yuya horie / Mbed 2 deprecated Roots

RobocupSSLのメイン基板白mbedのプログラム

Dependencies:   mbed

Rootsロボット mainプログラム

~ Robocup SSL（小型車輪リーグ）ロボット ~

Robocup SSLとは

●試合構成
Robocup小型ロボットリーグ（Small Size League)は，直径180[mm]，高さ150[mm]以内のサイズのロボット6台が1チームとなり，オレンジ色のゴルフボールを使ってサッカー競技を行う自立型ロボットコンテストである. フィールドの上には2台のWebカメラが設置され，フィールド上のロボットとボールを撮影する．Visionサーバは，フィールドの画像データよりロボットとボールの座標データを算出し，LANを用い各チームのAI用PCに送信する．Webカメラの撮影速度は，60[fps]である．レフリーボックスは，ファウルやフリーキック，スローインなどの審判の判定を入力し，LANを通じて各チームのAI用PCに送信する.それぞれのチームのAI用PCは，ロボットとボールの座標，審判の判定を元にロボットの移動，キックなどの作戦を決定し，無線によってロボットに指令を送信する． 700

ロボット機能紹介

●オムニホイールによる方向転換不要の全方位移動

オムニホイールは，自由に回転可能なローラをホイールの外周上に配置した車輪である．ローラの回転により，車輪の回転と垂直の方向に駆動力を発することはできないが移動は可能となる．各車輪の角速度を調整することによって全方向への移動を可能にする．
400

●ドリブルバーのバックスピンによるボール保持

●電磁力を利用したキッカー

●キッカーの電磁力エネルギーを充電する充電回路

●ロボット情報が一目でわかるLCD

interface/i2c/xprintf/xprintf.cpp@35:b1b00cfaa163, 2019-09-22 (annotated)

Committer:
alt0710
Date:
Sun Sep 22 10:23:42 2019 +0000
Revision:
35:b1b00cfaa163
Parent:
1:c359b1fcfb5a 
2019JapanOpenSoft

