int opencompass(int *fd_seri)
{
/* open compass sersor */
if( ( *fd_seri = opencom(2) ) == -1 )
{
perror("open /dev/ttySAC2 err.\n");
return -1;
}else{
printf("open /dev/ttySAC2 suc.\n");
}
/* setup communicaton parameters of /dev/ttySAC2 */
if ( setcom(*fd_seri, 9600, 8, 'N', 1) == -1 )
{
perror("setcom err.\n");
return -1;
}else{
printf("setcom suc.\n");
return 0;
}
}
void
main(int argc, char *argv[])
{
char *cp;
Binit(&bout, 1, OWRITE);
if(argc < 3)
usage();
for (cp = argv[1]; *cp; cp++) {
switch(*cp) {
case 'a':
aflag = 1;
break;
case 'b':
bflag = 1;
break;
case 'c':
cflag = 1;
break;
case 'd':
setcom(dcmd);
break;
case 'i':
bflag = 1;
break;
case 'l':
strcpy(artemp, "vXXXXX");
strcpy(movtemp, "v1XXXXX");
strcpy(tailtemp, "v2XXXXX");
break;
case 'm':
setcom(mcmd);
break;
case 'o':
oflag = 1;
break;
case 'p':
setcom(pcmd);
break;
case 'q':
setcom(qcmd);
break;
case 'r':
setcom(arcmd);
break;
case 't':
setcom(tcmd);
break;
case 'u':
uflag = 1;
break;
case 'v':
vflag = 1;
break;
case 'x':
setcom(xcmd);
break;
default:
fprint(2, "ar: bad option `%c'\n", *cp);
exits("error");
}
}
if (aflag && bflag) {
fprint(2, "ar: only one of 'a' and 'b' can be specified\n");
usage();
}
if(aflag || bflag) {
trim(argv[2], poname, sizeof(poname));
argv++;
argc--;
if(argc < 3)
usage();
}
if(comfun == 0) {
if(uflag == 0) {
fprint(2, "ar: one of [%s] must be specified\n", man);
usage();
}
setcom(arcmd);
}
cp = argv[2];
argc -= 3;
argv += 3;
(*comfun)(cp, argc, argv); /* do the command */
cp = 0;
while (argc--) {
if (*argv) {
fprint(2, "ar: %s not found\n", *argv);
cp = "error";
}
argv++;
}
if(allobj && dupfound)
exits("dup found");
exits(cp);
}
int
main(int argc, char **argv)
{
const char *av = NULL;
int db;
int optchar;
int option_index = 0;
while ((optchar = getopt_long(argc, argv, "ace:ifgGIlL:noOpPqrstTuvVx", long_options, &option_index)) != EOF) {
switch (optchar) {
case 0:
break;
case 'a':
aflag++;
break;
case 'c':
cflag++;
setcom(optchar);
break;
case 'e':
av = optarg;
break;
case 'f':
fflag++;
xflag++;
setcom(optchar);
break;
case 'g':
gflag++;
setcom(optchar);
break;
case 'G':
Gflag++;
break;
case 'i':
iflag++;
break;
case 'I':
Iflag++;
setcom(optchar);
break;
case 'l':
lflag++;
break;
case 'L':
file_list = optarg;
break;
case 'n':
nflag++;
if (optarg) {
if (!strcmp(optarg, "sort"))
nofilter |= SORT_FILTER;
else if (!strcmp(optarg, "path"))
nofilter |= PATH_FILTER;
} else {
nofilter = BOTH_FILTER;
}
break;
case 'o':
oflag++;
break;
case 'O':
Oflag++;
break;
case 'p':
pflag++;
setcom(optchar);
break;
case 'P':
Pflag++;
setcom(optchar);
break;
case 'q':
qflag++;
setquiet();
break;
case 'r':
rflag++;
break;
case 's':
sflag++;
break;
case 't':
tflag++;
break;
case 'T':
Tflag++;
break;
case 'u':
uflag++;
setcom(optchar);
break;
case 'v':
vflag++;
break;
case 'V':
Vflag++;
break;
case 'x':
xflag++;
break;
case ENCODE_PATH:
if (strlen(optarg) > 255)
die("too many encode chars.");
if (strchr(optarg, '/') || strchr(optarg, '.'))
