ESP.reset(); // restart, try again
delay(5000); // give esp time to reboot
}
if(wifiMulti.run() != WL_CONNECTED) { // reboot if wifi connection drops
ESP.reset();
delay(5000);
}
if (!mqtt.connected()) {
mqttreconnect(); // check mqqt status
}
doTick();
if (hasRSSI) doRSSI();
if (hasTout) doTout();
if (hasVout) doVout();
if (hasIout) doIout();
if (getRGB) doRGBout();
if (hasSpeed) doSpeed();
if ( (doUpdate) || (updateCnt>= 60 / ((updateRate * 20) / 1000) ) ) runUpdate(); // check for config update as requested or every 60 loops
if (wsConcount>0) wsData();
if (useMQTT) mqttData(); // regular update for non RGB controllers
if (prtConfig) printConfig(); // config print was requested
sprintf(str,"Sleeping in %u seconds.", (updateRate*20/1000));
if ((!skipSleep) && (sleepEn)) {
if (useMQTT) mqtt.publish(mqttpub, str);
}
int cnt = 30;
if (updateRate>30) cnt=updateRate;
while(cnt--) {
ArduinoOTA.handle();
if (useMQTT) mqtt.loop();
#ifndef _MINI
httpd.handleClient();
#endif
webSocket.loop();
if (getTime) updateNTP(); // update time if requested by command
if (scanI2C) i2c_scan();
if (hasRGB) doRGB(); // rgb updates as fast as possible
if (rgbTest) testRGB();
#ifndef _MINI
if (doUpload) { // upload file to spiffs by command
doUpload = false; fileSet = false;
int stat = uploadFile(fileName, fileURL);
sprintf(str, "Upload complete: %s %d bytes.",fileName,stat);
if (useMQTT) mqtt.publish(mqttpub, str);
}
#endif
if (setPolo) {
setPolo = false; // respond to an mqtt 'ping' of sorts
if (useMQTT) mqtt.publish(mqttpub, "Polo");
}
if (doReset) { // reboot on command
if (useMQTT) {
mqtt.publish(mqttpub, "Rebooting!");
mqtt.loop();
}
delay(50);
ESP.reset();
delay(5000); // allow time for reboot
}
if (!hasRGB) delay(20); // don't delay for rgb controller
}
if ((!skipSleep) && (sleepEn)) {
if ((sleepPeriod<60) || (sleepPeriod>43200)) sleepPeriod=900; // prevent sleeping for less than 1 minute or more than 12 hours
sprintf(myChr,"Back in %d minutes", sleepPeriod/60);
if (useMQTT) {
mqtt.publish(mqttpub, myChr);
mqtt.loop();
}
ESP.deepSleep(1000000 * sleepPeriod, WAKE_RF_DEFAULT); // sleep for 15 min
delay(5000); // give esp time to fall asleep
}
skipSleep = false;
updateCnt++;
}
void StAndroidGlue::threadEntry() {
if(myJavaVM->AttachCurrentThread(&myThJniEnv, NULL) < 0) {
ST_ERROR_LOG("Failed to attach working thread to Java VM");
return;
}
THE_ANDROID_GLUE = this;
StMessageBox::setCallback(msgBoxCallback);
myConfig = AConfiguration_new();
AConfiguration_fromAssetManager(myConfig, myActivity->assetManager);
updateMonitors();
printConfig();
ALooper* aLooper = ALooper_prepare(ALOOPER_PREPARE_ALLOW_NON_CALLBACKS);
ALooper_addFd(aLooper, myMsgRead, LooperId_MAIN, ALOOPER_EVENT_INPUT, NULL, &myCmdPollSource);
myLooper = aLooper;
pthread_mutex_lock(&myMutex);
myIsRunning = true;
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
// try to load stereo APIs
/**jclass aJClass_Real3D = myThJniEnv->FindClass("com/lge/real3d/Real3D");
if(aJClass_Real3D != NULL) {
jmethodID aJMet_isStereoDisplayAvailable = myThJniEnv->GetStaticMethodID(aJClass_Real3D, "isStereoDisplayAvailable", "(Landroid/content/Contex;)Z");
postMessage("com.lge.real3d.Real3D !!!");
}
jclass aJClass_HTC = myThJniEnv->FindClass("com/htc/view/DisplaySetting");
if(aJClass_HTC != NULL) {
jmethodID aJMet_isStereoDisplayAvailable = myThJniEnv->GetStaticMethodID(aJClass_HTC, "setStereoscopic3DFormat", "(Landroid/view/Surface;I)Z");
postMessage("com.htc.view.DisplaySetting !!!");
}
jclass aJClass_Sharp = myThJniEnv->FindClass("jp/co/sharp/android/stereo3dlcd/SurfaceController");
if(aJClass_Sharp != NULL) {
jmethodID aJMet_setStereoView = myThJniEnv->GetMethodID(aJClass_Sharp, "setStereoView", "(Z)V");
postMessage("jp.co.sharp.android.stereo3dlcd !!!");
}*/
createApplication();
if(!myApp.isNull()) {
if(!myApp->open()) {
stError("Error: application can not be executed!");
}
myApp->exec();
} else {
stError("Error: no application to execute!");
}
myApp.nullify();
// application is done but we are waiting for destroying event...