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alt0710 1:c359b1fcfb5a 1 /*------------------------------------------------------------------------/
alt0710 1:c359b1fcfb5a 2 / Universal string handler for user console interface
alt0710 1:c359b1fcfb5a 3 /-------------------------------------------------------------------------/
alt0710 1:c359b1fcfb5a 4 /
alt0710 1:c359b1fcfb5a 5 / Copyright (C) 2011, ChaN, all right reserved.
alt0710 1:c359b1fcfb5a 6 /
alt0710 1:c359b1fcfb5a 7 / * This software is a free software and there is NO WARRANTY.
alt0710 1:c359b1fcfb5a 8 / * No restriction on use. You can use, modify and redistribute it for
alt0710 1:c359b1fcfb5a 9 / personal, non-profit or commercial products UNDER YOUR RESPONSIBILITY.
alt0710 1:c359b1fcfb5a 10 / * Redistributions of source code must retain the above copyright notice.
alt0710 1:c359b1fcfb5a 11 /
alt0710 1:c359b1fcfb5a 12 /-------------------------------------------------------------------------*/
alt0710 1:c359b1fcfb5a 13
alt0710 1:c359b1fcfb5a 14 #include "xprintf.h"
alt0710 1:c359b1fcfb5a 15
alt0710 1:c359b1fcfb5a 16
alt0710 1:c359b1fcfb5a 17 #if _USE_XFUNC_OUT
alt0710 1:c359b1fcfb5a 18 #include <stdarg.h>
alt0710 1:c359b1fcfb5a 19 void (*xfunc_out)(unsigned char); /* Pointer to the output stream */
alt0710 1:c359b1fcfb5a 20 static char *outptr;
alt0710 1:c359b1fcfb5a 21
alt0710 1:c359b1fcfb5a 22 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 23 /* Put a character */
alt0710 1:c359b1fcfb5a 24 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 25
alt0710 1:c359b1fcfb5a 26 void xputc (char c)
alt0710 1:c359b1fcfb5a 27 {
alt0710 1:c359b1fcfb5a 28 if (_CR_CRLF && c == '\n') xputc('\r'); /* CR -> CRLF */
alt0710 1:c359b1fcfb5a 29
alt0710 1:c359b1fcfb5a 30 if (outptr) {
alt0710 1:c359b1fcfb5a 31 *outptr++ = (unsigned char)c;
alt0710 1:c359b1fcfb5a 32 return;
alt0710 1:c359b1fcfb5a 33 }
alt0710 1:c359b1fcfb5a 34
alt0710 1:c359b1fcfb5a 35 if (xfunc_out) xfunc_out((unsigned char)c);
alt0710 1:c359b1fcfb5a 36 }
alt0710 1:c359b1fcfb5a 37
alt0710 1:c359b1fcfb5a 38
alt0710 1:c359b1fcfb5a 39
alt0710 1:c359b1fcfb5a 40 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 41 /* Put a null-terminated string */
alt0710 1:c359b1fcfb5a 42 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 43
alt0710 1:c359b1fcfb5a 44 void xputs ( /* Put a string to the default device */
alt0710 1:c359b1fcfb5a 45 const char* str /* Pointer to the string */
alt0710 1:c359b1fcfb5a 46 )
alt0710 1:c359b1fcfb5a 47 {
alt0710 1:c359b1fcfb5a 48 while (*str)
alt0710 1:c359b1fcfb5a 49 xputc(*str++);
alt0710 1:c359b1fcfb5a 50 }
alt0710 1:c359b1fcfb5a 51
alt0710 1:c359b1fcfb5a 52
alt0710 1:c359b1fcfb5a 53 void xfputs ( /* Put a string to the specified device */