die("cannot encode '/' and '.' in the path.");
set_encode_chars((unsigned char *)optarg);
break;
case FROM_HERE:
{
char *p = optarg;
const char *usage = "usage: global --from-here=lineno:path.";
context_lineno = p;
while (*p && isdigit(*p))
p++;
if (*p != ':')
die_with_code(2, usage);
*p++ = '\0';
if (!*p)
die_with_code(2, usage);
context_file = p;
}
break;
case RESULT:
if (!strcmp(optarg, "ctags-x"))
format = FORMAT_CTAGS_X;
else if (!strcmp(optarg, "ctags-xid"))
format = FORMAT_CTAGS_XID;
else if (!strcmp(optarg, "ctags"))
format = FORMAT_CTAGS;
else if (!strcmp(optarg, "path"))
format = FORMAT_PATH;
else if (!strcmp(optarg, "grep"))
format = FORMAT_GREP;
else if (!strcmp(optarg, "cscope"))
format = FORMAT_CSCOPE;
else
die_with_code(2, "unknown format type for the --result option.");
break;
default:
usage();
break;
}
}
if (qflag)
vflag = 0;
if (show_help)
help();
argc -= optind;
argv += optind;
/*
* At first, we pickup pattern from -e option. If it is not found
* then use argument which is not option.
*/
if (!av) {
av = *argv;
/*
* global -g pattern [files ...]
* av argv
*/
if (gflag && av)
argv++;
}
if (show_version)
version(av, vflag);
/*
* only -c, -u, -P and -p allows no argument.
*/
if (!av) {
switch (command) {
case 'c':
case 'u':
case 'p':
case 'P':
break;
case 'f':
if (file_list)
break;
default:
usage();
break;
}
}
/*
* -u and -p cannot have any arguments.
*/
if (av) {
switch (command) {
case 'u':
case 'p':
usage();
default:
break;
}
}
if (tflag)
xflag = 0;
if (nflag > 1)
nosource = 1; /* to keep compatibility */
if (print0)
set_print0();
/*
* remove leading blanks.
*/
if (!Iflag && !gflag && av)
for (; *av == ' ' || *av == '\t'; av++)
;
if (cflag && av && isregex(av))
die_with_code(2, "only name char is allowed with -c option.");
/*
* get path of following directories.
* o current directory
* o root of source tree
* o dbpath directory
*
* if GTAGS not found, getdbpath doesn't return.
*/
getdbpath(cwd, root, dbpath, (pflag && vflag));
/*
* print dbpath or rootdir.
*/
if (pflag) {
fprintf(stdout, "%s\n", (rflag) ? root : dbpath);
exit(0);
}
/*
* incremental update of tag files.
*/
if (uflag) {
STRBUF *sb = strbuf_open(0);
char *gtags = usable("gtags");
if (!gtags)
die("gtags command not found.");
if (chdir(root) < 0)
die("cannot change directory to '%s'.", root);
strbuf_puts(sb, gtags);
strbuf_puts(sb, " -i");
if (vflag)
strbuf_putc(sb, 'v');
strbuf_putc(sb, ' ');
strbuf_puts(sb, dbpath);
if (system(strbuf_value(sb)))
exit(1);
strbuf_close(sb);
exit(0);
}
/*
* complete function name
*/
if (cflag) {
if (Iflag)
completion_idutils(dbpath, root, av);
else
completion(dbpath, root, av);
exit(0);
}
/*
* make local prefix.
* local prefix must starts with './' and ends with '/'.