bool isFirstWait = true;
for(; !myToDestroy; ) {
if(isFirstWait) {
postExit();
isFirstWait = false;
}
StAndroidPollSource* aSource = NULL;
int aNbEvents = 0;
ALooper_pollAll(-1, NULL, &aNbEvents, (void** )&aSource);
if(aSource != NULL) {
aSource->process(this, aSource);
}
}
freeSavedState();
pthread_mutex_lock(&myMutex);
if(myInputQueue != NULL) {
AInputQueue_detachLooper(myInputQueue);
}
AConfiguration_delete(myConfig);
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
myThJniEnv = NULL;
StMessageBox::setCallback(NULL);
THE_ANDROID_GLUE = NULL;
myJavaVM->DetachCurrentThread();
}
int sc_main(int argc, char ** argv){
sc_report_handler::set_actions("/IEEE_Std_1666/deprecated", SC_DO_NOTHING);
system("set SC_SIGNAL_WRITE_CHECK=\"DISABLE\"");
printHeader();
for (int i = 1; i< argc; i++)
{
string args = string(argv[i]);
if (args == "-f")
{
i++;
if (i<argc && argv[i][0] !='-')
ga_configPath = string(argv[i]);
else {
cout << "Argument to '-f' is missing" << endl;
return 0;
}
}
else if (args == "-e")
{
i++;
if (i<argc && argv[i][0] !='-')
ga_elfPath = string(argv[i]);
else {
cout << "Argument to '-e' is missing" << endl;
return 0;
}
}
else{
cout << args <<" Recognized option" << endl;
return 0;
}
}
char nirgamHomeTempStr[100];
g_nirgamHome = rwDirInLinuxStyl(string(getcwd(nirgamHomeTempStr, 100)));
g_configHome = getDirOfFile(ga_configPath);
if(loadConfig(ga_configPath) == false)
return 1;
if(checkConfig() == false)
return 1;
printConfig(cout);
tryDir(gc_resultHome);
g_clkPeriod = 1/gc_simFreq;
g_simPeriod = g_clkPeriod * gc_simNum;
g_clock = new sc_clock("NW_CLOCK",g_clkPeriod, SC_NS);
g_a = analyze(gc_topoFile, cout);
if(g_a == NULL){
cout << "Error occurred. Exit Simulation" << endl; return 1;
}
g_tileNum = g_a->nodeNum;
if (gc_simMode == 1)
initStandardMode();
else if (gc_simMode == 2)
initDebugMode();
else if (gc_simMode == 3)
initSelfcheckMode();
NoC noc("noc", g_a);
noc.switch_cntrl(*g_clock);
g_tracker = new Tracker();
g_tracker->addProbes(noc);
g_tracker->printRouteTables();
//////////////////////////////////////////////////////////////////////////
// soclib tile
#ifdef SL_TILE
if (gc_tileType == 1){
cerr << "SLNIRGAM is used for soclib IP" << endl;
return 1;
}
sc_start(sc_time(0, SC_NS));
g_resetN = false;
sc_start(sc_time(1, SC_NS));
g_resetN = true;
#else
if (gc_tileType == 2){
cerr << "NIRGAM is used for generic IP" << endl;
return 1;
}
#endif
//////////////////////////////////////////////////////////////////////////
if (gc_simMode == 1)
doStandardMode();
else if (gc_simMode == 2)
doDebugMode();
else if (gc_simMode == 3)
doSelfcheckMode();
if (gc_simMode == 1)
finaStandardMode();
else if (gc_simMode == 2)
finaDebugMode();
else if (gc_simMode == 3)
finaSelfcheckMode();
}
int parseCmdLine(int argc, char *argv[]) {
int j, more;
if (argc < 3) {
printHelp();
return 0;
}
for (j = 1; j < argc; j++) {
more = ((j + 1) < argc);
if (!strcmp(argv[j], "--remove")) {
estgbconf.isRemove = 1;
} else if (!strcmp(argv[j], "--force-remove")) {
estgbconf.isRemove = 2;
} else if (!strcmp(argv[j], "--escape-seq")) {
estgbconf.needUnescape = 1;
} else if (!strcmp(argv[j], "--singleton")) {
estgbconf.isSingleton = 1;
} else if (!strcmp(argv[j], "--daemon")) {
estgbconf.isDaemonize = 1;
} else if (!strcmp(argv[j], "--mediagroup")) {
estgbconf.isPicsMediagroup = 1;
} else if (!strcmp(argv[j], "--repeat-send") && more) {
estgbconf.isScan = atoi(argv[++j]);
} else if (!strcmp(argv[j], "--time-sleep") && more) {
estgbconf.timeRescan = atoi(argv[++j]);
} else if (!strcmp(argv[j], "--animation")) {
estgbconf.isAnimation = 1;
} else if (!strcmp(argv[j], "--wildcard")) {
estgbconf.isWildcard = 1;
} else if (!strcmp(argv[j], "--weakconfig")) {
estgbconf.isWeakConfig = 1;
} else if (!strcmp(argv[j], "--sendpic") && more) {
estgbconf.imgfile = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--sendvideo") && more) {
estgbconf.videofile = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--sendtext") && more) {
estgbconf.text = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--senddoc") && more) {
estgbconf.docfile = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--sendaudio") && more) {
estgbconf.audiofile = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--fileconfigs")) {
estgbconf.useFileConfig = 1;
} else if (!strcmp(argv[j], "--token") && more) {
estgbconf.token = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--userid") && more) {
estgbconf.user_id = atoll(argv[++j]);
} else if (!strcmp(argv[j], "--path") && more) {
estgbconf.path = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--comment") && more) {
estgbconf.comment = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--proxy") && more) {
estgbconf.proxy_addr = strdup(argv[++j]);
} else if (!strcmp(argv[j], "--proxyauth") && more) {
estgbconf.proxy_auth = strdup(argv[++j]);
}
else if (!strcmp(argv[j], "--help")) {
printHelp();
return 0;
} else {
printHelp();
printConfig();
printf("Unknown or not enough arguments for option '%s'.\n\n",
argv[j]);
return 0;
}
}
return 1;
}
bool CmdPin::execute(CommandInterpreter &/*interpreter*/, int argc, const CommandInterpreter::Argument *argv)
{
bool config = false;
bool poll = false;
if (argv[0].value.s[3] == 'c') config = true;
if (argv[0].value.s[3] == 'p') poll = true;
if (argc == 1)
{
for (unsigned int index = 0; index < mGpioCount; ++index)
{
printPort(index, config);
}
return true;
}
char c = argv[1].value.s[0];
unsigned int index = c - 'A';
if (index > mGpioCount) index = c - 'a';
if (index > mGpioCount)
{
printf("Invalid GPIO, GPIO A-%c (or a-%c) is allowed.\n", 'A' + mGpioCount - 1, 'a' + mGpioCount - 1);
return false;
}
if (argv[1].value.s[1] == 0)
{
printPort(index, config);
}
else
{
char* end;
unsigned int pin = strtoul(argv[1].value.s + 1, &end, 10);
if (*end != 0 || pin > 15)
{
printf("Invalid index, GPIO has only 16 pins, so 0-15 is allowed.\n");
return false;
}
if (argc == 2)
{
printf("GPIO %c%i: ", 'A' + index, pin);
if (config)
{
printConfig(mGpio[index], pin);
}
else
{
uint64_t lastTime = System::instance()->ns();
bool lastValue = mGpio[index]->get(static_cast<Gpio::Index>(pin));
printValue(mGpio[index], pin);
int count = 1000000;
int change = 0;
while (poll && count > 0 && change < 10)
{
--count;