alt0710 1:c359b1fcfb5a 54 void(*func)(unsigned char), /* Pointer to the output function */
alt0710 1:c359b1fcfb5a 55 const char* str /* Pointer to the string */
alt0710 1:c359b1fcfb5a 56 )
alt0710 1:c359b1fcfb5a 57 {
alt0710 1:c359b1fcfb5a 58 void (*pf)(unsigned char);
alt0710 1:c359b1fcfb5a 59
alt0710 1:c359b1fcfb5a 60
alt0710 1:c359b1fcfb5a 61 pf = xfunc_out; /* Save current output device */
alt0710 1:c359b1fcfb5a 62 xfunc_out = func; /* Switch output to specified device */
alt0710 1:c359b1fcfb5a 63 while (*str) /* Put the string */
alt0710 1:c359b1fcfb5a 64 xputc(*str++);
alt0710 1:c359b1fcfb5a 65 xfunc_out = pf; /* Restore output device */
alt0710 1:c359b1fcfb5a 66 }
alt0710 1:c359b1fcfb5a 67
alt0710 1:c359b1fcfb5a 68
alt0710 1:c359b1fcfb5a 69
alt0710 1:c359b1fcfb5a 70 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 71 /* Formatted string output */
alt0710 1:c359b1fcfb5a 72 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 73 /* xprintf("%d", 1234); "1234"
alt0710 1:c359b1fcfb5a 74 xprintf("%6d,%3d%%", -200, 5); " -200, 5%"
alt0710 1:c359b1fcfb5a 75 xprintf("%-6u", 100); "100 "
alt0710 1:c359b1fcfb5a 76 xprintf("%ld", 12345678L); "12345678"
alt0710 1:c359b1fcfb5a 77 xprintf("%04x", 0xA3); "00a3"
alt0710 1:c359b1fcfb5a 78 xprintf("%08LX", 0x123ABC); "00123ABC"
alt0710 1:c359b1fcfb5a 79 xprintf("%016b", 0x550F); "0101010100001111"
alt0710 1:c359b1fcfb5a 80 xprintf("%s", "String"); "String"
alt0710 1:c359b1fcfb5a 81 xprintf("%-4s", "abc"); "abc "
alt0710 1:c359b1fcfb5a 82 xprintf("%4s", "abc"); " abc"
alt0710 1:c359b1fcfb5a 83 xprintf("%c", 'a'); "a"
alt0710 1:c359b1fcfb5a 84 xprintf("%f", 10.0); <xprintf lacks floating point support>
alt0710 1:c359b1fcfb5a 85 */
alt0710 1:c359b1fcfb5a 86
alt0710 1:c359b1fcfb5a 87 void xvprintf (
alt0710 1:c359b1fcfb5a 88 const char* fmt, /* Pointer to the format string */
alt0710 1:c359b1fcfb5a 89 va_list arp /* Pointer to arguments */
alt0710 1:c359b1fcfb5a 90 )
alt0710 1:c359b1fcfb5a 91 {
alt0710 1:c359b1fcfb5a 92 unsigned int r, i, j, w, f;
alt0710 1:c359b1fcfb5a 93 unsigned long v;
alt0710 1:c359b1fcfb5a 94 char s[16], c, d, *p;
alt0710 1:c359b1fcfb5a 95
alt0710 1:c359b1fcfb5a 96
alt0710 1:c359b1fcfb5a 97 for (;;) {
alt0710 1:c359b1fcfb5a 98 c = *fmt++; /* Get a char */
alt0710 1:c359b1fcfb5a 99 if (!c) break; /* End of format? */
alt0710 1:c359b1fcfb5a 100 if (c != '%') { /* Pass through it if not a % sequense */
alt0710 1:c359b1fcfb5a 101 xputc(c); continue;
alt0710 1:c359b1fcfb5a 102 }
alt0710 1:c359b1fcfb5a 103 f = 0;
alt0710 1:c359b1fcfb5a 104 c = *fmt++; /* Get first char of the sequense */
alt0710 1:c359b1fcfb5a 105 if (c == '0') { /* Flag: '0' padded */
alt0710 1:c359b1fcfb5a 106 f = 1; c = *fmt++;
alt0710 1:c359b1fcfb5a 107 } else {