*/
if (lflag) {
STRBUF *sb = strbuf_open(0);
strbuf_putc(sb, '.');
if (strcmp(root, cwd) != 0) {
char *p = cwd + strlen(root);
if (*p != '/')
strbuf_putc(sb, '/');
strbuf_puts(sb, p);
}
strbuf_putc(sb, '/');
localprefix = check_strdup(strbuf_value(sb));
strbuf_close(sb);
#ifdef DEBUG
fprintf(stderr, "root=%s\n", root);
fprintf(stderr, "cwd=%s\n", cwd);
fprintf(stderr, "localprefix=%s\n", localprefix);
#endif
}
/*
* decide tag type.
*/
if (context_file) {
if (isregex(av))
die_with_code(2, "regular expression is not allowed with the --from-here option.");
db = decide_tag_by_context(av, context_file, atoi(context_lineno));
} else {
if (rflag && sflag)
db = GRTAGS + GSYMS;
else
db = (rflag) ? GRTAGS : ((sflag) ? GSYMS : GTAGS);
}
/*
* decide format.
* The --result option is given to priority more than the -t and -x option.
*/
if (format == 0) {
if (tflag) { /* ctags format */
format = FORMAT_CTAGS;
} else if (xflag) { /* print details */
format = FORMAT_CTAGS_X;
} else { /* print just a file name */
format = FORMAT_PATH;
}
}
/*
* decide path conversion type.
*/
if (nofilter & PATH_FILTER)
type = PATH_THROUGH;
else if (aflag)
type = PATH_ABSOLUTE;
else
type = PATH_RELATIVE;
/*
* exec lid(idutils).
*/
if (Iflag) {
chdir(root);
idutils(av, dbpath);
}
/*
* search pattern (regular expression).
*/
else if (gflag) {
chdir(root);
grep(av, argv, dbpath);
}
/*
* locate paths including the pattern.
*/
else if (Pflag) {
chdir(root);
pathlist(av, dbpath);
}
/*
* parse source files.
*/
else if (fflag) {
chdir(root);
parsefile(argv, cwd, root, dbpath, db);
}
/*
* tag search.
*/
else {
tagsearch(av, cwd, root, dbpath, db);
}
return 0;
}
int
main(int argc, char **argv)
{
const char *av = NULL;
int db;
int optchar;
int option_index = 0;
int status = 0;
/*
* get path of following directories.
* o current directory
* o root of source tree
* o dbpath directory
*
* if GTAGS not found, exit with an error message.
*/
status = setupdbpath(0);
if (status == 0) {
cwd = get_cwd();
root = get_root();
dbpath = get_dbpath();
}
/*
* Setup GTAGSCONF and GTAGSLABEL environment variable
* according to the --gtagsconf and --gtagslabel option.
*/
preparse_options(argc, argv);
/*
* Open configuration file.
*/
openconf(root);
setenv_from_config();
logging_arguments(argc, argv);
while ((optchar = getopt_long(argc, argv, "acde:EifFgGIlL:MnoOpPqrsS:tTuvVx", long_options, &option_index)) != EOF) {
switch (optchar) {
case 0:
break;
case 'a':
aflag++;
break;
case 'c':
cflag++;
setcom(optchar);
break;
case 'd':
dflag++;
break;
case 'e':
av = optarg;
break;
case 'E':
Gflag = 0;
break;
case 'f':
fflag++;
xflag++;
setcom(optchar);
break;
case 'F':
Tflag = 0;
break;
case 'g':
gflag++;
setcom(optchar);
break;
case 'G':
Gflag++;
break;
case 'i':
iflag++;
break;
case 'I':
Iflag++;
setcom(optchar);
break;
case 'l':
Sflag++;
scope = ".";
break;
case 'L':
file_list = optarg;
break;
case 'M':
Mflag++;
iflag = 0;
break;
case 'n':
nflag++;
if (optarg) {
if (!strcmp(optarg, "sort"))
