From 401ec2fed1d9dae4cd81494712d643d63f6af098 Mon Sep 17 00:00:00 2001 From: Yue Date: Wed, 17 Jun 2020 01:21:51 +0200 Subject: [PATCH 01/25] input from textfile not completee,output is steering angle --- external/Path/default.gpr | 6 + external/Path/dummy_image_curve.txt | 1 + external/Path/dummy_image_passingsection.txt | 1 + external/Path/dummy_image_pickup.txt | 1 + external/Path/dummy_image_straight.txt | 1 + external/Path/main | Bin 0 -> 41136 bytes external/Path/obj/b__main.adb | 256 ++++++++++ external/Path/obj/b__main.ads | 497 +++++++++++++++++++ external/Path/obj/b__main.ali | 302 +++++++++++ external/Path/obj/b__main.o | Bin 0 -> 17936 bytes external/Path/obj/default-loc.xml | 86 ++++ external/Path/obj/gnatinspect.db | Bin 0 -> 118784 bytes external/Path/obj/gpsauto.cgpr | 91 ++++ external/Path/obj/main | Bin 0 -> 28208 bytes external/Path/obj/main.adb.stderr | 0 external/Path/obj/main.adb.stdout | 0 external/Path/obj/main.ali | 147 ++++++ external/Path/obj/main.bexch | 22 + external/Path/obj/main.o | Bin 0 -> 9544 bytes external/Path/obj/pathfollowing-loc.xml | 14 + external/Path/pathfollowing.gpr | 12 + external/Path/src/Hello.adb | 10 + external/Path/src/input.adb | 18 + external/Path/src/main.adb | 195 ++++++++ webots/worlds/.cabservice.wbproj | 10 +- webots/worlds/cabservice.wbt | 56 ++- 26 files changed, 1708 insertions(+), 18 deletions(-) create mode 100644 external/Path/default.gpr create mode 100644 external/Path/dummy_image_curve.txt create mode 100644 external/Path/dummy_image_passingsection.txt create mode 100644 external/Path/dummy_image_pickup.txt create mode 100644 external/Path/dummy_image_straight.txt create mode 100755 external/Path/main create mode 100644 external/Path/obj/b__main.adb create mode 100644 external/Path/obj/b__main.ads create mode 100644 external/Path/obj/b__main.ali create mode 100644 external/Path/obj/b__main.o create mode 100644 external/Path/obj/default-loc.xml create mode 100644 external/Path/obj/gnatinspect.db create mode 100644 external/Path/obj/gpsauto.cgpr create mode 100755 external/Path/obj/main create mode 100644 external/Path/obj/main.adb.stderr create mode 100644 external/Path/obj/main.adb.stdout create mode 100644 external/Path/obj/main.ali create mode 100644 external/Path/obj/main.bexch create mode 100644 external/Path/obj/main.o create mode 100644 external/Path/obj/pathfollowing-loc.xml create mode 100644 external/Path/pathfollowing.gpr create mode 100644 external/Path/src/Hello.adb create mode 100644 external/Path/src/input.adb create mode 100644 external/Path/src/main.adb diff --git a/external/Path/default.gpr b/external/Path/default.gpr new file mode 100644 index 0000000..7efdbde --- /dev/null +++ b/external/Path/default.gpr @@ -0,0 +1,6 @@ +project Default is + for Languages use ("Ada"); + for Source_Dirs use ("src"); + for Object_Dir use "obj"; + for Main use ("Hello.adb"); +end Default; diff --git a/external/Path/dummy_image_curve.txt b/external/Path/dummy_image_curve.txt 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zb6WOTJVRL`k4`kKwEShIkSA#*h>ZYE>Ik@(!@hU8gA1H%aEiY zV5Om_i@;PSMqHYI5r0UsC?7&p3RU@hu$j+~kuM%yr7(HSFJ-8E)aflL@3?$6=X2`&k&3GCJ1f!Z|94dSEZpEf8~ z=fVn}gd4rQ`o5*2sfv-QSw0ImUOiH#^jF`@RCEI?jISYxOMR}+NfFB(|C(v*ufD&j zXcPWVm@a&bC+wukR07e`&V-LX)I8E z?_5!3M=Fnxa_#z6`8B|(i^#s>N{^)K`}mC7-$zsFFmCkn>U*t24OZn9{Q*3Bc`G1_S=K^H&GDnkF_%T(w>SrLW "b__main.ads"); +pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); +pragma Suppress (Overflow_Check); +with Ada.Exceptions; + +package body ada_main is + + E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); + E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); + E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); + E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); + E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); + E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); + E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); + E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); + E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); + E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); + E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); + E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); + E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); + E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); + E133 : Short_Integer; pragma Import (Ada, E133, "ada__numerics_E"); + E103 : Short_Integer; pragma Import (Ada, E103, "ada__tags_E"); + E101 : Short_Integer; pragma Import (Ada, E101, "ada__streams_E"); + E115 : Short_Integer; pragma Import (Ada, E115, "system__file_control_block_E"); + E114 : Short_Integer; pragma Import (Ada, E114, "system__finalization_root_E"); + E112 : Short_Integer; pragma Import (Ada, E112, "ada__finalization_E"); + E111 : Short_Integer; pragma Import (Ada, E111, "system__file_io_E"); + E145 : Short_Integer; pragma Import (Ada, E145, "ada__calendar_E"); + E099 : Short_Integer; pragma Import (Ada, E099, "ada__text_io_E"); + E143 : Short_Integer; pragma Import (Ada, E143, "system__random_seed_E"); + + Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); + + Local_Priority_Specific_Dispatching : constant String := ""; + Local_Interrupt_States : constant String := ""; + + Is_Elaborated : Boolean := False; + + procedure finalize_library is + begin + E099 := E099 - 1; + declare + procedure F1; + pragma Import (Ada, F1, "ada__text_io__finalize_spec"); + begin + F1; + end; + declare + procedure F2; + pragma Import (Ada, F2, "system__file_io__finalize_body"); + begin + E111 := E111 - 1; + F2; + end; + declare + procedure Reraise_Library_Exception_If_Any; + pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); + begin + Reraise_Library_Exception_If_Any; + end; + end finalize_library; + + procedure adafinal is + procedure s_stalib_adafinal; + pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); + + procedure Runtime_Finalize; + pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); + + begin + if not Is_Elaborated then + return; + end if; + Is_Elaborated := False; + Runtime_Finalize; + s_stalib_adafinal; + end adafinal; + + type No_Param_Proc is access procedure; + + procedure adainit is + Main_Priority : Integer; + pragma Import (C, Main_Priority, "__gl_main_priority"); + Time_Slice_Value : Integer; + pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); + WC_Encoding : Character; + pragma Import (C, WC_Encoding, "__gl_wc_encoding"); + Locking_Policy : Character; + pragma Import (C, Locking_Policy, "__gl_locking_policy"); + Queuing_Policy : Character; + pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); + Task_Dispatching_Policy : Character; + pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); + Priority_Specific_Dispatching : System.Address; + pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); + Num_Specific_Dispatching : Integer; + pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); + Main_CPU : Integer; + pragma Import (C, Main_CPU, "__gl_main_cpu"); + Interrupt_States : System.Address; + pragma Import (C, Interrupt_States, "__gl_interrupt_states"); + Num_Interrupt_States : Integer; + pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); + Unreserve_All_Interrupts : Integer; + pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); + Detect_Blocking : Integer; + pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); + Default_Stack_Size : Integer; + pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); + Default_Secondary_Stack_Size : System.Parameters.Size_Type; + pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); + Leap_Seconds_Support : Integer; + pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); + Bind_Env_Addr : System.Address; + pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); + + procedure Runtime_Initialize (Install_Handler : Integer); + pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); + + Finalize_Library_Objects : No_Param_Proc; + pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); + Binder_Sec_Stacks_Count : Natural; + pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); + Default_Sized_SS_Pool : System.Address; + pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); + + begin + if Is_Elaborated then + return; + end if; + Is_Elaborated := True; + Main_Priority := -1; + Time_Slice_Value := -1; + WC_Encoding := 'b'; + Locking_Policy := ' '; + Queuing_Policy := ' '; + Task_Dispatching_Policy := ' '; + Priority_Specific_Dispatching := + Local_Priority_Specific_Dispatching'Address; + Num_Specific_Dispatching := 0; + Main_CPU := -1; + Interrupt_States := Local_Interrupt_States'Address; + Num_Interrupt_States := 0; + Unreserve_All_Interrupts := 0; + Detect_Blocking := 0; + Default_Stack_Size := -1; + Leap_Seconds_Support := 0; + + ada_main'Elab_Body; + Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; + Binder_Sec_Stacks_Count := 1; + Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; + + Runtime_Initialize (1); + + Finalize_Library_Objects := finalize_library'access; + + System.Soft_Links'Elab_Spec; + System.Exception_Table'Elab_Body; + E025 := E025 + 1; + Ada.Io_Exceptions'Elab_Spec; + E070 := E070 + 1; + Ada.Strings'Elab_Spec; + E055 := E055 + 1; + Ada.Containers'Elab_Spec; + E040 := E040 + 1; + System.Exceptions'Elab_Spec; + E027 := E027 + 1; + System.Os_Lib'Elab_Body; + E075 := E075 + 1; + Ada.Strings.Maps'Elab_Spec; + Ada.Strings.Maps.Constants'Elab_Spec; + E061 := E061 + 1; + Interfaces.C'Elab_Spec; + System.Soft_Links.Initialize'Elab_Body; + E021 := E021 + 1; + E013 := E013 + 1; + E057 := E057 + 1; + E045 := E045 + 1; + System.Object_Reader'Elab_Spec; + System.Dwarf_Lines'Elab_Spec; + E050 := E050 + 1; + System.Traceback.Symbolic'Elab_Body; + E039 := E039 + 1; + E081 := E081 + 1; + Ada.Numerics'Elab_Spec; + E133 := E133 + 1; + Ada.Tags'Elab_Spec; + Ada.Tags'Elab_Body; + E103 := E103 + 1; + Ada.Streams'Elab_Spec; + E101 := E101 + 1; + System.File_Control_Block'Elab_Spec; + E115 := E115 + 1; + System.Finalization_Root'Elab_Spec; + E114 := E114 + 1; + Ada.Finalization'Elab_Spec; + E112 := E112 + 1; + System.File_Io'Elab_Body; + E111 := E111 + 1; + Ada.Calendar'Elab_Spec; + Ada.Calendar'Elab_Body; + E145 := E145 + 1; + Ada.Text_Io'Elab_Spec; + Ada.Text_Io'Elab_Body; + E099 := E099 + 1; + System.Random_Seed'Elab_Body; + E143 := E143 + 1; + end adainit; + + procedure Ada_Main_Program; + pragma Import (Ada, Ada_Main_Program, "_ada_main"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer + is + procedure Initialize (Addr : System.Address); + pragma Import (C, Initialize, "__gnat_initialize"); + + procedure Finalize; + pragma Import (C, Finalize, "__gnat_finalize"); + SEH : aliased array (1 .. 2) of Integer; + + Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; + pragma Volatile (Ensure_Reference); + + begin + gnat_argc := argc; + gnat_argv := argv; + gnat_envp := envp; + + Initialize (SEH'Address); + adainit; + Ada_Main_Program; + adafinal; + Finalize; + return (gnat_exit_status); + end; + +-- BEGIN Object file/option list + -- /home/kingmoon/Downloads/EESPro/Path/obj/main.o + -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ + -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ + -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ + -- -shared + -- -lgnat-9 + -- -ldl +-- END Object file/option list + +end ada_main; diff --git a/external/Path/obj/b__main.ads b/external/Path/obj/b__main.ads new file mode 100644 index 0000000..5c3aed6 --- /dev/null +++ b/external/Path/obj/b__main.ads @@ -0,0 +1,497 @@ +pragma Warnings (Off); +pragma Ada_95; +with System; +with System.Parameters; +with System.Secondary_Stack; +package ada_main is + + gnat_argc : Integer; + gnat_argv : System.Address; + gnat_envp : System.Address; + + pragma Import (C, gnat_argc); + pragma Import (C, gnat_argv); + pragma Import (C, gnat_envp); + + gnat_exit_status : Integer; + pragma Import (C, gnat_exit_status); + + GNAT_Version : constant String := + "GNAT Version: 9.3.0" & ASCII.NUL; + pragma Export (C, GNAT_Version, "__gnat_version"); + + Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; + pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); + + procedure adainit; + pragma Export (C, adainit, "adainit"); + + procedure adafinal; + pragma Export (C, adafinal, "adafinal"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer; + pragma Export (C, main, "main"); + + type Version_32 is mod 2 ** 32; + u00001 : constant Version_32 := 16#3e8b3a6e#; + pragma Export (C, u00001, "mainB"); + u00002 : constant Version_32 := 16#050ff2f0#; + pragma Export (C, u00002, "system__standard_libraryB"); + u00003 : constant Version_32 := 16#4113f22b#; + pragma Export (C, u00003, "system__standard_libraryS"); + u00004 : constant Version_32 := 16#76789da1#; + pragma Export (C, u00004, "adaS"); + u00005 : constant Version_32 := 16#e18a47a0#; + pragma Export (C, u00005, "ada__float_text_ioB"); + u00006 : constant Version_32 := 16#1fef695b#; + pragma Export (C, u00006, "ada__float_text_ioS"); + u00007 : constant Version_32 := 16#9762c9f2#; + pragma Export (C, u00007, "ada__exceptionsB"); + u00008 : constant Version_32 := 16#585ef86b#; + pragma Export (C, u00008, "ada__exceptionsS"); + u00009 : constant Version_32 := 16#5726abed#; + pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); + u00010 : constant Version_32 := 16#41e5552e#; + pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); + u00011 : constant Version_32 := 16#4635ec04#; + pragma Export (C, u00011, "systemS"); + u00012 : constant Version_32 := 16#ae860117#; + pragma Export (C, u00012, "system__soft_linksB"); + u00013 : constant Version_32 := 16#0336e7b2#; + pragma Export (C, u00013, "system__soft_linksS"); + u00014 : constant Version_32 := 16#f32b4133#; + pragma Export (C, u00014, "system__secondary_stackB"); + u00015 : constant Version_32 := 16#03a1141d#; + pragma Export (C, u00015, "system__secondary_stackS"); + u00016 : constant Version_32 := 16#86dbf443#; + pragma Export (C, u00016, "system__parametersB"); + u00017 : constant Version_32 := 16#0ed9b82f#; + pragma Export (C, u00017, "system__parametersS"); + u00018 : constant Version_32 := 16#ced09590#; + pragma Export (C, u00018, "system__storage_elementsB"); + u00019 : constant Version_32 := 16#6bf6a600#; + pragma Export (C, u00019, "system__storage_elementsS"); + u00020 : constant Version_32 := 16#75bf515c#; + pragma Export (C, u00020, "system__soft_links__initializeB"); + u00021 : constant Version_32 := 16#5697fc2b#; + pragma Export (C, u00021, "system__soft_links__initializeS"); + u00022 : constant Version_32 := 16#41837d1e#; + pragma Export (C, u00022, "system__stack_checkingB"); + u00023 : constant Version_32 := 16#c88a87ec#; + pragma Export (C, u00023, "system__stack_checkingS"); + u00024 : constant Version_32 := 16#34742901#; + pragma Export (C, u00024, "system__exception_tableB"); + u00025 : constant Version_32 := 16#1b9b8546#; + pragma Export (C, u00025, "system__exception_tableS"); + u00026 : constant Version_32 := 16#ce4af020#; + pragma Export (C, u00026, "system__exceptionsB"); + u00027 : constant Version_32 := 16#2e5681f2#; + pragma Export (C, u00027, "system__exceptionsS"); + u00028 : constant Version_32 := 16#69416224#; + pragma Export (C, u00028, "system__exceptions__machineB"); + u00029 : constant Version_32 := 16#d27d9682#; + pragma Export (C, u00029, "system__exceptions__machineS"); + u00030 : constant Version_32 := 16#aa0563fc#; + pragma Export (C, u00030, "system__exceptions_debugB"); + u00031 : constant Version_32 := 16#38bf15c0#; + pragma Export (C, u00031, "system__exceptions_debugS"); + u00032 : constant Version_32 := 16#6c2f8802#; + pragma Export (C, u00032, "system__img_intB"); + u00033 : constant Version_32 := 16#44ee0cc6#; + pragma Export (C, u00033, "system__img_intS"); + u00034 : constant Version_32 := 16#39df8c17#; + pragma Export (C, u00034, "system__tracebackB"); + u00035 : constant Version_32 := 16#181732c0#; + pragma Export (C, u00035, "system__tracebackS"); + u00036 : constant Version_32 := 16#9ed49525#; + pragma Export (C, u00036, "system__traceback_entriesB"); + u00037 : constant Version_32 := 16#466e1a74#; + pragma Export (C, u00037, "system__traceback_entriesS"); + u00038 : constant Version_32 := 16#448e9548#; + pragma Export (C, u00038, "system__traceback__symbolicB"); + u00039 : constant Version_32 := 16#c84061d1#; + pragma Export (C, u00039, "system__traceback__symbolicS"); + u00040 : constant Version_32 := 16#179d7d28#; + pragma Export (C, u00040, "ada__containersS"); + u00041 : constant Version_32 := 16#701f9d88#; + pragma Export (C, u00041, "ada__exceptions__tracebackB"); + u00042 : constant Version_32 := 16#20245e75#; + pragma Export (C, u00042, "ada__exceptions__tracebackS"); + u00043 : constant Version_32 := 16#5ab55268#; + pragma Export (C, u00043, "interfacesS"); + u00044 : constant Version_32 := 16#769e25e6#; + pragma Export (C, u00044, "interfaces__cB"); + u00045 : constant Version_32 := 16#467817d8#; + pragma Export (C, u00045, "interfaces__cS"); + u00046 : constant Version_32 := 16#e865e681#; + pragma Export (C, u00046, "system__bounded_stringsB"); + u00047 : constant Version_32 := 16#31c8cd1d#; + pragma Export (C, u00047, "system__bounded_stringsS"); + u00048 : constant Version_32 := 16#0062635e#; + pragma Export (C, u00048, "system__crtlS"); + u00049 : constant Version_32 := 16#bba79bcb#; + pragma Export (C, u00049, "system__dwarf_linesB"); + u00050 : constant Version_32 := 16#9a78d181#; + pragma Export (C, u00050, "system__dwarf_linesS"); + u00051 : constant Version_32 := 16#5b4659fa#; + pragma Export (C, u00051, "ada__charactersS"); + u00052 : constant Version_32 := 16#8f637df8#; + pragma Export (C, u00052, "ada__characters__handlingB"); + u00053 : constant Version_32 := 16#3b3f6154#; + pragma Export (C, u00053, "ada__characters__handlingS"); + u00054 : constant Version_32 := 16#4b7bb96a#; + pragma Export (C, u00054, "ada__characters__latin_1S"); + u00055 : constant Version_32 := 16#e6d4fa36#; + pragma Export (C, u00055, "ada__stringsS"); + u00056 : constant Version_32 := 16#96df1a3f#; + pragma Export (C, u00056, "ada__strings__mapsB"); + u00057 : constant Version_32 := 16#1e526bec#; + pragma Export (C, u00057, "ada__strings__mapsS"); + u00058 : constant Version_32 := 16#d68fb8f1#; + pragma Export (C, u00058, "system__bit_opsB"); + u00059 : constant Version_32 := 16#0765e3a3#; + pragma Export (C, u00059, "system__bit_opsS"); + u00060 : constant Version_32 := 16#72b39087#; + pragma Export (C, u00060, "system__unsigned_typesS"); + u00061 : constant Version_32 := 16#92f05f13#; + pragma Export (C, u00061, "ada__strings__maps__constantsS"); + u00062 : constant Version_32 := 16#a0d3d22b#; + pragma Export (C, u00062, "system__address_imageB"); + u00063 : constant Version_32 := 16#e7d9713e#; + pragma Export (C, u00063, "system__address_imageS"); + u00064 : constant Version_32 := 16#ec78c2bf#; + pragma Export (C, u00064, "system__img_unsB"); + u00065 : constant Version_32 := 16#ed47ac70#; + pragma Export (C, u00065, "system__img_unsS"); + u00066 : constant Version_32 := 16#d7aac20c#; + pragma Export (C, u00066, "system__ioB"); + u00067 : constant Version_32 := 16#d8771b4b#; + pragma Export (C, u00067, "system__ioS"); + u00068 : constant Version_32 := 16#f790d1ef#; + pragma Export (C, u00068, "system__mmapB"); + u00069 : constant Version_32 := 16#7c445363#; + pragma Export (C, u00069, "system__mmapS"); + u00070 : constant Version_32 := 16#92d882c5#; + pragma Export (C, u00070, "ada__io_exceptionsS"); + u00071 : constant Version_32 := 16#0cdaa54a#; + pragma Export (C, u00071, "system__mmap__os_interfaceB"); + u00072 : constant Version_32 := 16#82f29877#; + pragma Export (C, u00072, "system__mmap__os_interfaceS"); + u00073 : constant Version_32 := 16#834dfe5e#; + pragma Export (C, u00073, "system__mmap__unixS"); + u00074 : constant Version_32 := 16#fa90b46b#; + pragma Export (C, u00074, "system__os_libB"); + u00075 : constant Version_32 := 16#4542b55d#; + pragma Export (C, u00075, "system__os_libS"); + u00076 : constant Version_32 := 16#ec4d5631#; + pragma Export (C, u00076, "system__case_utilB"); + u00077 : constant Version_32 := 16#79e05a50#; + pragma Export (C, u00077, "system__case_utilS"); + u00078 : constant Version_32 := 16#2a8e89ad#; + pragma Export (C, u00078, "system__stringsB"); + u00079 : constant Version_32 := 16#2623c091#; + pragma Export (C, u00079, "system__stringsS"); + u00080 : constant Version_32 := 16#5a3f5337#; + pragma Export (C, u00080, "system__object_readerB"); + u00081 : constant Version_32 := 16#82413105#; + pragma Export (C, u00081, "system__object_readerS"); + u00082 : constant Version_32 := 16#1a74a354#; + pragma Export (C, u00082, "system__val_lliB"); + u00083 : constant Version_32 := 16#dc110aa4#; + pragma Export (C, u00083, "system__val_lliS"); + u00084 : constant Version_32 := 16#afdbf393#; + pragma Export (C, u00084, "system__val_lluB"); + u00085 : constant Version_32 := 16#0841c7f5#; + pragma Export (C, u00085, "system__val_lluS"); + u00086 : constant Version_32 := 16#269742a9#; + pragma Export (C, u00086, "system__val_utilB"); + u00087 : constant Version_32 := 16#ea955afa#; + pragma Export (C, u00087, "system__val_utilS"); + u00088 : constant Version_32 := 16#d7bf3f29#; + pragma Export (C, u00088, "system__exception_tracesB"); + u00089 : constant Version_32 := 16#62eacc9e#; + pragma Export (C, u00089, "system__exception_tracesS"); + u00090 : constant Version_32 := 16#8c33a517#; + pragma Export (C, u00090, "system__wch_conB"); + u00091 : constant Version_32 := 16#5d48ced6#; + pragma Export (C, u00091, "system__wch_conS"); + u00092 : constant Version_32 := 16#9721e840#; + pragma Export (C, u00092, "system__wch_stwB"); + u00093 : constant Version_32 := 16#7059e2d7#; + pragma Export (C, u00093, "system__wch_stwS"); + u00094 : constant Version_32 := 16#a831679c#; + pragma Export (C, u00094, "system__wch_cnvB"); + u00095 : constant Version_32 := 16#52ff7425#; + pragma Export (C, u00095, "system__wch_cnvS"); + u00096 : constant Version_32 := 16#ece6fdb6#; + pragma Export (C, u00096, "system__wch_jisB"); + u00097 : constant Version_32 := 16#d28f6d04#; + pragma Export (C, u00097, "system__wch_jisS"); + u00098 : constant Version_32 := 16#927a893f#; + pragma Export (C, u00098, "ada__text_ioB"); + u00099 : constant Version_32 := 16#5194351e#; + pragma Export (C, u00099, "ada__text_ioS"); + u00100 : constant Version_32 := 16#10558b11#; + pragma Export (C, u00100, "ada__streamsB"); + u00101 : constant Version_32 := 16#67e31212#; + pragma Export (C, u00101, "ada__streamsS"); + u00102 : constant Version_32 := 16#d398a95f#; + pragma Export (C, u00102, "ada__tagsB"); + u00103 : constant Version_32 := 16#12a0afb8#; + pragma Export (C, u00103, "ada__tagsS"); + u00104 : constant Version_32 := 16#796f31f1#; + pragma Export (C, u00104, "system__htableB"); + u00105 : constant Version_32 := 16#c2f75fee#; + pragma Export (C, u00105, "system__htableS"); + u00106 : constant Version_32 := 16#089f5cd0#; + pragma Export (C, u00106, "system__string_hashB"); + u00107 : constant Version_32 := 16#60a93490#; + pragma Export (C, u00107, "system__string_hashS"); + u00108 : constant Version_32 := 16#73d2d764#; + pragma Export (C, u00108, "interfaces__c_streamsB"); + u00109 : constant Version_32 := 16#b1330297#; + pragma Export (C, u00109, "interfaces__c_streamsS"); + u00110 : constant Version_32 := 16#71ac0ba7#; + pragma Export (C, u00110, "system__file_ioB"); + u00111 : constant Version_32 := 16#e1440d61#; + pragma Export (C, u00111, "system__file_ioS"); + u00112 : constant Version_32 := 16#86c56e5a#; + pragma Export (C, u00112, "ada__finalizationS"); + u00113 : constant Version_32 := 16#95817ed8#; + pragma Export (C, u00113, "system__finalization_rootB"); + u00114 : constant Version_32 := 16#09c79f94#; + pragma Export (C, u00114, "system__finalization_rootS"); + u00115 : constant Version_32 := 16#bbaa76ac#; + pragma Export (C, u00115, "system__file_control_blockS"); + u00116 : constant Version_32 := 16#d5f9759f#; + pragma Export (C, u00116, "ada__text_io__float_auxB"); + u00117 : constant Version_32 := 16#48248c7b#; + pragma Export (C, u00117, "ada__text_io__float_auxS"); + u00118 : constant Version_32 := 16#181dc502#; + pragma Export (C, u00118, "ada__text_io__generic_auxB"); + u00119 : constant Version_32 := 16#16b3615d#; + pragma Export (C, u00119, "ada__text_io__generic_auxS"); + u00120 : constant Version_32 := 16#8aa4f090#; + pragma Export (C, u00120, "system__img_realB"); + u00121 : constant Version_32 := 16#819dbde6#; + pragma Export (C, u00121, "system__img_realS"); + u00122 : constant Version_32 := 16#42a257f7#; + pragma Export (C, u00122, "system__fat_llfS"); + u00123 : constant Version_32 := 16#1b28662b#; + pragma Export (C, u00123, "system__float_controlB"); + u00124 : constant Version_32 := 16#a6c9af38#; + pragma Export (C, u00124, "system__float_controlS"); + u00125 : constant Version_32 := 16#3e932977#; + pragma Export (C, u00125, "system__img_lluB"); + u00126 : constant Version_32 := 16#3b7a9044#; + pragma Export (C, u00126, "system__img_lluS"); + u00127 : constant Version_32 := 16#16458a73#; + pragma Export (C, u00127, "system__powten_tableS"); + u00128 : constant Version_32 := 16#c2ca0511#; + pragma Export (C, u00128, "system__val_realB"); + u00129 : constant Version_32 := 16#b81c9b15#; + pragma Export (C, u00129, "system__val_realS"); + u00130 : constant Version_32 := 16#b2a569d2#; + pragma Export (C, u00130, "system__exn_llfB"); + u00131 : constant Version_32 := 16#fa4b57d8#; + pragma Export (C, u00131, "system__exn_llfS"); + u00132 : constant Version_32 := 16#1e40f010#; + pragma Export (C, u00132, "system__fat_fltS"); + u00133 : constant Version_32 := 16#cd2959fb#; + pragma Export (C, u00133, "ada__numericsS"); + u00134 : constant Version_32 := 16#932a4690#; + pragma Export (C, u00134, "system__concat_4B"); + u00135 : constant Version_32 := 16#3851c724#; + pragma Export (C, u00135, "system__concat_4S"); + u00136 : constant Version_32 := 16#2b70b149#; + pragma Export (C, u00136, "system__concat_3B"); + u00137 : constant Version_32 := 16#4d45b0a1#; + pragma Export (C, u00137, "system__concat_3S"); + u00138 : constant Version_32 := 16#fd83e873#; + pragma Export (C, u00138, "system__concat_2B"); + u00139 : constant Version_32 := 16#44953bd4#; + pragma Export (C, u00139, "system__concat_2S"); + u00140 : constant Version_32 := 16#ec9cfed1#; + pragma Export (C, u00140, "system__random_numbersB"); + u00141 : constant Version_32 := 16#852d5c9e#; + pragma Export (C, u00141, "system__random_numbersS"); + u00142 : constant Version_32 := 16#e0ac52ca#; + pragma Export (C, u00142, "system__random_seedB"); + u00143 : constant Version_32 := 16#1d25c55f#; + pragma Export (C, u00143, "system__random_seedS"); + u00144 : constant Version_32 := 16#9a2e29aa#; + pragma Export (C, u00144, "ada__calendarB"); + u00145 : constant Version_32 := 16#c4f07049#; + pragma Export (C, u00145, "ada__calendarS"); + u00146 : constant Version_32 := 16#51f2d040#; + pragma Export (C, u00146, "system__os_primitivesB"); + u00147 : constant Version_32 := 16#41c889f2#; + pragma Export (C, u00147, "system__os_primitivesS"); + u00148 : constant Version_32 := 16#1d9142a4#; + pragma Export (C, u00148, "system__val_unsB"); + u00149 : constant Version_32 := 16#621b7dbc#; + pragma Export (C, u00149, "system__val_unsS"); + u00150 : constant Version_32 := 16#2323a8af#; + pragma Export (C, u00150, "system__memoryB"); + u00151 : constant Version_32 := 16#1f488a30#; + pragma Export (C, u00151, "system__memoryS"); + + -- BEGIN ELABORATION ORDER + -- ada%s + -- ada.characters%s + -- ada.characters.latin_1%s + -- interfaces%s + -- system%s + -- system.exn_llf%s + -- system.exn_llf%b + -- system.float_control%s + -- system.float_control%b + -- system.img_int%s + -- system.img_int%b + -- system.io%s + -- system.io%b + -- system.os_primitives%s + -- system.os_primitives%b + -- system.parameters%s + -- system.parameters%b + -- system.crtl%s + -- interfaces.c_streams%s + -- interfaces.c_streams%b + -- system.powten_table%s + -- system.storage_elements%s + -- system.storage_elements%b + -- system.stack_checking%s + -- system.stack_checking%b + -- system.string_hash%s + -- system.string_hash%b + -- system.htable%s + -- system.htable%b + -- system.strings%s + -- system.strings%b + -- system.traceback_entries%s + -- system.traceback_entries%b + -- system.unsigned_types%s + -- system.img_llu%s + -- system.img_llu%b + -- system.img_uns%s + -- system.img_uns%b + -- system.wch_con%s + -- system.wch_con%b + -- system.wch_jis%s + -- system.wch_jis%b + -- system.wch_cnv%s + -- system.wch_cnv%b + -- system.concat_2%s + -- system.concat_2%b + -- system.concat_3%s + -- system.concat_3%b + -- system.concat_4%s + -- system.concat_4%b + -- system.traceback%s + -- system.traceback%b + -- system.case_util%s + -- system.standard_library%s + -- system.exception_traces%s + -- ada.exceptions%s + -- system.wch_stw%s + -- system.val_util%s + -- system.val_llu%s + -- system.val_lli%s + -- system.os_lib%s + -- system.bit_ops%s + -- ada.characters.handling%s + -- ada.exceptions.traceback%s + -- system.secondary_stack%s + -- system.case_util%b + -- system.address_image%s + -- system.bounded_strings%s + -- system.soft_links%s + -- system.exception_table%s + -- system.exception_table%b + -- ada.io_exceptions%s + -- ada.strings%s + -- ada.containers%s + -- system.exceptions%s + -- system.exceptions%b + -- ada.exceptions.last_chance_handler%s + -- system.exceptions_debug%s + -- system.exceptions_debug%b + -- system.exception_traces%b + -- system.memory%s + -- system.memory%b + -- system.wch_stw%b + -- system.val_util%b + -- system.val_llu%b + -- system.val_lli%b + -- system.os_lib%b + -- system.bit_ops%b + -- ada.strings.maps%s + -- ada.strings.maps.constants%s + -- ada.characters.handling%b + -- interfaces.c%s + -- ada.exceptions.traceback%b + -- system.exceptions.machine%s + -- system.exceptions.machine%b + -- system.secondary_stack%b + -- system.address_image%b + -- system.bounded_strings%b + -- system.soft_links.initialize%s + -- system.soft_links.initialize%b + -- system.soft_links%b + -- ada.exceptions.last_chance_handler%b + -- system.standard_library%b + -- system.mmap%s + -- ada.strings.maps%b + -- interfaces.c%b + -- system.object_reader%s + -- system.dwarf_lines%s + -- system.dwarf_lines%b + -- system.mmap.unix%s + -- system.mmap.os_interface%s + -- system.mmap%b + -- system.traceback.symbolic%s + -- system.traceback.symbolic%b + -- ada.exceptions%b + -- system.object_reader%b + -- system.mmap.os_interface%b + -- ada.numerics%s + -- ada.tags%s + -- ada.tags%b + -- ada.streams%s + -- ada.streams%b + -- system.fat_flt%s + -- system.fat_llf%s + -- system.file_control_block%s + -- system.finalization_root%s + -- system.finalization_root%b + -- ada.finalization%s + -- system.file_io%s + -- system.file_io%b + -- system.img_real%s + -- system.img_real%b + -- system.val_real%s + -- system.val_real%b + -- system.val_uns%s + -- system.val_uns%b + -- ada.calendar%s + -- ada.calendar%b + -- ada.text_io%s + -- ada.text_io%b + -- ada.text_io.generic_aux%s + -- ada.text_io.generic_aux%b + -- ada.text_io.float_aux%s + -- ada.text_io.float_aux%b + -- ada.float_text_io%s + -- ada.float_text_io%b + -- system.random_seed%s + -- system.random_seed%b + -- system.random_numbers%s + -- system.random_numbers%b + -- main%b + -- END ELABORATION ORDER + +end ada_main; diff --git a/external/Path/obj/b__main.ali b/external/Path/obj/b__main.ali new file mode 100644 index 0000000..34e938e --- /dev/null +++ b/external/Path/obj/b__main.ali @@ -0,0 +1,302 @@ +V "GNAT Lib v9" +A -gnatA +A -gnatA +A -gnatWb +A -gnatiw +A -gnatws +A -mtune=generic +A -march=x86-64 +P ZX + +RN +RV NO_ACCESS_SUBPROGRAMS +RV NO_DEFAULT_INITIALIZATION +RV NO_IMPLEMENTATION_ATTRIBUTES +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV NO_ELABORATION_CODE +RV NO_OBSOLESCENT_FEATURES +RV SPARK_05 + +U ada_main%b b__main.adb d64a9603 OO PK IL +W ada%s ada.ads ada.ali +W ada.exceptions%s a-except.adb a-except.ali +Z system%s system.ads system.ali + +U ada_main%s b__main.ads ec14f541 EE NE OO PK IL +W system%s system.ads system.ali +W system.parameters%s s-parame.adb s-parame.ali +W system.secondary_stack%s s-secsta.adb s-secsta.ali + +D ada.ads 20200312110721 76789da1 ada%s +D a-except.ads 20200312110721 291912d5 ada.exceptions%s +D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s +D b__main.ads 20200616230446 c276ab58 ada_main%s +D b__main.adb 20200616230446 3d252f8e ada_main%b +D system.ads 20200312110721 4635ec04 system%s +D s-parame.ads 20200312110721 48ec542b system.parameters%s +D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s +D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s +D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +X 1 ada.ads +16K9*Ada 20e8 5|6r6 +X 2 a-except.ads +54K13*Exceptions 349e19 5|6w10 +X 4 b__main.ads +6K9*ada_main 497l5 497e13 5|8b14 256l5 256t13 +8i4*gnat_argc{integer} 12m22 12r22 5|234m7 +9m4*gnat_argv{6|67M9} 13m22 13r22 5|235m7 +10m4*gnat_envp{6|67M9} 14m22 14r22 5|236m7 +16i4*gnat_exit_status{integer} 17m22 17r22 5|243r15 +19a4*GNAT_Version{string} 21r22 +23a4*Ada_Main_Program_Name{string} 24r22 5|230r52 +26U14*adainit 27i22 5|84b14 212l8 212t15 239s7 +29U14*adafinal 30i22 5|66b14 80l8 80t16 241s7 +32V13*main{integer} 33>7 34>7 35>7 37i22 5|217b13 244t7 +33i7 argc{integer} 5|218b7 234r20 +34m7 argv{6|67M9} 5|219b7 235r20 +35m7 envp{6|67M9} 5|220b7 236r20 +39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 +. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 +. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 +. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 +. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 +. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 +. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 +. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 +. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 +. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 +. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 +. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 +. 306r22 308r22 310r22 312r22 314r22 316r22 318r22 320r22 322r22 324r22 326r22 +. 328r22 330r22 332r22 334r22 336r22 338r22 340r22 +40m4*u00001{39M9} 41r22 +42m4*u00002{39M9} 43r22 +44m4*u00003{39M9} 45r22 +46m4*u00004{39M9} 47r22 +48m4*u00005{39M9} 49r22 +50m4*u00006{39M9} 51r22 +52m4*u00007{39M9} 53r22 +54m4*u00008{39M9} 55r22 +56m4*u00009{39M9} 57r22 +58m4*u00010{39M9} 59r22 +60m4*u00011{39M9} 61r22 +62m4*u00012{39M9} 63r22 +64m4*u00013{39M9} 65r22 +66m4*u00014{39M9} 67r22 +68m4*u00015{39M9} 69r22 +70m4*u00016{39M9} 71r22 +72m4*u00017{39M9} 73r22 +74m4*u00018{39M9} 75r22 +76m4*u00019{39M9} 77r22 +78m4*u00020{39M9} 79r22 +80m4*u00021{39M9} 81r22 +82m4*u00022{39M9} 83r22 +84m4*u00023{39M9} 85r22 +86m4*u00024{39M9} 87r22 +88m4*u00025{39M9} 89r22 +90m4*u00026{39M9} 91r22 +92m4*u00027{39M9} 93r22 +94m4*u00028{39M9} 95r22 +96m4*u00029{39M9} 97r22 +98m4*u00030{39M9} 99r22 +100m4*u00031{39M9} 101r22 +102m4*u00032{39M9} 103r22 +104m4*u00033{39M9} 105r22 +106m4*u00034{39M9} 107r22 +108m4*u00035{39M9} 109r22 +110m4*u00036{39M9} 111r22 +112m4*u00037{39M9} 113r22 +114m4*u00038{39M9} 115r22 +116m4*u00039{39M9} 117r22 +118m4*u00040{39M9} 119r22 +120m4*u00041{39M9} 121r22 +122m4*u00042{39M9} 123r22 +124m4*u00043{39M9} 125r22 +126m4*u00044{39M9} 127r22 +128m4*u00045{39M9} 129r22 +130m4*u00046{39M9} 131r22 +132m4*u00047{39M9} 133r22 +134m4*u00048{39M9} 135r22 +136m4*u00049{39M9} 137r22 +138m4*u00050{39M9} 139r22 +140m4*u00051{39M9} 141r22 +142m4*u00052{39M9} 143r22 +144m4*u00053{39M9} 145r22 +146m4*u00054{39M9} 147r22 +148m4*u00055{39M9} 149r22 +150m4*u00056{39M9} 151r22 +152m4*u00057{39M9} 153r22 +154m4*u00058{39M9} 155r22 +156m4*u00059{39M9} 157r22 +158m4*u00060{39M9} 159r22 +160m4*u00061{39M9} 161r22 +162m4*u00062{39M9} 163r22 +164m4*u00063{39M9} 165r22 +166m4*u00064{39M9} 167r22 +168m4*u00065{39M9} 169r22 +170m4*u00066{39M9} 171r22 +172m4*u00067{39M9} 173r22 +174m4*u00068{39M9} 175r22 +176m4*u00069{39M9} 177r22 +178m4*u00070{39M9} 179r22 +180m4*u00071{39M9} 181r22 +182m4*u00072{39M9} 183r22 +184m4*u00073{39M9} 185r22 +186m4*u00074{39M9} 187r22 +188m4*u00075{39M9} 189r22 +190m4*u00076{39M9} 191r22 +192m4*u00077{39M9} 193r22 +194m4*u00078{39M9} 195r22 +196m4*u00079{39M9} 197r22 +198m4*u00080{39M9} 199r22 +200m4*u00081{39M9} 201r22 +202m4*u00082{39M9} 203r22 +204m4*u00083{39M9} 205r22 +206m4*u00084{39M9} 207r22 +208m4*u00085{39M9} 209r22 +210m4*u00086{39M9} 211r22 +212m4*u00087{39M9} 213r22 +214m4*u00088{39M9} 215r22 +216m4*u00089{39M9} 217r22 +218m4*u00090{39M9} 219r22 +220m4*u00091{39M9} 221r22 +222m4*u00092{39M9} 223r22 +224m4*u00093{39M9} 225r22 +226m4*u00094{39M9} 227r22 +228m4*u00095{39M9} 229r22 +230m4*u00096{39M9} 231r22 +232m4*u00097{39M9} 233r22 +234m4*u00098{39M9} 235r22 +236m4*u00099{39M9} 237r22 +238m4*u00100{39M9} 239r22 +240m4*u00101{39M9} 241r22 +242m4*u00102{39M9} 243r22 +244m4*u00103{39M9} 245r22 +246m4*u00104{39M9} 247r22 +248m4*u00105{39M9} 249r22 +250m4*u00106{39M9} 251r22 +252m4*u00107{39M9} 253r22 +254m4*u00108{39M9} 255r22 +256m4*u00109{39M9} 257r22 +258m4*u00110{39M9} 259r22 +260m4*u00111{39M9} 261r22 +262m4*u00112{39M9} 263r22 +264m4*u00113{39M9} 265r22 +266m4*u00114{39M9} 267r22 +268m4*u00115{39M9} 269r22 +270m4*u00116{39M9} 271r22 +272m4*u00117{39M9} 273r22 +274m4*u00118{39M9} 275r22 +276m4*u00119{39M9} 277r22 +278m4*u00120{39M9} 279r22 +280m4*u00121{39M9} 281r22 +282m4*u00122{39M9} 283r22 +284m4*u00123{39M9} 285r22 +286m4*u00124{39M9} 287r22 +288m4*u00125{39M9} 289r22 +290m4*u00126{39M9} 291r22 +292m4*u00127{39M9} 293r22 +294m4*u00128{39M9} 295r22 +296m4*u00129{39M9} 297r22 +298m4*u00130{39M9} 299r22 +300m4*u00131{39M9} 301r22 +302m4*u00132{39M9} 303r22 +304m4*u00133{39M9} 305r22 +306m4*u00134{39M9} 307r22 +308m4*u00135{39M9} 309r22 +310m4*u00136{39M9} 311r22 +312m4*u00137{39M9} 313r22 +314m4*u00138{39M9} 315r22 +316m4*u00139{39M9} 317r22 +318m4*u00140{39M9} 319r22 +320m4*u00141{39M9} 321r22 +322m4*u00142{39M9} 323r22 +324m4*u00143{39M9} 325r22 +326m4*u00144{39M9} 327r22 +328m4*u00145{39M9} 329r22 +330m4*u00146{39M9} 331r22 +332m4*u00147{39M9} 333r22 +334m4*u00148{39M9} 335r22 +336m4*u00149{39M9} 337r22 +338m4*u00150{39M9} 339r22 +340m4*u00151{39M9} 341r22 +X 5 b__main.adb +10i4 E075{short_integer} 10m46 10r46 173m7 173r15 +11i4 E013{short_integer} 11m46 11r46 180m7 180r15 +12i4 E025{short_integer} 12m46 12r46 163m7 163r15 +13i4 E070{short_integer} 13m46 13r46 165m7 165r15 +14i4 E055{short_integer} 14m46 14r46 167m7 167r15 +15i4 E040{short_integer} 15m46 15r46 169m7 169r15 +16i4 E027{short_integer} 16m46 16r46 171m7 171r15 +17i4 E057{short_integer} 17m46 17r46 181m7 181r15 +18i4 E061{short_integer} 18m46 18r46 176m7 176r15 +19i4 E045{short_integer} 19m46 19r46 182m7 182r15 +20i4 E021{short_integer} 20m46 20r46 179m7 179r15 +21i4 E081{short_integer} 21m46 21r46 188m7 188r15 +22i4 E050{short_integer} 22m46 22r46 185m7 185r15 +23i4 E039{short_integer} 23m46 23r46 187m7 187r15 +24i4 E133{short_integer} 24m46 24r46 190m7 190r15 +25i4 E103{short_integer} 25m46 25r46 193m7 193r15 +26i4 E101{short_integer} 26m46 26r46 195m7 195r15 +27i4 E115{short_integer} 27m46 27r46 197m7 197r15 +28i4 E114{short_integer} 28m46 28r46 199m7 199r15 +29i4 E112{short_integer} 29m46 29r46 201m7 201r15 +30i4 E111{short_integer} 30m46 30r46 55m10 55r18 203m7 203r15 +31i4 E145{short_integer} 31m46 31r46 206m7 206r15 +32i4 E099{short_integer} 32m46 32r46 44m7 44r15 209m7 209r15 +33i4 E143{short_integer} 33m46 33r46 211m7 211r15 +35a4 Sec_Default_Sized_Stacks(8|45R9) 155m32 155r32 +37a4 Local_Priority_Specific_Dispatching{string} 142r9 +38a4 Local_Interrupt_States{string} 145r27 +40b4 Is_Elaborated{boolean} 74r14 77m7 131r10 134m7 +42U14 finalize_library 42b14 64l8 64t24 159r35 +46U20*F1 47b30 49s10 +52U20*F2 53b30 56s10 +59U20*Reraise_Library_Exception_If_Any 60b33 +. 62s10 +67U17*s_stalib_adafinal 68b25 79s7 +70U17*Runtime_Finalize 71b25 78s7 +82P9 No_Param_Proc 123r34 +85i7*Main_Priority{integer} 86m25 86r25 135m7 +87i7*Time_Slice_Value{integer} 88m25 88r25 136m7 +89e7*WC_Encoding{character} 90m25 90r25 137m7 +91e7*Locking_Policy{character} 92m25 92r25 138m7 +93e7*Queuing_Policy{character} 94m25 94r25 139m7 +95e7*Task_Dispatching_Policy{character} 96m25 96r25 140m7 +97m7*Priority_Specific_Dispatching{6|67M9} 98m25 98r25 141m7 +99i7*Num_Specific_Dispatching{integer} 100m25 100r25 143m7 +101i7*Main_CPU{integer} 102m25 102r25 144m7 +103m7*Interrupt_States{6|67M9} 104m25 104r25 145m7 +105i7*Num_Interrupt_States{integer} 106m25 106r25 146m7 +107i7*Unreserve_All_Interrupts{integer} 108m25 108r25 147m7 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Object_File_Suffix ("xml") use "-"; + for Object_File_Suffix ("matlab") use "-"; + for Object_File_Suffix ("c#") use "-"; + for Object_File_Suffix ("asm2") use "-"; + for Object_File_Suffix ("asm_cpp") use "-"; + for Object_File_Suffix ("asm") use "-"; + for Object_File_Suffix ("gnat expanded code") use "-"; + for Object_File_Suffix ("java") use "-"; + for Object_File_Suffix ("javascript") use "-"; + for Object_File_Suffix ("tcl") use "-"; + for Object_File_Suffix ("shell") use "-"; + for Object_File_Suffix ("makefile") use "-"; + for Object_File_Suffix ("m4") use "-"; + for Object_File_Suffix ("fortran 90") use "-"; + for Object_File_Suffix ("pascal") use "-"; + for Object_File_Suffix ("perl") use "-"; + for Object_File_Suffix ("awk") use "-"; + for Object_File_Suffix ("autoconf") use "-"; + for Object_File_Suffix ("rest") use "-"; + for Object_File_Suffix ("texinfo") use "-"; + for Object_File_Suffix ("project file") use "-"; + for Object_File_Suffix ("changelog") use "-"; + for Object_File_Suffix ("qgen") use "-"; + for Object_File_Suffix ("simulink") use "-"; + for Object_File_Suffix ("python") use ".pyc"; + for Object_File_Suffix ("css") use "-"; + for Object_File_Suffix ("c++") use ".o"; + for Object_File_Suffix ("c") use ".o"; + for Object_File_Suffix ("ada") use ".o"; + end Compiler; + + package Naming is + for Spec_Suffix ("ada") use ".ads"; + for Body_Suffix ("ada") use ".adb"; + for Spec_Suffix ("c") use ".h"; + for Body_Suffix ("c") use ".c"; + for Spec_Suffix ("c++") use ".hh"; + for Body_Suffix ("c++") use ".cpp"; + for Dot_Replacement use "-"; + for Casing use "lowercase"; + for Spec_Suffix ("html") use ".html"; + for Body_Suffix ("xml") use ".xml"; + for Body_Suffix ("matlab") use ".m"; + for Spec_Suffix ("c#") use ".cs"; + for Body_Suffix ("asm2") use ".asm"; + for Body_Suffix ("asm_cpp") use ".S"; + for Body_Suffix ("asm") use ".s"; + for Body_Suffix ("gnat expanded code") use ".dg"; + for Body_Suffix ("java") use ".java"; + for Body_Suffix ("javascript") use ".js"; + for Body_Suffix ("tcl") use ".tcl"; + for Body_Suffix ("shell") use ".sh"; + for Body_Suffix ("m4") use ".m4"; + for Body_Suffix ("fortran 90") use ".f"; + for Body_Suffix ("pascal") use ".pas"; + for Body_Suffix ("perl") use ".pl"; + for Body_Suffix ("awk") use ".awk"; + for Body_Suffix ("autoconf") use "configure.in"; + for Body_Suffix ("rest") use ".rst"; + for Body_Suffix ("texinfo") use ".texi"; + for Body_Suffix ("project file") use ".gpr"; + for Spec_Suffix ("changelog") use ".changelog"; + for Body_Suffix ("qgen") use ".xmi"; + for Spec_Suffix ("simulink") use ".slx"; + for Body_Suffix ("simulink") use ".mdl"; + for Body_Suffix ("python") use ".py"; + for Body_Suffix ("css") use ".css"; + for Spec_Suffix ("c++") use ".hh"; + for Body_Suffix ("c++") use ".cpp"; + for Spec_Suffix ("c") use ".h"; + for Body_Suffix ("c") use ".c"; + for Spec_Suffix ("ada") use ".ads"; + for Body_Suffix ("ada") use ".adb"; + end Naming; + + for Library_Support use "full"; 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+Str:String := "Hello World"; +begin + -- Insert code here. + Put(Str); + New_Line; + +end Hello; diff --git a/external/Path/src/input.adb b/external/Path/src/input.adb new file mode 100644 index 0000000..8f8cbfe --- /dev/null +++ b/external/Path/src/input.adb @@ -0,0 +1,18 @@ +with Ada.Text_IO; use Ada.Text_IO; + +procedure input is + + Input_File : File_Type; + value : Character; +begin + + Ada.Text_IO.Open (File => Input_File, Mode => Ada.Text_IO.In_File, Name => "dummy_image_curve.txt"); + + while not End_OF_File (Input_File) loop + Ada.Text_IO.Get (File => Input_File, Item => value); + Ada.Text_IO.Put (Item => value); + Ada.Text_IO.New_Line; + end loop; + Ada.Text_IO.Close (File => Input_File); + +end input; diff --git a/external/Path/src/main.adb b/external/Path/src/main.adb new file mode 100644 index 0000000..7972d1f --- /dev/null +++ b/external/Path/src/main.adb @@ -0,0 +1,195 @@ +with Ada.Text_IO; use Ada.Text_IO; +with ada.numerics.discrete_random; +with Ada.Float_Text_Io; use Ada.Float_Text_Io; + +procedure Main is + + width : constant Integer := 10; + height : constant Integer := 10; + size : constant Integer := width * height * 4; + + type Value is range 0 .. 255; + type Pixel is array(0 .. 3) of Value; + type Column_Index is range 0 .. width - 1; + type Row_Index is range 0 .. height - 1; + + type Image_Index is range 0 .. size - 1; + type Image_Raw is array(Image_Index) of Value; + + type Colour_Column is array(Column_Index) of Value; + type Colour_Matrix is array(Row_Index) of Colour_Column; + + package Rand_Int is new ada.numerics.discrete_random(Value); + use Rand_Int; + + gen : Generator; + + raw : Image_Raw := (others => 0); + index : Image_Index := 0; + + v : Value; + colour : Integer := 0; + r : Integer := 0; + g : Integer := 0; + b : Integer := 0; + bottomPoint : Integer := 0; + topPoint : Integer := 0; + leftPoint : Integer := 0; + rightPoint : Integer:= 0; + bottomPoint1 : Integer := 0; + topPoint1 : Integer := 0; + leftPoint1 : Integer := 0; + rightPoint1 : Integer:= 0; + steeringAngle : Float:= 0.0; + + red : Colour_Matrix := (others => (others => 0)); + blue : Colour_Matrix := (others => (others => 0)); + green : Colour_Matrix := (others => (others => 0)); + grey : Colour_Matrix := (others => (others => 0)); + binaImage : Colour_Matrix := (others => (others => 0)); + + +begin + Reset(gen); + for I in Image_Index loop + v := Random(gen); + raw (I) := v; + end loop; + + for I in Row_Index loop + for J in Column_Index loop + index := Image_Index(4 * (Integer(I) * width + Integer(J))); + blue (I) (J) := raw (index); + green (I) (J) := raw (index + 1); + red (I) (J) := raw (index + 2); + --colour := Integer((Integer(blue (I) (J)*50) + Integer(green (I) (J)*59)+ Integer(red (I) (J)*30) + 50)/100); + colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; + --colour := colour / 3; + --r := Integer(red(I)(J) * 30); + --g := Integer(green(I)(J) * 59); + --b := Integer(blue(I)(J) * 50); + --colour := (r + g +b + 50) / 100; + grey (I) (J) := Value(colour); + end loop; + end loop; + --Binarized + for I in Row_Index loop + for J in Column_Index loop + if grey (I)(J) > 200 then + binaImage (I)(J) := 255; + else + binaImage (I)(j) := 0; + end if; + Put(Value'Image (binaImage (I) (J))); + + end loop; + Put_Line(""); + end loop; + + --for I in Row_Index loop + --for J in Column_Index loop + --Put(Value'Image (blue (I) (J))); + --Put(Value'Image (green (I) (J))); + --Put(Value'Image (red (I) (J))); + --Put(Value'Image (grey (I) (J))); + --Put_Line(""); + --end loop; + --end loop; +-- find bottompoint + for J in Column_Index loop + if grey(Row_Index(height-1))(J) = 255 then + bottomPoint := Integer(J); + end if; + -- + end loop; + for J in reverse Column_Index loop + if grey(Row_Index(height-1))(J) = 255 then + bottomPoint1 := Integer(J); + end if; + end loop; + bottomPoint := (bottomPoint + bottomPoint1) / 2; + -- find toppoint + for J in Column_Index loop + if grey(0)(J) = 255 then + topPoint := Integer(J); + end if; + end loop; + for J in reverse Column_Index loop + if grey(Row_Index(0))(J) = 255 then + topPoint1 := Integer(J); + end if; + end loop; + topPoint := (topPoint + topPoint1) / 2; + -- find rightpoint + for I in Row_Index loop + if grey(I)(Column_Index(width-1)) = 255 then + rightPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if grey(I)(Column_Index(width-1)) = 255 then + rightPoint1:= Integer(I); + end if; + end loop; + rightPoint := (rightPoint + rightPoint1) /2; + + --find leftPoint + for I in Row_Index loop + if grey(I)(0) = 255 then + leftPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if grey(I)(0) = 255 then + leftPoint1 := Integer(I); + end if; + end loop; + leftPoint := (leftPoint + leftPoint1)/2; + + Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); + --calculate steering angle + -- top and bottom + if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then + if topPoint - bottomPoint > 0 then + steeringAngle := Float((topPoint - bottomPoint) / height) ; + elsif topPoint - bottomPoint < 0 then + steeringAngle := -Float((topPoint - bottomPoint) / height); + else steeringAngle := 0.0; + end if; + end if; + -- bottom and left + if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then + steeringAngle := - Float(bottomPoint / (height - leftPoint)); + end if; + -- top and right + if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then + steeringAngle := - Float((width - topPoint) / rightPoint); + end if; + --top and left + if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then + steeringAngle := Float(topPoint / leftPoint); + end if; + -- bottom and right + if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then + steeringAngle := Float((width-bottomPoint) / (height - leftPoint)); + end if; + + + Put_Line (Float'Image(steeringAngle)); + + + + + + + + + + + + + + + + null; +end Main; diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index 3d8ca2f..5160d8a 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,7 +1,7 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000000770000040bfc0200000001fb0000001400540065007800740045006400690074006f007201000000150000040b0000008700ffffff00000003000007800000003bfc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000006900ffffff000007070000040b00000004000000040000000100000008fc00000000 -simulationViewPerspectives: 000000ff0000000100000002000000fa0000060b0100000002010000000101 -sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000201 +perspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000022e0000033afc0200000001fb0000001400540065007800740045006400690074006f007201000000160000033a000000a200ffffff00000003000007380000008cfc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000005040000033a00000004000000040000000100000008fc00000000 +simulationViewPerspectives: 000000ff0000000100000002000001180000060b0100000006010000000101 +sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 minimizedPerspectives: 000000ff00000000fd00000003000000000000016c00000469fc0200000001fb00000012005300630065006e006500540072006500650100000019000004690000018500ffffff000000010000022e0000036bfc0200000001fb0000001400540065007800740045006400690074006f007201000000190000036b000000ab00ffffff00000003000005cd000000f8fc0100000001fb0000000e0043006f006e0073006f006c00650100000172000005cd0000004e00ffffff000003990000036b00000004000000040000000100000008fc00000000 maximizedDockId: -1 centralWidgetVisible: 1 @@ -9,6 +9,8 @@ projectionMode: PERSPECTIVE selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 -textFiles: 1 "controllers/webots_controller2/webots_controller2.cpp" "controllers/webots_controller/webots_controller.c" +textFiles: 0 "controllers/controller/controller.cpp" globalOptionalRendering: DistanceSensorRays +renderingDevicePerspectives: Cab1:camera;1;3.2;0;0 +renderingDevicePerspectives: Cab2:camera;1;10.8889;0;0 renderingDevicePerspectives: robot:camera;1;6.1;0;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 5507df3..035b2fa 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation -0.5122800083008567 0.661359634384303 0.5478801211052792 1.8948868777524672 - position 92.25286849156008 332.1898383760014 26.982564836651193 + orientation -0.25522375675898396 -0.945628158279386 -0.2016140378420294 1.7005914001226077 + position -77.68362742832142 41.555410315775234 -56.47243834069372 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab1 Robot { - translation 0 0.4 -29.2 - rotation 0 1 0 -1.5723853071795864 + translation -0.00011293395806233656 0.3986624227930272 -29.20000497279791 + rotation -0.00013508642821858245 0.9999999800245127 -0.00014731812974774455 -1.5723853289573195 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -352,6 +352,7 @@ DEF Cab1 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { + position -3.240091306366821e-08 anchor 0.55 -0.1 0.55 } device [ @@ -362,7 +363,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0 0 1 1.5699999999999963 + rotation -1.621336252883765e-08 1.6200456531834106e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -380,10 +381,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 8.592462848472011e-08 -7.724011592131225e-09 8.698458707694555e-09 + angularVelocity 4.7428182032237774e-09 3.881234661919527e-08 -3.1115480325224793e-07 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { + position -3.408176559029863e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -394,7 +398,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation -1.705445831271944e-08 1.7040882795149316e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -412,10 +416,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 8.903901833614285e-08 3.693310682671784e-09 -8.444782191763376e-09 + angularVelocity -4.724113636150919e-09 3.881149937051543e-08 -3.2632188951679677e-07 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { + position -3.401022451468173e-08 anchor -0.55 -0.1 -0.7 } device [ @@ -426,7 +433,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation -1.701865927852554e-08 1.7005112257340867e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -444,10 +451,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 7.399475548510099e-08 3.0581166011862224e-09 -8.468511490588709e-09 + angularVelocity -4.737069123971858e-09 3.880493688540923e-08 -3.1819678145635674e-07 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { + position 3.240188809500961e-08 anchor -0.55 -0.1 0.5 } device [ @@ -458,7 +468,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.5 - rotation 0 0 1 1.5699999999999956 + rotation 1.621385043288481e-08 -1.6200944047504807e-08 0.9999999999999998 1.5699999999999958 children [ DEF wheel Shape { appearance PBRAppearance { @@ -476,6 +486,8 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -5.6102033245032545e-08 -7.902510766244482e-09 7.787032451916354e-09 + angularVelocity 3.3735072828583852e-09 3.8840650956154506e-08 3.1164578413963716e-07 } } DEF car_body Shape { @@ -496,10 +508,12 @@ DEF Cab1 Robot { 0 0 0 ] controller "controller" + linearVelocity 4.7081418295365554e-08 -3.0208661943260346e-09 3.263193147046892e-09 + angularVelocity -6.030967720986736e-10 3.903448981619071e-08 9.30454896430067e-09 } DEF Cab2 Robot { - translation 10 0.4 -29.1 - rotation 0 1 0 -1.5723853071795864 + translation -24.656400010483402 0.3986624226176735 -50.65609999283062 + rotation 0.00011652811149498896 0.9999999838780597 -0.00013662020233923334 1.8141852899199162 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -839,6 +853,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { + position -2.3869472655871804e-10 anchor 0.55 -0.1 0.55 } device [ @@ -849,7 +864,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0 0 1 1.5699999999999963 + rotation 3.933069916676079e-09 -3.9299391534917915e-09 1 1.5699999999999947 children [ DEF wheel Shape { appearance PBRAppearance { @@ -867,10 +882,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 2.5249747250539058e-09 2.6942892416420922e-09 -9.672649106287369e-09 + angularVelocity -3.7264789021948545e-09 2.0595871018132232e-08 2.6717264714844584e-10 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { + position -1.0478255103639638e-09 anchor 0.55 -0.1 -0.7 } device [ @@ -881,7 +899,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation -3.096866753994822e-09 3.09440161741357e-09 1 1.5699999999999972 children [ DEF wheel Shape { appearance PBRAppearance { @@ -899,10 +917,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 4.2850525864516495e-09 -3.364260002212386e-09 -2.0026942599760744e-09 + angularVelocity 2.915866561144496e-11 2.0595916174199817e-08 -7.067040933785123e-09 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { + position -4.4590168737499336e-10 anchor -0.55 -0.1 -0.7 } device [ @@ -913,7 +934,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation -2.2312845614645093e-10 2.2295084384088244e-10 1 1.5699999999999952 children [ DEF wheel Shape { appearance PBRAppearance { @@ -931,10 +952,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 1.1788186247465264e-08 -1.0427823560070269e-09 4.623564603228756e-09 + angularVelocity -2.246224771883109e-09 2.0591974901286448e-08 -5.90246104086579e-09 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { + position 3.0668328734164383e-08 anchor -0.55 -0.1 0.5 } device [ @@ -945,7 +969,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.5 - rotation 0 0 1 1.5699999999999956 + rotation 1.2307679727050327e-08 -1.2297882692204156e-08 0.9999999999999999 1.5699999999999952 children [ DEF wheel Shape { appearance PBRAppearance { @@ -963,6 +987,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 8.226077137675795e-08 4.773422704555048e-09 -2.0657801463387623e-08 + angularVelocity -8.662416840191546e-08 2.061210823523114e-08 -3.24148183646526e-07 } } DEF car_body Shape { @@ -983,6 +1009,8 @@ DEF Cab2 Robot { 0 0 0 ] controller "controller" + linearVelocity 2.4160442202669307e-08 9.595387618321042e-10 -8.757433317864561e-09 + angularVelocity -9.097421385972988e-10 2.0717957704895548e-08 5.264398601433912e-09 } DEF environment Solid { scale 1.09819 1.09819 1.09819 From 0b8097936ec406d53c074717a666e7ef7b82691a Mon Sep 17 00:00:00 2001 From: Yue Date: Thu, 18 Jun 2020 12:23:21 +0200 Subject: [PATCH 02/25] practice --- webots/worlds/.cabservice.wbproj | 2 +- webots/worlds/cabservice.wbt | 84 ++++++++++++++++---------------- 2 files changed, 43 insertions(+), 43 deletions(-) diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index 5160d8a..c5646c7 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -12,5 +12,5 @@ orthographicViewHeight: 1 textFiles: 0 "controllers/controller/controller.cpp" globalOptionalRendering: DistanceSensorRays renderingDevicePerspectives: Cab1:camera;1;3.2;0;0 -renderingDevicePerspectives: Cab2:camera;1;10.8889;0;0 renderingDevicePerspectives: robot:camera;1;6.1;0;0 +renderingDevicePerspectives: Cab2:camera;1;10.8889;0;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 035b2fa..5b4c291 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation -0.25522375675898396 -0.945628158279386 -0.2016140378420294 1.7005914001226077 - position -77.68362742832142 41.555410315775234 -56.47243834069372 + orientation -0.4461727308645599 0.8306950139021306 0.3329800115787737 1.2059813250092664 + position 12.980528048219444 22.731682014645823 -12.209330787330611 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab1 Robot { - translation -0.00011293395806233656 0.3986624227930272 -29.20000497279791 - rotation -0.00013508642821858245 0.9999999800245127 -0.00014731812974774455 -1.5723853289573195 + translation -0.00011293391705434344 0.3986624226528907 -29.200004982776218 + rotation -0.00013508640652596017 0.9999999800245202 -0.00014731809684204243 -1.5723853294035264 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -352,7 +352,7 @@ DEF Cab1 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position -3.240091306366821e-08 + position 9.59481811156483e-11 anchor 0.55 -0.1 0.55 } device [ @@ -363,7 +363,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation -1.621336252883765e-08 1.6200456531834106e-08 0.9999999999999998 1.5699999999999965 + rotation 4.801230883073333e-11 -4.7974090557824154e-11 1 1.5699999999999963 children [ DEF wheel Shape { appearance PBRAppearance { @@ -381,13 +381,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 8.592462848472011e-08 -7.724011592131225e-09 8.698458707694555e-09 - angularVelocity 4.7428182032237774e-09 3.881234661919527e-08 -3.1115480325224793e-07 + linearVelocity -7.880343507369163e-08 -6.913071464918105e-11 -1.7695559262754097e-08 + angularVelocity -9.553956666681941e-09 -7.937625386704606e-08 3.146166529024849e-07 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position -3.408176559029863e-08 + position -3.193782733352813e-11 anchor 0.55 -0.1 -0.7 } device [ @@ -398,7 +398,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -1.705445831271944e-08 1.7040882795149316e-08 0.9999999999999998 1.5699999999999965 + rotation -1.5981635206528458e-11 1.5968913666764065e-11 1 1.5699999999999963 children [ DEF wheel Shape { appearance PBRAppearance { @@ -416,13 +416,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 8.903901833614285e-08 3.693310682671784e-09 -8.444782191763376e-09 - angularVelocity -4.724113636150919e-09 3.881149937051543e-08 -3.2632188951679677e-07 + linearVelocity -8.204481564714706e-08 -1.4635695707566187e-10 1.7281580205251744e-08 + angularVelocity 9.856134704979224e-09 -7.937536808268507e-08 3.3085932129860284e-07 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position -3.401022451468173e-08 + position -6.799918105284854e-08 anchor -0.55 -0.1 -0.7 } device [ @@ -433,7 +433,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation -1.701865927852554e-08 1.7005112257340867e-08 0.9999999999999998 1.5699999999999965 + rotation -3.4026676097290324e-08 3.399959052642425e-08 0.999999999999999 1.5699999999999974 children [ DEF wheel Shape { appearance PBRAppearance { @@ -451,13 +451,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 7.399475548510099e-08 3.0581166011862224e-09 -8.468511490588709e-09 - angularVelocity -4.737069123971858e-09 3.880493688540923e-08 -3.1819678145635674e-07 + linearVelocity 8.179374225620005e-08 7.746909675544751e-10 1.754066409535473e-08 + angularVelocity 1.0906889230919579e-08 -7.939848526775738e-08 -3.301864865141811e-07 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 3.240188809500961e-08 + position -9.566134800755359e-11 anchor -0.55 -0.1 0.5 } device [ @@ -468,7 +468,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.5 - rotation 1.621385043288481e-08 -1.6200944047504807e-08 0.9999999999999998 1.5699999999999958 + rotation -4.786877802474422e-11 4.7830674003776796e-11 1 1.5699999999999956 children [ DEF wheel Shape { appearance PBRAppearance { @@ -486,8 +486,8 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -5.6102033245032545e-08 -7.902510766244482e-09 7.787032451916354e-09 - angularVelocity 3.3735072828583852e-09 3.8840650956154506e-08 3.1164578413963716e-07 + linearVelocity 7.878772915166407e-08 8.488291977144405e-10 -1.6047146344397073e-08 + angularVelocity -7.776273515205326e-09 -7.939763562978393e-08 -3.146476277023679e-07 } } DEF car_body Shape { @@ -508,12 +508,12 @@ DEF Cab1 Robot { 0 0 0 ] controller "controller" - linearVelocity 4.7081418295365554e-08 -3.0208661943260346e-09 3.263193147046892e-09 - angularVelocity -6.030967720986736e-10 3.903448981619071e-08 9.30454896430067e-09 + linearVelocity -5.7661162444099e-11 -1.1178301477277344e-11 -6.660739960204138e-09 + angularVelocity 8.506702979332187e-10 -7.982881322961399e-08 2.4996748901896284e-11 } DEF Cab2 Robot { - translation -24.656400010483402 0.3986624226176735 -50.65609999283062 - rotation 0.00011652811149498896 0.9999999838780597 -0.00013662020233923334 1.8141852899199162 + translation -24.656400008080226 0.3986624226528906 -50.65609998320368 + rotation 0.0001165280500251796 0.9999999838780561 -0.0001366202795807189 1.8141852894735404 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -853,7 +853,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position -2.3869472655871804e-10 + position 3.2258187174821837e-08 anchor 0.55 -0.1 0.55 } device [ @@ -864,7 +864,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 3.933069916676079e-09 -3.9299391534917915e-09 1 1.5699999999999947 + rotation 1.995557020958283e-08 -1.9939685377623346e-08 0.9999999999999996 1.569999999999995 children [ DEF wheel Shape { appearance PBRAppearance { @@ -882,13 +882,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 2.5249747250539058e-09 2.6942892416420922e-09 -9.672649106287369e-09 - angularVelocity -3.7264789021948545e-09 2.0595871018132232e-08 2.6717264714844584e-10 + linearVelocity 8.074228402761955e-08 -6.913252398811174e-11 -1.9453678930150545e-09 + angularVelocity -6.70367483792865e-08 -7.93762357400193e-08 -3.0753991544304526e-07 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position -1.0478255103639638e-09 + position 3.3002033938718573e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -899,7 +899,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -3.096866753994822e-09 3.09440161741357e-09 1 1.5699999999999972 + rotation 1.3941625779198073e-08 -1.39305281071277e-08 0.9999999999999999 1.5699999999999974 children [ DEF wheel Shape { appearance PBRAppearance { @@ -917,13 +917,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 4.2850525864516495e-09 -3.364260002212386e-09 -2.0026942599760744e-09 - angularVelocity 2.915866561144496e-11 2.0595916174199817e-08 -7.067040933785123e-09 + linearVelocity 7.540373509507352e-08 -1.463594701301728e-10 -3.666432265932707e-08 + angularVelocity -8.980674444157366e-08 -7.937534925457238e-08 -3.185900879949746e-07 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position -4.4590168737499336e-10 + position -3.4434831580189206e-08 anchor -0.55 -0.1 -0.7 } device [ @@ -934,7 +934,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation -2.2312845614645093e-10 2.2295084384088244e-10 1 1.5699999999999952 + rotation -1.7677388853914416e-08 1.766331747762298e-08 0.9999999999999998 1.5699999999999956 children [ DEF wheel Shape { appearance PBRAppearance { @@ -952,13 +952,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 1.1788186247465264e-08 -1.0427823560070269e-09 4.623564603228756e-09 - angularVelocity -2.246224771883109e-09 2.0591974901286448e-08 -5.90246104086579e-09 + linearVelocity -8.360587639150191e-08 7.746947873958011e-10 2.8209216007310183e-09 + angularVelocity 6.950054712816382e-08 -7.939846834837124e-08 3.2297350216128485e-07 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 3.0668328734164383e-08 + position -1.8292018931241497e-09 anchor -0.55 -0.1 0.5 } device [ @@ -969,7 +969,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.5 - rotation 1.2307679727050327e-08 -1.2297882692204156e-08 0.9999999999999999 1.5699999999999952 + rotation -3.954030068500204e-09 3.950882621440112e-09 1 1.569999999999995 children [ DEF wheel Shape { appearance PBRAppearance { @@ -987,8 +987,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 8.226077137675795e-08 4.773422704555048e-09 -2.0657801463387623e-08 - angularVelocity -8.662416840191546e-08 2.061210823523114e-08 -3.24148183646526e-07 + linearVelocity -7.254344374432346e-08 8.488344248782648e-10 3.467682198720736e-08 + angularVelocity 8.385718298093584e-08 -7.93976193686151e-08 3.033673415725937e-07 } } DEF car_body Shape { @@ -1009,8 +1009,8 @@ DEF Cab2 Robot { 0 0 0 ] controller "controller" - linearVelocity 2.4160442202669307e-08 9.595387618321042e-10 -8.757433317864561e-09 - angularVelocity -9.097421385972988e-10 2.0717957704895548e-08 5.264398601433912e-09 + linearVelocity 1.671358689571932e-09 -1.1176844010167153e-11 6.4478633587467694e-09 + angularVelocity -8.313414198509614e-10 -7.982879747127662e-08 1.8206951238417406e-10 } DEF environment Solid { scale 1.09819 1.09819 1.09819 From 5de217f94e04b788bdde3a62f58ff9dcd7587855 Mon Sep 17 00:00:00 2001 From: Yue Date: Mon, 22 Jun 2020 23:00:01 +0200 Subject: [PATCH 03/25] finish input from text file --- external/Path/input | Bin 0 -> 35528 bytes external/Path/obj/b__input.adb | 246 +++++++++++++ external/Path/obj/b__input.ads | 449 ++++++++++++++++++++++++ external/Path/obj/b__input.ali | 282 +++++++++++++++ external/Path/obj/b__input.o | Bin 0 -> 16552 bytes external/Path/obj/gnatinspect.db | Bin 118784 -> 110592 bytes external/Path/obj/gnatinspect.db-shm | Bin 0 -> 32768 bytes external/Path/obj/gnatinspect.db-wal | 0 external/Path/obj/input.adb.stderr | 0 external/Path/obj/input.adb.stdout | 0 external/Path/obj/input.ali | 76 ++++ external/Path/obj/input.bexch | 22 ++ external/Path/obj/input.o | Bin 0 -> 3088 bytes external/Path/obj/pathfollowing-loc.xml | 186 +++++++++- external/Path/src/input.adb | 29 +- external/Path/src/split.adb | 47 +++ 16 files changed, 1324 insertions(+), 13 deletions(-) create mode 100755 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Source_File_Name (ada_main, Spec_File_Name => "b__input.ads"); +pragma Source_File_Name (ada_main, Body_File_Name => "b__input.adb"); +pragma Suppress (Overflow_Check); +with Ada.Exceptions; + +package body ada_main is + + E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); + E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); + E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); + E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); + E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); + E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); + E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); + E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); + E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); + E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); + E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); + E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); + E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); + E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); + E103 : Short_Integer; pragma Import (Ada, E103, "ada__tags_E"); + E101 : Short_Integer; pragma Import (Ada, E101, "ada__streams_E"); + E115 : Short_Integer; pragma Import (Ada, E115, "system__file_control_block_E"); + E114 : Short_Integer; pragma Import (Ada, E114, "system__finalization_root_E"); + E112 : Short_Integer; pragma Import (Ada, E112, "ada__finalization_E"); + E111 : Short_Integer; pragma Import (Ada, E111, "system__file_io_E"); + E099 : Short_Integer; pragma Import (Ada, E099, "ada__text_io_E"); + + Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); + + Local_Priority_Specific_Dispatching : constant String := ""; + Local_Interrupt_States : constant String := ""; + + Is_Elaborated : Boolean := False; + + procedure finalize_library is + begin + E099 := E099 - 1; + declare + procedure F1; + pragma Import (Ada, F1, "ada__text_io__finalize_spec"); + begin + F1; + end; + declare + procedure F2; + pragma Import (Ada, F2, "system__file_io__finalize_body"); + begin + E111 := E111 - 1; + F2; + end; + declare + procedure Reraise_Library_Exception_If_Any; + pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); + begin + Reraise_Library_Exception_If_Any; + end; + end finalize_library; + + procedure adafinal is + procedure s_stalib_adafinal; + pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); + + procedure Runtime_Finalize; + pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); + + begin + if not Is_Elaborated then + return; + end if; + Is_Elaborated := False; + Runtime_Finalize; + s_stalib_adafinal; + end adafinal; + + type No_Param_Proc is access procedure; + + procedure adainit is + Main_Priority : Integer; + pragma Import (C, Main_Priority, "__gl_main_priority"); + Time_Slice_Value : Integer; + pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); + WC_Encoding : Character; + pragma Import (C, WC_Encoding, "__gl_wc_encoding"); + Locking_Policy : Character; + pragma Import (C, Locking_Policy, "__gl_locking_policy"); + Queuing_Policy : Character; + pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); + Task_Dispatching_Policy : Character; + pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); + Priority_Specific_Dispatching : System.Address; + pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); + Num_Specific_Dispatching : Integer; + pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); + Main_CPU : Integer; + pragma Import (C, Main_CPU, "__gl_main_cpu"); + Interrupt_States : System.Address; + pragma Import (C, Interrupt_States, "__gl_interrupt_states"); + Num_Interrupt_States : Integer; + pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); + Unreserve_All_Interrupts : Integer; + pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); + Detect_Blocking : Integer; + pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); + Default_Stack_Size : Integer; + pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); + Default_Secondary_Stack_Size : System.Parameters.Size_Type; + pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); + Leap_Seconds_Support : Integer; + pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); + Bind_Env_Addr : System.Address; + pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); + + procedure Runtime_Initialize (Install_Handler : Integer); + pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); + + Finalize_Library_Objects : No_Param_Proc; + pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); + Binder_Sec_Stacks_Count : Natural; + pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); + Default_Sized_SS_Pool : System.Address; + pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); + + begin + if Is_Elaborated then + return; + end if; + Is_Elaborated := True; + Main_Priority := -1; + Time_Slice_Value := -1; + WC_Encoding := 'b'; + Locking_Policy := ' '; + Queuing_Policy := ' '; + Task_Dispatching_Policy := ' '; + Priority_Specific_Dispatching := + Local_Priority_Specific_Dispatching'Address; + Num_Specific_Dispatching := 0; + Main_CPU := -1; + Interrupt_States := Local_Interrupt_States'Address; + Num_Interrupt_States := 0; + Unreserve_All_Interrupts := 0; + Detect_Blocking := 0; + Default_Stack_Size := -1; + Leap_Seconds_Support := 0; + + ada_main'Elab_Body; + Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; + Binder_Sec_Stacks_Count := 1; + Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; + + Runtime_Initialize (1); + + Finalize_Library_Objects := finalize_library'access; + + System.Soft_Links'Elab_Spec; + System.Exception_Table'Elab_Body; + E025 := E025 + 1; + Ada.Io_Exceptions'Elab_Spec; + E070 := E070 + 1; + Ada.Strings'Elab_Spec; + E055 := E055 + 1; + Ada.Containers'Elab_Spec; + E040 := E040 + 1; + System.Exceptions'Elab_Spec; + E027 := E027 + 1; + System.Os_Lib'Elab_Body; + E075 := E075 + 1; + Ada.Strings.Maps'Elab_Spec; + Ada.Strings.Maps.Constants'Elab_Spec; + E061 := E061 + 1; + Interfaces.C'Elab_Spec; + System.Soft_Links.Initialize'Elab_Body; + E021 := E021 + 1; + E013 := E013 + 1; + E057 := E057 + 1; + E045 := E045 + 1; + System.Object_Reader'Elab_Spec; + System.Dwarf_Lines'Elab_Spec; + E050 := E050 + 1; + System.Traceback.Symbolic'Elab_Body; + E039 := E039 + 1; + E081 := E081 + 1; + Ada.Tags'Elab_Spec; + Ada.Tags'Elab_Body; + E103 := E103 + 1; + Ada.Streams'Elab_Spec; + E101 := E101 + 1; + System.File_Control_Block'Elab_Spec; + E115 := E115 + 1; + System.Finalization_Root'Elab_Spec; + E114 := E114 + 1; + Ada.Finalization'Elab_Spec; + E112 := E112 + 1; + System.File_Io'Elab_Body; + E111 := E111 + 1; + Ada.Text_Io'Elab_Spec; + Ada.Text_Io'Elab_Body; + E099 := E099 + 1; + end adainit; + + procedure Ada_Main_Program; + pragma Import (Ada, Ada_Main_Program, "_ada_input"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer + is + procedure Initialize (Addr : System.Address); + pragma Import (C, Initialize, "__gnat_initialize"); + + procedure Finalize; + pragma Import (C, Finalize, "__gnat_finalize"); + SEH : aliased array (1 .. 2) of Integer; + + Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; + pragma Volatile (Ensure_Reference); + + begin + gnat_argc := argc; + gnat_argv := argv; + gnat_envp := envp; + + Initialize (SEH'Address); + adainit; + Ada_Main_Program; + adafinal; + Finalize; + return (gnat_exit_status); + end; + +-- BEGIN Object file/option list + -- /home/kingmoon/Downloads/EESPro/Path/obj/input.o + -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ + -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ + -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ + -- -shared + -- -lgnat-9 + -- -ldl +-- END Object file/option list + +end ada_main; diff --git a/external/Path/obj/b__input.ads b/external/Path/obj/b__input.ads new file mode 100644 index 0000000..e218864 --- /dev/null +++ b/external/Path/obj/b__input.ads @@ -0,0 +1,449 @@ +pragma Warnings (Off); +pragma Ada_95; +with System; +with System.Parameters; +with System.Secondary_Stack; +package ada_main is + + gnat_argc : Integer; + gnat_argv : System.Address; + gnat_envp : System.Address; + + pragma Import (C, gnat_argc); + pragma Import (C, gnat_argv); + pragma Import (C, gnat_envp); + + gnat_exit_status : Integer; + pragma Import (C, gnat_exit_status); + + GNAT_Version : constant String := + "GNAT Version: 9.3.0" & ASCII.NUL; + pragma Export (C, GNAT_Version, "__gnat_version"); + + Ada_Main_Program_Name : constant String := "_ada_input" & ASCII.NUL; + pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); + + procedure adainit; + pragma Export (C, adainit, "adainit"); + + procedure adafinal; + pragma Export (C, adafinal, "adafinal"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer; + pragma Export (C, main, "main"); + + type Version_32 is mod 2 ** 32; + u00001 : constant Version_32 := 16#7a2ddb15#; + pragma Export (C, u00001, "inputB"); + u00002 : constant Version_32 := 16#050ff2f0#; + pragma Export (C, u00002, "system__standard_libraryB"); + u00003 : constant Version_32 := 16#4113f22b#; + pragma Export (C, u00003, "system__standard_libraryS"); + u00004 : constant Version_32 := 16#76789da1#; + pragma Export (C, u00004, "adaS"); + u00005 : constant Version_32 := 16#f64b89a4#; + pragma Export (C, u00005, "ada__integer_text_ioB"); + u00006 : constant Version_32 := 16#082ea75f#; + pragma Export (C, u00006, "ada__integer_text_ioS"); + u00007 : constant Version_32 := 16#9762c9f2#; + pragma Export (C, u00007, "ada__exceptionsB"); + u00008 : constant Version_32 := 16#585ef86b#; + pragma Export (C, u00008, "ada__exceptionsS"); + u00009 : constant Version_32 := 16#5726abed#; + pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); + u00010 : constant Version_32 := 16#41e5552e#; + pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); + u00011 : constant Version_32 := 16#4635ec04#; + pragma Export (C, u00011, "systemS"); + u00012 : constant Version_32 := 16#ae860117#; + pragma Export (C, u00012, "system__soft_linksB"); + u00013 : constant Version_32 := 16#0336e7b2#; + pragma Export (C, u00013, "system__soft_linksS"); + u00014 : constant Version_32 := 16#f32b4133#; + pragma Export (C, u00014, "system__secondary_stackB"); + u00015 : constant Version_32 := 16#03a1141d#; + pragma Export (C, u00015, "system__secondary_stackS"); + u00016 : constant Version_32 := 16#86dbf443#; + pragma Export (C, u00016, "system__parametersB"); + u00017 : constant Version_32 := 16#0ed9b82f#; + pragma Export (C, u00017, "system__parametersS"); + u00018 : constant Version_32 := 16#ced09590#; + pragma Export (C, u00018, "system__storage_elementsB"); + u00019 : constant Version_32 := 16#6bf6a600#; + pragma Export (C, u00019, "system__storage_elementsS"); + u00020 : constant Version_32 := 16#75bf515c#; + pragma Export (C, u00020, "system__soft_links__initializeB"); + u00021 : constant Version_32 := 16#5697fc2b#; + pragma Export (C, u00021, "system__soft_links__initializeS"); + u00022 : constant Version_32 := 16#41837d1e#; + pragma Export (C, u00022, "system__stack_checkingB"); + u00023 : constant Version_32 := 16#c88a87ec#; + pragma Export (C, u00023, "system__stack_checkingS"); + u00024 : constant Version_32 := 16#34742901#; + pragma Export (C, u00024, "system__exception_tableB"); + u00025 : constant Version_32 := 16#1b9b8546#; + pragma Export (C, u00025, "system__exception_tableS"); + u00026 : constant Version_32 := 16#ce4af020#; + pragma Export (C, u00026, "system__exceptionsB"); + u00027 : constant Version_32 := 16#2e5681f2#; + pragma Export (C, u00027, "system__exceptionsS"); + u00028 : constant Version_32 := 16#69416224#; + pragma Export (C, u00028, "system__exceptions__machineB"); + u00029 : constant Version_32 := 16#d27d9682#; + pragma Export (C, u00029, "system__exceptions__machineS"); + u00030 : constant Version_32 := 16#aa0563fc#; + pragma Export (C, u00030, "system__exceptions_debugB"); + u00031 : constant Version_32 := 16#38bf15c0#; + pragma Export (C, u00031, "system__exceptions_debugS"); + u00032 : constant Version_32 := 16#6c2f8802#; + pragma Export (C, u00032, "system__img_intB"); + u00033 : constant Version_32 := 16#44ee0cc6#; + pragma Export (C, u00033, "system__img_intS"); + u00034 : constant Version_32 := 16#39df8c17#; + pragma Export (C, u00034, "system__tracebackB"); + u00035 : constant Version_32 := 16#181732c0#; + pragma Export (C, u00035, "system__tracebackS"); + u00036 : constant Version_32 := 16#9ed49525#; + pragma Export (C, u00036, "system__traceback_entriesB"); + u00037 : constant Version_32 := 16#466e1a74#; + pragma Export (C, u00037, "system__traceback_entriesS"); + u00038 : constant Version_32 := 16#448e9548#; + pragma Export (C, u00038, "system__traceback__symbolicB"); + u00039 : constant Version_32 := 16#c84061d1#; + pragma Export (C, u00039, "system__traceback__symbolicS"); + u00040 : constant Version_32 := 16#179d7d28#; + pragma Export (C, u00040, "ada__containersS"); + u00041 : constant Version_32 := 16#701f9d88#; + pragma Export (C, u00041, "ada__exceptions__tracebackB"); + u00042 : constant Version_32 := 16#20245e75#; + pragma Export (C, u00042, "ada__exceptions__tracebackS"); + u00043 : constant Version_32 := 16#5ab55268#; + pragma Export (C, u00043, "interfacesS"); + u00044 : constant Version_32 := 16#769e25e6#; + pragma Export (C, u00044, "interfaces__cB"); + u00045 : constant Version_32 := 16#467817d8#; + pragma Export (C, u00045, "interfaces__cS"); + u00046 : constant Version_32 := 16#e865e681#; + pragma Export (C, u00046, "system__bounded_stringsB"); + u00047 : constant Version_32 := 16#31c8cd1d#; + pragma Export (C, u00047, "system__bounded_stringsS"); + u00048 : constant Version_32 := 16#0062635e#; + pragma Export (C, u00048, "system__crtlS"); + u00049 : constant Version_32 := 16#bba79bcb#; + pragma Export (C, u00049, "system__dwarf_linesB"); + u00050 : constant Version_32 := 16#9a78d181#; + pragma Export (C, u00050, "system__dwarf_linesS"); + u00051 : constant Version_32 := 16#5b4659fa#; + pragma Export (C, u00051, "ada__charactersS"); + u00052 : constant Version_32 := 16#8f637df8#; + pragma Export (C, u00052, "ada__characters__handlingB"); + u00053 : constant Version_32 := 16#3b3f6154#; + pragma Export (C, u00053, "ada__characters__handlingS"); + u00054 : constant Version_32 := 16#4b7bb96a#; + pragma Export (C, u00054, "ada__characters__latin_1S"); + u00055 : constant Version_32 := 16#e6d4fa36#; + pragma Export (C, u00055, "ada__stringsS"); + u00056 : constant Version_32 := 16#96df1a3f#; + pragma Export (C, u00056, "ada__strings__mapsB"); + u00057 : constant Version_32 := 16#1e526bec#; + pragma Export (C, u00057, "ada__strings__mapsS"); + u00058 : constant Version_32 := 16#d68fb8f1#; + pragma Export (C, u00058, "system__bit_opsB"); + u00059 : constant Version_32 := 16#0765e3a3#; + pragma Export (C, u00059, "system__bit_opsS"); + u00060 : constant Version_32 := 16#72b39087#; + pragma Export (C, u00060, "system__unsigned_typesS"); + u00061 : constant Version_32 := 16#92f05f13#; + pragma Export (C, u00061, "ada__strings__maps__constantsS"); + u00062 : constant Version_32 := 16#a0d3d22b#; + pragma Export (C, u00062, "system__address_imageB"); + u00063 : constant Version_32 := 16#e7d9713e#; + pragma Export (C, u00063, "system__address_imageS"); + u00064 : constant Version_32 := 16#ec78c2bf#; + pragma Export (C, u00064, "system__img_unsB"); + u00065 : constant Version_32 := 16#ed47ac70#; + pragma Export (C, u00065, "system__img_unsS"); + u00066 : constant Version_32 := 16#d7aac20c#; + pragma Export (C, u00066, "system__ioB"); + u00067 : constant Version_32 := 16#d8771b4b#; + pragma Export (C, u00067, "system__ioS"); + u00068 : constant Version_32 := 16#f790d1ef#; + pragma Export (C, u00068, "system__mmapB"); + u00069 : constant Version_32 := 16#7c445363#; + pragma Export (C, u00069, "system__mmapS"); + u00070 : constant Version_32 := 16#92d882c5#; + pragma Export (C, u00070, "ada__io_exceptionsS"); + u00071 : constant Version_32 := 16#0cdaa54a#; + pragma Export (C, u00071, "system__mmap__os_interfaceB"); + u00072 : constant Version_32 := 16#82f29877#; + pragma Export (C, u00072, "system__mmap__os_interfaceS"); + u00073 : constant Version_32 := 16#834dfe5e#; + pragma Export (C, u00073, "system__mmap__unixS"); + u00074 : constant Version_32 := 16#fa90b46b#; + pragma Export (C, u00074, "system__os_libB"); + u00075 : constant Version_32 := 16#4542b55d#; + pragma Export (C, u00075, "system__os_libS"); + u00076 : constant Version_32 := 16#ec4d5631#; + pragma Export (C, u00076, "system__case_utilB"); + u00077 : constant Version_32 := 16#79e05a50#; + pragma Export (C, u00077, "system__case_utilS"); + u00078 : constant Version_32 := 16#2a8e89ad#; + pragma Export (C, u00078, "system__stringsB"); + u00079 : constant Version_32 := 16#2623c091#; + pragma Export (C, u00079, "system__stringsS"); + u00080 : constant Version_32 := 16#5a3f5337#; + pragma Export (C, u00080, "system__object_readerB"); + u00081 : constant Version_32 := 16#82413105#; + pragma Export (C, u00081, "system__object_readerS"); + u00082 : constant Version_32 := 16#1a74a354#; + pragma Export (C, u00082, "system__val_lliB"); + u00083 : constant Version_32 := 16#dc110aa4#; + pragma Export (C, u00083, "system__val_lliS"); + u00084 : constant Version_32 := 16#afdbf393#; + pragma Export (C, u00084, "system__val_lluB"); + u00085 : constant Version_32 := 16#0841c7f5#; + pragma Export (C, u00085, "system__val_lluS"); + u00086 : constant Version_32 := 16#269742a9#; + pragma Export (C, u00086, "system__val_utilB"); + u00087 : constant Version_32 := 16#ea955afa#; + pragma Export (C, u00087, "system__val_utilS"); + u00088 : constant Version_32 := 16#d7bf3f29#; + pragma Export (C, u00088, "system__exception_tracesB"); + u00089 : constant Version_32 := 16#62eacc9e#; + pragma Export (C, u00089, "system__exception_tracesS"); + u00090 : constant Version_32 := 16#8c33a517#; + pragma Export (C, u00090, "system__wch_conB"); + u00091 : constant Version_32 := 16#5d48ced6#; + pragma Export (C, u00091, "system__wch_conS"); + u00092 : constant Version_32 := 16#9721e840#; + pragma Export (C, u00092, "system__wch_stwB"); + u00093 : constant Version_32 := 16#7059e2d7#; + pragma Export (C, u00093, "system__wch_stwS"); + u00094 : constant Version_32 := 16#a831679c#; + pragma Export (C, u00094, "system__wch_cnvB"); + u00095 : constant Version_32 := 16#52ff7425#; + pragma Export (C, u00095, "system__wch_cnvS"); + u00096 : constant Version_32 := 16#ece6fdb6#; + pragma Export (C, u00096, "system__wch_jisB"); + u00097 : constant Version_32 := 16#d28f6d04#; + pragma Export (C, u00097, "system__wch_jisS"); + u00098 : constant Version_32 := 16#927a893f#; + pragma Export (C, u00098, "ada__text_ioB"); + u00099 : constant Version_32 := 16#5194351e#; + pragma Export (C, u00099, "ada__text_ioS"); + u00100 : constant Version_32 := 16#10558b11#; + pragma Export (C, u00100, "ada__streamsB"); + u00101 : constant Version_32 := 16#67e31212#; + pragma Export (C, u00101, "ada__streamsS"); + u00102 : constant Version_32 := 16#d398a95f#; + pragma Export (C, u00102, "ada__tagsB"); + u00103 : constant Version_32 := 16#12a0afb8#; + pragma Export (C, u00103, "ada__tagsS"); + u00104 : constant Version_32 := 16#796f31f1#; + pragma Export (C, u00104, "system__htableB"); + u00105 : constant Version_32 := 16#c2f75fee#; + pragma Export (C, u00105, "system__htableS"); + u00106 : constant Version_32 := 16#089f5cd0#; + pragma Export (C, u00106, "system__string_hashB"); + u00107 : constant Version_32 := 16#60a93490#; + pragma Export (C, u00107, "system__string_hashS"); + u00108 : constant Version_32 := 16#73d2d764#; + pragma Export (C, u00108, "interfaces__c_streamsB"); + u00109 : constant Version_32 := 16#b1330297#; + pragma Export (C, u00109, "interfaces__c_streamsS"); + u00110 : constant Version_32 := 16#71ac0ba7#; + pragma Export (C, u00110, "system__file_ioB"); + u00111 : constant Version_32 := 16#e1440d61#; + pragma Export (C, u00111, "system__file_ioS"); + u00112 : constant Version_32 := 16#86c56e5a#; + pragma Export (C, u00112, "ada__finalizationS"); + u00113 : constant Version_32 := 16#95817ed8#; + pragma Export (C, u00113, "system__finalization_rootB"); + u00114 : constant Version_32 := 16#09c79f94#; + pragma Export (C, u00114, "system__finalization_rootS"); + u00115 : constant Version_32 := 16#bbaa76ac#; + pragma Export (C, u00115, "system__file_control_blockS"); + u00116 : constant Version_32 := 16#f6fdca1c#; + pragma Export (C, u00116, "ada__text_io__integer_auxB"); + u00117 : constant Version_32 := 16#09097bbe#; + pragma Export (C, u00117, "ada__text_io__integer_auxS"); + u00118 : constant Version_32 := 16#181dc502#; + pragma Export (C, u00118, "ada__text_io__generic_auxB"); + u00119 : constant Version_32 := 16#16b3615d#; + pragma Export (C, u00119, "ada__text_io__generic_auxS"); + u00120 : constant Version_32 := 16#b10ba0c7#; + pragma Export (C, u00120, "system__img_biuB"); + u00121 : constant Version_32 := 16#b49118ca#; + pragma Export (C, u00121, "system__img_biuS"); + u00122 : constant Version_32 := 16#4e06ab0c#; + pragma Export (C, u00122, "system__img_llbB"); + u00123 : constant Version_32 := 16#f5560834#; + pragma Export (C, u00123, "system__img_llbS"); + u00124 : constant Version_32 := 16#9dca6636#; + pragma Export (C, u00124, "system__img_lliB"); + u00125 : constant Version_32 := 16#577ab9d5#; + pragma Export (C, u00125, "system__img_lliS"); + u00126 : constant Version_32 := 16#a756d097#; + pragma Export (C, u00126, "system__img_llwB"); + u00127 : constant Version_32 := 16#5c3a2ba2#; + pragma Export (C, u00127, "system__img_llwS"); + u00128 : constant Version_32 := 16#eb55dfbb#; + pragma Export (C, u00128, "system__img_wiuB"); + u00129 : constant Version_32 := 16#dad09f58#; + pragma Export (C, u00129, "system__img_wiuS"); + u00130 : constant Version_32 := 16#d763507a#; + pragma Export (C, u00130, "system__val_intB"); + u00131 : constant Version_32 := 16#0e90c63b#; + pragma Export (C, u00131, "system__val_intS"); + u00132 : constant Version_32 := 16#1d9142a4#; + pragma Export (C, u00132, "system__val_unsB"); + u00133 : constant Version_32 := 16#621b7dbc#; + pragma Export (C, u00133, "system__val_unsS"); + u00134 : constant Version_32 := 16#2323a8af#; + pragma Export (C, u00134, "system__memoryB"); + u00135 : constant Version_32 := 16#1f488a30#; + pragma Export (C, u00135, "system__memoryS"); + + -- BEGIN ELABORATION ORDER + -- ada%s + -- ada.characters%s + -- ada.characters.latin_1%s + -- interfaces%s + -- system%s + -- system.img_int%s + -- system.img_int%b + -- system.img_lli%s + -- system.img_lli%b + -- system.io%s + -- system.io%b + -- system.parameters%s + -- system.parameters%b + -- system.crtl%s + -- interfaces.c_streams%s + -- interfaces.c_streams%b + -- system.storage_elements%s + -- system.storage_elements%b + -- system.stack_checking%s + -- system.stack_checking%b + -- system.string_hash%s + -- system.string_hash%b + -- system.htable%s + -- system.htable%b + -- system.strings%s + -- system.strings%b + -- system.traceback_entries%s + -- system.traceback_entries%b + -- system.unsigned_types%s + -- system.img_biu%s + -- system.img_biu%b + -- system.img_llb%s + -- system.img_llb%b + -- system.img_llw%s + -- system.img_llw%b + -- system.img_uns%s + -- system.img_uns%b + -- system.img_wiu%s + -- system.img_wiu%b + -- system.wch_con%s + -- system.wch_con%b + -- system.wch_jis%s + -- system.wch_jis%b + -- system.wch_cnv%s + -- system.wch_cnv%b + -- system.traceback%s + -- system.traceback%b + -- system.case_util%s + -- system.standard_library%s + -- system.exception_traces%s + -- ada.exceptions%s + -- system.wch_stw%s + -- system.val_util%s + -- system.val_llu%s + -- system.val_lli%s + -- system.os_lib%s + -- system.bit_ops%s + -- ada.characters.handling%s + -- ada.exceptions.traceback%s + -- system.secondary_stack%s + -- system.case_util%b + -- system.address_image%s + -- system.bounded_strings%s + -- system.soft_links%s + -- system.exception_table%s + -- system.exception_table%b + -- ada.io_exceptions%s + -- ada.strings%s + -- ada.containers%s + -- system.exceptions%s + -- system.exceptions%b + -- ada.exceptions.last_chance_handler%s + -- system.exceptions_debug%s + -- system.exceptions_debug%b + -- system.exception_traces%b + -- system.memory%s + -- system.memory%b + -- system.wch_stw%b + -- system.val_util%b + -- system.val_llu%b + -- system.val_lli%b + -- system.os_lib%b + -- system.bit_ops%b + -- ada.strings.maps%s + -- ada.strings.maps.constants%s + -- ada.characters.handling%b + -- interfaces.c%s + -- ada.exceptions.traceback%b + -- system.exceptions.machine%s + -- system.exceptions.machine%b + -- system.secondary_stack%b + -- system.address_image%b + -- system.bounded_strings%b + -- system.soft_links.initialize%s + -- system.soft_links.initialize%b + -- system.soft_links%b + -- ada.exceptions.last_chance_handler%b + -- system.standard_library%b + -- system.mmap%s + -- ada.strings.maps%b + -- interfaces.c%b + -- system.object_reader%s + -- system.dwarf_lines%s + -- system.dwarf_lines%b + -- system.mmap.unix%s + -- system.mmap.os_interface%s + -- system.mmap%b + -- system.traceback.symbolic%s + -- system.traceback.symbolic%b + -- ada.exceptions%b + -- system.object_reader%b + -- system.mmap.os_interface%b + -- ada.tags%s + -- ada.tags%b + -- ada.streams%s + -- ada.streams%b + -- system.file_control_block%s + -- system.finalization_root%s + -- system.finalization_root%b + -- ada.finalization%s + -- system.file_io%s + -- system.file_io%b + -- system.val_uns%s + -- system.val_uns%b + -- system.val_int%s + -- system.val_int%b + -- ada.text_io%s + -- ada.text_io%b + -- ada.text_io.generic_aux%s + -- ada.text_io.generic_aux%b + -- ada.text_io.integer_aux%s + -- ada.text_io.integer_aux%b + -- ada.integer_text_io%s + -- ada.integer_text_io%b + -- input%b + -- END ELABORATION ORDER + +end ada_main; diff --git a/external/Path/obj/b__input.ali b/external/Path/obj/b__input.ali new file mode 100644 index 0000000..e7435fe --- /dev/null +++ b/external/Path/obj/b__input.ali @@ -0,0 +1,282 @@ +V "GNAT Lib v9" +A -gnatA +A -gnatA +A -gnatWb +A -gnatiw +A -gnatws +A -mtune=generic +A -march=x86-64 +P ZX + +RN +RV NO_ACCESS_SUBPROGRAMS +RV NO_DEFAULT_INITIALIZATION +RV NO_IMPLEMENTATION_ATTRIBUTES +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV NO_ELABORATION_CODE +RV NO_OBSOLESCENT_FEATURES +RV SPARK_05 + +U ada_main%b b__input.adb ba564836 OO PK IL +W ada%s ada.ads ada.ali +W ada.exceptions%s a-except.adb a-except.ali +Z system%s system.ads system.ali + +U ada_main%s b__input.ads 08552644 EE NE OO PK IL +W system%s system.ads system.ali +W system.parameters%s s-parame.adb s-parame.ali +W system.secondary_stack%s s-secsta.adb s-secsta.ali + +D ada.ads 20200312110721 76789da1 ada%s +D a-except.ads 20200312110721 291912d5 ada.exceptions%s +D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s +D b__input.ads 20200622171648 2637785d ada_main%s +D b__input.adb 20200622171648 b57822be ada_main%b +D system.ads 20200312110721 4635ec04 system%s +D s-parame.ads 20200312110721 48ec542b system.parameters%s +D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s +D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s +D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +X 1 ada.ads +16K9*Ada 20e8 5|6r6 +X 2 a-except.ads +54K13*Exceptions 349e19 5|6w10 +X 4 b__input.ads +6K9*ada_main 449l5 449e13 5|8b14 246l5 246t13 +8i4*gnat_argc{integer} 12m22 12r22 5|224m7 +9m4*gnat_argv{6|67M9} 13m22 13r22 5|225m7 +10m4*gnat_envp{6|67M9} 14m22 14r22 5|226m7 +16i4*gnat_exit_status{integer} 17m22 17r22 5|233r15 +19a4*GNAT_Version{string} 21r22 +23a4*Ada_Main_Program_Name{string} 24r22 5|220r52 +26U14*adainit 27i22 5|81b14 202l8 202t15 229s7 +29U14*adafinal 30i22 5|63b14 77l8 77t16 231s7 +32V13*main{integer} 33>7 34>7 35>7 37i22 5|207b13 234t7 +33i7 argc{integer} 5|208b7 224r20 +34m7 argv{6|67M9} 5|209b7 225r20 +35m7 envp{6|67M9} 5|210b7 226r20 +39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 +. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 +. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 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185r15 +22i4 E050{short_integer} 22m46 22r46 182m7 182r15 +23i4 E039{short_integer} 23m46 23r46 184m7 184r15 +24i4 E103{short_integer} 24m46 24r46 188m7 188r15 +25i4 E101{short_integer} 25m46 25r46 190m7 190r15 +26i4 E115{short_integer} 26m46 26r46 192m7 192r15 +27i4 E114{short_integer} 27m46 27r46 194m7 194r15 +28i4 E112{short_integer} 28m46 28r46 196m7 196r15 +29i4 E111{short_integer} 29m46 29r46 52m10 52r18 198m7 198r15 +30i4 E099{short_integer} 30m46 30r46 41m7 41r15 201m7 201r15 +32a4 Sec_Default_Sized_Stacks(8|45R9) 152m32 152r32 +34a4 Local_Priority_Specific_Dispatching{string} 139r9 +35a4 Local_Interrupt_States{string} 142r27 +37b4 Is_Elaborated{boolean} 71r14 74m7 128r10 131m7 +39U14 finalize_library 39b14 61l8 61t24 156r35 +43U20*F1 44b30 46s10 +49U20*F2 50b30 53s10 +56U20*Reraise_Library_Exception_If_Any 57b33 +. 59s10 +64U17*s_stalib_adafinal 65b25 76s7 +67U17*Runtime_Finalize 68b25 75s7 +79P9 No_Param_Proc 120r34 +82i7*Main_Priority{integer} 83m25 83r25 132m7 +84i7*Time_Slice_Value{integer} 85m25 85r25 133m7 +86e7*WC_Encoding{character} 87m25 87r25 134m7 +88e7*Locking_Policy{character} 89m25 89r25 135m7 +90e7*Queuing_Policy{character} 91m25 91r25 136m7 +92e7*Task_Dispatching_Policy{character} 93m25 93r25 137m7 +94m7*Priority_Specific_Dispatching{6|67M9} 95m25 95r25 138m7 +96i7*Num_Specific_Dispatching{integer} 97m25 97r25 140m7 +98i7*Main_CPU{integer} 99m25 99r25 141m7 +100m7*Interrupt_States{6|67M9} 101m25 101r25 142m7 +102i7*Num_Interrupt_States{integer} 103m25 103r25 143m7 +104i7*Unreserve_All_Interrupts{integer} 105m25 105r25 144m7 +106i7*Detect_Blocking{integer} 107m25 107r25 145m7 +108i7*Default_Stack_Size{integer} 109m25 109r25 146m7 +110i7*Default_Secondary_Stack_Size{7|58I9} 111m25 111r25 150m7 +112i7*Leap_Seconds_Support{integer} 113m25 113r25 147m7 +114m7*Bind_Env_Addr{6|67M9} 115m25 115r25 +117U17*Runtime_Initialize 117>37 118b25 154s7 +117i37 Install_Handler{integer} +120p7*Finalize_Library_Objects{79P9} 121m25 121r25 156m7 +122i7*Binder_Sec_Stacks_Count{natural} 123m27 123r27 151m7 +124m7*Default_Sized_SS_Pool{6|67M9} 125m27 125r27 152m7 +204U14 Ada_Main_Program 205b24 230s7 +213U17*Initialize 213>29 214b25 228s7 +213m29 Addr{6|67M9} +216U17*Finalize 217b25 232s7 +218a7 SEH(integer) 228m19 228r19 +220m7 Ensure_Reference{6|67M9} 221r24 +X 6 system.ads +37K9*System 4|3w6 4r6 5r6 9r16 10r16 34r14 35r14 5|32r57 32r90 94r39 100r26 +. 110r38 114r23 124r31 150r39 209r14 210r14 213r36 220r34 6|156e11 +67M9*Address 4|9r23 10r23 34r21 35r21 5|94r46 100r33 114r30 124r38 209r21 +. 210r21 213r43 220r41 +X 7 s-parame.ads +51K16*Parameters 4|4w13 5|32r97 110r45 150r46 7|198e22 +58I9*Size_Type 5|110r56 +95i4*Runtime_Default_Sec_Stack_Size{58I9} 5|32r108 150r57 +X 8 s-secsta.ads +37K16*Secondary_Stack 4|5w13 5|32r64 8|430e27 +45R9*SS_Stack 5|32r80 8|330e14 + diff --git a/external/Path/obj/b__input.o b/external/Path/obj/b__input.o new file mode 100644 index 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/home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb + + + /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr + /home/kingmoon/Downloads/EESPro/Path/src/input.adb diff --git a/external/Path/src/input.adb b/external/Path/src/input.adb index 8f8cbfe..bfebe28 100644 --- a/external/Path/src/input.adb +++ b/external/Path/src/input.adb @@ -1,18 +1,27 @@ with Ada.Text_IO; use Ada.Text_IO; +with Ada.Integer_Text_IO; use Ada.Integer_Text_IO; procedure input is Input_File : File_Type; - value : Character; -begin + value : Integer; + rangeIndex : Integer := 0 ; + I : Integer :=0; + --type imageValue is range 0 .. 255; + type pixelMatrix is array (0 .. 9999) of Integer; + wholeImage : pixelMatrix; + --procedure textOpen is + begin - Ada.Text_IO.Open (File => Input_File, Mode => Ada.Text_IO.In_File, Name => "dummy_image_curve.txt"); - - while not End_OF_File (Input_File) loop - Ada.Text_IO.Get (File => Input_File, Item => value); - Ada.Text_IO.Put (Item => value); - Ada.Text_IO.New_Line; - end loop; - Ada.Text_IO.Close (File => Input_File); + Open (File => Input_File, Mode => Ada.Text_IO.In_File, Name => "dummy_image_curve.txt"); + while not End_OF_File (Input_File) loop + Get(File => Input_File, Item => value); + wholeImage(I) := value; + Put (Integer'Image(wholeImage(I))); + I := I + 1; + New_Line; + end loop; + Close (File => Input_File); + Put (I); end input; diff --git a/external/Path/src/split.adb b/external/Path/src/split.adb new file mode 100644 index 0000000..cd866ad --- /dev/null +++ b/external/Path/src/split.adb @@ -0,0 +1,47 @@ +with Ada.Text_IO; use Ada.Text_IO; +with Ada.Integer_Text_IO; use Ada.Integer_Text_IO; + +procedure split is + type arrayLength is range 0 .. I; + type colorArray is array(arrayLength) of Integer; + + blue : colorArray; + green : colorArray; + red : colorArray; + gray : colorArray; + J : Integer := 0; + M : Integer := 1; + N : Integer := 2; + B : Integer := 0; + G : Integer := 0; + R : Integer := 0; + gr : Integer := 0; + procedure getGray is + + begin + + loop + exit when J < I; + blue(B) := wholeImage(J); + G := G + 1; + J := J + 4; + end loop; + + loop + exit when M < I; + green := wholeImage(M); + G := G + 1; + M := M + 4; + end loop; + + loop + exit when N < I; + red(R) := wholeImage(J); + R := R + 1; + N := N + 4; + end loop; + + while gr < G loop + gray(gr) := Integer(blue (gr))*114/1000 + Integer(green (gr)) *587/1000 + Integer(red (gr))*299/1000; + Put(Integer'Image(gray(gr))) + end loop; From 646ec37621c7860671f5e36e707d995a69f27d43 Mon Sep 17 00:00:00 2001 From: Yue Date: Wed, 24 Jun 2020 02:36:01 +0200 Subject: [PATCH 04/25] integrate basic path following but still questions --- external/Path/default.gpr | 6 - external/Path/dummy_image_curve.txt | 1 - external/Path/dummy_image_passingsection.txt | 1 - external/Path/dummy_image_pickup.txt | 1 - external/Path/dummy_image_straight.txt | 1 - external/Path/input | Bin 35528 -> 0 bytes external/Path/main | Bin 41136 -> 0 bytes external/Path/obj/b__input.adb | 246 --------- external/Path/obj/b__input.ads | 449 ---------------- external/Path/obj/b__input.ali | 282 ---------- external/Path/obj/b__input.o | Bin 16552 -> 0 bytes external/Path/obj/b__main.adb | 256 --------- external/Path/obj/b__main.ads | 497 ------------------ external/Path/obj/b__main.ali | 302 ----------- external/Path/obj/b__main.o | Bin 17936 -> 0 bytes external/Path/obj/default-loc.xml | 86 --- external/Path/obj/gnatinspect.db | Bin 110592 -> 0 bytes external/Path/obj/gnatinspect.db-shm | Bin 32768 -> 0 bytes external/Path/obj/gnatinspect.db-wal | 0 external/Path/obj/gpsauto.cgpr | 91 ---- external/Path/obj/input.adb.stderr | 0 external/Path/obj/input.adb.stdout | 0 external/Path/obj/input.ali | 76 --- external/Path/obj/input.bexch | 22 - external/Path/obj/input.o | Bin 3088 -> 0 bytes external/Path/obj/main | Bin 28208 -> 0 bytes external/Path/obj/main.adb.stderr | 0 external/Path/obj/main.adb.stdout | 0 external/Path/obj/main.ali | 147 ------ external/Path/obj/main.bexch | 22 - external/Path/obj/main.o | Bin 9544 -> 0 bytes external/Path/obj/pathfollowing-loc.xml | 194 ------- external/Path/pathfollowing.gpr | 12 - external/Path/src/Hello.adb | 10 - external/Path/src/input.adb | 27 - external/Path/src/split.adb | 47 -- .../src/Path/pathfollowing.adb} | 100 ++-- .../controller/src/Path/pathfollowing.ads | 26 + external/controller/src/main.adb | 18 +- .../build/release/webots_controller.d | 6 - .../build/release/webots_controller.exe | Bin 19456 -> 0 bytes .../build/release/webots_controller.o | Bin 2170 -> 0 bytes webots/worlds/.cabservice.wbproj | 15 +- webots/worlds/cabservice.wbt | 279 ++++++++-- 44 files changed, 309 insertions(+), 2911 deletions(-) delete mode 100644 external/Path/default.gpr delete mode 100644 external/Path/dummy_image_curve.txt delete mode 100644 external/Path/dummy_image_passingsection.txt delete mode 100644 external/Path/dummy_image_pickup.txt delete mode 100644 external/Path/dummy_image_straight.txt delete mode 100755 external/Path/input delete mode 100755 external/Path/main delete mode 100644 external/Path/obj/b__input.adb delete mode 100644 external/Path/obj/b__input.ads delete mode 100644 external/Path/obj/b__input.ali delete mode 100644 external/Path/obj/b__input.o delete mode 100644 external/Path/obj/b__main.adb delete mode 100644 external/Path/obj/b__main.ads delete mode 100644 external/Path/obj/b__main.ali delete mode 100644 external/Path/obj/b__main.o delete mode 100644 external/Path/obj/default-loc.xml delete mode 100644 external/Path/obj/gnatinspect.db delete mode 100644 external/Path/obj/gnatinspect.db-shm delete mode 100644 external/Path/obj/gnatinspect.db-wal delete mode 100644 external/Path/obj/gpsauto.cgpr delete mode 100644 external/Path/obj/input.adb.stderr delete mode 100644 external/Path/obj/input.adb.stdout delete mode 100644 external/Path/obj/input.ali delete mode 100644 external/Path/obj/input.bexch delete mode 100644 external/Path/obj/input.o delete mode 100755 external/Path/obj/main delete mode 100644 external/Path/obj/main.adb.stderr delete mode 100644 external/Path/obj/main.adb.stdout delete mode 100644 external/Path/obj/main.ali delete mode 100644 external/Path/obj/main.bexch delete mode 100644 external/Path/obj/main.o delete mode 100644 external/Path/obj/pathfollowing-loc.xml delete mode 100644 external/Path/pathfollowing.gpr delete mode 100644 external/Path/src/Hello.adb delete mode 100644 external/Path/src/input.adb delete mode 100644 external/Path/src/split.adb rename external/{Path/src/main.adb => controller/src/Path/pathfollowing.adb} (71%) create mode 100644 external/controller/src/Path/pathfollowing.ads delete mode 100644 webots/controllers/webots_controller/build/release/webots_controller.d delete mode 100644 webots/controllers/webots_controller/build/release/webots_controller.exe delete mode 100644 webots/controllers/webots_controller/build/release/webots_controller.o diff --git a/external/Path/default.gpr b/external/Path/default.gpr deleted file mode 100644 index 7efdbde..0000000 --- a/external/Path/default.gpr +++ /dev/null @@ -1,6 +0,0 @@ -project Default is - for Languages use ("Ada"); - for Source_Dirs use ("src"); - for Object_Dir use "obj"; - for Main use ("Hello.adb"); -end Default; diff --git a/external/Path/dummy_image_curve.txt b/external/Path/dummy_image_curve.txt deleted file mode 100644 index ee7b8a6..0000000 --- a/external/Path/dummy_image_curve.txt +++ /dev/null @@ -1 +0,0 @@ -146 103 84 255 146 102 82 255 145 102 82 255 145 101 81 255 144 99 80 255 144 99 80 255 143 99 79 255 143 98 79 255 142 98 78 255 141 98 78 255 141 97 79 255 141 98 79 255 141 99 79 255 142 99 80 255 142 99 80 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255 77 64 58 255 77 64 58 255 77 65 59 255 77 65 59 255 72 59 54 255 72 59 54 255 71 59 53 255 71 59 53 255 71 58 52 255 71 58 52 255 70 58 52 255 70 57 52 255 131 110 101 255 150 127 117 255 145 123 113 255 127 107 98 255 70 58 52 255 70 58 52 255 71 58 53 255 71 58 53 255 71 59 53 255 71 59 53 255 \ No newline at end of file diff --git a/external/Path/dummy_image_passingsection.txt b/external/Path/dummy_image_passingsection.txt deleted file mode 100644 index ea82015..0000000 --- a/external/Path/dummy_image_passingsection.txt +++ /dev/null @@ -1 +0,0 @@ -146 103 84 255 146 102 82 255 145 102 82 255 145 101 81 255 144 99 80 255 144 99 80 255 143 99 79 255 143 98 79 255 142 98 78 255 141 98 78 255 141 97 79 255 141 98 79 255 141 99 79 255 142 99 80 255 142 99 80 255 142 99 81 255 142 100 81 255 143 101 82 255 153 112 93 255 153 112 93 255 152 111 92 255 151 111 91 255 150 110 90 255 150 109 90 255 150 108 88 255 150 108 87 255 149 108 87 255 149 107 87 255 149 107 87 255 148 107 87 255 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mode 100644 index fc96fd4..0000000 --- a/external/Path/dummy_image_pickup.txt +++ /dev/null @@ -1 +0,0 @@ -146 103 84 255 146 102 82 255 145 102 82 255 145 101 81 255 144 99 80 255 144 99 80 255 143 99 79 255 143 98 79 255 142 98 78 255 141 98 78 255 141 97 79 255 141 98 79 255 141 99 79 255 142 99 80 255 142 99 80 255 142 99 81 255 142 100 81 255 143 101 82 255 153 112 93 255 153 112 93 255 152 111 92 255 151 111 91 255 150 110 90 255 150 109 90 255 150 108 88 255 150 108 87 255 149 108 87 255 149 107 87 255 149 107 87 255 148 107 87 255 148 107 87 255 149 108 88 255 149 108 88 255 149 109 89 255 149 108 90 255 149 109 90 255 77 95 107 255 75 96 108 255 102 92 94 255 96 87 91 255 157 122 102 255 157 121 102 255 156 120 101 255 155 119 100 255 155 119 99 255 155 119 98 255 155 118 99 255 154 118 98 255 154 118 98 255 154 118 99 255 154 119 99 255 154 119 100 255 154 119 101 255 154 119 101 255 90 105 114 255 124 144 156 255 114 132 142 255 78 95 104 255 97 104 113 255 90 77 78 255 90 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zg*@FJQPxdvNz9Hx}m((UpL2jZB$N|w_Lj)~NqtEM<38n-G+1Gc!h zKu)i6A3ZnLQ`@v`C+s>8mx)e=+REBv8dEciy}KnV<>3KCKC(GumZy1RVMS%~v8l)E z5GY$3@|Vi7>=@6Oz8xLQjV-ZLM4OOUSrr7_qX#EeX4BZQstDiH<9sVN?nQ2ueAKgd z28t>2QIC1;Nmx#JqGz0uWc$B8{~%&DeP!RC;%zUL3y9kBE5o|Pv4Ue5+uiJaN<^q> ze`P6o30o#&GiuI@JlQy+HNSwVA}2y=5j=G`>^$c?fZXX-losL9L=I@%i#&4j6c5NE zE5gE#FBuWe*$Apvib@f*csU-n%1U{L@CFN)*p{?yjVRj7O7hBz@thPfD(yAKabsF~ zoZiy0H1m7jXdKz_t?b zC)<7fs2h8rWi*(5i`D3%i0-Cu@T4)pDIB@$b#Q%rnNnmYbAx%hzPZ9*0XOgjsC%3c z>AXLgV`W{P7W5aS@lGay!BR%O9$MyEl5V#|_tc0Uj@TgEtrDXi8`9XPWFC7Cv4@oi zW3Eic8y;?h7~|^b%~r}-)!~F<*7PmLWE?S=cp6dyqHCpUcAT0{GO>UiO z5iW#?^>hp)jFFFHHDAb+$IH0X&+!>;GwTdA5!AidLv|G7Cs+{(ktc<4Rx8>UIa(cy z7MEe^ia4-f_nPRm#c8HJcCqsK>5(P!Y(Q-k#p+GRN6sGUN=&VAxuu@zbQtIKOId-4 zS-%)=?(B?tY};CD2P=+q+ZN#`7RSatpK4hk&oNLhBDg!ADmY}jZmLKRwRe;>Iz8n$ zg|+P(HC%mJO-P@#4WkbnrvME{9L4n5tT@Yz!yCo3lm?hOEy`yo zb6WOTJVRL`k4`kKwEShIkSA#*h>ZYE>Ik@(!@hU8gA1H%aEiY zV5Om_i@;PSMqHYI5r0UsC?7&p3RU@hu$j+~kuM%yr7(HSFJ-8E)aflL@3?$6=X2`&k&3GCJ1f!Z|94dSEZpEf8~ z=fVn}gd4rQ`o5*2sfv-QSw0ImUOiH#^jF`@RCEI?jISYxOMR}+NfFB(|C(v*ufD&j zXcPWVm@a&bC+wukR07e`&V-LX)I8E z?_5!3M=Fnxa_#z6`8B|(i^#s>N{^)K`}mC7-$zsFFmCkn>U*t24OZn9{Q*3Bc`G1_S=K^H&GDnkF_%T(w>SrLW "b__input.ads"); -pragma Source_File_Name (ada_main, Body_File_Name => "b__input.adb"); -pragma Suppress (Overflow_Check); -with Ada.Exceptions; - -package body ada_main is - - E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); - E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); - E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); - E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); - E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); - E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); - E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); - E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); - E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); - E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); - E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); - E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); - E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); - E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); - E103 : Short_Integer; pragma Import (Ada, E103, "ada__tags_E"); - E101 : Short_Integer; pragma Import (Ada, E101, "ada__streams_E"); - E115 : Short_Integer; pragma Import (Ada, E115, "system__file_control_block_E"); - E114 : Short_Integer; pragma Import (Ada, E114, "system__finalization_root_E"); - E112 : Short_Integer; pragma Import (Ada, E112, "ada__finalization_E"); - E111 : Short_Integer; pragma Import (Ada, E111, "system__file_io_E"); - E099 : Short_Integer; pragma Import (Ada, E099, "ada__text_io_E"); - - Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); - - Local_Priority_Specific_Dispatching : constant String := ""; - Local_Interrupt_States : constant String := ""; - - Is_Elaborated : Boolean := False; - - procedure finalize_library is - begin - E099 := E099 - 1; - declare - procedure F1; - pragma Import (Ada, F1, "ada__text_io__finalize_spec"); - begin - F1; - end; - declare - procedure F2; - pragma Import (Ada, F2, "system__file_io__finalize_body"); - begin - E111 := E111 - 1; - F2; - end; - declare - procedure Reraise_Library_Exception_If_Any; - pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); - begin - Reraise_Library_Exception_If_Any; - end; - end finalize_library; - - procedure adafinal is - procedure s_stalib_adafinal; - pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); - - procedure Runtime_Finalize; - pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); - - begin - if not Is_Elaborated then - return; - end if; - Is_Elaborated := False; - Runtime_Finalize; - s_stalib_adafinal; - end adafinal; - - type No_Param_Proc is access procedure; - - procedure adainit is - Main_Priority : Integer; - pragma Import (C, Main_Priority, "__gl_main_priority"); - Time_Slice_Value : Integer; - pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); - WC_Encoding : Character; - pragma Import (C, WC_Encoding, "__gl_wc_encoding"); - Locking_Policy : Character; - pragma Import (C, Locking_Policy, "__gl_locking_policy"); - Queuing_Policy : Character; - pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); - Task_Dispatching_Policy : Character; - pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); - Priority_Specific_Dispatching : System.Address; - pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); - Num_Specific_Dispatching : Integer; - pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); - Main_CPU : Integer; - pragma Import (C, Main_CPU, "__gl_main_cpu"); - Interrupt_States : System.Address; - pragma Import (C, Interrupt_States, "__gl_interrupt_states"); - Num_Interrupt_States : Integer; - pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); - Unreserve_All_Interrupts : Integer; - pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); - Detect_Blocking : Integer; - pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); - Default_Stack_Size : Integer; - pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); - Default_Secondary_Stack_Size : System.Parameters.Size_Type; - pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); - Leap_Seconds_Support : Integer; - pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); - Bind_Env_Addr : System.Address; - pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); - - procedure Runtime_Initialize (Install_Handler : Integer); - pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); - - Finalize_Library_Objects : No_Param_Proc; - pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); - Binder_Sec_Stacks_Count : Natural; - pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); - Default_Sized_SS_Pool : System.Address; - pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); - - begin - if Is_Elaborated then - return; - end if; - Is_Elaborated := True; - Main_Priority := -1; - Time_Slice_Value := -1; - WC_Encoding := 'b'; - Locking_Policy := ' '; - Queuing_Policy := ' '; - Task_Dispatching_Policy := ' '; - Priority_Specific_Dispatching := - Local_Priority_Specific_Dispatching'Address; - Num_Specific_Dispatching := 0; - Main_CPU := -1; - Interrupt_States := Local_Interrupt_States'Address; - Num_Interrupt_States := 0; - Unreserve_All_Interrupts := 0; - Detect_Blocking := 0; - Default_Stack_Size := -1; - Leap_Seconds_Support := 0; - - ada_main'Elab_Body; - Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; - Binder_Sec_Stacks_Count := 1; - Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; - - Runtime_Initialize (1); - - Finalize_Library_Objects := finalize_library'access; - - System.Soft_Links'Elab_Spec; - System.Exception_Table'Elab_Body; - E025 := E025 + 1; - Ada.Io_Exceptions'Elab_Spec; - E070 := E070 + 1; - Ada.Strings'Elab_Spec; - E055 := E055 + 1; - Ada.Containers'Elab_Spec; - E040 := E040 + 1; - System.Exceptions'Elab_Spec; - E027 := E027 + 1; - System.Os_Lib'Elab_Body; - E075 := E075 + 1; - Ada.Strings.Maps'Elab_Spec; - Ada.Strings.Maps.Constants'Elab_Spec; - E061 := E061 + 1; - Interfaces.C'Elab_Spec; - System.Soft_Links.Initialize'Elab_Body; - E021 := E021 + 1; - E013 := E013 + 1; - E057 := E057 + 1; - E045 := E045 + 1; - System.Object_Reader'Elab_Spec; - System.Dwarf_Lines'Elab_Spec; - E050 := E050 + 1; - System.Traceback.Symbolic'Elab_Body; - E039 := E039 + 1; - E081 := E081 + 1; - Ada.Tags'Elab_Spec; - Ada.Tags'Elab_Body; - E103 := E103 + 1; - Ada.Streams'Elab_Spec; - E101 := E101 + 1; - System.File_Control_Block'Elab_Spec; - E115 := E115 + 1; - System.Finalization_Root'Elab_Spec; - E114 := E114 + 1; - Ada.Finalization'Elab_Spec; - E112 := E112 + 1; - System.File_Io'Elab_Body; - E111 := E111 + 1; - Ada.Text_Io'Elab_Spec; - Ada.Text_Io'Elab_Body; - E099 := E099 + 1; - end adainit; - - procedure Ada_Main_Program; - pragma Import (Ada, Ada_Main_Program, "_ada_input"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer - is - procedure Initialize (Addr : System.Address); - pragma Import (C, Initialize, "__gnat_initialize"); - - procedure Finalize; - pragma Import (C, Finalize, "__gnat_finalize"); - SEH : aliased array (1 .. 2) of Integer; - - Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; - pragma Volatile (Ensure_Reference); - - begin - gnat_argc := argc; - gnat_argv := argv; - gnat_envp := envp; - - Initialize (SEH'Address); - adainit; - Ada_Main_Program; - adafinal; - Finalize; - return (gnat_exit_status); - end; - --- BEGIN Object file/option list - -- /home/kingmoon/Downloads/EESPro/Path/obj/input.o - -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ - -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ - -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ - -- -shared - -- -lgnat-9 - -- -ldl --- END Object file/option list - -end ada_main; diff --git a/external/Path/obj/b__input.ads b/external/Path/obj/b__input.ads deleted file mode 100644 index e218864..0000000 --- a/external/Path/obj/b__input.ads +++ /dev/null @@ -1,449 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -with System; -with System.Parameters; -with System.Secondary_Stack; -package ada_main is - - gnat_argc : Integer; - gnat_argv : System.Address; - gnat_envp : System.Address; - - pragma Import (C, gnat_argc); - pragma Import (C, gnat_argv); - pragma Import (C, gnat_envp); - - gnat_exit_status : Integer; - pragma Import (C, gnat_exit_status); - - GNAT_Version : constant String := - "GNAT Version: 9.3.0" & ASCII.NUL; - pragma Export (C, GNAT_Version, "__gnat_version"); - - Ada_Main_Program_Name : constant String := "_ada_input" & ASCII.NUL; - pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); - - procedure adainit; - pragma Export (C, adainit, "adainit"); - - procedure adafinal; - pragma Export (C, adafinal, "adafinal"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer; - pragma Export (C, main, "main"); - - type Version_32 is mod 2 ** 32; - u00001 : constant Version_32 := 16#7a2ddb15#; - pragma Export (C, u00001, "inputB"); - u00002 : constant Version_32 := 16#050ff2f0#; - pragma Export (C, u00002, "system__standard_libraryB"); - u00003 : constant Version_32 := 16#4113f22b#; - pragma Export (C, u00003, "system__standard_libraryS"); - u00004 : constant Version_32 := 16#76789da1#; - pragma Export (C, u00004, "adaS"); - u00005 : constant Version_32 := 16#f64b89a4#; - pragma Export (C, u00005, "ada__integer_text_ioB"); - u00006 : constant Version_32 := 16#082ea75f#; - pragma Export (C, u00006, "ada__integer_text_ioS"); - u00007 : constant Version_32 := 16#9762c9f2#; - pragma Export (C, u00007, "ada__exceptionsB"); - u00008 : constant Version_32 := 16#585ef86b#; - pragma Export (C, u00008, "ada__exceptionsS"); - u00009 : constant Version_32 := 16#5726abed#; - pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); - u00010 : constant Version_32 := 16#41e5552e#; - pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); - u00011 : constant Version_32 := 16#4635ec04#; - pragma Export (C, u00011, "systemS"); - u00012 : constant Version_32 := 16#ae860117#; - pragma Export (C, u00012, "system__soft_linksB"); - u00013 : constant Version_32 := 16#0336e7b2#; - pragma Export (C, u00013, "system__soft_linksS"); - u00014 : constant Version_32 := 16#f32b4133#; - pragma Export (C, u00014, "system__secondary_stackB"); - u00015 : constant Version_32 := 16#03a1141d#; - pragma Export (C, u00015, "system__secondary_stackS"); - u00016 : constant Version_32 := 16#86dbf443#; - pragma Export (C, u00016, "system__parametersB"); - u00017 : constant Version_32 := 16#0ed9b82f#; - pragma Export (C, u00017, "system__parametersS"); - u00018 : constant Version_32 := 16#ced09590#; - pragma Export (C, u00018, "system__storage_elementsB"); - u00019 : constant Version_32 := 16#6bf6a600#; - pragma Export (C, u00019, "system__storage_elementsS"); - u00020 : constant Version_32 := 16#75bf515c#; - pragma Export (C, u00020, "system__soft_links__initializeB"); - u00021 : constant Version_32 := 16#5697fc2b#; - pragma Export (C, u00021, "system__soft_links__initializeS"); - u00022 : constant Version_32 := 16#41837d1e#; - pragma Export (C, u00022, "system__stack_checkingB"); - u00023 : constant Version_32 := 16#c88a87ec#; - pragma Export (C, u00023, "system__stack_checkingS"); - u00024 : constant Version_32 := 16#34742901#; - pragma Export (C, u00024, "system__exception_tableB"); - u00025 : constant Version_32 := 16#1b9b8546#; - pragma Export (C, u00025, "system__exception_tableS"); - u00026 : constant Version_32 := 16#ce4af020#; - pragma Export (C, u00026, "system__exceptionsB"); - u00027 : constant Version_32 := 16#2e5681f2#; - pragma Export (C, u00027, "system__exceptionsS"); - u00028 : constant Version_32 := 16#69416224#; - pragma Export (C, u00028, "system__exceptions__machineB"); - u00029 : constant Version_32 := 16#d27d9682#; - pragma Export (C, u00029, "system__exceptions__machineS"); - u00030 : constant Version_32 := 16#aa0563fc#; - pragma Export (C, u00030, "system__exceptions_debugB"); - u00031 : constant Version_32 := 16#38bf15c0#; - pragma Export (C, u00031, "system__exceptions_debugS"); - u00032 : constant Version_32 := 16#6c2f8802#; - pragma Export (C, u00032, "system__img_intB"); - u00033 : constant Version_32 := 16#44ee0cc6#; - pragma Export (C, u00033, "system__img_intS"); - u00034 : constant Version_32 := 16#39df8c17#; - pragma Export (C, u00034, "system__tracebackB"); - u00035 : constant Version_32 := 16#181732c0#; - pragma Export (C, u00035, "system__tracebackS"); - u00036 : constant Version_32 := 16#9ed49525#; - pragma Export (C, u00036, "system__traceback_entriesB"); - u00037 : constant Version_32 := 16#466e1a74#; - pragma Export (C, u00037, "system__traceback_entriesS"); - u00038 : constant Version_32 := 16#448e9548#; - pragma Export (C, u00038, "system__traceback__symbolicB"); - u00039 : constant Version_32 := 16#c84061d1#; - pragma Export (C, u00039, "system__traceback__symbolicS"); - u00040 : constant Version_32 := 16#179d7d28#; - pragma Export (C, u00040, "ada__containersS"); - u00041 : constant Version_32 := 16#701f9d88#; - pragma Export (C, u00041, "ada__exceptions__tracebackB"); - u00042 : constant Version_32 := 16#20245e75#; - pragma Export (C, u00042, "ada__exceptions__tracebackS"); - u00043 : constant Version_32 := 16#5ab55268#; - pragma Export (C, u00043, "interfacesS"); - u00044 : constant Version_32 := 16#769e25e6#; - pragma Export (C, u00044, "interfaces__cB"); - u00045 : constant Version_32 := 16#467817d8#; - pragma Export (C, u00045, "interfaces__cS"); - u00046 : constant Version_32 := 16#e865e681#; - pragma Export (C, u00046, "system__bounded_stringsB"); - u00047 : constant Version_32 := 16#31c8cd1d#; - pragma Export (C, u00047, "system__bounded_stringsS"); - u00048 : constant Version_32 := 16#0062635e#; - pragma Export (C, u00048, "system__crtlS"); - u00049 : constant Version_32 := 16#bba79bcb#; - pragma Export (C, u00049, "system__dwarf_linesB"); - u00050 : constant Version_32 := 16#9a78d181#; - pragma Export (C, u00050, "system__dwarf_linesS"); - u00051 : constant Version_32 := 16#5b4659fa#; - pragma Export (C, u00051, "ada__charactersS"); - u00052 : constant Version_32 := 16#8f637df8#; - pragma Export (C, u00052, "ada__characters__handlingB"); - u00053 : constant Version_32 := 16#3b3f6154#; - pragma Export (C, u00053, "ada__characters__handlingS"); - u00054 : constant Version_32 := 16#4b7bb96a#; - pragma Export (C, u00054, "ada__characters__latin_1S"); - u00055 : constant Version_32 := 16#e6d4fa36#; - pragma Export (C, u00055, "ada__stringsS"); - u00056 : constant Version_32 := 16#96df1a3f#; - pragma Export (C, u00056, "ada__strings__mapsB"); - u00057 : constant Version_32 := 16#1e526bec#; - pragma Export (C, u00057, "ada__strings__mapsS"); - u00058 : constant Version_32 := 16#d68fb8f1#; - pragma Export (C, u00058, "system__bit_opsB"); - u00059 : constant Version_32 := 16#0765e3a3#; - pragma Export (C, u00059, "system__bit_opsS"); - u00060 : constant Version_32 := 16#72b39087#; - pragma Export (C, u00060, "system__unsigned_typesS"); - u00061 : constant Version_32 := 16#92f05f13#; - pragma Export (C, u00061, "ada__strings__maps__constantsS"); - u00062 : constant Version_32 := 16#a0d3d22b#; - pragma Export (C, u00062, "system__address_imageB"); - u00063 : constant Version_32 := 16#e7d9713e#; - pragma Export (C, u00063, "system__address_imageS"); - u00064 : constant Version_32 := 16#ec78c2bf#; - pragma Export (C, u00064, "system__img_unsB"); - u00065 : constant Version_32 := 16#ed47ac70#; - pragma Export (C, u00065, "system__img_unsS"); - u00066 : constant Version_32 := 16#d7aac20c#; - pragma Export (C, u00066, "system__ioB"); - u00067 : constant Version_32 := 16#d8771b4b#; - pragma Export (C, u00067, "system__ioS"); - u00068 : constant Version_32 := 16#f790d1ef#; - pragma Export (C, u00068, "system__mmapB"); - u00069 : constant Version_32 := 16#7c445363#; - pragma Export (C, u00069, "system__mmapS"); - u00070 : constant Version_32 := 16#92d882c5#; - pragma Export (C, u00070, "ada__io_exceptionsS"); - u00071 : constant Version_32 := 16#0cdaa54a#; - pragma Export (C, u00071, "system__mmap__os_interfaceB"); - u00072 : constant Version_32 := 16#82f29877#; - pragma Export (C, u00072, "system__mmap__os_interfaceS"); - u00073 : constant Version_32 := 16#834dfe5e#; - pragma Export (C, u00073, "system__mmap__unixS"); - u00074 : constant Version_32 := 16#fa90b46b#; - pragma Export (C, u00074, "system__os_libB"); - u00075 : constant Version_32 := 16#4542b55d#; - pragma Export (C, u00075, "system__os_libS"); - u00076 : constant Version_32 := 16#ec4d5631#; - pragma Export (C, u00076, "system__case_utilB"); - u00077 : constant Version_32 := 16#79e05a50#; - pragma Export (C, u00077, "system__case_utilS"); - u00078 : constant Version_32 := 16#2a8e89ad#; - pragma Export (C, u00078, "system__stringsB"); - u00079 : constant Version_32 := 16#2623c091#; - pragma Export (C, u00079, "system__stringsS"); - u00080 : constant Version_32 := 16#5a3f5337#; - pragma Export (C, u00080, "system__object_readerB"); - u00081 : constant Version_32 := 16#82413105#; - pragma Export (C, u00081, "system__object_readerS"); - u00082 : constant Version_32 := 16#1a74a354#; - pragma Export (C, u00082, "system__val_lliB"); - u00083 : constant Version_32 := 16#dc110aa4#; - pragma Export (C, u00083, "system__val_lliS"); - u00084 : constant Version_32 := 16#afdbf393#; - pragma Export (C, u00084, "system__val_lluB"); - u00085 : constant Version_32 := 16#0841c7f5#; - pragma Export (C, u00085, "system__val_lluS"); - u00086 : constant Version_32 := 16#269742a9#; - pragma Export (C, u00086, "system__val_utilB"); - u00087 : constant Version_32 := 16#ea955afa#; - pragma Export (C, u00087, "system__val_utilS"); - u00088 : constant Version_32 := 16#d7bf3f29#; - pragma Export (C, u00088, "system__exception_tracesB"); - u00089 : constant Version_32 := 16#62eacc9e#; - pragma Export (C, u00089, "system__exception_tracesS"); - u00090 : constant Version_32 := 16#8c33a517#; - pragma Export (C, u00090, "system__wch_conB"); - u00091 : constant Version_32 := 16#5d48ced6#; - pragma Export (C, u00091, "system__wch_conS"); - u00092 : constant Version_32 := 16#9721e840#; - pragma Export (C, u00092, "system__wch_stwB"); - u00093 : constant Version_32 := 16#7059e2d7#; - pragma Export (C, u00093, "system__wch_stwS"); - u00094 : constant Version_32 := 16#a831679c#; - pragma Export (C, u00094, "system__wch_cnvB"); - u00095 : constant Version_32 := 16#52ff7425#; - pragma Export (C, u00095, "system__wch_cnvS"); - u00096 : constant Version_32 := 16#ece6fdb6#; - pragma Export (C, u00096, "system__wch_jisB"); - u00097 : constant Version_32 := 16#d28f6d04#; - pragma Export (C, u00097, "system__wch_jisS"); - u00098 : constant Version_32 := 16#927a893f#; - pragma Export (C, u00098, "ada__text_ioB"); - u00099 : constant Version_32 := 16#5194351e#; - pragma Export (C, u00099, "ada__text_ioS"); - u00100 : constant Version_32 := 16#10558b11#; - pragma Export (C, u00100, "ada__streamsB"); - u00101 : constant Version_32 := 16#67e31212#; - pragma Export (C, u00101, "ada__streamsS"); - u00102 : constant Version_32 := 16#d398a95f#; - pragma Export (C, u00102, "ada__tagsB"); - u00103 : constant Version_32 := 16#12a0afb8#; - pragma Export (C, u00103, "ada__tagsS"); - u00104 : constant Version_32 := 16#796f31f1#; - pragma Export (C, u00104, "system__htableB"); - u00105 : constant Version_32 := 16#c2f75fee#; - pragma Export (C, u00105, "system__htableS"); - u00106 : constant Version_32 := 16#089f5cd0#; - pragma Export (C, u00106, "system__string_hashB"); - u00107 : constant Version_32 := 16#60a93490#; - pragma Export (C, u00107, "system__string_hashS"); - u00108 : constant Version_32 := 16#73d2d764#; - pragma Export (C, u00108, "interfaces__c_streamsB"); - u00109 : constant Version_32 := 16#b1330297#; - pragma Export (C, u00109, "interfaces__c_streamsS"); - u00110 : constant Version_32 := 16#71ac0ba7#; - pragma Export (C, u00110, "system__file_ioB"); - u00111 : constant Version_32 := 16#e1440d61#; - pragma Export (C, u00111, "system__file_ioS"); - u00112 : constant Version_32 := 16#86c56e5a#; - pragma Export (C, u00112, "ada__finalizationS"); - u00113 : constant Version_32 := 16#95817ed8#; - pragma Export (C, u00113, "system__finalization_rootB"); - u00114 : constant Version_32 := 16#09c79f94#; - pragma Export (C, u00114, "system__finalization_rootS"); - u00115 : constant Version_32 := 16#bbaa76ac#; - pragma Export (C, u00115, "system__file_control_blockS"); - u00116 : constant Version_32 := 16#f6fdca1c#; - pragma Export (C, u00116, "ada__text_io__integer_auxB"); - u00117 : constant Version_32 := 16#09097bbe#; - pragma Export (C, u00117, "ada__text_io__integer_auxS"); - u00118 : constant Version_32 := 16#181dc502#; - pragma Export (C, u00118, "ada__text_io__generic_auxB"); - u00119 : constant Version_32 := 16#16b3615d#; - pragma Export (C, u00119, "ada__text_io__generic_auxS"); - u00120 : constant Version_32 := 16#b10ba0c7#; - pragma Export (C, u00120, "system__img_biuB"); - u00121 : constant Version_32 := 16#b49118ca#; - pragma Export (C, u00121, "system__img_biuS"); - u00122 : constant Version_32 := 16#4e06ab0c#; - pragma Export (C, u00122, "system__img_llbB"); - u00123 : constant Version_32 := 16#f5560834#; - pragma Export (C, u00123, "system__img_llbS"); - u00124 : constant Version_32 := 16#9dca6636#; - pragma Export (C, u00124, "system__img_lliB"); - u00125 : constant Version_32 := 16#577ab9d5#; - pragma Export (C, u00125, "system__img_lliS"); - u00126 : constant Version_32 := 16#a756d097#; - pragma Export (C, u00126, "system__img_llwB"); - u00127 : constant Version_32 := 16#5c3a2ba2#; - pragma Export (C, u00127, "system__img_llwS"); - u00128 : constant Version_32 := 16#eb55dfbb#; - pragma Export (C, u00128, "system__img_wiuB"); - u00129 : constant Version_32 := 16#dad09f58#; - pragma Export (C, u00129, "system__img_wiuS"); - u00130 : constant Version_32 := 16#d763507a#; - pragma Export (C, u00130, "system__val_intB"); - u00131 : constant Version_32 := 16#0e90c63b#; - pragma Export (C, u00131, "system__val_intS"); - u00132 : constant Version_32 := 16#1d9142a4#; - pragma Export (C, u00132, "system__val_unsB"); - u00133 : constant Version_32 := 16#621b7dbc#; - pragma Export (C, u00133, "system__val_unsS"); - u00134 : constant Version_32 := 16#2323a8af#; - pragma Export (C, u00134, "system__memoryB"); - u00135 : constant Version_32 := 16#1f488a30#; - pragma Export (C, u00135, "system__memoryS"); - - -- BEGIN ELABORATION ORDER - -- ada%s - -- ada.characters%s - -- ada.characters.latin_1%s - -- interfaces%s - -- system%s - -- system.img_int%s - -- system.img_int%b - -- system.img_lli%s - -- system.img_lli%b - -- system.io%s - -- system.io%b - -- system.parameters%s - -- system.parameters%b - -- system.crtl%s - -- interfaces.c_streams%s - -- interfaces.c_streams%b - -- system.storage_elements%s - -- system.storage_elements%b - -- system.stack_checking%s - -- system.stack_checking%b - -- system.string_hash%s - -- system.string_hash%b - -- system.htable%s - -- system.htable%b - -- system.strings%s - -- system.strings%b - -- system.traceback_entries%s - -- system.traceback_entries%b - -- system.unsigned_types%s - -- system.img_biu%s - -- system.img_biu%b - -- system.img_llb%s - -- system.img_llb%b - -- system.img_llw%s - -- system.img_llw%b - -- system.img_uns%s - -- system.img_uns%b - -- system.img_wiu%s - -- system.img_wiu%b - -- system.wch_con%s - -- system.wch_con%b - -- system.wch_jis%s - -- system.wch_jis%b - -- system.wch_cnv%s - -- system.wch_cnv%b - -- system.traceback%s - -- system.traceback%b - -- system.case_util%s - -- system.standard_library%s - -- system.exception_traces%s - -- ada.exceptions%s - -- system.wch_stw%s - -- system.val_util%s - -- system.val_llu%s - -- system.val_lli%s - -- system.os_lib%s - -- system.bit_ops%s - -- ada.characters.handling%s - -- ada.exceptions.traceback%s - -- system.secondary_stack%s - -- system.case_util%b - -- system.address_image%s - -- system.bounded_strings%s - -- system.soft_links%s - -- system.exception_table%s - -- system.exception_table%b - -- ada.io_exceptions%s - -- ada.strings%s - -- ada.containers%s - -- system.exceptions%s - -- system.exceptions%b - -- ada.exceptions.last_chance_handler%s - -- system.exceptions_debug%s - -- system.exceptions_debug%b - -- system.exception_traces%b - -- system.memory%s - -- system.memory%b - -- system.wch_stw%b - -- system.val_util%b - -- system.val_llu%b - -- system.val_lli%b - -- system.os_lib%b - -- system.bit_ops%b - -- ada.strings.maps%s - -- ada.strings.maps.constants%s - -- ada.characters.handling%b - -- interfaces.c%s - -- ada.exceptions.traceback%b - -- system.exceptions.machine%s - -- system.exceptions.machine%b - -- system.secondary_stack%b - -- system.address_image%b - -- system.bounded_strings%b - -- system.soft_links.initialize%s - -- system.soft_links.initialize%b - -- system.soft_links%b - -- ada.exceptions.last_chance_handler%b - -- system.standard_library%b - -- system.mmap%s - -- ada.strings.maps%b - -- interfaces.c%b - -- system.object_reader%s - -- system.dwarf_lines%s - -- system.dwarf_lines%b - -- system.mmap.unix%s - -- system.mmap.os_interface%s - -- system.mmap%b - -- system.traceback.symbolic%s - -- system.traceback.symbolic%b - -- ada.exceptions%b - -- system.object_reader%b - -- system.mmap.os_interface%b - -- ada.tags%s - -- ada.tags%b - -- ada.streams%s - -- ada.streams%b - -- system.file_control_block%s - -- system.finalization_root%s - -- system.finalization_root%b - -- ada.finalization%s - -- system.file_io%s - -- system.file_io%b - -- system.val_uns%s - -- system.val_uns%b - -- system.val_int%s - -- system.val_int%b - -- ada.text_io%s - -- ada.text_io%b - -- ada.text_io.generic_aux%s - -- ada.text_io.generic_aux%b - -- ada.text_io.integer_aux%s - -- ada.text_io.integer_aux%b - -- ada.integer_text_io%s - -- ada.integer_text_io%b - -- input%b - -- END ELABORATION ORDER - -end ada_main; diff --git a/external/Path/obj/b__input.ali b/external/Path/obj/b__input.ali deleted file mode 100644 index e7435fe..0000000 --- a/external/Path/obj/b__input.ali +++ /dev/null @@ -1,282 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -gnatA -A -gnatWb -A -gnatiw -A -gnatws -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV NO_ACCESS_SUBPROGRAMS -RV NO_DEFAULT_INITIALIZATION -RV NO_IMPLEMENTATION_ATTRIBUTES -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV NO_ELABORATION_CODE -RV NO_OBSOLESCENT_FEATURES -RV SPARK_05 - -U ada_main%b b__input.adb ba564836 OO PK IL -W ada%s ada.ads ada.ali -W ada.exceptions%s a-except.adb a-except.ali -Z system%s system.ads system.ali - -U ada_main%s b__input.ads 08552644 EE NE OO PK IL -W system%s system.ads system.ali -W system.parameters%s s-parame.adb s-parame.ali -W system.secondary_stack%s s-secsta.adb s-secsta.ali - -D ada.ads 20200312110721 76789da1 ada%s -D a-except.ads 20200312110721 291912d5 ada.exceptions%s -D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D b__input.ads 20200622171648 2637785d ada_main%s -D b__input.adb 20200622171648 b57822be ada_main%b -D system.ads 20200312110721 4635ec04 system%s -D s-parame.ads 20200312110721 48ec542b system.parameters%s -D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s -D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s -D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s -D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s -X 1 ada.ads -16K9*Ada 20e8 5|6r6 -X 2 a-except.ads -54K13*Exceptions 349e19 5|6w10 -X 4 b__input.ads -6K9*ada_main 449l5 449e13 5|8b14 246l5 246t13 -8i4*gnat_argc{integer} 12m22 12r22 5|224m7 -9m4*gnat_argv{6|67M9} 13m22 13r22 5|225m7 -10m4*gnat_envp{6|67M9} 14m22 14r22 5|226m7 -16i4*gnat_exit_status{integer} 17m22 17r22 5|233r15 -19a4*GNAT_Version{string} 21r22 -23a4*Ada_Main_Program_Name{string} 24r22 5|220r52 -26U14*adainit 27i22 5|81b14 202l8 202t15 229s7 -29U14*adafinal 30i22 5|63b14 77l8 77t16 231s7 -32V13*main{integer} 33>7 34>7 35>7 37i22 5|207b13 234t7 -33i7 argc{integer} 5|208b7 224r20 -34m7 argv{6|67M9} 5|209b7 225r20 -35m7 envp{6|67M9} 5|210b7 226r20 -39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 -. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 -. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 -. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 -. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 -. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 -. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 -. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 -. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 -. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 -. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 -. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 -. 306r22 308r22 -40m4*u00001{39M9} 41r22 -42m4*u00002{39M9} 43r22 -44m4*u00003{39M9} 45r22 -46m4*u00004{39M9} 47r22 -48m4*u00005{39M9} 49r22 -50m4*u00006{39M9} 51r22 -52m4*u00007{39M9} 53r22 -54m4*u00008{39M9} 55r22 -56m4*u00009{39M9} 57r22 -58m4*u00010{39M9} 59r22 -60m4*u00011{39M9} 61r22 -62m4*u00012{39M9} 63r22 -64m4*u00013{39M9} 65r22 -66m4*u00014{39M9} 67r22 -68m4*u00015{39M9} 69r22 -70m4*u00016{39M9} 71r22 -72m4*u00017{39M9} 73r22 -74m4*u00018{39M9} 75r22 -76m4*u00019{39M9} 77r22 -78m4*u00020{39M9} 79r22 -80m4*u00021{39M9} 81r22 -82m4*u00022{39M9} 83r22 -84m4*u00023{39M9} 85r22 -86m4*u00024{39M9} 87r22 -88m4*u00025{39M9} 89r22 -90m4*u00026{39M9} 91r22 -92m4*u00027{39M9} 93r22 -94m4*u00028{39M9} 95r22 -96m4*u00029{39M9} 97r22 -98m4*u00030{39M9} 99r22 -100m4*u00031{39M9} 101r22 -102m4*u00032{39M9} 103r22 -104m4*u00033{39M9} 105r22 -106m4*u00034{39M9} 107r22 -108m4*u00035{39M9} 109r22 -110m4*u00036{39M9} 111r22 -112m4*u00037{39M9} 113r22 -114m4*u00038{39M9} 115r22 -116m4*u00039{39M9} 117r22 -118m4*u00040{39M9} 119r22 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z@8Nkl=jRt|FcFjM;1xDE(f?5iP~=keC9)~b&*Mt}Y0MygJJBT86vAJu)o7Xq?}v*d z*0?kYtw?fPM)q9;e$7XJ%EZ3(lU&R}g0XBGP3XU03UMpzUt%#gXKTNNSj<3b_cm_( z318_i+b`R>h06>S7K+IM61=YJj#usvuP=9PJ79Cfj~+ "b__main.ads"); -pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); -pragma Suppress (Overflow_Check); -with Ada.Exceptions; - -package body ada_main is - - E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); - E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); - E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); - E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); - E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); - E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); - E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); - E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); - E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); - E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); - E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); - E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); - E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); - E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); - E133 : Short_Integer; pragma Import (Ada, E133, "ada__numerics_E"); - E103 : Short_Integer; pragma Import (Ada, E103, "ada__tags_E"); - E101 : Short_Integer; pragma Import (Ada, E101, "ada__streams_E"); - E115 : Short_Integer; pragma Import (Ada, E115, "system__file_control_block_E"); - E114 : Short_Integer; pragma Import (Ada, E114, "system__finalization_root_E"); - E112 : Short_Integer; pragma Import (Ada, E112, "ada__finalization_E"); - E111 : Short_Integer; pragma Import (Ada, E111, "system__file_io_E"); - E145 : Short_Integer; pragma Import (Ada, E145, "ada__calendar_E"); - E099 : Short_Integer; pragma Import (Ada, E099, "ada__text_io_E"); - E143 : Short_Integer; pragma Import (Ada, E143, "system__random_seed_E"); - - Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); - - Local_Priority_Specific_Dispatching : constant String := ""; - Local_Interrupt_States : constant String := ""; - - Is_Elaborated : Boolean := False; - - procedure finalize_library is - begin - E099 := E099 - 1; - declare - procedure F1; - pragma Import (Ada, F1, "ada__text_io__finalize_spec"); - begin - F1; - end; - declare - procedure F2; - pragma Import (Ada, F2, "system__file_io__finalize_body"); - begin - E111 := E111 - 1; - F2; - end; - declare - procedure Reraise_Library_Exception_If_Any; - pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); - begin - Reraise_Library_Exception_If_Any; - end; - end finalize_library; - - procedure adafinal is - procedure s_stalib_adafinal; - pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); - - procedure Runtime_Finalize; - pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); - - begin - if not Is_Elaborated then - return; - end if; - Is_Elaborated := False; - Runtime_Finalize; - s_stalib_adafinal; - end adafinal; - - type No_Param_Proc is access procedure; - - procedure adainit is - Main_Priority : Integer; - pragma Import (C, Main_Priority, "__gl_main_priority"); - Time_Slice_Value : Integer; - pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); - WC_Encoding : Character; - pragma Import (C, WC_Encoding, "__gl_wc_encoding"); - Locking_Policy : Character; - pragma Import (C, Locking_Policy, "__gl_locking_policy"); - Queuing_Policy : Character; - pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); - Task_Dispatching_Policy : Character; - pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); - Priority_Specific_Dispatching : System.Address; - pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); - Num_Specific_Dispatching : Integer; - pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); - Main_CPU : Integer; - pragma Import (C, Main_CPU, "__gl_main_cpu"); - Interrupt_States : System.Address; - pragma Import (C, Interrupt_States, "__gl_interrupt_states"); - Num_Interrupt_States : Integer; - pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); - Unreserve_All_Interrupts : Integer; - pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); - Detect_Blocking : Integer; - pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); - Default_Stack_Size : Integer; - pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); - Default_Secondary_Stack_Size : System.Parameters.Size_Type; - pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); - Leap_Seconds_Support : Integer; - pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); - Bind_Env_Addr : System.Address; - pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); - - procedure Runtime_Initialize (Install_Handler : Integer); - pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); - - Finalize_Library_Objects : No_Param_Proc; - pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); - Binder_Sec_Stacks_Count : Natural; - pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); - Default_Sized_SS_Pool : System.Address; - pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); - - begin - if Is_Elaborated then - return; - end if; - Is_Elaborated := True; - Main_Priority := -1; - Time_Slice_Value := -1; - WC_Encoding := 'b'; - Locking_Policy := ' '; - Queuing_Policy := ' '; - Task_Dispatching_Policy := ' '; - Priority_Specific_Dispatching := - Local_Priority_Specific_Dispatching'Address; - Num_Specific_Dispatching := 0; - Main_CPU := -1; - Interrupt_States := Local_Interrupt_States'Address; - Num_Interrupt_States := 0; - Unreserve_All_Interrupts := 0; - Detect_Blocking := 0; - Default_Stack_Size := -1; - Leap_Seconds_Support := 0; - - ada_main'Elab_Body; - Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; - Binder_Sec_Stacks_Count := 1; - Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; - - Runtime_Initialize (1); - - Finalize_Library_Objects := finalize_library'access; - - System.Soft_Links'Elab_Spec; - System.Exception_Table'Elab_Body; - E025 := E025 + 1; - Ada.Io_Exceptions'Elab_Spec; - E070 := E070 + 1; - Ada.Strings'Elab_Spec; - E055 := E055 + 1; - Ada.Containers'Elab_Spec; - E040 := E040 + 1; - System.Exceptions'Elab_Spec; - E027 := E027 + 1; - System.Os_Lib'Elab_Body; - E075 := E075 + 1; - Ada.Strings.Maps'Elab_Spec; - Ada.Strings.Maps.Constants'Elab_Spec; - E061 := E061 + 1; - Interfaces.C'Elab_Spec; - System.Soft_Links.Initialize'Elab_Body; - E021 := E021 + 1; - E013 := E013 + 1; - E057 := E057 + 1; - E045 := E045 + 1; - System.Object_Reader'Elab_Spec; - System.Dwarf_Lines'Elab_Spec; - E050 := E050 + 1; - System.Traceback.Symbolic'Elab_Body; - E039 := E039 + 1; - E081 := E081 + 1; - Ada.Numerics'Elab_Spec; - E133 := E133 + 1; - Ada.Tags'Elab_Spec; - Ada.Tags'Elab_Body; - E103 := E103 + 1; - Ada.Streams'Elab_Spec; - E101 := E101 + 1; - System.File_Control_Block'Elab_Spec; - E115 := E115 + 1; - System.Finalization_Root'Elab_Spec; - E114 := E114 + 1; - Ada.Finalization'Elab_Spec; - E112 := E112 + 1; - System.File_Io'Elab_Body; - E111 := E111 + 1; - Ada.Calendar'Elab_Spec; - Ada.Calendar'Elab_Body; - E145 := E145 + 1; - Ada.Text_Io'Elab_Spec; - Ada.Text_Io'Elab_Body; - E099 := E099 + 1; - System.Random_Seed'Elab_Body; - E143 := E143 + 1; - end adainit; - - procedure Ada_Main_Program; - pragma Import (Ada, Ada_Main_Program, "_ada_main"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer - is - procedure Initialize (Addr : System.Address); - pragma Import (C, Initialize, "__gnat_initialize"); - - procedure Finalize; - pragma Import (C, Finalize, "__gnat_finalize"); - SEH : aliased array (1 .. 2) of Integer; - - Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; - pragma Volatile (Ensure_Reference); - - begin - gnat_argc := argc; - gnat_argv := argv; - gnat_envp := envp; - - Initialize (SEH'Address); - adainit; - Ada_Main_Program; - adafinal; - Finalize; - return (gnat_exit_status); - end; - --- BEGIN Object file/option list - -- /home/kingmoon/Downloads/EESPro/Path/obj/main.o - -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ - -- -L/home/kingmoon/Downloads/EESPro/Path/obj/ - -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ - -- -shared - -- -lgnat-9 - -- -ldl --- END Object file/option list - -end ada_main; diff --git a/external/Path/obj/b__main.ads b/external/Path/obj/b__main.ads deleted file mode 100644 index 5c3aed6..0000000 --- a/external/Path/obj/b__main.ads +++ /dev/null @@ -1,497 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -with System; -with System.Parameters; -with System.Secondary_Stack; -package ada_main is - - gnat_argc : Integer; - gnat_argv : System.Address; - gnat_envp : System.Address; - - pragma Import (C, gnat_argc); - pragma Import (C, gnat_argv); - pragma Import (C, gnat_envp); - - gnat_exit_status : Integer; - pragma Import (C, gnat_exit_status); - - GNAT_Version : constant String := - "GNAT Version: 9.3.0" & ASCII.NUL; - pragma Export (C, GNAT_Version, "__gnat_version"); - - Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; - pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); - - procedure adainit; - pragma Export (C, adainit, "adainit"); - - procedure adafinal; - pragma Export (C, adafinal, "adafinal"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer; - pragma Export (C, main, "main"); - - type Version_32 is mod 2 ** 32; - u00001 : constant Version_32 := 16#3e8b3a6e#; - pragma Export (C, u00001, "mainB"); - u00002 : constant Version_32 := 16#050ff2f0#; - pragma Export (C, u00002, "system__standard_libraryB"); - u00003 : constant Version_32 := 16#4113f22b#; - pragma Export (C, u00003, "system__standard_libraryS"); - u00004 : constant Version_32 := 16#76789da1#; - pragma Export (C, u00004, "adaS"); - u00005 : constant Version_32 := 16#e18a47a0#; - pragma Export (C, u00005, "ada__float_text_ioB"); - u00006 : constant Version_32 := 16#1fef695b#; - pragma Export (C, u00006, "ada__float_text_ioS"); - u00007 : constant Version_32 := 16#9762c9f2#; - pragma Export (C, u00007, "ada__exceptionsB"); - u00008 : constant Version_32 := 16#585ef86b#; - pragma Export (C, u00008, "ada__exceptionsS"); - u00009 : constant Version_32 := 16#5726abed#; - pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); - u00010 : constant Version_32 := 16#41e5552e#; - pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); - u00011 : constant Version_32 := 16#4635ec04#; - pragma Export (C, u00011, "systemS"); - u00012 : constant Version_32 := 16#ae860117#; - pragma Export (C, u00012, "system__soft_linksB"); - u00013 : constant Version_32 := 16#0336e7b2#; - pragma Export (C, u00013, "system__soft_linksS"); - u00014 : constant Version_32 := 16#f32b4133#; - pragma Export (C, u00014, "system__secondary_stackB"); - u00015 : constant Version_32 := 16#03a1141d#; - pragma Export (C, u00015, "system__secondary_stackS"); - u00016 : constant Version_32 := 16#86dbf443#; - pragma Export (C, u00016, "system__parametersB"); - u00017 : constant Version_32 := 16#0ed9b82f#; - pragma Export (C, u00017, "system__parametersS"); - u00018 : constant Version_32 := 16#ced09590#; - pragma Export (C, u00018, "system__storage_elementsB"); - u00019 : constant Version_32 := 16#6bf6a600#; - pragma Export (C, u00019, "system__storage_elementsS"); - u00020 : constant Version_32 := 16#75bf515c#; - pragma Export (C, u00020, "system__soft_links__initializeB"); - u00021 : constant Version_32 := 16#5697fc2b#; - pragma Export (C, u00021, "system__soft_links__initializeS"); - u00022 : constant Version_32 := 16#41837d1e#; - pragma Export (C, u00022, "system__stack_checkingB"); - u00023 : constant Version_32 := 16#c88a87ec#; - pragma Export (C, u00023, "system__stack_checkingS"); - u00024 : constant Version_32 := 16#34742901#; - pragma Export (C, u00024, "system__exception_tableB"); - u00025 : constant Version_32 := 16#1b9b8546#; - pragma Export (C, u00025, "system__exception_tableS"); - u00026 : constant Version_32 := 16#ce4af020#; - pragma Export (C, u00026, "system__exceptionsB"); - u00027 : constant Version_32 := 16#2e5681f2#; - pragma Export (C, u00027, "system__exceptionsS"); - u00028 : constant Version_32 := 16#69416224#; - pragma Export (C, u00028, "system__exceptions__machineB"); - u00029 : constant Version_32 := 16#d27d9682#; - pragma Export (C, u00029, "system__exceptions__machineS"); - u00030 : constant Version_32 := 16#aa0563fc#; - pragma Export (C, u00030, "system__exceptions_debugB"); - u00031 : constant Version_32 := 16#38bf15c0#; - pragma Export (C, u00031, "system__exceptions_debugS"); - u00032 : constant Version_32 := 16#6c2f8802#; - pragma Export (C, u00032, "system__img_intB"); - u00033 : constant Version_32 := 16#44ee0cc6#; - pragma Export (C, u00033, "system__img_intS"); - u00034 : constant Version_32 := 16#39df8c17#; - pragma Export (C, u00034, "system__tracebackB"); - u00035 : constant Version_32 := 16#181732c0#; - pragma Export (C, u00035, "system__tracebackS"); - u00036 : constant Version_32 := 16#9ed49525#; - pragma Export (C, u00036, "system__traceback_entriesB"); - u00037 : constant Version_32 := 16#466e1a74#; - pragma Export (C, u00037, "system__traceback_entriesS"); - u00038 : constant Version_32 := 16#448e9548#; - pragma Export (C, u00038, "system__traceback__symbolicB"); - u00039 : constant Version_32 := 16#c84061d1#; - pragma Export (C, u00039, "system__traceback__symbolicS"); - u00040 : constant Version_32 := 16#179d7d28#; - pragma Export (C, u00040, "ada__containersS"); - u00041 : constant Version_32 := 16#701f9d88#; - pragma Export (C, u00041, "ada__exceptions__tracebackB"); - u00042 : constant Version_32 := 16#20245e75#; - pragma Export (C, u00042, "ada__exceptions__tracebackS"); - u00043 : constant Version_32 := 16#5ab55268#; - pragma Export (C, u00043, "interfacesS"); - u00044 : constant Version_32 := 16#769e25e6#; - pragma Export (C, u00044, "interfaces__cB"); - u00045 : constant Version_32 := 16#467817d8#; - pragma Export (C, u00045, "interfaces__cS"); - u00046 : constant Version_32 := 16#e865e681#; - pragma Export (C, u00046, "system__bounded_stringsB"); - u00047 : constant Version_32 := 16#31c8cd1d#; - pragma Export (C, u00047, "system__bounded_stringsS"); - u00048 : constant Version_32 := 16#0062635e#; - pragma Export (C, u00048, "system__crtlS"); - u00049 : constant Version_32 := 16#bba79bcb#; - pragma Export (C, u00049, "system__dwarf_linesB"); - u00050 : constant Version_32 := 16#9a78d181#; - pragma Export (C, u00050, "system__dwarf_linesS"); - u00051 : constant Version_32 := 16#5b4659fa#; - pragma Export (C, u00051, "ada__charactersS"); - u00052 : constant Version_32 := 16#8f637df8#; - pragma Export (C, u00052, "ada__characters__handlingB"); - u00053 : constant Version_32 := 16#3b3f6154#; - pragma Export (C, u00053, "ada__characters__handlingS"); - u00054 : constant Version_32 := 16#4b7bb96a#; - pragma Export (C, u00054, "ada__characters__latin_1S"); - u00055 : constant Version_32 := 16#e6d4fa36#; - pragma Export (C, u00055, "ada__stringsS"); - u00056 : constant Version_32 := 16#96df1a3f#; - pragma Export (C, u00056, "ada__strings__mapsB"); - u00057 : constant Version_32 := 16#1e526bec#; - pragma Export (C, u00057, "ada__strings__mapsS"); - u00058 : constant Version_32 := 16#d68fb8f1#; - pragma Export (C, u00058, "system__bit_opsB"); - u00059 : constant Version_32 := 16#0765e3a3#; - pragma Export (C, u00059, "system__bit_opsS"); - u00060 : constant Version_32 := 16#72b39087#; - pragma Export (C, u00060, "system__unsigned_typesS"); - u00061 : constant Version_32 := 16#92f05f13#; - pragma Export (C, u00061, "ada__strings__maps__constantsS"); - u00062 : constant Version_32 := 16#a0d3d22b#; - pragma Export (C, u00062, "system__address_imageB"); - u00063 : constant Version_32 := 16#e7d9713e#; - pragma Export (C, u00063, "system__address_imageS"); - u00064 : constant Version_32 := 16#ec78c2bf#; - pragma Export (C, u00064, "system__img_unsB"); - u00065 : constant Version_32 := 16#ed47ac70#; - pragma Export (C, u00065, "system__img_unsS"); - u00066 : constant Version_32 := 16#d7aac20c#; - pragma Export (C, u00066, "system__ioB"); - u00067 : constant Version_32 := 16#d8771b4b#; - pragma Export (C, u00067, "system__ioS"); - u00068 : constant Version_32 := 16#f790d1ef#; - pragma Export (C, u00068, "system__mmapB"); - u00069 : constant Version_32 := 16#7c445363#; - pragma Export (C, u00069, "system__mmapS"); - u00070 : constant Version_32 := 16#92d882c5#; - pragma Export (C, u00070, "ada__io_exceptionsS"); - u00071 : constant Version_32 := 16#0cdaa54a#; - pragma Export (C, u00071, "system__mmap__os_interfaceB"); - u00072 : constant Version_32 := 16#82f29877#; - pragma Export (C, u00072, "system__mmap__os_interfaceS"); - u00073 : constant Version_32 := 16#834dfe5e#; - pragma Export (C, u00073, "system__mmap__unixS"); - u00074 : constant Version_32 := 16#fa90b46b#; - pragma Export (C, u00074, "system__os_libB"); - u00075 : constant Version_32 := 16#4542b55d#; - pragma Export (C, u00075, "system__os_libS"); - u00076 : constant Version_32 := 16#ec4d5631#; - pragma Export (C, u00076, "system__case_utilB"); - u00077 : constant Version_32 := 16#79e05a50#; - pragma Export (C, u00077, "system__case_utilS"); - u00078 : constant Version_32 := 16#2a8e89ad#; - pragma Export (C, u00078, "system__stringsB"); - u00079 : constant Version_32 := 16#2623c091#; - pragma Export (C, u00079, "system__stringsS"); - u00080 : constant Version_32 := 16#5a3f5337#; - pragma Export (C, u00080, "system__object_readerB"); - u00081 : constant Version_32 := 16#82413105#; - pragma Export (C, u00081, "system__object_readerS"); - u00082 : constant Version_32 := 16#1a74a354#; - pragma Export (C, u00082, "system__val_lliB"); - u00083 : constant Version_32 := 16#dc110aa4#; - pragma Export (C, u00083, "system__val_lliS"); - u00084 : constant Version_32 := 16#afdbf393#; - pragma Export (C, u00084, "system__val_lluB"); - u00085 : constant Version_32 := 16#0841c7f5#; - pragma Export (C, u00085, "system__val_lluS"); - u00086 : constant Version_32 := 16#269742a9#; - pragma Export (C, u00086, "system__val_utilB"); - u00087 : constant Version_32 := 16#ea955afa#; - pragma Export (C, u00087, "system__val_utilS"); - u00088 : constant Version_32 := 16#d7bf3f29#; - pragma Export (C, u00088, "system__exception_tracesB"); - u00089 : constant Version_32 := 16#62eacc9e#; - pragma Export (C, u00089, "system__exception_tracesS"); - u00090 : constant Version_32 := 16#8c33a517#; - pragma Export (C, u00090, "system__wch_conB"); - u00091 : constant Version_32 := 16#5d48ced6#; - pragma Export (C, u00091, "system__wch_conS"); - u00092 : constant Version_32 := 16#9721e840#; - pragma Export (C, u00092, "system__wch_stwB"); - u00093 : constant Version_32 := 16#7059e2d7#; - pragma Export (C, u00093, "system__wch_stwS"); - u00094 : constant Version_32 := 16#a831679c#; - pragma Export (C, u00094, "system__wch_cnvB"); - u00095 : constant Version_32 := 16#52ff7425#; - pragma Export (C, u00095, "system__wch_cnvS"); - u00096 : constant Version_32 := 16#ece6fdb6#; - pragma Export (C, u00096, "system__wch_jisB"); - u00097 : constant Version_32 := 16#d28f6d04#; - pragma Export (C, u00097, "system__wch_jisS"); - u00098 : constant Version_32 := 16#927a893f#; - pragma Export (C, u00098, "ada__text_ioB"); - u00099 : constant Version_32 := 16#5194351e#; - pragma Export (C, u00099, "ada__text_ioS"); - u00100 : constant Version_32 := 16#10558b11#; - pragma Export (C, u00100, "ada__streamsB"); - u00101 : constant Version_32 := 16#67e31212#; - pragma Export (C, u00101, "ada__streamsS"); - u00102 : constant Version_32 := 16#d398a95f#; - pragma Export (C, u00102, "ada__tagsB"); - u00103 : constant Version_32 := 16#12a0afb8#; - pragma Export (C, u00103, "ada__tagsS"); - u00104 : constant Version_32 := 16#796f31f1#; - pragma Export (C, u00104, "system__htableB"); - u00105 : constant Version_32 := 16#c2f75fee#; - pragma Export (C, u00105, "system__htableS"); - u00106 : constant Version_32 := 16#089f5cd0#; - pragma Export (C, u00106, "system__string_hashB"); - u00107 : constant Version_32 := 16#60a93490#; - pragma Export (C, u00107, "system__string_hashS"); - u00108 : constant Version_32 := 16#73d2d764#; - pragma Export (C, u00108, "interfaces__c_streamsB"); - u00109 : constant Version_32 := 16#b1330297#; - pragma Export (C, u00109, "interfaces__c_streamsS"); - u00110 : constant Version_32 := 16#71ac0ba7#; - pragma Export (C, u00110, "system__file_ioB"); - u00111 : constant Version_32 := 16#e1440d61#; - pragma Export (C, u00111, "system__file_ioS"); - u00112 : constant Version_32 := 16#86c56e5a#; - pragma Export (C, u00112, "ada__finalizationS"); - u00113 : constant Version_32 := 16#95817ed8#; - pragma Export (C, u00113, "system__finalization_rootB"); - u00114 : constant Version_32 := 16#09c79f94#; - pragma Export (C, u00114, "system__finalization_rootS"); - u00115 : constant Version_32 := 16#bbaa76ac#; - pragma Export (C, u00115, "system__file_control_blockS"); - u00116 : constant Version_32 := 16#d5f9759f#; - pragma Export (C, u00116, "ada__text_io__float_auxB"); - u00117 : constant Version_32 := 16#48248c7b#; - pragma Export (C, u00117, "ada__text_io__float_auxS"); - u00118 : constant Version_32 := 16#181dc502#; - pragma Export (C, u00118, "ada__text_io__generic_auxB"); - u00119 : constant Version_32 := 16#16b3615d#; - pragma Export (C, u00119, "ada__text_io__generic_auxS"); - u00120 : constant Version_32 := 16#8aa4f090#; - pragma Export (C, u00120, "system__img_realB"); - u00121 : constant Version_32 := 16#819dbde6#; - pragma Export (C, u00121, "system__img_realS"); - u00122 : constant Version_32 := 16#42a257f7#; - pragma Export (C, u00122, "system__fat_llfS"); - u00123 : constant Version_32 := 16#1b28662b#; - pragma Export (C, u00123, "system__float_controlB"); - u00124 : constant Version_32 := 16#a6c9af38#; - pragma Export (C, u00124, "system__float_controlS"); - u00125 : constant Version_32 := 16#3e932977#; - pragma Export (C, u00125, "system__img_lluB"); - u00126 : constant Version_32 := 16#3b7a9044#; - pragma Export (C, u00126, "system__img_lluS"); - u00127 : constant Version_32 := 16#16458a73#; - pragma Export (C, u00127, "system__powten_tableS"); - u00128 : constant Version_32 := 16#c2ca0511#; - pragma Export (C, u00128, "system__val_realB"); - u00129 : constant Version_32 := 16#b81c9b15#; - pragma Export (C, u00129, "system__val_realS"); - u00130 : constant Version_32 := 16#b2a569d2#; - pragma Export (C, u00130, "system__exn_llfB"); - u00131 : constant Version_32 := 16#fa4b57d8#; - pragma Export (C, u00131, "system__exn_llfS"); - u00132 : constant Version_32 := 16#1e40f010#; - pragma Export (C, u00132, "system__fat_fltS"); - u00133 : constant Version_32 := 16#cd2959fb#; - pragma Export (C, u00133, "ada__numericsS"); - u00134 : constant Version_32 := 16#932a4690#; - pragma Export (C, u00134, "system__concat_4B"); - u00135 : constant Version_32 := 16#3851c724#; - pragma Export (C, u00135, "system__concat_4S"); - u00136 : constant Version_32 := 16#2b70b149#; - pragma Export (C, u00136, "system__concat_3B"); - u00137 : constant Version_32 := 16#4d45b0a1#; - pragma Export (C, u00137, "system__concat_3S"); - u00138 : constant Version_32 := 16#fd83e873#; - pragma Export (C, u00138, "system__concat_2B"); - u00139 : constant Version_32 := 16#44953bd4#; - pragma Export (C, u00139, "system__concat_2S"); - u00140 : constant Version_32 := 16#ec9cfed1#; - pragma Export (C, u00140, "system__random_numbersB"); - u00141 : constant Version_32 := 16#852d5c9e#; - pragma Export (C, u00141, "system__random_numbersS"); - u00142 : constant Version_32 := 16#e0ac52ca#; - pragma Export (C, u00142, "system__random_seedB"); - u00143 : constant Version_32 := 16#1d25c55f#; - pragma Export (C, u00143, "system__random_seedS"); - u00144 : constant Version_32 := 16#9a2e29aa#; - pragma Export (C, u00144, "ada__calendarB"); - u00145 : constant Version_32 := 16#c4f07049#; - pragma Export (C, u00145, "ada__calendarS"); - u00146 : constant Version_32 := 16#51f2d040#; - pragma Export (C, u00146, "system__os_primitivesB"); - u00147 : constant Version_32 := 16#41c889f2#; - pragma Export (C, u00147, "system__os_primitivesS"); - u00148 : constant Version_32 := 16#1d9142a4#; - pragma Export (C, u00148, "system__val_unsB"); - u00149 : constant Version_32 := 16#621b7dbc#; - pragma Export (C, u00149, "system__val_unsS"); - u00150 : constant Version_32 := 16#2323a8af#; - pragma Export (C, u00150, "system__memoryB"); - u00151 : constant Version_32 := 16#1f488a30#; - pragma Export (C, u00151, "system__memoryS"); - - -- BEGIN ELABORATION ORDER - -- ada%s - -- ada.characters%s - -- ada.characters.latin_1%s - -- interfaces%s - -- system%s - -- system.exn_llf%s - -- system.exn_llf%b - -- system.float_control%s - -- system.float_control%b - -- system.img_int%s - -- system.img_int%b - -- system.io%s - -- system.io%b - -- system.os_primitives%s - -- system.os_primitives%b - -- system.parameters%s - -- system.parameters%b - -- system.crtl%s - -- interfaces.c_streams%s - -- interfaces.c_streams%b - -- system.powten_table%s - -- system.storage_elements%s - -- system.storage_elements%b - -- system.stack_checking%s - -- system.stack_checking%b - -- system.string_hash%s - -- system.string_hash%b - -- system.htable%s - -- system.htable%b - -- system.strings%s - -- system.strings%b - -- system.traceback_entries%s - -- system.traceback_entries%b - -- system.unsigned_types%s - -- system.img_llu%s - -- system.img_llu%b - -- system.img_uns%s - -- system.img_uns%b - -- system.wch_con%s - -- system.wch_con%b - -- system.wch_jis%s - -- system.wch_jis%b - -- system.wch_cnv%s - -- system.wch_cnv%b - -- system.concat_2%s - -- system.concat_2%b - -- system.concat_3%s - -- system.concat_3%b - -- system.concat_4%s - -- system.concat_4%b - -- system.traceback%s - -- system.traceback%b - -- system.case_util%s - -- system.standard_library%s - -- system.exception_traces%s - -- ada.exceptions%s - -- system.wch_stw%s - -- system.val_util%s - -- system.val_llu%s - -- system.val_lli%s - -- system.os_lib%s - -- system.bit_ops%s - -- ada.characters.handling%s - -- ada.exceptions.traceback%s - -- system.secondary_stack%s - -- system.case_util%b - -- system.address_image%s - -- system.bounded_strings%s - -- system.soft_links%s - -- system.exception_table%s - -- system.exception_table%b - -- ada.io_exceptions%s - -- ada.strings%s - -- ada.containers%s - -- system.exceptions%s - -- system.exceptions%b - -- ada.exceptions.last_chance_handler%s - -- system.exceptions_debug%s - -- system.exceptions_debug%b - -- system.exception_traces%b - -- system.memory%s - -- system.memory%b - -- system.wch_stw%b - -- system.val_util%b - -- system.val_llu%b - -- system.val_lli%b - -- system.os_lib%b - -- system.bit_ops%b - -- ada.strings.maps%s - -- ada.strings.maps.constants%s - -- ada.characters.handling%b - -- interfaces.c%s - -- ada.exceptions.traceback%b - -- system.exceptions.machine%s - -- system.exceptions.machine%b - -- system.secondary_stack%b - -- system.address_image%b - -- system.bounded_strings%b - -- system.soft_links.initialize%s - -- system.soft_links.initialize%b - -- system.soft_links%b - -- ada.exceptions.last_chance_handler%b - -- system.standard_library%b - -- system.mmap%s - -- ada.strings.maps%b - -- interfaces.c%b - -- system.object_reader%s - -- system.dwarf_lines%s - -- system.dwarf_lines%b - -- system.mmap.unix%s - -- system.mmap.os_interface%s - -- system.mmap%b - -- system.traceback.symbolic%s - -- system.traceback.symbolic%b - -- ada.exceptions%b - -- system.object_reader%b - -- system.mmap.os_interface%b - -- ada.numerics%s - -- ada.tags%s - -- ada.tags%b - -- ada.streams%s - -- ada.streams%b - -- system.fat_flt%s - -- system.fat_llf%s - -- system.file_control_block%s - -- system.finalization_root%s - -- system.finalization_root%b - -- ada.finalization%s - -- system.file_io%s - -- system.file_io%b - -- system.img_real%s - -- system.img_real%b - -- system.val_real%s - -- system.val_real%b - -- system.val_uns%s - -- system.val_uns%b - -- ada.calendar%s - -- ada.calendar%b - -- ada.text_io%s - -- ada.text_io%b - -- ada.text_io.generic_aux%s - -- ada.text_io.generic_aux%b - -- ada.text_io.float_aux%s - -- ada.text_io.float_aux%b - -- ada.float_text_io%s - -- ada.float_text_io%b - -- system.random_seed%s - -- system.random_seed%b - -- system.random_numbers%s - -- system.random_numbers%b - -- main%b - -- END ELABORATION ORDER - -end ada_main; diff --git a/external/Path/obj/b__main.ali b/external/Path/obj/b__main.ali deleted file mode 100644 index 34e938e..0000000 --- a/external/Path/obj/b__main.ali +++ /dev/null @@ -1,302 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -gnatA -A -gnatWb -A -gnatiw -A -gnatws -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV NO_ACCESS_SUBPROGRAMS -RV NO_DEFAULT_INITIALIZATION -RV NO_IMPLEMENTATION_ATTRIBUTES -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV NO_ELABORATION_CODE -RV NO_OBSOLESCENT_FEATURES -RV SPARK_05 - -U ada_main%b b__main.adb d64a9603 OO PK IL -W ada%s ada.ads ada.ali -W ada.exceptions%s a-except.adb a-except.ali -Z system%s system.ads system.ali - -U ada_main%s b__main.ads ec14f541 EE NE OO PK IL -W system%s system.ads system.ali -W system.parameters%s s-parame.adb s-parame.ali -W system.secondary_stack%s s-secsta.adb s-secsta.ali - -D ada.ads 20200312110721 76789da1 ada%s -D a-except.ads 20200312110721 291912d5 ada.exceptions%s -D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D b__main.ads 20200616230446 c276ab58 ada_main%s -D b__main.adb 20200616230446 3d252f8e ada_main%b -D system.ads 20200312110721 4635ec04 system%s -D s-parame.ads 20200312110721 48ec542b system.parameters%s -D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s -D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s -D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s -D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s -X 1 ada.ads -16K9*Ada 20e8 5|6r6 -X 2 a-except.ads -54K13*Exceptions 349e19 5|6w10 -X 4 b__main.ads -6K9*ada_main 497l5 497e13 5|8b14 256l5 256t13 -8i4*gnat_argc{integer} 12m22 12r22 5|234m7 -9m4*gnat_argv{6|67M9} 13m22 13r22 5|235m7 -10m4*gnat_envp{6|67M9} 14m22 14r22 5|236m7 -16i4*gnat_exit_status{integer} 17m22 17r22 5|243r15 -19a4*GNAT_Version{string} 21r22 -23a4*Ada_Main_Program_Name{string} 24r22 5|230r52 -26U14*adainit 27i22 5|84b14 212l8 212t15 239s7 -29U14*adafinal 30i22 5|66b14 80l8 80t16 241s7 -32V13*main{integer} 33>7 34>7 35>7 37i22 5|217b13 244t7 -33i7 argc{integer} 5|218b7 234r20 -34m7 argv{6|67M9} 5|219b7 235r20 -35m7 envp{6|67M9} 5|220b7 236r20 -39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 -. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 -. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 -. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 -. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 -. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 -. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 -. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 -. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 -. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 -. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 -. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 -. 306r22 308r22 310r22 312r22 314r22 316r22 318r22 320r22 322r22 324r22 326r22 -. 328r22 330r22 332r22 334r22 336r22 338r22 340r22 -40m4*u00001{39M9} 41r22 -42m4*u00002{39M9} 43r22 -44m4*u00003{39M9} 45r22 -46m4*u00004{39M9} 47r22 -48m4*u00005{39M9} 49r22 -50m4*u00006{39M9} 51r22 -52m4*u00007{39M9} 53r22 -54m4*u00008{39M9} 55r22 -56m4*u00009{39M9} 57r22 -58m4*u00010{39M9} 59r22 -60m4*u00011{39M9} 61r22 -62m4*u00012{39M9} 63r22 -64m4*u00013{39M9} 65r22 -66m4*u00014{39M9} 67r22 -68m4*u00015{39M9} 69r22 -70m4*u00016{39M9} 71r22 -72m4*u00017{39M9} 73r22 -74m4*u00018{39M9} 75r22 -76m4*u00019{39M9} 77r22 -78m4*u00020{39M9} 79r22 -80m4*u00021{39M9} 81r22 -82m4*u00022{39M9} 83r22 -84m4*u00023{39M9} 85r22 -86m4*u00024{39M9} 87r22 -88m4*u00025{39M9} 89r22 -90m4*u00026{39M9} 91r22 -92m4*u00027{39M9} 93r22 -94m4*u00028{39M9} 95r22 -96m4*u00029{39M9} 97r22 -98m4*u00030{39M9} 99r22 -100m4*u00031{39M9} 101r22 -102m4*u00032{39M9} 103r22 -104m4*u00033{39M9} 105r22 -106m4*u00034{39M9} 107r22 -108m4*u00035{39M9} 109r22 -110m4*u00036{39M9} 111r22 -112m4*u00037{39M9} 113r22 -114m4*u00038{39M9} 115r22 -116m4*u00039{39M9} 117r22 -118m4*u00040{39M9} 119r22 -120m4*u00041{39M9} 121r22 -122m4*u00042{39M9} 123r22 -124m4*u00043{39M9} 125r22 -126m4*u00044{39M9} 127r22 -128m4*u00045{39M9} 129r22 -130m4*u00046{39M9} 131r22 -132m4*u00047{39M9} 133r22 -134m4*u00048{39M9} 135r22 -136m4*u00049{39M9} 137r22 -138m4*u00050{39M9} 139r22 -140m4*u00051{39M9} 141r22 -142m4*u00052{39M9} 143r22 -144m4*u00053{39M9} 145r22 -146m4*u00054{39M9} 147r22 -148m4*u00055{39M9} 149r22 -150m4*u00056{39M9} 151r22 -152m4*u00057{39M9} 153r22 -154m4*u00058{39M9} 155r22 -156m4*u00059{39M9} 157r22 -158m4*u00060{39M9} 159r22 -160m4*u00061{39M9} 161r22 -162m4*u00062{39M9} 163r22 -164m4*u00063{39M9} 165r22 -166m4*u00064{39M9} 167r22 -168m4*u00065{39M9} 169r22 -170m4*u00066{39M9} 171r22 -172m4*u00067{39M9} 173r22 -174m4*u00068{39M9} 175r22 -176m4*u00069{39M9} 177r22 -178m4*u00070{39M9} 179r22 -180m4*u00071{39M9} 181r22 -182m4*u00072{39M9} 183r22 -184m4*u00073{39M9} 185r22 -186m4*u00074{39M9} 187r22 -188m4*u00075{39M9} 189r22 -190m4*u00076{39M9} 191r22 -192m4*u00077{39M9} 193r22 -194m4*u00078{39M9} 195r22 -196m4*u00079{39M9} 197r22 -198m4*u00080{39M9} 199r22 -200m4*u00081{39M9} 201r22 -202m4*u00082{39M9} 203r22 -204m4*u00083{39M9} 205r22 -206m4*u00084{39M9} 207r22 -208m4*u00085{39M9} 209r22 -210m4*u00086{39M9} 211r22 -212m4*u00087{39M9} 213r22 -214m4*u00088{39M9} 215r22 -216m4*u00089{39M9} 217r22 -218m4*u00090{39M9} 219r22 -220m4*u00091{39M9} 221r22 -222m4*u00092{39M9} 223r22 -224m4*u00093{39M9} 225r22 -226m4*u00094{39M9} 227r22 -228m4*u00095{39M9} 229r22 -230m4*u00096{39M9} 231r22 -232m4*u00097{39M9} 233r22 -234m4*u00098{39M9} 235r22 -236m4*u00099{39M9} 237r22 -238m4*u00100{39M9} 239r22 -240m4*u00101{39M9} 241r22 -242m4*u00102{39M9} 243r22 -244m4*u00103{39M9} 245r22 -246m4*u00104{39M9} 247r22 -248m4*u00105{39M9} 249r22 -250m4*u00106{39M9} 251r22 -252m4*u00107{39M9} 253r22 -254m4*u00108{39M9} 255r22 -256m4*u00109{39M9} 257r22 -258m4*u00110{39M9} 259r22 -260m4*u00111{39M9} 261r22 -262m4*u00112{39M9} 263r22 -264m4*u00113{39M9} 265r22 -266m4*u00114{39M9} 267r22 -268m4*u00115{39M9} 269r22 -270m4*u00116{39M9} 271r22 -272m4*u00117{39M9} 273r22 -274m4*u00118{39M9} 275r22 -276m4*u00119{39M9} 277r22 -278m4*u00120{39M9} 279r22 -280m4*u00121{39M9} 281r22 -282m4*u00122{39M9} 283r22 -284m4*u00123{39M9} 285r22 -286m4*u00124{39M9} 287r22 -288m4*u00125{39M9} 289r22 -290m4*u00126{39M9} 291r22 -292m4*u00127{39M9} 293r22 -294m4*u00128{39M9} 295r22 -296m4*u00129{39M9} 297r22 -298m4*u00130{39M9} 299r22 -300m4*u00131{39M9} 301r22 -302m4*u00132{39M9} 303r22 -304m4*u00133{39M9} 305r22 -306m4*u00134{39M9} 307r22 -308m4*u00135{39M9} 309r22 -310m4*u00136{39M9} 311r22 -312m4*u00137{39M9} 313r22 -314m4*u00138{39M9} 315r22 -316m4*u00139{39M9} 317r22 -318m4*u00140{39M9} 319r22 -320m4*u00141{39M9} 321r22 -322m4*u00142{39M9} 323r22 -324m4*u00143{39M9} 325r22 -326m4*u00144{39M9} 327r22 -328m4*u00145{39M9} 329r22 -330m4*u00146{39M9} 331r22 -332m4*u00147{39M9} 333r22 -334m4*u00148{39M9} 335r22 -336m4*u00149{39M9} 337r22 -338m4*u00150{39M9} 339r22 -340m4*u00151{39M9} 341r22 -X 5 b__main.adb -10i4 E075{short_integer} 10m46 10r46 173m7 173r15 -11i4 E013{short_integer} 11m46 11r46 180m7 180r15 -12i4 E025{short_integer} 12m46 12r46 163m7 163r15 -13i4 E070{short_integer} 13m46 13r46 165m7 165r15 -14i4 E055{short_integer} 14m46 14r46 167m7 167r15 -15i4 E040{short_integer} 15m46 15r46 169m7 169r15 -16i4 E027{short_integer} 16m46 16r46 171m7 171r15 -17i4 E057{short_integer} 17m46 17r46 181m7 181r15 -18i4 E061{short_integer} 18m46 18r46 176m7 176r15 -19i4 E045{short_integer} 19m46 19r46 182m7 182r15 -20i4 E021{short_integer} 20m46 20r46 179m7 179r15 -21i4 E081{short_integer} 21m46 21r46 188m7 188r15 -22i4 E050{short_integer} 22m46 22r46 185m7 185r15 -23i4 E039{short_integer} 23m46 23r46 187m7 187r15 -24i4 E133{short_integer} 24m46 24r46 190m7 190r15 -25i4 E103{short_integer} 25m46 25r46 193m7 193r15 -26i4 E101{short_integer} 26m46 26r46 195m7 195r15 -27i4 E115{short_integer} 27m46 27r46 197m7 197r15 -28i4 E114{short_integer} 28m46 28r46 199m7 199r15 -29i4 E112{short_integer} 29m46 29r46 201m7 201r15 -30i4 E111{short_integer} 30m46 30r46 55m10 55r18 203m7 203r15 -31i4 E145{short_integer} 31m46 31r46 206m7 206r15 -32i4 E099{short_integer} 32m46 32r46 44m7 44r15 209m7 209r15 -33i4 E143{short_integer} 33m46 33r46 211m7 211r15 -35a4 Sec_Default_Sized_Stacks(8|45R9) 155m32 155r32 -37a4 Local_Priority_Specific_Dispatching{string} 142r9 -38a4 Local_Interrupt_States{string} 145r27 -40b4 Is_Elaborated{boolean} 74r14 77m7 131r10 134m7 -42U14 finalize_library 42b14 64l8 64t24 159r35 -46U20*F1 47b30 49s10 -52U20*F2 53b30 56s10 -59U20*Reraise_Library_Exception_If_Any 60b33 -. 62s10 -67U17*s_stalib_adafinal 68b25 79s7 -70U17*Runtime_Finalize 71b25 78s7 -82P9 No_Param_Proc 123r34 -85i7*Main_Priority{integer} 86m25 86r25 135m7 -87i7*Time_Slice_Value{integer} 88m25 88r25 136m7 -89e7*WC_Encoding{character} 90m25 90r25 137m7 -91e7*Locking_Policy{character} 92m25 92r25 138m7 -93e7*Queuing_Policy{character} 94m25 94r25 139m7 -95e7*Task_Dispatching_Policy{character} 96m25 96r25 140m7 -97m7*Priority_Specific_Dispatching{6|67M9} 98m25 98r25 141m7 -99i7*Num_Specific_Dispatching{integer} 100m25 100r25 143m7 -101i7*Main_CPU{integer} 102m25 102r25 144m7 -103m7*Interrupt_States{6|67M9} 104m25 104r25 145m7 -105i7*Num_Interrupt_States{integer} 106m25 106r25 146m7 -107i7*Unreserve_All_Interrupts{integer} 108m25 108r25 147m7 -109i7*Detect_Blocking{integer} 110m25 110r25 148m7 -111i7*Default_Stack_Size{integer} 112m25 112r25 149m7 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/home/kingmoon/Downloads/EESPro/Path/src/input.adb - - - /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr - /home/kingmoon/Downloads/EESPro/Path/src/input.adb - - - /home/kingmoon/Downloads/EESPro/Path/pathfollowing.gpr - /home/kingmoon/Downloads/EESPro/Path/src/input.adb - - - diff --git a/external/Path/pathfollowing.gpr b/external/Path/pathfollowing.gpr deleted file mode 100644 index e20de6b..0000000 --- a/external/Path/pathfollowing.gpr +++ /dev/null @@ -1,12 +0,0 @@ -project Pathfollowing is - - for Source_Dirs use ("src"); - for Object_Dir use "obj"; - for Main use ("input.adb", "main.adb"); - for Exec_Dir use "."; - - package Naming is - end Naming; - -end Pathfollowing; - diff --git a/external/Path/src/Hello.adb b/external/Path/src/Hello.adb deleted file mode 100644 index 4058992..0000000 --- a/external/Path/src/Hello.adb +++ /dev/null @@ -1,10 +0,0 @@ -with Ada.Text_IO;use Ada.Text_IO; - -procedure Hello is -Str:String := "Hello World"; -begin - -- Insert code here. - Put(Str); - New_Line; - -end Hello; diff --git a/external/Path/src/input.adb b/external/Path/src/input.adb deleted file mode 100644 index bfebe28..0000000 --- a/external/Path/src/input.adb +++ /dev/null @@ -1,27 +0,0 @@ -with Ada.Text_IO; use Ada.Text_IO; -with Ada.Integer_Text_IO; use Ada.Integer_Text_IO; - -procedure input is - - Input_File : File_Type; - value : Integer; - rangeIndex : Integer := 0 ; - I : Integer :=0; - --type imageValue is range 0 .. 255; - type pixelMatrix is array (0 .. 9999) of Integer; - wholeImage : pixelMatrix; - --procedure textOpen is - begin - - Open (File => Input_File, Mode => Ada.Text_IO.In_File, Name => "dummy_image_curve.txt"); - - while not End_OF_File (Input_File) loop - Get(File => Input_File, Item => value); - wholeImage(I) := value; - Put (Integer'Image(wholeImage(I))); - I := I + 1; - New_Line; - end loop; - Close (File => Input_File); - Put (I); -end input; diff --git a/external/Path/src/split.adb b/external/Path/src/split.adb deleted file mode 100644 index cd866ad..0000000 --- a/external/Path/src/split.adb +++ /dev/null @@ -1,47 +0,0 @@ -with Ada.Text_IO; use Ada.Text_IO; -with Ada.Integer_Text_IO; use Ada.Integer_Text_IO; - -procedure split is - type arrayLength is range 0 .. I; - type colorArray is array(arrayLength) of Integer; - - blue : colorArray; - green : colorArray; - red : colorArray; - gray : colorArray; - J : Integer := 0; - M : Integer := 1; - N : Integer := 2; - B : Integer := 0; - G : Integer := 0; - R : Integer := 0; - gr : Integer := 0; - procedure getGray is - - begin - - loop - exit when J < I; - blue(B) := wholeImage(J); - G := G + 1; - J := J + 4; - end loop; - - loop - exit when M < I; - green := wholeImage(M); - G := G + 1; - M := M + 4; - end loop; - - loop - exit when N < I; - red(R) := wholeImage(J); - R := R + 1; - N := N + 4; - end loop; - - while gr < G loop - gray(gr) := Integer(blue (gr))*114/1000 + Integer(green (gr)) *587/1000 + Integer(red (gr))*299/1000; - Put(Integer'Image(gray(gr))) - end loop; diff --git a/external/Path/src/main.adb b/external/controller/src/Path/pathfollowing.adb similarity index 71% rename from external/Path/src/main.adb rename to external/controller/src/Path/pathfollowing.adb index 7972d1f..a8165d1 100644 --- a/external/Path/src/main.adb +++ b/external/controller/src/Path/pathfollowing.adb @@ -1,28 +1,5 @@ -with Ada.Text_IO; use Ada.Text_IO; -with ada.numerics.discrete_random; -with Ada.Float_Text_Io; use Ada.Float_Text_Io; +package body pathfollowing is -procedure Main is - - width : constant Integer := 10; - height : constant Integer := 10; - size : constant Integer := width * height * 4; - - type Value is range 0 .. 255; - type Pixel is array(0 .. 3) of Value; - type Column_Index is range 0 .. width - 1; - type Row_Index is range 0 .. height - 1; - - type Image_Index is range 0 .. size - 1; - type Image_Raw is array(Image_Index) of Value; - - type Colour_Column is array(Column_Index) of Value; - type Colour_Matrix is array(Row_Index) of Colour_Column; - - package Rand_Int is new ada.numerics.discrete_random(Value); - use Rand_Int; - - gen : Generator; raw : Image_Raw := (others => 0); index : Image_Index := 0; @@ -32,6 +9,7 @@ procedure Main is r : Integer := 0; g : Integer := 0; b : Integer := 0; + bottomPoint : Integer := 0; topPoint : Integer := 0; leftPoint : Integer := 0; @@ -48,30 +26,31 @@ procedure Main is grey : Colour_Matrix := (others => (others => 0)); binaImage : Colour_Matrix := (others => (others => 0)); - -begin - Reset(gen); - for I in Image_Index loop - v := Random(gen); - raw (I) := v; - end loop; - - for I in Row_Index loop - for J in Column_Index loop - index := Image_Index(4 * (Integer(I) * width + Integer(J))); - blue (I) (J) := raw (index); - green (I) (J) := raw (index + 1); - red (I) (J) := raw (index + 2); - --colour := Integer((Integer(blue (I) (J)*50) + Integer(green (I) (J)*59)+ Integer(red (I) (J)*30) + 50)/100); - colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; - --colour := colour / 3; - --r := Integer(red(I)(J) * 30); - --g := Integer(green(I)(J) * 59); - --b := Integer(blue(I)(J) * 50); - --colour := (r + g +b + 50) / 100; + wheehlvelocity : Wheehl_velocity :=(others => 0); + axleTrack : Float := 1.1; + basicVelocity : Float := 1.0; + + function path_following (ImageData : in Communication_Packet) return Wheehl_velocity is + begin + + raw : = Image_Raw(ImageData.local_payload); + + for I in Row_Index loop + for J in Column_Index loop + index := Image_Index(4 * (Integer(I) * width + Integer(J))); + blue (I) (J) := raw (index); + green (I) (J) := raw (index + 1); + red (I) (J) := raw (index + 2); + --colour := Integer((Integer(blue (I) (J)*50) + Integer(green (I) (J)*59)+ Integer(red (I) (J)*30) + 50)/100); + colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; + --colour := colour / 3; + --r := Integer(red(I)(J) * 30); + --g := Integer(green(I)(J) * 59); + --b := Integer(blue(I)(J) * 50); + --colour := (r + g +b + 50) / 100; grey (I) (J) := Value(colour); + end loop; end loop; - end loop; --Binarized for I in Row_Index loop for J in Column_Index loop @@ -175,21 +154,18 @@ begin end if; - Put_Line (Float'Image(steeringAngle)); - - - - - - - - - - - - - - + Put_Line (Float'Image(steeringAngle)); + --turn right + if steeringAngle > 0 then + wheehlvelocity(0) = basicVelocity + steeringAngle * axleTrack; + wheehlvelocity(1) = basicVelocity; + --turn left + elsif steeringAngle < 0 then + wheehlvelocity(0) = basicVelocity; + wheehlvelocity(1) = basicVelocity - steeringAngle * axleTrack; + end if; + return wheehlvelocity; + end path_following; null; -end Main; +end pathfollowing; diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads new file mode 100644 index 0000000..354926b --- /dev/null +++ b/external/controller/src/Path/pathfollowing.ads @@ -0,0 +1,26 @@ +with Ada.Text_IO; use Ada.Text_IO; +with Ada.Float_Text_Io; use Ada.Float_Text_Io; +with types; use types; +with mailbox; + +package pathfollowing is + + width : constant Integer := 100; + height : constant Integer := 100; + size : constant Integer := width * height * 4; + + type Value is range 0 .. 255; + type Pixel is array(0 .. 3) of Value; + type Column_Index is range 0 .. width - 1; + type Row_Index is range 0 .. height - 1; + + type Image_Index is range 0 .. size - 1; + type Image_Raw is array(Image_Index) of Value; + + type Colour_Column is array(Column_Index) of Value; + type Colour_Matrix is array(Row_Index) of Colour_Column; + type Wheehl_velocity is array(0..1) of Float; + + function path_following(imageInput : in Communication_Packt) return Wheehl_velocity; + +end pathfollowing; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index e1e5db9..ea7cae9 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -3,6 +3,8 @@ with tcp_client; use tcp_client; with backend_thread; use backend_thread; with webots_thread; use webots_thread; with types; use types; +with mailbox; +with pathfollowing; procedure Main is @@ -20,16 +22,26 @@ procedure Main is backend_main; end backend_thread; - current_packet : types.Communication_Packet; - + alternator : types.uint8 := 1; + wheehvelocity : types.Octets_2 := (other => 0); --wheelvelocity begin -- threads have started here + while true loop - check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet); + -- clear out both mailboxes + Backend_Mailbox.Clear; + Webots_Mailbox.Clear; + + -- alternate between checking webots and backend mailbox first, then update alternator + mailbox.check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet,alternator); + mailbox.update_alternator(alternator); + --path following + wheelvelocity := path_following(current_packet); -- do calculations with current packet + Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); end loop; diff --git a/webots/controllers/webots_controller/build/release/webots_controller.d b/webots/controllers/webots_controller/build/release/webots_controller.d deleted file mode 100644 index 01e9e86..0000000 --- a/webots/controllers/webots_controller/build/release/webots_controller.d +++ /dev/null @@ -1,6 +0,0 @@ -build/release/webots_controller.o: webots_controller.c \ - D:\Sonstiges\TUB\MPSEES\Webots\Webots/include/controller/c/webots/distance_sensor.h \ - D:\Sonstiges\TUB\MPSEES\Webots\Webots/include/controller/c/webots/types.h \ - D:\Sonstiges\TUB\MPSEES\Webots\Webots/include/controller/c/webots/motor.h \ - D:\Sonstiges\TUB\MPSEES\Webots\Webots/include/controller/c/webots/robot.h \ - D:\Sonstiges\TUB\MPSEES\Webots\Webots/include/controller/c/webots/nodes.h diff --git a/webots/controllers/webots_controller/build/release/webots_controller.exe b/webots/controllers/webots_controller/build/release/webots_controller.exe deleted file mode 100644 index 3f6e20cf0134d8b17a9cfcb4f055aef84d951f17..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 19456 zcmeHv0aRSowe}g9A&`U&nh?>L=1K=0RLB4!fe1PihImH@gMnz&C=75XpumhXcS54p z5(m`l?Yv@J-><-Hih*oiS!cN+cK?1k&Zy?_YiEMe)2P 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zv4VY7olP!MSLN9HtP$oJ2%tE(~W8iRk$N zH3IYzqMbbNvjBY^pzi|o6QXB$-c3Y<9PPmU5}gx>=ynO?1F#JrnPY+IjM1GUgIchQ z79z6yEr8S53*aCPft}0Pr8Wse1VTKgtq9+F^HNyeET`kLq7S=iPRET)7ujYxG~;m^ z(CGbSiOvb_a<@(RlrBwKqTT23+L^~@>!-3ug zrrEiRxQ9G&sU4c3TLl{^?P62H%LPhLQ2FsJdRJ z;#JF_PSXc_K+D~f|M#%j*;$yfvX1APIj7`RoMO?csJZ{$Dr;68>}J{}+k>e#J8gMp z-m2L-i?qCrODyFq)3r*jQ!%YlCX1&SBj+3sxr^Cl$F)7%DRrwgtLWrxZ{|T~*R#r- V^`seVnPQc<6-&w$txO5` Date: Thu, 25 Jun 2020 02:00:52 +0200 Subject: [PATCH 05/25] return of path following: Communication_Packet --- .../controller/src/Path/pathfollowing.adb | 12 +- .../controller/src/Path/pathfollowing.ads | 11 +- external/controller/src/main.adb | 2 +- webots/worlds/.cabservice.wbproj | 28 ++--- webots/worlds/cabservice.wbt | 116 +++++++----------- 5 files changed, 66 insertions(+), 103 deletions(-) diff --git a/external/controller/src/Path/pathfollowing.adb b/external/controller/src/Path/pathfollowing.adb index a8165d1..abbb726 100644 --- a/external/controller/src/Path/pathfollowing.adb +++ b/external/controller/src/Path/pathfollowing.adb @@ -4,7 +4,7 @@ package body pathfollowing is raw : Image_Raw := (others => 0); index : Image_Index := 0; - v : Value; + colour : Integer := 0; r : Integer := 0; g : Integer := 0; @@ -30,7 +30,7 @@ package body pathfollowing is axleTrack : Float := 1.1; basicVelocity : Float := 1.0; - function path_following (ImageData : in Communication_Packet) return Wheehl_velocity is + function path_following (ImageData : in Communication_Packet) return Communication_Packet is begin raw : = Image_Raw(ImageData.local_payload); @@ -48,7 +48,7 @@ package body pathfollowing is --g := Integer(green(I)(J) * 59); --b := Integer(blue(I)(J) * 50); --colour := (r + g +b + 50) / 100; - grey (I) (J) := Value(colour); + grey (I) (J) := uint8(colour); end loop; end loop; --Binarized @@ -59,7 +59,7 @@ package body pathfollowing is else binaImage (I)(j) := 0; end if; - Put(Value'Image (binaImage (I) (J))); + Put(uint8'Image (binaImage (I) (J))); end loop; Put_Line(""); @@ -164,8 +164,8 @@ package body pathfollowing is wheehlvelocity(0) = basicVelocity; wheehlvelocity(1) = basicVelocity - steeringAngle * axleTrack; end if; - return wheehlvelocity; + ImageData.local_payload := wheehlvelocity; + return ImageData; end path_following; - null; end pathfollowing; diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads index 354926b..209d820 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/Path/pathfollowing.ads @@ -9,18 +9,17 @@ package pathfollowing is height : constant Integer := 100; size : constant Integer := width * height * 4; - type Value is range 0 .. 255; - type Pixel is array(0 .. 3) of Value; + type Pixel is array(0 .. 3) of uint84; type Column_Index is range 0 .. width - 1; type Row_Index is range 0 .. height - 1; type Image_Index is range 0 .. size - 1; - type Image_Raw is array(Image_Index) of Value; + type Image_Raw is array(Image_Index) of uint8; - type Colour_Column is array(Column_Index) of Value; + type Colour_Column is array(Column_Index) of uint8; type Colour_Matrix is array(Row_Index) of Colour_Column; - type Wheehl_velocity is array(0..1) of Float; + type Wheehl_velocity is array(0..1) of float64; - function path_following(imageInput : in Communication_Packt) return Wheehl_velocity; + function path_following(imageInput : in Communication_Packt) return Communication_Packt; end pathfollowing; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index ea7cae9..5c546d8 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -39,7 +39,7 @@ begin mailbox.check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet,alternator); mailbox.update_alternator(alternator); --path following - wheelvelocity := path_following(current_packet); + current_packet := path_following(current_packet); -- do calculations with current packet Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index 6d55e3b..ffe9d5b 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,29 +1,15 @@ Webots Project File version R2020a -<<<<<<< HEAD -perspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000007f0000040dfc0200000001fb0000001400540065007800740045006400690074006f007201000000150000040d0000008700ffffff000000030000078000000039fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000006900ffffff000006ff0000040d00000004000000040000000100000008fc00000000 -simulationViewPerspectives: 000000ff0000000100000002000001180000060b0100000002010000000101 -sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000002010000000201 -minimizedPerspectives: 000000ff00000000fd00000003000000000000016c00000469fc0200000001fb00000012005300630065006e006500540072006500650100000019000004690000018500ffffff000000010000022e0000036bfc0200000001fb0000001400540065007800740045006400690074006f007201000000190000036b000000ab00ffffff00000003000005cd000000f8fc0100000001fb0000000e0043006f006e0073006f006c00650100000172000005cd0000004e00ffffff000003990000036b00000004000000040000000100000008fc00000000 -======= -perspectives: 000000ff00000000fd000000030000000000000200000003ccfc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000002000000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000007f00000368fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000368000000a200ffffff00000003000007380000005efc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000006b30000036800000004000000040000000100000008fc00000000 -simulationViewPerspectives: 000000ff000000010000000200000189000005240100000006010000000101 +perspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024700000341fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000341000000a200ffffff000000030000073800000085fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004eb0000034100000004000000040000000100000008fc00000000 +simulationViewPerspectives: 000000ff0000000100000002000001180000060b0100000006010000000101 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 -minimizedPerspectives: 000000ff00000000fd000000030000000000000200000003ccfc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000002000000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000001cb00000368fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000368000000a200ffffff00000003000007380000005efc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000005670000036800000004000000040000000100000008fc00000000 ->>>>>>> 646ec37621c7860671f5e36e707d995a69f27d43 +minimizedPerspectives: 000000ff00000000fd00000003000000000000016c00000469fc0200000001fb00000012005300630065006e006500540072006500650100000019000004690000018500ffffff000000010000022e0000036bfc0200000001fb0000001400540065007800740045006400690074006f007201000000190000036b000000ab00ffffff00000003000005cd000000f8fc0100000001fb0000000e0043006f006e0073006f006c00650100000172000005cd0000004e00ffffff000003990000036b00000004000000040000000100000008fc00000000 maximizedDockId: -1 centralWidgetVisible: 1 projectionMode: PERSPECTIVE selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 -<<<<<<< HEAD -textFiles: 0 "controllers/webots_controller/webots_controller.c" -globalOptionalRendering: DistanceSensorRays -renderingDevicePerspectives: Cab1:camera;1;3.2;0;0 -renderingDevicePerspectives: Cab2:camera;1;3.2;0;0 -======= -textFiles: 1 "controllers/webots_controller/webots_controller.c" "controllers/controller/controller.cpp" -globalOptionalRendering: LightSensorRays::CameraFrustums -renderingDevicePerspectives: Cab1:camera;1;15.6;0.00414132;0.0184275 -renderingDevicePerspectives: Cab2:camera;0;3.2;0;0 ->>>>>>> 646ec37621c7860671f5e36e707d995a69f27d43 +textFiles: 0 "../../../../Downloads/EESPro/webots/controllers/controller/controller.cpp" +globalOptionalRendering: CameraFrustums +renderingDevicePerspectives: Cab1:camera;1;2.15;0;0 +renderingDevicePerspectives: Cab2:camera;1;2.3;0;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 940b3fa..e64f896 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,25 +3,20 @@ WorldInfo { basicTimeStep 16 } Viewpoint { -<<<<<<< HEAD - orientation 0.03808682417150016 0.7714041274115354 0.635204743399305 3.119688131672871 - position 6.409620980680648 139.501828724283 -82.55227138078858 -======= - orientation -0.3561820611274205 0.8929354878619198 0.2753190037898181 1.1006983234984413 - position 6.798450751790384 15.370336924761107 -20.682202171309395 ->>>>>>> 646ec37621c7860671f5e36e707d995a69f27d43 + orientation -0.13604872643324314 0.9613566108335687 0.2393412017235796 1.799494164456511 + position -5.156028645438592 7.717062723152812 -29.836713621291167 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab1 Robot { - translation -21.579580903099952 0.3986696791302122 -29.474300131682092 - rotation -0.00011349042279701871 0.9999999864428721 -0.00011930708025550741 -1.5723852175075563 + translation -20.31969999357564 0.3986696792065586 -29.441900006248225 + rotation -0.00011349079067931864 0.9999999864427885 -0.00011930743241959921 -1.5723841962935208 children [ DEF cam_f Camera { translation 0 0.1 1 - rotation 0.00020599496346978955 -0.9659258287071042 -0.2588189541022232 -3.140055307179586 + rotation 0.0002061049634456112 -0.9659258286852112 -0.25881895409635697 -3.140055307179586 children [ Shape { appearance PBRAppearance { @@ -40,12 +35,9 @@ DEF Cab1 Robot { physics Physics { density 1 } - recognitionColors [ - 0 0 0 - ] fieldOfView 0.75 - width 18 - height 10 + width 100 + height 100 far 10 } DEF ls_f LightSensor { @@ -360,7 +352,7 @@ DEF Cab1 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position -3.327365227964424e-08 + position 3.255420353235132e-08 anchor 0.55 -0.1 0.55 } device [ @@ -371,7 +363,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation -2.1893889123405995e-08 2.1876461371024583e-08 0.9999999999999996 1.569999999999997 + rotation 1.6380393876798686e-08 -1.6367354921189455e-08 0.9999999999999998 1.5699999999999963 children [ DEF wheel Shape { appearance PBRAppearance { @@ -389,13 +381,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 1.950715502247343e-07 -5.085093994868393e-09 7.536136614471023e-09 - angularVelocity 5.1203480173674426e-09 3.578277130030934e-08 -3.65775532953339e-07 + linearVelocity -9.08872626710977e-08 5.185811873801778e-09 -6.172838487666651e-09 + angularVelocity -4.089862855533659e-09 -4.0130697180605864e-08 3.2651298095484895e-07 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position -3.474033146525983e-08 + position 3.1555929756539695e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -406,7 +398,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -2.6947320193211024e-08 2.692586985969454e-08 0.9999999999999992 1.569999999999997 + rotation 1.5790534299819272e-08 -1.5777964878269887e-08 0.9999999999999999 1.5699999999999958 children [ DEF wheel Shape { appearance PBRAppearance { @@ -424,13 +416,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -2.3779717544403902e-08 9.32502056065934e-09 -7.293088919314803e-09 - angularVelocity -4.222516151479196e-09 3.5835003068142094e-08 -2.5126010575823605e-07 + linearVelocity -9.167303440069915e-08 -6.392667200422517e-09 1.1441981288429505e-08 + angularVelocity 5.7405304854201e-09 -4.013030681178788e-08 3.3976793464240255e-07 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position -3.6704670336654414e-08 + position 3.384330152892231e-08 anchor -0.55 -0.1 -0.7 } device [ @@ -441,7 +433,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation -1.836695544660301e-08 1.8352335168327204e-08 0.9999999999999998 1.5699999999999965 + rotation 1.6935131296545627e-08 -1.6921650764461157e-08 0.9999999999999998 1.569999999999997 children [ DEF wheel Shape { appearance PBRAppearance { @@ -459,16 +451,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -3.0642451014027804e-08 9.281734602491383e-09 -7.3050330966560336e-09 - angularVelocity -4.196054100447201e-09 3.5827189683326676e-08 -2.6772109614015735e-07 + linearVelocity -7.269832560375284e-08 -4.240858491092943e-09 7.130212406388721e-09 + angularVelocity 7.089475301795839e-09 -4.0124179963881735e-08 3.162852932050377e-07 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { -<<<<<<< HEAD -======= - position -3.4845702781946854e-08 ->>>>>>> 646ec37621c7860671f5e36e707d995a69f27d43 + position -3.191104048204144e-08 anchor -0.55 -0.1 0.55 } device [ @@ -479,11 +468,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 -<<<<<<< HEAD - rotation 0 0 1 1.5699999999999956 -======= - rotation -1.743673120154564e-08 1.7422851390973424e-08 0.9999999999999998 1.5699999999999958 ->>>>>>> 646ec37621c7860671f5e36e707d995a69f27d43 + rotation -2.1938788545569875e-08 2.192132505280415e-08 0.9999999999999996 1.5699999999999963 children [ DEF wheel Shape { appearance PBRAppearance { @@ -501,8 +486,8 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 5.152535216647514e-08 -5.128352101827773e-09 7.3093455148862074e-09 - angularVelocity 4.151865149778144e-09 3.58081341069666e-08 2.4352595949035485e-07 + linearVelocity 5.589296585789625e-08 7.337622090052178e-09 -1.0281880401406598e-08 + angularVelocity -1.7566202215096822e-09 -4.015557373647951e-08 -3.168214485309896e-07 } } DEF car_body Shape { @@ -523,12 +508,12 @@ DEF Cab1 Robot { 0 0 0 ] controller "controller" - linearVelocity 4.67899702463465e-08 1.2081959338530822e-09 2.77736723402194e-09 - angularVelocity -5.804882712806141e-11 3.601954847277697e-08 1.1616814428901493e-08 + linearVelocity -4.86958650758447e-08 9.492132686387566e-10 -2.319754074815131e-09 + angularVelocity 2.0102423796492425e-09 -4.037751136555338e-08 -9.401480299496947e-09 } DEF Cab2 Robot { - translation 9.99990683573974 0.3986696792225525 -29.100002401195102 - rotation -0.00011349074803640289 0.9999999864427955 -0.00011930741416728066 -1.5723853225464746 + translation 9.999906847999789 0.3986696792225526 -29.100002401250403 + rotation -0.0001134907480381508 0.9999999864427954 -0.00011930741416175973 -1.5723853225705533 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -552,8 +537,8 @@ DEF Cab2 Robot { density 1 } fieldOfView 0.75 - width 18 - height 10 + width 100 + height 100 far 10 } DEF ls_f LightSensor { @@ -868,7 +853,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 6.565185862718732e-08 + position 6.57208458131402e-08 anchor 0.55 -0.1 0.55 } device [ @@ -879,7 +864,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 3.2852079894259525e-08 -3.2825929313593646e-08 0.999999999999999 1.5699999999999972 + rotation 3.288660096635093e-08 -3.286042290657008e-08 0.999999999999999 1.5699999999999972 children [ DEF wheel Shape { appearance PBRAppearance { @@ -897,13 +882,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -7.946797302174478e-08 -4.085704167686341e-10 -1.7181532812081785e-08 - angularVelocity -9.369390193175526e-09 -7.837683866645338e-08 3.1907111840294945e-07 + linearVelocity -7.945865987573187e-08 -4.0847230804388183e-10 -1.7177205867461696e-08 + angularVelocity -9.368357116989985e-09 -7.836506693445432e-08 3.1892910132715274e-07 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 6.851179007440314e-08 + position 6.838643698777039e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -914,7 +899,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 3.4283184791526384e-08 -3.425589503720155e-08 0.999999999999999 1.5699999999999974 + rotation 3.422045831731586e-08 -3.4193218493885176e-08 0.999999999999999 1.5699999999999974 children [ DEF wheel Shape { appearance PBRAppearance { @@ -932,13 +917,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -8.21565715835917e-08 -3.6899430210325365e-10 1.7383121592283507e-08 - angularVelocity 9.792510782153218e-09 -7.837619747718739e-08 3.3195381076805603e-07 + linearVelocity -8.214681176057753e-08 -3.6900706830001907e-10 1.737874727654083e-08 + angularVelocity 9.791452822846811e-09 -7.836442315150608e-08 3.3200085724565284e-07 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 9.313885876194207e-11 + position -4.4173138680273235e-12 anchor -0.55 -0.1 -0.7 } device [ @@ -949,7 +934,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 4.6606528638939754e-11 -4.656942938097104e-11 1 1.5699999999999963 + rotation -2.2104164473777593e-12 2.2086569340160024e-12 1 1.5699999999999963 children [ DEF wheel Shape { appearance PBRAppearance { @@ -967,16 +952,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 8.195561574380904e-08 4.091174533261147e-10 1.7643864792902372e-08 - angularVelocity 1.0846711951098836e-08 -7.839542498855203e-08 -3.314916979496033e-07 + linearVelocity 8.194461718207664e-08 4.0901723365544055e-10 1.7639465489313456e-08 + angularVelocity 1.084578591206789e-08 -7.838364999380448e-08 -3.3153389620077773e-07 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { -<<<<<<< HEAD -======= - position -3.1917189916962774e-11 ->>>>>>> 646ec37621c7860671f5e36e707d995a69f27d43 + position -1.8442457744012106e-11 anchor -0.55 -0.1 0.55 } device [ @@ -987,11 +969,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 -<<<<<<< HEAD - rotation 0 0 1 1.5699999999999956 -======= - rotation -1.5971308277908426e-11 1.595859495848373e-11 1 1.5699999999999956 ->>>>>>> 646ec37621c7860671f5e36e707d995a69f27d43 + rotation -9.228574908952312e-12 9.221228872006053e-12 1 1.5699999999999956 children [ DEF wheel Shape { appearance PBRAppearance { @@ -1009,8 +987,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity 7.93689259558847e-08 3.695397303209838e-10 -1.6929191925294487e-08 - angularVelocity -8.355872753030928e-09 -7.839477930810898e-08 -3.187794251587571e-07 + linearVelocity 7.935893804580901e-08 3.6955038557182726e-10 -1.692485383897782e-08 + angularVelocity -8.355269970358596e-09 -7.838300509551924e-08 -3.1863582847063084e-07 } } DEF car_body Shape { @@ -1031,8 +1009,8 @@ DEF Cab2 Robot { 0 0 0 ] controller "controller" - linearVelocity -6.857000340122541e-11 -2.169374964096955e-12 -5.644168655114029e-09 - angularVelocity 7.217472018958654e-10 -7.88218511706991e-08 3.352718668339066e-11 + linearVelocity -6.903911628671852e-11 -2.164490732593009e-12 -5.643333598146624e-09 + angularVelocity 7.21665277883019e-10 -7.881003553530751e-08 3.3437156608850945e-11 } DEF environment Solid { scale 1.09819 1.09819 1.09819 From 294026f518d71891dde87c67c49b3e3b87e0e08a Mon Sep 17 00:00:00 2001 From: Yue Date: Sat, 27 Jun 2020 02:31:17 +0200 Subject: [PATCH 06/25] change the type into uint8 --- .../controller/src/Path/pathfollowing.adb | 8 +- .../controller/src/Path/pathfollowing.ads | 2 +- webots/controllers/controller/Makefile | 2 +- .../controller/build/release/controller | Bin 0 -> 14552 bytes .../controller/build/release/controller.d | 18 ++-- .../controller/build/release/controller.exe | Bin 25088 -> 0 bytes .../controller/build/release/controller.o | Bin 11012 -> 9616 bytes webots/controllers/controller/controller | Bin 0 -> 14552 bytes webots/controllers/controller/controller.cpp | 27 ++--- webots/controllers/controller/picture.png | Bin 0 -> 3284 bytes webots/worlds/.cabservice.wbproj | 12 +-- webots/worlds/cabservice.wbt | 94 +++++++++--------- 12 files changed, 83 insertions(+), 80 deletions(-) create mode 100755 webots/controllers/controller/build/release/controller delete mode 100644 webots/controllers/controller/build/release/controller.exe create mode 100755 webots/controllers/controller/controller create mode 100644 webots/controllers/controller/picture.png diff --git a/external/controller/src/Path/pathfollowing.adb b/external/controller/src/Path/pathfollowing.adb index abbb726..6f84c30 100644 --- a/external/controller/src/Path/pathfollowing.adb +++ b/external/controller/src/Path/pathfollowing.adb @@ -18,7 +18,7 @@ package body pathfollowing is topPoint1 : Integer := 0; leftPoint1 : Integer := 0; rightPoint1 : Integer:= 0; - steeringAngle : Float:= 0.0; + steeringAngle : uint8:= 0.0; red : Colour_Matrix := (others => (others => 0)); blue : Colour_Matrix := (others => (others => 0)); @@ -27,8 +27,8 @@ package body pathfollowing is binaImage : Colour_Matrix := (others => (others => 0)); wheehlvelocity : Wheehl_velocity :=(others => 0); - axleTrack : Float := 1.1; - basicVelocity : Float := 1.0; + axleTrack : uint8 := 1.1; + basicVelocity : uint8 := 1.0; function path_following (ImageData : in Communication_Packet) return Communication_Packet is begin @@ -54,7 +54,7 @@ package body pathfollowing is --Binarized for I in Row_Index loop for J in Column_Index loop - if grey (I)(J) > 200 then + if grey (I)(J) > 100 then binaImage (I)(J) := 255; else binaImage (I)(j) := 0; diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads index 209d820..b8d312f 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/Path/pathfollowing.ads @@ -18,7 +18,7 @@ package pathfollowing is type Colour_Column is array(Column_Index) of uint8; type Colour_Matrix is array(Row_Index) of Colour_Column; - type Wheehl_velocity is array(0..1) of float64; + type Wheehl_velocity is array(0..1) of uint8; function path_following(imageInput : in Communication_Packt) return Communication_Packt; diff --git a/webots/controllers/controller/Makefile b/webots/controllers/controller/Makefile index d7b2312..d9e7b7e 100644 --- a/webots/controllers/controller/Makefile +++ b/webots/controllers/controller/Makefile @@ -75,7 +75,7 @@ endif INCLUDE = -I"${BOOST_ROOT}" ifeq ($(UNAME_S),Linux) -LIBRARIES += -lpthread -lboost_system +//LIBRARIES += -lpthread -lboost_system endif CFLAGS = -Wno-strict-aliasing -Wno-unused-variable diff --git a/webots/controllers/controller/build/release/controller b/webots/controllers/controller/build/release/controller new file 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D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/DistanceSensor.hpp \ - D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/LightSensor.hpp +build/release/controller.o: controller.cpp \ + /usr/local/webots/include/controller/cpp/webots/Robot.hpp \ + /usr/local/webots/include/controller/cpp/webots/Motor.hpp \ + /usr/local/webots/include/controller/cpp/webots/Device.hpp \ + /usr/local/webots/include/controller/cpp/webots/../../c/webots/types.h \ + /usr/local/webots/include/controller/cpp/webots/Camera.hpp \ + /usr/local/webots/include/controller/cpp/webots/../../c/webots/camera_recognition_object.h \ + /usr/local/webots/include/controller/cpp/webots/DistanceSensor.hpp \ + /usr/local/webots/include/controller/cpp/webots/LightSensor.hpp diff --git a/webots/controllers/controller/build/release/controller.exe b/webots/controllers/controller/build/release/controller.exe deleted file mode 100644 index 73524c502219f8b4eff3742d1c5876ca68ee1f32..0000000000000000000000000000000000000000 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Classen #include #include -#include -#include -#include +//#include +//#include +//#include #include #include @@ -13,10 +13,10 @@ #include #include -#include "../../../shared/buffer.hpp" -#include "../../../shared/buffer_reader.hpp" -#include "../../../shared/buffer_writer.hpp" -#include "../../../shared/message.hpp" +//#include "../../../shared/buffer.hpp" +//#include "../../../shared/buffer_reader.hpp" +//#include "../../../shared/buffer_writer.hpp" +//#include "../../../shared/message.hpp" #define N_DISTANCE_SENSORS 9 #define N_LIGHT_SENSORS 1 @@ -26,7 +26,7 @@ using namespace webots; int main(int argc, char **argv) { - if(argc != 2) + /* if(argc != 2) { std::cerr << "port missing" << std::endl; return EXIT_FAILURE; @@ -45,7 +45,7 @@ int main(int argc, char **argv) { std::cerr << "Exception: " << e.what() << "\n"; return EXIT_FAILURE; - } + } */ Robot *robot = new Robot(); @@ -90,7 +90,10 @@ int main(int argc, char **argv) double left_speed = 0; double right_speed = 0; - buffer in; + robot->step(timeStep); + camera->saveImage("picture.png", 100); + + /* buffer in; buffer_reader reader(in); while (robot->step(timeStep) != -1) { @@ -177,7 +180,7 @@ int main(int argc, char **argv) } // Enter here exit cleanup code. - client.close(); + client.close(); */ delete robot; return 0; } diff --git a/webots/controllers/controller/picture.png b/webots/controllers/controller/picture.png new file mode 100644 index 0000000000000000000000000000000000000000..d08ec9bce45fff75c0cf45091b88e79ddfd0cd39 GIT binary patch literal 3284 zcmWkxX;@PS+Pyb7xmh6zdoVx{!GMYhsDMUugD4QFTxrBeQ9@*~jABGfL8oK`Swsno zis%Octs>(>+{Ri9iAdQ6JE&Bv1P9O}*2p4I0vWy^?|Xiq_nhaP=Pf|Dg<6rENdN#? zg@=ViFQVW74*_1>uKau*08q|{hX_QOd-mSRFwOP=P?5}`*yv=%kXpdsAlSrm2v>KN-T~@y&)GUNNdR{*dqAz+kvvJwCkp zl+$d~DX4w2OnG&c`oU%2{=vwuF1=Wi2n3nTzn4)0ZpI^@u_&BtsisT4m6uw8liO_K z!fI3cgZd4#%G}eZ2M6L&KMOuG+QP_QFh4O3PlUqgZ=o4xIb4Tp7$XlqDszCMDaP-} zB9~zz$tJ9R^lyEnxj=xR`GY;xe7)JwZnCfV$ud9RY5LMlK5o(5O;pn(YSbfcXDs4U 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zn0i?;)CA(+B3~0(Jvt~46)@cXhy*WhKriE4SOoPr(c>O*dmj%o0SvdCRcP1{dy=)q z8_Kk%{jmglFHzv)gXR*PUtxw_(5hLm%Z(MK+7D;BE`uw(r8!<}HG$WTzr(FN=9GVe z-m$T^<^Uz_fjZb#GGhI@y_yNXiG^JG^&97G-xqop~|HfSog6s4%%h6wCYyWAQ`mj?{(gj;@M@JT{BGa{zRAILEtz&sP ya Date: Tue, 30 Jun 2020 00:03:46 +0200 Subject: [PATCH 07/25] store --- external/controller/external_controller.gpr | 2 +- external/controller/main | Bin 0 -> 335360 bytes external/controller/obj/b__main.adb | 438 ++++++++++ external/controller/obj/b__main.ads | 791 ++++++++++++++++++ external/controller/obj/b__main.ali | 461 ++++++++++ external/controller/obj/b__main.o | Bin 0 -> 86064 bytes .../controller/obj/backend_thread.adb.stderr | 0 .../controller/obj/backend_thread.adb.stdout | 0 external/controller/obj/backend_thread.ali | 151 ++++ external/controller/obj/backend_thread.o | Bin 0 -> 46864 bytes .../controller/obj/byte_buffer.adb.stderr | 0 .../controller/obj/byte_buffer.adb.stdout | 0 external/controller/obj/byte_buffer.ali | 223 +++++ external/controller/obj/byte_buffer.o | Bin 0 -> 211528 bytes .../obj/external_controller-loc.xml | 361 ++++++++ external/controller/obj/gnatinspect.db | Bin 0 -> 274432 bytes external/controller/obj/mailbox.adb.stderr | 0 external/controller/obj/mailbox.adb.stdout | 0 external/controller/obj/mailbox.ali | 139 +++ external/controller/obj/mailbox.o | Bin 0 -> 52336 bytes external/controller/obj/main.adb.stderr | 0 external/controller/obj/main.adb.stdout | 0 external/controller/obj/main.ali | 146 ++++ external/controller/obj/main.bexch | 32 + external/controller/obj/main.o | Bin 0 -> 33224 bytes .../controller/obj/pathfollowing.adb.stderr | 0 .../controller/obj/pathfollowing.adb.stdout | 0 external/controller/obj/pathfollowing.ali | 178 ++++ external/controller/obj/pathfollowing.o | Bin 0 -> 24008 bytes external/controller/obj/tcp_client.adb.stderr | 0 external/controller/obj/tcp_client.adb.stdout | 0 external/controller/obj/tcp_client.ali | 202 +++++ external/controller/obj/tcp_client.o | Bin 0 -> 48312 bytes external/controller/obj/types.adb.stderr | 0 external/controller/obj/types.adb.stdout | 0 external/controller/obj/types.ali | 184 ++++ external/controller/obj/types.o | Bin 0 -> 9800 bytes .../controller/obj/webots_thread.adb.stderr | 0 .../controller/obj/webots_thread.adb.stdout | 0 external/controller/obj/webots_thread.ali | 168 ++++ external/controller/obj/webots_thread.o | Bin 0 -> 48864 bytes .../controller/src/Path/pathfollowing.adb | 249 +++--- .../controller/src/Path/pathfollowing.ads | 10 +- external/controller/src/main.adb | 13 +- .../src/webots_thread/webots_thread.adb | 20 +- .../src/webots_thread/webots_thread.ads | 2 +- webots/controllers/controller/Makefile | 2 +- .../controller/build/release/controller | Bin 14552 -> 0 bytes .../controller/build/release/controller.d | 6 +- .../controller/build/release/controller.o | Bin 9616 -> 280504 bytes webots/controllers/controller/controller | Bin 14552 -> 0 bytes webots/controllers/controller/controller.cpp | 24 +- webots/controllers/controller/picture.png | Bin 3284 -> 0 bytes webots/worlds/.cabservice.wbproj | 13 +- webots/worlds/cabservice.wbt | 70 +- 55 files changed, 3681 insertions(+), 204 deletions(-) create mode 100755 external/controller/main create mode 100644 external/controller/obj/b__main.adb create mode 100644 external/controller/obj/b__main.ads create mode 100644 external/controller/obj/b__main.ali create mode 100644 external/controller/obj/b__main.o create mode 100644 external/controller/obj/backend_thread.adb.stderr create mode 100644 external/controller/obj/backend_thread.adb.stdout create mode 100644 external/controller/obj/backend_thread.ali create mode 100644 external/controller/obj/backend_thread.o create mode 100644 external/controller/obj/byte_buffer.adb.stderr create mode 100644 external/controller/obj/byte_buffer.adb.stdout create mode 100644 external/controller/obj/byte_buffer.ali create mode 100644 external/controller/obj/byte_buffer.o create mode 100644 external/controller/obj/external_controller-loc.xml create mode 100644 external/controller/obj/gnatinspect.db create mode 100644 external/controller/obj/mailbox.adb.stderr create mode 100644 external/controller/obj/mailbox.adb.stdout create mode 100644 external/controller/obj/mailbox.ali create mode 100644 external/controller/obj/mailbox.o create mode 100644 external/controller/obj/main.adb.stderr create mode 100644 external/controller/obj/main.adb.stdout create mode 100644 external/controller/obj/main.ali create mode 100644 external/controller/obj/main.bexch create mode 100644 external/controller/obj/main.o create mode 100644 external/controller/obj/pathfollowing.adb.stderr create mode 100644 external/controller/obj/pathfollowing.adb.stdout create mode 100644 external/controller/obj/pathfollowing.ali create mode 100644 external/controller/obj/pathfollowing.o create mode 100644 external/controller/obj/tcp_client.adb.stderr create mode 100644 external/controller/obj/tcp_client.adb.stdout create mode 100644 external/controller/obj/tcp_client.ali create mode 100644 external/controller/obj/tcp_client.o create mode 100644 external/controller/obj/types.adb.stderr create mode 100644 external/controller/obj/types.adb.stdout create mode 100644 external/controller/obj/types.ali create mode 100644 external/controller/obj/types.o create mode 100644 external/controller/obj/webots_thread.adb.stderr create mode 100644 external/controller/obj/webots_thread.adb.stdout create mode 100644 external/controller/obj/webots_thread.ali create mode 100644 external/controller/obj/webots_thread.o delete mode 100755 webots/controllers/controller/build/release/controller delete mode 100755 webots/controllers/controller/controller delete mode 100644 webots/controllers/controller/picture.png diff --git a/external/controller/external_controller.gpr b/external/controller/external_controller.gpr index 8311a89..09d9350 100644 --- 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zM}jxHRpof&n}z;R;9vPx@J4^TLjFGke+zzE?L+@h&HopnWq#&2`a7`u68w3^pTA1{ zC15Eh%m0GnFDQQeCfrP}R^nzSz$E*I-~L<5y?s&WxV~7cA69OYqfdcN^KbnlxYi#+ ze=1&>;f?M^v=r}>v@Q5aAztd1yTq{%_bDwa|Ku(y@Z?_t99zl(t=t>-BO1jVFTxFf zs0f!-1w*&)ReTXGENlLK189W88y>8|@4qB5S02a_xi5rcHTW|Jgd?ru0ZRPSHTZK+ z2!8i${$wS7PVpuGK7U{Ey|0GjEuGhD^1uCv2u{l)*6@#Rd)t#_b?m6%w-zPvAjpUK qncUg;gPLb4sl>DYUq2E2#u*C{S`;VThTviN7w?cS)@lJLyx~8#A@`#I literal 0 HcmV?d00001 diff --git a/external/controller/obj/b__main.adb b/external/controller/obj/b__main.adb new file mode 100644 index 0000000..238bc92 --- /dev/null +++ b/external/controller/obj/b__main.adb @@ -0,0 +1,438 @@ +pragma Warnings (Off); +pragma Ada_95; +pragma Source_File_Name (ada_main, Spec_File_Name => "b__main.ads"); +pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); +pragma Suppress (Overflow_Check); + +with System.Restrictions; +with Ada.Exceptions; + +package body ada_main is + + E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); + E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); + E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); + E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); + E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); + E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); + E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); + E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); + E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); + E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); + E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); + E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); + E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); + E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); + E128 : Short_Integer; pragma Import (Ada, E128, "ada__tags_E"); + E136 : Short_Integer; pragma Import (Ada, E136, "ada__streams_E"); + E179 : Short_Integer; pragma Import (Ada, E179, "gnat_E"); + E196 : Short_Integer; pragma Import (Ada, E196, "interfaces__c__strings_E"); + E144 : Short_Integer; pragma Import (Ada, E144, "system__file_control_block_E"); + E143 : Short_Integer; pragma Import (Ada, E143, "system__finalization_root_E"); + E141 : Short_Integer; pragma Import (Ada, E141, "ada__finalization_E"); + E140 : Short_Integer; pragma Import (Ada, E140, "system__file_io_E"); + E204 : Short_Integer; pragma Import (Ada, E204, "system__storage_pools_E"); + E212 : Short_Integer; pragma Import (Ada, E212, "system__finalization_masters_E"); + E222 : Short_Integer; pragma Import (Ada, E222, "system__storage_pools__subpools_E"); + E114 : Short_Integer; pragma Import (Ada, E114, "system__task_info_E"); + E106 : Short_Integer; pragma Import (Ada, E106, "system__task_primitives__operations_E"); + E188 : Short_Integer; pragma Import (Ada, E188, "ada__calendar_E"); + E186 : Short_Integer; pragma Import (Ada, E186, "ada__calendar__delays_E"); + E006 : Short_Integer; pragma Import (Ada, E006, "ada__real_time_E"); + E134 : Short_Integer; pragma Import (Ada, E134, "ada__text_io_E"); + E200 : Short_Integer; pragma Import (Ada, E200, "system__pool_global_E"); + E206 : Short_Integer; pragma Import (Ada, E206, "system__pool_size_E"); + E181 : Short_Integer; pragma Import (Ada, E181, "gnat__sockets_E"); + E194 : Short_Integer; pragma Import (Ada, E194, "gnat__sockets__thin_common_E"); + E184 : Short_Integer; pragma Import (Ada, E184, "gnat__sockets__thin_E"); + E168 : Short_Integer; pragma Import (Ada, E168, "system__tasking__initialization_E"); + E156 : Short_Integer; pragma Import (Ada, E156, "system__tasking__protected_objects_E"); + E172 : Short_Integer; pragma Import (Ada, E172, "system__tasking__protected_objects__entries_E"); + E174 : Short_Integer; pragma Import (Ada, E174, "system__tasking__queuing_E"); + E247 : Short_Integer; pragma Import (Ada, E247, "system__tasking__stages_E"); + E150 : Short_Integer; pragma Import (Ada, E150, "types_E"); + E216 : Short_Integer; pragma Import (Ada, E216, "mailbox_E"); + E148 : Short_Integer; pragma Import (Ada, E148, "byte_buffer_E"); + E152 : Short_Integer; pragma Import (Ada, E152, "tcp_client_E"); + E146 : Short_Integer; pragma Import (Ada, E146, "backend_thread_E"); + E226 : Short_Integer; pragma Import (Ada, E226, "pathfollowing_E"); + E249 : Short_Integer; pragma Import (Ada, E249, "webots_thread_E"); + + Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); + + Local_Priority_Specific_Dispatching : constant String := ""; + Local_Interrupt_States : constant String := ""; + + Is_Elaborated : Boolean := False; + + procedure finalize_library is + begin + E249 := E249 - 1; + declare + procedure F1; + pragma Import (Ada, F1, "webots_thread__finalize_spec"); + begin + F1; + end; + E146 := E146 - 1; + declare + procedure F2; + pragma Import (Ada, F2, "backend_thread__finalize_spec"); + begin + F2; + end; + E148 := E148 - 1; + declare + procedure F3; + pragma Import (Ada, F3, "byte_buffer__finalize_spec"); + begin + F3; + end; + E172 := E172 - 1; + declare + procedure F4; + pragma Import (Ada, F4, "system__tasking__protected_objects__entries__finalize_spec"); + begin + F4; + end; + declare + procedure F5; + pragma Import (Ada, F5, "gnat__sockets__finalize_body"); + begin + E181 := E181 - 1; + F5; + end; + declare + procedure F6; + pragma Import (Ada, F6, "gnat__sockets__finalize_spec"); + begin + F6; + end; + E206 := E206 - 1; + declare + procedure F7; + pragma Import (Ada, F7, "system__pool_size__finalize_spec"); + begin + F7; + end; + E200 := E200 - 1; + declare + procedure F8; + pragma Import (Ada, F8, "system__pool_global__finalize_spec"); + begin + F8; + end; + E134 := E134 - 1; + declare + procedure F9; + pragma Import (Ada, F9, "ada__text_io__finalize_spec"); + begin + F9; + end; + E222 := E222 - 1; + declare + procedure F10; + pragma Import (Ada, F10, "system__storage_pools__subpools__finalize_spec"); + begin + F10; + end; + E212 := E212 - 1; + declare + procedure F11; + pragma Import (Ada, F11, "system__finalization_masters__finalize_spec"); + begin + F11; + end; + declare + procedure F12; + pragma Import (Ada, F12, "system__file_io__finalize_body"); + begin + E140 := E140 - 1; + F12; + end; + declare + procedure Reraise_Library_Exception_If_Any; + pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); + begin + Reraise_Library_Exception_If_Any; + end; + end finalize_library; + + procedure adafinal is + procedure s_stalib_adafinal; + pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); + + procedure Runtime_Finalize; + pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); + + begin + if not Is_Elaborated then + return; + end if; + Is_Elaborated := False; + Runtime_Finalize; + s_stalib_adafinal; + end adafinal; + + type No_Param_Proc is access procedure; + + procedure adainit is + Main_Priority : Integer; + pragma Import (C, Main_Priority, "__gl_main_priority"); + Time_Slice_Value : Integer; + pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); + WC_Encoding : Character; + pragma Import (C, WC_Encoding, "__gl_wc_encoding"); + Locking_Policy : Character; + pragma Import (C, Locking_Policy, "__gl_locking_policy"); + Queuing_Policy : Character; + pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); + Task_Dispatching_Policy : Character; + pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); + Priority_Specific_Dispatching : System.Address; + pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); + Num_Specific_Dispatching : Integer; + pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); + Main_CPU : Integer; + pragma Import (C, Main_CPU, "__gl_main_cpu"); + Interrupt_States : System.Address; + pragma Import (C, Interrupt_States, "__gl_interrupt_states"); + Num_Interrupt_States : Integer; + pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); + Unreserve_All_Interrupts : Integer; + pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); + Detect_Blocking : Integer; + pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); + Default_Stack_Size : Integer; + pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); + Default_Secondary_Stack_Size : System.Parameters.Size_Type; + pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); + Leap_Seconds_Support : Integer; + pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); + Bind_Env_Addr : System.Address; + pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); + + procedure Runtime_Initialize (Install_Handler : Integer); + pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); + + Finalize_Library_Objects : No_Param_Proc; + pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); + Binder_Sec_Stacks_Count : Natural; + pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); + Default_Sized_SS_Pool : System.Address; + pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); + + begin + if Is_Elaborated then + return; + end if; + Is_Elaborated := True; + Main_Priority := -1; + Time_Slice_Value := -1; + WC_Encoding := 'b'; + Locking_Policy := ' '; + Queuing_Policy := ' '; + Task_Dispatching_Policy := ' '; + System.Restrictions.Run_Time_Restrictions := + (Set => + (False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, True, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False), + Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), + Violated => + (True, False, False, False, True, True, True, False, + False, False, False, True, True, True, True, False, + False, False, False, False, True, True, False, True, + True, False, True, True, True, True, False, False, + False, False, False, True, False, False, True, False, + True, False, True, True, False, True, False, True, + True, False, False, True, False, True, False, False, + False, True, False, True, False, True, True, True, + False, False, True, False, True, True, True, False, + True, True, False, True, True, True, True, False, + False, True, False, False, False, True, False, False, + True, False, True, False), + Count => (0, 0, 0, 2, 0, 0, 1, 0, 3, 0), + Unknown => (False, False, False, False, False, False, True, False, True, False)); + Priority_Specific_Dispatching := + Local_Priority_Specific_Dispatching'Address; + Num_Specific_Dispatching := 0; + Main_CPU := -1; + Interrupt_States := Local_Interrupt_States'Address; + Num_Interrupt_States := 0; + Unreserve_All_Interrupts := 0; + Detect_Blocking := 0; + Default_Stack_Size := -1; + Leap_Seconds_Support := 0; + + ada_main'Elab_Body; + Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; + Binder_Sec_Stacks_Count := 1; + Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; + + Runtime_Initialize (1); + + Finalize_Library_Objects := finalize_library'access; + + System.Soft_Links'Elab_Spec; + System.Exception_Table'Elab_Body; + E025 := E025 + 1; + Ada.Io_Exceptions'Elab_Spec; + E070 := E070 + 1; + Ada.Strings'Elab_Spec; + E055 := E055 + 1; + Ada.Containers'Elab_Spec; + E040 := E040 + 1; + System.Exceptions'Elab_Spec; + E027 := E027 + 1; + System.Os_Lib'Elab_Body; + E075 := E075 + 1; + Ada.Strings.Maps'Elab_Spec; + Ada.Strings.Maps.Constants'Elab_Spec; + E061 := E061 + 1; + Interfaces.C'Elab_Spec; + System.Soft_Links.Initialize'Elab_Body; + E021 := E021 + 1; + E013 := E013 + 1; + E057 := E057 + 1; + E045 := E045 + 1; + System.Object_Reader'Elab_Spec; + System.Dwarf_Lines'Elab_Spec; + E050 := E050 + 1; + System.Traceback.Symbolic'Elab_Body; + E039 := E039 + 1; + E081 := E081 + 1; + Ada.Tags'Elab_Spec; + Ada.Tags'Elab_Body; + E128 := E128 + 1; + Ada.Streams'Elab_Spec; + E136 := E136 + 1; + Gnat'Elab_Spec; + E179 := E179 + 1; + Interfaces.C.Strings'Elab_Spec; + E196 := E196 + 1; + System.File_Control_Block'Elab_Spec; + E144 := E144 + 1; + System.Finalization_Root'Elab_Spec; + E143 := E143 + 1; + Ada.Finalization'Elab_Spec; + E141 := E141 + 1; + System.File_Io'Elab_Body; + E140 := E140 + 1; + System.Storage_Pools'Elab_Spec; + E204 := E204 + 1; + System.Finalization_Masters'Elab_Spec; + System.Finalization_Masters'Elab_Body; + E212 := E212 + 1; + System.Storage_Pools.Subpools'Elab_Spec; + E222 := E222 + 1; + System.Task_Info'Elab_Spec; + E114 := E114 + 1; + System.Task_Primitives.Operations'Elab_Body; + E106 := E106 + 1; + Ada.Calendar'Elab_Spec; + Ada.Calendar'Elab_Body; + E188 := E188 + 1; + Ada.Calendar.Delays'Elab_Body; + E186 := E186 + 1; + Ada.Real_Time'Elab_Spec; + Ada.Real_Time'Elab_Body; + E006 := E006 + 1; + Ada.Text_Io'Elab_Spec; + Ada.Text_Io'Elab_Body; + E134 := E134 + 1; + System.Pool_Global'Elab_Spec; + E200 := E200 + 1; + System.Pool_Size'Elab_Spec; + E206 := E206 + 1; + Gnat.Sockets'Elab_Spec; + E194 := E194 + 1; + E184 := E184 + 1; + Gnat.Sockets'Elab_Body; + E181 := E181 + 1; + System.Tasking.Initialization'Elab_Body; + E168 := E168 + 1; + System.Tasking.Protected_Objects'Elab_Body; + E156 := E156 + 1; + System.Tasking.Protected_Objects.Entries'Elab_Spec; + E172 := E172 + 1; + System.Tasking.Queuing'Elab_Body; + E174 := E174 + 1; + System.Tasking.Stages'Elab_Body; + E247 := E247 + 1; + E216 := E216 + 1; + byte_buffer'elab_spec; + byte_buffer'elab_body; + E148 := E148 + 1; + E152 := E152 + 1; + E150 := E150 + 1; + backend_thread'elab_spec; + E146 := E146 + 1; + pathfollowing'elab_body; + E226 := E226 + 1; + webots_thread'elab_spec; + E249 := E249 + 1; + end adainit; + + procedure Ada_Main_Program; + pragma Import (Ada, Ada_Main_Program, "_ada_main"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer + is + procedure Initialize (Addr : System.Address); + pragma Import (C, Initialize, "__gnat_initialize"); + + procedure Finalize; + pragma Import (C, Finalize, "__gnat_finalize"); + SEH : aliased array (1 .. 2) of Integer; + + Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; + pragma Volatile (Ensure_Reference); + + begin + gnat_argc := argc; + gnat_argv := argv; + gnat_envp := envp; + + Initialize (SEH'Address); + adainit; + Ada_Main_Program; + adafinal; + Finalize; + return (gnat_exit_status); + end; + +-- BEGIN Object file/option list + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/mailbox.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/byte_buffer.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/tcp_client.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/types.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/backend_thread.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/pathfollowing.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/webots_thread.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/main.o + -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ + -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ + -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ + -- -shared + -- -lgnarl-9 + -- -lgnat-9 + -- -lpthread + -- -lrt + -- -ldl +-- END Object file/option list + +end ada_main; diff --git a/external/controller/obj/b__main.ads b/external/controller/obj/b__main.ads new file mode 100644 index 0000000..245ca41 --- /dev/null +++ b/external/controller/obj/b__main.ads @@ -0,0 +1,791 @@ +pragma Warnings (Off); +pragma Ada_95; +with System; +with System.Parameters; +with System.Secondary_Stack; +package ada_main is + + gnat_argc : Integer; + gnat_argv : System.Address; + gnat_envp : System.Address; + + pragma Import (C, gnat_argc); + pragma Import (C, gnat_argv); + pragma Import (C, gnat_envp); + + gnat_exit_status : Integer; + pragma Import (C, gnat_exit_status); + + GNAT_Version : constant String := + "GNAT Version: 9.3.0" & ASCII.NUL; + pragma Export (C, GNAT_Version, "__gnat_version"); + + Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; + pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); + + procedure adainit; + pragma Export (C, adainit, "adainit"); + + procedure adafinal; + pragma Export (C, adafinal, "adafinal"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer; + pragma Export (C, main, "main"); + + type Version_32 is mod 2 ** 32; + u00001 : constant Version_32 := 16#b5077dfc#; + pragma Export (C, u00001, "mainB"); + u00002 : constant Version_32 := 16#050ff2f0#; + pragma Export (C, u00002, "system__standard_libraryB"); + u00003 : constant Version_32 := 16#4113f22b#; + pragma Export (C, u00003, "system__standard_libraryS"); + u00004 : constant Version_32 := 16#76789da1#; + pragma Export (C, u00004, "adaS"); + u00005 : constant Version_32 := 16#eb4fc41d#; + pragma Export (C, u00005, "ada__real_timeB"); + u00006 : constant Version_32 := 16#69ea8064#; + pragma Export (C, u00006, "ada__real_timeS"); + u00007 : constant Version_32 := 16#9762c9f2#; + pragma Export (C, u00007, "ada__exceptionsB"); + u00008 : constant Version_32 := 16#585ef86b#; + pragma Export (C, u00008, "ada__exceptionsS"); + u00009 : constant Version_32 := 16#5726abed#; + pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); + u00010 : constant Version_32 := 16#41e5552e#; + pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); + u00011 : constant Version_32 := 16#4635ec04#; + pragma Export (C, u00011, "systemS"); + u00012 : constant Version_32 := 16#ae860117#; + pragma Export (C, u00012, "system__soft_linksB"); + u00013 : constant Version_32 := 16#0336e7b2#; + pragma Export (C, u00013, "system__soft_linksS"); + u00014 : constant Version_32 := 16#f32b4133#; + pragma Export (C, u00014, "system__secondary_stackB"); + u00015 : constant Version_32 := 16#03a1141d#; + pragma Export (C, u00015, "system__secondary_stackS"); + u00016 : constant Version_32 := 16#86dbf443#; + pragma Export (C, u00016, "system__parametersB"); + u00017 : constant Version_32 := 16#0ed9b82f#; + pragma Export (C, u00017, "system__parametersS"); + u00018 : constant Version_32 := 16#ced09590#; + pragma Export (C, u00018, "system__storage_elementsB"); + u00019 : constant Version_32 := 16#6bf6a600#; + pragma Export (C, u00019, "system__storage_elementsS"); + u00020 : constant Version_32 := 16#75bf515c#; + pragma Export (C, u00020, "system__soft_links__initializeB"); + u00021 : constant Version_32 := 16#5697fc2b#; + pragma Export (C, u00021, "system__soft_links__initializeS"); + u00022 : constant Version_32 := 16#41837d1e#; + pragma Export (C, u00022, "system__stack_checkingB"); + u00023 : constant Version_32 := 16#c88a87ec#; + pragma Export (C, u00023, "system__stack_checkingS"); + u00024 : constant Version_32 := 16#34742901#; + pragma Export (C, u00024, "system__exception_tableB"); + u00025 : constant Version_32 := 16#1b9b8546#; + pragma Export (C, u00025, "system__exception_tableS"); + u00026 : constant Version_32 := 16#ce4af020#; + pragma Export (C, u00026, "system__exceptionsB"); + u00027 : constant Version_32 := 16#2e5681f2#; + pragma Export (C, u00027, "system__exceptionsS"); + u00028 : constant Version_32 := 16#69416224#; + pragma Export (C, u00028, "system__exceptions__machineB"); + u00029 : constant Version_32 := 16#d27d9682#; + pragma Export (C, u00029, "system__exceptions__machineS"); + u00030 : constant Version_32 := 16#aa0563fc#; + pragma Export (C, u00030, "system__exceptions_debugB"); + u00031 : constant Version_32 := 16#38bf15c0#; + pragma Export (C, u00031, "system__exceptions_debugS"); + u00032 : constant Version_32 := 16#6c2f8802#; + pragma Export (C, u00032, "system__img_intB"); + u00033 : constant Version_32 := 16#44ee0cc6#; + pragma Export (C, u00033, "system__img_intS"); + u00034 : constant Version_32 := 16#39df8c17#; + pragma Export (C, u00034, "system__tracebackB"); + u00035 : constant Version_32 := 16#181732c0#; + pragma Export (C, u00035, "system__tracebackS"); + u00036 : constant Version_32 := 16#9ed49525#; + pragma Export (C, u00036, "system__traceback_entriesB"); + u00037 : constant Version_32 := 16#466e1a74#; + pragma Export (C, u00037, "system__traceback_entriesS"); + u00038 : constant Version_32 := 16#448e9548#; + pragma Export (C, u00038, "system__traceback__symbolicB"); + u00039 : constant Version_32 := 16#c84061d1#; + pragma Export (C, u00039, "system__traceback__symbolicS"); + u00040 : constant Version_32 := 16#179d7d28#; + pragma Export (C, u00040, "ada__containersS"); + u00041 : constant Version_32 := 16#701f9d88#; + pragma Export (C, u00041, "ada__exceptions__tracebackB"); + u00042 : constant Version_32 := 16#20245e75#; + pragma Export (C, u00042, "ada__exceptions__tracebackS"); + u00043 : constant Version_32 := 16#5ab55268#; + pragma Export (C, u00043, "interfacesS"); + u00044 : constant Version_32 := 16#769e25e6#; + pragma Export (C, u00044, "interfaces__cB"); + u00045 : constant Version_32 := 16#467817d8#; + pragma Export (C, u00045, "interfaces__cS"); + u00046 : constant Version_32 := 16#e865e681#; + pragma Export (C, u00046, "system__bounded_stringsB"); + u00047 : constant Version_32 := 16#31c8cd1d#; + pragma Export (C, u00047, "system__bounded_stringsS"); + u00048 : constant Version_32 := 16#0062635e#; + pragma Export (C, u00048, "system__crtlS"); + u00049 : constant Version_32 := 16#bba79bcb#; + pragma Export (C, u00049, "system__dwarf_linesB"); + u00050 : constant Version_32 := 16#9a78d181#; + pragma Export (C, u00050, "system__dwarf_linesS"); + u00051 : constant Version_32 := 16#5b4659fa#; + pragma Export (C, u00051, "ada__charactersS"); + u00052 : constant Version_32 := 16#8f637df8#; + pragma Export (C, u00052, "ada__characters__handlingB"); + u00053 : constant Version_32 := 16#3b3f6154#; + pragma Export (C, u00053, "ada__characters__handlingS"); + u00054 : constant Version_32 := 16#4b7bb96a#; + pragma Export (C, u00054, "ada__characters__latin_1S"); + u00055 : constant Version_32 := 16#e6d4fa36#; + pragma Export (C, u00055, "ada__stringsS"); + u00056 : constant Version_32 := 16#96df1a3f#; + pragma Export (C, u00056, "ada__strings__mapsB"); + u00057 : constant Version_32 := 16#1e526bec#; + pragma Export (C, u00057, "ada__strings__mapsS"); + u00058 : constant Version_32 := 16#d68fb8f1#; + pragma Export (C, u00058, "system__bit_opsB"); + u00059 : constant Version_32 := 16#0765e3a3#; + pragma Export (C, u00059, "system__bit_opsS"); + u00060 : constant Version_32 := 16#72b39087#; + pragma Export (C, u00060, "system__unsigned_typesS"); + u00061 : constant Version_32 := 16#92f05f13#; + pragma Export (C, u00061, "ada__strings__maps__constantsS"); + u00062 : constant Version_32 := 16#a0d3d22b#; + pragma Export (C, u00062, "system__address_imageB"); + u00063 : constant Version_32 := 16#e7d9713e#; + pragma Export (C, u00063, "system__address_imageS"); + u00064 : constant Version_32 := 16#ec78c2bf#; + pragma Export (C, u00064, "system__img_unsB"); + u00065 : constant Version_32 := 16#ed47ac70#; + pragma Export (C, u00065, "system__img_unsS"); + u00066 : constant Version_32 := 16#d7aac20c#; + pragma Export (C, u00066, "system__ioB"); + u00067 : constant Version_32 := 16#d8771b4b#; + pragma Export (C, u00067, "system__ioS"); + u00068 : constant Version_32 := 16#f790d1ef#; + pragma Export (C, u00068, "system__mmapB"); + u00069 : constant Version_32 := 16#7c445363#; + pragma Export (C, u00069, "system__mmapS"); + u00070 : constant Version_32 := 16#92d882c5#; + pragma Export (C, u00070, "ada__io_exceptionsS"); + u00071 : constant Version_32 := 16#0cdaa54a#; + pragma Export (C, u00071, "system__mmap__os_interfaceB"); + u00072 : constant Version_32 := 16#82f29877#; + pragma Export (C, u00072, "system__mmap__os_interfaceS"); + u00073 : constant Version_32 := 16#834dfe5e#; + pragma Export (C, u00073, "system__mmap__unixS"); + u00074 : constant Version_32 := 16#fa90b46b#; + pragma Export (C, u00074, "system__os_libB"); + u00075 : constant Version_32 := 16#4542b55d#; + pragma Export (C, u00075, "system__os_libS"); + u00076 : constant Version_32 := 16#ec4d5631#; + pragma Export (C, u00076, "system__case_utilB"); + u00077 : constant Version_32 := 16#79e05a50#; + pragma Export (C, u00077, "system__case_utilS"); + u00078 : constant Version_32 := 16#2a8e89ad#; + pragma Export (C, u00078, "system__stringsB"); + u00079 : constant Version_32 := 16#2623c091#; + pragma Export (C, u00079, "system__stringsS"); + u00080 : constant Version_32 := 16#5a3f5337#; + pragma Export (C, u00080, "system__object_readerB"); + u00081 : constant Version_32 := 16#82413105#; + pragma Export (C, u00081, "system__object_readerS"); + u00082 : constant Version_32 := 16#1a74a354#; + pragma Export (C, u00082, "system__val_lliB"); + u00083 : constant Version_32 := 16#dc110aa4#; + pragma Export (C, u00083, "system__val_lliS"); + u00084 : constant Version_32 := 16#afdbf393#; + pragma Export (C, u00084, "system__val_lluB"); + u00085 : constant Version_32 := 16#0841c7f5#; + pragma Export (C, u00085, "system__val_lluS"); + u00086 : constant Version_32 := 16#269742a9#; + pragma Export (C, u00086, "system__val_utilB"); + u00087 : constant Version_32 := 16#ea955afa#; + pragma Export (C, u00087, "system__val_utilS"); + u00088 : constant Version_32 := 16#d7bf3f29#; + pragma Export (C, u00088, "system__exception_tracesB"); + u00089 : constant Version_32 := 16#62eacc9e#; + pragma Export (C, u00089, "system__exception_tracesS"); + u00090 : constant Version_32 := 16#8c33a517#; + pragma Export (C, u00090, "system__wch_conB"); + u00091 : constant Version_32 := 16#5d48ced6#; + pragma Export (C, u00091, "system__wch_conS"); + u00092 : constant Version_32 := 16#9721e840#; + pragma Export (C, u00092, "system__wch_stwB"); + u00093 : constant Version_32 := 16#7059e2d7#; + pragma Export (C, u00093, "system__wch_stwS"); + u00094 : constant Version_32 := 16#a831679c#; + pragma Export (C, u00094, "system__wch_cnvB"); + u00095 : constant Version_32 := 16#52ff7425#; + pragma Export (C, u00095, "system__wch_cnvS"); + u00096 : constant Version_32 := 16#ece6fdb6#; + pragma Export (C, u00096, "system__wch_jisB"); + u00097 : constant Version_32 := 16#d28f6d04#; + pragma Export (C, u00097, "system__wch_jisS"); + u00098 : constant Version_32 := 16#c05c480c#; + pragma Export (C, u00098, "system__taskingB"); + u00099 : constant Version_32 := 16#d15fc24c#; + pragma Export (C, u00099, "system__taskingS"); + u00100 : constant Version_32 := 16#c333d44f#; + pragma Export (C, u00100, "system__task_primitivesS"); + u00101 : constant Version_32 := 16#02d5b781#; + pragma Export (C, u00101, "system__os_interfaceB"); + u00102 : constant Version_32 := 16#8b11eeee#; + pragma Export (C, u00102, "system__os_interfaceS"); + u00103 : constant Version_32 := 16#ff1f7771#; + pragma Export (C, u00103, "system__linuxS"); + u00104 : constant Version_32 := 16#198dbba9#; + pragma Export (C, u00104, "system__os_constantsS"); + u00105 : constant Version_32 := 16#3d3b214a#; + pragma Export (C, u00105, "system__task_primitives__operationsB"); + u00106 : constant Version_32 := 16#69ee9f34#; + pragma Export (C, u00106, "system__task_primitives__operationsS"); + u00107 : constant Version_32 := 16#71c5de81#; + pragma Export (C, u00107, "system__interrupt_managementB"); + u00108 : constant Version_32 := 16#24a21b5f#; + pragma Export (C, u00108, "system__interrupt_managementS"); + u00109 : constant Version_32 := 16#f65595cf#; + pragma Export (C, u00109, "system__multiprocessorsB"); + u00110 : constant Version_32 := 16#7e997377#; + pragma Export (C, u00110, "system__multiprocessorsS"); + u00111 : constant Version_32 := 16#51f2d040#; + pragma Export (C, u00111, "system__os_primitivesB"); + u00112 : constant Version_32 := 16#41c889f2#; + pragma Export (C, u00112, "system__os_primitivesS"); + u00113 : constant Version_32 := 16#375a3ef7#; + pragma Export (C, u00113, "system__task_infoB"); + u00114 : constant Version_32 := 16#1c069690#; + pragma Export (C, u00114, "system__task_infoS"); + u00115 : constant Version_32 := 16#f2eb7df6#; + pragma Export (C, u00115, "system__tasking__debugB"); + u00116 : constant Version_32 := 16#aea59d30#; + pragma Export (C, u00116, "system__tasking__debugS"); + u00117 : constant Version_32 := 16#fd83e873#; + pragma Export (C, u00117, "system__concat_2B"); + u00118 : constant Version_32 := 16#44953bd4#; + pragma Export (C, u00118, "system__concat_2S"); + u00119 : constant Version_32 := 16#2b70b149#; + pragma Export (C, u00119, "system__concat_3B"); + u00120 : constant Version_32 := 16#4d45b0a1#; + pragma Export (C, u00120, "system__concat_3S"); + u00121 : constant Version_32 := 16#273384e4#; + pragma Export (C, u00121, "system__img_enum_newB"); + u00122 : constant Version_32 := 16#2779eac4#; + pragma Export (C, u00122, "system__img_enum_newS"); + u00123 : constant Version_32 := 16#9dca6636#; + pragma Export (C, u00123, "system__img_lliB"); + u00124 : constant Version_32 := 16#577ab9d5#; + pragma Export (C, u00124, "system__img_lliS"); + u00125 : constant Version_32 := 16#6ec3c867#; + pragma Export (C, u00125, "system__stack_usageB"); + u00126 : constant Version_32 := 16#3a3ac346#; + pragma Export (C, u00126, "system__stack_usageS"); + u00127 : constant Version_32 := 16#d398a95f#; + pragma Export (C, u00127, "ada__tagsB"); + u00128 : constant Version_32 := 16#12a0afb8#; + pragma Export (C, u00128, "ada__tagsS"); + u00129 : constant Version_32 := 16#796f31f1#; + pragma Export (C, u00129, "system__htableB"); + u00130 : constant Version_32 := 16#c2f75fee#; + pragma Export (C, u00130, "system__htableS"); + u00131 : constant Version_32 := 16#089f5cd0#; + pragma Export (C, u00131, "system__string_hashB"); + u00132 : constant Version_32 := 16#60a93490#; + pragma Export (C, u00132, "system__string_hashS"); + u00133 : constant Version_32 := 16#927a893f#; + pragma Export (C, u00133, "ada__text_ioB"); + u00134 : constant Version_32 := 16#5194351e#; + pragma Export (C, u00134, "ada__text_ioS"); + u00135 : constant Version_32 := 16#10558b11#; + pragma Export (C, u00135, "ada__streamsB"); + u00136 : constant Version_32 := 16#67e31212#; + pragma Export (C, u00136, "ada__streamsS"); + u00137 : constant Version_32 := 16#73d2d764#; + pragma Export (C, u00137, "interfaces__c_streamsB"); + u00138 : constant Version_32 := 16#b1330297#; + pragma Export (C, u00138, "interfaces__c_streamsS"); + u00139 : constant Version_32 := 16#71ac0ba7#; + pragma Export (C, u00139, "system__file_ioB"); + u00140 : constant Version_32 := 16#e1440d61#; + pragma Export (C, u00140, "system__file_ioS"); + u00141 : constant Version_32 := 16#86c56e5a#; + pragma Export (C, u00141, "ada__finalizationS"); + u00142 : constant Version_32 := 16#95817ed8#; + pragma Export (C, u00142, "system__finalization_rootB"); + u00143 : constant Version_32 := 16#09c79f94#; + pragma Export (C, u00143, "system__finalization_rootS"); + u00144 : constant Version_32 := 16#bbaa76ac#; + pragma Export (C, u00144, "system__file_control_blockS"); + u00145 : constant Version_32 := 16#42fe0dc9#; + pragma Export (C, u00145, "backend_threadB"); + u00146 : constant Version_32 := 16#f05bffcc#; + pragma Export (C, u00146, "backend_threadS"); + u00147 : constant Version_32 := 16#ec10d536#; + pragma Export (C, u00147, "byte_bufferB"); + u00148 : constant Version_32 := 16#d863b3a6#; + pragma Export (C, u00148, "byte_bufferS"); + u00149 : constant Version_32 := 16#50c545ee#; + pragma Export (C, u00149, "typesB"); + u00150 : constant Version_32 := 16#f05fd2f3#; + pragma Export (C, u00150, "typesS"); + u00151 : constant Version_32 := 16#225d25dc#; + pragma Export (C, u00151, "tcp_clientB"); + u00152 : constant Version_32 := 16#33f97082#; + pragma Export (C, u00152, "tcp_clientS"); + u00153 : constant Version_32 := 16#039168f8#; + pragma Export (C, u00153, "system__stream_attributesB"); + u00154 : constant Version_32 := 16#8bc30a4e#; + pragma Export (C, u00154, "system__stream_attributesS"); + u00155 : constant Version_32 := 16#7d12d4bb#; + pragma Export (C, u00155, "system__tasking__protected_objectsB"); + u00156 : constant Version_32 := 16#15001baf#; + pragma Export (C, u00156, "system__tasking__protected_objectsS"); + u00157 : constant Version_32 := 16#d99cdb5c#; + pragma Export (C, u00157, "system__soft_links__taskingB"); + u00158 : constant Version_32 := 16#e939497e#; + pragma Export (C, u00158, "system__soft_links__taskingS"); + u00159 : constant Version_32 := 16#17d21067#; + pragma Export (C, u00159, "ada__exceptions__is_null_occurrenceB"); + u00160 : constant Version_32 := 16#e1d7566f#; + pragma Export (C, u00160, "ada__exceptions__is_null_occurrenceS"); + u00161 : constant Version_32 := 16#81b5daee#; + pragma Export (C, u00161, "system__tasking__protected_objects__operationsB"); + u00162 : constant Version_32 := 16#ba36ad85#; + pragma Export (C, u00162, "system__tasking__protected_objects__operationsS"); + u00163 : constant Version_32 := 16#100eaf58#; + pragma Export (C, u00163, "system__restrictionsB"); + u00164 : constant Version_32 := 16#0d473555#; + pragma Export (C, u00164, "system__restrictionsS"); + u00165 : constant Version_32 := 16#6bc03304#; + pragma Export (C, u00165, "system__tasking__entry_callsB"); + u00166 : constant Version_32 := 16#6342024e#; + pragma Export (C, u00166, "system__tasking__entry_callsS"); + u00167 : constant Version_32 := 16#e8c12513#; + pragma Export (C, u00167, "system__tasking__initializationB"); + u00168 : constant Version_32 := 16#fc2303e6#; + pragma Export (C, u00168, "system__tasking__initializationS"); + u00169 : constant Version_32 := 16#80ce688e#; + pragma Export (C, u00169, "system__tasking__task_attributesB"); + u00170 : constant Version_32 := 16#e81a3c25#; + pragma Export (C, u00170, "system__tasking__task_attributesS"); + u00171 : constant Version_32 := 16#7010f8c6#; + pragma Export (C, u00171, "system__tasking__protected_objects__entriesB"); + u00172 : constant Version_32 := 16#7daf93e7#; + pragma Export (C, u00172, "system__tasking__protected_objects__entriesS"); + u00173 : constant Version_32 := 16#cc950a30#; + pragma Export (C, u00173, "system__tasking__queuingB"); + u00174 : constant Version_32 := 16#6dba2805#; + pragma Export (C, u00174, "system__tasking__queuingS"); + u00175 : constant Version_32 := 16#e9f46e92#; + pragma Export (C, u00175, "system__tasking__utilitiesB"); + u00176 : constant Version_32 := 16#0f670827#; + pragma Export (C, u00176, "system__tasking__utilitiesS"); + u00177 : constant Version_32 := 16#915f61e7#; + pragma Export (C, u00177, "system__tasking__rendezvousB"); + u00178 : constant Version_32 := 16#5618a4d0#; + pragma Export (C, u00178, "system__tasking__rendezvousS"); + u00179 : constant Version_32 := 16#b5988c27#; + pragma Export (C, u00179, "gnatS"); + u00180 : constant Version_32 := 16#369e155e#; + pragma Export (C, u00180, "gnat__socketsB"); + u00181 : constant Version_32 := 16#a6a830c3#; + pragma Export (C, u00181, "gnat__socketsS"); + u00182 : constant Version_32 := 16#cb835252#; + pragma Export (C, u00182, "gnat__sockets__linker_optionsS"); + u00183 : constant Version_32 := 16#b0810072#; + pragma Export (C, u00183, "gnat__sockets__thinB"); + u00184 : constant Version_32 := 16#c5872358#; + pragma Export (C, u00184, "gnat__sockets__thinS"); + u00185 : constant Version_32 := 16#357666d8#; + pragma Export (C, u00185, "ada__calendar__delaysB"); + u00186 : constant Version_32 := 16#2da855d5#; + pragma Export (C, u00186, "ada__calendar__delaysS"); + u00187 : constant Version_32 := 16#9a2e29aa#; + pragma Export (C, u00187, "ada__calendarB"); + u00188 : constant Version_32 := 16#c4f07049#; + pragma Export (C, u00188, "ada__calendarS"); + u00189 : constant Version_32 := 16#728833ee#; + pragma Export (C, u00189, "gnat__os_libS"); + u00190 : constant Version_32 := 16#485b8267#; + pragma Export (C, u00190, "gnat__task_lockS"); + u00191 : constant Version_32 := 16#05c60a38#; + pragma Export (C, u00191, "system__task_lockB"); + u00192 : constant Version_32 := 16#27bfdb6a#; + pragma Export (C, u00192, "system__task_lockS"); + u00193 : constant Version_32 := 16#305d23a5#; + pragma Export (C, u00193, "gnat__sockets__thin_commonB"); + u00194 : constant Version_32 := 16#fdbccd6b#; + pragma Export (C, u00194, "gnat__sockets__thin_commonS"); + u00195 : constant Version_32 := 16#69f6ee6b#; + pragma Export (C, u00195, "interfaces__c__stringsB"); + u00196 : constant Version_32 := 16#603c1c44#; + pragma Export (C, u00196, "interfaces__c__stringsS"); + u00197 : constant Version_32 := 16#5de653db#; + pragma Export (C, u00197, "system__communicationB"); + u00198 : constant Version_32 := 16#5f55b9d6#; + pragma Export (C, u00198, "system__communicationS"); + u00199 : constant Version_32 := 16#5a895de2#; + pragma Export (C, u00199, "system__pool_globalB"); + u00200 : constant Version_32 := 16#7141203e#; + pragma Export (C, u00200, "system__pool_globalS"); + u00201 : constant Version_32 := 16#2323a8af#; + pragma Export (C, u00201, "system__memoryB"); + u00202 : constant Version_32 := 16#1f488a30#; + pragma Export (C, u00202, "system__memoryS"); + u00203 : constant Version_32 := 16#6d4d969a#; + pragma Export (C, u00203, "system__storage_poolsB"); + u00204 : constant Version_32 := 16#65d872a9#; + pragma Export (C, u00204, "system__storage_poolsS"); + u00205 : constant Version_32 := 16#637ab3c9#; + pragma Export (C, u00205, "system__pool_sizeB"); + u00206 : constant Version_32 := 16#471ba45d#; + pragma Export (C, u00206, "system__pool_sizeS"); + u00207 : constant Version_32 := 16#d763507a#; + pragma Export (C, u00207, "system__val_intB"); + u00208 : constant Version_32 := 16#0e90c63b#; + pragma Export (C, u00208, "system__val_intS"); + u00209 : constant Version_32 := 16#1d9142a4#; + pragma Export (C, u00209, "system__val_unsB"); + u00210 : constant Version_32 := 16#621b7dbc#; + pragma Export (C, u00210, "system__val_unsS"); + u00211 : constant Version_32 := 16#d96e3c40#; + pragma Export (C, u00211, "system__finalization_mastersB"); + u00212 : constant Version_32 := 16#1dc9d5ce#; + pragma Export (C, u00212, "system__finalization_mastersS"); + u00213 : constant Version_32 := 16#7268f812#; + pragma Export (C, u00213, "system__img_boolB"); + u00214 : constant Version_32 := 16#b3ec9def#; + pragma Export (C, u00214, "system__img_boolS"); + u00215 : constant Version_32 := 16#499e3c7b#; + pragma Export (C, u00215, "mailboxB"); + u00216 : constant Version_32 := 16#ab2e415b#; + pragma Export (C, u00216, "mailboxS"); + u00217 : constant Version_32 := 16#bcec81df#; + pragma Export (C, u00217, "ada__containers__helpersB"); + u00218 : constant Version_32 := 16#4adfc5eb#; + pragma Export (C, u00218, "ada__containers__helpersS"); + u00219 : constant Version_32 := 16#020a3f4d#; + pragma Export (C, u00219, "system__atomic_countersB"); + u00220 : constant Version_32 := 16#f269c189#; + pragma Export (C, u00220, "system__atomic_countersS"); + u00221 : constant Version_32 := 16#2e260032#; + pragma Export (C, u00221, "system__storage_pools__subpoolsB"); + u00222 : constant Version_32 := 16#cc5a1856#; + pragma Export (C, u00222, "system__storage_pools__subpoolsS"); + u00223 : constant Version_32 := 16#84042202#; + pragma Export (C, u00223, "system__storage_pools__subpools__finalizationB"); + u00224 : constant Version_32 := 16#fe2f4b3a#; + pragma Export (C, u00224, "system__storage_pools__subpools__finalizationS"); + u00225 : constant Version_32 := 16#232e2b88#; + pragma Export (C, u00225, "pathfollowingB"); + u00226 : constant Version_32 := 16#be52b532#; + pragma Export (C, u00226, "pathfollowingS"); + u00227 : constant Version_32 := 16#8aa4f090#; + pragma Export (C, u00227, "system__img_realB"); + u00228 : constant Version_32 := 16#819dbde6#; + pragma Export (C, u00228, "system__img_realS"); + u00229 : constant Version_32 := 16#42a257f7#; + pragma Export (C, u00229, "system__fat_llfS"); + u00230 : constant Version_32 := 16#1b28662b#; + pragma Export (C, u00230, "system__float_controlB"); + u00231 : constant Version_32 := 16#a6c9af38#; + pragma Export (C, u00231, "system__float_controlS"); + u00232 : constant Version_32 := 16#3e932977#; + pragma Export (C, u00232, "system__img_lluB"); + u00233 : constant Version_32 := 16#3b7a9044#; + pragma Export (C, u00233, "system__img_lluS"); + u00234 : constant Version_32 := 16#16458a73#; + pragma Export (C, u00234, "system__powten_tableS"); + u00235 : constant Version_32 := 16#e18a47a0#; + pragma Export (C, u00235, "ada__float_text_ioB"); + u00236 : constant Version_32 := 16#1fef695b#; + pragma Export (C, u00236, "ada__float_text_ioS"); + u00237 : constant Version_32 := 16#d5f9759f#; + pragma Export (C, u00237, "ada__text_io__float_auxB"); + u00238 : constant Version_32 := 16#48248c7b#; + pragma Export (C, u00238, "ada__text_io__float_auxS"); + u00239 : constant Version_32 := 16#181dc502#; + pragma Export (C, u00239, "ada__text_io__generic_auxB"); + u00240 : constant Version_32 := 16#16b3615d#; + pragma Export (C, u00240, "ada__text_io__generic_auxS"); + u00241 : constant Version_32 := 16#c2ca0511#; + pragma Export (C, u00241, "system__val_realB"); + u00242 : constant Version_32 := 16#b81c9b15#; + pragma Export (C, u00242, "system__val_realS"); + u00243 : constant Version_32 := 16#b2a569d2#; + pragma Export (C, u00243, "system__exn_llfB"); + u00244 : constant Version_32 := 16#fa4b57d8#; + pragma Export (C, u00244, "system__exn_llfS"); + u00245 : constant Version_32 := 16#1e40f010#; + pragma Export (C, u00245, "system__fat_fltS"); + u00246 : constant Version_32 := 16#8bf4f526#; + pragma Export (C, u00246, "system__tasking__stagesB"); + u00247 : constant Version_32 := 16#14e0647c#; + pragma Export (C, u00247, "system__tasking__stagesS"); + u00248 : constant Version_32 := 16#2df28273#; + pragma Export (C, u00248, "webots_threadB"); + u00249 : constant Version_32 := 16#8f0ac5ba#; + pragma Export (C, u00249, "webots_threadS"); + + -- BEGIN ELABORATION ORDER + -- ada%s + -- ada.characters%s + -- ada.characters.latin_1%s + -- interfaces%s + -- system%s + -- system.atomic_counters%s + -- system.atomic_counters%b + -- system.exn_llf%s + -- system.exn_llf%b + -- system.float_control%s + -- system.float_control%b + -- system.img_bool%s + -- system.img_bool%b + -- system.img_enum_new%s + -- system.img_enum_new%b + -- system.img_int%s + -- system.img_int%b + -- system.img_lli%s + -- system.img_lli%b + -- system.io%s + -- system.io%b + -- system.os_primitives%s + -- system.os_primitives%b + -- system.parameters%s + -- system.parameters%b + -- system.crtl%s + -- interfaces.c_streams%s + -- interfaces.c_streams%b + -- system.powten_table%s + -- system.restrictions%s + -- system.restrictions%b + -- system.storage_elements%s + -- system.storage_elements%b + -- system.stack_checking%s + -- system.stack_checking%b + -- system.stack_usage%s + -- system.stack_usage%b + -- system.string_hash%s + -- system.string_hash%b + -- system.htable%s + -- system.htable%b + -- system.strings%s + -- system.strings%b + -- system.traceback_entries%s + -- system.traceback_entries%b + -- system.unsigned_types%s + -- system.img_llu%s + -- system.img_llu%b + -- system.img_uns%s + -- system.img_uns%b + -- system.wch_con%s + -- system.wch_con%b + -- system.wch_jis%s + -- system.wch_jis%b + -- system.wch_cnv%s + -- system.wch_cnv%b + -- system.concat_2%s + -- system.concat_2%b + -- system.concat_3%s + -- system.concat_3%b + -- system.traceback%s + -- system.traceback%b + -- system.case_util%s + -- system.standard_library%s + -- system.exception_traces%s + -- ada.exceptions%s + -- system.wch_stw%s + -- system.val_util%s + -- system.val_llu%s + -- system.val_lli%s + -- system.os_lib%s + -- system.bit_ops%s + -- ada.characters.handling%s + -- ada.exceptions.traceback%s + -- system.secondary_stack%s + -- system.case_util%b + -- system.address_image%s + -- system.bounded_strings%s + -- system.soft_links%s + -- system.exception_table%s + -- system.exception_table%b + -- ada.io_exceptions%s + -- ada.strings%s + -- ada.containers%s + -- system.exceptions%s + -- system.exceptions%b + -- ada.exceptions.last_chance_handler%s + -- system.exceptions_debug%s + -- system.exceptions_debug%b + -- system.exception_traces%b + -- system.memory%s + -- system.memory%b + -- system.wch_stw%b + -- system.val_util%b + -- system.val_llu%b + -- system.val_lli%b + -- system.os_lib%b + -- system.bit_ops%b + -- ada.strings.maps%s + -- ada.strings.maps.constants%s + -- ada.characters.handling%b + -- interfaces.c%s + -- ada.exceptions.traceback%b + -- system.exceptions.machine%s + -- system.exceptions.machine%b + -- system.secondary_stack%b + -- system.address_image%b + -- system.bounded_strings%b + -- system.soft_links.initialize%s + -- system.soft_links.initialize%b + -- system.soft_links%b + -- ada.exceptions.last_chance_handler%b + -- system.standard_library%b + -- system.mmap%s + -- ada.strings.maps%b + -- interfaces.c%b + -- system.object_reader%s + -- system.dwarf_lines%s + -- system.dwarf_lines%b + -- system.mmap.unix%s + -- system.mmap.os_interface%s + -- system.mmap%b + -- system.traceback.symbolic%s + -- system.traceback.symbolic%b + -- ada.exceptions%b + -- system.object_reader%b + -- system.mmap.os_interface%b + -- ada.exceptions.is_null_occurrence%s + -- ada.exceptions.is_null_occurrence%b + -- ada.tags%s + -- ada.tags%b + -- ada.streams%s + -- ada.streams%b + -- gnat%s + -- gnat.os_lib%s + -- interfaces.c.strings%s + -- interfaces.c.strings%b + -- system.communication%s + -- system.communication%b + -- system.fat_flt%s + -- system.fat_llf%s + -- system.file_control_block%s + -- system.finalization_root%s + -- system.finalization_root%b + -- ada.finalization%s + -- ada.containers.helpers%s + -- ada.containers.helpers%b + -- system.file_io%s + -- system.file_io%b + -- system.img_real%s + -- system.img_real%b + -- system.linux%s + -- system.multiprocessors%s + -- system.multiprocessors%b + -- system.os_constants%s + -- system.os_interface%s + -- system.os_interface%b + -- system.storage_pools%s + -- system.storage_pools%b + -- system.finalization_masters%s + -- system.finalization_masters%b + -- system.storage_pools.subpools%s + -- system.storage_pools.subpools.finalization%s + -- system.storage_pools.subpools.finalization%b + -- system.storage_pools.subpools%b + -- system.stream_attributes%s + -- system.stream_attributes%b + -- system.task_info%s + -- system.task_info%b + -- system.task_lock%s + -- system.task_lock%b + -- gnat.task_lock%s + -- system.task_primitives%s + -- system.interrupt_management%s + -- system.interrupt_management%b + -- system.tasking%s + -- system.task_primitives.operations%s + -- system.tasking.debug%s + -- system.tasking%b + -- system.task_primitives.operations%b + -- system.tasking.debug%b + -- system.val_real%s + -- system.val_real%b + -- system.val_uns%s + -- system.val_uns%b + -- system.val_int%s + -- system.val_int%b + -- ada.calendar%s + -- ada.calendar%b + -- ada.calendar.delays%s + -- ada.calendar.delays%b + -- ada.real_time%s + -- ada.real_time%b + -- ada.text_io%s + -- ada.text_io%b + -- ada.text_io.generic_aux%s + -- ada.text_io.generic_aux%b + -- ada.text_io.float_aux%s + -- ada.text_io.float_aux%b + -- ada.float_text_io%s + -- ada.float_text_io%b + -- system.pool_global%s + -- system.pool_global%b + -- system.pool_size%s + -- system.pool_size%b + -- gnat.sockets%s + -- gnat.sockets.thin_common%s + -- gnat.sockets.thin_common%b + -- gnat.sockets.thin%s + -- gnat.sockets.thin%b + -- gnat.sockets.linker_options%s + -- gnat.sockets%b + -- system.soft_links.tasking%s + -- system.soft_links.tasking%b + -- system.tasking.initialization%s + -- system.tasking.task_attributes%s + -- system.tasking.initialization%b + -- system.tasking.task_attributes%b + -- system.tasking.protected_objects%s + -- system.tasking.protected_objects%b + -- system.tasking.protected_objects.entries%s + -- system.tasking.protected_objects.entries%b + -- system.tasking.queuing%s + -- system.tasking.queuing%b + -- system.tasking.utilities%s + -- system.tasking.utilities%b + -- system.tasking.entry_calls%s + -- system.tasking.rendezvous%s + -- system.tasking.protected_objects.operations%s + -- system.tasking.protected_objects.operations%b + -- system.tasking.entry_calls%b + -- system.tasking.rendezvous%b + -- system.tasking.stages%s + -- system.tasking.stages%b + -- types%s + -- mailbox%s + -- mailbox%b + -- byte_buffer%s + -- byte_buffer%b + -- tcp_client%s + -- tcp_client%b + -- types%b + -- backend_thread%s + -- backend_thread%b + -- pathfollowing%s + -- pathfollowing%b + -- webots_thread%s + -- webots_thread%b + -- main%b + -- END ELABORATION ORDER + +end ada_main; diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali new file mode 100644 index 0000000..c793f22 --- /dev/null +++ b/external/controller/obj/b__main.ali @@ -0,0 +1,461 @@ +V "GNAT Lib v9" +A -gnatA +A -gnatA +A -gnatWb +A -gnatiw +A -gnatws +A -g +A -mtune=generic +A -march=x86-64 +P ZX + +RN +RV NO_ACCESS_SUBPROGRAMS +RV NO_DEFAULT_INITIALIZATION +RV NO_IMPLEMENTATION_ATTRIBUTES +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV NO_ELABORATION_CODE +RV NO_OBSOLESCENT_FEATURES +RV SPARK_05 + +U ada_main%b b__main.adb 2f5dcd9b OO PK IL +W ada%s ada.ads ada.ali +W ada.exceptions%s a-except.adb a-except.ali +W system%s system.ads system.ali +W system.restrictions%s s-restri.adb s-restri.ali + +U ada_main%s b__main.ads b0c3cecb EE NE OO PK IL +W system%s system.ads system.ali +W system.parameters%s s-parame.adb s-parame.ali +W system.secondary_stack%s s-secsta.adb s-secsta.ali + +D ada.ads 20200312110721 76789da1 ada%s +D a-except.ads 20200312110721 291912d5 ada.exceptions%s +D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s +D b__main.ads 20200629183425 9ea190d2 ada_main%s +D b__main.adb 20200629183425 837849ee ada_main%b +D system.ads 20200312110721 4635ec04 system%s +D s-parame.ads 20200312110721 48ec542b system.parameters%s +D s-restri.ads 20200312110721 1b9d0672 system.restrictions%s +D s-rident.ads 20200312110721 50efdf23 system.rident%s +D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s +D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s +D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +X 1 ada.ads +16K9*Ada 20e8 5|8r6 +X 2 a-except.ads +54K13*Exceptions 349e19 5|8w10 +X 4 b__main.ads +6K9*ada_main 791l5 791e13 5|10b14 438l5 438t13 +8i4*gnat_argc{integer} 12m22 12r22 5|406m7 +9m4*gnat_argv{6|67M9} 13m22 13r22 5|407m7 +10m4*gnat_envp{6|67M9} 14m22 14r22 5|408m7 +16i4*gnat_exit_status{integer} 17m22 17r22 5|415r15 +19a4*GNAT_Version{string} 21r22 +23a4*Ada_Main_Program_Name{string} 24r22 5|402r52 +26U14*adainit 27i22 5|179b14 384l8 384t15 411s7 +29U14*adafinal 30i22 5|161b14 175l8 175t16 413s7 +32V13*main{integer} 33>7 34>7 35>7 37i22 5|389b13 416t7 +33i7 argc{integer} 5|390b7 406r20 +34m7 argv{6|67M9} 5|391b7 407r20 +35m7 envp{6|67M9} 5|392b7 408r20 +39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 +. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 +. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 +. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 +. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 +. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 +. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 +. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 +. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 +. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 +. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 +. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 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20m46 20r46 301m7 301r15 +21i4 E045{short_integer} 21m46 21r46 307m7 307r15 +22i4 E021{short_integer} 22m46 22r46 304m7 304r15 +23i4 E081{short_integer} 23m46 23r46 313m7 313r15 +24i4 E050{short_integer} 24m46 24r46 310m7 310r15 +25i4 E039{short_integer} 25m46 25r46 312m7 312r15 +26i4 E128{short_integer} 26m46 26r46 316m7 316r15 +27i4 E136{short_integer} 27m46 27r46 318m7 318r15 +28i4 E179{short_integer} 28m46 28r46 320m7 320r15 +29i4 E196{short_integer} 29m46 29r46 322m7 322r15 +30i4 E144{short_integer} 30m46 30r46 324m7 324r15 +31i4 E143{short_integer} 31m46 31r46 326m7 326r15 +32i4 E141{short_integer} 32m46 32r46 328m7 328r15 +33i4 E140{short_integer} 33m46 33r46 150m10 150r18 330m7 330r15 +34i4 E204{short_integer} 34m46 34r46 332m7 332r15 +35i4 E212{short_integer} 35m46 35r46 139m7 139r15 335m7 335r15 +36i4 E222{short_integer} 36m46 36r46 132m7 132r15 337m7 337r15 +37i4 E114{short_integer} 37m46 37r46 339m7 339r15 +38i4 E106{short_integer} 38m46 38r46 341m7 341r15 +39i4 E188{short_integer} 39m46 39r46 344m7 344r15 +40i4 E186{short_integer} 40m46 40r46 346m7 346r15 +41i4 E006{short_integer} 41m46 41r46 349m7 349r15 +42i4 E134{short_integer} 42m46 42r46 125m7 125r15 352m7 352r15 +43i4 E200{short_integer} 43m46 43r46 118m7 118r15 354m7 354r15 +44i4 E206{short_integer} 44m46 44r46 111m7 111r15 356m7 356r15 +45i4 E181{short_integer} 45m46 45r46 102m10 102r18 361m7 361r15 +46i4 E194{short_integer} 46m46 46r46 358m7 358r15 +47i4 E184{short_integer} 47m46 47r46 359m7 359r15 +48i4 E168{short_integer} 48m46 48r46 363m7 363r15 +49i4 E156{short_integer} 49m46 49r46 365m7 365r15 +50i4 E172{short_integer} 50m46 50r46 91m7 91r15 367m7 367r15 +51i4 E174{short_integer} 51m46 51r46 369m7 369r15 +52i4 E247{short_integer} 52m46 52r46 371m7 371r15 +53i4 E150{short_integer} 53m46 53r46 377m7 377r15 +54i4 E216{short_integer} 54m46 54r46 372m7 372r15 +55i4 E148{short_integer} 55m46 55r46 84m7 84r15 375m7 375r15 +56i4 E152{short_integer} 56m46 56r46 376m7 376r15 +57i4 E146{short_integer} 57m46 57r46 77m7 77r15 379m7 379r15 +58i4 E226{short_integer} 58m46 58r46 381m7 381r15 +59i4 E249{short_integer} 59m46 59r46 70m7 70r15 383m7 383r15 +61a4 Sec_Default_Sized_Stacks(10|45R9) 280m32 280r32 +63a4 Local_Priority_Specific_Dispatching{string} 267r9 +64a4 Local_Interrupt_States{string} 270r27 +66b4 Is_Elaborated{boolean} 169r14 172m7 226r10 229m7 +68U14 finalize_library 68b14 159l8 159t24 284r35 +72U20*F1 73b30 75s10 +79U20*F2 80b30 82s10 +86U20*F3 87b30 89s10 +93U20*F4 94b30 +. 96s10 +99U20*F5 100b30 103s10 +106U20*F6 107b30 109s10 +113U20*F7 114b30 116s10 +120U20*F8 121b30 123s10 +127U20*F9 128b30 130s10 +134U20*F10 135b30 137s10 +141U20*F11 142b30 144s10 +147U20*F12 148b30 151s10 +154U20*Reraise_Library_Exception_If_Any 155b33 +. 157s10 +162U17*s_stalib_adafinal 163b25 174s7 +165U17*Runtime_Finalize 166b25 173s7 +177P9 No_Param_Proc 218r34 +180i7*Main_Priority{integer} 181m25 181r25 230m7 +182i7*Time_Slice_Value{integer} 183m25 183r25 231m7 +184e7*WC_Encoding{character} 185m25 185r25 232m7 +186e7*Locking_Policy{character} 187m25 187r25 233m7 +188e7*Queuing_Policy{character} 189m25 189r25 234m7 +190e7*Task_Dispatching_Policy{character} 191m25 191r25 235m7 +192m7*Priority_Specific_Dispatching{6|67M9} 193m25 193r25 266m7 +194i7*Num_Specific_Dispatching{integer} 195m25 195r25 268m7 +196i7*Main_CPU{integer} 197m25 197r25 269m7 +198m7*Interrupt_States{6|67M9} 199m25 199r25 270m7 +200i7*Num_Interrupt_States{integer} 201m25 201r25 271m7 +202i7*Unreserve_All_Interrupts{integer} 203m25 203r25 272m7 +204i7*Detect_Blocking{integer} 205m25 205r25 273m7 +206i7*Default_Stack_Size{integer} 207m25 207r25 274m7 +208i7*Default_Secondary_Stack_Size{7|58I9} 209m25 209r25 278m7 +210i7*Leap_Seconds_Support{integer} 211m25 211r25 275m7 +212m7*Bind_Env_Addr{6|67M9} 213m25 213r25 +215U17*Runtime_Initialize 215>37 216b25 282s7 +215i37 Install_Handler{integer} +218p7*Finalize_Library_Objects{177P9} 219m25 219r25 284m7 +220i7*Binder_Sec_Stacks_Count{natural} 221m27 221r27 279m7 +222m7*Default_Sized_SS_Pool{6|67M9} 223m27 223r27 280m7 +386U14 Ada_Main_Program 387b24 412s7 +395U17*Initialize 395>29 396b25 410s7 +395m29 Addr{6|67M9} +398U17*Finalize 399b25 414s7 +400a7 SEH(integer) 410m19 410r19 +402m7 Ensure_Reference{6|67M9} 403r24 +X 6 system.ads +37K9*System 4|3w6 4r6 5r6 9r16 10r16 34r14 35r14 5|7r6 61r57 61r90 192r39 +. 198r26 208r38 212r23 222r31 236r7 278r39 391r14 392r14 395r36 402r34 6|156e11 +67M9*Address 4|9r23 10r23 34r21 35r21 5|192r46 198r33 212r30 222r38 391r21 +. 392r21 395r43 402r41 +X 7 s-parame.ads +51K16*Parameters 4|4w13 5|61r97 208r45 278r46 7|198e22 +58I9*Size_Type 5|208r56 +95i4*Runtime_Default_Sec_Stack_Size{58I9} 5|61r108 278r57 +X 8 s-restri.ads +45K16*Restrictions 5|7w13 236m14 8|77e24 +52r4*Run_Time_Restrictions{9|322R9[49]} 5|236m27 +X 9 s-rident.ads +318A9*Restriction_Flags(boolean)<85E9[8|49]> +319A9*Restriction_Values(natural)<85E9[8|49]> +320A9*Parameter_Flags(boolean)<85E9[8|49]> +322R9*Restrictions_Info +323a7*Set{318A9[8|49]} 5|237m10[8|49] +329a7*Value{319A9[8|49]} 5|250m10[8|49] +336a7*Violated{318A9[8|49]} 5|251m10[8|49] +341a7*Count{319A9[8|49]} 5|264m10[8|49] +349a7*Unknown{320A9[8|49]} 5|265m10[8|49] +X 10 s-secsta.ads +37K16*Secondary_Stack 4|5w13 5|61r64 10|430e27 +45R9*SS_Stack 5|61r80 10|330e14 + diff --git a/external/controller/obj/b__main.o b/external/controller/obj/b__main.o new file mode 100644 index 0000000000000000000000000000000000000000..2a24c1cabdaa1ab3068da07e0369a507ab9047b1 GIT binary patch literal 86064 zcmeIb2Xs|M_y2uwl1oDGy@lRGZW2NQNRtv36e&^^E-5!8l4c4`LfxhCMEU(bv-y1keQwB5pYQnjE*-4!U|(ZjBj1FK%CCn^7&3lb#^R&RGAjSbsQe|P za`e88%BhDkZXA8+#_FT8zf=EQ5u?NDZ;9aiAqt!qlac+icFD+oBct0}8I?b0EPmOa zQMr2??k^+%#KNI|U&hScz6}4*+tvTSf0N;VC!_Msj2nj^x^WEb0RH&WUr~RX;qPHL zPLCOu{^iv@GH#r(FC+WaQQeMY?4ApHDmbUswKr!{+{{Og;rhD&xs3&xYGfIt+|?*!n!L&{ 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16|7m67 7r67 +16r4*Backend_Cmd{59|18R9} 16|10m7 11m7 13r35 +17r4*Backend_Vector_Buffer{17|11R9} 16|16m35 16r35 +18w4*Backend_Mailbox{23|8W19} 16|16m58 16r58 +20U14*backend_main 16|3b14 20l8 20t20 +X 17 byte_buffer.ads +4K9*byte_buffer 15|5w6 17r28 17|33e16 +11R9*Buffer 15|17r40 17|14e14 +X 18 gnat.ads +34K9*GNAT 15|1r6 1r24 18|57e9 +X 19 g-socket.ads +55K14*Sockets 15|1w11 1r29 19|1472e17 +412I9*Socket_Type 15|13r20 +597R9*Sock_Addr_Type 15|15r22 19|600e14 +1213P9*Stream_Access(10|39R9) 15|14r22 +X 20 interfac.ads +63M9*Unsigned_8 +74M9*Unsigned_32 +X 23 mailbox.ads +4K9*mailbox 15|7w6 18r22 23|24e12 +8W19*Mailbox 15|18r30 23|16e15 +X 24 system.ads +67M9*Address +X 33 s-memory.ads +53V13*Alloc{24|67M9} 103i22 +68U14*Free 104i22 +76V13*Realloc{24|67M9} 105i22 +X 42 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 44 s-stalib.adb +93U14 Break_Start 94i22 +X 58 tcp_client.ads +9K9*tcp_client 15|3w6 3r22 58|26e15 +14m4*protocol_join_ID{59|6M9} 16|10r33 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zN_}nptsD`<{EIB%`y~EGA1%j9tOI*b$<{Wg7%7T#$?}!45F_SoQ0^_it(NrnwSXAc?X9>rUJ{0AiEZ04U_Y(B`Z zM2P%@@vC3#Xr`Y>pdU+b#-Cs$n(?Pl^k4J%;|n7y(I4xje`#`>`_if0u+`T8`Ev>k zL0oKsj1@x3a)ZAcJOx;V;P$gz{tYGalU><-_OlTf*`nXpK{{LL4cA#Rz6@1pgM`s^ zNU~Po<-hi(4E2;4C;2QA6%nTK@=3mx%2&lW_X}Xhov?fPEjf&|88JfCLre@QvNy0Ff{ME;4M{t?Oi0reAk^msr(weborM7Bbm0IxaDh` ztf#k2d}DE2zWux&33MM+2KZdU +X 6 a-convec.ads +61I9 Index_Type 16|7r7 +62+9 Element_Type 16|7r30 +73k24*Vectors 824e27 16|1w21 6r46 +88R9*Vector<9|43R9> 16|12r28[6] +165V13*Length{2|20I9} 17|99s40[16|6] +196V13*Element{51|6M9} 17|48s26[16|6] 55s29[16|6] 56s29[16|6] 64s29[16|6] +. 65s29[16|6] 66s29[16|6] 67s29[16|6] 75s29[16|6] 76s29[16|6] 77s29[16|6] +. 78s29[16|6] 79s29[16|6] 80s29[16|6] 81s29[16|6] 82s29[16|6] 91s33[16|6] +431U14*Append 17|7s19[16|6] 13s19[16|6] 14s19[16|6] 20s19[16|6] 21s19[16|6] +. 22s19[16|6] 23s19[16|6] 29s19[16|6] 30s19[16|6] 31s19[16|6] 32s19[16|6] +. 33s19[16|6] 34s19[16|6] 35s19[16|6] 36s19[16|6] 42s22[16|6] +X 10 a-iteint.ads +24h9 Forward_Iterator +32h9 Reversible_Iterator<24R9[6|111]> +X 16 byte_buffer.ads +4K9*byte_buffer 33l5 33e16 17|3b14 118l5 118t16 +6K12*Byte_Vector[6|73] 8r8 12r16 +11R9*Buffer 14e14 16p14 16r41 17p14 17r42 18p14 18r42 19p14 19r42 20p14 20r43 +. 22p14 22r40 23p14 23r41 24p14 24r41 25p14 25r41 26p14 26r42 28p13 28r33 +. 29p13 29r38 30p13 30r39 31p14 31r36 17|5r41 10r42 17r42 26r42 39r43 46r40 +. 52r41 61r41 72r41 87r42 97r33 102r38 107r39 112r36 +12r7*Buffer{6|88R9[6]} 17|7m12 13m12 14m12 20m12 21m12 22m12 23m12 29m12 +. 30m12 31m12 32m12 33m12 34m12 35m12 36m12 42m15 48r19 55r22 56r22 64r22 +. 65r22 66r22 67r22 75r22 76r22 77r22 78r22 79r22 80r22 81r22 82r22 91r26 +. 99r33 +13i7*Index{integer} 17|48r40 49m12 49r26 55r43 56r43 58m12 58r26 64r43 65r43 +. 66r43 67r43 69m12 69r26 75r43 76r43 77r43 78r43 79r43 80r43 81r43 82r43 +. 84m12 84r26 91r47 94m12 94r26 109r33 114m12 114r39 +16U14*write_uint8 16=27 16>49 17|5b14 8l8 8t19 +16r27 Self{11R9} 17|5b27 7m7 7r7 +16m49 Val{51|6M9} 17|5b49 7r27 +17U14*write_uint16 17=28 17>50 17|10b14 15l8 15t20 +17r28 Self{11R9} 17|10b28 13m7 13r7 14m7 14r7 +17m50 Val{51|7M9} 17|10b50 11r54 +18U14*write_uint32 18=28 18>50 17|17b14 24l8 24t20 +18r28 Self{11R9} 17|17b28 20m7 20r7 21m7 21r7 22m7 22r7 23m7 23r7 +18m50 Val{51|8M9} 17|17b50 18r54 +19U14*write_uint64 19=28 19>50 17|26b14 37l8 37t20 +19r28 Self{11R9} 17|26b28 29m7 29r7 30m7 30r7 31m7 31r7 32m7 32r7 33m7 33r7 +. 34m7 34r7 35m7 35r7 36m7 36r7 +19m50 Val{51|9M9} 17|26b50 27r54 +20U14*write_payload 20=29 20^51 17|39b14 44l8 44t21 +20r29 Self{11R9} 17|39b29 42m10 42r10 +20p51 Val(51|15A9) 17|39b51 41r16 42r30 +22U14*read_uint8 22=26 22<48 17|46b14 50l8 50t18 +22r26 Self{11R9} 17|46b26 48r14 48r35 49m7 49r21 +22m48 Val{51|6M9} 17|46b48 48m7 +23U14*read_uint16 23=27 23<49 17|52b14 59l8 59t19 +23r27 Self{11R9} 17|52b27 55r17 55r38 56r17 56r38 58m7 58r21 +23m49 Val{51|7M9} 17|52b49 57m7 +24U14*read_uint32 24=27 24<49 17|61b14 70l8 70t19 +24r27 Self{11R9} 17|61b27 64r17 64r38 65r17 65r38 66r17 66r38 67r17 67r38 +. 69m7 69r21 +24m49 Val{51|8M9} 17|61b49 68m7 +25U14*read_uint64 25=27 25<49 17|72b14 85l8 85t19 +25r27 Self{11R9} 17|72b27 75r17 75r38 76r17 76r38 77r17 77r38 78r17 78r38 +. 79r17 79r38 80r17 80r38 81r17 81r38 82r17 82r38 84m7 84r21 +25m49 Val{51|9M9} 17|72b49 83m7 +26U14*read_payload 26=28 26^50 17|87b14 95l8 95t20 +26r28 Self{11R9} 17|87b28 91r21 91r42 94m7 94r21 +26p50 Val(51|15A9) 17|87b50 90r16 91r10 +28V13*size{51|8M9} 28=19 17|97b13 100l8 100t12 104s19 +28r19 Self{11R9} 17|97b19 99r28 +29V13*remaining{51|8M9} 29=24 17|102b13 105l8 105t17 +29r24 Self{11R9} 17|102b24 104m14 104r14 104m26 104r26 +30V13*bytes_read{51|8M9} 30=25 17|104s31 107b13 110l8 110t18 +30r25 Self{11R9} 17|107b25 109r28 +31U14*unwind 31=22 31>44 17|112b14 115l8 115t14 +31r22 Self{11R9} 17|112b22 114m7 114r34 +31m44 Bytes{51|8M9} 17|112b44 114r56 +X 17 byte_buffer.adb +11a7 o2{51|11A9} 13r27 14r27 +18a7 o4{51|12A9} 20r27 21r27 22r27 23r27 +27a7 o8{51|13A9} 29r27 30r27 31r27 32r27 33r27 34r27 35r27 36r27 +41m11 I<18|74M9> 42r35 +53a7 o2{51|11A9} 55m7 56m7 57r38 +62a7 o4{51|12A9} 64m7 65m7 66m7 67m7 68r38 +73a7 o8{51|13A9} 75m7 76m7 77m7 78m7 79m7 80m7 81m7 82m7 83r38 +88i7 count{integer} 91r55 92m10 92r19 94r34 +90m11 I<18|74M9> 91r15 +X 18 interfac.ads +63M9*Unsigned_8 +66M9*Unsigned_16 +74M9*Unsigned_32 +77M9*Unsigned_64 +X 20 system.ads +67M9*Address +X 28 s-memory.ads +53V13*Alloc{20|67M9} 103i22 +68U14*Free 104i22 +76V13*Realloc{20|67M9} 105i22 +X 37 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 39 s-stalib.adb +93U14 Break_Start 94i22 +X 51 types.ads +4K9*types 16|2w6 2r17 7r46 16r58 17r59 18r59 19r59 20r64 22r58 23r59 24r59 +. 25r59 26r63 28r48 29r53 30r54 31r55 17|1w6 5r58 10r59 11r12 11r30 17r59 +. 18r12 18r30 26r59 27r12 27r30 39r64 46r58 52r59 53r12 57r14 61r59 62r12 +. 68r14 72r59 73r12 83r14 87r63 97r48 99r14 102r53 107r54 109r14 112r55 51|45e10 +6M9*uint8<18|63M9> 16|7r52 16r64 22r64 17|5r64 46r64 +7M9*uint16<18|66M9> 16|17r65 23r65 17|10r65 52r65 +8M9*uint32<18|74M9> 16|18r65 24r65 28r54 29r59 30r60 31r61 17|17r65 61r65 +. 97r54 99r20 102r59 107r60 109r20 112r61 +9M9*uint64<18|77M9> 16|19r65 25r65 17|26r65 72r65 +11A9*Octets_2(6M9)<8M9> 17|11r18 53r18 +12A9*Octets_4(6M9)<8M9> 17|18r18 62r18 +13A9*Octets_8(6M9)<8M9> 17|27r18 73r18 +15A9*payload(6M9)<8M9> 16|20r70 26r69 17|39r70 87r69 +25V13*uint16_to_octets{11A9} 17|11s36 +26V13*uint32_to_octets{12A9} 17|18s36 +27V13*uint64_to_octets{13A9} 17|27s36 +29V13*octets_to_uint16{7M9} 17|57s20 +30V13*octets_to_uint32{8M9} 17|68s20 +31V13*octets_to_uint64{9M9} 17|83s20 + diff --git a/external/controller/obj/byte_buffer.o b/external/controller/obj/byte_buffer.o new file mode 100644 index 0000000000000000000000000000000000000000..542b91c82a56b7b23df61ac4d46faaa0f37abcc5 GIT binary patch literal 211528 zcmeEv33yf2wf`CJ$-OrN33C{fATtO7LEm?(HP(JqJ-wYixY=rADr8uRVyugHfAmM~)q- z)%3>3n_fx<>8yB2oZeFy@5ycyl_Qz-)}Yq3FhgMUtb7aQM15I=i#O|qJk?K>SnhSe+=`alqIO!;z9xiZ 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system.task_primitives%s +D s-taprop.ads 20200312110721 1dd2e1b6 system.task_primitives.operations%s +D s-taskin.ads 20200312110721 b9d612e2 system.tasking%s +D s-taprob.ads 20200312110721 acd6094d system.tasking.protected_objects%s +D s-tpoben.ads 20200312110721 60ad3dae system.tasking.protected_objects.entries%s +D s-tpobop.ads 20200312110721 5f548bb3 system.tasking.protected_objects.operations%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +D s-unstyp.ads 20200312110721 34867c83 system.unsigned_types%s +D types.ads 20200624154551 a8aa7ce8 types%s +X 1 ada.ads +16K9*Ada 20e8 12|2r6 2r25 13|63r11 63r54 +X 6 a-reatim.ads +39K13*Real_Time 185e18 12|2w10 2r29 13|63r15 63r58 +49O9*Time 12|22r44 13|61r44 +54O9*Time_Span +61V13*Clock{49O9} 13|63s25 +71V14*"-"{54O9} 13|63s31 +107V14*">="{boolean} 13|63r51 +119V13*Milliseconds{54O9} 13|63s68 +X 10 interfac.ads +63M9*Unsigned_8 +X 12 mailbox.ads +4K9*mailbox 24l5 24e12 13|1b14 70l5 70t12 +6A9*Mail_List(38|18R9)<38|6M9> 14r14 +8W19*Mailbox 8d28 14E7 16l8 16e15 18r45 18r70 13|3b19 31l8 31t15 33r45 33r70 +8m28 Size{38|6M9} 14r27 13|16r67 +9U17 Clear 13|4b17 15l11 15t16 +10Y13 Deposit 10>21 13|16b13 20l11 20t18 +10r21 X{38|18R9} 13|18r29 +11Y13 Collect 11<21 13|21b13 26l11 26t18 37s19 44s20 +11r21 X{38|18R9} 13|23m10 +12U17 View_Inbox 12<28 13|27b17 30l11 30t21 +12m28 Remaining_Items{38|6M9} 13|27b28 29m10 +14a7 Items{6A9} 13|7r22 9r29 11r19 11r37 18r10 23r15 25r10 25r28 +15m7 Last{38|6M9} 13|6r13 8r26 8r42 10r19 10r27 11r28 11r46 16r60 18r16 19r10 +. 19r18 21r61 24r10 24r18 25r19 25r37 29r28 +18U14*check_mailbox 18=30 18=54 18<79 18>124 13|33b14 40s13 47s13 50l8 50t21 +18w30 first{8W19} 13|33b30 37r13 40m34 47m34 +18w54 second{8W19} 13|33b54 40m27 44r13 47m27 +18r79 new_packet{38|18R9} 13|33b79 37m27 40m40 44m28 47m40 +18m124 alternator{38|6M9} 13|33b124 35r10 40r51 47r51 +20U14*update_alternator 20=32 13|52b14 59l8 59t25 +20m32 alternator{38|6M9} 13|52b33 54r10 55m10 57m10 +22V13*isExpired{boolean} 22>23 13|9s19 61b13 68l8 68t17 +22o23 Time_In_Question{6|49O9} 13|61b23 63r33 +X 13 mailbox.adb +7m17 I<10|63M9> 8r38 9r35 +16r21 X{38|18R9} +21r21 X{38|18R9} +X 26 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 38 types.ads +4K9*types 12|1w6 1r17 6r29 6r54 8r35 10r27 11r28 12r49 15r14 18r96 18r136 +. 20r51 13|16r27 21r28 27r49 33r96 33r136 52r52 38|45e10 +6M9*uint8<10|63M9> 12|6r35 8r41 12r55 15r20 18r142 20r57 13|27r55 33r142 +. 52r58 +18R9*Communication_Packet 12|6r60 10r33 11r34 18r102 13|16r33 21r34 33r102 +. 38|23e14 +22o7*TTL{6|49O9} 13|9r38 + diff --git a/external/controller/obj/mailbox.o b/external/controller/obj/mailbox.o new file mode 100644 index 0000000000000000000000000000000000000000..1dc183b074f35b24abea6d1738cbc17ae604bd83 GIT binary patch literal 52336 zcmcJ23w+eYwg2z8o6Y`~5E7oER1FUmmAnX#;FAEspaCKhq*h$>*pNuF8#ODeJu_#1zuB|9Nbl|c z_xbGZZ@zQp%$YN1&YYR~?e2#9#)To*b^W{jp)_*@mI|0}VsXFE(tcf3ak@ 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pathfollowing.ads +6K9*pathfollowing 25l5 25e18 17|1b14 184l5 184t18 +8i4*width{integer} 10r31 13r36 17|35r52 94r34 99r34 135r38 143r36 +9i4*height{integer} 10r39 14r33 17|69r28 75r28 123r65 125r66 131r52 143r58 +10i4*size{integer} 16r35 +12A9*Pixel(46|6M9) +13I9*Column_Index 19r32 17|34r19 46r19 68r16 74r24 81r16 +. 86r24 94r21 99r21 +14I9*Row_Index 20r32 17|33r16 45r16 69r18 75r18 87r18 +. 93r16 98r24 106r16 111r24 +16I9*Image_Index 17r28 17|29r15 35r22 +17A9*Image_Raw(46|6M9)<16I9> +19A9*Colour_Column(46|6M9)<13I9> 20r46 +20A9*Colour_Matrix(19A9)<14I9> 17|17r10 18r11 19r12 20r11 21r16 +21A9*Wheehl_velocity(46|10F9) 17|23r21 +23V13*path_following{46|18R9} 23>28 17|27b13 182l8 182t22 +23r28 imageInput{46|18R9} 17|27b29 28r37 +X 17 pathfollowing.adb +2i4 colour{integer} 39m13 40r35 +3i4 r{integer} +4i4 g{integer} +5i4 b{integer} +7i4 bottomPoint{integer} 70m13 79m7 79r23 121r10 122r24 123r50 124r27 125r51 +. 130r10 131r37 134r48 138r46 142r10 143r42 +8i4 topPoint{integer} 83m13 91m7 91r20 121r31 122r13 123r39 124r16 125r40 +. 130r49 134r10 135r46 138r10 139r35 142r50 +9i4 leftPoint{integer} 108m13 116m7 116r21 121r68 130r31 131r61 134r68 138r28 +. 139r46 142r66 143r67 +10i4 rightPoint{integer} 95m13 103m7 103r22 121r49 130r66 134r28 135r58 138r66 +. 142r30 +11i4 bottomPoint1{integer} 76m13 79r37 +12i4 topPoint1{integer} 88m13 91r31 +13i4 leftPoint1{integer} 113m13 116r33 +14i4 rightPoint1{integer} 100m13 103r35 +15f4 steeringAngle{46|10F9} 123m13 125m13 126m15 131m10 135m10 139m10 143m10 +. 147r17 149r10 150r47 153r13 155r47 +17a4 red{16|20A9} 38m13 39r99 +18a4 blue{16|20A9} 36m13 39r31 +19a4 green{16|20A9} 37m13 39r64 +20a4 grey{16|20A9} 40m13 47r16 69r13 75r13 82r13 87r13 94r13 99r13 107r13 +. 112r13 +21a4 binaImage{16|20A9} 48m16 50m16 +23a4 wheehlvelocity{16|21A9} 150m10 151m10 154m10 155m10 158r17 158r51 166r42 +. 173r42 +24f4 axleTrack{46|10F9} 150r63 155r63 +25f4 basicVelocity{46|10F9} 150r31 151r31 154r31 155r31 +28p7 raw(46|15A9) 36r29 37r30 38r28 +29i7 index{16|16I9} 35m13 36r47 37r48 38r46 +30a7 o8{46|13A9} 167m10 169r19 170r41 174m10 176r19 177r45 +31m7 u64{46|9M9} 166m10 167r40 173m10 174r40 +33i11 I{16|14I9} 35r47 36r19 37r20 38r18 39r37 39r71 39r104 40r19 +34i14 J{16|13I9} 35r68 36r23 37r24 38r22 39r41 39r75 39r108 40r23 +45i11 I{16|14I9} 47r22 48r27 50r27 +46i14 J{16|13I9} 47r25 48r30 50r30 +68i11 J{16|13I9} 69r39 70r36 +74i11 J{16|13I9} 75r39 76r37 +81i11 J{16|13I9} 82r21 83r33 +86i11 J{16|13I9} 87r32 88r34 +93i11 I{16|14I9} 94r18 95r34 +98i11 I{16|14I9} 99r18 100r35 +106i11 I{16|14I9} 107r18 108r33 +111i11 I{16|14I9} 112r18 113r35 +160r15 packet{46|18R9} 162m10 163m10 164m10 170r13 177r13 180r17 +169m14 I<12|74M9> 170r35 170r45 +176m14 I<12|74M9> 177r35 177r49 +X 34 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 46 types.ads +4K9*types 16|3w6 3r17 17|28r20 36r34 37r35 38r33 166r17 167r16 173r17 174r16 +. 46|45e10 +6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|40r29 +8M9*uint32<12|74M9> 17|36r40 37r41 38r39 +9M9*uint64<12|77M9> 17|31r13 +10F9*float64<12|172F9> 16|21r43 17|15r20 24r16 25r20 123r30 125r31 131r29 +. 135r29 139r27 143r27 +13A9*Octets_8(6M9)<8M9> 17|30r12 +15A9*payload(6M9)<8M9> 17|28r26 164r38 +18R9*Communication_Packet 16|23r44 23r73 17|27r45 27r74 160r24 46|23e14 +19m7*package_ID{6M9} 17|162m17 +20m7*payload_length{8M9} 17|163m17 +21p7*local_payload(15A9) 17|28r48 164m17 170r20 177r20 +27V13*uint64_to_octets{13A9} 17|167s22 174s22 +34V13*float64_to_uint64{9M9} 17|166s23 173s23 + diff --git a/external/controller/obj/pathfollowing.o b/external/controller/obj/pathfollowing.o new file mode 100644 index 0000000000000000000000000000000000000000..ffb2886a7b259548806fcd9c399b9eca539d2962 GIT binary patch literal 24008 zcmc&+3wYGUwV!?bcQ*;i<^={p34#g~HUtm@f+ms01%n_Y8Xt7YV-q4t7LyGG6-bS# zY-1E!X{|-2w%)#|mugi+2nk>k@o{6lrG8&u*pFHe+ah|AYAyGi`Jb~pncY>ie)rDD z{%7Vlzd3Wxna6)-cEd(*$$YEDA~;yYl_HvBRESOG(R86q7K-5_Ta@|2fA)pX_`>h` 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zr~32qnQ6wkL$mU(fyb&^#PwIJAf)y7uLKP1>%sib(1iFF%_}a~xwxl|=fBO@nl;K( z%ozQLeWd$uAz->ptnmZd(CpR (others => 0)); wheehlvelocity : Wheehl_velocity := (others => 0.0); - axleTrack : float64 := 1.1; + --axleTrack : float64 := 1.1; basicVelocity : float64 := 1.0; + offsetImage : Integer := 32; + V_turn : float64 :=0.0; + --PID Parameter + Kp : float64 :=0.05; + Ki : float64 :=0.05; + Kd : float64 :=0.05; + Error : float64 := 0.0; + lastError : float64 :=0.0; + integral : float64 := 0.0; + derivative : float64 :=0.0; function path_following (imageInput : in Communication_Packet) return Communication_Packet is raw : access types.payload := imageInput.local_payload; @@ -118,42 +128,47 @@ package body pathfollowing is --Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); --calculate steering angle -- top and bottom - if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then - if topPoint - bottomPoint > 0 then - steeringAngle := float64((topPoint - bottomPoint) / height) ; - elsif topPoint - bottomPoint < 0 then - steeringAngle := -float64((topPoint - bottomPoint) / height); - else steeringAngle := 0.0; - end if; - end if; + --PID control the left and right velocity + Error := float64(bottomPoint - offsetImage); + integral := integral + Error; + derivative := Error - lastError; + V_turn := Kp * Error + Ki* integral + Kd * derivative; + --if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then + --if topPoint - bottomPoint > 0 then + --steeringAngle := float64((topPoint - bottomPoint) / height) ; + --elsif topPoint - bottomPoint < 0 then + --steeringAngle := -float64((topPoint - bottomPoint) / height); + --else steeringAngle := 0.0; + --end if; + --end if; -- bottom and left - if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then - steeringAngle := - float64(bottomPoint / (height - leftPoint)); - end if; + --if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then + --steeringAngle := - float64(bottomPoint / (height - leftPoint)); + --end if; -- top and right - if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then - steeringAngle := - float64((width - topPoint) / rightPoint); - end if; + --if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then + --steeringAngle := - float64((width - topPoint) / rightPoint); + --end if; --top and left - if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then - steeringAngle := float64(topPoint / leftPoint); - end if; + --if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then + --steeringAngle := float64(topPoint / leftPoint); + --end if; -- bottom and right - if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then - steeringAngle := float64((width-bottomPoint) / (height - leftPoint)); - end if; + --if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then + --steeringAngle := float64((width-bottomPoint) / (height - leftPoint)); + --end if; - Put_Line (steeringAngle'Image); + --Put_Line (steeringAngle'Image); --turn right - if steeringAngle > 0.0 then - wheehlvelocity(0) := basicVelocity + steeringAngle * axleTrack; - wheehlvelocity(1) := basicVelocity; + --if steeringAngle > 0.0 then + wheehlvelocity(0) := basicVelocity + V_turn; + wheehlvelocity(1) := basicVelocity - V_turn; --turn left - elsif steeringAngle < 0.0 then - wheehlvelocity(0) := basicVelocity; - wheehlvelocity(1) := basicVelocity - steeringAngle * axleTrack; - end if; + --elsif steeringAngle < 0.0 then + --wheehlvelocity(0) := basicVelocity; + --wheehlvelocity(1) := basicVelocity - steeringAngle * axleTrack; + --end if; Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads index cb75f66..20da94a 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/Path/pathfollowing.ads @@ -5,8 +5,8 @@ with mailbox; package pathfollowing is - width : constant Integer := 50; - height : constant Integer := 50; + width : constant Integer := 64; + height : constant Integer := 64; size : constant Integer := width * height * 4; type Pixel is array(0 .. 3) of uint8; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index 283470a..f9c210d 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -40,7 +40,7 @@ begin mailbox.check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet,alternator); mailbox.update_alternator(alternator); --path following - if(current_packet.package_ID = 67) then + if(current_packet.package_ID = 129) then send_packet := pathfollowing.path_following(current_packet); send_bytes(Webots_Channel,send_packet); end if; diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index 0114d2a..07bff77 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,12 +1,13 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034efc0200000001fb0000001400540065007800740045006400690074006f0072010000001c0000034e0000003c00ffffff000000030000073800000072fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff0000060e0000034e00000001000000020000000100000008fc00000000 -simulationViewPerspectives: 000000ff0000000100000002000001180000050e0100000006010000000100 -sceneTreePerspectives: 000000ff00000001000000020000027e000000fc0100000006010000000200 +perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000019600000362fc0200000001fb0000001400540065007800740045006400690074006f0072010000001c00000362000000a200ffffff00000003000007380000005efc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff0000059c0000036200000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff000000010000000200000118000002d60100000006010000000101 +sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 +minimizedPerspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024700000341fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000341000000a200ffffff000000030000073800000085fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004eb0000034100000004000000040000000100000008fc00000000 maximizedDockId: -1 centralWidgetVisible: 1 selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 -textFiles: -1 -renderingDevicePerspectives: Cab1:camera;1;3.2;0;0 -renderingDevicePerspectives: Cab2:camera;1;3.2;0;0 +textFiles: 0 "controllers/controller/controller.cpp" +renderingDevicePerspectives: Cab1:camera;1;15.8;0.000869565;0 +renderingDevicePerspectives: Cab2:camera;1;15.8;0;0.226485 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index eb43698..24f8559 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.03808682417150016 0.7714041274115354 0.635204743399305 3.119688131672871 - position 6.409620980680648 139.501828724283 -82.55227138078858 + orientation -0.2750011256145541 0.9094555883940861 0.31187323330079975 1.5259684864812857 + position 89.32252541478907 70.45215362448228 1.7990004277641631 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab1 Robot { - translation 0 0.4 -29.2 - rotation 0 1 0 -1.5723853071795864 + translation -9.316827388543823e-05 0.39866967958006416 -29.20000239112985 + rotation -0.00011349065787361909 0.9999999864428141 -0.00011930734334201739 -1.5723853221373987 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -352,6 +352,7 @@ DEF Cab1 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { + position 3.2787444654715636e-08 anchor 0.55 -0.1 0.55 } device [ @@ -362,7 +363,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0 0 1 1.5699999999999963 + rotation 1.640678228840386e-08 -1.6393722327357814e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -384,6 +385,7 @@ DEF Cab1 Robot { } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { + position 3.431396371056691e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -394,7 +396,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation 1.7170649862476898e-08 -1.7156981855283452e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -416,6 +418,7 @@ DEF Cab1 Robot { } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { + position 3.427814402086691e-08 anchor -0.55 -0.1 -0.7 } device [ @@ -426,7 +429,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation 1.7152725749855894e-08 -1.7139072010433453e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -448,6 +451,7 @@ DEF Cab1 Robot { } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { + position 3.2801768761024795e-08 anchor -0.55 -0.1 0.55 } device [ @@ -458,7 +462,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0 0 1 1.5699999999999956 + rotation 1.6413950047165347e-08 -1.6400884380512394e-08 0.9999999999999998 1.5699999999999958 children [ DEF wheel Shape { appearance PBRAppearance { @@ -496,10 +500,12 @@ DEF Cab1 Robot { 0 0 0 ] controller "controller" + linearVelocity -9.629704177784108e-08 -4.1635382322116705e-09 -7.95251217589515e-11 + angularVelocity 2.0539907064848833e-10 -2.479705605310184e-11 -9.952676362958886e-09 } DEF Cab2 Robot { - translation 10 0.4 -29.1 - rotation 0 1 0 -1.5723853071795864 + translation 9.999906831726113 0.3986696795800642 -29.100002391129856 + rotation -0.00011349065787375742 0.9999999864428141 -0.00011930734334192542 -1.572385322137397 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -839,6 +845,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { + position 3.278744493984078e-08 anchor 0.55 -0.1 0.55 } device [ @@ -849,7 +856,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0 0 1 1.5699999999999963 + rotation 1.6406782431080004e-08 -1.639372246992039e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -871,6 +878,7 @@ DEF Cab2 Robot { } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { + position 3.4313963951444856e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -881,7 +889,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation 1.7170649983011818e-08 -1.7156981975722425e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -903,6 +911,7 @@ DEF Cab2 Robot { } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { + position 3.427814402976184e-08 anchor -0.55 -0.1 -0.7 } device [ @@ -913,7 +922,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0 0 1 1.5699999999999963 + rotation 1.71527257543069e-08 -1.7139072014880918e-08 0.9999999999999998 1.5699999999999965 children [ DEF wheel Shape { appearance PBRAppearance { @@ -935,6 +944,7 @@ DEF Cab2 Robot { } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { + position 3.2801768420202845e-08 anchor -0.55 -0.1 0.55 } device [ @@ -945,7 +955,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0 0 1 1.5699999999999956 + rotation 1.6413949876618615e-08 -1.640088421010142e-08 0.9999999999999998 1.5699999999999958 children [ DEF wheel Shape { appearance PBRAppearance { @@ -983,6 +993,8 @@ DEF Cab2 Robot { 0 0 0 ] controller "controller" + linearVelocity -9.629703274243128e-08 -4.163539008387993e-09 -7.954536038044923e-11 + angularVelocity 2.053981444258579e-10 -2.477681695856947e-11 -9.952676064697886e-09 } DEF environment Solid { scale 1.09819 1.09819 1.09819 From 8cb7605aac8c16ff611ac368eeace2a1092b0859 Mon Sep 17 00:00:00 2001 From: Yue Date: Tue, 30 Jun 2020 12:21:27 +0200 Subject: [PATCH 11/25] change the width of all lines from 0.3 to 0.1 --- webots/worlds/cabservice.wbt | 173 +++++++++++++++++++---------------- 1 file changed, 96 insertions(+), 77 deletions(-) diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 24f8559..885d47a 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation -0.2750011256145541 0.9094555883940861 0.31187323330079975 1.5259684864812857 - position 89.32252541478907 70.45215362448228 1.7990004277641631 + orientation 0.6264432095956959 -0.7159941516700028 -0.3080929728601352 5.389813767096276 + position 98.68051784069583 117.81183664907921 58.66033578527826 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab1 Robot { - translation -9.316827388543823e-05 0.39866967958006416 -29.20000239112985 - rotation -0.00011349065787361909 0.9999999864428141 -0.00011930734334201739 -1.5723853221373987 + translation -9.316424413040542e-05 0.39866967936831976 -29.200002401192766 + rotation -0.00011349074066596113 0.9999999864427972 -0.00011930740695284313 -1.5723853225127584 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -352,7 +352,7 @@ DEF Cab1 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 3.2787444654715636e-08 + position 6.56496126078052e-08 anchor 0.55 -0.1 0.55 } device [ @@ -363,7 +363,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 1.640678228840386e-08 -1.6393722327357814e-08 0.9999999999999998 1.5699999999999965 + rotation 3.28509559899295e-08 -3.2824806303902586e-08 0.999999999999999 1.5699999999999972 children [ DEF wheel Shape { appearance PBRAppearance { @@ -381,11 +381,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -7.952689960275746e-08 -2.9284674799839716e-09 -1.7196542811796785e-08 + angularVelocity -9.367780055304274e-09 -7.840100620077063e-08 3.193891608964457e-07 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 3.431396371056691e-08 + position 6.848277939036311e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -396,7 +398,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 1.7170649862476898e-08 -1.7156981855283452e-08 0.9999999999999998 1.5699999999999965 + rotation 3.426866789391222e-08 -3.4241389695181536e-08 0.999999999999999 1.5699999999999974 children [ DEF wheel Shape { appearance PBRAppearance { @@ -414,11 +416,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -8.228707718248101e-08 -2.5633998891337403e-09 1.7398992807622218e-08 + angularVelocity 9.79373876913185e-09 -7.840034583306914e-08 3.3238522803859037e-07 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 3.427814402086691e-08 + position 1.0696807176889511e-10 anchor -0.55 -0.1 -0.7 } device [ @@ -429,7 +433,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 1.7152725749855894e-08 -1.7139072010433453e-08 0.9999999999999998 1.5699999999999965 + rotation 5.352664362241973e-11 -5.348403588444522e-11 1 1.5699999999999963 children [ DEF wheel Shape { appearance PBRAppearance { @@ -447,11 +451,13 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 8.183137160929722e-08 -1.7839375804079646e-09 1.765976628450676e-08 + angularVelocity 1.0848242312436692e-08 -7.841956987644865e-08 -3.3126625239609927e-07 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 3.2801768761024795e-08 + position -2.843734819969593e-11 anchor -0.55 -0.1 0.55 } device [ @@ -462,7 +468,7 @@ DEF Cab1 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 1.6413950047165347e-08 -1.6400884380512394e-08 0.9999999999999998 1.5699999999999958 + rotation -1.4230001321705361e-11 1.4218674099850307e-11 1 1.5699999999999956 children [ DEF wheel Shape { appearance PBRAppearance { @@ -480,6 +486,8 @@ DEF Cab1 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 7.935536720459413e-08 -2.149002306015198e-09 -1.694406273272891e-08 + angularVelocity -8.35393424571879e-09 -7.841895487915821e-08 -3.186640607521307e-07 } } DEF car_body Shape { @@ -500,12 +508,12 @@ DEF Cab1 Robot { 0 0 0 ] controller "controller" - linearVelocity -9.629704177784108e-08 -4.1635382322116705e-09 -7.95251217589515e-11 - angularVelocity 2.0539907064848833e-10 -2.479705605310184e-11 -9.952676362958886e-09 + linearVelocity -1.7473944955702864e-10 -2.3617092427230786e-09 -5.6454167953159086e-09 + angularVelocity 7.231699990888482e-10 -7.884602062214951e-08 2.872330909087987e-10 } DEF Cab2 Robot { - translation 9.999906831726113 0.3986696795800642 -29.100002391129856 - rotation -0.00011349065787375742 0.9999999864428141 -0.00011930734334192542 -1.572385322137397 + translation 9.999906835755867 0.3986696793683197 -29.100002401192782 + rotation -0.0001134907406659767 0.999999986442797 -0.00011930740695281215 -1.5723853225127629 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -845,7 +853,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 3.278744493984078e-08 + position 6.564961255015656e-08 anchor 0.55 -0.1 0.55 } device [ @@ -856,7 +864,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 1.6406782431080004e-08 -1.639372246992039e-08 0.9999999999999998 1.5699999999999965 + rotation 3.285095596108222e-08 -3.2824806275078266e-08 0.999999999999999 1.5699999999999972 children [ DEF wheel Shape { appearance PBRAppearance { @@ -874,11 +882,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -7.952689040023336e-08 -2.92846778086188e-09 -1.7196544396940225e-08 + angularVelocity -9.36778397459748e-09 -7.840098982654462e-08 3.1938915054369297e-07 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 3.4313963951444856e-08 + position 6.848277965949068e-08 anchor 0.55 -0.1 -0.7 } device [ @@ -889,7 +899,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 1.7170649983011818e-08 -1.7156981975722425e-08 0.9999999999999998 1.5699999999999965 + rotation 3.426866802858321e-08 -3.424138982974532e-08 0.999999999999999 1.5699999999999974 children [ DEF wheel Shape { appearance PBRAppearance { @@ -907,11 +917,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -8.228707901847423e-08 -2.5633993360571014e-09 1.7398984746284358e-08 + angularVelocity 9.793732560878459e-09 -7.840033015161333e-08 3.323852174084679e-07 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 3.427814402976184e-08 + position 1.0696791883094226e-10 anchor -0.55 -0.1 -0.7 } device [ @@ -922,7 +934,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 1.71527257543069e-08 -1.7139072014880918e-08 0.9999999999999998 1.5699999999999965 + rotation 5.352656709252008e-11 -5.348395941546879e-11 1 1.5699999999999963 children [ DEF wheel Shape { appearance PBRAppearance { @@ -940,11 +952,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 8.183137199009645e-08 -1.783937479546741e-09 1.765977579879039e-08 + angularVelocity 1.0848249994832288e-08 -7.841955559951475e-08 -3.312662472562038e-07 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 3.2801768420202845e-08 + position -2.8437689021646552e-11 anchor -0.55 -0.1 0.55 } device [ @@ -955,7 +969,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 1.6413949876618615e-08 -1.640088421010142e-08 0.9999999999999998 1.5699999999999958 + rotation -1.4230171868437558e-11 1.4218844510825617e-11 1 1.5699999999999956 children [ DEF wheel Shape { appearance PBRAppearance { @@ -973,6 +987,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity 7.935536355282379e-08 -2.1490032110190914e-09 -1.694406392030755e-08 + angularVelocity -8.353935588684691e-09 -7.841893919747366e-08 -3.1866405861351515e-07 } } DEF car_body Shape { @@ -993,8 +1009,8 @@ DEF Cab2 Robot { 0 0 0 ] controller "controller" - linearVelocity -9.629703274243128e-08 -4.163539008387993e-09 -7.954536038044923e-11 - angularVelocity 2.053981444258579e-10 -2.477681695856947e-11 -9.952676064697886e-09 + linearVelocity -1.7473716746095253e-10 -2.3617094698889543e-09 -5.6454270969603486e-09 + angularVelocity 7.231707068769279e-10 -7.88460062537031e-08 2.87234224008002e-10 } DEF environment Solid { scale 1.09819 1.09819 1.09819 @@ -1118,7 +1134,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1142,7 +1158,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1166,7 +1182,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1190,7 +1206,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1214,7 +1230,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1237,7 +1253,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1260,7 +1276,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1284,7 +1300,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1402,7 +1418,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1427,7 +1443,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1451,7 +1467,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -1466,11 +1482,11 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1494,7 +1510,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1518,7 +1534,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -1532,7 +1548,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1556,7 +1572,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1582,7 +1598,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } RoadLine { type "continuous" @@ -1610,7 +1626,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -1626,11 +1642,11 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1657,7 +1673,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } RoadLine { type "continuous" @@ -1667,6 +1683,9 @@ DEF environment Solid { rightBarrier TRUE leftBarrier TRUE bottom TRUE + startLine [ + "" + ] appearance Asphalt { colorOverride 0 0 0 IBLStrength 0 @@ -1685,7 +1704,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -1700,7 +1719,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] roadBorderWidth [ @@ -1728,7 +1747,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1752,7 +1771,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] roadBorderWidth [ @@ -1780,7 +1799,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1803,7 +1822,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1828,7 +1847,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1852,7 +1871,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -1867,11 +1886,11 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1896,7 +1915,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1920,7 +1939,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -1934,7 +1953,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1958,7 +1977,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -1975,7 +1994,7 @@ DEF environment Solid { } AddLanesRoadSegment { translation 20 0 53 - rotation 0 1 0 -1.57 + rotation -8.069599999950631e-07 -0.999999999993882 -3.4036599999791764e-06 1.57 name "road(28)" width 6 length 10 @@ -1984,7 +2003,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2008,7 +2027,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -2024,11 +2043,11 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2053,7 +2072,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2077,7 +2096,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 11.6 + size 0.08 0.01 11.6 } } ] @@ -2092,7 +2111,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2115,7 +2134,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2138,7 +2157,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2162,7 +2181,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2185,7 +2204,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2209,7 +2228,7 @@ DEF environment Solid { lines [ RoadLine { type "continuous" - width 0.3 + width 0.1 } ] rightBarrier TRUE @@ -2234,7 +2253,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 10.67 + size 0.08 0.01 10.67 } } ] @@ -2250,7 +2269,7 @@ DEF environment Solid { metalness 0 } geometry Box { - size 0.2 0.01 10.67 + size 0.08 0.01 10.67 } } ] From 3f8536990fec73fdb93f3cc8d205809986b453bc Mon Sep 17 00:00:00 2001 From: Yue Date: Sun, 5 Jul 2020 03:16:46 +0200 Subject: [PATCH 12/25] store --- external/controller/main | Bin 335688 -> 335544 bytes external/controller/obj/b__main.adb | 10 +- external/controller/obj/b__main.ads | 104 ++-- external/controller/obj/b__main.ali | 18 +- external/controller/obj/b__main.o | Bin 86064 -> 86424 bytes .../obj/external_controller-loc.xml | 347 +---------- external/controller/obj/gnatinspect.db | Bin 274432 -> 270336 bytes external/controller/obj/main.ali | 59 +- external/controller/obj/main.bexch | 2 +- external/controller/obj/main.o | Bin 33224 -> 33600 bytes external/controller/obj/pathfollowing.ali | 158 +++-- external/controller/obj/pathfollowing.o | Bin 21304 -> 22576 bytes external/controller/obj/tcp_client.ali | 6 +- external/controller/obj/tcp_client.o | Bin 48312 -> 48328 bytes external/controller/obj/webots_thread.ali | 49 +- external/controller/obj/webots_thread.o | Bin 48864 -> 48992 bytes .../controller/src/Path/pathfollowing.adb | 67 +-- external/controller/src/main.adb | 17 +- .../controller/src/tcp_client/tcp_client.adb | 2 +- .../src/webots_thread/webots_thread.adb | 25 +- .../src/webots_thread/webots_thread.ads | 2 +- .../controller/build/release/controller | Bin 108944 -> 113040 bytes .../controller/build/release/controller.o | Bin 280504 -> 280336 bytes webots/controllers/controller/controller | Bin 108944 -> 113040 bytes webots/controllers/controller/controller.cpp | 30 +- webots/controllers/controller/picture.png | Bin 0 -> 442 bytes .../build/release/webots_controller.d | 6 + .../build/release/webots_controller.exe | Bin 0 -> 19456 bytes .../build/release/webots_controller.o | Bin 0 -> 2170 bytes webots/worlds/.cabservice.wbproj | 8 +- webots/worlds/cabservice.wbt | 550 +----------------- 31 files changed, 314 insertions(+), 1146 deletions(-) create mode 100644 webots/controllers/controller/picture.png create mode 100644 webots/controllers/webots_controller/build/release/webots_controller.d create mode 100644 webots/controllers/webots_controller/build/release/webots_controller.exe create mode 100644 webots/controllers/webots_controller/build/release/webots_controller.o diff --git a/external/controller/main b/external/controller/main index 98bdaf3691fa492b41c1f82de4903730986a40bf..effd6310b2bf91b8deb3ec24243183a81e23c52b 100755 GIT binary patch delta 96082 zcmbTfd3;RQ|35zG%48vtATdcu1VIq{zJ!E?p`lSrl_C_4Jz8y1Oq8^y(1<)>&0Lb%d&>j+lF)e(A>!ReS8<Oh%)77#Y*Fqc z)}I9j^q%n5k9Gb$aQEAbTSB%k?UA#5+jMT%qS;a&P^zb8DVi+D`%ApD@ut^Tcz=WU z3cOe1y$Wx7eT(;6yf@&z5pQ~J!g~we+o*!q4!pmYC4*t7j=O<-^zvR{o?Zr63@^U^VRvr`+Yr;4CnOF;pa><&}JHSreO0@*?yVuTZv&UjuoL6#N1T8nEF!!NaGXm%wS>$hQHj$p`zIn3weFCZCIPsI>Zq^zSH@d9iOO zE8zQmLrK;+->HG8_%&ox`E<<~iNPY@2l>^1ZdXTF;sB|bxm+t0~1MH!U>kk=Y zDD0b94O!;W@(z9qGSejGq6(}+C~sIM)L7MNlda%`%QRp&rFT`Nw$6NinFhS2e<(XA zV+oSJJeB2ByipkwdnEq`ksrnYbcak3FDf6(!by)Y%1L9?5?BFvHz1T5WFK6XygQr)H()(^qhM25b_G~5gd1*Xnw*^KufgEp zgM%AXZ5F0;SxIiQAVrVj*TQRsbt|W8hdrde<_}<@6LLuwQcEcv!Az|JRe049Q&^cm 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bd7f591..e333a65 100644 --- a/external/controller/obj/main.ali +++ b/external/controller/obj/main.ali @@ -17,7 +17,7 @@ RV SPARK_05 RV MAX_TASKS=1+ RV MAX_ENTRY_QUEUE_LENGTH=1+ -U main%b main.adb 409cd94a NE OO SU +U main%b main.adb 2a2e4de7 NE OO SU W ada%s ada.ads ada.ali Z ada.real_time%s a-reatim.adb a-reatim.ali Z ada.tags%s a-tags.adb a-tags.ali @@ -26,6 +26,7 @@ W backend_thread%s backend_thread.adb backend_thread.ali W mailbox%s mailbox.adb mailbox.ali W pathfollowing%s pathfollowing.adb pathfollowing.ali Z system%s system.ads system.ali +Z system.img_int%s s-imgint.adb s-imgint.ali Z system.parameters%s s-parame.adb s-parame.ali Z system.soft_links%s s-soflin.adb s-soflin.ali Z system.task_info%s s-tasinf.adb s-tasinf.ali @@ -59,8 +60,8 @@ D interfac.ads 20200312110721 5ab55268 interfaces%s D i-c.ads 20200312110721 5421119b interfaces.c%s D i-cstrea.ads 20200312110721 e53d8b8e interfaces.c_streams%s D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D main.adb 20200630094837 f4c6aecf main%b -D pathfollowing.ads 20200630094837 53f1d129 pathfollowing%s +D main.adb 20200630124523 9e743a62 main%b +D pathfollowing.ads 20200703165547 53f1d129 pathfollowing%s D system.ads 20200312110721 4635ec04 system%s D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s D s-atocou.ads 20200312110721 b45c2d8d system.atomic_counters%s @@ -69,6 +70,7 @@ D s-exctab.ads 20200312110721 54135002 system.exception_table%s D s-ficobl.ads 20200312110721 078245e4 system.file_control_block%s D s-finmas.ads 20200312110721 7811a767 system.finalization_masters%s D s-finroo.ads 20200312110721 4ff27390 system.finalization_root%s +D s-imgint.ads 20200312110721 02dbe0c2 system.img_int%s D s-linux.ads 20200312110721 ed0b8aee system.linux%s D s-multip.ads 20200312110721 38ac9f73 system.multiprocessors%s D s-oscons.ads 20200409103809 0b994636 system.os_constants%s @@ -96,51 +98,52 @@ D s-unstyp.ads 20200312110721 34867c83 system.unsigned_types%s D s-wchcon.ads 20200312110721 1b7d22d2 system.wch_con%s D tcp_client.ads 20200624154551 b98992a8 tcp_client%s D types.ads 20200624154551 a8aa7ce8 types%s -D webots_thread.ads 20200630092914 beb3494b webots_thread%s +D webots_thread.ads 20200630125340 beb3494b webots_thread%s X 1 ada.ads -16K9*Ada 20e8 25|1r6 1r23 +16K9*Ada 20e8 25|1r6 1r23 44r7 X 9 a-iteint.ads 24h9 Forward_Iterator 32h9 Reversible_Iterator<24R9[4|111]> X 13 a-textio.ads -49K13*Text_IO 471e16 25|1w10 1r27 +49K13*Text_IO 471e16 25|1w10 1r27 44r11 +263U14*Put_Line 25|44s19 X 17 backend_thread.ads 10K9*backend_thread 22e19 25|3w6 3r26 18w4*Backend_Mailbox{24|8W19} 25|36r7 40m29 40r29 -20U14*backend_main 25|22s7 +20U14*backend_main 25|23s7 X 20 g-socket.ads 1213P9*Stream_Access(11|39R9) X 21 interfac.ads 63M9*Unsigned_8 X 24 mailbox.ads -4K9*mailbox 24e12 25|6w6 40r7 41r7 +4K9*mailbox 24e12 25|8w6 40r7 41r7 9U17 Clear 25|36s23 37s22 18U14*check_mailbox 25|40s15 20U14*update_alternator 25|41s15 X 25 main.adb -10U11*Main 10b11 53l5 53t9 -12t9 webots_thread 15b14 18l8 18t21 -13t9 backend_thread 20b14 23l8 23t22 -25r4 current_packet{61|18R9} 40m60 43r10 44r54 -26r4 send_packet{61|18R9} 44m10 45r36 -27m4 alternator{61|6M9} 40r75 41m33 41r33 +11U11*Main 11b11 52l5 52t9 +13t9 webots_thread 16b14 19l8 19t21 +14t9 backend_thread 21b14 24l8 24t22 +26r4 current_packet{62|18R9} 40m60 44r50 45r10 46r54 +27m4 alternator{62|6M9} 40r75 41m33 41r33 +28r4 send_packet{62|18R9} 46m10 47r37 X 26 pathfollowing.ads -6K9*pathfollowing 25|7w6 7r24 44r25 26|25e18 -23V13*path_following{61|18R9} 25|44s39 -X 44 s-stausa.ads +6K9*pathfollowing 25|5w6 5r25 46r25 26|25e18 +23V13*path_following{62|18R9} 25|46s39 +X 45 s-stausa.ads 203U14*Initialize 204i22 268U14*Output_Results 272i22 -X 60 tcp_client.ads -9K9*tcp_client 25|2w6 2r22 60|26e15 -18U14*send_bytes 25|45s10 -X 61 types.ads -4K9*types 25|5w6 5r17 25r21 26r18 27r17 61|45e10 +X 61 tcp_client.ads +9K9*tcp_client 25|2w6 2r22 61|26e15 +18U14*send_bytes 25|47s10 +X 62 types.ads +4K9*types 25|6w6 6r17 26r21 27r17 28r18 62|45e10 6M9*uint8<21|63M9> 25|27r23 -18R9*Communication_Packet 25|25r27 26r24 61|23e14 -19m7*package_ID{6M9} 25|43r25 -X 62 webots_thread.ads -9K9*webots_thread 25|4w6 4r25 62|21e18 -13p4*Webots_Channel{20|1213P9} 25|45r21 +18R9*Communication_Packet 25|26r27 28r24 62|23e14 +19m7*package_ID{6M9} 25|44r65 45r25 +X 63 webots_thread.ads +9K9*webots_thread 25|4w6 4r25 63|21e18 +13p4*Webots_Channel{20|1213P9} 25|47r21 17w4*Webots_Mailbox{24|8W19} 25|37r7 40m45 40r45 -19U14*webots_main 25|17s7 +19U14*webots_main 25|18s7 diff --git a/external/controller/obj/main.bexch b/external/controller/obj/main.bexch index 0b6b6ed..5727215 100644 --- a/external/controller/obj/main.bexch +++ b/external/controller/obj/main.bexch @@ -2,7 +2,7 @@ b__main.o [PROJECT FILES] /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr -20200630092914 +20200630124356 [BOUND OBJECT FILES] /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/mailbox.o /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/byte_buffer.o diff --git a/external/controller/obj/main.o b/external/controller/obj/main.o index 07339cc3918629008fc04b59b84c1bb697e71d4c..641c14db419d51de2944978ab79363d869dfe9fe 100644 GIT binary patch delta 2297 zcmZ`)eN0nV6o2>j-O{3bgs-*?{D5i@9f)&aGAt-m9$FQgbJ?PH-Nqb?A1Jt0EMFr} zd8u`DH%*phZjtRDmo3wDA#BrGoeEi&$#j_?F&UC9fst%zGGmm$&Ux>ZyqI{%Jzu|b z&pG#S-|bL0jUA!A1ypDY7jCC^67I>#xi1QWq|{lYkh@pvj)8osS5i`?Q07}K9CLKY zzfaH10N5ibgJS~F0J0u;*b`cWnkV$EDwMk(Wx}J3c$B{-9@Iu~wO^ z4t|Z9s+E7ncGB4_y`IqXT9(yXmU|xMu}7KoD32uNS4p|SHxs)RHevMy6W>QN=P#In zhV*8xxUUi^Bv%?-{ByFDEZ|qkk`6##QxSPYJp{uVk|K|RmC`R`qLlua6bz|w@C5qR zvVTg-ZM}jV`yO}6v6R|j>5XfW5{Y5dpgaUZL!?kdD-)Rn-=O;v0l(rNg8J@DQ0^ga z2+9ab!H8-p7bNAnqzp^SRY|#`&Q))yyedVW!pM*;VDF&_wuvLv8-h$K5R6!~vsJ1h zBB2P%sj7(BLGVJFnysBV6w#t)vy6wPc@te+@^ETqW&*q?ZbHq81n3r(0X)IP&yWtS 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pathfollowing%b pathfollowing.adb 0768e467 OO PK IL +U pathfollowing%b pathfollowing.adb 9a4ba409 OO PK IL Z ada.tags%s a-tags.adb a-tags.ali Z system.concat_3%s s-conca3.adb s-conca3.ali +Z system.concat_4%s s-conca4.adb s-conca4.ali +Z system.img_int%s s-imgint.adb s-imgint.ali Z system.img_real%s s-imgrea.adb s-imgrea.ali U pathfollowing%s pathfollowing.ads 930898fb EE NE OO PK IL @@ -45,15 +48,17 @@ D interfac.ads 20200312110721 5ab55268 interfaces%s D i-c.ads 20200312110721 5421119b interfaces.c%s D i-cstrea.ads 20200312110721 e53d8b8e interfaces.c_streams%s D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D pathfollowing.ads 20200630094837 53f1d129 pathfollowing%s -D pathfollowing.adb 20200630095812 5499354e pathfollowing%b +D pathfollowing.ads 20200703165547 53f1d129 pathfollowing%s +D pathfollowing.adb 20200703165648 c9ba7520 pathfollowing%b D system.ads 20200312110721 4635ec04 system%s D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s D s-conca3.ads 20200312110721 0b705ca5 system.concat_3%s +D s-conca4.ads 20200312110721 7e642b20 system.concat_4%s D s-crtl.ads 20200312110721 0ebbdb71 system.crtl%s D s-exctab.ads 20200312110721 54135002 system.exception_table%s D s-ficobl.ads 20200312110721 078245e4 system.file_control_block%s D s-finroo.ads 20200312110721 4ff27390 system.finalization_root%s +D s-imgint.ads 20200312110721 02dbe0c2 system.img_int%s D s-imgrea.ads 20200312110721 c7a851e2 system.img_real%s D s-linux.ads 20200312110721 ed0b8aee system.linux%s D s-multip.ads 20200312110721 38ac9f73 system.multiprocessors%s @@ -82,7 +87,7 @@ X 4 a-flteio.ads 20K13*Float_Text_IO[10|46] 16|2w10 2r33 X 9 a-textio.ads 49K13*Text_IO 471e16 16|1w10 1r27 -263U14*Put_Line 17|173s7 +263U14*Put_Line 17|120s7 155s7 170s7 X 12 interfac.ads 63M9*Unsigned_8 74M9*Unsigned_32 @@ -91,89 +96,80 @@ X 12 interfac.ads X 15 mailbox.ads 4K9*mailbox 24e12 16|4w6 X 16 pathfollowing.ads -6K9*pathfollowing 25l5 25e18 17|1b14 199l5 199t18 -8i4*width{integer} 10r31 13r36 17|45r52 104r34 109r34 -9i4*height{integer} 10r39 14r33 17|79r28 85r28 +6K9*pathfollowing 25l5 25e18 17|1b14 196l5 196t18 +8i4*width{integer} 10r31 13r36 17|37r52 96r39 101r39 +9i4*height{integer} 10r39 14r33 17|71r33 77r33 10i4*size{integer} 16r35 -12A9*Pixel(46|6M9) -13I9*Column_Index 19r32 17|44r19 56r19 78r16 84r24 91r16 -. 96r24 104r21 109r21 -14I9*Row_Index 20r32 17|43r16 55r16 79r18 85r18 97r18 -. 103r16 108r24 116r16 121r24 -16I9*Image_Index 17r28 17|39r15 45r22 -17A9*Image_Raw(46|6M9)<16I9> -19A9*Colour_Column(46|6M9)<13I9> 20r46 +12A9*Pixel(48|6M9) +13I9*Column_Index 19r32 17|36r19 48r19 70r16 76r24 83r16 +. 88r24 96r26 101r26 +14I9*Row_Index 20r32 17|35r16 47r16 71r23 77r23 89r23 +. 95r16 100r24 108r16 113r24 +16I9*Image_Index 17r28 17|31r15 37r22 +17A9*Image_Raw(48|6M9)<16I9> +19A9*Colour_Column(48|6M9)<13I9> 20r46 20A9*Colour_Matrix(19A9)<14I9> 17|17r10 18r11 19r12 20r11 21r16 -21A9*Wheehl_velocity(46|10F9) 17|23r21 -23V13*path_following{46|18R9} 23>28 17|37b13 197l8 197t22 -23r28 imageInput{46|18R9} 17|37b29 38r37 +21A9*Wheehl_velocity(48|10F9) 17|23r21 +23V13*path_following{48|18R9} 23>28 17|29b13 194l8 194t22 +23r28 imageInput{48|18R9} 17|29b29 30r37 X 17 pathfollowing.adb -2i4 colour{integer} 49m13 50r35 +2i4 colour{integer} 41m13 42r35 3i4 r{integer} 4i4 g{integer} 5i4 b{integer} -7i4 bottomPoint{integer} 80m13 89m7 89r23 132r24 -8i4 topPoint{integer} 93m13 101m7 101r20 -9i4 leftPoint{integer} 118m13 126m7 126r21 -10i4 rightPoint{integer} 105m13 113m7 113r22 -11i4 bottomPoint1{integer} 86m13 89r37 -12i4 topPoint1{integer} 98m13 101r31 -13i4 leftPoint1{integer} 123m13 126r33 -14i4 rightPoint1{integer} 110m13 113r35 -15f4 steeringAngle{46|10F9} -17a4 red{16|20A9} 48m13 49r99 -18a4 blue{16|20A9} 46m13 49r31 -19a4 green{16|20A9} 47m13 49r64 -20a4 grey{16|20A9} 50m13 57r16 79r13 85r13 92r13 97r13 104r13 109r13 117r13 -. 122r13 -21a4 binaImage{16|20A9} 58m16 60m16 -23a4 wheehlvelocity{16|21A9} 165m10 166m10 173r17 173r51 181r42 188r42 -25f4 basicVelocity{46|10F9} 165r31 166r31 -26i4 offsetImage{integer} 132r38 -27f4 V_turn{46|10F9} 135m7 165r47 166r47 -29f4 Kp{46|10F9} 135r17 -30f4 Ki{46|10F9} 135r30 -31f4 Kd{46|10F9} 135r45 -32f4 Error{46|10F9} 132m7 133r30 134r21 135r22 -33f4 lastError{46|10F9} 134r29 -34f4 integral{46|10F9} 133m7 133r19 135r34 -35f4 derivative{46|10F9} 134m7 135r50 -38p7 raw(46|15A9) 46r29 47r30 48r28 -39i7 index{16|16I9} 45m13 46r47 47r48 48r46 -40a7 o8{46|13A9} 182m10 184r19 185r41 189m10 191r19 192r45 -41m7 u64{46|9M9} 181m10 182r40 188m10 189r40 -43i11 I{16|14I9} 45r47 46r19 47r20 48r18 49r37 49r71 49r104 50r19 -44i14 J{16|13I9} 45r68 46r23 47r24 48r22 49r41 49r75 49r108 50r23 -55i11 I{16|14I9} 57r22 58r27 60r27 -56i14 J{16|13I9} 57r25 58r30 60r30 -78i11 J{16|13I9} 79r39 80r36 -84i11 J{16|13I9} 85r39 86r37 -91i11 J{16|13I9} 92r21 93r33 -96i11 J{16|13I9} 97r32 98r34 -103i11 I{16|14I9} 104r18 105r34 -108i11 I{16|14I9} 109r18 110r35 -116i11 I{16|14I9} 117r18 118r33 -121i11 I{16|14I9} 122r18 123r35 -175r15 packet{46|18R9} 177m10 178m10 179m10 185r13 192r13 195r17 -184m14 I<12|74M9> 185r35 185r45 -191m14 I<12|74M9> 192r35 192r49 -X 34 s-stausa.ads +7i4 bottomPoint{integer} 72m13 81m7 81r23 120r30 147r10 149r13 149r34 +8i4 topPoint{integer} 85m13 93m7 93r20 120r59 +9i4 leftPoint{integer} 110m13 118m7 118r21 120r113 +10i4 rightPoint{integer} 97m13 105m7 105r22 120r85 +11i4 bottomPoint1{integer} 78m13 81r37 +12i4 topPoint1{integer} 90m13 93r31 +13i4 leftPoint1{integer} 115m13 118r33 +14i4 rightPoint1{integer} 102m13 105r35 +17a4 red{16|20A9} 40m13 41r99 +18a4 blue{16|20A9} 38m13 41r31 +19a4 green{16|20A9} 39m13 41r64 +20a4 grey{16|20A9} 42m13 49r16 +21a4 binaImage{16|20A9} 50m16 52m16 71r13 77r13 84r13 89r13 96r13 101r13 +. 109r13 114r13 +23a4 wheehlvelocity{16|21A9} 159m10 160m10 163m10 164m10 166m10 167m10 170r17 +. 170r51 178r42 185r42 +25f4 basicVelocity{48|10F9} 159r31 160r31 163r31 164r31 166r31 167r31 +27f4 V_turn{48|10F9} 148m10 150m10 151m15 155r17 158r10 159r47 162r13 164r47 +30p7 raw(48|15A9) 38r29 39r30 40r28 +31i7 index{16|16I9} 37m13 38r47 39r48 40r46 +32a7 o8{48|13A9} 179m10 181r19 182r41 186m10 188r19 189r45 +33m7 u64{48|9M9} 178m10 179r40 185m10 186r40 +35i11 I{16|14I9} 37r47 38r19 39r20 40r18 41r37 41r71 41r104 42r19 +36i14 J{16|13I9} 37r68 38r23 39r24 40r22 41r41 41r75 41r108 42r23 +47i11 I{16|14I9} 49r22 50r27 52r27 +48i14 J{16|13I9} 49r25 50r30 52r30 +70i11 J{16|13I9} 71r45 72r36 +76i11 J{16|13I9} 77r45 78r37 +83i11 J{16|13I9} 84r26 85r33 +88i11 J{16|13I9} 89r37 90r34 +95i11 I{16|14I9} 96r23 97r34 +100i11 I{16|14I9} 101r23 102r35 +108i11 I{16|14I9} 109r23 110r33 +113i11 I{16|14I9} 114r23 115r35 +172r15 packet{48|18R9} 174m10 175m10 176m10 182r13 189r13 192r17 +181m14 I<12|74M9> 182r35 182r45 +188m14 I<12|74M9> 189r35 189r49 +X 36 s-stausa.ads 203U14*Initialize 204i22 268U14*Output_Results 272i22 -X 46 types.ads -4K9*types 16|3w6 3r17 17|38r20 46r34 47r35 48r33 181r17 182r16 188r17 189r16 -. 46|45e10 -6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|50r29 -8M9*uint32<12|74M9> 17|46r40 47r41 48r39 -9M9*uint64<12|77M9> 17|41r13 -10F9*float64<12|172F9> 16|21r43 17|15r20 25r20 27r13 29r9 30r9 31r9 32r12 -. 33r16 34r15 35r17 132r16 -13A9*Octets_8(6M9)<8M9> 17|40r12 -15A9*payload(6M9)<8M9> 17|38r26 179r38 -18R9*Communication_Packet 16|23r44 23r73 17|37r45 37r74 175r24 46|23e14 -19m7*package_ID{6M9} 17|177m17 -20m7*payload_length{8M9} 17|178m17 -21p7*local_payload(15A9) 17|38r48 179m17 185r20 192r20 -27V13*uint64_to_octets{13A9} 17|182s22 189s22 -34V13*float64_to_uint64{9M9} 17|181s23 188s23 +X 48 types.ads +4K9*types 16|3w6 3r17 17|30r20 38r34 39r35 40r33 178r17 179r16 185r17 186r16 +. 48|45e10 +6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|42r29 +8M9*uint32<12|74M9> 17|38r40 39r41 40r39 +9M9*uint64<12|77M9> 17|33r13 +10F9*float64<12|172F9> 16|21r43 17|25r20 27r13 +13A9*Octets_8(6M9)<8M9> 17|32r12 +15A9*payload(6M9)<8M9> 17|30r26 176r38 +18R9*Communication_Packet 16|23r44 23r73 17|29r45 29r74 172r24 48|23e14 +19m7*package_ID{6M9} 17|174m17 +20m7*payload_length{8M9} 17|175m17 +21p7*local_payload(15A9) 17|30r48 176m17 182r20 189r20 +27V13*uint64_to_octets{13A9} 17|179s22 186s22 +34V13*float64_to_uint64{9M9} 17|178s23 185s23 diff --git a/external/controller/obj/pathfollowing.o b/external/controller/obj/pathfollowing.o index 6f94fbc713bc1b22cb79961c8c7392b509e52961..d2fa593b5d2d8419cddd8aa2181f2e2c2dc28828 100644 GIT binary patch literal 22576 zcmcgz3wV^(nLcy*lL;Z2TmXsO!bJpyTp*=Ep-GT|2?U6cwA4#~CduR?NhT%}h?Yxg zoGpLHwBQztu2t7ZtM#&FyJESMP)raNQr%j+U0dA8`e4y5>a)sP+wAw9^PQQKGc(Bg zxO<)_bIy6s`+es--?{()pY5KCWp>%8B2?+piIUh9bWZ^Of0YhNiw;gE9bps7ef_Ow#5?q&)P$MT~J)Y zSe)W|%X13M=5~hqIx~;X1a)c!?qi-)yba~d@`gztJ z2I~%&Y`+%$eVBKaC07Q;g@>h)hi&K240w)!kw;h;7dnzq=!mrS2nbzb)GDYFJVp^x{2ZU%9gyL`aA#|yjJUtu>J42_3~ia_%a z*Li1f&>6M-Egx;pg-iFFf@X9X0Vgb##2$5*U+fdnFQCY!=%8J#> zcu{yaV(}`o`a>`BszNWi%lmmnXGKNlsG`t|@tis&NN+@}8R2*9cszIEx(6*d8Ic*` zQ5(p_wtBCS*&mS^L9rc=vHlSu@FWSS<#E_M1$$3~9eTCXZk@8Kp9_1QvpjpbYkIcs 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zvHVC_WO!*^u%^8MzW1vS1Ba*K+viAdE6}hqK@ohxhE+!~e5oa?fIgOwueI>6eDYhu z(O^D&YrCK=3g7opr69caiv*g3)QZ18@!K$&{|PI=%X7k;YXrC3Jr zaUi!#Z1}LK#5YSuj8_w#J>dz#Psp&r~2~TLh@z%W&W#>u=3yIMIgq{{etLZz6Z+f*h&`N-SH|*bA0TpxV+GIAtm^yMi5drGMT&L* F{U0W@ZEyep diff --git a/external/controller/obj/tcp_client.ali b/external/controller/obj/tcp_client.ali index 0319d07..8116c27 100644 --- a/external/controller/obj/tcp_client.ali +++ b/external/controller/obj/tcp_client.ali @@ -19,7 +19,7 @@ RV NO_OBSOLESCENT_FEATURES RV SPARK_05 RV MAX_ENTRY_QUEUE_LENGTH=1+ -U tcp_client%b tcp_client.adb 225d25dc NE OO PK IL +U tcp_client%b tcp_client.adb de0eeefc NE OO PK IL Z ada.streams%s a-stream.adb a-stream.ali Z ada.tags%s a-tags.adb a-tags.ali Z system%s system.ads system.ali @@ -95,7 +95,7 @@ D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s D s-unstyp.ads 20200312110721 34867c83 system.unsigned_types%s D s-wchcon.ads 20200312110721 1b7d22d2 system.wch_con%s D tcp_client.ads 20200624154551 b98992a8 tcp_client%s -D tcp_client.adb 20200624154551 337ecb9c tcp_client%b +D tcp_client.adb 20200630130717 cf2d00bc tcp_client%b D types.ads 20200624154551 a8aa7ce8 types%s X 1 ada.ads 16K9*Ada 20e8 55|2r6 2r23 3r6 3r23 6r6 6r25 56|101r28 @@ -179,7 +179,7 @@ X 56 tcp_client.adb 54m7 new_byte{57|6M9} 59m42 59r42 60r37 72m7 bytes_received{57|8M9} 79m7 83m7 87m7 73m7 conv_package_ID{57|6M9} 84m46 88r63 -74m7 conv_package_value_length{57|8M9} 80m47 87r51 88r36 +74m7 conv_package_value_length{57|8M9} 80m47 81m7 81r36 87r51 88r36 96r15 new_packet{57|18R9} 98m10 99m10 100m10 101m10 103r19 104r39 108r32 103m14 I<18|74M9> 104r64 X 57 types.ads diff --git a/external/controller/obj/tcp_client.o b/external/controller/obj/tcp_client.o index 1966ccfaaedfe15bada785ce6e72c7f0e55b3215..b5048cab0a5b822e29d6f31fa69fcbae597cacaf 100644 GIT binary patch delta 645 zcmZ{gL1+^}6o%(bve^dFxFQXU6%kBZZNwhZRzb2YT1i2I@ggDxFFiIT3Q8L&kw|Gu zp;`Y^!Gk&E)`QJJ-NYR9qTbqgswYpP0X>Kp3qt#*F|e2Z@c(a_Z{NI`@%H4WJy{;4 zW%uHAe>NmUs`!plrO86-T8hTX$qAfzS1%6k9me zNQOrfdP^b7xZfC~VYm&4KA^=p1M96rE68w`;c}+X;w->wI#N8w-DXm6*&H|kO*Y@j delta 632 zcmZ{hPe>F|9LL}9?Y5IFwVqmr6dFk#D~w3pJ;+Wf3+vJ)x{hr&xT>8TI`y1Zp{oZfp&DOEpIF==w zo_Jj&9itH;GEYBHrkE~dKBb=tR&n>>HZOCzSubgCx#hH7f401x77BYm?$KKeQzsSF zBvqxl7LJB+!x*5Nnl)nWDyl@!c1W7vRWw=XMd@KF=IcoVXPf8b z(3yyQjjLmaw5H7Q1xY@ZCdVnO%-ptN{tW4jLP+*S_OCy65ojuIHitD6LYH=SgW4x_ zFhDy3bQUi6_MhSh1N2ZGbdOkqEozR2-&?u}tzcXK?mY&>wYor`)yk?7Hnab}^(*&i>HE@NQ(xZ4 ziE21pPw+3ZHXO3ya`wXKOk$7o4y>|6Z{Tw7z%M)U_jT--Q}XB?+A680?jC)l5c7CY pNzeuO6^Ayl$9WglrbE+kIScSP`9#hMSXD22 X 56 tcp_client.ads 9K9*tcp_client 26e15 58|3w6 3r22 -16V13*build_connection{17|1213P9} 59|9s25 -18U14*send_bytes 59|17s7 +16V13*build_connection{17|1213P9} 59|11s25 +18U14*send_bytes 59|25s7 +22U14*listen 59|28s10 X 57 types.ads -4K9*types 45e10 58|5w6 5r17 15r17 59|15r39 +4K9*types 45e10 58|5w6 5r16 15r17 59|18r39 6M9*uint8<18|63M9> 8M9*uint32<18|74M9> 9M9*uint64<18|77M9> 59|5r21 10F9*float64<18|172F9> 59|4r14 13A9*Octets_8(6M9)<8M9> 59|6r22 -15A9*payload(6M9)<8M9> 59|15r45 +15A9*payload(6M9)<8M9> 59|18r45 18R9*Communication_Packet 23e14 58|15r23 -19m7*package_ID{6M9} 59|13m18 -20m7*payload_length{8M9} 59|14m18 -21p7*local_payload(15A9) 59|15m18 22r27 23r21 -27V13*uint64_to_octets{13A9} 59|12s23 -34V13*float64_to_uint64{9M9} 59|11s21 +19m7*package_ID{6M9} 59|15m18 +20m7*payload_length{8M9} 59|16m18 +21p7*local_payload(15A9) 59|18m18 21r27 22r21 +27V13*uint64_to_octets{13A9} 59|14s22 +34V13*float64_to_uint64{9M9} 59|13s22 X 58 webots_thread.ads -9K9*webots_thread 21l5 21e18 59|1b14 28l5 28t18 -12i4*Webots_Client{17|412I9} 59|9m43 9r43 -13p4*Webots_Channel{17|1213P9} 59|9m7 17r18 -14r4*Webots_Address{17|597R9} 59|9m64 9r64 -15r4*Webots_Cmd{57|18R9} 59|13m7 14m7 15m7 17r34 22r16 23r10 -16r4*Webots_Vector_Buffer{15|11R9} -17w4*Webots_Mailbox{21|8W19} -19U14*webots_main 59|3b14 26l8 26t19 +9K9*webots_thread 21l5 21e18 59|1b14 33l5 33t18 +12i4*Webots_Client{17|412I9} 59|11m43 11r43 +13p4*Webots_Channel{17|1213P9} 59|11m7 25r18 28r18 +14r4*Webots_Address{17|597R9} 59|11m64 11r64 +15r4*Webots_Cmd{57|18R9} 59|15m7 16m7 18m7 21r16 22r10 25r34 +16r4*Webots_Vector_Buffer{15|11R9} 59|28m34 28r34 +17w4*Webots_Mailbox{21|8W19} 59|28m56 28r56 +19U14*webots_main 59|3b14 31l8 31t19 X 59 webots_thread.adb -4f7 test{57|10F9} 11r39 -5m7 test_uint64{57|9M9} 11m7 12r40 -6a7 test_to_send{57|13A9} 12m7 23r41 -22m11 I<18|74M9> 23r35 23r54 +4f7 test{57|10F9} 13r40 +5m7 test_uint64{57|9M9} 13m7 14r39 +6a7 test_to_send{57|13A9} 14m7 22r41 +21m11 I<18|74M9> 22r35 22r54 diff --git a/external/controller/obj/webots_thread.o b/external/controller/obj/webots_thread.o index 99e3275954bec1d8a191535f2c556f3393a1e29c..8bdda17c5b4a7d984ecf2ae2859349e0e6bcfef1 100644 GIT binary patch delta 1222 zcmZ`&TS!z<6rFu$PMI0$=y<%AF+-GM&naaRBNBpM5=QR_sg!{>jiXMF(Ml!=iW0I_ zQ9+?3^!Q4y4eIEWA3Z*zGWw`KNwEmcYtL*;puFqbAQ5W zp4QE?R&&ojKD~vzS)r3>zQpCcvXt>#d1AsgJ~<)gV4Up!xn^Sin>-|Q2i{knoHSKh zs-@yNB2}q8NA8ZBtyPV7Y3vF7pcq;Mf?mK|Jq2xnG=te~HmA*QOOjc|O&ZM^D6bZ@ z$ij^l`Yk+aVY`L*6v7>JU{`e-eKI}4M+}a-LVT_j&d|aVN|RRmD7 zSYSilkhwIJWJl7$ByytlfFOYyiPO+8G1tNkpo4;TTk0N5t+n_D3(s2oMR;Y+4U6fp z>R+MgfG`Hx=nJTnE7$O!(Rhz$S^rhll>g9bgjO@6@tGPw?%&}!BsX87$^f_9)??)M@^?i*FF(WE)* z?{x-6^}@LLAN30Q<%BkCnyIE4uQm5+n)?UkzVeHvPSMnf>UdPN^mtszsA$AIpfMJGO)(_!(K&UZ6>2uaPERqq3otCQQSaG@WcHACG zl6EoYHjVBkQ=D!TVxtU_l*u9<^?p;Yj&-6mufiC*n`L;<5sMu9M5CmWei3b_Gz=Rf z#TJJQW(|*NSgxT%!$%s9YB-DFOjfPVw#VB1)L7r_s;X+OZ?3DV>2TGz;@Xu0 ztZ7|WD_!wA47A58hRtGp$YQ?sZ^O2uw~e1^HN#9?X_J-gO{Jcx4hTvs&M-}ph8Hz` zx2AV*p}(mqy&4X4B|OKab{RriWS(azj?=LM%y@1In=G)aIK%30;|Ifx4{6LJ=a!D{E?FrMSTXZS9O;saPYJ9d z>}?d{c|yEhh>NvQ-O+8!QzEZ8m){>V{+Ri72C;hVAbdeD!yKGpcm`L-en1T_`6?hE z-4+v;jXRY)d=oRihkGR7L-o^m24Vj$_-)ZeE-sOz2DJNaRHAH(aM^?&{}37K!u-h~ z81VOG2pZ5obppO41Z (others => 0)); blue : Colour_Matrix := (others => (others => 0)); @@ -22,17 +22,9 @@ package body pathfollowing is wheehlvelocity : Wheehl_velocity := (others => 0.0); --axleTrack : float64 := 1.1; - basicVelocity : float64 := 1.0; - offsetImage : Integer := 32; - V_turn : float64 :=0.0; - --PID Parameter - Kp : float64 :=0.05; - Ki : float64 :=0.05; - Kd : float64 :=0.05; - Error : float64 := 0.0; - lastError : float64 :=0.0; - integral : float64 := 0.0; - derivative : float64 :=0.0; + basicVelocity : float64 :=1.0 ; + --ratio : float64 := 8.0; + V_turn : float64 := 0.0; function path_following (imageInput : in Communication_Packet) return Communication_Packet is raw : access types.payload := imageInput.local_payload; @@ -76,37 +68,37 @@ package body pathfollowing is --end loop; -- find bottompoint for J in Column_Index loop - if grey(Row_Index(height-1))(J) = 255 then + if binaImage(Row_Index(height-32))(J) = 255 then bottomPoint := Integer(J); end if; -- end loop; for J in reverse Column_Index loop - if grey(Row_Index(height-1))(J) = 255 then + if binaImage(Row_Index(height-32))(J) = 255 then bottomPoint1 := Integer(J); end if; end loop; bottomPoint := (bottomPoint + bottomPoint1) / 2; -- find toppoint for J in Column_Index loop - if grey(0)(J) = 255 then + if binaImage(0)(J) = 255 then topPoint := Integer(J); end if; end loop; for J in reverse Column_Index loop - if grey(Row_Index(0))(J) = 255 then + if binaImage(Row_Index(0))(J) = 255 then topPoint1 := Integer(J); end if; end loop; topPoint := (topPoint + topPoint1) / 2; -- find rightpoint for I in Row_Index loop - if grey(I)(Column_Index(width-1)) = 255 then + if binaImage(I)(Column_Index(width-1)) = 255 then rightPoint:= Integer(I); end if; end loop; for I in reverse Row_Index loop - if grey(I)(Column_Index(width-1)) = 255 then + if binaImage(I)(Column_Index(width-1)) = 255 then rightPoint1:= Integer(I); end if; end loop; @@ -114,29 +106,24 @@ package body pathfollowing is --find leftPoint for I in Row_Index loop - if grey(I)(0) = 255 then + if binaImage(I)(0) = 255 then leftPoint:= Integer(I); end if; end loop; for I in reverse Row_Index loop - if grey(I)(0) = 255 then + if binaImage(I)(0) = 255 then leftPoint1 := Integer(I); end if; end loop; leftPoint := (leftPoint + leftPoint1)/2; - --Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); + Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); --calculate steering angle -- top and bottom - --PID control the left and right velocity - Error := float64(bottomPoint - offsetImage); - integral := integral + Error; - derivative := Error - lastError; - V_turn := Kp * Error + Ki* integral + Kd * derivative; --if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then --if topPoint - bottomPoint > 0 then --steeringAngle := float64((topPoint - bottomPoint) / height) ; - --elsif topPoint - bottomPoint < 0 then + --elsif topPoint - bottomPoint < 0 then --steeringAngle := -float64((topPoint - bottomPoint) / height); --else steeringAngle := 0.0; --end if; @@ -156,19 +143,29 @@ package body pathfollowing is -- bottom and right --if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then --steeringAngle := float64((width-bottomPoint) / (height - leftPoint)); - --end if; + --end if; + if bottomPoint >27 then + V_turn := 0.8; + elsif bottomPoint <16 and bottomPoint > 0 then + V_turn := -0.8; + else V_turn := 0.0; + end if; - --Put_Line (steeringAngle'Image); + Put_Line (V_turn'Image); --turn right - --if steeringAngle > 0.0 then + + if V_turn > 0.0 then wheehlvelocity(0) := basicVelocity + V_turn; - wheehlvelocity(1) := basicVelocity - V_turn; + wheehlvelocity(1) := basicVelocity; --turn left - --elsif steeringAngle < 0.0 then - --wheehlvelocity(0) := basicVelocity; - --wheehlvelocity(1) := basicVelocity - steeringAngle * axleTrack; - --end if; + elsif V_turn < 0.0 then + wheehlvelocity(0) := basicVelocity; + wheehlvelocity(1) := basicVelocity - V_turn; + else + wheehlvelocity(0) := basicVelocity; + wheehlvelocity(1) := basicVelocity; + end if; Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index f9c210d..c966599 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -2,9 +2,10 @@ with Ada.Text_IO; use Ada.Text_IO; with tcp_client; use tcp_client; with backend_thread; use backend_thread; with webots_thread; use webots_thread; +with pathfollowing; use pathfollowing; with types; use types; + with mailbox; -with pathfollowing;use pathfollowing; procedure Main is @@ -23,9 +24,8 @@ procedure Main is end backend_thread; current_packet : types.Communication_Packet; - send_packet : types.Communication_Packet; alternator : types.uint8 := 1; - --wheehvelocity : types.Octets_2 := (other => 0); --wheelvelocity + send_packet : types.Communication_Packet; begin -- threads have started here @@ -39,14 +39,13 @@ begin -- alternate between checking webots and backend mailbox first, then update alternator mailbox.check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet,alternator); mailbox.update_alternator(alternator); - --path following - if(current_packet.package_ID = 129) then - send_packet := pathfollowing.path_following(current_packet); - send_bytes(Webots_Channel,send_packet); - end if; -- do calculations with current packet - --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); + Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); + if(current_packet.package_ID = 67) then + send_packet := pathfollowing.path_following(current_packet); + send_bytes(Webots_Channel, send_packet); + end if; end loop; diff --git a/external/controller/src/tcp_client/tcp_client.adb b/external/controller/src/tcp_client/tcp_client.adb index f30f0ca..4efa11f 100644 --- a/external/controller/src/tcp_client/tcp_client.adb +++ b/external/controller/src/tcp_client/tcp_client.adb @@ -78,7 +78,7 @@ package body tcp_client is -- read package_length bytes_received := recv_bytes(server_stream, protocol_package_length, dynamic_buffer); byte_buffer.read_uint32(dynamic_buffer, conv_package_value_length); - + conv_package_value_length := conv_package_value_length - 5; -- read package_ID bytes_received := recv_bytes(server_stream, protocol_ID_length, dynamic_buffer); byte_buffer.read_uint8(dynamic_buffer, conv_package_ID); diff --git a/external/controller/src/webots_thread/webots_thread.adb b/external/controller/src/webots_thread/webots_thread.adb index 245bbff..f04708a 100644 --- a/external/controller/src/webots_thread/webots_thread.adb +++ b/external/controller/src/webots_thread/webots_thread.adb @@ -1,28 +1,33 @@ package body webots_thread is procedure webots_main is - test : Float64 := 4.0; + test : float64 := 4.0; test_uint64 : uint64; test_to_send : Octets_8; + + begin - Webots_Channel := build_connection (Webots_Client, 9999, Webots_Address); + Webots_Channel := build_connection (Webots_Client, 5555, Webots_Address); - test_uint64 :=float64_to_uint64(test); - test_to_send := uint64_to_octets(test_uint64); + test_uint64 := float64_to_uint64(test); + test_to_send :=uint64_to_octets(test_uint64); Webots_Cmd.package_ID := 129; - Webots_Cmd.payload_length := 5; - Webots_Cmd.local_payload := new types.payload(0..15); + Webots_Cmd.payload_length := 21; --Backend_Cmd.local_payload := new types.payload(0..1); - send_bytes(Webots_Channel, Webots_Cmd); + Webots_Cmd.local_payload := new types.payload(0..15); + - --while true loop - --listen( Webots_Channel, Webots_Vector_Buffer, Webots_Mailbox ); - --end loop; for I in Webots_Cmd.local_payload'Range loop Webots_Cmd.local_payload(I) := test_to_send(I mod 8); end loop; + send_bytes(Webots_Channel, Webots_Cmd); + + while true loop + listen( Webots_Channel, Webots_Vector_Buffer, Webots_Mailbox ); + end loop; + end webots_main; end webots_thread; diff --git a/external/controller/src/webots_thread/webots_thread.ads b/external/controller/src/webots_thread/webots_thread.ads index 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b/webots/controllers/controller/controller.cpp @@ -1,6 +1,6 @@ - // File: controller.cpp +// File: controller.cpp // Author: Henrik Classen -#include + #include #include #include @@ -45,7 +45,7 @@ int main(int argc, char **argv) { std::cerr << "Exception: " << e.what() << "\n"; return EXIT_FAILURE; - } + } Robot *robot = new Robot(); @@ -90,11 +90,9 @@ int main(int argc, char **argv) double left_speed = 0; double right_speed = 0; - robot->step(timeStep); - camera->saveImage("picture.png", 100); - buffer in; buffer_reader reader(in); + buffer_writer writer(in); while (robot->step(timeStep) != -1) { // read distance sensor data @@ -122,7 +120,7 @@ int main(int argc, char **argv) buffer out; buffer_writer writer(out); writer << ds_msg << ls_msg << img_msg; - boost::asio::write(client, boost::asio::buffer(out)); + std::size_t t = boost::asio::write(client, boost::asio::buffer(out)); } catch(std::exception& e) { @@ -136,7 +134,7 @@ int main(int argc, char **argv) } std::array data; boost::system::error_code error; - size_t length = client.read_some(boost::asio::buffer(data), error); + std::size_t length = client.read_some(boost::asio::buffer(data), error); if(error == boost::asio::error::eof) { break; @@ -147,27 +145,29 @@ int main(int argc, char **argv) break; } - buffer_writer writer(in); - writer << data; + for(std::size_t i = 0; i> vl_msg; right_speed = vl_msg.right_speed; left_speed = vl_msg.left_speed; + std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; } catch(const std::runtime_error& e) { std::cerr << e.what() << '\n'; } - // std::cout << "right_speed: " << right_speed << ", left_speed: " << left_speed << std::endl; - + m_motors[0]->setVelocity(right_speed); m_motors[1]->setVelocity(right_speed); m_motors[2]->setVelocity(left_speed); @@ -180,7 +180,7 @@ int main(int argc, char **argv) } // Enter here exit cleanup code. - client.close(); + client.close(); delete robot; return 0; } diff --git 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z-m2L-i?qCrODyFq)3r*jQ!%YlCX1&SBj+3sxr^Cl$F)7%DRrwgtLWrxZ{|T~*R#r- V^`seVnPQc<6-&w$txO5` Date: Mon, 6 Jul 2020 17:31:50 +0200 Subject: [PATCH 13/25] path following almost works but still issuses --- external/controller/main | Bin 335544 -> 340360 bytes external/controller/obj/b__main.ads | 4 +- external/controller/obj/b__main.ali | 8 +- external/controller/obj/b__main.o | Bin 86424 -> 86424 bytes .../obj/external_controller-loc.xml | 13 +- external/controller/obj/gnatinspect.db | Bin 270336 -> 274432 bytes external/controller/obj/gnatinspect.db-shm | Bin 0 -> 32768 bytes external/controller/obj/gnatinspect.db-wal | Bin 0 -> 148352 bytes external/controller/obj/mailbox.ali | 4 +- external/controller/obj/mailbox.o | Bin 52336 -> 52336 bytes external/controller/obj/pathfollowing.ali | 138 ++++++++++-------- external/controller/obj/pathfollowing.o | Bin 22576 -> 23832 bytes .../controller/src/Path/pathfollowing.adb | 32 +++- .../controller/src/tcp_client/mailbox.adb | 4 +- 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system%s system.ads system.ali @@ -59,7 +59,7 @@ D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s D interfac.ads 20200312110721 5ab55268 interfaces%s D i-c.ads 20200312110721 5421119b interfaces.c%s D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D mailbox.adb 20200624154551 485afdbb mailbox%b +D mailbox.adb 20200706144026 e0c9b98c mailbox%b D system.ads 20200312110721 4635ec04 system%s D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s D s-exctab.ads 20200312110721 54135002 system.exception_table%s diff --git a/external/controller/obj/mailbox.o b/external/controller/obj/mailbox.o index 1dc183b074f35b24abea6d1738cbc17ae604bd83..256e7dc417aa9ff2afc99fc9bcf1580976d1b82f 100644 GIT binary patch delta 28 hcmew`gZaY@<_(OzECGiZ7$&pwW`Y@;i+KO-0|1g?3I6~9 delta 28 hcmew`gZaY@<_(OzEDaxiF->OW%>*+x7xDhv2LQ5m46y(J diff --git a/external/controller/obj/pathfollowing.ali b/external/controller/obj/pathfollowing.ali index 80232de..51f2d16 100644 --- a/external/controller/obj/pathfollowing.ali +++ b/external/controller/obj/pathfollowing.ali @@ -19,7 +19,7 @@ RV NO_IMPLEMENTATION_PRAGMAS RV NO_ELABORATION_CODE RV SPARK_05 -U pathfollowing%b pathfollowing.adb 9a4ba409 OO PK IL +U pathfollowing%b pathfollowing.adb b900fb18 OO PK IL Z ada.tags%s a-tags.adb a-tags.ali Z system.concat_3%s s-conca3.adb s-conca3.ali Z system.concat_4%s s-conca4.adb s-conca4.ali @@ -49,7 +49,7 @@ D i-c.ads 20200312110721 5421119b interfaces.c%s D i-cstrea.ads 20200312110721 e53d8b8e interfaces.c_streams%s D mailbox.ads 20200624154551 01c4c1c0 mailbox%s D pathfollowing.ads 20200703165547 53f1d129 pathfollowing%s -D pathfollowing.adb 20200703165648 c9ba7520 pathfollowing%b +D pathfollowing.adb 20200706151050 eaf12a31 pathfollowing%b D system.ads 20200312110721 4635ec04 system%s D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s D s-conca3.ads 20200312110721 0b705ca5 system.concat_3%s @@ -87,7 +87,7 @@ X 4 a-flteio.ads 20K13*Float_Text_IO[10|46] 16|2w10 2r33 X 9 a-textio.ads 49K13*Text_IO 471e16 16|1w10 1r27 -263U14*Put_Line 17|120s7 155s7 170s7 +263U14*Put_Line 17|129s7 171s7 186s7 X 12 interfac.ads 63M9*Unsigned_8 74M9*Unsigned_32 @@ -96,80 +96,90 @@ X 12 interfac.ads X 15 mailbox.ads 4K9*mailbox 24e12 16|4w6 X 16 pathfollowing.ads -6K9*pathfollowing 25l5 25e18 17|1b14 196l5 196t18 -8i4*width{integer} 10r31 13r36 17|37r52 96r39 101r39 -9i4*height{integer} 10r39 14r33 17|71r33 77r33 +6K9*pathfollowing 25l5 25e18 17|1b14 212l5 212t18 +8i4*width{integer} 10r31 13r36 17|46r52 105r39 110r39 +9i4*height{integer} 10r39 14r33 17|80r33 86r33 10i4*size{integer} 16r35 12A9*Pixel(48|6M9) -13I9*Column_Index 19r32 17|36r19 48r19 70r16 76r24 83r16 -. 88r24 96r26 101r26 -14I9*Row_Index 20r32 17|35r16 47r16 71r23 77r23 89r23 -. 95r16 100r24 108r16 113r24 -16I9*Image_Index 17r28 17|31r15 37r22 +13I9*Column_Index 19r32 17|45r19 57r19 79r16 85r24 92r16 +. 97r24 105r26 110r26 +14I9*Row_Index 20r32 17|44r16 56r16 80r23 86r23 98r23 +. 104r16 109r24 117r16 122r24 +16I9*Image_Index 17r28 17|40r15 46r22 17A9*Image_Raw(48|6M9)<16I9> 19A9*Colour_Column(48|6M9)<13I9> 20r46 20A9*Colour_Matrix(19A9)<14I9> 17|17r10 18r11 19r12 20r11 21r16 21A9*Wheehl_velocity(48|10F9) 17|23r21 -23V13*path_following{48|18R9} 23>28 17|29b13 194l8 194t22 -23r28 imageInput{48|18R9} 17|29b29 30r37 +23V13*path_following{48|18R9} 23>28 17|38b13 210l8 210t22 +23r28 imageInput{48|18R9} 17|38b29 39r37 X 17 pathfollowing.adb -2i4 colour{integer} 41m13 42r35 +2i4 colour{integer} 50m13 51r35 3i4 r{integer} 4i4 g{integer} 5i4 b{integer} -7i4 bottomPoint{integer} 72m13 81m7 81r23 120r30 147r10 149r13 149r34 -8i4 topPoint{integer} 85m13 93m7 93r20 120r59 -9i4 leftPoint{integer} 110m13 118m7 118r21 120r113 -10i4 rightPoint{integer} 97m13 105m7 105r22 120r85 -11i4 bottomPoint1{integer} 78m13 81r37 -12i4 topPoint1{integer} 90m13 93r31 -13i4 leftPoint1{integer} 115m13 118r33 -14i4 rightPoint1{integer} 102m13 105r35 -17a4 red{16|20A9} 40m13 41r99 -18a4 blue{16|20A9} 38m13 41r31 -19a4 green{16|20A9} 39m13 41r64 -20a4 grey{16|20A9} 42m13 49r16 -21a4 binaImage{16|20A9} 50m16 52m16 71r13 77r13 84r13 89r13 96r13 101r13 -. 109r13 114r13 -23a4 wheehlvelocity{16|21A9} 159m10 160m10 163m10 164m10 166m10 167m10 170r17 -. 170r51 178r42 185r42 -25f4 basicVelocity{48|10F9} 159r31 160r31 163r31 164r31 166r31 167r31 -27f4 V_turn{48|10F9} 148m10 150m10 151m15 155r17 158r10 159r47 162r13 164r47 -30p7 raw(48|15A9) 38r29 39r30 40r28 -31i7 index{16|16I9} 37m13 38r47 39r48 40r46 -32a7 o8{48|13A9} 179m10 181r19 182r41 186m10 188r19 189r45 -33m7 u64{48|9M9} 178m10 179r40 185m10 186r40 -35i11 I{16|14I9} 37r47 38r19 39r20 40r18 41r37 41r71 41r104 42r19 -36i14 J{16|13I9} 37r68 38r23 39r24 40r22 41r41 41r75 41r108 42r23 -47i11 I{16|14I9} 49r22 50r27 52r27 -48i14 J{16|13I9} 49r25 50r30 52r30 -70i11 J{16|13I9} 71r45 72r36 -76i11 J{16|13I9} 77r45 78r37 -83i11 J{16|13I9} 84r26 85r33 -88i11 J{16|13I9} 89r37 90r34 -95i11 I{16|14I9} 96r23 97r34 -100i11 I{16|14I9} 101r23 102r35 -108i11 I{16|14I9} 109r23 110r33 -113i11 I{16|14I9} 114r23 115r35 -172r15 packet{48|18R9} 174m10 175m10 176m10 182r13 189r13 192r17 -181m14 I<12|74M9> 182r35 182r45 -188m14 I<12|74M9> 189r35 189r49 +7i4 bottomPoint{integer} 81m13 90m7 90r23 129r30 163r10 165r13 165r36 +8i4 topPoint{integer} 94m13 102m7 102r20 129r59 +9i4 leftPoint{integer} 119m13 127m7 127r21 129r113 +10i4 rightPoint{integer} 106m13 114m7 114r22 129r85 +11i4 bottomPoint1{integer} 87m13 90r37 +12i4 topPoint1{integer} 99m13 102r31 +13i4 leftPoint1{integer} 124m13 127r33 +14i4 rightPoint1{integer} 111m13 114r35 +17a4 red{16|20A9} 49m13 50r99 +18a4 blue{16|20A9} 47m13 50r31 +19a4 green{16|20A9} 48m13 50r64 +20a4 grey{16|20A9} 51m13 58r16 +21a4 binaImage{16|20A9} 59m16 61m16 80r13 86r13 93r13 98r13 105r13 110r13 +. 118r13 123r13 +23a4 wheehlvelocity{16|21A9} 175m10 176m10 179m10 180m10 182m10 183m10 186r17 +. 186r51 194r42 201r42 +25f4 basicVelocity{48|10F9} 175r31 176r31 179r31 180r31 182r31 183r31 +27f4 V_turn{48|10F9} 164m10 166m10 167m15 171r17 174r10 175r47 176r47 178r13 +. 179r47 180r47 +28i4 offset{integer} +29f4 Kp{48|10F9} +30f4 Ki{48|10F9} +31f4 Kd{48|10F9} +32f4 Error{48|10F9} +33f4 lastError{48|10F9} +34f4 integral{48|10F9} +35f4 derivative{48|10F9} +39p7 raw(48|15A9) 47r29 48r30 49r28 +40i7 index{16|16I9} 46m13 47r47 48r48 49r46 +41a7 o8{48|13A9} 195m10 197r19 198r41 202m10 204r19 205r45 +42m7 u64{48|9M9} 194m10 195r40 201m10 202r40 +44i11 I{16|14I9} 46r47 47r19 48r20 49r18 50r37 50r71 50r104 51r19 +45i14 J{16|13I9} 46r68 47r23 48r24 49r22 50r41 50r75 50r108 51r23 +56i11 I{16|14I9} 58r22 59r27 61r27 +57i14 J{16|13I9} 58r25 59r30 61r30 +79i11 J{16|13I9} 80r44 81r36 +85i11 J{16|13I9} 86r44 87r37 +92i11 J{16|13I9} 93r26 94r33 +97i11 J{16|13I9} 98r37 99r34 +104i11 I{16|14I9} 105r23 106r34 +109i11 I{16|14I9} 110r23 111r35 +117i11 I{16|14I9} 118r23 119r33 +122i11 I{16|14I9} 123r23 124r35 +188r15 packet{48|18R9} 190m10 191m10 192m10 198r13 205r13 208r17 +197m14 I<12|74M9> 198r35 198r45 +204m14 I<12|74M9> 205r35 205r49 X 36 s-stausa.ads 203U14*Initialize 204i22 268U14*Output_Results 272i22 X 48 types.ads -4K9*types 16|3w6 3r17 17|30r20 38r34 39r35 40r33 178r17 179r16 185r17 186r16 +4K9*types 16|3w6 3r17 17|39r20 47r34 48r35 49r33 194r17 195r16 201r17 202r16 . 48|45e10 -6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|42r29 -8M9*uint32<12|74M9> 17|38r40 39r41 40r39 -9M9*uint64<12|77M9> 17|33r13 -10F9*float64<12|172F9> 16|21r43 17|25r20 27r13 -13A9*Octets_8(6M9)<8M9> 17|32r12 -15A9*payload(6M9)<8M9> 17|30r26 176r38 -18R9*Communication_Packet 16|23r44 23r73 17|29r45 29r74 172r24 48|23e14 -19m7*package_ID{6M9} 17|174m17 -20m7*payload_length{8M9} 17|175m17 -21p7*local_payload(15A9) 17|30r48 176m17 182r20 189r20 -27V13*uint64_to_octets{13A9} 17|179s22 186s22 -34V13*float64_to_uint64{9M9} 17|178s23 185s23 +6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|51r29 +8M9*uint32<12|74M9> 17|47r40 48r41 49r39 +9M9*uint64<12|77M9> 17|42r13 +10F9*float64<12|172F9> 16|21r43 17|25r20 27r13 29r9 30r9 31r9 32r12 33r16 +. 34r15 35r17 +13A9*Octets_8(6M9)<8M9> 17|41r12 +15A9*payload(6M9)<8M9> 17|39r26 192r38 +18R9*Communication_Packet 16|23r44 23r73 17|38r45 38r74 188r24 48|23e14 +19m7*package_ID{6M9} 17|190m17 +20m7*payload_length{8M9} 17|191m17 +21p7*local_payload(15A9) 17|39r48 192m17 198r20 205r20 +27V13*uint64_to_octets{13A9} 17|195s22 202s22 +34V13*float64_to_uint64{9M9} 17|194s23 201s23 diff --git a/external/controller/obj/pathfollowing.o b/external/controller/obj/pathfollowing.o index d2fa593b5d2d8419cddd8aa2181f2e2c2dc28828..05b36b48f2fd6f9dbc905b73880c9a95c4e538a0 100644 GIT binary patch delta 5586 zcmZ`-3s98T75?wfF1yP^9t-(d-pfM;MCBn59}9~j0)nDEY^(uVArOorK5(qEP@9RP zCUre(9jjHRlNqa{A*@a_#0OYwGe(>0#Mm~Is-2oKHJNHVZE4il`#3-Tx#FGKbI<+G zcg{Wc-1}ed(BDt?4U(M`)ju}8mu@FyGPp=0m5n5x${wmufkPyl%G+us#Hm&?m5w7} zh8jmTirHGXY`*;M=CE^F9KS&EEZ=Q4hmag!glRS*FGIB@9@d*Zq?KzC{%?^kt_@Mm z?+{}^fwnKHbd+kD4^YfR)4 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zE8Io%hgR@4iB7f9+9W!~z|&14=Vc8Bn|ve*ZZzfbk&jux9T5B%pe7*r3t($N@PDsD ze?SbxIA6xwdmMLLHC&jd2ia|di4lDlzdu0<&%#nZ zFX7MPi?}F_J|xmAf0gjdh)0T9z{2?sS1!)Tn0XrZX@Z{ldT^r@eGj8AN_Y|azm)K0 z=>J*5|A2lN?tWu*JNgqu3;F^_uukF_CwZNOPsD0`4{@WaX;{5J3C~6R6$!Uso-+au zj=i2M*x`Mt!|%}lNWvR&bA0*`d<1c0@ju4v3;pB3MJ#~+RZPc3asL-kl%x1QlO^1^ zzOwQ`0g7)x+*kp27 then - V_turn := 0.8; - elsif bottomPoint <16 and bottomPoint > 0 then - V_turn := -0.8; + --Error : = bottomPoint - offset; + --integral : = integral + Error; + --derivative : = Error - lastError; + --V_turn := Kp * Error + Ki * integral + Kd * derivative; + + + + if bottomPoint >= 36 then + V_turn := 0.9; + elsif bottomPoint <= 28 and bottomPoint > 0 then + V_turn := -0.9; else V_turn := 0.0; end if; @@ -157,10 +173,10 @@ package body pathfollowing is if V_turn > 0.0 then wheehlvelocity(0) := basicVelocity + V_turn; - wheehlvelocity(1) := basicVelocity; + wheehlvelocity(1) := basicVelocity - V_turn; --turn left elsif V_turn < 0.0 then - wheehlvelocity(0) := basicVelocity; + wheehlvelocity(0) := basicVelocity + V_turn; wheehlvelocity(1) := basicVelocity - V_turn; else wheehlvelocity(0) := basicVelocity; diff --git a/external/controller/src/tcp_client/mailbox.adb b/external/controller/src/tcp_client/mailbox.adb index 59b0edd..8e94dfa 100644 --- a/external/controller/src/tcp_client/mailbox.adb +++ b/external/controller/src/tcp_client/mailbox.adb @@ -36,14 +36,14 @@ package body mailbox is select first.Collect(new_packet); else - delay(0.05); + delay(0.00005); check_mailbox(second,first,new_packet,alternator); end select; else select second.Collect(new_packet); else - delay(0.05); + delay(0.00005); check_mailbox(second,first,new_packet,alternator); end select; end if; diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 7c5cb8b..1ee2e87 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.1571227884190515 0.9858161219428089 0.05898307449652688 4.867661906027697 - position -64.0755551750049 19.56837127609227 -21.61233211913616 + orientation 0.19048823803793977 0.9409561605628587 0.27984948645299534 4.037711572263049 + position -59.45290457453136 44.02217436705527 -69.65775279242959 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation -17.5534 0.399907 -29.3708 - rotation 0.00011465925697767201 -0.9999999868006151 0.00011511743767083828 1.598982039532882 + translation -23.0613 0.401857 -29.5979 + rotation 8.690599908196849e-05 0.9999999894365003 -0.00011650899876925722 -1.8348953071795862 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -350,7 +350,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 198.73025862235028 + position 328.7014237096998 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +361,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation -0.6769967704093824 0.6764578742812797 0.28996571724622616 2.576714916257371 + rotation 0.6411803334707982 -0.6406699475809019 0.42240951485135897 2.3416727290976103 children [ DEF wheel Shape { appearance PBRAppearance { @@ -383,7 +383,7 @@ DEF Cab2 Robot { } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 198.71462685526666 + position 328.68738051300454 anchor 0.55 -0.1 -0.7 } device [ @@ -394,7 +394,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -0.6782113802662139 0.6776715172966461 0.2842369404603468 2.58730710172442 + rotation 0.6394179613659996 -0.6389089783417351 0.42771484434944396 2.3326808485955155 children [ DEF wheel Shape { appearance PBRAppearance { @@ -416,7 +416,7 @@ DEF Cab2 Robot { } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 205.43231625590343 + position 279.68404411602216 anchor -0.55 -0.1 -0.7 } device [ @@ -427,7 +427,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0.6330478417843939 -0.6325439294383491 -0.44624949001966807 3.981646754981277 + rotation 0.7070889154773077 -0.7065260657039683 -0.029089243544596962 3.1998010474299563 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,7 +449,7 @@ DEF Cab2 Robot { } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 205.4789262998003 + position 279.7311735980204 anchor -0.55 -0.1 0.55 } device [ @@ -460,7 +460,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0.6266442715662394 -0.6261454565254512 -0.46395993812586 4.011005205342805 + rotation 0.7066473420566216 -0.7060848437800943 -0.04575726552528929 3.233116147990042 children [ DEF wheel Shape { appearance PBRAppearance { From fa0224a081d113d19480fddc4f3bdbe3feecf38b Mon Sep 17 00:00:00 2001 From: Yue Date: Tue, 7 Jul 2020 02:17:23 +0200 Subject: [PATCH 14/25] solving the problem about lossing line with distance sensor and the algorithm is initially finished --- external/controller/main | Bin 340360 -> 341528 bytes external/controller/obj/b__main.ads | 8 +- external/controller/obj/b__main.ali | 8 +- external/controller/obj/b__main.o | Bin 86424 -> 86424 bytes .../obj/external_controller-loc.xml | 33 ++++- external/controller/obj/gnatinspect.db | Bin 274432 -> 274432 bytes external/controller/obj/gnatinspect.db-shm | Bin 32768 -> 32768 bytes external/controller/obj/gnatinspect.db-wal | Bin 148352 -> 123632 bytes external/controller/obj/mailbox.ali | 4 +- external/controller/obj/mailbox.o | Bin 52336 -> 52336 bytes external/controller/obj/main.ali | 62 +++++--- external/controller/obj/main.o | Bin 33600 -> 35656 bytes external/controller/obj/pathfollowing.ali | 135 +++++++++--------- external/controller/obj/pathfollowing.o | Bin 23832 -> 26144 bytes .../controller/src/Path/pathfollowing.adb | 21 ++- .../controller/src/Path/pathfollowing.ads | 3 +- external/controller/src/main.adb | 15 +- .../controller/src/tcp_client/mailbox.adb | 4 +- webots/worlds/.cabservice.wbproj | 4 +- webots/worlds/cabservice.wbt | 24 ++-- 20 files changed, 195 insertions(+), 126 deletions(-) diff --git a/external/controller/main b/external/controller/main index e29a0c5588585e081aaf7136270a15ee338f37fd..7a09d6221b46e2803aa14d148b5a3b5ed7177d09 100755 GIT binary patch delta 120889 zcmbS!d3=q>_y3(Ixw0XPhzN;@h}a?sVhOQ?iy&=nMG3XU+Ei726gQSst}BEGLu*M< zO>Ir>dqY!+Jyc0;O;Np;5^ELB{k_l3lbf5{e*gL9^{V&GIcLtCIp@qg^UU+yr)jr* zS3dB~2v-UlEopGW{kfj$=)jzV1@0uUcQ(;;W4Q zDe&xS=f_|Cc7DV!GuI?lI9$DGr$xzV_11yKQZE0E)Z;3vy0uGXp}>LuK$9Ii^z|A&#etqyL$*(Ips%he=@}06d`a)DTj{{? z36u>o9q2(plAh&2Zy%)kv>R${86w%m4(v9KCHp;FGv zfo|C-Jla|3@4#rUH3)W~52`B_g*(uv*HxRvL>Pl3Bs;-@{UTD*2RhKBno4?-1AVea zPj;YZYxHRj^f!{;P?zGsxYAvAkmf+|5uv)b@7iPBVVP0+4(w|Ww9Is%PrE1Sg%0!s z57p1x5AETrsSCHtUQ5FgrKyW_poeJcq8;cy57kZ`h8q1^NHxh0>@bZ!&4Hez(Ni4g z{ab2IaG?7}OL~R_Jyz0t=vF!~GPDMn4)nL1Nkv%>^lKVDTb&(SO-+f7HHNp9k`@Qa 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u00001, "mainB"); u00002 : constant Version_32 := 16#050ff2f0#; pragma Export (C, u00002, "system__standard_libraryB"); @@ -465,7 +465,7 @@ package ada_main is pragma Export (C, u00213, "system__img_boolB"); u00214 : constant Version_32 := 16#b3ec9def#; pragma Export (C, u00214, "system__img_boolS"); - u00215 : constant Version_32 := 16#e10d784c#; + u00215 : constant Version_32 := 16#f7cc1da6#; pragma Export (C, u00215, "mailboxB"); u00216 : constant Version_32 := 16#ab2e415b#; pragma Export (C, u00216, "mailboxS"); @@ -485,9 +485,9 @@ package ada_main is pragma Export (C, u00223, "system__storage_pools__subpools__finalizationB"); u00224 : constant Version_32 := 16#fe2f4b3a#; pragma Export (C, u00224, "system__storage_pools__subpools__finalizationS"); - u00225 : constant Version_32 := 16#b900fb18#; + u00225 : constant Version_32 := 16#1b294b30#; pragma Export (C, u00225, "pathfollowingB"); - u00226 : constant Version_32 := 16#930898fb#; + u00226 : constant Version_32 := 16#e25993bf#; pragma Export (C, u00226, "pathfollowingS"); u00227 : constant Version_32 := 16#932a4690#; pragma Export (C, u00227, "system__concat_4B"); diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali index 2dbb5a6..b066730 100644 --- a/external/controller/obj/b__main.ali +++ b/external/controller/obj/b__main.ali @@ -19,13 +19,13 @@ RV NO_ELABORATION_CODE RV NO_OBSOLESCENT_FEATURES RV SPARK_05 -U ada_main%b b__main.adb d3449c86 OO PK IL +U ada_main%b b__main.adb 3b50f762 OO PK IL W ada%s ada.ads ada.ali W ada.exceptions%s a-except.adb a-except.ali W system%s system.ads system.ali W system.restrictions%s s-restri.adb s-restri.ali -U ada_main%s b__main.ads 612de195 EE NE OO PK IL +U ada_main%s b__main.ads 89398a71 EE NE OO PK IL W system%s system.ads system.ali W system.parameters%s s-parame.adb s-parame.ali W system.secondary_stack%s s-secsta.adb s-secsta.ali @@ -33,8 +33,8 @@ W system.secondary_stack%s s-secsta.adb s-secsta.ali D ada.ads 20200312110721 76789da1 ada%s D a-except.ads 20200312110721 291912d5 ada.exceptions%s D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D b__main.ads 20200706151051 4f4fbf8c ada_main%s -D b__main.adb 20200706151051 ae8f37ad ada_main%b +D b__main.ads 20200707000841 a75bd468 ada_main%s +D b__main.adb 20200707000841 ae8f37ad ada_main%b D system.ads 20200312110721 4635ec04 system%s D s-parame.ads 20200312110721 48ec542b system.parameters%s D s-restri.ads 20200312110721 1b9d0672 system.restrictions%s diff --git a/external/controller/obj/b__main.o b/external/controller/obj/b__main.o index 0b133ee2bed4fb156f88c94ecb37bc05ef4a501d..01b7acac76446de7b20e136be69dfd2934317b8c 100644 GIT binary patch delta 46 zcmV+}0MY-LqXn3w1+er91o||U-?R7$R09O29nANWPz@vqFiR;Lzmr+wgM1CQd<_8{ EMA-5YegFUf delta 46 zcmV+}0MY-LqXn3w1+er91m{gIDzo?rR09M|cn#r`Pz@vq82bRZ` - + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.adb @@ -17,15 +18,39 @@ /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr - + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/Path/pathfollowing.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/Path/pathfollowing.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/main.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr + 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system.ali @@ -59,7 +59,7 @@ D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s D interfac.ads 20200312110721 5ab55268 interfaces%s D i-c.ads 20200312110721 5421119b interfaces.c%s D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D mailbox.adb 20200706144026 e0c9b98c mailbox%b +D mailbox.adb 20200706162034 f608dc66 mailbox%b D system.ads 20200312110721 4635ec04 system%s D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s D s-exctab.ads 20200312110721 54135002 system.exception_table%s diff --git a/external/controller/obj/mailbox.o b/external/controller/obj/mailbox.o index 256e7dc417aa9ff2afc99fc9bcf1580976d1b82f..c6570e4a9f860f638869503716d5686fe5d03019 100644 GIT binary patch delta 27 icmew`gZaY@<_(OzOkWr$7x2nYR^s&mG8Y%{?gs#qM+x5m delta 27 icmew`gZaY@<_(OzOaX@{7x2nYR^s&mG8Y%{?gs#rbqX5* diff --git a/external/controller/obj/main.ali b/external/controller/obj/main.ali index e333a65..5642ef6 100644 --- a/external/controller/obj/main.ali +++ b/external/controller/obj/main.ali @@ -7,6 +7,7 @@ A -march=x86-64 P ZX RN +RV NO_FLOATING_POINT RV NO_IO RV NO_STANDARD_STORAGE_POOLS RV NO_TASK_HIERARCHY @@ -17,7 +18,7 @@ RV SPARK_05 RV MAX_TASKS=1+ RV MAX_ENTRY_QUEUE_LENGTH=1+ -U main%b main.adb 2a2e4de7 NE OO SU +U main%b main.adb df9534fa NE OO SU W ada%s ada.ads ada.ali Z ada.real_time%s a-reatim.adb a-reatim.ali Z ada.tags%s a-tags.adb a-tags.ali @@ -60,8 +61,8 @@ D interfac.ads 20200312110721 5ab55268 interfaces%s D i-c.ads 20200312110721 5421119b interfaces.c%s D i-cstrea.ads 20200312110721 e53d8b8e interfaces.c_streams%s D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D main.adb 20200630124523 9e743a62 main%b -D pathfollowing.ads 20200703165547 53f1d129 pathfollowing%s +D main.adb 20200706235316 1a9e483b main%b +D pathfollowing.ads 20200706184342 22a0da6d pathfollowing%s D system.ads 20200312110721 4635ec04 system%s D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s D s-atocou.ads 20200312110721 b45c2d8d system.atomic_counters%s @@ -100,50 +101,67 @@ D tcp_client.ads 20200624154551 b98992a8 tcp_client%s D types.ads 20200624154551 a8aa7ce8 types%s D webots_thread.ads 20200630125340 beb3494b webots_thread%s X 1 ada.ads -16K9*Ada 20e8 25|1r6 1r23 44r7 +16K9*Ada 20e8 25|1r6 1r23 46r7 47r7 X 9 a-iteint.ads 24h9 Forward_Iterator 32h9 Reversible_Iterator<24R9[4|111]> X 13 a-textio.ads -49K13*Text_IO 471e16 25|1w10 1r27 44r11 -263U14*Put_Line 25|44s19 +49K13*Text_IO 471e16 25|1w10 1r27 46r11 47r11 +263U14*Put_Line 25|46s19 47s19 X 17 backend_thread.ads 10K9*backend_thread 22e19 25|3w6 3r26 -18w4*Backend_Mailbox{24|8W19} 25|36r7 40m29 40r29 +18w4*Backend_Mailbox{24|8W19} 25|38r7 42m29 42r29 20U14*backend_main 25|23s7 X 20 g-socket.ads 1213P9*Stream_Access(11|39R9) X 21 interfac.ads 63M9*Unsigned_8 +74M9*Unsigned_32 +77M9*Unsigned_64 +172F9*IEEE_Float_64 X 24 mailbox.ads -4K9*mailbox 24e12 25|8w6 40r7 41r7 -9U17 Clear 25|36s23 37s22 -18U14*check_mailbox 25|40s15 -20U14*update_alternator 25|41s15 +4K9*mailbox 24e12 25|8w6 42r7 43r7 +9U17 Clear 25|38s23 39s22 +18U14*check_mailbox 25|42s15 +20U14*update_alternator 25|43s15 X 25 main.adb -11U11*Main 11b11 52l5 52t9 +11U11*Main 11b11 65l5 65t9 13t9 webots_thread 16b14 19l8 19t21 14t9 backend_thread 21b14 24l8 24t22 -26r4 current_packet{62|18R9} 40m60 44r50 45r10 46r54 -27m4 alternator{62|6M9} 40r75 41m33 41r33 -28r4 send_packet{62|18R9} 46m10 47r37 +26r4 current_packet{62|18R9} 42m60 46r50 47r50 49r11 52r27 58r10 59r54 +27m4 alternator{62|6M9} 42r75 43m33 43r33 +28r4 send_packet{62|18R9} 59m10 60r37 +29a4 dist{62|13A9} 52m16 54r90 +30a4 distance_sensor_data{26|22A9} 54m13 59r70 +50m14 J<21|74M9> 52r58 54r42 +51m17 I<21|74M9> 52r21 52r56 X 26 pathfollowing.ads -6K9*pathfollowing 25|5w6 5r25 46r25 26|25e18 -23V13*path_following{62|18R9} 25|46s39 +6K9*pathfollowing 25|5w6 5r25 30r26 59r25 26|26e18 +22A9*Dtype(62|10F9) 25|30r40 +24V13*path_following{62|18R9} 25|59s39 X 45 s-stausa.ads 203U14*Initialize 204i22 268U14*Output_Results 272i22 X 61 tcp_client.ads 9K9*tcp_client 25|2w6 2r22 61|26e15 -18U14*send_bytes 25|47s10 +18U14*send_bytes 25|60s10 X 62 types.ads -4K9*types 25|6w6 6r17 26r21 27r17 28r18 62|45e10 +4K9*types 25|6w6 6r17 26r21 27r17 28r18 29r10 54r49 62|45e10 6M9*uint8<21|63M9> 25|27r23 +8M9*uint32<21|74M9> 25|50r19 51r22 +9M9*uint64<21|77M9> +10F9*float64<21|172F9> +13A9*Octets_8(6M9)<8M9> 25|29r16 +15A9*payload(6M9)<8M9> 18R9*Communication_Packet 25|26r27 28r24 62|23e14 -19m7*package_ID{6M9} 25|44r65 45r25 +19m7*package_ID{6M9} 25|46r65 49r26 58r25 +20m7*payload_length{8M9} 25|47r65 +21p7*local_payload(15A9) 25|52r42 +31V13*octets_to_uint64{9M9} 25|54s73 +33V13*uint64_to_float64{10F9} 25|54s55 X 63 webots_thread.ads 9K9*webots_thread 25|4w6 4r25 63|21e18 -13p4*Webots_Channel{20|1213P9} 25|47r21 -17w4*Webots_Mailbox{24|8W19} 25|37r7 40m45 40r45 +13p4*Webots_Channel{20|1213P9} 25|60r21 +17w4*Webots_Mailbox{24|8W19} 25|39r7 42m45 42r45 19U14*webots_main 25|18s7 diff --git 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z?Zfr4@R#kICaYh}k5Dsm&g5S%1^PVW>c?~Z(cLb}e!2_x@5mgYzM1qg`J5|wX~)~T z{O=4e`Ew(WlsL6#gu^9&uCd$xPY!TzZJK&pU7P0FO+(0s*4pvLsR+1Gn-}S!JX<6n zqb@hnJ=<|qodPTBay^xlor%y|H{Pfp4j1b3jIA4Cczs^vk>QT%F#}fA=NhkUg#Gn- zo{gyvodXx^#~WuKfZ>5WqjMuHz{~juU_V}5_!G~x!EhsxX1E`O;k!^keOI1mmDi~| a09tpA_iUZ!+~vYWywhmjZbEwPUH=E0zi|ry diff --git a/external/controller/obj/pathfollowing.ali b/external/controller/obj/pathfollowing.ali index 51f2d16..498a80e 100644 --- a/external/controller/obj/pathfollowing.ali +++ b/external/controller/obj/pathfollowing.ali @@ -19,14 +19,14 @@ RV NO_IMPLEMENTATION_PRAGMAS RV NO_ELABORATION_CODE RV SPARK_05 -U pathfollowing%b pathfollowing.adb b900fb18 OO PK IL +U pathfollowing%b pathfollowing.adb 1b294b30 OO PK IL Z ada.tags%s a-tags.adb a-tags.ali Z system.concat_3%s s-conca3.adb s-conca3.ali Z system.concat_4%s s-conca4.adb s-conca4.ali Z system.img_int%s s-imgint.adb s-imgint.ali Z system.img_real%s s-imgrea.adb s-imgrea.ali -U pathfollowing%s pathfollowing.ads 930898fb EE NE OO PK IL +U pathfollowing%s pathfollowing.ads e25993bf EE NE OO PK IL W ada%s ada.ads ada.ali W ada.float_text_io%s a-flteio.ads a-flteio.ali W ada.text_io%s a-textio.adb a-textio.ali @@ -48,8 +48,8 @@ D interfac.ads 20200312110721 5ab55268 interfaces%s D i-c.ads 20200312110721 5421119b interfaces.c%s D i-cstrea.ads 20200312110721 e53d8b8e interfaces.c_streams%s D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D pathfollowing.ads 20200703165547 53f1d129 pathfollowing%s -D pathfollowing.adb 20200706151050 eaf12a31 pathfollowing%b +D pathfollowing.ads 20200706184342 22a0da6d pathfollowing%s +D pathfollowing.adb 20200707000840 3989915d pathfollowing%b D system.ads 20200312110721 4635ec04 system%s D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s D s-conca3.ads 20200312110721 0b705ca5 system.concat_3%s @@ -87,7 +87,7 @@ X 4 a-flteio.ads 20K13*Float_Text_IO[10|46] 16|2w10 2r33 X 9 a-textio.ads 49K13*Text_IO 471e16 16|1w10 1r27 -263U14*Put_Line 17|129s7 171s7 186s7 +263U14*Put_Line 17|130s7 179s7 180s7 195s7 X 12 interfac.ads 63M9*Unsigned_8 74M9*Unsigned_32 @@ -96,46 +96,49 @@ X 12 interfac.ads X 15 mailbox.ads 4K9*mailbox 24e12 16|4w6 X 16 pathfollowing.ads -6K9*pathfollowing 25l5 25e18 17|1b14 212l5 212t18 -8i4*width{integer} 10r31 13r36 17|46r52 105r39 110r39 -9i4*height{integer} 10r39 14r33 17|80r33 86r33 +6K9*pathfollowing 26l5 26e18 17|1b14 221l5 221t18 +8i4*width{integer} 10r31 13r36 17|47r52 106r39 111r39 +9i4*height{integer} 10r39 14r33 17|81r33 87r33 10i4*size{integer} 16r35 12A9*Pixel(48|6M9) -13I9*Column_Index 19r32 17|45r19 57r19 79r16 85r24 92r16 -. 97r24 105r26 110r26 -14I9*Row_Index 20r32 17|44r16 56r16 80r23 86r23 98r23 -. 104r16 109r24 117r16 122r24 -16I9*Image_Index 17r28 17|40r15 46r22 +13I9*Column_Index 19r32 17|46r19 58r19 80r16 86r24 93r16 +. 98r24 106r26 111r26 +14I9*Row_Index 20r32 17|45r16 57r16 81r23 87r23 99r23 +. 105r16 110r24 118r16 123r24 +16I9*Image_Index 17r28 17|40r15 47r22 17A9*Image_Raw(48|6M9)<16I9> 19A9*Colour_Column(48|6M9)<13I9> 20r46 20A9*Colour_Matrix(19A9)<14I9> 17|17r10 18r11 19r12 20r11 21r16 21A9*Wheehl_velocity(48|10F9) 17|23r21 -23V13*path_following{48|18R9} 23>28 17|38b13 210l8 210t22 -23r28 imageInput{48|18R9} 17|38b29 39r37 +22A9*Dtype(48|10F9) 24r80 17|38r81 +24V13*path_following{48|18R9} 24>28 24>66 17|38b13 219l8 219t22 +24r28 imageInput{48|18R9} 17|38b29 39r37 +24a66 d_sensor{22A9} 17|38b67 171r13 174r13 179r17 179r44 X 17 pathfollowing.adb -2i4 colour{integer} 50m13 51r35 +2i4 colour{integer} 51m13 52r35 3i4 r{integer} 4i4 g{integer} 5i4 b{integer} -7i4 bottomPoint{integer} 81m13 90m7 90r23 129r30 163r10 165r13 165r36 -8i4 topPoint{integer} 94m13 102m7 102r20 129r59 -9i4 leftPoint{integer} 119m13 127m7 127r21 129r113 -10i4 rightPoint{integer} 106m13 114m7 114r22 129r85 -11i4 bottomPoint1{integer} 87m13 90r37 -12i4 topPoint1{integer} 99m13 102r31 -13i4 leftPoint1{integer} 124m13 127r33 -14i4 rightPoint1{integer} 111m13 114r35 -17a4 red{16|20A9} 49m13 50r99 -18a4 blue{16|20A9} 47m13 50r31 -19a4 green{16|20A9} 48m13 50r64 -20a4 grey{16|20A9} 51m13 58r16 -21a4 binaImage{16|20A9} 59m16 61m16 80r13 86r13 93r13 98r13 105r13 110r13 -. 118r13 123r13 -23a4 wheehlvelocity{16|21A9} 175m10 176m10 179m10 180m10 182m10 183m10 186r17 -. 186r51 194r42 201r42 -25f4 basicVelocity{48|10F9} 175r31 176r31 179r31 180r31 182r31 183r31 -27f4 V_turn{48|10F9} 164m10 166m10 167m15 171r17 174r10 175r47 176r47 178r13 -. 179r47 180r47 +7i4 bottomPoint{integer} 82m13 91m7 91r23 130r30 164r10 166r13 166r36 168r13 +. 168r34 170r13 +8i4 topPoint{integer} 95m13 103m7 103r20 130r59 +9i4 leftPoint{integer} 120m13 128m7 128r21 130r113 +10i4 rightPoint{integer} 107m13 115m7 115r22 130r85 +11i4 bottomPoint1{integer} 88m13 91r37 +12i4 topPoint1{integer} 100m13 103r31 +13i4 leftPoint1{integer} 125m13 128r33 +14i4 rightPoint1{integer} 112m13 115r35 +17a4 red{16|20A9} 50m13 51r99 +18a4 blue{16|20A9} 48m13 51r31 +19a4 green{16|20A9} 49m13 51r64 +20a4 grey{16|20A9} 52m13 59r16 +21a4 binaImage{16|20A9} 60m16 62m16 81r13 87r13 94r13 99r13 106r13 111r13 +. 119r13 124r13 +23a4 wheehlvelocity{16|21A9} 184m10 185m10 188m10 189m10 191m10 192m10 195r17 +. 195r51 203r42 210r42 +25f4 basicVelocity{48|10F9} 184r31 185r31 188r31 189r31 191r31 192r31 +27f4 V_turn{48|10F9} 165m10 167m10 169m10 172m13 175m13 180r17 183r10 184r47 +. 185r47 187r13 188r47 189r47 28i4 offset{integer} 29f4 Kp{48|10F9} 30f4 Ki{48|10F9} @@ -144,42 +147,42 @@ X 17 pathfollowing.adb 33f4 lastError{48|10F9} 34f4 integral{48|10F9} 35f4 derivative{48|10F9} -39p7 raw(48|15A9) 47r29 48r30 49r28 -40i7 index{16|16I9} 46m13 47r47 48r48 49r46 -41a7 o8{48|13A9} 195m10 197r19 198r41 202m10 204r19 205r45 -42m7 u64{48|9M9} 194m10 195r40 201m10 202r40 -44i11 I{16|14I9} 46r47 47r19 48r20 49r18 50r37 50r71 50r104 51r19 -45i14 J{16|13I9} 46r68 47r23 48r24 49r22 50r41 50r75 50r108 51r23 -56i11 I{16|14I9} 58r22 59r27 61r27 -57i14 J{16|13I9} 58r25 59r30 61r30 -79i11 J{16|13I9} 80r44 81r36 -85i11 J{16|13I9} 86r44 87r37 -92i11 J{16|13I9} 93r26 94r33 -97i11 J{16|13I9} 98r37 99r34 -104i11 I{16|14I9} 105r23 106r34 -109i11 I{16|14I9} 110r23 111r35 -117i11 I{16|14I9} 118r23 119r33 -122i11 I{16|14I9} 123r23 124r35 -188r15 packet{48|18R9} 190m10 191m10 192m10 198r13 205r13 208r17 -197m14 I<12|74M9> 198r35 198r45 -204m14 I<12|74M9> 205r35 205r49 +39p7 raw(48|15A9) 48r29 49r30 50r28 +40i7 index{16|16I9} 47m13 48r47 49r48 50r46 +41a7 o8{48|13A9} 204m10 206r19 207r41 211m10 213r19 214r45 +42m7 u64{48|9M9} 203m10 204r40 210m10 211r40 +45i11 I{16|14I9} 47r47 48r19 49r20 50r18 51r37 51r71 51r104 52r19 +46i14 J{16|13I9} 47r68 48r23 49r24 50r22 51r41 51r75 51r108 52r23 +57i11 I{16|14I9} 59r22 60r27 62r27 +58i14 J{16|13I9} 59r25 60r30 62r30 +80i11 J{16|13I9} 81r44 82r36 +86i11 J{16|13I9} 87r44 88r37 +93i11 J{16|13I9} 94r26 95r33 +98i11 J{16|13I9} 99r37 100r34 +105i11 I{16|14I9} 106r23 107r34 +110i11 I{16|14I9} 111r23 112r35 +118i11 I{16|14I9} 119r23 120r33 +123i11 I{16|14I9} 124r23 125r35 +197r15 packet{48|18R9} 199m10 200m10 201m10 207r13 214r13 217r17 +206m14 I<12|74M9> 207r35 207r45 +213m14 I<12|74M9> 214r35 214r49 X 36 s-stausa.ads 203U14*Initialize 204i22 268U14*Output_Results 272i22 X 48 types.ads -4K9*types 16|3w6 3r17 17|39r20 47r34 48r35 49r33 194r17 195r16 201r17 202r16 +4K9*types 16|3w6 3r17 17|39r20 48r34 49r35 50r33 203r17 204r16 210r17 211r16 . 48|45e10 -6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|51r29 -8M9*uint32<12|74M9> 17|47r40 48r41 49r39 +6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|52r29 +8M9*uint32<12|74M9> 17|48r40 49r41 50r39 9M9*uint64<12|77M9> 17|42r13 -10F9*float64<12|172F9> 16|21r43 17|25r20 27r13 29r9 30r9 31r9 32r12 33r16 -. 34r15 35r17 +10F9*float64<12|172F9> 16|21r43 22r33 17|25r20 27r13 29r9 30r9 31r9 32r12 +. 33r16 34r15 35r17 13A9*Octets_8(6M9)<8M9> 17|41r12 -15A9*payload(6M9)<8M9> 17|39r26 192r38 -18R9*Communication_Packet 16|23r44 23r73 17|38r45 38r74 188r24 48|23e14 -19m7*package_ID{6M9} 17|190m17 -20m7*payload_length{8M9} 17|191m17 -21p7*local_payload(15A9) 17|39r48 192m17 198r20 205r20 -27V13*uint64_to_octets{13A9} 17|195s22 202s22 -34V13*float64_to_uint64{9M9} 17|194s23 201s23 +15A9*payload(6M9)<8M9> 17|39r26 201r38 +18R9*Communication_Packet 16|24r44 24r94 17|38r45 38r95 197r24 48|23e14 +19m7*package_ID{6M9} 17|199m17 +20m7*payload_length{8M9} 17|200m17 +21p7*local_payload(15A9) 17|39r48 201m17 207r20 214r20 +27V13*uint64_to_octets{13A9} 17|204s22 211s22 +34V13*float64_to_uint64{9M9} 17|203s23 210s23 diff --git a/external/controller/obj/pathfollowing.o b/external/controller/obj/pathfollowing.o index 05b36b48f2fd6f9dbc905b73880c9a95c4e538a0..2c88daed2a493c4a9dfdcd076e19a606caed91d6 100644 GIT binary patch literal 26144 zcmc&+4S1BrwVwU?k_{o*Bm^Xau=1l|%^ySrMM(mS3kHagv{-+ZO|tosBpZ_r1QdwI zwR}y}f-Nn#wH13?Yg=u(ttdvofS3eSNbRlCYwg8b>Vrie@uy0Az2=@Xb7prk`z_Mm z_PO8l>^C#-ymQW(Gc)I#Z+4R{-m=AZn~llK#;#|vl0+Fhxh9q`=GkI4mSwX_pZQ0h zdCq6P=QEG`Oz&BrS$XcZ=eGTS;w4`w`Fu%bNyRGPJ#Wu281tF?PyEmDu+Q8x#FHI^ 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zDhZeTUg9@scmtj5c4&HH)bAAWef|_`D@IwAmilFpJU>ZX&QlK&a2U`~;7GZKkE8rr z4VTZ0ZVmTQevgK)rF@@;OMBkbaJl}lg7$k`B7s_nBViFY%2XKs0-yk2qOyYeKqSBl zYTMgcK{zBbytF=8+kx+A8$!V0Y51FgaBu_AP?(@Fz7j^!VGLi#N)f1!72vB>{KLC~ z)=(r^0KZ0`(;k7}xsp&2UQ~wzEkSCPo^5ac}=4l}HWhFSc*#|*-0xG& z 0.0); --axleTrack : float64 := 1.1; - basicVelocity : float64 :=1.0 ; + basicVelocity : float64 :=4.0 ; --ratio : float64 := 8.0; V_turn : float64 := 0.0; offset : Integer := 32; @@ -35,12 +35,13 @@ package body pathfollowing is derivative : float64 := 0.0; - function path_following (imageInput : in Communication_Packet) return Communication_Packet is + function path_following (imageInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet is raw : access types.payload := imageInput.local_payload; index : Image_Index := 0; o8 : Octets_8; u64 : uint64; begin + for I in Row_Index loop for J in Column_Index loop index := Image_Index(4 * (Integer(I) * width + Integer(J))); @@ -161,13 +162,21 @@ package body pathfollowing is if bottomPoint >= 36 then - V_turn := 0.9; + V_turn := 3.6; elsif bottomPoint <= 28 and bottomPoint > 0 then - V_turn := -0.9; - else V_turn := 0.0; + V_turn := -3.6; + elsif bottomPoint > 28 and bottomPoint < 36 then + V_turn := 0.0; + elsif bottomPoint = 0 then + if d_sensor(6) < 450.0 then + V_turn := 1.0; + end if; + if d_sensor(3) < 450.0 then + V_turn := -1.0; + end if; end if; - + Put_Line (d_sensor(3)'Image & ", " & d_sensor(6)'Image); Put_Line (V_turn'Image); --turn right diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads index 20da94a..9ff2a15 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/Path/pathfollowing.ads @@ -19,7 +19,8 @@ package pathfollowing is type Colour_Column is array(Column_Index) of uint8; type Colour_Matrix is array(Row_Index) of Colour_Column; type Wheehl_velocity is array(0..1) of float64; + type Dtype is array(0..8) of float64; - function path_following(imageInput : in Communication_Packet) return Communication_Packet; + function path_following(imageInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet; end pathfollowing; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index c966599..eddf1c3 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -26,6 +26,8 @@ procedure Main is current_packet : types.Communication_Packet; alternator : types.uint8 := 1; send_packet : types.Communication_Packet; + dist: types.Octets_8; + distance_sensor_data: pathfollowing.Dtype; begin -- threads have started here @@ -42,8 +44,19 @@ begin -- do calculations with current packet Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); + Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.payload_length))); + + if (current_packet.package_ID = 66) then + for J in uint32 range 0..8 loop + for I in uint32 range 0..7 loop + dist(I) := current_packet.local_payload(I+J*8); + end loop; + distance_sensor_data(Integer(J)) := Types.uint64_to_float64(octets_to_uint64(dist)); + end loop; + end if; + if(current_packet.package_ID = 67) then - send_packet := pathfollowing.path_following(current_packet); + send_packet := pathfollowing.path_following(current_packet, distance_sensor_data); send_bytes(Webots_Channel, send_packet); end if; diff --git a/external/controller/src/tcp_client/mailbox.adb b/external/controller/src/tcp_client/mailbox.adb index 8e94dfa..2be8f87 100644 --- a/external/controller/src/tcp_client/mailbox.adb +++ b/external/controller/src/tcp_client/mailbox.adb @@ -36,14 +36,14 @@ package body mailbox is select first.Collect(new_packet); else - delay(0.00005); + delay(0.0000005); check_mailbox(second,first,new_packet,alternator); end select; else select second.Collect(new_packet); else - delay(0.00005); + delay(0.0000005); check_mailbox(second,first,new_packet,alternator); end select; end if; diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index d42614c..aef4736 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,5 +1,5 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000640000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000002450000030ffc0200000001fb0000001400540065007800740045006400690074006f007201000000160000030f000000a200ffffff0000000300000738000000b7fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004ed0000030f00000001000000020000000100000008fc00000000 +perspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000640000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000002450000033afc0200000001fb0000001400540065007800740045006400690074006f007201000000160000033a000000a200ffffff00000003000007380000008cfc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004ed0000033a00000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff000000010000000200000118000002d60100000006010000000101 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 minimizedPerspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000000640000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024500000368fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000368000000a200ffffff00000003000006ce0000005efc0100000001fb0000000e0043006f006e0073006f006c0065010000006a000006ce0000005400ffffff000004830000036800000001000000020000000100000008fc00000000 @@ -10,4 +10,4 @@ viewpointLocked: 0 orthographicViewHeight: 1 textFiles: 0 "controllers/controller/controller.cpp" globalOptionalRendering: CameraFrustums -renderingDevicePerspectives: Cab2:camera;1;4.0625;0.0123077;0 +renderingDevicePerspectives: Cab2:camera;1;2.75;0.0123077;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 1ee2e87..a959d51 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.19048823803793977 0.9409561605628587 0.27984948645299534 4.037711572263049 - position -59.45290457453136 44.02217436705527 -69.65775279242959 + orientation 0.3410563729501033 -0.8600231782809643 -0.37952692037539165 4.667501266739929 + position 22.908953187518193 24.721983248892425 -57.31062599431719 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation -23.0613 0.401857 -29.5979 - rotation 8.690599908196849e-05 0.9999999894365003 -0.00011650899876925722 -1.8348953071795862 + translation -9.70634 0.398658 -59.7668 + rotation -0.0001098621319371706 -0.9999999869911889 0.00011810137139033657 -1.6143575511696904 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -350,7 +350,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 328.7014237096998 + position 1890.1406352206216 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +361,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0.6411803334707982 -0.6406699475809019 0.42240951485135897 2.3416727290976103 + rotation 0.4629643068535678 -0.4625957826842963 -0.7560880850947852 4.437131141029881 children [ DEF wheel Shape { appearance PBRAppearance { @@ -383,7 +383,7 @@ DEF Cab2 Robot { } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 328.68738051300454 + position 1890.1216434035343 anchor 0.55 -0.1 -0.7 } device [ @@ -394,7 +394,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0.6394179613659996 -0.6389089783417351 0.42771484434944396 2.3326808485955155 + rotation 0.46856518835045863 -0.4681922058240962 -0.7491613462210035 4.4282852814950475 children [ DEF wheel Shape { appearance PBRAppearance { @@ -416,7 +416,7 @@ DEF Cab2 Robot { } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 279.68404411602216 + position 1430.715328258571 anchor -0.55 -0.1 -0.7 } device [ @@ -427,7 +427,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0.7070889154773077 -0.7065260657039683 -0.029089243544596962 3.1998010474299563 + rotation -0.624473326148181 0.623976239201424 0.469773049292395 2.262629609733359 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,7 +449,7 @@ DEF Cab2 Robot { } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 279.7311735980204 + position 1430.7319599730783 anchor -0.55 -0.1 0.55 } device [ @@ -460,7 +460,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0.7066473420566216 -0.7060848437800943 -0.04575726552528929 3.233116147990042 + rotation -0.6220663009142207 0.6215711299833704 0.4761122216852814 2.2522635054941085 children [ DEF wheel Shape { appearance PBRAppearance { From bd5864aa542077743df337b1023ab139e6c3871b Mon Sep 17 00:00:00 2001 From: Yue Date: Tue, 7 Jul 2020 12:04:37 +0200 Subject: [PATCH 15/25] remove files in obj --- external/controller/main | Bin 341528 -> 336368 bytes external/controller/obj/b__main.adb | 438 ---------- external/controller/obj/b__main.ads | 797 ------------------ external/controller/obj/b__main.ali | 463 ---------- external/controller/obj/b__main.o | Bin 86424 -> 0 bytes .../controller/obj/backend_thread.adb.stderr | 0 .../controller/obj/backend_thread.adb.stdout | 0 external/controller/obj/backend_thread.ali | 151 ---- external/controller/obj/backend_thread.o | Bin 46864 -> 0 bytes .../controller/obj/byte_buffer.adb.stderr | 0 .../controller/obj/byte_buffer.adb.stdout | 0 external/controller/obj/byte_buffer.ali | 223 ----- external/controller/obj/byte_buffer.o | Bin 211528 -> 0 bytes .../obj/external_controller-loc.xml | 58 -- external/controller/obj/gnatinspect.db | Bin 274432 -> 0 bytes external/controller/obj/gnatinspect.db-shm | Bin 32768 -> 0 bytes external/controller/obj/gnatinspect.db-wal | Bin 123632 -> 0 bytes external/controller/obj/gpsauto.cgpr | 91 -- external/controller/obj/mailbox.adb.stderr | 0 external/controller/obj/mailbox.adb.stdout | 0 external/controller/obj/mailbox.ali | 139 --- external/controller/obj/mailbox.o | Bin 52336 -> 0 bytes external/controller/obj/main.adb.stderr | 0 external/controller/obj/main.adb.stdout | 0 external/controller/obj/main.ali | 167 ---- external/controller/obj/main.bexch | 32 - external/controller/obj/main.o | Bin 35656 -> 0 bytes .../controller/obj/pathfollowing.adb.stderr | 0 .../controller/obj/pathfollowing.adb.stdout | 0 external/controller/obj/pathfollowing.ali | 188 ----- external/controller/obj/pathfollowing.o | Bin 26144 -> 0 bytes external/controller/obj/tcp_client.adb.stderr | 0 external/controller/obj/tcp_client.adb.stdout | 0 external/controller/obj/tcp_client.ali | 202 ----- external/controller/obj/tcp_client.o | Bin 48328 -> 0 bytes external/controller/obj/types.adb.stderr | 0 external/controller/obj/types.adb.stdout | 0 external/controller/obj/types.ali | 184 ---- external/controller/obj/types.o | Bin 9800 -> 0 bytes .../controller/obj/webots_thread.adb.stderr | 0 .../controller/obj/webots_thread.adb.stdout | 0 external/controller/obj/webots_thread.ali | 169 ---- external/controller/obj/webots_thread.o | Bin 48992 -> 0 bytes external/controller/src/.#main.adb# | 65 ++ .../controller/src/Path/pathfollowing.adb | 58 +- webots/worlds/.cabservice.wbproj | 1 + webots/worlds/cabservice.wbt | 40 +- 47 files changed, 97 insertions(+), 3369 deletions(-) delete mode 100644 external/controller/obj/b__main.adb delete mode 100644 external/controller/obj/b__main.ads delete mode 100644 external/controller/obj/b__main.ali delete mode 100644 external/controller/obj/b__main.o delete mode 100644 external/controller/obj/backend_thread.adb.stderr delete mode 100644 external/controller/obj/backend_thread.adb.stdout delete mode 100644 external/controller/obj/backend_thread.ali delete mode 100644 external/controller/obj/backend_thread.o delete mode 100644 external/controller/obj/byte_buffer.adb.stderr delete mode 100644 external/controller/obj/byte_buffer.adb.stdout delete mode 100644 external/controller/obj/byte_buffer.ali delete mode 100644 external/controller/obj/byte_buffer.o delete mode 100644 external/controller/obj/external_controller-loc.xml delete mode 100644 external/controller/obj/gnatinspect.db delete mode 100644 external/controller/obj/gnatinspect.db-shm delete mode 100644 external/controller/obj/gnatinspect.db-wal delete mode 100644 external/controller/obj/gpsauto.cgpr delete mode 100644 external/controller/obj/mailbox.adb.stderr delete mode 100644 external/controller/obj/mailbox.adb.stdout delete mode 100644 external/controller/obj/mailbox.ali delete mode 100644 external/controller/obj/mailbox.o delete mode 100644 external/controller/obj/main.adb.stderr delete mode 100644 external/controller/obj/main.adb.stdout delete mode 100644 external/controller/obj/main.ali delete mode 100644 external/controller/obj/main.bexch delete mode 100644 external/controller/obj/main.o delete mode 100644 external/controller/obj/pathfollowing.adb.stderr delete mode 100644 external/controller/obj/pathfollowing.adb.stdout delete mode 100644 external/controller/obj/pathfollowing.ali delete mode 100644 external/controller/obj/pathfollowing.o delete mode 100644 external/controller/obj/tcp_client.adb.stderr delete mode 100644 external/controller/obj/tcp_client.adb.stdout delete mode 100644 external/controller/obj/tcp_client.ali delete mode 100644 external/controller/obj/tcp_client.o delete mode 100644 external/controller/obj/types.adb.stderr delete mode 100644 external/controller/obj/types.adb.stdout delete mode 100644 external/controller/obj/types.ali delete mode 100644 external/controller/obj/types.o delete mode 100644 external/controller/obj/webots_thread.adb.stderr delete mode 100644 external/controller/obj/webots_thread.adb.stdout delete mode 100644 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zquAA;_>3w(%PQi{8_lJX^PsHl1c`Osm!7+#VT8Mm`GS%&nQ>ZLC>LgloTwRuUT7f{ ztbl?IF9GnDK|z&L@Ez#Ks(1t^ilK$vTSjX)`kSL5qPo#c;O&*50ff7( z)9-ViNx1tJquxQB3pqRMI*?6Hu7RKvr^I90vF2+RGlb0{)t;+u*3-0wSbvh}AA$wJ z8wgZ7@Wc2K&Si)jNVuEho>5sp-#$g+Vt&WB=u1pRzqM5LxDWVoHJkVf_+S;az+|y5 z<(#N5gcWTFcO%A5)s%CEK5E|jMkr^3;bCS-GRxE=dJ*tk;9kKt5oFd~6aniY=Lpl& zf3B-){LbTCElq0kAvlFBbt8UOYx?ABdc|M~@kxm6DSBEZuWo<%s1C&B*y(}28RO3xN~%`sISAp+QmhA(ctMJ2uw=)qX=rk83 znFxNNT?