alt0710 1:c359b1fcfb5a 108 if (c == '-') { /* Flag: left justified */
alt0710 1:c359b1fcfb5a 109 f = 2; c = *fmt++;
alt0710 1:c359b1fcfb5a 110 }
alt0710 1:c359b1fcfb5a 111 }
alt0710 1:c359b1fcfb5a 112 for (w = 0; c >= '0' && c <= '9'; c = *fmt++) /* Minimum width */
alt0710 1:c359b1fcfb5a 113 w = w * 10 + c - '0';
alt0710 1:c359b1fcfb5a 114 if (c == 'l' || c == 'L') { /* Prefix: Size is long int */
alt0710 1:c359b1fcfb5a 115 f |= 4; c = *fmt++;
alt0710 1:c359b1fcfb5a 116 }
alt0710 1:c359b1fcfb5a 117 if (!c) break; /* End of format? */
alt0710 1:c359b1fcfb5a 118 d = c;
alt0710 1:c359b1fcfb5a 119 if (d >= 'a') d -= 0x20;
alt0710 1:c359b1fcfb5a 120 switch (d) { /* Type is... */
alt0710 1:c359b1fcfb5a 121 case 'S' : /* String */
alt0710 1:c359b1fcfb5a 122 p = va_arg(arp, char*);
alt0710 1:c359b1fcfb5a 123 for (j = 0; p[j]; j++) ;
alt0710 1:c359b1fcfb5a 124 while (!(f & 2) && j++ < w) xputc(' ');
alt0710 1:c359b1fcfb5a 125 xputs(p);
alt0710 1:c359b1fcfb5a 126 while (j++ < w) xputc(' ');
alt0710 1:c359b1fcfb5a 127 continue;
alt0710 1:c359b1fcfb5a 128 case 'C' : /* Character */
alt0710 1:c359b1fcfb5a 129 xputc((char)va_arg(arp, int)); continue;
alt0710 1:c359b1fcfb5a 130 case 'B' : /* Binary */
alt0710 1:c359b1fcfb5a 131 r = 2; break;
alt0710 1:c359b1fcfb5a 132 case 'O' : /* Octal */
alt0710 1:c359b1fcfb5a 133 r = 8; break;
alt0710 1:c359b1fcfb5a 134 case 'D' : /* Signed decimal */
alt0710 1:c359b1fcfb5a 135 case 'U' : /* Unsigned decimal */
alt0710 1:c359b1fcfb5a 136 r = 10; break;
alt0710 1:c359b1fcfb5a 137 case 'X' : /* Hexdecimal */
alt0710 1:c359b1fcfb5a 138 r = 16; break;
alt0710 1:c359b1fcfb5a 139 default: /* Unknown type (passthrough) */
alt0710 1:c359b1fcfb5a 140 xputc(c); continue;
alt0710 1:c359b1fcfb5a 141 }
alt0710 1:c359b1fcfb5a 142
alt0710 1:c359b1fcfb5a 143 /* Get an argument and put it in numeral */
alt0710 1:c359b1fcfb5a 144 v = (f & 4) ? va_arg(arp, long) : ((d == 'D') ? (long)va_arg(arp, int) : (long)va_arg(arp, unsigned int));
alt0710 1:c359b1fcfb5a 145 if (d == 'D' && (v & 0x80000000)) {
alt0710 1:c359b1fcfb5a 146 v = 0 - v;
alt0710 1:c359b1fcfb5a 147 f |= 8;
alt0710 1:c359b1fcfb5a 148 }
alt0710 1:c359b1fcfb5a 149 i = 0;
alt0710 1:c359b1fcfb5a 150 do {
alt0710 1:c359b1fcfb5a 151 d = (char)(v % r); v /= r;
alt0710 1:c359b1fcfb5a 152 if (d > 9) d += (c == 'x') ? 0x27 : 0x07;
alt0710 1:c359b1fcfb5a 153 s[i++] = d + '0';
alt0710 1:c359b1fcfb5a 154 } while (v && i < sizeof(s));
alt0710 1:c359b1fcfb5a 155 if (f & 8) s[i++] = '-';
alt0710 1:c359b1fcfb5a 156 j = i; d = (f & 1) ? '0' : ' ';
alt0710 1:c359b1fcfb5a 157 while (!(f & 2) && j++ < w) xputc(d);
alt0710 1:c359b1fcfb5a 158 do xputc(s[--i]); while(i);
alt0710 1:c359b1fcfb5a 159 while (j++ < w) xputc(' ');
alt0710 1:c359b1fcfb5a 160 }