bool value = mGpio[index]->get(static_cast<Gpio::Index>(pin));
if (value != lastValue)
{
++change;
uint64_t time = System::instance()->ns();
printf(" for %llu us, ", (time - lastTime) / 1000);
lastTime = time;
lastValue = value;
printValue(mGpio[index], pin);
}
}
}
printf("\n");
}
else
{
if (config)
{
printf("Sorry, can't configure pins.\n");
}
else
{
if (argv[2].value.b) mGpio[index]->set(static_cast<Gpio::Index>(pin));
else mGpio[index]->reset(static_cast<Gpio::Index>(pin));
}
}
}
return true;
}
int main(int argc, char *argv[])
{
pid_t pid ;
int stat ;
pthread_t pthread_ping_id;
int ret ;
isDup(argv[0]) ;
if((pid = fork()) < 0)
return -1;
else if(pid != 0)
exit(0);
setsid() ;
set_signal() ;
if (argc > 1) {
if (argc == 3) {
if (strcmp(argv[1], "-f") == 0) {
strcpy(config_file_path, argv[2]);
}
else {
printf("---------------------------------\n");
printf("-%s [-f ConfigFilePath]\n", argv[0]);
printf("---------------------------------\n");
}
}
else {
printf("---------------------------------\n");
printf("-%s [-f ConfigFilePath]\n", argv[0]);
printf("---------------------------------\n");
}
}
else
sprintf(config_file_path, "../config/CCTVSvr.Config");
memset(&Config, 0, sizeof(CONFIG_T)) ;
readConfig(config_file_path, &Config) ;
Log = openLog(argv[0], Config.LOG_FILE, LOG_MODE) ;
printLog(HEAD, "=====[Program Start]=====\n") ;
printConfig(&Config);
#ifdef _USEDB
if((ret = mydbc_connect(Config.DB_NAME, Config.DB_USER, Config.DB_PASSWORD, Config.DB_HOST, Config.DB_PORT, Config.DB_CONN_COUNT)) != DB_SUCCESS) {
printLog(HEAD, "DB Connection ERROR[%d]\n", ret);
exit(0);
}
else {
printLog(HEAD, "DB Connection Success...\n");
}
#endif
pthread_mutex_init(&p_lock, NULL);
thread_count = 0;
#ifdef _USEDB
// DB PING-PONG
if((stat = pthread_create(&pthread_ping_id, NULL, db_conn_check, (void *)NULL)) != 0) {
printLog(HEAD, "ERR: (%s)(%d)\n", strerror(errno), errno);
if(stat == EAGAIN) {
printLog(HEAD, "ERR: not enough system resources to create a process for the new thread. (%d)(%d)\n", EAGAIN, stat);
}
exit_handler() ;
}
#endif
Worker();
exit_handler() ;
return M_TRUE ;
}
void setup() {
memset(voltsChr,0,sizeof(voltsChr));
memset(amps0Chr,0,sizeof(amps0Chr));
memset(amps1Chr,0,sizeof(amps1Chr));
memset(tmpChr,0,sizeof(tmpChr));
// if the program crashed, skip things that might make it crash
String rebootMsg = ESP.getResetReason();
if (rebootMsg=="Exception") safeMode=true;
else if (rebootMsg=="Hardware Watchdog") safeMode=true;
else if (rebootMsg=="Unknown") safeMode=true;
else if (rebootMsg=="Software Watchdog") safeMode=true;
if (sw1>=0) {
pinMode(sw1, OUTPUT);
}
if (sw2>=0) {
pinMode(sw2, OUTPUT);
}
if (sw3>=0) {
pinMode(sw3, OUTPUT);
}
if (sw4>=0) {
pinMode(sw4, OUTPUT);
}
// "mount" the filesystem
bool success = SPIFFS.begin();
if (!success) SPIFFS.format();
if (!safeMode) fsConfig(); // read node config from FS
#ifdef _TRAILER
wifiMulti.addAP("DXtrailer", "2317239216");
#else
wifiMulti.addAP("Tell my WiFi I love her", "2317239216");
#endif
int wifiConnect = 240;
while ((wifiMulti.run() != WL_CONNECTED) && (wifiConnect-- > 0)) { // spend 2 minutes trying to connect to wifi
// connecting to wifi
delay(1000);
}
if (wifiMulti.run() != WL_CONNECTED ) { // still not connected? reboot!
ESP.reset();
delay(5000);
}
if (hasHostname) { // valid config found on FS, set network name
WiFi.hostname(String(nodename)); // set network hostname
ArduinoOTA.setHostname(nodename); // OTA hostname defaults to esp8266-[ChipID]
MDNS.begin(nodename); // set mDNS hostname
}
WiFi.macAddress(mac); // get esp mac address, store it in memory, build fw update url
sprintf(macStr,"%x%x%x%x%x%x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
sprintf(theURL,"/iotfw?mac=%s", macStr);
// request latest config from web api
if (!safeMode) getConfig();
// check web api for new firmware
if (!safeMode) httpUpdater();
// start UDP for ntp client
udp.begin(localPort);
updateNTP();
setSyncProvider(getNtptime); // use NTP to get current time
setSyncInterval(600); // refresh clock every 10 min
#ifndef _MINI
// start the webserver
httpd.onNotFound(handleNotFound);
httpd.begin();
// Add service to MDNS-SD
MDNS.addService("http", "tcp", 80);
#endif
// start websockets server
webSocket.begin();
webSocket.onEvent(webSocketEvent);
// setup other things
setupOTA();
setupMQTT();
// setup i2c if configured, basic sanity checking on configuration
if (hasI2C && iotSDA>=0 && iotSCL>=0 && iotSDA!=iotSCL) {
sprintf(str,"I2C enabled, using SDA=%u SCL=%u", iotSDA, iotSCL);
mqtt.publish(mqttpub, str);
Wire.begin(iotSDA, iotSCL); // from api config file
//Wire.begin(12, 14); // from api config file
i2c_scan();
printConfig();
if (hasRGB) setupRGB();
if (hasIout) setupADS();
if (hasSpeed) setupSpeed();
}
// OWDAT = 4;
if (OWDAT>0) { // setup onewire if data line is using pin 1 or greater
sprintf(str,"Onewire Data OWDAT=%u", OWDAT);
mqtt.publish(mqttpub, str);
oneWire.begin(OWDAT);
if (hasTout) {
ds18b20 = DallasTemperature(&oneWire);
ds18b20.begin(); // start one wire temp probe
}
if (hasTpwr>0) {
pinMode(hasTpwr, OUTPUT); // onewire power pin as output
digitalWrite(hasTpwr, LOW); // ow off
}
}
if (useMQTT) {
String rebootReason = String("Last reboot cause was ") + rebootMsg;
rebootReason.toCharArray(str, rebootReason.length()+1);
mqtt.publish(mqttpub, str);
}
}
// TODO: Finalize config file format
// TODO: Add starting time offset, which would allow a user to specify schedules with optimal solutions - no conflicts in timing
// vs conflicts in timing, with the latter resulting in a more difficult job for a scheduler
int main(int argc, char * argv[])
{
// Check for config file, create one if it doesn't exist
if (fileCheck("config.cfg") == 0) {
createDefConfig();
puts("Default config file created");
}
// Load config file vals into current config
struct config current_config;
loadConfig(¤t_config, "config.cfg");
// Print menu to allow user to modify the current config
int menuChoice;
while (1) {
printConfig(¤t_config);
puts("");
puts("1: Save current config");
puts("2: Load another config");
puts("3: Reset config to default");
puts("4: Generate test data");
puts("5: Modify current configuration");
printf("\n>> ");
scanf("%d", &menuChoice);
if (menuChoice == 4) {
break;
} else if (menuChoice == 1) {
saveConfig(¤t_config);
