mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Antoine Drouin
35 lines
864 B
C
35 lines
864 B
C
#include <glib.h>
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#include <Ivy/ivy.h>
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#include <Ivy/ivyglibloop.h>
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#define TICK_PER_SEC 15000000.
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void on_MOTOR_BENCH_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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guint time_tick = atoi(argv[0]);
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guint time_sec = atoi(argv[1]);
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guint throttle = atoi(argv[2]);
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guint mode = atoi(argv[3]);
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float time = (float)time_sec + (float)time_tick / TICK_PER_SEC;
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printf("%f %d\n", time, throttle);
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}
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int main ( int argc, char** argv) {
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// g_timeout_add(16, timeout_callback, chan);
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GMainLoop *ml = g_main_loop_new(NULL, FALSE);
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IvyInit ("MotorBench", "MotorBench READY", NULL, NULL, NULL, NULL);
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IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*)");
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IvyStart("127.255.255.255");
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g_main_loop_run(ml);
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return 0;
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}
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