nofilter |= SORT_FILTER;
else if (!strcmp(optarg, "path"))
nofilter |= PATH_FILTER;
} else {
nofilter = BOTH_FILTER;
}
break;
case 'o':
oflag++;
break;
case 'O':
Oflag++;
break;
case 'p':
pflag++;
setcom(optchar);
break;
case 'P':
Pflag++;
setcom(optchar);
break;
case 'q':
qflag++;
setquiet();
break;
case 'r':
rflag++;
break;
case 's':
sflag++;
break;
case 'S':
Sflag++;
scope = optarg;
break;
case 't':
tflag++;
break;
case 'T':
Tflag++;
break;
case 'u':
uflag++;
setcom(optchar);
break;
case 'v':
vflag++;
setverbose();
break;
case 'V':
Vflag++;
break;
case 'x':
xflag++;
break;
case OPT_USE_COLOR:
if (optarg) {
if (!strcmp(optarg, "never"))
use_color = 0;
else if (!strcmp(optarg, "always"))
use_color = 1;
else if (!strcmp(optarg, "auto"))
use_color = 2;
else
die_with_code(2, "unknown color type.");
} else {
use_color = 2;
}
break;
case OPT_ENCODE_PATH:
encode_chars = optarg;
break;
case OPT_FROM_HERE:
{
char *p = optarg;
const char *usage = "usage: global --from-here=lineno:path.";
context_lineno = p;
while (*p && isdigit(*p))
p++;
if (*p != ':')
die_with_code(2, usage);
*p++ = '\0';
if (!*p)
die_with_code(2, usage);
context_file = p;
}
break;
case OPT_GTAGSCONF:
case OPT_GTAGSLABEL:
/* These options are already parsed in preparse_options() */
break;
case OPT_MATCH_PART:
if (!strcmp(optarg, "first"))
match_part = MATCH_PART_FIRST;
else if (!strcmp(optarg, "last"))
match_part = MATCH_PART_LAST;
else if (!strcmp(optarg, "all"))
match_part = MATCH_PART_ALL;
else
die_with_code(2, "unknown part type for the --match-part option.");
break;
case OPT_PATH_CONVERT:
do_path = 1;
if (!strcmp("absolute", optarg))
convert_type = PATH_ABSOLUTE;
else if (!strcmp("relative", optarg))
convert_type = PATH_RELATIVE;
else if (!strcmp("through", optarg))
convert_type = PATH_THROUGH;
else
die("Unknown path type.");
break;
case OPT_PATH_STYLE:
path_style = optarg;
break;
case OPT_RESULT:
if (!strcmp(optarg, "ctags-x"))
format = FORMAT_CTAGS_X;
else if (!strcmp(optarg, "ctags-xid"))
format = FORMAT_CTAGS_XID;
else if (!strcmp(optarg, "ctags"))
format = FORMAT_CTAGS;
else if (!strcmp(optarg, "ctags-mod"))
format = FORMAT_CTAGS_MOD;
else if (!strcmp(optarg, "path"))
format = FORMAT_PATH;
else if (!strcmp(optarg, "grep"))
format = FORMAT_GREP;
else if (!strcmp(optarg, "cscope"))
format = FORMAT_CSCOPE;
else
die_with_code(2, "unknown format type for the --result option.");
break;
case OPT_SINGLE_UPDATE:
single_update = optarg;
break;
default:
usage();
break;
}
}
if (qflag)
vflag = 0;
if (show_version)
version(av, vflag);
if (show_help)
help();
if (dbpath == NULL)
die_with_code(-status, gtags_dbpath_error);
/*
* decide format.
* The --result option is given to priority more than the -t and -x option.
*/
if (format == 0) {
if (tflag) { /* ctags format */
format = FORMAT_CTAGS;
} else if (xflag) { /* print details */
format = FORMAT_CTAGS_X;
} else { /* print just a file name */
format = FORMAT_PATH;
}
}
/*
* GTAGSBLANKENCODE will be used in less(1).