} else if (menuChoice == 2) {
char fname[20];
printf("Enter a file name >> ");
scanf("%s", fname);
loadConfig(¤t_config, fname);
} else if (menuChoice == 3) {
createDefConfig();
} else if (menuChoice == 5) {
modifyConfig(¤t_config);
}
}
// Stores total number of tasks to generate
int numTasks = -1;
if (argc == 2)
{
sscanf(argv[1], "%d", &numTasks);
} else
{
printf("\nEnter number of tasks to generate >> ");
scanf("%d", &numTasks);
}
// Seed the rng
time_t now;
time(&now);
init_genrand((int)now);
// Remove old data.txt, if necessary
if (fileCheck("data.txt") == 1)
{
puts("\nOld test data file deleted.");
}
// Open the file for writing
FILE *fp;
fp = fopen("data.txt", "w");
// generate the data
int rc = generateData(fp, numTasks, ¤t_config);
fclose(fp);
char in;
printf("Start simulation on new test data? [Y/n] ");
scanf(" %c", &in);
if (in == 'Y' || in == 'y') {
system("./sim data.txt");
}
return 0;
}
vrpn_libusb::vrpn_libusb(const char *name, vrpn_Connection *c, std::string configFile) : vrpn_Button(name,c), vrpn_Analog(name,c)
{
_devList = NULL;
_dev = NULL;
_vendorID = -1;
_productID = -1;
_entryNum = 0;
_configNum = 0;
_numConfigs = 0;
_interfaceNum = 0;
_numInterfaces = 0;
_altSettingNum = 0;
_numAltSettings = 0;
_endpointNum = 0;
_numEndpoints = 0;
_address = 0;
_packetSize = 0;
_printPacket = false;
_context = NULL;
_error = false;
num_buttons = 0;
num_channel = 0;
_driverPresent = false;
if(!loadConfigFile(configFile))
{
_error = true;
return;
}
if(libusb_init(&_context) < 0)
{
std::cerr << "Error libusb init." << std::endl;
_error = true;
return;
}
int devCount;
if((devCount = libusb_get_device_list(NULL, &_devList)) < 0 )
{
std::cerr << "Error getting device list .." << std::endl;
_error = true;
return;
}
if(_vendorID < 0 || _productID < 0)
{
std::cerr << "Error: vendorID/productID must be set." << std::endl;
std::cerr << "Printing list of usb devices:" << std::endl;
printDevices(_devList);
_error = true;
return;
}
bool usberror = false;
_dev = findDevice(_devList);
if(!_dev)
{
printConfig();
std::cerr << "Error: device with vendorID/productID with given entry not found." << std::endl;
std::cerr << "Printing list of usb devices:" << std::endl;
printDevices(_devList);
_error = true;
return;
}
libusb_device_descriptor desc;
if(libusb_get_device_descriptor(_dev,&desc) >= 0)
{
_numConfigs = (int)desc.bNumConfigurations;
if(_configNum >= 0 && _configNum < _numConfigs)
{
libusb_config_descriptor * cdesc;
if(libusb_get_config_descriptor(_dev,_configNum,&cdesc) >= 0)
{
_numInterfaces = (int)cdesc->bNumInterfaces;
if(_interfaceNum >= 0 && _interfaceNum < _numInterfaces)
{
libusb_interface interface = cdesc->interface[_interfaceNum];
_numAltSettings = (int)interface.num_altsetting;
if(_altSettingNum >= 0 && _altSettingNum < _numAltSettings)
{
libusb_interface_descriptor idesc = interface.altsetting[_altSettingNum];
_numEndpoints = (int)idesc.bNumEndpoints;
if(_endpointNum >= 0 && _endpointNum < _numEndpoints)
{
libusb_endpoint_descriptor edesc = idesc.endpoint[_endpointNum];
_address = (int)edesc.bEndpointAddress;
_packetSize = (int)edesc.wMaxPacketSize;
}
else
{
std::cerr << "Error: Invalid endpoint number." << std::endl;
usberror = true;
}
}
else
{
std::cerr << "Error: Invalid altSetting number." << std::endl;
usberror = true;
}
}
else
{
std::cerr << "Error: Invalid interface number." << std::endl;
usberror == true;
}
}
else
{
std::cerr << "Error: unable to get config descriptor." << std::endl;
usberror = true;
}
}
else
{
std::cerr << "Error: Invalid config number." << std::endl;
usberror = true;
}
}
else
{
std::cerr << "Error: unable to get device descriptor." << std::endl;
usberror = true;
}
printConfig();
if(libusb_open(_dev, &_handle) < 0)
{
std::cerr << "Error opening device bus: " << libusb_get_bus_number(_dev) << " device: " << libusb_get_device_address(_dev) << std::endl;
usberror = true;
}
if(usberror)
{
_error = true;
return;
}
num_buttons = 0;
for(int i = 0; i < _buttonGroups.size(); ++i)
{
num_buttons += _buttonGroups[i]->numButtons;
}
for(int i = 0; i < num_buttons; i++)
{
buttons[i] = 0;
lastbuttons[i] = 0;
}
num_channel = _valuators.size();
_packet = new unsigned char[_packetSize];
for(int i = 0; i < _numInterfaces; i++)
{
if(libusb_kernel_driver_active(_handle, i) == 1)
{
_driverPresent = true;
if(libusb_detach_kernel_driver(_handle, i) != 0)
{
std::cerr << "Error detaching driver from interface " << i << std::endl;
}
}
else
{
_driverPresent = false;
}
}
if(libusb_claim_interface(_handle, _interfaceNum) != 0)
{
std::cerr << "Error: could not claim device interface." << std::endl;
_error = true;
return;
}
vrpn_gettimeofday(&_lastUpdateTime,NULL);
_transfer = libusb_alloc_transfer(5);
libusb_fill_interrupt_transfer(_transfer, _handle, _address, _packet, _packetSize, transCallback, (void*)this, 10000);
libusb_submit_transfer(_transfer);
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
_ti = new ThreadInit;
_ti->context = _context;
_ti->quit = false;
pthread_create(&_updateThread,&attr,libusbUpdate,(void*)_ti);
pthread_attr_destroy(&attr);
std::cerr << "Init good." << std::endl;
}
void Config::parseConfig ( char * f )
{
FILE * filein = NULL;
// Open configuration file
if ( ( filein = fopen( f, "rt" ) ) == NULL )
{
// No configuration file is found. Print out
// the current configuration
cerr << "# WARNING: No configuration file " << f << ". Dumping default setting to " << f << endl;
ofstream fileout( f );
printConfig( fileout );
fileout.close( );
}
else
{
int line = 0;
while ( !feof( filein ) )
{
line ++;
char buf[ 128 ];
char * res = fgets( buf, 128, filein );
(void)res;
// Stop if finished
if ( feof( filein ) )
break;
// Skip comments
if ( buf[ 0 ] == '#' )
continue;
char tmpbuf[ 32 ];
// GENERIC CONFIGURATION
if ( sscanf( buf, "incremental %d\n" , &incremental ) == 1 );
else if ( sscanf( buf, "produce_stats %d\n" , &produce_stats ) == 1 );
else if ( sscanf( buf, "print_stats %d\n" , &print_stats ) == 1 );
else if ( sscanf( buf, "print_proofs_smtlib2 %d\n" , &print_proofs_smtlib2 ) == 1 );
else if ( sscanf( buf, "print_proofs_dotty %d\n" , &print_proofs_dotty ) == 1 );
else if ( sscanf( buf, "produce_models %d\n" , &produce_models ) == 1 )
{
#ifndef PRODUCE_PROOF
if ( produce_proofs != 0 )