alt0710 1:c359b1fcfb5a 161 }
alt0710 1:c359b1fcfb5a 162
alt0710 1:c359b1fcfb5a 163
alt0710 1:c359b1fcfb5a 164 void xprintf ( /* Put a formatted string to the default device */
alt0710 1:c359b1fcfb5a 165 const char* fmt, /* Pointer to the format string */
alt0710 1:c359b1fcfb5a 166 ... /* Optional arguments */
alt0710 1:c359b1fcfb5a 167 )
alt0710 1:c359b1fcfb5a 168 {
alt0710 1:c359b1fcfb5a 169 va_list arp;
alt0710 1:c359b1fcfb5a 170
alt0710 1:c359b1fcfb5a 171
alt0710 1:c359b1fcfb5a 172 va_start(arp, fmt);
alt0710 1:c359b1fcfb5a 173 xvprintf(fmt, arp);
alt0710 1:c359b1fcfb5a 174 va_end(arp);
alt0710 1:c359b1fcfb5a 175 }
alt0710 1:c359b1fcfb5a 176
alt0710 1:c359b1fcfb5a 177
alt0710 1:c359b1fcfb5a 178 void xsprintf ( /* Put a formatted string to the memory */
alt0710 1:c359b1fcfb5a 179 char* buff, /* Pointer to the output buffer */
alt0710 1:c359b1fcfb5a 180 const char* fmt, /* Pointer to the format string */
alt0710 1:c359b1fcfb5a 181 ... /* Optional arguments */
alt0710 1:c359b1fcfb5a 182 )
alt0710 1:c359b1fcfb5a 183 {
alt0710 1:c359b1fcfb5a 184 va_list arp;
alt0710 1:c359b1fcfb5a 185
alt0710 1:c359b1fcfb5a 186
alt0710 1:c359b1fcfb5a 187 outptr = buff; /* Switch destination for memory */
alt0710 1:c359b1fcfb5a 188
alt0710 1:c359b1fcfb5a 189 va_start(arp, fmt);
alt0710 1:c359b1fcfb5a 190 xvprintf(fmt, arp);
alt0710 1:c359b1fcfb5a 191 va_end(arp);
alt0710 1:c359b1fcfb5a 192
alt0710 1:c359b1fcfb5a 193 *outptr = 0; /* Terminate output string with a \0 */
alt0710 1:c359b1fcfb5a 194 outptr = 0; /* Switch destination for device */
alt0710 1:c359b1fcfb5a 195 }
alt0710 1:c359b1fcfb5a 196
alt0710 1:c359b1fcfb5a 197
alt0710 1:c359b1fcfb5a 198 void xfprintf ( /* Put a formatted string to the specified device */
alt0710 1:c359b1fcfb5a 199 void(*func)(unsigned char), /* Pointer to the output function */
alt0710 1:c359b1fcfb5a 200 const char* fmt, /* Pointer to the format string */
alt0710 1:c359b1fcfb5a 201 ... /* Optional arguments */
alt0710 1:c359b1fcfb5a 202 )
alt0710 1:c359b1fcfb5a 203 {
alt0710 1:c359b1fcfb5a 204 va_list arp;
alt0710 1:c359b1fcfb5a 205 void (*pf)(unsigned char);
alt0710 1:c359b1fcfb5a 206
alt0710 1:c359b1fcfb5a 207
alt0710 1:c359b1fcfb5a 208 pf = xfunc_out; /* Save current output device */
alt0710 1:c359b1fcfb5a 209 xfunc_out = func; /* Switch output to specified device */
alt0710 1:c359b1fcfb5a 210
alt0710 1:c359b1fcfb5a 211 va_start(arp, fmt);
alt0710 1:c359b1fcfb5a 212 xvprintf(fmt, arp);
alt0710 1:c359b1fcfb5a 213 va_end(arp);
alt0710 1:c359b1fcfb5a 214
alt0710 1:c359b1fcfb5a 215 xfunc_out = pf; /* Restore output device */
alt0710 1:c359b1fcfb5a 216 }
alt0710 1:c359b1fcfb5a 217
alt0710 1:c359b1fcfb5a 218
alt0710 1:c359b1fcfb5a 219