*/
switch (format) {
case FORMAT_CTAGS_X:
case FORMAT_CTAGS_XID:
if (encode_chars == NULL && getenv("GTAGSBLANKENCODE"))
encode_chars = " \t";
break;
}
if (encode_chars) {
if (strlen(encode_chars) > 255)
die("too many encode chars.");
if (strchr(encode_chars, '/') || strchr(encode_chars, '.'))
warning("cannot encode '/' and '.' in the path. Ignored.");
set_encode_chars((unsigned char *)encode_chars);
}
if (getenv("GTAGSTHROUGH"))
Tflag++;
if (use_color) {
#if defined(_WIN32) && !defined(__CYGWIN__)
if (!(getenv("ANSICON") || LoadLibrary("ANSI32.dll")) && use_color == 2)
use_color = 0;
#endif
if (use_color == 2 && !isatty(1))
use_color = 0;
if (Vflag)
use_color = 0;
}
argc -= optind;
argv += optind;
/*
* Path filter
*/
if (do_path) {
/*
* This code is needed for globash.rc.
* This code extract path name from tag line and
* replace it with the relative or the absolute path name.
*
* By default, if we are in src/ directory, the output
* should be converted like follows:
*
* main 10 ./src/main.c main(argc, argv)\n
* main 22 ./libc/func.c main(argc, argv)\n
* v
* main 10 main.c main(argc, argv)\n
* main 22 ../libc/func.c main(argc, argv)\n
*
* Similarly, the --path-convert=absolute option specified, then
* v
* main 10 /prj/xxx/src/main.c main(argc, argv)\n
* main 22 /prj/xxx/libc/func.c main(argc, argv)\n
*/
STRBUF *ib = strbuf_open(MAXBUFLEN);
CONVERT *cv;
char *ctags_x;
if (argc < 3)
die("global --path-convert: 3 arguments needed.");
cv = convert_open(convert_type, FORMAT_CTAGS_X, argv[0], argv[1], argv[2], stdout, NOTAGS);
while ((ctags_x = strbuf_fgets(ib, stdin, STRBUF_NOCRLF)) != NULL)
convert_put(cv, ctags_x);
convert_close(cv);
strbuf_close(ib);
exit(0);
}
/*
* At first, we pickup pattern from -e option. If it is not found
* then use argument which is not option.
*/
if (!av) {
av = *argv;
/*
* global -g pattern [files ...]
* av argv
*/
if (gflag && av)
argv++;
}
if (single_update) {
if (command == 0) {
uflag++;
command = 'u';
} else if (command != 'u') {
; /* ignored */
}
}
/*
* only -c, -u, -P and -p allows no argument.
*/
if (!av) {
switch (command) {
case 'c':
case 'u':
case 'p':
case 'P':
break;
case 'f':
if (file_list)
break;
default:
usage();
break;
}
}
/*
* -u and -p cannot have any arguments.
*/
if (av) {
switch (command) {
case 'u':
case 'p':
usage();
default:
break;
}
}
if (tflag)
xflag = 0;
if (nflag > 1)
nosource = 1; /* to keep compatibility */
if (print0)
set_print0();
if (cflag && match_part == 0)
match_part = MATCH_PART_ALL;
/*
* remove leading blanks.
*/
if (!Iflag && !gflag && av)
for (; *av == ' ' || *av == '\t'; av++)
;
if (cflag && !Pflag && av && isregex(av))
die_with_code(2, "only name char is allowed with -c option.");
/*
* print dbpath or rootdir.
*/
if (pflag) {
fprintf(stdout, "%s\n", (rflag) ? root : dbpath);
exit(0);
}
/*
* incremental update of tag files.
*/
if (uflag) {
STRBUF *sb = strbuf_open(0);
char *gtags_path = usable("gtags");
if (!gtags_path)
die("gtags command not found.");
if (chdir(root) < 0)
die("cannot change directory to '%s'.", root);
#if defined(_WIN32) && !defined(__CYGWIN__)
/*
* Get around CMD.EXE's weird quoting rules by sticking another
* perceived whitespace in front (also works with Take Command).