opensmt_error( "You must configure code with --enable-proof to produce proofs" );
#endif
}
else if ( sscanf( buf, "produce_inter %d\n" , &produce_inter ) == 1 )
{
#ifndef PRODUCE_PROOF
if ( produce_inter != 0 )
opensmt_error( "You must configure code with --enable-proof to produce interpolants" );
#endif
}
else if ( sscanf( buf, "regular_output_channel %s\n" , tmpbuf ) == 1 )
setRegularOutputChannel( tmpbuf );
else if ( sscanf( buf, "diagnostic_output_channel %s\n" , tmpbuf ) == 1 )
setDiagnosticOutputChannel( tmpbuf );
else if ( sscanf( buf, "dump_formula %d\n" , &dump_formula ) == 1 );
else if ( sscanf( buf, "dump_log %d\n" , &dump_log ) == 1 );
else if ( sscanf( buf, "verbosity %d\n" , &verbosity ) == 1 );
else if ( sscanf( buf, "print_success %d\n" , &print_success ) == 1 );
else if ( sscanf( buf, "certification_level %d\n" , &certification_level ) == 1 );
else if ( sscanf( buf, "certifying_solver %s\n" , certifying_solver ) == 1 );
else if ( sscanf( buf, "split_equalities %d\n" , &split_equalities ) == 1 );
// SAT SOLVER CONFIGURATION
else if ( sscanf( buf, "sat_theory_propagation %d\n" , &(sat_theory_propagation)) == 1 );
else if ( sscanf( buf, "sat_polarity_mode %d\n" , &(sat_polarity_mode)) == 1 );
else if ( sscanf( buf, "sat_initial_skip_step %lf\n" , &(sat_initial_skip_step)) == 1 );
else if ( sscanf( buf, "sat_skip_step_factor %lf\n" , &(sat_skip_step_factor)) == 1 );
else if ( sscanf( buf, "sat_restart_first %d\n" , &(sat_restart_first)) == 1 );
else if ( sscanf( buf, "sat_restart_increment %lf\n" , &(sat_restart_inc)) == 1 );
else if ( sscanf( buf, "sat_use_luby_restart %d\n" , &(sat_use_luby_restart)) == 1 );
else if ( sscanf( buf, "sat_learn_up_to_size %d\n" , &(sat_learn_up_to_size)) == 1 );
else if ( sscanf( buf, "sat_temporary_learn %d\n" , &(sat_temporary_learn)) == 1 );
else if ( sscanf( buf, "sat_preprocess_booleans %d\n" , &(sat_preprocess_booleans)) == 1 );
else if ( sscanf( buf, "sat_preprocess_theory %d\n" , &(sat_preprocess_theory)) == 1 );
else if ( sscanf( buf, "sat_centrality %d\n" , &(sat_centrality)) == 1 );
else if ( sscanf( buf, "sat_trade_off %d\n" , &(sat_trade_off)) == 1 );
else if ( sscanf( buf, "sat_minimize_conflicts %d\n" , &(sat_minimize_conflicts)) == 1 );
else if ( sscanf( buf, "sat_dump_cnf %d\n" , &(sat_dump_cnf)) == 1 );
else if ( sscanf( buf, "sat_dump_rnd_inter %d\n" , &(sat_dump_rnd_inter)) == 1 );
else if ( sscanf( buf, "sat_lazy_dtc %d\n" , &(sat_lazy_dtc)) == 1 );
else if ( sscanf( buf, "sat_lazy_dtc_burst %d\n" , &(sat_lazy_dtc_burst)) == 1 );
// PROOF PRODUCTION CONFIGURATION
else if ( sscanf( buf, "proof_reduce %d\n" , &(proof_reduce)) == 1 );
else if ( sscanf( buf, "proof_random_seed %d\n" , &(proof_random_seed)) == 1 );
else if ( sscanf( buf, "proof_ratio_red_solv %lf\n" , &(proof_ratio_red_solv)) == 1 );
else if ( sscanf( buf, "proof_red_time %lf\n" , &(proof_red_time)) == 1 );
else if ( sscanf( buf, "proof_num_graph_traversals %d\n" , &(proof_num_graph_traversals)) == 1 );
else if ( sscanf( buf, "proof_red_trans %d\n" , &(proof_red_trans)) == 1 );
else if ( sscanf( buf, "proof_reorder_pivots %d\n" , &(proof_reorder_pivots)) == 1 );
else if ( sscanf( buf, "proof_reduce_while_reordering %d\n" , &(proof_reduce_while_reordering)) == 1 );
else if ( sscanf( buf, "proof_random_context_analysis %d\n" , &(proof_random_context_analysis)) == 1 );
else if ( sscanf( buf, "proof_random_swap_application %d\n" , &(proof_random_swap_application)) == 1 );
else if ( sscanf( buf, "proof_remove_mixed %d\n" , &(proof_remove_mixed)) == 1 );
else if ( sscanf( buf, "proof_set_inter_algo %d\n" , &(proof_set_inter_algo)) == 1 );
else if ( sscanf( buf, "proof_certify_inter %d\n" , &(proof_certify_inter)) == 1 );
// EUF SOLVER CONFIGURATION
else if ( sscanf( buf, "uf_disable %d\n" , &(uf_disable)) == 1 );
else if ( sscanf( buf, "uf_theory_propagation %d\n" , &(uf_theory_propagation)) == 1 );
// BV SOLVER CONFIGURATION
else if ( sscanf( buf, "bv_disable %d\n" , &(bv_disable)) == 1 );
else if ( sscanf( buf, "bv_theory_propagation %d\n" , &(bv_theory_propagation)) == 1 );
// DL SOLVER CONFIGURATION
else if ( sscanf( buf, "dl_disable %d\n" , &(dl_disable)) == 1 );
else if ( sscanf( buf, "dl_theory_propagation %d\n" , &(dl_theory_propagation)) == 1 );
// LRA SOLVER CONFIGURATION
else if ( sscanf( buf, "lra_disable %d\n" , &(lra_disable)) == 1 );
else if ( sscanf( buf, "lra_theory_propagation %d\n" , &(lra_theory_propagation)) == 1 );
else if ( sscanf( buf, "lra_poly_deduct_size %d\n" , &(lra_poly_deduct_size)) == 1 );
else if ( sscanf( buf, "lra_gaussian_elim %d\n" , &(lra_gaussian_elim)) == 1 );
else if ( sscanf( buf, "lra_integer_solver %d\n" , &(lra_integer_solver)) == 1 );
else if ( sscanf( buf, "lra_check_on_assert %d\n" , &(lra_check_on_assert)) == 1 );
// MCMT related options
else if ( sscanf( buf, "node_limit %d\n" , &(node_limit)) == 1 );
else if ( sscanf( buf, "depth_limit %d\n" , &(depth_limit)) == 1 );
else if ( sscanf( buf, "verbosity %d\n" , &(verbosity)) == 1 );
else if ( sscanf( buf, "simpl_level %d\n" , &(simpl_level)) == 1 );
else if ( sscanf( buf, "e_simpl_level %d\n" , &(e_simpl_level)) == 1 );
else if ( sscanf( buf, "fix_point_strategy %d\n" , &(fix_point_strategy)) == 1 );
else if ( sscanf( buf, "fix_point_period %d\n" , &(fix_point_period)) == 1 );
else if ( sscanf( buf, "check_compatible %d\n" , &(check_compatible)) == 1 );
else if ( sscanf( buf, "invariant_nodes %d\n" , &(invariant_nodes)) == 1 );
else if ( (report_tex = (strcmp( buf, "tex\n" ) == 0)) );
else if ( (flex_fix_point = (strcmp( buf, "flex_fix_point\n" ) == 0)) );
else if ( (predicate_abstr = (strcmp( buf, "predicate_abstr\n" ) == 0)) );
else if ( (constant_abstr = (strcmp( buf, "constant_abstr\n" ) == 0)) );
else if ( (log = (strcmp( buf, "log\n" ) == 0)) );
else if ( (weak_fix_point = (strcmp( buf, "weak_fix_point\n" ) == 0)) );
else if ( (incr_fix_point = (strcmp( buf, "incr_fix_point\n" ) == 0)) );
else if ( (breadth_search = (strcmp( buf, "breadth_search\n" ) == 0)) );
else if ( (breadth_search = (strcmp( buf, "depth_search\n" ) == 0)) );
else if ( (full_inv_search = (strcmp( buf, "full_inv_search\n" ) == 0)) );
else if ( (parsing_tests = (strcmp( buf, "parsing_tests\n" ) == 0)) );
else if ( (simplify_preimages = (strcmp( buf, "simplify_preimages\n" ) == 0)) );