alt0710 1:c359b1fcfb5a 220 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 221 /* Dump a line of binary dump */
alt0710 1:c359b1fcfb5a 222 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 223
alt0710 1:c359b1fcfb5a 224 void put_dump (
alt0710 1:c359b1fcfb5a 225 const void* buff, /* Pointer to the array to be dumped */
alt0710 1:c359b1fcfb5a 226 unsigned long addr, /* Heading address value */
alt0710 1:c359b1fcfb5a 227 int len, /* Number of items to be dumped */
alt0710 1:c359b1fcfb5a 228 int width /* Size of the items (DF_CHAR, DF_SHORT, DF_LONG) */
alt0710 1:c359b1fcfb5a 229 )
alt0710 1:c359b1fcfb5a 230 {
alt0710 1:c359b1fcfb5a 231 int i;
alt0710 1:c359b1fcfb5a 232 const unsigned char *bp;
alt0710 1:c359b1fcfb5a 233 const unsigned short *sp;
alt0710 1:c359b1fcfb5a 234 const unsigned long *lp;
alt0710 1:c359b1fcfb5a 235
alt0710 1:c359b1fcfb5a 236
alt0710 1:c359b1fcfb5a 237 xprintf("%08lX ", addr); /* address */
alt0710 1:c359b1fcfb5a 238
alt0710 1:c359b1fcfb5a 239 switch (width) {
alt0710 1:c359b1fcfb5a 240 case DW_CHAR:
alt0710 1:c359b1fcfb5a 241 bp = (unsigned char*) buff;
alt0710 1:c359b1fcfb5a 242 for (i = 0; i < len; i++) /* Hexdecimal dump */
alt0710 1:c359b1fcfb5a 243 xprintf(" %02X", bp[i]);
alt0710 1:c359b1fcfb5a 244 xputc(' ');
alt0710 1:c359b1fcfb5a 245 for (i = 0; i < len; i++) /* ASCII dump */
alt0710 1:c359b1fcfb5a 246 xputc((bp[i] >= ' ' && bp[i] <= '~') ? bp[i] : '.');
alt0710 1:c359b1fcfb5a 247 break;
alt0710 1:c359b1fcfb5a 248 case DW_SHORT:
alt0710 1:c359b1fcfb5a 249 sp = (unsigned short*)buff;
alt0710 1:c359b1fcfb5a 250 do /* Hexdecimal dump */
alt0710 1:c359b1fcfb5a 251 xprintf(" %04X", *sp++);
alt0710 1:c359b1fcfb5a 252 while (--len);
alt0710 1:c359b1fcfb5a 253 break;
alt0710 1:c359b1fcfb5a 254 case DW_LONG:
alt0710 1:c359b1fcfb5a 255 lp = (unsigned long*)buff;
alt0710 1:c359b1fcfb5a 256 do /* Hexdecimal dump */
alt0710 1:c359b1fcfb5a 257 xprintf(" %08LX", *lp++);
alt0710 1:c359b1fcfb5a 258 while (--len);
alt0710 1:c359b1fcfb5a 259 break;
alt0710 1:c359b1fcfb5a 260 }
alt0710 1:c359b1fcfb5a 261
alt0710 1:c359b1fcfb5a 262 xputc('\n');
alt0710 1:c359b1fcfb5a 263 }
alt0710 1:c359b1fcfb5a 264
alt0710 1:c359b1fcfb5a 265 #endif /* _USE_XFUNC_OUT */
alt0710 1:c359b1fcfb5a 266
alt0710 1:c359b1fcfb5a 267
alt0710 1:c359b1fcfb5a 268
alt0710 1:c359b1fcfb5a 269 #if _USE_XFUNC_IN
alt0710 1:c359b1fcfb5a 270 unsigned char (*xfunc_in)(void); /* Pointer to the input stream */
alt0710 1:c359b1fcfb5a 271
alt0710 1:c359b1fcfb5a 272 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 273 /* Get a line from the input */
alt0710 1:c359b1fcfb5a 274 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 275
alt0710 1:c359b1fcfb5a 276 int xgets ( /* 0:End of stream, 1:A line arrived */
alt0710 1:c359b1fcfb5a 277 char* buff, /* Pointer to the buffer */
