public static void main(String[] args) {
VM.println("Run.main()");
Run autoBrake = new Run(args);
autoBrake.init();
autoBrake.doFunction();
VM.println("Run-main done");
}
public int getVirtualRPortId(int pportId) {
// showtables();
// VM.println("getVirtualRPortId " + pportId);
Enumeration<Integer> keys = pportId2vrportId.keys();
while (keys.hasMoreElements()) {
Integer from = keys.nextElement();
Integer to = pportId2vrportId.get(from);
// VM.println(" link " + from + " -> " + to);
if (from.intValue() == pportId) return to.intValue();
}
Integer p = pportId2vrportId.get(new Integer(pportId));
VM.println("getVirtualRPortId -> " + p);
VM.println("getVirtualRPortId -> val " + p.intValue());
return p.intValue();
}
public void doFunction() {
String data;
VM.println("[Run is running] 2");
speed = new PluginPPort(this, "sp");
steering = new PluginPPort(this, "st");
for (int j = 0; j < 1; j++) {
try {
Thread.sleep(2000);
speed.write(0);
steering.write(0);
Thread.sleep(2000);
speed.write(20);
steering.write(0);
Thread.sleep(2000);
} catch (InterruptedException e) {
VM.println("Interrupted.");
}
}
while (true) {
try {
Thread.sleep(500);
} catch (InterruptedException e) {
VM.println("Interrupted.");
}
try {
// Object obj = ab.receive();
Object obj = getval(ab);
if (obj != null) {
VM.println("ab returned an object");
VM.println("ab returned an object: " + obj);
String s = (String) obj;
int x = Integer.parseInt(s);
if (x < 150) {
speed.write(0);
steering.write(0);
}
if (x > 150) {
speed.write(20);
steering.write(0);
}
} else {
speed.write(30);
steering.write(0);
VM.println("ab returned null");
}
} catch (Exception e) {
e.printStackTrace();
VM.println("Run: exception");
}
}
}
public int getPluginRPortId(int pportId) {
showtables();
VM.println("getPluginRPortId " + pportId);
// TODO: What is this while-loop for???
Enumeration<Integer> keys = pportId2rportId.keys();
while (keys.hasMoreElements()) {
Integer from = keys.nextElement();
Integer to = pportId2rportId.get(from);
VM.println(" link " + from + " -> " + to);
if (from.intValue() == pportId) return to.intValue();
}
Integer p = pportId2rportId.get(pportId);
VM.println("getPluginRPortId -> " + p);
VM.println("getPluginRPortId -> val " + p.intValue());
return p;
}
/**
* Get any error message provided by the platform (as in dlerror). If no error, then return null.
*
* <p>Note that calling this method clears the error state, so calling two times without calling
* any other platform getFunction method (getInstance(), getFunction(),
* getGlobalVariableAddress(), dispose()) will result in returning null.
*
* @return String (may be null)
*/
public static String errorStr() {
if (DEBUG) {
VM.println("Calling DLERROR");
}
int result = VM.execSyncIO(ChannelConstants.DLERROR, 0, 0, 0, 0, 0, 0, null, null);
Address r = Address.fromPrimitive(result);
if (r.isZero()) {
return null;
} else {
return Pointer.NativeUnsafeGetString(r);
}
}
/** Read errno, try to clean up fd, and create exception. */
private IOException newError(int fd, String msg) {
if (DEBUG) {
VM.print(msg);
VM.print(": errno: ");
}
int err_code = LibCUtil.errno();
if (DEBUG) {
VM.print(err_code);
VM.println();
}
sockets.shutdown(fd, 2);
libc.close(fd);
return new IOException(" errno: " + err_code + " on fd: " + fd + " during " + msg);
}
public void link(LinkContextEntry entry) {
int fromPortId = entry.getFromPortId();
int toPortId = entry.getToPortId();
int remotePortId = entry.getRemotePortId();
if (remotePortId == Configuration.PPORT2VPORT) {
// from PluginPort to VirtualPort
VM.println("Linking " + fromPortId + " -> " + toPortId + " as P->V");
pportId2vrportId.put(fromPortId, toPortId);
} else if (remotePortId == Configuration.PPORT2PPORT) {
// from PluginPort to PluginPort and they are in the same ECU
VM.println("Linking " + fromPortId + " -> " + toPortId + " as P->P on the same ECU");
pportId2rportId.put(fromPortId, toPortId);
} else if (remotePortId == Configuration.VPORT2PPORT) {
// from VirtualPPort to PluginRPort
VM.println("Linking " + toPortId + " -> " + fromPortId + " as V->P");
rportId2vpportId.put(toPortId, fromPortId);
} else if (remotePortId > 0) {
// from PluginPort to PluginPort but they are in different ECUs
// In this case, remotePortId is just remote plug-in port ID
pportId2rportId.put(fromPortId, remotePortId);
// PV entry is also needed to register
pportId2vrportId.put(fromPortId, toPortId);
}
}
private Object getval(PluginRPort port) {
WorkThread p = new WorkThread(ab);
p.start();
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
VM.println("Interrupted.");
}
Object o2 = p.obj;
// VM.println("plupp " + o2);
if (p.obj != null) {
// p.stop();
}
return o2;
}
/**
* Look up a native libray named "name". Load if not loaded. Name can be a path or a libray name.