else if ( (report = (strcmp( buf, "report\n" ) == 0)) );
else if ( (optimization = (strcmp( buf, "optimization\n" ) == 0)) );
else if ( (iterative = (strcmp( buf, "iterative\n" ) == 0)) );
else if ( (invariant_pattern = (strcmp( buf, "invariant_pattern\n" ) == 0)) );
else if ( (classic_invariant = (strcmp( buf, "invariant\n" ) == 0)) );
else if ( (counterexample = (strcmp( buf, "counterexample\n" ) == 0)) );
else if ( (generate_invariants = (strcmp( buf, "generate_invariants\n" ) == 0)) );
else
{
opensmt_error2( "unrecognized option ", buf );
}
}
if ( invariant_pattern || classic_invariant )
{
global_invariant = true;
}
// Close
fclose( filein );
}
if ( produce_stats ) stats_out.open( ".stats.out" );
if ( dump_log ) log_out.open( ".opensmt_log.smt2" );
}
void StAndroidGlue::processCommand() {
int8_t aCmd = -1;
if(::read(myMsgRead, &aCmd, sizeof(aCmd)) == sizeof(aCmd)) {
switch(aCmd) {
case CommandId_SaveState:
freeSavedState();
break;
}
} else {
ST_ERROR_LOG("No data on command pipe!");
return;
}
// preprocessing
switch(aCmd) {
case CommandId_InputChanged: {
pthread_mutex_lock(&myMutex);
if(myInputQueue != NULL) {
AInputQueue_detachLooper(myInputQueue);
}
myInputQueue = myInputQueuePending;
if(myInputQueue != NULL) {
AInputQueue_attachLooper(myInputQueue,
myLooper, LooperId_INPUT, NULL,
&myInputPollSource);
}
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
break;
}
case CommandId_WindowChanged:
case CommandId_WindowInit: {
pthread_mutex_lock(&myMutex);
myWindow = myWindowPending;
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
break;
}
case CommandId_WindowTerm: {
pthread_cond_broadcast(&myCond);
break;
}
case CommandId_Resume:
case CommandId_Start:
case CommandId_Pause:
case CommandId_Stop: {
pthread_mutex_lock(&myMutex);
myActivityState = aCmd;
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
break;
}
case CommandId_ConfigChanged: {
AConfiguration_fromAssetManager(myConfig, myActivity->assetManager);
updateMonitors();
printConfig();
break;
}
case CommandId_Destroy: {
myToDestroy = true;
break;
}
}
signals.onAppCmd(aCmd);
// post-processing
switch(aCmd) {
case CommandId_WindowTerm: {
pthread_mutex_lock(&myMutex);
myWindow = NULL;
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
break;
}
case CommandId_WindowChanged: {
pthread_mutex_lock(&myMutex);
myWindowPending = NULL;
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
break;
}
case CommandId_SaveState: {
pthread_mutex_lock(&myMutex);
myIsStateSaved = true;
pthread_cond_broadcast(&myCond);
pthread_mutex_unlock(&myMutex);
break;
}
case CommandId_Resume: {
freeSavedState();
break;
}
}
}
//---------------------------------------------------------------------
//---------------------------------------------------------------------
//---------------------------------------------------------------------
int
main(int argc, char *argv[])
{
extern char *optarg;
int optInd = 0;
char optChar = 0;
static struct option optLong[] = {
{ "database" , 1 , 0 , 'D' },
{ "path" , 1 , 0 , 'p' },
{ "time" , 1 , 0 , 't' },
{ "expiration" , 1 , 0 , 'x' },
{ "flavor" , 1 , 0 , 'F' },
{ "file" , 1 , 0 , 'f' },
{ "get" , 0 , (int *)&action , GetDB },
{ "read" , 0 , (int *)&action , GetDB },
{ "set" , 0 , (int *)&action , SetDB },
{ "write" , 0 , (int *)&action , SetDB },
{ "tree" , 0 , (int *)&action , PrintTree },
{ "history" , 0 , (int *)&action , PrintHistory },
{ "config" , 0 , (int *)&action , PrintConfig },
{ "comment" , 1 , 0 , 'c' },
{ "verbose" , 0 , &verboseMode , true},
{ "quiet" , 0 , &verboseMode , false},
{ "dataonly" , 0 , &dataOnlyMode , true},
{ "debug" , 0 , &debugMode , true},
{ "help" , 0 , 0 , 'h' },
{ 0, 0, 0, 0}
};
// cout << indexFromString("05TB01" ) << endl;
// cout << indexFromString("P05TB01") << endl;
// cout << indexFromString("05P1" ,kEEmcMaxSect*kEEmcMaxBox) << endl;
// cout << indexFromString("E05TB",kEEmcMaxSect*kEEmcMaxBox) << endl;
// cout << indexFromString("12TB13" ) << endl;
// cout << indexFromString("V12TB13") << endl;
// cout << indexFromString("13TG" ,kEEmcMaxSect*kEEmcMaxBox) << endl;
// cout << indexFromString("A13TG" ,kEEmcMaxSect*kEEmcMaxBox) << endl;
// exit(0);
// arguments and init
argv0 = strrchr(argv[0],'/');
argv0 = ( argv0 == NULL ) ? argv[0] : ++argv0 ;
while((optChar = getopt_long(argc,argv,"D:p:t:x:F:f:c:grswTHCdvqh",optLong,&optInd)) != EOF) {
switch(optChar) {
case 0 : break;
case 'D' : dbName = optarg; break;
case 'p' : dbPath = optarg; break;
case 't' : dbTime = optarg; break;
case 'x' : dbExpTime = optarg; break;
case 'F' : dbFlavor = optarg; break;
case 'f' : dbFile = optarg; break;
case 'r' : // same as g
case 'g' : action = GetDB; break;
case 'w' : // same as s
case 's' : action = SetDB; break;
case 'T' : action = PrintTree; break;
case 'H' : action = PrintHistory; break;
case 'C' : action = PrintConfig; break;
case 'c' : dbComment = optarg; break;
case 'd' : dataOnlyMode= true; break;
case 'v' : verboseMode = true; break;
case 'q' : quietMode = true; break;
case 'h' : usage(); return(0); break;
default : usage("unknown option"); break;
};
}
if(!dbPath && action!=PrintConfig ) usage("database path missing");
//
StDbManager *mgr = StDbManager::Instance();
StDbConfigNode *dbNode = NULL;
StDbTable *dbTab = NULL;
char *node = NULL;
FILE *file = NULL;
mgr->setVerbose(verboseMode);
mgr->setQuiet(quietMode);
// sanity check
if( ! mgr->findDefaultServer() ) {
fprintf(stderr,"cannot find the default DB server\n");
return(-1);
}
if(dbFile) {
file = fopen(dbFile,(action==SetDB) ? "r" : "w");
if(!file) {
fprintf(stderr,"%s: fopen '%s' failed, %s\n",argv0,dbFile,strerror(errno));
return(-1);
}
} else {
file = (action==SetDB) ? stdin : stdout;
}
switch(action) {
case PrintTree:
node = node=strsep(&dbPath,"/");
if(node) {
dbNode = mgr->initConfig(dbName,node);
if(dbNode) {
if(verboseMode || !quietMode)
fprintf (file,"DATABASE TREE:\n");
fprintf (file,"%s/\n",node);
if(printTree(file,dbNode)<=0) {
fprintf (stderr,"config %s is empty\n",node);
}
}
}
return 0;
break;
case PrintConfig:
if(verboseMode || !quietMode)
fprintf(file,"DATABASE VERSIONS:\n");
printConfig(file,mgr);
return 0;
default:
break;
}
// parse database path
char *preNode="";
while( (node=strsep(&dbPath,"/")) != NULL ) {
StDbConfigNode *tn = (dbNode==NULL) ?