~`6?d+9Q+e76xm2X+=rip*8>PsZCUuWI}egc~ky&&W=v)$bFF=1U-LnGb`_0e zO=pO`8A?qi;m+O>cZi&aFdFv*eVOXHh5SX3z?quiuDW zuR&g>%BLfQJG&OF7V;ax)|h%eSJ#J>{%Z+$^q&kAKdu9P52mL{f;y=vW1P-rD%4i` z<6J-k6e`?L*WPA4WS&t;b_@#6sFrw%aA#1?1+m1B)Ym@l97r`6n7(Q4G%kk<9K)F% z;WdH3HE|DJOyMUl+PG~0tVep_W1Kvau`oN((5}l2ge-k(WD~aprtUbsB`~B>+N8%O zO&&e2sK`IBv#4m&dDwYl6|3LVNIZN*1NLBAuw$HmTGWBnHZDEbInF=lF=M06ci;W< z9cw "b__main.ads"); -pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); -pragma Suppress (Overflow_Check); - -with System.Restrictions; -with Ada.Exceptions; - -package body ada_main is - - E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); - E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); - E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); - E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); - E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); - E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); - E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); - E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); - E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); - E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); - E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); - E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); - E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); - E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); - E128 : Short_Integer; pragma Import (Ada, E128, "ada__tags_E"); - E136 : Short_Integer; pragma Import (Ada, E136, "ada__streams_E"); - E179 : Short_Integer; pragma Import (Ada, E179, "gnat_E"); - E196 : Short_Integer; pragma Import (Ada, E196, "interfaces__c__strings_E"); - E144 : Short_Integer; pragma Import (Ada, E144, "system__file_control_block_E"); - E143 : Short_Integer; pragma Import (Ada, E143, "system__finalization_root_E"); - E141 : Short_Integer; pragma Import (Ada, E141, "ada__finalization_E"); - E140 : Short_Integer; pragma Import (Ada, E140, "system__file_io_E"); - E204 : Short_Integer; pragma Import (Ada, E204, "system__storage_pools_E"); - E212 : Short_Integer; pragma Import (Ada, E212, "system__finalization_masters_E"); - E222 : Short_Integer; pragma Import (Ada, E222, "system__storage_pools__subpools_E"); - E114 : Short_Integer; pragma Import (Ada, E114, "system__task_info_E"); - E106 : Short_Integer; pragma Import (Ada, E106, "system__task_primitives__operations_E"); - E188 : Short_Integer; pragma Import (Ada, E188, "ada__calendar_E"); - E186 : Short_Integer; pragma Import (Ada, E186, "ada__calendar__delays_E"); - E006 : Short_Integer; pragma Import (Ada, E006, "ada__real_time_E"); - E134 : Short_Integer; pragma Import (Ada, E134, "ada__text_io_E"); - E200 : Short_Integer; pragma Import (Ada, E200, "system__pool_global_E"); - E206 : Short_Integer; pragma Import (Ada, E206, "system__pool_size_E"); - E181 : Short_Integer; pragma Import (Ada, E181, "gnat__sockets_E"); - E194 : Short_Integer; pragma Import (Ada, E194, "gnat__sockets__thin_common_E"); - E184 : Short_Integer; pragma Import (Ada, E184, "gnat__sockets__thin_E"); - E168 : Short_Integer; pragma Import (Ada, E168, "system__tasking__initialization_E"); - E156 : Short_Integer; pragma Import (Ada, E156, "system__tasking__protected_objects_E"); - E172 : Short_Integer; pragma Import (Ada, E172, "system__tasking__protected_objects__entries_E"); - E174 : Short_Integer; pragma Import (Ada, E174, "system__tasking__queuing_E"); - E249 : Short_Integer; pragma Import (Ada, E249, "system__tasking__stages_E"); - E150 : Short_Integer; pragma Import (Ada, E150, "types_E"); - E216 : Short_Integer; pragma Import (Ada, E216, "mailbox_E"); - E148 : Short_Integer; pragma Import (Ada, E148, "byte_buffer_E"); - E152 : Short_Integer; pragma Import (Ada, E152, "tcp_client_E"); - E146 : Short_Integer; pragma Import (Ada, E146, "backend_thread_E"); - E226 : Short_Integer; pragma Import (Ada, E226, "pathfollowing_E"); - E251 : Short_Integer; pragma Import (Ada, E251, "webots_thread_E"); - - Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); - - Local_Priority_Specific_Dispatching : constant String := ""; - Local_Interrupt_States : constant String := ""; - - Is_Elaborated : Boolean := False; - - procedure finalize_library is - begin - E251 := E251 - 1; - declare - procedure F1; - pragma Import (Ada, F1, "webots_thread__finalize_spec"); - begin - F1; - end; - E146 := E146 - 1; - declare - procedure F2; - pragma Import (Ada, F2, "backend_thread__finalize_spec"); - begin - F2; - end; - E148 := E148 - 1; - declare - procedure F3; - pragma Import (Ada, F3, "byte_buffer__finalize_spec"); - begin - F3; - end; - E172 := E172 - 1; - declare - procedure F4; - pragma Import (Ada, F4, "system__tasking__protected_objects__entries__finalize_spec"); - begin - F4; - end; - declare - procedure F5; - pragma Import (Ada, F5, "gnat__sockets__finalize_body"); - begin - E181 := E181 - 1; - F5; - end; - declare - procedure F6; - pragma Import (Ada, F6, "gnat__sockets__finalize_spec"); - begin - F6; - end; - E206 := E206 - 1; - declare - procedure F7; - pragma Import (Ada, F7, "system__pool_size__finalize_spec"); - begin - F7; - end; - E200 := E200 - 1; - declare - procedure F8; - pragma Import (Ada, F8, "system__pool_global__finalize_spec"); - begin - F8; - end; - E134 := E134 - 1; - declare - procedure F9; - pragma Import (Ada, F9, "ada__text_io__finalize_spec"); - begin - F9; - end; - E222 := E222 - 1; - declare - procedure F10; - pragma Import (Ada, F10, "system__storage_pools__subpools__finalize_spec"); - begin - F10; - end; - E212 := E212 - 1; - declare - procedure F11; - pragma Import (Ada, F11, "system__finalization_masters__finalize_spec"); - begin - F11; - end; - declare - procedure F12; - pragma Import (Ada, F12, "system__file_io__finalize_body"); - begin - E140 := E140 - 1; - F12; - end; - declare - procedure Reraise_Library_Exception_If_Any; - pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); - begin - Reraise_Library_Exception_If_Any; - end; - end finalize_library; - - procedure adafinal is - procedure s_stalib_adafinal; - pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); - - procedure Runtime_Finalize; - pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); - - begin - if not Is_Elaborated then - return; - end if; - Is_Elaborated := False; - Runtime_Finalize; - s_stalib_adafinal; - end adafinal; - - type No_Param_Proc is access procedure; - - procedure adainit is - Main_Priority : Integer; - pragma Import (C, Main_Priority, "__gl_main_priority"); - Time_Slice_Value : Integer; - pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); - WC_Encoding : Character; - pragma Import (C, WC_Encoding, "__gl_wc_encoding"); - Locking_Policy : Character; - pragma Import (C, Locking_Policy, "__gl_locking_policy"); - Queuing_Policy : Character; - pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); - Task_Dispatching_Policy : Character; - pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); - Priority_Specific_Dispatching : System.Address; - pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); - Num_Specific_Dispatching : Integer; - pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); - Main_CPU : Integer; - pragma Import (C, Main_CPU, "__gl_main_cpu"); - Interrupt_States : System.Address; - pragma Import (C, Interrupt_States, "__gl_interrupt_states"); - Num_Interrupt_States : Integer; - pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); - Unreserve_All_Interrupts : Integer; - pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); - Detect_Blocking : Integer; - pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); - Default_Stack_Size : Integer; - pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); - Default_Secondary_Stack_Size : System.Parameters.Size_Type; - pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); - Leap_Seconds_Support : Integer; - pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); - Bind_Env_Addr : System.Address; - pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); - - procedure Runtime_Initialize (Install_Handler : Integer); - pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); - - Finalize_Library_Objects : No_Param_Proc; - pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); - Binder_Sec_Stacks_Count : Natural; - pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); - Default_Sized_SS_Pool : System.Address; - pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); - - begin - if Is_Elaborated then - return; - end if; - Is_Elaborated := True; - Main_Priority := -1; - Time_Slice_Value := -1; - WC_Encoding := 'b'; - Locking_Policy := ' '; - Queuing_Policy := ' '; - Task_Dispatching_Policy := ' '; - System.Restrictions.Run_Time_Restrictions := - (Set => - (False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, True, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False), - Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), - Violated => - (True, False, False, False, True, True, True, False, - False, False, False, True, True, True, True, False, - False, False, False, False, True, True, False, True, - True, False, True, True, True, True, False, False, - False, False, False, True, False, False, True, False, - True, False, True, True, False, True, False, True, - True, False, False, True, False, True, False, False, - False, True, False, True, False, True, True, True, - False, False, True, False, True, True, True, False, - True, True, False, True, True, True, True, False, - False, True, False, False, False, True, False, False, - True, False, True, False), - Count => (0, 0, 0, 2, 0, 0, 1, 0, 3, 0), - Unknown => (False, False, False, False, False, False, True, False, True, False)); - Priority_Specific_Dispatching := - Local_Priority_Specific_Dispatching'Address; - Num_Specific_Dispatching := 0; - Main_CPU := -1; - Interrupt_States := Local_Interrupt_States'Address; - Num_Interrupt_States := 0; - Unreserve_All_Interrupts := 0; - Detect_Blocking := 0; - Default_Stack_Size := -1; - Leap_Seconds_Support := 0; - - ada_main'Elab_Body; - Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; - Binder_Sec_Stacks_Count := 1; - Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; - - Runtime_Initialize (1); - - Finalize_Library_Objects := finalize_library'access; - - System.Soft_Links'Elab_Spec; - System.Exception_Table'Elab_Body; - E025 := E025 + 1; - Ada.Io_Exceptions'Elab_Spec; - E070 := E070 + 1; - Ada.Strings'Elab_Spec; - E055 := E055 + 1; - Ada.Containers'Elab_Spec; - E040 := E040 + 1; - System.Exceptions'Elab_Spec; - E027 := E027 + 1; - System.Os_Lib'Elab_Body; - E075 := E075 + 1; - Ada.Strings.Maps'Elab_Spec; - Ada.Strings.Maps.Constants'Elab_Spec; - E061 := E061 + 1; - Interfaces.C'Elab_Spec; - System.Soft_Links.Initialize'Elab_Body; - E021 := E021 + 1; - E013 := E013 + 1; - E057 := E057 + 1; - E045 := E045 + 1; - System.Object_Reader'Elab_Spec; - System.Dwarf_Lines'Elab_Spec; - E050 := E050 + 1; - System.Traceback.Symbolic'Elab_Body; - E039 := E039 + 1; - E081 := E081 + 1; - Ada.Tags'Elab_Spec; - Ada.Tags'Elab_Body; - E128 := E128 + 1; - Ada.Streams'Elab_Spec; - E136 := E136 + 1; - Gnat'Elab_Spec; - E179 := E179 + 1; - Interfaces.C.Strings'Elab_Spec; - E196 := E196 + 1; - System.File_Control_Block'Elab_Spec; - E144 := E144 + 1; - System.Finalization_Root'Elab_Spec; - E143 := E143 + 1; - Ada.Finalization'Elab_Spec; - E141 := E141 + 1; - System.File_Io'Elab_Body; - E140 := E140 + 1; - System.Storage_Pools'Elab_Spec; - E204 := E204 + 1; - System.Finalization_Masters'Elab_Spec; - System.Finalization_Masters'Elab_Body; - E212 := E212 + 1; - System.Storage_Pools.Subpools'Elab_Spec; - E222 := E222 + 1; - System.Task_Info'Elab_Spec; - E114 := E114 + 1; - System.Task_Primitives.Operations'Elab_Body; - E106 := E106 + 1; - Ada.Calendar'Elab_Spec; - Ada.Calendar'Elab_Body; - E188 := E188 + 1; - Ada.Calendar.Delays'Elab_Body; - E186 := E186 + 1; - Ada.Real_Time'Elab_Spec; - Ada.Real_Time'Elab_Body; - E006 := E006 + 1; - Ada.Text_Io'Elab_Spec; - Ada.Text_Io'Elab_Body; - E134 := E134 + 1; - System.Pool_Global'Elab_Spec; - E200 := E200 + 1; - System.Pool_Size'Elab_Spec; - E206 := E206 + 1; - Gnat.Sockets'Elab_Spec; - E194 := E194 + 1; - E184 := E184 + 1; - Gnat.Sockets'Elab_Body; - E181 := E181 + 1; - System.Tasking.Initialization'Elab_Body; - E168 := E168 + 1; - System.Tasking.Protected_Objects'Elab_Body; - E156 := E156 + 1; - System.Tasking.Protected_Objects.Entries'Elab_Spec; - E172 := E172 + 1; - System.Tasking.Queuing'Elab_Body; - E174 := E174 + 1; - System.Tasking.Stages'Elab_Body; - E249 := E249 + 1; - E216 := E216 + 1; - byte_buffer'elab_spec; - byte_buffer'elab_body; - E148 := E148 + 1; - E152 := E152 + 1; - E150 := E150 + 1; - backend_thread'elab_spec; - E146 := E146 + 1; - pathfollowing'elab_body; - E226 := E226 + 1; - webots_thread'elab_spec; - E251 := E251 + 1; - end adainit; - - procedure Ada_Main_Program; - pragma Import (Ada, Ada_Main_Program, "_ada_main"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer - is - procedure Initialize (Addr : System.Address); - pragma Import (C, Initialize, "__gnat_initialize"); - - procedure Finalize; - pragma Import (C, Finalize, "__gnat_finalize"); - SEH : aliased array (1 .. 2) of Integer; - - Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; - pragma Volatile (Ensure_Reference); - - begin - gnat_argc := argc; - gnat_argv := argv; - gnat_envp := envp; - - Initialize (SEH'Address); - adainit; - Ada_Main_Program; - adafinal; - Finalize; - return (gnat_exit_status); - end; - --- BEGIN Object file/option list - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/mailbox.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/byte_buffer.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/tcp_client.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/types.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/backend_thread.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/pathfollowing.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/webots_thread.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/main.o - -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ - -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ - -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ - -- -shared - -- -lgnarl-9 - -- -lgnat-9 - -- -lpthread - -- -lrt - -- -ldl --- END Object file/option list - -end ada_main; diff --git a/external/controller/obj/b__main.ads b/external/controller/obj/b__main.ads deleted file mode 100644 index 1cfd6e6..0000000 --- a/external/controller/obj/b__main.ads +++ /dev/null @@ -1,797 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -with System; -with System.Parameters; -with System.Secondary_Stack; -package ada_main is - - gnat_argc : Integer; - gnat_argv : System.Address; - gnat_envp : System.Address; - - pragma Import (C, gnat_argc); - pragma Import (C, gnat_argv); - pragma Import (C, gnat_envp); - - gnat_exit_status : Integer; - pragma Import (C, gnat_exit_status); - - GNAT_Version : constant String := - "GNAT Version: 9.3.0" & ASCII.NUL; - pragma Export (C, GNAT_Version, "__gnat_version"); - - Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; - pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); - - procedure adainit; - pragma Export (C, adainit, "adainit"); - - procedure adafinal; - pragma Export (C, adafinal, "adafinal"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer; - pragma Export (C, main, "main"); - - type Version_32 is mod 2 ** 32; - u00001 : constant Version_32 := 16#df9534fa#; - pragma Export (C, u00001, "mainB"); - u00002 : constant Version_32 := 16#050ff2f0#; - pragma Export (C, u00002, "system__standard_libraryB"); - u00003 : constant Version_32 := 16#4113f22b#; - pragma Export (C, u00003, "system__standard_libraryS"); - u00004 : constant Version_32 := 16#76789da1#; - pragma Export (C, u00004, "adaS"); - u00005 : constant Version_32 := 16#eb4fc41d#; - pragma Export (C, u00005, "ada__real_timeB"); - u00006 : constant Version_32 := 16#69ea8064#; - pragma Export (C, u00006, "ada__real_timeS"); - u00007 : constant Version_32 := 16#9762c9f2#; - pragma Export (C, u00007, "ada__exceptionsB"); - u00008 : constant Version_32 := 16#585ef86b#; - pragma Export (C, u00008, "ada__exceptionsS"); - u00009 : constant Version_32 := 16#5726abed#; - pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); - u00010 : constant Version_32 := 16#41e5552e#; - pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); - u00011 : constant Version_32 := 16#4635ec04#; - pragma Export (C, u00011, "systemS"); - u00012 : constant Version_32 := 16#ae860117#; - pragma Export (C, u00012, "system__soft_linksB"); - u00013 : constant Version_32 := 16#0336e7b2#; - pragma Export (C, u00013, "system__soft_linksS"); - u00014 : constant Version_32 := 16#f32b4133#; - pragma Export (C, u00014, "system__secondary_stackB"); - u00015 : constant Version_32 := 16#03a1141d#; - pragma Export (C, u00015, "system__secondary_stackS"); - u00016 : constant Version_32 := 16#86dbf443#; - pragma Export (C, u00016, "system__parametersB"); - u00017 : constant Version_32 := 16#0ed9b82f#; - pragma Export (C, u00017, "system__parametersS"); - u00018 : constant Version_32 := 16#ced09590#; - pragma Export (C, u00018, "system__storage_elementsB"); - u00019 : constant Version_32 := 16#6bf6a600#; - pragma Export (C, u00019, "system__storage_elementsS"); - u00020 : constant Version_32 := 16#75bf515c#; - pragma Export (C, u00020, "system__soft_links__initializeB"); - u00021 : constant Version_32 := 16#5697fc2b#; - pragma Export (C, u00021, "system__soft_links__initializeS"); - u00022 : constant Version_32 := 16#41837d1e#; - pragma Export (C, u00022, "system__stack_checkingB"); - u00023 : constant Version_32 := 16#c88a87ec#; - pragma Export (C, u00023, "system__stack_checkingS"); - u00024 : constant Version_32 := 16#34742901#; - pragma Export (C, u00024, "system__exception_tableB"); - u00025 : constant Version_32 := 16#1b9b8546#; - pragma Export (C, u00025, "system__exception_tableS"); - u00026 : constant Version_32 := 16#ce4af020#; - pragma Export (C, u00026, "system__exceptionsB"); - u00027 : constant Version_32 := 16#2e5681f2#; - pragma Export (C, u00027, "system__exceptionsS"); - u00028 : constant Version_32 := 16#69416224#; - pragma Export (C, u00028, "system__exceptions__machineB"); - u00029 : constant Version_32 := 16#d27d9682#; - pragma Export (C, u00029, "system__exceptions__machineS"); - u00030 : constant Version_32 := 16#aa0563fc#; - pragma Export (C, u00030, "system__exceptions_debugB"); - u00031 : constant Version_32 := 16#38bf15c0#; - pragma Export (C, u00031, "system__exceptions_debugS"); - u00032 : constant Version_32 := 16#6c2f8802#; - pragma Export (C, u00032, "system__img_intB"); - u00033 : constant Version_32 := 16#44ee0cc6#; - pragma Export (C, u00033, "system__img_intS"); - u00034 : constant Version_32 := 16#39df8c17#; - pragma Export (C, u00034, "system__tracebackB"); - u00035 : constant Version_32 := 16#181732c0#; - pragma Export (C, u00035, "system__tracebackS"); - u00036 : constant Version_32 := 16#9ed49525#; - pragma Export (C, u00036, "system__traceback_entriesB"); - u00037 : constant Version_32 := 16#466e1a74#; - pragma Export (C, u00037, "system__traceback_entriesS"); - u00038 : constant Version_32 := 16#448e9548#; - pragma Export (C, u00038, "system__traceback__symbolicB"); - u00039 : constant Version_32 := 16#c84061d1#; - pragma Export (C, u00039, "system__traceback__symbolicS"); - u00040 : constant Version_32 := 16#179d7d28#; - pragma Export (C, u00040, "ada__containersS"); - u00041 : constant Version_32 := 16#701f9d88#; - pragma Export (C, u00041, "ada__exceptions__tracebackB"); - u00042 : constant Version_32 := 16#20245e75#; - pragma Export (C, u00042, "ada__exceptions__tracebackS"); - u00043 : constant Version_32 := 16#5ab55268#; - pragma Export (C, u00043, "interfacesS"); - u00044 : constant Version_32 := 16#769e25e6#; - pragma Export (C, u00044, "interfaces__cB"); - u00045 : constant Version_32 := 16#467817d8#; - pragma Export (C, u00045, "interfaces__cS"); - u00046 : constant Version_32 := 16#e865e681#; - pragma Export (C, u00046, "system__bounded_stringsB"); - u00047 : constant Version_32 := 16#31c8cd1d#; - pragma Export (C, u00047, "system__bounded_stringsS"); - u00048 : constant Version_32 := 16#0062635e#; - pragma Export (C, u00048, "system__crtlS"); - u00049 : constant Version_32 := 16#bba79bcb#; - pragma Export (C, u00049, "system__dwarf_linesB"); - u00050 : constant Version_32 := 16#9a78d181#; - pragma Export (C, u00050, "system__dwarf_linesS"); - u00051 : constant Version_32 := 16#5b4659fa#; - pragma Export (C, u00051, "ada__charactersS"); - u00052 : constant Version_32 := 16#8f637df8#; - pragma Export (C, u00052, "ada__characters__handlingB"); - u00053 : constant Version_32 := 16#3b3f6154#; - pragma Export (C, u00053, "ada__characters__handlingS"); - u00054 : constant Version_32 := 16#4b7bb96a#; - pragma Export (C, u00054, "ada__characters__latin_1S"); - u00055 : constant Version_32 := 16#e6d4fa36#; - pragma Export (C, u00055, "ada__stringsS"); - u00056 : constant Version_32 := 16#96df1a3f#; - pragma Export (C, u00056, "ada__strings__mapsB"); - u00057 : constant Version_32 := 16#1e526bec#; - pragma Export (C, u00057, "ada__strings__mapsS"); - u00058 : constant Version_32 := 16#d68fb8f1#; - pragma Export (C, u00058, "system__bit_opsB"); - u00059 : constant Version_32 := 16#0765e3a3#; - pragma Export (C, u00059, "system__bit_opsS"); - u00060 : constant Version_32 := 16#72b39087#; - pragma Export (C, u00060, "system__unsigned_typesS"); - u00061 : constant Version_32 := 16#92f05f13#; - pragma Export (C, u00061, "ada__strings__maps__constantsS"); - u00062 : constant Version_32 := 16#a0d3d22b#; - pragma Export (C, u00062, "system__address_imageB"); - u00063 : constant Version_32 := 16#e7d9713e#; - pragma Export (C, u00063, "system__address_imageS"); - u00064 : constant Version_32 := 16#ec78c2bf#; - pragma Export (C, u00064, "system__img_unsB"); - u00065 : constant Version_32 := 16#ed47ac70#; - pragma Export (C, u00065, "system__img_unsS"); - u00066 : constant Version_32 := 16#d7aac20c#; - pragma Export (C, u00066, "system__ioB"); - u00067 : constant Version_32 := 16#d8771b4b#; - pragma Export (C, u00067, "system__ioS"); - u00068 : constant Version_32 := 16#f790d1ef#; - pragma Export (C, u00068, "system__mmapB"); - u00069 : constant Version_32 := 16#7c445363#; - pragma Export (C, u00069, "system__mmapS"); - u00070 : constant Version_32 := 16#92d882c5#; - pragma Export (C, u00070, "ada__io_exceptionsS"); - u00071 : constant Version_32 := 16#0cdaa54a#; - pragma Export (C, u00071, "system__mmap__os_interfaceB"); - u00072 : constant Version_32 := 16#82f29877#; - pragma Export (C, u00072, "system__mmap__os_interfaceS"); - u00073 : constant Version_32 := 16#834dfe5e#; - pragma Export (C, u00073, "system__mmap__unixS"); - u00074 : constant Version_32 := 16#fa90b46b#; - pragma Export (C, u00074, "system__os_libB"); - u00075 : constant Version_32 := 16#4542b55d#; - pragma Export (C, u00075, "system__os_libS"); - u00076 : constant Version_32 := 16#ec4d5631#; - pragma Export (C, u00076, "system__case_utilB"); - u00077 : constant Version_32 := 16#79e05a50#; - pragma Export (C, u00077, "system__case_utilS"); - u00078 : constant Version_32 := 16#2a8e89ad#; - pragma Export (C, u00078, "system__stringsB"); - u00079 : constant Version_32 := 16#2623c091#; - pragma Export (C, u00079, "system__stringsS"); - u00080 : constant Version_32 := 16#5a3f5337#; - pragma Export (C, u00080, "system__object_readerB"); - u00081 : constant Version_32 := 16#82413105#; - pragma Export (C, u00081, "system__object_readerS"); - u00082 : constant Version_32 := 16#1a74a354#; - pragma Export (C, u00082, "system__val_lliB"); - u00083 : constant Version_32 := 16#dc110aa4#; - pragma Export (C, u00083, "system__val_lliS"); - u00084 : constant Version_32 := 16#afdbf393#; - pragma Export (C, u00084, "system__val_lluB"); - u00085 : constant Version_32 := 16#0841c7f5#; - pragma Export (C, u00085, "system__val_lluS"); - u00086 : constant Version_32 := 16#269742a9#; - pragma Export (C, u00086, "system__val_utilB"); - u00087 : constant Version_32 := 16#ea955afa#; - pragma Export (C, u00087, "system__val_utilS"); - u00088 : constant Version_32 := 16#d7bf3f29#; - pragma Export (C, u00088, "system__exception_tracesB"); - u00089 : constant Version_32 := 16#62eacc9e#; - pragma Export (C, u00089, "system__exception_tracesS"); - u00090 : constant Version_32 := 16#8c33a517#; - pragma Export (C, u00090, "system__wch_conB"); - u00091 : constant Version_32 := 16#5d48ced6#; - pragma Export (C, u00091, "system__wch_conS"); - u00092 : constant Version_32 := 16#9721e840#; - pragma Export (C, u00092, "system__wch_stwB"); - u00093 : constant Version_32 := 16#7059e2d7#; - pragma Export (C, u00093, "system__wch_stwS"); - u00094 : constant Version_32 := 16#a831679c#; - pragma Export (C, u00094, "system__wch_cnvB"); - u00095 : constant Version_32 := 16#52ff7425#; - pragma Export (C, u00095, "system__wch_cnvS"); - u00096 : constant Version_32 := 16#ece6fdb6#; - pragma Export (C, u00096, "system__wch_jisB"); - u00097 : constant Version_32 := 16#d28f6d04#; - pragma Export (C, u00097, "system__wch_jisS"); - u00098 : constant Version_32 := 16#c05c480c#; - pragma Export (C, u00098, "system__taskingB"); - u00099 : constant Version_32 := 16#d15fc24c#; - pragma Export (C, u00099, "system__taskingS"); - u00100 : constant Version_32 := 16#c333d44f#; - pragma Export (C, u00100, "system__task_primitivesS"); - u00101 : constant Version_32 := 16#02d5b781#; - pragma Export (C, u00101, "system__os_interfaceB"); - u00102 : constant Version_32 := 16#8b11eeee#; - pragma Export (C, u00102, "system__os_interfaceS"); - u00103 : constant Version_32 := 16#ff1f7771#; - pragma Export (C, u00103, "system__linuxS"); - u00104 : constant Version_32 := 16#198dbba9#; - pragma Export (C, u00104, "system__os_constantsS"); - u00105 : constant Version_32 := 16#3d3b214a#; - pragma Export (C, u00105, "system__task_primitives__operationsB"); - u00106 : constant Version_32 := 16#69ee9f34#; - pragma Export (C, u00106, "system__task_primitives__operationsS"); - u00107 : constant Version_32 := 16#71c5de81#; - pragma Export (C, u00107, "system__interrupt_managementB"); - u00108 : constant Version_32 := 16#24a21b5f#; - pragma Export (C, u00108, "system__interrupt_managementS"); - u00109 : constant Version_32 := 16#f65595cf#; - pragma Export (C, u00109, "system__multiprocessorsB"); - u00110 : constant Version_32 := 16#7e997377#; - pragma Export (C, u00110, "system__multiprocessorsS"); - u00111 : constant Version_32 := 16#51f2d040#; - pragma Export (C, u00111, "system__os_primitivesB"); - u00112 : constant Version_32 := 16#41c889f2#; - pragma Export (C, u00112, "system__os_primitivesS"); - u00113 : constant Version_32 := 16#375a3ef7#; - pragma Export (C, u00113, "system__task_infoB"); - u00114 : constant Version_32 := 16#1c069690#; - pragma Export (C, u00114, "system__task_infoS"); - u00115 : constant Version_32 := 16#f2eb7df6#; - pragma Export (C, u00115, "system__tasking__debugB"); - u00116 : constant Version_32 := 16#aea59d30#; - pragma Export (C, u00116, "system__tasking__debugS"); - u00117 : constant Version_32 := 16#fd83e873#; - pragma Export (C, u00117, "system__concat_2B"); - u00118 : constant Version_32 := 16#44953bd4#; - pragma Export (C, u00118, "system__concat_2S"); - u00119 : constant Version_32 := 16#2b70b149#; - pragma Export (C, u00119, "system__concat_3B"); - u00120 : constant Version_32 := 16#4d45b0a1#; - pragma Export (C, u00120, "system__concat_3S"); - u00121 : constant Version_32 := 16#273384e4#; - pragma Export (C, u00121, "system__img_enum_newB"); - u00122 : constant Version_32 := 16#2779eac4#; - pragma Export (C, u00122, "system__img_enum_newS"); - u00123 : constant Version_32 := 16#9dca6636#; - pragma Export (C, u00123, "system__img_lliB"); - u00124 : constant Version_32 := 16#577ab9d5#; - pragma Export (C, u00124, "system__img_lliS"); - u00125 : constant Version_32 := 16#6ec3c867#; - pragma Export (C, u00125, "system__stack_usageB"); - u00126 : constant Version_32 := 16#3a3ac346#; - pragma Export (C, u00126, "system__stack_usageS"); - u00127 : constant Version_32 := 16#d398a95f#; - pragma Export (C, u00127, "ada__tagsB"); - u00128 : constant Version_32 := 16#12a0afb8#; - pragma Export (C, u00128, "ada__tagsS"); - u00129 : constant Version_32 := 16#796f31f1#; - pragma Export (C, u00129, "system__htableB"); - u00130 : constant Version_32 := 16#c2f75fee#; - pragma Export (C, u00130, "system__htableS"); - u00131 : constant Version_32 := 16#089f5cd0#; - pragma Export (C, u00131, "system__string_hashB"); - u00132 : constant Version_32 := 16#60a93490#; - pragma Export (C, u00132, "system__string_hashS"); - u00133 : constant Version_32 := 16#927a893f#; - pragma Export (C, u00133, "ada__text_ioB"); - u00134 : constant Version_32 := 16#5194351e#; - pragma Export (C, u00134, "ada__text_ioS"); - u00135 : constant Version_32 := 16#10558b11#; - pragma Export (C, u00135, "ada__streamsB"); - u00136 : constant Version_32 := 16#67e31212#; - pragma Export (C, u00136, "ada__streamsS"); - u00137 : constant Version_32 := 16#73d2d764#; - pragma Export (C, u00137, "interfaces__c_streamsB"); - u00138 : constant Version_32 := 16#b1330297#; - pragma Export (C, u00138, "interfaces__c_streamsS"); - u00139 : constant Version_32 := 16#71ac0ba7#; - pragma Export (C, u00139, "system__file_ioB"); - u00140 : constant Version_32 := 16#e1440d61#; - pragma Export (C, u00140, "system__file_ioS"); - u00141 : constant Version_32 := 16#86c56e5a#; - pragma Export (C, u00141, "ada__finalizationS"); - u00142 : constant Version_32 := 16#95817ed8#; - pragma Export (C, u00142, "system__finalization_rootB"); - u00143 : constant Version_32 := 16#09c79f94#; - pragma Export (C, u00143, "system__finalization_rootS"); - u00144 : constant Version_32 := 16#bbaa76ac#; - pragma Export (C, u00144, "system__file_control_blockS"); - u00145 : constant Version_32 := 16#42fe0dc9#; - pragma Export (C, u00145, "backend_threadB"); - u00146 : constant Version_32 := 16#f05bffcc#; - pragma Export (C, u00146, "backend_threadS"); - u00147 : constant Version_32 := 16#ec10d536#; - pragma Export (C, u00147, "byte_bufferB"); - u00148 : constant Version_32 := 16#d863b3a6#; - pragma Export (C, u00148, "byte_bufferS"); - u00149 : constant Version_32 := 16#50c545ee#; - pragma Export (C, u00149, "typesB"); - u00150 : constant Version_32 := 16#f05fd2f3#; - pragma Export (C, u00150, "typesS"); - u00151 : constant Version_32 := 16#de0eeefc#; - pragma Export (C, u00151, "tcp_clientB"); - u00152 : constant Version_32 := 16#33f97082#; - pragma Export (C, u00152, "tcp_clientS"); - u00153 : constant Version_32 := 16#039168f8#; - pragma Export (C, u00153, "system__stream_attributesB"); - u00154 : constant Version_32 := 16#8bc30a4e#; - pragma Export (C, u00154, "system__stream_attributesS"); - u00155 : constant Version_32 := 16#7d12d4bb#; - pragma Export (C, u00155, "system__tasking__protected_objectsB"); - u00156 : constant Version_32 := 16#15001baf#; - pragma Export (C, u00156, "system__tasking__protected_objectsS"); - u00157 : constant Version_32 := 16#d99cdb5c#; - pragma Export (C, u00157, "system__soft_links__taskingB"); - u00158 : constant Version_32 := 16#e939497e#; - pragma Export (C, u00158, "system__soft_links__taskingS"); - u00159 : constant Version_32 := 16#17d21067#; - pragma Export (C, u00159, "ada__exceptions__is_null_occurrenceB"); - u00160 : constant Version_32 := 16#e1d7566f#; - pragma Export (C, u00160, "ada__exceptions__is_null_occurrenceS"); - u00161 : constant Version_32 := 16#81b5daee#; - pragma Export (C, u00161, "system__tasking__protected_objects__operationsB"); - u00162 : constant Version_32 := 16#ba36ad85#; - pragma Export (C, u00162, "system__tasking__protected_objects__operationsS"); - u00163 : constant Version_32 := 16#100eaf58#; - pragma Export (C, u00163, "system__restrictionsB"); - u00164 : constant Version_32 := 16#0d473555#; - pragma Export (C, u00164, "system__restrictionsS"); - u00165 : constant Version_32 := 16#6bc03304#; - pragma Export (C, u00165, "system__tasking__entry_callsB"); - u00166 : constant Version_32 := 16#6342024e#; - pragma Export (C, u00166, "system__tasking__entry_callsS"); - u00167 : constant Version_32 := 16#e8c12513#; - pragma Export (C, u00167, "system__tasking__initializationB"); - u00168 : constant Version_32 := 16#fc2303e6#; - pragma Export (C, u00168, "system__tasking__initializationS"); - u00169 : constant Version_32 := 16#80ce688e#; - pragma Export (C, u00169, "system__tasking__task_attributesB"); - u00170 : constant Version_32 := 16#e81a3c25#; - pragma Export (C, u00170, "system__tasking__task_attributesS"); - u00171 : constant Version_32 := 16#7010f8c6#; - pragma Export (C, u00171, "system__tasking__protected_objects__entriesB"); - u00172 : constant Version_32 := 16#7daf93e7#; - pragma Export (C, u00172, "system__tasking__protected_objects__entriesS"); - u00173 : constant Version_32 := 16#cc950a30#; - pragma Export (C, u00173, "system__tasking__queuingB"); - u00174 : constant Version_32 := 16#6dba2805#; - pragma Export (C, u00174, "system__tasking__queuingS"); - u00175 : constant Version_32 := 16#e9f46e92#; - pragma Export (C, u00175, "system__tasking__utilitiesB"); - u00176 : constant Version_32 := 16#0f670827#; - pragma Export (C, u00176, "system__tasking__utilitiesS"); - u00177 : constant Version_32 := 16#915f61e7#; - pragma Export (C, u00177, "system__tasking__rendezvousB"); - u00178 : constant Version_32 := 16#5618a4d0#; - pragma Export (C, u00178, "system__tasking__rendezvousS"); - u00179 : constant Version_32 := 16#b5988c27#; - pragma Export (C, u00179, "gnatS"); - u00180 : constant Version_32 := 16#369e155e#; - pragma Export (C, u00180, "gnat__socketsB"); - u00181 : constant Version_32 := 16#a6a830c3#; - pragma Export (C, u00181, "gnat__socketsS"); - u00182 : constant Version_32 := 16#cb835252#; - pragma Export (C, u00182, "gnat__sockets__linker_optionsS"); - u00183 : constant Version_32 := 16#b0810072#; - pragma Export (C, u00183, "gnat__sockets__thinB"); - u00184 : constant Version_32 := 16#c5872358#; - pragma Export (C, u00184, "gnat__sockets__thinS"); - u00185 : constant Version_32 := 16#357666d8#; - pragma Export (C, u00185, "ada__calendar__delaysB"); - u00186 : constant Version_32 := 16#2da855d5#; - pragma Export (C, u00186, "ada__calendar__delaysS"); - u00187 : constant Version_32 := 16#9a2e29aa#; - pragma Export (C, u00187, "ada__calendarB"); - u00188 : constant Version_32 := 16#c4f07049#; - pragma Export (C, u00188, "ada__calendarS"); - u00189 : constant Version_32 := 16#728833ee#; - pragma Export (C, u00189, "gnat__os_libS"); - u00190 : constant Version_32 := 16#485b8267#; - pragma Export (C, u00190, "gnat__task_lockS"); - u00191 : constant Version_32 := 16#05c60a38#; - pragma Export (C, u00191, "system__task_lockB"); - u00192 : constant Version_32 := 16#27bfdb6a#; - pragma Export (C, u00192, "system__task_lockS"); - u00193 : constant Version_32 := 16#305d23a5#; - pragma Export (C, u00193, "gnat__sockets__thin_commonB"); - u00194 : constant Version_32 := 16#fdbccd6b#; - pragma Export (C, u00194, "gnat__sockets__thin_commonS"); - u00195 : constant Version_32 := 16#69f6ee6b#; - pragma Export (C, u00195, "interfaces__c__stringsB"); - u00196 : constant Version_32 := 16#603c1c44#; - pragma Export (C, u00196, "interfaces__c__stringsS"); - u00197 : constant Version_32 := 16#5de653db#; - pragma Export (C, u00197, "system__communicationB"); - u00198 : constant Version_32 := 16#5f55b9d6#; - pragma Export (C, u00198, "system__communicationS"); - u00199 : constant Version_32 := 16#5a895de2#; - pragma Export (C, u00199, "system__pool_globalB"); - u00200 : constant Version_32 := 16#7141203e#; - pragma Export (C, u00200, "system__pool_globalS"); - u00201 : constant Version_32 := 16#2323a8af#; - pragma Export (C, u00201, "system__memoryB"); - u00202 : constant Version_32 := 16#1f488a30#; - pragma Export (C, u00202, "system__memoryS"); - u00203 : constant Version_32 := 16#6d4d969a#; - pragma Export (C, u00203, "system__storage_poolsB"); - u00204 : constant Version_32 := 16#65d872a9#; - pragma Export (C, u00204, "system__storage_poolsS"); - u00205 : constant Version_32 := 16#637ab3c9#; - pragma Export (C, u00205, "system__pool_sizeB"); - u00206 : constant Version_32 := 16#471ba45d#; - pragma Export (C, u00206, "system__pool_sizeS"); - u00207 : constant Version_32 := 16#d763507a#; - pragma Export (C, u00207, "system__val_intB"); - u00208 : constant Version_32 := 16#0e90c63b#; - pragma Export (C, u00208, "system__val_intS"); - u00209 : constant Version_32 := 16#1d9142a4#; - pragma Export (C, u00209, "system__val_unsB"); - u00210 : constant Version_32 := 16#621b7dbc#; - pragma Export (C, u00210, "system__val_unsS"); - u00211 : constant Version_32 := 16#d96e3c40#; - pragma Export (C, u00211, "system__finalization_mastersB"); - u00212 : constant Version_32 := 16#1dc9d5ce#; - pragma Export (C, u00212, "system__finalization_mastersS"); - u00213 : constant Version_32 := 16#7268f812#; - pragma Export (C, u00213, "system__img_boolB"); - u00214 : constant Version_32 := 16#b3ec9def#; - pragma Export (C, u00214, "system__img_boolS"); - u00215 : constant Version_32 := 16#f7cc1da6#; - pragma Export (C, u00215, "mailboxB"); - u00216 : constant Version_32 := 16#ab2e415b#; - pragma Export (C, u00216, "mailboxS"); - u00217 : constant Version_32 := 16#bcec81df#; - pragma Export (C, u00217, "ada__containers__helpersB"); - u00218 : constant Version_32 := 16#4adfc5eb#; - pragma Export (C, u00218, "ada__containers__helpersS"); - u00219 : constant Version_32 := 16#020a3f4d#; - pragma Export (C, u00219, "system__atomic_countersB"); - u00220 : constant Version_32 := 16#f269c189#; - pragma Export (C, u00220, "system__atomic_countersS"); - u00221 : constant Version_32 := 16#2e260032#; - pragma Export (C, u00221, "system__storage_pools__subpoolsB"); - u00222 : constant Version_32 := 16#cc5a1856#; - pragma Export (C, u00222, "system__storage_pools__subpoolsS"); - u00223 : constant Version_32 := 16#84042202#; - pragma Export (C, u00223, "system__storage_pools__subpools__finalizationB"); - u00224 : constant Version_32 := 16#fe2f4b3a#; - pragma Export (C, u00224, "system__storage_pools__subpools__finalizationS"); - u00225 : constant Version_32 := 16#1b294b30#; - pragma Export (C, u00225, "pathfollowingB"); - u00226 : constant Version_32 := 16#e25993bf#; - pragma Export (C, u00226, "pathfollowingS"); - u00227 : constant Version_32 := 16#932a4690#; - pragma Export (C, u00227, "system__concat_4B"); - u00228 : constant Version_32 := 16#3851c724#; - pragma Export (C, u00228, "system__concat_4S"); - u00229 : constant Version_32 := 16#8aa4f090#; - pragma Export (C, u00229, "system__img_realB"); - u00230 : constant Version_32 := 16#819dbde6#; - pragma Export (C, u00230, "system__img_realS"); - u00231 : constant Version_32 := 16#42a257f7#; - pragma Export (C, u00231, "system__fat_llfS"); - u00232 : constant Version_32 := 16#1b28662b#; - pragma Export (C, u00232, "system__float_controlB"); - u00233 : constant Version_32 := 16#a6c9af38#; - pragma Export (C, u00233, "system__float_controlS"); - u00234 : constant Version_32 := 16#3e932977#; - pragma Export (C, u00234, "system__img_lluB"); - u00235 : constant Version_32 := 16#3b7a9044#; - pragma Export (C, u00235, "system__img_lluS"); - u00236 : constant Version_32 := 16#16458a73#; - pragma Export (C, u00236, "system__powten_tableS"); - u00237 : constant Version_32 := 16#e18a47a0#; - pragma Export (C, u00237, "ada__float_text_ioB"); - u00238 : constant Version_32 := 16#1fef695b#; - pragma Export (C, u00238, "ada__float_text_ioS"); - u00239 : constant Version_32 := 16#d5f9759f#; - pragma Export (C, u00239, "ada__text_io__float_auxB"); - u00240 : constant Version_32 := 16#48248c7b#; - pragma Export (C, u00240, "ada__text_io__float_auxS"); - u00241 : constant Version_32 := 16#181dc502#; - pragma Export (C, u00241, "ada__text_io__generic_auxB"); - u00242 : constant Version_32 := 16#16b3615d#; - pragma Export (C, u00242, "ada__text_io__generic_auxS"); - u00243 : constant Version_32 := 16#c2ca0511#; - pragma Export (C, u00243, "system__val_realB"); - u00244 : constant Version_32 := 16#b81c9b15#; - pragma Export (C, u00244, "system__val_realS"); - u00245 : constant Version_32 := 16#b2a569d2#; - pragma Export (C, u00245, "system__exn_llfB"); - u00246 : constant Version_32 := 16#fa4b57d8#; - pragma Export (C, u00246, "system__exn_llfS"); - u00247 : constant Version_32 := 16#1e40f010#; - pragma Export (C, u00247, "system__fat_fltS"); - u00248 : constant Version_32 := 16#8bf4f526#; - pragma Export (C, u00248, "system__tasking__stagesB"); - u00249 : constant Version_32 := 16#14e0647c#; - pragma Export (C, u00249, "system__tasking__stagesS"); - u00250 : constant Version_32 := 16#bc208064#; - pragma Export (C, u00250, "webots_threadB"); - u00251 : constant Version_32 := 16#8f0ac5ba#; - pragma Export (C, u00251, "webots_threadS"); - - -- BEGIN ELABORATION ORDER - -- ada%s - -- ada.characters%s - -- ada.characters.latin_1%s - -- interfaces%s - -- system%s - -- system.atomic_counters%s - -- system.atomic_counters%b - -- system.exn_llf%s - -- system.exn_llf%b - -- system.float_control%s - -- system.float_control%b - -- system.img_bool%s - -- system.img_bool%b - -- system.img_enum_new%s - -- system.img_enum_new%b - -- system.img_int%s - -- system.img_int%b - -- system.img_lli%s - -- system.img_lli%b - -- system.io%s - -- system.io%b - -- system.os_primitives%s - -- system.os_primitives%b - -- system.parameters%s - -- system.parameters%b - -- system.crtl%s - -- interfaces.c_streams%s - -- interfaces.c_streams%b - -- system.powten_table%s - -- system.restrictions%s - -- system.restrictions%b - -- system.storage_elements%s - -- system.storage_elements%b - -- system.stack_checking%s - -- system.stack_checking%b - -- system.stack_usage%s - -- system.stack_usage%b - -- system.string_hash%s - -- system.string_hash%b - -- system.htable%s - -- system.htable%b - -- system.strings%s - -- system.strings%b - -- system.traceback_entries%s - -- system.traceback_entries%b - -- system.unsigned_types%s - -- system.img_llu%s - -- system.img_llu%b - -- system.img_uns%s - -- system.img_uns%b - -- system.wch_con%s - -- system.wch_con%b - -- system.wch_jis%s - -- system.wch_jis%b - -- system.wch_cnv%s - -- system.wch_cnv%b - -- system.concat_2%s - -- system.concat_2%b - -- system.concat_3%s - -- system.concat_3%b - -- system.concat_4%s - -- system.concat_4%b - -- system.traceback%s - -- system.traceback%b - -- system.case_util%s - -- system.standard_library%s - -- system.exception_traces%s - -- ada.exceptions%s - -- system.wch_stw%s - -- system.val_util%s - -- system.val_llu%s - -- system.val_lli%s - -- system.os_lib%s - -- system.bit_ops%s - -- ada.characters.handling%s - -- ada.exceptions.traceback%s - -- system.secondary_stack%s - -- system.case_util%b - -- system.address_image%s - -- system.bounded_strings%s - -- system.soft_links%s - -- system.exception_table%s - -- system.exception_table%b - -- ada.io_exceptions%s - -- ada.strings%s - -- ada.containers%s - -- system.exceptions%s - -- system.exceptions%b - -- ada.exceptions.last_chance_handler%s - -- system.exceptions_debug%s - -- system.exceptions_debug%b - -- system.exception_traces%b - -- system.memory%s - -- system.memory%b - -- system.wch_stw%b - -- system.val_util%b - -- system.val_llu%b - -- system.val_lli%b - -- system.os_lib%b - -- system.bit_ops%b - -- ada.strings.maps%s - -- ada.strings.maps.constants%s - -- ada.characters.handling%b - -- interfaces.c%s - -- ada.exceptions.traceback%b - -- system.exceptions.machine%s - -- system.exceptions.machine%b - -- system.secondary_stack%b - -- system.address_image%b - -- system.bounded_strings%b - -- system.soft_links.initialize%s - -- system.soft_links.initialize%b - -- system.soft_links%b - -- ada.exceptions.last_chance_handler%b - -- system.standard_library%b - -- system.mmap%s - -- ada.strings.maps%b - -- interfaces.c%b - -- system.object_reader%s - -- system.dwarf_lines%s - -- system.dwarf_lines%b - -- system.mmap.unix%s - -- system.mmap.os_interface%s - -- system.mmap%b - -- system.traceback.symbolic%s - -- system.traceback.symbolic%b - -- ada.exceptions%b - -- system.object_reader%b - -- system.mmap.os_interface%b - -- ada.exceptions.is_null_occurrence%s - -- ada.exceptions.is_null_occurrence%b - -- ada.tags%s - -- ada.tags%b - -- ada.streams%s - -- ada.streams%b - -- gnat%s - -- gnat.os_lib%s - -- interfaces.c.strings%s - -- interfaces.c.strings%b - -- system.communication%s - -- system.communication%b - -- system.fat_flt%s - -- system.fat_llf%s - -- system.file_control_block%s - -- system.finalization_root%s - -- system.finalization_root%b - -- ada.finalization%s - -- ada.containers.helpers%s - -- ada.containers.helpers%b - -- system.file_io%s - -- system.file_io%b - -- system.img_real%s - -- system.img_real%b - -- system.linux%s - -- system.multiprocessors%s - -- system.multiprocessors%b - -- system.os_constants%s - -- system.os_interface%s - -- system.os_interface%b - -- system.storage_pools%s - -- system.storage_pools%b - -- system.finalization_masters%s - -- system.finalization_masters%b - -- system.storage_pools.subpools%s - -- system.storage_pools.subpools.finalization%s - -- system.storage_pools.subpools.finalization%b - -- system.storage_pools.subpools%b - -- system.stream_attributes%s - -- system.stream_attributes%b - -- system.task_info%s - -- system.task_info%b - -- system.task_lock%s - -- system.task_lock%b - -- gnat.task_lock%s - -- system.task_primitives%s - -- system.interrupt_management%s - -- system.interrupt_management%b - -- system.tasking%s - -- system.task_primitives.operations%s - -- system.tasking.debug%s - -- system.tasking%b - -- system.task_primitives.operations%b - -- system.tasking.debug%b - -- system.val_real%s - -- system.val_real%b - -- system.val_uns%s - -- system.val_uns%b - -- system.val_int%s - -- system.val_int%b - -- ada.calendar%s - -- ada.calendar%b - -- ada.calendar.delays%s - -- ada.calendar.delays%b - -- ada.real_time%s - -- ada.real_time%b - -- ada.text_io%s - -- ada.text_io%b - -- ada.text_io.generic_aux%s - -- ada.text_io.generic_aux%b - -- ada.text_io.float_aux%s - -- ada.text_io.float_aux%b - -- ada.float_text_io%s - -- ada.float_text_io%b - -- system.pool_global%s - -- system.pool_global%b - -- system.pool_size%s - -- system.pool_size%b - -- gnat.sockets%s - -- gnat.sockets.thin_common%s - -- gnat.sockets.thin_common%b - -- gnat.sockets.thin%s - -- gnat.sockets.thin%b - -- gnat.sockets.linker_options%s - -- gnat.sockets%b - -- system.soft_links.tasking%s - -- system.soft_links.tasking%b - -- system.tasking.initialization%s - -- system.tasking.task_attributes%s - -- system.tasking.initialization%b - -- system.tasking.task_attributes%b - -- system.tasking.protected_objects%s - -- system.tasking.protected_objects%b - -- system.tasking.protected_objects.entries%s - -- system.tasking.protected_objects.entries%b - -- system.tasking.queuing%s - -- system.tasking.queuing%b - -- system.tasking.utilities%s - -- system.tasking.utilities%b - -- system.tasking.entry_calls%s - -- system.tasking.rendezvous%s - -- system.tasking.protected_objects.operations%s - -- system.tasking.protected_objects.operations%b - -- system.tasking.entry_calls%b - -- system.tasking.rendezvous%b - -- system.tasking.stages%s - -- system.tasking.stages%b - -- types%s - -- mailbox%s - -- mailbox%b - -- byte_buffer%s - -- byte_buffer%b - -- tcp_client%s - -- tcp_client%b - -- types%b - -- backend_thread%s - -- backend_thread%b - -- pathfollowing%s - -- pathfollowing%b - -- webots_thread%s - -- webots_thread%b - -- main%b - -- END ELABORATION ORDER - -end ada_main; diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali deleted file mode 100644 index b066730..0000000 --- a/external/controller/obj/b__main.ali +++ /dev/null @@ -1,463 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -gnatA -A -gnatWb -A -gnatiw -A -gnatws -A -g -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV NO_ACCESS_SUBPROGRAMS -RV NO_DEFAULT_INITIALIZATION -RV NO_IMPLEMENTATION_ATTRIBUTES -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV NO_ELABORATION_CODE -RV NO_OBSOLESCENT_FEATURES -RV SPARK_05 - -U ada_main%b b__main.adb 3b50f762 OO PK IL -W ada%s ada.ads ada.ali -W ada.exceptions%s a-except.adb a-except.ali -W system%s system.ads system.ali -W system.restrictions%s s-restri.adb s-restri.ali - -U ada_main%s b__main.ads 89398a71 EE NE OO PK IL -W system%s system.ads system.ali -W system.parameters%s s-parame.adb s-parame.ali -W system.secondary_stack%s s-secsta.adb s-secsta.ali - -D ada.ads 20200312110721 76789da1 ada%s -D a-except.ads 20200312110721 291912d5 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-208i7*Default_Secondary_Stack_Size{7|58I9} 209m25 209r25 278m7 -210i7*Leap_Seconds_Support{integer} 211m25 211r25 275m7 -212m7*Bind_Env_Addr{6|67M9} 213m25 213r25 -215U17*Runtime_Initialize 215>37 216b25 282s7 -215i37 Install_Handler{integer} -218p7*Finalize_Library_Objects{177P9} 219m25 219r25 284m7 -220i7*Binder_Sec_Stacks_Count{natural} 221m27 221r27 279m7 -222m7*Default_Sized_SS_Pool{6|67M9} 223m27 223r27 280m7 -386U14 Ada_Main_Program 387b24 412s7 -395U17*Initialize 395>29 396b25 410s7 -395m29 Addr{6|67M9} -398U17*Finalize 399b25 414s7 -400a7 SEH(integer) 410m19 410r19 -402m7 Ensure_Reference{6|67M9} 403r24 -X 6 system.ads -37K9*System 4|3w6 4r6 5r6 9r16 10r16 34r14 35r14 5|7r6 61r57 61r90 192r39 -. 198r26 208r38 212r23 222r31 236r7 278r39 391r14 392r14 395r36 402r34 6|156e11 -67M9*Address 4|9r23 10r23 34r21 35r21 5|192r46 198r33 212r30 222r38 391r21 -. 392r21 395r43 402r41 -X 7 s-parame.ads -51K16*Parameters 4|4w13 5|61r97 208r45 278r46 7|198e22 -58I9*Size_Type 5|208r56 -95i4*Runtime_Default_Sec_Stack_Size{58I9} 5|61r108 278r57 -X 8 s-restri.ads -45K16*Restrictions 5|7w13 236m14 8|77e24 -52r4*Run_Time_Restrictions{9|322R9[49]} 5|236m27 -X 9 s-rident.ads -318A9*Restriction_Flags(boolean)<85E9[8|49]> -319A9*Restriction_Values(natural)<85E9[8|49]> -320A9*Parameter_Flags(boolean)<85E9[8|49]> -322R9*Restrictions_Info -323a7*Set{318A9[8|49]} 5|237m10[8|49] -329a7*Value{319A9[8|49]} 5|250m10[8|49] -336a7*Violated{318A9[8|49]} 5|251m10[8|49] -341a7*Count{319A9[8|49]} 5|264m10[8|49] -349a7*Unknown{320A9[8|49]} 5|265m10[8|49] -X 10 s-secsta.ads -37K16*Secondary_Stack 4|5w13 5|61r64 10|430e27 -45R9*SS_Stack 5|61r80 10|330e14 - diff --git a/external/controller/obj/b__main.o b/external/controller/obj/b__main.o deleted file mode 100644 index 01b7acac76446de7b20e136be69dfd2934317b8c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 86424 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64s29[16|6] -. 65s29[16|6] 66s29[16|6] 67s29[16|6] 75s29[16|6] 76s29[16|6] 77s29[16|6] -. 78s29[16|6] 79s29[16|6] 80s29[16|6] 81s29[16|6] 82s29[16|6] 91s33[16|6] -431U14*Append 17|7s19[16|6] 13s19[16|6] 14s19[16|6] 20s19[16|6] 21s19[16|6] -. 22s19[16|6] 23s19[16|6] 29s19[16|6] 30s19[16|6] 31s19[16|6] 32s19[16|6] -. 33s19[16|6] 34s19[16|6] 35s19[16|6] 36s19[16|6] 42s22[16|6] -X 10 a-iteint.ads -24h9 Forward_Iterator -32h9 Reversible_Iterator<24R9[6|111]> -X 16 byte_buffer.ads -4K9*byte_buffer 33l5 33e16 17|3b14 118l5 118t16 -6K12*Byte_Vector[6|73] 8r8 12r16 -11R9*Buffer 14e14 16p14 16r41 17p14 17r42 18p14 18r42 19p14 19r42 20p14 20r43 -. 22p14 22r40 23p14 23r41 24p14 24r41 25p14 25r41 26p14 26r42 28p13 28r33 -. 29p13 29r38 30p13 30r39 31p14 31r36 17|5r41 10r42 17r42 26r42 39r43 46r40 -. 52r41 61r41 72r41 87r42 97r33 102r38 107r39 112r36 -12r7*Buffer{6|88R9[6]} 17|7m12 13m12 14m12 20m12 21m12 22m12 23m12 29m12 -. 30m12 31m12 32m12 33m12 34m12 35m12 36m12 42m15 48r19 55r22 56r22 64r22 -. 65r22 66r22 67r22 75r22 76r22 77r22 78r22 79r22 80r22 81r22 82r22 91r26 -. 99r33 -13i7*Index{integer} 17|48r40 49m12 49r26 55r43 56r43 58m12 58r26 64r43 65r43 -. 66r43 67r43 69m12 69r26 75r43 76r43 77r43 78r43 79r43 80r43 81r43 82r43 -. 84m12 84r26 91r47 94m12 94r26 109r33 114m12 114r39 -16U14*write_uint8 16=27 16>49 17|5b14 8l8 8t19 -16r27 Self{11R9} 17|5b27 7m7 7r7 -16m49 Val{51|6M9} 17|5b49 7r27 -17U14*write_uint16 17=28 17>50 17|10b14 15l8 15t20 -17r28 Self{11R9} 17|10b28 13m7 13r7 14m7 14r7 -17m50 Val{51|7M9} 17|10b50 11r54 -18U14*write_uint32 18=28 18>50 17|17b14 24l8 24t20 -18r28 Self{11R9} 17|17b28 20m7 20r7 21m7 21r7 22m7 22r7 23m7 23r7 -18m50 Val{51|8M9} 17|17b50 18r54 -19U14*write_uint64 19=28 19>50 17|26b14 37l8 37t20 -19r28 Self{11R9} 17|26b28 29m7 29r7 30m7 30r7 31m7 31r7 32m7 32r7 33m7 33r7 -. 34m7 34r7 35m7 35r7 36m7 36r7 -19m50 Val{51|9M9} 17|26b50 27r54 -20U14*write_payload 20=29 20^51 17|39b14 44l8 44t21 -20r29 Self{11R9} 17|39b29 42m10 42r10 -20p51 Val(51|15A9) 17|39b51 41r16 42r30 -22U14*read_uint8 22=26 22<48 17|46b14 50l8 50t18 -22r26 Self{11R9} 17|46b26 48r14 48r35 49m7 49r21 -22m48 Val{51|6M9} 17|46b48 48m7 -23U14*read_uint16 23=27 23<49 17|52b14 59l8 59t19 -23r27 Self{11R9} 17|52b27 55r17 55r38 56r17 56r38 58m7 58r21 -23m49 Val{51|7M9} 17|52b49 57m7 -24U14*read_uint32 24=27 24<49 17|61b14 70l8 70t19 -24r27 Self{11R9} 17|61b27 64r17 64r38 65r17 65r38 66r17 66r38 67r17 67r38 -. 69m7 69r21 -24m49 Val{51|8M9} 17|61b49 68m7 -25U14*read_uint64 25=27 25<49 17|72b14 85l8 85t19 -25r27 Self{11R9} 17|72b27 75r17 75r38 76r17 76r38 77r17 77r38 78r17 78r38 -. 79r17 79r38 80r17 80r38 81r17 81r38 82r17 82r38 84m7 84r21 -25m49 Val{51|9M9} 17|72b49 83m7 -26U14*read_payload 26=28 26^50 17|87b14 95l8 95t20 -26r28 Self{11R9} 17|87b28 91r21 91r42 94m7 94r21 -26p50 Val(51|15A9) 17|87b50 90r16 91r10 -28V13*size{51|8M9} 28=19 17|97b13 100l8 100t12 104s19 -28r19 Self{11R9} 17|97b19 99r28 -29V13*remaining{51|8M9} 29=24 17|102b13 105l8 105t17 -29r24 Self{11R9} 17|102b24 104m14 104r14 104m26 104r26 -30V13*bytes_read{51|8M9} 30=25 17|104s31 107b13 110l8 110t18 -30r25 Self{11R9} 17|107b25 109r28 -31U14*unwind 31=22 31>44 17|112b14 115l8 115t14 -31r22 Self{11R9} 17|112b22 114m7 114r34 -31m44 Bytes{51|8M9} 17|112b44 114r56 -X 17 byte_buffer.adb -11a7 o2{51|11A9} 13r27 14r27 -18a7 o4{51|12A9} 20r27 21r27 22r27 23r27 -27a7 o8{51|13A9} 29r27 30r27 31r27 32r27 33r27 34r27 35r27 36r27 -41m11 I<18|74M9> 42r35 -53a7 o2{51|11A9} 55m7 56m7 57r38 -62a7 o4{51|12A9} 64m7 65m7 66m7 67m7 68r38 -73a7 o8{51|13A9} 75m7 76m7 77m7 78m7 79m7 80m7 81m7 82m7 83r38 -88i7 count{integer} 91r55 92m10 92r19 94r34 -90m11 I<18|74M9> 91r15 -X 18 interfac.ads -63M9*Unsigned_8 -66M9*Unsigned_16 -74M9*Unsigned_32 -77M9*Unsigned_64 -X 20 system.ads -67M9*Address -X 28 s-memory.ads -53V13*Alloc{20|67M9} 103i22 -68U14*Free 104i22 -76V13*Realloc{20|67M9} 105i22 -X 37 s-stausa.ads -203U14*Initialize 204i22 -268U14*Output_Results 272i22 -X 39 s-stalib.adb -93U14 Break_Start 94i22 -X 51 types.ads -4K9*types 16|2w6 2r17 7r46 16r58 17r59 18r59 19r59 20r64 22r58 23r59 24r59 -. 25r59 26r63 28r48 29r53 30r54 31r55 17|1w6 5r58 10r59 11r12 11r30 17r59 -. 18r12 18r30 26r59 27r12 27r30 39r64 46r58 52r59 53r12 57r14 61r59 62r12 -. 68r14 72r59 73r12 83r14 87r63 97r48 99r14 102r53 107r54 109r14 112r55 51|45e10 -6M9*uint8<18|63M9> 16|7r52 16r64 22r64 17|5r64 46r64 -7M9*uint16<18|66M9> 16|17r65 23r65 17|10r65 52r65 -8M9*uint32<18|74M9> 16|18r65 24r65 28r54 29r59 30r60 31r61 17|17r65 61r65 -. 97r54 99r20 102r59 107r60 109r20 112r61 -9M9*uint64<18|77M9> 16|19r65 25r65 17|26r65 72r65 -11A9*Octets_2(6M9)<8M9> 17|11r18 53r18 -12A9*Octets_4(6M9)<8M9> 17|18r18 62r18 -13A9*Octets_8(6M9)<8M9> 17|27r18 73r18 -15A9*payload(6M9)<8M9> 16|20r70 26r69 17|39r70 87r69 -25V13*uint16_to_octets{11A9} 17|11s36 -26V13*uint32_to_octets{12A9} 17|18s36 -27V13*uint64_to_octets{13A9} 17|27s36 -29V13*octets_to_uint16{7M9} 17|57s20 -30V13*octets_to_uint32{8M9} 17|68s20 -31V13*octets_to_uint64{9M9} 17|83s20 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zbpLrgIXQtNlM+xz{Z|Ef0XG-ga#kfTupI7%UzNN-VRVI0lr#Z(#=`VC(Ix@%0;-oy z9*_2rRB6#W7|}Z@ABZ-+gAyF@v3HQXfX%OeZ`Lw-f#kkGt2cYu+21(uW_N4^0uX=z W1Rwwb2tWV=5P$##AOHbp1l|GazJ2@v diff --git a/external/controller/obj/gpsauto.cgpr b/external/controller/obj/gpsauto.cgpr deleted file mode 100644 index 20aa98d..0000000 --- a/external/controller/obj/gpsauto.cgpr +++ /dev/null @@ -1,91 +0,0 @@ -project _Auto is - - for Library_Support use "full"; - for Library_Auto_Init_Supported use "true"; - for Target use ""; - for Default_Language use "ada"; - - package Compiler is - for Driver ("ada") use "gcc"; - for Language_Kind ("ada") use "unit_based"; - for Dependency_Kind ("ada") use "ALI_File"; - for Object_File_Suffix ("html") use "-"; - for Object_File_Suffix ("xml") use "-"; - for Object_File_Suffix ("matlab") use "-"; - for Object_File_Suffix ("c#") use "-"; - for Object_File_Suffix ("asm2") use "-"; - for Object_File_Suffix ("asm_cpp") use "-"; - for Object_File_Suffix ("asm") use "-"; - for Object_File_Suffix ("gnat expanded code") use "-"; - for Object_File_Suffix ("java") use "-"; - for Object_File_Suffix ("javascript") use "-"; - for Object_File_Suffix ("tcl") use "-"; - for Object_File_Suffix ("shell") use "-"; - for Object_File_Suffix ("makefile") use "-"; - for Object_File_Suffix ("m4") use "-"; - for Object_File_Suffix ("fortran 90") use "-"; - for Object_File_Suffix ("pascal") use "-"; - for Object_File_Suffix ("perl") use "-"; - for Object_File_Suffix ("awk") use "-"; - for Object_File_Suffix ("autoconf") use "-"; - for Object_File_Suffix ("rest") use "-"; - for Object_File_Suffix ("texinfo") use "-"; - for Object_File_Suffix ("project file") use "-"; - for Object_File_Suffix ("changelog") use "-"; - for Object_File_Suffix ("qgen") use "-"; - for Object_File_Suffix ("simulink") use "-"; - for Object_File_Suffix ("python") use ".pyc"; - for Object_File_Suffix ("css") use "-"; - for Object_File_Suffix ("c++") use ".o"; - for Object_File_Suffix ("c") use ".o"; - for Object_File_Suffix ("ada") use ".o"; - end Compiler; - - package Naming is - for Spec_Suffix ("ada") use ".ads"; - for Body_Suffix ("ada") use ".adb"; - for Spec_Suffix ("c") use ".h"; - for Body_Suffix ("c") use ".c"; - for Spec_Suffix ("c++") use ".hh"; - for Body_Suffix ("c++") use ".cpp"; - for Dot_Replacement use "-"; - for Casing use "lowercase"; - for Spec_Suffix ("html") use ".html"; - for Body_Suffix ("xml") use ".xml"; - for Body_Suffix ("matlab") use ".m"; - for Spec_Suffix ("c#") use ".cs"; - for Body_Suffix ("asm2") use ".asm"; - for Body_Suffix ("asm_cpp") use ".S"; - for Body_Suffix ("asm") use ".s"; - for Body_Suffix ("gnat expanded code") use ".dg"; - for Body_Suffix ("java") use ".java"; - for Body_Suffix ("javascript") use ".js"; - for Body_Suffix ("tcl") use ".tcl"; - for Body_Suffix ("shell") use ".sh"; - for Body_Suffix ("m4") use ".m4"; - for Body_Suffix ("fortran 90") use ".f"; - for Body_Suffix ("pascal") use ".pas"; - for Body_Suffix ("perl") use ".pl"; - for Body_Suffix ("awk") use ".awk"; - for Body_Suffix ("autoconf") use "configure.in"; - for Body_Suffix ("rest") use ".rst"; - for Body_Suffix ("texinfo") use ".texi"; - for Body_Suffix ("project file") use ".gpr"; - for Spec_Suffix ("changelog") use ".changelog"; - for Body_Suffix ("qgen") use ".xmi"; - for Spec_Suffix ("simulink") use ".slx"; - for Body_Suffix ("simulink") use ".mdl"; - for Body_Suffix ("python") use ".py"; - for Body_Suffix ("css") use ".css"; - for Spec_Suffix ("c++") use ".hh"; - for Body_Suffix ("c++") use ".cpp"; - for Spec_Suffix ("c") use ".h"; - for Body_Suffix ("c") use ".c"; - for Spec_Suffix ("ada") use ".ads"; - for Body_Suffix ("ada") use ".adb"; - end Naming; - - for Library_Support use "full"; - -end _Auto; - diff --git a/external/controller/obj/mailbox.adb.stderr b/external/controller/obj/mailbox.adb.stderr deleted file mode 100644 index e69de29..0000000 diff --git a/external/controller/obj/mailbox.adb.stdout b/external/controller/obj/mailbox.adb.stdout deleted file mode 100644 index e69de29..0000000 diff --git a/external/controller/obj/mailbox.ali b/external/controller/obj/mailbox.ali deleted file mode 100644 index 4fc418b..0000000 --- a/external/controller/obj/mailbox.ali +++ /dev/null @@ -1,139 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -g -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV SIMPLE_BARRIERS -RV NO_DELAY -RV NO_DIRECT_BOOLEAN_OPERATORS -RV NO_EXCEPTION_HANDLERS -RV NO_EXCEPTION_PROPAGATION -RV NO_EXCEPTIONS -RV NO_FIXED_POINT -RV NO_IMPLICIT_CONDITIONALS -RV NO_PROTECTED_TYPES -RV NO_RECURSION -RV NO_RELATIVE_DELAY -RV NO_SELECT_STATEMENTS -RV NO_STANDARD_STORAGE_POOLS -RV NO_DYNAMIC_SIZED_OBJECTS -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV SPARK_05 -RV MAX_PROTECTED_ENTRIES=2 -RV MAX_ENTRY_QUEUE_LENGTH=1+ - -U mailbox%b mailbox.adb f7cc1da6 NE OO PK IL -Z ada.calendar.delays%s a-caldel.adb a-caldel.ali -Z ada.tags%s a-tags.adb a-tags.ali -Z system%s system.ads system.ali -Z system.soft_links%s s-soflin.adb 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a-reatim.ads 20200312110721 0240fc73 ada.real_time%s -D a-stream.ads 20200312110721 119b8fb3 ada.streams%s -D a-tags.ads 20200312110721 491b781d ada.tags%s -D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D interfac.ads 20200312110721 5ab55268 interfaces%s -D i-c.ads 20200312110721 5421119b interfaces.c%s -D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D mailbox.adb 20200706162034 f608dc66 mailbox%b -D system.ads 20200312110721 4635ec04 system%s -D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s -D s-exctab.ads 20200312110721 54135002 system.exception_table%s -D s-finroo.ads 20200312110721 4ff27390 system.finalization_root%s -D s-linux.ads 20200312110721 ed0b8aee system.linux%s -D s-multip.ads 20200312110721 38ac9f73 system.multiprocessors%s -D s-oscons.ads 20200409103809 0b994636 system.os_constants%s -D s-osinte.ads 20200312110721 710cf8c6 system.os_interface%s -D s-parame.ads 20200312110721 48ec542b system.parameters%s -D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s -D s-soflin.ads 20200312110721 a7318a92 system.soft_links%s -D s-stache.ads 20200312110721 a37c21ec system.stack_checking%s -D s-stausa.ads 20200312110721 017a0a05 system.stack_usage%s -D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s -D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s -D s-tasinf.ads 20200312110721 2b3f8252 system.task_info%s -D s-taspri.ads 20200312110721 f40ac08d system.task_primitives%s -D s-taprop.ads 20200312110721 1dd2e1b6 system.task_primitives.operations%s -D s-taskin.ads 20200312110721 b9d612e2 system.tasking%s -D s-taprob.ads 20200312110721 acd6094d system.tasking.protected_objects%s -D s-tpoben.ads 20200312110721 60ad3dae system.tasking.protected_objects.entries%s -D s-tpobop.ads 20200312110721 5f548bb3 system.tasking.protected_objects.operations%s -D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s -D s-unstyp.ads 20200312110721 34867c83 system.unsigned_types%s -D types.ads 20200624154551 a8aa7ce8 types%s -X 1 ada.ads -16K9*Ada 20e8 12|2r6 2r25 13|63r11 63r54 -X 6 a-reatim.ads -39K13*Real_Time 185e18 12|2w10 2r29 13|63r15 63r58 -49O9*Time 12|22r44 13|61r44 -54O9*Time_Span -61V13*Clock{49O9} 13|63s25 -71V14*"-"{54O9} 13|63s31 -107V14*">="{boolean} 13|63r51 -119V13*Milliseconds{54O9} 13|63s68 -X 10 interfac.ads -63M9*Unsigned_8 -X 12 mailbox.ads -4K9*mailbox 24l5 24e12 13|1b14 70l5 70t12 -6A9*Mail_List(38|18R9)<38|6M9> 14r14 -8W19*Mailbox 8d28 14E7 16l8 16e15 18r45 18r70 13|3b19 31l8 31t15 33r45 33r70 -8m28 Size{38|6M9} 14r27 13|16r67 -9U17 Clear 13|4b17 15l11 15t16 -10Y13 Deposit 10>21 13|16b13 20l11 20t18 -10r21 X{38|18R9} 13|18r29 -11Y13 Collect 11<21 13|21b13 26l11 26t18 37s19 44s20 -11r21 X{38|18R9} 13|23m10 -12U17 View_Inbox 12<28 13|27b17 30l11 30t21 -12m28 Remaining_Items{38|6M9} 13|27b28 29m10 -14a7 Items{6A9} 13|7r22 9r29 11r19 11r37 18r10 23r15 25r10 25r28 -15m7 Last{38|6M9} 13|6r13 8r26 8r42 10r19 10r27 11r28 11r46 16r60 18r16 19r10 -. 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-412I9*Socket_Type 55|16r48 56|6r48 -492I9*Port_Type 55|16r68 56|6r68 -597R9*Sock_Addr_Type 600e14 55|16r96 56|6r96 -598r7*Addr{517R9} 56|15m15 -599i7*Port{492I9} 56|17m15 -623V13*Inet_Addr{517R9} 56|15s23 -1008U14*Create_Socket 56|12s7 -1049U14*Connect_Socket 56|19s7 -1213P9*Stream_Access(10|39R9) 55|16r119 18r42 20r41 22r38 56|6r119 26r42 -. 51r40 70r38 -1216V13*Stream{1213P9} 56|21s14 -X 18 interfac.ads -63M9*Unsigned_8 -74M9*Unsigned_32 -X 21 mailbox.ads -4K9*mailbox 24e12 55|7w6 7r19 22r120 24r151 56|70r120 92r151 -8W19*Mailbox 16e15 55|22r128 24r159 56|70r128 92r159 -9U17 Clear 56|107s24 -10Y13 Deposit 56|108s24 -X 39 s-stausa.ads -203U14*Initialize 204i22 -268U14*Output_Results 272i22 -X 55 tcp_client.ads -9K9*tcp_client 26l5 26e15 56|3b14 114l5 114t15 -12m4*protocol_package_length{57|8M9} 56|79r51 -13m4*protocol_ID_length{57|8M9} 56|83r51 -14m4*protocol_join_ID{57|6M9} -16V13*build_connection{17|1213P9} 16=32 16>61 16=79 56|6b13 23l8 23t24 -16i32 client{17|412I9} 56|6b32 12m22 19r23 21r21 -16i61 port{17|492I9} 56|6b61 17r23 -16r79 address{17|597R9} 56|6b79 15m7 17m7 19r31 -18U14*send_bytes 18>26 18>57 56|26b14 48l8 48t18 -18p26 server_stream{17|1213P9} 56|26b26 35r28 39r25 44r31 -18r57 outgoing_packet{57|18R9} 56|26b57 33r55 39r40 42r10 43r19 44r46 -20V13*recv_bytes{57|8M9} 20>25 20>56 20=88 56|51b13 66l8 66t18 79s25 83s25 -. 87s25 -20p25 server_stream{17|1213P9} 56|51b24 59r27 -20m56 bytes_wanted{57|8M9} 56|51b55 58r30 -20r88 dynamic_buffer{15|11R9} 56|51b87 60m10 60r10 -22U14*listen 22>22 22=53 22=97 56|70b14 90l8 90t14 -22p22 server_stream{17|1213P9} 56|70b22 79r36 83r36 87r36 -22r53 dynamic_buffer{15|11R9} 56|70b53 79m76 79r76 80m31 83m71 83r71 84m30 -. 87m78 87r78 88m20 -22w97 local_mailbox{21|8W19} 56|70b97 88m79 -24U14*read_payload 24=27 24>71 24>102 24=128 56|88s7 92b14 112l8 112t20 -24r27 dynamic_buffer{15|11R9} 56|92b27 104m13 104r13 -24m71 payload_length{57|8M9} 56|92b71 99r39 100r54 -24m102 package_ID{57|6M9} 56|92b102 98r35 -24w128 local_mailbox{21|8W19} 56|92b128 107r10 108r10 -X 56 tcp_client.adb -28a7 uint8_payload_length{57|12A9} 33m7 34r16 35r43 -34m11 I<18|74M9> 35r64 -43m14 I<18|74M9> 44r76 -53m7 bytes_received{57|8M9} 58r13 61m10 61r28 64r14 -54m7 new_byte{57|6M9} 59m42 59r42 60r37 -72m7 bytes_received{57|8M9} 79m7 83m7 87m7 -73m7 conv_package_ID{57|6M9} 84m46 88r63 -74m7 conv_package_value_length{57|8M9} 80m47 81m7 81r36 87r51 88r36 -96r15 new_packet{57|18R9} 98m10 99m10 100m10 101m10 103r19 104r39 108r32 -103m14 I<18|74M9> 104r64 -X 57 types.ads -4K9*types 55|5w6 12r30 13r25 14r23 18r75 20r74 20r140 24r88 24r115 56|1w6 -. 1r17 26r75 28r30 35r10 39r7 44r13 51r73 51r139 53r24 54r18 59r10 72r24 -. 73r25 74r35 92r88 92r115 57|45e10 -6M9*uint8<18|63M9> 55|14r29 24r121 56|35r16 39r13 44r19 54r24 59r16 73r31 -. 92r121 -8M9*uint32<18|74M9> 55|12r36 13r31 20r80 20r146 24r94 56|51r79 51r145 53r30 -. 72r30 74r41 92r94 -12A9*Octets_4(6M9)<8M9> 56|28r36 -15A9*payload(6M9)<8M9> 56|100r42 -18R9*Communication_Packet 55|18r81 56|26r81 96r28 57|23e14 -19m7*package_ID{6M9} 56|39r56 98m21 -20m7*payload_length{8M9} 56|33r71 42r26 99m21 -21p7*local_payload(15A9) 56|43r35 44r62 100m21 103r30 104r50 -22o7*TTL{9|49O9} 56|101m21 -26V13*uint32_to_octets{12A9} 56|33s31 -39V13*hton32{8M9} 56|33s48 - diff --git a/external/controller/obj/tcp_client.o b/external/controller/obj/tcp_client.o deleted file mode 100644 index b5048cab0a5b822e29d6f31fa69fcbae597cacaf..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 48328 zcmcJ23w%_?_5a;hcGoOqNqC5W1dx|NNFYEEc?1Xq4MHJ7e0A9*n};OXnBDO3iQhmEZSupG*umbK%D&hsMmxX2n}4YnF;`~FmYdiA>M zhU)sYwcFp?(s$9`zTP`)`xJyKnC zum6Oqhtq=|EK<4VQ)b1WQoy`7K&7qrP@AYFb$x$u7o%Egf$wtS+kPNW`_N%;EowtT zf5V-9gLl;SH{99}o%B7=RfFKC6@8C_sOx*b_I|1t4LVXg=E>UdGb{QYtLuBa4iayF zWXoCAXIGz7{n_f+IS=omUO{J+*Y;g>sJ5^78C3I3{~|w^XTEA)eXQmqDslToANe-V zsoj3jA**-LgX4hI?sS^iU-MDXy-NeH7Trtb9O`@CC}(@kN1ityHrXbMY*c5_y;fE( zmgR~AMVJ4ZvVg6&e^IFRiUX*7N{&L18tu3GYTjYiD7B>K?f#l~`fA?luX($#=5T+_ 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mailbox; + + +procedure Main is + + task webots_thread; + task backend_thread; + + task body webots_thread is + begin + webots_main; + end webots_thread; + + task body backend_thread is + begin + backend_main; + end backend_thread; + + current_packet : types.Communication_Packet; + alternator : types.uint8 := 1; + send_packet : types.Communication_Packet; + dist: types.Octets_8; + distance_sensor_data: pathfollowing.Dtype; +begin + + -- threads have started here + + while true loop + + -- clear out both mailboxes + Backend_Mailbox.Clear; + Webots_Mailbox.Clear; + + -- alternate between checking webots and backend mailbox first, then update alternator + mailbox.check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet,alternator); + mailbox.update_alternator(alternator); + + -- do calculations with current packet + Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); + --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.payload_length))); + + if (current_packet.package_ID = 66) then + for J in uint32 range 0..8 loop + for I in uint32 range 0..7 loop + dist(I) := current_packet.local_payload(I+J*8); + end loop; + distance_sensor_data(Integer(J)) := Types.uint64_to_float64(octets_to_uint64(dist)); + end loop; + end if; + + if(current_packet.package_ID = 67) then + send_packet := pathfollowing.path_following(current_packet, distance_sensor_data); + send_bytes(Webots_Channel, send_packet); + end if; + + end loop; + +end Main; diff --git a/external/controller/src/Path/pathfollowing.adb b/external/controller/src/Path/pathfollowing.adb index d781ba9..d3cd3d2 100644 --- a/external/controller/src/Path/pathfollowing.adb +++ b/external/controller/src/Path/pathfollowing.adb @@ -89,30 +89,7 @@ package body pathfollowing is end if; end loop; bottomPoint := (bottomPoint + bottomPoint1) / 2; - -- find toppoint - for J in Column_Index loop - if binaImage(0)(J) = 255 then - topPoint := Integer(J); - end if; - end loop; - for J in reverse Column_Index loop - if binaImage(Row_Index(0))(J) = 255 then - topPoint1 := Integer(J); - end if; - end loop; - topPoint := (topPoint + topPoint1) / 2; - -- find rightpoint - for I in Row_Index loop - if binaImage(I)(Column_Index(width-1)) = 255 then - rightPoint:= Integer(I); - end if; - end loop; - for I in reverse Row_Index loop - if binaImage(I)(Column_Index(width-1)) = 255 then - rightPoint1:= Integer(I); - end if; - end loop; - rightPoint := (rightPoint + rightPoint1) /2; + --find leftPoint for I in Row_Index loop @@ -127,37 +104,8 @@ package body pathfollowing is end loop; leftPoint := (leftPoint + leftPoint1)/2; - Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); - --calculate steering angle - -- top and bottom - --if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then - --if topPoint - bottomPoint > 0 then - --steeringAngle := float64((topPoint - bottomPoint) / height) ; - --elsif topPoint - bottomPoint < 0 then - --steeringAngle := -float64((topPoint - bottomPoint) / height); - --else steeringAngle := 0.0; - --end if; - --end if; - -- bottom and left - --if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then - --steeringAngle := - float64(bottomPoint / (height - leftPoint)); - --end if; - -- top and right - --if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then - --steeringAngle := - float64((width - topPoint) / rightPoint); - --end if; - --top and left - --if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then - --steeringAngle := float64(topPoint / leftPoint); - --end if; - -- bottom and right - --if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then - --steeringAngle := float64((width-bottomPoint) / (height - leftPoint)); - --end if; - --Error : = bottomPoint - offset; - --integral : = integral + Error; - --derivative : = Error - lastError; - --V_turn := Kp * Error + Ki * integral + Kd * derivative; + --Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); + diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index aef4736..d9f354e 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -5,6 +5,7 @@ sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc01000000060100000 minimizedPerspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000000640000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024500000368fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000368000000a200ffffff00000003000006ce0000005efc0100000001fb0000000e0043006f006e0073006f006c0065010000006a000006ce0000005400ffffff000004830000036800000001000000020000000100000008fc00000000 maximizedDockId: -1 centralWidgetVisible: 1 +renderingMode: PLAIN selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index a959d51..5c62dae 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.3410563729501033 -0.8600231782809643 -0.37952692037539165 4.667501266739929 - position 22.908953187518193 24.721983248892425 -57.31062599431719 + orientation 0.030450811085339844 0.9868558496449489 0.15870816023693018 3.0617323403687435 + position -56.358246348100344 24.61133237180895 -59.595232574824195 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation -9.70634 0.398658 -59.7668 - rotation -0.0001098621319371706 -0.9999999869911889 0.00011810137139033657 -1.6143575511696904 + translation -58.23923736040401 0.39866972615599205 -7.578468307479976 + rotation 8.542815852656062e-07 0.9999999932241663 -0.00011640849416949046 -3.141369780567429 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -350,7 +350,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 1890.1406352206216 + position 3386.671021722067 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +361,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0.4629643068535678 -0.4625957826842963 -0.7560880850947852 4.437131141029881 + rotation -0.017080853322951187 0.01706725679469421 -0.9997084340922927 4.7128936988210155 children [ DEF wheel Shape { appearance PBRAppearance { @@ -379,11 +379,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.00019398409803612497 1.1275125861657554e-06 -1.1998674188824523 + angularVelocity -3.9999737276816463 4.552157369532559e-05 0.0008927525026377384 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 1890.1216434035343 + position 3386.654947686532 anchor 0.55 -0.1 -0.7 } device [ @@ -394,7 +396,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0.46856518835045863 -0.4681922058240962 -0.7491613462210035 4.4282852814950475 + rotation -0.009040262499814754 0.009033066361411046 -0.9999183353484649 4.713103639216648 children [ DEF wheel Shape { appearance PBRAppearance { @@ -412,11 +414,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.00031751440203224655 -1.12593273170221e-05 -1.1998764417035939 + angularVelocity -3.9999858821296193 3.943138265176719e-06 0.0008627478217563805 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 1430.715328258571 + position 2754.198914896801 anchor -0.55 -0.1 -0.7 } device [ @@ -427,7 +431,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation -0.624473326148181 0.623976239201424 0.469773049292395 2.262629609733359 + rotation 0.6621230874227028 -0.6615960308934264 0.35197117638791425 2.464234124827884 children [ DEF wheel Shape { appearance PBRAppearance { @@ -445,11 +449,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.000321761601080584 -1.8101490692772414e-06 -1.200055189147191 + angularVelocity -3.9999951869104535 3.061018393559411e-05 0.0008779606070655089 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 1430.7319599730783 + position 2754.215854105747 anchor -0.55 -0.1 0.55 } device [ @@ -460,7 +466,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation -0.6220663009142207 0.6215711299833704 0.4761122216852814 2.2522635054941085 + rotation 0.6637803273500233 -0.66325195164137 0.34567690936336726 2.4754640511034345 children [ DEF wheel Shape { appearance PBRAppearance { @@ -478,6 +484,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.00023032031136924484 1.0576419173318294e-05 -1.200072672022618 + angularVelocity -4.0000040616751225 4.55532058531178e-05 0.0009119188654241638 } } DEF car_body Shape { @@ -499,6 +507,8 @@ DEF Cab2 Robot { ] controller "controller" controllerArgs "5555" + linearVelocity -0.00026876535994141784 4.2120675013316926e-07 -1.1999666960135968 + angularVelocity 1.0114326827340488e-05 2.685449104314927e-05 8.76586269894374e-06 } DEF environment Solid { scale 1.09819 1.09819 1.09819 @@ -1497,6 +1507,9 @@ DEF environment Solid { rightBarrier TRUE leftBarrier TRUE bottom TRUE + startLine [ + "" + ] appearance Asphalt { colorOverride 0 0 0 IBLStrength 0 @@ -1504,6 +1517,9 @@ DEF environment Solid { pavementAppearance StonePavement { colorOverride 0 0 0 } + bottomTexture [ + "" + ] } Solid { translation 15.5 0 51.48 From 4ecb7a1697baa555f2d78e243e605d4022f0d550 Mon Sep 17 00:00:00 2001 From: Yue Date: Tue, 7 Jul 2020 19:26:28 +0200 Subject: [PATCH 16/25] pathfollowing.adb is already splited up --- external/controller/main | Bin 336368 -> 335776 bytes external/controller/obj/b__main.adb | 438 ++++++++++ external/controller/obj/b__main.ads | 791 +++++++++++++++++ external/controller/obj/b__main.ali | 461 ++++++++++ external/controller/obj/b__main.o | Bin 0 -> 86064 bytes .../controller/obj/backend_thread.adb.stderr | 0 .../controller/obj/backend_thread.adb.stdout | 0 external/controller/obj/backend_thread.ali | 151 ++++ external/controller/obj/backend_thread.o | Bin 0 -> 46864 bytes .../controller/obj/byte_buffer.adb.stderr | 0 .../controller/obj/byte_buffer.adb.stdout | 0 external/controller/obj/byte_buffer.ali | 223 +++++ external/controller/obj/byte_buffer.o | Bin 0 -> 211528 bytes .../obj/external_controller-loc.xml | 130 +++ external/controller/obj/gnatinspect.db | Bin 0 -> 270336 bytes external/controller/obj/gnatinspect.db-shm | Bin 0 -> 32768 bytes external/controller/obj/gnatinspect.db-wal | Bin 0 -> 131872 bytes external/controller/obj/gpsauto.cgpr | 91 ++ external/controller/obj/mailbox.adb.stderr | 0 external/controller/obj/mailbox.adb.stdout | 0 external/controller/obj/mailbox.ali | 139 +++ external/controller/obj/mailbox.o | Bin 0 -> 52336 bytes external/controller/obj/main.adb.stderr | 0 external/controller/obj/main.adb.stdout | 0 external/controller/obj/main.ali | 166 ++++ external/controller/obj/main.bexch | 32 + external/controller/obj/main.o | Bin 0 -> 35248 bytes .../controller/obj/pathfollowing.adb.stderr | 0 .../controller/obj/pathfollowing.adb.stdout | 0 external/controller/obj/pathfollowing.ali | 175 ++++ external/controller/obj/pathfollowing.o | Bin 0 -> 21936 bytes external/controller/obj/tcp_client.adb.stderr | 0 external/controller/obj/tcp_client.adb.stdout | 0 external/controller/obj/tcp_client.ali | 202 +++++ external/controller/obj/tcp_client.o | Bin 0 -> 48328 bytes external/controller/obj/types.adb.stderr | 0 external/controller/obj/types.adb.stdout | 0 external/controller/obj/types.ali | 184 ++++ external/controller/obj/types.o | Bin 0 -> 9800 bytes .../controller/obj/webots_thread.adb.stderr | 0 .../controller/obj/webots_thread.adb.stdout | 0 external/controller/obj/webots_thread.ali | 169 ++++ external/controller/obj/webots_thread.o | Bin 0 -> 48992 bytes external/controller/src/.#main.adb# | 65 -- .../controller/src/Path/pathfollowing.adb | 105 +-- .../controller/src/Path/pathfollowing.ads | 5 +- external/controller/src/main.adb | 2 +- test/ada/Makefile | 5 + test/ada/ada.gpr | 26 + test/ada/empty-loc.xml | 46 + test/ada/gnatinspect.db | Bin 0 -> 602112 bytes test/ada/obj/ada-loc.xml | 205 +++++ test/ada/obj/b__test_main.adb | 572 ++++++++++++ test/ada/obj/b__test_main.ads | 815 ++++++++++++++++++ test/ada/obj/b__test_main.ali | 504 +++++++++++ test/ada/obj/b__test_main.o | Bin 0 -> 26796 bytes test/ada/obj/buffer_suite.adb.stderr | 0 test/ada/obj/buffer_suite.adb.stdout | 0 test/ada/obj/buffer_suite.ali | 95 ++ test/ada/obj/buffer_suite.o | Bin 0 -> 2032 bytes test/ada/obj/buffer_tests.adb.stderr | 0 test/ada/obj/buffer_tests.adb.stdout | 0 test/ada/obj/buffer_tests.ali | 214 +++++ test/ada/obj/buffer_tests.o | Bin 0 -> 20416 bytes test/ada/obj/byte_buffer.adb.stderr | 0 test/ada/obj/byte_buffer.adb.stdout | 0 test/ada/obj/byte_buffer.ali | 226 +++++ test/ada/obj/byte_buffer.o | Bin 0 -> 144000 bytes test/ada/obj/composite_suite.adb.stderr | 0 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test/ada/obj/types.o | Bin 0 -> 4728 bytes test/ada/obj/types_suite.adb.stderr | 0 test/ada/obj/types_suite.adb.stdout | 0 test/ada/obj/types_suite.ali | 95 ++ test/ada/obj/types_suite.o | Bin 0 -> 2024 bytes test/ada/obj/types_tests.adb.stderr | 0 test/ada/obj/types_tests.adb.stdout | 0 test/ada/obj/types_tests.ali | 219 +++++ test/ada/obj/types_tests.o | Bin 0 -> 16208 bytes test/ada/src/.DS_Store | Bin 0 -> 6148 bytes test/ada/src/buffer_suite/buffer_suite.adb | 19 + test/ada/src/buffer_suite/buffer_suite.ads | 7 + test/ada/src/buffer_suite/buffer_tests.adb | 90 ++ test/ada/src/buffer_suite/buffer_tests.ads | 22 + test/ada/src/composite_suite.adb | 26 + test/ada/src/composite_suite.ads | 6 + test/ada/src/mailbox_suite/mailbox_suite.adb | 17 + test/ada/src/mailbox_suite/mailbox_suite.ads | 8 + test/ada/src/mailbox_suite/mailbox_tests.adb | 176 ++++ test/ada/src/mailbox_suite/mailbox_tests.ads | 39 + .../pathfollowing_suite.adb | 19 + .../pathfollowing_suite.ads | 7 + 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b/external/controller/obj/b__main.adb @@ -0,0 +1,438 @@ +pragma Warnings (Off); +pragma Ada_95; +pragma Source_File_Name (ada_main, Spec_File_Name => "b__main.ads"); +pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); +pragma Suppress (Overflow_Check); + +with System.Restrictions; +with Ada.Exceptions; + +package body ada_main is + + E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); + E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); + E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); + E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); + E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); + E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); + E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); + E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); + E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); + E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); + E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); + E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); + E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); + E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); + E128 : Short_Integer; pragma Import (Ada, E128, "ada__tags_E"); + E136 : Short_Integer; pragma Import (Ada, E136, "ada__streams_E"); + E179 : Short_Integer; pragma Import (Ada, E179, "gnat_E"); + E196 : Short_Integer; pragma Import (Ada, E196, "interfaces__c__strings_E"); + E144 : Short_Integer; pragma Import (Ada, E144, "system__file_control_block_E"); + E143 : Short_Integer; pragma Import (Ada, E143, "system__finalization_root_E"); + E141 : Short_Integer; pragma Import (Ada, E141, "ada__finalization_E"); + E140 : Short_Integer; pragma Import (Ada, E140, "system__file_io_E"); + E204 : Short_Integer; pragma Import (Ada, E204, "system__storage_pools_E"); + E212 : Short_Integer; pragma Import (Ada, E212, "system__finalization_masters_E"); + E222 : Short_Integer; pragma Import (Ada, E222, "system__storage_pools__subpools_E"); + E114 : Short_Integer; pragma Import (Ada, E114, "system__task_info_E"); + E106 : Short_Integer; pragma Import (Ada, E106, "system__task_primitives__operations_E"); + E188 : Short_Integer; pragma Import (Ada, E188, "ada__calendar_E"); + E186 : Short_Integer; pragma Import (Ada, E186, "ada__calendar__delays_E"); + E006 : Short_Integer; pragma Import (Ada, E006, "ada__real_time_E"); + E134 : Short_Integer; pragma Import (Ada, E134, "ada__text_io_E"); + E200 : Short_Integer; pragma Import (Ada, E200, "system__pool_global_E"); + E206 : Short_Integer; pragma Import (Ada, E206, "system__pool_size_E"); + E181 : Short_Integer; pragma Import (Ada, E181, "gnat__sockets_E"); + E194 : Short_Integer; pragma Import (Ada, E194, "gnat__sockets__thin_common_E"); + E184 : Short_Integer; pragma Import (Ada, E184, "gnat__sockets__thin_E"); + E168 : Short_Integer; pragma Import (Ada, E168, "system__tasking__initialization_E"); + E156 : Short_Integer; pragma Import (Ada, E156, "system__tasking__protected_objects_E"); + E172 : Short_Integer; pragma Import (Ada, E172, "system__tasking__protected_objects__entries_E"); + E174 : Short_Integer; pragma Import (Ada, E174, "system__tasking__queuing_E"); + E247 : Short_Integer; pragma Import (Ada, E247, "system__tasking__stages_E"); + E150 : Short_Integer; pragma Import (Ada, E150, "types_E"); + E216 : Short_Integer; pragma Import (Ada, E216, "mailbox_E"); + E148 : Short_Integer; pragma Import (Ada, E148, "byte_buffer_E"); + E152 : Short_Integer; pragma Import (Ada, E152, "tcp_client_E"); + E146 : Short_Integer; pragma Import (Ada, E146, "backend_thread_E"); + E226 : Short_Integer; pragma Import (Ada, E226, "pathfollowing_E"); + E249 : Short_Integer; pragma Import (Ada, E249, "webots_thread_E"); + + Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); + + Local_Priority_Specific_Dispatching : constant String := ""; + Local_Interrupt_States : constant String := ""; + + Is_Elaborated : Boolean := False; + + procedure finalize_library is + begin + E249 := E249 - 1; + declare + procedure F1; + pragma Import (Ada, F1, "webots_thread__finalize_spec"); + begin + F1; + end; + E146 := E146 - 1; + declare + procedure F2; + pragma Import (Ada, F2, "backend_thread__finalize_spec"); + begin + F2; + end; + E148 := E148 - 1; + declare + procedure F3; + pragma Import (Ada, F3, "byte_buffer__finalize_spec"); + begin + F3; + end; + E172 := E172 - 1; + declare + procedure F4; + pragma Import (Ada, F4, "system__tasking__protected_objects__entries__finalize_spec"); + begin + F4; + end; + declare + procedure F5; + pragma Import (Ada, F5, "gnat__sockets__finalize_body"); + begin + E181 := E181 - 1; + F5; + end; + declare + procedure F6; + pragma Import (Ada, F6, "gnat__sockets__finalize_spec"); + begin + F6; + end; + E206 := E206 - 1; + declare + procedure F7; + pragma Import (Ada, F7, "system__pool_size__finalize_spec"); + begin + F7; + end; + E200 := E200 - 1; + declare + procedure F8; + pragma Import (Ada, F8, "system__pool_global__finalize_spec"); + begin + F8; + end; + E134 := E134 - 1; + declare + procedure F9; + pragma Import (Ada, F9, "ada__text_io__finalize_spec"); + begin + F9; + end; + E222 := E222 - 1; + declare + procedure F10; + pragma Import (Ada, F10, "system__storage_pools__subpools__finalize_spec"); + begin + F10; + end; + E212 := E212 - 1; + declare + procedure F11; + pragma Import (Ada, F11, "system__finalization_masters__finalize_spec"); + begin + F11; + end; + declare + procedure F12; + pragma Import (Ada, F12, "system__file_io__finalize_body"); + begin + E140 := E140 - 1; + F12; + end; + declare + procedure Reraise_Library_Exception_If_Any; + pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); + begin + Reraise_Library_Exception_If_Any; + end; + end finalize_library; + + procedure adafinal is + procedure s_stalib_adafinal; + pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); + + procedure Runtime_Finalize; + pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); + + begin + if not Is_Elaborated then + return; + end if; + Is_Elaborated := False; + Runtime_Finalize; + s_stalib_adafinal; + end adafinal; + + type No_Param_Proc is access procedure; + + procedure adainit is + Main_Priority : Integer; + pragma Import (C, Main_Priority, "__gl_main_priority"); + Time_Slice_Value : Integer; + pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); + WC_Encoding : Character; + pragma Import (C, WC_Encoding, "__gl_wc_encoding"); + Locking_Policy : Character; + pragma Import (C, Locking_Policy, "__gl_locking_policy"); + Queuing_Policy : Character; + pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); + Task_Dispatching_Policy : Character; + pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); + Priority_Specific_Dispatching : System.Address; + pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); + Num_Specific_Dispatching : Integer; + pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); + Main_CPU : Integer; + pragma Import (C, Main_CPU, "__gl_main_cpu"); + Interrupt_States : System.Address; + pragma Import (C, Interrupt_States, "__gl_interrupt_states"); + Num_Interrupt_States : Integer; + pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); + Unreserve_All_Interrupts : Integer; + pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); + Detect_Blocking : Integer; + pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); + Default_Stack_Size : Integer; + pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); + Default_Secondary_Stack_Size : System.Parameters.Size_Type; + pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); + Leap_Seconds_Support : Integer; + pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); + Bind_Env_Addr : System.Address; + pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); + + procedure Runtime_Initialize (Install_Handler : Integer); + pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); + + Finalize_Library_Objects : No_Param_Proc; + pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); + Binder_Sec_Stacks_Count : Natural; + pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); + Default_Sized_SS_Pool : System.Address; + pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); + + begin + if Is_Elaborated then + return; + end if; + Is_Elaborated := True; + Main_Priority := -1; + Time_Slice_Value := -1; + WC_Encoding := 'b'; + Locking_Policy := ' '; + Queuing_Policy := ' '; + Task_Dispatching_Policy := ' '; + System.Restrictions.Run_Time_Restrictions := + (Set => + (False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, True, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False), + Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), + Violated => + (True, False, False, False, True, True, True, False, + False, False, False, True, True, True, True, False, + False, False, False, False, True, True, False, True, + True, False, True, True, True, True, False, False, + False, False, False, True, False, False, True, False, + True, False, True, True, False, True, False, True, + True, False, False, True, False, True, False, False, + False, True, False, True, False, True, True, True, + False, False, True, False, True, True, True, False, + True, True, False, True, True, True, True, False, + False, True, False, False, False, True, False, False, + True, False, True, False), + Count => (0, 0, 0, 2, 0, 0, 1, 0, 3, 0), + Unknown => (False, False, False, False, False, False, True, False, True, False)); + Priority_Specific_Dispatching := + Local_Priority_Specific_Dispatching'Address; + Num_Specific_Dispatching := 0; + Main_CPU := -1; + Interrupt_States := Local_Interrupt_States'Address; + Num_Interrupt_States := 0; + Unreserve_All_Interrupts := 0; + Detect_Blocking := 0; + Default_Stack_Size := -1; + Leap_Seconds_Support := 0; + + ada_main'Elab_Body; + Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; + Binder_Sec_Stacks_Count := 1; + Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; + + Runtime_Initialize (1); + + Finalize_Library_Objects := finalize_library'access; + + System.Soft_Links'Elab_Spec; + System.Exception_Table'Elab_Body; + E025 := E025 + 1; + Ada.Io_Exceptions'Elab_Spec; + E070 := E070 + 1; + Ada.Strings'Elab_Spec; + E055 := E055 + 1; + Ada.Containers'Elab_Spec; + E040 := E040 + 1; + System.Exceptions'Elab_Spec; + E027 := E027 + 1; + System.Os_Lib'Elab_Body; + E075 := E075 + 1; + Ada.Strings.Maps'Elab_Spec; + Ada.Strings.Maps.Constants'Elab_Spec; + E061 := E061 + 1; + Interfaces.C'Elab_Spec; + System.Soft_Links.Initialize'Elab_Body; + E021 := E021 + 1; + E013 := E013 + 1; + E057 := E057 + 1; + E045 := E045 + 1; + System.Object_Reader'Elab_Spec; + System.Dwarf_Lines'Elab_Spec; + E050 := E050 + 1; + System.Traceback.Symbolic'Elab_Body; + E039 := E039 + 1; + E081 := E081 + 1; + Ada.Tags'Elab_Spec; + Ada.Tags'Elab_Body; + E128 := E128 + 1; + Ada.Streams'Elab_Spec; + E136 := E136 + 1; + Gnat'Elab_Spec; + E179 := E179 + 1; + Interfaces.C.Strings'Elab_Spec; + E196 := E196 + 1; + System.File_Control_Block'Elab_Spec; + E144 := E144 + 1; + System.Finalization_Root'Elab_Spec; + E143 := E143 + 1; + Ada.Finalization'Elab_Spec; + E141 := E141 + 1; + System.File_Io'Elab_Body; + E140 := E140 + 1; + System.Storage_Pools'Elab_Spec; + E204 := E204 + 1; + System.Finalization_Masters'Elab_Spec; + System.Finalization_Masters'Elab_Body; + E212 := E212 + 1; + System.Storage_Pools.Subpools'Elab_Spec; + E222 := E222 + 1; + System.Task_Info'Elab_Spec; + E114 := E114 + 1; + System.Task_Primitives.Operations'Elab_Body; + E106 := E106 + 1; + Ada.Calendar'Elab_Spec; + Ada.Calendar'Elab_Body; + E188 := E188 + 1; + Ada.Calendar.Delays'Elab_Body; + E186 := E186 + 1; + Ada.Real_Time'Elab_Spec; + Ada.Real_Time'Elab_Body; + E006 := E006 + 1; + Ada.Text_Io'Elab_Spec; + Ada.Text_Io'Elab_Body; + E134 := E134 + 1; + System.Pool_Global'Elab_Spec; + E200 := E200 + 1; + System.Pool_Size'Elab_Spec; + E206 := E206 + 1; + Gnat.Sockets'Elab_Spec; + E194 := E194 + 1; + E184 := E184 + 1; + Gnat.Sockets'Elab_Body; + E181 := E181 + 1; + System.Tasking.Initialization'Elab_Body; + E168 := E168 + 1; + System.Tasking.Protected_Objects'Elab_Body; + E156 := E156 + 1; + System.Tasking.Protected_Objects.Entries'Elab_Spec; + E172 := E172 + 1; + System.Tasking.Queuing'Elab_Body; + E174 := E174 + 1; + System.Tasking.Stages'Elab_Body; + E247 := E247 + 1; + E216 := E216 + 1; + byte_buffer'elab_spec; + byte_buffer'elab_body; + E148 := E148 + 1; + E152 := E152 + 1; + E150 := E150 + 1; + backend_thread'elab_spec; + E146 := E146 + 1; + pathfollowing'elab_body; + E226 := E226 + 1; + webots_thread'elab_spec; + E249 := E249 + 1; + end adainit; + + procedure Ada_Main_Program; + pragma Import (Ada, Ada_Main_Program, "_ada_main"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer + is + procedure Initialize (Addr : System.Address); + pragma Import (C, Initialize, "__gnat_initialize"); + + procedure Finalize; + pragma Import (C, Finalize, "__gnat_finalize"); + SEH : aliased array (1 .. 2) of Integer; + + Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; + pragma Volatile (Ensure_Reference); + + begin + gnat_argc := argc; + gnat_argv := argv; + gnat_envp := envp; + + Initialize (SEH'Address); + adainit; + Ada_Main_Program; + adafinal; + Finalize; + return (gnat_exit_status); + end; + +-- BEGIN Object file/option list + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/mailbox.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/byte_buffer.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/tcp_client.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/types.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/backend_thread.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/pathfollowing.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/webots_thread.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/main.o + -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ + -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ + -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ + -- -shared + -- -lgnarl-9 + -- -lgnat-9 + -- -lpthread + -- -lrt + -- -ldl +-- END Object file/option list + +end ada_main; diff --git a/external/controller/obj/b__main.ads b/external/controller/obj/b__main.ads new file mode 100644 index 0000000..80e82a7 --- /dev/null +++ b/external/controller/obj/b__main.ads @@ -0,0 +1,791 @@ +pragma Warnings (Off); +pragma Ada_95; +with System; +with System.Parameters; +with System.Secondary_Stack; +package ada_main is + + gnat_argc : Integer; + gnat_argv : System.Address; + gnat_envp : System.Address; + + pragma Import (C, gnat_argc); + pragma Import (C, gnat_argv); + pragma Import (C, gnat_envp); + + gnat_exit_status : Integer; + pragma Import (C, gnat_exit_status); + + GNAT_Version : constant String := + "GNAT Version: 9.3.0" & ASCII.NUL; + pragma Export (C, GNAT_Version, "__gnat_version"); + + Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; + pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); + + procedure adainit; + pragma Export (C, adainit, "adainit"); + + procedure adafinal; + pragma Export (C, adafinal, "adafinal"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer; + pragma Export (C, main, "main"); + + type Version_32 is mod 2 ** 32; + u00001 : constant Version_32 := 16#33a24c53#; + pragma Export (C, u00001, "mainB"); + u00002 : constant Version_32 := 16#050ff2f0#; + pragma Export (C, u00002, "system__standard_libraryB"); + u00003 : constant Version_32 := 16#4113f22b#; + pragma Export (C, u00003, "system__standard_libraryS"); + u00004 : constant Version_32 := 16#76789da1#; + pragma Export (C, u00004, "adaS"); + u00005 : constant Version_32 := 16#eb4fc41d#; + pragma Export (C, u00005, "ada__real_timeB"); + u00006 : constant Version_32 := 16#69ea8064#; + pragma Export (C, u00006, "ada__real_timeS"); + u00007 : constant Version_32 := 16#9762c9f2#; + pragma Export (C, u00007, "ada__exceptionsB"); + u00008 : constant Version_32 := 16#585ef86b#; + pragma Export (C, u00008, "ada__exceptionsS"); + u00009 : constant Version_32 := 16#5726abed#; + pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); + u00010 : constant Version_32 := 16#41e5552e#; + pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); + u00011 : constant Version_32 := 16#4635ec04#; + pragma Export (C, u00011, "systemS"); + u00012 : constant Version_32 := 16#ae860117#; + pragma Export (C, u00012, "system__soft_linksB"); + u00013 : constant Version_32 := 16#0336e7b2#; + pragma Export (C, u00013, "system__soft_linksS"); + u00014 : constant Version_32 := 16#f32b4133#; + pragma Export (C, u00014, "system__secondary_stackB"); + u00015 : constant Version_32 := 16#03a1141d#; + pragma Export (C, u00015, "system__secondary_stackS"); + u00016 : constant Version_32 := 16#86dbf443#; + pragma Export (C, u00016, "system__parametersB"); + u00017 : constant Version_32 := 16#0ed9b82f#; + pragma Export (C, u00017, "system__parametersS"); + u00018 : constant Version_32 := 16#ced09590#; + pragma Export (C, u00018, "system__storage_elementsB"); + u00019 : constant Version_32 := 16#6bf6a600#; + pragma Export (C, u00019, "system__storage_elementsS"); + u00020 : constant Version_32 := 16#75bf515c#; + pragma Export (C, u00020, "system__soft_links__initializeB"); + u00021 : constant Version_32 := 16#5697fc2b#; + pragma Export (C, u00021, "system__soft_links__initializeS"); + u00022 : constant Version_32 := 16#41837d1e#; + pragma Export (C, u00022, "system__stack_checkingB"); + u00023 : constant Version_32 := 16#c88a87ec#; + pragma Export (C, u00023, "system__stack_checkingS"); + u00024 : constant Version_32 := 16#34742901#; + pragma Export (C, u00024, "system__exception_tableB"); + u00025 : constant Version_32 := 16#1b9b8546#; + pragma Export (C, u00025, "system__exception_tableS"); + u00026 : constant Version_32 := 16#ce4af020#; + pragma Export (C, u00026, "system__exceptionsB"); + u00027 : constant Version_32 := 16#2e5681f2#; + pragma Export (C, u00027, "system__exceptionsS"); + u00028 : constant Version_32 := 16#69416224#; + pragma Export (C, u00028, "system__exceptions__machineB"); + u00029 : constant Version_32 := 16#d27d9682#; + pragma Export (C, u00029, "system__exceptions__machineS"); + u00030 : constant Version_32 := 16#aa0563fc#; + pragma Export (C, u00030, "system__exceptions_debugB"); + u00031 : constant Version_32 := 16#38bf15c0#; + pragma Export (C, u00031, "system__exceptions_debugS"); + u00032 : constant Version_32 := 16#6c2f8802#; + pragma Export (C, u00032, "system__img_intB"); + u00033 : constant Version_32 := 16#44ee0cc6#; + pragma Export (C, u00033, "system__img_intS"); + u00034 : constant Version_32 := 16#39df8c17#; + pragma Export (C, u00034, "system__tracebackB"); + u00035 : constant Version_32 := 16#181732c0#; + pragma Export (C, u00035, "system__tracebackS"); + u00036 : constant Version_32 := 16#9ed49525#; + pragma Export (C, u00036, "system__traceback_entriesB"); + u00037 : constant Version_32 := 16#466e1a74#; + pragma Export (C, u00037, "system__traceback_entriesS"); + u00038 : constant Version_32 := 16#448e9548#; + pragma Export (C, u00038, "system__traceback__symbolicB"); + u00039 : constant Version_32 := 16#c84061d1#; + pragma Export (C, u00039, "system__traceback__symbolicS"); + u00040 : constant Version_32 := 16#179d7d28#; + pragma Export (C, u00040, "ada__containersS"); + u00041 : constant Version_32 := 16#701f9d88#; + pragma Export (C, u00041, "ada__exceptions__tracebackB"); + u00042 : constant Version_32 := 16#20245e75#; + pragma Export (C, u00042, "ada__exceptions__tracebackS"); + u00043 : constant Version_32 := 16#5ab55268#; + pragma Export (C, u00043, "interfacesS"); + u00044 : constant Version_32 := 16#769e25e6#; + pragma Export (C, u00044, "interfaces__cB"); + u00045 : constant Version_32 := 16#467817d8#; + pragma Export (C, u00045, "interfaces__cS"); + u00046 : constant Version_32 := 16#e865e681#; + pragma Export (C, u00046, "system__bounded_stringsB"); + u00047 : constant Version_32 := 16#31c8cd1d#; + pragma Export (C, u00047, "system__bounded_stringsS"); + u00048 : constant Version_32 := 16#0062635e#; + pragma Export (C, u00048, "system__crtlS"); + u00049 : constant Version_32 := 16#bba79bcb#; + pragma Export (C, u00049, "system__dwarf_linesB"); + u00050 : constant Version_32 := 16#9a78d181#; + pragma Export (C, u00050, "system__dwarf_linesS"); + u00051 : constant Version_32 := 16#5b4659fa#; + pragma Export (C, u00051, "ada__charactersS"); + u00052 : constant Version_32 := 16#8f637df8#; + pragma Export (C, u00052, "ada__characters__handlingB"); + u00053 : constant Version_32 := 16#3b3f6154#; + pragma Export (C, u00053, "ada__characters__handlingS"); + u00054 : constant Version_32 := 16#4b7bb96a#; + pragma Export (C, u00054, "ada__characters__latin_1S"); + u00055 : constant Version_32 := 16#e6d4fa36#; + pragma Export (C, u00055, "ada__stringsS"); + u00056 : constant Version_32 := 16#96df1a3f#; + pragma Export (C, u00056, "ada__strings__mapsB"); + u00057 : constant Version_32 := 16#1e526bec#; + pragma Export (C, u00057, "ada__strings__mapsS"); + u00058 : constant Version_32 := 16#d68fb8f1#; + pragma Export (C, u00058, "system__bit_opsB"); + u00059 : constant Version_32 := 16#0765e3a3#; + pragma Export (C, u00059, "system__bit_opsS"); + u00060 : constant Version_32 := 16#72b39087#; + pragma Export (C, u00060, "system__unsigned_typesS"); + u00061 : constant Version_32 := 16#92f05f13#; + pragma Export (C, u00061, "ada__strings__maps__constantsS"); + u00062 : constant Version_32 := 16#a0d3d22b#; + pragma Export (C, u00062, "system__address_imageB"); + u00063 : constant Version_32 := 16#e7d9713e#; + pragma Export (C, u00063, "system__address_imageS"); + u00064 : constant Version_32 := 16#ec78c2bf#; + pragma Export (C, u00064, "system__img_unsB"); + u00065 : constant Version_32 := 16#ed47ac70#; + pragma Export (C, u00065, "system__img_unsS"); + u00066 : constant Version_32 := 16#d7aac20c#; + pragma Export (C, u00066, "system__ioB"); + u00067 : constant Version_32 := 16#d8771b4b#; + pragma Export (C, u00067, "system__ioS"); + u00068 : constant Version_32 := 16#f790d1ef#; + pragma Export (C, u00068, "system__mmapB"); + u00069 : constant Version_32 := 16#7c445363#; + pragma Export (C, u00069, "system__mmapS"); + u00070 : constant Version_32 := 16#92d882c5#; + pragma Export (C, u00070, "ada__io_exceptionsS"); + u00071 : constant Version_32 := 16#0cdaa54a#; + pragma Export (C, u00071, "system__mmap__os_interfaceB"); + u00072 : constant Version_32 := 16#82f29877#; + pragma Export (C, u00072, "system__mmap__os_interfaceS"); + u00073 : constant Version_32 := 16#834dfe5e#; + pragma Export (C, u00073, "system__mmap__unixS"); + u00074 : constant Version_32 := 16#fa90b46b#; + pragma Export (C, u00074, "system__os_libB"); + u00075 : constant Version_32 := 16#4542b55d#; + pragma Export (C, u00075, "system__os_libS"); + u00076 : constant Version_32 := 16#ec4d5631#; + pragma Export (C, u00076, "system__case_utilB"); + u00077 : constant Version_32 := 16#79e05a50#; + pragma Export (C, u00077, "system__case_utilS"); + u00078 : constant Version_32 := 16#2a8e89ad#; + pragma Export (C, u00078, "system__stringsB"); + u00079 : constant Version_32 := 16#2623c091#; + pragma Export (C, u00079, "system__stringsS"); + u00080 : constant Version_32 := 16#5a3f5337#; + pragma Export (C, u00080, "system__object_readerB"); + u00081 : constant Version_32 := 16#82413105#; + pragma Export (C, u00081, "system__object_readerS"); + u00082 : constant Version_32 := 16#1a74a354#; + pragma Export (C, u00082, "system__val_lliB"); + u00083 : constant Version_32 := 16#dc110aa4#; + pragma Export (C, u00083, "system__val_lliS"); + u00084 : constant Version_32 := 16#afdbf393#; + pragma Export (C, u00084, "system__val_lluB"); + u00085 : constant Version_32 := 16#0841c7f5#; + pragma Export (C, u00085, "system__val_lluS"); + u00086 : constant Version_32 := 16#269742a9#; + pragma Export (C, u00086, "system__val_utilB"); + u00087 : constant Version_32 := 16#ea955afa#; + pragma Export (C, u00087, "system__val_utilS"); + u00088 : constant Version_32 := 16#d7bf3f29#; + pragma Export (C, u00088, "system__exception_tracesB"); + u00089 : constant Version_32 := 16#62eacc9e#; + pragma Export (C, u00089, "system__exception_tracesS"); + u00090 : constant Version_32 := 16#8c33a517#; + pragma Export (C, u00090, "system__wch_conB"); + u00091 : constant Version_32 := 16#5d48ced6#; + pragma Export (C, u00091, "system__wch_conS"); + u00092 : constant Version_32 := 16#9721e840#; + pragma Export (C, u00092, "system__wch_stwB"); + u00093 : constant Version_32 := 16#7059e2d7#; + pragma Export (C, u00093, "system__wch_stwS"); + u00094 : constant Version_32 := 16#a831679c#; + pragma Export (C, u00094, "system__wch_cnvB"); + u00095 : constant Version_32 := 16#52ff7425#; + pragma Export (C, u00095, "system__wch_cnvS"); + u00096 : constant Version_32 := 16#ece6fdb6#; + pragma Export (C, u00096, "system__wch_jisB"); + u00097 : constant Version_32 := 16#d28f6d04#; + pragma Export (C, u00097, "system__wch_jisS"); + u00098 : constant Version_32 := 16#c05c480c#; + pragma Export (C, u00098, "system__taskingB"); + u00099 : constant Version_32 := 16#d15fc24c#; + pragma Export (C, u00099, "system__taskingS"); + u00100 : constant Version_32 := 16#c333d44f#; + pragma Export (C, u00100, "system__task_primitivesS"); + u00101 : constant Version_32 := 16#02d5b781#; + pragma Export (C, u00101, "system__os_interfaceB"); + u00102 : constant Version_32 := 16#8b11eeee#; + pragma Export (C, u00102, "system__os_interfaceS"); + u00103 : constant Version_32 := 16#ff1f7771#; + pragma Export (C, u00103, "system__linuxS"); + u00104 : constant Version_32 := 16#198dbba9#; + pragma Export (C, u00104, "system__os_constantsS"); + u00105 : constant Version_32 := 16#3d3b214a#; + pragma Export (C, u00105, "system__task_primitives__operationsB"); + u00106 : constant Version_32 := 16#69ee9f34#; + pragma Export (C, u00106, "system__task_primitives__operationsS"); + u00107 : constant Version_32 := 16#71c5de81#; + pragma Export (C, u00107, "system__interrupt_managementB"); + u00108 : constant Version_32 := 16#24a21b5f#; + pragma Export (C, u00108, "system__interrupt_managementS"); + u00109 : constant Version_32 := 16#f65595cf#; + pragma Export (C, u00109, "system__multiprocessorsB"); + u00110 : constant Version_32 := 16#7e997377#; + pragma Export (C, u00110, "system__multiprocessorsS"); + u00111 : constant Version_32 := 16#51f2d040#; + pragma Export (C, u00111, "system__os_primitivesB"); + u00112 : constant Version_32 := 16#41c889f2#; + pragma Export (C, u00112, "system__os_primitivesS"); + u00113 : constant Version_32 := 16#375a3ef7#; + pragma Export (C, u00113, "system__task_infoB"); + u00114 : constant Version_32 := 16#1c069690#; + pragma Export (C, u00114, "system__task_infoS"); + u00115 : constant Version_32 := 16#f2eb7df6#; + pragma Export (C, u00115, "system__tasking__debugB"); + u00116 : constant Version_32 := 16#aea59d30#; + pragma Export (C, u00116, "system__tasking__debugS"); + u00117 : constant Version_32 := 16#fd83e873#; + pragma Export (C, u00117, "system__concat_2B"); + u00118 : constant Version_32 := 16#44953bd4#; + pragma Export (C, u00118, "system__concat_2S"); + u00119 : constant Version_32 := 16#2b70b149#; + pragma Export (C, u00119, "system__concat_3B"); + u00120 : constant Version_32 := 16#4d45b0a1#; + pragma Export (C, u00120, "system__concat_3S"); + u00121 : constant Version_32 := 16#273384e4#; + pragma Export (C, u00121, "system__img_enum_newB"); + u00122 : constant Version_32 := 16#2779eac4#; + pragma Export (C, u00122, "system__img_enum_newS"); + u00123 : constant Version_32 := 16#9dca6636#; + pragma Export (C, u00123, "system__img_lliB"); + u00124 : constant Version_32 := 16#577ab9d5#; + pragma Export (C, u00124, "system__img_lliS"); + u00125 : constant Version_32 := 16#6ec3c867#; + pragma Export (C, u00125, "system__stack_usageB"); + u00126 : constant Version_32 := 16#3a3ac346#; + pragma Export (C, u00126, "system__stack_usageS"); + u00127 : constant Version_32 := 16#d398a95f#; + pragma Export (C, u00127, "ada__tagsB"); + u00128 : constant Version_32 := 16#12a0afb8#; + pragma Export (C, u00128, "ada__tagsS"); + u00129 : constant Version_32 := 16#796f31f1#; + pragma Export (C, u00129, "system__htableB"); + u00130 : constant Version_32 := 16#c2f75fee#; + pragma Export (C, u00130, "system__htableS"); + u00131 : constant Version_32 := 16#089f5cd0#; + pragma Export (C, u00131, "system__string_hashB"); + u00132 : constant Version_32 := 16#60a93490#; + pragma Export (C, u00132, "system__string_hashS"); + u00133 : constant Version_32 := 16#927a893f#; + pragma Export (C, u00133, "ada__text_ioB"); + u00134 : constant Version_32 := 16#5194351e#; + pragma Export (C, u00134, "ada__text_ioS"); + u00135 : constant Version_32 := 16#10558b11#; + pragma Export (C, u00135, "ada__streamsB"); + u00136 : constant Version_32 := 16#67e31212#; + pragma Export (C, u00136, "ada__streamsS"); + u00137 : constant Version_32 := 16#73d2d764#; + pragma Export (C, u00137, "interfaces__c_streamsB"); + u00138 : constant Version_32 := 16#b1330297#; + pragma Export (C, u00138, "interfaces__c_streamsS"); + u00139 : constant Version_32 := 16#71ac0ba7#; + pragma Export (C, u00139, "system__file_ioB"); + u00140 : constant Version_32 := 16#e1440d61#; + pragma Export (C, u00140, "system__file_ioS"); + u00141 : constant Version_32 := 16#86c56e5a#; + pragma Export (C, u00141, "ada__finalizationS"); + u00142 : constant Version_32 := 16#95817ed8#; + pragma Export (C, u00142, "system__finalization_rootB"); + u00143 : constant Version_32 := 16#09c79f94#; + pragma Export (C, u00143, "system__finalization_rootS"); + u00144 : constant Version_32 := 16#bbaa76ac#; + pragma Export (C, u00144, "system__file_control_blockS"); + u00145 : constant Version_32 := 16#42fe0dc9#; + pragma Export (C, u00145, "backend_threadB"); + u00146 : constant Version_32 := 16#f05bffcc#; + pragma Export (C, u00146, "backend_threadS"); + u00147 : constant Version_32 := 16#ec10d536#; + pragma Export (C, u00147, "byte_bufferB"); + u00148 : constant Version_32 := 16#d863b3a6#; + pragma Export (C, u00148, "byte_bufferS"); + u00149 : constant Version_32 := 16#50c545ee#; + pragma Export (C, u00149, "typesB"); + u00150 : constant Version_32 := 16#f05fd2f3#; + pragma Export (C, u00150, "typesS"); + u00151 : constant Version_32 := 16#de0eeefc#; + pragma Export (C, u00151, "tcp_clientB"); + u00152 : constant Version_32 := 16#33f97082#; + pragma Export (C, u00152, "tcp_clientS"); + u00153 : constant Version_32 := 16#039168f8#; + pragma Export (C, u00153, "system__stream_attributesB"); + u00154 : constant Version_32 := 16#8bc30a4e#; + pragma Export (C, u00154, "system__stream_attributesS"); + u00155 : constant Version_32 := 16#7d12d4bb#; + pragma Export (C, u00155, "system__tasking__protected_objectsB"); + u00156 : constant Version_32 := 16#15001baf#; + pragma Export (C, u00156, "system__tasking__protected_objectsS"); + u00157 : constant Version_32 := 16#d99cdb5c#; + pragma Export (C, u00157, "system__soft_links__taskingB"); + u00158 : constant Version_32 := 16#e939497e#; + pragma Export (C, u00158, "system__soft_links__taskingS"); + u00159 : constant Version_32 := 16#17d21067#; + pragma Export (C, u00159, "ada__exceptions__is_null_occurrenceB"); + u00160 : constant Version_32 := 16#e1d7566f#; + pragma Export (C, u00160, "ada__exceptions__is_null_occurrenceS"); + u00161 : constant Version_32 := 16#81b5daee#; + pragma Export (C, u00161, "system__tasking__protected_objects__operationsB"); + u00162 : constant Version_32 := 16#ba36ad85#; + pragma Export (C, u00162, "system__tasking__protected_objects__operationsS"); + u00163 : constant Version_32 := 16#100eaf58#; + pragma Export (C, u00163, "system__restrictionsB"); + u00164 : constant Version_32 := 16#0d473555#; + pragma Export (C, u00164, "system__restrictionsS"); + u00165 : constant Version_32 := 16#6bc03304#; + pragma Export (C, u00165, "system__tasking__entry_callsB"); + u00166 : constant Version_32 := 16#6342024e#; + pragma Export (C, u00166, "system__tasking__entry_callsS"); + u00167 : constant Version_32 := 16#e8c12513#; + pragma Export (C, u00167, "system__tasking__initializationB"); + u00168 : constant Version_32 := 16#fc2303e6#; + pragma Export (C, u00168, "system__tasking__initializationS"); + u00169 : constant Version_32 := 16#80ce688e#; + pragma Export (C, u00169, "system__tasking__task_attributesB"); + u00170 : constant Version_32 := 16#e81a3c25#; + pragma Export (C, u00170, "system__tasking__task_attributesS"); + u00171 : constant Version_32 := 16#7010f8c6#; + pragma Export (C, u00171, "system__tasking__protected_objects__entriesB"); + u00172 : constant Version_32 := 16#7daf93e7#; + pragma Export (C, u00172, "system__tasking__protected_objects__entriesS"); + u00173 : constant Version_32 := 16#cc950a30#; + pragma Export (C, u00173, "system__tasking__queuingB"); + u00174 : constant Version_32 := 16#6dba2805#; + pragma Export (C, u00174, "system__tasking__queuingS"); + u00175 : constant Version_32 := 16#e9f46e92#; + pragma Export (C, u00175, "system__tasking__utilitiesB"); + u00176 : constant Version_32 := 16#0f670827#; + pragma Export (C, u00176, "system__tasking__utilitiesS"); + u00177 : constant Version_32 := 16#915f61e7#; + pragma Export (C, u00177, "system__tasking__rendezvousB"); + u00178 : constant Version_32 := 16#5618a4d0#; + pragma Export (C, u00178, "system__tasking__rendezvousS"); + u00179 : constant Version_32 := 16#b5988c27#; + pragma Export (C, u00179, "gnatS"); + u00180 : constant Version_32 := 16#369e155e#; + pragma Export (C, u00180, "gnat__socketsB"); + u00181 : constant Version_32 := 16#a6a830c3#; + pragma Export (C, u00181, "gnat__socketsS"); + u00182 : constant Version_32 := 16#cb835252#; + pragma Export (C, u00182, "gnat__sockets__linker_optionsS"); + u00183 : constant Version_32 := 16#b0810072#; + pragma Export (C, u00183, "gnat__sockets__thinB"); + u00184 : constant Version_32 := 16#c5872358#; + pragma Export (C, u00184, "gnat__sockets__thinS"); + u00185 : constant Version_32 := 16#357666d8#; + pragma Export (C, u00185, "ada__calendar__delaysB"); + u00186 : constant Version_32 := 16#2da855d5#; + pragma Export (C, u00186, "ada__calendar__delaysS"); + u00187 : constant Version_32 := 16#9a2e29aa#; + pragma Export (C, u00187, "ada__calendarB"); + u00188 : constant Version_32 := 16#c4f07049#; + pragma Export (C, u00188, "ada__calendarS"); + u00189 : constant Version_32 := 16#728833ee#; + pragma Export (C, u00189, "gnat__os_libS"); + u00190 : constant Version_32 := 16#485b8267#; + pragma Export (C, u00190, "gnat__task_lockS"); + u00191 : constant Version_32 := 16#05c60a38#; + pragma Export (C, u00191, "system__task_lockB"); + u00192 : constant Version_32 := 16#27bfdb6a#; + pragma Export (C, u00192, "system__task_lockS"); + u00193 : constant Version_32 := 16#305d23a5#; + pragma Export (C, u00193, "gnat__sockets__thin_commonB"); + u00194 : constant Version_32 := 16#fdbccd6b#; + pragma Export (C, u00194, "gnat__sockets__thin_commonS"); + u00195 : constant Version_32 := 16#69f6ee6b#; + pragma Export (C, u00195, "interfaces__c__stringsB"); + u00196 : constant Version_32 := 16#603c1c44#; + pragma Export (C, u00196, "interfaces__c__stringsS"); + u00197 : constant Version_32 := 16#5de653db#; + pragma Export (C, u00197, "system__communicationB"); + u00198 : constant Version_32 := 16#5f55b9d6#; + pragma Export (C, u00198, "system__communicationS"); + u00199 : constant Version_32 := 16#5a895de2#; + pragma Export (C, u00199, "system__pool_globalB"); + u00200 : constant Version_32 := 16#7141203e#; + pragma Export (C, u00200, "system__pool_globalS"); + u00201 : constant Version_32 := 16#2323a8af#; + pragma Export (C, u00201, "system__memoryB"); + u00202 : constant Version_32 := 16#1f488a30#; + pragma Export (C, u00202, "system__memoryS"); + u00203 : constant Version_32 := 16#6d4d969a#; + pragma Export (C, u00203, "system__storage_poolsB"); + u00204 : constant Version_32 := 16#65d872a9#; + pragma Export (C, u00204, "system__storage_poolsS"); + u00205 : constant Version_32 := 16#637ab3c9#; + pragma Export (C, u00205, "system__pool_sizeB"); + u00206 : constant Version_32 := 16#471ba45d#; + pragma Export (C, u00206, "system__pool_sizeS"); + u00207 : constant Version_32 := 16#d763507a#; + pragma Export (C, u00207, "system__val_intB"); + u00208 : constant Version_32 := 16#0e90c63b#; + pragma Export (C, u00208, "system__val_intS"); + u00209 : constant Version_32 := 16#1d9142a4#; + pragma Export (C, u00209, "system__val_unsB"); + u00210 : constant Version_32 := 16#621b7dbc#; + pragma Export (C, u00210, "system__val_unsS"); + u00211 : constant Version_32 := 16#d96e3c40#; + pragma Export (C, u00211, "system__finalization_mastersB"); + u00212 : constant Version_32 := 16#1dc9d5ce#; + pragma Export (C, u00212, "system__finalization_mastersS"); + u00213 : constant Version_32 := 16#7268f812#; + pragma Export (C, u00213, "system__img_boolB"); + u00214 : constant Version_32 := 16#b3ec9def#; + pragma Export (C, u00214, "system__img_boolS"); + u00215 : constant Version_32 := 16#f7cc1da6#; + pragma Export (C, u00215, "mailboxB"); + u00216 : constant Version_32 := 16#ab2e415b#; + pragma Export (C, u00216, "mailboxS"); + u00217 : constant Version_32 := 16#bcec81df#; + pragma Export (C, u00217, "ada__containers__helpersB"); + u00218 : constant Version_32 := 16#4adfc5eb#; + pragma Export (C, u00218, "ada__containers__helpersS"); + u00219 : constant Version_32 := 16#020a3f4d#; + pragma Export (C, u00219, "system__atomic_countersB"); + u00220 : constant Version_32 := 16#f269c189#; + pragma Export (C, u00220, "system__atomic_countersS"); + u00221 : constant Version_32 := 16#2e260032#; + pragma Export (C, u00221, "system__storage_pools__subpoolsB"); + u00222 : constant Version_32 := 16#cc5a1856#; + pragma Export (C, u00222, "system__storage_pools__subpoolsS"); + u00223 : constant Version_32 := 16#84042202#; + pragma Export (C, u00223, "system__storage_pools__subpools__finalizationB"); + u00224 : constant Version_32 := 16#fe2f4b3a#; + pragma Export (C, u00224, "system__storage_pools__subpools__finalizationS"); + u00225 : constant Version_32 := 16#42966e42#; + pragma Export (C, u00225, "pathfollowingB"); + u00226 : constant Version_32 := 16#d72c2ac7#; + pragma Export (C, u00226, "pathfollowingS"); + u00227 : constant Version_32 := 16#8aa4f090#; + pragma Export (C, u00227, "system__img_realB"); + u00228 : constant Version_32 := 16#819dbde6#; + pragma Export (C, u00228, "system__img_realS"); + u00229 : constant Version_32 := 16#42a257f7#; + pragma Export (C, u00229, "system__fat_llfS"); + u00230 : constant Version_32 := 16#1b28662b#; + pragma Export (C, u00230, "system__float_controlB"); + u00231 : constant Version_32 := 16#a6c9af38#; + pragma Export (C, u00231, "system__float_controlS"); + u00232 : constant Version_32 := 16#3e932977#; + pragma Export (C, u00232, "system__img_lluB"); + u00233 : constant Version_32 := 16#3b7a9044#; + pragma Export (C, u00233, "system__img_lluS"); + u00234 : constant Version_32 := 16#16458a73#; + pragma Export (C, u00234, "system__powten_tableS"); + u00235 : constant Version_32 := 16#e18a47a0#; + pragma Export (C, u00235, "ada__float_text_ioB"); + u00236 : constant Version_32 := 16#1fef695b#; + pragma Export (C, u00236, "ada__float_text_ioS"); + u00237 : constant Version_32 := 16#d5f9759f#; + pragma Export (C, u00237, "ada__text_io__float_auxB"); + u00238 : constant Version_32 := 16#48248c7b#; + pragma Export (C, u00238, "ada__text_io__float_auxS"); + u00239 : constant Version_32 := 16#181dc502#; + pragma Export (C, u00239, "ada__text_io__generic_auxB"); + u00240 : constant Version_32 := 16#16b3615d#; + pragma Export (C, u00240, "ada__text_io__generic_auxS"); + u00241 : constant Version_32 := 16#c2ca0511#; + pragma Export (C, u00241, "system__val_realB"); + u00242 : constant Version_32 := 16#b81c9b15#; + pragma Export (C, u00242, "system__val_realS"); + u00243 : constant Version_32 := 16#b2a569d2#; + pragma Export (C, u00243, "system__exn_llfB"); + u00244 : constant Version_32 := 16#fa4b57d8#; + pragma Export (C, u00244, "system__exn_llfS"); + u00245 : constant Version_32 := 16#1e40f010#; + pragma Export (C, u00245, "system__fat_fltS"); + u00246 : constant Version_32 := 16#8bf4f526#; + pragma Export (C, u00246, "system__tasking__stagesB"); + u00247 : constant Version_32 := 16#14e0647c#; + pragma Export (C, u00247, "system__tasking__stagesS"); + u00248 : constant Version_32 := 16#bc208064#; + pragma Export (C, u00248, "webots_threadB"); + u00249 : constant Version_32 := 16#8f0ac5ba#; + pragma Export (C, u00249, "webots_threadS"); + + -- BEGIN ELABORATION ORDER + -- ada%s + -- ada.characters%s + -- ada.characters.latin_1%s + -- interfaces%s + -- system%s + -- system.atomic_counters%s + -- system.atomic_counters%b + -- system.exn_llf%s + -- system.exn_llf%b + -- system.float_control%s + -- system.float_control%b + -- system.img_bool%s + -- system.img_bool%b + -- system.img_enum_new%s + -- system.img_enum_new%b + -- system.img_int%s + -- system.img_int%b + -- system.img_lli%s + -- system.img_lli%b + -- system.io%s + -- system.io%b + -- system.os_primitives%s + -- system.os_primitives%b + -- system.parameters%s + -- system.parameters%b + -- system.crtl%s + -- interfaces.c_streams%s + -- interfaces.c_streams%b + -- system.powten_table%s + -- system.restrictions%s + -- system.restrictions%b + -- system.storage_elements%s + -- system.storage_elements%b + -- system.stack_checking%s + -- system.stack_checking%b + -- system.stack_usage%s + -- system.stack_usage%b + -- system.string_hash%s + -- system.string_hash%b + -- system.htable%s + -- system.htable%b + -- system.strings%s + -- system.strings%b + -- system.traceback_entries%s + -- system.traceback_entries%b + -- system.unsigned_types%s + -- system.img_llu%s + -- system.img_llu%b + -- system.img_uns%s + -- system.img_uns%b + -- system.wch_con%s + -- system.wch_con%b + -- system.wch_jis%s + -- system.wch_jis%b + -- system.wch_cnv%s + -- system.wch_cnv%b + -- system.concat_2%s + -- system.concat_2%b + -- system.concat_3%s + -- system.concat_3%b + -- system.traceback%s + -- system.traceback%b + -- system.case_util%s + -- system.standard_library%s + -- system.exception_traces%s + -- ada.exceptions%s + -- system.wch_stw%s + -- system.val_util%s + -- system.val_llu%s + -- system.val_lli%s + -- system.os_lib%s + -- system.bit_ops%s + -- ada.characters.handling%s + -- ada.exceptions.traceback%s + -- system.secondary_stack%s + -- system.case_util%b + -- system.address_image%s + -- system.bounded_strings%s + -- system.soft_links%s + -- system.exception_table%s + -- system.exception_table%b + -- ada.io_exceptions%s + -- ada.strings%s + -- ada.containers%s + -- system.exceptions%s + -- system.exceptions%b + -- ada.exceptions.last_chance_handler%s + -- system.exceptions_debug%s + -- system.exceptions_debug%b + -- system.exception_traces%b + -- system.memory%s + -- system.memory%b + -- system.wch_stw%b + -- system.val_util%b + -- system.val_llu%b + -- system.val_lli%b + -- system.os_lib%b + -- system.bit_ops%b + -- ada.strings.maps%s + -- ada.strings.maps.constants%s + -- ada.characters.handling%b + -- interfaces.c%s + -- ada.exceptions.traceback%b + -- system.exceptions.machine%s + -- system.exceptions.machine%b + -- system.secondary_stack%b + -- system.address_image%b + -- system.bounded_strings%b + -- system.soft_links.initialize%s + -- system.soft_links.initialize%b + -- system.soft_links%b + -- ada.exceptions.last_chance_handler%b + -- system.standard_library%b + -- system.mmap%s + -- ada.strings.maps%b + -- interfaces.c%b + -- system.object_reader%s + -- system.dwarf_lines%s + -- system.dwarf_lines%b + -- system.mmap.unix%s + -- system.mmap.os_interface%s + -- system.mmap%b + -- system.traceback.symbolic%s + -- system.traceback.symbolic%b + -- ada.exceptions%b + -- system.object_reader%b + -- system.mmap.os_interface%b + -- ada.exceptions.is_null_occurrence%s + -- ada.exceptions.is_null_occurrence%b + -- ada.tags%s + -- ada.tags%b + -- ada.streams%s + -- ada.streams%b + -- gnat%s + -- gnat.os_lib%s + -- interfaces.c.strings%s + -- interfaces.c.strings%b + -- system.communication%s + -- system.communication%b + -- system.fat_flt%s + -- system.fat_llf%s + -- system.file_control_block%s + -- system.finalization_root%s + -- system.finalization_root%b + -- ada.finalization%s + -- ada.containers.helpers%s + -- ada.containers.helpers%b + -- system.file_io%s + -- system.file_io%b + -- system.img_real%s + -- system.img_real%b + -- system.linux%s + -- system.multiprocessors%s + -- system.multiprocessors%b + -- system.os_constants%s + -- system.os_interface%s + -- system.os_interface%b + -- system.storage_pools%s + -- system.storage_pools%b + -- system.finalization_masters%s + -- system.finalization_masters%b + -- system.storage_pools.subpools%s + -- system.storage_pools.subpools.finalization%s + -- system.storage_pools.subpools.finalization%b + -- system.storage_pools.subpools%b + -- system.stream_attributes%s + -- system.stream_attributes%b + -- system.task_info%s + -- system.task_info%b + -- system.task_lock%s + -- system.task_lock%b + -- gnat.task_lock%s + -- system.task_primitives%s + -- system.interrupt_management%s + -- system.interrupt_management%b + -- system.tasking%s + -- system.task_primitives.operations%s + -- system.tasking.debug%s + -- system.tasking%b + -- system.task_primitives.operations%b + -- system.tasking.debug%b + -- system.val_real%s + -- system.val_real%b + -- system.val_uns%s + -- system.val_uns%b + -- system.val_int%s + -- system.val_int%b + -- ada.calendar%s + -- ada.calendar%b + -- ada.calendar.delays%s + -- ada.calendar.delays%b + -- ada.real_time%s + -- ada.real_time%b + -- ada.text_io%s + -- ada.text_io%b + -- ada.text_io.generic_aux%s + -- ada.text_io.generic_aux%b + -- ada.text_io.float_aux%s + -- ada.text_io.float_aux%b + -- ada.float_text_io%s + -- ada.float_text_io%b + -- system.pool_global%s + -- system.pool_global%b + -- system.pool_size%s + -- system.pool_size%b + -- gnat.sockets%s + -- gnat.sockets.thin_common%s + -- gnat.sockets.thin_common%b + -- gnat.sockets.thin%s + -- gnat.sockets.thin%b + -- gnat.sockets.linker_options%s + -- gnat.sockets%b + -- system.soft_links.tasking%s + -- system.soft_links.tasking%b + -- system.tasking.initialization%s + -- system.tasking.task_attributes%s + -- system.tasking.initialization%b + -- system.tasking.task_attributes%b + -- system.tasking.protected_objects%s + -- system.tasking.protected_objects%b + -- system.tasking.protected_objects.entries%s + -- system.tasking.protected_objects.entries%b + -- system.tasking.queuing%s + -- system.tasking.queuing%b + -- system.tasking.utilities%s + -- system.tasking.utilities%b + -- system.tasking.entry_calls%s + -- system.tasking.rendezvous%s + -- system.tasking.protected_objects.operations%s + -- system.tasking.protected_objects.operations%b + -- system.tasking.entry_calls%b + -- system.tasking.rendezvous%b + -- system.tasking.stages%s + -- system.tasking.stages%b + -- types%s + -- mailbox%s + -- mailbox%b + -- byte_buffer%s + -- byte_buffer%b + -- tcp_client%s + -- tcp_client%b + -- types%b + -- backend_thread%s + -- backend_thread%b + -- pathfollowing%s + -- pathfollowing%b + -- webots_thread%s + -- webots_thread%b + -- main%b + -- END ELABORATION ORDER + +end ada_main; diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali new file mode 100644 index 0000000..8eaa8d5 --- /dev/null +++ b/external/controller/obj/b__main.ali @@ -0,0 +1,461 @@ +V "GNAT Lib v9" +A -gnatA +A -gnatA +A -gnatWb +A -gnatiw +A -gnatws +A -g +A -mtune=generic +A -march=x86-64 +P ZX + +RN +RV NO_ACCESS_SUBPROGRAMS +RV NO_DEFAULT_INITIALIZATION +RV NO_IMPLEMENTATION_ATTRIBUTES +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV NO_ELABORATION_CODE +RV NO_OBSOLESCENT_FEATURES +RV SPARK_05 + +U ada_main%b b__main.adb b7c05fbc OO PK IL +W ada%s ada.ads ada.ali +W ada.exceptions%s a-except.adb a-except.ali +W system%s system.ads system.ali +W system.restrictions%s s-restri.adb s-restri.ali + +U ada_main%s b__main.ads 285e5cec EE NE OO PK IL +W system%s system.ads system.ali +W system.parameters%s s-parame.adb s-parame.ali +W system.secondary_stack%s s-secsta.adb s-secsta.ali + +D ada.ads 20200312110721 76789da1 ada%s +D a-except.ads 20200312110721 291912d5 ada.exceptions%s +D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s +D b__main.ads 20200707172406 063c02f5 ada_main%s +D b__main.adb 20200707172406 837849ee ada_main%b +D system.ads 20200312110721 4635ec04 system%s +D s-parame.ads 20200312110721 48ec542b system.parameters%s +D s-restri.ads 20200312110721 1b9d0672 system.restrictions%s +D s-rident.ads 20200312110721 50efdf23 system.rident%s +D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s +D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s +D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +X 1 ada.ads +16K9*Ada 20e8 5|8r6 +X 2 a-except.ads +54K13*Exceptions 349e19 5|8w10 +X 4 b__main.ads +6K9*ada_main 791l5 791e13 5|10b14 438l5 438t13 +8i4*gnat_argc{integer} 12m22 12r22 5|406m7 +9m4*gnat_argv{6|67M9} 13m22 13r22 5|407m7 +10m4*gnat_envp{6|67M9} 14m22 14r22 5|408m7 +16i4*gnat_exit_status{integer} 17m22 17r22 5|415r15 +19a4*GNAT_Version{string} 21r22 +23a4*Ada_Main_Program_Name{string} 24r22 5|402r52 +26U14*adainit 27i22 5|179b14 384l8 384t15 411s7 +29U14*adafinal 30i22 5|161b14 175l8 175t16 413s7 +32V13*main{integer} 33>7 34>7 35>7 37i22 5|389b13 416t7 +33i7 argc{integer} 5|390b7 406r20 +34m7 argv{6|67M9} 5|391b7 407r20 +35m7 envp{6|67M9} 5|392b7 408r20 +39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 +. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 +. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 +. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 +. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 +. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 +. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 +. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 +. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 +. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 +. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 +. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 +. 306r22 308r22 310r22 312r22 314r22 316r22 318r22 320r22 322r22 324r22 326r22 +. 328r22 330r22 332r22 334r22 336r22 338r22 340r22 342r22 344r22 346r22 348r22 +. 350r22 352r22 354r22 356r22 358r22 360r22 362r22 364r22 366r22 368r22 370r22 +. 372r22 374r22 376r22 378r22 380r22 382r22 384r22 386r22 388r22 390r22 392r22 +. 394r22 396r22 398r22 400r22 402r22 404r22 406r22 408r22 410r22 412r22 414r22 +. 416r22 418r22 420r22 422r22 424r22 426r22 428r22 430r22 432r22 434r22 436r22 +. 438r22 440r22 442r22 444r22 446r22 448r22 450r22 452r22 454r22 456r22 458r22 +. 460r22 462r22 464r22 466r22 468r22 470r22 472r22 474r22 476r22 478r22 480r22 +. 482r22 484r22 486r22 488r22 490r22 492r22 494r22 496r22 498r22 500r22 502r22 +. 504r22 506r22 508r22 510r22 512r22 514r22 516r22 518r22 520r22 522r22 524r22 +. 526r22 528r22 530r22 532r22 534r22 536r22 +40m4*u00001{39M9} 41r22 +42m4*u00002{39M9} 43r22 +44m4*u00003{39M9} 45r22 +46m4*u00004{39M9} 47r22 +48m4*u00005{39M9} 49r22 +50m4*u00006{39M9} 51r22 +52m4*u00007{39M9} 53r22 +54m4*u00008{39M9} 55r22 +56m4*u00009{39M9} 57r22 +58m4*u00010{39M9} 59r22 +60m4*u00011{39M9} 61r22 +62m4*u00012{39M9} 63r22 +64m4*u00013{39M9} 65r22 +66m4*u00014{39M9} 67r22 +68m4*u00015{39M9} 69r22 +70m4*u00016{39M9} 71r22 +72m4*u00017{39M9} 73r22 +74m4*u00018{39M9} 75r22 +76m4*u00019{39M9} 77r22 +78m4*u00020{39M9} 79r22 +80m4*u00021{39M9} 81r22 +82m4*u00022{39M9} 83r22 +84m4*u00023{39M9} 85r22 +86m4*u00024{39M9} 87r22 +88m4*u00025{39M9} 89r22 +90m4*u00026{39M9} 91r22 +92m4*u00027{39M9} 93r22 +94m4*u00028{39M9} 95r22 +96m4*u00029{39M9} 97r22 +98m4*u00030{39M9} 99r22 +100m4*u00031{39M9} 101r22 +102m4*u00032{39M9} 103r22 +104m4*u00033{39M9} 105r22 +106m4*u00034{39M9} 107r22 +108m4*u00035{39M9} 109r22 +110m4*u00036{39M9} 111r22 +112m4*u00037{39M9} 113r22 +114m4*u00038{39M9} 115r22 +116m4*u00039{39M9} 117r22 +118m4*u00040{39M9} 119r22 +120m4*u00041{39M9} 121r22 +122m4*u00042{39M9} 123r22 +124m4*u00043{39M9} 125r22 +126m4*u00044{39M9} 127r22 +128m4*u00045{39M9} 129r22 +130m4*u00046{39M9} 131r22 +132m4*u00047{39M9} 133r22 +134m4*u00048{39M9} 135r22 +136m4*u00049{39M9} 137r22 +138m4*u00050{39M9} 139r22 +140m4*u00051{39M9} 141r22 +142m4*u00052{39M9} 143r22 +144m4*u00053{39M9} 145r22 +146m4*u00054{39M9} 147r22 +148m4*u00055{39M9} 149r22 +150m4*u00056{39M9} 151r22 +152m4*u00057{39M9} 153r22 +154m4*u00058{39M9} 155r22 +156m4*u00059{39M9} 157r22 +158m4*u00060{39M9} 159r22 +160m4*u00061{39M9} 161r22 +162m4*u00062{39M9} 163r22 +164m4*u00063{39M9} 165r22 +166m4*u00064{39M9} 167r22 +168m4*u00065{39M9} 169r22 +170m4*u00066{39M9} 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245r22 +246m4*u00104{39M9} 247r22 +248m4*u00105{39M9} 249r22 +250m4*u00106{39M9} 251r22 +252m4*u00107{39M9} 253r22 +254m4*u00108{39M9} 255r22 +256m4*u00109{39M9} 257r22 +258m4*u00110{39M9} 259r22 +260m4*u00111{39M9} 261r22 +262m4*u00112{39M9} 263r22 +264m4*u00113{39M9} 265r22 +266m4*u00114{39M9} 267r22 +268m4*u00115{39M9} 269r22 +270m4*u00116{39M9} 271r22 +272m4*u00117{39M9} 273r22 +274m4*u00118{39M9} 275r22 +276m4*u00119{39M9} 277r22 +278m4*u00120{39M9} 279r22 +280m4*u00121{39M9} 281r22 +282m4*u00122{39M9} 283r22 +284m4*u00123{39M9} 285r22 +286m4*u00124{39M9} 287r22 +288m4*u00125{39M9} 289r22 +290m4*u00126{39M9} 291r22 +292m4*u00127{39M9} 293r22 +294m4*u00128{39M9} 295r22 +296m4*u00129{39M9} 297r22 +298m4*u00130{39M9} 299r22 +300m4*u00131{39M9} 301r22 +302m4*u00132{39M9} 303r22 +304m4*u00133{39M9} 305r22 +306m4*u00134{39M9} 307r22 +308m4*u00135{39M9} 309r22 +310m4*u00136{39M9} 311r22 +312m4*u00137{39M9} 313r22 +314m4*u00138{39M9} 315r22 +316m4*u00139{39M9} 317r22 +318m4*u00140{39M9} 319r22 +320m4*u00141{39M9} 321r22 +322m4*u00142{39M9} 323r22 +324m4*u00143{39M9} 325r22 +326m4*u00144{39M9} 327r22 +328m4*u00145{39M9} 329r22 +330m4*u00146{39M9} 331r22 +332m4*u00147{39M9} 333r22 +334m4*u00148{39M9} 335r22 +336m4*u00149{39M9} 337r22 +338m4*u00150{39M9} 339r22 +340m4*u00151{39M9} 341r22 +342m4*u00152{39M9} 343r22 +344m4*u00153{39M9} 345r22 +346m4*u00154{39M9} 347r22 +348m4*u00155{39M9} 349r22 +350m4*u00156{39M9} 351r22 +352m4*u00157{39M9} 353r22 +354m4*u00158{39M9} 355r22 +356m4*u00159{39M9} 357r22 +358m4*u00160{39M9} 359r22 +360m4*u00161{39M9} 361r22 +362m4*u00162{39M9} 363r22 +364m4*u00163{39M9} 365r22 +366m4*u00164{39M9} 367r22 +368m4*u00165{39M9} 369r22 +370m4*u00166{39M9} 371r22 +372m4*u00167{39M9} 373r22 +374m4*u00168{39M9} 375r22 +376m4*u00169{39M9} 377r22 +378m4*u00170{39M9} 379r22 +380m4*u00171{39M9} 381r22 +382m4*u00172{39M9} 383r22 +384m4*u00173{39M9} 385r22 +386m4*u00174{39M9} 387r22 +388m4*u00175{39M9} 389r22 +390m4*u00176{39M9} 391r22 +392m4*u00177{39M9} 393r22 +394m4*u00178{39M9} 395r22 +396m4*u00179{39M9} 397r22 +398m4*u00180{39M9} 399r22 +400m4*u00181{39M9} 401r22 +402m4*u00182{39M9} 403r22 +404m4*u00183{39M9} 405r22 +406m4*u00184{39M9} 407r22 +408m4*u00185{39M9} 409r22 +410m4*u00186{39M9} 411r22 +412m4*u00187{39M9} 413r22 +414m4*u00188{39M9} 415r22 +416m4*u00189{39M9} 417r22 +418m4*u00190{39M9} 419r22 +420m4*u00191{39M9} 421r22 +422m4*u00192{39M9} 423r22 +424m4*u00193{39M9} 425r22 +426m4*u00194{39M9} 427r22 +428m4*u00195{39M9} 429r22 +430m4*u00196{39M9} 431r22 +432m4*u00197{39M9} 433r22 +434m4*u00198{39M9} 435r22 +436m4*u00199{39M9} 437r22 +438m4*u00200{39M9} 439r22 +440m4*u00201{39M9} 441r22 +442m4*u00202{39M9} 443r22 +444m4*u00203{39M9} 445r22 +446m4*u00204{39M9} 447r22 +448m4*u00205{39M9} 449r22 +450m4*u00206{39M9} 451r22 +452m4*u00207{39M9} 453r22 +454m4*u00208{39M9} 455r22 +456m4*u00209{39M9} 457r22 +458m4*u00210{39M9} 459r22 +460m4*u00211{39M9} 461r22 +462m4*u00212{39M9} 463r22 +464m4*u00213{39M9} 465r22 +466m4*u00214{39M9} 467r22 +468m4*u00215{39M9} 469r22 +470m4*u00216{39M9} 471r22 +472m4*u00217{39M9} 473r22 +474m4*u00218{39M9} 475r22 +476m4*u00219{39M9} 477r22 +478m4*u00220{39M9} 479r22 +480m4*u00221{39M9} 481r22 +482m4*u00222{39M9} 483r22 +484m4*u00223{39M9} 485r22 +486m4*u00224{39M9} 487r22 +488m4*u00225{39M9} 489r22 +490m4*u00226{39M9} 491r22 +492m4*u00227{39M9} 493r22 +494m4*u00228{39M9} 495r22 +496m4*u00229{39M9} 497r22 +498m4*u00230{39M9} 499r22 +500m4*u00231{39M9} 501r22 +502m4*u00232{39M9} 503r22 +504m4*u00233{39M9} 505r22 +506m4*u00234{39M9} 507r22 +508m4*u00235{39M9} 509r22 +510m4*u00236{39M9} 511r22 +512m4*u00237{39M9} 513r22 +514m4*u00238{39M9} 515r22 +516m4*u00239{39M9} 517r22 +518m4*u00240{39M9} 519r22 +520m4*u00241{39M9} 521r22 +522m4*u00242{39M9} 523r22 +524m4*u00243{39M9} 525r22 +526m4*u00244{39M9} 527r22 +528m4*u00245{39M9} 529r22 +530m4*u00246{39M9} 531r22 +532m4*u00247{39M9} 533r22 +534m4*u00248{39M9} 535r22 +536m4*u00249{39M9} 537r22 +X 5 b__main.adb +12i4 E075{short_integer} 12m46 12r46 298m7 298r15 +13i4 E013{short_integer} 13m46 13r46 305m7 305r15 +14i4 E025{short_integer} 14m46 14r46 288m7 288r15 +15i4 E070{short_integer} 15m46 15r46 290m7 290r15 +16i4 E055{short_integer} 16m46 16r46 292m7 292r15 +17i4 E040{short_integer} 17m46 17r46 294m7 294r15 +18i4 E027{short_integer} 18m46 18r46 296m7 296r15 +19i4 E057{short_integer} 19m46 19r46 306m7 306r15 +20i4 E061{short_integer} 20m46 20r46 301m7 301r15 +21i4 E045{short_integer} 21m46 21r46 307m7 307r15 +22i4 E021{short_integer} 22m46 22r46 304m7 304r15 +23i4 E081{short_integer} 23m46 23r46 313m7 313r15 +24i4 E050{short_integer} 24m46 24r46 310m7 310r15 +25i4 E039{short_integer} 25m46 25r46 312m7 312r15 +26i4 E128{short_integer} 26m46 26r46 316m7 316r15 +27i4 E136{short_integer} 27m46 27r46 318m7 318r15 +28i4 E179{short_integer} 28m46 28r46 320m7 320r15 +29i4 E196{short_integer} 29m46 29r46 322m7 322r15 +30i4 E144{short_integer} 30m46 30r46 324m7 324r15 +31i4 E143{short_integer} 31m46 31r46 326m7 326r15 +32i4 E141{short_integer} 32m46 32r46 328m7 328r15 +33i4 E140{short_integer} 33m46 33r46 150m10 150r18 330m7 330r15 +34i4 E204{short_integer} 34m46 34r46 332m7 332r15 +35i4 E212{short_integer} 35m46 35r46 139m7 139r15 335m7 335r15 +36i4 E222{short_integer} 36m46 36r46 132m7 132r15 337m7 337r15 +37i4 E114{short_integer} 37m46 37r46 339m7 339r15 +38i4 E106{short_integer} 38m46 38r46 341m7 341r15 +39i4 E188{short_integer} 39m46 39r46 344m7 344r15 +40i4 E186{short_integer} 40m46 40r46 346m7 346r15 +41i4 E006{short_integer} 41m46 41r46 349m7 349r15 +42i4 E134{short_integer} 42m46 42r46 125m7 125r15 352m7 352r15 +43i4 E200{short_integer} 43m46 43r46 118m7 118r15 354m7 354r15 +44i4 E206{short_integer} 44m46 44r46 111m7 111r15 356m7 356r15 +45i4 E181{short_integer} 45m46 45r46 102m10 102r18 361m7 361r15 +46i4 E194{short_integer} 46m46 46r46 358m7 358r15 +47i4 E184{short_integer} 47m46 47r46 359m7 359r15 +48i4 E168{short_integer} 48m46 48r46 363m7 363r15 +49i4 E156{short_integer} 49m46 49r46 365m7 365r15 +50i4 E172{short_integer} 50m46 50r46 91m7 91r15 367m7 367r15 +51i4 E174{short_integer} 51m46 51r46 369m7 369r15 +52i4 E247{short_integer} 52m46 52r46 371m7 371r15 +53i4 E150{short_integer} 53m46 53r46 377m7 377r15 +54i4 E216{short_integer} 54m46 54r46 372m7 372r15 +55i4 E148{short_integer} 55m46 55r46 84m7 84r15 375m7 375r15 +56i4 E152{short_integer} 56m46 56r46 376m7 376r15 +57i4 E146{short_integer} 57m46 57r46 77m7 77r15 379m7 379r15 +58i4 E226{short_integer} 58m46 58r46 381m7 381r15 +59i4 E249{short_integer} 59m46 59r46 70m7 70r15 383m7 383r15 +61a4 Sec_Default_Sized_Stacks(10|45R9) 280m32 280r32 +63a4 Local_Priority_Specific_Dispatching{string} 267r9 +64a4 Local_Interrupt_States{string} 270r27 +66b4 Is_Elaborated{boolean} 169r14 172m7 226r10 229m7 +68U14 finalize_library 68b14 159l8 159t24 284r35 +72U20*F1 73b30 75s10 +79U20*F2 80b30 82s10 +86U20*F3 87b30 89s10 +93U20*F4 94b30 +. 96s10 +99U20*F5 100b30 103s10 +106U20*F6 107b30 109s10 +113U20*F7 114b30 116s10 +120U20*F8 121b30 123s10 +127U20*F9 128b30 130s10 +134U20*F10 135b30 137s10 +141U20*F11 142b30 144s10 +147U20*F12 148b30 151s10 +154U20*Reraise_Library_Exception_If_Any 155b33 +. 157s10 +162U17*s_stalib_adafinal 163b25 174s7 +165U17*Runtime_Finalize 166b25 173s7 +177P9 No_Param_Proc 218r34 +180i7*Main_Priority{integer} 181m25 181r25 230m7 +182i7*Time_Slice_Value{integer} 183m25 183r25 231m7 +184e7*WC_Encoding{character} 185m25 185r25 232m7 +186e7*Locking_Policy{character} 187m25 187r25 233m7 +188e7*Queuing_Policy{character} 189m25 189r25 234m7 +190e7*Task_Dispatching_Policy{character} 191m25 191r25 235m7 +192m7*Priority_Specific_Dispatching{6|67M9} 193m25 193r25 266m7 +194i7*Num_Specific_Dispatching{integer} 195m25 195r25 268m7 +196i7*Main_CPU{integer} 197m25 197r25 269m7 +198m7*Interrupt_States{6|67M9} 199m25 199r25 270m7 +200i7*Num_Interrupt_States{integer} 201m25 201r25 271m7 +202i7*Unreserve_All_Interrupts{integer} 203m25 203r25 272m7 +204i7*Detect_Blocking{integer} 205m25 205r25 273m7 +206i7*Default_Stack_Size{integer} 207m25 207r25 274m7 +208i7*Default_Secondary_Stack_Size{7|58I9} 209m25 209r25 278m7 +210i7*Leap_Seconds_Support{integer} 211m25 211r25 275m7 +212m7*Bind_Env_Addr{6|67M9} 213m25 213r25 +215U17*Runtime_Initialize 215>37 216b25 282s7 +215i37 Install_Handler{integer} +218p7*Finalize_Library_Objects{177P9} 219m25 219r25 284m7 +220i7*Binder_Sec_Stacks_Count{natural} 221m27 221r27 279m7 +222m7*Default_Sized_SS_Pool{6|67M9} 223m27 223r27 280m7 +386U14 Ada_Main_Program 387b24 412s7 +395U17*Initialize 395>29 396b25 410s7 +395m29 Addr{6|67M9} +398U17*Finalize 399b25 414s7 +400a7 SEH(integer) 410m19 410r19 +402m7 Ensure_Reference{6|67M9} 403r24 +X 6 system.ads +37K9*System 4|3w6 4r6 5r6 9r16 10r16 34r14 35r14 5|7r6 61r57 61r90 192r39 +. 198r26 208r38 212r23 222r31 236r7 278r39 391r14 392r14 395r36 402r34 6|156e11 +67M9*Address 4|9r23 10r23 34r21 35r21 5|192r46 198r33 212r30 222r38 391r21 +. 392r21 395r43 402r41 +X 7 s-parame.ads +51K16*Parameters 4|4w13 5|61r97 208r45 278r46 7|198e22 +58I9*Size_Type 5|208r56 +95i4*Runtime_Default_Sec_Stack_Size{58I9} 5|61r108 278r57 +X 8 s-restri.ads +45K16*Restrictions 5|7w13 236m14 8|77e24 +52r4*Run_Time_Restrictions{9|322R9[49]} 5|236m27 +X 9 s-rident.ads +318A9*Restriction_Flags(boolean)<85E9[8|49]> +319A9*Restriction_Values(natural)<85E9[8|49]> +320A9*Parameter_Flags(boolean)<85E9[8|49]> +322R9*Restrictions_Info +323a7*Set{318A9[8|49]} 5|237m10[8|49] +329a7*Value{319A9[8|49]} 5|250m10[8|49] +336a7*Violated{318A9[8|49]} 5|251m10[8|49] +341a7*Count{319A9[8|49]} 5|264m10[8|49] +349a7*Unknown{320A9[8|49]} 5|265m10[8|49] +X 10 s-secsta.ads +37K16*Secondary_Stack 4|5w13 5|61r64 10|430e27 +45R9*SS_Stack 5|61r80 10|330e14 + diff --git a/external/controller/obj/b__main.o b/external/controller/obj/b__main.o new file mode 100644 index 0000000000000000000000000000000000000000..75bc3b53a809a5439d0bb9c320062dc9db0f29f7 GIT binary patch literal 86064 zcmeIb2Xs|M_y2uwl1oDGy@lRGZW2NQNRtv36e&^^E-5!8l4c6+L8Muth$ux=nm&k% 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zo7nA13V%WTL$|_jmAG`c41SKn?YZh+h1>P^)e5)$c(cN7KYmH!*U0|WLkhS3`?$hw z|Jvtst)6ZFKCAd`|Guhl+rR%(xb5F6i6g9h+rQ%#Zu@tJ!pBLxJ73|pe~(eP?cWUw zxARx8!q1cSUPj?|e{#3NuQkKgxm@9mvOn_~g}2Fgyj$Tr1;0n(yTzY8s&HGMpD5hc z=eG*C&)vPO@R72gP$_Y}?HBvJT)o0CmG#sVh1=&m7b$##v}>i{F7zc;z#aaGUGc|6 zZ(Dr);%b@S+L5j2g#m`0q>o>2IbnyApOX4t=;N2Eg8463{9lpy<}*HiF%jm!Me*NV zVd`_Yk6)%zPWZawe@y({Lq2|LlKmZspD6r8(%$EloN1>z^;mHwb^F_%o}wZ^(Yy z7{RGui1lURpQ-q*{P~K1WROaAoK=e7%HOQ;k4t+$sN~q+^Qbi9I8Lzl1j#g6^!>h{ zN_}nptsD`<{EIB%`y~EGA1%j9tOI*b$<{Wg7%7T#$?}!45F_SoQ0^_it(NrnwSXAc?X9>rUJ{0AiEZ04U_Y(B`Z zM2P%@@vC3#Xr`Y>pdU+b#-Cs$n(?Pl^k4J%;|n7y(I4xje`#`>`_if0u+`T8`Ev>k zL0oKsj1@x3a)ZAcJOx;V;P$gz{tYGalU><-_OlTf*`nXpK{{LL4cA#Rz6@1pgM`s^ zNU~Po<-hi(4E2;4C;2QA6%nTK@=3mx%2&lW_X}Xhov?fPEjf&|88JfCLre@QvNy0Ff{ME;4M{t?Oi0reAk^msr(weborM7Bbm0IxaDh` ztf#k2d}DE2zWux&33MM+2KZdU +X 6 a-convec.ads +61I9 Index_Type 16|7r7 +62+9 Element_Type 16|7r30 +73k24*Vectors 824e27 16|1w21 6r46 +88R9*Vector<9|43R9> 16|12r28[6] +165V13*Length{2|20I9} 17|99s40[16|6] +196V13*Element{51|6M9} 17|48s26[16|6] 55s29[16|6] 56s29[16|6] 64s29[16|6] +. 65s29[16|6] 66s29[16|6] 67s29[16|6] 75s29[16|6] 76s29[16|6] 77s29[16|6] +. 78s29[16|6] 79s29[16|6] 80s29[16|6] 81s29[16|6] 82s29[16|6] 91s33[16|6] +431U14*Append 17|7s19[16|6] 13s19[16|6] 14s19[16|6] 20s19[16|6] 21s19[16|6] +. 22s19[16|6] 23s19[16|6] 29s19[16|6] 30s19[16|6] 31s19[16|6] 32s19[16|6] +. 33s19[16|6] 34s19[16|6] 35s19[16|6] 36s19[16|6] 42s22[16|6] +X 10 a-iteint.ads +24h9 Forward_Iterator +32h9 Reversible_Iterator<24R9[6|111]> +X 16 byte_buffer.ads +4K9*byte_buffer 33l5 33e16 17|3b14 118l5 118t16 +6K12*Byte_Vector[6|73] 8r8 12r16 +11R9*Buffer 14e14 16p14 16r41 17p14 17r42 18p14 18r42 19p14 19r42 20p14 20r43 +. 22p14 22r40 23p14 23r41 24p14 24r41 25p14 25r41 26p14 26r42 28p13 28r33 +. 29p13 29r38 30p13 30r39 31p14 31r36 17|5r41 10r42 17r42 26r42 39r43 46r40 +. 52r41 61r41 72r41 87r42 97r33 102r38 107r39 112r36 +12r7*Buffer{6|88R9[6]} 17|7m12 13m12 14m12 20m12 21m12 22m12 23m12 29m12 +. 30m12 31m12 32m12 33m12 34m12 35m12 36m12 42m15 48r19 55r22 56r22 64r22 +. 65r22 66r22 67r22 75r22 76r22 77r22 78r22 79r22 80r22 81r22 82r22 91r26 +. 99r33 +13i7*Index{integer} 17|48r40 49m12 49r26 55r43 56r43 58m12 58r26 64r43 65r43 +. 66r43 67r43 69m12 69r26 75r43 76r43 77r43 78r43 79r43 80r43 81r43 82r43 +. 84m12 84r26 91r47 94m12 94r26 109r33 114m12 114r39 +16U14*write_uint8 16=27 16>49 17|5b14 8l8 8t19 +16r27 Self{11R9} 17|5b27 7m7 7r7 +16m49 Val{51|6M9} 17|5b49 7r27 +17U14*write_uint16 17=28 17>50 17|10b14 15l8 15t20 +17r28 Self{11R9} 17|10b28 13m7 13r7 14m7 14r7 +17m50 Val{51|7M9} 17|10b50 11r54 +18U14*write_uint32 18=28 18>50 17|17b14 24l8 24t20 +18r28 Self{11R9} 17|17b28 20m7 20r7 21m7 21r7 22m7 22r7 23m7 23r7 +18m50 Val{51|8M9} 17|17b50 18r54 +19U14*write_uint64 19=28 19>50 17|26b14 37l8 37t20 +19r28 Self{11R9} 17|26b28 29m7 29r7 30m7 30r7 31m7 31r7 32m7 32r7 33m7 33r7 +. 34m7 34r7 35m7 35r7 36m7 36r7 +19m50 Val{51|9M9} 17|26b50 27r54 +20U14*write_payload 20=29 20^51 17|39b14 44l8 44t21 +20r29 Self{11R9} 17|39b29 42m10 42r10 +20p51 Val(51|15A9) 17|39b51 41r16 42r30 +22U14*read_uint8 22=26 22<48 17|46b14 50l8 50t18 +22r26 Self{11R9} 17|46b26 48r14 48r35 49m7 49r21 +22m48 Val{51|6M9} 17|46b48 48m7 +23U14*read_uint16 23=27 23<49 17|52b14 59l8 59t19 +23r27 Self{11R9} 17|52b27 55r17 55r38 56r17 56r38 58m7 58r21 +23m49 Val{51|7M9} 17|52b49 57m7 +24U14*read_uint32 24=27 24<49 17|61b14 70l8 70t19 +24r27 Self{11R9} 17|61b27 64r17 64r38 65r17 65r38 66r17 66r38 67r17 67r38 +. 69m7 69r21 +24m49 Val{51|8M9} 17|61b49 68m7 +25U14*read_uint64 25=27 25<49 17|72b14 85l8 85t19 +25r27 Self{11R9} 17|72b27 75r17 75r38 76r17 76r38 77r17 77r38 78r17 78r38 +. 79r17 79r38 80r17 80r38 81r17 81r38 82r17 82r38 84m7 84r21 +25m49 Val{51|9M9} 17|72b49 83m7 +26U14*read_payload 26=28 26^50 17|87b14 95l8 95t20 +26r28 Self{11R9} 17|87b28 91r21 91r42 94m7 94r21 +26p50 Val(51|15A9) 17|87b50 90r16 91r10 +28V13*size{51|8M9} 28=19 17|97b13 100l8 100t12 104s19 +28r19 Self{11R9} 17|97b19 99r28 +29V13*remaining{51|8M9} 29=24 17|102b13 105l8 105t17 +29r24 Self{11R9} 17|102b24 104m14 104r14 104m26 104r26 +30V13*bytes_read{51|8M9} 30=25 17|104s31 107b13 110l8 110t18 +30r25 Self{11R9} 17|107b25 109r28 +31U14*unwind 31=22 31>44 17|112b14 115l8 115t14 +31r22 Self{11R9} 17|112b22 114m7 114r34 +31m44 Bytes{51|8M9} 17|112b44 114r56 +X 17 byte_buffer.adb +11a7 o2{51|11A9} 13r27 14r27 +18a7 o4{51|12A9} 20r27 21r27 22r27 23r27 +27a7 o8{51|13A9} 29r27 30r27 31r27 32r27 33r27 34r27 35r27 36r27 +41m11 I<18|74M9> 42r35 +53a7 o2{51|11A9} 55m7 56m7 57r38 +62a7 o4{51|12A9} 64m7 65m7 66m7 67m7 68r38 +73a7 o8{51|13A9} 75m7 76m7 77m7 78m7 79m7 80m7 81m7 82m7 83r38 +88i7 count{integer} 91r55 92m10 92r19 94r34 +90m11 I<18|74M9> 91r15 +X 18 interfac.ads +63M9*Unsigned_8 +66M9*Unsigned_16 +74M9*Unsigned_32 +77M9*Unsigned_64 +X 20 system.ads +67M9*Address +X 28 s-memory.ads +53V13*Alloc{20|67M9} 103i22 +68U14*Free 104i22 +76V13*Realloc{20|67M9} 105i22 +X 37 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 39 s-stalib.adb +93U14 Break_Start 94i22 +X 51 types.ads +4K9*types 16|2w6 2r17 7r46 16r58 17r59 18r59 19r59 20r64 22r58 23r59 24r59 +. 25r59 26r63 28r48 29r53 30r54 31r55 17|1w6 5r58 10r59 11r12 11r30 17r59 +. 18r12 18r30 26r59 27r12 27r30 39r64 46r58 52r59 53r12 57r14 61r59 62r12 +. 68r14 72r59 73r12 83r14 87r63 97r48 99r14 102r53 107r54 109r14 112r55 51|45e10 +6M9*uint8<18|63M9> 16|7r52 16r64 22r64 17|5r64 46r64 +7M9*uint16<18|66M9> 16|17r65 23r65 17|10r65 52r65 +8M9*uint32<18|74M9> 16|18r65 24r65 28r54 29r59 30r60 31r61 17|17r65 61r65 +. 97r54 99r20 102r59 107r60 109r20 112r61 +9M9*uint64<18|77M9> 16|19r65 25r65 17|26r65 72r65 +11A9*Octets_2(6M9)<8M9> 17|11r18 53r18 +12A9*Octets_4(6M9)<8M9> 17|18r18 62r18 +13A9*Octets_8(6M9)<8M9> 17|27r18 73r18 +15A9*payload(6M9)<8M9> 16|20r70 26r69 17|39r70 87r69 +25V13*uint16_to_octets{11A9} 17|11s36 +26V13*uint32_to_octets{12A9} 17|18s36 +27V13*uint64_to_octets{13A9} 17|27s36 +29V13*octets_to_uint16{7M9} 17|57s20 +30V13*octets_to_uint32{8M9} 17|68s20 +31V13*octets_to_uint64{9M9} 17|83s20 + diff --git a/external/controller/obj/byte_buffer.o b/external/controller/obj/byte_buffer.o new file mode 100644 index 0000000000000000000000000000000000000000..542b91c82a56b7b23df61ac4d46faaa0f37abcc5 GIT binary patch literal 211528 zcmeEv33yf2wf`CJ$-OrN33C{fATtO7LEm?(HP(JqJ-wYixY=rADr8uRVyugHfAmM~)q- z)%3>3n_fx<>8yB2oZeFy@5ycyl_Qz-)}Yq3FhgMUtb7aQM15I=i#O|qJk?K>SnhSe+=`alqIO!;z9xiZ zGmRM}1M7sab{rD?g5g2#rHF4dB zXg>gMWKLnvQ<4mM3Xb$pn)lS*18fN%`vA2&IhkEoh^$60RG=!LMr&Jhl0rtl1D*KU zjx-CWK>9x)!~Z#se1OGZ3v=K}?TPF~?Y7QM+y- z(Q{AT5`3XKkz)g`Q9L!uM2!l!Mtw9^7K%moMz>_|C@}(}jgvFm2uy#mx?a#&_?;bT zMbEJmf=J~4RQ#RXpW}Mv6$zvF?j}a@I81CWJ$~sL z_@&!0ux%hyKc^Yepl$836E(Dc+ZL6ptV2sMp_IXd-^)cYFAc#Odm>v1cTf#eQ@gfJ zTa$sA!8E{=?FgZ`74$v91^q<<&ktr}PlRyQxG39O)X41`sZezZXd8erEwPC09SrGt zPhk#q!Sg03e(M86&N9hI@MwdMw-_hE7_!9ds7Xu0+$B2~j}ucbFuy^v!x9l>1`khe5H9{*;%1 zIpLir7G?hRHX(hWKJrfO+5=kk0suegP;P3pA&W>BZ8(d+hz`Gw+HFz$mr?sKNtfc; 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zgym@z>kjIo!4YW`>lB;dIl@{rigk*$QKC_-GpK=Nqpi@x86FkUUr%O+7t^PWJNb~NEz2KVGH2Y*hcs=;G$RvDTbAFKR$I}u zmGZ|MAk~C8ZNb?l{ZtE_KF(TEkoQebTE;bhWYuZ8w4St#%l^m~mGq=#T=jiN zP;{N9x7{CYQRN_&p;lE6P+9tbDv!lwo8R87%6=-XZBX)|9QoVNdB|^TQsvROZ1G2iRM|tNpM%cq=pXGC)Ny_xc`e2v;0EKJ=U;qFB literal 0 HcmV?d00001 diff --git a/external/controller/obj/gpsauto.cgpr b/external/controller/obj/gpsauto.cgpr new file mode 100644 index 0000000..20aa98d --- /dev/null +++ b/external/controller/obj/gpsauto.cgpr @@ -0,0 +1,91 @@ +project _Auto is + + for Library_Support use "full"; + for Library_Auto_Init_Supported use "true"; + for Target use ""; + for Default_Language use "ada"; + + package Compiler is + for Driver ("ada") use "gcc"; + for Language_Kind ("ada") use "unit_based"; + for Dependency_Kind ("ada") use "ALI_File"; + for Object_File_Suffix ("html") use "-"; + for Object_File_Suffix ("xml") use "-"; + for Object_File_Suffix ("matlab") use "-"; + for Object_File_Suffix ("c#") use "-"; + for Object_File_Suffix ("asm2") use "-"; + for Object_File_Suffix ("asm_cpp") use "-"; + for Object_File_Suffix ("asm") use "-"; + for Object_File_Suffix ("gnat expanded code") use "-"; + for Object_File_Suffix ("java") use "-"; + for Object_File_Suffix ("javascript") use "-"; + for Object_File_Suffix ("tcl") use "-"; + for Object_File_Suffix ("shell") use "-"; + for Object_File_Suffix ("makefile") use "-"; + for Object_File_Suffix ("m4") use "-"; + for Object_File_Suffix ("fortran 90") use "-"; + for Object_File_Suffix ("pascal") use "-"; + for Object_File_Suffix ("perl") use "-"; + for Object_File_Suffix ("awk") use "-"; + for Object_File_Suffix ("autoconf") use "-"; + for Object_File_Suffix ("rest") use "-"; + for Object_File_Suffix ("texinfo") use "-"; + for Object_File_Suffix ("project file") use "-"; + for Object_File_Suffix ("changelog") use "-"; + for Object_File_Suffix ("qgen") use "-"; + for Object_File_Suffix ("simulink") use "-"; + for Object_File_Suffix ("python") use ".pyc"; + for Object_File_Suffix ("css") use "-"; + for Object_File_Suffix ("c++") use ".o"; + for Object_File_Suffix ("c") use ".o"; + for Object_File_Suffix ("ada") use ".o"; + end Compiler; + + package Naming is + for Spec_Suffix ("ada") use ".ads"; + for Body_Suffix ("ada") use ".adb"; + for Spec_Suffix ("c") use ".h"; + for Body_Suffix ("c") use ".c"; + for Spec_Suffix ("c++") use ".hh"; + for Body_Suffix ("c++") use ".cpp"; + for Dot_Replacement use "-"; + for Casing use "lowercase"; + for Spec_Suffix ("html") use ".html"; + for Body_Suffix ("xml") use ".xml"; + for Body_Suffix ("matlab") use ".m"; + for Spec_Suffix ("c#") use ".cs"; + for Body_Suffix ("asm2") use ".asm"; + for Body_Suffix ("asm_cpp") use ".S"; + for Body_Suffix ("asm") use ".s"; + for Body_Suffix ("gnat expanded code") use ".dg"; + for Body_Suffix ("java") use ".java"; + for Body_Suffix ("javascript") use ".js"; + for Body_Suffix ("tcl") use ".tcl"; + for Body_Suffix ("shell") use ".sh"; + for Body_Suffix ("m4") use ".m4"; + for Body_Suffix ("fortran 90") use ".f"; + for Body_Suffix ("pascal") use ".pas"; + for Body_Suffix ("perl") use ".pl"; + for Body_Suffix ("awk") use ".awk"; + for Body_Suffix ("autoconf") use "configure.in"; + for Body_Suffix ("rest") use ".rst"; + for Body_Suffix ("texinfo") use ".texi"; + for Body_Suffix ("project file") use ".gpr"; + for Spec_Suffix ("changelog") use ".changelog"; + for Body_Suffix ("qgen") use ".xmi"; + for Spec_Suffix ("simulink") use ".slx"; + for Body_Suffix ("simulink") use ".mdl"; + for Body_Suffix ("python") use ".py"; + for Body_Suffix ("css") use ".css"; + for Spec_Suffix ("c++") use ".hh"; + for Body_Suffix ("c++") use ".cpp"; + for Spec_Suffix ("c") use ".h"; + for Body_Suffix ("c") use ".c"; + for Spec_Suffix ("ada") use ".ads"; + for Body_Suffix ("ada") use ".adb"; + end Naming; + + for Library_Support use "full"; + +end _Auto; + diff --git a/external/controller/obj/mailbox.adb.stderr b/external/controller/obj/mailbox.adb.stderr new file mode 100644 index 0000000..e69de29 diff --git a/external/controller/obj/mailbox.adb.stdout b/external/controller/obj/mailbox.adb.stdout new file mode 100644 index 0000000..e69de29 diff --git a/external/controller/obj/mailbox.ali b/external/controller/obj/mailbox.ali new file mode 100644 index 0000000..4fc418b --- /dev/null +++ b/external/controller/obj/mailbox.ali @@ -0,0 +1,139 @@ +V "GNAT Lib v9" +A -gnatA +A -g +A -mtune=generic +A -march=x86-64 +P ZX + +RN +RV SIMPLE_BARRIERS +RV NO_DELAY +RV NO_DIRECT_BOOLEAN_OPERATORS +RV NO_EXCEPTION_HANDLERS +RV NO_EXCEPTION_PROPAGATION +RV NO_EXCEPTIONS +RV NO_FIXED_POINT +RV NO_IMPLICIT_CONDITIONALS +RV NO_PROTECTED_TYPES +RV NO_RECURSION +RV NO_RELATIVE_DELAY +RV NO_SELECT_STATEMENTS +RV NO_STANDARD_STORAGE_POOLS +RV NO_DYNAMIC_SIZED_OBJECTS +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV SPARK_05 +RV MAX_PROTECTED_ENTRIES=2 +RV MAX_ENTRY_QUEUE_LENGTH=1+ + +U mailbox%b mailbox.adb f7cc1da6 NE OO PK IL +Z ada.calendar.delays%s a-caldel.adb a-caldel.ali +Z ada.tags%s a-tags.adb a-tags.ali +Z system%s system.ads system.ali +Z system.soft_links%s s-soflin.adb s-soflin.ali +Z system.tasking%s s-taskin.adb s-taskin.ali +Z system.tasking.protected_objects%s s-taprob.adb s-taprob.ali +Z system.tasking.protected_objects.entries%s s-tpoben.adb s-tpoben.ali +Z system.tasking.protected_objects.operations%s s-tpobop.adb s-tpobop.ali + +U mailbox%s mailbox.ads ab2e415b EE NE OO PK IL +W ada%s ada.ads ada.ali +Z ada.exceptions%s a-except.adb a-except.ali +W ada.real_time%s a-reatim.adb a-reatim.ali +Z ada.tags%s a-tags.adb a-tags.ali +Z system%s system.ads system.ali +Z system.tasking%s s-taskin.adb s-taskin.ali +Z system.tasking.protected_objects%s s-taprob.adb s-taprob.ali +Z system.tasking.protected_objects.entries%s s-tpoben.adb s-tpoben.ali +W types%s types.adb types.ali + +D ada.ads 20200312110721 76789da1 ada%s +D a-calend.ads 20200312110721 b288ede8 ada.calendar%s +D a-caldel.ads 20200312110721 9f20b83d ada.calendar.delays%s +D a-except.ads 20200312110721 291912d5 ada.exceptions%s +D a-finali.ads 20200312110721 bf4f806b ada.finalization%s +D a-reatim.ads 20200312110721 0240fc73 ada.real_time%s +D a-stream.ads 20200312110721 119b8fb3 ada.streams%s +D a-tags.ads 20200312110721 491b781d ada.tags%s +D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s +D interfac.ads 20200312110721 5ab55268 interfaces%s +D i-c.ads 20200312110721 5421119b interfaces.c%s +D mailbox.ads 20200624154551 01c4c1c0 mailbox%s +D mailbox.adb 20200706162034 f608dc66 mailbox%b +D system.ads 20200312110721 4635ec04 system%s +D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s +D s-exctab.ads 20200312110721 54135002 system.exception_table%s +D s-finroo.ads 20200312110721 4ff27390 system.finalization_root%s +D s-linux.ads 20200312110721 ed0b8aee system.linux%s +D s-multip.ads 20200312110721 38ac9f73 system.multiprocessors%s +D s-oscons.ads 20200409103809 0b994636 system.os_constants%s +D s-osinte.ads 20200312110721 710cf8c6 system.os_interface%s +D s-parame.ads 20200312110721 48ec542b system.parameters%s +D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s +D s-soflin.ads 20200312110721 a7318a92 system.soft_links%s +D s-stache.ads 20200312110721 a37c21ec system.stack_checking%s +D s-stausa.ads 20200312110721 017a0a05 system.stack_usage%s +D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s +D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s +D s-tasinf.ads 20200312110721 2b3f8252 system.task_info%s +D s-taspri.ads 20200312110721 f40ac08d system.task_primitives%s +D s-taprop.ads 20200312110721 1dd2e1b6 system.task_primitives.operations%s +D s-taskin.ads 20200312110721 b9d612e2 system.tasking%s +D s-taprob.ads 20200312110721 acd6094d system.tasking.protected_objects%s +D s-tpoben.ads 20200312110721 60ad3dae system.tasking.protected_objects.entries%s +D s-tpobop.ads 20200312110721 5f548bb3 system.tasking.protected_objects.operations%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +D s-unstyp.ads 20200312110721 34867c83 system.unsigned_types%s +D types.ads 20200624154551 a8aa7ce8 types%s +X 1 ada.ads +16K9*Ada 20e8 12|2r6 2r25 13|63r11 63r54 +X 6 a-reatim.ads +39K13*Real_Time 185e18 12|2w10 2r29 13|63r15 63r58 +49O9*Time 12|22r44 13|61r44 +54O9*Time_Span +61V13*Clock{49O9} 13|63s25 +71V14*"-"{54O9} 13|63s31 +107V14*">="{boolean} 13|63r51 +119V13*Milliseconds{54O9} 13|63s68 +X 10 interfac.ads +63M9*Unsigned_8 +X 12 mailbox.ads +4K9*mailbox 24l5 24e12 13|1b14 70l5 70t12 +6A9*Mail_List(38|18R9)<38|6M9> 14r14 +8W19*Mailbox 8d28 14E7 16l8 16e15 18r45 18r70 13|3b19 31l8 31t15 33r45 33r70 +8m28 Size{38|6M9} 14r27 13|16r67 +9U17 Clear 13|4b17 15l11 15t16 +10Y13 Deposit 10>21 13|16b13 20l11 20t18 +10r21 X{38|18R9} 13|18r29 +11Y13 Collect 11<21 13|21b13 26l11 26t18 37s19 44s20 +11r21 X{38|18R9} 13|23m10 +12U17 View_Inbox 12<28 13|27b17 30l11 30t21 +12m28 Remaining_Items{38|6M9} 13|27b28 29m10 +14a7 Items{6A9} 13|7r22 9r29 11r19 11r37 18r10 23r15 25r10 25r28 +15m7 Last{38|6M9} 13|6r13 8r26 8r42 10r19 10r27 11r28 11r46 16r60 18r16 19r10 +. 19r18 21r61 24r10 24r18 25r19 25r37 29r28 +18U14*check_mailbox 18=30 18=54 18<79 18>124 13|33b14 40s13 47s13 50l8 50t21 +18w30 first{8W19} 13|33b30 37r13 40m34 47m34 +18w54 second{8W19} 13|33b54 40m27 44r13 47m27 +18r79 new_packet{38|18R9} 13|33b79 37m27 40m40 44m28 47m40 +18m124 alternator{38|6M9} 13|33b124 35r10 40r51 47r51 +20U14*update_alternator 20=32 13|52b14 59l8 59t25 +20m32 alternator{38|6M9} 13|52b33 54r10 55m10 57m10 +22V13*isExpired{boolean} 22>23 13|9s19 61b13 68l8 68t17 +22o23 Time_In_Question{6|49O9} 13|61b23 63r33 +X 13 mailbox.adb +7m17 I<10|63M9> 8r38 9r35 +16r21 X{38|18R9} +21r21 X{38|18R9} +X 26 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 38 types.ads +4K9*types 12|1w6 1r17 6r29 6r54 8r35 10r27 11r28 12r49 15r14 18r96 18r136 +. 20r51 13|16r27 21r28 27r49 33r96 33r136 52r52 38|45e10 +6M9*uint8<10|63M9> 12|6r35 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blue{16|20A9} 121m13 124r31 +19a4 green{16|20A9} 122m13 124r64 +20a4 grey{16|20A9} 125m13 130r29 +21a4 binaImage{16|20A9} 43m16 45m16 52r14 62r13 68r13 130m7 132r40 +23a4 wheehlvelocity{16|21A9} 132m7 140r42 147r42 +25f4 basicVelocity{47|10F9} 95r31 96r31 99r31 100r31 102r31 103r31 +27f4 V_turn{47|10F9} 76m10 78m10 80m10 83m13 86m13 91r17 94r10 95r47 96r47 +. 98r13 99r47 100r47 +40i12 I{16|14I9} 42r22 43r27 45r27 +41i14 J{16|13I9} 42r25 43r30 45r30 +57a7 wheehlvelocity{16|21A9} 95m10 96m10 99m10 100m10 102m10 103m10 105r17 +. 105r51 107r14 +61i11 J{16|13I9} 62r44 63r36 +67i11 J{16|13I9} 68r44 69r37 +112p7 raw(47|15A9) 121r29 122r30 123r28 +113i7 index{16|16I9} 120m13 121r47 122r48 123r46 +114a7 o8{47|13A9} 141m10 143r19 144r41 148m10 150r19 151r45 +115m7 u64{47|9M9} 140m10 141r40 147m10 148r40 +118i11 I{16|14I9} 120r47 121r19 122r20 123r18 124r37 124r71 124r104 125r19 +119i14 J{16|13I9} 120r68 121r23 122r24 123r22 124r41 124r75 124r108 125r23 +134r15 packet{47|18R9} 136m10 137m10 138m10 144r13 151r13 154r17 +143m14 I<12|74M9> 144r35 144r45 +150m14 I<12|74M9> 151r35 151r49 +X 35 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 47 types.ads +4K9*types 16|3w6 3r17 17|112r20 121r34 122r35 123r33 140r17 141r16 147r17 +. 148r16 47|45e10 +6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|125r29 +8M9*uint32<12|74M9> 17|121r40 122r41 123r39 +9M9*uint64<12|77M9> 17|115r13 +10F9*float64<12|172F9> 16|21r43 22r33 17|25r20 27r13 +13A9*Octets_8(6M9)<8M9> 17|114r12 +15A9*payload(6M9)<8M9> 17|112r26 138r38 +18R9*Communication_Packet 16|24r43 24r93 17|111r44 111r94 134r24 47|23e14 +19m7*package_ID{6M9} 17|136m17 +20m7*payload_length{8M9} 17|137m17 +21p7*local_payload(15A9) 17|112r47 138m17 144r20 151r20 +27V13*uint64_to_octets{13A9} 17|141s22 148s22 +34V13*float64_to_uint64{9M9} 17|140s23 147s23 + diff --git a/external/controller/obj/pathfollowing.o b/external/controller/obj/pathfollowing.o new file mode 100644 index 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114t15 +12m4*protocol_package_length{57|8M9} 56|79r51 +13m4*protocol_ID_length{57|8M9} 56|83r51 +14m4*protocol_join_ID{57|6M9} +16V13*build_connection{17|1213P9} 16=32 16>61 16=79 56|6b13 23l8 23t24 +16i32 client{17|412I9} 56|6b32 12m22 19r23 21r21 +16i61 port{17|492I9} 56|6b61 17r23 +16r79 address{17|597R9} 56|6b79 15m7 17m7 19r31 +18U14*send_bytes 18>26 18>57 56|26b14 48l8 48t18 +18p26 server_stream{17|1213P9} 56|26b26 35r28 39r25 44r31 +18r57 outgoing_packet{57|18R9} 56|26b57 33r55 39r40 42r10 43r19 44r46 +20V13*recv_bytes{57|8M9} 20>25 20>56 20=88 56|51b13 66l8 66t18 79s25 83s25 +. 87s25 +20p25 server_stream{17|1213P9} 56|51b24 59r27 +20m56 bytes_wanted{57|8M9} 56|51b55 58r30 +20r88 dynamic_buffer{15|11R9} 56|51b87 60m10 60r10 +22U14*listen 22>22 22=53 22=97 56|70b14 90l8 90t14 +22p22 server_stream{17|1213P9} 56|70b22 79r36 83r36 87r36 +22r53 dynamic_buffer{15|11R9} 56|70b53 79m76 79r76 80m31 83m71 83r71 84m30 +. 87m78 87r78 88m20 +22w97 local_mailbox{21|8W19} 56|70b97 88m79 +24U14*read_payload 24=27 24>71 24>102 24=128 56|88s7 92b14 112l8 112t20 +24r27 dynamic_buffer{15|11R9} 56|92b27 104m13 104r13 +24m71 payload_length{57|8M9} 56|92b71 99r39 100r54 +24m102 package_ID{57|6M9} 56|92b102 98r35 +24w128 local_mailbox{21|8W19} 56|92b128 107r10 108r10 +X 56 tcp_client.adb +28a7 uint8_payload_length{57|12A9} 33m7 34r16 35r43 +34m11 I<18|74M9> 35r64 +43m14 I<18|74M9> 44r76 +53m7 bytes_received{57|8M9} 58r13 61m10 61r28 64r14 +54m7 new_byte{57|6M9} 59m42 59r42 60r37 +72m7 bytes_received{57|8M9} 79m7 83m7 87m7 +73m7 conv_package_ID{57|6M9} 84m46 88r63 +74m7 conv_package_value_length{57|8M9} 80m47 81m7 81r36 87r51 88r36 +96r15 new_packet{57|18R9} 98m10 99m10 100m10 101m10 103r19 104r39 108r32 +103m14 I<18|74M9> 104r64 +X 57 types.ads +4K9*types 55|5w6 12r30 13r25 14r23 18r75 20r74 20r140 24r88 24r115 56|1w6 +. 1r17 26r75 28r30 35r10 39r7 44r13 51r73 51r139 53r24 54r18 59r10 72r24 +. 73r25 74r35 92r88 92r115 57|45e10 +6M9*uint8<18|63M9> 55|14r29 24r121 56|35r16 39r13 44r19 54r24 59r16 73r31 +. 92r121 +8M9*uint32<18|74M9> 55|12r36 13r31 20r80 20r146 24r94 56|51r79 51r145 53r30 +. 72r30 74r41 92r94 +12A9*Octets_4(6M9)<8M9> 56|28r36 +15A9*payload(6M9)<8M9> 56|100r42 +18R9*Communication_Packet 55|18r81 56|26r81 96r28 57|23e14 +19m7*package_ID{6M9} 56|39r56 98m21 +20m7*payload_length{8M9} 56|33r71 42r26 99m21 +21p7*local_payload(15A9) 56|43r35 44r62 100m21 103r30 104r50 +22o7*TTL{9|49O9} 56|101m21 +26V13*uint32_to_octets{12A9} 56|33s31 +39V13*hton32{8M9} 56|33s48 + diff --git a/external/controller/obj/tcp_client.o b/external/controller/obj/tcp_client.o new file mode 100644 index 0000000000000000000000000000000000000000..b5048cab0a5b822e29d6f31fa69fcbae597cacaf GIT binary patch literal 48328 zcmcJ23w%_?_5a;hcGoOqNqC5W1dx|NNFYEEc?1Xq4MHJ7e0A9*n};OXnBDO3iQhmEZSupG*umbK%D&hsMmxX2n}4YnF;`~FmYdiA>M zhU)sYwcFp?(s$9`zTP`)`xJyKnC zum6Oqhtq=|EK<4VQ)b1WQoy`7K&7qrP@AYFb$x$u7o%Egf$wtS+kPNW`_N%;EowtT zf5V-9gLl;SH{99}o%B7=RfFKC6@8C_sOx*b_I|1t4LVXg=E>UdGb{QYtLuBa4iayF 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+18R9*Communication_Packet 23e14 58|15r23 +19m7*package_ID{6M9} 59|15m18 +20m7*payload_length{8M9} 59|16m18 +21p7*local_payload(15A9) 59|18m18 21r27 22r21 +27V13*uint64_to_octets{13A9} 59|14s22 +34V13*float64_to_uint64{9M9} 59|13s22 +X 58 webots_thread.ads +9K9*webots_thread 21l5 21e18 59|1b14 33l5 33t18 +12i4*Webots_Client{17|412I9} 59|11m43 11r43 +13p4*Webots_Channel{17|1213P9} 59|11m7 25r18 28r18 +14r4*Webots_Address{17|597R9} 59|11m64 11r64 +15r4*Webots_Cmd{57|18R9} 59|15m7 16m7 18m7 21r16 22r10 25r34 +16r4*Webots_Vector_Buffer{15|11R9} 59|28m34 28r34 +17w4*Webots_Mailbox{21|8W19} 59|28m56 28r56 +19U14*webots_main 59|3b14 31l8 31t19 +X 59 webots_thread.adb +4f7 test{57|10F9} 13r40 +5m7 test_uint64{57|9M9} 13m7 14r39 +6a7 test_to_send{57|13A9} 14m7 22r41 +21m11 I<18|74M9> 22r35 22r54 + diff --git a/external/controller/obj/webots_thread.o b/external/controller/obj/webots_thread.o new file mode 100644 index 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diff --git a/external/controller/src/.#main.adb# b/external/controller/src/.#main.adb# deleted file mode 100644 index bbf5085..0000000 --- a/external/controller/src/.#main.adb# +++ /dev/null @@ -1,65 +0,0 @@ -with Ada.Text_IO; use Ada.Text_IO; -with tcp_client; use tcp_client; -with backend_thread; use backend_thread; -with webots_thread; use webots_thread; -with pathfollowing; use pathfollowing; -with types; use types; - -with mailbox; - - -procedure Main is - - task webots_thread; - task backend_thread; - - task body webots_thread is - begin - webots_main; - end webots_thread; - - task body backend_thread is - begin - backend_main; - end backend_thread; - - current_packet : types.Communication_Packet; - alternator : types.uint8 := 1; - send_packet : types.Communication_Packet; - dist: types.Octets_8; - distance_sensor_data: pathfollowing.Dtype; -begin - - -- threads have started here - - while true loop - - -- clear out both mailboxes - Backend_Mailbox.Clear; - Webots_Mailbox.Clear; - - -- alternate between checking webots and backend mailbox first, then update alternator - mailbox.check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet,alternator); - mailbox.update_alternator(alternator); - - -- do calculations with current packet - Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); - --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.payload_length))); - - if (current_packet.package_ID = 66) then - for J in uint32 range 0..8 loop - for I in uint32 range 0..7 loop - dist(I) := current_packet.local_payload(I+J*8); - end loop; - distance_sensor_data(Integer(J)) := Types.uint64_to_float64(octets_to_uint64(dist)); - end loop; - end if; - - if(current_packet.package_ID = 67) then - send_packet := pathfollowing.path_following(current_packet, distance_sensor_data); - send_bytes(Webots_Channel, send_packet); - end if; - - end loop; - -end Main; diff --git a/external/controller/src/Path/pathfollowing.adb b/external/controller/src/Path/pathfollowing.adb index d3cd3d2..c2eac3c 100644 --- a/external/controller/src/Path/pathfollowing.adb +++ b/external/controller/src/Path/pathfollowing.adb @@ -25,36 +25,19 @@ package body pathfollowing is basicVelocity : float64 :=4.0 ; --ratio : float64 := 8.0; V_turn : float64 := 0.0; - offset : Integer := 32; - Kp : float64 := 0.08; - Ki : float64 :=0.08; - Kd : float64 := 0.08; - Error : float64 := 0.0; - lastError : float64 := 0.0; - integral : float64 := 0.0; - derivative : float64 := 0.0; - - - function path_following (imageInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet is - raw : access types.payload := imageInput.local_payload; - index : Image_Index := 0; - o8 : Octets_8; - u64 : uint64; - begin + --offset : Integer := 32; + --Kp : float64 := 0.08; + --Ki : float64 :=0.08; + --Kd : float64 := 0.08; + --Error : float64 := 0.0; + --lastError : float64 := 0.0; + --integral : float64 := 0.0; + --derivative : float64 := 0.0; + function binarize (grey : in Colour_Matrix) return Colour_Matrix is - for I in Row_Index loop - for J in Column_Index loop - index := Image_Index(4 * (Integer(I) * width + Integer(J))); - blue (I) (J) := raw (types.uint32(index) + 4); - green (I) (J) := raw (types.uint32(index + 1) + 4); - red (I) (J) := raw (types.uint32(index + 2) + 4); - colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; - grey (I) (J) := uint8(colour); - end loop; - end loop; + begin - --Binarized - for I in Row_Index loop + for I in Row_Index loop for J in Column_Index loop if grey (I)(J) > 100 then binaImage (I)(J) := 255; @@ -66,17 +49,15 @@ package body pathfollowing is end loop; --Put_Line(""); end loop; + return binaImage; + + end binarize; + + function wheel_Velocity (binarizedImage : in Colour_Matrix; d_sensor : in Dtype) return Wheehl_velocity is + wheehlvelocity : Wheehl_velocity := (others => 0.0); + + begin - --for I in Row_Index loop - --for J in Column_Index loop - --Put(Value'Image (blue (I) (J))); - --Put(Value'Image (green (I) (J))); - --Put(Value'Image (red (I) (J))); - --Put(Value'Image (grey (I) (J))); - --Put_Line(""); - --end loop; - --end loop; --- find bottompoint for J in Column_Index loop if binaImage(Row_Index(height-5))(J) = 255 then bottomPoint := Integer(J); @@ -90,25 +71,7 @@ package body pathfollowing is end loop; bottomPoint := (bottomPoint + bottomPoint1) / 2; - - --find leftPoint - for I in Row_Index loop - if binaImage(I)(0) = 255 then - leftPoint:= Integer(I); - end if; - end loop; - for I in reverse Row_Index loop - if binaImage(I)(0) = 255 then - leftPoint1 := Integer(I); - end if; - end loop; - leftPoint := (leftPoint + leftPoint1)/2; - - --Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); - - - - + Put_Line(Integer'Image(bottomPoint)); if bottomPoint >= 36 then V_turn := 3.6; elsif bottomPoint <= 28 and bottomPoint > 0 then @@ -139,9 +102,35 @@ package body pathfollowing is wheehlvelocity(0) := basicVelocity; wheehlvelocity(1) := basicVelocity; end if; - Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); + return wheehlvelocity; + + end wheel_Velocity; + + function path_following (dataInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet is + raw : access types.payload := dataInput.local_payload; + index : Image_Index := 0; + o8 : Octets_8; + u64 : uint64; + begin + --grayscale Image + for I in Row_Index loop + for J in Column_Index loop + index := Image_Index(4 * (Integer(I) * width + Integer(J))); + blue (I) (J) := raw (types.uint32(index) + 4); + green (I) (J) := raw (types.uint32(index + 1) + 4); + red (I) (J) := raw (types.uint32(index + 2) + 4); + colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; + grey (I) (J) := uint8(colour); + end loop; + end loop; + + --Binarized + binaImage := binarize(grey); + --wheelvelocity calculate + wheehlvelocity := wheel_Velocity(binaImage, d_sensor); + declare packet : Communication_Packet; begin packet.package_ID := 129; diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads index 9ff2a15..e701b9f 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/Path/pathfollowing.ads @@ -21,6 +21,9 @@ package pathfollowing is type Wheehl_velocity is array(0..1) of float64; type Dtype is array(0..8) of float64; - function path_following(imageInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet; + function path_following(dataInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet; + function binarize(grey : in Colour_Matrix) return Colour_Matrix; + function wheel_Velocity(binarizedImage : in Colour_Matrix; d_sensor : in Dtype) return Wheehl_velocity; + end pathfollowing; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index eddf1c3..bbf5085 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -44,7 +44,7 @@ begin -- do calculations with current packet Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); - Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.payload_length))); + --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.payload_length))); if (current_packet.package_ID = 66) then for J in uint32 range 0..8 loop diff --git a/test/ada/Makefile b/test/ada/Makefile new file mode 100644 index 0000000..f01e827 --- /dev/null +++ b/test/ada/Makefile @@ -0,0 +1,5 @@ +all: + gprbuild -p -Pada +clean: + -gprclean -Pada + rm -rf ada/obj/* diff --git a/test/ada/ada.gpr b/test/ada/ada.gpr new file mode 100644 index 0000000..d5d7d27 --- /dev/null +++ b/test/ada/ada.gpr @@ -0,0 +1,26 @@ +limited with "../../../../GNAT/share/gpr/aunit.gpr"; + +--with "aunit.gpr"; + +project Ada is + + for Source_Dirs use ("src/**", "../../external/controller/src/backend_thread/**", "../../external/controller/src/tcp_client/**", "../../external/controller/src/webots_thread/**", "src/mailbox_suite/**"); + for Object_Dir use "obj"; + for Main use ("test_main.adb"); + for Exec_Dir use "."; + + package Linker is + for Default_Switches ("ada") use ("-g"); + end Linker; + + package Binder is + for Default_Switches ("ada") use ("-E", "-static"); + end Binder; + + package Compiler is + for Default_Switches ("ada") use ("-gnatQ", "-gnatf", "-gnato", "-gnat2012"); + end Compiler; + +end Ada; + + diff --git a/test/ada/empty-loc.xml b/test/ada/empty-loc.xml new file mode 100644 index 0000000..8cad2e0 --- /dev/null +++ b/test/ada/empty-loc.xml @@ -0,0 +1,46 @@ + + + + + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.adb + + + + 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/home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/Path/pathfollowing.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/external/harness/harness.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/test_main.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.ads + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/tcp_suite/tcp_suite.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.ads + + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/main.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/Path/pathfollowing.adb + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/external/harness/harness.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr + + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/test_main.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.ads + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb + + + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr + /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/tcp_suite/tcp_suite.adb + + + diff --git a/test/ada/obj/b__test_main.adb b/test/ada/obj/b__test_main.adb new file mode 100644 index 0000000..a0a861c --- /dev/null +++ b/test/ada/obj/b__test_main.adb @@ -0,0 +1,572 @@ +pragma Warnings (Off); +pragma Ada_95; +pragma Source_File_Name (ada_main, Spec_File_Name => "b__test_main.ads"); +pragma Source_File_Name (ada_main, Body_File_Name => "b__test_main.adb"); +pragma Suppress (Overflow_Check); + +with System.Restrictions; +with Ada.Exceptions; + +package body ada_main is + + E017 : Short_Integer; pragma Import (Ada, E017, "system__soft_links_E"); + E027 : Short_Integer; pragma Import (Ada, E027, "system__exception_table_E"); + E029 : Short_Integer; pragma Import (Ada, E029, "system__exceptions_E"); + E019 : Short_Integer; pragma Import (Ada, E019, "system__soft_links__initialize_E"); + E208 : Short_Integer; pragma Import (Ada, E208, "ada__containers_E"); + E121 : Short_Integer; pragma Import (Ada, E121, "ada__io_exceptions_E"); + E158 : Short_Integer; pragma Import (Ada, E158, "gnat_E"); + E057 : Short_Integer; pragma Import (Ada, E057, "interfaces__c_E"); + E221 : Short_Integer; pragma Import (Ada, E221, "interfaces__c__strings_E"); + E192 : Short_Integer; pragma Import (Ada, E192, "system__os_lib_E"); + E091 : Short_Integer; pragma Import (Ada, E091, "ada__tags_E"); + E120 : Short_Integer; pragma Import (Ada, E120, "ada__streams_E"); + E195 : Short_Integer; pragma Import (Ada, E195, "system__file_control_block_E"); + E123 : Short_Integer; pragma Import (Ada, E123, "system__finalization_root_E"); + E118 : Short_Integer; pragma Import (Ada, E118, "ada__finalization_E"); + E190 : Short_Integer; pragma Import (Ada, E190, "system__file_io_E"); + E153 : Short_Integer; pragma Import (Ada, E153, "system__storage_pools_E"); + E149 : Short_Integer; pragma Import (Ada, E149, "system__finalization_masters_E"); + E237 : Short_Integer; pragma Import (Ada, E237, "system__storage_pools__subpools_E"); + E146 : Short_Integer; pragma Import (Ada, E146, "ada__calendar_E"); + E213 : Short_Integer; pragma Import (Ada, E213, "ada__calendar__delays_E"); + E205 : Short_Integer; pragma Import (Ada, E205, "ada__real_time_E"); + E186 : Short_Integer; pragma Import (Ada, E186, "ada__text_io_E"); + E155 : Short_Integer; pragma Import (Ada, E155, "system__pool_global_E"); + E225 : Short_Integer; pragma Import (Ada, E225, "system__pool_size_E"); + E207 : Short_Integer; pragma Import (Ada, E207, "gnat__sockets_E"); + E219 : Short_Integer; pragma Import (Ada, E219, "gnat__sockets__thin_common_E"); + E211 : Short_Integer; pragma Import (Ada, E211, "gnat__sockets__thin_E"); + E103 : Short_Integer; pragma Import (Ada, E103, "system__tasking__initialization_E"); + E113 : Short_Integer; pragma Import (Ada, E113, "system__tasking__protected_objects_E"); + E115 : Short_Integer; pragma Import (Ada, E115, "system__tasking__protected_objects__entries_E"); + E111 : Short_Integer; pragma Import (Ada, E111, "system__tasking__queuing_E"); + E125 : Short_Integer; pragma Import (Ada, E125, "aunit_E"); + E127 : Short_Integer; pragma Import (Ada, E127, "aunit__memory_E"); + E140 : Short_Integer; pragma Import (Ada, E140, "aunit__memory__utils_E"); + E137 : Short_Integer; pragma Import (Ada, E137, "ada_containers__aunit_lists_E"); + E147 : Short_Integer; pragma Import (Ada, E147, "aunit__tests_E"); + E144 : Short_Integer; pragma Import (Ada, E144, "aunit__time_measure_E"); + E142 : Short_Integer; pragma Import (Ada, E142, "aunit__test_results_E"); + E135 : Short_Integer; pragma Import (Ada, E135, "aunit__assertions_E"); + E131 : Short_Integer; pragma Import (Ada, E131, "aunit__test_filters_E"); + E133 : Short_Integer; pragma Import (Ada, E133, "aunit__simple_test_cases_E"); + E128 : Short_Integer; pragma Import (Ada, E128, "aunit__reporter_E"); + E164 : Short_Integer; pragma Import (Ada, E164, "aunit__reporter__text_E"); + E241 : Short_Integer; pragma Import (Ada, E241, "aunit__test_cases_E"); + E174 : Short_Integer; pragma Import (Ada, E174, "aunit__test_suites_E"); + E172 : Short_Integer; pragma Import (Ada, E172, "aunit__run_E"); + E184 : Short_Integer; pragma Import (Ada, E184, "types_E"); + E182 : Short_Integer; pragma Import (Ada, E182, "byte_buffer_E"); + E231 : Short_Integer; pragma Import (Ada, E231, "mailbox_E"); + E197 : Short_Integer; pragma Import (Ada, E197, "tcp_client_E"); + E180 : Short_Integer; pragma Import (Ada, E180, "buffer_tests_E"); + E178 : Short_Integer; pragma Import (Ada, E178, "buffer_suite_E"); + E245 : Short_Integer; pragma Import (Ada, E245, "mailbox_tests_E"); + E243 : Short_Integer; pragma Import (Ada, E243, "mailbox_suite_E"); + E249 : Short_Integer; pragma Import (Ada, E249, "pathfollowing_tests_E"); + E247 : Short_Integer; pragma Import (Ada, E247, "pathfollowing_suite_E"); + E253 : Short_Integer; pragma Import (Ada, E253, "tcp_tests_E"); + E251 : Short_Integer; pragma Import (Ada, E251, "tcp_suite_E"); + E257 : Short_Integer; pragma Import (Ada, E257, "types_tests_E"); + E255 : Short_Integer; pragma Import (Ada, E255, "types_suite_E"); + E176 : Short_Integer; pragma Import (Ada, E176, "composite_suite_E"); + + Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); + + Local_Priority_Specific_Dispatching : constant String := ""; + Local_Interrupt_States : constant String := ""; + + Is_Elaborated : Boolean := False; + + procedure finalize_library is + begin + E257 := E257 - 1; + declare + procedure F1; + pragma Import (Ada, F1, "types_tests__finalize_spec"); + begin + F1; + end; + E253 := E253 - 1; + declare + procedure F2; + pragma Import (Ada, F2, "tcp_tests__finalize_spec"); + begin + F2; + end; + E249 := E249 - 1; + declare + procedure F3; + pragma Import (Ada, F3, "pathfollowing_tests__finalize_spec"); + begin + F3; + end; + declare + procedure F4; + pragma Import (Ada, F4, "mailbox_tests__finalize_body"); + begin + E245 := E245 - 1; + F4; + end; + declare + procedure F5; + pragma Import (Ada, F5, "mailbox_tests__finalize_spec"); + begin + F5; + end; + E180 := E180 - 1; + declare + procedure F6; + pragma Import (Ada, F6, "buffer_tests__finalize_spec"); + begin + F6; + end; + E182 := E182 - 1; + declare + procedure F7; + pragma Import (Ada, F7, "byte_buffer__finalize_spec"); + begin + F7; + end; + E174 := E174 - 1; + declare + procedure F8; + pragma Import (Ada, F8, "aunit__test_suites__finalize_spec"); + begin + F8; + end; + E241 := E241 - 1; + declare + procedure F9; + pragma Import (Ada, F9, "aunit__test_cases__finalize_spec"); + begin + F9; + end; + E164 := E164 - 1; + declare + procedure F10; + pragma Import (Ada, F10, "aunit__reporter__text__finalize_spec"); + begin + F10; + end; + E131 := E131 - 1; + E133 := E133 - 1; + declare + procedure F11; + pragma Import (Ada, F11, "aunit__simple_test_cases__finalize_spec"); + begin + F11; + end; + declare + procedure F12; + pragma Import (Ada, F12, "aunit__test_filters__finalize_spec"); + begin + F12; + end; + E135 := E135 - 1; + declare + procedure F13; + pragma Import (Ada, F13, "aunit__assertions__finalize_spec"); + begin + F13; + end; + E142 := E142 - 1; + declare + procedure F14; + pragma Import (Ada, F14, "aunit__test_results__finalize_spec"); + begin + F14; + end; + declare + procedure F15; + pragma Import (Ada, F15, "aunit__tests__finalize_spec"); + begin + E147 := E147 - 1; + F15; + end; + E115 := E115 - 1; + declare + procedure F16; + pragma Import (Ada, F16, "system__tasking__protected_objects__entries__finalize_spec"); + begin + F16; + end; + declare + procedure F17; + pragma Import (Ada, F17, "gnat__sockets__finalize_body"); + begin + E207 := E207 - 1; + F17; + end; + declare + procedure F18; + pragma Import (Ada, F18, "gnat__sockets__finalize_spec"); + begin + F18; + end; + E225 := E225 - 1; + declare + procedure F19; + pragma Import (Ada, F19, "system__pool_size__finalize_spec"); + begin + F19; + end; + E155 := E155 - 1; + declare + procedure F20; + pragma Import (Ada, F20, "system__pool_global__finalize_spec"); + begin + F20; + end; + E186 := E186 - 1; + declare + procedure F21; + pragma Import (Ada, F21, "ada__text_io__finalize_spec"); + begin + F21; + end; + E237 := E237 - 1; + declare + procedure F22; + pragma Import (Ada, F22, "system__storage_pools__subpools__finalize_spec"); + begin + F22; + end; + E149 := E149 - 1; + declare + procedure F23; + pragma Import (Ada, F23, "system__finalization_masters__finalize_spec"); + begin + F23; + end; + declare + procedure F24; + pragma Import (Ada, F24, "system__file_io__finalize_body"); + begin + E190 := E190 - 1; + F24; + end; + declare + procedure Reraise_Library_Exception_If_Any; + pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); + begin + Reraise_Library_Exception_If_Any; + end; + end finalize_library; + + procedure adafinal is + procedure s_stalib_adafinal; + pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); + + procedure Runtime_Finalize; + pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); + + begin + if not Is_Elaborated then + return; + end if; + Is_Elaborated := False; + Runtime_Finalize; + s_stalib_adafinal; + end adafinal; + + type No_Param_Proc is access procedure; + + procedure adainit is + Main_Priority : Integer; + pragma Import (C, Main_Priority, "__gl_main_priority"); + Time_Slice_Value : Integer; + pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); + WC_Encoding : Character; + pragma Import (C, WC_Encoding, "__gl_wc_encoding"); + Locking_Policy : Character; + pragma Import (C, Locking_Policy, "__gl_locking_policy"); + Queuing_Policy : Character; + pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); + Task_Dispatching_Policy : Character; + pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); + Priority_Specific_Dispatching : System.Address; + pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); + Num_Specific_Dispatching : Integer; + pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); + Main_CPU : Integer; + pragma Import (C, Main_CPU, "__gl_main_cpu"); + Interrupt_States : System.Address; + pragma Import (C, Interrupt_States, "__gl_interrupt_states"); + Num_Interrupt_States : Integer; + pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); + Unreserve_All_Interrupts : Integer; + pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); + Exception_Tracebacks : Integer; + pragma Import (C, Exception_Tracebacks, "__gl_exception_tracebacks"); + Detect_Blocking : Integer; + pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); + Default_Stack_Size : Integer; + pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); + Default_Secondary_Stack_Size : System.Parameters.Size_Type; + pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); + Leap_Seconds_Support : Integer; + pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); + Bind_Env_Addr : System.Address; + pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); + + procedure Runtime_Initialize (Install_Handler : Integer); + pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); + + Finalize_Library_Objects : No_Param_Proc; + pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); + Binder_Sec_Stacks_Count : Natural; + pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); + Default_Sized_SS_Pool : System.Address; + pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); + + begin + if Is_Elaborated then + return; + end if; + Is_Elaborated := True; + Main_Priority := -1; + Time_Slice_Value := -1; + WC_Encoding := 'b'; + Locking_Policy := ' '; + Queuing_Policy := ' '; + Task_Dispatching_Policy := ' '; + System.Restrictions.Run_Time_Restrictions := + (Set => + (False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, True, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False), + Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), + Violated => + (True, False, False, False, True, True, True, False, + True, False, False, True, True, True, True, False, + False, False, False, False, True, True, False, True, + True, False, True, True, True, True, False, False, + False, False, False, True, False, True, True, False, + True, False, True, True, False, True, False, True, + True, False, False, True, False, True, False, False, + False, False, False, False, False, True, True, True, + False, False, True, False, True, True, True, False, + True, True, False, True, True, True, True, False, + False, True, False, False, False, True, False, False, + False, False, True, False), + Count => (0, 0, 0, 2, 0, 0, 0, 0, 4, 0), + Unknown => (False, False, False, False, False, False, False, False, True, False)); + Priority_Specific_Dispatching := + Local_Priority_Specific_Dispatching'Address; + Num_Specific_Dispatching := 0; + Main_CPU := -1; + Interrupt_States := Local_Interrupt_States'Address; + Num_Interrupt_States := 0; + Unreserve_All_Interrupts := 0; + Exception_Tracebacks := 1; + Detect_Blocking := 0; + Default_Stack_Size := -1; + Leap_Seconds_Support := 0; + + ada_main'Elab_Body; + Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; + Binder_Sec_Stacks_Count := 1; + Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; + + Runtime_Initialize (1); + + Finalize_Library_Objects := finalize_library'access; + + System.Soft_Links'Elab_Spec; + System.Exception_Table'Elab_Body; + E027 := E027 + 1; + System.Exceptions'Elab_Spec; + E029 := E029 + 1; + System.Soft_Links.Initialize'Elab_Body; + E019 := E019 + 1; + E017 := E017 + 1; + Ada.Containers'Elab_Spec; + E208 := E208 + 1; + Ada.Io_Exceptions'Elab_Spec; + E121 := E121 + 1; + Gnat'Elab_Spec; + E158 := E158 + 1; + Interfaces.C'Elab_Spec; + E057 := E057 + 1; + Interfaces.C.Strings'Elab_Spec; + E221 := E221 + 1; + System.Os_Lib'Elab_Body; + E192 := E192 + 1; + Ada.Tags'Elab_Spec; + Ada.Tags'Elab_Body; + E091 := E091 + 1; + Ada.Streams'Elab_Spec; + E120 := E120 + 1; + System.File_Control_Block'Elab_Spec; + E195 := E195 + 1; + System.Finalization_Root'Elab_Spec; + E123 := E123 + 1; + Ada.Finalization'Elab_Spec; + E118 := E118 + 1; + System.File_Io'Elab_Body; + E190 := E190 + 1; + System.Storage_Pools'Elab_Spec; + E153 := E153 + 1; + System.Finalization_Masters'Elab_Spec; + System.Finalization_Masters'Elab_Body; + E149 := E149 + 1; + System.Storage_Pools.Subpools'Elab_Spec; + E237 := E237 + 1; + Ada.Calendar'Elab_Spec; + Ada.Calendar'Elab_Body; + E146 := E146 + 1; + Ada.Calendar.Delays'Elab_Body; + E213 := E213 + 1; + Ada.Real_Time'Elab_Spec; + Ada.Real_Time'Elab_Body; + E205 := E205 + 1; + Ada.Text_Io'Elab_Spec; + Ada.Text_Io'Elab_Body; + E186 := E186 + 1; + System.Pool_Global'Elab_Spec; + E155 := E155 + 1; + System.Pool_Size'Elab_Spec; + E225 := E225 + 1; + Gnat.Sockets'Elab_Spec; + E219 := E219 + 1; + E211 := E211 + 1; + Gnat.Sockets'Elab_Body; + E207 := E207 + 1; + System.Tasking.Initialization'Elab_Body; + E103 := E103 + 1; + System.Tasking.Protected_Objects'Elab_Body; + E113 := E113 + 1; + System.Tasking.Protected_Objects.Entries'Elab_Spec; + E115 := E115 + 1; + System.Tasking.Queuing'Elab_Body; + E111 := E111 + 1; + E127 := E127 + 1; + E125 := E125 + 1; + E140 := E140 + 1; + E137 := E137 + 1; + Aunit.Tests'Elab_Spec; + E147 := E147 + 1; + Aunit.Time_Measure'Elab_Spec; + E144 := E144 + 1; + Aunit.Test_Results'Elab_Spec; + E142 := E142 + 1; + Aunit.Assertions'Elab_Spec; + Aunit.Assertions'Elab_Body; + E135 := E135 + 1; + Aunit.Test_Filters'Elab_Spec; + Aunit.Simple_Test_Cases'Elab_Spec; + E133 := E133 + 1; + E131 := E131 + 1; + Aunit.Reporter'Elab_Spec; + E128 := E128 + 1; + Aunit.Reporter.Text'Elab_Spec; + E164 := E164 + 1; + Aunit.Test_Cases'Elab_Spec; + E241 := E241 + 1; + Aunit.Test_Suites'Elab_Spec; + E174 := E174 + 1; + E172 := E172 + 1; + byte_buffer'elab_spec; + byte_buffer'elab_body; + E182 := E182 + 1; + E231 := E231 + 1; + E197 := E197 + 1; + E184 := E184 + 1; + buffer_tests'elab_spec; + buffer_tests'elab_body; + E180 := E180 + 1; + buffer_suite'elab_body; + E178 := E178 + 1; + mailbox_tests'elab_spec; + mailbox_tests'elab_body; + E245 := E245 + 1; + mailbox_suite'elab_body; + E243 := E243 + 1; + pathfollowing_tests'elab_spec; + pathfollowing_tests'elab_body; + E249 := E249 + 1; + pathfollowing_suite'elab_body; + E247 := E247 + 1; + tcp_tests'elab_spec; + tcp_tests'elab_body; + E253 := E253 + 1; + tcp_suite'elab_body; + E251 := E251 + 1; + types_tests'elab_spec; + types_tests'elab_body; + E257 := E257 + 1; + types_suite'elab_body; + E255 := E255 + 1; + E176 := E176 + 1; + end adainit; + + procedure Ada_Main_Program; + pragma Import (Ada, Ada_Main_Program, "_ada_test_main"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer + is + procedure Initialize (Addr : System.Address); + pragma Import (C, Initialize, "__gnat_initialize"); + + procedure Finalize; + pragma Import (C, Finalize, "__gnat_finalize"); + SEH : aliased array (1 .. 2) of Integer; + + Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; + pragma Volatile (Ensure_Reference); + + begin + gnat_argc := argc; + gnat_argv := argv; + gnat_envp := envp; + + Initialize (SEH'Address); + adainit; + Ada_Main_Program; + adafinal; + Finalize; + return (gnat_exit_status); + end; + +-- BEGIN Object file/option list + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/byte_buffer.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/mailbox.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/tcp_client.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/types.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/buffer_tests.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/buffer_suite.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/mailbox_tests.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/mailbox_suite.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/pathfollowing_tests.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/pathfollowing_suite.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/tcp_tests.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/tcp_suite.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/types_tests.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/types_suite.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/composite_suite.o + -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/test_main.o + -- -L/Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/ + -- -L/Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/ + -- -L/users/luyandamlangeni/opt/gnat/gnat_ada/lib/aunit/ + -- -L/users/luyandamlangeni/opt/gnat/gnat_ada/lib/gcc/x86_64-apple-darwin17.7.0/8.3.1/adalib/ + -- -static + -- -lgnarl + -- -lgnat +-- END Object file/option list + +end ada_main; diff --git a/test/ada/obj/b__test_main.ads b/test/ada/obj/b__test_main.ads new file mode 100644 index 0000000..a4c1e24 --- /dev/null +++ b/test/ada/obj/b__test_main.ads @@ -0,0 +1,815 @@ +pragma Warnings (Off); +pragma Ada_95; +with System; +with System.Parameters; +with System.Secondary_Stack; +package ada_main is + + gnat_argc : Integer; + gnat_argv : System.Address; + gnat_envp : System.Address; + + pragma Import (C, gnat_argc); + pragma Import (C, gnat_argv); + pragma Import (C, gnat_envp); + + gnat_exit_status : Integer; + pragma Import (C, gnat_exit_status); + + GNAT_Version : constant String := + "GNAT Version: Community 2019 (20190517-83)" & ASCII.NUL; + pragma Export (C, GNAT_Version, "__gnat_version"); + + Ada_Main_Program_Name : constant String := "_ada_test_main" & ASCII.NUL; + pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); + + procedure adainit; + pragma Export (C, adainit, "adainit"); + + procedure adafinal; + pragma Export (C, adafinal, "adafinal"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer; + pragma Export (C, main, "main"); + + type Version_32 is mod 2 ** 32; + u00001 : constant Version_32 := 16#0d282f0b#; + pragma Export (C, u00001, "test_mainB"); + u00002 : constant Version_32 := 16#050ff2f0#; + pragma Export (C, u00002, "system__standard_libraryB"); + u00003 : constant Version_32 := 16#0f7d71d4#; + pragma Export (C, u00003, "system__standard_libraryS"); + u00004 : constant Version_32 := 16#76789da1#; + pragma Export (C, u00004, "adaS"); + u00005 : constant Version_32 := 16#510c5068#; + pragma Export (C, u00005, "ada__task_identificationB"); + u00006 : constant Version_32 := 16#c716434e#; + pragma Export (C, u00006, "ada__task_identificationS"); + u00007 : constant Version_32 := 16#085b6ffb#; + pragma Export (C, u00007, "systemS"); + u00008 : constant Version_32 := 16#a0d3d22b#; + pragma Export (C, u00008, "system__address_imageB"); + u00009 : constant Version_32 := 16#a9b7f2c1#; + pragma Export (C, u00009, "system__address_imageS"); + u00010 : constant Version_32 := 16#bd45c2cc#; + pragma Export (C, u00010, "system__secondary_stackB"); + u00011 : constant Version_32 := 16#4dcf97e2#; + pragma Export (C, u00011, "system__secondary_stackS"); + u00012 : constant Version_32 := 16#d90c4a0d#; + pragma Export (C, u00012, "ada__exceptionsB"); + u00013 : constant Version_32 := 16#16307b94#; + pragma Export (C, u00013, "ada__exceptionsS"); + u00014 : constant Version_32 := 16#5726abed#; + pragma Export (C, u00014, "ada__exceptions__last_chance_handlerB"); + u00015 : constant Version_32 := 16#41e5552e#; + pragma Export (C, u00015, "ada__exceptions__last_chance_handlerS"); + u00016 : constant Version_32 := 16#ae860117#; + pragma Export (C, u00016, "system__soft_linksB"); + u00017 : constant Version_32 := 16#4d58644d#; + pragma Export (C, u00017, "system__soft_linksS"); + u00018 : constant Version_32 := 16#75bf515c#; + pragma Export (C, u00018, "system__soft_links__initializeB"); + u00019 : constant Version_32 := 16#5697fc2b#; + pragma Export (C, u00019, "system__soft_links__initializeS"); + u00020 : constant Version_32 := 16#86dbf443#; + pragma Export (C, u00020, "system__parametersB"); + u00021 : constant Version_32 := 16#40b73bd0#; + pragma Export (C, u00021, "system__parametersS"); + u00022 : constant Version_32 := 16#41837d1e#; + pragma Export (C, u00022, "system__stack_checkingB"); + u00023 : constant Version_32 := 16#86e40413#; + pragma Export (C, u00023, "system__stack_checkingS"); + u00024 : constant Version_32 := 16#ced09590#; + pragma Export (C, u00024, "system__storage_elementsB"); + u00025 : constant Version_32 := 16#259825ff#; + pragma Export (C, u00025, "system__storage_elementsS"); + u00026 : constant Version_32 := 16#34742901#; + pragma Export (C, u00026, "system__exception_tableB"); + u00027 : constant Version_32 := 16#55f506b9#; + pragma Export (C, u00027, "system__exception_tableS"); + u00028 : constant Version_32 := 16#ce4af020#; + pragma Export (C, u00028, "system__exceptionsB"); + u00029 : constant Version_32 := 16#6038020d#; + pragma Export (C, u00029, "system__exceptionsS"); + u00030 : constant Version_32 := 16#69416224#; + pragma Export (C, u00030, "system__exceptions__machineB"); + u00031 : constant Version_32 := 16#d27d9682#; + pragma Export (C, u00031, "system__exceptions__machineS"); + u00032 : constant Version_32 := 16#aa0563fc#; + pragma Export (C, u00032, "system__exceptions_debugB"); + u00033 : constant Version_32 := 16#76d1963f#; + pragma Export (C, u00033, "system__exceptions_debugS"); + u00034 : constant Version_32 := 16#6c2f8802#; + pragma Export (C, u00034, "system__img_intB"); + u00035 : constant Version_32 := 16#0a808f39#; + pragma Export (C, u00035, "system__img_intS"); + u00036 : constant Version_32 := 16#39df8c17#; + pragma Export (C, u00036, "system__tracebackB"); + u00037 : constant Version_32 := 16#5679b13f#; + pragma Export (C, u00037, "system__tracebackS"); + u00038 : constant Version_32 := 16#9ed49525#; + pragma Export (C, u00038, "system__traceback_entriesB"); + u00039 : constant Version_32 := 16#0800998b#; + pragma Export (C, u00039, "system__traceback_entriesS"); + u00040 : constant Version_32 := 16#bb296fbb#; + pragma Export (C, u00040, "system__traceback__symbolicB"); + u00041 : constant Version_32 := 16#c84061d1#; + pragma Export (C, u00041, "system__traceback__symbolicS"); + u00042 : constant Version_32 := 16#701f9d88#; + pragma Export (C, u00042, "ada__exceptions__tracebackB"); + u00043 : constant Version_32 := 16#20245e75#; + pragma Export (C, u00043, "ada__exceptions__tracebackS"); + u00044 : constant Version_32 := 16#8c33a517#; + pragma Export (C, u00044, "system__wch_conB"); + u00045 : constant Version_32 := 16#13264d29#; + pragma Export (C, u00045, "system__wch_conS"); + u00046 : constant Version_32 := 16#9721e840#; + pragma Export (C, u00046, "system__wch_stwB"); + u00047 : constant Version_32 := 16#3e376128#; + pragma Export (C, u00047, "system__wch_stwS"); + u00048 : constant Version_32 := 16#a831679c#; + pragma Export (C, u00048, "system__wch_cnvB"); + u00049 : constant Version_32 := 16#1c91f7da#; + pragma Export (C, u00049, "system__wch_cnvS"); + u00050 : constant Version_32 := 16#5ab55268#; + pragma Export (C, u00050, "interfacesS"); + u00051 : constant Version_32 := 16#ece6fdb6#; + pragma Export (C, u00051, "system__wch_jisB"); + u00052 : constant Version_32 := 16#9ce1eefb#; + pragma Export (C, u00052, "system__wch_jisS"); + u00053 : constant Version_32 := 16#fde20231#; + pragma Export (C, u00053, "system__task_primitivesS"); + u00054 : constant Version_32 := 16#352452d1#; + pragma Export (C, u00054, "system__os_interfaceB"); + u00055 : constant Version_32 := 16#b9c37c0a#; + pragma Export (C, u00055, "system__os_interfaceS"); + u00056 : constant Version_32 := 16#769e25e6#; + pragma Export (C, u00056, "interfaces__cB"); + u00057 : constant Version_32 := 16#467817d8#; + pragma Export (C, u00057, "interfaces__cS"); + u00058 : constant Version_32 := 16#64ad9f76#; + pragma Export (C, u00058, "interfaces__c__extensionsS"); + u00059 : constant Version_32 := 16#b870d14d#; + pragma Export (C, u00059, "system__os_constantsS"); + u00060 : constant Version_32 := 16#7a0a06a1#; + pragma Export (C, u00060, "system__task_primitives__operationsB"); + u00061 : constant Version_32 := 16#1951cab5#; + pragma Export (C, u00061, "system__task_primitives__operationsS"); + u00062 : constant Version_32 := 16#89b55e64#; + pragma Export (C, u00062, "system__interrupt_managementB"); + u00063 : constant Version_32 := 16#1a73cd21#; + pragma Export (C, u00063, "system__interrupt_managementS"); + u00064 : constant Version_32 := 16#f65595cf#; + pragma Export (C, u00064, "system__multiprocessorsB"); + u00065 : constant Version_32 := 16#30f7f088#; + pragma Export (C, u00065, "system__multiprocessorsS"); + u00066 : constant Version_32 := 16#2b2125d3#; + pragma Export (C, u00066, "system__os_primitivesB"); + u00067 : constant Version_32 := 16#0fa60a0d#; + pragma Export (C, u00067, "system__os_primitivesS"); + u00068 : constant Version_32 := 16#e0fce7f8#; + pragma Export (C, u00068, "system__task_infoB"); + u00069 : constant Version_32 := 16#8841d2fa#; + pragma Export (C, u00069, "system__task_infoS"); + u00070 : constant Version_32 := 16#2281c1c8#; + pragma Export (C, u00070, "system__taskingB"); + u00071 : constant Version_32 := 16#34147ee0#; + pragma Export (C, u00071, "system__taskingS"); + u00072 : constant Version_32 := 16#3cdd1378#; + pragma Export (C, u00072, "system__unsigned_typesS"); + u00073 : constant Version_32 := 16#6ec3c867#; + pragma Export (C, u00073, "system__stack_usageB"); + u00074 : constant Version_32 := 16#3a3ac346#; + pragma Export (C, u00074, "system__stack_usageS"); + u00075 : constant Version_32 := 16#4e0ce0a1#; + pragma Export (C, u00075, "system__crtlS"); + u00076 : constant Version_32 := 16#d7aac20c#; + pragma Export (C, u00076, "system__ioB"); + u00077 : constant Version_32 := 16#961998b4#; + pragma Export (C, u00077, "system__ioS"); + u00078 : constant Version_32 := 16#1036f432#; + pragma Export (C, u00078, "system__tasking__debugB"); + u00079 : constant Version_32 := 16#de1ac8b1#; + pragma Export (C, u00079, "system__tasking__debugS"); + u00080 : constant Version_32 := 16#fd83e873#; + pragma Export (C, u00080, "system__concat_2B"); + u00081 : constant Version_32 := 16#0afbb82b#; + pragma Export (C, u00081, "system__concat_2S"); + u00082 : constant Version_32 := 16#2b70b149#; + pragma Export (C, u00082, "system__concat_3B"); + u00083 : constant Version_32 := 16#032b335e#; + pragma Export (C, u00083, "system__concat_3S"); + u00084 : constant Version_32 := 16#273384e4#; + pragma Export (C, u00084, "system__img_enum_newB"); + u00085 : constant Version_32 := 16#6917693b#; + pragma Export (C, u00085, "system__img_enum_newS"); + u00086 : constant Version_32 := 16#9dca6636#; + pragma Export (C, u00086, "system__img_lliB"); + u00087 : constant Version_32 := 16#19143a2a#; + pragma Export (C, u00087, "system__img_lliS"); + u00088 : constant Version_32 := 16#0b29e756#; + pragma Export (C, u00088, "system__tasking__utilitiesB"); + u00089 : constant Version_32 := 16#0f670827#; + pragma Export (C, u00089, "system__tasking__utilitiesS"); + u00090 : constant Version_32 := 16#d398a95f#; + pragma Export (C, u00090, "ada__tagsB"); + u00091 : constant Version_32 := 16#12a0afb8#; + pragma Export (C, u00091, "ada__tagsS"); + u00092 : constant Version_32 := 16#796f31f1#; + pragma Export (C, u00092, "system__htableB"); + u00093 : constant Version_32 := 16#8c99dc11#; + pragma Export (C, u00093, "system__htableS"); + u00094 : constant Version_32 := 16#089f5cd0#; + pragma Export (C, u00094, "system__string_hashB"); + u00095 : constant Version_32 := 16#2ec7b76f#; + pragma Export (C, u00095, "system__string_hashS"); + u00096 : constant Version_32 := 16#b8e72903#; + pragma Export (C, u00096, "system__val_lluB"); + u00097 : constant Version_32 := 16#51139e9a#; + pragma Export (C, u00097, "system__val_lluS"); + u00098 : constant Version_32 := 16#269742a9#; + pragma Export (C, u00098, "system__val_utilB"); + u00099 : constant Version_32 := 16#a4fbd905#; + pragma Export (C, u00099, "system__val_utilS"); + u00100 : constant Version_32 := 16#ec4d5631#; + pragma Export (C, u00100, "system__case_utilB"); + u00101 : constant Version_32 := 16#378ed9af#; + pragma Export (C, u00101, "system__case_utilS"); + u00102 : constant Version_32 := 16#0a1cacd7#; + pragma Export (C, u00102, "system__tasking__initializationB"); + u00103 : constant Version_32 := 16#fc2303e6#; + pragma Export (C, u00103, "system__tasking__initializationS"); + u00104 : constant Version_32 := 16#3b415298#; + pragma Export (C, u00104, "system__soft_links__taskingB"); + u00105 : constant Version_32 := 16#e939497e#; + pragma Export (C, u00105, "system__soft_links__taskingS"); + u00106 : constant Version_32 := 16#17d21067#; + pragma Export (C, u00106, "ada__exceptions__is_null_occurrenceB"); + u00107 : constant Version_32 := 16#e1d7566f#; + pragma Export (C, u00107, "ada__exceptions__is_null_occurrenceS"); + u00108 : constant Version_32 := 16#6213e14a#; + pragma Export (C, u00108, "system__tasking__task_attributesB"); + u00109 : constant Version_32 := 16#e81a3c25#; + pragma Export (C, u00109, "system__tasking__task_attributesS"); + u00110 : constant Version_32 := 16#2e4883f4#; + pragma Export (C, u00110, "system__tasking__queuingB"); + u00111 : constant Version_32 := 16#6dba2805#; + pragma Export (C, u00111, "system__tasking__queuingS"); + u00112 : constant Version_32 := 16#9fcf5d7f#; + pragma Export (C, u00112, "system__tasking__protected_objectsB"); + u00113 : constant Version_32 := 16#15001baf#; + pragma Export (C, u00113, "system__tasking__protected_objectsS"); + u00114 : constant Version_32 := 16#92cd7102#; + pragma Export (C, u00114, "system__tasking__protected_objects__entriesB"); + u00115 : constant Version_32 := 16#7daf93e7#; + pragma Export (C, u00115, "system__tasking__protected_objects__entriesS"); + u00116 : constant Version_32 := 16#100eaf58#; + pragma Export (C, u00116, "system__restrictionsB"); + u00117 : constant Version_32 := 16#4329b6aa#; + pragma Export (C, u00117, "system__restrictionsS"); + u00118 : constant Version_32 := 16#86c56e5a#; + pragma Export (C, u00118, "ada__finalizationS"); + u00119 : constant Version_32 := 16#10558b11#; + pragma Export (C, u00119, "ada__streamsB"); + u00120 : constant Version_32 := 16#67e31212#; + pragma Export (C, u00120, "ada__streamsS"); + u00121 : constant Version_32 := 16#92d882c5#; + pragma Export (C, u00121, "ada__io_exceptionsS"); + u00122 : constant Version_32 := 16#95817ed8#; + pragma Export (C, u00122, "system__finalization_rootB"); + u00123 : constant Version_32 := 16#47a91c6b#; + pragma Export (C, u00123, "system__finalization_rootS"); + u00124 : constant Version_32 := 16#b94060f8#; + pragma Export (C, u00124, "aunitB"); + u00125 : constant Version_32 := 16#76cdf7c6#; + pragma Export (C, u00125, "aunitS"); + u00126 : constant Version_32 := 16#b6c145a2#; + pragma Export (C, u00126, "aunit__memoryB"); + u00127 : constant Version_32 := 16#dea7c97b#; + pragma Export (C, u00127, "aunit__memoryS"); + u00128 : constant Version_32 := 16#17d955ab#; + pragma Export (C, u00128, "aunit__reporterS"); + u00129 : constant Version_32 := 16#e99cd447#; + pragma Export (C, u00129, "aunit__optionsS"); + u00130 : constant Version_32 := 16#e9d6512d#; + pragma Export (C, u00130, "aunit__test_filtersB"); + u00131 : constant Version_32 := 16#9a67cba8#; + pragma Export (C, u00131, "aunit__test_filtersS"); + u00132 : constant Version_32 := 16#6e9501f4#; + pragma Export (C, u00132, "aunit__simple_test_casesB"); + u00133 : constant Version_32 := 16#f9679d50#; + pragma Export (C, u00133, "aunit__simple_test_casesS"); + u00134 : constant Version_32 := 16#8872fb1a#; + pragma Export (C, u00134, "aunit__assertionsB"); + u00135 : constant Version_32 := 16#3b7b7e5b#; + pragma Export (C, u00135, "aunit__assertionsS"); + u00136 : constant Version_32 := 16#1dca5d24#; + pragma Export (C, u00136, "ada_containers__aunit_listsB"); + u00137 : constant Version_32 := 16#c8d9569a#; + pragma Export (C, u00137, "ada_containers__aunit_listsS"); + u00138 : constant Version_32 := 16#11329e00#; + pragma Export (C, u00138, "ada_containersS"); + u00139 : constant Version_32 := 16#9b1c7ff2#; + pragma Export (C, u00139, "aunit__memory__utilsB"); + u00140 : constant Version_32 := 16#fb2f6c57#; + pragma Export (C, u00140, "aunit__memory__utilsS"); + u00141 : constant Version_32 := 16#01adf261#; + pragma Export (C, u00141, "aunit__test_resultsB"); + u00142 : constant Version_32 := 16#1087836e#; + pragma Export (C, u00142, "aunit__test_resultsS"); + u00143 : constant Version_32 := 16#9df5edcf#; + pragma Export (C, u00143, "aunit__time_measureB"); + u00144 : constant Version_32 := 16#99399b1d#; + pragma Export (C, u00144, "aunit__time_measureS"); + u00145 : constant Version_32 := 16#fc54e290#; + pragma Export (C, u00145, "ada__calendarB"); + u00146 : constant Version_32 := 16#31350a81#; + pragma Export (C, u00146, "ada__calendarS"); + u00147 : constant Version_32 := 16#6b6cea8f#; + pragma Export (C, u00147, "aunit__testsS"); + u00148 : constant Version_32 := 16#d96e3c40#; + pragma Export (C, u00148, "system__finalization_mastersB"); + u00149 : constant Version_32 := 16#53a75631#; + pragma Export (C, u00149, "system__finalization_mastersS"); + u00150 : constant Version_32 := 16#7268f812#; + pragma Export (C, u00150, "system__img_boolB"); + u00151 : constant Version_32 := 16#fd821e10#; + pragma Export (C, u00151, "system__img_boolS"); + u00152 : constant Version_32 := 16#6d4d969a#; + pragma Export (C, u00152, "system__storage_poolsB"); + u00153 : constant Version_32 := 16#2bb6f156#; + pragma Export (C, u00153, "system__storage_poolsS"); + u00154 : constant Version_32 := 16#5a895de2#; + pragma Export (C, u00154, "system__pool_globalB"); + u00155 : constant Version_32 := 16#7141203e#; + pragma Export (C, u00155, "system__pool_globalS"); + u00156 : constant Version_32 := 16#e31b7c4e#; + pragma Export (C, u00156, "system__memoryB"); + u00157 : constant Version_32 := 16#512609cf#; + pragma Export (C, u00157, "system__memoryS"); + u00158 : constant Version_32 := 16#b5988c27#; + pragma Export (C, u00158, "gnatS"); + u00159 : constant Version_32 := 16#9c857b76#; + pragma Export (C, u00159, "gnat__source_infoS"); + u00160 : constant Version_32 := 16#ea75efa1#; + pragma Export (C, u00160, "gnat__tracebackB"); + u00161 : constant Version_32 := 16#b183b1eb#; + pragma Export (C, u00161, "gnat__tracebackS"); + u00162 : constant Version_32 := 16#4b271bfa#; + pragma Export (C, u00162, "gnat__traceback__symbolicS"); + u00163 : constant Version_32 := 16#9a578b55#; + pragma Export (C, u00163, "aunit__reporter__textB"); + u00164 : constant Version_32 := 16#28ca7b1a#; + pragma Export (C, u00164, "aunit__reporter__textS"); + u00165 : constant Version_32 := 16#b48102f5#; + pragma Export (C, u00165, "gnat__ioB"); + u00166 : constant Version_32 := 16#2a95b695#; + pragma Export (C, u00166, "gnat__ioS"); + u00167 : constant Version_32 := 16#b602a99c#; + pragma Export (C, u00167, "system__exn_intB"); + u00168 : constant Version_32 := 16#4ad773a7#; + pragma Export (C, u00168, "system__exn_intS"); + u00169 : constant Version_32 := 16#039168f8#; + pragma Export (C, u00169, "system__stream_attributesB"); + u00170 : constant Version_32 := 16#8bc30a4e#; + pragma Export (C, u00170, "system__stream_attributesS"); + u00171 : constant Version_32 := 16#e11af2d7#; + pragma Export (C, u00171, "aunit__runB"); + u00172 : constant Version_32 := 16#4b2a8016#; + pragma Export (C, u00172, "aunit__runS"); + u00173 : constant Version_32 := 16#276e73f2#; + pragma Export (C, u00173, "aunit__test_suitesB"); + u00174 : constant Version_32 := 16#f3c7e671#; + pragma Export (C, u00174, "aunit__test_suitesS"); + u00175 : constant Version_32 := 16#3e15f701#; + pragma Export (C, u00175, "composite_suiteB"); + u00176 : constant Version_32 := 16#28c47b3f#; + pragma Export (C, u00176, "composite_suiteS"); + u00177 : constant Version_32 := 16#1c722c17#; + pragma Export (C, u00177, "buffer_suiteB"); + u00178 : constant Version_32 := 16#d90da88b#; + pragma Export (C, u00178, "buffer_suiteS"); + u00179 : constant Version_32 := 16#cec9cd66#; + pragma Export (C, u00179, "buffer_testsB"); + u00180 : constant Version_32 := 16#6b3ced34#; + pragma Export (C, u00180, "buffer_testsS"); + u00181 : constant Version_32 := 16#ec10d536#; + pragma Export (C, u00181, "byte_bufferB"); + u00182 : constant Version_32 := 16#d863b3a6#; + pragma Export (C, u00182, "byte_bufferS"); + u00183 : constant Version_32 := 16#3842a026#; + pragma Export (C, u00183, "typesB"); + u00184 : constant Version_32 := 16#f05fd2f3#; + pragma Export (C, u00184, "typesS"); + u00185 : constant Version_32 := 16#f4e097a7#; + pragma Export (C, u00185, "ada__text_ioB"); + u00186 : constant Version_32 := 16#3913d0d6#; + pragma Export (C, u00186, "ada__text_ioS"); + u00187 : constant Version_32 := 16#73d2d764#; + pragma Export (C, u00187, "interfaces__c_streamsB"); + u00188 : constant Version_32 := 16#b1330297#; + pragma Export (C, u00188, "interfaces__c_streamsS"); + u00189 : constant Version_32 := 16#ec083f01#; + pragma Export (C, u00189, "system__file_ioB"); + u00190 : constant Version_32 := 16#af2a8e9e#; + pragma Export (C, u00190, "system__file_ioS"); + u00191 : constant Version_32 := 16#e4774a28#; + pragma Export (C, u00191, "system__os_libB"); + u00192 : constant Version_32 := 16#d8e681fb#; + pragma Export (C, u00192, "system__os_libS"); + u00193 : constant Version_32 := 16#2a8e89ad#; + pragma Export (C, u00193, "system__stringsB"); + u00194 : constant Version_32 := 16#684d436e#; + pragma Export (C, u00194, "system__stringsS"); + u00195 : constant Version_32 := 16#f5c4f553#; + pragma Export (C, u00195, "system__file_control_blockS"); + u00196 : constant Version_32 := 16#e772e15d#; + pragma Export (C, u00196, "tcp_clientB"); + u00197 : constant Version_32 := 16#c5619aa7#; + pragma Export (C, u00197, "tcp_clientS"); + u00198 : constant Version_32 := 16#6368532a#; + pragma Export (C, u00198, "system__tasking__protected_objects__operationsB"); + u00199 : constant Version_32 := 16#ba36ad85#; + pragma Export (C, u00199, "system__tasking__protected_objects__operationsS"); + u00200 : constant Version_32 := 16#891dbac0#; + pragma Export (C, u00200, "system__tasking__entry_callsB"); + u00201 : constant Version_32 := 16#6342024e#; + pragma Export (C, u00201, "system__tasking__entry_callsS"); + u00202 : constant Version_32 := 16#7382e823#; + pragma Export (C, u00202, "system__tasking__rendezvousB"); + u00203 : constant Version_32 := 16#5618a4d0#; + pragma Export (C, u00203, "system__tasking__rendezvousS"); + u00204 : constant Version_32 := 16#09924dd9#; + pragma Export (C, u00204, "ada__real_timeB"); + u00205 : constant Version_32 := 16#69ea8064#; + pragma Export (C, u00205, "ada__real_timeS"); + u00206 : constant Version_32 := 16#942614a0#; + pragma Export (C, u00206, "gnat__socketsB"); + u00207 : constant Version_32 := 16#9f5e3240#; + pragma Export (C, u00207, "gnat__socketsS"); + u00208 : constant Version_32 := 16#179d7d28#; + pragma Export (C, u00208, "ada__containersS"); + u00209 : constant Version_32 := 16#1de6b9ca#; + pragma Export (C, u00209, "gnat__sockets__linker_optionsS"); + u00210 : constant Version_32 := 16#b0810072#; + pragma Export (C, u00210, "gnat__sockets__thinB"); + u00211 : constant Version_32 := 16#d8662f96#; + pragma Export (C, u00211, "gnat__sockets__thinS"); + u00212 : constant Version_32 := 16#357666d8#; + pragma Export (C, u00212, "ada__calendar__delaysB"); + u00213 : constant Version_32 := 16#d86d2f1d#; + pragma Export (C, u00213, "ada__calendar__delaysS"); + u00214 : constant Version_32 := 16#ef2c0748#; + pragma Export (C, u00214, "gnat__os_libS"); + u00215 : constant Version_32 := 16#485b8267#; + pragma Export (C, u00215, "gnat__task_lockS"); + u00216 : constant Version_32 := 16#05c60a38#; + pragma Export (C, u00216, "system__task_lockB"); + u00217 : constant Version_32 := 16#69d15895#; + pragma Export (C, u00217, "system__task_lockS"); + u00218 : constant Version_32 := 16#c21c4ce8#; + pragma Export (C, u00218, "gnat__sockets__thin_commonB"); + u00219 : constant Version_32 := 16#ae33425a#; + pragma Export (C, u00219, "gnat__sockets__thin_commonS"); + u00220 : constant Version_32 := 16#27986d94#; + pragma Export (C, u00220, "interfaces__c__stringsB"); + u00221 : constant Version_32 := 16#603c1c44#; + pragma Export (C, u00221, "interfaces__c__stringsS"); + u00222 : constant Version_32 := 16#5de653db#; + pragma Export (C, u00222, "system__communicationB"); + u00223 : constant Version_32 := 16#113b3a29#; + pragma Export (C, u00223, "system__communicationS"); + u00224 : constant Version_32 := 16#637ab3c9#; + pragma Export (C, u00224, "system__pool_sizeB"); + u00225 : constant Version_32 := 16#097527a2#; + pragma Export (C, u00225, "system__pool_sizeS"); + u00226 : constant Version_32 := 16#0f9783a4#; + pragma Export (C, u00226, "system__val_intB"); + u00227 : constant Version_32 := 16#bda40698#; + pragma Export (C, u00227, "system__val_intS"); + u00228 : constant Version_32 := 16#383fd226#; + pragma Export (C, u00228, "system__val_unsB"); + u00229 : constant Version_32 := 16#09db6ec1#; + pragma Export (C, u00229, "system__val_unsS"); + u00230 : constant Version_32 := 16#b8eede7c#; + pragma Export (C, u00230, "mailboxB"); + u00231 : constant Version_32 := 16#03cef3bc#; + pragma Export (C, u00231, "mailboxS"); + u00232 : constant Version_32 := 16#bcec81df#; + pragma Export (C, u00232, "ada__containers__helpersB"); + u00233 : constant Version_32 := 16#4adfc5eb#; + pragma Export (C, u00233, "ada__containers__helpersS"); + u00234 : constant Version_32 := 16#020a3f4d#; + pragma Export (C, u00234, "system__atomic_countersB"); + u00235 : constant Version_32 := 16#bc074276#; + pragma Export (C, u00235, "system__atomic_countersS"); + u00236 : constant Version_32 := 16#2e260032#; + pragma Export (C, u00236, "system__storage_pools__subpoolsB"); + u00237 : constant Version_32 := 16#cc5a1856#; + pragma Export (C, u00237, "system__storage_pools__subpoolsS"); + u00238 : constant Version_32 := 16#84042202#; + pragma Export (C, u00238, "system__storage_pools__subpools__finalizationB"); + u00239 : constant Version_32 := 16#fe2f4b3a#; + pragma Export (C, u00239, "system__storage_pools__subpools__finalizationS"); + u00240 : constant Version_32 := 16#3d2551c0#; + pragma Export (C, u00240, "aunit__test_casesB"); + u00241 : constant Version_32 := 16#b9f05298#; + pragma Export (C, u00241, "aunit__test_casesS"); + u00242 : constant Version_32 := 16#45b6954c#; + pragma Export (C, u00242, "mailbox_suiteB"); + u00243 : constant Version_32 := 16#65089e03#; + pragma Export (C, u00243, "mailbox_suiteS"); + u00244 : constant Version_32 := 16#33e6d58e#; + pragma Export (C, u00244, "mailbox_testsB"); + u00245 : constant Version_32 := 16#54f215ed#; + pragma Export (C, u00245, "mailbox_testsS"); + u00246 : constant Version_32 := 16#54e95db7#; + pragma Export (C, u00246, "pathfollowing_suiteB"); + u00247 : constant Version_32 := 16#6509e0de#; + pragma Export (C, u00247, "pathfollowing_suiteS"); + u00248 : constant Version_32 := 16#bb4c851d#; + pragma Export (C, u00248, "pathfollowing_testsB"); + u00249 : constant Version_32 := 16#16da3ebe#; + pragma Export (C, u00249, "pathfollowing_testsS"); + u00250 : constant Version_32 := 16#cb940a6d#; + pragma Export (C, u00250, "tcp_suiteB"); + u00251 : constant Version_32 := 16#26df2448#; + pragma Export (C, u00251, "tcp_suiteS"); + u00252 : constant Version_32 := 16#c0d03c30#; + pragma Export (C, u00252, "tcp_testsB"); + u00253 : constant Version_32 := 16#a42125ca#; + pragma Export (C, u00253, "tcp_testsS"); + u00254 : constant Version_32 := 16#bdc52d37#; + pragma Export (C, u00254, "types_suiteB"); + u00255 : constant Version_32 := 16#164ee890#; + pragma Export (C, u00255, "types_suiteS"); + u00256 : constant Version_32 := 16#493f7427#; + pragma Export (C, u00256, "types_testsB"); + u00257 : constant Version_32 := 16#2bc9ef51#; + pragma Export (C, u00257, "types_testsS"); + + -- BEGIN ELABORATION ORDER + -- ada%s + -- interfaces%s + -- system%s + -- system.atomic_counters%s + -- system.atomic_counters%b + -- system.exn_int%s + -- system.exn_int%b + -- system.img_bool%s + -- system.img_bool%b + -- system.img_enum_new%s + -- system.img_enum_new%b + -- system.img_int%s + -- system.img_int%b + -- system.img_lli%s + -- system.img_lli%b + -- system.io%s + -- system.io%b + -- system.os_primitives%s + -- system.os_primitives%b + -- system.parameters%s + -- system.parameters%b + -- system.crtl%s + -- interfaces.c_streams%s + -- interfaces.c_streams%b + -- system.restrictions%s + -- system.restrictions%b + -- system.storage_elements%s + -- system.storage_elements%b + -- system.stack_checking%s + -- system.stack_checking%b + -- system.stack_usage%s + -- system.stack_usage%b + -- system.string_hash%s + -- system.string_hash%b + -- system.htable%s + -- system.htable%b + -- system.strings%s + -- system.strings%b + -- system.task_info%s + -- system.task_info%b + -- system.traceback_entries%s + -- system.traceback_entries%b + -- system.unsigned_types%s + -- system.wch_con%s + -- system.wch_con%b + -- system.wch_jis%s + -- system.wch_jis%b + -- system.wch_cnv%s + -- system.wch_cnv%b + -- system.concat_2%s + -- system.concat_2%b + -- system.concat_3%s + -- system.concat_3%b + -- system.traceback%s + -- system.traceback%b + -- system.secondary_stack%s + -- system.standard_library%s + -- ada.exceptions%s + -- system.exceptions_debug%s + -- system.exceptions_debug%b + -- system.soft_links%s + -- system.wch_stw%s + -- system.wch_stw%b + -- ada.exceptions.last_chance_handler%s + -- ada.exceptions.last_chance_handler%b + -- ada.exceptions.traceback%s + -- ada.exceptions.traceback%b + -- system.address_image%s + -- system.address_image%b + -- system.exception_table%s + -- system.exception_table%b + -- system.exceptions%s + -- system.exceptions%b + -- system.exceptions.machine%s + -- system.exceptions.machine%b + -- system.memory%s + -- system.memory%b + -- system.secondary_stack%b + -- system.soft_links.initialize%s + -- system.soft_links.initialize%b + -- system.soft_links%b + -- system.standard_library%b + -- system.traceback.symbolic%s + -- system.traceback.symbolic%b + -- ada.exceptions%b + -- ada.containers%s + -- ada.exceptions.is_null_occurrence%s + -- ada.exceptions.is_null_occurrence%b + -- ada.io_exceptions%s + -- gnat%s + -- gnat.io%s + -- gnat.io%b + -- gnat.source_info%s + -- interfaces.c%s + -- interfaces.c%b + -- interfaces.c.extensions%s + -- interfaces.c.strings%s + -- interfaces.c.strings%b + -- system.case_util%s + -- system.case_util%b + -- system.multiprocessors%s + -- system.multiprocessors%b + -- system.os_constants%s + -- system.os_interface%s + -- system.os_interface%b + -- system.interrupt_management%s + -- system.interrupt_management%b + -- system.os_lib%s + -- system.os_lib%b + -- gnat.os_lib%s + -- system.task_lock%s + -- system.task_lock%b + -- gnat.task_lock%s + -- system.task_primitives%s + -- system.tasking%s + -- system.task_primitives.operations%s + -- system.tasking.debug%s + -- system.tasking.debug%b + -- system.task_primitives.operations%b + -- system.tasking%b + -- system.val_util%s + -- system.val_util%b + -- system.val_llu%s + -- system.val_llu%b + -- ada.tags%s + -- ada.tags%b + -- ada.streams%s + -- ada.streams%b + -- system.communication%s + -- system.communication%b + -- system.file_control_block%s + -- system.finalization_root%s + -- system.finalization_root%b + -- ada.finalization%s + -- ada.containers.helpers%s + -- ada.containers.helpers%b + -- system.file_io%s + -- system.file_io%b + -- system.storage_pools%s + -- system.storage_pools%b + -- system.finalization_masters%s + -- system.finalization_masters%b + -- system.storage_pools.subpools%s + -- system.storage_pools.subpools.finalization%s + -- system.storage_pools.subpools.finalization%b + -- system.storage_pools.subpools%b + -- system.stream_attributes%s + -- system.stream_attributes%b + -- system.val_uns%s + -- system.val_uns%b + -- system.val_int%s + -- system.val_int%b + -- ada.calendar%s + -- ada.calendar%b + -- ada.calendar.delays%s + -- ada.calendar.delays%b + -- ada.real_time%s + -- ada.real_time%b + -- ada.text_io%s + -- ada.text_io%b + -- gnat.traceback%s + -- gnat.traceback%b + -- gnat.traceback.symbolic%s + -- system.pool_global%s + -- system.pool_global%b + -- system.pool_size%s + -- system.pool_size%b + -- gnat.sockets%s + -- gnat.sockets.linker_options%s + -- gnat.sockets.thin_common%s + -- gnat.sockets.thin_common%b + -- gnat.sockets.thin%s + -- gnat.sockets.thin%b + -- gnat.sockets%b + -- system.soft_links.tasking%s + -- system.soft_links.tasking%b + -- system.tasking.initialization%s + -- system.tasking.task_attributes%s + -- system.tasking.task_attributes%b + -- system.tasking.initialization%b + -- system.tasking.protected_objects%s + -- system.tasking.protected_objects%b + -- system.tasking.protected_objects.entries%s + -- system.tasking.protected_objects.entries%b + -- system.tasking.queuing%s + -- system.tasking.queuing%b + -- system.tasking.utilities%s + -- system.tasking.utilities%b + -- ada.task_identification%s + -- ada.task_identification%b + -- system.tasking.entry_calls%s + -- system.tasking.rendezvous%s + -- system.tasking.protected_objects.operations%s + -- system.tasking.protected_objects.operations%b + -- system.tasking.entry_calls%b + -- system.tasking.rendezvous%b + -- ada_containers%s + -- aunit%s + -- aunit.memory%s + -- aunit.memory%b + -- aunit%b + -- aunit.memory.utils%s + -- aunit.memory.utils%b + -- ada_containers.aunit_lists%s + -- ada_containers.aunit_lists%b + -- aunit.tests%s + -- aunit.time_measure%s + -- aunit.time_measure%b + -- aunit.test_results%s + -- aunit.test_results%b + -- aunit.assertions%s + -- aunit.assertions%b + -- aunit.test_filters%s + -- aunit.options%s + -- aunit.simple_test_cases%s + -- aunit.simple_test_cases%b + -- aunit.test_filters%b + -- aunit.reporter%s + -- aunit.reporter.text%s + -- aunit.reporter.text%b + -- aunit.test_cases%s + -- aunit.test_cases%b + -- aunit.test_suites%s + -- aunit.test_suites%b + -- aunit.run%s + -- aunit.run%b + -- types%s + -- byte_buffer%s + -- byte_buffer%b + -- mailbox%s + -- mailbox%b + -- tcp_client%s + -- tcp_client%b + -- types%b + -- buffer_tests%s + -- buffer_tests%b + -- buffer_suite%s + -- buffer_suite%b + -- mailbox_tests%s + -- mailbox_tests%b + -- mailbox_suite%s + -- mailbox_suite%b + -- pathfollowing_tests%s + -- pathfollowing_tests%b + -- pathfollowing_suite%s + -- pathfollowing_suite%b + -- tcp_tests%s + -- tcp_tests%b + -- tcp_suite%s + -- tcp_suite%b + -- types_tests%s + -- types_tests%b + -- types_suite%s + -- types_suite%b + -- composite_suite%s + -- composite_suite%b + -- test_main%b + -- END ELABORATION ORDER + +end ada_main; diff --git a/test/ada/obj/b__test_main.ali b/test/ada/obj/b__test_main.ali new file mode 100644 index 0000000..601846b --- /dev/null +++ b/test/ada/obj/b__test_main.ali @@ -0,0 +1,504 @@ +V "GNAT Lib v2019" +A -gnatA +A -gnatA +A -gnatWb +A -gnatiw +A -gnatws +A -mtune=core2 +A -mmacosx-version-min=10.15.0 +A -fPIC +P ZX + +RN +RV NO_ACCESS_SUBPROGRAMS +RV NO_DEFAULT_INITIALIZATION +RV NO_IMPLEMENTATION_ATTRIBUTES +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV NO_ELABORATION_CODE +RV NO_OBSOLESCENT_FEATURES +RV SPARK_05 + +U ada_main%b b__test_main.adb 3f965bb3 OO PK IL +W ada%s ada.ads ada.ali +W ada.exceptions%s a-except.adb a-except.ali +W system%s system.ads system.ali +W system.restrictions%s s-restri.adb s-restri.ali + +U ada_main%s b__test_main.ads d8aa9422 EE NE OO PK IL +W system%s system.ads system.ali +W system.parameters%s s-parame.adb s-parame.ali +W system.secondary_stack%s s-secsta.adb s-secsta.ali + +D ada.ads 20190518041255 76789da1 ada%s +D a-except.ads 20190518041255 291912d5 ada.exceptions%s +D a-unccon.ads 20190518041255 0e9b276f ada.unchecked_conversion%s +D b__test_main.ads 20200707135751 b8a649c4 ada_main%s +D b__test_main.adb 20200707135751 b5b406d0 ada_main%b +D system.ads 20190518041255 085b6ffb system%s +D s-parame.ads 20190518041256 48ec542b system.parameters%s +D s-restri.ads 20190518041255 1b9d0672 system.restrictions%s +D s-rident.ads 20190518041256 50efdf23 system.rident%s +D s-secsta.ads 20190518041256 20bbe636 system.secondary_stack%s +D s-stalib.ads 20190518041256 09bd3940 system.standard_library%s +D s-stoele.ads 20190518041256 2dc34a04 system.storage_elements%s +D s-traent.ads 20190518041254 005bf670 system.traceback_entries%s +G a e +G c Z s b [adainit ada_main 26 14 none] +G c Z s b [adafinal ada_main 29 14 none] +G c Z s b [main ada_main 32 13 none] +G c Z b b [Tsec_default_sized_stacksBIP ada_main 75 4 none] +G c Z b b [finalize_library ada_main 82 14 none] +G c Z b b [ada_main_program ada_main 514 14 none] +X 1 ada.ads +16K9*Ada 20e8 5|8r6 +X 2 a-except.ads +54K13*Exceptions 349e19 5|8w10 +X 4 b__test_main.ads +6K9*ada_main 815l5 815e13 5|10b14 572l5 572t13 +8i4*gnat_argc{integer} 12m22 12r22 5|534m7 +9m4*gnat_argv{6|67M9} 13m22 13r22 5|535m7 +10m4*gnat_envp{6|67M9} 14m22 14r22 5|536m7 +16i4*gnat_exit_status{integer} 17m22 17r22 5|543r15 +19a4*GNAT_Version{string} 21r22 +23a4*Ada_Main_Program_Name{string} 24r22 5|530r52 +26U14*adainit 27i22 5|276b14 512l8 512t15 539s7 +29U14*adafinal 30i22 5|258b14 272l8 272t16 541s7 +32V13*main{integer} 33>7 34>7 35>7 37i22 5|517b13 544t7 +33i7 argc{integer} 5|518b7 534r20 +34m7 argv{6|67M9} 5|519b7 535r20 +35m7 envp{6|67M9} 5|520b7 536r20 +39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 +. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 +. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 +. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 +. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 +. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 +. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 +. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 +. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 +. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 +. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 +. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 +. 306r22 308r22 310r22 312r22 314r22 316r22 318r22 320r22 322r22 324r22 326r22 +. 328r22 330r22 332r22 334r22 336r22 338r22 340r22 342r22 344r22 346r22 348r22 +. 350r22 352r22 354r22 356r22 358r22 360r22 362r22 364r22 366r22 368r22 370r22 +. 372r22 374r22 376r22 378r22 380r22 382r22 384r22 386r22 388r22 390r22 392r22 +. 394r22 396r22 398r22 400r22 402r22 404r22 406r22 408r22 410r22 412r22 414r22 +. 416r22 418r22 420r22 422r22 424r22 426r22 428r22 430r22 432r22 434r22 436r22 +. 438r22 440r22 442r22 444r22 446r22 448r22 450r22 452r22 454r22 456r22 458r22 +. 460r22 462r22 464r22 466r22 468r22 470r22 472r22 474r22 476r22 478r22 480r22 +. 482r22 484r22 486r22 488r22 490r22 492r22 494r22 496r22 498r22 500r22 502r22 +. 504r22 506r22 508r22 510r22 512r22 514r22 516r22 518r22 520r22 522r22 524r22 +. 526r22 528r22 530r22 532r22 534r22 536r22 538r22 540r22 542r22 544r22 546r22 +. 548r22 550r22 552r22 +40m4*u00001{39M9} 41r22 +42m4*u00002{39M9} 43r22 +44m4*u00003{39M9} 45r22 +46m4*u00004{39M9} 47r22 +48m4*u00005{39M9} 49r22 +50m4*u00006{39M9} 51r22 +52m4*u00007{39M9} 53r22 +54m4*u00008{39M9} 55r22 +56m4*u00009{39M9} 57r22 +58m4*u00010{39M9} 59r22 +60m4*u00011{39M9} 61r22 +62m4*u00012{39M9} 63r22 +64m4*u00013{39M9} 65r22 +66m4*u00014{39M9} 67r22 +68m4*u00015{39M9} 69r22 +70m4*u00016{39M9} 71r22 +72m4*u00017{39M9} 73r22 +74m4*u00018{39M9} 75r22 +76m4*u00019{39M9} 77r22 +78m4*u00020{39M9} 79r22 +80m4*u00021{39M9} 81r22 +82m4*u00022{39M9} 83r22 +84m4*u00023{39M9} 85r22 +86m4*u00024{39M9} 87r22 +88m4*u00025{39M9} 89r22 +90m4*u00026{39M9} 91r22 +92m4*u00027{39M9} 93r22 +94m4*u00028{39M9} 95r22 +96m4*u00029{39M9} 97r22 +98m4*u00030{39M9} 99r22 +100m4*u00031{39M9} 101r22 +102m4*u00032{39M9} 103r22 +104m4*u00033{39M9} 105r22 +106m4*u00034{39M9} 107r22 +108m4*u00035{39M9} 109r22 +110m4*u00036{39M9} 111r22 +112m4*u00037{39M9} 113r22 +114m4*u00038{39M9} 115r22 +116m4*u00039{39M9} 117r22 +118m4*u00040{39M9} 119r22 +120m4*u00041{39M9} 121r22 +122m4*u00042{39M9} 123r22 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E019{short_integer} 15m46 15r46 392m7 392r15 +16i4 E208{short_integer} 16m46 16r46 395m7 395r15 +17i4 E121{short_integer} 17m46 17r46 397m7 397r15 +18i4 E158{short_integer} 18m46 18r46 399m7 399r15 +19i4 E057{short_integer} 19m46 19r46 401m7 401r15 +20i4 E221{short_integer} 20m46 20r46 403m7 403r15 +21i4 E192{short_integer} 21m46 21r46 405m7 405r15 +22i4 E091{short_integer} 22m46 22r46 408m7 408r15 +23i4 E120{short_integer} 23m46 23r46 410m7 410r15 +24i4 E195{short_integer} 24m46 24r46 412m7 412r15 +25i4 E123{short_integer} 25m46 25r46 414m7 414r15 +26i4 E118{short_integer} 26m46 26r46 416m7 416r15 +27i4 E190{short_integer} 27m46 27r46 247m10 247r18 418m7 418r15 +28i4 E153{short_integer} 28m46 28r46 420m7 420r15 +29i4 E149{short_integer} 29m46 29r46 236m7 236r15 423m7 423r15 +30i4 E237{short_integer} 30m46 30r46 229m7 229r15 425m7 425r15 +31i4 E146{short_integer} 31m46 31r46 428m7 428r15 +32i4 E213{short_integer} 32m46 32r46 430m7 430r15 +33i4 E205{short_integer} 33m46 33r46 433m7 433r15 +34i4 E186{short_integer} 34m46 34r46 222m7 222r15 436m7 436r15 +35i4 E155{short_integer} 35m46 35r46 215m7 215r15 438m7 438r15 +36i4 E225{short_integer} 36m46 36r46 208m7 208r15 440m7 440r15 +37i4 E207{short_integer} 37m46 37r46 199m10 199r18 445m7 445r15 +38i4 E219{short_integer} 38m46 38r46 442m7 442r15 +39i4 E211{short_integer} 39m46 39r46 443m7 443r15 +40i4 E103{short_integer} 40m46 40r46 447m7 447r15 +41i4 E113{short_integer} 41m46 41r46 449m7 449r15 +42i4 E115{short_integer} 42m46 42r46 188m7 188r15 451m7 451r15 +43i4 E111{short_integer} 43m46 43r46 453m7 453r15 +44i4 E125{short_integer} 44m46 44r46 455m7 455r15 +45i4 E127{short_integer} 45m46 45r46 454m7 454r15 +46i4 E140{short_integer} 46m46 46r46 456m7 456r15 +47i4 E137{short_integer} 47m46 47r46 457m7 457r15 +48i4 E147{short_integer} 48m46 48r46 185m10 185r18 459m7 459r15 +49i4 E144{short_integer} 49m46 49r46 461m7 461r15 +50i4 E142{short_integer} 50m46 50r46 174m7 174r15 463m7 463r15 +51i4 E135{short_integer} 51m46 51r46 167m7 167r15 466m7 466r15 +52i4 E131{short_integer} 52m46 52r46 153m7 153r15 470m7 470r15 +53i4 E133{short_integer} 53m46 53r46 154m7 154r15 469m7 469r15 +54i4 E128{short_integer} 54m46 54r46 472m7 472r15 +55i4 E164{short_integer} 55m46 55r46 146m7 146r15 474m7 474r15 +56i4 E241{short_integer} 56m46 56r46 139m7 139r15 476m7 476r15 +57i4 E174{short_integer} 57m46 57r46 132m7 132r15 478m7 478r15 +58i4 E172{short_integer} 58m46 58r46 479m7 479r15 +59i4 E184{short_integer} 59m46 59r46 485m7 485r15 +60i4 E182{short_integer} 60m46 60r46 125m7 125r15 482m7 482r15 +61i4 E231{short_integer} 61m46 61r46 483m7 483r15 +62i4 E197{short_integer} 62m46 62r46 484m7 484r15 +63i4 E180{short_integer} 63m46 63r46 118m7 118r15 488m7 488r15 +64i4 E178{short_integer} 64m46 64r46 490m7 490r15 +65i4 E245{short_integer} 65m46 65r46 109m10 109r18 493m7 493r15 +66i4 E243{short_integer} 66m46 66r46 495m7 495r15 +67i4 E249{short_integer} 67m46 67r46 98m7 98r15 498m7 498r15 +68i4 E247{short_integer} 68m46 68r46 500m7 500r15 +69i4 E253{short_integer} 69m46 69r46 91m7 91r15 503m7 503r15 +70i4 E251{short_integer} 70m46 70r46 505m7 505r15 +71i4 E257{short_integer} 71m46 71r46 84m7 84r15 508m7 508r15 +72i4 E255{short_integer} 72m46 72r46 510m7 510r15 +73i4 E176{short_integer} 73m46 73r46 511m7 511r15 +75a4 Sec_Default_Sized_Stacks(10|45R9) 380m32 380r32 +77a4 Local_Priority_Specific_Dispatching{string} 366r9 +78a4 Local_Interrupt_States{string} 369r27 +80b4 Is_Elaborated{boolean} 266r14 269m7 325r10 328m7 +82U14 finalize_library 82b14 256l8 256t24 384r35 +86U20*F1 87b30 89s10 +93U20*F2 94b30 96s10 +100U20*F3 101b30 103s10 +106U20*F4 107b30 110s10 +113U20*F5 114b30 116s10 +120U20*F6 121b30 123s10 +127U20*F7 128b30 130s10 +134U20*F8 135b30 137s10 +141U20*F9 142b30 144s10 +148U20*F10 149b30 151s10 +156U20*F11 157b30 159s10 +162U20*F12 163b30 165s10 +169U20*F13 170b30 172s10 +176U20*F14 177b30 179s10 +182U20*F15 183b30 186s10 +190U20*F16 191b30 +. 193s10 +196U20*F17 197b30 200s10 +203U20*F18 204b30 206s10 +210U20*F19 211b30 213s10 +217U20*F20 218b30 220s10 +224U20*F21 225b30 227s10 +231U20*F22 232b30 234s10 +238U20*F23 239b30 241s10 +244U20*F24 245b30 248s10 +251U20*Reraise_Library_Exception_If_Any 252b33 +. 254s10 +259U17*s_stalib_adafinal 260b25 271s7 +262U17*Runtime_Finalize 263b25 270s7 +274P9 No_Param_Proc 317r34 +277i7*Main_Priority{integer} 278m25 278r25 329m7 +279i7*Time_Slice_Value{integer} 280m25 280r25 330m7 +281e7*WC_Encoding{character} 282m25 282r25 331m7 +283e7*Locking_Policy{character} 284m25 284r25 332m7 +285e7*Queuing_Policy{character} 286m25 286r25 333m7 +287e7*Task_Dispatching_Policy{character} 288m25 288r25 334m7 +289m7*Priority_Specific_Dispatching{6|67M9} 290m25 290r25 365m7 +291i7*Num_Specific_Dispatching{integer} 292m25 292r25 367m7 +293i7*Main_CPU{integer} 294m25 294r25 368m7 +295m7*Interrupt_States{6|67M9} 296m25 296r25 369m7 +297i7*Num_Interrupt_States{integer} 298m25 298r25 370m7 +299i7*Unreserve_All_Interrupts{integer} 300m25 300r25 371m7 +301i7*Exception_Tracebacks{integer} 302m25 302r25 372m7 +303i7*Detect_Blocking{integer} 304m25 304r25 373m7 +305i7*Default_Stack_Size{integer} 306m25 306r25 374m7 +307i7*Default_Secondary_Stack_Size{7|58I9} 308m25 308r25 378m7 +309i7*Leap_Seconds_Support{integer} 310m25 310r25 375m7 +311m7*Bind_Env_Addr{6|67M9} 312m25 312r25 +314U17*Runtime_Initialize 314>37 315b25 382s7 +314i37 Install_Handler{integer} +317p7*Finalize_Library_Objects{274P9} 318m25 318r25 384m7 +319i7*Binder_Sec_Stacks_Count{natural} 320m27 320r27 379m7 +321m7*Default_Sized_SS_Pool{6|67M9} 322m27 322r27 380m7 +514U14 Ada_Main_Program 515b24 540s7 +523U17*Initialize 523>29 524b25 538s7 +523m29 Addr{6|67M9} +526U17*Finalize 527b25 542s7 +528a7 SEH(integer) 538m19 538r19 +530m7 Ensure_Reference{6|67M9} 531r24 +X 6 system.ads +37K9*System 4|3w6 4r6 5r6 9r16 10r16 34r14 35r14 5|7r6 75r57 75r90 289r39 +. 295r26 307r38 311r23 321r31 335r7 378r39 519r14 520r14 523r36 530r34 6|174e11 +67M9*Address 4|9r23 10r23 34r21 35r21 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75s29[16|6] 76s29[16|6] 77s29[16|6] +. 78s29[16|6] 79s29[16|6] 80s29[16|6] 81s29[16|6] 82s29[16|6] 91s33[16|6] +431U14*Append 17|7s19[16|6] 13s19[16|6] 14s19[16|6] 20s19[16|6] 21s19[16|6] +. 22s19[16|6] 23s19[16|6] 29s19[16|6] 30s19[16|6] 31s19[16|6] 32s19[16|6] +. 33s19[16|6] 34s19[16|6] 35s19[16|6] 36s19[16|6] 42s22[16|6] +X 10 a-iteint.ads +24h9 Forward_Iterator +32h9 Reversible_Iterator<24R9[6|111]> +X 16 byte_buffer.ads +4K9*byte_buffer 33l5 33e16 17|3b14 118l5 118t16 +6K12*Byte_Vector[6|73] 8r8 12r16 +11R9*Buffer 14e14 16p14 16r41 17p14 17r42 18p14 18r42 19p14 19r42 20p14 20r43 +. 22p14 22r40 23p14 23r41 24p14 24r41 25p14 25r41 26p14 26r42 28p13 28r33 +. 29p13 29r38 30p13 30r39 31p14 31r36 17|5r41 10r42 17r42 26r42 39r43 46r40 +. 52r41 61r41 72r41 87r42 97r33 102r38 107r39 112r36 +12r7*Buffer{6|88R9[6]} 17|7m12 13m12 14m12 20m12 21m12 22m12 23m12 29m12 +. 30m12 31m12 32m12 33m12 34m12 35m12 36m12 42m15 48r19 55r22 56r22 64r22 +. 65r22 66r22 67r22 75r22 76r22 77r22 78r22 79r22 80r22 81r22 82r22 91r26 +. 99r33 +13i7*Index{integer} 17|48r40 49m12 49r26 55r43 56r43 58m12 58r26 64r43 65r43 +. 66r43 67r43 69m12 69r26 75r43 76r43 77r43 78r43 79r43 80r43 81r43 82r43 +. 84m12 84r26 91r47 94m12 94r26 109r33 114m12 114r39 +16U14*write_uint8 16=27 16>49 17|5b14 8l8 8t19 +16r27 Self{11R9} 17|5b27 7m7 7r7 +16m49 Val{51|6M9} 17|5b49 7r27 +17U14*write_uint16 17=28 17>50 17|10b14 15l8 15t20 +17r28 Self{11R9} 17|10b28 13m7 13r7 14m7 14r7 +17m50 Val{51|7M9} 17|10b50 11r54 +18U14*write_uint32 18=28 18>50 17|17b14 24l8 24t20 +18r28 Self{11R9} 17|17b28 20m7 20r7 21m7 21r7 22m7 22r7 23m7 23r7 +18m50 Val{51|8M9} 17|17b50 18r54 +19U14*write_uint64 19=28 19>50 17|26b14 37l8 37t20 +19r28 Self{11R9} 17|26b28 29m7 29r7 30m7 30r7 31m7 31r7 32m7 32r7 33m7 33r7 +. 34m7 34r7 35m7 35r7 36m7 36r7 +19m50 Val{51|9M9} 17|26b50 27r54 +20U14*write_payload 20=29 20^51 17|39b14 44l8 44t21 +20r29 Self{11R9} 17|39b29 42m10 42r10 +20p51 Val(51|15A9) 17|39b51 41r16 42r30 +22U14*read_uint8 22=26 22<48 17|46b14 50l8 50t18 +22r26 Self{11R9} 17|46b26 48r14 48r35 49m7 49r21 +22m48 Val{51|6M9} 17|46b48 48m7 +23U14*read_uint16 23=27 23<49 17|52b14 59l8 59t19 +23r27 Self{11R9} 17|52b27 55r17 55r38 56r17 56r38 58m7 58r21 +23m49 Val{51|7M9} 17|52b49 57m7 +24U14*read_uint32 24=27 24<49 17|61b14 70l8 70t19 +24r27 Self{11R9} 17|61b27 64r17 64r38 65r17 65r38 66r17 66r38 67r17 67r38 +. 69m7 69r21 +24m49 Val{51|8M9} 17|61b49 68m7 +25U14*read_uint64 25=27 25<49 17|72b14 85l8 85t19 +25r27 Self{11R9} 17|72b27 75r17 75r38 76r17 76r38 77r17 77r38 78r17 78r38 +. 79r17 79r38 80r17 80r38 81r17 81r38 82r17 82r38 84m7 84r21 +25m49 Val{51|9M9} 17|72b49 83m7 +26U14*read_payload 26=28 26^50 17|87b14 95l8 95t20 +26r28 Self{11R9} 17|87b28 91r21 91r42 94m7 94r21 +26p50 Val(51|15A9) 17|87b50 90r16 91r10 +28V13*size{51|8M9} 28=19 17|97b13 100l8 100t12 104s19 +28r19 Self{11R9} 17|97b19 99r28 +29V13*remaining{51|8M9} 29=24 17|102b13 105l8 105t17 +29r24 Self{11R9} 17|102b24 104m14 104r14 104m26 104r26 +30V13*bytes_read{51|8M9} 30=25 17|104s31 107b13 110l8 110t18 +30r25 Self{11R9} 17|107b25 109r28 +31U14*unwind 31=22 31>44 17|112b14 115l8 115t14 +31r22 Self{11R9} 17|112b22 114m7 114r34 +31m44 Bytes{51|8M9} 17|112b44 114r56 +X 17 byte_buffer.adb +11a7 o2{51|11A9} 13r27 14r27 +18a7 o4{51|12A9} 20r27 21r27 22r27 23r27 +27a7 o8{51|13A9} 29r27 30r27 31r27 32r27 33r27 34r27 35r27 36r27 +41m11 I<18|74M9> 42r35 +53a7 o2{51|11A9} 55m7 56m7 57r38 +62a7 o4{51|12A9} 64m7 65m7 66m7 67m7 68r38 +73a7 o8{51|13A9} 75m7 76m7 77m7 78m7 79m7 80m7 81m7 82m7 83r38 +88i7 count{integer} 91r55 92m10 92r19 94r34 +90m11 I<18|74M9> 91r15 +X 18 interfac.ads +63M9*Unsigned_8 +66M9*Unsigned_16 +74M9*Unsigned_32 +77M9*Unsigned_64 +X 20 system.ads +67M9*Address +X 28 s-memory.ads +53V13*Alloc{20|67M9} 103i22 +68U14*Free 104i22 +76V13*Realloc{20|67M9} 105i22 +X 37 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 39 s-stalib.adb +93U14 Break_Start 94i22 +X 51 types.ads +4K9*types 16|2w6 2r17 7r46 16r58 17r59 18r59 19r59 20r64 22r58 23r59 24r59 +. 25r59 26r63 28r48 29r53 30r54 31r55 17|1w6 5r58 10r59 11r12 11r30 17r59 +. 18r12 18r30 26r59 27r12 27r30 39r64 46r58 52r59 53r12 57r14 61r59 62r12 +. 68r14 72r59 73r12 83r14 87r63 97r48 99r14 102r53 107r54 109r14 112r55 51|45e10 +6M9*uint8<18|63M9> 16|7r52 16r64 22r64 17|5r64 46r64 +7M9*uint16<18|66M9> 16|17r65 23r65 17|10r65 52r65 +8M9*uint32<18|74M9> 16|18r65 24r65 28r54 29r59 30r60 31r61 17|17r65 61r65 +. 97r54 99r20 102r59 107r60 109r20 112r61 +9M9*uint64<18|77M9> 16|19r65 25r65 17|26r65 72r65 +11A9*Octets_2(6M9)<8M9> 17|11r18 53r18 +12A9*Octets_4(6M9)<8M9> 17|18r18 62r18 +13A9*Octets_8(6M9)<8M9> 17|27r18 73r18 +15A9*payload(6M9)<8M9> 16|20r70 26r69 17|39r70 87r69 +25V13*uint16_to_octets{11A9} 17|11s36 +26V13*uint32_to_octets{12A9} 17|18s36 +27V13*uint64_to_octets{13A9} 17|27s36 +29V13*octets_to_uint16{7M9} 17|57s20 +30V13*octets_to_uint32{8M9} 17|68s20 +31V13*octets_to_uint64{9M9} 17|83s20 + diff --git 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+ for Object_File_Suffix ("asm_cpp") use "-"; + for Object_File_Suffix ("asm") use "-"; + for Object_File_Suffix ("gnat expanded code") use "-"; + for Object_File_Suffix ("java") use "-"; + for Object_File_Suffix ("javascript") use "-"; + for Object_File_Suffix ("tcl") use "-"; + for Object_File_Suffix ("shell") use "-"; + for Object_File_Suffix ("makefile") use "-"; + for Object_File_Suffix ("m4") use "-"; + for Object_File_Suffix ("fortran 90") use "-"; + for Object_File_Suffix ("pascal") use "-"; + for Object_File_Suffix ("perl") use "-"; + for Object_File_Suffix ("awk") use "-"; + for Object_File_Suffix ("autoconf") use "-"; + for Object_File_Suffix ("rest") use "-"; + for Object_File_Suffix ("texinfo") use "-"; + for Object_File_Suffix ("project file") use "-"; + for Object_File_Suffix ("changelog") use "-"; + for Object_File_Suffix ("qgen") use "-"; + for Object_File_Suffix ("simulink") use "-"; + for Object_File_Suffix ("python") use ".pyc"; + for Object_File_Suffix ("css") use "-"; + for Object_File_Suffix ("c++") use ".o"; + for Object_File_Suffix ("c") use ".o"; + for Object_File_Suffix ("ada") use ".o"; + end Compiler; + + package Naming is + for Spec_Suffix ("ada") use ".ads"; + for Body_Suffix ("ada") use ".adb"; + for Spec_Suffix ("c") use ".h"; + for Body_Suffix ("c") use ".c"; + for Spec_Suffix ("c++") use ".hh"; + for Body_Suffix ("c++") use ".cpp"; + for Dot_Replacement use "-"; + for Casing use "lowercase"; + for Spec_Suffix ("html") use ".html"; + for Body_Suffix ("xml") use ".xml"; + for Body_Suffix ("matlab") use ".m"; + for Spec_Suffix ("c#") use ".cs"; + for Body_Suffix ("asm2") use ".asm"; + for Body_Suffix ("asm_cpp") use ".S"; + for Body_Suffix ("asm") use ".s"; + for Body_Suffix ("gnat expanded code") use ".dg"; + for Body_Suffix ("java") use ".java"; + for Body_Suffix ("javascript") use ".js"; + for Body_Suffix ("tcl") use ".tcl"; + for Body_Suffix ("shell") use ".sh"; + for Body_Suffix ("m4") use ".m4"; + for Body_Suffix ("fortran 90") use ".f"; + for Body_Suffix ("pascal") use ".pas"; + for Body_Suffix ("perl") use ".pl"; + for Body_Suffix ("awk") use ".awk"; + for Body_Suffix ("autoconf") use "configure.in"; + for Body_Suffix ("rest") use ".rst"; + for Body_Suffix ("texinfo") use ".texi"; + for Body_Suffix ("project file") use ".gpr"; + for Spec_Suffix ("changelog") use ".changelog"; + for Body_Suffix ("qgen") use ".xmi"; + for Spec_Suffix ("simulink") use ".slx"; + for Body_Suffix ("simulink") use ".mdl"; + for Body_Suffix ("python") use ".py"; + for Body_Suffix ("css") use ".css"; + for Spec_Suffix ("c++") use ".hh"; + for Body_Suffix ("c++") use ".cpp"; + for Spec_Suffix ("c") use ".h"; + for Body_Suffix ("c") use ".c"; + for Spec_Suffix ("ada") use ".ads"; + for Body_Suffix ("ada") use ".adb"; + end Naming; + + for Library_Support use "full"; + +end _Auto; + diff --git a/test/ada/obj/mailbox.adb.stderr b/test/ada/obj/mailbox.adb.stderr new file mode 100644 index 0000000..e69de29 diff --git a/test/ada/obj/mailbox.adb.stdout b/test/ada/obj/mailbox.adb.stdout new file mode 100644 index 0000000..e69de29 diff --git a/test/ada/obj/mailbox.ali b/test/ada/obj/mailbox.ali new file mode 100644 index 0000000..1708b58 --- /dev/null +++ b/test/ada/obj/mailbox.ali @@ -0,0 +1,142 @@ +V "GNAT Lib v9" +A -gnatA +A -gnatQ +A -gnatf +A -gnato +A -gnat2012 +A -mtune=generic +A -march=x86-64 +P ZX + +RN +RV SIMPLE_BARRIERS +RV NO_DELAY +RV NO_DIRECT_BOOLEAN_OPERATORS +RV NO_EXCEPTION_HANDLERS +RV NO_EXCEPTION_PROPAGATION +RV NO_EXCEPTIONS +RV NO_FIXED_POINT +RV NO_IMPLICIT_CONDITIONALS +RV NO_PROTECTED_TYPES +RV NO_RECURSION +RV NO_RELATIVE_DELAY +RV NO_SELECT_STATEMENTS +RV NO_STANDARD_STORAGE_POOLS +RV NO_DYNAMIC_SIZED_OBJECTS +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV SPARK_05 +RV MAX_PROTECTED_ENTRIES=2 +RV MAX_ENTRY_QUEUE_LENGTH=1+ + +U mailbox%b mailbox.adb f7cc1da6 NE OO PK IL +Z ada.calendar.delays%s a-caldel.adb a-caldel.ali +Z ada.tags%s a-tags.adb a-tags.ali +Z system%s system.ads system.ali +Z system.soft_links%s s-soflin.adb s-soflin.ali +Z system.tasking%s s-taskin.adb s-taskin.ali +Z system.tasking.protected_objects%s s-taprob.adb s-taprob.ali +Z system.tasking.protected_objects.entries%s s-tpoben.adb s-tpoben.ali +Z system.tasking.protected_objects.operations%s s-tpobop.adb s-tpobop.ali + +U mailbox%s mailbox.ads ab2e415b EE NE OO PK IL +W ada%s ada.ads ada.ali +Z ada.exceptions%s a-except.adb a-except.ali +W ada.real_time%s a-reatim.adb a-reatim.ali +Z ada.tags%s a-tags.adb a-tags.ali +Z system%s system.ads system.ali +Z system.tasking%s s-taskin.adb s-taskin.ali +Z system.tasking.protected_objects%s s-taprob.adb s-taprob.ali +Z system.tasking.protected_objects.entries%s s-tpoben.adb s-tpoben.ali +W types%s types.adb types.ali + +D ada.ads 20200312110721 76789da1 ada%s +D a-calend.ads 20200312110721 b288ede8 ada.calendar%s +D a-caldel.ads 20200312110721 9f20b83d ada.calendar.delays%s +D a-except.ads 20200312110721 291912d5 ada.exceptions%s +D a-finali.ads 20200312110721 bf4f806b ada.finalization%s +D a-reatim.ads 20200312110721 0240fc73 ada.real_time%s +D a-stream.ads 20200312110721 119b8fb3 ada.streams%s +D a-tags.ads 20200312110721 491b781d ada.tags%s +D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s +D interfac.ads 20200312110721 5ab55268 interfaces%s +D i-c.ads 20200312110721 5421119b interfaces.c%s +D mailbox.ads 20200624154551 01c4c1c0 mailbox%s +D mailbox.adb 20200706162034 f608dc66 mailbox%b +D system.ads 20200312110721 4635ec04 system%s +D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s +D s-exctab.ads 20200312110721 54135002 system.exception_table%s +D s-finroo.ads 20200312110721 4ff27390 system.finalization_root%s +D s-linux.ads 20200312110721 ed0b8aee system.linux%s +D s-multip.ads 20200312110721 38ac9f73 system.multiprocessors%s +D s-oscons.ads 20200409103809 0b994636 system.os_constants%s +D s-osinte.ads 20200312110721 710cf8c6 system.os_interface%s +D s-parame.ads 20200312110721 48ec542b system.parameters%s +D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s +D s-soflin.ads 20200312110721 a7318a92 system.soft_links%s +D s-stache.ads 20200312110721 a37c21ec system.stack_checking%s +D s-stausa.ads 20200312110721 017a0a05 system.stack_usage%s +D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s +D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s +D s-tasinf.ads 20200312110721 2b3f8252 system.task_info%s +D s-taspri.ads 20200312110721 f40ac08d system.task_primitives%s +D s-taprop.ads 20200312110721 1dd2e1b6 system.task_primitives.operations%s +D s-taskin.ads 20200312110721 b9d612e2 system.tasking%s +D s-taprob.ads 20200312110721 acd6094d system.tasking.protected_objects%s +D s-tpoben.ads 20200312110721 60ad3dae system.tasking.protected_objects.entries%s +D s-tpobop.ads 20200312110721 5f548bb3 system.tasking.protected_objects.operations%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +D s-unstyp.ads 20200312110721 34867c83 system.unsigned_types%s +D types.ads 20200624154551 a8aa7ce8 types%s +X 1 ada.ads +16K9*Ada 20e8 12|2r6 2r25 13|63r11 63r54 +X 6 a-reatim.ads +39K13*Real_Time 185e18 12|2w10 2r29 13|63r15 63r58 +49O9*Time 12|22r44 13|61r44 +54O9*Time_Span +61V13*Clock{49O9} 13|63s25 +71V14*"-"{54O9} 13|63s31 +107V14*">="{boolean} 13|63r51 +119V13*Milliseconds{54O9} 13|63s68 +X 10 interfac.ads +63M9*Unsigned_8 +X 12 mailbox.ads +4K9*mailbox 24l5 24e12 13|1b14 70l5 70t12 +6A9*Mail_List(38|18R9)<38|6M9> 14r14 +8W19*Mailbox 8d28 14E7 16l8 16e15 18r45 18r70 13|3b19 31l8 31t15 33r45 33r70 +8m28 Size{38|6M9} 14r27 13|16r67 +9U17 Clear 13|4b17 15l11 15t16 +10Y13 Deposit 10>21 13|16b13 20l11 20t18 +10r21 X{38|18R9} 13|18r29 +11Y13 Collect 11<21 13|21b13 26l11 26t18 37s19 44s20 +11r21 X{38|18R9} 13|23m10 +12U17 View_Inbox 12<28 13|27b17 30l11 30t21 +12m28 Remaining_Items{38|6M9} 13|27b28 29m10 +14a7 Items{6A9} 13|7r22 9r29 11r19 11r37 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+599i7*Port{492I9} 56|17m15 +623V13*Inet_Addr{517R9} 56|15s23 +1008U14*Create_Socket 56|12s7 +1049U14*Connect_Socket 56|19s7 +1213P9*Stream_Access(10|39R9) 55|16r119 18r42 20r41 22r38 56|6r119 26r42 +. 51r40 70r38 +1216V13*Stream{1213P9} 56|21s14 +X 18 interfac.ads +63M9*Unsigned_8 +74M9*Unsigned_32 +X 21 mailbox.ads +4K9*mailbox 24e12 55|7w6 7r19 22r120 24r151 56|70r120 92r151 +8W19*Mailbox 16e15 55|22r128 24r159 56|70r128 92r159 +9U17 Clear 56|107s24 +10Y13 Deposit 56|108s24 +X 39 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 55 tcp_client.ads +9K9*tcp_client 26l5 26e15 56|3b14 114l5 114t15 +12m4*protocol_package_length{57|8M9} 56|79r51 +13m4*protocol_ID_length{57|8M9} 56|83r51 +14m4*protocol_join_ID{57|6M9} +16V13*build_connection{17|1213P9} 16=32 16>61 16=79 56|6b13 23l8 23t24 +16i32 client{17|412I9} 56|6b32 12m22 19r23 21r21 +16i61 port{17|492I9} 56|6b61 17r23 +16r79 address{17|597R9} 56|6b79 15m7 17m7 19r31 +18U14*send_bytes 18>26 18>57 56|26b14 48l8 48t18 +18p26 server_stream{17|1213P9} 56|26b26 35r28 39r25 44r31 +18r57 outgoing_packet{57|18R9} 56|26b57 33r55 39r40 42r10 43r19 44r46 +20V13*recv_bytes{57|8M9} 20>25 20>56 20=88 56|51b13 66l8 66t18 79s25 83s25 +. 87s25 +20p25 server_stream{17|1213P9} 56|51b24 59r27 +20m56 bytes_wanted{57|8M9} 56|51b55 58r30 +20r88 dynamic_buffer{15|11R9} 56|51b87 60m10 60r10 +22U14*listen 22>22 22=53 22=97 56|70b14 90l8 90t14 +22p22 server_stream{17|1213P9} 56|70b22 79r36 83r36 87r36 +22r53 dynamic_buffer{15|11R9} 56|70b53 79m76 79r76 80m31 83m71 83r71 84m30 +. 87m78 87r78 88m20 +22w97 local_mailbox{21|8W19} 56|70b97 88m79 +24U14*read_payload 24=27 24>71 24>102 24=128 56|88s7 92b14 112l8 112t20 +24r27 dynamic_buffer{15|11R9} 56|92b27 104m13 104r13 +24m71 payload_length{57|8M9} 56|92b71 99r39 100r54 +24m102 package_ID{57|6M9} 56|92b102 98r35 +24w128 local_mailbox{21|8W19} 56|92b128 107r10 108r10 +X 56 tcp_client.adb +28a7 uint8_payload_length{57|12A9} 33m7 34r16 35r43 +34m11 I<18|74M9> 35r64 +43m14 I<18|74M9> 44r76 +53m7 bytes_received{57|8M9} 58r13 61m10 61r28 64r14 +54m7 new_byte{57|6M9} 59m42 59r42 60r37 +72m7 bytes_received{57|8M9} 79m7 83m7 87m7 +73m7 conv_package_ID{57|6M9} 84m46 88r63 +74m7 conv_package_value_length{57|8M9} 80m47 81m7 81r36 87r51 88r36 +96r15 new_packet{57|18R9} 98m10 99m10 100m10 101m10 103r19 104r39 108r32 +103m14 I<18|74M9> 104r64 +X 57 types.ads +4K9*types 55|5w6 12r30 13r25 14r23 18r75 20r74 20r140 24r88 24r115 56|1w6 +. 1r17 26r75 28r30 35r10 39r7 44r13 51r73 51r139 53r24 54r18 59r10 72r24 +. 73r25 74r35 92r88 92r115 57|45e10 +6M9*uint8<18|63M9> 55|14r29 24r121 56|35r16 39r13 44r19 54r24 59r16 73r31 +. 92r121 +8M9*uint32<18|74M9> 55|12r36 13r31 20r80 20r146 24r94 56|51r79 51r145 53r30 +. 72r30 74r41 92r94 +12A9*Octets_4(6M9)<8M9> 56|28r36 +15A9*payload(6M9)<8M9> 56|100r42 +18R9*Communication_Packet 55|18r81 56|26r81 96r28 57|23e14 +19m7*package_ID{6M9} 56|39r56 98m21 +20m7*payload_length{8M9} 56|33r71 42r26 99m21 +21p7*local_payload(15A9) 56|43r35 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begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end buffer_suite; diff --git a/test/ada/src/buffer_suite/buffer_suite.ads b/test/ada/src/buffer_suite/buffer_suite.ads new file mode 100644 index 0000000..d29238c --- /dev/null +++ b/test/ada/src/buffer_suite/buffer_suite.ads @@ -0,0 +1,7 @@ +with AUnit.Test_Suites; + +package buffer_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end buffer_suite; diff --git a/test/ada/src/buffer_suite/buffer_tests.adb b/test/ada/src/buffer_suite/buffer_tests.adb new file mode 100644 index 0000000..4f1a84e --- /dev/null +++ b/test/ada/src/buffer_suite/buffer_tests.adb @@ -0,0 +1,90 @@ +with AUnit.Assertions; use AUnit.Assertions; +with types; use types; +with byte_buffer; use byte_buffer; + +package body buffer_tests is + + procedure Register_Tests (T: in out buffer_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Test_Read_Write_Uint8'Access, "Test write and read uint8 from buffer."); + Register_Routine (T, Test_Read_Write_Uint16'Access, "Test write and read uint16 from buffer."); + Register_Routine (T, Test_Read_Write_Uint32'Access, "Test write and read uint32 from buffer."); + Register_Routine (T, Test_Read_Write_Uint64'Access, "Test write and read uint64 from buffer."); + Register_Routine (T, Test_Read_Write_Payload'Access, "Test write and read payload from buffer."); + end Register_Tests; + + -- Identifier of test case + function Name (T: buffer_test) return Test_String is + begin + return Format ("Buffer Tests"); + end Name; + + procedure Test_Read_Write_Uint8 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u8, u8t : uint8; + begin + b.Index := 0; + u8 := 230; + b.write_uint8 (u8); + b.read_uint8 (u8t); + + Assert (u8 = u8t, "Writing and reading uint8 does not work"); + end Test_Read_Write_Uint8; + + procedure Test_Read_Write_Uint16 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u16, u16t : uint16; + begin + b.Index := 0; + u16 := 5000; + b.write_uint16 (u16); + b.read_uint16 (u16t); + + Assert (u16 = u16t, "Writing and reading uint16 does not work"); + end Test_Read_Write_Uint16; + + procedure Test_Read_Write_Uint32 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u32, u32t : uint32; + begin + b.Index := 0; + u32 := 200000; + b.write_uint32 (u32); + b.read_uint32 (u32t); + + Assert (u32 = u32t, "Writing and reading uint32 does not work"); + end Test_Read_Write_Uint32; + + procedure Test_Read_Write_Uint64 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u64, u64t : uint64; + begin + b.Index := 0; + u64 := 5000000; + b.write_uint64 (u64); + b.read_uint64 (u64t); + + Assert (u64 = u64t, "Writing and reading uint64 does not work"); + end Test_Read_Write_Uint64; + + procedure Test_Read_Write_Payload (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + p_in, p_out : access payload := new payload (0 .. 31); + u8 : uint8 := 0; + begin + for I in p_in'Range loop + p_in (I) := u8; + u8 := u8 + 1; + end loop; + + b.write_payload (p_in); + b.read_payload (p_out); + + for I in p_out'Range loop + Assert (p_out (I) = p_in (I), "Writing and reading payload does not work"); + end loop; + end Test_Read_Write_Payload; + +end buffer_tests; diff --git a/test/ada/src/buffer_suite/buffer_tests.ads b/test/ada/src/buffer_suite/buffer_tests.ads new file mode 100644 index 0000000..90f41b5 --- /dev/null +++ b/test/ada/src/buffer_suite/buffer_tests.ads @@ -0,0 +1,22 @@ +with AUnit; use AUnit; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with types; use types; + +package buffer_tests is + + type buffer_test is new Test_Cases.Test_Case with null record; + + procedure Register_Tests (T : in out buffer_test); + -- Register routines to be run + + function Name (T : buffer_test) return Message_String; + -- Provide name identifying the test case + + -- Test Routines: + procedure Test_Read_Write_Uint8 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Uint16 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Uint32 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Uint64 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Payload (T : in out Test_Cases.Test_Case'Class); + +end buffer_tests; diff --git a/test/ada/src/composite_suite.adb b/test/ada/src/composite_suite.adb new file mode 100644 index 0000000..56864d1 --- /dev/null +++ b/test/ada/src/composite_suite.adb @@ -0,0 +1,26 @@ +with tcp_suite; +with buffer_suite; +with types_suite; +with mailbox_suite; +with pathfollowing_suite; +with AUnit.Tests; + + +package body composite_suite is + use Test_Suites; + use tcp_suite; + use buffer_suite; + use types_suite; + + function Suite return Access_Test_Suite is + Result : Access_Test_Suite := AUnit.Test_Suites.New_Suite; + begin + Result.Add_Test (tcp_suite.Suite); + Result.Add_Test (buffer_suite.Suite); + Result.Add_Test (types_suite.Suite); + Result.Add_Test (mailbox_suite.Suite); + Result.Add_Test (pathfollowing_suite.Suite); + return Result; + end Suite; + +end composite_suite; diff --git a/test/ada/src/composite_suite.ads b/test/ada/src/composite_suite.ads new file mode 100644 index 0000000..7ebf840 --- /dev/null +++ b/test/ada/src/composite_suite.ads @@ -0,0 +1,6 @@ +with AUnit.Test_Suites; +with AUnit; use AUnit; + +package composite_suite is + function Suite return AUnit.Test_Suites.Access_Test_Suite; +end composite_suite; diff --git a/test/ada/src/mailbox_suite/mailbox_suite.adb b/test/ada/src/mailbox_suite/mailbox_suite.adb new file mode 100644 index 0000000..23b5b96 --- /dev/null +++ b/test/ada/src/mailbox_suite/mailbox_suite.adb @@ -0,0 +1,17 @@ +package body mailbox_suite is + + use AUnit.Test_Suites; + + -- Statically allocate test suite: + Result : aliased Test_Suite; + + -- Statically allocate test cases: + Test_1 : aliased mailbox_tests.mailbox_test; + + function Suite return Access_Test_Suite is + begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end mailbox_suite; diff --git a/test/ada/src/mailbox_suite/mailbox_suite.ads b/test/ada/src/mailbox_suite/mailbox_suite.ads new file mode 100644 index 0000000..8604041 --- /dev/null +++ b/test/ada/src/mailbox_suite/mailbox_suite.ads @@ -0,0 +1,8 @@ +with AUnit.Test_Suites; +with mailbox_tests; use mailbox_tests; + +package mailbox_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end mailbox_suite; diff --git a/test/ada/src/mailbox_suite/mailbox_tests.adb b/test/ada/src/mailbox_suite/mailbox_tests.adb new file mode 100644 index 0000000..9058071 --- /dev/null +++ b/test/ada/src/mailbox_suite/mailbox_tests.adb @@ -0,0 +1,176 @@ +package body mailbox_tests is + + -- test fixture for mailbox tests + type Communication_Array is array(types.uint8 range <> ) of types.Communication_Packet; + + local_mailbox : mailbox.Mailbox(Size => 5); + + test_packets : Communication_Array(1..5); + + dynamic_buffer : byte_buffer.Buffer; + + current_packet : types.Communication_Packet; + + procedure Set_Up (T: in out mailbox_test) is + begin + + -- set up all 5 test Comm_Packet with asc package_IDs + for I in test_packets'Range loop + test_packets(I).package_ID := types.uint8(I); + test_packets(I).payload_length := 2; + test_packets(I).local_payload := new payload(0..