* The Library will be looked up in a platform-dependant manor.
*
* @param name short library name, full file name, or path to the library file
* @return NativeLibrary
*/
public static NativeLibrary getInstance(String name) {
String nativeName = nativeLibraryName(name);
Pointer name0 = Pointer.createStringBuffer(nativeName);
if (DEBUG) {
VM.print("Calling DLOPEN on ");
VM.println(name);
}
int result =
VM.execSyncIO(
ChannelConstants.DLOPEN, name0.address().toUWord().toInt(), 0, 0, 0, 0, 0, null, null);
Address r = Address.fromPrimitive(result);
name0.free();
if (r.isZero()) {
throw new RuntimeException("Can't open library " + name + ". OS Error: " + errorStr());
}
return new NativeLibrary(name, r);
}
/**
* Close the library, as in dlclose.
*
* @throws RuntimeException if dlcose fails
*/
public void dispose() {
if (closed || ptr.isZero()) {
throw new RuntimeException("closed or RTLD_DEFAULT");
}
if (DEBUG) {
VM.print("Calling DLCLOSE on ");
VM.println(name);
}
Pointer name0 = Pointer.createStringBuffer(name);
int result =
VM.execSyncIO(
ChannelConstants.DLCLOSE, ptr.toUWord().toInt(), 0, 0, 0, 0, 0, 0, null, null);
name0.free();
if (result != 0) {
throw new RuntimeException("Error on dlclose: " + errorStr());
}
closed = true;
}
/**
* Dynamically look up a native variable by name.
*
* <p>Look up the symbol in the default list of loaded libraries.
*
* @param varName
* @param size the size of the variable in bytes
* @return a Pointer that can be used to get/set the variable
* @throws RuntimeException if there is no function by that name.
*/
public VarPointer getGlobalVariableAddress(String varName, int size) {
Address result = getSymbolAddress(varName);
if (DEBUG) {
VM.print("Var Lookup for ");
VM.print(varName);
VM.print(", size: ");
VM.print(size);
VM.print(" returned ");
VM.printAddress(result);
VM.println();
}
if (result.isZero()) {
if (varName.charAt(0) != '_') {
return getGlobalVariableAddress("_" + varName, size);
}
throw new RuntimeException(
"Can't find native symbol " + varName + ". OS Error: " + errorStr());
}
return new VarPointer(varName, result, size);
}
/**
* Dynamically look up a native function address by name. Look up the symbol in the specified
* library
*
* @param funcName
* @return address of the function
* @throws RuntimeException if there is no function by that name.
*/
private Address getFunction0(String funcName) {
Address result = getSymbolAddress(funcName);
if (DEBUG) {
VM.print("Function Lookup for ");
VM.print(funcName);
VM.print(" = ");
VM.printAddress(result);
VM.println();
}
if (result.isZero()) {
if (Platform.getPlatform().isWindows()) {
if (funcName.charAt(funcName.length() - 1) != 'A') {
return getFunction0(funcName + 'A');
}
} else if (funcName.charAt(0) != '_') {
return getFunction0("_" + funcName);
}
throw new RuntimeException(
"Can't find native symbol " + funcName + ". OS Error: " + errorStr());
}
return result;
}
/**
* getFunction a symbol's address by name (warpper around dlsym)
*
* @param name
* @return Address of symbol
*/
private Address getSymbolAddress(String name) {
if (closed) {
throw new IllegalStateException("closed");
}
if (DEBUG) {
VM.print("Calling DLSYM on ");
VM.println(name);
}
Pointer name0 = Pointer.createStringBuffer(name);
int result =
VM.execSyncIO(
ChannelConstants.DLSYM,
ptr.toUWord().toInt(),
name0.address().toUWord().toInt(),
0,
0,
0,
0,
null,
null);
name0.free();
return Address.fromPrimitive(result);
}
private void showtables() {
VM.println("pport2pport: " + pport2pport);
VM.println("pportId2vrportId: " + pportId2vrportId);
VM.println("pportId2rportId: " + pportId2rportId);
VM.println("rportId2vpportId: " + rportId2vpportId);
}
public void run() {
VM.println("Run.run()");
init();
doFunction();
VM.println("Run-main done");
}