mgr->initConfig(dbName,node) : dbNode->findConfigNode(node);
if(!tn) break; // assume the last token is a db table
dbNode = tn;
printf("found database node: %s\n",node);
preNode=node;
}
if(!node) usage("invalid path");
dbTab = dbNode->findTable(node);
if(!dbTab) { fprintf(stderr,"%s: table %s not found\n",argv0,node); return (-1); }
dprintf("found table: %s\n",node);
int nrows=dbTab->GetNRows();
int ndata=0;
EEmcDbIOBase *dbIO = getDbIO(preNode,node,nrows);
if(dbIO==NULL) return(-1);
char keyLine[EEmcDbMaxDbPathLen];
//char keyFile[EEmcDbMaxKeyLength];
char keyBase[EEmcDbMaxKeyLength];
time_t tUnix = getTimeStamp(dbTimeFormat,dbTime);
time_t tExpUnix = (dbExpTime!=NULL) ? getTimeStamp(dbTimeFormat,dbExpTime) : 0;
dbTab->setFlavor(dbFlavor);
switch(action) {
case PrintHistory:
printHistory(file,mgr,dbTab,dbIO);
return 0;
break;
case SetDB:
fgets (keyLine,EEmcDbMaxDbPathLen-1,file);
sprintf(keyBase,EEmcDbKeyFormat,dbNode->printName(),node);
printf("AAA=%s=\n",keyBase);
if(strstr(keyLine,keyBase)==0 && strcmp(keyLine,keyToEverything) ) {
fprintf(stderr,"signature mismatch: data file key '%s', required '%s'\n",
keyLine,keyBase);
return (-1);
}
dbIO->setComment(dbComment);
ndata = dbIO->read(file);
if(ndata<=0) {
fprintf(stderr,"%s: reading file %s failed\n",argv0,dbFile);
return(-1);
}
if(nrows>1) {
dbTab->SetTable(dbIO->getData(),ndata, dbIO->getIndices());
} else {
dbTab->SetTable(dbIO->getData(),ndata);
}
if(tExpUnix>0) {
dbTab->setEndStoreTime(tExpUnix);
fprintf(stderr,"%s: setting end time %ld\n",argv0,tExpUnix);
}
//mgr->setStoreTime(getTimeStamp(dbTimeFormat,dbTime));
mgr->setStoreTime(tUnix);
if(! mgr->storeDbTable(dbTab) ) {
fprintf(stderr,"%s: storing table %s failed\n",argv0,node);
return(-1);
}
break;
case GetDB:
mgr ->setRequestTime(tUnix);
if( ! mgr->fetchDbTable(dbTab) ) {
fprintf(stderr,"%s: problem with fetch for time stamp %ld / %s",argv0,tUnix,ctime(&tUnix));
fprintf(stderr," There is no record for this table over the time period :\n");
fprintf(stderr," BeginDate = %s\t",dbTab->getBeginDateTime());
fprintf(stderr," EndDate = %s\n",dbTab->getEndDateTime());
fprintf(stderr," BeginTimeUnix = %d\t",dbTab->getBeginTime());
fprintf(stderr," EndTimeUnix = %d\n",dbTab->getEndTime());
return(-1);
}
if(! dbTab->GetTable() ) {
fprintf(stderr,"no data found in table %s\n",node);
return(-1);
}
dbIO->setData(dbTab->GetTable());
if(verboseMode || !quietMode)
fprintf(stderr,"BNL Time Stamp Range from: %s to: %s \n",
fmtSqlTime(dbTab->getBeginDateTime()),fmtSqlTime(dbTab->getEndDateTime()));
if(!dataOnlyMode) {
fprintf(file,EEmcDbKeyFormat,dbNode->printName(),node);
fprintf(file,"\n");
}
ndata = dbIO->write(file);
dbComment = dbIO->getComment();
if(verboseMode || !quietMode)
fprintf(stderr,"COMMENT: %s\n",dbComment);
break;
default:
break;
}
if(ndata>0) {
dprintf("database access successful %d\n",ndata);
} else {
fprintf(stderr,"%s: table %s access failed\n",argv0,node);
}
fclose(file);
return 0;
}
void SMTConfig::parseConfig ( char * f )
{
FILE * filein = NULL;
// Open configuration file
if ( ( filein = fopen( f, "rt" ) ) == NULL )
{
// No configuration file is found. Print out
// the current configuration
// cerr << "# " << endl;
cerr << "# WARNING: No configuration file " << f << ". Dumping default setting to " << f << endl;
ofstream fileout( f );
printConfig( fileout );
fileout.close( );
}
else
{
int line = 0;
while ( !feof( filein ) )
{
line ++;
char buf[ 128 ];
char * res = fgets( buf, 128, filein );
(void)res;
// Stop if finished
if ( feof( filein ) )
break;
// Skip comments
if ( buf[ 0 ] == '#' )
continue;
char tmpbuf[ 32 ];
// GENERIC CONFIGURATION
if ( sscanf( buf, "incremental %d\n" , &incremental ) == 1 );
else if ( sscanf( buf, "produce_stats %d\n" , &produce_stats ) == 1 );
else if ( sscanf( buf, "produce_models %d\n" , &produce_models ) == 1 );
else if ( sscanf( buf, "produce_proofs %d\n" , &produce_proofs ) == 1 );
else if ( sscanf( buf, "produce_inter %d\n" , &produce_inter ) == 1 );
else if ( sscanf( buf, "regular_output_channel %s\n" , tmpbuf ) == 1 )
setRegularOutputChannel( tmpbuf );
else if ( sscanf( buf, "diagnostic_output_channel %s\n", tmpbuf ) == 1 )
setDiagnosticOutputChannel( tmpbuf );
else if ( sscanf( buf, "dump_formula %d\n" , &dump_formula ) == 1 );
else if ( sscanf( buf, "verbosity %d\n" , &verbosity ) == 1 );
else if ( sscanf( buf, "certification_level %d\n" , &certification_level ) == 1 );
else if ( sscanf( buf, "certifying_solver %s\n" , certifying_solver ) == 1 );
// SAT SOLVER CONFIGURATION
else if ( sscanf( buf, "sat_theory_propagation %d\n" , &(sat_theory_propagation)) == 1 );
else if ( sscanf( buf, "sat_polarity_mode %d\n" , &(sat_polarity_mode)) == 1 );
else if ( sscanf( buf, "sat_initial_skip_step %lf\n" , &(sat_initial_skip_step)) == 1 );
else if ( sscanf( buf, "sat_skip_step_factor %lf\n" , &(sat_skip_step_factor)) == 1 );
else if ( sscanf( buf, "sat_restart_first %d\n" , &(sat_restart_first)) == 1 );
else if ( sscanf( buf, "sat_restart_increment %lf\n" , &(sat_restart_inc)) == 1 );
else if ( sscanf( buf, "sat_use_luby_restart %d\n" , &(sat_use_luby_restart)) == 1 );