(test_packets(I).payload_length - 1)); + test_packets(I).TTL := Ada.Real_Time.Clock; + + -- set up payload values + for J in 0..(test_packets(I).payload_length - 1) loop + test_packets(I).local_payload(J) := 1; + end loop; + end loop; + + + end Set_Up; + + procedure Tear_Down (T : in out mailbox_test) is + begin + + --local_mailbox.Empty; + null; + + end; + + -- Register test routines to call + procedure Register_Tests (T: in out mailbox_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Test_Collect_and_Deposit'Access, "Mailbox.Collect and Mailbox.Deposit."); + Register_Routine (T, Test_View_Inbox'Access, "Mailbox.View_Inbox and if Mailbox.Last."); + Register_Routine (T, Test_Clear_not_isExpired'Access, "Mailbox.Clear(not_isExpired): Test unexpired items in mailbox."); + Register_Routine (T, Test_Clear_isExpired'Access, "Mailbox.Clear(isExpired): Test expired items in mailbox."); + Register_Routine (T, Test_Empty'Access, "Mailbox.Empty: Delete all items from Mailbox."); + Register_Routine (T, Test_isExpired'Access, "isExpired."); + end Register_Tests; + + -- Identifier of test case + function Name (T: mailbox_test) return Test_String is + begin + return Format ("Mailbox Tests"); + end Name; + + -- test both collect and deposit + procedure Test_Collect_and_Deposit (T : in out Test_Cases.Test_Case'Class) is + + last_package_ID : types.uint8 := 0; + + begin + + -- deposit + for I in test_packets'Range loop + local_mailbox.Deposit(test_packets(I)); + end loop; + + -- collect and check that package_ID is asc --> correct order + for I in test_packets'Range loop + local_mailbox.Collect(current_packet); + Assert (current_packet.package_ID > last_package_ID, "Mailbox.Deposit and/or Mailbox.Collect are/is not working as intended."); + last_package_ID := current_packet.package_ID; + end loop; + + end Test_Collect_and_Deposit; + + -- test if View_Inbox works, and if Last is set correctly + procedure Test_View_Inbox (T : in out Test_Cases.Test_Case'Class) is + + mailbox_last : types.uint8; + + begin + + for I in test_packets'Range loop + local_mailbox.Deposit(test_packets(I)); + end loop; + + local_mailbox.View_Inbox(mailbox_last); + + Assert (mailbox_last = local_mailbox.Size, "Mailbox.Last is not set correctly upon depositing."); + + end Test_View_Inbox; + + -- test unexpired items in mailbox + procedure Test_Clear_not_isExpired (T : in out Test_Cases.Test_Case'Class) is + begin + + local_mailbox.Deposit(test_packets(1)); + local_mailbox.Deposit(test_packets(2)); + + local_mailbox.Clear; + + select + local_mailbox.Collect(current_packet); + else + null; + end select; + + Assert (current_packet.package_ID = 1, "Mailbox.Clear (not_isExpired) is not working as intended."); + + end Test_Clear_not_isExpired; + + -- test expired items in mailbox + procedure Test_Clear_isExpired (T : in out Test_Cases.Test_Case'Class) is + begin + + current_packet.package_ID := 0; + + test_packets(1).TTL := Ada.Real_Time.Clock - Ada.Real_Time.Milliseconds(10000); + + local_mailbox.Deposit(test_packets(1)); + + local_mailbox.Clear; + + select + local_mailbox.Collect(current_packet); + else + null; + end select; + + Assert (current_packet.package_ID = 0, "Mailbox.Clear (isExpired) is not working as intended."); + + end Test_Clear_isExpired; + + -- test delete all items in mailbox + procedure Test_Empty (T : in out Test_Cases.Test_Case'Class) is + begin + + local_mailbox.Deposit(test_packets(1)); + local_mailbox.Deposit(test_packets(2)); + local_mailbox.Deposit(test_packets(3)); + + --local_mailbox.Empty; + + select + local_mailbox.Collect(current_packet); + else + current_packet.package_ID := 0; + end select; + + Assert (current_packet.package_ID = 0, "Mailbox.Empty is not working as intended."); + + end Test_Empty; + + -- test ttl expired + procedure Test_isExpired (T : in out Test_Cases.Test_Case'Class) is + + expiration_result : Boolean; + + test_time : Ada.Real_Time.Time; + + begin + + test_time := Ada.Real_Time.Clock - Ada.Real_Time.Milliseconds(10000); + + expiration_result := mailbox.isExpired(test_time); + + Assert (expiration_result = True, "isExpired is not working as intended."); + + end Test_isExpired; + +end mailbox_tests; diff --git a/test/ada/src/mailbox_suite/mailbox_tests.ads b/test/ada/src/mailbox_suite/mailbox_tests.ads new file mode 100644 index 0000000..472cea4 --- /dev/null +++ b/test/ada/src/mailbox_suite/mailbox_tests.ads @@ -0,0 +1,39 @@ +with AUnit; use AUnit; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with AUnit.Assertions; use AUnit.Assertions; +with types; use types; +with mailbox; +with byte_buffer; +with Ada.Real_Time; use Ada.Real_Time; +with Ada.Text_IO; + +package mailbox_tests is + + type mailbox_test is new Test_Cases.Test_Case with null record; + + -- Register routines to be run + procedure Register_Tests (T : in out mailbox_test); + + -- Provide name identifying the test case + function Name (T : mailbox_test) return Message_String; + + -- Set up performed before each test routine + procedure Set_Up (T : in out mailbox_test); + + -- Tear down performed after each test routine + procedure Tear_Down (T : in out mailbox_test); + + -- Test Routines + procedure Test_Collect_and_Deposit (T : in out Test_Cases.Test_Case'Class); + + procedure Test_View_Inbox (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Clear_not_isExpired (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Clear_isExpired (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Empty (T : in out Test_Cases.Test_Case'Class); + + procedure Test_isExpired (T : in out Test_Cases.Test_Case'Class); + +end mailbox_tests; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_suite.adb b/test/ada/src/pathfollowing_suite/pathfollowing_suite.adb new file mode 100644 index 0000000..e0e6e87 --- /dev/null +++ b/test/ada/src/pathfollowing_suite/pathfollowing_suite.adb @@ -0,0 +1,19 @@ +with pathfollowing_tests; + +package body pathfollowing_suite is + + use AUnit.Test_Suites; + + -- Statically allocate test suite: + Result : aliased Test_Suite; + + -- Statically allocate test cases: + Test_1 : aliased pathfollowing_tests.pathfollowing_test; + + function Suite return Access_Test_Suite is + begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end pathfollowing_suite; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_suite.ads b/test/ada/src/pathfollowing_suite/pathfollowing_suite.ads new file mode 100644 index 0000000..0be2a3d --- /dev/null +++ b/test/ada/src/pathfollowing_suite/pathfollowing_suite.ads @@ -0,0 +1,7 @@ +with AUnit.Test_Suites; + +package pathfollowing_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end pathfollowing_suite; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_tests.adb b/test/ada/src/pathfollowing_suite/pathfollowing_tests.adb new file mode 100644 index 0000000..78dbe86 --- /dev/null +++ b/test/ada/src/pathfollowing_suite/pathfollowing_tests.adb @@ -0,0 +1,29 @@ +with AUnit.Assertions; use AUnit.Assertions; + +package body pathfollowing_tests is + + -- Register test routines to call + procedure Register_Tests (T: in out pathfollowing_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Sample_test'Access, "Sample test."); + end Register_Tests; + + -- Identifier of test case + function Name (T: pathfollowing_test) return Test_String is + begin + return Format ("Pathfollowing Tests"); + end Name; + + procedure Sample_test (T : in out Test_Cases.Test_Case'Class) is + + sample : types.uint8 := 1; + + begin + + Assert (sample = 1, "Sample test, to show what a test should look like."); + + end Sample_test; + +end pathfollowing_tests; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_tests.ads b/test/ada/src/pathfollowing_suite/pathfollowing_tests.ads new file mode 100644 index 0000000..d561144 --- /dev/null +++ b/test/ada/src/pathfollowing_suite/pathfollowing_tests.ads @@ -0,0 +1,22 @@ +with AUnit; use AUnit; +with Ada.Text_IO; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with tcp_client; use tcp_client; +with types; use types; +with byte_buffer; +with mailbox; + +package pathfollowing_tests is + + type pathfollowing_test is new Test_Cases.Test_Case with null record; + + procedure Register_Tests (T : in out pathfollowing_test); + -- Register routines to be run + + function Name (T : pathfollowing_test) return Message_String; + -- Provide name identifying the test case + + -- Test Routines + procedure Sample_test (T : in out Test_Cases.Test_Case'Class); + +end pathfollowing_tests; diff --git a/test/ada/src/tcp_suite/tcp_suite.adb b/test/ada/src/tcp_suite/tcp_suite.adb new file mode 100644 index 0000000..516c26d --- /dev/null +++ b/test/ada/src/tcp_suite/tcp_suite.adb @@ -0,0 +1,19 @@ +with tcp_tests; + +package body tcp_suite is + + use AUnit.Test_Suites; + + -- Statically allocate test suite: + Result : aliased Test_Suite; + + -- Statically allocate test cases: + Test_1 : aliased tcp_tests.tcp_test; + + function Suite return Access_Test_Suite is + begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end tcp_suite; diff --git a/test/ada/src/tcp_suite/tcp_suite.ads b/test/ada/src/tcp_suite/tcp_suite.ads new file mode 100644 index 0000000..15c706f --- /dev/null +++ b/test/ada/src/tcp_suite/tcp_suite.ads @@ -0,0 +1,7 @@ +with AUnit.Test_Suites; + +package tcp_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end tcp_suite; diff --git a/test/ada/src/tcp_suite/tcp_tests.adb b/test/ada/src/tcp_suite/tcp_tests.adb new file mode 100644 index 0000000..b370f83 --- /dev/null +++ b/test/ada/src/tcp_suite/tcp_tests.adb @@ -0,0 +1,47 @@ +with AUnit.Assertions; use AUnit.Assertions; + +package body tcp_tests is + + -- Register test routines to call + procedure Register_Tests (T: in out tcp_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Test_read_payload'Access, "Test if payload is written to mailbox correctly."); + end Register_Tests; + + -- Identifier of test case + function Name (T: tcp_test) return Test_String is + begin + return Format ("TCP Tests"); + end Name; + + procedure Test_read_payload (T : in out Test_Cases.Test_Case'Class) is + + local_mailbox : mailbox.Mailbox(Size => 1); + + test_packet : types.Communication_Packet; + + dynamic_buffer : byte_buffer.Buffer; + + package_ID : types.uint8 := 1; + + payload_length : types.uint32 := 50000; + + begin + + for I in 1..payload_length loop + dynamic_buffer.write_uint8(package_ID); + end loop; + + read_payload(dynamic_buffer,payload_length,package_ID,local_mailbox); + + local_mailbox.Collect(test_packet); + + for I in test_packet.local_payload'Range loop + Assert (test_packet.local_payload(I) = package_ID, "Writing and/or reading payload does not work."); + end loop; + + end Test_read_payload; + +end tcp_tests; diff --git a/test/ada/src/tcp_suite/tcp_tests.ads b/test/ada/src/tcp_suite/tcp_tests.ads new file mode 100644 index 0000000..30f4c22 --- /dev/null +++ b/test/ada/src/tcp_suite/tcp_tests.ads @@ -0,0 +1,22 @@ +with AUnit; use AUnit; +with Ada.Text_IO; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with tcp_client; use tcp_client; +with types; use types; +with byte_buffer; +with mailbox; + +package tcp_tests is + + type tcp_test is new Test_Cases.Test_Case with null record; + + procedure Register_Tests (T : in out tcp_test); + -- Register routines to be run + + function Name (T : tcp_test) return Message_String; + -- Provide name identifying the test case + + -- Test Routines + procedure Test_read_payload (T : in out Test_Cases.Test_Case'Class); + +end tcp_tests; diff --git a/test/ada/src/test_main.adb b/test/ada/src/test_main.adb new file mode 100644 index 0000000..dbda8ae --- /dev/null +++ b/test/ada/src/test_main.adb @@ -0,0 +1,12 @@ +with AUnit.Reporter.Text; +with AUnit.Run; +with composite_suite; use composite_suite; +with Ada.Task_Identification; use Ada.Task_Identification; + +procedure Test_Main is + procedure Runner is new AUnit.Run.Test_Runner (composite_suite.Suite); + Reporter : AUnit.Reporter.Text.Text_Reporter; +begin + Runner (Reporter); + return; +end Test_Main; diff --git a/test/ada/src/types_suite/types_suite.adb b/test/ada/src/types_suite/types_suite.adb new file mode 100644 index 0000000..caeb47e --- /dev/null +++ b/test/ada/src/types_suite/types_suite.adb @@ -0,0 +1,19 @@ +with types_tests; + +package body types_suite is + + use AUnit.Test_Suites; + + -- Statically allocate test suite: + Result : aliased Test_Suite; + + -- Statically allocate test cases: + Test_1 : aliased types_tests.types_test; + + function Suite return Access_Test_Suite is + begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end types_suite; diff --git a/test/ada/src/types_suite/types_suite.ads b/test/ada/src/types_suite/types_suite.ads new file mode 100644 index 0000000..c5250d4 --- /dev/null +++ b/test/ada/src/types_suite/types_suite.ads @@ -0,0 +1,7 @@ +with AUnit.Test_Suites; + +package types_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end types_suite; diff --git a/test/ada/src/types_suite/types_tests.adb b/test/ada/src/types_suite/types_tests.adb new file mode 100644 index 0000000..2a76892 --- /dev/null +++ b/test/ada/src/types_suite/types_tests.adb @@ -0,0 +1,168 @@ +with AUnit.Assertions; use AUnit.Assertions; +with types; use types; + +package body types_tests is + + -- Register test routines to call + procedure Register_Tests (T: in out types_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Test_Uint16_To_Octet2'Access, "Test uint16 to Octet_2 and back."); + Register_Routine (T, Test_Uint32_To_Octet4'Access, "Test uint32 to Octet_4 and back."); + Register_Routine (T, Test_Uint64_To_Octet8'Access, "Test uint64 to Octet_8 and back."); + + Register_Routine (T, Test_Octet2_To_Uint16'Access, "Test Octet_2 to uint16 and back."); + Register_Routine (T, Test_Octet4_To_Uint32'Access, "Test Octet_4 to uint32 and back."); + Register_Routine (T, Test_Octet8_To_Uint64'Access, "Test Octet_8 to uint64 and back."); + + Register_Routine (T, Test_Uint64_To_Float64'Access, "Test uint64 to float64 and back."); + Register_Routine (T, Test_Float64_To_Uint64'Access, "Test float64 to uint64 and back."); + + Register_Routine (T, Test_Byte_Order_16'Access, "Test hton16 and ntoh16."); + Register_Routine (T, Test_Byte_Order_32'Access, "Test hton32 and ntoh32."); + Register_Routine (T, Test_Byte_Order_64'Access, "Test hton64 and ntoh64."); + end Register_Tests; + + -- Identifier of test case + function Name (T: types_test) return Test_String is + begin + return Format ("Types Tests"); + end Name; + + procedure Test_Uint16_To_Octet2 (T : in out Test_Cases.Test_Case'Class) is + u16, u16t : uint16; + o2 : Octets_2; + begin + u16 := 5000; + o2 := uint16_to_octets (u16); + u16t := octets_to_uint16 (o2); + + Assert (u16 = u16t, "Converting uint16 to octets and back does not work"); + end Test_Uint16_To_Octet2; + + procedure Test_Uint32_To_Octet4 (T : in out Test_Cases.Test_Case'Class) is + u32, u32t : uint32; + o4 : Octets_4; + begin + u32 := 100000; + o4 := uint32_to_octets (u32); + u32t := octets_to_uint32 (o4); + + Assert (u32 = u32t, "Converting uint32 to octets and back does not work"); + end Test_Uint32_To_Octet4; + + procedure Test_Uint64_To_Octet8 (T : in out Test_Cases.Test_Case'Class) is + u64, u64t : uint64; + o8 : Octets_8; + begin + u64 := 5000000; + o8 := uint64_to_octets (u64); + u64t := octets_to_uint64 (o8); + + Assert (u64 = u64t, "Converting uint64 to octets and back does not work"); + end Test_Uint64_To_Octet8; + + procedure Test_Octet2_To_Uint16 (T : in out Test_Cases.Test_Case'Class) is + o2, o2t : Octets_2; + u16 : uint16; + begin + o2 (0) := 150; + o2 (1) := 35; + u16 := octets_to_uint16 (o2); + o2t := uint16_to_octets (u16); + + Assert (o2 (0) = o2t (0) and o2 (1) = o2t (1), + "Converting Octets_2 to uint16 and back does not work"); + end Test_Octet2_To_Uint16; + + procedure Test_Octet4_To_Uint32 (T : in out Test_Cases.Test_Case'Class) is + o4, o4t : Octets_4; + u32 : uint32; + begin + o4 (0) := 150; + o4 (1) := 35; + o4 (2) := 255; + o4 (3) := 1; + u32 := octets_to_uint32 (o4); + o4t := uint32_to_octets (u32); + + Assert (o4 (0) = o4t (0) and o4 (1) = o4t (1) and + o4 (2) = o4t (2) and o4 (3) = o4t (3), + "Converting Octets_4 to uint32 and back does not work"); + end Test_Octet4_To_Uint32; + + procedure Test_Octet8_To_Uint64 (T : in out Test_Cases.Test_Case'Class) is + o8, o8t : Octets_8; + u64 : uint64; + begin + o8 (0) := 150; + o8 (1) := 35; + o8 (2) := 255; + o8 (3) := 1; + o8 (4) := 90; + o8 (5) := 200; + o8 (6) := 0; + o8 (7) := 70; + u64 := octets_to_uint64 (o8); + o8t := uint64_to_octets (u64); + + Assert (o8 (0) = o8t (0) and o8 (1) = o8t (1) and + o8 (2) = o8t (2) and o8 (3) = o8t (3) and + o8 (4) = o8t (4) and o8 (5) = o8t (5) and + o8 (6) = o8t (6) and o8 (7) = o8t (7), + "Converting Octets_4 to uint64 and back does not work"); + end Test_Octet8_To_Uint64; + + procedure Test_Uint64_To_Float64 (T : in out Test_Cases.Test_Case'Class) is + u64, u64t : uint64; + f64 : float64; + begin + u64 := 1234567; + f64 := uint64_to_float64 (u64); + u64t := float64_to_uint64 (f64); + Assert (u64 = u64t, "Converting uint64 to float64 and back doe not work"); + end Test_Uint64_To_Float64; + + procedure Test_Float64_To_Uint64 (T : in out Test_Cases.Test_Case'Class) is + f64, f64t : float64; + u64 : uint64; + begin + f64 := 3.004972; + u64 := float64_to_uint64 (f64); + f64t := uint64_to_float64 (u64); + + Assert (f64 = f64t, "Converting float64 to uint64 and back doe not work"); + end Test_Float64_To_Uint64; + + procedure Test_Byte_Order_16 (T : in out Test_Cases.Test_Case'Class) is + u16i, u16m, u16o : uint16; + begin + u16i := 45298; + u16m := hton16 (u16i); + u16o := ntoh16 (u16m); + + Assert (u16i = u16o, "hton16 and ntoh16 do not work."); + end Test_Byte_Order_16; + + procedure Test_Byte_Order_32 (T : in out Test_Cases.Test_Case'Class) is + u32i, u32m, u32o : uint32; + begin + u32i := 3568298; + u32m := hton32 (u32i); + u32o := ntoh32 (u32m); + + Assert (u32i = u32o, "hton32 and ntoh32 do not work."); + end Test_Byte_Order_32; + + procedure Test_Byte_Order_64 (T : in out Test_Cases.Test_Case'Class) is + u64i, u64m, u64o : uint64; + begin + u64i := 6568298; + u64m := hton64 (u64i); + u64o := ntoh64 (u64m); + + Assert (u64i = u64o, "hton64 and ntoh64 do not work."); + end Test_Byte_Order_64; + +end types_tests; diff --git a/test/ada/src/types_suite/types_tests.ads b/test/ada/src/types_suite/types_tests.ads new file mode 100644 index 0000000..1e406ea --- /dev/null +++ b/test/ada/src/types_suite/types_tests.ads @@ -0,0 +1,31 @@ +with AUnit; use AUnit; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with types; use types; + +package types_tests is + + type types_test is new Test_Cases.Test_Case with null record; + + procedure Register_Tests (T : in out types_test); + -- Register routines to be run + + function Name (T : types_test) return Message_String; + -- Provide name identifying the test case + + -- Test Routines: + procedure Test_Uint16_To_Octet2 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Uint32_To_Octet4 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Uint64_To_Octet8 (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Octet2_To_Uint16 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Octet4_To_Uint32 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Octet8_To_Uint64 (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Uint64_To_Float64 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Float64_To_Uint64 (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Byte_Order_16 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Byte_Order_32 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Byte_Order_64 (T : in out Test_Cases.Test_Case'Class); + +end types_tests; diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 5c62dae..50ab915 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.030450811085339844 0.9868558496449489 0.15870816023693018 3.0617323403687435 - position -56.358246348100344 24.61133237180895 -59.595232574824195 + orientation 0.1666044664237982 0.9604184297865902 0.22324737735055697 4.087080463175084 + position -16.730341971352004 51.957225674862606 37.26876740901197 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation -58.23923736040401 0.39866972615599205 -7.578468307479976 - rotation 8.542815852656062e-07 0.9999999932241663 -0.00011640849416949046 -3.141369780567429 + translation 46.27713665060922 0.3986697073979106 59.48896291699482 + rotation 0.0001289421129996676 -0.9999999852212113 0.00011371679209055225 1.488814589352719 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -350,7 +350,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 3386.671021722067 + position 4470.117818638343 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +361,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation -0.017080853322951187 0.01706725679469421 -0.9997084340922927 4.7128936988210155 + rotation -0.7013288316245213 0.7007705669349262 -0.1306081255124883 3.4015432099141196 children [ DEF wheel Shape { appearance PBRAppearance { @@ -379,13 +379,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -0.00019398409803612497 1.1275125861657554e-06 -1.1998674188824523 - angularVelocity -3.9999737276816463 4.552157369532559e-05 0.0008927525026377384 + linearVelocity -1.1959642792321863 -1.7945900760513174e-06 0.09827659625293826 + angularVelocity 0.3275647544332276 -8.81960255969386e-07 3.9865627213993315 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 3386.654947686532 + position 4470.10952846818 anchor 0.55 -0.1 -0.7 } device [ @@ -396,7 +396,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -0.009040262499814754 0.009033066361411046 -0.9999183353484649 4.713103639216648 + rotation -0.7010502946357651 0.7004922516643677 -0.13356305533077326 3.4073561951620324 children [ DEF wheel Shape { appearance PBRAppearance { @@ -414,13 +414,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -0.00031751440203224655 -1.12593273170221e-05 -1.1998764417035939 - angularVelocity -3.9999858821296193 3.943138265176719e-06 0.0008627478217563805 + linearVelocity -1.1959649854163426 -1.9588945856035484e-06 0.09826149840214213 + angularVelocity 0.32756291842273755 7.783981775060306e-07 3.9865625991050426 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 2754.198914896801 + position 4137.99802315868 anchor -0.55 -0.1 -0.7 } device [ @@ -431,7 +431,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0.6621230874227028 -0.6615960308934264 0.35197117638791425 2.464234124827884 + rotation 0.695181508645839 -0.6946281372861582 -0.18497140570168555 3.507685845069095 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,13 +449,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -0.000321761601080584 -1.8101490692772414e-06 -1.200055189147191 - angularVelocity -3.9999951869104535 3.061018393559411e-05 0.0008779606070655089 + linearVelocity -1.1959814340434212 1.6419900044106541e-06 0.09826251512207256 + angularVelocity 0.3275656185038583 -2.045730078136937e-06 3.9865645674267505 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 2754.215854105747 + position 4137.993758912105 anchor -0.55 -0.1 0.55 } device [ @@ -466,7 +466,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0.6637803273500233 -0.66325195164137 0.34567690936336726 2.4754640511034345 + rotation 0.6953845573240865 -0.6948310243356505 -0.18343981317002844 3.5047209834107185 children [ DEF wheel Shape { appearance PBRAppearance { @@ -484,8 +484,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -0.00023032031136924484 1.0576419173318294e-05 -1.200072672022618 - angularVelocity -4.0000040616751225 4.55532058531178e-05 0.0009119188654241638 + linearVelocity -1.1959784460842164 1.806211255586902e-06 0.09827772077698448 + angularVelocity 0.3275681114308558 -3.832412951391357e-06 3.9865697603415993 } } DEF car_body Shape { @@ -507,8 +507,8 @@ DEF Cab2 Robot { ] controller "controller" controllerArgs "5555" - linearVelocity -0.00026876535994141784 4.2120675013316926e-07 -1.1999666960135968 - angularVelocity 1.0114326827340488e-05 2.685449104314927e-05 8.76586269894374e-06 + linearVelocity -1.1959721472688265 -6.61934533671364e-08 0.09827112200173185 + angularVelocity 3.305601002015311e-06 1.6007229917141116e-05 -4.061048547237138e-07 } DEF environment Solid { scale 1.09819 1.09819 1.09819 From 8fdb52a31c46b384e73bb0f6234007a92671d95c Mon Sep 17 00:00:00 2001 From: Yue Date: Wed, 8 Jul 2020 22:13:09 +0200 Subject: [PATCH 17/25] remove files from obj and split the codes up further more --- external/controller/main | Bin 335776 -> 335496 bytes external/controller/obj/b__main.adb | 438 ---------- external/controller/obj/b__main.ads | 791 ----------------- external/controller/obj/b__main.ali | 461 ---------- external/controller/obj/b__main.o | Bin 86064 -> 0 bytes .../controller/obj/backend_thread.adb.stderr | 0 .../controller/obj/backend_thread.adb.stdout | 0 external/controller/obj/backend_thread.ali | 151 ---- external/controller/obj/backend_thread.o | Bin 46864 -> 0 bytes .../controller/obj/byte_buffer.adb.stderr | 0 .../controller/obj/byte_buffer.adb.stdout | 0 external/controller/obj/byte_buffer.ali | 223 ----- external/controller/obj/byte_buffer.o | Bin 211528 -> 0 bytes .../obj/external_controller-loc.xml | 130 --- external/controller/obj/gnatinspect.db | Bin 270336 -> 0 bytes external/controller/obj/gnatinspect.db-shm | Bin 32768 -> 0 bytes external/controller/obj/gnatinspect.db-wal | Bin 131872 -> 0 bytes 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z<2y@}jZLuh!?Sdq?Jw8j9LoeRr}))auJ%eXUQgLPI`aOha+r-OU!YK5ct)f_K>FTDEk2Gp5W4jl4j&95!%FSrq;PEsC=7hVlnC!m= z(fBs@X#N3yFnzSe-uUiMBVFAH>Vw%Xk0(@dJ3n^8Wz**U#xIzuICCNLulE zyYR}8ukF*jR=&{Ck?SRXq>B-bw!WU9!QkbX%h4DA+tfIhqiwL~=inY3MO&G6u2ik@ zpbuRH9TM@OqCI%Qud-#NW3CVhv^C1n32;8j(E|`44alTifbZ=as?tleH5xig=sdH3 zb@!5a+ej^99G!g2pI61*G!8{El*(fqJsQsFq|R|?a#W6+0G88lF^*QgS*1$!8nuXZ Tbn?3q>X0fE1ijJF5&QoDY+-ny diff --git a/external/controller/obj/b__main.adb b/external/controller/obj/b__main.adb deleted file mode 100644 index 238bc92..0000000 --- a/external/controller/obj/b__main.adb +++ /dev/null @@ -1,438 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -pragma Source_File_Name (ada_main, Spec_File_Name => "b__main.ads"); -pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); -pragma Suppress (Overflow_Check); - -with System.Restrictions; -with Ada.Exceptions; - -package body ada_main is - - E075 : Short_Integer; pragma Import (Ada, E075, "system__os_lib_E"); - E013 : Short_Integer; pragma Import (Ada, E013, "system__soft_links_E"); - E025 : Short_Integer; pragma Import (Ada, E025, "system__exception_table_E"); - E070 : Short_Integer; pragma Import (Ada, E070, "ada__io_exceptions_E"); - E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings_E"); - E040 : Short_Integer; pragma Import (Ada, E040, "ada__containers_E"); - E027 : Short_Integer; pragma Import (Ada, E027, "system__exceptions_E"); - E057 : Short_Integer; pragma Import (Ada, E057, "ada__strings__maps_E"); - E061 : Short_Integer; pragma Import (Ada, E061, "ada__strings__maps__constants_E"); - E045 : Short_Integer; pragma Import (Ada, E045, "interfaces__c_E"); - E021 : Short_Integer; pragma Import (Ada, E021, "system__soft_links__initialize_E"); - E081 : Short_Integer; pragma Import (Ada, E081, "system__object_reader_E"); - E050 : Short_Integer; pragma Import (Ada, E050, "system__dwarf_lines_E"); - E039 : Short_Integer; pragma Import (Ada, E039, "system__traceback__symbolic_E"); - E128 : Short_Integer; pragma Import (Ada, E128, "ada__tags_E"); - E136 : Short_Integer; pragma Import (Ada, E136, "ada__streams_E"); - E179 : Short_Integer; pragma Import (Ada, E179, "gnat_E"); - E196 : Short_Integer; pragma Import (Ada, E196, "interfaces__c__strings_E"); - E144 : Short_Integer; pragma Import (Ada, E144, "system__file_control_block_E"); - E143 : Short_Integer; pragma Import (Ada, E143, "system__finalization_root_E"); - E141 : Short_Integer; pragma Import (Ada, E141, "ada__finalization_E"); - E140 : Short_Integer; pragma Import (Ada, E140, "system__file_io_E"); - E204 : Short_Integer; pragma Import (Ada, E204, "system__storage_pools_E"); - E212 : Short_Integer; pragma Import (Ada, E212, "system__finalization_masters_E"); - E222 : Short_Integer; pragma Import (Ada, E222, "system__storage_pools__subpools_E"); - E114 : Short_Integer; pragma Import (Ada, E114, "system__task_info_E"); - E106 : Short_Integer; pragma Import (Ada, E106, "system__task_primitives__operations_E"); - E188 : Short_Integer; pragma Import (Ada, E188, "ada__calendar_E"); - E186 : Short_Integer; pragma Import (Ada, E186, "ada__calendar__delays_E"); - E006 : Short_Integer; pragma Import (Ada, E006, "ada__real_time_E"); - E134 : Short_Integer; pragma Import (Ada, E134, "ada__text_io_E"); - E200 : Short_Integer; pragma Import (Ada, E200, "system__pool_global_E"); - E206 : Short_Integer; pragma Import (Ada, E206, "system__pool_size_E"); - E181 : Short_Integer; pragma Import (Ada, E181, "gnat__sockets_E"); - E194 : Short_Integer; pragma Import (Ada, E194, "gnat__sockets__thin_common_E"); - E184 : Short_Integer; pragma Import (Ada, E184, "gnat__sockets__thin_E"); - E168 : Short_Integer; pragma Import (Ada, E168, "system__tasking__initialization_E"); - E156 : Short_Integer; pragma Import (Ada, E156, "system__tasking__protected_objects_E"); - E172 : Short_Integer; pragma Import (Ada, E172, "system__tasking__protected_objects__entries_E"); - E174 : Short_Integer; pragma Import (Ada, E174, "system__tasking__queuing_E"); - E247 : Short_Integer; pragma Import (Ada, E247, "system__tasking__stages_E"); - E150 : Short_Integer; pragma Import (Ada, E150, "types_E"); - E216 : Short_Integer; pragma Import (Ada, E216, "mailbox_E"); - E148 : Short_Integer; pragma Import (Ada, E148, "byte_buffer_E"); - E152 : Short_Integer; pragma Import (Ada, E152, "tcp_client_E"); - E146 : Short_Integer; pragma Import (Ada, E146, "backend_thread_E"); - E226 : Short_Integer; pragma Import (Ada, E226, "pathfollowing_E"); - E249 : Short_Integer; pragma Import (Ada, E249, "webots_thread_E"); - - Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); - - Local_Priority_Specific_Dispatching : constant String := ""; - Local_Interrupt_States : constant String := ""; - - Is_Elaborated : Boolean := False; - - procedure finalize_library is - begin - E249 := E249 - 1; - declare - procedure F1; - pragma Import (Ada, F1, "webots_thread__finalize_spec"); - begin - F1; - end; - E146 := E146 - 1; - declare - procedure F2; - pragma Import (Ada, F2, "backend_thread__finalize_spec"); - begin - F2; - end; - E148 := E148 - 1; - declare - procedure F3; - pragma Import (Ada, F3, "byte_buffer__finalize_spec"); - begin - F3; - end; - E172 := E172 - 1; - declare - procedure F4; - pragma Import (Ada, F4, "system__tasking__protected_objects__entries__finalize_spec"); - begin - F4; - end; - declare - procedure F5; - pragma Import (Ada, F5, "gnat__sockets__finalize_body"); - begin - E181 := E181 - 1; - F5; - end; - declare - procedure F6; - pragma Import (Ada, F6, "gnat__sockets__finalize_spec"); - begin - F6; - end; - E206 := E206 - 1; - declare - procedure F7; - pragma Import (Ada, F7, "system__pool_size__finalize_spec"); - begin - F7; - end; - E200 := E200 - 1; - declare - procedure F8; - pragma Import (Ada, F8, "system__pool_global__finalize_spec"); - begin - F8; - end; - E134 := E134 - 1; - declare - procedure F9; - pragma Import (Ada, F9, "ada__text_io__finalize_spec"); - begin - F9; - end; - E222 := E222 - 1; - declare - procedure F10; - pragma Import (Ada, F10, "system__storage_pools__subpools__finalize_spec"); - begin - F10; - end; - E212 := E212 - 1; - declare - procedure F11; - pragma Import (Ada, F11, "system__finalization_masters__finalize_spec"); - begin - F11; - end; - declare - procedure F12; - pragma Import (Ada, F12, "system__file_io__finalize_body"); - begin - E140 := E140 - 1; - F12; - end; - declare - procedure Reraise_Library_Exception_If_Any; - pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); - begin - Reraise_Library_Exception_If_Any; - end; - end finalize_library; - - procedure adafinal is - procedure s_stalib_adafinal; - pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); - - procedure Runtime_Finalize; - pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); - - begin - if not Is_Elaborated then - return; - end if; - Is_Elaborated := False; - Runtime_Finalize; - s_stalib_adafinal; - end adafinal; - - type No_Param_Proc is access procedure; - - procedure adainit is - Main_Priority : Integer; - pragma Import (C, Main_Priority, "__gl_main_priority"); - Time_Slice_Value : Integer; - pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); - WC_Encoding : Character; - pragma Import (C, WC_Encoding, "__gl_wc_encoding"); - Locking_Policy : Character; - pragma Import (C, Locking_Policy, "__gl_locking_policy"); - Queuing_Policy : Character; - pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); - Task_Dispatching_Policy : Character; - pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); - Priority_Specific_Dispatching : System.Address; - pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); - Num_Specific_Dispatching : Integer; - pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); - Main_CPU : Integer; - pragma Import (C, Main_CPU, "__gl_main_cpu"); - Interrupt_States : System.Address; - pragma Import (C, Interrupt_States, "__gl_interrupt_states"); - Num_Interrupt_States : Integer; - pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); - Unreserve_All_Interrupts : Integer; - pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); - Detect_Blocking : Integer; - pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); - Default_Stack_Size : Integer; - pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); - Default_Secondary_Stack_Size : System.Parameters.Size_Type; - pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); - Leap_Seconds_Support : Integer; - pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); - Bind_Env_Addr : System.Address; - pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); - - procedure Runtime_Initialize (Install_Handler : Integer); - pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); - - Finalize_Library_Objects : No_Param_Proc; - pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); - Binder_Sec_Stacks_Count : Natural; - pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); - Default_Sized_SS_Pool : System.Address; - pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); - - begin - if Is_Elaborated then - return; - end if; - Is_Elaborated := True; - Main_Priority := -1; - Time_Slice_Value := -1; - WC_Encoding := 'b'; - Locking_Policy := ' '; - Queuing_Policy := ' '; - Task_Dispatching_Policy := ' '; - System.Restrictions.Run_Time_Restrictions := - (Set => - (False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, True, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False), - Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), - Violated => - (True, False, False, False, True, True, True, False, - False, False, False, True, True, True, True, False, - False, False, False, False, True, True, False, True, - True, False, True, True, True, True, False, False, - False, False, False, True, False, False, True, False, - True, False, True, True, False, True, False, True, - True, False, False, True, False, True, False, False, - False, True, False, True, False, True, True, True, - False, False, True, False, True, True, True, False, - True, True, False, True, True, True, True, False, - False, True, False, False, False, True, False, False, - True, False, True, False), - Count => (0, 0, 0, 2, 0, 0, 1, 0, 3, 0), - Unknown => (False, False, False, False, False, False, True, False, True, False)); - Priority_Specific_Dispatching := - Local_Priority_Specific_Dispatching'Address; - Num_Specific_Dispatching := 0; - Main_CPU := -1; - Interrupt_States := Local_Interrupt_States'Address; - Num_Interrupt_States := 0; - Unreserve_All_Interrupts := 0; - Detect_Blocking := 0; - Default_Stack_Size := -1; - Leap_Seconds_Support := 0; - - ada_main'Elab_Body; - Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; - Binder_Sec_Stacks_Count := 1; - Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; - - Runtime_Initialize (1); - - Finalize_Library_Objects := finalize_library'access; - - System.Soft_Links'Elab_Spec; - System.Exception_Table'Elab_Body; - E025 := E025 + 1; - Ada.Io_Exceptions'Elab_Spec; - E070 := E070 + 1; - Ada.Strings'Elab_Spec; - E055 := E055 + 1; - Ada.Containers'Elab_Spec; - E040 := E040 + 1; - System.Exceptions'Elab_Spec; - E027 := E027 + 1; - System.Os_Lib'Elab_Body; - E075 := E075 + 1; - Ada.Strings.Maps'Elab_Spec; - Ada.Strings.Maps.Constants'Elab_Spec; - E061 := E061 + 1; - Interfaces.C'Elab_Spec; - System.Soft_Links.Initialize'Elab_Body; - E021 := E021 + 1; - E013 := E013 + 1; - E057 := E057 + 1; - E045 := E045 + 1; - System.Object_Reader'Elab_Spec; - System.Dwarf_Lines'Elab_Spec; - E050 := E050 + 1; - System.Traceback.Symbolic'Elab_Body; - E039 := E039 + 1; - E081 := E081 + 1; - Ada.Tags'Elab_Spec; - Ada.Tags'Elab_Body; - E128 := E128 + 1; - Ada.Streams'Elab_Spec; - E136 := E136 + 1; - Gnat'Elab_Spec; - E179 := E179 + 1; - Interfaces.C.Strings'Elab_Spec; - E196 := E196 + 1; - System.File_Control_Block'Elab_Spec; - E144 := E144 + 1; - System.Finalization_Root'Elab_Spec; - E143 := E143 + 1; - Ada.Finalization'Elab_Spec; - E141 := E141 + 1; - System.File_Io'Elab_Body; - E140 := E140 + 1; - System.Storage_Pools'Elab_Spec; - E204 := E204 + 1; - System.Finalization_Masters'Elab_Spec; - System.Finalization_Masters'Elab_Body; - E212 := E212 + 1; - System.Storage_Pools.Subpools'Elab_Spec; - E222 := E222 + 1; - System.Task_Info'Elab_Spec; - E114 := E114 + 1; - System.Task_Primitives.Operations'Elab_Body; - E106 := E106 + 1; - Ada.Calendar'Elab_Spec; - Ada.Calendar'Elab_Body; - E188 := E188 + 1; - Ada.Calendar.Delays'Elab_Body; - E186 := E186 + 1; - Ada.Real_Time'Elab_Spec; - Ada.Real_Time'Elab_Body; - E006 := E006 + 1; - Ada.Text_Io'Elab_Spec; - Ada.Text_Io'Elab_Body; - E134 := E134 + 1; - System.Pool_Global'Elab_Spec; - E200 := E200 + 1; - System.Pool_Size'Elab_Spec; - E206 := E206 + 1; - Gnat.Sockets'Elab_Spec; - E194 := E194 + 1; - E184 := E184 + 1; - Gnat.Sockets'Elab_Body; - E181 := E181 + 1; - System.Tasking.Initialization'Elab_Body; - E168 := E168 + 1; - System.Tasking.Protected_Objects'Elab_Body; - E156 := E156 + 1; - System.Tasking.Protected_Objects.Entries'Elab_Spec; - E172 := E172 + 1; - System.Tasking.Queuing'Elab_Body; - E174 := E174 + 1; - System.Tasking.Stages'Elab_Body; - E247 := E247 + 1; - E216 := E216 + 1; - byte_buffer'elab_spec; - byte_buffer'elab_body; - E148 := E148 + 1; - E152 := E152 + 1; - E150 := E150 + 1; - backend_thread'elab_spec; - E146 := E146 + 1; - pathfollowing'elab_body; - E226 := E226 + 1; - webots_thread'elab_spec; - E249 := E249 + 1; - end adainit; - - procedure Ada_Main_Program; - pragma Import (Ada, Ada_Main_Program, "_ada_main"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer - is - procedure Initialize (Addr : System.Address); - pragma Import (C, Initialize, "__gnat_initialize"); - - procedure Finalize; - pragma Import (C, Finalize, "__gnat_finalize"); - SEH : aliased array (1 .. 2) of Integer; - - Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; - pragma Volatile (Ensure_Reference); - - begin - gnat_argc := argc; - gnat_argv := argv; - gnat_envp := envp; - - Initialize (SEH'Address); - adainit; - Ada_Main_Program; - adafinal; - Finalize; - return (gnat_exit_status); - end; - --- BEGIN Object file/option list - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/mailbox.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/byte_buffer.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/tcp_client.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/types.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/backend_thread.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/pathfollowing.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/webots_thread.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/main.o - -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ - -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ - -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ - -- -shared - -- -lgnarl-9 - -- -lgnat-9 - -- -lpthread - -- -lrt - -- -ldl --- END Object file/option list - -end ada_main; diff --git a/external/controller/obj/b__main.ads b/external/controller/obj/b__main.ads deleted file mode 100644 index 80e82a7..0000000 --- a/external/controller/obj/b__main.ads +++ /dev/null @@ -1,791 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -with System; -with System.Parameters; -with System.Secondary_Stack; -package ada_main is - - gnat_argc : Integer; - gnat_argv : System.Address; - gnat_envp : System.Address; - - pragma Import (C, gnat_argc); - pragma Import (C, gnat_argv); - pragma Import (C, gnat_envp); - - gnat_exit_status : Integer; - pragma Import (C, gnat_exit_status); - - GNAT_Version : constant String := - "GNAT Version: 9.3.0" & ASCII.NUL; - pragma Export (C, GNAT_Version, "__gnat_version"); - - Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; - pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); - - procedure adainit; - pragma Export (C, adainit, "adainit"); - - procedure adafinal; - pragma Export (C, adafinal, "adafinal"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer; - pragma Export (C, main, "main"); - - type Version_32 is mod 2 ** 32; - u00001 : constant Version_32 := 16#33a24c53#; - pragma Export (C, u00001, "mainB"); - u00002 : constant Version_32 := 16#050ff2f0#; - pragma Export (C, u00002, "system__standard_libraryB"); - u00003 : constant Version_32 := 16#4113f22b#; - pragma Export (C, u00003, "system__standard_libraryS"); - u00004 : constant Version_32 := 16#76789da1#; - pragma Export (C, u00004, "adaS"); - u00005 : constant Version_32 := 16#eb4fc41d#; - pragma Export (C, u00005, "ada__real_timeB"); - u00006 : constant Version_32 := 16#69ea8064#; - pragma Export (C, u00006, "ada__real_timeS"); - u00007 : constant Version_32 := 16#9762c9f2#; - pragma Export (C, u00007, "ada__exceptionsB"); - u00008 : constant Version_32 := 16#585ef86b#; - pragma Export (C, u00008, "ada__exceptionsS"); - u00009 : constant Version_32 := 16#5726abed#; - pragma Export (C, u00009, "ada__exceptions__last_chance_handlerB"); - u00010 : constant Version_32 := 16#41e5552e#; - pragma Export (C, u00010, "ada__exceptions__last_chance_handlerS"); - u00011 : constant Version_32 := 16#4635ec04#; - pragma Export (C, u00011, "systemS"); - u00012 : constant Version_32 := 16#ae860117#; - pragma Export (C, u00012, "system__soft_linksB"); - u00013 : constant Version_32 := 16#0336e7b2#; - pragma Export (C, u00013, "system__soft_linksS"); - u00014 : constant Version_32 := 16#f32b4133#; - pragma Export (C, u00014, "system__secondary_stackB"); - u00015 : constant Version_32 := 16#03a1141d#; - pragma Export (C, u00015, "system__secondary_stackS"); - u00016 : constant Version_32 := 16#86dbf443#; - pragma Export (C, u00016, "system__parametersB"); - u00017 : constant Version_32 := 16#0ed9b82f#; - pragma Export (C, u00017, "system__parametersS"); - u00018 : constant Version_32 := 16#ced09590#; - pragma Export (C, u00018, "system__storage_elementsB"); - u00019 : constant Version_32 := 16#6bf6a600#; - pragma Export (C, u00019, "system__storage_elementsS"); - u00020 : constant Version_32 := 16#75bf515c#; - pragma Export (C, u00020, "system__soft_links__initializeB"); - u00021 : constant Version_32 := 16#5697fc2b#; - pragma Export (C, u00021, "system__soft_links__initializeS"); - u00022 : constant Version_32 := 16#41837d1e#; - pragma Export (C, u00022, "system__stack_checkingB"); - u00023 : constant Version_32 := 16#c88a87ec#; - pragma Export (C, u00023, "system__stack_checkingS"); - u00024 : constant Version_32 := 16#34742901#; - pragma Export (C, u00024, "system__exception_tableB"); - u00025 : constant Version_32 := 16#1b9b8546#; - pragma Export (C, u00025, "system__exception_tableS"); - u00026 : constant Version_32 := 16#ce4af020#; - pragma Export (C, u00026, "system__exceptionsB"); - u00027 : constant Version_32 := 16#2e5681f2#; - pragma Export (C, u00027, "system__exceptionsS"); - u00028 : constant Version_32 := 16#69416224#; - pragma Export (C, u00028, "system__exceptions__machineB"); - u00029 : constant Version_32 := 16#d27d9682#; - pragma Export (C, u00029, "system__exceptions__machineS"); - u00030 : constant Version_32 := 16#aa0563fc#; - pragma Export (C, u00030, "system__exceptions_debugB"); - u00031 : constant Version_32 := 16#38bf15c0#; - pragma Export (C, u00031, "system__exceptions_debugS"); - u00032 : constant Version_32 := 16#6c2f8802#; - pragma Export (C, u00032, "system__img_intB"); - u00033 : constant Version_32 := 16#44ee0cc6#; - pragma Export (C, u00033, "system__img_intS"); - u00034 : constant Version_32 := 16#39df8c17#; - pragma Export (C, u00034, "system__tracebackB"); - u00035 : constant Version_32 := 16#181732c0#; - pragma Export (C, u00035, "system__tracebackS"); - u00036 : constant Version_32 := 16#9ed49525#; - pragma Export (C, u00036, "system__traceback_entriesB"); - u00037 : constant Version_32 := 16#466e1a74#; - pragma Export (C, u00037, "system__traceback_entriesS"); - u00038 : constant Version_32 := 16#448e9548#; - pragma Export (C, u00038, "system__traceback__symbolicB"); - u00039 : constant Version_32 := 16#c84061d1#; - pragma Export (C, u00039, "system__traceback__symbolicS"); - u00040 : constant Version_32 := 16#179d7d28#; - pragma Export (C, u00040, "ada__containersS"); - u00041 : constant Version_32 := 16#701f9d88#; - pragma Export (C, u00041, "ada__exceptions__tracebackB"); - u00042 : constant Version_32 := 16#20245e75#; - pragma Export (C, u00042, "ada__exceptions__tracebackS"); - u00043 : constant Version_32 := 16#5ab55268#; - pragma Export (C, u00043, "interfacesS"); - u00044 : constant Version_32 := 16#769e25e6#; - pragma Export (C, u00044, "interfaces__cB"); - u00045 : constant Version_32 := 16#467817d8#; - pragma Export (C, u00045, "interfaces__cS"); - u00046 : constant Version_32 := 16#e865e681#; - pragma Export (C, u00046, "system__bounded_stringsB"); - u00047 : constant Version_32 := 16#31c8cd1d#; - pragma Export (C, u00047, "system__bounded_stringsS"); - u00048 : constant Version_32 := 16#0062635e#; - pragma Export (C, u00048, "system__crtlS"); - u00049 : constant Version_32 := 16#bba79bcb#; - pragma Export (C, u00049, "system__dwarf_linesB"); - u00050 : constant Version_32 := 16#9a78d181#; - pragma Export (C, u00050, "system__dwarf_linesS"); - u00051 : constant Version_32 := 16#5b4659fa#; - pragma Export (C, u00051, "ada__charactersS"); - u00052 : constant Version_32 := 16#8f637df8#; - pragma Export (C, u00052, "ada__characters__handlingB"); - u00053 : constant Version_32 := 16#3b3f6154#; - pragma Export (C, u00053, "ada__characters__handlingS"); - u00054 : constant Version_32 := 16#4b7bb96a#; - pragma Export (C, u00054, "ada__characters__latin_1S"); - u00055 : constant Version_32 := 16#e6d4fa36#; - pragma Export (C, u00055, "ada__stringsS"); - u00056 : constant Version_32 := 16#96df1a3f#; - pragma Export (C, u00056, "ada__strings__mapsB"); - u00057 : constant Version_32 := 16#1e526bec#; - pragma Export (C, u00057, "ada__strings__mapsS"); - u00058 : constant Version_32 := 16#d68fb8f1#; - pragma Export (C, u00058, "system__bit_opsB"); - u00059 : constant Version_32 := 16#0765e3a3#; - pragma Export (C, u00059, "system__bit_opsS"); - u00060 : constant Version_32 := 16#72b39087#; - pragma Export (C, u00060, "system__unsigned_typesS"); - u00061 : constant Version_32 := 16#92f05f13#; - pragma Export (C, u00061, "ada__strings__maps__constantsS"); - u00062 : constant Version_32 := 16#a0d3d22b#; - pragma Export (C, u00062, "system__address_imageB"); - u00063 : constant Version_32 := 16#e7d9713e#; - pragma Export (C, u00063, "system__address_imageS"); - u00064 : constant Version_32 := 16#ec78c2bf#; - pragma Export (C, u00064, "system__img_unsB"); - u00065 : constant Version_32 := 16#ed47ac70#; - pragma Export (C, u00065, "system__img_unsS"); - u00066 : constant Version_32 := 16#d7aac20c#; - pragma Export (C, u00066, "system__ioB"); - u00067 : constant Version_32 := 16#d8771b4b#; - pragma Export (C, u00067, "system__ioS"); - u00068 : constant Version_32 := 16#f790d1ef#; - pragma Export (C, u00068, "system__mmapB"); - u00069 : constant Version_32 := 16#7c445363#; - pragma Export (C, u00069, "system__mmapS"); - u00070 : constant Version_32 := 16#92d882c5#; - pragma Export (C, u00070, "ada__io_exceptionsS"); - u00071 : constant Version_32 := 16#0cdaa54a#; - pragma Export (C, u00071, "system__mmap__os_interfaceB"); - u00072 : constant Version_32 := 16#82f29877#; - pragma Export (C, u00072, "system__mmap__os_interfaceS"); - u00073 : constant Version_32 := 16#834dfe5e#; - pragma Export (C, u00073, "system__mmap__unixS"); - u00074 : constant Version_32 := 16#fa90b46b#; - pragma Export (C, u00074, "system__os_libB"); - u00075 : constant Version_32 := 16#4542b55d#; - pragma Export (C, u00075, "system__os_libS"); - u00076 : constant Version_32 := 16#ec4d5631#; - pragma Export (C, u00076, "system__case_utilB"); - u00077 : constant Version_32 := 16#79e05a50#; - pragma Export (C, u00077, "system__case_utilS"); - u00078 : constant Version_32 := 16#2a8e89ad#; - pragma Export (C, u00078, "system__stringsB"); - u00079 : constant Version_32 := 16#2623c091#; - pragma Export (C, u00079, "system__stringsS"); - u00080 : constant Version_32 := 16#5a3f5337#; - pragma Export (C, u00080, "system__object_readerB"); - u00081 : constant Version_32 := 16#82413105#; - pragma Export (C, u00081, "system__object_readerS"); - u00082 : constant Version_32 := 16#1a74a354#; - pragma Export (C, u00082, "system__val_lliB"); - u00083 : constant Version_32 := 16#dc110aa4#; - pragma Export (C, u00083, "system__val_lliS"); - u00084 : constant Version_32 := 16#afdbf393#; - pragma Export (C, u00084, "system__val_lluB"); - u00085 : constant Version_32 := 16#0841c7f5#; - pragma Export (C, u00085, "system__val_lluS"); - u00086 : constant Version_32 := 16#269742a9#; - pragma Export (C, u00086, "system__val_utilB"); - u00087 : constant Version_32 := 16#ea955afa#; - pragma Export (C, u00087, "system__val_utilS"); - u00088 : constant Version_32 := 16#d7bf3f29#; - pragma Export (C, u00088, "system__exception_tracesB"); - u00089 : constant Version_32 := 16#62eacc9e#; - pragma Export (C, u00089, "system__exception_tracesS"); - u00090 : constant Version_32 := 16#8c33a517#; - pragma Export (C, u00090, "system__wch_conB"); - u00091 : constant Version_32 := 16#5d48ced6#; - pragma Export (C, u00091, "system__wch_conS"); - u00092 : constant Version_32 := 16#9721e840#; - pragma Export (C, u00092, "system__wch_stwB"); - u00093 : constant Version_32 := 16#7059e2d7#; - pragma Export (C, u00093, "system__wch_stwS"); - u00094 : constant Version_32 := 16#a831679c#; - pragma Export (C, u00094, "system__wch_cnvB"); - u00095 : constant Version_32 := 16#52ff7425#; - pragma Export (C, u00095, "system__wch_cnvS"); - u00096 : constant Version_32 := 16#ece6fdb6#; - pragma Export (C, u00096, "system__wch_jisB"); - u00097 : constant Version_32 := 16#d28f6d04#; - pragma Export (C, u00097, "system__wch_jisS"); - u00098 : constant Version_32 := 16#c05c480c#; - pragma Export (C, u00098, "system__taskingB"); - u00099 : constant Version_32 := 16#d15fc24c#; - pragma Export (C, u00099, "system__taskingS"); - u00100 : constant Version_32 := 16#c333d44f#; - pragma Export (C, u00100, "system__task_primitivesS"); - u00101 : constant Version_32 := 16#02d5b781#; - pragma Export (C, u00101, "system__os_interfaceB"); - u00102 : constant Version_32 := 16#8b11eeee#; - pragma Export (C, u00102, "system__os_interfaceS"); - u00103 : constant Version_32 := 16#ff1f7771#; - pragma Export (C, u00103, "system__linuxS"); - u00104 : constant Version_32 := 16#198dbba9#; - pragma Export (C, u00104, "system__os_constantsS"); - u00105 : constant Version_32 := 16#3d3b214a#; - pragma Export (C, u00105, "system__task_primitives__operationsB"); - u00106 : constant Version_32 := 16#69ee9f34#; - pragma Export (C, u00106, "system__task_primitives__operationsS"); - u00107 : constant Version_32 := 16#71c5de81#; - pragma Export (C, u00107, "system__interrupt_managementB"); - u00108 : constant Version_32 := 16#24a21b5f#; - pragma Export (C, u00108, "system__interrupt_managementS"); - u00109 : constant Version_32 := 16#f65595cf#; - pragma Export (C, u00109, "system__multiprocessorsB"); - u00110 : constant Version_32 := 16#7e997377#; - pragma Export (C, u00110, "system__multiprocessorsS"); - u00111 : constant Version_32 := 16#51f2d040#; - pragma Export (C, u00111, "system__os_primitivesB"); - u00112 : constant Version_32 := 16#41c889f2#; - pragma Export (C, u00112, "system__os_primitivesS"); - u00113 : constant Version_32 := 16#375a3ef7#; - pragma Export (C, u00113, "system__task_infoB"); - u00114 : constant Version_32 := 16#1c069690#; - pragma Export (C, u00114, "system__task_infoS"); - u00115 : constant Version_32 := 16#f2eb7df6#; - pragma Export (C, u00115, "system__tasking__debugB"); - u00116 : constant Version_32 := 16#aea59d30#; - pragma Export (C, u00116, "system__tasking__debugS"); - u00117 : constant Version_32 := 16#fd83e873#; - pragma Export (C, u00117, "system__concat_2B"); - u00118 : constant Version_32 := 16#44953bd4#; - pragma Export (C, u00118, "system__concat_2S"); - u00119 : constant Version_32 := 16#2b70b149#; - pragma Export (C, u00119, "system__concat_3B"); - u00120 : constant Version_32 := 16#4d45b0a1#; - pragma Export (C, u00120, "system__concat_3S"); - u00121 : constant Version_32 := 16#273384e4#; - pragma Export (C, u00121, "system__img_enum_newB"); - u00122 : constant Version_32 := 16#2779eac4#; - pragma Export (C, u00122, "system__img_enum_newS"); - u00123 : constant Version_32 := 16#9dca6636#; - pragma Export (C, u00123, "system__img_lliB"); - u00124 : constant Version_32 := 16#577ab9d5#; - pragma Export (C, u00124, "system__img_lliS"); - u00125 : constant Version_32 := 16#6ec3c867#; - pragma Export (C, u00125, "system__stack_usageB"); - u00126 : constant Version_32 := 16#3a3ac346#; - pragma Export (C, u00126, "system__stack_usageS"); - u00127 : constant Version_32 := 16#d398a95f#; - pragma Export (C, u00127, "ada__tagsB"); - u00128 : constant Version_32 := 16#12a0afb8#; - pragma Export (C, u00128, "ada__tagsS"); - u00129 : constant Version_32 := 16#796f31f1#; - pragma Export (C, u00129, "system__htableB"); - u00130 : constant Version_32 := 16#c2f75fee#; - pragma Export (C, u00130, "system__htableS"); - u00131 : constant Version_32 := 16#089f5cd0#; - pragma Export (C, u00131, "system__string_hashB"); - u00132 : constant Version_32 := 16#60a93490#; - pragma Export (C, u00132, "system__string_hashS"); - u00133 : constant Version_32 := 16#927a893f#; - pragma Export (C, u00133, "ada__text_ioB"); - u00134 : constant Version_32 := 16#5194351e#; - pragma Export (C, u00134, "ada__text_ioS"); - u00135 : constant Version_32 := 16#10558b11#; - pragma Export (C, u00135, "ada__streamsB"); - u00136 : constant Version_32 := 16#67e31212#; - pragma Export (C, u00136, "ada__streamsS"); - u00137 : constant Version_32 := 16#73d2d764#; - pragma Export (C, u00137, "interfaces__c_streamsB"); - u00138 : constant Version_32 := 16#b1330297#; - pragma Export (C, u00138, "interfaces__c_streamsS"); - u00139 : constant Version_32 := 16#71ac0ba7#; - pragma Export (C, u00139, "system__file_ioB"); - u00140 : constant Version_32 := 16#e1440d61#; - pragma Export (C, u00140, "system__file_ioS"); - u00141 : constant Version_32 := 16#86c56e5a#; - pragma Export (C, u00141, "ada__finalizationS"); - u00142 : constant Version_32 := 16#95817ed8#; - pragma Export (C, u00142, "system__finalization_rootB"); - u00143 : constant Version_32 := 16#09c79f94#; - pragma Export (C, u00143, "system__finalization_rootS"); - u00144 : constant Version_32 := 16#bbaa76ac#; - pragma Export (C, u00144, "system__file_control_blockS"); - u00145 : constant Version_32 := 16#42fe0dc9#; - pragma Export (C, u00145, "backend_threadB"); - u00146 : constant Version_32 := 16#f05bffcc#; - pragma Export (C, u00146, "backend_threadS"); - u00147 : constant Version_32 := 16#ec10d536#; - pragma Export (C, u00147, "byte_bufferB"); - u00148 : constant Version_32 := 16#d863b3a6#; - pragma Export (C, u00148, "byte_bufferS"); - u00149 : constant Version_32 := 16#50c545ee#; - pragma Export (C, u00149, "typesB"); - u00150 : constant Version_32 := 16#f05fd2f3#; - pragma Export (C, u00150, "typesS"); - u00151 : constant Version_32 := 16#de0eeefc#; - pragma Export (C, u00151, "tcp_clientB"); - u00152 : constant Version_32 := 16#33f97082#; - pragma Export (C, u00152, "tcp_clientS"); - u00153 : constant Version_32 := 16#039168f8#; - pragma Export (C, u00153, "system__stream_attributesB"); - u00154 : constant Version_32 := 16#8bc30a4e#; - pragma Export (C, u00154, "system__stream_attributesS"); - u00155 : constant Version_32 := 16#7d12d4bb#; - pragma Export (C, u00155, "system__tasking__protected_objectsB"); - u00156 : constant Version_32 := 16#15001baf#; - pragma Export (C, u00156, "system__tasking__protected_objectsS"); - u00157 : constant Version_32 := 16#d99cdb5c#; - pragma Export (C, u00157, "system__soft_links__taskingB"); - u00158 : constant Version_32 := 16#e939497e#; - pragma Export (C, u00158, "system__soft_links__taskingS"); - u00159 : constant Version_32 := 16#17d21067#; - pragma Export (C, u00159, "ada__exceptions__is_null_occurrenceB"); - u00160 : constant Version_32 := 16#e1d7566f#; - pragma Export (C, u00160, "ada__exceptions__is_null_occurrenceS"); - u00161 : constant Version_32 := 16#81b5daee#; - pragma Export (C, u00161, "system__tasking__protected_objects__operationsB"); - u00162 : constant Version_32 := 16#ba36ad85#; - pragma Export (C, u00162, "system__tasking__protected_objects__operationsS"); - u00163 : constant Version_32 := 16#100eaf58#; - pragma Export (C, u00163, "system__restrictionsB"); - u00164 : constant Version_32 := 16#0d473555#; - pragma Export (C, u00164, "system__restrictionsS"); - u00165 : constant Version_32 := 16#6bc03304#; - pragma Export (C, u00165, "system__tasking__entry_callsB"); - u00166 : constant Version_32 := 16#6342024e#; - pragma Export (C, u00166, "system__tasking__entry_callsS"); - u00167 : constant Version_32 := 16#e8c12513#; - pragma Export (C, u00167, "system__tasking__initializationB"); - u00168 : constant Version_32 := 16#fc2303e6#; - pragma Export (C, u00168, "system__tasking__initializationS"); - u00169 : constant Version_32 := 16#80ce688e#; - pragma Export (C, u00169, "system__tasking__task_attributesB"); - u00170 : constant Version_32 := 16#e81a3c25#; - pragma Export (C, u00170, "system__tasking__task_attributesS"); - u00171 : constant Version_32 := 16#7010f8c6#; - pragma Export (C, u00171, "system__tasking__protected_objects__entriesB"); - u00172 : constant Version_32 := 16#7daf93e7#; - pragma Export (C, u00172, "system__tasking__protected_objects__entriesS"); - u00173 : constant Version_32 := 16#cc950a30#; - pragma Export (C, u00173, "system__tasking__queuingB"); - u00174 : constant Version_32 := 16#6dba2805#; - pragma Export (C, u00174, "system__tasking__queuingS"); - u00175 : constant Version_32 := 16#e9f46e92#; - pragma Export (C, u00175, "system__tasking__utilitiesB"); - u00176 : constant Version_32 := 16#0f670827#; - pragma Export (C, u00176, "system__tasking__utilitiesS"); - u00177 : constant Version_32 := 16#915f61e7#; - pragma Export (C, u00177, "system__tasking__rendezvousB"); - u00178 : constant Version_32 := 16#5618a4d0#; - pragma Export (C, u00178, "system__tasking__rendezvousS"); - u00179 : constant Version_32 := 16#b5988c27#; - pragma Export (C, u00179, "gnatS"); - u00180 : constant Version_32 := 16#369e155e#; - pragma Export (C, u00180, "gnat__socketsB"); - u00181 : constant Version_32 := 16#a6a830c3#; - pragma Export (C, u00181, "gnat__socketsS"); - u00182 : constant Version_32 := 16#cb835252#; - pragma Export (C, u00182, "gnat__sockets__linker_optionsS"); - u00183 : constant Version_32 := 16#b0810072#; - pragma Export (C, u00183, "gnat__sockets__thinB"); - u00184 : constant Version_32 := 16#c5872358#; - pragma Export (C, u00184, "gnat__sockets__thinS"); - u00185 : constant Version_32 := 16#357666d8#; - pragma Export (C, u00185, "ada__calendar__delaysB"); - u00186 : constant Version_32 := 16#2da855d5#; - pragma Export (C, u00186, "ada__calendar__delaysS"); - u00187 : constant Version_32 := 16#9a2e29aa#; - pragma Export (C, u00187, "ada__calendarB"); - u00188 : constant Version_32 := 16#c4f07049#; - pragma Export (C, u00188, "ada__calendarS"); - u00189 : constant Version_32 := 16#728833ee#; - pragma Export (C, u00189, "gnat__os_libS"); - u00190 : constant Version_32 := 16#485b8267#; - pragma Export (C, u00190, "gnat__task_lockS"); - u00191 : constant Version_32 := 16#05c60a38#; - pragma Export (C, u00191, "system__task_lockB"); - u00192 : constant Version_32 := 16#27bfdb6a#; - pragma Export (C, u00192, "system__task_lockS"); - u00193 : constant Version_32 := 16#305d23a5#; - pragma Export (C, u00193, "gnat__sockets__thin_commonB"); - u00194 : constant Version_32 := 16#fdbccd6b#; - pragma Export (C, u00194, "gnat__sockets__thin_commonS"); - u00195 : constant Version_32 := 16#69f6ee6b#; - pragma Export (C, u00195, "interfaces__c__stringsB"); - u00196 : constant Version_32 := 16#603c1c44#; - pragma Export (C, u00196, "interfaces__c__stringsS"); - u00197 : constant Version_32 := 16#5de653db#; - pragma Export (C, u00197, "system__communicationB"); - u00198 : constant Version_32 := 16#5f55b9d6#; - pragma Export (C, u00198, "system__communicationS"); - u00199 : constant Version_32 := 16#5a895de2#; - pragma Export (C, u00199, "system__pool_globalB"); - u00200 : constant Version_32 := 16#7141203e#; - pragma Export (C, u00200, "system__pool_globalS"); - u00201 : constant Version_32 := 16#2323a8af#; - pragma Export (C, u00201, "system__memoryB"); - u00202 : constant Version_32 := 16#1f488a30#; - pragma Export (C, u00202, "system__memoryS"); - u00203 : constant Version_32 := 16#6d4d969a#; - pragma Export (C, u00203, "system__storage_poolsB"); - u00204 : constant Version_32 := 16#65d872a9#; - pragma Export (C, u00204, "system__storage_poolsS"); - u00205 : constant Version_32 := 16#637ab3c9#; - pragma Export (C, u00205, "system__pool_sizeB"); - u00206 : constant Version_32 := 16#471ba45d#; - pragma Export (C, u00206, "system__pool_sizeS"); - u00207 : constant Version_32 := 16#d763507a#; - pragma Export (C, u00207, "system__val_intB"); - u00208 : constant Version_32 := 16#0e90c63b#; - pragma Export (C, u00208, "system__val_intS"); - u00209 : constant Version_32 := 16#1d9142a4#; - pragma Export (C, u00209, "system__val_unsB"); - u00210 : constant Version_32 := 16#621b7dbc#; - pragma Export (C, u00210, "system__val_unsS"); - u00211 : constant Version_32 := 16#d96e3c40#; - pragma Export (C, u00211, "system__finalization_mastersB"); - u00212 : constant Version_32 := 16#1dc9d5ce#; - pragma Export (C, u00212, "system__finalization_mastersS"); - u00213 : constant Version_32 := 16#7268f812#; - pragma Export (C, u00213, "system__img_boolB"); - u00214 : constant Version_32 := 16#b3ec9def#; - pragma Export (C, u00214, "system__img_boolS"); - u00215 : constant Version_32 := 16#f7cc1da6#; - pragma Export (C, u00215, "mailboxB"); - u00216 : constant Version_32 := 16#ab2e415b#; - pragma Export (C, u00216, "mailboxS"); - u00217 : constant Version_32 := 16#bcec81df#; - pragma Export (C, u00217, "ada__containers__helpersB"); - u00218 : constant Version_32 := 16#4adfc5eb#; - pragma Export (C, u00218, "ada__containers__helpersS"); - u00219 : constant Version_32 := 16#020a3f4d#; - pragma Export (C, u00219, "system__atomic_countersB"); - u00220 : constant Version_32 := 16#f269c189#; - pragma Export (C, u00220, "system__atomic_countersS"); - u00221 : constant Version_32 := 16#2e260032#; - pragma Export (C, u00221, "system__storage_pools__subpoolsB"); - u00222 : constant Version_32 := 16#cc5a1856#; - pragma Export (C, u00222, "system__storage_pools__subpoolsS"); - u00223 : constant Version_32 := 16#84042202#; - pragma Export (C, u00223, "system__storage_pools__subpools__finalizationB"); - u00224 : constant Version_32 := 16#fe2f4b3a#; - pragma Export (C, u00224, "system__storage_pools__subpools__finalizationS"); - u00225 : constant Version_32 := 16#42966e42#; - pragma Export (C, u00225, "pathfollowingB"); - u00226 : constant Version_32 := 16#d72c2ac7#; - pragma Export (C, u00226, "pathfollowingS"); - u00227 : constant Version_32 := 16#8aa4f090#; - pragma Export (C, u00227, "system__img_realB"); - u00228 : constant Version_32 := 16#819dbde6#; - pragma Export (C, u00228, "system__img_realS"); - u00229 : constant Version_32 := 16#42a257f7#; - pragma Export (C, u00229, "system__fat_llfS"); - u00230 : constant Version_32 := 16#1b28662b#; - pragma Export (C, u00230, "system__float_controlB"); - u00231 : constant Version_32 := 16#a6c9af38#; - pragma Export (C, u00231, "system__float_controlS"); - u00232 : constant Version_32 := 16#3e932977#; - pragma Export (C, u00232, "system__img_lluB"); - u00233 : constant Version_32 := 16#3b7a9044#; - pragma Export (C, u00233, "system__img_lluS"); - u00234 : constant Version_32 := 16#16458a73#; - pragma Export (C, u00234, "system__powten_tableS"); - u00235 : constant Version_32 := 16#e18a47a0#; - pragma Export (C, u00235, "ada__float_text_ioB"); - u00236 : constant Version_32 := 16#1fef695b#; - pragma Export (C, u00236, "ada__float_text_ioS"); - u00237 : constant Version_32 := 16#d5f9759f#; - pragma Export (C, u00237, "ada__text_io__float_auxB"); - u00238 : constant Version_32 := 16#48248c7b#; - pragma Export (C, u00238, "ada__text_io__float_auxS"); - u00239 : constant Version_32 := 16#181dc502#; - pragma Export (C, u00239, "ada__text_io__generic_auxB"); - u00240 : constant Version_32 := 16#16b3615d#; - pragma Export (C, u00240, "ada__text_io__generic_auxS"); - u00241 : constant Version_32 := 16#c2ca0511#; - pragma Export (C, u00241, "system__val_realB"); - u00242 : constant Version_32 := 16#b81c9b15#; - pragma Export (C, u00242, "system__val_realS"); - u00243 : constant Version_32 := 16#b2a569d2#; - pragma Export (C, u00243, "system__exn_llfB"); - u00244 : constant Version_32 := 16#fa4b57d8#; - pragma Export (C, u00244, "system__exn_llfS"); - u00245 : constant Version_32 := 16#1e40f010#; - pragma Export (C, u00245, "system__fat_fltS"); - u00246 : constant Version_32 := 16#8bf4f526#; - pragma Export (C, u00246, "system__tasking__stagesB"); - u00247 : constant Version_32 := 16#14e0647c#; - pragma Export (C, u00247, "system__tasking__stagesS"); - u00248 : constant Version_32 := 16#bc208064#; - pragma Export (C, u00248, "webots_threadB"); - u00249 : constant Version_32 := 16#8f0ac5ba#; - pragma Export (C, u00249, "webots_threadS"); - - -- BEGIN ELABORATION ORDER - -- ada%s - -- ada.characters%s - -- ada.characters.latin_1%s - -- interfaces%s - -- system%s - -- system.atomic_counters%s - -- system.atomic_counters%b - -- system.exn_llf%s - -- system.exn_llf%b - -- system.float_control%s - -- system.float_control%b - -- system.img_bool%s - -- system.img_bool%b - -- system.img_enum_new%s - -- system.img_enum_new%b - -- system.img_int%s - -- system.img_int%b - -- system.img_lli%s - -- system.img_lli%b - -- system.io%s - -- system.io%b - -- system.os_primitives%s - -- system.os_primitives%b - -- system.parameters%s - -- system.parameters%b - -- system.crtl%s - -- interfaces.c_streams%s - -- interfaces.c_streams%b - -- system.powten_table%s - -- system.restrictions%s - -- system.restrictions%b - -- system.storage_elements%s - -- system.storage_elements%b - -- system.stack_checking%s - -- system.stack_checking%b - -- system.stack_usage%s - -- system.stack_usage%b - -- system.string_hash%s - -- system.string_hash%b - -- system.htable%s - -- system.htable%b - -- system.strings%s - -- system.strings%b - -- system.traceback_entries%s - -- system.traceback_entries%b - -- system.unsigned_types%s - -- system.img_llu%s - -- system.img_llu%b - -- system.img_uns%s - -- system.img_uns%b - -- system.wch_con%s - -- system.wch_con%b - -- system.wch_jis%s - -- system.wch_jis%b - -- system.wch_cnv%s - -- system.wch_cnv%b - -- system.concat_2%s - -- system.concat_2%b - -- system.concat_3%s - -- system.concat_3%b - -- system.traceback%s - -- system.traceback%b - -- system.case_util%s - -- system.standard_library%s - -- system.exception_traces%s - -- ada.exceptions%s - -- system.wch_stw%s - -- system.val_util%s - -- system.val_llu%s - -- system.val_lli%s - -- system.os_lib%s - -- system.bit_ops%s - -- ada.characters.handling%s - -- ada.exceptions.traceback%s - -- system.secondary_stack%s - -- system.case_util%b - -- system.address_image%s - -- system.bounded_strings%s - -- system.soft_links%s - -- system.exception_table%s - -- system.exception_table%b - -- ada.io_exceptions%s - -- ada.strings%s - -- ada.containers%s - -- system.exceptions%s - -- system.exceptions%b - -- ada.exceptions.last_chance_handler%s - -- system.exceptions_debug%s - -- system.exceptions_debug%b - -- system.exception_traces%b - -- system.memory%s - -- system.memory%b - -- system.wch_stw%b - -- system.val_util%b - -- system.val_llu%b - -- system.val_lli%b - -- system.os_lib%b - -- system.bit_ops%b - -- ada.strings.maps%s - -- ada.strings.maps.constants%s - -- ada.characters.handling%b - -- interfaces.c%s - -- ada.exceptions.traceback%b - -- system.exceptions.machine%s - -- system.exceptions.machine%b - -- system.secondary_stack%b - -- system.address_image%b - -- system.bounded_strings%b - -- system.soft_links.initialize%s - -- system.soft_links.initialize%b - -- system.soft_links%b - -- ada.exceptions.last_chance_handler%b - -- system.standard_library%b - -- system.mmap%s - -- ada.strings.maps%b - -- interfaces.c%b - -- system.object_reader%s - -- system.dwarf_lines%s - -- system.dwarf_lines%b - -- system.mmap.unix%s - -- system.mmap.os_interface%s - -- system.mmap%b - -- system.traceback.symbolic%s - -- system.traceback.symbolic%b - -- ada.exceptions%b - -- system.object_reader%b - -- system.mmap.os_interface%b - -- ada.exceptions.is_null_occurrence%s - -- ada.exceptions.is_null_occurrence%b - -- ada.tags%s - -- ada.tags%b - -- ada.streams%s - -- ada.streams%b - -- gnat%s - -- gnat.os_lib%s - -- interfaces.c.strings%s - -- interfaces.c.strings%b - -- system.communication%s - -- system.communication%b - -- system.fat_flt%s - -- system.fat_llf%s - -- system.file_control_block%s - -- system.finalization_root%s - -- system.finalization_root%b - -- ada.finalization%s - -- ada.containers.helpers%s - -- ada.containers.helpers%b - -- system.file_io%s - -- system.file_io%b - -- system.img_real%s - -- system.img_real%b - -- system.linux%s - -- system.multiprocessors%s - -- system.multiprocessors%b - -- system.os_constants%s - -- system.os_interface%s - -- system.os_interface%b - -- system.storage_pools%s - -- system.storage_pools%b - -- system.finalization_masters%s - -- system.finalization_masters%b - -- system.storage_pools.subpools%s - -- system.storage_pools.subpools.finalization%s - -- system.storage_pools.subpools.finalization%b - -- system.storage_pools.subpools%b - -- system.stream_attributes%s - -- system.stream_attributes%b - -- system.task_info%s - -- system.task_info%b - -- system.task_lock%s - -- system.task_lock%b - -- gnat.task_lock%s - -- system.task_primitives%s - -- system.interrupt_management%s - -- system.interrupt_management%b - -- system.tasking%s - -- system.task_primitives.operations%s - -- system.tasking.debug%s - -- system.tasking%b - -- system.task_primitives.operations%b - -- system.tasking.debug%b - -- system.val_real%s - -- system.val_real%b - -- system.val_uns%s - -- system.val_uns%b - -- system.val_int%s - -- system.val_int%b - -- ada.calendar%s - -- ada.calendar%b - -- ada.calendar.delays%s - -- ada.calendar.delays%b - -- ada.real_time%s - -- ada.real_time%b - -- ada.text_io%s - -- ada.text_io%b - -- ada.text_io.generic_aux%s - -- ada.text_io.generic_aux%b - -- ada.text_io.float_aux%s - -- ada.text_io.float_aux%b - -- ada.float_text_io%s - -- ada.float_text_io%b - -- system.pool_global%s - -- system.pool_global%b - -- system.pool_size%s - -- system.pool_size%b - -- gnat.sockets%s - -- gnat.sockets.thin_common%s - -- gnat.sockets.thin_common%b - -- gnat.sockets.thin%s - -- gnat.sockets.thin%b - -- gnat.sockets.linker_options%s - -- gnat.sockets%b - -- system.soft_links.tasking%s - -- system.soft_links.tasking%b - -- system.tasking.initialization%s - -- system.tasking.task_attributes%s - -- system.tasking.initialization%b - -- system.tasking.task_attributes%b - -- system.tasking.protected_objects%s - -- system.tasking.protected_objects%b - -- system.tasking.protected_objects.entries%s - -- system.tasking.protected_objects.entries%b - -- system.tasking.queuing%s - -- system.tasking.queuing%b - -- system.tasking.utilities%s - -- system.tasking.utilities%b - -- system.tasking.entry_calls%s - -- system.tasking.rendezvous%s - -- system.tasking.protected_objects.operations%s - -- system.tasking.protected_objects.operations%b - -- system.tasking.entry_calls%b - -- system.tasking.rendezvous%b - -- system.tasking.stages%s - -- system.tasking.stages%b - -- types%s - -- mailbox%s - -- mailbox%b - -- byte_buffer%s - -- byte_buffer%b - -- tcp_client%s - -- tcp_client%b - -- types%b - -- backend_thread%s - -- backend_thread%b - -- pathfollowing%s - -- pathfollowing%b - -- webots_thread%s - -- webots_thread%b - -- main%b - -- END ELABORATION ORDER - -end ada_main; diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali deleted file mode 100644 index 8eaa8d5..0000000 --- a/external/controller/obj/b__main.ali +++ /dev/null @@ -1,461 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -gnatA -A -gnatWb -A -gnatiw -A -gnatws -A -g -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV NO_ACCESS_SUBPROGRAMS -RV NO_DEFAULT_INITIALIZATION -RV NO_IMPLEMENTATION_ATTRIBUTES -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV NO_ELABORATION_CODE -RV NO_OBSOLESCENT_FEATURES -RV SPARK_05 - -U ada_main%b b__main.adb b7c05fbc OO PK IL -W ada%s ada.ads ada.ali -W ada.exceptions%s a-except.adb a-except.ali -W system%s system.ads system.ali -W system.restrictions%s s-restri.adb s-restri.ali - -U ada_main%s b__main.ads 285e5cec EE NE OO PK IL -W system%s system.ads system.ali -W system.parameters%s s-parame.adb s-parame.ali -W system.secondary_stack%s s-secsta.adb s-secsta.ali - -D ada.ads 20200312110721 76789da1 ada%s -D a-except.ads 20200312110721 291912d5 ada.exceptions%s -D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D b__main.ads 20200707172406 063c02f5 ada_main%s -D b__main.adb 20200707172406 837849ee ada_main%b -D system.ads 20200312110721 4635ec04 system%s -D s-parame.ads 20200312110721 48ec542b system.parameters%s -D s-restri.ads 20200312110721 1b9d0672 system.restrictions%s -D s-rident.ads 20200312110721 50efdf23 system.rident%s -D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s -D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s -D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s -D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s -X 1 ada.ads -16K9*Ada 20e8 5|8r6 -X 2 a-except.ads -54K13*Exceptions 349e19 5|8w10 -X 4 b__main.ads -6K9*ada_main 791l5 791e13 5|10b14 438l5 438t13 -8i4*gnat_argc{integer} 12m22 12r22 5|406m7 -9m4*gnat_argv{6|67M9} 13m22 13r22 5|407m7 -10m4*gnat_envp{6|67M9} 14m22 14r22 5|408m7 -16i4*gnat_exit_status{integer} 17m22 17r22 5|415r15 -19a4*GNAT_Version{string} 21r22 -23a4*Ada_Main_Program_Name{string} 24r22 5|402r52 -26U14*adainit 27i22 5|179b14 384l8 384t15 411s7 -29U14*adafinal 30i22 5|161b14 175l8 175t16 413s7 -32V13*main{integer} 33>7 34>7 35>7 37i22 5|389b13 416t7 -33i7 argc{integer} 5|390b7 406r20 -34m7 argv{6|67M9} 5|391b7 407r20 -35m7 envp{6|67M9} 5|392b7 408r20 -39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 -. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 -. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 -. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 -. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 -. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 -. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 -. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 -. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 -. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 -. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 -. 284r22 286r22 288r22 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34s19[16|6] 35s19[16|6] 36s19[16|6] 42s22[16|6] -X 10 a-iteint.ads -24h9 Forward_Iterator -32h9 Reversible_Iterator<24R9[6|111]> -X 16 byte_buffer.ads -4K9*byte_buffer 33l5 33e16 17|3b14 118l5 118t16 -6K12*Byte_Vector[6|73] 8r8 12r16 -11R9*Buffer 14e14 16p14 16r41 17p14 17r42 18p14 18r42 19p14 19r42 20p14 20r43 -. 22p14 22r40 23p14 23r41 24p14 24r41 25p14 25r41 26p14 26r42 28p13 28r33 -. 29p13 29r38 30p13 30r39 31p14 31r36 17|5r41 10r42 17r42 26r42 39r43 46r40 -. 52r41 61r41 72r41 87r42 97r33 102r38 107r39 112r36 -12r7*Buffer{6|88R9[6]} 17|7m12 13m12 14m12 20m12 21m12 22m12 23m12 29m12 -. 30m12 31m12 32m12 33m12 34m12 35m12 36m12 42m15 48r19 55r22 56r22 64r22 -. 65r22 66r22 67r22 75r22 76r22 77r22 78r22 79r22 80r22 81r22 82r22 91r26 -. 99r33 -13i7*Index{integer} 17|48r40 49m12 49r26 55r43 56r43 58m12 58r26 64r43 65r43 -. 66r43 67r43 69m12 69r26 75r43 76r43 77r43 78r43 79r43 80r43 81r43 82r43 -. 84m12 84r26 91r47 94m12 94r26 109r33 114m12 114r39 -16U14*write_uint8 16=27 16>49 17|5b14 8l8 8t19 -16r27 Self{11R9} 17|5b27 7m7 7r7 -16m49 Val{51|6M9} 17|5b49 7r27 -17U14*write_uint16 17=28 17>50 17|10b14 15l8 15t20 -17r28 Self{11R9} 17|10b28 13m7 13r7 14m7 14r7 -17m50 Val{51|7M9} 17|10b50 11r54 -18U14*write_uint32 18=28 18>50 17|17b14 24l8 24t20 -18r28 Self{11R9} 17|17b28 20m7 20r7 21m7 21r7 22m7 22r7 23m7 23r7 -18m50 Val{51|8M9} 17|17b50 18r54 -19U14*write_uint64 19=28 19>50 17|26b14 37l8 37t20 -19r28 Self{11R9} 17|26b28 29m7 29r7 30m7 30r7 31m7 31r7 32m7 32r7 33m7 33r7 -. 34m7 34r7 35m7 35r7 36m7 36r7 -19m50 Val{51|9M9} 17|26b50 27r54 -20U14*write_payload 20=29 20^51 17|39b14 44l8 44t21 -20r29 Self{11R9} 17|39b29 42m10 42r10 -20p51 Val(51|15A9) 17|39b51 41r16 42r30 -22U14*read_uint8 22=26 22<48 17|46b14 50l8 50t18 -22r26 Self{11R9} 17|46b26 48r14 48r35 49m7 49r21 -22m48 Val{51|6M9} 17|46b48 48m7 -23U14*read_uint16 23=27 23<49 17|52b14 59l8 59t19 -23r27 Self{11R9} 17|52b27 55r17 55r38 56r17 56r38 58m7 58r21 -23m49 Val{51|7M9} 17|52b49 57m7 -24U14*read_uint32 24=27 24<49 17|61b14 70l8 70t19 -24r27 Self{11R9} 17|61b27 64r17 64r38 65r17 65r38 66r17 66r38 67r17 67r38 -. 69m7 69r21 -24m49 Val{51|8M9} 17|61b49 68m7 -25U14*read_uint64 25=27 25<49 17|72b14 85l8 85t19 -25r27 Self{11R9} 17|72b27 75r17 75r38 76r17 76r38 77r17 77r38 78r17 78r38 -. 79r17 79r38 80r17 80r38 81r17 81r38 82r17 82r38 84m7 84r21 -25m49 Val{51|9M9} 17|72b49 83m7 -26U14*read_payload 26=28 26^50 17|87b14 95l8 95t20 -26r28 Self{11R9} 17|87b28 91r21 91r42 94m7 94r21 -26p50 Val(51|15A9) 17|87b50 90r16 91r10 -28V13*size{51|8M9} 28=19 17|97b13 100l8 100t12 104s19 -28r19 Self{11R9} 17|97b19 99r28 -29V13*remaining{51|8M9} 29=24 17|102b13 105l8 105t17 -29r24 Self{11R9} 17|102b24 104m14 104r14 104m26 104r26 -30V13*bytes_read{51|8M9} 30=25 17|104s31 107b13 110l8 110t18 -30r25 Self{11R9} 17|107b25 109r28 -31U14*unwind 31=22 31>44 17|112b14 115l8 115t14 -31r22 Self{11R9} 17|112b22 114m7 114r34 -31m44 Bytes{51|8M9} 17|112b44 114r56 -X 17 byte_buffer.adb -11a7 o2{51|11A9} 13r27 14r27 -18a7 o4{51|12A9} 20r27 21r27 22r27 23r27 -27a7 o8{51|13A9} 29r27 30r27 31r27 32r27 33r27 34r27 35r27 36r27 -41m11 I<18|74M9> 42r35 -53a7 o2{51|11A9} 55m7 56m7 57r38 -62a7 o4{51|12A9} 64m7 65m7 66m7 67m7 68r38 -73a7 o8{51|13A9} 75m7 76m7 77m7 78m7 79m7 80m7 81m7 82m7 83r38 -88i7 count{integer} 91r55 92m10 92r19 94r34 -90m11 I<18|74M9> 91r15 -X 18 interfac.ads -63M9*Unsigned_8 -66M9*Unsigned_16 -74M9*Unsigned_32 -77M9*Unsigned_64 -X 20 system.ads -67M9*Address -X 28 s-memory.ads -53V13*Alloc{20|67M9} 103i22 -68U14*Free 104i22 -76V13*Realloc{20|67M9} 105i22 -X 37 s-stausa.ads -203U14*Initialize 204i22 -268U14*Output_Results 272i22 -X 39 s-stalib.adb -93U14 Break_Start 94i22 -X 51 types.ads -4K9*types 16|2w6 2r17 7r46 16r58 17r59 18r59 19r59 20r64 22r58 23r59 24r59 -. 25r59 26r63 28r48 29r53 30r54 31r55 17|1w6 5r58 10r59 11r12 11r30 17r59 -. 18r12 18r30 26r59 27r12 27r30 39r64 46r58 52r59 53r12 57r14 61r59 62r12 -. 68r14 72r59 73r12 83r14 87r63 97r48 99r14 102r53 107r54 109r14 112r55 51|45e10 -6M9*uint8<18|63M9> 16|7r52 16r64 22r64 17|5r64 46r64 -7M9*uint16<18|66M9> 16|17r65 23r65 17|10r65 52r65 -8M9*uint32<18|74M9> 16|18r65 24r65 28r54 29r59 30r60 31r61 17|17r65 61r65 -. 97r54 99r20 102r59 107r60 109r20 112r61 -9M9*uint64<18|77M9> 16|19r65 25r65 17|26r65 72r65 -11A9*Octets_2(6M9)<8M9> 17|11r18 53r18 -12A9*Octets_4(6M9)<8M9> 17|18r18 62r18 -13A9*Octets_8(6M9)<8M9> 17|27r18 73r18 -15A9*payload(6M9)<8M9> 16|20r70 26r69 17|39r70 87r69 -25V13*uint16_to_octets{11A9} 17|11s36 -26V13*uint32_to_octets{12A9} 17|18s36 -27V13*uint64_to_octets{13A9} 17|27s36 -29V13*octets_to_uint16{7M9} 17|57s20 -30V13*octets_to_uint32{8M9} 17|68s20 -31V13*octets_to_uint64{9M9} 17|83s20 - diff --git a/external/controller/obj/byte_buffer.o b/external/controller/obj/byte_buffer.o deleted file mode 100644 index 542b91c82a56b7b23df61ac4d46faaa0f37abcc5..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 211528 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zgym@z>kjIo!4YW`>lB;dIl@{rigk*$QKC_-GpK=Nqpi@x86FkUUr%O+7t^PWJNb~NEz2KVGH2Y*hcs=;G$RvDTbAFKR$I}u zmGZ|MAk~C8ZNb?l{ZtE_KF(TEkoQebTE;bhWYuZ8w4St#%l^m~mGq=#T=jiN zP;{N9x7{CYQRN_&p;lE6P+9tbDv!lwo8R87%6=-XZBX)|9QoVNdB|^TQsvROZ1G2iRM|tNpM%cq=pXGC)Ny_xc`e2v;0EKJ=U;qFB diff --git a/external/controller/obj/gpsauto.cgpr b/external/controller/obj/gpsauto.cgpr deleted file mode 100644 index 20aa98d..0000000 --- a/external/controller/obj/gpsauto.cgpr +++ /dev/null @@ -1,91 +0,0 @@ -project _Auto is - - for Library_Support use "full"; - for Library_Auto_Init_Supported use "true"; - for Target use ""; - for Default_Language use "ada"; - - package Compiler is - for Driver ("ada") use "gcc"; - for Language_Kind ("ada") use "unit_based"; - for Dependency_Kind ("ada") use "ALI_File"; - for Object_File_Suffix ("html") use "-"; - for Object_File_Suffix ("xml") use "-"; - for Object_File_Suffix ("matlab") use "-"; - for Object_File_Suffix ("c#") use "-"; - for Object_File_Suffix ("asm2") use "-"; - for Object_File_Suffix ("asm_cpp") use "-"; - for Object_File_Suffix ("asm") use "-"; - for Object_File_Suffix ("gnat expanded code") use "-"; - for Object_File_Suffix ("java") use "-"; - for Object_File_Suffix ("javascript") use "-"; - for Object_File_Suffix ("tcl") use "-"; - for Object_File_Suffix ("shell") use "-"; - for Object_File_Suffix ("makefile") use "-"; - for Object_File_Suffix ("m4") use "-"; - for Object_File_Suffix ("fortran 90") use "-"; - for Object_File_Suffix ("pascal") use "-"; - for Object_File_Suffix ("perl") use "-"; - for Object_File_Suffix ("awk") use "-"; - for Object_File_Suffix ("autoconf") use "-"; - for Object_File_Suffix ("rest") use "-"; - for Object_File_Suffix ("texinfo") use "-"; - for Object_File_Suffix ("project file") use "-"; - for Object_File_Suffix ("changelog") use "-"; - for Object_File_Suffix ("qgen") use "-"; - for Object_File_Suffix ("simulink") use "-"; - for Object_File_Suffix ("python") use ".pyc"; - for Object_File_Suffix ("css") use "-"; - for Object_File_Suffix ("c++") use ".o"; - for Object_File_Suffix ("c") use ".o"; - for Object_File_Suffix ("ada") use ".o"; - end Compiler; - - package Naming is - for Spec_Suffix ("ada") use ".ads"; - for Body_Suffix ("ada") use ".adb"; - for Spec_Suffix ("c") use ".h"; - for Body_Suffix ("c") use ".c"; - for Spec_Suffix ("c++") use ".hh"; - for Body_Suffix ("c++") use ".cpp"; - for Dot_Replacement use "-"; - for Casing use "lowercase"; - for Spec_Suffix ("html") use ".html"; - for Body_Suffix ("xml") use ".xml"; - for Body_Suffix ("matlab") use ".m"; - for Spec_Suffix ("c#") use ".cs"; - for Body_Suffix ("asm2") use ".asm"; - for Body_Suffix ("asm_cpp") use ".S"; - for Body_Suffix ("asm") use ".s"; - for Body_Suffix ("gnat expanded code") use ".dg"; - for Body_Suffix ("java") use ".java"; - for Body_Suffix ("javascript") use ".js"; - for Body_Suffix ("tcl") use ".tcl"; - for Body_Suffix ("shell") use ".sh"; - for Body_Suffix ("m4") use ".m4"; - for Body_Suffix ("fortran 90") use ".f"; - for Body_Suffix ("pascal") use ".pas"; - for Body_Suffix ("perl") use ".pl"; - for Body_Suffix ("awk") use ".awk"; - for Body_Suffix ("autoconf") use "configure.in"; - for Body_Suffix ("rest") use ".rst"; - for Body_Suffix ("texinfo") use ".texi"; - for Body_Suffix ("project file") use ".gpr"; - for Spec_Suffix ("changelog") use ".changelog"; - for Body_Suffix ("qgen") use ".xmi"; - for Spec_Suffix ("simulink") use ".slx"; - for Body_Suffix ("simulink") use ".mdl"; - for Body_Suffix ("python") use ".py"; - for Body_Suffix ("css") use ".css"; - for Spec_Suffix ("c++") use ".hh"; - for Body_Suffix ("c++") use ".cpp"; - for Spec_Suffix ("c") use ".h"; - for Body_Suffix ("c") use ".c"; - for Spec_Suffix ("ada") use ".ads"; - for Body_Suffix ("ada") use ".adb"; - end Naming; - - for Library_Support use "full"; - -end _Auto; - diff --git a/external/controller/obj/mailbox.adb.stderr b/external/controller/obj/mailbox.adb.stderr deleted file mode 100644 index e69de29..0000000 diff --git a/external/controller/obj/mailbox.adb.stdout b/external/controller/obj/mailbox.adb.stdout deleted file mode 100644 index e69de29..0000000 diff --git a/external/controller/obj/mailbox.ali b/external/controller/obj/mailbox.ali deleted file mode 100644 index 4fc418b..0000000 --- a/external/controller/obj/mailbox.ali +++ /dev/null @@ -1,139 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -g -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV SIMPLE_BARRIERS -RV NO_DELAY -RV NO_DIRECT_BOOLEAN_OPERATORS -RV NO_EXCEPTION_HANDLERS -RV NO_EXCEPTION_PROPAGATION -RV NO_EXCEPTIONS -RV NO_FIXED_POINT -RV NO_IMPLICIT_CONDITIONALS -RV NO_PROTECTED_TYPES -RV NO_RECURSION -RV NO_RELATIVE_DELAY -RV NO_SELECT_STATEMENTS -RV NO_STANDARD_STORAGE_POOLS -RV NO_DYNAMIC_SIZED_OBJECTS -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV SPARK_05 -RV MAX_PROTECTED_ENTRIES=2 -RV MAX_ENTRY_QUEUE_LENGTH=1+ - -U mailbox%b mailbox.adb f7cc1da6 NE OO PK IL -Z ada.calendar.delays%s a-caldel.adb a-caldel.ali -Z ada.tags%s 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114t15 -12m4*protocol_package_length{57|8M9} 56|79r51 -13m4*protocol_ID_length{57|8M9} 56|83r51 -14m4*protocol_join_ID{57|6M9} -16V13*build_connection{17|1213P9} 16=32 16>61 16=79 56|6b13 23l8 23t24 -16i32 client{17|412I9} 56|6b32 12m22 19r23 21r21 -16i61 port{17|492I9} 56|6b61 17r23 -16r79 address{17|597R9} 56|6b79 15m7 17m7 19r31 -18U14*send_bytes 18>26 18>57 56|26b14 48l8 48t18 -18p26 server_stream{17|1213P9} 56|26b26 35r28 39r25 44r31 -18r57 outgoing_packet{57|18R9} 56|26b57 33r55 39r40 42r10 43r19 44r46 -20V13*recv_bytes{57|8M9} 20>25 20>56 20=88 56|51b13 66l8 66t18 79s25 83s25 -. 87s25 -20p25 server_stream{17|1213P9} 56|51b24 59r27 -20m56 bytes_wanted{57|8M9} 56|51b55 58r30 -20r88 dynamic_buffer{15|11R9} 56|51b87 60m10 60r10 -22U14*listen 22>22 22=53 22=97 56|70b14 90l8 90t14 -22p22 server_stream{17|1213P9} 56|70b22 79r36 83r36 87r36 -22r53 dynamic_buffer{15|11R9} 56|70b53 79m76 79r76 80m31 83m71 83r71 84m30 -. 87m78 87r78 88m20 -22w97 local_mailbox{21|8W19} 56|70b97 88m79 -24U14*read_payload 24=27 24>71 24>102 24=128 56|88s7 92b14 112l8 112t20 -24r27 dynamic_buffer{15|11R9} 56|92b27 104m13 104r13 -24m71 payload_length{57|8M9} 56|92b71 99r39 100r54 -24m102 package_ID{57|6M9} 56|92b102 98r35 -24w128 local_mailbox{21|8W19} 56|92b128 107r10 108r10 -X 56 tcp_client.adb -28a7 uint8_payload_length{57|12A9} 33m7 34r16 35r43 -34m11 I<18|74M9> 35r64 -43m14 I<18|74M9> 44r76 -53m7 bytes_received{57|8M9} 58r13 61m10 61r28 64r14 -54m7 new_byte{57|6M9} 59m42 59r42 60r37 -72m7 bytes_received{57|8M9} 79m7 83m7 87m7 -73m7 conv_package_ID{57|6M9} 84m46 88r63 -74m7 conv_package_value_length{57|8M9} 80m47 81m7 81r36 87r51 88r36 -96r15 new_packet{57|18R9} 98m10 99m10 100m10 101m10 103r19 104r39 108r32 -103m14 I<18|74M9> 104r64 -X 57 types.ads -4K9*types 55|5w6 12r30 13r25 14r23 18r75 20r74 20r140 24r88 24r115 56|1w6 -. 1r17 26r75 28r30 35r10 39r7 44r13 51r73 51r139 53r24 54r18 59r10 72r24 -. 73r25 74r35 92r88 92r115 57|45e10 -6M9*uint8<18|63M9> 55|14r29 24r121 56|35r16 39r13 44r19 54r24 59r16 73r31 -. 92r121 -8M9*uint32<18|74M9> 55|12r36 13r31 20r80 20r146 24r94 56|51r79 51r145 53r30 -. 72r30 74r41 92r94 -12A9*Octets_4(6M9)<8M9> 56|28r36 -15A9*payload(6M9)<8M9> 56|100r42 -18R9*Communication_Packet 55|18r81 56|26r81 96r28 57|23e14 -19m7*package_ID{6M9} 56|39r56 98m21 -20m7*payload_length{8M9} 56|33r71 42r26 99m21 -21p7*local_payload(15A9) 56|43r35 44r62 100m21 103r30 104r50 -22o7*TTL{9|49O9} 56|101m21 -26V13*uint32_to_octets{12A9} 56|33s31 -39V13*hton32{8M9} 56|33s48 - diff --git a/external/controller/obj/tcp_client.o b/external/controller/obj/tcp_client.o deleted file mode 100644 index b5048cab0a5b822e29d6f31fa69fcbae597cacaf..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 48328 zcmcJ23w%_?_5a;hcGoOqNqC5W1dx|NNFYEEc?1Xq4MHJ7e0A9*n};OXnBDO3iQhmEZSupG*umbK%D&hsMmxX2n}4YnF;`~FmYdiA>M zhU)sYwcFp?(s$9`zTP`)`xJyKnC zum6Oqhtq=|EK<4VQ)b1WQoy`7K&7qrP@AYFb$x$u7o%Egf$wtS+kPNW`_N%;EowtT 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a/external/controller/src/Path/pathfollowing.adb +++ b/external/controller/src/Path/pathfollowing.adb @@ -5,13 +5,14 @@ package body pathfollowing is b : Integer := 0; bottomPoint : Integer := 0; - topPoint : Integer := 0; - leftPoint : Integer := 0; - rightPoint : Integer:= 0; + --topPoint : Integer := 0; + --leftPoint : Integer := 0; + --rightPoint : Integer:= 0; bottomPoint1 : Integer := 0; - topPoint1 : Integer := 0; - leftPoint1 : Integer := 0; - rightPoint1 : Integer:= 0; + white_Line : Integer := 0; + --topPoint1 : Integer := 0; + --leftPoint1 : Integer := 0; + --rightPoint1 : Integer:= 0; --steeringAngle : float64 := 0.0; red : Colour_Matrix := (others => (others => 0)); @@ -39,7 +40,7 @@ package body pathfollowing is for I in Row_Index loop for J in Column_Index loop - if grey (I)(J) > 100 then + if grey (I)(J) > 150 then binaImage (I)(J) := 255; else binaImage (I)(j) := 0; @@ -53,11 +54,9 @@ package body pathfollowing is end binarize; - function wheel_Velocity (binarizedImage : in Colour_Matrix; d_sensor : in Dtype) return Wheehl_velocity is - wheehlvelocity : Wheehl_velocity := (others => 0.0); + function findLine (binarizedImage : in Colour_Matrix) return Integer is begin - for J in Column_Index loop if binaImage(Row_Index(height-5))(J) = 255 then bottomPoint := Integer(J); @@ -70,19 +69,29 @@ package body pathfollowing is end if; end loop; bottomPoint := (bottomPoint + bottomPoint1) / 2; - Put_Line(Integer'Image(bottomPoint)); - if bottomPoint >= 36 then + return bottomPoint; + + end findLine; + + + function wheel_Velocity (whiteLine : in Integer; d_sensor : in Dtype) return Wheehl_velocity is + wheehlvelocity : Wheehl_velocity := (others => 0.0); + + begin + + + if whiteLine >= 36 then V_turn := 3.6; - elsif bottomPoint <= 28 and bottomPoint > 0 then + elsif whiteLine <= 28 and whiteLine > 0 then V_turn := -3.6; - elsif bottomPoint > 28 and bottomPoint < 36 then + elsif whiteLine > 28 and whiteLine < 36 then V_turn := 0.0; - elsif bottomPoint = 0 then - if d_sensor(6) < 450.0 then + elsif whiteLine = 0 then + if d_sensor(6) < 500.0 then V_turn := 1.0; end if; - if d_sensor(3) < 450.0 then + if d_sensor(3) < 500.0 then V_turn := -1.0; end if; end if; @@ -128,8 +137,10 @@ package body pathfollowing is --Binarized binaImage := binarize(grey); + --findLine + white_Line := findLine(binaImage); --wheelvelocity calculate - wheehlvelocity := wheel_Velocity(binaImage, d_sensor); + wheehlvelocity := wheel_Velocity(white_Line, d_sensor); declare packet : Communication_Packet; begin diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads index e701b9f..351d12a 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/Path/pathfollowing.ads @@ -23,7 +23,8 @@ package pathfollowing is function path_following(dataInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet; function binarize(grey : in Colour_Matrix) return Colour_Matrix; - function wheel_Velocity(binarizedImage : in Colour_Matrix; d_sensor : in Dtype) return Wheehl_velocity; + function findLine(binarizedImage : in Colour_Matrix) return Integer; + function wheel_Velocity(whiteLine : in Integer; d_sensor : in Dtype) return Wheehl_velocity; end pathfollowing; diff --git a/test/ada/obj/ada-loc.xml b/test/ada/obj/ada-loc.xml deleted file mode 100644 index ea5020f..0000000 --- a/test/ada/obj/ada-loc.xml +++ /dev/null @@ -1,205 +0,0 @@ - - - - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.ads - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/main.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/Path/pathfollowing.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/harness/harness.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/test_main.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.ads - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/tcp_suite/tcp_suite.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.ads - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/main.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/Path/pathfollowing.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/harness/harness.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/empty.gpr - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/mailbox_suite/mailbox_tests.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/test_main.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.ads - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/composite_suite.adb - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/src/tcp_suite/tcp_suite.adb - - - diff --git a/test/ada/obj/b__test_main.adb b/test/ada/obj/b__test_main.adb deleted file mode 100644 index a0a861c..0000000 --- a/test/ada/obj/b__test_main.adb +++ /dev/null @@ -1,572 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -pragma Source_File_Name (ada_main, Spec_File_Name => "b__test_main.ads"); -pragma Source_File_Name (ada_main, Body_File_Name => "b__test_main.adb"); -pragma Suppress (Overflow_Check); - -with System.Restrictions; -with Ada.Exceptions; - -package body ada_main is - - E017 : Short_Integer; pragma Import (Ada, E017, "system__soft_links_E"); - E027 : Short_Integer; pragma Import (Ada, E027, "system__exception_table_E"); - E029 : Short_Integer; pragma Import (Ada, E029, "system__exceptions_E"); - E019 : Short_Integer; pragma Import (Ada, E019, "system__soft_links__initialize_E"); - E208 : Short_Integer; pragma Import (Ada, E208, "ada__containers_E"); - E121 : Short_Integer; pragma Import (Ada, E121, "ada__io_exceptions_E"); - E158 : Short_Integer; pragma Import (Ada, E158, "gnat_E"); - E057 : Short_Integer; pragma Import (Ada, E057, "interfaces__c_E"); - E221 : Short_Integer; pragma Import (Ada, E221, "interfaces__c__strings_E"); - E192 : Short_Integer; pragma Import (Ada, E192, "system__os_lib_E"); - E091 : Short_Integer; pragma Import (Ada, E091, "ada__tags_E"); - E120 : Short_Integer; pragma Import (Ada, E120, "ada__streams_E"); - E195 : Short_Integer; pragma Import (Ada, E195, "system__file_control_block_E"); - E123 : Short_Integer; pragma Import (Ada, E123, "system__finalization_root_E"); - E118 : Short_Integer; pragma Import (Ada, E118, "ada__finalization_E"); - E190 : Short_Integer; pragma Import (Ada, E190, "system__file_io_E"); - E153 : Short_Integer; pragma Import (Ada, E153, "system__storage_pools_E"); - E149 : Short_Integer; pragma Import (Ada, E149, "system__finalization_masters_E"); - E237 : Short_Integer; pragma Import (Ada, E237, "system__storage_pools__subpools_E"); - E146 : Short_Integer; pragma Import (Ada, E146, "ada__calendar_E"); - E213 : Short_Integer; pragma Import (Ada, E213, "ada__calendar__delays_E"); - E205 : Short_Integer; pragma Import (Ada, E205, "ada__real_time_E"); - E186 : Short_Integer; pragma Import (Ada, E186, "ada__text_io_E"); - E155 : Short_Integer; pragma Import (Ada, E155, "system__pool_global_E"); - E225 : Short_Integer; pragma Import (Ada, E225, "system__pool_size_E"); - E207 : Short_Integer; pragma Import (Ada, E207, "gnat__sockets_E"); - E219 : Short_Integer; pragma Import (Ada, E219, "gnat__sockets__thin_common_E"); - E211 : Short_Integer; pragma Import (Ada, E211, "gnat__sockets__thin_E"); - E103 : Short_Integer; pragma Import (Ada, E103, "system__tasking__initialization_E"); - E113 : Short_Integer; pragma Import (Ada, E113, "system__tasking__protected_objects_E"); - E115 : Short_Integer; pragma Import (Ada, E115, "system__tasking__protected_objects__entries_E"); - E111 : Short_Integer; pragma Import (Ada, E111, "system__tasking__queuing_E"); - E125 : Short_Integer; pragma Import (Ada, E125, "aunit_E"); - E127 : Short_Integer; pragma Import (Ada, E127, "aunit__memory_E"); - E140 : Short_Integer; pragma Import (Ada, E140, "aunit__memory__utils_E"); - E137 : Short_Integer; pragma Import (Ada, E137, "ada_containers__aunit_lists_E"); - E147 : Short_Integer; pragma Import (Ada, E147, "aunit__tests_E"); - E144 : Short_Integer; pragma Import (Ada, E144, "aunit__time_measure_E"); - E142 : Short_Integer; pragma Import (Ada, E142, "aunit__test_results_E"); - E135 : Short_Integer; pragma Import (Ada, E135, "aunit__assertions_E"); - E131 : Short_Integer; pragma Import (Ada, E131, "aunit__test_filters_E"); - E133 : Short_Integer; pragma Import (Ada, E133, "aunit__simple_test_cases_E"); - E128 : Short_Integer; pragma Import (Ada, E128, "aunit__reporter_E"); - E164 : Short_Integer; pragma Import (Ada, E164, "aunit__reporter__text_E"); - E241 : Short_Integer; pragma Import (Ada, E241, "aunit__test_cases_E"); - E174 : Short_Integer; pragma Import (Ada, E174, "aunit__test_suites_E"); - E172 : Short_Integer; pragma Import (Ada, E172, "aunit__run_E"); - E184 : Short_Integer; pragma Import (Ada, E184, "types_E"); - E182 : Short_Integer; pragma Import (Ada, E182, "byte_buffer_E"); - E231 : Short_Integer; pragma Import (Ada, E231, "mailbox_E"); - E197 : Short_Integer; pragma Import (Ada, E197, "tcp_client_E"); - E180 : Short_Integer; pragma Import (Ada, E180, "buffer_tests_E"); - E178 : Short_Integer; pragma Import (Ada, E178, "buffer_suite_E"); - E245 : Short_Integer; pragma Import (Ada, E245, "mailbox_tests_E"); - E243 : Short_Integer; pragma Import (Ada, E243, "mailbox_suite_E"); - E249 : Short_Integer; pragma Import (Ada, E249, "pathfollowing_tests_E"); - E247 : Short_Integer; pragma Import (Ada, E247, "pathfollowing_suite_E"); - E253 : Short_Integer; pragma Import (Ada, E253, "tcp_tests_E"); - E251 : Short_Integer; pragma Import (Ada, E251, "tcp_suite_E"); - E257 : Short_Integer; pragma Import (Ada, E257, "types_tests_E"); - E255 : Short_Integer; pragma Import (Ada, E255, "types_suite_E"); - E176 : Short_Integer; pragma Import (Ada, E176, "composite_suite_E"); - - Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); - - Local_Priority_Specific_Dispatching : constant String := ""; - Local_Interrupt_States : constant String := ""; - - Is_Elaborated : Boolean := False; - - procedure finalize_library is - begin - E257 := E257 - 1; - declare - procedure F1; - pragma Import (Ada, F1, "types_tests__finalize_spec"); - begin - F1; - end; - E253 := E253 - 1; - declare - procedure F2; - pragma Import (Ada, F2, "tcp_tests__finalize_spec"); - begin - F2; - end; - E249 := E249 - 1; - declare - procedure F3; - pragma Import (Ada, F3, "pathfollowing_tests__finalize_spec"); - begin - F3; - end; - declare - procedure F4; - pragma Import (Ada, F4, "mailbox_tests__finalize_body"); - begin - E245 := E245 - 1; - F4; - end; - declare - procedure F5; - pragma Import (Ada, F5, "mailbox_tests__finalize_spec"); - begin - F5; - end; - E180 := E180 - 1; - declare - procedure F6; - pragma Import (Ada, F6, "buffer_tests__finalize_spec"); - begin - F6; - end; - E182 := E182 - 1; - declare - procedure F7; - pragma Import (Ada, F7, "byte_buffer__finalize_spec"); - begin - F7; - end; - E174 := E174 - 1; - declare - procedure F8; - pragma Import (Ada, F8, "aunit__test_suites__finalize_spec"); - begin - F8; - end; - E241 := E241 - 1; - declare - procedure F9; - pragma Import (Ada, F9, "aunit__test_cases__finalize_spec"); - begin - F9; - end; - E164 := E164 - 1; - declare - procedure F10; - pragma Import (Ada, F10, "aunit__reporter__text__finalize_spec"); - begin - F10; - end; - E131 := E131 - 1; - E133 := E133 - 1; - declare - procedure F11; - pragma Import (Ada, F11, "aunit__simple_test_cases__finalize_spec"); - begin - F11; - end; - declare - procedure F12; - pragma Import (Ada, F12, "aunit__test_filters__finalize_spec"); - begin - F12; - end; - E135 := E135 - 1; - declare - procedure F13; - pragma Import (Ada, F13, "aunit__assertions__finalize_spec"); - begin - F13; - end; - E142 := E142 - 1; - declare - procedure F14; - pragma Import (Ada, F14, "aunit__test_results__finalize_spec"); - begin - F14; - end; - declare - procedure F15; - pragma Import (Ada, F15, "aunit__tests__finalize_spec"); - begin - E147 := E147 - 1; - F15; - end; - E115 := E115 - 1; - declare - procedure F16; - pragma Import (Ada, F16, "system__tasking__protected_objects__entries__finalize_spec"); - begin - F16; - end; - declare - procedure F17; - pragma Import (Ada, F17, "gnat__sockets__finalize_body"); - begin - E207 := E207 - 1; - F17; - end; - declare - procedure F18; - pragma Import (Ada, F18, "gnat__sockets__finalize_spec"); - begin - F18; - end; - E225 := E225 - 1; - declare - procedure F19; - pragma Import (Ada, F19, "system__pool_size__finalize_spec"); - begin - F19; - end; - E155 := E155 - 1; - declare - procedure F20; - pragma Import (Ada, F20, "system__pool_global__finalize_spec"); - begin - F20; - end; - E186 := E186 - 1; - declare - procedure F21; - pragma Import (Ada, F21, "ada__text_io__finalize_spec"); - begin - F21; - end; - E237 := E237 - 1; - declare - procedure F22; - pragma Import (Ada, F22, "system__storage_pools__subpools__finalize_spec"); - begin - F22; - end; - E149 := E149 - 1; - declare - procedure F23; - pragma Import (Ada, F23, "system__finalization_masters__finalize_spec"); - begin - F23; - end; - declare - procedure F24; - pragma Import (Ada, F24, "system__file_io__finalize_body"); - begin - E190 := E190 - 1; - F24; - end; - declare - procedure Reraise_Library_Exception_If_Any; - pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); - begin - Reraise_Library_Exception_If_Any; - end; - end finalize_library; - - procedure adafinal is - procedure s_stalib_adafinal; - pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); - - procedure Runtime_Finalize; - pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); - - begin - if not Is_Elaborated then - return; - end if; - Is_Elaborated := False; - Runtime_Finalize; - s_stalib_adafinal; - end adafinal; - - type No_Param_Proc is access procedure; - - procedure adainit is - Main_Priority : Integer; - pragma Import (C, Main_Priority, "__gl_main_priority"); - Time_Slice_Value : Integer; - pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); - WC_Encoding : Character; - pragma Import (C, WC_Encoding, "__gl_wc_encoding"); - Locking_Policy : Character; - pragma Import (C, Locking_Policy, "__gl_locking_policy"); - Queuing_Policy : Character; - pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); - Task_Dispatching_Policy : Character; - pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); - Priority_Specific_Dispatching : System.Address; - pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); - Num_Specific_Dispatching : Integer; - pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); - Main_CPU : Integer; - pragma Import (C, Main_CPU, "__gl_main_cpu"); - Interrupt_States : System.Address; - pragma Import (C, Interrupt_States, "__gl_interrupt_states"); - Num_Interrupt_States : Integer; - pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); - Unreserve_All_Interrupts : Integer; - pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); - Exception_Tracebacks : Integer; - pragma Import (C, Exception_Tracebacks, "__gl_exception_tracebacks"); - Detect_Blocking : Integer; - pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); - Default_Stack_Size : Integer; - pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); - Default_Secondary_Stack_Size : System.Parameters.Size_Type; - pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); - Leap_Seconds_Support : Integer; - pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); - Bind_Env_Addr : System.Address; - pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); - - procedure Runtime_Initialize (Install_Handler : Integer); - pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); - - Finalize_Library_Objects : No_Param_Proc; - pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); - Binder_Sec_Stacks_Count : Natural; - pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); - Default_Sized_SS_Pool : System.Address; - pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); - - begin - if Is_Elaborated then - return; - end if; - Is_Elaborated := True; - Main_Priority := -1; - Time_Slice_Value := -1; - WC_Encoding := 'b'; - Locking_Policy := ' '; - Queuing_Policy := ' '; - Task_Dispatching_Policy := ' '; - System.Restrictions.Run_Time_Restrictions := - (Set => - (False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, True, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False), - Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), - Violated => - (True, False, False, False, True, True, True, False, - True, False, False, True, True, True, True, False, - False, False, False, False, True, True, False, True, - True, False, True, True, True, True, False, False, - False, False, False, True, False, True, True, False, - True, False, True, True, False, True, False, True, - True, False, False, True, False, True, False, False, - False, False, False, False, False, True, True, True, - False, False, True, False, True, True, True, False, - True, True, False, True, True, True, True, False, - False, True, False, False, False, True, False, False, - False, False, True, False), - Count => (0, 0, 0, 2, 0, 0, 0, 0, 4, 0), - Unknown => (False, False, False, False, False, False, False, False, True, False)); - Priority_Specific_Dispatching := - Local_Priority_Specific_Dispatching'Address; - Num_Specific_Dispatching := 0; - Main_CPU := -1; - Interrupt_States := Local_Interrupt_States'Address; - Num_Interrupt_States := 0; - Unreserve_All_Interrupts := 0; - Exception_Tracebacks := 1; - Detect_Blocking := 0; - Default_Stack_Size := -1; - Leap_Seconds_Support := 0; - - ada_main'Elab_Body; - Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; - Binder_Sec_Stacks_Count := 1; - Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; - - Runtime_Initialize (1); - - Finalize_Library_Objects := finalize_library'access; - - System.Soft_Links'Elab_Spec; - System.Exception_Table'Elab_Body; - E027 := E027 + 1; - System.Exceptions'Elab_Spec; - E029 := E029 + 1; - System.Soft_Links.Initialize'Elab_Body; - E019 := E019 + 1; - E017 := E017 + 1; - Ada.Containers'Elab_Spec; - E208 := E208 + 1; - Ada.Io_Exceptions'Elab_Spec; - E121 := E121 + 1; - Gnat'Elab_Spec; - E158 := E158 + 1; - Interfaces.C'Elab_Spec; - E057 := E057 + 1; - Interfaces.C.Strings'Elab_Spec; - E221 := E221 + 1; - System.Os_Lib'Elab_Body; - E192 := E192 + 1; - Ada.Tags'Elab_Spec; - Ada.Tags'Elab_Body; - E091 := E091 + 1; - Ada.Streams'Elab_Spec; - E120 := E120 + 1; - System.File_Control_Block'Elab_Spec; - E195 := E195 + 1; - System.Finalization_Root'Elab_Spec; - E123 := E123 + 1; - Ada.Finalization'Elab_Spec; - E118 := E118 + 1; - System.File_Io'Elab_Body; - E190 := E190 + 1; - System.Storage_Pools'Elab_Spec; - E153 := E153 + 1; - System.Finalization_Masters'Elab_Spec; - System.Finalization_Masters'Elab_Body; - E149 := E149 + 1; - System.Storage_Pools.Subpools'Elab_Spec; - E237 := E237 + 1; - Ada.Calendar'Elab_Spec; - Ada.Calendar'Elab_Body; - E146 := E146 + 1; - Ada.Calendar.Delays'Elab_Body; - E213 := E213 + 1; - Ada.Real_Time'Elab_Spec; - Ada.Real_Time'Elab_Body; - E205 := E205 + 1; - Ada.Text_Io'Elab_Spec; - Ada.Text_Io'Elab_Body; - E186 := E186 + 1; - System.Pool_Global'Elab_Spec; - E155 := E155 + 1; - System.Pool_Size'Elab_Spec; - E225 := E225 + 1; - Gnat.Sockets'Elab_Spec; - E219 := E219 + 1; - E211 := E211 + 1; - Gnat.Sockets'Elab_Body; - E207 := E207 + 1; - System.Tasking.Initialization'Elab_Body; - E103 := E103 + 1; - System.Tasking.Protected_Objects'Elab_Body; - E113 := E113 + 1; - System.Tasking.Protected_Objects.Entries'Elab_Spec; - E115 := E115 + 1; - System.Tasking.Queuing'Elab_Body; - E111 := E111 + 1; - E127 := E127 + 1; - E125 := E125 + 1; - E140 := E140 + 1; - E137 := E137 + 1; - Aunit.Tests'Elab_Spec; - E147 := E147 + 1; - Aunit.Time_Measure'Elab_Spec; - E144 := E144 + 1; - Aunit.Test_Results'Elab_Spec; - E142 := E142 + 1; - Aunit.Assertions'Elab_Spec; - Aunit.Assertions'Elab_Body; - E135 := E135 + 1; - Aunit.Test_Filters'Elab_Spec; - Aunit.Simple_Test_Cases'Elab_Spec; - E133 := E133 + 1; - E131 := E131 + 1; - Aunit.Reporter'Elab_Spec; - E128 := E128 + 1; - Aunit.Reporter.Text'Elab_Spec; - E164 := E164 + 1; - Aunit.Test_Cases'Elab_Spec; - E241 := E241 + 1; - Aunit.Test_Suites'Elab_Spec; - E174 := E174 + 1; - E172 := E172 + 1; - byte_buffer'elab_spec; - byte_buffer'elab_body; - E182 := E182 + 1; - E231 := E231 + 1; - E197 := E197 + 1; - E184 := E184 + 1; - buffer_tests'elab_spec; - buffer_tests'elab_body; - E180 := E180 + 1; - buffer_suite'elab_body; - E178 := E178 + 1; - mailbox_tests'elab_spec; - mailbox_tests'elab_body; - E245 := E245 + 1; - mailbox_suite'elab_body; - E243 := E243 + 1; - pathfollowing_tests'elab_spec; - pathfollowing_tests'elab_body; - E249 := E249 + 1; - pathfollowing_suite'elab_body; - E247 := E247 + 1; - tcp_tests'elab_spec; - tcp_tests'elab_body; - E253 := E253 + 1; - tcp_suite'elab_body; - E251 := E251 + 1; - types_tests'elab_spec; - types_tests'elab_body; - E257 := E257 + 1; - types_suite'elab_body; - E255 := E255 + 1; - E176 := E176 + 1; - end adainit; - - procedure Ada_Main_Program; - pragma Import (Ada, Ada_Main_Program, "_ada_test_main"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer - is - procedure Initialize (Addr : System.Address); - pragma Import (C, Initialize, "__gnat_initialize"); - - procedure Finalize; - pragma Import (C, Finalize, "__gnat_finalize"); - SEH : aliased array (1 .. 2) of Integer; - - Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; - pragma Volatile (Ensure_Reference); - - begin - gnat_argc := argc; - gnat_argv := argv; - gnat_envp := envp; - - Initialize (SEH'Address); - adainit; - Ada_Main_Program; - adafinal; - Finalize; - return (gnat_exit_status); - end; - --- BEGIN Object file/option list - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/byte_buffer.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/mailbox.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/tcp_client.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/types.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/buffer_tests.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/buffer_suite.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/mailbox_tests.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/mailbox_suite.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/pathfollowing_tests.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/pathfollowing_suite.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/tcp_tests.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/tcp_suite.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/types_tests.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/types_suite.