*/
strbuf_putc(sb, ';');
#endif
strbuf_puts(sb, quote_shell(gtags_path));
strbuf_puts(sb, " -i");
if (vflag)
strbuf_puts(sb, " -v");
if (single_update) {
if (!isabspath(single_update)) {
static char regular_path_name[MAXPATHLEN];
if (rel2abs(single_update, cwd, regular_path_name, sizeof(regular_path_name)) == NULL)
die("rel2abs failed.");
single_update = regular_path_name;
}
strbuf_puts(sb, " --single-update ");
strbuf_puts(sb, quote_shell(single_update));
}
strbuf_putc(sb, ' ');
strbuf_puts(sb, quote_shell(dbpath));
if (system(strbuf_value(sb)))
exit(1);
strbuf_close(sb);
exit(0);
}
/*
* decide tag type.
*/
if (context_file) {
if (isregex(av))
die_with_code(2, "regular expression is not allowed with the --from-here option.");
db = decide_tag_by_context(av, context_file, atoi(context_lineno));
} else {
if (dflag)
db = GTAGS;
else if (rflag && sflag)
db = GRTAGS + GSYMS;
else
db = (rflag) ? GRTAGS : ((sflag) ? GSYMS : GTAGS);
}
/*
* complete function name
*/
if (cflag) {
if (Iflag)
completion_idutils(dbpath, root, av);
else if (Pflag)
completion_path(dbpath, av);
else
completion(dbpath, root, av, db);
exit(0);
}
/*
* make local prefix.
* local prefix must starts with './' and ends with '/'.
*/
if (Sflag) {
STRBUF *sb = strbuf_open(0);
static char buf[MAXPATHLEN];
const char *path = scope;
/*
* normalize the path of scope directory.
*/
if (!test("d", path))
die("'%s' not found or not a directory.", scope);
if (!isabspath(path))
path = makepath(cwd, path, NULL);
if (realpath(path, buf) == NULL)
die("cannot get real path of '%s'.", scope);
if (!in_the_project(buf))
die("'%s' is out of the source project.", scope);
scope = buf;
/*
* make local prefix.
*/
strbuf_putc(sb, '.');
if (strcmp(root, scope) != 0) {
const char *p = scope + strlen(root);
if (*p != '/')
strbuf_putc(sb, '/');
strbuf_puts(sb, p);
}
strbuf_putc(sb, '/');
localprefix = check_strdup(strbuf_value(sb));
strbuf_close(sb);
#ifdef DEBUG
fprintf(stderr, "root=%s\n", root);
fprintf(stderr, "cwd=%s\n", cwd);
fprintf(stderr, "localprefix=%s\n", localprefix);
#endif
}
/*
* convert the file-list path into an absolute path.
*/
if (file_list && strcmp(file_list, "-") && !isabspath(file_list)) {
static char buf[MAXPATHLEN];
if (realpath(file_list, buf) == NULL)
die("'%s' not found.", file_list);
file_list = buf;
}
/*
* decide path conversion type.
*/
if (nofilter & PATH_FILTER)
type = PATH_THROUGH;
else if (aflag)
type = PATH_ABSOLUTE;
else
type = PATH_RELATIVE;
if (path_style) {
if (!strcmp(path_style, "relative"))
type = PATH_RELATIVE;
else if (!strcmp(path_style, "absolute"))
type = PATH_ABSOLUTE;
else if (!strcmp(path_style, "through"))
type = PATH_THROUGH;
else if (!strcmp(path_style, "shorter"))
type = PATH_SHORTER;
else if (!strcmp(path_style, "abslib")) {
type = PATH_RELATIVE;
abslib++;
} else
die("invalid path style.");
}
/*
* exec lid(idutils).
*/
if (Iflag) {
chdir(root);
idutils(av, dbpath);
}
/*
* search pattern (regular expression).
*/
else if (gflag) {
chdir(root);
grep(av, argv, dbpath);
}
/*
* locate paths including the pattern.
*/
else if (Pflag) {
chdir(root);
pathlist(av, dbpath);
}
/*
* parse source files.
*/
else if (fflag) {
chdir(root);
parsefile(argv, cwd, root, dbpath, db);
}
/*
* tag search.
*/
else {
tagsearch(av, cwd, root, dbpath, db);
}
return 0;
}