alt0710 1:c359b1fcfb5a 278 int len /* Buffer length */
alt0710 1:c359b1fcfb5a 279 )
alt0710 1:c359b1fcfb5a 280 {
alt0710 1:c359b1fcfb5a 281 int c, i;
alt0710 1:c359b1fcfb5a 282
alt0710 1:c359b1fcfb5a 283
alt0710 1:c359b1fcfb5a 284 if (!xfunc_in) return 0; /* No input function specified */
alt0710 1:c359b1fcfb5a 285
alt0710 1:c359b1fcfb5a 286 i = 0;
alt0710 1:c359b1fcfb5a 287 for (;;) {
alt0710 1:c359b1fcfb5a 288 c = xfunc_in(); /* Get a char from the incoming stream */
alt0710 1:c359b1fcfb5a 289 if (!c) return 0; /* End of stream? */
alt0710 1:c359b1fcfb5a 290 if (c == '\r') break; /* End of line? */
alt0710 1:c359b1fcfb5a 291 if (c == '\b' && i) { /* Back space? */
alt0710 1:c359b1fcfb5a 292 i--;
alt0710 1:c359b1fcfb5a 293 if (_LINE_ECHO) xputc(c);
alt0710 1:c359b1fcfb5a 294 continue;
alt0710 1:c359b1fcfb5a 295 }
alt0710 1:c359b1fcfb5a 296 if (c >= ' ' && i < len - 1) { /* Visible chars */
alt0710 1:c359b1fcfb5a 297 buff[i++] = c;
alt0710 1:c359b1fcfb5a 298 if (_LINE_ECHO) xputc(c);
alt0710 1:c359b1fcfb5a 299 }
alt0710 1:c359b1fcfb5a 300 }
alt0710 1:c359b1fcfb5a 301 buff[i] = 0; /* Terminate with a \0 */
alt0710 1:c359b1fcfb5a 302 if (_LINE_ECHO) xputc('\n');
alt0710 1:c359b1fcfb5a 303 return 1;
alt0710 1:c359b1fcfb5a 304 }
alt0710 1:c359b1fcfb5a 305
alt0710 1:c359b1fcfb5a 306
alt0710 1:c359b1fcfb5a 307 int xfgets ( /* 0:End of stream, 1:A line arrived */
alt0710 1:c359b1fcfb5a 308 unsigned char (*func)(void), /* Pointer to the input stream function */
alt0710 1:c359b1fcfb5a 309 char* buff, /* Pointer to the buffer */
alt0710 1:c359b1fcfb5a 310 int len /* Buffer length */
alt0710 1:c359b1fcfb5a 311 )
alt0710 1:c359b1fcfb5a 312 {
alt0710 1:c359b1fcfb5a 313 unsigned char (*pf)(void);
alt0710 1:c359b1fcfb5a 314 int n;
alt0710 1:c359b1fcfb5a 315
alt0710 1:c359b1fcfb5a 316
alt0710 1:c359b1fcfb5a 317 pf = xfunc_in; /* Save current input device */
alt0710 1:c359b1fcfb5a 318 xfunc_in = func; /* Switch input to specified device */
alt0710 1:c359b1fcfb5a 319 n = xgets(buff, len); /* Get a line */
alt0710 1:c359b1fcfb5a 320 xfunc_in = pf; /* Restore input device */
alt0710 1:c359b1fcfb5a 321
alt0710 1:c359b1fcfb5a 322 return n;
alt0710 1:c359b1fcfb5a 323 }
alt0710 1:c359b1fcfb5a 324
alt0710 1:c359b1fcfb5a 325
alt0710 1:c359b1fcfb5a 326 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 327 /* Get a value of the string */
alt0710 1:c359b1fcfb5a 328 /*----------------------------------------------*/
alt0710 1:c359b1fcfb5a 329 /* "123 -5 0x3ff 0b1111 0377 w "
alt0710 1:c359b1fcfb5a 330 ^ 1st call returns 123 and next ptr
alt0710 1:c359b1fcfb5a 331 ^ 2nd call returns -5 and next ptr
alt0710 1:c359b1fcfb5a 332 ^ 3rd call returns 1023 and next ptr
alt0710 1:c359b1fcfb5a 333 ^ 4th call returns 15 and next ptr