else if ( sscanf( buf, "sat_learn_up_to_size %d\n" , &(sat_learn_up_to_size)) == 1 );
else if ( sscanf( buf, "sat_temporary_learn %d\n" , &(sat_temporary_learn)) == 1 );
else if ( sscanf( buf, "sat_preprocess_booleans %d\n" , &(sat_preprocess_booleans)) == 1 );
else if ( sscanf( buf, "sat_preprocess_theory %d\n" , &(sat_preprocess_theory)) == 1 );
else if ( sscanf( buf, "sat_centrality %d\n" , &(sat_centrality)) == 1 );
else if ( sscanf( buf, "sat_trade_off %d\n" , &(sat_trade_off)) == 1 );
else if ( sscanf( buf, "sat_minimize_conflicts %d\n" , &(sat_minimize_conflicts)) == 1 );
else if ( sscanf( buf, "sat_dump_cnf %d\n" , &(sat_dump_cnf)) == 1 );
else if ( sscanf( buf, "sat_dump_rnd_inter %d\n" , &(sat_dump_rnd_inter)) == 1 );
else if ( sscanf( buf, "sat_lazy_dtc %d\n" , &(sat_lazy_dtc)) == 1 );
else if ( sscanf( buf, "sat_lazy_dtc_burst %d\n" , &(sat_lazy_dtc_burst)) == 1 );
// PROOF PRODUCTION CONFIGURATION
else if ( sscanf( buf, "proof_reduce %d\n" , &(proof_reduce)) == 1 );
else if ( sscanf( buf, "proof_ratio_red_solv %lf\n" , &(proof_ratio_red_solv)) == 1 );
else if ( sscanf( buf, "proof_red_time %lf\n" , &(proof_red_time)) == 1 );
else if ( sscanf( buf, "proof_red_trans %d\n" , &(proof_red_trans)) == 1 );
else if ( sscanf( buf, "proof_reorder_pivots %d\n" , &(proof_reorder_pivots)) == 1 );
else if ( sscanf( buf, "proof_remove_mixed %d\n" , &(proof_remove_mixed)) == 1 );
else if ( sscanf( buf, "proof_use_sym_inter %d\n" , &(proof_use_sym_inter)) == 1 );
else if ( sscanf( buf, "proof_certify_inter %d\n" , &(proof_certify_inter)) == 1 );
// EUF SOLVER CONFIGURATION
else if ( sscanf( buf, "uf_disable %d\n" , &(uf_disable)) == 1 );
else if ( sscanf( buf, "uf_theory_propagation %d\n" , &(uf_theory_propagation)) == 1 );
// BV SOLVER CONFIGURATION
else if ( sscanf( buf, "bv_disable %d\n" , &(bv_disable)) == 1 );
else if ( sscanf( buf, "bv_theory_propagation %d\n" , &(bv_theory_propagation)) == 1 );
// DL SOLVER CONFIGURATION
else if ( sscanf( buf, "dl_disable %d\n" , &(dl_disable)) == 1 );
else if ( sscanf( buf, "dl_theory_propagation %d\n" , &(dl_theory_propagation)) == 1 );
// LRA SOLVER CONFIGURATION
else if ( sscanf( buf, "lra_disable %d\n" , &(lra_disable)) == 1 );
else if ( sscanf( buf, "lra_theory_propagation %d\n" , &(lra_theory_propagation)) == 1 );
else if ( sscanf( buf, "lra_poly_deduct_size %d\n" , &(lra_poly_deduct_size)) == 1 );
else if ( sscanf( buf, "lra_gaussian_elim %d\n" , &(lra_gaussian_elim)) == 1 );
else if ( sscanf( buf, "lra_integer_solver %d\n" , &(lra_integer_solver)) == 1 );
else if ( sscanf( buf, "lra_check_on_assert %d\n" , &(lra_check_on_assert)) == 1 );
else
{
opensmt_error2( "unrecognized option ", buf );
}
}
// Close
fclose( filein );
}
if ( produce_stats ) stats_out.open( "stats.out" );
}
void RangeSteering::joyCallback(const sensor_msgs::Joy::ConstPtr& j)
{
// Special case to handle key release event...
if (waitingForRelease)
{
waitingForRelease = false;
return;
}
// Need to "enable" this before use of params...
if (joyDisabled)
{
// Pressing R[2]
if (j->buttons[25 + 16 + 2] == 1)
{
joyDisabled = false;
waitingForRelease = true;
ROS_INFO("UWBPOS::NANO KONTROL enabled!");
printConfig();
}
// Always return...
return;
}
else
{
// Pressing R[2]
if (j->buttons[25 + 16 + 2] == 1)
{
joyDisabled = true;
waitingForRelease = true;
ROS_INFO("UWBPOS::NANO KONTROL disabled!");
printConfig();
return;
}
// Play
else if (j->buttons[7] == 1)
{
/* When deactive, start cover. if active start dock */
doControl = true;
doDock = false;
seekDockStart = false;
radius = leftRange;
followDirection = 1;
state = STATE_START_FOLLOW_RADIUS;
waitingForRelease = true;
return;
}
// Stop
else if (j->buttons[6] == 1)
{
stop();
doControl = false;
doDock = false;
waitingForRelease = true;
}
// Pressing set
else if (j->buttons[1] == 1)
{
ROS_INFO("Start Docking");
seekDockStart = true;
// doControl = false;
// setDockPath();
waitingForRelease = true;
}
else
{
// SLIDERS
double jRadInc = j->axes[0];
if (jRadInc != 0)
{
radiusInc = jRadInc;
ROS_INFO("RangeSteering::radiusInc = %f", radiusInc);
}
double jSpeed = 2 * j->axes[1] - 1.0;
if (jSpeed != -1.0)
{
speed = jSpeed;
ROS_INFO("RangeSteering::speed = %f", speed);
}
double jRadius = 10 * j->axes[2];
if (jRadius != 0)
{
radius = jRadius;
ROS_INFO("RangeSteering::radius = %f", radius);
}
double jkpd = 2 * j->axes[3];
if (jkpd != 0)
{
kpDock = jkpd;
ROS_INFO("RangeSteering::kpDock = %f", kpDock);
}
//~ double jkid = 0.1*j->axes[3];
//~ if (jkid != 0)
//~ {
//~ ki = jkid;
//~ ROS_INFO("RangeSteering::ki = %f", ki);
//~ }
double jkdd = 20 * j->axes[4];
if (jkdd != 0)
{
kdDock = jkdd;
ROS_INFO("RangeSteering::kdDock = %f", kdDock);
}
double jkp = 2 * j->axes[5];
if (jkpd != 0)
{
kp = jkp;
ROS_INFO("RangeSteering::kp = %f", kp);
}
double jki = 0.1 * j->axes[6];
if (jki != 0)
{
ki = jki;
ROS_INFO("RangeSteering::ki = %f", ki);
}
double jkd = 20 * j->axes[7];
if (jkd != 0)
{
kd = jkd;
ROS_INFO("RangeSteering::kd = %f", kd);
}
// knob 0
double jturn = j->axes[8 + 0];
if (jturn != 0)
{
turnSpeed = jturn;
ROS_INFO("RangeSteering::turnSpeed = %f", turnSpeed);
}
}
}
}