alt0710 1:c359b1fcfb5a 334 ^ 5th call returns 255 and next ptr
alt0710 1:c359b1fcfb5a 335 ^ 6th call fails and returns 0
alt0710 1:c359b1fcfb5a 336 */
alt0710 1:c359b1fcfb5a 337
alt0710 1:c359b1fcfb5a 338 int xatoi ( /* 0:Failed, 1:Successful */
alt0710 1:c359b1fcfb5a 339 char **str, /* Pointer to pointer to the string */
alt0710 1:c359b1fcfb5a 340 long *res /* Pointer to the valiable to store the value */
alt0710 1:c359b1fcfb5a 341 )
alt0710 1:c359b1fcfb5a 342 {
alt0710 1:c359b1fcfb5a 343 unsigned long val;
alt0710 1:c359b1fcfb5a 344 unsigned char c, r, s = 0;
alt0710 1:c359b1fcfb5a 345
alt0710 1:c359b1fcfb5a 346
alt0710 1:c359b1fcfb5a 347 *res = 0;
alt0710 1:c359b1fcfb5a 348
alt0710 1:c359b1fcfb5a 349 while ((c = **str) == ' ') (*str)++; /* Skip leading spaces */
alt0710 1:c359b1fcfb5a 350
alt0710 1:c359b1fcfb5a 351 if (c == '-') { /* negative? */
alt0710 1:c359b1fcfb5a 352 s = 1;
alt0710 1:c359b1fcfb5a 353 c = *(++(*str));
alt0710 1:c359b1fcfb5a 354 }
alt0710 1:c359b1fcfb5a 355
alt0710 1:c359b1fcfb5a 356 if (c == '0') {
alt0710 1:c359b1fcfb5a 357 c = *(++(*str));
alt0710 1:c359b1fcfb5a 358 switch (c) {
alt0710 1:c359b1fcfb5a 359 case 'x': /* hexdecimal */
alt0710 1:c359b1fcfb5a 360 r = 16; c = *(++(*str));
alt0710 1:c359b1fcfb5a 361 break;
alt0710 1:c359b1fcfb5a 362 case 'b': /* binary */
alt0710 1:c359b1fcfb5a 363 r = 2; c = *(++(*str));
alt0710 1:c359b1fcfb5a 364 break;
alt0710 1:c359b1fcfb5a 365 default:
alt0710 1:c359b1fcfb5a 366 if (c <= ' ') return 1; /* single zero */
alt0710 1:c359b1fcfb5a 367 if (c < '0' || c > '9') return 0; /* invalid char */
alt0710 1:c359b1fcfb5a 368 r = 8; /* octal */
alt0710 1:c359b1fcfb5a 369 }
alt0710 1:c359b1fcfb5a 370 } else {
alt0710 1:c359b1fcfb5a 371 if (c < '0' || c > '9') return 0; /* EOL or invalid char */
alt0710 1:c359b1fcfb5a 372 r = 10; /* decimal */
alt0710 1:c359b1fcfb5a 373 }
alt0710 1:c359b1fcfb5a 374
alt0710 1:c359b1fcfb5a 375 val = 0;
alt0710 1:c359b1fcfb5a 376 while (c > ' ') {
alt0710 1:c359b1fcfb5a 377 if (c >= 'a') c -= 0x20;
alt0710 1:c359b1fcfb5a 378 c -= '0';
alt0710 1:c359b1fcfb5a 379 if (c >= 17) {
alt0710 1:c359b1fcfb5a 380 c -= 7;
alt0710 1:c359b1fcfb5a 381 if (c <= 9) return 0; /* invalid char */
alt0710 1:c359b1fcfb5a 382 }
alt0710 1:c359b1fcfb5a 383 if (c >= r) return 0; /* invalid char for current radix */
alt0710 1:c359b1fcfb5a 384 val = val * r + c;
alt0710 1:c359b1fcfb5a 385 c = *(++(*str));
alt0710 1:c359b1fcfb5a 386 }
alt0710 1:c359b1fcfb5a 387 if (s) val = 0 - val; /* apply sign if needed */
alt0710 1:c359b1fcfb5a 388
alt0710 1:c359b1fcfb5a 389 *res = val;
alt0710 1:c359b1fcfb5a 390 return 1;
alt0710 1:c359b1fcfb5a 391 }
alt0710 1:c359b1fcfb5a 392
alt0710 1:c359b1fcfb5a 393 #endif /* _USE_XFUNC_IN */