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/composite_suite.o - -- /Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/test_main.o - -- -L/Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/ - -- -L/Users/luyandamlangeni/Documents/RoboticsProject/autonomouscabs/test/ada/obj/ - -- -L/users/luyandamlangeni/opt/gnat/gnat_ada/lib/aunit/ - -- -L/users/luyandamlangeni/opt/gnat/gnat_ada/lib/gcc/x86_64-apple-darwin17.7.0/8.3.1/adalib/ - -- -static - -- -lgnarl - -- -lgnat --- END Object file/option list - -end ada_main; diff --git a/test/ada/obj/b__test_main.ads b/test/ada/obj/b__test_main.ads deleted file mode 100644 index a4c1e24..0000000 --- a/test/ada/obj/b__test_main.ads +++ /dev/null @@ -1,815 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -with System; -with System.Parameters; -with System.Secondary_Stack; -package ada_main is - - gnat_argc : Integer; - gnat_argv : System.Address; - gnat_envp : System.Address; - - pragma Import (C, gnat_argc); - pragma Import (C, gnat_argv); - pragma Import (C, gnat_envp); - - gnat_exit_status : Integer; - pragma Import (C, gnat_exit_status); - - GNAT_Version : constant String := - "GNAT Version: Community 2019 (20190517-83)" & ASCII.NUL; - pragma Export (C, GNAT_Version, "__gnat_version"); - - Ada_Main_Program_Name : constant String := "_ada_test_main" & ASCII.NUL; - pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); - - procedure adainit; - pragma Export (C, adainit, "adainit"); - - procedure adafinal; - pragma Export (C, adafinal, "adafinal"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer; - pragma Export (C, main, "main"); - - type Version_32 is mod 2 ** 32; - u00001 : constant Version_32 := 16#0d282f0b#; - pragma Export (C, u00001, "test_mainB"); - u00002 : constant Version_32 := 16#050ff2f0#; - pragma Export (C, u00002, "system__standard_libraryB"); - u00003 : constant Version_32 := 16#0f7d71d4#; - pragma Export (C, u00003, "system__standard_libraryS"); - u00004 : constant Version_32 := 16#76789da1#; - pragma Export (C, u00004, "adaS"); - u00005 : constant Version_32 := 16#510c5068#; - pragma Export (C, u00005, "ada__task_identificationB"); - u00006 : constant Version_32 := 16#c716434e#; - pragma Export (C, u00006, "ada__task_identificationS"); - u00007 : constant Version_32 := 16#085b6ffb#; - pragma Export (C, u00007, "systemS"); - u00008 : constant Version_32 := 16#a0d3d22b#; - pragma Export (C, u00008, "system__address_imageB"); - u00009 : constant Version_32 := 16#a9b7f2c1#; - pragma Export (C, u00009, "system__address_imageS"); - u00010 : constant Version_32 := 16#bd45c2cc#; - pragma Export (C, u00010, "system__secondary_stackB"); - u00011 : constant Version_32 := 16#4dcf97e2#; - pragma Export (C, u00011, "system__secondary_stackS"); - u00012 : constant Version_32 := 16#d90c4a0d#; - pragma Export (C, u00012, "ada__exceptionsB"); - u00013 : constant Version_32 := 16#16307b94#; - pragma Export (C, u00013, "ada__exceptionsS"); - u00014 : constant Version_32 := 16#5726abed#; - pragma Export (C, u00014, "ada__exceptions__last_chance_handlerB"); - u00015 : constant Version_32 := 16#41e5552e#; - pragma Export (C, u00015, "ada__exceptions__last_chance_handlerS"); - u00016 : constant Version_32 := 16#ae860117#; - pragma Export (C, u00016, "system__soft_linksB"); - u00017 : constant Version_32 := 16#4d58644d#; - pragma Export (C, u00017, "system__soft_linksS"); - u00018 : constant Version_32 := 16#75bf515c#; - pragma Export (C, u00018, "system__soft_links__initializeB"); - u00019 : constant Version_32 := 16#5697fc2b#; - pragma Export (C, u00019, "system__soft_links__initializeS"); - u00020 : constant Version_32 := 16#86dbf443#; - pragma Export (C, u00020, "system__parametersB"); - u00021 : constant Version_32 := 16#40b73bd0#; - pragma Export (C, u00021, "system__parametersS"); - u00022 : constant Version_32 := 16#41837d1e#; - pragma Export (C, u00022, "system__stack_checkingB"); - u00023 : constant Version_32 := 16#86e40413#; - pragma Export (C, u00023, "system__stack_checkingS"); - u00024 : constant Version_32 := 16#ced09590#; - pragma Export (C, u00024, "system__storage_elementsB"); - u00025 : constant Version_32 := 16#259825ff#; - pragma Export (C, u00025, "system__storage_elementsS"); - u00026 : constant Version_32 := 16#34742901#; - pragma Export (C, u00026, "system__exception_tableB"); - u00027 : constant Version_32 := 16#55f506b9#; - pragma Export (C, u00027, "system__exception_tableS"); - u00028 : constant Version_32 := 16#ce4af020#; - pragma Export (C, u00028, "system__exceptionsB"); - u00029 : constant Version_32 := 16#6038020d#; - pragma Export (C, u00029, "system__exceptionsS"); - u00030 : constant Version_32 := 16#69416224#; - pragma Export (C, u00030, "system__exceptions__machineB"); - u00031 : constant Version_32 := 16#d27d9682#; - pragma Export (C, u00031, "system__exceptions__machineS"); - u00032 : constant Version_32 := 16#aa0563fc#; - pragma Export (C, u00032, "system__exceptions_debugB"); - u00033 : constant Version_32 := 16#76d1963f#; - pragma Export (C, u00033, "system__exceptions_debugS"); - u00034 : constant Version_32 := 16#6c2f8802#; - pragma Export (C, u00034, "system__img_intB"); - u00035 : constant Version_32 := 16#0a808f39#; - pragma Export (C, u00035, "system__img_intS"); - u00036 : constant Version_32 := 16#39df8c17#; - pragma Export (C, u00036, "system__tracebackB"); - u00037 : constant Version_32 := 16#5679b13f#; - pragma Export (C, u00037, "system__tracebackS"); - u00038 : constant Version_32 := 16#9ed49525#; - pragma Export (C, u00038, "system__traceback_entriesB"); - u00039 : constant Version_32 := 16#0800998b#; - pragma Export (C, u00039, "system__traceback_entriesS"); - u00040 : constant Version_32 := 16#bb296fbb#; - pragma Export (C, u00040, "system__traceback__symbolicB"); - u00041 : constant Version_32 := 16#c84061d1#; - pragma Export (C, u00041, "system__traceback__symbolicS"); - u00042 : constant Version_32 := 16#701f9d88#; - pragma Export (C, u00042, "ada__exceptions__tracebackB"); - u00043 : constant Version_32 := 16#20245e75#; - pragma Export (C, u00043, "ada__exceptions__tracebackS"); - u00044 : constant Version_32 := 16#8c33a517#; - pragma Export (C, u00044, "system__wch_conB"); - u00045 : constant Version_32 := 16#13264d29#; - pragma Export (C, u00045, "system__wch_conS"); - u00046 : constant Version_32 := 16#9721e840#; - pragma Export (C, u00046, "system__wch_stwB"); - u00047 : constant Version_32 := 16#3e376128#; - pragma Export (C, u00047, "system__wch_stwS"); - u00048 : constant Version_32 := 16#a831679c#; - pragma Export (C, u00048, "system__wch_cnvB"); - u00049 : constant Version_32 := 16#1c91f7da#; - pragma Export (C, u00049, "system__wch_cnvS"); - u00050 : constant Version_32 := 16#5ab55268#; - pragma Export (C, u00050, "interfacesS"); - u00051 : constant Version_32 := 16#ece6fdb6#; - pragma Export (C, u00051, "system__wch_jisB"); - u00052 : constant Version_32 := 16#9ce1eefb#; - pragma Export (C, u00052, "system__wch_jisS"); - u00053 : constant Version_32 := 16#fde20231#; - pragma Export (C, u00053, "system__task_primitivesS"); - u00054 : constant Version_32 := 16#352452d1#; - pragma Export (C, u00054, "system__os_interfaceB"); - u00055 : constant Version_32 := 16#b9c37c0a#; - pragma Export (C, u00055, "system__os_interfaceS"); - u00056 : constant Version_32 := 16#769e25e6#; - pragma Export (C, u00056, "interfaces__cB"); - u00057 : constant Version_32 := 16#467817d8#; - pragma Export (C, u00057, "interfaces__cS"); - u00058 : constant Version_32 := 16#64ad9f76#; - pragma Export (C, u00058, "interfaces__c__extensionsS"); - u00059 : constant Version_32 := 16#b870d14d#; - pragma Export (C, u00059, "system__os_constantsS"); - u00060 : constant Version_32 := 16#7a0a06a1#; - pragma Export (C, u00060, "system__task_primitives__operationsB"); - u00061 : constant Version_32 := 16#1951cab5#; - pragma Export (C, u00061, "system__task_primitives__operationsS"); - u00062 : constant Version_32 := 16#89b55e64#; - pragma Export (C, u00062, "system__interrupt_managementB"); - u00063 : constant Version_32 := 16#1a73cd21#; - pragma Export (C, u00063, "system__interrupt_managementS"); - u00064 : constant Version_32 := 16#f65595cf#; - pragma Export (C, u00064, "system__multiprocessorsB"); - u00065 : constant Version_32 := 16#30f7f088#; - pragma Export (C, u00065, "system__multiprocessorsS"); - u00066 : constant Version_32 := 16#2b2125d3#; - pragma Export (C, u00066, "system__os_primitivesB"); - u00067 : constant Version_32 := 16#0fa60a0d#; - pragma Export (C, u00067, "system__os_primitivesS"); - u00068 : constant Version_32 := 16#e0fce7f8#; - pragma Export (C, u00068, "system__task_infoB"); - u00069 : constant Version_32 := 16#8841d2fa#; - pragma Export (C, u00069, "system__task_infoS"); - u00070 : constant Version_32 := 16#2281c1c8#; - pragma Export (C, u00070, "system__taskingB"); - u00071 : constant Version_32 := 16#34147ee0#; - pragma Export (C, u00071, "system__taskingS"); - u00072 : constant Version_32 := 16#3cdd1378#; - pragma Export (C, u00072, "system__unsigned_typesS"); - u00073 : constant Version_32 := 16#6ec3c867#; - pragma Export (C, u00073, "system__stack_usageB"); - u00074 : constant Version_32 := 16#3a3ac346#; - pragma Export (C, u00074, "system__stack_usageS"); - u00075 : constant Version_32 := 16#4e0ce0a1#; - pragma Export (C, u00075, "system__crtlS"); - u00076 : constant Version_32 := 16#d7aac20c#; - pragma Export (C, u00076, "system__ioB"); - u00077 : constant Version_32 := 16#961998b4#; - pragma Export (C, u00077, "system__ioS"); - u00078 : constant Version_32 := 16#1036f432#; - pragma Export (C, u00078, "system__tasking__debugB"); - u00079 : constant Version_32 := 16#de1ac8b1#; - pragma Export (C, u00079, "system__tasking__debugS"); - u00080 : constant Version_32 := 16#fd83e873#; - pragma Export (C, u00080, "system__concat_2B"); - u00081 : constant Version_32 := 16#0afbb82b#; - pragma Export (C, u00081, "system__concat_2S"); - u00082 : constant Version_32 := 16#2b70b149#; - pragma Export (C, u00082, "system__concat_3B"); - u00083 : constant Version_32 := 16#032b335e#; - pragma Export (C, u00083, "system__concat_3S"); - u00084 : constant Version_32 := 16#273384e4#; - pragma Export (C, u00084, "system__img_enum_newB"); - u00085 : constant Version_32 := 16#6917693b#; - pragma Export (C, u00085, "system__img_enum_newS"); - u00086 : constant Version_32 := 16#9dca6636#; - pragma Export (C, u00086, "system__img_lliB"); - u00087 : constant Version_32 := 16#19143a2a#; - pragma Export (C, u00087, "system__img_lliS"); - u00088 : constant Version_32 := 16#0b29e756#; - pragma Export (C, u00088, "system__tasking__utilitiesB"); - u00089 : constant Version_32 := 16#0f670827#; - pragma Export (C, u00089, "system__tasking__utilitiesS"); - u00090 : constant Version_32 := 16#d398a95f#; - pragma Export (C, u00090, "ada__tagsB"); - u00091 : constant Version_32 := 16#12a0afb8#; - pragma Export (C, u00091, "ada__tagsS"); - u00092 : constant Version_32 := 16#796f31f1#; - pragma Export (C, u00092, "system__htableB"); - u00093 : constant Version_32 := 16#8c99dc11#; - pragma Export (C, u00093, "system__htableS"); - u00094 : constant Version_32 := 16#089f5cd0#; - pragma Export (C, u00094, "system__string_hashB"); - u00095 : constant Version_32 := 16#2ec7b76f#; - pragma Export (C, u00095, "system__string_hashS"); - u00096 : constant Version_32 := 16#b8e72903#; - pragma Export (C, u00096, "system__val_lluB"); - u00097 : constant Version_32 := 16#51139e9a#; - pragma Export (C, u00097, "system__val_lluS"); - u00098 : constant Version_32 := 16#269742a9#; - pragma Export (C, u00098, "system__val_utilB"); - u00099 : constant Version_32 := 16#a4fbd905#; - pragma Export (C, u00099, "system__val_utilS"); - u00100 : constant Version_32 := 16#ec4d5631#; - pragma Export (C, u00100, "system__case_utilB"); - u00101 : constant Version_32 := 16#378ed9af#; - pragma Export (C, u00101, "system__case_utilS"); - u00102 : constant Version_32 := 16#0a1cacd7#; - pragma Export (C, u00102, "system__tasking__initializationB"); - u00103 : constant Version_32 := 16#fc2303e6#; - pragma Export (C, u00103, "system__tasking__initializationS"); - u00104 : constant Version_32 := 16#3b415298#; - pragma Export (C, u00104, "system__soft_links__taskingB"); - u00105 : constant Version_32 := 16#e939497e#; - pragma Export (C, u00105, "system__soft_links__taskingS"); - u00106 : constant Version_32 := 16#17d21067#; - pragma Export (C, u00106, "ada__exceptions__is_null_occurrenceB"); - u00107 : constant Version_32 := 16#e1d7566f#; - pragma Export (C, u00107, "ada__exceptions__is_null_occurrenceS"); - u00108 : constant Version_32 := 16#6213e14a#; - pragma Export (C, u00108, "system__tasking__task_attributesB"); - u00109 : constant Version_32 := 16#e81a3c25#; - pragma Export (C, u00109, "system__tasking__task_attributesS"); - u00110 : constant Version_32 := 16#2e4883f4#; - pragma Export (C, u00110, "system__tasking__queuingB"); - u00111 : constant Version_32 := 16#6dba2805#; - pragma Export (C, u00111, "system__tasking__queuingS"); - u00112 : constant Version_32 := 16#9fcf5d7f#; - pragma Export (C, u00112, "system__tasking__protected_objectsB"); - u00113 : constant Version_32 := 16#15001baf#; - pragma Export (C, u00113, "system__tasking__protected_objectsS"); - u00114 : constant Version_32 := 16#92cd7102#; - pragma Export (C, u00114, "system__tasking__protected_objects__entriesB"); - u00115 : constant Version_32 := 16#7daf93e7#; - pragma Export (C, u00115, "system__tasking__protected_objects__entriesS"); - u00116 : constant Version_32 := 16#100eaf58#; - pragma Export (C, u00116, "system__restrictionsB"); - u00117 : constant Version_32 := 16#4329b6aa#; - pragma Export (C, u00117, "system__restrictionsS"); - u00118 : constant Version_32 := 16#86c56e5a#; - pragma Export (C, u00118, "ada__finalizationS"); - u00119 : constant Version_32 := 16#10558b11#; - pragma Export (C, u00119, "ada__streamsB"); - u00120 : constant Version_32 := 16#67e31212#; - pragma Export (C, u00120, "ada__streamsS"); - u00121 : constant Version_32 := 16#92d882c5#; - pragma Export (C, u00121, "ada__io_exceptionsS"); - u00122 : constant Version_32 := 16#95817ed8#; - pragma Export (C, u00122, "system__finalization_rootB"); - u00123 : constant Version_32 := 16#47a91c6b#; - pragma Export (C, u00123, "system__finalization_rootS"); - u00124 : constant Version_32 := 16#b94060f8#; - pragma Export (C, u00124, "aunitB"); - u00125 : constant Version_32 := 16#76cdf7c6#; - pragma Export (C, u00125, "aunitS"); - u00126 : constant Version_32 := 16#b6c145a2#; - pragma Export (C, u00126, "aunit__memoryB"); - u00127 : constant Version_32 := 16#dea7c97b#; - pragma Export (C, u00127, "aunit__memoryS"); - u00128 : constant Version_32 := 16#17d955ab#; - pragma Export (C, u00128, "aunit__reporterS"); - u00129 : constant Version_32 := 16#e99cd447#; - pragma Export (C, u00129, "aunit__optionsS"); - u00130 : constant Version_32 := 16#e9d6512d#; - pragma Export (C, u00130, "aunit__test_filtersB"); - u00131 : constant Version_32 := 16#9a67cba8#; - pragma Export (C, u00131, "aunit__test_filtersS"); - u00132 : constant Version_32 := 16#6e9501f4#; - pragma Export (C, u00132, "aunit__simple_test_casesB"); - u00133 : constant Version_32 := 16#f9679d50#; - pragma Export (C, u00133, "aunit__simple_test_casesS"); - u00134 : constant Version_32 := 16#8872fb1a#; - pragma Export (C, u00134, "aunit__assertionsB"); - u00135 : constant Version_32 := 16#3b7b7e5b#; - pragma Export (C, u00135, "aunit__assertionsS"); - u00136 : constant Version_32 := 16#1dca5d24#; - pragma Export (C, u00136, "ada_containers__aunit_listsB"); - u00137 : constant Version_32 := 16#c8d9569a#; - pragma Export (C, u00137, "ada_containers__aunit_listsS"); - u00138 : constant Version_32 := 16#11329e00#; - pragma Export (C, u00138, "ada_containersS"); - u00139 : constant Version_32 := 16#9b1c7ff2#; - pragma Export (C, u00139, "aunit__memory__utilsB"); - u00140 : constant Version_32 := 16#fb2f6c57#; - pragma Export (C, u00140, "aunit__memory__utilsS"); - u00141 : constant Version_32 := 16#01adf261#; - pragma Export (C, u00141, "aunit__test_resultsB"); - u00142 : constant Version_32 := 16#1087836e#; - pragma Export (C, u00142, "aunit__test_resultsS"); - u00143 : constant Version_32 := 16#9df5edcf#; - pragma Export (C, u00143, "aunit__time_measureB"); - u00144 : constant Version_32 := 16#99399b1d#; - pragma Export (C, u00144, "aunit__time_measureS"); - u00145 : constant Version_32 := 16#fc54e290#; - pragma Export (C, u00145, "ada__calendarB"); - u00146 : constant Version_32 := 16#31350a81#; - pragma Export (C, u00146, "ada__calendarS"); - u00147 : constant Version_32 := 16#6b6cea8f#; - pragma Export (C, u00147, "aunit__testsS"); - u00148 : constant Version_32 := 16#d96e3c40#; - pragma Export (C, u00148, "system__finalization_mastersB"); - u00149 : constant Version_32 := 16#53a75631#; - pragma Export (C, u00149, "system__finalization_mastersS"); - u00150 : constant Version_32 := 16#7268f812#; - pragma Export (C, u00150, "system__img_boolB"); - u00151 : constant Version_32 := 16#fd821e10#; - pragma Export (C, u00151, "system__img_boolS"); - u00152 : constant Version_32 := 16#6d4d969a#; - pragma Export (C, u00152, "system__storage_poolsB"); - u00153 : constant Version_32 := 16#2bb6f156#; - pragma Export (C, u00153, "system__storage_poolsS"); - u00154 : constant Version_32 := 16#5a895de2#; - pragma Export (C, u00154, "system__pool_globalB"); - u00155 : constant Version_32 := 16#7141203e#; - pragma Export (C, u00155, "system__pool_globalS"); - u00156 : constant Version_32 := 16#e31b7c4e#; - pragma Export (C, u00156, "system__memoryB"); - u00157 : constant Version_32 := 16#512609cf#; - pragma Export (C, u00157, "system__memoryS"); - u00158 : constant Version_32 := 16#b5988c27#; - pragma Export (C, u00158, "gnatS"); - u00159 : constant Version_32 := 16#9c857b76#; - pragma Export (C, u00159, "gnat__source_infoS"); - u00160 : constant Version_32 := 16#ea75efa1#; - pragma Export (C, u00160, "gnat__tracebackB"); - u00161 : constant Version_32 := 16#b183b1eb#; - pragma Export (C, u00161, "gnat__tracebackS"); - u00162 : constant Version_32 := 16#4b271bfa#; - pragma Export (C, u00162, "gnat__traceback__symbolicS"); - u00163 : constant Version_32 := 16#9a578b55#; - pragma Export (C, u00163, "aunit__reporter__textB"); - u00164 : constant Version_32 := 16#28ca7b1a#; - pragma Export (C, u00164, "aunit__reporter__textS"); - u00165 : constant Version_32 := 16#b48102f5#; - pragma Export (C, u00165, "gnat__ioB"); - u00166 : constant Version_32 := 16#2a95b695#; - pragma Export (C, u00166, "gnat__ioS"); - u00167 : constant Version_32 := 16#b602a99c#; - pragma Export (C, u00167, "system__exn_intB"); - u00168 : constant Version_32 := 16#4ad773a7#; - pragma Export (C, u00168, "system__exn_intS"); - u00169 : constant Version_32 := 16#039168f8#; - pragma Export (C, u00169, "system__stream_attributesB"); - u00170 : constant Version_32 := 16#8bc30a4e#; - pragma Export (C, u00170, "system__stream_attributesS"); - u00171 : constant Version_32 := 16#e11af2d7#; - pragma Export (C, u00171, "aunit__runB"); - u00172 : constant Version_32 := 16#4b2a8016#; - pragma Export (C, u00172, "aunit__runS"); - u00173 : constant Version_32 := 16#276e73f2#; - pragma Export (C, u00173, "aunit__test_suitesB"); - u00174 : constant Version_32 := 16#f3c7e671#; - pragma Export (C, u00174, "aunit__test_suitesS"); - u00175 : constant Version_32 := 16#3e15f701#; - pragma Export (C, u00175, "composite_suiteB"); - u00176 : constant Version_32 := 16#28c47b3f#; - pragma Export (C, u00176, "composite_suiteS"); - u00177 : constant Version_32 := 16#1c722c17#; - pragma Export (C, u00177, "buffer_suiteB"); - u00178 : constant Version_32 := 16#d90da88b#; - pragma Export (C, u00178, "buffer_suiteS"); - u00179 : constant Version_32 := 16#cec9cd66#; - pragma Export (C, u00179, "buffer_testsB"); - u00180 : constant Version_32 := 16#6b3ced34#; - pragma Export (C, u00180, "buffer_testsS"); - u00181 : constant Version_32 := 16#ec10d536#; - pragma Export (C, u00181, "byte_bufferB"); - u00182 : constant Version_32 := 16#d863b3a6#; - pragma Export (C, u00182, "byte_bufferS"); - u00183 : constant Version_32 := 16#3842a026#; - pragma Export (C, u00183, "typesB"); - u00184 : constant Version_32 := 16#f05fd2f3#; - pragma Export (C, u00184, "typesS"); - u00185 : constant Version_32 := 16#f4e097a7#; - pragma Export (C, u00185, "ada__text_ioB"); - u00186 : constant Version_32 := 16#3913d0d6#; - pragma Export (C, u00186, "ada__text_ioS"); - u00187 : constant Version_32 := 16#73d2d764#; - pragma Export (C, u00187, "interfaces__c_streamsB"); - u00188 : constant Version_32 := 16#b1330297#; - pragma Export (C, u00188, "interfaces__c_streamsS"); - u00189 : constant Version_32 := 16#ec083f01#; - pragma Export (C, u00189, "system__file_ioB"); - u00190 : constant Version_32 := 16#af2a8e9e#; - pragma Export (C, u00190, "system__file_ioS"); - u00191 : constant Version_32 := 16#e4774a28#; - pragma Export (C, u00191, "system__os_libB"); - u00192 : constant Version_32 := 16#d8e681fb#; - pragma Export (C, u00192, "system__os_libS"); - u00193 : constant Version_32 := 16#2a8e89ad#; - pragma Export (C, u00193, "system__stringsB"); - u00194 : constant Version_32 := 16#684d436e#; - pragma Export (C, u00194, "system__stringsS"); - u00195 : constant Version_32 := 16#f5c4f553#; - pragma Export (C, u00195, "system__file_control_blockS"); - u00196 : constant Version_32 := 16#e772e15d#; - pragma Export (C, u00196, "tcp_clientB"); - u00197 : constant Version_32 := 16#c5619aa7#; - pragma Export (C, u00197, "tcp_clientS"); - u00198 : constant Version_32 := 16#6368532a#; - pragma Export (C, u00198, "system__tasking__protected_objects__operationsB"); - u00199 : constant Version_32 := 16#ba36ad85#; - pragma Export (C, u00199, "system__tasking__protected_objects__operationsS"); - u00200 : constant Version_32 := 16#891dbac0#; - pragma Export (C, u00200, "system__tasking__entry_callsB"); - u00201 : constant Version_32 := 16#6342024e#; - pragma Export (C, u00201, "system__tasking__entry_callsS"); - u00202 : constant Version_32 := 16#7382e823#; - pragma Export (C, u00202, "system__tasking__rendezvousB"); - u00203 : constant Version_32 := 16#5618a4d0#; - pragma Export (C, u00203, "system__tasking__rendezvousS"); - u00204 : constant Version_32 := 16#09924dd9#; - pragma Export (C, u00204, "ada__real_timeB"); - u00205 : constant Version_32 := 16#69ea8064#; - pragma Export (C, u00205, "ada__real_timeS"); - u00206 : constant Version_32 := 16#942614a0#; - pragma Export (C, u00206, "gnat__socketsB"); - u00207 : constant Version_32 := 16#9f5e3240#; - pragma Export (C, u00207, "gnat__socketsS"); - u00208 : constant Version_32 := 16#179d7d28#; - pragma Export (C, u00208, "ada__containersS"); - u00209 : constant Version_32 := 16#1de6b9ca#; - pragma Export (C, u00209, "gnat__sockets__linker_optionsS"); - u00210 : constant Version_32 := 16#b0810072#; - pragma Export (C, u00210, "gnat__sockets__thinB"); - u00211 : constant Version_32 := 16#d8662f96#; - pragma Export (C, u00211, "gnat__sockets__thinS"); - u00212 : constant Version_32 := 16#357666d8#; - pragma Export (C, u00212, "ada__calendar__delaysB"); - u00213 : constant Version_32 := 16#d86d2f1d#; - pragma Export (C, u00213, "ada__calendar__delaysS"); - u00214 : constant Version_32 := 16#ef2c0748#; - pragma Export (C, u00214, "gnat__os_libS"); - u00215 : constant Version_32 := 16#485b8267#; - pragma Export (C, u00215, "gnat__task_lockS"); - u00216 : constant Version_32 := 16#05c60a38#; - pragma Export (C, u00216, "system__task_lockB"); - u00217 : constant Version_32 := 16#69d15895#; - pragma Export (C, u00217, "system__task_lockS"); - u00218 : constant Version_32 := 16#c21c4ce8#; - pragma Export (C, u00218, "gnat__sockets__thin_commonB"); - u00219 : constant Version_32 := 16#ae33425a#; - pragma Export (C, u00219, "gnat__sockets__thin_commonS"); - u00220 : constant Version_32 := 16#27986d94#; - pragma Export (C, u00220, "interfaces__c__stringsB"); - u00221 : constant Version_32 := 16#603c1c44#; - pragma Export (C, u00221, "interfaces__c__stringsS"); - u00222 : constant Version_32 := 16#5de653db#; - pragma Export (C, u00222, "system__communicationB"); - u00223 : constant Version_32 := 16#113b3a29#; - pragma Export (C, u00223, "system__communicationS"); - u00224 : constant Version_32 := 16#637ab3c9#; - pragma Export (C, u00224, "system__pool_sizeB"); - u00225 : constant Version_32 := 16#097527a2#; - pragma Export (C, u00225, "system__pool_sizeS"); - u00226 : constant Version_32 := 16#0f9783a4#; - pragma Export (C, u00226, "system__val_intB"); - u00227 : constant Version_32 := 16#bda40698#; - pragma Export (C, u00227, "system__val_intS"); - u00228 : constant Version_32 := 16#383fd226#; - pragma Export (C, u00228, "system__val_unsB"); - u00229 : constant Version_32 := 16#09db6ec1#; - pragma Export (C, u00229, "system__val_unsS"); - u00230 : constant Version_32 := 16#b8eede7c#; - pragma Export (C, u00230, "mailboxB"); - u00231 : constant Version_32 := 16#03cef3bc#; - pragma Export (C, u00231, "mailboxS"); - u00232 : constant Version_32 := 16#bcec81df#; - pragma Export (C, u00232, "ada__containers__helpersB"); - u00233 : constant Version_32 := 16#4adfc5eb#; - pragma Export (C, u00233, "ada__containers__helpersS"); - u00234 : constant Version_32 := 16#020a3f4d#; - pragma Export (C, u00234, "system__atomic_countersB"); - u00235 : constant Version_32 := 16#bc074276#; - pragma Export (C, u00235, "system__atomic_countersS"); - u00236 : constant Version_32 := 16#2e260032#; - pragma Export (C, u00236, "system__storage_pools__subpoolsB"); - u00237 : constant Version_32 := 16#cc5a1856#; - pragma Export (C, u00237, "system__storage_pools__subpoolsS"); - u00238 : constant Version_32 := 16#84042202#; - pragma Export (C, u00238, "system__storage_pools__subpools__finalizationB"); - u00239 : constant Version_32 := 16#fe2f4b3a#; - pragma Export (C, u00239, "system__storage_pools__subpools__finalizationS"); - u00240 : constant Version_32 := 16#3d2551c0#; - pragma Export (C, u00240, "aunit__test_casesB"); - u00241 : constant Version_32 := 16#b9f05298#; - pragma Export (C, u00241, "aunit__test_casesS"); - u00242 : constant Version_32 := 16#45b6954c#; - pragma Export (C, u00242, "mailbox_suiteB"); - u00243 : constant Version_32 := 16#65089e03#; - pragma Export (C, u00243, "mailbox_suiteS"); - u00244 : constant Version_32 := 16#33e6d58e#; - pragma Export (C, u00244, "mailbox_testsB"); - u00245 : constant Version_32 := 16#54f215ed#; - pragma Export (C, u00245, "mailbox_testsS"); - u00246 : constant Version_32 := 16#54e95db7#; - pragma Export (C, u00246, "pathfollowing_suiteB"); - u00247 : constant Version_32 := 16#6509e0de#; - pragma Export (C, u00247, "pathfollowing_suiteS"); - u00248 : constant Version_32 := 16#bb4c851d#; - pragma Export (C, u00248, "pathfollowing_testsB"); - u00249 : constant Version_32 := 16#16da3ebe#; - pragma Export (C, u00249, "pathfollowing_testsS"); - u00250 : constant Version_32 := 16#cb940a6d#; - pragma Export (C, u00250, "tcp_suiteB"); - u00251 : constant Version_32 := 16#26df2448#; - pragma Export (C, u00251, "tcp_suiteS"); - u00252 : constant Version_32 := 16#c0d03c30#; - pragma Export (C, u00252, "tcp_testsB"); - u00253 : constant Version_32 := 16#a42125ca#; - pragma Export (C, u00253, "tcp_testsS"); - u00254 : constant Version_32 := 16#bdc52d37#; - pragma Export (C, u00254, "types_suiteB"); - u00255 : constant Version_32 := 16#164ee890#; - pragma Export (C, u00255, "types_suiteS"); - u00256 : constant Version_32 := 16#493f7427#; - pragma Export (C, u00256, "types_testsB"); - u00257 : constant Version_32 := 16#2bc9ef51#; - pragma Export (C, u00257, "types_testsS"); - - -- BEGIN ELABORATION ORDER - -- ada%s - -- interfaces%s - -- system%s - -- system.atomic_counters%s - -- system.atomic_counters%b - -- system.exn_int%s - -- system.exn_int%b - -- system.img_bool%s - -- system.img_bool%b - -- system.img_enum_new%s - -- system.img_enum_new%b - -- system.img_int%s - -- system.img_int%b - -- system.img_lli%s - -- system.img_lli%b - -- system.io%s - -- system.io%b - -- system.os_primitives%s - -- system.os_primitives%b - -- system.parameters%s - -- system.parameters%b - -- system.crtl%s - -- interfaces.c_streams%s - -- interfaces.c_streams%b - -- system.restrictions%s - -- system.restrictions%b - -- system.storage_elements%s - -- system.storage_elements%b - -- system.stack_checking%s - -- system.stack_checking%b - -- system.stack_usage%s - -- system.stack_usage%b - -- system.string_hash%s - -- system.string_hash%b - -- system.htable%s - -- system.htable%b - -- system.strings%s - -- system.strings%b - -- system.task_info%s - -- system.task_info%b - -- system.traceback_entries%s - -- system.traceback_entries%b - -- system.unsigned_types%s - -- system.wch_con%s - -- system.wch_con%b - -- system.wch_jis%s - -- system.wch_jis%b - -- system.wch_cnv%s - -- system.wch_cnv%b - -- system.concat_2%s - -- system.concat_2%b - -- system.concat_3%s - -- system.concat_3%b - -- system.traceback%s - -- system.traceback%b - -- system.secondary_stack%s - -- system.standard_library%s - -- ada.exceptions%s - -- system.exceptions_debug%s - -- system.exceptions_debug%b - -- system.soft_links%s - -- system.wch_stw%s - -- system.wch_stw%b - -- ada.exceptions.last_chance_handler%s - -- ada.exceptions.last_chance_handler%b - -- ada.exceptions.traceback%s - -- ada.exceptions.traceback%b - -- system.address_image%s - -- system.address_image%b - -- system.exception_table%s - -- system.exception_table%b - -- system.exceptions%s - -- system.exceptions%b - -- system.exceptions.machine%s - -- system.exceptions.machine%b - -- system.memory%s - -- system.memory%b - -- system.secondary_stack%b - -- system.soft_links.initialize%s - -- system.soft_links.initialize%b - -- system.soft_links%b - -- system.standard_library%b - -- system.traceback.symbolic%s - -- system.traceback.symbolic%b - -- ada.exceptions%b - -- ada.containers%s - -- ada.exceptions.is_null_occurrence%s - -- ada.exceptions.is_null_occurrence%b - -- ada.io_exceptions%s - -- gnat%s - -- gnat.io%s - -- gnat.io%b - -- gnat.source_info%s - -- interfaces.c%s - -- interfaces.c%b - -- interfaces.c.extensions%s - -- interfaces.c.strings%s - -- interfaces.c.strings%b - -- system.case_util%s - -- system.case_util%b - -- system.multiprocessors%s - -- system.multiprocessors%b - -- system.os_constants%s - -- system.os_interface%s - -- system.os_interface%b - -- system.interrupt_management%s - -- system.interrupt_management%b - -- system.os_lib%s - -- system.os_lib%b - -- gnat.os_lib%s - -- system.task_lock%s - -- system.task_lock%b - -- gnat.task_lock%s - -- system.task_primitives%s - -- system.tasking%s - -- system.task_primitives.operations%s - -- system.tasking.debug%s - -- system.tasking.debug%b - -- system.task_primitives.operations%b - -- system.tasking%b - -- system.val_util%s - -- system.val_util%b - -- system.val_llu%s - -- system.val_llu%b - -- ada.tags%s - -- ada.tags%b - -- ada.streams%s - -- ada.streams%b - -- system.communication%s - -- system.communication%b - -- system.file_control_block%s - -- system.finalization_root%s - -- system.finalization_root%b - -- ada.finalization%s - -- ada.containers.helpers%s - -- ada.containers.helpers%b - -- system.file_io%s - -- system.file_io%b - -- system.storage_pools%s - -- system.storage_pools%b - -- system.finalization_masters%s - -- system.finalization_masters%b - -- system.storage_pools.subpools%s - -- system.storage_pools.subpools.finalization%s - -- system.storage_pools.subpools.finalization%b - -- system.storage_pools.subpools%b - -- system.stream_attributes%s - -- system.stream_attributes%b - -- system.val_uns%s - -- system.val_uns%b - -- system.val_int%s - -- system.val_int%b - -- ada.calendar%s - -- ada.calendar%b - -- ada.calendar.delays%s - -- ada.calendar.delays%b - -- ada.real_time%s - -- ada.real_time%b - -- ada.text_io%s - -- ada.text_io%b - -- gnat.traceback%s - -- gnat.traceback%b - -- gnat.traceback.symbolic%s - -- system.pool_global%s - -- system.pool_global%b - -- system.pool_size%s - -- system.pool_size%b - -- gnat.sockets%s - -- gnat.sockets.linker_options%s - -- gnat.sockets.thin_common%s - -- gnat.sockets.thin_common%b - -- gnat.sockets.thin%s - -- gnat.sockets.thin%b - -- gnat.sockets%b - -- system.soft_links.tasking%s - -- system.soft_links.tasking%b - -- system.tasking.initialization%s - -- system.tasking.task_attributes%s - -- system.tasking.task_attributes%b - -- system.tasking.initialization%b - -- system.tasking.protected_objects%s - -- system.tasking.protected_objects%b - -- system.tasking.protected_objects.entries%s - -- system.tasking.protected_objects.entries%b - -- system.tasking.queuing%s - -- system.tasking.queuing%b - -- system.tasking.utilities%s - -- system.tasking.utilities%b - -- ada.task_identification%s - -- ada.task_identification%b - -- system.tasking.entry_calls%s - -- system.tasking.rendezvous%s - -- system.tasking.protected_objects.operations%s - -- system.tasking.protected_objects.operations%b - -- system.tasking.entry_calls%b - -- system.tasking.rendezvous%b - -- ada_containers%s - -- aunit%s - -- aunit.memory%s - -- aunit.memory%b - -- aunit%b - -- aunit.memory.utils%s - -- aunit.memory.utils%b - -- ada_containers.aunit_lists%s - -- ada_containers.aunit_lists%b - -- aunit.tests%s - -- aunit.time_measure%s - -- aunit.time_measure%b - -- aunit.test_results%s - -- aunit.test_results%b - -- aunit.assertions%s - -- aunit.assertions%b - -- aunit.test_filters%s - -- aunit.options%s - -- aunit.simple_test_cases%s - -- aunit.simple_test_cases%b - -- aunit.test_filters%b - -- aunit.reporter%s - -- aunit.reporter.text%s - -- aunit.reporter.text%b - -- aunit.test_cases%s - -- aunit.test_cases%b - -- aunit.test_suites%s - -- aunit.test_suites%b - -- aunit.run%s - -- aunit.run%b - -- types%s - -- byte_buffer%s - -- byte_buffer%b - -- mailbox%s - -- mailbox%b - -- tcp_client%s - -- tcp_client%b - -- types%b - -- buffer_tests%s - -- buffer_tests%b - -- buffer_suite%s - -- buffer_suite%b - -- mailbox_tests%s - -- mailbox_tests%b - -- mailbox_suite%s - -- mailbox_suite%b - -- pathfollowing_tests%s - -- pathfollowing_tests%b - -- pathfollowing_suite%s - -- pathfollowing_suite%b - -- tcp_tests%s - -- tcp_tests%b - -- tcp_suite%s - -- tcp_suite%b - -- types_tests%s - -- types_tests%b - -- types_suite%s - -- types_suite%b - -- composite_suite%s - -- composite_suite%b - -- test_main%b - -- END ELABORATION ORDER - -end ada_main; diff --git a/test/ada/obj/b__test_main.ali b/test/ada/obj/b__test_main.ali deleted file mode 100644 index 601846b..0000000 --- a/test/ada/obj/b__test_main.ali +++ /dev/null @@ -1,504 +0,0 @@ -V "GNAT Lib v2019" -A -gnatA -A -gnatA -A -gnatWb -A -gnatiw -A -gnatws -A -mtune=core2 -A -mmacosx-version-min=10.15.0 -A -fPIC -P ZX - -RN -RV NO_ACCESS_SUBPROGRAMS -RV NO_DEFAULT_INITIALIZATION -RV NO_IMPLEMENTATION_ATTRIBUTES -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV NO_ELABORATION_CODE -RV NO_OBSOLESCENT_FEATURES -RV SPARK_05 - -U ada_main%b b__test_main.adb 3f965bb3 OO PK IL -W ada%s ada.ads ada.ali -W ada.exceptions%s a-except.adb a-except.ali -W system%s system.ads system.ali -W system.restrictions%s s-restri.adb s-restri.ali - -U ada_main%s b__test_main.ads d8aa9422 EE NE OO PK IL -W system%s system.ads system.ali -W system.parameters%s s-parame.adb s-parame.ali -W system.secondary_stack%s s-secsta.adb s-secsta.ali - -D ada.ads 20190518041255 76789da1 ada%s -D a-except.ads 20190518041255 291912d5 ada.exceptions%s -D a-unccon.ads 20190518041255 0e9b276f ada.unchecked_conversion%s -D b__test_main.ads 20200707135751 b8a649c4 ada_main%s -D b__test_main.adb 20200707135751 b5b406d0 ada_main%b -D system.ads 20190518041255 085b6ffb system%s -D s-parame.ads 20190518041256 48ec542b system.parameters%s -D s-restri.ads 20190518041255 1b9d0672 system.restrictions%s -D s-rident.ads 20190518041256 50efdf23 system.rident%s -D s-secsta.ads 20190518041256 20bbe636 system.secondary_stack%s -D s-stalib.ads 20190518041256 09bd3940 system.standard_library%s -D s-stoele.ads 20190518041256 2dc34a04 system.storage_elements%s -D s-traent.ads 20190518041254 005bf670 system.traceback_entries%s -G a e -G c Z s b [adainit ada_main 26 14 none] -G c Z s b [adafinal ada_main 29 14 none] -G c Z s b [main ada_main 32 13 none] -G c Z b b [Tsec_default_sized_stacksBIP ada_main 75 4 none] -G c Z b b [finalize_library ada_main 82 14 none] -G c Z b b [ada_main_program ada_main 514 14 none] -X 1 ada.ads -16K9*Ada 20e8 5|8r6 -X 2 a-except.ads -54K13*Exceptions 349e19 5|8w10 -X 4 b__test_main.ads -6K9*ada_main 815l5 815e13 5|10b14 572l5 572t13 -8i4*gnat_argc{integer} 12m22 12r22 5|534m7 -9m4*gnat_argv{6|67M9} 13m22 13r22 5|535m7 -10m4*gnat_envp{6|67M9} 14m22 14r22 5|536m7 -16i4*gnat_exit_status{integer} 17m22 17r22 5|543r15 -19a4*GNAT_Version{string} 21r22 -23a4*Ada_Main_Program_Name{string} 24r22 5|530r52 -26U14*adainit 27i22 5|276b14 512l8 512t15 539s7 -29U14*adafinal 30i22 5|258b14 272l8 272t16 541s7 -32V13*main{integer} 33>7 34>7 35>7 37i22 5|517b13 544t7 -33i7 argc{integer} 5|518b7 534r20 -34m7 argv{6|67M9} 5|519b7 535r20 -35m7 envp{6|67M9} 5|520b7 536r20 -39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 -. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 -. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 -. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 -. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 -. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 -. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 -. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 -. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 -. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 -. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 -. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 -. 306r22 308r22 310r22 312r22 314r22 316r22 318r22 320r22 322r22 324r22 326r22 -. 328r22 330r22 332r22 334r22 336r22 338r22 340r22 342r22 344r22 346r22 348r22 -. 350r22 352r22 354r22 356r22 358r22 360r22 362r22 364r22 366r22 368r22 370r22 -. 372r22 374r22 376r22 378r22 380r22 382r22 384r22 386r22 388r22 390r22 392r22 -. 394r22 396r22 398r22 400r22 402r22 404r22 406r22 408r22 410r22 412r22 414r22 -. 416r22 418r22 420r22 422r22 424r22 426r22 428r22 430r22 432r22 434r22 436r22 -. 438r22 440r22 442r22 444r22 446r22 448r22 450r22 452r22 454r22 456r22 458r22 -. 460r22 462r22 464r22 466r22 468r22 470r22 472r22 474r22 476r22 478r22 480r22 -. 482r22 484r22 486r22 488r22 490r22 492r22 494r22 496r22 498r22 500r22 502r22 -. 504r22 506r22 508r22 510r22 512r22 514r22 516r22 518r22 520r22 522r22 524r22 -. 526r22 528r22 530r22 532r22 534r22 536r22 538r22 540r22 542r22 544r22 546r22 -. 548r22 550r22 552r22 -40m4*u00001{39M9} 41r22 -42m4*u00002{39M9} 43r22 -44m4*u00003{39M9} 45r22 -46m4*u00004{39M9} 47r22 -48m4*u00005{39M9} 49r22 -50m4*u00006{39M9} 51r22 -52m4*u00007{39M9} 53r22 -54m4*u00008{39M9} 55r22 -56m4*u00009{39M9} 57r22 -58m4*u00010{39M9} 59r22 -60m4*u00011{39M9} 61r22 -62m4*u00012{39M9} 63r22 -64m4*u00013{39M9} 65r22 -66m4*u00014{39M9} 67r22 -68m4*u00015{39M9} 69r22 -70m4*u00016{39M9} 71r22 -72m4*u00017{39M9} 73r22 -74m4*u00018{39M9} 75r22 -76m4*u00019{39M9} 77r22 -78m4*u00020{39M9} 79r22 -80m4*u00021{39M9} 81r22 -82m4*u00022{39M9} 83r22 -84m4*u00023{39M9} 85r22 -86m4*u00024{39M9} 87r22 -88m4*u00025{39M9} 89r22 -90m4*u00026{39M9} 91r22 -92m4*u00027{39M9} 93r22 -94m4*u00028{39M9} 95r22 -96m4*u00029{39M9} 97r22 -98m4*u00030{39M9} 99r22 -100m4*u00031{39M9} 101r22 -102m4*u00032{39M9} 103r22 -104m4*u00033{39M9} 105r22 -106m4*u00034{39M9} 107r22 -108m4*u00035{39M9} 109r22 -110m4*u00036{39M9} 111r22 -112m4*u00037{39M9} 113r22 -114m4*u00038{39M9} 115r22 -116m4*u00039{39M9} 117r22 -118m4*u00040{39M9} 119r22 -120m4*u00041{39M9} 121r22 -122m4*u00042{39M9} 123r22 -124m4*u00043{39M9} 125r22 -126m4*u00044{39M9} 127r22 -128m4*u00045{39M9} 129r22 -130m4*u00046{39M9} 131r22 -132m4*u00047{39M9} 133r22 -134m4*u00048{39M9} 135r22 -136m4*u00049{39M9} 137r22 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E255{short_integer} 72m46 72r46 510m7 510r15 -73i4 E176{short_integer} 73m46 73r46 511m7 511r15 -75a4 Sec_Default_Sized_Stacks(10|45R9) 380m32 380r32 -77a4 Local_Priority_Specific_Dispatching{string} 366r9 -78a4 Local_Interrupt_States{string} 369r27 -80b4 Is_Elaborated{boolean} 266r14 269m7 325r10 328m7 -82U14 finalize_library 82b14 256l8 256t24 384r35 -86U20*F1 87b30 89s10 -93U20*F2 94b30 96s10 -100U20*F3 101b30 103s10 -106U20*F4 107b30 110s10 -113U20*F5 114b30 116s10 -120U20*F6 121b30 123s10 -127U20*F7 128b30 130s10 -134U20*F8 135b30 137s10 -141U20*F9 142b30 144s10 -148U20*F10 149b30 151s10 -156U20*F11 157b30 159s10 -162U20*F12 163b30 165s10 -169U20*F13 170b30 172s10 -176U20*F14 177b30 179s10 -182U20*F15 183b30 186s10 -190U20*F16 191b30 -. 193s10 -196U20*F17 197b30 200s10 -203U20*F18 204b30 206s10 -210U20*F19 211b30 213s10 -217U20*F20 218b30 220s10 -224U20*F21 225b30 227s10 -231U20*F22 232b30 234s10 -238U20*F23 239b30 241s10 -244U20*F24 245b30 248s10 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75s29[16|6] 76s29[16|6] 77s29[16|6] -. 78s29[16|6] 79s29[16|6] 80s29[16|6] 81s29[16|6] 82s29[16|6] 91s33[16|6] -431U14*Append 17|7s19[16|6] 13s19[16|6] 14s19[16|6] 20s19[16|6] 21s19[16|6] -. 22s19[16|6] 23s19[16|6] 29s19[16|6] 30s19[16|6] 31s19[16|6] 32s19[16|6] -. 33s19[16|6] 34s19[16|6] 35s19[16|6] 36s19[16|6] 42s22[16|6] -X 10 a-iteint.ads -24h9 Forward_Iterator -32h9 Reversible_Iterator<24R9[6|111]> -X 16 byte_buffer.ads -4K9*byte_buffer 33l5 33e16 17|3b14 118l5 118t16 -6K12*Byte_Vector[6|73] 8r8 12r16 -11R9*Buffer 14e14 16p14 16r41 17p14 17r42 18p14 18r42 19p14 19r42 20p14 20r43 -. 22p14 22r40 23p14 23r41 24p14 24r41 25p14 25r41 26p14 26r42 28p13 28r33 -. 29p13 29r38 30p13 30r39 31p14 31r36 17|5r41 10r42 17r42 26r42 39r43 46r40 -. 52r41 61r41 72r41 87r42 97r33 102r38 107r39 112r36 -12r7*Buffer{6|88R9[6]} 17|7m12 13m12 14m12 20m12 21m12 22m12 23m12 29m12 -. 30m12 31m12 32m12 33m12 34m12 35m12 36m12 42m15 48r19 55r22 56r22 64r22 -. 65r22 66r22 67r22 75r22 76r22 77r22 78r22 79r22 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-30V13*bytes_read{51|8M9} 30=25 17|104s31 107b13 110l8 110t18 -30r25 Self{11R9} 17|107b25 109r28 -31U14*unwind 31=22 31>44 17|112b14 115l8 115t14 -31r22 Self{11R9} 17|112b22 114m7 114r34 -31m44 Bytes{51|8M9} 17|112b44 114r56 -X 17 byte_buffer.adb -11a7 o2{51|11A9} 13r27 14r27 -18a7 o4{51|12A9} 20r27 21r27 22r27 23r27 -27a7 o8{51|13A9} 29r27 30r27 31r27 32r27 33r27 34r27 35r27 36r27 -41m11 I<18|74M9> 42r35 -53a7 o2{51|11A9} 55m7 56m7 57r38 -62a7 o4{51|12A9} 64m7 65m7 66m7 67m7 68r38 -73a7 o8{51|13A9} 75m7 76m7 77m7 78m7 79m7 80m7 81m7 82m7 83r38 -88i7 count{integer} 91r55 92m10 92r19 94r34 -90m11 I<18|74M9> 91r15 -X 18 interfac.ads -63M9*Unsigned_8 -66M9*Unsigned_16 -74M9*Unsigned_32 -77M9*Unsigned_64 -X 20 system.ads -67M9*Address -X 28 s-memory.ads -53V13*Alloc{20|67M9} 103i22 -68U14*Free 104i22 -76V13*Realloc{20|67M9} 105i22 -X 37 s-stausa.ads -203U14*Initialize 204i22 -268U14*Output_Results 272i22 -X 39 s-stalib.adb -93U14 Break_Start 94i22 -X 51 types.ads -4K9*types 16|2w6 2r17 7r46 16r58 17r59 18r59 19r59 20r64 22r58 23r59 24r59 -. 25r59 26r63 28r48 29r53 30r54 31r55 17|1w6 5r58 10r59 11r12 11r30 17r59 -. 18r12 18r30 26r59 27r12 27r30 39r64 46r58 52r59 53r12 57r14 61r59 62r12 -. 68r14 72r59 73r12 83r14 87r63 97r48 99r14 102r53 107r54 109r14 112r55 51|45e10 -6M9*uint8<18|63M9> 16|7r52 16r64 22r64 17|5r64 46r64 -7M9*uint16<18|66M9> 16|17r65 23r65 17|10r65 52r65 -8M9*uint32<18|74M9> 16|18r65 24r65 28r54 29r59 30r60 31r61 17|17r65 61r65 -. 97r54 99r20 102r59 107r60 109r20 112r61 -9M9*uint64<18|77M9> 16|19r65 25r65 17|26r65 72r65 -11A9*Octets_2(6M9)<8M9> 17|11r18 53r18 -12A9*Octets_4(6M9)<8M9> 17|18r18 62r18 -13A9*Octets_8(6M9)<8M9> 17|27r18 73r18 -15A9*payload(6M9)<8M9> 16|20r70 26r69 17|39r70 87r69 -25V13*uint16_to_octets{11A9} 17|11s36 -26V13*uint32_to_octets{12A9} 17|18s36 -27V13*uint64_to_octets{13A9} 17|27s36 -29V13*octets_to_uint16{7M9} 17|57s20 -30V13*octets_to_uint32{8M9} 17|68s20 -31V13*octets_to_uint64{9M9} 17|83s20 - diff --git 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Object_File_Suffix ("asm_cpp") use "-"; - for Object_File_Suffix ("asm") use "-"; - for Object_File_Suffix ("gnat expanded code") use "-"; - for Object_File_Suffix ("java") use "-"; - for Object_File_Suffix ("javascript") use "-"; - for Object_File_Suffix ("tcl") use "-"; - for Object_File_Suffix ("shell") use "-"; - for Object_File_Suffix ("makefile") use "-"; - for Object_File_Suffix ("m4") use "-"; - for Object_File_Suffix ("fortran 90") use "-"; - for Object_File_Suffix ("pascal") use "-"; - for Object_File_Suffix ("perl") use "-"; - for Object_File_Suffix ("awk") use "-"; - for Object_File_Suffix ("autoconf") use "-"; - for Object_File_Suffix ("rest") use "-"; - for Object_File_Suffix ("texinfo") use "-"; - for Object_File_Suffix ("project file") use "-"; - for Object_File_Suffix ("changelog") use "-"; - for Object_File_Suffix ("qgen") use "-"; - for Object_File_Suffix ("simulink") use "-"; - for Object_File_Suffix ("python") use ".pyc"; - for Object_File_Suffix ("css") use "-"; - for Object_File_Suffix ("c++") use ".o"; - for Object_File_Suffix ("c") use ".o"; - for Object_File_Suffix ("ada") use ".o"; - end Compiler; - - package Naming is - for Spec_Suffix ("ada") use ".ads"; - for Body_Suffix ("ada") use ".adb"; - for Spec_Suffix ("c") use ".h"; - for Body_Suffix ("c") use ".c"; - for Spec_Suffix ("c++") use ".hh"; - for Body_Suffix ("c++") use ".cpp"; - for Dot_Replacement use "-"; - for Casing use "lowercase"; - for Spec_Suffix ("html") use ".html"; - for Body_Suffix ("xml") use ".xml"; - for Body_Suffix ("matlab") use ".m"; - for Spec_Suffix ("c#") use ".cs"; - for Body_Suffix ("asm2") use ".asm"; - for Body_Suffix ("asm_cpp") use ".S"; - for Body_Suffix ("asm") use ".s"; - for Body_Suffix ("gnat expanded code") use ".dg"; - for Body_Suffix ("java") use ".java"; - for Body_Suffix ("javascript") use ".js"; - for Body_Suffix ("tcl") use ".tcl"; - for Body_Suffix ("shell") use ".sh"; - for Body_Suffix ("m4") use ".m4"; - for Body_Suffix ("fortran 90") use ".f"; - for Body_Suffix ("pascal") use ".pas"; - for Body_Suffix ("perl") use ".pl"; - for Body_Suffix ("awk") use ".awk"; - for Body_Suffix ("autoconf") use "configure.in"; - for Body_Suffix ("rest") use ".rst"; - for Body_Suffix ("texinfo") use ".texi"; - for Body_Suffix ("project file") use ".gpr"; - for Spec_Suffix ("changelog") use ".changelog"; - for Body_Suffix ("qgen") use ".xmi"; - for Spec_Suffix ("simulink") use ".slx"; - for Body_Suffix ("simulink") use ".mdl"; - for Body_Suffix ("python") use ".py"; - for Body_Suffix ("css") use ".css"; - for Spec_Suffix ("c++") use ".hh"; - for Body_Suffix ("c++") use ".cpp"; - for Spec_Suffix ("c") use ".h"; - for Body_Suffix ("c") use ".c"; - for Spec_Suffix ("ada") use ".ads"; - for Body_Suffix ("ada") use ".adb"; - end Naming; - - for Library_Support use "full"; - -end _Auto; - diff --git a/test/ada/obj/mailbox.adb.stderr b/test/ada/obj/mailbox.adb.stderr deleted file mode 100644 index e69de29..0000000 diff --git a/test/ada/obj/mailbox.adb.stdout b/test/ada/obj/mailbox.adb.stdout deleted file mode 100644 index e69de29..0000000 diff --git a/test/ada/obj/mailbox.ali b/test/ada/obj/mailbox.ali deleted file mode 100644 index 1708b58..0000000 --- a/test/ada/obj/mailbox.ali +++ /dev/null @@ -1,142 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -gnatQ -A -gnatf -A -gnato -A -gnat2012 -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV SIMPLE_BARRIERS -RV NO_DELAY -RV NO_DIRECT_BOOLEAN_OPERATORS -RV NO_EXCEPTION_HANDLERS -RV NO_EXCEPTION_PROPAGATION -RV NO_EXCEPTIONS -RV NO_FIXED_POINT -RV NO_IMPLICIT_CONDITIONALS -RV NO_PROTECTED_TYPES -RV NO_RECURSION -RV NO_RELATIVE_DELAY -RV NO_SELECT_STATEMENTS -RV NO_STANDARD_STORAGE_POOLS -RV NO_DYNAMIC_SIZED_OBJECTS -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV SPARK_05 -RV MAX_PROTECTED_ENTRIES=2 -RV MAX_ENTRY_QUEUE_LENGTH=1+ - -U mailbox%b mailbox.adb f7cc1da6 NE OO PK IL -Z ada.calendar.delays%s a-caldel.adb a-caldel.ali -Z ada.tags%s a-tags.adb a-tags.ali -Z system%s system.ads system.ali -Z system.soft_links%s s-soflin.adb s-soflin.ali -Z system.tasking%s s-taskin.adb s-taskin.ali -Z system.tasking.protected_objects%s s-taprob.adb s-taprob.ali -Z system.tasking.protected_objects.entries%s s-tpoben.adb s-tpoben.ali -Z system.tasking.protected_objects.operations%s s-tpobop.adb s-tpobop.ali - -U mailbox%s mailbox.ads ab2e415b EE NE OO PK IL -W ada%s ada.ads ada.ali -Z ada.exceptions%s a-except.adb a-except.ali -W ada.real_time%s a-reatim.adb a-reatim.ali -Z ada.tags%s a-tags.adb a-tags.ali -Z system%s system.ads system.ali -Z system.tasking%s s-taskin.adb s-taskin.ali -Z system.tasking.protected_objects%s s-taprob.adb s-taprob.ali -Z system.tasking.protected_objects.entries%s s-tpoben.adb s-tpoben.ali -W types%s types.adb types.ali - -D ada.ads 20200312110721 76789da1 ada%s -D a-calend.ads 20200312110721 b288ede8 ada.calendar%s -D a-caldel.ads 20200312110721 9f20b83d ada.calendar.delays%s -D a-except.ads 20200312110721 291912d5 ada.exceptions%s -D a-finali.ads 20200312110721 bf4f806b ada.finalization%s -D a-reatim.ads 20200312110721 0240fc73 ada.real_time%s -D a-stream.ads 20200312110721 119b8fb3 ada.streams%s -D a-tags.ads 20200312110721 491b781d ada.tags%s -D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D interfac.ads 20200312110721 5ab55268 interfaces%s -D i-c.ads 20200312110721 5421119b interfaces.c%s -D mailbox.ads 20200624154551 01c4c1c0 mailbox%s -D mailbox.adb 20200706162034 f608dc66 mailbox%b -D system.ads 20200312110721 4635ec04 system%s -D s-atacco.ads 20200312110721 4c36d12f system.address_to_access_conversions%s -D s-exctab.ads 20200312110721 54135002 system.exception_table%s -D s-finroo.ads 20200312110721 4ff27390 system.finalization_root%s -D s-linux.ads 20200312110721 ed0b8aee system.linux%s -D s-multip.ads 20200312110721 38ac9f73 system.multiprocessors%s -D s-oscons.ads 20200409103809 0b994636 system.os_constants%s -D s-osinte.ads 20200312110721 710cf8c6 system.os_interface%s -D s-parame.ads 20200312110721 48ec542b system.parameters%s -D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s -D s-soflin.ads 20200312110721 a7318a92 system.soft_links%s -D s-stache.ads 20200312110721 a37c21ec system.stack_checking%s -D s-stausa.ads 20200312110721 017a0a05 system.stack_usage%s -D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s -D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s -D s-tasinf.ads 20200312110721 2b3f8252 system.task_info%s -D s-taspri.ads 20200312110721 f40ac08d system.task_primitives%s -D s-taprop.ads 20200312110721 1dd2e1b6 system.task_primitives.operations%s -D s-taskin.ads 20200312110721 b9d612e2 system.tasking%s -D s-taprob.ads 20200312110721 acd6094d system.tasking.protected_objects%s -D s-tpoben.ads 20200312110721 60ad3dae system.tasking.protected_objects.entries%s -D s-tpobop.ads 20200312110721 5f548bb3 system.tasking.protected_objects.operations%s -D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s -D s-unstyp.ads 20200312110721 34867c83 system.unsigned_types%s -D types.ads 20200624154551 a8aa7ce8 types%s -X 1 ada.ads -16K9*Ada 20e8 12|2r6 2r25 13|63r11 63r54 -X 6 a-reatim.ads -39K13*Real_Time 185e18 12|2w10 2r29 13|63r15 63r58 -49O9*Time 12|22r44 13|61r44 -54O9*Time_Span -61V13*Clock{49O9} 13|63s25 -71V14*"-"{54O9} 13|63s31 -107V14*">="{boolean} 13|63r51 -119V13*Milliseconds{54O9} 13|63s68 -X 10 interfac.ads -63M9*Unsigned_8 -X 12 mailbox.ads -4K9*mailbox 24l5 24e12 13|1b14 70l5 70t12 -6A9*Mail_List(38|18R9)<38|6M9> 14r14 -8W19*Mailbox 8d28 14E7 16l8 16e15 18r45 18r70 13|3b19 31l8 31t15 33r45 33r70 -8m28 Size{38|6M9} 14r27 13|16r67 -9U17 Clear 13|4b17 15l11 15t16 -10Y13 Deposit 10>21 13|16b13 20l11 20t18 -10r21 X{38|18R9} 13|18r29 -11Y13 Collect 11<21 13|21b13 26l11 26t18 37s19 44s20 -11r21 X{38|18R9} 13|23m10 -12U17 View_Inbox 12<28 13|27b17 30l11 30t21 -12m28 Remaining_Items{38|6M9} 13|27b28 29m10 -14a7 Items{6A9} 13|7r22 9r29 11r19 11r37 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37.26876740901197 + orientation 0.9339520084592416 0.3387996299009215 0.11379128557999144 5.178062307917623 + position 21.916190319100764 82.42566410958368 97.13862151283939 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation 46.27713665060922 0.3986697073979106 59.48896291699482 - rotation 0.0001289421129996676 -0.9999999852212113 0.00011371679209055225 1.488814589352719 + translation 52.20049228659902 0.3986697731266905 57.69351543241373 + rotation -0.00011531808680313831 0.9999999865352619 -0.00011675279433232985 -1.5785892208758237 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -350,7 +350,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 4470.117818638343 + position 4673.365724420335 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +361,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation -0.7013288316245213 0.7007705669349262 -0.1306081255124883 3.4015432099141196 + rotation -0.5240094344410049 0.5235923177461345 0.6717627538156975 1.9578105925033598 children [ DEF wheel Shape { appearance PBRAppearance { @@ -379,13 +379,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1959642792321863 -1.7945900760513174e-06 0.09827659625293826 - angularVelocity 0.3275647544332276 -8.81960255969386e-07 3.9865627213993315 + linearVelocity -1.1999648399931955 -4.0924879145822026e-07 -0.00935222361152099 + angularVelocity -0.031169285296947857 -2.9633722925248624e-06 3.9998793381587117 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 4470.10952846818 + position 4673.358075102443 anchor 0.55 -0.1 -0.7 } device [ @@ -396,7 +396,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -0.7010502946357651 0.7004922516643677 -0.13356305533077326 3.4073561951620324 + rotation -0.5258681580732028 0.5254495618159305 0.6688538243234793 1.9618260245632584 children [ DEF wheel Shape { appearance PBRAppearance { @@ -414,13 +414,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1959649854163426 -1.9588945856035484e-06 0.09826149840214213 - angularVelocity 0.32756291842273755 7.783981775060306e-07 3.9865625991050426 + linearVelocity -1.1999637405208126 -2.31741951663756e-07 -0.009350822558000111 + angularVelocity -0.03116915113816748 -3.1399545537002237e-06 3.999878774145318 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 4137.99802315868 + position 4311.893310542798 anchor -0.55 -0.1 -0.7 } device [ @@ -431,7 +431,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0.695181508645839 -0.6946281372861582 -0.18497140570168555 3.507685845069095 + rotation 0.588389058831542 -0.5879206953186195 0.5551104137587433 2.127400101948532 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,13 +449,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1959814340434212 1.6419900044106541e-06 0.09826251512207256 - angularVelocity 0.3275656185038583 -2.045730078136937e-06 3.9865645674267505 + linearVelocity -1.1999622379996542 2.633039533681472e-07 -0.009350439836926312 + angularVelocity -0.03117284976079755 4.304808796020019e-06 3.9998779751962323 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 4137.993758912105 + position 4311.88929011194 anchor -0.55 -0.1 0.55 } device [ @@ -466,7 +466,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0.6953845573240865 -0.6948310243356505 -0.18343981317002844 3.5047209834107185 + rotation 0.5876574106133557 -0.5871896294996561 0.55665708183698 2.1250359918798023 children [ DEF wheel Shape { appearance PBRAppearance { @@ -484,8 +484,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1959784460842164 1.806211255586902e-06 0.09827772077698448 - angularVelocity 0.3275681114308558 -3.832412951391357e-06 3.9865697603415993 + linearVelocity -1.1999635863138123 8.596601965420519e-08 -0.009351805439346453 + angularVelocity -0.031173018785481312 4.464480910911486e-06 3.9998786649059443 } } DEF car_body Shape { @@ -507,8 +507,8 @@ DEF Cab2 Robot { ] controller "controller" controllerArgs "5555" - linearVelocity -1.1959721472688265 -6.61934533671364e-08 0.09827112200173185 - angularVelocity 3.305601002015311e-06 1.6007229917141116e-05 -4.061048547237138e-07 + linearVelocity -1.1999636152858821 -8.387599970969031e-08 -0.009351376356254633 + angularVelocity 4.5539023203460823e-07 -1.3083990508850912e-06 1.4830588170451184e-07 } DEF environment Solid { scale 1.09819 1.09819 1.09819 From bb25696cbfc050cdf2af70b55f1095935187b388 Mon Sep 17 00:00:00 2001 From: Yue Date: Thu, 9 Jul 2020 23:10:05 +0200 Subject: [PATCH 18/25] remove unworking ada/test --- test/ada/Makefile | 5 - test/ada/ada.gpr | 26 --- test/ada/empty-loc.xml | 46 ----- test/ada/gnatinspect.db | Bin 602112 -> 0 bytes test/ada/src/.DS_Store | Bin 6148 -> 0 bytes test/ada/src/buffer_suite/buffer_suite.adb | 19 -- test/ada/src/buffer_suite/buffer_suite.ads | 7 - test/ada/src/buffer_suite/buffer_tests.adb | 90 --------- test/ada/src/buffer_suite/buffer_tests.ads | 22 --- test/ada/src/composite_suite.adb | 26 --- test/ada/src/composite_suite.ads | 6 - test/ada/src/mailbox_suite/mailbox_suite.adb | 17 -- test/ada/src/mailbox_suite/mailbox_suite.ads | 8 - test/ada/src/mailbox_suite/mailbox_tests.adb | 176 ------------------ test/ada/src/mailbox_suite/mailbox_tests.ads | 39 ---- .../pathfollowing_suite.adb | 19 -- .../pathfollowing_suite.ads | 7 - .../pathfollowing_tests.adb | 29 --- .../pathfollowing_tests.ads | 22 --- test/ada/src/tcp_suite/tcp_suite.adb | 19 -- test/ada/src/tcp_suite/tcp_suite.ads | 7 - test/ada/src/tcp_suite/tcp_tests.adb | 47 ----- test/ada/src/tcp_suite/tcp_tests.ads | 22 --- test/ada/src/test_main.adb | 12 -- test/ada/src/types_suite/types_suite.adb | 19 -- test/ada/src/types_suite/types_suite.ads | 7 - test/ada/src/types_suite/types_tests.adb | 168 ----------------- test/ada/src/types_suite/types_tests.ads | 31 --- webots/controllers/controller/picture.png | Bin 442 -> 0 bytes 29 files changed, 896 deletions(-) delete mode 100644 test/ada/Makefile delete mode 100644 test/ada/ada.gpr delete mode 100644 test/ada/empty-loc.xml delete mode 100644 test/ada/gnatinspect.db delete mode 100644 test/ada/src/.DS_Store delete mode 100644 test/ada/src/buffer_suite/buffer_suite.adb delete mode 100644 test/ada/src/buffer_suite/buffer_suite.ads delete mode 100644 test/ada/src/buffer_suite/buffer_tests.adb delete mode 100644 test/ada/src/buffer_suite/buffer_tests.ads delete mode 100644 test/ada/src/composite_suite.adb delete mode 100644 test/ada/src/composite_suite.ads delete mode 100644 test/ada/src/mailbox_suite/mailbox_suite.adb delete mode 100644 test/ada/src/mailbox_suite/mailbox_suite.ads delete mode 100644 test/ada/src/mailbox_suite/mailbox_tests.adb delete mode 100644 test/ada/src/mailbox_suite/mailbox_tests.ads delete mode 100644 test/ada/src/pathfollowing_suite/pathfollowing_suite.adb delete mode 100644 test/ada/src/pathfollowing_suite/pathfollowing_suite.ads delete mode 100644 test/ada/src/pathfollowing_suite/pathfollowing_tests.adb delete mode 100644 test/ada/src/pathfollowing_suite/pathfollowing_tests.ads delete mode 100644 test/ada/src/tcp_suite/tcp_suite.adb delete mode 100644 test/ada/src/tcp_suite/tcp_suite.ads delete mode 100644 test/ada/src/tcp_suite/tcp_tests.adb delete mode 100644 test/ada/src/tcp_suite/tcp_tests.ads delete mode 100644 test/ada/src/test_main.adb delete mode 100644 test/ada/src/types_suite/types_suite.adb delete mode 100644 test/ada/src/types_suite/types_suite.ads delete mode 100644 test/ada/src/types_suite/types_tests.adb delete mode 100644 test/ada/src/types_suite/types_tests.ads delete mode 100644 webots/controllers/controller/picture.png diff --git a/test/ada/Makefile b/test/ada/Makefile deleted file mode 100644 index f01e827..0000000 --- a/test/ada/Makefile +++ /dev/null @@ -1,5 +0,0 @@ -all: - gprbuild -p -Pada -clean: - -gprclean -Pada - rm -rf ada/obj/* diff --git a/test/ada/ada.gpr b/test/ada/ada.gpr deleted file mode 100644 index d5d7d27..0000000 --- a/test/ada/ada.gpr +++ /dev/null @@ -1,26 +0,0 @@ -limited with "../../../../GNAT/share/gpr/aunit.gpr"; - ---with "aunit.gpr"; - -project Ada is - - for Source_Dirs use ("src/**", "../../external/controller/src/backend_thread/**", "../../external/controller/src/tcp_client/**", "../../external/controller/src/webots_thread/**", "src/mailbox_suite/**"); - for Object_Dir use "obj"; - for Main use ("test_main.adb"); - for Exec_Dir use "."; - - package Linker is - for Default_Switches ("ada") use ("-g"); - end Linker; - - package Binder is - for Default_Switches ("ada") use ("-E", "-static"); - end Binder; - - package Compiler is - for Default_Switches ("ada") use ("-gnatQ", "-gnatf", "-gnato", "-gnat2012"); - end Compiler; - -end Ada; - - diff --git a/test/ada/empty-loc.xml b/test/ada/empty-loc.xml deleted file mode 100644 index 8cad2e0..0000000 --- a/test/ada/empty-loc.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/webots_thread/webots_thread.ads - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/main.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/external_controller.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/controller/src/Path/pathfollowing.adb - - - - /home/kingmoon/Documents/Github/autonomouscabs/test/ada/ada.gpr - - - - /home/kingmoon/Documents/Github/autonomouscabs/external/harness/harness.gpr - - - - 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a/test/ada/src/buffer_suite/buffer_suite.ads b/test/ada/src/buffer_suite/buffer_suite.ads deleted file mode 100644 index d29238c..0000000 --- a/test/ada/src/buffer_suite/buffer_suite.ads +++ /dev/null @@ -1,7 +0,0 @@ -with AUnit.Test_Suites; - -package buffer_suite is - - function Suite return AUnit.Test_Suites.Access_Test_Suite; - -end buffer_suite; diff --git a/test/ada/src/buffer_suite/buffer_tests.adb b/test/ada/src/buffer_suite/buffer_tests.adb deleted file mode 100644 index 4f1a84e..0000000 --- a/test/ada/src/buffer_suite/buffer_tests.adb +++ /dev/null @@ -1,90 +0,0 @@ -with AUnit.Assertions; use AUnit.Assertions; -with types; use types; -with byte_buffer; use byte_buffer; - -package body buffer_tests is - - procedure Register_Tests (T: in out buffer_test) is - use AUnit.Test_Cases.Registration; - begin - -- Repeat for each test routine: - Register_Routine (T, Test_Read_Write_Uint8'Access, "Test write and read uint8 from buffer."); - Register_Routine (T, Test_Read_Write_Uint16'Access, "Test write and read uint16 from buffer."); - Register_Routine (T, Test_Read_Write_Uint32'Access, "Test write and read uint32 from buffer."); - Register_Routine (T, Test_Read_Write_Uint64'Access, "Test write and read uint64 from buffer."); - Register_Routine (T, Test_Read_Write_Payload'Access, "Test write and read payload from buffer."); - end Register_Tests; - - -- Identifier of test case - function Name (T: buffer_test) return Test_String is - begin - return Format ("Buffer Tests"); - end Name; - - procedure Test_Read_Write_Uint8 (T : in out Test_Cases.Test_Case'Class) is - b : Buffer; - u8, u8t : uint8; - begin - b.Index := 0; - u8 := 230; - b.write_uint8 (u8); - b.read_uint8 (u8t); - - Assert (u8 = u8t, "Writing and reading uint8 does not work"); - end Test_Read_Write_Uint8; - - procedure Test_Read_Write_Uint16 (T : in out Test_Cases.Test_Case'Class) is - b : Buffer; - u16, u16t : uint16; - begin - b.Index := 0; - u16 := 5000; - b.write_uint16 (u16); - b.read_uint16 (u16t); - - Assert (u16 = u16t, "Writing and reading uint16 does not work"); - end Test_Read_Write_Uint16; - - procedure Test_Read_Write_Uint32 (T : in out Test_Cases.Test_Case'Class) is - b : Buffer; - u32, u32t : uint32; - begin - b.Index := 0; - u32 := 200000; - b.write_uint32 (u32); - b.read_uint32 (u32t); - - Assert (u32 = u32t, "Writing and reading uint32 does not work"); - end Test_Read_Write_Uint32; - - procedure Test_Read_Write_Uint64 (T : in out Test_Cases.Test_Case'Class) is - b : Buffer; - u64, u64t : uint64; - begin - b.Index := 0; - u64 := 5000000; - b.write_uint64 (u64); - b.read_uint64 (u64t); - - Assert (u64 = u64t, "Writing and reading uint64 does not work"); - end Test_Read_Write_Uint64; - - procedure Test_Read_Write_Payload (T : in out Test_Cases.Test_Case'Class) is - b : Buffer; - p_in, p_out : access payload := new payload (0 .. 31); - u8 : uint8 := 0; - begin - for I in p_in'Range loop - p_in (I) := u8; - u8 := u8 + 1; - end loop; - - b.write_payload (p_in); - b.read_payload (p_out); - - for I in p_out'Range loop - Assert (p_out (I) = p_in (I), "Writing and reading payload does not work"); - end loop; - end Test_Read_Write_Payload; - -end buffer_tests; diff --git a/test/ada/src/buffer_suite/buffer_tests.ads b/test/ada/src/buffer_suite/buffer_tests.ads deleted file mode 100644 index 90f41b5..0000000 --- a/test/ada/src/buffer_suite/buffer_tests.ads +++ /dev/null @@ -1,22 +0,0 @@ -with AUnit; use AUnit; -with AUnit.Test_Cases; use AUnit.Test_Cases; -with types; use types; - -package buffer_tests is - - type buffer_test is new Test_Cases.Test_Case with null record; - - procedure Register_Tests (T : in out buffer_test); - -- Register routines to be run - - function Name (T : buffer_test) return Message_String; - -- Provide name identifying the test case - - -- Test Routines: - procedure Test_Read_Write_Uint8 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Read_Write_Uint16 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Read_Write_Uint32 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Read_Write_Uint64 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Read_Write_Payload (T : in out Test_Cases.Test_Case'Class); - -end buffer_tests; diff --git a/test/ada/src/composite_suite.adb b/test/ada/src/composite_suite.adb deleted file mode 100644 index 56864d1..0000000 --- a/test/ada/src/composite_suite.adb +++ /dev/null @@ -1,26 +0,0 @@ -with tcp_suite; -with buffer_suite; -with types_suite; -with mailbox_suite; -with pathfollowing_suite; -with AUnit.Tests; - - -package body composite_suite is - use Test_Suites; - use tcp_suite; - use buffer_suite; - use types_suite; - - function Suite return Access_Test_Suite is - Result : Access_Test_Suite := AUnit.Test_Suites.New_Suite; - begin - Result.Add_Test (tcp_suite.Suite); - Result.Add_Test (buffer_suite.Suite); - Result.Add_Test (types_suite.Suite); - Result.Add_Test (mailbox_suite.Suite); - Result.Add_Test (pathfollowing_suite.Suite); - return Result; - end Suite; - -end composite_suite; diff --git a/test/ada/src/composite_suite.ads b/test/ada/src/composite_suite.ads deleted file mode 100644 index 7ebf840..0000000 --- a/test/ada/src/composite_suite.ads +++ /dev/null @@ -1,6 +0,0 @@ -with AUnit.Test_Suites; -with AUnit; use AUnit; - -package composite_suite is - function Suite return AUnit.Test_Suites.Access_Test_Suite; -end composite_suite; diff --git a/test/ada/src/mailbox_suite/mailbox_suite.adb b/test/ada/src/mailbox_suite/mailbox_suite.adb deleted file mode 100644 index 23b5b96..0000000 --- a/test/ada/src/mailbox_suite/mailbox_suite.adb +++ /dev/null @@ -1,17 +0,0 @@ -package body mailbox_suite is - - use AUnit.Test_Suites; - - -- Statically allocate test suite: - Result : aliased Test_Suite; - - -- Statically allocate test cases: - Test_1 : aliased mailbox_tests.mailbox_test; - - function Suite return Access_Test_Suite is - begin - Add_Test (Result'Access, Test_1'Access); - return Result'Access; - end Suite; - -end mailbox_suite; diff --git a/test/ada/src/mailbox_suite/mailbox_suite.ads b/test/ada/src/mailbox_suite/mailbox_suite.ads deleted file mode 100644 index 8604041..0000000 --- a/test/ada/src/mailbox_suite/mailbox_suite.ads +++ /dev/null @@ -1,8 +0,0 @@ -with AUnit.Test_Suites; -with mailbox_tests; use mailbox_tests; - -package mailbox_suite is - - function Suite return AUnit.Test_Suites.Access_Test_Suite; - -end mailbox_suite; diff --git a/test/ada/src/mailbox_suite/mailbox_tests.adb b/test/ada/src/mailbox_suite/mailbox_tests.adb deleted file mode 100644 index 9058071..0000000 --- a/test/ada/src/mailbox_suite/mailbox_tests.adb +++ /dev/null @@ -1,176 +0,0 @@ -package body mailbox_tests is - - -- test fixture for mailbox tests - type Communication_Array is array(types.uint8 range <> ) of types.Communication_Packet; - - local_mailbox : mailbox.Mailbox(Size => 5); - - test_packets : Communication_Array(1..5); - - dynamic_buffer : byte_buffer.Buffer; - - current_packet : types.Communication_Packet; - - procedure Set_Up (T: in out mailbox_test) is - begin - - -- set up all 5 test Comm_Packet with asc package_IDs - for I in test_packets'Range loop - test_packets(I).package_ID := types.uint8(I); - test_packets(I).payload_length := 2; - test_packets(I).local_payload := new payload(0..(test_packets(I).payload_length - 1)); - test_packets(I).TTL := Ada.Real_Time.Clock; - - -- set up payload values - for J in 0..(test_packets(I).payload_length - 1) loop - test_packets(I).local_payload(J) := 1; - end loop; - end loop; - - - end Set_Up; - - procedure Tear_Down (T : in out mailbox_test) is - begin - - --local_mailbox.Empty; - null; - - end; - - -- Register test routines to call - procedure Register_Tests (T: in out mailbox_test) is - use AUnit.Test_Cases.Registration; - begin - -- Repeat for each test routine: - Register_Routine (T, Test_Collect_and_Deposit'Access, "Mailbox.Collect and Mailbox.Deposit."); - Register_Routine (T, Test_View_Inbox'Access, "Mailbox.View_Inbox and if Mailbox.Last."); - Register_Routine (T, Test_Clear_not_isExpired'Access, "Mailbox.Clear(not_isExpired): Test unexpired items in mailbox."); - Register_Routine (T, Test_Clear_isExpired'Access, "Mailbox.Clear(isExpired): Test expired items in mailbox."); - Register_Routine (T, Test_Empty'Access, "Mailbox.Empty: Delete all items from Mailbox."); - Register_Routine (T, Test_isExpired'Access, "isExpired."); - end Register_Tests; - - -- Identifier of test case - function Name (T: mailbox_test) return Test_String is - begin - return Format ("Mailbox Tests"); - end Name; - - -- test both collect and deposit - procedure Test_Collect_and_Deposit (T : in out Test_Cases.Test_Case'Class) is - - last_package_ID : types.uint8 := 0; - - begin - - -- deposit - for I in test_packets'Range loop - local_mailbox.Deposit(test_packets(I)); - end loop; - - -- collect and check that package_ID is asc --> correct order - for I in test_packets'Range loop - local_mailbox.Collect(current_packet); - Assert (current_packet.package_ID > last_package_ID, "Mailbox.Deposit and/or Mailbox.Collect are/is not working as intended."); - last_package_ID := current_packet.package_ID; - end loop; - - end Test_Collect_and_Deposit; - - -- test if View_Inbox works, and if Last is set correctly - procedure Test_View_Inbox (T : in out Test_Cases.Test_Case'Class) is - - mailbox_last : types.uint8; - - begin - - for I in test_packets'Range loop - local_mailbox.Deposit(test_packets(I)); - end loop; - - local_mailbox.View_Inbox(mailbox_last); - - Assert (mailbox_last = local_mailbox.Size, "Mailbox.Last is not set correctly upon depositing."); - - end Test_View_Inbox; - - -- test unexpired items in mailbox - procedure Test_Clear_not_isExpired (T : in out Test_Cases.Test_Case'Class) is - begin - - local_mailbox.Deposit(test_packets(1)); - local_mailbox.Deposit(test_packets(2)); - - local_mailbox.Clear; - - select - local_mailbox.Collect(current_packet); - else - null; - end select; - - Assert (current_packet.package_ID = 1, "Mailbox.Clear (not_isExpired) is not working as intended."); - - end Test_Clear_not_isExpired; - - -- test expired items in mailbox - procedure Test_Clear_isExpired (T : in out Test_Cases.Test_Case'Class) is - begin - - current_packet.package_ID := 0; - - test_packets(1).TTL := Ada.Real_Time.Clock - Ada.Real_Time.Milliseconds(10000); - - local_mailbox.Deposit(test_packets(1)); - - local_mailbox.Clear; - - select - local_mailbox.Collect(current_packet); - else - null; - end select; - - Assert (current_packet.package_ID = 0, "Mailbox.Clear (isExpired) is not working as intended."); - - end Test_Clear_isExpired; - - -- test delete all items in mailbox - procedure Test_Empty (T : in out Test_Cases.Test_Case'Class) is - begin - - local_mailbox.Deposit(test_packets(1)); - local_mailbox.Deposit(test_packets(2)); - local_mailbox.Deposit(test_packets(3)); - - --local_mailbox.Empty; - - select - local_mailbox.Collect(current_packet); - else - current_packet.package_ID := 0; - end select; - - Assert (current_packet.package_ID = 0, "Mailbox.Empty is not working as intended."); - - end Test_Empty; - - -- test ttl expired - procedure Test_isExpired (T : in out Test_Cases.Test_Case'Class) is - - expiration_result : Boolean; - - test_time : Ada.Real_Time.Time; - - begin - - test_time := Ada.Real_Time.Clock - Ada.Real_Time.Milliseconds(10000); - - expiration_result := mailbox.isExpired(test_time); - - Assert (expiration_result = True, "isExpired is not working as intended."); - - end Test_isExpired; - -end mailbox_tests; diff --git a/test/ada/src/mailbox_suite/mailbox_tests.ads b/test/ada/src/mailbox_suite/mailbox_tests.ads deleted file mode 100644 index 472cea4..0000000 --- a/test/ada/src/mailbox_suite/mailbox_tests.ads +++ /dev/null @@ -1,39 +0,0 @@ -with AUnit; use AUnit; -with AUnit.Test_Cases; use AUnit.Test_Cases; -with AUnit.Assertions; use AUnit.Assertions; -with types; use types; -with mailbox; -with byte_buffer; -with Ada.Real_Time; use Ada.Real_Time; -with Ada.Text_IO; - -package mailbox_tests is - - type mailbox_test is new Test_Cases.Test_Case with null record; - - -- Register routines to be run - procedure Register_Tests (T : in out mailbox_test); - - -- Provide name identifying the test case - function Name (T : mailbox_test) return Message_String; - - -- Set up performed before each test routine - procedure Set_Up (T : in out mailbox_test); - - -- Tear down performed after each test routine - procedure Tear_Down (T : in out mailbox_test); - - -- Test Routines - procedure Test_Collect_and_Deposit (T : in out Test_Cases.Test_Case'Class); - - procedure Test_View_Inbox (T : in out Test_Cases.Test_Case'Class); - - procedure Test_Clear_not_isExpired (T : in out Test_Cases.Test_Case'Class); - - procedure Test_Clear_isExpired (T : in out Test_Cases.Test_Case'Class); - - procedure Test_Empty (T : in out Test_Cases.Test_Case'Class); - - procedure Test_isExpired (T : in out Test_Cases.Test_Case'Class); - -end mailbox_tests; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_suite.adb b/test/ada/src/pathfollowing_suite/pathfollowing_suite.adb deleted file mode 100644 index e0e6e87..0000000 --- a/test/ada/src/pathfollowing_suite/pathfollowing_suite.adb +++ /dev/null @@ -1,19 +0,0 @@ -with pathfollowing_tests; - -package body pathfollowing_suite is - - use AUnit.Test_Suites; - - -- Statically allocate test suite: - Result : aliased Test_Suite; - - -- Statically allocate test cases: - Test_1 : aliased pathfollowing_tests.pathfollowing_test; - - function Suite return Access_Test_Suite is - begin - Add_Test (Result'Access, Test_1'Access); - return Result'Access; - end Suite; - -end pathfollowing_suite; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_suite.ads b/test/ada/src/pathfollowing_suite/pathfollowing_suite.ads deleted file mode 100644 index 0be2a3d..0000000 --- a/test/ada/src/pathfollowing_suite/pathfollowing_suite.ads +++ /dev/null @@ -1,7 +0,0 @@ -with AUnit.Test_Suites; - -package pathfollowing_suite is - - function Suite return AUnit.Test_Suites.Access_Test_Suite; - -end pathfollowing_suite; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_tests.adb b/test/ada/src/pathfollowing_suite/pathfollowing_tests.adb deleted file mode 100644 index 78dbe86..0000000 --- a/test/ada/src/pathfollowing_suite/pathfollowing_tests.adb +++ /dev/null @@ -1,29 +0,0 @@ -with AUnit.Assertions; use AUnit.Assertions; - -package body pathfollowing_tests is - - -- Register test routines to call - procedure Register_Tests (T: in out pathfollowing_test) is - use AUnit.Test_Cases.Registration; - begin - -- Repeat for each test routine: - Register_Routine (T, Sample_test'Access, "Sample test."); - end Register_Tests; - - -- Identifier of test case - function Name (T: pathfollowing_test) return Test_String is - begin - return Format ("Pathfollowing Tests"); - end Name; - - procedure Sample_test (T : in out Test_Cases.Test_Case'Class) is - - sample : types.uint8 := 1; - - begin - - Assert (sample = 1, "Sample test, to show what a test should look like."); - - end Sample_test; - -end pathfollowing_tests; diff --git a/test/ada/src/pathfollowing_suite/pathfollowing_tests.ads b/test/ada/src/pathfollowing_suite/pathfollowing_tests.ads deleted file mode 100644 index d561144..0000000 --- a/test/ada/src/pathfollowing_suite/pathfollowing_tests.ads +++ /dev/null @@ -1,22 +0,0 @@ -with AUnit; use AUnit; -with Ada.Text_IO; -with AUnit.Test_Cases; use AUnit.Test_Cases; -with tcp_client; use tcp_client; -with types; use types; -with byte_buffer; -with mailbox; - -package pathfollowing_tests is - - type pathfollowing_test is new Test_Cases.Test_Case with null record; - - procedure Register_Tests (T : in out pathfollowing_test); - -- Register routines to be run - - function Name (T : pathfollowing_test) return Message_String; - -- Provide name identifying the test case - - -- Test Routines - procedure Sample_test (T : in out Test_Cases.Test_Case'Class); - -end pathfollowing_tests; diff --git a/test/ada/src/tcp_suite/tcp_suite.adb b/test/ada/src/tcp_suite/tcp_suite.adb deleted file mode 100644 index 516c26d..0000000 --- a/test/ada/src/tcp_suite/tcp_suite.adb +++ /dev/null @@ -1,19 +0,0 @@ -with tcp_tests; - -package body tcp_suite is - - use AUnit.Test_Suites; - - -- Statically allocate test suite: - Result : aliased Test_Suite; - - -- Statically allocate test cases: - Test_1 : aliased tcp_tests.tcp_test; - - function Suite return Access_Test_Suite is - begin - Add_Test (Result'Access, Test_1'Access); - return Result'Access; - end Suite; - -end tcp_suite; diff --git a/test/ada/src/tcp_suite/tcp_suite.ads b/test/ada/src/tcp_suite/tcp_suite.ads deleted file mode 100644 index 15c706f..0000000 --- a/test/ada/src/tcp_suite/tcp_suite.ads +++ /dev/null @@ -1,7 +0,0 @@ -with AUnit.Test_Suites; - -package tcp_suite is - - function Suite return AUnit.Test_Suites.Access_Test_Suite; - -end tcp_suite; diff --git a/test/ada/src/tcp_suite/tcp_tests.adb b/test/ada/src/tcp_suite/tcp_tests.adb deleted file mode 100644 index b370f83..0000000 --- a/test/ada/src/tcp_suite/tcp_tests.adb +++ /dev/null @@ -1,47 +0,0 @@ -with AUnit.Assertions; use AUnit.Assertions; - -package body tcp_tests is - - -- Register test routines to call - procedure Register_Tests (T: in out tcp_test) is - use AUnit.Test_Cases.Registration; - begin - -- Repeat for each test routine: - Register_Routine (T, Test_read_payload'Access, "Test if payload is written to mailbox correctly."); - end Register_Tests; - - -- Identifier of test case - function Name (T: tcp_test) return Test_String is - begin - return Format ("TCP Tests"); - end Name; - - procedure Test_read_payload (T : in out Test_Cases.Test_Case'Class) is - - local_mailbox : mailbox.Mailbox(Size => 1); - - test_packet : types.Communication_Packet; - - dynamic_buffer : byte_buffer.Buffer; - - package_ID : types.uint8 := 1; - - payload_length : types.uint32 := 50000; - - begin - - for I in 1..payload_length loop - dynamic_buffer.write_uint8(package_ID); - end loop; - - read_payload(dynamic_buffer,payload_length,package_ID,local_mailbox); - - local_mailbox.Collect(test_packet); - - for I in test_packet.local_payload'Range loop - Assert (test_packet.local_payload(I) = package_ID, "Writing and/or reading payload does not work."); - end loop; - - end Test_read_payload; - -end tcp_tests; diff --git a/test/ada/src/tcp_suite/tcp_tests.ads b/test/ada/src/tcp_suite/tcp_tests.ads deleted file mode 100644 index 30f4c22..0000000 --- a/test/ada/src/tcp_suite/tcp_tests.ads +++ /dev/null @@ -1,22 +0,0 @@ -with AUnit; use AUnit; -with Ada.Text_IO; -with AUnit.Test_Cases; use AUnit.Test_Cases; -with tcp_client; use tcp_client; -with types; use types; -with byte_buffer; -with mailbox; - -package tcp_tests is - - type tcp_test is new Test_Cases.Test_Case with null record; - - procedure Register_Tests (T : in out tcp_test); - -- Register routines to be run - - function Name (T : tcp_test) return Message_String; - -- Provide name identifying the test case - - -- Test Routines - procedure Test_read_payload (T : in out Test_Cases.Test_Case'Class); - -end tcp_tests; diff --git a/test/ada/src/test_main.adb b/test/ada/src/test_main.adb deleted file mode 100644 index dbda8ae..0000000 --- a/test/ada/src/test_main.adb +++ /dev/null @@ -1,12 +0,0 @@ -with AUnit.Reporter.Text; -with AUnit.Run; -with composite_suite; use composite_suite; -with Ada.Task_Identification; use Ada.Task_Identification; - -procedure Test_Main is - procedure Runner is new AUnit.Run.Test_Runner (composite_suite.Suite); - Reporter : AUnit.Reporter.Text.Text_Reporter; -begin - Runner (Reporter); - return; -end Test_Main; diff --git a/test/ada/src/types_suite/types_suite.adb b/test/ada/src/types_suite/types_suite.adb deleted file mode 100644 index caeb47e..0000000 --- a/test/ada/src/types_suite/types_suite.adb +++ /dev/null @@ -1,19 +0,0 @@ -with types_tests; - -package body types_suite is - - use AUnit.Test_Suites; - - -- Statically allocate test suite: - Result : aliased Test_Suite; - - -- Statically allocate test cases: - Test_1 : aliased types_tests.types_test; - - function Suite return Access_Test_Suite is - begin - Add_Test (Result'Access, Test_1'Access); - return Result'Access; - end Suite; - -end types_suite; diff --git a/test/ada/src/types_suite/types_suite.ads b/test/ada/src/types_suite/types_suite.ads deleted file mode 100644 index c5250d4..0000000 --- a/test/ada/src/types_suite/types_suite.ads +++ /dev/null @@ -1,7 +0,0 @@ -with AUnit.Test_Suites; - -package types_suite is - - function Suite return AUnit.Test_Suites.Access_Test_Suite; - -end types_suite; diff --git a/test/ada/src/types_suite/types_tests.adb b/test/ada/src/types_suite/types_tests.adb deleted file mode 100644 index 2a76892..0000000 --- a/test/ada/src/types_suite/types_tests.adb +++ /dev/null @@ -1,168 +0,0 @@ -with AUnit.Assertions; use AUnit.Assertions; -with types; use types; - -package body types_tests is - - -- Register test routines to call - procedure Register_Tests (T: in out types_test) is - use AUnit.Test_Cases.Registration; - begin - -- Repeat for each test routine: - Register_Routine (T, Test_Uint16_To_Octet2'Access, "Test uint16 to Octet_2 and back."); - Register_Routine (T, Test_Uint32_To_Octet4'Access, "Test uint32 to Octet_4 and back."); - Register_Routine (T, Test_Uint64_To_Octet8'Access, "Test uint64 to Octet_8 and back."); - - Register_Routine (T, Test_Octet2_To_Uint16'Access, "Test Octet_2 to uint16 and back."); - Register_Routine (T, Test_Octet4_To_Uint32'Access, "Test Octet_4 to uint32 and back."); - Register_Routine (T, Test_Octet8_To_Uint64'Access, "Test Octet_8 to uint64 and back."); - - Register_Routine (T, Test_Uint64_To_Float64'Access, "Test uint64 to float64 and back."); - Register_Routine (T, Test_Float64_To_Uint64'Access, "Test float64 to uint64 and back."); - - Register_Routine (T, Test_Byte_Order_16'Access, "Test hton16 and ntoh16."); - Register_Routine (T, Test_Byte_Order_32'Access, "Test hton32 and ntoh32."); - Register_Routine (T, Test_Byte_Order_64'Access, "Test hton64 and ntoh64."); - end Register_Tests; - - -- Identifier of test case - function Name (T: types_test) return Test_String is - begin - return Format ("Types Tests"); - end Name; - - procedure Test_Uint16_To_Octet2 (T : in out Test_Cases.Test_Case'Class) is - u16, u16t : uint16; - o2 : Octets_2; - begin - u16 := 5000; - o2 := uint16_to_octets (u16); - u16t := octets_to_uint16 (o2); - - Assert (u16 = u16t, "Converting uint16 to octets and back does not work"); - end Test_Uint16_To_Octet2; - - procedure Test_Uint32_To_Octet4 (T : in out Test_Cases.Test_Case'Class) is - u32, u32t : uint32; - o4 : Octets_4; - begin - u32 := 100000; - o4 := uint32_to_octets (u32); - u32t := octets_to_uint32 (o4); - - Assert (u32 = u32t, "Converting uint32 to octets and back does not work"); - end Test_Uint32_To_Octet4; - - procedure Test_Uint64_To_Octet8 (T : in out Test_Cases.Test_Case'Class) is - u64, u64t : uint64; - o8 : Octets_8; - begin - u64 := 5000000; - o8 := uint64_to_octets (u64); - u64t := octets_to_uint64 (o8); - - Assert (u64 = u64t, "Converting uint64 to octets and back does not work"); - end Test_Uint64_To_Octet8; - - procedure Test_Octet2_To_Uint16 (T : in out Test_Cases.Test_Case'Class) is - o2, o2t : Octets_2; - u16 : uint16; - begin - o2 (0) := 150; - o2 (1) := 35; - u16 := octets_to_uint16 (o2); - o2t := uint16_to_octets (u16); - - Assert (o2 (0) = o2t (0) and o2 (1) = o2t (1), - "Converting Octets_2 to uint16 and back does not work"); - end Test_Octet2_To_Uint16; - - procedure Test_Octet4_To_Uint32 (T : in out Test_Cases.Test_Case'Class) is - o4, o4t : Octets_4; - u32 : uint32; - begin - o4 (0) := 150; - o4 (1) := 35; - o4 (2) := 255; - o4 (3) := 1; - u32 := octets_to_uint32 (o4); - o4t := uint32_to_octets (u32); - - Assert (o4 (0) = o4t (0) and o4 (1) = o4t (1) and - o4 (2) = o4t (2) and o4 (3) = o4t (3), - "Converting Octets_4 to uint32 and back does not work"); - end Test_Octet4_To_Uint32; - - procedure Test_Octet8_To_Uint64 (T : in out Test_Cases.Test_Case'Class) is - o8, o8t : Octets_8; - u64 : uint64; - begin - o8 (0) := 150; - o8 (1) := 35; - o8 (2) := 255; - o8 (3) := 1; - o8 (4) := 90; - o8 (5) := 200; - o8 (6) := 0; - o8 (7) := 70; - u64 := octets_to_uint64 (o8); - o8t := uint64_to_octets (u64); - - Assert (o8 (0) = o8t (0) and o8 (1) = o8t (1) and - o8 (2) = o8t (2) and o8 (3) = o8t (3) and - o8 (4) = o8t (4) and o8 (5) = o8t (5) and - o8 (6) = o8t (6) and o8 (7) = o8t (7), - "Converting Octets_4 to uint64 and back does not work"); - end Test_Octet8_To_Uint64; - - procedure Test_Uint64_To_Float64 (T : in out Test_Cases.Test_Case'Class) is - u64, u64t : uint64; - f64 : float64; - begin - u64 := 1234567; - f64 := uint64_to_float64 (u64); - u64t := float64_to_uint64 (f64); - Assert (u64 = u64t, "Converting uint64 to float64 and back doe not work"); - end Test_Uint64_To_Float64; - - procedure Test_Float64_To_Uint64 (T : in out Test_Cases.Test_Case'Class) is - f64, f64t : float64; - u64 : uint64; - begin - f64 := 3.004972; - u64 := float64_to_uint64 (f64); - f64t := uint64_to_float64 (u64); - - Assert (f64 = f64t, "Converting float64 to uint64 and back doe not work"); - end Test_Float64_To_Uint64; - - procedure Test_Byte_Order_16 (T : in out Test_Cases.Test_Case'Class) is - u16i, u16m, u16o : uint16; - begin - u16i := 45298; - u16m := hton16 (u16i); - u16o := ntoh16 (u16m); - - Assert (u16i = u16o, "hton16 and ntoh16 do not work."); - end Test_Byte_Order_16; - - procedure Test_Byte_Order_32 (T : in out Test_Cases.Test_Case'Class) is - u32i, u32m, u32o : uint32; - begin - u32i := 3568298; - u32m := hton32 (u32i); - u32o := ntoh32 (u32m); - - Assert (u32i = u32o, "hton32 and ntoh32 do not work."); - end Test_Byte_Order_32; - - procedure Test_Byte_Order_64 (T : in out Test_Cases.Test_Case'Class) is - u64i, u64m, u64o : uint64; - begin - u64i := 6568298; - u64m := hton64 (u64i); - u64o := ntoh64 (u64m); - - Assert (u64i = u64o, "hton64 and ntoh64 do not work."); - end Test_Byte_Order_64; - -end types_tests; diff --git a/test/ada/src/types_suite/types_tests.ads b/test/ada/src/types_suite/types_tests.ads deleted file mode 100644 index 1e406ea..0000000 --- a/test/ada/src/types_suite/types_tests.ads +++ /dev/null @@ -1,31 +0,0 @@ -with AUnit; use AUnit; -with AUnit.Test_Cases; use AUnit.Test_Cases; -with types; use types; - -package types_tests is - - type types_test is new Test_Cases.Test_Case with null record; - - procedure Register_Tests (T : in out types_test); - -- Register routines to be run - - function Name (T : types_test) return Message_String; - -- Provide name identifying the test case - - -- Test Routines: - procedure Test_Uint16_To_Octet2 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Uint32_To_Octet4 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Uint64_To_Octet8 (T : in out Test_Cases.Test_Case'Class); - - procedure Test_Octet2_To_Uint16 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Octet4_To_Uint32 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Octet8_To_Uint64 (T : in out Test_Cases.Test_Case'Class); - - procedure Test_Uint64_To_Float64 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Float64_To_Uint64 (T : in out Test_Cases.Test_Case'Class); - - procedure Test_Byte_Order_16 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Byte_Order_32 (T : in out Test_Cases.Test_Case'Class); - procedure Test_Byte_Order_64 (T : in out Test_Cases.Test_Case'Class); - -end types_tests; diff --git a/webots/controllers/controller/picture.png b/webots/controllers/controller/picture.png deleted file mode 100644 index cb942b3eb46c276525a5a1b8b2205e0854510ace..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 442 zcmV;r0Y(0aP)>R8ffy*pz{c>0 zk)7cmGY14S0cj>6ABb6g{$&Fj4Yh;e|Ic3xFaWfi;m5ac3_pG##K5ityM__$8b+vM zmS4aBF#Lyd{{R2afC7MAkavIo`o(|&Kq0^YH3mqr{QmtLtOnf>82{I=pA5f$BMf2$ z>t#fk3pS8}f#uI1G=sp7g1F4w+LZxh;9sa36jwn^1jZ4>P?o=c{vgQ%V+P50e}OUg z Date: Fri, 10 Jul 2020 12:01:09 +0200 Subject: [PATCH 19/25] updates --- external/controller/external_controller.gpr | 3 +- external/controller/src/main.adb | 42 +++++----- .../path_following.adb} | 77 ++++++++----------- .../path_following.ads} | 20 ++--- .../controller/src/tcp_client/byte_buffer.adb | 6 +- 5 files changed, 65 insertions(+), 83 deletions(-) rename external/controller/src/{Path/pathfollowing.adb => path/path_following.adb} (63%) rename external/controller/src/{Path/pathfollowing.ads => path/path_following.ads} (53%) diff --git a/external/controller/external_controller.gpr b/external/controller/external_controller.gpr index e5f5a39..0e01725 100644 --- a/external/controller/external_controller.gpr +++ b/external/controller/external_controller.gpr @@ -4,9 +4,10 @@ project External_Controller is "src/tcp_client/**", "src/backend_thread/**", "src/webots_thread/**", - "src/Path/**", + "src/path/**", "src/knowledge/**", "src/vendor/**"); + for Object_Dir use "obj"; for Main use ("main.adb"); for Exec_Dir use "."; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index 5b78ce7..66fd2c2 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -5,9 +5,9 @@ with Backend_Thread; with Webots_Thread; with Types; with Mailbox; -with Messages; +with Messages; use Messages; with Byte_Buffer; -with pathfollowing; +with Path_Following; procedure Main is @@ -27,8 +27,11 @@ procedure Main is Current_Mail : Mailbox.Mail; alternator : Types.Uint8 := 1; + + DS_Data : Path_Following.Dtype := (others => 1000.0); V : Messages.Velocity_Message; + D : Messages.Distance_Sensor_Message; Out_Buffer : Byte_Buffer.Buffer; begin @@ -45,30 +48,21 @@ begin Mailbox.check_mailbox (Backend_Thread.Backend_Mailbox, Webots_Thread.Webots_Mailbox, Current_Mail, alternator); Mailbox.update_alternator (alternator); - -- do calculations with current packet - Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); - --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.payload_length))); - - if (current_packet.package_ID = 66) then - for J in uint32 range 0..8 loop - for I in uint32 range 0..7 loop - dist(I) := current_packet.local_payload(I+J*8); - end loop; - distance_sensor_data(Integer(J)) := Types.uint64_to_float64(octets_to_uint64(dist)); - end loop; - end if; - - if(current_packet.package_ID = 67) then - send_packet := pathfollowing.path_following(current_packet, distance_sensor_data); - send_bytes(Webots_Channel, send_packet); - end if; Put_Line (Current_Mail.Message.Id'Image); - V := Messages.Velocity_Message_Create (5.1, 2.4); - - Out_Buffer.Write_Message (V); - Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); - Out_Buffer.Delete_Bytes (V.Size); + -- do calculations with current packet + if Current_Mail.Message.Id = Messages.EXTERNAL_IMAGE_DATA then + V := Path_Following.Path_Following (Messages.ID_Message_Ptr (Current_Mail.Message), DS_Data); + Out_Buffer.Write_Message (V); + Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); + elsif Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then + null; + + end if; + + -- Out_Buffer.Write_Message (V); + -- Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); + -- Out_Buffer.Delete_Bytes (V.Size); end loop; diff --git a/external/controller/src/Path/pathfollowing.adb b/external/controller/src/path/path_following.adb similarity index 63% rename from external/controller/src/Path/pathfollowing.adb rename to external/controller/src/path/path_following.adb index add4632..f7d7ebd 100644 --- a/external/controller/src/Path/pathfollowing.adb +++ b/external/controller/src/path/path_following.adb @@ -1,4 +1,4 @@ -package body pathfollowing is +package body Path_Following is colour : Integer := 0; r : Integer := 0; g : Integer := 0; @@ -23,9 +23,9 @@ package body pathfollowing is wheehlvelocity : Wheehl_velocity := (others => 0.0); --axleTrack : float64 := 1.1; - basicVelocity : float64 :=4.0 ; + basicVelocity : Float64 :=4.0 ; --ratio : float64 := 8.0; - V_turn : float64 := 0.0; + V_turn : Float64 := 0.0; --offset : Integer := 32; --Kp : float64 := 0.08; --Ki : float64 :=0.08; @@ -34,8 +34,8 @@ package body pathfollowing is --lastError : float64 := 0.0; --integral : float64 := 0.0; --derivative : float64 := 0.0; - function binarize (grey : in Colour_Matrix) return Colour_Matrix is + function Binarize (grey : in Colour_Matrix) return Colour_Matrix is begin for I in Row_Index loop @@ -52,10 +52,9 @@ package body pathfollowing is end loop; return binaImage; - end binarize; - - function findLine (binarizedImage : in Colour_Matrix) return Integer is + end Binarize; + function Find_Line (binarizedImage : in Colour_Matrix) return Integer is begin for J in Column_Index loop if binaImage(Row_Index(height-5))(J) = 255 then @@ -63,21 +62,22 @@ package body pathfollowing is end if; -- end loop; + for J in reverse Column_Index loop if binaImage(Row_Index(height-5))(J) = 255 then bottomPoint1 := Integer(J); end if; end loop; + bottomPoint := (bottomPoint + bottomPoint1) / 2; Put_Line(Integer'Image(bottomPoint)); return bottomPoint; - end findLine; + end Find_Line; - function wheel_Velocity (whiteLine : in Integer; d_sensor : in Dtype) return Wheehl_velocity is - wheehlvelocity : Wheehl_velocity := (others => 0.0); - + function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Dtype) return Wheehl_velocity is + Velocity : Wheehl_velocity := (others => 0.0); begin @@ -88,10 +88,10 @@ package body pathfollowing is elsif whiteLine > 28 and whiteLine < 36 then V_turn := 0.0; elsif whiteLine = 0 then - if d_sensor(6) < 500.0 then + if d_sensor (6) < 500.0 then V_turn := 1.0; end if; - if d_sensor(3) < 500.0 then + if d_sensor (3) < 500.0 then V_turn := -1.0; end if; end if; @@ -113,57 +113,40 @@ package body pathfollowing is end if; Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); - return wheehlvelocity; + return Wheel_Velocity; - end wheel_Velocity; + end Wheel_Velocity; - function path_following (dataInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet is - raw : access types.payload := dataInput.local_payload; - index : Image_Index := 0; + function Path_Following (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Dtype) return Messages.Velocity_Message is + Index : Image_Index := 0; o8 : Octets_8; u64 : uint64; begin --grayscale Image for I in Row_Index loop for J in Column_Index loop - index := Image_Index(4 * (Integer(I) * width + Integer(J))); - blue (I) (J) := raw (types.uint32(index) + 4); - green (I) (J) := raw (types.uint32(index + 1) + 4); - red (I) (J) := raw (types.uint32(index + 2) + 4); - colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; + Index := Image_Index(4 * (Integer(I) * width + Integer(J))); + blue (I) (J) := Data_Input.Payload (Types.Uint32(Index)); + green (I) (J) := Data_Input.Payload (Types.Uint32(Index + 1)); + red (I) (J) := Data_Input.Payload (Types.Uint32(Index + 2)); + colour := Integer(blue (I) (J)) * 114/1000 + Integer(green (I) (J)) * 587/1000 + Integer(red (I) (J)) * 299/1000; grey (I) (J) := uint8(colour); end loop; end loop; --Binarized - binaImage := binarize(grey); + binaImage := Binarize (grey); --findLine - white_Line := findLine(binaImage); + white_Line := Find_Line (binaImage); --wheelvelocity calculate - wheehlvelocity := wheel_Velocity(white_Line, d_sensor); + wheehlvelocity := Wheel_Velocity (white_Line, d_sensor); - declare packet : Communication_Packet; + declare + packet : Messages.Velocity_Message := + Messages.Velocity_Message_Create (wheehlvelocity (0), wheehlvelocity (1)); begin - packet.package_ID := 129; - packet.payload_length := 16 + 5; - packet.local_payload := new payload (0 .. 15); - - u64 := types.float64_to_uint64 (wheehlvelocity (0)); - o8 := types.uint64_to_octets (u64); - - for I in o8'Range loop - packet.local_payload (I) := o8 (I); - end loop; - - u64 := types.float64_to_uint64 (wheehlvelocity (1)); - o8 := types.uint64_to_octets (u64); - - for I in o8'Range loop - packet.local_payload (I + 8) := o8 (I); - end loop; - return packet; end; - end path_following; + end Path_Following; -end pathfollowing; +end Path_Following; diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/path/path_following.ads similarity index 53% rename from external/controller/src/Path/pathfollowing.ads rename to external/controller/src/path/path_following.ads index 351d12a..e951777 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/path/path_following.ads @@ -1,9 +1,11 @@ with Ada.Text_IO; use Ada.Text_IO; with Ada.Float_Text_Io; use Ada.Float_Text_Io; -with types; use types; -with mailbox; -package pathfollowing is +with Types; use Types; +with Mailbox; +with Messages; + +package Path_Following is width : constant Integer := 64; height : constant Integer := 64; @@ -18,13 +20,13 @@ package pathfollowing is type Colour_Column is array(Column_Index) of uint8; type Colour_Matrix is array(Row_Index) of Colour_Column; - type Wheehl_velocity is array(0..1) of float64; + type Velocity_Array is array(0..1) of float64; type Dtype is array(0..8) of float64; - function path_following(dataInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet; - function binarize(grey : in Colour_Matrix) return Colour_Matrix; - function findLine(binarizedImage : in Colour_Matrix) return Integer; - function wheel_Velocity(whiteLine : in Integer; d_sensor : in Dtype) return Wheehl_velocity; + function Path_Following (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Dtype) return Messages.Velocity_Message; + function Binarize (grey : in Colour_Matrix) return Colour_Matrix; + function Find_Line (binarizedImage : in Colour_Matrix) return Integer; + function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Dtype) return Velocity_Array; -end pathfollowing; +end Path_Following; diff --git a/external/controller/src/tcp_client/byte_buffer.adb b/external/controller/src/tcp_client/byte_buffer.adb index 99d65dc..5c0eee5 100644 --- a/external/controller/src/tcp_client/byte_buffer.adb +++ b/external/controller/src/tcp_client/byte_buffer.adb @@ -280,7 +280,8 @@ package body Byte_Buffer is procedure Write_Stream (Stream : not null access Ada.Streams.Root_Stream_Type'Class; In_Buffer : in Buffer) is B : Buffer := In_Buffer; - Stream_Buffer : Ada.Streams.Stream_Element_Array (0 .. Ada.Streams.Stream_Element_Offset (B.Bytes_Remaining - 1)); + Stream_Buffer : Ada.Streams.Stream_Element_Array + (0 .. Ada.Streams.Stream_Element_Offset (B.Bytes_Remaining - 1)); begin for I in Stream_Buffer'Range loop B.Read_Uint8 (Types.Uint8 (Stream_Buffer (I))); @@ -305,7 +306,8 @@ package body Byte_Buffer is Size := Types.Octets_To_Uint32 (O4); declare - Stream_Buffer2 : Ada.Streams.Stream_Element_Array (0 .. Ada.Streams.Stream_Element_Offset (Size - 5)); + Stream_Buffer2 : Ada.Streams.Stream_Element_Array + (0 .. Ada.Streams.Stream_Element_Offset (Size - 5)); begin Stream.Read (Stream_Buffer2, Last); From 4832c3a5384bbe85efe98d77488b144c3d7b051a Mon Sep 17 00:00:00 2001 From: Henrik Classen Date: Fri, 10 Jul 2020 12:33:30 +0200 Subject: [PATCH 20/25] updates --- external/controller/src/main.adb | 11 +++--- .../controller/src/path/path_following.adb | 35 +++++++++---------- .../controller/src/path/path_following.ads | 7 ++-- .../src/webots_thread/webots_thread.adb | 2 +- 4 files changed, 26 insertions(+), 29 deletions(-) diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index 66fd2c2..e432e77 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -28,10 +28,10 @@ procedure Main is Current_Mail : Mailbox.Mail; alternator : Types.Uint8 := 1; - DS_Data : Path_Following.Dtype := (others => 1000.0); + DS_Data : Messages.Distance_Sensor_Array := (others => 1000.0); V : Messages.Velocity_Message; - D : Messages.Distance_Sensor_Message; + -- D : Messages.Distance_Sensor_Message; Out_Buffer : Byte_Buffer.Buffer; begin @@ -48,16 +48,15 @@ begin Mailbox.check_mailbox (Backend_Thread.Backend_Mailbox, Webots_Thread.Webots_Mailbox, Current_Mail, alternator); Mailbox.update_alternator (alternator); - Put_Line (Current_Mail.Message.Id'Image); + -- Put_Line (Current_Mail.Message.Id'Image); -- do calculations with current packet if Current_Mail.Message.Id = Messages.EXTERNAL_IMAGE_DATA then - V := Path_Following.Path_Following (Messages.ID_Message_Ptr (Current_Mail.Message), DS_Data); + V := Path_Following.Main (Messages.ID_Message_Ptr (Current_Mail.Message), DS_Data); Out_Buffer.Write_Message (V); Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); elsif Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then - null; - + DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; end if; -- Out_Buffer.Write_Message (V); diff --git a/external/controller/src/path/path_following.adb b/external/controller/src/path/path_following.adb index f7d7ebd..e771b49 100644 --- a/external/controller/src/path/path_following.adb +++ b/external/controller/src/path/path_following.adb @@ -21,7 +21,7 @@ package body Path_Following is grey : Colour_Matrix := (others => (others => 0)); binaImage : Colour_Matrix := (others => (others => 0)); - wheehlvelocity : Wheehl_velocity := (others => 0.0); + wheehlvelocity : Velocity_Array := (others => 0.0); --axleTrack : float64 := 1.1; basicVelocity : Float64 :=4.0 ; --ratio : float64 := 8.0; @@ -76,8 +76,8 @@ package body Path_Following is end Find_Line; - function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Dtype) return Wheehl_velocity is - Velocity : Wheehl_velocity := (others => 0.0); + function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Messages.Distance_Sensor_Array) return Velocity_Array is + Velocity : Velocity_Array := (others => 0.0); begin @@ -101,26 +101,25 @@ package body Path_Following is --turn right if V_turn > 0.0 then - wheehlvelocity(0) := basicVelocity + V_turn; - wheehlvelocity(1) := basicVelocity - V_turn; + Velocity (0) := basicVelocity + V_turn; + Velocity (1) := basicVelocity - V_turn; --turn left elsif V_turn < 0.0 then - wheehlvelocity(0) := basicVelocity + V_turn; - wheehlvelocity(1) := basicVelocity - V_turn; + Velocity (0) := basicVelocity + V_turn; + Velocity (1) := basicVelocity - V_turn; else - wheehlvelocity(0) := basicVelocity; - wheehlvelocity(1) := basicVelocity; + Velocity (0) := basicVelocity; + Velocity (1) := basicVelocity; end if; Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); - return Wheel_Velocity; + return Velocity; end Wheel_Velocity; - function Path_Following (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Dtype) return Messages.Velocity_Message is + function Main (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Messages.Distance_Sensor_Array) return Messages.Velocity_Message is Index : Image_Index := 0; - o8 : Octets_8; - u64 : uint64; + Velocity : Velocity_Array; begin --grayscale Image for I in Row_Index loop @@ -139,14 +138,14 @@ package body Path_Following is --findLine white_Line := Find_Line (binaImage); --wheelvelocity calculate - wheehlvelocity := Wheel_Velocity (white_Line, d_sensor); + Velocity := Wheel_Velocity (white_Line, d_sensor); declare - packet : Messages.Velocity_Message := - Messages.Velocity_Message_Create (wheehlvelocity (0), wheehlvelocity (1)); + Message : Messages.Velocity_Message := + Messages.Velocity_Message_Create (Velocity (0), Velocity (1)); begin - return packet; + return Message; end; - end Path_Following; + end Main; end Path_Following; diff --git a/external/controller/src/path/path_following.ads b/external/controller/src/path/path_following.ads index e951777..4adc158 100644 --- a/external/controller/src/path/path_following.ads +++ b/external/controller/src/path/path_following.ads @@ -20,13 +20,12 @@ package Path_Following is type Colour_Column is array(Column_Index) of uint8; type Colour_Matrix is array(Row_Index) of Colour_Column; - type Velocity_Array is array(0..1) of float64; - type Dtype is array(0..8) of float64; + type Velocity_Array is array(0..1) of Float64; - function Path_Following (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Dtype) return Messages.Velocity_Message; + function Main (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Messages.Distance_Sensor_Array) return Messages.Velocity_Message; function Binarize (grey : in Colour_Matrix) return Colour_Matrix; function Find_Line (binarizedImage : in Colour_Matrix) return Integer; - function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Dtype) return Velocity_Array; + function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Messages.Distance_Sensor_Array) return Velocity_Array; end Path_Following; diff --git a/external/controller/src/webots_thread/webots_thread.adb b/external/controller/src/webots_thread/webots_thread.adb index 0a3a1da..f37da3d 100644 --- a/external/controller/src/webots_thread/webots_thread.adb +++ b/external/controller/src/webots_thread/webots_thread.adb @@ -4,7 +4,7 @@ package body Webots_Thread is begin - Webots_Channel := Tcp_Client.Connect (Webots_Client, 9999, Webots_Address); + Webots_Channel := Tcp_Client.Connect (Webots_Client, 5555, Webots_Address); while true loop Tcp_Client.Read_Packet (Webots_Channel, Webots_Vector_Buffer, Webots_Mailbox); From 2c845c6843a284af96acf87d9d44bc2fbf6786cb Mon Sep 17 00:00:00 2001 From: Yue Date: Sun, 12 Jul 2020 23:10:18 +0200 Subject: [PATCH 21/25] update --- external/controller/main | Bin 335496 -> 387896 bytes external/controller/obj/b__main.adb | 451 ++++++++++ external/controller/obj/b__main.ads | 797 ++++++++++++++++++ external/controller/obj/b__main.ali | 465 ++++++++++ external/controller/obj/b__main.o | Bin 0 -> 87080 bytes .../controller/obj/backend_thread.adb.stderr | 0 .../controller/obj/backend_thread.adb.stdout | 0 external/controller/obj/backend_thread.ali | 139 +++ external/controller/obj/backend_thread.o | Bin 0 -> 47488 bytes .../controller/obj/byte_buffer.adb.stderr | 0 .../controller/obj/byte_buffer.adb.stdout | 0 external/controller/obj/byte_buffer.ali | 387 +++++++++ external/controller/obj/byte_buffer.o | Bin 0 -> 245136 bytes .../obj/external_controller-loc.xml | 46 + external/controller/obj/gnat.ads.stderr | 0 external/controller/obj/gnat.ads.stdout | 0 external/controller/obj/gnat.ali | 29 + external/controller/obj/gnat.o | Bin 0 -> 6160 bytes external/controller/obj/gnatinspect.db | Bin 0 -> 315392 bytes external/controller/obj/mailbox.adb.stderr | 0 external/controller/obj/mailbox.adb.stdout | 0 external/controller/obj/mailbox.ali | 160 ++++ external/controller/obj/mailbox.o | Bin 0 -> 54432 bytes external/controller/obj/main.adb.stderr | 0 external/controller/obj/main.adb.stdout | 0 external/controller/obj/main.ali | 193 +++++ external/controller/obj/main.bexch | 34 + external/controller/obj/main.o | Bin 0 -> 43080 bytes external/controller/obj/messages.adb.stderr | 0 external/controller/obj/messages.adb.stdout | 0 external/controller/obj/messages.ali | 143 ++++ external/controller/obj/messages.o | Bin 0 -> 39416 bytes .../controller/obj/path_following.adb.stderr | 0 .../controller/obj/path_following.adb.stdout | 0 external/controller/obj/path_following.ali | 167 ++++ external/controller/obj/path_following.o | Bin 0 -> 22848 bytes external/controller/obj/tcp_client.adb.stderr | 0 external/controller/obj/tcp_client.adb.stdout | 0 external/controller/obj/tcp_client.ali | 165 ++++ external/controller/obj/tcp_client.o | Bin 0 -> 43608 bytes external/controller/obj/types.adb.stderr | 0 external/controller/obj/types.adb.stdout | 0 external/controller/obj/types.ali | 145 ++++ external/controller/obj/types.o | Bin 0 -> 9800 bytes .../controller/obj/webots_thread.adb.stderr | 0 .../controller/obj/webots_thread.adb.stdout | 0 external/controller/obj/webots_thread.ali | 139 +++ external/controller/obj/webots_thread.o | Bin 0 -> 47432 bytes external/controller/src/main.adb | 13 +- .../controller/src/path/path_following.adb | 2 +- .../controller/src/tcp_client/mailbox.adb | 4 +- .../controller/build/release/controller | Bin 113040 -> 121232 bytes .../controller/build/release/controller.d | 2 +- .../controller/build/release/controller.o | Bin 280336 -> 66800 bytes .../build/release/robot_container.d | 13 + .../build/release/robot_container.o | Bin 0 -> 277352 bytes webots/controllers/controller/controller | Bin 113040 -> 121232 bytes .../controller/robot_container.cpp | 310 +++---- webots/worlds/.cabservice.wbproj | 4 +- webots/worlds/cabservice.wbt | 34 +- 60 files changed, 3653 insertions(+), 189 deletions(-) create mode 100644 external/controller/obj/b__main.adb create mode 100644 external/controller/obj/b__main.ads create mode 100644 external/controller/obj/b__main.ali create mode 100644 external/controller/obj/b__main.o create mode 100644 external/controller/obj/backend_thread.adb.stderr create mode 100644 external/controller/obj/backend_thread.adb.stdout create mode 100644 external/controller/obj/backend_thread.ali create mode 100644 external/controller/obj/backend_thread.o create mode 100644 external/controller/obj/byte_buffer.adb.stderr create mode 100644 external/controller/obj/byte_buffer.adb.stdout create mode 100644 external/controller/obj/byte_buffer.ali create mode 100644 external/controller/obj/byte_buffer.o create mode 100644 external/controller/obj/external_controller-loc.xml create mode 100644 external/controller/obj/gnat.ads.stderr create mode 100644 external/controller/obj/gnat.ads.stdout create mode 100644 external/controller/obj/gnat.ali create mode 100644 external/controller/obj/gnat.o create mode 100644 external/controller/obj/gnatinspect.db create mode 100644 external/controller/obj/mailbox.adb.stderr create mode 100644 external/controller/obj/mailbox.adb.stdout create mode 100644 external/controller/obj/mailbox.ali create mode 100644 external/controller/obj/mailbox.o create mode 100644 external/controller/obj/main.adb.stderr create mode 100644 external/controller/obj/main.adb.stdout create mode 100644 external/controller/obj/main.ali create mode 100644 external/controller/obj/main.bexch create mode 100644 external/controller/obj/main.o create mode 100644 external/controller/obj/messages.adb.stderr create mode 100644 external/controller/obj/messages.adb.stdout create mode 100644 external/controller/obj/messages.ali create mode 100644 external/controller/obj/messages.o create mode 100644 external/controller/obj/path_following.adb.stderr create mode 100644 external/controller/obj/path_following.adb.stdout create mode 100644 external/controller/obj/path_following.ali create mode 100644 external/controller/obj/path_following.o create mode 100644 external/controller/obj/tcp_client.adb.stderr create mode 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zh2!k#%#wskWV1yMuH(~|E@=1=_hBRrQn?3>2BkU(Kb(ibg4I5bBZYdfzU+Qv7-m>% z!LD_rd%KoiC__+h+e4gB!tm0d;0no%CmHD z*WS<_L$mqK3f_SWuL^))?QHA~Ga-**hRfN7ZCuE>9%jJIC1l!GL43B36D0Hq@{4fV zjXPAe2A3R-5^Qpx6=vs=TN%8Ta-?lY1-7)OBfJ8oaa30qF-=`l1sGR(MmltuX=)mxuS`@*VgQ z{x^QX^l-_lS9hoTW4N#3Uv+q<3n_nwe+cjYar^c*>p%2X17P|ifAKai=TIu|E4Y6b zeuTg28JQmXpaHxciF`ZZKV*-G^GKyi!tV=0@yGOVLSV+w5g-hA6i@E1{crcSHmwjJkyi+)VYV@y?)E|g#`cP zb<4n%?PV#vXZqs=j}XB6$Mp5r327!!Mpe1=fi&3|C_<@|H<1?!OA7;XZjaByAMCYzv%EU-XZ*JfR&mE|B}PM zP+jXKfQ9x6f9s#t?pv=~y67Ft@xgYJj&1<9u7BZQ2Dk86OaGVW%#oWpYiwe?-~5#zZi#SIp3J5|E^<3I19|^#iU#P_TW8LRi8R;@YkNS whxa4-K7OP-&L6^_t)-Ta|9|pBga5*}`NYy(|NHQG4E~k(+l+NN0i@gEKbKgF8UO$Q diff --git a/external/controller/obj/b__main.adb b/external/controller/obj/b__main.adb new file mode 100644 index 0000000..fcff6eb --- /dev/null +++ b/external/controller/obj/b__main.adb @@ -0,0 +1,451 @@ +pragma Warnings (Off); +pragma Ada_95; +pragma Source_File_Name (ada_main, Spec_File_Name => "b__main.ads"); +pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); +pragma Suppress (Overflow_Check); + +with System.Restrictions; +with Ada.Exceptions; + +package body ada_main is + + E073 : Short_Integer; pragma Import (Ada, E073, "system__os_lib_E"); + E011 : Short_Integer; pragma Import (Ada, E011, "system__soft_links_E"); + E023 : Short_Integer; pragma Import (Ada, E023, "system__exception_table_E"); + E068 : Short_Integer; pragma Import (Ada, E068, "ada__io_exceptions_E"); + E053 : Short_Integer; pragma Import (Ada, E053, "ada__strings_E"); + E038 : Short_Integer; pragma Import (Ada, E038, "ada__containers_E"); + E025 : Short_Integer; pragma Import (Ada, E025, "system__exceptions_E"); + E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings__maps_E"); + E059 : Short_Integer; pragma Import (Ada, E059, "ada__strings__maps__constants_E"); + E043 : Short_Integer; pragma Import (Ada, E043, "interfaces__c_E"); + E019 : Short_Integer; pragma Import (Ada, E019, "system__soft_links__initialize_E"); + E079 : Short_Integer; pragma Import (Ada, E079, "system__object_reader_E"); + E048 : Short_Integer; pragma Import (Ada, E048, "system__dwarf_lines_E"); + E037 : Short_Integer; pragma Import (Ada, E037, "system__traceback__symbolic_E"); + E130 : Short_Integer; pragma Import (Ada, E130, "ada__tags_E"); + E128 : Short_Integer; pragma Import (Ada, E128, "ada__streams_E"); + E173 : Short_Integer; pragma Import (Ada, E173, "gnat_E"); + E190 : Short_Integer; pragma Import (Ada, E190, "interfaces__c__strings_E"); + E144 : Short_Integer; pragma Import (Ada, E144, "system__file_control_block_E"); + E143 : Short_Integer; pragma Import (Ada, E143, "system__finalization_root_E"); + E141 : Short_Integer; pragma Import (Ada, E141, "ada__finalization_E"); + E140 : Short_Integer; pragma Import (Ada, E140, "system__file_io_E"); + E154 : Short_Integer; pragma Import (Ada, E154, "system__storage_pools_E"); + E158 : Short_Integer; pragma Import (Ada, E158, "system__finalization_masters_E"); + E156 : Short_Integer; pragma Import (Ada, E156, "system__storage_pools__subpools_E"); + E114 : Short_Integer; pragma Import (Ada, E114, "system__task_info_E"); + E106 : Short_Integer; pragma Import (Ada, E106, "system__task_primitives__operations_E"); + E182 : Short_Integer; pragma Import (Ada, E182, "ada__calendar_E"); + E180 : Short_Integer; pragma Import (Ada, E180, "ada__calendar__delays_E"); + E097 : Short_Integer; pragma Import (Ada, E097, "ada__real_time_E"); + E136 : Short_Integer; pragma Import (Ada, E136, "ada__text_io_E"); + E150 : Short_Integer; pragma Import (Ada, E150, "system__pool_global_E"); + E194 : Short_Integer; pragma Import (Ada, E194, "system__pool_size_E"); + E175 : Short_Integer; pragma Import (Ada, E175, "gnat__sockets_E"); + E188 : Short_Integer; pragma Import (Ada, E188, "gnat__sockets__thin_common_E"); + E178 : Short_Integer; pragma Import (Ada, E178, "gnat__sockets__thin_E"); + E212 : Short_Integer; pragma Import (Ada, E212, "system__tasking__initialization_E"); + E202 : Short_Integer; pragma Import (Ada, E202, "system__tasking__protected_objects_E"); + E208 : Short_Integer; pragma Import (Ada, E208, "system__tasking__protected_objects__entries_E"); + E220 : Short_Integer; pragma Import (Ada, E220, "system__tasking__queuing_E"); + E249 : Short_Integer; pragma Import (Ada, E249, "system__tasking__stages_E"); + E172 : Short_Integer; pragma Import (Ada, E172, "types_E"); + E168 : Short_Integer; pragma Import (Ada, E168, "messages_E"); + E148 : Short_Integer; pragma Import (Ada, E148, "byte_buffer_E"); + E200 : Short_Integer; pragma Import (Ada, E200, "mailbox_E"); + E228 : Short_Integer; pragma Import (Ada, E228, "path_following_E"); + E226 : Short_Integer; pragma Import (Ada, E226, "tcp_client_E"); + E146 : Short_Integer; pragma Import (Ada, E146, "backend_thread_E"); + E251 : Short_Integer; pragma Import (Ada, E251, "webots_thread_E"); + + Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); + + Local_Priority_Specific_Dispatching : constant String := ""; + Local_Interrupt_States : constant String := ""; + + Is_Elaborated : Boolean := False; + + procedure finalize_library is + begin + E251 := E251 - 1; + declare + procedure F1; + pragma Import (Ada, F1, "webots_thread__finalize_spec"); + begin + F1; + end; + E146 := E146 - 1; + declare + procedure F2; + pragma Import (Ada, F2, "backend_thread__finalize_spec"); + begin + F2; + end; + E148 := E148 - 1; + declare + procedure F3; + pragma Import (Ada, F3, "byte_buffer__finalize_spec"); + begin + F3; + end; + E168 := E168 - 1; + declare + procedure F4; + pragma Import (Ada, F4, "messages__finalize_spec"); + begin + F4; + end; + E208 := E208 - 1; + declare + procedure F5; + pragma Import (Ada, F5, "system__tasking__protected_objects__entries__finalize_spec"); + begin + F5; + end; + declare + procedure F6; + pragma Import (Ada, F6, "gnat__sockets__finalize_body"); + begin + E175 := E175 - 1; + F6; + end; + declare + procedure F7; + pragma Import (Ada, F7, "gnat__sockets__finalize_spec"); + begin + F7; + end; + E194 := E194 - 1; + declare + procedure F8; + pragma Import (Ada, F8, "system__pool_size__finalize_spec"); + begin + F8; + end; + E150 := E150 - 1; + declare + procedure F9; + pragma Import (Ada, F9, "system__pool_global__finalize_spec"); + begin + F9; + end; + E136 := E136 - 1; + declare + procedure F10; + pragma Import (Ada, F10, "ada__text_io__finalize_spec"); + begin + F10; + end; + E156 := E156 - 1; + declare + procedure F11; + pragma Import (Ada, F11, "system__storage_pools__subpools__finalize_spec"); + begin + F11; + end; + E158 := E158 - 1; + declare + procedure F12; + pragma Import (Ada, F12, "system__finalization_masters__finalize_spec"); + begin + F12; + end; + declare + procedure F13; + pragma Import (Ada, F13, "system__file_io__finalize_body"); + begin + E140 := E140 - 1; + F13; + end; + declare + procedure Reraise_Library_Exception_If_Any; + pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); + begin + Reraise_Library_Exception_If_Any; + end; + end finalize_library; + + procedure adafinal is + procedure s_stalib_adafinal; + pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); + + procedure Runtime_Finalize; + pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); + + begin + if not Is_Elaborated then + return; + end if; + Is_Elaborated := False; + Runtime_Finalize; + s_stalib_adafinal; + end adafinal; + + type No_Param_Proc is access procedure; + + procedure adainit is + Main_Priority : Integer; + pragma Import (C, Main_Priority, "__gl_main_priority"); + Time_Slice_Value : Integer; + pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); + WC_Encoding : Character; + pragma Import (C, WC_Encoding, "__gl_wc_encoding"); + Locking_Policy : Character; + pragma Import (C, Locking_Policy, "__gl_locking_policy"); + Queuing_Policy : Character; + pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); + Task_Dispatching_Policy : Character; + pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); + Priority_Specific_Dispatching : System.Address; + pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); + Num_Specific_Dispatching : Integer; + pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); + Main_CPU : Integer; + pragma Import (C, Main_CPU, "__gl_main_cpu"); + Interrupt_States : System.Address; + pragma Import (C, Interrupt_States, "__gl_interrupt_states"); + Num_Interrupt_States : Integer; + pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); + Unreserve_All_Interrupts : Integer; + pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); + Detect_Blocking : Integer; + pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); + Default_Stack_Size : Integer; + pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); + Default_Secondary_Stack_Size : System.Parameters.Size_Type; + pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); + Leap_Seconds_Support : Integer; + pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); + Bind_Env_Addr : System.Address; + pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); + + procedure Runtime_Initialize (Install_Handler : Integer); + pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); + + Finalize_Library_Objects : No_Param_Proc; + pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); + Binder_Sec_Stacks_Count : Natural; + pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); + Default_Sized_SS_Pool : System.Address; + pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); + + begin + if Is_Elaborated then + return; + end if; + Is_Elaborated := True; + Main_Priority := -1; + Time_Slice_Value := -1; + WC_Encoding := 'b'; + Locking_Policy := ' '; + Queuing_Policy := ' '; + Task_Dispatching_Policy := ' '; + System.Restrictions.Run_Time_Restrictions := + (Set => + (False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False, False, True, False, False, + False, False, False, False, False, False, False, False, + False, False, False, False), + Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), + Violated => + (True, False, False, False, True, True, True, False, + False, False, False, True, True, True, True, False, + False, False, False, False, True, True, False, True, + True, False, True, True, True, True, False, False, + False, False, False, True, False, False, True, False, + True, False, True, True, False, True, False, True, + True, False, False, True, False, True, False, False, + False, True, False, True, False, True, True, True, + False, False, True, False, True, True, True, False, + True, True, False, True, True, True, True, False, + False, True, False, False, False, True, False, False, + True, False, True, False), + Count => (0, 0, 0, 2, 0, 0, 1, 0, 3, 0), + Unknown => (False, False, False, False, False, False, True, False, True, False)); + Priority_Specific_Dispatching := + Local_Priority_Specific_Dispatching'Address; + Num_Specific_Dispatching := 0; + Main_CPU := -1; + Interrupt_States := Local_Interrupt_States'Address; + Num_Interrupt_States := 0; + Unreserve_All_Interrupts := 0; + Detect_Blocking := 0; + Default_Stack_Size := -1; + Leap_Seconds_Support := 0; + + ada_main'Elab_Body; + Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; + Binder_Sec_Stacks_Count := 1; + Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; + + Runtime_Initialize (1); + + Finalize_Library_Objects := finalize_library'access; + + System.Soft_Links'Elab_Spec; + System.Exception_Table'Elab_Body; + E023 := E023 + 1; + Ada.Io_Exceptions'Elab_Spec; + E068 := E068 + 1; + Ada.Strings'Elab_Spec; + E053 := E053 + 1; + Ada.Containers'Elab_Spec; + E038 := E038 + 1; + System.Exceptions'Elab_Spec; + E025 := E025 + 1; + System.Os_Lib'Elab_Body; + E073 := E073 + 1; + Ada.Strings.Maps'Elab_Spec; + Ada.Strings.Maps.Constants'Elab_Spec; + E059 := E059 + 1; + Interfaces.C'Elab_Spec; + System.Soft_Links.Initialize'Elab_Body; + E019 := E019 + 1; + E011 := E011 + 1; + E055 := E055 + 1; + E043 := E043 + 1; + System.Object_Reader'Elab_Spec; + System.Dwarf_Lines'Elab_Spec; + E048 := E048 + 1; + System.Traceback.Symbolic'Elab_Body; + E037 := E037 + 1; + E079 := E079 + 1; + Ada.Tags'Elab_Spec; + Ada.Tags'Elab_Body; + E130 := E130 + 1; + Ada.Streams'Elab_Spec; + E128 := E128 + 1; + Gnat'Elab_Spec; + E173 := E173 + 1; + Interfaces.C.Strings'Elab_Spec; + E190 := E190 + 1; + System.File_Control_Block'Elab_Spec; + E144 := E144 + 1; + System.Finalization_Root'Elab_Spec; + E143 := E143 + 1; + Ada.Finalization'Elab_Spec; + E141 := E141 + 1; + System.File_Io'Elab_Body; + E140 := E140 + 1; + System.Storage_Pools'Elab_Spec; + E154 := E154 + 1; + System.Finalization_Masters'Elab_Spec; + System.Finalization_Masters'Elab_Body; + E158 := E158 + 1; + System.Storage_Pools.Subpools'Elab_Spec; + E156 := E156 + 1; + System.Task_Info'Elab_Spec; + E114 := E114 + 1; + System.Task_Primitives.Operations'Elab_Body; + E106 := E106 + 1; + Ada.Calendar'Elab_Spec; + Ada.Calendar'Elab_Body; + E182 := E182 + 1; + Ada.Calendar.Delays'Elab_Body; + E180 := E180 + 1; + Ada.Real_Time'Elab_Spec; + Ada.Real_Time'Elab_Body; + E097 := E097 + 1; + Ada.Text_Io'Elab_Spec; + Ada.Text_Io'Elab_Body; + E136 := E136 + 1; + System.Pool_Global'Elab_Spec; + E150 := E150 + 1; + System.Pool_Size'Elab_Spec; + E194 := E194 + 1; + Gnat.Sockets'Elab_Spec; + E188 := E188 + 1; + E178 := E178 + 1; + Gnat.Sockets'Elab_Body; + E175 := E175 + 1; + System.Tasking.Initialization'Elab_Body; + E212 := E212 + 1; + System.Tasking.Protected_Objects'Elab_Body; + E202 := E202 + 1; + System.Tasking.Protected_Objects.Entries'Elab_Spec; + E208 := E208 + 1; + System.Tasking.Queuing'Elab_Body; + E220 := E220 + 1; + System.Tasking.Stages'Elab_Body; + E249 := E249 + 1; + E172 := E172 + 1; + Messages'Elab_Spec; + Messages'Elab_Body; + E168 := E168 + 1; + Byte_Buffer'Elab_Spec; + Byte_Buffer'Elab_Body; + E148 := E148 + 1; + E200 := E200 + 1; + Path_Following'Elab_Body; + E228 := E228 + 1; + E226 := E226 + 1; + Backend_Thread'Elab_Spec; + E146 := E146 + 1; + Webots_Thread'Elab_Spec; + E251 := E251 + 1; + end adainit; + + procedure Ada_Main_Program; + pragma Import (Ada, Ada_Main_Program, "_ada_main"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer + is + procedure Initialize (Addr : System.Address); + pragma Import (C, Initialize, "__gnat_initialize"); + + procedure Finalize; + pragma Import (C, Finalize, "__gnat_finalize"); + SEH : aliased array (1 .. 2) of Integer; + + Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; + pragma Volatile (Ensure_Reference); + + begin + gnat_argc := argc; + gnat_argv := argv; + gnat_envp := envp; + + Initialize (SEH'Address); + adainit; + Ada_Main_Program; + adafinal; + Finalize; + return (gnat_exit_status); + end; + +-- BEGIN Object file/option list + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/gnat.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/types.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/messages.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/byte_buffer.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/mailbox.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/path_following.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/tcp_client.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/backend_thread.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/webots_thread.o + -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/main.o + -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ + -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ + -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ + -- -shared + -- -lgnarl-9 + -- -lgnat-9 + -- -lpthread + -- -lrt + -- -ldl +-- END Object file/option list + +end ada_main; diff --git a/external/controller/obj/b__main.ads b/external/controller/obj/b__main.ads new file mode 100644 index 0000000..3b19a72 --- /dev/null +++ b/external/controller/obj/b__main.ads @@ -0,0 +1,797 @@ +pragma Warnings (Off); +pragma Ada_95; +with System; +with System.Parameters; +with System.Secondary_Stack; +package ada_main is + + gnat_argc : Integer; + gnat_argv : System.Address; + gnat_envp : System.Address; + + pragma Import (C, gnat_argc); + pragma Import (C, gnat_argv); + pragma Import (C, gnat_envp); + + gnat_exit_status : Integer; + pragma Import (C, gnat_exit_status); + + GNAT_Version : constant String := + "GNAT Version: 9.3.0" & ASCII.NUL; + pragma Export (C, GNAT_Version, "__gnat_version"); + + Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; + pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); + + procedure adainit; + pragma Export (C, adainit, "adainit"); + + procedure adafinal; + pragma Export (C, adafinal, "adafinal"); + + function main + (argc : Integer; + argv : System.Address; + envp : System.Address) + return Integer; + pragma Export (C, main, "main"); + + type Version_32 is mod 2 ** 32; + u00001 : constant Version_32 := 16#1a86f384#; + pragma Export (C, u00001, "mainB"); + u00002 : constant Version_32 := 16#050ff2f0#; + pragma Export (C, u00002, "system__standard_libraryB"); + u00003 : constant Version_32 := 16#4113f22b#; + pragma Export (C, u00003, "system__standard_libraryS"); + u00004 : constant Version_32 := 16#76789da1#; + pragma Export (C, u00004, "adaS"); + u00005 : constant Version_32 := 16#9762c9f2#; + pragma Export (C, u00005, "ada__exceptionsB"); + u00006 : constant Version_32 := 16#585ef86b#; + pragma Export (C, u00006, "ada__exceptionsS"); + u00007 : constant Version_32 := 16#5726abed#; + pragma Export (C, u00007, "ada__exceptions__last_chance_handlerB"); + u00008 : constant Version_32 := 16#41e5552e#; + pragma Export (C, u00008, "ada__exceptions__last_chance_handlerS"); + u00009 : constant Version_32 := 16#4635ec04#; + pragma Export (C, u00009, "systemS"); + u00010 : constant Version_32 := 16#ae860117#; + pragma Export (C, u00010, "system__soft_linksB"); + u00011 : constant Version_32 := 16#0336e7b2#; + pragma Export (C, u00011, "system__soft_linksS"); + u00012 : constant Version_32 := 16#f32b4133#; + pragma Export (C, u00012, "system__secondary_stackB"); + u00013 : constant Version_32 := 16#03a1141d#; + pragma Export (C, u00013, "system__secondary_stackS"); + u00014 : constant Version_32 := 16#86dbf443#; + pragma Export (C, u00014, "system__parametersB"); + u00015 : constant Version_32 := 16#0ed9b82f#; + pragma Export (C, u00015, "system__parametersS"); + u00016 : constant Version_32 := 16#ced09590#; + pragma Export (C, u00016, "system__storage_elementsB"); + u00017 : constant Version_32 := 16#6bf6a600#; + pragma Export (C, u00017, "system__storage_elementsS"); + u00018 : constant Version_32 := 16#75bf515c#; + pragma Export (C, u00018, "system__soft_links__initializeB"); + u00019 : constant Version_32 := 16#5697fc2b#; + pragma Export (C, u00019, "system__soft_links__initializeS"); + u00020 : constant Version_32 := 16#41837d1e#; + pragma Export (C, u00020, "system__stack_checkingB"); + u00021 : constant Version_32 := 16#c88a87ec#; + pragma Export (C, u00021, "system__stack_checkingS"); + u00022 : constant Version_32 := 16#34742901#; + pragma Export (C, u00022, "system__exception_tableB"); + u00023 : constant Version_32 := 16#1b9b8546#; + pragma Export (C, u00023, "system__exception_tableS"); + u00024 : constant Version_32 := 16#ce4af020#; + pragma Export (C, u00024, "system__exceptionsB"); + u00025 : constant Version_32 := 16#2e5681f2#; + pragma Export (C, u00025, "system__exceptionsS"); + u00026 : constant Version_32 := 16#69416224#; + pragma Export (C, u00026, "system__exceptions__machineB"); + u00027 : constant Version_32 := 16#d27d9682#; + pragma Export (C, u00027, "system__exceptions__machineS"); + u00028 : constant Version_32 := 16#aa0563fc#; + pragma Export (C, u00028, "system__exceptions_debugB"); + u00029 : constant Version_32 := 16#38bf15c0#; + pragma Export (C, u00029, "system__exceptions_debugS"); + u00030 : constant Version_32 := 16#6c2f8802#; + pragma Export (C, u00030, "system__img_intB"); + u00031 : constant Version_32 := 16#44ee0cc6#; + pragma Export (C, u00031, "system__img_intS"); + u00032 : constant Version_32 := 16#39df8c17#; + pragma Export (C, u00032, "system__tracebackB"); + u00033 : constant Version_32 := 16#181732c0#; + pragma Export (C, u00033, "system__tracebackS"); + u00034 : constant Version_32 := 16#9ed49525#; + pragma Export (C, u00034, "system__traceback_entriesB"); + u00035 : constant Version_32 := 16#466e1a74#; + pragma Export (C, u00035, "system__traceback_entriesS"); + u00036 : constant Version_32 := 16#448e9548#; + pragma Export (C, u00036, "system__traceback__symbolicB"); + u00037 : constant Version_32 := 16#c84061d1#; + pragma Export (C, u00037, "system__traceback__symbolicS"); + u00038 : constant Version_32 := 16#179d7d28#; + pragma Export (C, u00038, "ada__containersS"); + u00039 : constant Version_32 := 16#701f9d88#; + pragma Export (C, u00039, "ada__exceptions__tracebackB"); + u00040 : constant Version_32 := 16#20245e75#; + pragma Export (C, u00040, "ada__exceptions__tracebackS"); + u00041 : constant Version_32 := 16#5ab55268#; + pragma Export (C, u00041, "interfacesS"); + u00042 : constant Version_32 := 16#769e25e6#; + pragma Export (C, u00042, "interfaces__cB"); + u00043 : constant Version_32 := 16#467817d8#; + pragma Export (C, u00043, "interfaces__cS"); + u00044 : constant Version_32 := 16#e865e681#; + pragma Export (C, u00044, "system__bounded_stringsB"); + u00045 : constant Version_32 := 16#31c8cd1d#; + pragma Export (C, u00045, "system__bounded_stringsS"); + u00046 : constant Version_32 := 16#0062635e#; + pragma Export (C, u00046, "system__crtlS"); + u00047 : constant Version_32 := 16#bba79bcb#; + pragma Export (C, u00047, "system__dwarf_linesB"); + u00048 : constant Version_32 := 16#9a78d181#; + pragma Export (C, u00048, "system__dwarf_linesS"); + u00049 : constant Version_32 := 16#5b4659fa#; + pragma Export (C, u00049, "ada__charactersS"); + u00050 : constant Version_32 := 16#8f637df8#; + pragma Export (C, u00050, "ada__characters__handlingB"); + u00051 : constant Version_32 := 16#3b3f6154#; + pragma Export (C, u00051, "ada__characters__handlingS"); + u00052 : constant Version_32 := 16#4b7bb96a#; + pragma Export (C, u00052, "ada__characters__latin_1S"); + u00053 : constant Version_32 := 16#e6d4fa36#; + pragma Export (C, u00053, "ada__stringsS"); + u00054 : constant Version_32 := 16#96df1a3f#; + pragma Export (C, u00054, "ada__strings__mapsB"); + u00055 : constant Version_32 := 16#1e526bec#; + pragma Export (C, u00055, "ada__strings__mapsS"); + u00056 : constant Version_32 := 16#d68fb8f1#; + pragma Export (C, u00056, "system__bit_opsB"); + u00057 : constant Version_32 := 16#0765e3a3#; + pragma Export (C, u00057, "system__bit_opsS"); + u00058 : constant Version_32 := 16#72b39087#; + pragma Export (C, u00058, "system__unsigned_typesS"); + u00059 : constant Version_32 := 16#92f05f13#; + pragma Export (C, u00059, "ada__strings__maps__constantsS"); + u00060 : constant Version_32 := 16#a0d3d22b#; + pragma Export (C, u00060, "system__address_imageB"); + u00061 : constant Version_32 := 16#e7d9713e#; + pragma Export (C, u00061, "system__address_imageS"); + u00062 : constant Version_32 := 16#ec78c2bf#; + pragma Export (C, u00062, "system__img_unsB"); + u00063 : constant Version_32 := 16#ed47ac70#; + pragma Export (C, u00063, "system__img_unsS"); + u00064 : constant Version_32 := 16#d7aac20c#; + pragma Export (C, u00064, "system__ioB"); + u00065 : constant Version_32 := 16#d8771b4b#; + pragma Export (C, u00065, "system__ioS"); + u00066 : constant Version_32 := 16#f790d1ef#; + pragma Export (C, u00066, "system__mmapB"); + u00067 : constant Version_32 := 16#7c445363#; + pragma Export (C, u00067, "system__mmapS"); + u00068 : constant Version_32 := 16#92d882c5#; + pragma Export (C, u00068, "ada__io_exceptionsS"); + u00069 : constant Version_32 := 16#0cdaa54a#; + pragma Export (C, u00069, "system__mmap__os_interfaceB"); + u00070 : constant Version_32 := 16#82f29877#; + pragma Export (C, u00070, "system__mmap__os_interfaceS"); + u00071 : constant Version_32 := 16#834dfe5e#; + pragma Export (C, u00071, "system__mmap__unixS"); + u00072 : constant Version_32 := 16#fa90b46b#; + pragma Export (C, u00072, "system__os_libB"); + u00073 : constant Version_32 := 16#4542b55d#; + pragma Export (C, u00073, "system__os_libS"); + u00074 : constant Version_32 := 16#ec4d5631#; + pragma Export (C, u00074, "system__case_utilB"); + u00075 : constant Version_32 := 16#79e05a50#; + pragma Export (C, u00075, "system__case_utilS"); + u00076 : constant Version_32 := 16#2a8e89ad#; + pragma Export (C, u00076, "system__stringsB"); + u00077 : constant Version_32 := 16#2623c091#; + pragma Export (C, u00077, "system__stringsS"); + u00078 : constant Version_32 := 16#5a3f5337#; + pragma Export (C, u00078, "system__object_readerB"); + u00079 : constant Version_32 := 16#82413105#; + pragma Export (C, u00079, "system__object_readerS"); + u00080 : constant Version_32 := 16#1a74a354#; + pragma Export (C, u00080, "system__val_lliB"); + u00081 : constant Version_32 := 16#dc110aa4#; + pragma Export (C, u00081, "system__val_lliS"); + u00082 : constant Version_32 := 16#afdbf393#; + pragma Export (C, u00082, "system__val_lluB"); + u00083 : constant Version_32 := 16#0841c7f5#; + pragma Export (C, u00083, "system__val_lluS"); + u00084 : constant Version_32 := 16#269742a9#; + pragma Export (C, u00084, "system__val_utilB"); + u00085 : constant Version_32 := 16#ea955afa#; + pragma Export (C, u00085, "system__val_utilS"); + u00086 : constant Version_32 := 16#d7bf3f29#; + pragma Export (C, u00086, "system__exception_tracesB"); + u00087 : constant Version_32 := 16#62eacc9e#; + pragma Export (C, u00087, "system__exception_tracesS"); + u00088 : constant Version_32 := 16#8c33a517#; + pragma Export (C, u00088, "system__wch_conB"); + u00089 : constant Version_32 := 16#5d48ced6#; + pragma Export (C, u00089, "system__wch_conS"); + u00090 : constant Version_32 := 16#9721e840#; + pragma Export (C, u00090, "system__wch_stwB"); + u00091 : constant Version_32 := 16#7059e2d7#; + pragma Export (C, u00091, "system__wch_stwS"); + u00092 : constant Version_32 := 16#a831679c#; + pragma Export (C, u00092, "system__wch_cnvB"); + u00093 : constant Version_32 := 16#52ff7425#; + pragma Export (C, u00093, "system__wch_cnvS"); + u00094 : constant Version_32 := 16#ece6fdb6#; + pragma Export (C, u00094, "system__wch_jisB"); + u00095 : constant Version_32 := 16#d28f6d04#; + pragma Export (C, u00095, "system__wch_jisS"); + u00096 : constant Version_32 := 16#eb4fc41d#; + pragma Export (C, u00096, "ada__real_timeB"); + u00097 : constant Version_32 := 16#69ea8064#; + pragma Export (C, u00097, "ada__real_timeS"); + u00098 : constant Version_32 := 16#c05c480c#; + pragma Export (C, u00098, "system__taskingB"); + u00099 : constant Version_32 := 16#d15fc24c#; + pragma Export (C, u00099, "system__taskingS"); + u00100 : constant Version_32 := 16#c333d44f#; + pragma Export (C, u00100, "system__task_primitivesS"); + u00101 : constant Version_32 := 16#02d5b781#; + pragma Export (C, u00101, "system__os_interfaceB"); + u00102 : constant Version_32 := 16#8b11eeee#; + pragma Export (C, u00102, "system__os_interfaceS"); + u00103 : constant Version_32 := 16#ff1f7771#; + pragma Export (C, u00103, "system__linuxS"); + u00104 : constant Version_32 := 16#198dbba9#; + pragma Export (C, u00104, "system__os_constantsS"); + u00105 : constant Version_32 := 16#3d3b214a#; + pragma Export (C, u00105, "system__task_primitives__operationsB"); + u00106 : constant Version_32 := 16#69ee9f34#; + pragma Export (C, u00106, "system__task_primitives__operationsS"); + u00107 : constant Version_32 := 16#71c5de81#; + pragma Export (C, u00107, "system__interrupt_managementB"); + u00108 : constant Version_32 := 16#24a21b5f#; + pragma Export (C, u00108, "system__interrupt_managementS"); + u00109 : constant Version_32 := 16#f65595cf#; + pragma Export (C, u00109, "system__multiprocessorsB"); + u00110 : constant Version_32 := 16#7e997377#; + pragma Export (C, u00110, "system__multiprocessorsS"); + u00111 : constant Version_32 := 16#51f2d040#; + pragma Export (C, u00111, "system__os_primitivesB"); + u00112 : constant Version_32 := 16#41c889f2#; + pragma Export (C, u00112, "system__os_primitivesS"); + u00113 : constant Version_32 := 16#375a3ef7#; + pragma Export (C, u00113, "system__task_infoB"); + u00114 : constant Version_32 := 16#1c069690#; + pragma Export (C, u00114, "system__task_infoS"); + u00115 : constant Version_32 := 16#f2eb7df6#; + pragma Export (C, u00115, "system__tasking__debugB"); + u00116 : constant Version_32 := 16#aea59d30#; + pragma Export (C, u00116, "system__tasking__debugS"); + u00117 : constant Version_32 := 16#fd83e873#; + pragma Export (C, u00117, "system__concat_2B"); + u00118 : constant Version_32 := 16#44953bd4#; + pragma Export (C, u00118, "system__concat_2S"); + u00119 : constant Version_32 := 16#2b70b149#; + pragma Export (C, u00119, "system__concat_3B"); + u00120 : constant Version_32 := 16#4d45b0a1#; + pragma Export (C, u00120, "system__concat_3S"); + u00121 : constant Version_32 := 16#273384e4#; + pragma Export (C, u00121, "system__img_enum_newB"); + u00122 : constant Version_32 := 16#2779eac4#; + pragma Export (C, u00122, "system__img_enum_newS"); + u00123 : constant Version_32 := 16#9dca6636#; + pragma Export (C, u00123, "system__img_lliB"); + u00124 : constant Version_32 := 16#577ab9d5#; + pragma Export (C, u00124, "system__img_lliS"); + u00125 : constant Version_32 := 16#6ec3c867#; + pragma Export (C, u00125, "system__stack_usageB"); + u00126 : constant Version_32 := 16#3a3ac346#; + pragma Export (C, u00126, "system__stack_usageS"); + u00127 : constant Version_32 := 16#10558b11#; + pragma Export (C, u00127, "ada__streamsB"); + u00128 : constant Version_32 := 16#67e31212#; + pragma Export (C, u00128, "ada__streamsS"); + u00129 : constant Version_32 := 16#d398a95f#; + pragma Export (C, u00129, "ada__tagsB"); + u00130 : constant Version_32 := 16#12a0afb8#; + pragma Export (C, u00130, "ada__tagsS"); + u00131 : constant Version_32 := 16#796f31f1#; + pragma Export (C, u00131, "system__htableB"); + u00132 : constant Version_32 := 16#c2f75fee#; + pragma Export (C, u00132, "system__htableS"); + u00133 : constant Version_32 := 16#089f5cd0#; + pragma Export (C, u00133, "system__string_hashB"); + u00134 : constant Version_32 := 16#60a93490#; + pragma Export (C, u00134, "system__string_hashS"); + u00135 : constant Version_32 := 16#927a893f#; + pragma Export (C, u00135, "ada__text_ioB"); + u00136 : constant Version_32 := 16#5194351e#; + pragma Export (C, u00136, "ada__text_ioS"); + u00137 : constant Version_32 := 16#73d2d764#; + pragma Export (C, u00137, "interfaces__c_streamsB"); + u00138 : constant Version_32 := 16#b1330297#; + pragma Export (C, u00138, "interfaces__c_streamsS"); + u00139 : constant Version_32 := 16#71ac0ba7#; + pragma Export (C, u00139, "system__file_ioB"); + u00140 : constant Version_32 := 16#e1440d61#; + pragma Export (C, u00140, "system__file_ioS"); + u00141 : constant Version_32 := 16#86c56e5a#; + pragma Export (C, u00141, "ada__finalizationS"); + u00142 : constant Version_32 := 16#95817ed8#; + pragma Export (C, u00142, "system__finalization_rootB"); + u00143 : constant Version_32 := 16#09c79f94#; + pragma Export (C, u00143, "system__finalization_rootS"); + u00144 : constant Version_32 := 16#bbaa76ac#; + pragma Export (C, u00144, "system__file_control_blockS"); + u00145 : constant Version_32 := 16#ce415498#; + pragma Export (C, u00145, "backend_threadB"); + u00146 : constant Version_32 := 16#10a1b3ea#; + pragma Export (C, u00146, "backend_threadS"); + u00147 : constant Version_32 := 16#97e573ca#; + pragma Export (C, u00147, "byte_bufferB"); + u00148 : constant Version_32 := 16#1dfd1fae#; + pragma Export (C, u00148, "byte_bufferS"); + u00149 : constant Version_32 := 16#5a895de2#; + pragma Export (C, u00149, "system__pool_globalB"); + u00150 : constant Version_32 := 16#7141203e#; + pragma Export (C, u00150, "system__pool_globalS"); + u00151 : constant Version_32 := 16#2323a8af#; + pragma Export (C, u00151, "system__memoryB"); + u00152 : constant Version_32 := 16#1f488a30#; + pragma Export (C, u00152, "system__memoryS"); + u00153 : constant Version_32 := 16#6d4d969a#; + pragma Export (C, u00153, "system__storage_poolsB"); + u00154 : constant Version_32 := 16#65d872a9#; + pragma Export (C, u00154, "system__storage_poolsS"); + u00155 : constant Version_32 := 16#2e260032#; + pragma Export (C, u00155, "system__storage_pools__subpoolsB"); + u00156 : constant Version_32 := 16#cc5a1856#; + pragma Export (C, u00156, "system__storage_pools__subpoolsS"); + u00157 : constant Version_32 := 16#d96e3c40#; + pragma Export (C, u00157, "system__finalization_mastersB"); + u00158 : constant Version_32 := 16#1dc9d5ce#; + pragma Export (C, u00158, "system__finalization_mastersS"); + u00159 : constant Version_32 := 16#7268f812#; + pragma Export (C, u00159, "system__img_boolB"); + u00160 : constant Version_32 := 16#b3ec9def#; + pragma Export (C, u00160, "system__img_boolS"); + u00161 : constant Version_32 := 16#84042202#; + pragma Export (C, u00161, "system__storage_pools__subpools__finalizationB"); + u00162 : constant Version_32 := 16#fe2f4b3a#; + pragma Export (C, u00162, "system__storage_pools__subpools__finalizationS"); + u00163 : constant Version_32 := 16#bcec81df#; + pragma Export (C, u00163, "ada__containers__helpersB"); + u00164 : constant Version_32 := 16#4adfc5eb#; + pragma Export (C, u00164, "ada__containers__helpersS"); + u00165 : constant Version_32 := 16#020a3f4d#; + pragma Export (C, u00165, "system__atomic_countersB"); + u00166 : constant Version_32 := 16#f269c189#; + pragma Export (C, u00166, "system__atomic_countersS"); + u00167 : constant Version_32 := 16#fa4925e6#; + pragma Export (C, u00167, "messagesB"); + u00168 : constant Version_32 := 16#c45c34cd#; + pragma Export (C, u00168, "messagesS"); + u00169 : constant Version_32 := 16#039168f8#; + pragma Export (C, u00169, "system__stream_attributesB"); + u00170 : constant Version_32 := 16#8bc30a4e#; + pragma Export (C, u00170, "system__stream_attributesS"); + u00171 : constant Version_32 := 16#69c75c36#; + pragma Export (C, u00171, "typesB"); + u00172 : constant Version_32 := 16#f05fd2f3#; + pragma Export (C, u00172, "typesS"); + u00173 : constant Version_32 := 16#b5988c27#; + pragma Export (C, u00173, "gnatS"); + u00174 : constant Version_32 := 16#369e155e#; + pragma Export (C, u00174, "gnat__socketsB"); + u00175 : constant Version_32 := 16#a6a830c3#; + pragma Export (C, u00175, "gnat__socketsS"); + u00176 : constant Version_32 := 16#cb835252#; + pragma Export (C, u00176, "gnat__sockets__linker_optionsS"); + u00177 : constant Version_32 := 16#b0810072#; + pragma Export (C, u00177, "gnat__sockets__thinB"); + u00178 : constant Version_32 := 16#c5872358#; + pragma Export (C, u00178, "gnat__sockets__thinS"); + u00179 : constant Version_32 := 16#357666d8#; + pragma Export (C, u00179, "ada__calendar__delaysB"); + u00180 : constant Version_32 := 16#2da855d5#; + pragma Export (C, u00180, "ada__calendar__delaysS"); + u00181 : constant Version_32 := 16#9a2e29aa#; + pragma Export (C, u00181, "ada__calendarB"); + u00182 : constant Version_32 := 16#c4f07049#; + pragma Export (C, u00182, "ada__calendarS"); + u00183 : constant Version_32 := 16#728833ee#; + pragma Export (C, u00183, "gnat__os_libS"); + u00184 : constant Version_32 := 16#485b8267#; + pragma Export (C, u00184, "gnat__task_lockS"); + u00185 : constant Version_32 := 16#05c60a38#; + pragma Export (C, u00185, "system__task_lockB"); + u00186 : constant Version_32 := 16#27bfdb6a#; + pragma Export (C, u00186, "system__task_lockS"); + u00187 : constant Version_32 := 16#305d23a5#; + pragma Export (C, u00187, "gnat__sockets__thin_commonB"); + u00188 : constant Version_32 := 16#fdbccd6b#; + pragma Export (C, u00188, "gnat__sockets__thin_commonS"); + u00189 : constant Version_32 := 16#69f6ee6b#; + pragma Export (C, u00189, "interfaces__c__stringsB"); + u00190 : constant Version_32 := 16#603c1c44#; + pragma Export (C, u00190, "interfaces__c__stringsS"); + u00191 : constant Version_32 := 16#5de653db#; + pragma Export (C, u00191, "system__communicationB"); + u00192 : constant Version_32 := 16#5f55b9d6#; + pragma Export (C, u00192, "system__communicationS"); + u00193 : constant Version_32 := 16#637ab3c9#; + pragma Export (C, u00193, "system__pool_sizeB"); + u00194 : constant Version_32 := 16#471ba45d#; + pragma Export (C, u00194, "system__pool_sizeS"); + u00195 : constant Version_32 := 16#d763507a#; + pragma Export (C, u00195, "system__val_intB"); + u00196 : constant Version_32 := 16#0e90c63b#; + pragma Export (C, u00196, "system__val_intS"); + u00197 : constant Version_32 := 16#1d9142a4#; + pragma Export (C, u00197, "system__val_unsB"); + u00198 : constant Version_32 := 16#621b7dbc#; + pragma Export (C, u00198, "system__val_unsS"); + u00199 : constant Version_32 := 16#f26d7867#; + pragma Export (C, u00199, "mailboxB"); + u00200 : constant Version_32 := 16#c3d0cd9b#; + pragma Export (C, u00200, "mailboxS"); + u00201 : constant Version_32 := 16#7d12d4bb#; + pragma Export (C, u00201, "system__tasking__protected_objectsB"); + u00202 : constant Version_32 := 16#15001baf#; + pragma Export (C, u00202, "system__tasking__protected_objectsS"); + u00203 : constant Version_32 := 16#d99cdb5c#; + pragma Export (C, u00203, "system__soft_links__taskingB"); + u00204 : constant Version_32 := 16#e939497e#; + pragma Export (C, u00204, "system__soft_links__taskingS"); + u00205 : constant Version_32 := 16#17d21067#; + pragma Export (C, u00205, "ada__exceptions__is_null_occurrenceB"); + u00206 : constant Version_32 := 16#e1d7566f#; + pragma Export (C, u00206, "ada__exceptions__is_null_occurrenceS"); + u00207 : constant Version_32 := 16#7010f8c6#; + pragma Export (C, u00207, "system__tasking__protected_objects__entriesB"); + u00208 : constant Version_32 := 16#7daf93e7#; + pragma Export (C, u00208, "system__tasking__protected_objects__entriesS"); + u00209 : constant Version_32 := 16#100eaf58#; + pragma Export (C, u00209, "system__restrictionsB"); + u00210 : constant Version_32 := 16#0d473555#; + pragma Export (C, u00210, "system__restrictionsS"); + u00211 : constant Version_32 := 16#e8c12513#; + pragma Export (C, u00211, "system__tasking__initializationB"); + u00212 : constant Version_32 := 16#fc2303e6#; + pragma Export (C, u00212, "system__tasking__initializationS"); + u00213 : constant Version_32 := 16#80ce688e#; + pragma Export (C, u00213, "system__tasking__task_attributesB"); + u00214 : constant Version_32 := 16#e81a3c25#; + pragma Export (C, u00214, "system__tasking__task_attributesS"); + u00215 : constant Version_32 := 16#81b5daee#; + pragma Export (C, u00215, "system__tasking__protected_objects__operationsB"); + u00216 : constant Version_32 := 16#ba36ad85#; + pragma Export (C, u00216, "system__tasking__protected_objects__operationsS"); + u00217 : constant Version_32 := 16#6bc03304#; + pragma Export (C, u00217, "system__tasking__entry_callsB"); + u00218 : constant Version_32 := 16#6342024e#; + pragma Export (C, u00218, "system__tasking__entry_callsS"); + u00219 : constant Version_32 := 16#cc950a30#; + pragma Export (C, u00219, "system__tasking__queuingB"); + u00220 : constant Version_32 := 16#6dba2805#; + pragma Export (C, u00220, "system__tasking__queuingS"); + u00221 : constant Version_32 := 16#e9f46e92#; + pragma Export (C, u00221, "system__tasking__utilitiesB"); + u00222 : constant Version_32 := 16#0f670827#; + pragma Export (C, u00222, "system__tasking__utilitiesS"); + u00223 : constant Version_32 := 16#915f61e7#; + pragma Export (C, u00223, "system__tasking__rendezvousB"); + u00224 : constant Version_32 := 16#5618a4d0#; + pragma Export (C, u00224, "system__tasking__rendezvousS"); + u00225 : constant Version_32 := 16#9b8d9f09#; + pragma Export (C, u00225, "tcp_clientB"); + u00226 : constant Version_32 := 16#c1f43196#; + pragma Export (C, u00226, "tcp_clientS"); + u00227 : constant Version_32 := 16#6a7592d1#; + pragma Export (C, u00227, "path_followingB"); + u00228 : constant Version_32 := 16#bb02323c#; + pragma Export (C, u00228, "path_followingS"); + u00229 : constant Version_32 := 16#8aa4f090#; + pragma Export (C, u00229, "system__img_realB"); + u00230 : constant Version_32 := 16#819dbde6#; + pragma Export (C, u00230, "system__img_realS"); + u00231 : constant Version_32 := 16#42a257f7#; + pragma Export (C, u00231, "system__fat_llfS"); + u00232 : constant Version_32 := 16#1b28662b#; + pragma Export (C, u00232, "system__float_controlB"); + u00233 : constant Version_32 := 16#a6c9af38#; + pragma Export (C, u00233, "system__float_controlS"); + u00234 : constant Version_32 := 16#3e932977#; + pragma Export (C, u00234, "system__img_lluB"); + u00235 : constant Version_32 := 16#3b7a9044#; + pragma Export (C, u00235, "system__img_lluS"); + u00236 : constant Version_32 := 16#16458a73#; + pragma Export (C, u00236, "system__powten_tableS"); + u00237 : constant Version_32 := 16#e18a47a0#; + pragma Export (C, u00237, "ada__float_text_ioB"); + u00238 : constant Version_32 := 16#1fef695b#; + pragma Export (C, u00238, "ada__float_text_ioS"); + u00239 : constant Version_32 := 16#d5f9759f#; + pragma Export (C, u00239, "ada__text_io__float_auxB"); + u00240 : constant Version_32 := 16#48248c7b#; + pragma Export (C, u00240, "ada__text_io__float_auxS"); + u00241 : constant Version_32 := 16#181dc502#; + pragma Export (C, u00241, "ada__text_io__generic_auxB"); + u00242 : constant Version_32 := 16#16b3615d#; + pragma Export (C, u00242, "ada__text_io__generic_auxS"); + u00243 : constant Version_32 := 16#c2ca0511#; + pragma Export (C, u00243, "system__val_realB"); + u00244 : constant Version_32 := 16#b81c9b15#; + pragma Export (C, u00244, "system__val_realS"); + u00245 : constant Version_32 := 16#b2a569d2#; + pragma Export (C, u00245, "system__exn_llfB"); + u00246 : constant Version_32 := 16#fa4b57d8#; + pragma Export (C, u00246, "system__exn_llfS"); + u00247 : constant Version_32 := 16#1e40f010#; + pragma Export (C, u00247, "system__fat_fltS"); + u00248 : constant Version_32 := 16#8bf4f526#; + pragma Export (C, u00248, "system__tasking__stagesB"); + u00249 : constant Version_32 := 16#14e0647c#; + pragma Export (C, u00249, "system__tasking__stagesS"); + u00250 : constant Version_32 := 16#1c931651#; + pragma Export (C, u00250, "webots_threadB"); + u00251 : constant Version_32 := 16#7a7a9953#; + pragma Export (C, u00251, "webots_threadS"); + + -- BEGIN ELABORATION ORDER + -- ada%s + -- ada.characters%s + -- ada.characters.latin_1%s + -- interfaces%s + -- system%s + -- system.atomic_counters%s + -- system.atomic_counters%b + -- system.exn_llf%s + -- system.exn_llf%b + -- system.float_control%s + -- system.float_control%b + -- system.img_bool%s + -- system.img_bool%b + -- system.img_enum_new%s + -- system.img_enum_new%b + -- system.img_int%s + -- system.img_int%b + -- system.img_lli%s + -- system.img_lli%b + -- system.io%s + -- system.io%b + -- system.os_primitives%s + -- system.os_primitives%b + -- system.parameters%s + -- system.parameters%b + -- system.crtl%s + -- interfaces.c_streams%s + -- interfaces.c_streams%b + -- system.powten_table%s + -- system.restrictions%s + -- system.restrictions%b + -- system.storage_elements%s + -- system.storage_elements%b + -- system.stack_checking%s + -- system.stack_checking%b + -- system.stack_usage%s + -- system.stack_usage%b + -- system.string_hash%s + -- system.string_hash%b + -- system.htable%s + -- system.htable%b + -- system.strings%s + -- system.strings%b + -- system.traceback_entries%s + -- system.traceback_entries%b + -- system.unsigned_types%s + -- system.img_llu%s + -- system.img_llu%b + -- system.img_uns%s + -- system.img_uns%b + -- system.wch_con%s + -- system.wch_con%b + -- system.wch_jis%s + -- system.wch_jis%b + -- system.wch_cnv%s + -- system.wch_cnv%b + -- system.concat_2%s + -- system.concat_2%b + -- system.concat_3%s + -- system.concat_3%b + -- system.traceback%s + -- system.traceback%b + -- system.case_util%s + -- system.standard_library%s + -- system.exception_traces%s + -- ada.exceptions%s + -- system.wch_stw%s + -- system.val_util%s + -- system.val_llu%s + -- system.val_lli%s + -- system.os_lib%s + -- system.bit_ops%s + -- ada.characters.handling%s + -- ada.exceptions.traceback%s + -- system.secondary_stack%s + -- system.case_util%b + -- system.address_image%s + -- system.bounded_strings%s + -- system.soft_links%s + -- system.exception_table%s + -- system.exception_table%b + -- ada.io_exceptions%s + -- ada.strings%s + -- ada.containers%s + -- system.exceptions%s + -- system.exceptions%b + -- ada.exceptions.last_chance_handler%s + -- system.exceptions_debug%s + -- system.exceptions_debug%b + -- system.exception_traces%b + -- system.memory%s + -- system.memory%b + -- system.wch_stw%b + -- system.val_util%b + -- system.val_llu%b + -- system.val_lli%b + -- system.os_lib%b + -- system.bit_ops%b + -- ada.strings.maps%s + -- ada.strings.maps.constants%s + -- ada.characters.handling%b + -- interfaces.c%s + -- ada.exceptions.traceback%b + -- system.exceptions.machine%s + -- system.exceptions.machine%b + -- system.secondary_stack%b + -- system.address_image%b + -- system.bounded_strings%b + -- system.soft_links.initialize%s + -- system.soft_links.initialize%b + -- system.soft_links%b + -- ada.exceptions.last_chance_handler%b + -- system.standard_library%b + -- system.mmap%s + -- ada.strings.maps%b + -- interfaces.c%b + -- system.object_reader%s + -- system.dwarf_lines%s + -- system.dwarf_lines%b + -- system.mmap.unix%s + -- system.mmap.os_interface%s + -- system.mmap%b + -- system.traceback.symbolic%s + -- system.traceback.symbolic%b + -- ada.exceptions%b + -- system.object_reader%b + -- system.mmap.os_interface%b + -- ada.exceptions.is_null_occurrence%s + -- ada.exceptions.is_null_occurrence%b + -- ada.tags%s + -- ada.tags%b + -- ada.streams%s + -- ada.streams%b + -- gnat%s + -- gnat.os_lib%s + -- interfaces.c.strings%s + -- interfaces.c.strings%b + -- system.communication%s + -- system.communication%b + -- system.fat_flt%s + -- system.fat_llf%s + -- system.file_control_block%s + -- system.finalization_root%s + -- system.finalization_root%b + -- ada.finalization%s + -- ada.containers.helpers%s + -- ada.containers.helpers%b + -- system.file_io%s + -- system.file_io%b + -- system.img_real%s + -- system.img_real%b + -- system.linux%s + -- system.multiprocessors%s + -- system.multiprocessors%b + -- system.os_constants%s + -- system.os_interface%s + -- system.os_interface%b + -- system.storage_pools%s + -- system.storage_pools%b + -- system.finalization_masters%s + -- system.finalization_masters%b + -- system.storage_pools.subpools%s + -- system.storage_pools.subpools.finalization%s + -- system.storage_pools.subpools%b + -- system.storage_pools.subpools.finalization%b + -- system.stream_attributes%s + -- system.stream_attributes%b + -- system.task_info%s + -- system.task_info%b + -- system.task_lock%s + -- system.task_lock%b + -- gnat.task_lock%s + -- system.task_primitives%s + -- system.interrupt_management%s + -- system.interrupt_management%b + -- system.tasking%s + -- system.task_primitives.operations%s + -- system.tasking.debug%s + -- system.tasking%b + -- system.task_primitives.operations%b + -- system.tasking.debug%b + -- system.val_real%s + -- system.val_real%b + -- system.val_uns%s + -- system.val_uns%b + -- system.val_int%s + -- system.val_int%b + -- ada.calendar%s + -- ada.calendar%b + -- ada.calendar.delays%s + -- ada.calendar.delays%b + -- ada.real_time%s + -- ada.real_time%b + -- ada.text_io%s + -- ada.text_io%b + -- ada.text_io.generic_aux%s + -- ada.text_io.generic_aux%b + -- ada.text_io.float_aux%s + -- ada.text_io.float_aux%b + -- ada.float_text_io%s + -- ada.float_text_io%b + -- system.pool_global%s + -- system.pool_global%b + -- system.pool_size%s + -- system.pool_size%b + -- gnat.sockets%s + -- gnat.sockets.thin_common%s + -- gnat.sockets.thin_common%b + -- gnat.sockets.thin%s + -- gnat.sockets.thin%b + -- gnat.sockets.linker_options%s + -- gnat.sockets%b + -- system.soft_links.tasking%s + -- system.soft_links.tasking%b + -- system.tasking.initialization%s + -- system.tasking.task_attributes%s + -- system.tasking.initialization%b + -- system.tasking.task_attributes%b + -- system.tasking.protected_objects%s + -- system.tasking.protected_objects%b + -- system.tasking.protected_objects.entries%s + -- system.tasking.protected_objects.entries%b + -- system.tasking.queuing%s + -- system.tasking.queuing%b + -- system.tasking.utilities%s + -- system.tasking.utilities%b + -- system.tasking.entry_calls%s + -- system.tasking.rendezvous%s + -- system.tasking.protected_objects.operations%s + -- system.tasking.protected_objects.operations%b + -- system.tasking.entry_calls%b + -- system.tasking.rendezvous%b + -- system.tasking.stages%s + -- system.tasking.stages%b + -- types%s + -- types%b + -- messages%s + -- messages%b + -- byte_buffer%s + -- byte_buffer%b + -- mailbox%s + -- mailbox%b + -- path_following%s + -- path_following%b + -- tcp_client%s + -- tcp_client%b + -- backend_thread%s + -- backend_thread%b + -- webots_thread%s + -- webots_thread%b + -- main%b + -- END ELABORATION ORDER + +end ada_main; diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali new file mode 100644 index 0000000..478a3e8 --- /dev/null +++ b/external/controller/obj/b__main.ali @@ -0,0 +1,465 @@ +V "GNAT Lib v9" +A -gnatA +A -gnatA +A -gnatWb +A -gnatiw +A -gnatws +A -g +A -mtune=generic +A -march=x86-64 +P ZX + +RN +RV NO_ACCESS_SUBPROGRAMS +RV NO_DEFAULT_INITIALIZATION +RV NO_IMPLEMENTATION_ATTRIBUTES +RV NO_IMPLEMENTATION_PRAGMAS +RV NO_IMPLICIT_LOOPS +RV NO_ELABORATION_CODE +RV NO_OBSOLESCENT_FEATURES +RV SPARK_05 + +U ada_main%b b__main.adb 7e092f5b OO PK IL +W ada%s ada.ads ada.ali +W ada.exceptions%s a-except.adb a-except.ali +W system%s system.ads system.ali +W system.restrictions%s s-restri.adb s-restri.ali + +U ada_main%s b__main.ads 3ed86db3 EE NE OO PK IL +W system%s system.ads system.ali +W system.parameters%s s-parame.adb s-parame.ali +W system.secondary_stack%s s-secsta.adb s-secsta.ali + +D ada.ads 20200312110721 76789da1 ada%s +D a-except.ads 20200312110721 291912d5 ada.exceptions%s +D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s +D b__main.ads 20200711193922 10ba33aa ada_main%s +D b__main.adb 20200711193922 5c370856 ada_main%b +D system.ads 20200312110721 4635ec04 system%s +D s-parame.ads 20200312110721 48ec542b system.parameters%s +D s-restri.ads 20200312110721 1b9d0672 system.restrictions%s +D s-rident.ads 20200312110721 50efdf23 system.rident%s +D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s +D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s +D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s +D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s +X 1 ada.ads +16K9*Ada 20e8 5|8r6 +X 2 a-except.ads +54K13*Exceptions 349e19 5|8w10 +X 4 b__main.ads +6K9*ada_main 797l5 797e13 5|10b14 451l5 451t13 +8i4*gnat_argc{integer} 12m22 12r22 5|417m7 +9m4*gnat_argv{6|67M9} 13m22 13r22 5|418m7 +10m4*gnat_envp{6|67M9} 14m22 14r22 5|419m7 +16i4*gnat_exit_status{integer} 17m22 17r22 5|426r15 +19a4*GNAT_Version{string} 21r22 +23a4*Ada_Main_Program_Name{string} 24r22 5|413r52 +26U14*adainit 27i22 5|187b14 395l8 395t15 422s7 +29U14*adafinal 30i22 5|169b14 183l8 183t16 424s7 +32V13*main{integer} 33>7 34>7 35>7 37i22 5|400b13 427t7 +33i7 argc{integer} 5|401b7 417r20 +34m7 argv{6|67M9} 5|402b7 418r20 +35m7 envp{6|67M9} 5|403b7 419r20 +39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 +. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 +. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 +. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 +. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 +. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 +. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 +. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 +. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 +. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 +. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 +. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 +. 306r22 308r22 310r22 312r22 314r22 316r22 318r22 320r22 322r22 324r22 326r22 +. 328r22 330r22 332r22 334r22 336r22 338r22 340r22 342r22 344r22 346r22 348r22 +. 350r22 352r22 354r22 356r22 358r22 360r22 362r22 364r22 366r22 368r22 370r22 +. 372r22 374r22 376r22 378r22 380r22 382r22 384r22 386r22 388r22 390r22 392r22 +. 394r22 396r22 398r22 400r22 402r22 404r22 406r22 408r22 410r22 412r22 414r22 +. 416r22 418r22 420r22 422r22 424r22 426r22 428r22 430r22 432r22 434r22 436r22 +. 438r22 440r22 442r22 444r22 446r22 448r22 450r22 452r22 454r22 456r22 458r22 +. 460r22 462r22 464r22 466r22 468r22 470r22 472r22 474r22 476r22 478r22 480r22 +. 482r22 484r22 486r22 488r22 490r22 492r22 494r22 496r22 498r22 500r22 502r22 +. 504r22 506r22 508r22 510r22 512r22 514r22 516r22 518r22 520r22 522r22 524r22 +. 526r22 528r22 530r22 532r22 534r22 536r22 538r22 540r22 +40m4*u00001{39M9} 41r22 +42m4*u00002{39M9} 43r22 +44m4*u00003{39M9} 45r22 +46m4*u00004{39M9} 47r22 +48m4*u00005{39M9} 49r22 +50m4*u00006{39M9} 51r22 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129r22 +130m4*u00046{39M9} 131r22 +132m4*u00047{39M9} 133r22 +134m4*u00048{39M9} 135r22 +136m4*u00049{39M9} 137r22 +138m4*u00050{39M9} 139r22 +140m4*u00051{39M9} 141r22 +142m4*u00052{39M9} 143r22 +144m4*u00053{39M9} 145r22 +146m4*u00054{39M9} 147r22 +148m4*u00055{39M9} 149r22 +150m4*u00056{39M9} 151r22 +152m4*u00057{39M9} 153r22 +154m4*u00058{39M9} 155r22 +156m4*u00059{39M9} 157r22 +158m4*u00060{39M9} 159r22 +160m4*u00061{39M9} 161r22 +162m4*u00062{39M9} 163r22 +164m4*u00063{39M9} 165r22 +166m4*u00064{39M9} 167r22 +168m4*u00065{39M9} 169r22 +170m4*u00066{39M9} 171r22 +172m4*u00067{39M9} 173r22 +174m4*u00068{39M9} 175r22 +176m4*u00069{39M9} 177r22 +178m4*u00070{39M9} 179r22 +180m4*u00071{39M9} 181r22 +182m4*u00072{39M9} 183r22 +184m4*u00073{39M9} 185r22 +186m4*u00074{39M9} 187r22 +188m4*u00075{39M9} 189r22 +190m4*u00076{39M9} 191r22 +192m4*u00077{39M9} 193r22 +194m4*u00078{39M9} 195r22 +196m4*u00079{39M9} 197r22 +198m4*u00080{39M9} 199r22 +200m4*u00081{39M9} 201r22 +202m4*u00082{39M9} 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499r22 +500m4*u00231{39M9} 501r22 +502m4*u00232{39M9} 503r22 +504m4*u00233{39M9} 505r22 +506m4*u00234{39M9} 507r22 +508m4*u00235{39M9} 509r22 +510m4*u00236{39M9} 511r22 +512m4*u00237{39M9} 513r22 +514m4*u00238{39M9} 515r22 +516m4*u00239{39M9} 517r22 +518m4*u00240{39M9} 519r22 +520m4*u00241{39M9} 521r22 +522m4*u00242{39M9} 523r22 +524m4*u00243{39M9} 525r22 +526m4*u00244{39M9} 527r22 +528m4*u00245{39M9} 529r22 +530m4*u00246{39M9} 531r22 +532m4*u00247{39M9} 533r22 +534m4*u00248{39M9} 535r22 +536m4*u00249{39M9} 537r22 +538m4*u00250{39M9} 539r22 +540m4*u00251{39M9} 541r22 +X 5 b__main.adb +12i4 E073{short_integer} 12m46 12r46 306m7 306r15 +13i4 E011{short_integer} 13m46 13r46 313m7 313r15 +14i4 E023{short_integer} 14m46 14r46 296m7 296r15 +15i4 E068{short_integer} 15m46 15r46 298m7 298r15 +16i4 E053{short_integer} 16m46 16r46 300m7 300r15 +17i4 E038{short_integer} 17m46 17r46 302m7 302r15 +18i4 E025{short_integer} 18m46 18r46 304m7 304r15 +19i4 E055{short_integer} 19m46 19r46 314m7 314r15 +20i4 E059{short_integer} 20m46 20r46 309m7 309r15 +21i4 E043{short_integer} 21m46 21r46 315m7 315r15 +22i4 E019{short_integer} 22m46 22r46 312m7 312r15 +23i4 E079{short_integer} 23m46 23r46 321m7 321r15 +24i4 E048{short_integer} 24m46 24r46 318m7 318r15 +25i4 E037{short_integer} 25m46 25r46 320m7 320r15 +26i4 E130{short_integer} 26m46 26r46 324m7 324r15 +27i4 E128{short_integer} 27m46 27r46 326m7 326r15 +28i4 E173{short_integer} 28m46 28r46 328m7 328r15 +29i4 E190{short_integer} 29m46 29r46 330m7 330r15 +30i4 E144{short_integer} 30m46 30r46 332m7 332r15 +31i4 E143{short_integer} 31m46 31r46 334m7 334r15 +32i4 E141{short_integer} 32m46 32r46 336m7 336r15 +33i4 E140{short_integer} 33m46 33r46 158m10 158r18 338m7 338r15 +34i4 E154{short_integer} 34m46 34r46 340m7 340r15 +35i4 E158{short_integer} 35m46 35r46 147m7 147r15 343m7 343r15 +36i4 E156{short_integer} 36m46 36r46 140m7 140r15 345m7 345r15 +37i4 E114{short_integer} 37m46 37r46 347m7 347r15 +38i4 E106{short_integer} 38m46 38r46 349m7 349r15 +39i4 E182{short_integer} 39m46 39r46 352m7 352r15 +40i4 E180{short_integer} 40m46 40r46 354m7 354r15 +41i4 E097{short_integer} 41m46 41r46 357m7 357r15 +42i4 E136{short_integer} 42m46 42r46 133m7 133r15 360m7 360r15 +43i4 E150{short_integer} 43m46 43r46 126m7 126r15 362m7 362r15 +44i4 E194{short_integer} 44m46 44r46 119m7 119r15 364m7 364r15 +45i4 E175{short_integer} 45m46 45r46 110m10 110r18 369m7 369r15 +46i4 E188{short_integer} 46m46 46r46 366m7 366r15 +47i4 E178{short_integer} 47m46 47r46 367m7 367r15 +48i4 E212{short_integer} 48m46 48r46 371m7 371r15 +49i4 E202{short_integer} 49m46 49r46 373m7 373r15 +50i4 E208{short_integer} 50m46 50r46 99m7 99r15 375m7 375r15 +51i4 E220{short_integer} 51m46 51r46 377m7 377r15 +52i4 E249{short_integer} 52m46 52r46 379m7 379r15 +53i4 E172{short_integer} 53m46 53r46 380m7 380r15 +54i4 E168{short_integer} 54m46 54r46 92m7 92r15 383m7 383r15 +55i4 E148{short_integer} 55m46 55r46 85m7 85r15 386m7 386r15 +56i4 E200{short_integer} 56m46 56r46 387m7 387r15 +57i4 E228{short_integer} 57m46 57r46 389m7 389r15 +58i4 E226{short_integer} 58m46 58r46 390m7 390r15 +59i4 E146{short_integer} 59m46 59r46 78m7 78r15 392m7 392r15 +60i4 E251{short_integer} 60m46 60r46 71m7 71r15 394m7 394r15 +62a4 Sec_Default_Sized_Stacks(10|45R9) 288m32 288r32 +64a4 Local_Priority_Specific_Dispatching{string} 275r9 +65a4 Local_Interrupt_States{string} 278r27 +67b4 Is_Elaborated{boolean} 177r14 180m7 234r10 237m7 +69U14 finalize_library 69b14 167l8 167t24 292r35 +73U20*F1 74b30 76s10 +80U20*F2 81b30 83s10 +87U20*F3 88b30 90s10 +94U20*F4 95b30 97s10 +101U20*F5 102b30 +. 104s10 +107U20*F6 108b30 111s10 +114U20*F7 115b30 117s10 +121U20*F8 122b30 124s10 +128U20*F9 129b30 131s10 +135U20*F10 136b30 138s10 +142U20*F11 143b30 145s10 +149U20*F12 150b30 152s10 +155U20*F13 156b30 159s10 +162U20*Reraise_Library_Exception_If_Any 163b33 +. 165s10 +170U17*s_stalib_adafinal 171b25 182s7 +173U17*Runtime_Finalize 174b25 181s7 +185P9 No_Param_Proc 226r34 +188i7*Main_Priority{integer} 189m25 189r25 238m7 +190i7*Time_Slice_Value{integer} 191m25 191r25 239m7 +192e7*WC_Encoding{character} 193m25 193r25 240m7 +194e7*Locking_Policy{character} 195m25 195r25 241m7 +196e7*Queuing_Policy{character} 197m25 197r25 242m7 +198e7*Task_Dispatching_Policy{character} 199m25 199r25 243m7 +200m7*Priority_Specific_Dispatching{6|67M9} 201m25 201r25 274m7 +202i7*Num_Specific_Dispatching{integer} 203m25 203r25 276m7 +204i7*Main_CPU{integer} 205m25 205r25 277m7 +206m7*Interrupt_States{6|67M9} 207m25 207r25 278m7 +208i7*Num_Interrupt_States{integer} 209m25 209r25 279m7 +210i7*Unreserve_All_Interrupts{integer} 211m25 211r25 280m7 +212i7*Detect_Blocking{integer} 213m25 213r25 281m7 +214i7*Default_Stack_Size{integer} 215m25 215r25 282m7 +216i7*Default_Secondary_Stack_Size{7|58I9} 217m25 217r25 286m7 +218i7*Leap_Seconds_Support{integer} 219m25 219r25 283m7 +220m7*Bind_Env_Addr{6|67M9} 221m25 221r25 +223U17*Runtime_Initialize 223>37 224b25 290s7 +223i37 Install_Handler{integer} +226p7*Finalize_Library_Objects{185P9} 227m25 227r25 292m7 +228i7*Binder_Sec_Stacks_Count{natural} 229m27 229r27 287m7 +230m7*Default_Sized_SS_Pool{6|67M9} 231m27 231r27 288m7 +397U14 Ada_Main_Program 398b24 423s7 +406U17*Initialize 406>29 407b25 421s7 +406m29 Addr{6|67M9} +409U17*Finalize 410b25 425s7 +411a7 SEH(integer) 421m19 421r19 +413m7 Ensure_Reference{6|67M9} 414r24 +X 6 system.ads +37K9*System 4|3w6 4r6 5r6 9r16 10r16 34r14 35r14 5|7r6 62r57 62r90 200r39 +. 206r26 216r38 220r23 230r31 244r7 286r39 402r14 403r14 406r36 413r34 6|156e11 +67M9*Address 4|9r23 10r23 34r21 35r21 5|200r46 206r33 220r30 230r38 402r21 +. 403r21 406r43 413r41 +X 7 s-parame.ads +51K16*Parameters 4|4w13 5|62r97 216r45 286r46 7|198e22 +58I9*Size_Type 5|216r56 +95i4*Runtime_Default_Sec_Stack_Size{58I9} 5|62r108 286r57 +X 8 s-restri.ads +45K16*Restrictions 5|7w13 244m14 8|77e24 +52r4*Run_Time_Restrictions{9|322R9[49]} 5|244m27 +X 9 s-rident.ads +318A9*Restriction_Flags(boolean)<85E9[8|49]> +319A9*Restriction_Values(natural)<85E9[8|49]> +320A9*Parameter_Flags(boolean)<85E9[8|49]> +322R9*Restrictions_Info +323a7*Set{318A9[8|49]} 5|245m10[8|49] +329a7*Value{319A9[8|49]} 5|258m10[8|49] +336a7*Violated{318A9[8|49]} 5|259m10[8|49] +341a7*Count{319A9[8|49]} 5|272m10[8|49] +349a7*Unknown{320A9[8|49]} 5|273m10[8|49] +X 10 s-secsta.ads +37K16*Secondary_Stack 4|5w13 5|62r64 10|430e27 +45R9*SS_Stack 5|62r80 10|330e14 + diff --git a/external/controller/obj/b__main.o b/external/controller/obj/b__main.o new file mode 100644 index 0000000000000000000000000000000000000000..815b2a129adbbe3b9fd106d02dc9788a92477482 GIT binary patch literal 87080 zcmeIb33L_3_wRd7k^^B5lgtq28FG>k!XN@N1Vuz90g*$70|{g@1Je%>859H*5d;+h z5fvN}XGBFrL`6kJ0YycBil~T)sHmuS@2XwhyLV2Z|GU<`@2&M-uXTp{>|NikuBxuC zs-CXzKX^ct-|sVv-`C6Mh79%jP7HBrZ-smNYWr&WMy4(Ps?W$iBZjBVKUp_z@o#C1 ze@a_?#s0L#*B(w=a>d~#6$WR1qyAhMqr=_a5y4q~6c`kfmieQ0Ny~gAt?fH$i+@a; 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Forward_Iterator +32h9 Reversible_Iterator<24R9[6|111]> +X 13 a-stream.ads +36K13*Streams 87e16 18|2w10 67r57 71r56 19|280r57 283r27 284r19 293r56 297r28 +. 298r18 309r31 310r22 +39H9*Root_Stream_Type 70e64 18|67r65 71r64 19|280r65 293r64 +42M9*Stream_Element +44I9*Stream_Element_Offset 19|284r27 298r26 310r30 +54A9*Stream_Element_Array(42M9)<44I9> 19|283r35 297r36 309r39 +57x14*Read 19|300R14 312R17 +63x14*Write 19|290R14 +X 15 a-textio.ads +49K13*Text_IO 471e16 18|3w10 3r27 +X 18 byte_buffer.ads +8K9*Byte_Buffer 56E12 77l5 77e16 19|1b14 321l5 321t16 +11R9*Buffer 18p14 18r40 19p14 19r41 20p14 20r41 21p14 21r41 22p14 22r42 23p14 +. 23r42 26p14 26r41 27p14 27r42 28p14 28r42 29p14 29r42 30p14 30r43 31p14 +. 31r43 34p14 34r42 36p14 36r43 37p14 37r43 38p14 38r43 39p14 39r43 40p14 +. 40r43 41p14 41r43 44p13 44r39 45p13 45r42 46p13 46r44 47p13 47r33 48p14 +. 48r36 51p14 51r42 60c9 64e14 67p14 68r43 71p14 72r35 74r8 75r8 19|3r40 +. 13r41 26r41 41r41 60r42 67r42 81r41 87r42 95r42 105r42 119r43 126r43 136r42 +. 194r43 204r43 214r43 225r43 232r43 238r43 246r39 251r42 256r44 261r33 266r36 +. 272r42 281r43 282r11 294r35 +13X4*Wrong_Message_Id +14X4*Not_Enough_Data 19|6r16 17r16 30r16 45r16 71r16 146r16 +15X4*Unknown_Message_Id 19|156r19 +18U14*Read_Uint8 18=26 18<48 19|3b14 11l8 11t18 149s12 176s21 287s12 +18r26 Self{11R9} 19|3b26 5m10 5r10 9r14 9r44 10m7 10r20 +18m48 Val{58|6M9} 19|3b48 9m7 +19U14*Read_Uint16 19=27 19<49 19|13b14 24l8 24t19 +19r27 Self{11R9} 19|13b27 16m10 16r10 20r17 20r47 21r17 21r47 23m7 23r20 +19m49 Val{58|7M9} 19|13b49 22m7 +20U14*Read_Uint32 20=27 20<49 19|26b14 39l8 39t19 141s12 172s18 180s18 +20r27 Self{11R9} 19|26b27 29m10 29r10 33r17 33r47 34r17 34r47 35r17 35r47 +. 36r17 36r47 38m7 38r20 +20m49 Val{58|8M9} 19|26b49 37m7 +21U14*Read_Uint64 21=27 21<49 19|41b14 58l8 58t19 63s12 +21r27 Self{11R9} 19|41b27 44m10 44r10 48r17 48r47 49r17 49r47 50r17 50r47 +. 51r17 51r47 52r17 52r47 53r17 53r47 54r17 54r47 55r17 55r47 57m7 57r20 +21m49 Val{58|9M9} 19|41b49 56m7 +22U14*Read_Float64 22=28 22<50 19|60b14 65l8 65t20 164s21 169s18 185s18 186s18 +22r28 Self{11R9} 19|60b28 63m7 63r7 +22f50 Val{58|10F9} 19|60b50 64m7 +23U14*Read_Payload 23=28 23^50 19|67b14 79l8 79t20 +23r28 Self{11R9} 19|67b28 70m10 70r10 75r21 75r51 78m7 78r20 +23p50 Val(58|15A9) 19|67b50 70r33 74r16 75r10 +26U14*Write_Uint8 26=27 26>49 19|81b14 85l8 85t19 197s12 207s12 217s12 221s15 +. 228s12 235s12 241s12 316s15 +26r27 Self{11R9} 19|81b27 83m7 83r7 84m7 84r23 +26m49 Val{58|6M9} 19|81b49 83r27 +27U14*Write_Uint16 27=28 27>50 19|87b14 93l8 93t20 +27r28 Self{11R9} 19|87b28 90m7 90r7 91m7 91r7 92m7 92r23 +27m50 Val{58|7M9} 19|87b50 88r54 +28U14*Write_Uint32 28=28 28>50 19|95b14 103l8 103t20 196s12 206s12 216s12 +. 218s12 227s12 229s12 234s12 240s12 314s12 +28r28 Self{11R9} 19|95b28 98m7 98r7 99m7 99r7 100m7 100r7 101m7 101r7 102m7 +. 102r23 +28m50 Val{58|8M9} 19|95b50 96r54 +29U14*Write_Uint64 29=28 29>50 19|105b14 117l8 117t20 123s12 +29r28 Self{11R9} 19|105b28 108m7 108r7 109m7 109r7 110m7 110r7 111m7 111r7 +. 112m7 112r7 113m7 113r7 114m7 114r7 115m7 115r7 116m7 116r23 +29m50 Val{58|9M9} 19|105b50 106r54 +30U14*Write_Float64 30=29 30>51 19|119b14 124l8 124t21 200s15 210s15 242s12 +. 243s12 +30r29 Self{11R9} 19|119b29 123m7 123r7 +30f51 Val{58|10F9} 19|119b51 122r39 +31U14*Write_Payload 31=29 31^51 19|126b14 134l8 134t21 +31r29 Self{11R9} 19|126b29 130m10 130r10 133m7 133r23 +31p51 Val(58|15A9) 19|126b51 129r16 130r30 +34U14*Read_Message 34=28 34<50 19|136b14 192l8 192t20 +34r28 Self{11R9} 19|136b28 141m7 141r7 144m10 144r10 145m10 145r10 149m7 +. 149r7 155m13 155r13 164m16 164r16 169m13 169r13 172m13 172r13 176m16 176r16 +. 180m13 180r13 185m13 185r13 186m13 186r13 +34p50 Val{23|59P9} 19|136b50 161m13 163r47 164r60 167m13 169r57 171m13 173r38 +. 175r47 176r58 179m13 180r56 182m13 184m13 185r56 186r56 190r7 191r7 +36U14*Write_Message 36=29 36>51 19|194b14 202l8 202t21 +36r29 Self{11R9} 19|194b29 196m7 196r7 197m7 197r7 200m10 200r10 +36r51 Val{23|37R9} 19|194b51 196r26 197r68 199r16 200r30 +37U14*Write_Message 37=29 37>51 19|204b14 212l8 212t21 +37r29 Self{11R9} 19|204b29 206m7 206r7 207m7 207r7 210m10 210r10 +37r51 Val{23|31R9} 19|204b51 206r26 207r68 209r16 210r30 +38U14*Write_Message 38=29 38>51 19|214b14 223l8 223t21 +38r29 Self{11R9} 19|214b29 216m7 216r7 217m7 217r7 218m7 218r7 221m10 221r10 +38r51 Val{23|41R9} 19|214b51 216r26 217r68 218r26 220r16 221r28 +39U14*Write_Message 39=29 39>51 19|225b14 230l8 230t21 +39r29 Self{11R9} 19|225b29 227m7 227r7 228m7 228r7 229m7 229r7 +39r51 Val{23|45R9} 19|225b51 227r26 228r68 229r26 +40U14*Write_Message 40=29 40>51 19|232b14 236l8 236t21 +40r29 Self{11R9} 19|232b29 234m7 234r7 235m7 235r7 +40r51 Val{23|54R9} 19|232b51 234r26 235r68 +41U14*Write_Message 41=29 41>51 19|238b14 244l8 244t21 +41r29 Self{11R9} 19|238b29 240m7 240r7 241m7 241r7 242m7 242r7 243m7 243r7 +41r51 Val{23|49R9} 19|238b51 240r26 241r68 242r27 243r27 +44V13*Bytes_Read{58|8M9} 44=25 19|246b13 249l8 249t18 +44r25 Self{11R9} 19|246b25 248r14 +45V13*Bytes_Written{58|8M9} 45=28 19|251b13 254l8 254t21 +45r28 Self{11R9} 19|251b28 253r14 +46V13*Bytes_Remaining{58|8M9} 46=30 19|5s15 16s15 29s15 44s15 70s15 144s15 +. 256b13 259l8 259t23 284s52 +46r30 Self{11R9} 19|256b30 258r14 258r29 +47V13*Size{58|8M9} 47=19 19|261b13 264l8 264t12 +47r19 Self{11R9} 19|261b19 263r28 +48U14*Unwind 48=22 48>44 19|145s15 155s18 266b14 270l8 270t14 +48r22 Self{11R9} 19|266b22 267r41 267r56 269m7 269r20 +48m44 N{58|8M9} 19|266b44 267r37 267r71 +51U14*Delete_Bytes 51=28 51>50 19|272b14 278l8 278t20 +51r28 Self{11R9} 19|272b28 273r41 273r59 275m7 275r7 276m7 276r34 276r56 +. 277m7 277r23 +51m50 N{58|8M9} 19|272b50 273r37 273r77 +56K12 Byte_Vector[6|73] 58r8 61r16 +61r7*Vector{6|88R9[56]} 19|9r19 20r22 21r22 33r22 34r22 35r22 36r22 48r22 +. 49r22 50r22 51r22 52r22 53r22 54r22 55r22 75r26 83m12 90m12 91m12 98m12 +. 99m12 100m12 101m12 108m12 109m12 110m12 111m12 112m12 113m12 114m12 115m12 +. 130m15 263r33 275m12 +62m7*Read{58|8M9} 19|9r49 10m12 10r25 20r52 21r52 23m12 23r25 33r52 34r52 +. 35r52 36r52 38m12 38r25 48r52 49r52 50r52 51r52 52r52 53r52 54r52 55r52 +. 57m12 57r25 75r56 78m12 78r25 248r19 258r34 267r46 267r61 269m12 269r25 +. 276m12 276r39 276r61 +63m7*Written{58|8M9} 19|84m12 84r28 92m12 92r28 102m12 102r28 116m12 116r28 +. 133m12 133r28 253r19 258r19 273r46 273r64 277m12 277r28 +67U14 Write_Stream 67^28 68>28 74r25 19|280b14 291l8 291t20 +67p28 Stream(13|39R9) 19|280b28 290r7 +68r28 In_Buffer{11R9} 19|281b28 282r21 +71U14 Read_Stream 71^27 72<27 75r24 19|293b14 319l8 319t19 +71p27 Stream(13|39R9) 19|293b27 300r7 312r10 +72r27 B{11R9} 19|294b27 314m10 314r10 316m13 316r13 +X 19 byte_buffer.adb +14a7 O2{58|11A9} 20m7 21m7 22r38 +27a7 O4{58|12A9} 33m7 34m7 35m7 36m7 37r38 +42a7 o8{58|13A9} 48m7 49m7 50m7 51m7 52m7 53m7 54m7 55m7 56r38 +61m7 U64{58|9M9} 63m25 64r39 +68m7 Count{58|8M9} 75r63 76m10 76r19 78r32 +74m11 I<20|74M9> 75r15 +88a7 O2{58|11A9} 90r27 91r27 +96a7 O4{58|12A9} 98r27 99r27 100r27 101r27 +106a7 O8{58|13A9} 108r27 109r27 110r27 111r27 112r27 113r27 114r27 115r27 +120m7 U64{58|9M9} 122m7 123r26 +127m7 Count{58|8M9} 131m10 131r19 133r38 +129m11 I<20|74M9> 130r35 +137m7 Size{58|8M9} 141m25 142m7 142r15 144r33 190r19 +137m13 P_Size{58|8M9} 172m31 173r78 +138m7 Id{58|6M9} 149m24 152r48 +139e7 M_Id{23|5E9} 152m10 159r12 191r17 +154r15 E{8|63R9} +163i17 I{integer} 164r74 +175m17 I<20|74M9> 176r72 +199i11 I{integer} 200r43 +209i11 I{integer} 210r43 +220m11 I<20|74M9> 221r41 +267m7 N_Bytes{58|8M9} 269r32 +273m7 N_Bytes{58|8M9} 275r57 276r24 276r68 277r38 +282r7 B{18|11R9} 284m50 284r50 287m10 287r10 +283a7 Stream_Buffer{13|54A9} 286r16 287m37 287r37 290r21 +286i11 I 287r52 +295m7 Size{58|8M9} 306m7 310r53 314r26 +296a7 O4{58|12A9} 303m10 306r39 +297a7 Stream_Buffer1{13|54A9} 300m20 302r16 303r48 +298i7 Last{13|44I9} 300m36 312m39 +302i11 I 303r28 303r64 +309a10 Stream_Buffer2{13|54A9} 312m23 315r19 316r41 +315i14 I 316r57 +X 20 interfac.ads +63M9*Unsigned_8 +66M9*Unsigned_16 +74M9*Unsigned_32 +77M9*Unsigned_64 +172F9*IEEE_Float_64 +X 23 messages.ads +3K9*Messages 18|6w6 34r60 36r60 37r60 38r60 39r60 40r60 41r60 19|136r60 139r14 +. 152r18 160r15 161r24 163r22 164r35 166r15 167r24 169r32 170r15 171r24 173r13 +. 175r22 176r33 178r15 179r24 180r31 181r15 182r24 183r15 184r24 185r32 186r32 +. 194r60 197r38 204r60 207r38 214r60 217r38 225r60 228r38 232r60 235r38 238r60 +. 241r38 23|70e13 +5E9*Message_Id 19|139r23 152r27 197r47 207r47 217r47 228r47 235r47 241r47 +. 23|11e47 +6n24*EXTERNAL_LIGHT_SENSOR{5E9} 19|166r24 +7n24*EXTERNAL_DISTANCE_SENSOR{5E9} 19|160r24 +8n24*EXTERNAL_IMAGE_DATA{5E9} 19|170r24 +9n24*EXTERNAL_JOIN_SUCCESS{5E9} 19|178r24 +10n24*WEBOTS_VELOCITY{5E9} 19|183r24 +11n24*BACKEND_JOIN_CHALLENGE{5E9} 19|181r24 +25m7*Size{58|8M9} 19|190m11 196r30 206r30 216r30 227r30 234r30 240r30 +26e7*Id{5E9} 19|191m11 197r72 207r72 217r72 228r72 235r72 241r72 +29A9*Distance_Sensor_Array(58|10F9) +31R9*Distance_Sensor_Message<24R9> 18|37r69 19|161r33 204r69 23|33e14 +32a7*Payload{29A9} 19|163r52 164m65 209r20 210r34 +35A9*Light_Sensor_Array(58|10F9) +37R9*Light_Sensor_Message<24R9> 18|36r69 19|167r33 194r69 23|39e14 +38a7*Payload{35A9} 19|169m62 199r20 200r34 +41R9*Image_Data_Message<24R9> 18|38r69 19|171r33 214r69 23|43e14 +42p7*Payload(58|15A9) 19|173m43 175r52 176r63 218r30 220r20 221r32 +45R9*Join_Success_Message<24R9> 18|39r69 19|179r33 225r69 23|47e14 +46m7*Cab_Id{58|8M9} 19|180m61 229r30 +49R9*Velocity_Message<24R9> 18|41r69 19|184r33 238r69 23|52e14 +50f7*Left_Speed{58|10F9} 19|185m61 242r31 +51f7*Right_Speed{58|10F9} 19|186m61 243r31 +54R9*Join_Challenge_Message<24R9> 18|40r69 19|182r33 232r69 23|56e14 +59P9*Message_Ptr(24R9) 18|34r69 19|136r69 +60P9*DS_Message_Ptr(31R9) 19|163r31 164r44 +61P9*LS_Message_Ptr(37R9) 19|169r41 +62P9*ID_Message_Ptr(41R9) 19|173r22 175r31 176r42 +63P9*JS_Message_Ptr(45R9) 19|180r40 +65P9*V_Message_Ptr(49R9) 19|185r41 186r41 +X 24 system.ads +67M9*Address +X 34 s-memory.ads +53V13*Alloc{24|67M9} 103i22 +68U14*Free 104i22 +76V13*Realloc{24|67M9} 105i22 +X 43 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 45 s-stalib.adb +93U14 Break_Start 94i22 +X 58 types.ads +4K9*Types 18|5w6 18r58 19r59 20r59 21r59 22r60 23r63 26r58 27r59 28r59 29r59 +. 30r60 31r64 44r54 45r57 46r59 47r48 48r51 51r57 55r8 57r46 62r14 63r17 +. 19|3r58 13r59 14r12 22r14 26r59 27r12 37r14 41r59 42r12 56r14 60r60 61r13 +. 64r14 67r63 68r15 81r58 87r59 88r12 88r30 95r59 96r12 96r30 105r59 106r12 +. 106r30 119r60 120r13 122r14 126r64 127r15 137r22 138r12 173r58 197r25 207r25 +. 217r25 228r25 235r25 241r25 246r54 251r57 256r59 261r48 263r14 266r51 267r17 +. 272r57 273r17 287r24 295r14 296r12 303r14 303r35 306r15 316r28 58|45e10 +6M9*Uint8<20|63M9> 18|18r64 26r64 57r52 19|3r64 81r64 138r18 197r31 207r31 +. 217r31 228r31 235r31 241r31 287r30 303r41 316r34 +7M9*Uint16<20|66M9> 18|19r65 27r65 19|13r65 87r65 +8M9*Uint32<20|74M9> 18|20r65 28r65 44r60 45r63 46r65 47r54 48r57 51r63 62r20 +. 63r23 19|26r65 68r21 95r65 127r21 137r28 246r60 251r63 256r65 261r54 263r20 +. 266r57 267r23 272r63 273r23 295r20 303r20 +9M9*Uint64<20|77M9> 18|21r65 29r65 19|41r65 61r19 105r65 120r19 +10F9*Float64<20|172F9> 18|22r66 30r66 19|60r66 119r66 +11A9*Octets_2(6M9)<8M9> 19|14r18 88r18 +12A9*Octets_4(6M9)<8M9> 19|27r18 96r18 296r18 +13A9*Octets_8(6M9)<8M9> 19|42r18 106r18 +15A9*Payload(6M9)<8M9> 18|23r69 31r70 19|67r69 126r70 173r64 +25V13*Uint16_To_Octets{11A9} 19|88s36 +26V13*Uint32_To_Octets{12A9} 19|96s36 +27V13*Uint64_To_Octets{13A9} 19|106s36 +29V13*Octets_To_Uint16{7M9} 19|22s20 +30V13*Octets_To_Uint32{8M9} 19|37s20 306s21 +31V13*Octets_To_Uint64{9M9} 19|56s20 +33V13*Uint64_To_Float64{10F9} 19|64s20 +34V13*Float64_To_Uint64{9M9} 19|122s20 + diff --git a/external/controller/obj/byte_buffer.o b/external/controller/obj/byte_buffer.o new file mode 100644 index 0000000000000000000000000000000000000000..99af9fe90325577c96b67095673241dcc2c9e53f GIT binary patch literal 245136 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27|8r34 +77M9*Unsigned_64 27|9r34 +172F9*IEEE_Float_64 27|10r35 +X 7 system.ads +37K9*System 156e11 28|2w6 2r23 73r10 73r37 83r10 83r37 93r10 93r37 103r10 +. 103r37 113r10 113r37 124r10 124r37 +91E9*Bit_Order 91e57 28|2r30 +91n41*Low_Order_First{91E9} 28|73r44 83r44 93r44 103r44 113r44 124r44 +92e4*Default_Bit_Order{91E9} 28|73r17 83r17 93r17 103r17 113r17 124r17 +X 18 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 27 types.ads +4K9*Types 45l5 45e10 28|4b14 132l5 132t10 +6M9*Uint8<5|63M9> 11r51 12r52 13r52 15r46 19r20 +7M9*Uint16<5|66M9> 25r35 29r52 36r25 36r40 37r25 37r40 28|7r46 16r66 30r35 +. 45r52 70r25 70r40 80r25 80r40 +8M9*Uint32<5|74M9> 11r27 12r28 13r28 15r26 20r24 26r35 30r52 39r25 39r40 +. 40r25 40r40 28|10r46 19r66 35r35 50r52 90r25 90r40 100r25 100r40 +9M9*Uint64<5|77M9> 27r35 31r52 33r36 34r52 42r25 42r40 43r25 43r40 28|13r47 +. 22r66 25r47 28r66 40r35 55r52 60r36 65r52 110r25 110r40 121r25 121r40 +10F9*Float64<5|172F9> 33r51 34r36 28|25r65 28r47 60r51 65r36 +11A9*Octets_2(6M9)<8M9> 25r50 29r35 28|7r64 16r46 30r50 45r35 71r12 81r12 +12A9*Octets_4(6M9)<8M9> 26r50 30r35 28|10r64 19r46 35r50 50r35 91r12 101r12 +13A9*Octets_8(6M9)<8M9> 27r50 31r35 28|13r65 22r46 40r50 55r35 111r12 122r12 +15A9*Payload(6M9)<8M9> 21r30 +18R9*Communication_Packet 23e14 +19m7*Package_ID{6M9} +20m7*Payload_Length{8M9} +21p7*Local_Payload(15A9) +22o7*TTL{3|49O9} +25V13*Uint16_To_Octets{11A9} 25>31 28|30b13 33l8 33t24 74s16 84s16 +25m31 X{7M9} 28|30b31 32r38 +26V13*Uint32_To_Octets{12A9} 26>31 28|35b13 38l8 38t24 94s16 104s16 +26m31 X{8M9} 28|35b31 37r38 +27V13*Uint64_To_Octets{13A9} 27>31 28|40b13 43l8 43t24 114s16 125s16 +27m31 X{9M9} 28|40b31 42r38 +29V13*Octets_To_Uint16{7M9} 29>31 28|45b13 48l8 48t24 75s17 85s17 +29a31 X{11A9} 28|45b31 47r38 +30V13*Octets_To_Uint32{8M9} 30>31 28|50b13 53l8 53t24 95s17 105s17 +30a31 X{12A9} 28|50b31 52r38 +31V13*Octets_To_Uint64{9M9} 31>31 28|55b13 58l8 58t24 115s17 126s17 +31a31 X{13A9} 28|55b31 57r38 +33V13*Uint64_To_Float64{10F9} 33>32 28|60b13 63l8 63t25 +33m32 X{9M9} 28|60b32 62r43 +34V13*Float64_To_Uint64{9M9} 34>32 28|65b13 68l8 68t25 +34f32 X{10F9} 28|65b32 67r43 +36V13*Hton16{7M9} 36>21 28|70b13 78l8 78t14 +36m21 X{7M9} 28|70b21 74r34 77r14 +37V13*Ntoh16{7M9} 37>21 28|80b13 88l8 88t14 +37m21 X{7M9} 28|80b21 84r34 87r14 +39V13*Hton32{8M9} 39>21 28|90b13 98l8 98t14 +39m21 X{8M9} 28|90b21 94r34 97r14 +40V13*Ntoh32{8M9} 40>21 28|100b13 108l8 108t14 +40m21 X{8M9} 28|100b21 104r34 107r14 +42V13*Hton64{9M9} 42>21 28|110b13 119l8 119t14 +42m21 X{9M9} 28|110b21 114r34 118r14 +43V13*Ntoh64{9M9} 43>21 28|121b13 130l8 130t14 +43m21 X{9M9} 28|121b21 125r34 129r14 +X 28 types.adb +6V13 Unchecked_16_To_Octets[4|20]{27|11A9} 32s14 +9V13 Unchecked_32_To_Octets[4|20]{27|12A9} 37s14 +12V13 Unchecked_64_To_Octets[4|20]{27|13A9} 42s14 +15V13 Unchecked_Octets_To_16[4|20]{27|7M9} 47s14 +18V13 Unchecked_Octets_To_32[4|20]{27|8M9} 52s14 +21V13 Unchecked_Octets_To_64[4|20]{27|9M9} 57s14 +24V13 Unchecked_Uint64_To_Float64[4|20]{27|10F9} 62s14 +27V13 Unchecked_Float64_To_Uint64[4|20]{27|9M9} 67s14 +71a7 o2{27|11A9} 74m10 75r36 75r44 +81a7 o2{27|11A9} 84m10 85r36 85r44 +91a7 o4{27|12A9} 94m10 95r36 95r44 95r52 95r60 +101a7 o4{27|12A9} 104m10 105r36 105r44 105r52 105r60 +111a7 o8{27|13A9} 114m10 115r36 115r44 115r52 115r60 116r35 116r43 116r51 +. 116r59 +122a7 o8{27|13A9} 125m10 126r36 126r44 126r52 126r60 127r35 127r43 127r51 +. 127r59 + diff --git a/external/controller/obj/types.o b/external/controller/obj/types.o new file mode 100644 index 0000000000000000000000000000000000000000..e21b3aa0e043dcb9473cc43ddeb396e841bf8a1f GIT binary patch literal 9800 zcmds6eQX@X6`#Gk&Dpv5DvEg|lEGw$HDzxU?No0*-r>)X1wZwVQO;9`i4!f!DuM8!(K-YKh{VzIbL?6&f6 zTluqA{u3+z8!O-av6bI_cHi-17X-H^yU$LF{0VvQji_eF^I9{rN&=mcypo9gjJ5W8 zD}T~DI%90j&vg9?{neC|Eo*Z3*~wjzj+5WN*qYq&asDN1?fI7?&7$L^XM*zk?-fRJ z5-WdpINyD)=E?4J`;O!I^GD82a^1=+3raGaKXM*;=f8-@ 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+53V13*Alloc{23|67M9} 103i22 +68U14*Free 104i22 +76V13*Realloc{23|67M9} 105i22 +X 41 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 43 s-stalib.adb +93U14 Break_Start 94i22 +X 57 tcp_client.ads +11K9*Tcp_Client 22e15 59|4w6 60|7r25 10r10 +18V13*Connect{17|1213P9} 60|7s36 +20U14*Read_Packet 60|10s21 +X 58 types.ads +4K9*Types 45e10 59|5w6 15r17 +18R9*Communication_Packet 23e14 59|15r23 +X 59 webots_thread.ads +9K9*Webots_Thread 21l5 21e18 60|1b14 15l5 15t18 +12i4*Webots_Client{17|412I9} 60|7m45 7r45 +13p4*Webots_Channel{17|1213P9} 60|7m7 10r34 +14r4*Webots_Address{17|597R9} 60|7m66 7r66 +15r4*Webots_Cmd{58|18R9} +16r4*Webots_Vector_Buffer{15|11R9} 60|10m50 10r50 +17w4*Webots_Mailbox{21|16W19} 60|10m72 10r72 +19U14*Main 60|3b14 13l8 13t12 + diff --git a/external/controller/obj/webots_thread.o b/external/controller/obj/webots_thread.o new file mode 100644 index 0000000000000000000000000000000000000000..1bbafbab7905fb164d9750d096008856ae9ddb05 GIT binary patch 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=> 1000.0); V : Messages.Velocity_Message; @@ -48,17 +48,18 @@ begin Mailbox.check_mailbox (Backend_Thread.Backend_Mailbox, Webots_Thread.Webots_Mailbox, Current_Mail, alternator); Mailbox.update_alternator (alternator); - -- Put_Line (Current_Mail.Message.Id'Image); + Put_Line (Current_Mail.Message.Id'Image); -- do calculations with current packet - if Current_Mail.Message.Id = Messages.EXTERNAL_IMAGE_DATA then + if Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then + DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; + elsif Current_Mail.Message.Id = Messages.EXTERNAL_IMAGE_DATA then V := Path_Following.Main (Messages.ID_Message_Ptr (Current_Mail.Message), DS_Data); Out_Buffer.Write_Message (V); Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); - elsif Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then - DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; + end if; - + -- Out_Buffer.Write_Message (V); -- Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); -- Out_Buffer.Delete_Bytes (V.Size); diff --git a/external/controller/src/path/path_following.adb b/external/controller/src/path/path_following.adb index e771b49..4053dce 100644 --- a/external/controller/src/path/path_following.adb +++ b/external/controller/src/path/path_following.adb @@ -111,7 +111,7 @@ package body Path_Following is Velocity (0) := basicVelocity; Velocity (1) := basicVelocity; end if; - Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); + Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); return Velocity; diff --git a/external/controller/src/tcp_client/mailbox.adb b/external/controller/src/tcp_client/mailbox.adb index bf544b2..c653df3 100644 --- a/external/controller/src/tcp_client/mailbox.adb +++ b/external/controller/src/tcp_client/mailbox.adb @@ -44,14 +44,14 @@ package body Mailbox is select first.Collect (new_packet); else - delay(0.05); + delay(0.000005); Check_Mailbox (second, first, new_packet, alternator); end select; else select second.Collect (new_packet); else - delay(0.05); + delay(0.000005); Check_Mailbox (second, first, new_packet, alternator); end select; end if; diff --git a/webots/controllers/controller/build/release/controller b/webots/controllers/controller/build/release/controller index 86f863dc4b62b36df5ccf140babd6ebd010e1d5a..f657501d362583443eb23e364dfc87acef8b675d 100755 GIT binary patch literal 121232 zcmeFa3wTu3)jvFe1O@~rUeKsmM;$eIO@L^krcNM{Gdi)6i{=$DiMfzyLSixl@q&!a z400T&O>MPUZ}C+u^-|HQMHC1E3EHXwOQl*hc;k!_i6|Iv&G%dTa%N|f>3jMApYQpe z?{R$0IqSFAUVH7e*IxT}&S7bh|KbrTDGvD?>G-LGsE(UC;uQ()+Y&rpN3P>ghu7hD zoZuLR^i=#W`Sff0NF?GXuTD-n2&Q}`B3-{u6nye3OQ$R4OZvN9q{wSJrzu|=-ImiI z{L0y1`%lGU4ZDe-rsjM7}4Ma(n34Fc}R$d6jxzj(j4CGyE5SMKd^N zit>`xuUxdBymGA^j&thkt~qz=IrUX%)z>Wyww~3Rd+u51PCdJ&@$AX0WYUYuAYYtu z*&GL&vy(7kerD4n1x@KYzk7OXENk=Kf8Vz0;b*I^zwX9U4;dq6P?^L-Kgus$!=^(5 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/usr/local/webots/include/controller/cpp/webots/Robot.hpp \ + /usr/local/webots/include/controller/cpp/webots/Motor.hpp \ + /usr/local/webots/include/controller/cpp/webots/Device.hpp \ + /usr/local/webots/include/controller/cpp/webots/../../c/webots/types.h \ + /usr/local/webots/include/controller/cpp/webots/Camera.hpp \ + /usr/local/webots/include/controller/cpp/webots/../../c/webots/camera_recognition_object.h \ + /usr/local/webots/include/controller/cpp/webots/DistanceSensor.hpp \ + /usr/local/webots/include/controller/cpp/webots/LightSensor.hpp \ + ../../../shared/buffer.hpp ../../../shared/buffer_reader.hpp \ + ../../../shared/buffer_reader.inl ../../../shared/buffer_writer.hpp \ + ../../../shared/buffer_writer.inl ../../../shared/message.hpp \ + ../../../shared/message.inl diff --git a/webots/controllers/controller/build/release/robot_container.o b/webots/controllers/controller/build/release/robot_container.o new file mode 100644 index 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z|AaBk@^8m|3#&~&JMO3RFJ@b0X!F~7frTr~ghlEova|W^_+*>+q|J!^v{7W8^`M2|E3+?>c;-|~+A(P*>zq$xdkd5Npm}_%t=uZtg zj}w;iZT_3)ONe)U43s;klK;}n|1F8h`M1~U{1z7blXEBZ$Hu;rmfu;W^IQ1*mz4i5 z`9&wahB3SDaMx-&R$py->EXYTAWH{hww(0*>Fs6nTlg7yMZ`A0UDxdWlJaeSA8ZPz zHos%X^B-yciw+<$>Cd0^ERP3*CL*%=?fkvy9+TfRtk@6vv*p@)-9}t;`F34YZT1E2 zIG{2o<+pSWC3A9qr(2in7(ZOG&1j%4*G3->y3n%xmzw;=CV!PpFd0g1MgxyB -#include -#include - -#include "robot_container.hpp" -#include "../../../shared/message.hpp" - -robot_container::robot_container() - : _external(_io_service), _reader(_in), _writer(_in) -{ - _basic_time_step = (int) _robot.getBasicTimeStep(); -} - -void robot_container::setup_robot() -{ - std::cout << "setting up distance sensors" << '\n'; - std::vector ds_names = {"ds_fc", "ds_fcr", "ds_fr", "ds_rf", "ds_rc", - "ds_lc", "ds_lf", "ds_fl", "ds_fcl"}; - for(std::size_t i = 0; ienable(_basic_time_step); - } - - std::cout << "setting up light sensors" << '\n'; - std::vector ls_names = {"ls_front"}; - for(std::size_t i = 0; ienable(_basic_time_step); - } - - std::cout << "setting up camera" << '\n'; - _camera = _robot.getCamera("camera"); - _camera->enable(_basic_time_step); - _image_size = _camera->getHeight() * _camera->getWidth() * 4 * sizeof(unsigned char); - - std::cout << "setting up motor" << '\n'; - std::vector m_names = {"wheelFR", "wheelRR", "wheelRL", "wheelFL"}; - for(std::size_t i = 0; isetPosition(INFINITY); - _motors[i]->setVelocity(0); - } -} - -int robot_container::wait_for_connection(char *port) -{ - std::cout << "waiting for external controller" << '\n'; - using boost::asio::ip::tcp; - try - { - tcp::acceptor acceptor(_io_service, tcp::endpoint(tcp::v4(), std::atoi(port))); - acceptor.accept(_external); - return 0; - } - catch(std::exception& e) - { - std::cerr << "Exception: " << e.what() << "\n"; - return -1; - } -} - -void robot_container::fill_distance_sensor_message(buffer_writer& writer) -{ - external_distance_sensor_message message; - for(std::size_t i = 0; i<_distance_sensors.size(); ++i) - { - message.data[i] = _distance_sensors[i]->getValue(); - } - writer << message; -} - -void robot_container::fill_light_sensor_message(buffer_writer& writer) -{ - external_light_sensor_message message; - for(std::size_t i = 0; i<_light_sensors.size(); ++i) - { - message.data[i] = _light_sensors[i]->getValue(); - } - writer << message; -} - -void robot_container::fill_image_data_message(buffer_writer& writer) -{ - const unsigned char *image = _camera->getImage(); - std::vector vec(image, image + _image_size); - external_image_data_message message; - message.pixel = vec; - writer << message; -} - -void robot_container::run() -{ - while (_robot.step(_basic_time_step) != -1) - { - buffer out; - buffer_writer out_writer(out); - fill_distance_sensor_message(out_writer); - fill_light_sensor_message(out_writer); - fill_image_data_message(out_writer); - - try - { - std::size_t t = boost::asio::write(_external, boost::asio::buffer(out)); - if(_external.available() < 1) - { - continue; - } - - std::array data; - boost::system::error_code error; - std::size_t length = _external.read_some(boost::asio::buffer(data), error); - if(error == boost::asio::error::eof) - { - std::cerr << "external controller has disconected" << std::endl; - break; - } - else if (error) - { - std::cerr << "Error: " << error << std::endl; - break; - } - - for(std::size_t i = 0; i> vl_msg; - _motors[0]->setVelocity(vl_msg.right_speed); - _motors[1]->setVelocity(vl_msg.right_speed); - _motors[2]->setVelocity(vl_msg.left_speed); - _motors[3]->setVelocity(vl_msg.left_speed); - // std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; - } - catch(const std::exception& e) - { - std::cerr << e.what() << '\n'; - break; - } - } - - for(int i = 0; i<4; i++) - { - _motors[i]->setVelocity(0); - } - _external.close(); +#include +#include +#include + +#include "robot_container.hpp" +#include "../../../shared/message.hpp" + +robot_container::robot_container() + : _external(_io_service), _reader(_in), _writer(_in) +{ + _basic_time_step = (int) _robot.getBasicTimeStep(); +} + +void robot_container::setup_robot() +{ + std::cout << "setting up distance sensors" << '\n'; + std::vector ds_names = {"ds_fc", "ds_fcr", "ds_fr", "ds_rf", "ds_rc", + "ds_lc", "ds_lf", "ds_fl", "ds_fcl"}; + for(std::size_t i = 0; ienable(_basic_time_step); + } + + std::cout << "setting up light sensors" << '\n'; + std::vector ls_names = {"ls_front"}; + for(std::size_t i = 0; ienable(_basic_time_step); + } + + std::cout << "setting up camera" << '\n'; + _camera = _robot.getCamera("camera"); + _camera->enable(_basic_time_step); + _image_size = _camera->getHeight() * _camera->getWidth() * 4 * sizeof(unsigned char); + + std::cout << "setting up motor" << '\n'; + std::vector m_names = {"wheelFR", "wheelRR", "wheelRL", "wheelFL"}; + for(std::size_t i = 0; isetPosition(INFINITY); + _motors[i]->setVelocity(0); + } +} + +int robot_container::wait_for_connection(char *port) +{ + std::cout << "waiting for external controller" << '\n'; + using boost::asio::ip::tcp; + try + { + tcp::acceptor acceptor(_io_service, tcp::endpoint(tcp::v4(), std::atoi(port))); + acceptor.accept(_external); + return 0; + } + catch(std::exception& e) + { + std::cerr << "Exception: " << e.what() << "\n"; + return -1; + } +} + +void robot_container::fill_distance_sensor_message(buffer_writer& writer) +{ + external_distance_sensor_message message; + for(std::size_t i = 0; i<_distance_sensors.size(); ++i) + { + message.data[i] = _distance_sensors[i]->getValue(); + } + writer << message; +} + +void robot_container::fill_light_sensor_message(buffer_writer& writer) +{ + external_light_sensor_message message; + for(std::size_t i = 0; i<_light_sensors.size(); ++i) + { + message.data[i] = _light_sensors[i]->getValue(); + } + writer << message; +} + +void robot_container::fill_image_data_message(buffer_writer& writer) +{ + const unsigned char *image = _camera->getImage(); + std::vector vec(image, image + _image_size); + external_image_data_message message; + message.pixel = vec; + writer << message; +} + +void robot_container::run() +{ + while (_robot.step(_basic_time_step) != -1) + { + buffer out; + buffer_writer out_writer(out); + fill_distance_sensor_message(out_writer); + fill_light_sensor_message(out_writer); + fill_image_data_message(out_writer); + + try + { + std::size_t t = boost::asio::write(_external, boost::asio::buffer(out)); + if(_external.available() < 1) + { + continue; + } + + std::array data; + boost::system::error_code error; + std::size_t length = _external.read_some(boost::asio::buffer(data), error); + if(error == boost::asio::error::eof) + { + std::cerr << "external controller has disconected" << std::endl; + break; + } + else if (error) + { + std::cerr << "Error: " << error << std::endl; + break; + } + + for(std::size_t i = 0; i> vl_msg; + _motors[0]->setVelocity(vl_msg.right_speed); + _motors[1]->setVelocity(vl_msg.right_speed); + _motors[2]->setVelocity(vl_msg.left_speed); + _motors[3]->setVelocity(vl_msg.left_speed); + std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + break; + } + } + + for(int i = 0; i<4; i++) + { + _motors[i]->setVelocity(0); + } + _external.close(); } \ No newline at end of file diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index d9f354e..46b3050 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,5 +1,5 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000640000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000002450000033afc0200000001fb0000001400540065007800740045006400690074006f007201000000160000033a000000a200ffffff00000003000007380000008cfc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004ed0000033a00000001000000020000000100000008fc00000000 +perspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000640000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000002450000024efc0200000001fb0000001400540065007800740045006400690074006f007201000000160000024e000000a200ffffff000000030000073800000178fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004ed0000024e00000001000000020000000100000008fc00000000 simulationViewPerspectives: 000000ff000000010000000200000118000002d60100000006010000000101 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 minimizedPerspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000000640000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024500000368fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000368000000a200ffffff00000003000006ce0000005efc0100000001fb0000000e0043006f006e0073006f006c0065010000006a000006ce0000005400ffffff000004830000036800000001000000020000000100000008fc00000000 @@ -9,6 +9,6 @@ renderingMode: PLAIN selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 -textFiles: 0 "controllers/controller/controller.cpp" +textFiles: 1 "controllers/controller/controller.cpp" "controllers/controller/robot_container.cpp" globalOptionalRendering: CameraFrustums renderingDevicePerspectives: Cab2:camera;1;2.75;0.0123077;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 44eb9bb..4cd3234 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.9339520084592416 0.3387996299009215 0.11379128557999144 5.178062307917623 - position 21.916190319100764 82.42566410958368 97.13862151283939 + orientation 0.3964315639655759 0.8562811891924998 0.33109596815256703 4.537015861658589 + position -21.43945251505827 70.86407098440792 56.44335159785557 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation 52.20049228659902 0.3986697731266905 57.69351543241373 - rotation -0.00011531808680313831 0.9999999865352619 -0.00011675279433232985 -1.5785892208758237 + translation 58.2892 0.401257 63.0321 + rotation 0.000540126459047014 -0.9999998488153964 0.00010311446265089072 0.40299466883488555 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -350,7 +350,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 4673.365724420335 + position 4737.891624046295 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +361,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation -0.5240094344410049 0.5235923177461345 0.6717627538156975 1.9578105925033598 + rotation 0.18100505758643243 -0.1808609757695577 0.9667090961462067 1.6038516386770183 children [ DEF wheel Shape { appearance PBRAppearance { @@ -379,13 +379,11 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1999648399931955 -4.0924879145822026e-07 -0.00935222361152099 - angularVelocity -0.031169285296947857 -2.9633722925248624e-06 3.9998793381587117 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 4673.358075102443 + position 4737.883773946999 anchor 0.55 -0.1 -0.7 } device [ @@ -396,7 +394,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -0.5258681580732028 0.5254495618159305 0.6688538243234793 1.9618260245632584 + rotation 0.17732696068063522 -0.17718580666528927 0.9680704204406511 1.602445161052551 children [ DEF wheel Shape { appearance PBRAppearance { @@ -414,13 +412,11 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1999637405208126 -2.31741951663756e-07 -0.009350822558000111 - angularVelocity -0.03116915113816748 -3.1399545537002237e-06 3.999878774145318 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 4311.893310542798 + position 4405.575297673597 anchor -0.55 -0.1 -0.7 } device [ @@ -431,7 +427,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0.588389058831542 -0.5879206953186195 0.5551104137587433 2.127400101948532 + rotation -0.45218060019924533 0.4518206599671721 -0.7690193729876248 4.453487966671667 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,13 +445,11 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1999622379996542 2.633039533681472e-07 -0.009350439836926312 - angularVelocity -0.03117284976079755 4.304808796020019e-06 3.9998779751962323 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 4311.88929011194 + position 4405.4660981141515 anchor -0.55 -0.1 0.55 } device [ @@ -466,7 +460,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0.5876574106133557 -0.5871896294996561 0.55665708183698 2.1250359918798023 + rotation -0.41724934156602844 0.4169172069614714 -0.8075165815648379 4.50098608340385 children [ DEF wheel Shape { appearance PBRAppearance { @@ -484,8 +478,6 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } - linearVelocity -1.1999635863138123 8.596601965420519e-08 -0.009351805439346453 - angularVelocity -0.031173018785481312 4.464480910911486e-06 3.9998786649059443 } } DEF car_body Shape { @@ -507,8 +499,6 @@ DEF Cab2 Robot { ] controller "controller" controllerArgs "5555" - linearVelocity -1.1999636152858821 -8.387599970969031e-08 -0.009351376356254633 - angularVelocity 4.5539023203460823e-07 -1.3083990508850912e-06 1.4830588170451184e-07 } DEF environment Solid { scale 1.09819 1.09819 1.09819 From 943ba1fd5cc8df88463be0c61d98074b2682739c Mon Sep 17 00:00:00 2001 From: Yue Date: Sun, 12 Jul 2020 23:12:01 +0200 Subject: [PATCH 22/25] update --- external/controller/obj/b__main.adb | 451 ---------- external/controller/obj/b__main.ads | 797 ------------------ external/controller/obj/b__main.ali | 465 ---------- external/controller/obj/b__main.o | Bin 87080 -> 0 bytes .../controller/obj/backend_thread.adb.stderr | 0 .../controller/obj/backend_thread.adb.stdout | 0 external/controller/obj/backend_thread.ali | 139 --- external/controller/obj/backend_thread.o | Bin 47488 -> 0 bytes .../controller/obj/byte_buffer.adb.stderr | 0 .../controller/obj/byte_buffer.adb.stdout | 0 external/controller/obj/byte_buffer.ali | 387 --------- 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delete mode 100644 webots/controllers/controller/build/release/robot_container.d delete mode 100644 webots/controllers/controller/build/release/robot_container.o diff --git a/external/controller/obj/b__main.adb b/external/controller/obj/b__main.adb deleted file mode 100644 index fcff6eb..0000000 --- a/external/controller/obj/b__main.adb +++ /dev/null @@ -1,451 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -pragma Source_File_Name (ada_main, Spec_File_Name => "b__main.ads"); -pragma Source_File_Name (ada_main, Body_File_Name => "b__main.adb"); -pragma Suppress (Overflow_Check); - -with System.Restrictions; -with Ada.Exceptions; - -package body ada_main is - - E073 : Short_Integer; pragma Import (Ada, E073, "system__os_lib_E"); - E011 : Short_Integer; pragma Import (Ada, E011, "system__soft_links_E"); - E023 : Short_Integer; pragma Import (Ada, E023, "system__exception_table_E"); - E068 : Short_Integer; pragma Import (Ada, E068, "ada__io_exceptions_E"); - E053 : Short_Integer; pragma Import (Ada, E053, "ada__strings_E"); - E038 : Short_Integer; pragma Import (Ada, E038, "ada__containers_E"); - E025 : Short_Integer; pragma Import (Ada, E025, "system__exceptions_E"); - E055 : Short_Integer; pragma Import (Ada, E055, "ada__strings__maps_E"); - E059 : Short_Integer; pragma Import (Ada, E059, "ada__strings__maps__constants_E"); - E043 : Short_Integer; pragma Import (Ada, E043, "interfaces__c_E"); - E019 : Short_Integer; pragma Import (Ada, E019, "system__soft_links__initialize_E"); - E079 : Short_Integer; pragma Import (Ada, E079, "system__object_reader_E"); - E048 : Short_Integer; pragma Import (Ada, E048, "system__dwarf_lines_E"); - E037 : Short_Integer; pragma Import (Ada, E037, "system__traceback__symbolic_E"); - E130 : Short_Integer; pragma Import (Ada, E130, "ada__tags_E"); - E128 : Short_Integer; pragma Import (Ada, E128, "ada__streams_E"); - E173 : Short_Integer; pragma Import (Ada, E173, "gnat_E"); - E190 : Short_Integer; pragma Import (Ada, E190, "interfaces__c__strings_E"); - E144 : Short_Integer; pragma Import (Ada, E144, "system__file_control_block_E"); - E143 : Short_Integer; pragma Import (Ada, E143, "system__finalization_root_E"); - E141 : Short_Integer; pragma Import (Ada, E141, "ada__finalization_E"); - E140 : Short_Integer; pragma Import (Ada, E140, "system__file_io_E"); - E154 : Short_Integer; pragma Import (Ada, E154, "system__storage_pools_E"); - E158 : Short_Integer; pragma Import (Ada, E158, "system__finalization_masters_E"); - E156 : Short_Integer; pragma Import (Ada, E156, "system__storage_pools__subpools_E"); - E114 : Short_Integer; pragma Import (Ada, E114, "system__task_info_E"); - E106 : Short_Integer; pragma Import (Ada, E106, "system__task_primitives__operations_E"); - E182 : Short_Integer; pragma Import (Ada, E182, "ada__calendar_E"); - E180 : Short_Integer; pragma Import (Ada, E180, "ada__calendar__delays_E"); - E097 : Short_Integer; pragma Import (Ada, E097, "ada__real_time_E"); - E136 : Short_Integer; pragma Import (Ada, E136, "ada__text_io_E"); - E150 : Short_Integer; pragma Import (Ada, E150, "system__pool_global_E"); - E194 : Short_Integer; pragma Import (Ada, E194, "system__pool_size_E"); - E175 : Short_Integer; pragma Import (Ada, E175, "gnat__sockets_E"); - E188 : Short_Integer; pragma Import (Ada, E188, "gnat__sockets__thin_common_E"); - E178 : Short_Integer; pragma Import (Ada, E178, "gnat__sockets__thin_E"); - E212 : Short_Integer; pragma Import (Ada, E212, "system__tasking__initialization_E"); - E202 : Short_Integer; pragma Import (Ada, E202, "system__tasking__protected_objects_E"); - E208 : Short_Integer; pragma Import (Ada, E208, "system__tasking__protected_objects__entries_E"); - E220 : Short_Integer; pragma Import (Ada, E220, "system__tasking__queuing_E"); - E249 : Short_Integer; pragma Import (Ada, E249, "system__tasking__stages_E"); - E172 : Short_Integer; pragma Import (Ada, E172, "types_E"); - E168 : Short_Integer; pragma Import (Ada, E168, "messages_E"); - E148 : Short_Integer; pragma Import (Ada, E148, "byte_buffer_E"); - E200 : Short_Integer; pragma Import (Ada, E200, "mailbox_E"); - E228 : Short_Integer; pragma Import (Ada, E228, "path_following_E"); - E226 : Short_Integer; pragma Import (Ada, E226, "tcp_client_E"); - E146 : Short_Integer; pragma Import (Ada, E146, "backend_thread_E"); - E251 : Short_Integer; pragma Import (Ada, E251, "webots_thread_E"); - - Sec_Default_Sized_Stacks : array (1 .. 1) of aliased System.Secondary_Stack.SS_Stack (System.Parameters.Runtime_Default_Sec_Stack_Size); - - Local_Priority_Specific_Dispatching : constant String := ""; - Local_Interrupt_States : constant String := ""; - - Is_Elaborated : Boolean := False; - - procedure finalize_library is - begin - E251 := E251 - 1; - declare - procedure F1; - pragma Import (Ada, F1, "webots_thread__finalize_spec"); - begin - F1; - end; - E146 := E146 - 1; - declare - procedure F2; - pragma Import (Ada, F2, "backend_thread__finalize_spec"); - begin - F2; - end; - E148 := E148 - 1; - declare - procedure F3; - pragma Import (Ada, F3, "byte_buffer__finalize_spec"); - begin - F3; - end; - E168 := E168 - 1; - declare - procedure F4; - pragma Import (Ada, F4, "messages__finalize_spec"); - begin - F4; - end; - E208 := E208 - 1; - declare - procedure F5; - pragma Import (Ada, F5, "system__tasking__protected_objects__entries__finalize_spec"); - begin - F5; - end; - declare - procedure F6; - pragma Import (Ada, F6, "gnat__sockets__finalize_body"); - begin - E175 := E175 - 1; - F6; - end; - declare - procedure F7; - pragma Import (Ada, F7, "gnat__sockets__finalize_spec"); - begin - F7; - end; - E194 := E194 - 1; - declare - procedure F8; - pragma Import (Ada, F8, "system__pool_size__finalize_spec"); - begin - F8; - end; - E150 := E150 - 1; - declare - procedure F9; - pragma Import (Ada, F9, "system__pool_global__finalize_spec"); - begin - F9; - end; - E136 := E136 - 1; - declare - procedure F10; - pragma Import (Ada, F10, "ada__text_io__finalize_spec"); - begin - F10; - end; - E156 := E156 - 1; - declare - procedure F11; - pragma Import (Ada, F11, "system__storage_pools__subpools__finalize_spec"); - begin - F11; - end; - E158 := E158 - 1; - declare - procedure F12; - pragma Import (Ada, F12, "system__finalization_masters__finalize_spec"); - begin - F12; - end; - declare - procedure F13; - pragma Import (Ada, F13, "system__file_io__finalize_body"); - begin - E140 := E140 - 1; - F13; - end; - declare - procedure Reraise_Library_Exception_If_Any; - pragma Import (Ada, Reraise_Library_Exception_If_Any, "__gnat_reraise_library_exception_if_any"); - begin - Reraise_Library_Exception_If_Any; - end; - end finalize_library; - - procedure adafinal is - procedure s_stalib_adafinal; - pragma Import (C, s_stalib_adafinal, "system__standard_library__adafinal"); - - procedure Runtime_Finalize; - pragma Import (C, Runtime_Finalize, "__gnat_runtime_finalize"); - - begin - if not Is_Elaborated then - return; - end if; - Is_Elaborated := False; - Runtime_Finalize; - s_stalib_adafinal; - end adafinal; - - type No_Param_Proc is access procedure; - - procedure adainit is - Main_Priority : Integer; - pragma Import (C, Main_Priority, "__gl_main_priority"); - Time_Slice_Value : Integer; - pragma Import (C, Time_Slice_Value, "__gl_time_slice_val"); - WC_Encoding : Character; - pragma Import (C, WC_Encoding, "__gl_wc_encoding"); - Locking_Policy : Character; - pragma Import (C, Locking_Policy, "__gl_locking_policy"); - Queuing_Policy : Character; - pragma Import (C, Queuing_Policy, "__gl_queuing_policy"); - Task_Dispatching_Policy : Character; - pragma Import (C, Task_Dispatching_Policy, "__gl_task_dispatching_policy"); - Priority_Specific_Dispatching : System.Address; - pragma Import (C, Priority_Specific_Dispatching, "__gl_priority_specific_dispatching"); - Num_Specific_Dispatching : Integer; - pragma Import (C, Num_Specific_Dispatching, "__gl_num_specific_dispatching"); - Main_CPU : Integer; - pragma Import (C, Main_CPU, "__gl_main_cpu"); - Interrupt_States : System.Address; - pragma Import (C, Interrupt_States, "__gl_interrupt_states"); - Num_Interrupt_States : Integer; - pragma Import (C, Num_Interrupt_States, "__gl_num_interrupt_states"); - Unreserve_All_Interrupts : Integer; - pragma Import (C, Unreserve_All_Interrupts, "__gl_unreserve_all_interrupts"); - Detect_Blocking : Integer; - pragma Import (C, Detect_Blocking, "__gl_detect_blocking"); - Default_Stack_Size : Integer; - pragma Import (C, Default_Stack_Size, "__gl_default_stack_size"); - Default_Secondary_Stack_Size : System.Parameters.Size_Type; - pragma Import (C, Default_Secondary_Stack_Size, "__gnat_default_ss_size"); - Leap_Seconds_Support : Integer; - pragma Import (C, Leap_Seconds_Support, "__gl_leap_seconds_support"); - Bind_Env_Addr : System.Address; - pragma Import (C, Bind_Env_Addr, "__gl_bind_env_addr"); - - procedure Runtime_Initialize (Install_Handler : Integer); - pragma Import (C, Runtime_Initialize, "__gnat_runtime_initialize"); - - Finalize_Library_Objects : No_Param_Proc; - pragma Import (C, Finalize_Library_Objects, "__gnat_finalize_library_objects"); - Binder_Sec_Stacks_Count : Natural; - pragma Import (Ada, Binder_Sec_Stacks_Count, "__gnat_binder_ss_count"); - Default_Sized_SS_Pool : System.Address; - pragma Import (Ada, Default_Sized_SS_Pool, "__gnat_default_ss_pool"); - - begin - if Is_Elaborated then - return; - end if; - Is_Elaborated := True; - Main_Priority := -1; - Time_Slice_Value := -1; - WC_Encoding := 'b'; - Locking_Policy := ' '; - Queuing_Policy := ' '; - Task_Dispatching_Policy := ' '; - System.Restrictions.Run_Time_Restrictions := - (Set => - (False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False, False, True, False, False, - False, False, False, False, False, False, False, False, - False, False, False, False), - Value => (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), - Violated => - (True, False, False, False, True, True, True, False, - False, False, False, True, True, True, True, False, - False, False, False, False, True, True, False, True, - True, False, True, True, True, True, False, False, - False, False, False, True, False, False, True, False, - True, False, True, True, False, True, False, True, - True, False, False, True, False, True, False, False, - False, True, False, True, False, True, True, True, - False, False, True, False, True, True, True, False, - True, True, False, True, True, True, True, False, - False, True, False, False, False, True, False, False, - True, False, True, False), - Count => (0, 0, 0, 2, 0, 0, 1, 0, 3, 0), - Unknown => (False, False, False, False, False, False, True, False, True, False)); - Priority_Specific_Dispatching := - Local_Priority_Specific_Dispatching'Address; - Num_Specific_Dispatching := 0; - Main_CPU := -1; - Interrupt_States := Local_Interrupt_States'Address; - Num_Interrupt_States := 0; - Unreserve_All_Interrupts := 0; - Detect_Blocking := 0; - Default_Stack_Size := -1; - Leap_Seconds_Support := 0; - - ada_main'Elab_Body; - Default_Secondary_Stack_Size := System.Parameters.Runtime_Default_Sec_Stack_Size; - Binder_Sec_Stacks_Count := 1; - Default_Sized_SS_Pool := Sec_Default_Sized_Stacks'Address; - - Runtime_Initialize (1); - - Finalize_Library_Objects := finalize_library'access; - - System.Soft_Links'Elab_Spec; - System.Exception_Table'Elab_Body; - E023 := E023 + 1; - Ada.Io_Exceptions'Elab_Spec; - E068 := E068 + 1; - Ada.Strings'Elab_Spec; - E053 := E053 + 1; - Ada.Containers'Elab_Spec; - E038 := E038 + 1; - System.Exceptions'Elab_Spec; - E025 := E025 + 1; - System.Os_Lib'Elab_Body; - E073 := E073 + 1; - Ada.Strings.Maps'Elab_Spec; - Ada.Strings.Maps.Constants'Elab_Spec; - E059 := E059 + 1; - Interfaces.C'Elab_Spec; - System.Soft_Links.Initialize'Elab_Body; - E019 := E019 + 1; - E011 := E011 + 1; - E055 := E055 + 1; - E043 := E043 + 1; - System.Object_Reader'Elab_Spec; - System.Dwarf_Lines'Elab_Spec; - E048 := E048 + 1; - System.Traceback.Symbolic'Elab_Body; - E037 := E037 + 1; - E079 := E079 + 1; - Ada.Tags'Elab_Spec; - Ada.Tags'Elab_Body; - E130 := E130 + 1; - Ada.Streams'Elab_Spec; - E128 := E128 + 1; - Gnat'Elab_Spec; - E173 := E173 + 1; - Interfaces.C.Strings'Elab_Spec; - E190 := E190 + 1; - System.File_Control_Block'Elab_Spec; - E144 := E144 + 1; - System.Finalization_Root'Elab_Spec; - E143 := E143 + 1; - Ada.Finalization'Elab_Spec; - E141 := E141 + 1; - System.File_Io'Elab_Body; - E140 := E140 + 1; - System.Storage_Pools'Elab_Spec; - E154 := E154 + 1; - System.Finalization_Masters'Elab_Spec; - System.Finalization_Masters'Elab_Body; - E158 := E158 + 1; - System.Storage_Pools.Subpools'Elab_Spec; - E156 := E156 + 1; - System.Task_Info'Elab_Spec; - E114 := E114 + 1; - System.Task_Primitives.Operations'Elab_Body; - E106 := E106 + 1; - Ada.Calendar'Elab_Spec; - Ada.Calendar'Elab_Body; - E182 := E182 + 1; - Ada.Calendar.Delays'Elab_Body; - E180 := E180 + 1; - Ada.Real_Time'Elab_Spec; - Ada.Real_Time'Elab_Body; - E097 := E097 + 1; - Ada.Text_Io'Elab_Spec; - Ada.Text_Io'Elab_Body; - E136 := E136 + 1; - System.Pool_Global'Elab_Spec; - E150 := E150 + 1; - System.Pool_Size'Elab_Spec; - E194 := E194 + 1; - Gnat.Sockets'Elab_Spec; - E188 := E188 + 1; - E178 := E178 + 1; - Gnat.Sockets'Elab_Body; - E175 := E175 + 1; - System.Tasking.Initialization'Elab_Body; - E212 := E212 + 1; - System.Tasking.Protected_Objects'Elab_Body; - E202 := E202 + 1; - System.Tasking.Protected_Objects.Entries'Elab_Spec; - E208 := E208 + 1; - System.Tasking.Queuing'Elab_Body; - E220 := E220 + 1; - System.Tasking.Stages'Elab_Body; - E249 := E249 + 1; - E172 := E172 + 1; - Messages'Elab_Spec; - Messages'Elab_Body; - E168 := E168 + 1; - Byte_Buffer'Elab_Spec; - Byte_Buffer'Elab_Body; - E148 := E148 + 1; - E200 := E200 + 1; - Path_Following'Elab_Body; - E228 := E228 + 1; - E226 := E226 + 1; - Backend_Thread'Elab_Spec; - E146 := E146 + 1; - Webots_Thread'Elab_Spec; - E251 := E251 + 1; - end adainit; - - procedure Ada_Main_Program; - pragma Import (Ada, Ada_Main_Program, "_ada_main"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer - is - procedure Initialize (Addr : System.Address); - pragma Import (C, Initialize, "__gnat_initialize"); - - procedure Finalize; - pragma Import (C, Finalize, "__gnat_finalize"); - SEH : aliased array (1 .. 2) of Integer; - - Ensure_Reference : aliased System.Address := Ada_Main_Program_Name'Address; - pragma Volatile (Ensure_Reference); - - begin - gnat_argc := argc; - gnat_argv := argv; - gnat_envp := envp; - - Initialize (SEH'Address); - adainit; - Ada_Main_Program; - adafinal; - Finalize; - return (gnat_exit_status); - end; - --- BEGIN Object file/option list - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/gnat.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/types.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/messages.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/byte_buffer.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/mailbox.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/path_following.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/tcp_client.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/backend_thread.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/webots_thread.o - -- /home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/main.o - -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ - -- -L/home/kingmoon/Documents/Github/autonomouscabs/external/controller/obj/ - -- -L/usr/lib/gcc/x86_64-linux-gnu/9/adalib/ - -- -shared - -- -lgnarl-9 - -- -lgnat-9 - -- -lpthread - -- -lrt - -- -ldl --- END Object file/option list - -end ada_main; diff --git a/external/controller/obj/b__main.ads b/external/controller/obj/b__main.ads deleted file mode 100644 index 3b19a72..0000000 --- a/external/controller/obj/b__main.ads +++ /dev/null @@ -1,797 +0,0 @@ -pragma Warnings (Off); -pragma Ada_95; -with System; -with System.Parameters; -with System.Secondary_Stack; -package ada_main is - - gnat_argc : Integer; - gnat_argv : System.Address; - gnat_envp : System.Address; - - pragma Import (C, gnat_argc); - pragma Import (C, gnat_argv); - pragma Import (C, gnat_envp); - - gnat_exit_status : Integer; - pragma Import (C, gnat_exit_status); - - GNAT_Version : constant String := - "GNAT Version: 9.3.0" & ASCII.NUL; - pragma Export (C, GNAT_Version, "__gnat_version"); - - Ada_Main_Program_Name : constant String := "_ada_main" & ASCII.NUL; - pragma Export (C, Ada_Main_Program_Name, "__gnat_ada_main_program_name"); - - procedure adainit; - pragma Export (C, adainit, "adainit"); - - procedure adafinal; - pragma Export (C, adafinal, "adafinal"); - - function main - (argc : Integer; - argv : System.Address; - envp : System.Address) - return Integer; - pragma Export (C, main, "main"); - - type Version_32 is mod 2 ** 32; - u00001 : constant Version_32 := 16#1a86f384#; - pragma Export (C, u00001, "mainB"); - u00002 : constant Version_32 := 16#050ff2f0#; - pragma Export (C, u00002, "system__standard_libraryB"); - u00003 : constant Version_32 := 16#4113f22b#; - pragma Export (C, u00003, "system__standard_libraryS"); - u00004 : constant Version_32 := 16#76789da1#; - pragma Export (C, u00004, "adaS"); - u00005 : constant Version_32 := 16#9762c9f2#; - pragma Export (C, u00005, "ada__exceptionsB"); - u00006 : constant Version_32 := 16#585ef86b#; - pragma Export (C, u00006, "ada__exceptionsS"); - u00007 : constant Version_32 := 16#5726abed#; - pragma Export (C, u00007, "ada__exceptions__last_chance_handlerB"); - u00008 : constant Version_32 := 16#41e5552e#; - pragma Export (C, u00008, "ada__exceptions__last_chance_handlerS"); - u00009 : constant Version_32 := 16#4635ec04#; - pragma Export (C, u00009, "systemS"); - u00010 : constant Version_32 := 16#ae860117#; - pragma Export (C, u00010, "system__soft_linksB"); - u00011 : constant Version_32 := 16#0336e7b2#; - pragma Export (C, u00011, "system__soft_linksS"); - u00012 : constant Version_32 := 16#f32b4133#; - pragma Export (C, u00012, "system__secondary_stackB"); - u00013 : constant Version_32 := 16#03a1141d#; - pragma Export (C, u00013, "system__secondary_stackS"); - u00014 : constant Version_32 := 16#86dbf443#; - pragma Export (C, u00014, "system__parametersB"); - u00015 : constant Version_32 := 16#0ed9b82f#; - pragma Export (C, u00015, "system__parametersS"); - u00016 : constant Version_32 := 16#ced09590#; - pragma Export (C, u00016, "system__storage_elementsB"); - u00017 : constant Version_32 := 16#6bf6a600#; - pragma Export (C, u00017, "system__storage_elementsS"); - u00018 : constant Version_32 := 16#75bf515c#; - pragma Export (C, u00018, "system__soft_links__initializeB"); - u00019 : constant Version_32 := 16#5697fc2b#; - pragma Export (C, u00019, "system__soft_links__initializeS"); - u00020 : constant Version_32 := 16#41837d1e#; - pragma Export (C, u00020, "system__stack_checkingB"); - u00021 : constant Version_32 := 16#c88a87ec#; - pragma Export (C, u00021, "system__stack_checkingS"); - u00022 : constant Version_32 := 16#34742901#; - pragma Export (C, u00022, "system__exception_tableB"); - u00023 : constant Version_32 := 16#1b9b8546#; - pragma Export (C, u00023, "system__exception_tableS"); - u00024 : constant Version_32 := 16#ce4af020#; - pragma Export (C, u00024, "system__exceptionsB"); - u00025 : constant Version_32 := 16#2e5681f2#; - pragma Export (C, u00025, "system__exceptionsS"); - u00026 : constant Version_32 := 16#69416224#; - pragma Export (C, u00026, "system__exceptions__machineB"); - u00027 : constant Version_32 := 16#d27d9682#; - pragma Export (C, u00027, "system__exceptions__machineS"); - u00028 : constant Version_32 := 16#aa0563fc#; - pragma Export (C, u00028, "system__exceptions_debugB"); - u00029 : constant Version_32 := 16#38bf15c0#; - pragma Export (C, u00029, "system__exceptions_debugS"); - u00030 : constant Version_32 := 16#6c2f8802#; - pragma Export (C, u00030, "system__img_intB"); - u00031 : constant Version_32 := 16#44ee0cc6#; - pragma Export (C, u00031, "system__img_intS"); - u00032 : constant Version_32 := 16#39df8c17#; - pragma Export (C, u00032, "system__tracebackB"); - u00033 : constant Version_32 := 16#181732c0#; - pragma Export (C, u00033, "system__tracebackS"); - u00034 : constant Version_32 := 16#9ed49525#; - pragma Export (C, u00034, "system__traceback_entriesB"); - u00035 : constant Version_32 := 16#466e1a74#; - pragma Export (C, u00035, "system__traceback_entriesS"); - u00036 : constant Version_32 := 16#448e9548#; - pragma Export (C, u00036, "system__traceback__symbolicB"); - u00037 : constant Version_32 := 16#c84061d1#; - pragma Export (C, u00037, "system__traceback__symbolicS"); - u00038 : constant Version_32 := 16#179d7d28#; - pragma Export (C, u00038, "ada__containersS"); - u00039 : constant Version_32 := 16#701f9d88#; - pragma Export (C, u00039, "ada__exceptions__tracebackB"); - u00040 : constant Version_32 := 16#20245e75#; - pragma Export (C, u00040, "ada__exceptions__tracebackS"); - u00041 : constant Version_32 := 16#5ab55268#; - pragma Export (C, u00041, "interfacesS"); - u00042 : constant Version_32 := 16#769e25e6#; - pragma Export (C, u00042, "interfaces__cB"); - u00043 : constant Version_32 := 16#467817d8#; - pragma Export (C, u00043, "interfaces__cS"); - u00044 : constant Version_32 := 16#e865e681#; - pragma Export (C, u00044, "system__bounded_stringsB"); - u00045 : constant Version_32 := 16#31c8cd1d#; - pragma Export (C, u00045, "system__bounded_stringsS"); - u00046 : constant Version_32 := 16#0062635e#; - pragma Export (C, u00046, "system__crtlS"); - u00047 : constant Version_32 := 16#bba79bcb#; - pragma Export (C, u00047, "system__dwarf_linesB"); - u00048 : constant Version_32 := 16#9a78d181#; - pragma Export (C, u00048, "system__dwarf_linesS"); - u00049 : constant Version_32 := 16#5b4659fa#; - pragma Export (C, u00049, "ada__charactersS"); - u00050 : constant Version_32 := 16#8f637df8#; - pragma Export (C, u00050, "ada__characters__handlingB"); - u00051 : constant Version_32 := 16#3b3f6154#; - pragma Export (C, u00051, "ada__characters__handlingS"); - u00052 : constant Version_32 := 16#4b7bb96a#; - pragma Export (C, u00052, "ada__characters__latin_1S"); - u00053 : constant Version_32 := 16#e6d4fa36#; - pragma Export (C, u00053, "ada__stringsS"); - u00054 : constant Version_32 := 16#96df1a3f#; - pragma Export (C, u00054, "ada__strings__mapsB"); - u00055 : constant Version_32 := 16#1e526bec#; - pragma Export (C, u00055, "ada__strings__mapsS"); - u00056 : constant Version_32 := 16#d68fb8f1#; - pragma Export (C, u00056, "system__bit_opsB"); - u00057 : constant Version_32 := 16#0765e3a3#; - pragma Export (C, u00057, "system__bit_opsS"); - u00058 : constant Version_32 := 16#72b39087#; - pragma Export (C, u00058, "system__unsigned_typesS"); - u00059 : constant Version_32 := 16#92f05f13#; - pragma Export (C, u00059, "ada__strings__maps__constantsS"); - u00060 : constant Version_32 := 16#a0d3d22b#; - pragma Export (C, u00060, "system__address_imageB"); - u00061 : constant Version_32 := 16#e7d9713e#; - pragma Export (C, u00061, "system__address_imageS"); - u00062 : constant Version_32 := 16#ec78c2bf#; - pragma Export (C, u00062, "system__img_unsB"); - u00063 : constant Version_32 := 16#ed47ac70#; - pragma Export (C, u00063, "system__img_unsS"); - u00064 : constant Version_32 := 16#d7aac20c#; - pragma Export (C, u00064, "system__ioB"); - u00065 : constant Version_32 := 16#d8771b4b#; - pragma Export (C, u00065, "system__ioS"); - u00066 : constant Version_32 := 16#f790d1ef#; - pragma Export (C, u00066, "system__mmapB"); - u00067 : constant Version_32 := 16#7c445363#; - pragma Export (C, u00067, "system__mmapS"); - u00068 : constant Version_32 := 16#92d882c5#; - pragma Export (C, u00068, "ada__io_exceptionsS"); - u00069 : constant Version_32 := 16#0cdaa54a#; - pragma Export (C, u00069, "system__mmap__os_interfaceB"); - u00070 : constant Version_32 := 16#82f29877#; - pragma Export (C, u00070, "system__mmap__os_interfaceS"); - u00071 : constant Version_32 := 16#834dfe5e#; - pragma Export (C, u00071, "system__mmap__unixS"); - u00072 : constant Version_32 := 16#fa90b46b#; - pragma Export (C, u00072, "system__os_libB"); - u00073 : constant Version_32 := 16#4542b55d#; - pragma Export (C, u00073, "system__os_libS"); - u00074 : constant Version_32 := 16#ec4d5631#; - pragma Export (C, u00074, "system__case_utilB"); - u00075 : constant Version_32 := 16#79e05a50#; - pragma Export (C, u00075, "system__case_utilS"); - u00076 : constant Version_32 := 16#2a8e89ad#; - pragma Export (C, u00076, "system__stringsB"); - u00077 : constant Version_32 := 16#2623c091#; - pragma Export (C, u00077, "system__stringsS"); - u00078 : constant Version_32 := 16#5a3f5337#; - pragma Export (C, u00078, "system__object_readerB"); - u00079 : constant Version_32 := 16#82413105#; - pragma Export (C, u00079, "system__object_readerS"); - u00080 : constant Version_32 := 16#1a74a354#; - pragma Export (C, u00080, "system__val_lliB"); - u00081 : constant Version_32 := 16#dc110aa4#; - pragma Export (C, u00081, "system__val_lliS"); - u00082 : constant Version_32 := 16#afdbf393#; - pragma Export (C, u00082, "system__val_lluB"); - u00083 : constant Version_32 := 16#0841c7f5#; - pragma Export (C, u00083, "system__val_lluS"); - u00084 : constant Version_32 := 16#269742a9#; - pragma Export (C, u00084, "system__val_utilB"); - u00085 : constant Version_32 := 16#ea955afa#; - pragma Export (C, u00085, "system__val_utilS"); - u00086 : constant Version_32 := 16#d7bf3f29#; - pragma Export (C, u00086, "system__exception_tracesB"); - u00087 : constant Version_32 := 16#62eacc9e#; - pragma Export (C, u00087, "system__exception_tracesS"); - u00088 : constant Version_32 := 16#8c33a517#; - pragma Export (C, u00088, "system__wch_conB"); - u00089 : constant Version_32 := 16#5d48ced6#; - pragma Export (C, u00089, "system__wch_conS"); - u00090 : constant Version_32 := 16#9721e840#; - pragma Export (C, u00090, "system__wch_stwB"); - u00091 : constant Version_32 := 16#7059e2d7#; - pragma Export (C, u00091, "system__wch_stwS"); - u00092 : constant Version_32 := 16#a831679c#; - pragma Export (C, u00092, "system__wch_cnvB"); - u00093 : constant Version_32 := 16#52ff7425#; - pragma Export (C, u00093, "system__wch_cnvS"); - u00094 : constant Version_32 := 16#ece6fdb6#; - pragma Export (C, u00094, "system__wch_jisB"); - u00095 : constant Version_32 := 16#d28f6d04#; - pragma Export (C, u00095, "system__wch_jisS"); - u00096 : constant Version_32 := 16#eb4fc41d#; - pragma Export (C, u00096, "ada__real_timeB"); - u00097 : constant Version_32 := 16#69ea8064#; - pragma Export (C, u00097, "ada__real_timeS"); - u00098 : constant Version_32 := 16#c05c480c#; - pragma Export (C, u00098, "system__taskingB"); - u00099 : constant Version_32 := 16#d15fc24c#; - pragma Export (C, u00099, "system__taskingS"); - u00100 : constant Version_32 := 16#c333d44f#; - pragma Export (C, u00100, "system__task_primitivesS"); - u00101 : constant Version_32 := 16#02d5b781#; - pragma Export (C, u00101, "system__os_interfaceB"); - u00102 : constant Version_32 := 16#8b11eeee#; - pragma Export (C, u00102, "system__os_interfaceS"); - u00103 : constant Version_32 := 16#ff1f7771#; - pragma Export (C, u00103, "system__linuxS"); - u00104 : constant Version_32 := 16#198dbba9#; - pragma Export (C, u00104, "system__os_constantsS"); - u00105 : constant Version_32 := 16#3d3b214a#; - pragma Export (C, u00105, "system__task_primitives__operationsB"); - u00106 : constant Version_32 := 16#69ee9f34#; - pragma Export (C, u00106, "system__task_primitives__operationsS"); - u00107 : constant Version_32 := 16#71c5de81#; - pragma Export (C, u00107, "system__interrupt_managementB"); - u00108 : constant Version_32 := 16#24a21b5f#; - pragma Export (C, u00108, "system__interrupt_managementS"); - u00109 : constant Version_32 := 16#f65595cf#; - pragma Export (C, u00109, "system__multiprocessorsB"); - u00110 : constant Version_32 := 16#7e997377#; - pragma Export (C, u00110, "system__multiprocessorsS"); - u00111 : constant Version_32 := 16#51f2d040#; - pragma Export (C, u00111, "system__os_primitivesB"); - u00112 : constant Version_32 := 16#41c889f2#; - pragma Export (C, u00112, "system__os_primitivesS"); - u00113 : constant Version_32 := 16#375a3ef7#; - pragma Export (C, u00113, "system__task_infoB"); - u00114 : constant Version_32 := 16#1c069690#; - pragma Export (C, u00114, "system__task_infoS"); - u00115 : constant Version_32 := 16#f2eb7df6#; - pragma Export (C, u00115, "system__tasking__debugB"); - u00116 : constant Version_32 := 16#aea59d30#; - pragma Export (C, u00116, "system__tasking__debugS"); - u00117 : constant Version_32 := 16#fd83e873#; - pragma Export (C, u00117, "system__concat_2B"); - u00118 : constant Version_32 := 16#44953bd4#; - pragma Export (C, u00118, "system__concat_2S"); - u00119 : constant Version_32 := 16#2b70b149#; - pragma Export (C, u00119, "system__concat_3B"); - u00120 : constant Version_32 := 16#4d45b0a1#; - pragma Export (C, u00120, "system__concat_3S"); - u00121 : constant Version_32 := 16#273384e4#; - pragma Export (C, u00121, "system__img_enum_newB"); - u00122 : constant Version_32 := 16#2779eac4#; - pragma Export (C, u00122, "system__img_enum_newS"); - u00123 : constant Version_32 := 16#9dca6636#; - pragma Export (C, u00123, "system__img_lliB"); - u00124 : constant Version_32 := 16#577ab9d5#; - pragma Export (C, u00124, "system__img_lliS"); - u00125 : constant Version_32 := 16#6ec3c867#; - pragma Export (C, u00125, "system__stack_usageB"); - u00126 : constant Version_32 := 16#3a3ac346#; - pragma Export (C, u00126, "system__stack_usageS"); - u00127 : constant Version_32 := 16#10558b11#; - pragma Export (C, u00127, "ada__streamsB"); - u00128 : constant Version_32 := 16#67e31212#; - pragma Export (C, u00128, "ada__streamsS"); - u00129 : constant Version_32 := 16#d398a95f#; - pragma Export (C, u00129, "ada__tagsB"); - u00130 : constant Version_32 := 16#12a0afb8#; - pragma Export (C, u00130, "ada__tagsS"); - u00131 : constant Version_32 := 16#796f31f1#; - pragma Export (C, u00131, "system__htableB"); - u00132 : constant Version_32 := 16#c2f75fee#; - pragma Export (C, u00132, "system__htableS"); - u00133 : constant Version_32 := 16#089f5cd0#; - pragma Export (C, u00133, "system__string_hashB"); - u00134 : constant Version_32 := 16#60a93490#; - pragma Export (C, u00134, "system__string_hashS"); - u00135 : constant Version_32 := 16#927a893f#; - pragma Export (C, u00135, "ada__text_ioB"); - u00136 : constant Version_32 := 16#5194351e#; - pragma Export (C, u00136, "ada__text_ioS"); - u00137 : constant Version_32 := 16#73d2d764#; - pragma Export (C, u00137, "interfaces__c_streamsB"); - u00138 : constant Version_32 := 16#b1330297#; - pragma Export (C, u00138, "interfaces__c_streamsS"); - u00139 : constant Version_32 := 16#71ac0ba7#; - pragma Export (C, u00139, "system__file_ioB"); - u00140 : constant Version_32 := 16#e1440d61#; - pragma Export (C, u00140, "system__file_ioS"); - u00141 : constant Version_32 := 16#86c56e5a#; - pragma Export (C, u00141, "ada__finalizationS"); - u00142 : constant Version_32 := 16#95817ed8#; - pragma Export (C, u00142, "system__finalization_rootB"); - u00143 : constant Version_32 := 16#09c79f94#; - pragma Export (C, u00143, "system__finalization_rootS"); - u00144 : constant Version_32 := 16#bbaa76ac#; - pragma Export (C, u00144, "system__file_control_blockS"); - u00145 : constant Version_32 := 16#ce415498#; - pragma Export (C, u00145, "backend_threadB"); - u00146 : constant Version_32 := 16#10a1b3ea#; - pragma Export (C, u00146, "backend_threadS"); - u00147 : constant Version_32 := 16#97e573ca#; - pragma Export (C, u00147, "byte_bufferB"); - u00148 : constant Version_32 := 16#1dfd1fae#; - pragma Export (C, u00148, "byte_bufferS"); - u00149 : constant Version_32 := 16#5a895de2#; - pragma Export (C, u00149, "system__pool_globalB"); - u00150 : constant Version_32 := 16#7141203e#; - pragma Export (C, u00150, "system__pool_globalS"); - u00151 : constant Version_32 := 16#2323a8af#; - pragma Export (C, u00151, "system__memoryB"); - u00152 : constant Version_32 := 16#1f488a30#; - pragma Export (C, u00152, "system__memoryS"); - u00153 : constant Version_32 := 16#6d4d969a#; - pragma Export (C, u00153, "system__storage_poolsB"); - u00154 : constant Version_32 := 16#65d872a9#; - pragma Export (C, u00154, "system__storage_poolsS"); - u00155 : constant Version_32 := 16#2e260032#; - pragma Export (C, u00155, "system__storage_pools__subpoolsB"); - u00156 : constant Version_32 := 16#cc5a1856#; - pragma Export (C, u00156, "system__storage_pools__subpoolsS"); - u00157 : constant Version_32 := 16#d96e3c40#; - pragma Export (C, u00157, "system__finalization_mastersB"); - u00158 : constant Version_32 := 16#1dc9d5ce#; - pragma Export (C, u00158, "system__finalization_mastersS"); - u00159 : constant Version_32 := 16#7268f812#; - pragma Export (C, u00159, "system__img_boolB"); - u00160 : constant Version_32 := 16#b3ec9def#; - pragma Export (C, u00160, "system__img_boolS"); - u00161 : constant Version_32 := 16#84042202#; - pragma Export (C, u00161, "system__storage_pools__subpools__finalizationB"); - u00162 : constant Version_32 := 16#fe2f4b3a#; - pragma Export (C, u00162, "system__storage_pools__subpools__finalizationS"); - u00163 : constant Version_32 := 16#bcec81df#; - pragma Export (C, u00163, "ada__containers__helpersB"); - u00164 : constant Version_32 := 16#4adfc5eb#; - pragma Export (C, u00164, "ada__containers__helpersS"); - u00165 : constant Version_32 := 16#020a3f4d#; - pragma Export (C, u00165, "system__atomic_countersB"); - u00166 : constant Version_32 := 16#f269c189#; - pragma Export (C, u00166, "system__atomic_countersS"); - u00167 : constant Version_32 := 16#fa4925e6#; - pragma Export (C, u00167, "messagesB"); - u00168 : constant Version_32 := 16#c45c34cd#; - pragma Export (C, u00168, "messagesS"); - u00169 : constant Version_32 := 16#039168f8#; - pragma Export (C, u00169, "system__stream_attributesB"); - u00170 : constant Version_32 := 16#8bc30a4e#; - pragma Export (C, u00170, "system__stream_attributesS"); - u00171 : constant Version_32 := 16#69c75c36#; - pragma Export (C, u00171, "typesB"); - u00172 : constant Version_32 := 16#f05fd2f3#; - pragma Export (C, u00172, "typesS"); - u00173 : constant Version_32 := 16#b5988c27#; - pragma Export (C, u00173, "gnatS"); - u00174 : constant Version_32 := 16#369e155e#; - pragma Export (C, u00174, "gnat__socketsB"); - u00175 : constant Version_32 := 16#a6a830c3#; - pragma Export (C, u00175, "gnat__socketsS"); - u00176 : constant Version_32 := 16#cb835252#; - pragma Export (C, u00176, "gnat__sockets__linker_optionsS"); - u00177 : constant Version_32 := 16#b0810072#; - pragma Export (C, u00177, "gnat__sockets__thinB"); - u00178 : constant Version_32 := 16#c5872358#; - pragma Export (C, u00178, "gnat__sockets__thinS"); - u00179 : constant Version_32 := 16#357666d8#; - pragma Export (C, u00179, "ada__calendar__delaysB"); - u00180 : constant Version_32 := 16#2da855d5#; - pragma Export (C, u00180, "ada__calendar__delaysS"); - u00181 : constant Version_32 := 16#9a2e29aa#; - pragma Export (C, u00181, "ada__calendarB"); - u00182 : constant Version_32 := 16#c4f07049#; - pragma Export (C, u00182, "ada__calendarS"); - u00183 : constant Version_32 := 16#728833ee#; - pragma Export (C, u00183, "gnat__os_libS"); - u00184 : constant Version_32 := 16#485b8267#; - pragma Export (C, u00184, "gnat__task_lockS"); - u00185 : constant Version_32 := 16#05c60a38#; - pragma Export (C, u00185, "system__task_lockB"); - u00186 : constant Version_32 := 16#27bfdb6a#; - pragma Export (C, u00186, "system__task_lockS"); - u00187 : constant Version_32 := 16#305d23a5#; - pragma Export (C, u00187, "gnat__sockets__thin_commonB"); - u00188 : constant Version_32 := 16#fdbccd6b#; - pragma Export (C, u00188, "gnat__sockets__thin_commonS"); - u00189 : constant Version_32 := 16#69f6ee6b#; - pragma Export (C, u00189, "interfaces__c__stringsB"); - u00190 : constant Version_32 := 16#603c1c44#; - pragma Export (C, u00190, "interfaces__c__stringsS"); - u00191 : constant Version_32 := 16#5de653db#; - pragma Export (C, u00191, "system__communicationB"); - u00192 : constant Version_32 := 16#5f55b9d6#; - pragma Export (C, u00192, "system__communicationS"); - u00193 : constant Version_32 := 16#637ab3c9#; - pragma Export (C, u00193, "system__pool_sizeB"); - u00194 : constant Version_32 := 16#471ba45d#; - pragma Export (C, u00194, "system__pool_sizeS"); - u00195 : constant Version_32 := 16#d763507a#; - pragma Export (C, u00195, "system__val_intB"); - u00196 : constant Version_32 := 16#0e90c63b#; - pragma Export (C, u00196, "system__val_intS"); - u00197 : constant Version_32 := 16#1d9142a4#; - pragma Export (C, u00197, "system__val_unsB"); - u00198 : constant Version_32 := 16#621b7dbc#; - pragma Export (C, u00198, "system__val_unsS"); - u00199 : constant Version_32 := 16#f26d7867#; - pragma Export (C, u00199, "mailboxB"); - u00200 : constant Version_32 := 16#c3d0cd9b#; - pragma Export (C, u00200, "mailboxS"); - u00201 : constant Version_32 := 16#7d12d4bb#; - pragma Export (C, u00201, "system__tasking__protected_objectsB"); - u00202 : constant Version_32 := 16#15001baf#; - pragma Export (C, u00202, "system__tasking__protected_objectsS"); - u00203 : constant Version_32 := 16#d99cdb5c#; - pragma Export (C, u00203, "system__soft_links__taskingB"); - u00204 : constant Version_32 := 16#e939497e#; - pragma Export (C, u00204, "system__soft_links__taskingS"); - u00205 : constant Version_32 := 16#17d21067#; - pragma Export (C, u00205, "ada__exceptions__is_null_occurrenceB"); - u00206 : constant Version_32 := 16#e1d7566f#; - pragma Export (C, u00206, "ada__exceptions__is_null_occurrenceS"); - u00207 : constant Version_32 := 16#7010f8c6#; - pragma Export (C, u00207, "system__tasking__protected_objects__entriesB"); - u00208 : constant Version_32 := 16#7daf93e7#; - pragma Export (C, u00208, "system__tasking__protected_objects__entriesS"); - u00209 : constant Version_32 := 16#100eaf58#; - pragma Export (C, u00209, "system__restrictionsB"); - u00210 : constant Version_32 := 16#0d473555#; - pragma Export (C, u00210, "system__restrictionsS"); - u00211 : constant Version_32 := 16#e8c12513#; - pragma Export (C, u00211, "system__tasking__initializationB"); - u00212 : constant Version_32 := 16#fc2303e6#; - pragma Export (C, u00212, "system__tasking__initializationS"); - u00213 : constant Version_32 := 16#80ce688e#; - pragma Export (C, u00213, "system__tasking__task_attributesB"); - u00214 : constant Version_32 := 16#e81a3c25#; - pragma Export (C, u00214, "system__tasking__task_attributesS"); - u00215 : constant Version_32 := 16#81b5daee#; - pragma Export (C, u00215, "system__tasking__protected_objects__operationsB"); - u00216 : constant Version_32 := 16#ba36ad85#; - pragma Export (C, u00216, "system__tasking__protected_objects__operationsS"); - u00217 : constant Version_32 := 16#6bc03304#; - pragma Export (C, u00217, "system__tasking__entry_callsB"); - u00218 : constant Version_32 := 16#6342024e#; - pragma Export (C, u00218, "system__tasking__entry_callsS"); - u00219 : constant Version_32 := 16#cc950a30#; - pragma Export (C, u00219, "system__tasking__queuingB"); - u00220 : constant Version_32 := 16#6dba2805#; - pragma Export (C, u00220, "system__tasking__queuingS"); - u00221 : constant Version_32 := 16#e9f46e92#; - pragma Export (C, u00221, "system__tasking__utilitiesB"); - u00222 : constant Version_32 := 16#0f670827#; - pragma Export (C, u00222, "system__tasking__utilitiesS"); - u00223 : constant Version_32 := 16#915f61e7#; - pragma Export (C, u00223, "system__tasking__rendezvousB"); - u00224 : constant Version_32 := 16#5618a4d0#; - pragma Export (C, u00224, "system__tasking__rendezvousS"); - u00225 : constant Version_32 := 16#9b8d9f09#; - pragma Export (C, u00225, "tcp_clientB"); - u00226 : constant Version_32 := 16#c1f43196#; - pragma Export (C, u00226, "tcp_clientS"); - u00227 : constant Version_32 := 16#6a7592d1#; - pragma Export (C, u00227, "path_followingB"); - u00228 : constant Version_32 := 16#bb02323c#; - pragma Export (C, u00228, "path_followingS"); - u00229 : constant Version_32 := 16#8aa4f090#; - pragma Export (C, u00229, "system__img_realB"); - u00230 : constant Version_32 := 16#819dbde6#; - pragma Export (C, u00230, "system__img_realS"); - u00231 : constant Version_32 := 16#42a257f7#; - pragma Export (C, u00231, "system__fat_llfS"); - u00232 : constant Version_32 := 16#1b28662b#; - pragma Export (C, u00232, "system__float_controlB"); - u00233 : constant Version_32 := 16#a6c9af38#; - pragma Export (C, u00233, "system__float_controlS"); - u00234 : constant Version_32 := 16#3e932977#; - pragma Export (C, u00234, "system__img_lluB"); - u00235 : constant Version_32 := 16#3b7a9044#; - pragma Export (C, u00235, "system__img_lluS"); - u00236 : constant Version_32 := 16#16458a73#; - pragma Export (C, u00236, "system__powten_tableS"); - u00237 : constant Version_32 := 16#e18a47a0#; - pragma Export (C, u00237, "ada__float_text_ioB"); - u00238 : constant Version_32 := 16#1fef695b#; - pragma Export (C, u00238, "ada__float_text_ioS"); - u00239 : constant Version_32 := 16#d5f9759f#; - pragma Export (C, u00239, "ada__text_io__float_auxB"); - u00240 : constant Version_32 := 16#48248c7b#; - pragma Export (C, u00240, "ada__text_io__float_auxS"); - u00241 : constant Version_32 := 16#181dc502#; - pragma Export (C, u00241, "ada__text_io__generic_auxB"); - u00242 : constant Version_32 := 16#16b3615d#; - pragma Export (C, u00242, "ada__text_io__generic_auxS"); - u00243 : constant Version_32 := 16#c2ca0511#; - pragma Export (C, u00243, "system__val_realB"); - u00244 : constant Version_32 := 16#b81c9b15#; - pragma Export (C, u00244, "system__val_realS"); - u00245 : constant Version_32 := 16#b2a569d2#; - pragma Export (C, u00245, "system__exn_llfB"); - u00246 : constant Version_32 := 16#fa4b57d8#; - pragma Export (C, u00246, "system__exn_llfS"); - u00247 : constant Version_32 := 16#1e40f010#; - pragma Export (C, u00247, "system__fat_fltS"); - u00248 : constant Version_32 := 16#8bf4f526#; - pragma Export (C, u00248, "system__tasking__stagesB"); - u00249 : constant Version_32 := 16#14e0647c#; - pragma Export (C, u00249, "system__tasking__stagesS"); - u00250 : constant Version_32 := 16#1c931651#; - pragma Export (C, u00250, "webots_threadB"); - u00251 : constant Version_32 := 16#7a7a9953#; - pragma Export (C, u00251, "webots_threadS"); - - -- BEGIN ELABORATION ORDER - -- ada%s - -- ada.characters%s - -- ada.characters.latin_1%s - -- interfaces%s - -- system%s - -- system.atomic_counters%s - -- system.atomic_counters%b - -- system.exn_llf%s - -- system.exn_llf%b - -- system.float_control%s - -- system.float_control%b - -- system.img_bool%s - -- system.img_bool%b - -- system.img_enum_new%s - -- system.img_enum_new%b - -- system.img_int%s - -- system.img_int%b - -- system.img_lli%s - -- system.img_lli%b - -- system.io%s - -- system.io%b - -- system.os_primitives%s - -- system.os_primitives%b - -- system.parameters%s - -- system.parameters%b - -- system.crtl%s - -- interfaces.c_streams%s - -- interfaces.c_streams%b - -- system.powten_table%s - -- system.restrictions%s - -- system.restrictions%b - -- system.storage_elements%s - -- system.storage_elements%b - -- system.stack_checking%s - -- system.stack_checking%b - -- system.stack_usage%s - -- system.stack_usage%b - -- system.string_hash%s - -- system.string_hash%b - -- system.htable%s - -- system.htable%b - -- system.strings%s - -- system.strings%b - -- system.traceback_entries%s - -- system.traceback_entries%b - -- system.unsigned_types%s - -- system.img_llu%s - -- system.img_llu%b - -- system.img_uns%s - -- system.img_uns%b - -- system.wch_con%s - -- system.wch_con%b - -- system.wch_jis%s - -- system.wch_jis%b - -- system.wch_cnv%s - -- system.wch_cnv%b - -- system.concat_2%s - -- system.concat_2%b - -- system.concat_3%s - -- system.concat_3%b - -- system.traceback%s - -- system.traceback%b - -- system.case_util%s - -- system.standard_library%s - -- system.exception_traces%s - -- ada.exceptions%s - -- system.wch_stw%s - -- system.val_util%s - -- system.val_llu%s - -- system.val_lli%s - -- system.os_lib%s - -- system.bit_ops%s - -- ada.characters.handling%s - -- ada.exceptions.traceback%s - -- system.secondary_stack%s - -- system.case_util%b - -- system.address_image%s - -- system.bounded_strings%s - -- system.soft_links%s - -- system.exception_table%s - -- system.exception_table%b - -- ada.io_exceptions%s - -- ada.strings%s - -- ada.containers%s - -- system.exceptions%s - -- system.exceptions%b - -- ada.exceptions.last_chance_handler%s - -- system.exceptions_debug%s - -- system.exceptions_debug%b - -- system.exception_traces%b - -- system.memory%s - -- system.memory%b - -- system.wch_stw%b - -- system.val_util%b - -- system.val_llu%b - -- system.val_lli%b - -- system.os_lib%b - -- system.bit_ops%b - -- ada.strings.maps%s - -- ada.strings.maps.constants%s - -- ada.characters.handling%b - -- interfaces.c%s - -- ada.exceptions.traceback%b - -- system.exceptions.machine%s - -- system.exceptions.machine%b - -- system.secondary_stack%b - -- system.address_image%b - -- system.bounded_strings%b - -- system.soft_links.initialize%s - -- system.soft_links.initialize%b - -- system.soft_links%b - -- ada.exceptions.last_chance_handler%b - -- system.standard_library%b - -- system.mmap%s - -- ada.strings.maps%b - -- interfaces.c%b - -- system.object_reader%s - -- system.dwarf_lines%s - -- system.dwarf_lines%b - -- system.mmap.unix%s - -- system.mmap.os_interface%s - -- system.mmap%b - -- system.traceback.symbolic%s - -- system.traceback.symbolic%b - -- ada.exceptions%b - -- system.object_reader%b - -- system.mmap.os_interface%b - -- ada.exceptions.is_null_occurrence%s - -- ada.exceptions.is_null_occurrence%b - -- ada.tags%s - -- ada.tags%b - -- ada.streams%s - -- ada.streams%b - -- gnat%s - -- gnat.os_lib%s - -- interfaces.c.strings%s - -- interfaces.c.strings%b - -- system.communication%s - -- system.communication%b - -- system.fat_flt%s - -- system.fat_llf%s - -- system.file_control_block%s - -- system.finalization_root%s - -- system.finalization_root%b - -- ada.finalization%s - -- ada.containers.helpers%s - -- ada.containers.helpers%b - -- system.file_io%s - -- system.file_io%b - -- system.img_real%s - -- system.img_real%b - -- system.linux%s - -- system.multiprocessors%s - -- system.multiprocessors%b - -- system.os_constants%s - -- system.os_interface%s - -- system.os_interface%b - -- system.storage_pools%s - -- system.storage_pools%b - -- system.finalization_masters%s - -- system.finalization_masters%b - -- system.storage_pools.subpools%s - -- system.storage_pools.subpools.finalization%s - -- system.storage_pools.subpools%b - -- system.storage_pools.subpools.finalization%b - -- system.stream_attributes%s - -- system.stream_attributes%b - -- system.task_info%s - -- system.task_info%b - -- system.task_lock%s - -- system.task_lock%b - -- gnat.task_lock%s - -- system.task_primitives%s - -- system.interrupt_management%s - -- system.interrupt_management%b - -- system.tasking%s - -- system.task_primitives.operations%s - -- system.tasking.debug%s - -- system.tasking%b - -- system.task_primitives.operations%b - -- system.tasking.debug%b - -- system.val_real%s - -- system.val_real%b - -- system.val_uns%s - -- system.val_uns%b - -- system.val_int%s - -- system.val_int%b - -- ada.calendar%s - -- ada.calendar%b - -- ada.calendar.delays%s - -- ada.calendar.delays%b - -- ada.real_time%s - -- ada.real_time%b - -- ada.text_io%s - -- ada.text_io%b - -- ada.text_io.generic_aux%s - -- ada.text_io.generic_aux%b - -- ada.text_io.float_aux%s - -- ada.text_io.float_aux%b - -- ada.float_text_io%s - -- ada.float_text_io%b - -- system.pool_global%s - -- system.pool_global%b - -- system.pool_size%s - -- system.pool_size%b - -- gnat.sockets%s - -- gnat.sockets.thin_common%s - -- gnat.sockets.thin_common%b - -- gnat.sockets.thin%s - -- gnat.sockets.thin%b - -- gnat.sockets.linker_options%s - -- gnat.sockets%b - -- system.soft_links.tasking%s - -- system.soft_links.tasking%b - -- system.tasking.initialization%s - -- system.tasking.task_attributes%s - -- system.tasking.initialization%b - -- system.tasking.task_attributes%b - -- system.tasking.protected_objects%s - -- system.tasking.protected_objects%b - -- system.tasking.protected_objects.entries%s - -- system.tasking.protected_objects.entries%b - -- system.tasking.queuing%s - -- system.tasking.queuing%b - -- system.tasking.utilities%s - -- system.tasking.utilities%b - -- system.tasking.entry_calls%s - -- system.tasking.rendezvous%s - -- system.tasking.protected_objects.operations%s - -- system.tasking.protected_objects.operations%b - -- system.tasking.entry_calls%b - -- system.tasking.rendezvous%b - -- system.tasking.stages%s - -- system.tasking.stages%b - -- types%s - -- types%b - -- messages%s - -- messages%b - -- byte_buffer%s - -- byte_buffer%b - -- mailbox%s - -- mailbox%b - -- path_following%s - -- path_following%b - -- tcp_client%s - -- tcp_client%b - -- backend_thread%s - -- backend_thread%b - -- webots_thread%s - -- webots_thread%b - -- main%b - -- END ELABORATION ORDER - -end ada_main; diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali deleted file mode 100644 index 478a3e8..0000000 --- a/external/controller/obj/b__main.ali +++ /dev/null @@ -1,465 +0,0 @@ -V "GNAT Lib v9" -A -gnatA -A -gnatA -A -gnatWb -A -gnatiw -A -gnatws -A -g -A -mtune=generic -A -march=x86-64 -P ZX - -RN -RV NO_ACCESS_SUBPROGRAMS -RV NO_DEFAULT_INITIALIZATION -RV NO_IMPLEMENTATION_ATTRIBUTES -RV NO_IMPLEMENTATION_PRAGMAS -RV NO_IMPLICIT_LOOPS -RV NO_ELABORATION_CODE -RV NO_OBSOLESCENT_FEATURES -RV SPARK_05 - -U ada_main%b b__main.adb 7e092f5b OO PK IL -W ada%s ada.ads ada.ali -W ada.exceptions%s a-except.adb a-except.ali -W system%s system.ads system.ali -W system.restrictions%s s-restri.adb s-restri.ali - -U ada_main%s b__main.ads 3ed86db3 EE NE OO PK IL -W system%s system.ads system.ali -W system.parameters%s s-parame.adb s-parame.ali -W system.secondary_stack%s s-secsta.adb s-secsta.ali - -D ada.ads 20200312110721 76789da1 ada%s -D a-except.ads 20200312110721 291912d5 ada.exceptions%s -D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D b__main.ads 20200711193922 10ba33aa ada_main%s -D b__main.adb 20200711193922 5c370856 ada_main%b -D system.ads 20200312110721 4635ec04 system%s -D s-parame.ads 20200312110721 48ec542b system.parameters%s -D s-restri.ads 20200312110721 1b9d0672 system.restrictions%s -D s-rident.ads 20200312110721 50efdf23 system.rident%s -D s-secsta.ads 20200312110721 20bbe636 system.secondary_stack%s -D s-stalib.ads 20200312110721 09bd3940 system.standard_library%s -D s-stoele.ads 20200312110721 2dc34a04 system.storage_elements%s -D s-traent.ads 20200312110721 005bf670 system.traceback_entries%s -X 1 ada.ads -16K9*Ada 20e8 5|8r6 -X 2 a-except.ads -54K13*Exceptions 349e19 5|8w10 -X 4 b__main.ads -6K9*ada_main 797l5 797e13 5|10b14 451l5 451t13 -8i4*gnat_argc{integer} 12m22 12r22 5|417m7 -9m4*gnat_argv{6|67M9} 13m22 13r22 5|418m7 -10m4*gnat_envp{6|67M9} 14m22 14r22 5|419m7 -16i4*gnat_exit_status{integer} 17m22 17r22 5|426r15 -19a4*GNAT_Version{string} 21r22 -23a4*Ada_Main_Program_Name{string} 24r22 5|413r52 -26U14*adainit 27i22 5|187b14 395l8 395t15 422s7 -29U14*adafinal 30i22 5|169b14 183l8 183t16 424s7 -32V13*main{integer} 33>7 34>7 35>7 37i22 5|400b13 427t7 -33i7 argc{integer} 5|401b7 417r20 -34m7 argv{6|67M9} 5|402b7 418r20 -35m7 envp{6|67M9} 5|403b7 419r20 -39M9*Version_32 40r22 42r22 44r22 46r22 48r22 50r22 52r22 54r22 56r22 58r22 -. 60r22 62r22 64r22 66r22 68r22 70r22 72r22 74r22 76r22 78r22 80r22 82r22 -. 84r22 86r22 88r22 90r22 92r22 94r22 96r22 98r22 100r22 102r22 104r22 106r22 -. 108r22 110r22 112r22 114r22 116r22 118r22 120r22 122r22 124r22 126r22 128r22 -. 130r22 132r22 134r22 136r22 138r22 140r22 142r22 144r22 146r22 148r22 150r22 -. 152r22 154r22 156r22 158r22 160r22 162r22 164r22 166r22 168r22 170r22 172r22 -. 174r22 176r22 178r22 180r22 182r22 184r22 186r22 188r22 190r22 192r22 194r22 -. 196r22 198r22 200r22 202r22 204r22 206r22 208r22 210r22 212r22 214r22 216r22 -. 218r22 220r22 222r22 224r22 226r22 228r22 230r22 232r22 234r22 236r22 238r22 -. 240r22 242r22 244r22 246r22 248r22 250r22 252r22 254r22 256r22 258r22 260r22 -. 262r22 264r22 266r22 268r22 270r22 272r22 274r22 276r22 278r22 280r22 282r22 -. 284r22 286r22 288r22 290r22 292r22 294r22 296r22 298r22 300r22 302r22 304r22 -. 306r22 308r22 310r22 312r22 314r22 316r22 318r22 320r22 322r22 324r22 326r22 -. 328r22 330r22 332r22 334r22 336r22 338r22 340r22 342r22 344r22 346r22 348r22 -. 350r22 352r22 354r22 356r22 358r22 360r22 362r22 364r22 366r22 368r22 370r22 -. 372r22 374r22 376r22 378r22 380r22 382r22 384r22 386r22 388r22 390r22 392r22 -. 394r22 396r22 398r22 400r22 402r22 404r22 406r22 408r22 410r22 412r22 414r22 -. 416r22 418r22 420r22 422r22 424r22 426r22 428r22 430r22 432r22 434r22 436r22 -. 438r22 440r22 442r22 444r22 446r22 448r22 450r22 452r22 454r22 456r22 458r22 -. 460r22 462r22 464r22 466r22 468r22 470r22 472r22 474r22 476r22 478r22 480r22 -. 482r22 484r22 486r22 488r22 490r22 492r22 494r22 496r22 498r22 500r22 502r22 -. 504r22 506r22 508r22 510r22 512r22 514r22 516r22 518r22 520r22 522r22 524r22 -. 526r22 528r22 530r22 532r22 534r22 536r22 538r22 540r22 -40m4*u00001{39M9} 41r22 -42m4*u00002{39M9} 43r22 -44m4*u00003{39M9} 45r22 -46m4*u00004{39M9} 47r22 -48m4*u00005{39M9} 49r22 -50m4*u00006{39M9} 51r22 -52m4*u00007{39M9} 53r22 -54m4*u00008{39M9} 55r22 -56m4*u00009{39M9} 57r22 -58m4*u00010{39M9} 59r22 -60m4*u00011{39M9} 61r22 -62m4*u00012{39M9} 63r22 -64m4*u00013{39M9} 65r22 -66m4*u00014{39M9} 67r22 -68m4*u00015{39M9} 69r22 -70m4*u00016{39M9} 71r22 -72m4*u00017{39M9} 73r22 -74m4*u00018{39M9} 75r22 -76m4*u00019{39M9} 77r22 -78m4*u00020{39M9} 79r22 -80m4*u00021{39M9} 81r22 -82m4*u00022{39M9} 83r22 -84m4*u00023{39M9} 85r22 -86m4*u00024{39M9} 87r22 -88m4*u00025{39M9} 89r22 -90m4*u00026{39M9} 91r22 -92m4*u00027{39M9} 93r22 -94m4*u00028{39M9} 95r22 -96m4*u00029{39M9} 97r22 -98m4*u00030{39M9} 99r22 -100m4*u00031{39M9} 101r22 -102m4*u00032{39M9} 103r22 -104m4*u00033{39M9} 105r22 -106m4*u00034{39M9} 107r22 -108m4*u00035{39M9} 109r22 -110m4*u00036{39M9} 111r22 -112m4*u00037{39M9} 113r22 -114m4*u00038{39M9} 115r22 -116m4*u00039{39M9} 117r22 -118m4*u00040{39M9} 119r22 -120m4*u00041{39M9} 121r22 -122m4*u00042{39M9} 123r22 -124m4*u00043{39M9} 125r22 -126m4*u00044{39M9} 127r22 -128m4*u00045{39M9} 129r22 -130m4*u00046{39M9} 131r22 -132m4*u00047{39M9} 133r22 -134m4*u00048{39M9} 135r22 -136m4*u00049{39M9} 137r22 -138m4*u00050{39M9} 139r22 -140m4*u00051{39M9} 141r22 -142m4*u00052{39M9} 143r22 -144m4*u00053{39M9} 145r22 -146m4*u00054{39M9} 147r22 -148m4*u00055{39M9} 149r22 -150m4*u00056{39M9} 151r22 -152m4*u00057{39M9} 153r22 -154m4*u00058{39M9} 155r22 -156m4*u00059{39M9} 157r22 -158m4*u00060{39M9} 159r22 -160m4*u00061{39M9} 161r22 -162m4*u00062{39M9} 163r22 -164m4*u00063{39M9} 165r22 -166m4*u00064{39M9} 167r22 -168m4*u00065{39M9} 169r22 -170m4*u00066{39M9} 171r22 -172m4*u00067{39M9} 173r22 -174m4*u00068{39M9} 175r22 -176m4*u00069{39M9} 177r22 -178m4*u00070{39M9} 179r22 -180m4*u00071{39M9} 181r22 -182m4*u00072{39M9} 183r22 -184m4*u00073{39M9} 185r22 -186m4*u00074{39M9} 187r22 -188m4*u00075{39M9} 189r22 -190m4*u00076{39M9} 191r22 -192m4*u00077{39M9} 193r22 -194m4*u00078{39M9} 195r22 -196m4*u00079{39M9} 197r22 -198m4*u00080{39M9} 199r22 -200m4*u00081{39M9} 201r22 -202m4*u00082{39M9} 203r22 -204m4*u00083{39M9} 205r22 -206m4*u00084{39M9} 207r22 -208m4*u00085{39M9} 209r22 -210m4*u00086{39M9} 211r22 -212m4*u00087{39M9} 213r22 -214m4*u00088{39M9} 215r22 -216m4*u00089{39M9} 217r22 -218m4*u00090{39M9} 219r22 -220m4*u00091{39M9} 221r22 -222m4*u00092{39M9} 223r22 -224m4*u00093{39M9} 225r22 -226m4*u00094{39M9} 227r22 -228m4*u00095{39M9} 229r22 -230m4*u00096{39M9} 231r22 -232m4*u00097{39M9} 233r22 -234m4*u00098{39M9} 235r22 -236m4*u00099{39M9} 237r22 -238m4*u00100{39M9} 239r22 -240m4*u00101{39M9} 241r22 -242m4*u00102{39M9} 243r22 -244m4*u00103{39M9} 245r22 -246m4*u00104{39M9} 247r22 -248m4*u00105{39M9} 249r22 -250m4*u00106{39M9} 251r22 -252m4*u00107{39M9} 253r22 -254m4*u00108{39M9} 255r22 -256m4*u00109{39M9} 257r22 -258m4*u00110{39M9} 259r22 -260m4*u00111{39M9} 261r22 -262m4*u00112{39M9} 263r22 -264m4*u00113{39M9} 265r22 -266m4*u00114{39M9} 267r22 -268m4*u00115{39M9} 269r22 -270m4*u00116{39M9} 271r22 -272m4*u00117{39M9} 273r22 -274m4*u00118{39M9} 275r22 -276m4*u00119{39M9} 277r22 -278m4*u00120{39M9} 279r22 -280m4*u00121{39M9} 281r22 -282m4*u00122{39M9} 283r22 -284m4*u00123{39M9} 285r22 -286m4*u00124{39M9} 287r22 -288m4*u00125{39M9} 289r22 -290m4*u00126{39M9} 291r22 -292m4*u00127{39M9} 293r22 -294m4*u00128{39M9} 295r22 -296m4*u00129{39M9} 297r22 -298m4*u00130{39M9} 299r22 -300m4*u00131{39M9} 301r22 -302m4*u00132{39M9} 303r22 -304m4*u00133{39M9} 305r22 -306m4*u00134{39M9} 307r22 -308m4*u00135{39M9} 309r22 -310m4*u00136{39M9} 311r22 -312m4*u00137{39M9} 313r22 -314m4*u00138{39M9} 315r22 -316m4*u00139{39M9} 317r22 -318m4*u00140{39M9} 319r22 -320m4*u00141{39M9} 321r22 -322m4*u00142{39M9} 323r22 -324m4*u00143{39M9} 325r22 -326m4*u00144{39M9} 327r22 -328m4*u00145{39M9} 329r22 -330m4*u00146{39M9} 331r22 -332m4*u00147{39M9} 333r22 -334m4*u00148{39M9} 335r22 -336m4*u00149{39M9} 337r22 -338m4*u00150{39M9} 339r22 -340m4*u00151{39M9} 341r22 -342m4*u00152{39M9} 343r22 -344m4*u00153{39M9} 345r22 -346m4*u00154{39M9} 347r22 -348m4*u00155{39M9} 349r22 -350m4*u00156{39M9} 351r22 -352m4*u00157{39M9} 353r22 -354m4*u00158{39M9} 355r22 -356m4*u00159{39M9} 357r22 -358m4*u00160{39M9} 359r22 -360m4*u00161{39M9} 361r22 -362m4*u00162{39M9} 363r22 -364m4*u00163{39M9} 365r22 -366m4*u00164{39M9} 367r22 -368m4*u00165{39M9} 369r22 -370m4*u00166{39M9} 371r22 -372m4*u00167{39M9} 373r22 -374m4*u00168{39M9} 375r22 -376m4*u00169{39M9} 377r22 -378m4*u00170{39M9} 379r22 -380m4*u00171{39M9} 381r22 -382m4*u00172{39M9} 383r22 -384m4*u00173{39M9} 385r22 -386m4*u00174{39M9} 387r22 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E178{short_integer} 47m46 47r46 367m7 367r15 -48i4 E212{short_integer} 48m46 48r46 371m7 371r15 -49i4 E202{short_integer} 49m46 49r46 373m7 373r15 -50i4 E208{short_integer} 50m46 50r46 99m7 99r15 375m7 375r15 -51i4 E220{short_integer} 51m46 51r46 377m7 377r15 -52i4 E249{short_integer} 52m46 52r46 379m7 379r15 -53i4 E172{short_integer} 53m46 53r46 380m7 380r15 -54i4 E168{short_integer} 54m46 54r46 92m7 92r15 383m7 383r15 -55i4 E148{short_integer} 55m46 55r46 85m7 85r15 386m7 386r15 -56i4 E200{short_integer} 56m46 56r46 387m7 387r15 -57i4 E228{short_integer} 57m46 57r46 389m7 389r15 -58i4 E226{short_integer} 58m46 58r46 390m7 390r15 -59i4 E146{short_integer} 59m46 59r46 78m7 78r15 392m7 392r15 -60i4 E251{short_integer} 60m46 60r46 71m7 71r15 394m7 394r15 -62a4 Sec_Default_Sized_Stacks(10|45R9) 288m32 288r32 -64a4 Local_Priority_Specific_Dispatching{string} 275r9 -65a4 Local_Interrupt_States{string} 278r27 -67b4 Is_Elaborated{boolean} 177r14 180m7 234r10 237m7 -69U14 finalize_library 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216r38 220r23 230r31 244r7 286r39 402r14 403r14 406r36 413r34 6|156e11 -67M9*Address 4|9r23 10r23 34r21 35r21 5|200r46 206r33 220r30 230r38 402r21 -. 403r21 406r43 413r41 -X 7 s-parame.ads -51K16*Parameters 4|4w13 5|62r97 216r45 286r46 7|198e22 -58I9*Size_Type 5|216r56 -95i4*Runtime_Default_Sec_Stack_Size{58I9} 5|62r108 286r57 -X 8 s-restri.ads -45K16*Restrictions 5|7w13 244m14 8|77e24 -52r4*Run_Time_Restrictions{9|322R9[49]} 5|244m27 -X 9 s-rident.ads -318A9*Restriction_Flags(boolean)<85E9[8|49]> -319A9*Restriction_Values(natural)<85E9[8|49]> -320A9*Parameter_Flags(boolean)<85E9[8|49]> -322R9*Restrictions_Info -323a7*Set{318A9[8|49]} 5|245m10[8|49] -329a7*Value{319A9[8|49]} 5|258m10[8|49] -336a7*Violated{318A9[8|49]} 5|259m10[8|49] -341a7*Count{319A9[8|49]} 5|272m10[8|49] -349a7*Unknown{320A9[8|49]} 5|273m10[8|49] -X 10 s-secsta.ads -37K16*Secondary_Stack 4|5w13 5|62r64 10|430e27 -45R9*SS_Stack 5|62r80 10|330e14 - diff --git a/external/controller/obj/b__main.o 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-165V13*Length{2|20I9} 19|263s40[18|56] -196V13*Element{58|6M9} 19|9s26[18|56] 20s29[18|56] 21s29[18|56] 33s29[18|56] -. 34s29[18|56] 35s29[18|56] 36s29[18|56] 48s29[18|56] 49s29[18|56] 50s29[18|56] -. 51s29[18|56] 52s29[18|56] 53s29[18|56] 54s29[18|56] 55s29[18|56] 75s33[18|56] -431U14*Append 19|83s19[18|56] 90s19[18|56] 91s19[18|56] 98s19[18|56] 99s19[18|56] -. 100s19[18|56] 101s19[18|56] 108s19[18|56] 109s19[18|56] 110s19[18|56] 111s19[18|56] -. 112s19[18|56] 113s19[18|56] 114s19[18|56] 115s19[18|56] 130s22[18|56] -466U14*Delete 19|275s19[18|56] -X 11 a-iteint.ads -24h9 Forward_Iterator -32h9 Reversible_Iterator<24R9[6|111]> -X 13 a-stream.ads -36K13*Streams 87e16 18|2w10 67r57 71r56 19|280r57 283r27 284r19 293r56 297r28 -. 298r18 309r31 310r22 -39H9*Root_Stream_Type 70e64 18|67r65 71r64 19|280r65 293r64 -42M9*Stream_Element -44I9*Stream_Element_Offset 19|284r27 298r26 310r30 -54A9*Stream_Element_Array(42M9)<44I9> 19|283r35 297r36 309r39 -57x14*Read 19|300R14 312R17 -63x14*Write 19|290R14 -X 15 a-textio.ads -49K13*Text_IO 471e16 18|3w10 3r27 -X 18 byte_buffer.ads -8K9*Byte_Buffer 56E12 77l5 77e16 19|1b14 321l5 321t16 -11R9*Buffer 18p14 18r40 19p14 19r41 20p14 20r41 21p14 21r41 22p14 22r42 23p14 -. 23r42 26p14 26r41 27p14 27r42 28p14 28r42 29p14 29r42 30p14 30r43 31p14 -. 31r43 34p14 34r42 36p14 36r43 37p14 37r43 38p14 38r43 39p14 39r43 40p14 -. 40r43 41p14 41r43 44p13 44r39 45p13 45r42 46p13 46r44 47p13 47r33 48p14 -. 48r36 51p14 51r42 60c9 64e14 67p14 68r43 71p14 72r35 74r8 75r8 19|3r40 -. 13r41 26r41 41r41 60r42 67r42 81r41 87r42 95r42 105r42 119r43 126r43 136r42 -. 194r43 204r43 214r43 225r43 232r43 238r43 246r39 251r42 256r44 261r33 266r36 -. 272r42 281r43 282r11 294r35 -13X4*Wrong_Message_Id -14X4*Not_Enough_Data 19|6r16 17r16 30r16 45r16 71r16 146r16 -15X4*Unknown_Message_Id 19|156r19 -18U14*Read_Uint8 18=26 18<48 19|3b14 11l8 11t18 149s12 176s21 287s12 -18r26 Self{11R9} 19|3b26 5m10 5r10 9r14 9r44 10m7 10r20 -18m48 Val{58|6M9} 19|3b48 9m7 -19U14*Read_Uint16 19=27 19<49 19|13b14 24l8 24t19 -19r27 Self{11R9} 19|13b27 16m10 16r10 20r17 20r47 21r17 21r47 23m7 23r20 -19m49 Val{58|7M9} 19|13b49 22m7 -20U14*Read_Uint32 20=27 20<49 19|26b14 39l8 39t19 141s12 172s18 180s18 -20r27 Self{11R9} 19|26b27 29m10 29r10 33r17 33r47 34r17 34r47 35r17 35r47 -. 36r17 36r47 38m7 38r20 -20m49 Val{58|8M9} 19|26b49 37m7 -21U14*Read_Uint64 21=27 21<49 19|41b14 58l8 58t19 63s12 -21r27 Self{11R9} 19|41b27 44m10 44r10 48r17 48r47 49r17 49r47 50r17 50r47 -. 51r17 51r47 52r17 52r47 53r17 53r47 54r17 54r47 55r17 55r47 57m7 57r20 -21m49 Val{58|9M9} 19|41b49 56m7 -22U14*Read_Float64 22=28 22<50 19|60b14 65l8 65t20 164s21 169s18 185s18 186s18 -22r28 Self{11R9} 19|60b28 63m7 63r7 -22f50 Val{58|10F9} 19|60b50 64m7 -23U14*Read_Payload 23=28 23^50 19|67b14 79l8 79t20 -23r28 Self{11R9} 19|67b28 70m10 70r10 75r21 75r51 78m7 78r20 -23p50 Val(58|15A9) 19|67b50 70r33 74r16 75r10 -26U14*Write_Uint8 26=27 26>49 19|81b14 85l8 85t19 197s12 207s12 217s12 221s15 -. 228s12 235s12 241s12 316s15 -26r27 Self{11R9} 19|81b27 83m7 83r7 84m7 84r23 -26m49 Val{58|6M9} 19|81b49 83r27 -27U14*Write_Uint16 27=28 27>50 19|87b14 93l8 93t20 -27r28 Self{11R9} 19|87b28 90m7 90r7 91m7 91r7 92m7 92r23 -27m50 Val{58|7M9} 19|87b50 88r54 -28U14*Write_Uint32 28=28 28>50 19|95b14 103l8 103t20 196s12 206s12 216s12 -. 218s12 227s12 229s12 234s12 240s12 314s12 -28r28 Self{11R9} 19|95b28 98m7 98r7 99m7 99r7 100m7 100r7 101m7 101r7 102m7 -. 102r23 -28m50 Val{58|8M9} 19|95b50 96r54 -29U14*Write_Uint64 29=28 29>50 19|105b14 117l8 117t20 123s12 -29r28 Self{11R9} 19|105b28 108m7 108r7 109m7 109r7 110m7 110r7 111m7 111r7 -. 112m7 112r7 113m7 113r7 114m7 114r7 115m7 115r7 116m7 116r23 -29m50 Val{58|9M9} 19|105b50 106r54 -30U14*Write_Float64 30=29 30>51 19|119b14 124l8 124t21 200s15 210s15 242s12 -. 243s12 -30r29 Self{11R9} 19|119b29 123m7 123r7 -30f51 Val{58|10F9} 19|119b51 122r39 -31U14*Write_Payload 31=29 31^51 19|126b14 134l8 134t21 -31r29 Self{11R9} 19|126b29 130m10 130r10 133m7 133r23 -31p51 Val(58|15A9) 19|126b51 129r16 130r30 -34U14*Read_Message 34=28 34<50 19|136b14 192l8 192t20 -34r28 Self{11R9} 19|136b28 141m7 141r7 144m10 144r10 145m10 145r10 149m7 -. 149r7 155m13 155r13 164m16 164r16 169m13 169r13 172m13 172r13 176m16 176r16 -. 180m13 180r13 185m13 185r13 186m13 186r13 -34p50 Val{23|59P9} 19|136b50 161m13 163r47 164r60 167m13 169r57 171m13 173r38 -. 175r47 176r58 179m13 180r56 182m13 184m13 185r56 186r56 190r7 191r7 -36U14*Write_Message 36=29 36>51 19|194b14 202l8 202t21 -36r29 Self{11R9} 19|194b29 196m7 196r7 197m7 197r7 200m10 200r10 -36r51 Val{23|37R9} 19|194b51 196r26 197r68 199r16 200r30 -37U14*Write_Message 37=29 37>51 19|204b14 212l8 212t21 -37r29 Self{11R9} 19|204b29 206m7 206r7 207m7 207r7 210m10 210r10 -37r51 Val{23|31R9} 19|204b51 206r26 207r68 209r16 210r30 -38U14*Write_Message 38=29 38>51 19|214b14 223l8 223t21 -38r29 Self{11R9} 19|214b29 216m7 216r7 217m7 217r7 218m7 218r7 221m10 221r10 -38r51 Val{23|41R9} 19|214b51 216r26 217r68 218r26 220r16 221r28 -39U14*Write_Message 39=29 39>51 19|225b14 230l8 230t21 -39r29 Self{11R9} 19|225b29 227m7 227r7 228m7 228r7 229m7 229r7 -39r51 Val{23|45R9} 19|225b51 227r26 228r68 229r26 -40U14*Write_Message 40=29 40>51 19|232b14 236l8 236t21 -40r29 Self{11R9} 19|232b29 234m7 234r7 235m7 235r7 -40r51 Val{23|54R9} 19|232b51 234r26 235r68 -41U14*Write_Message 41=29 41>51 19|238b14 244l8 244t21 -41r29 Self{11R9} 19|238b29 240m7 240r7 241m7 241r7 242m7 242r7 243m7 243r7 -41r51 Val{23|49R9} 19|238b51 240r26 241r68 242r27 243r27 -44V13*Bytes_Read{58|8M9} 44=25 19|246b13 249l8 249t18 -44r25 Self{11R9} 19|246b25 248r14 -45V13*Bytes_Written{58|8M9} 45=28 19|251b13 254l8 254t21 -45r28 Self{11R9} 19|251b28 253r14 -46V13*Bytes_Remaining{58|8M9} 46=30 19|5s15 16s15 29s15 44s15 70s15 144s15 -. 256b13 259l8 259t23 284s52 -46r30 Self{11R9} 19|256b30 258r14 258r29 -47V13*Size{58|8M9} 47=19 19|261b13 264l8 264t12 -47r19 Self{11R9} 19|261b19 263r28 -48U14*Unwind 48=22 48>44 19|145s15 155s18 266b14 270l8 270t14 -48r22 Self{11R9} 19|266b22 267r41 267r56 269m7 269r20 -48m44 N{58|8M9} 19|266b44 267r37 267r71 -51U14*Delete_Bytes 51=28 51>50 19|272b14 278l8 278t20 -51r28 Self{11R9} 19|272b28 273r41 273r59 275m7 275r7 276m7 276r34 276r56 -. 277m7 277r23 -51m50 N{58|8M9} 19|272b50 273r37 273r77 -56K12 Byte_Vector[6|73] 58r8 61r16 -61r7*Vector{6|88R9[56]} 19|9r19 20r22 21r22 33r22 34r22 35r22 36r22 48r22 -. 49r22 50r22 51r22 52r22 53r22 54r22 55r22 75r26 83m12 90m12 91m12 98m12 -. 99m12 100m12 101m12 108m12 109m12 110m12 111m12 112m12 113m12 114m12 115m12 -. 130m15 263r33 275m12 -62m7*Read{58|8M9} 19|9r49 10m12 10r25 20r52 21r52 23m12 23r25 33r52 34r52 -. 35r52 36r52 38m12 38r25 48r52 49r52 50r52 51r52 52r52 53r52 54r52 55r52 -. 57m12 57r25 75r56 78m12 78r25 248r19 258r34 267r46 267r61 269m12 269r25 -. 276m12 276r39 276r61 -63m7*Written{58|8M9} 19|84m12 84r28 92m12 92r28 102m12 102r28 116m12 116r28 -. 133m12 133r28 253r19 258r19 273r46 273r64 277m12 277r28 -67U14 Write_Stream 67^28 68>28 74r25 19|280b14 291l8 291t20 -67p28 Stream(13|39R9) 19|280b28 290r7 -68r28 In_Buffer{11R9} 19|281b28 282r21 -71U14 Read_Stream 71^27 72<27 75r24 19|293b14 319l8 319t19 -71p27 Stream(13|39R9) 19|293b27 300r7 312r10 -72r27 B{11R9} 19|294b27 314m10 314r10 316m13 316r13 -X 19 byte_buffer.adb -14a7 O2{58|11A9} 20m7 21m7 22r38 -27a7 O4{58|12A9} 33m7 34m7 35m7 36m7 37r38 -42a7 o8{58|13A9} 48m7 49m7 50m7 51m7 52m7 53m7 54m7 55m7 56r38 -61m7 U64{58|9M9} 63m25 64r39 -68m7 Count{58|8M9} 75r63 76m10 76r19 78r32 -74m11 I<20|74M9> 75r15 -88a7 O2{58|11A9} 90r27 91r27 -96a7 O4{58|12A9} 98r27 99r27 100r27 101r27 -106a7 O8{58|13A9} 108r27 109r27 110r27 111r27 112r27 113r27 114r27 115r27 -120m7 U64{58|9M9} 122m7 123r26 -127m7 Count{58|8M9} 131m10 131r19 133r38 -129m11 I<20|74M9> 130r35 -137m7 Size{58|8M9} 141m25 142m7 142r15 144r33 190r19 -137m13 P_Size{58|8M9} 172m31 173r78 -138m7 Id{58|6M9} 149m24 152r48 -139e7 M_Id{23|5E9} 152m10 159r12 191r17 -154r15 E{8|63R9} -163i17 I{integer} 164r74 -175m17 I<20|74M9> 176r72 -199i11 I{integer} 200r43 -209i11 I{integer} 210r43 -220m11 I<20|74M9> 221r41 -267m7 N_Bytes{58|8M9} 269r32 -273m7 N_Bytes{58|8M9} 275r57 276r24 276r68 277r38 -282r7 B{18|11R9} 284m50 284r50 287m10 287r10 -283a7 Stream_Buffer{13|54A9} 286r16 287m37 287r37 290r21 -286i11 I 287r52 -295m7 Size{58|8M9} 306m7 310r53 314r26 -296a7 O4{58|12A9} 303m10 306r39 -297a7 Stream_Buffer1{13|54A9} 300m20 302r16 303r48 -298i7 Last{13|44I9} 300m36 312m39 -302i11 I 303r28 303r64 -309a10 Stream_Buffer2{13|54A9} 312m23 315r19 316r41 -315i14 I 316r57 -X 20 interfac.ads -63M9*Unsigned_8 -66M9*Unsigned_16 -74M9*Unsigned_32 -77M9*Unsigned_64 -172F9*IEEE_Float_64 -X 23 messages.ads -3K9*Messages 18|6w6 34r60 36r60 37r60 38r60 39r60 40r60 41r60 19|136r60 139r14 -. 152r18 160r15 161r24 163r22 164r35 166r15 167r24 169r32 170r15 171r24 173r13 -. 175r22 176r33 178r15 179r24 180r31 181r15 182r24 183r15 184r24 185r32 186r32 -. 194r60 197r38 204r60 207r38 214r60 217r38 225r60 228r38 232r60 235r38 238r60 -. 241r38 23|70e13 -5E9*Message_Id 19|139r23 152r27 197r47 207r47 217r47 228r47 235r47 241r47 -. 23|11e47 -6n24*EXTERNAL_LIGHT_SENSOR{5E9} 19|166r24 -7n24*EXTERNAL_DISTANCE_SENSOR{5E9} 19|160r24 -8n24*EXTERNAL_IMAGE_DATA{5E9} 19|170r24 -9n24*EXTERNAL_JOIN_SUCCESS{5E9} 19|178r24 -10n24*WEBOTS_VELOCITY{5E9} 19|183r24 -11n24*BACKEND_JOIN_CHALLENGE{5E9} 19|181r24 -25m7*Size{58|8M9} 19|190m11 196r30 206r30 216r30 227r30 234r30 240r30 -26e7*Id{5E9} 19|191m11 197r72 207r72 217r72 228r72 235r72 241r72 -29A9*Distance_Sensor_Array(58|10F9) -31R9*Distance_Sensor_Message<24R9> 18|37r69 19|161r33 204r69 23|33e14 -32a7*Payload{29A9} 19|163r52 164m65 209r20 210r34 -35A9*Light_Sensor_Array(58|10F9) -37R9*Light_Sensor_Message<24R9> 18|36r69 19|167r33 194r69 23|39e14 -38a7*Payload{35A9} 19|169m62 199r20 200r34 -41R9*Image_Data_Message<24R9> 18|38r69 19|171r33 214r69 23|43e14 -42p7*Payload(58|15A9) 19|173m43 175r52 176r63 218r30 220r20 221r32 -45R9*Join_Success_Message<24R9> 18|39r69 19|179r33 225r69 23|47e14 -46m7*Cab_Id{58|8M9} 19|180m61 229r30 -49R9*Velocity_Message<24R9> 18|41r69 19|184r33 238r69 23|52e14 -50f7*Left_Speed{58|10F9} 19|185m61 242r31 -51f7*Right_Speed{58|10F9} 19|186m61 243r31 -54R9*Join_Challenge_Message<24R9> 18|40r69 19|182r33 232r69 23|56e14 -59P9*Message_Ptr(24R9) 18|34r69 19|136r69 -60P9*DS_Message_Ptr(31R9) 19|163r31 164r44 -61P9*LS_Message_Ptr(37R9) 19|169r41 -62P9*ID_Message_Ptr(41R9) 19|173r22 175r31 176r42 -63P9*JS_Message_Ptr(45R9) 19|180r40 -65P9*V_Message_Ptr(49R9) 19|185r41 186r41 -X 24 system.ads -67M9*Address -X 34 s-memory.ads -53V13*Alloc{24|67M9} 103i22 -68U14*Free 104i22 -76V13*Realloc{24|67M9} 105i22 -X 43 s-stausa.ads -203U14*Initialize 204i22 -268U14*Output_Results 272i22 -X 45 s-stalib.adb -93U14 Break_Start 94i22 -X 58 types.ads -4K9*Types 18|5w6 18r58 19r59 20r59 21r59 22r60 23r63 26r58 27r59 28r59 29r59 -. 30r60 31r64 44r54 45r57 46r59 47r48 48r51 51r57 55r8 57r46 62r14 63r17 -. 19|3r58 13r59 14r12 22r14 26r59 27r12 37r14 41r59 42r12 56r14 60r60 61r13 -. 64r14 67r63 68r15 81r58 87r59 88r12 88r30 95r59 96r12 96r30 105r59 106r12 -. 106r30 119r60 120r13 122r14 126r64 127r15 137r22 138r12 173r58 197r25 207r25 -. 217r25 228r25 235r25 241r25 246r54 251r57 256r59 261r48 263r14 266r51 267r17 -. 272r57 273r17 287r24 295r14 296r12 303r14 303r35 306r15 316r28 58|45e10 -6M9*Uint8<20|63M9> 18|18r64 26r64 57r52 19|3r64 81r64 138r18 197r31 207r31 -. 217r31 228r31 235r31 241r31 287r30 303r41 316r34 -7M9*Uint16<20|66M9> 18|19r65 27r65 19|13r65 87r65 -8M9*Uint32<20|74M9> 18|20r65 28r65 44r60 45r63 46r65 47r54 48r57 51r63 62r20 -. 63r23 19|26r65 68r21 95r65 127r21 137r28 246r60 251r63 256r65 261r54 263r20 -. 266r57 267r23 272r63 273r23 295r20 303r20 -9M9*Uint64<20|77M9> 18|21r65 29r65 19|41r65 61r19 105r65 120r19 -10F9*Float64<20|172F9> 18|22r66 30r66 19|60r66 119r66 -11A9*Octets_2(6M9)<8M9> 19|14r18 88r18 -12A9*Octets_4(6M9)<8M9> 19|27r18 96r18 296r18 -13A9*Octets_8(6M9)<8M9> 19|42r18 106r18 -15A9*Payload(6M9)<8M9> 18|23r69 31r70 19|67r69 126r70 173r64 -25V13*Uint16_To_Octets{11A9} 19|88s36 -26V13*Uint32_To_Octets{12A9} 19|96s36 -27V13*Uint64_To_Octets{13A9} 19|106s36 -29V13*Octets_To_Uint16{7M9} 19|22s20 -30V13*Octets_To_Uint32{8M9} 19|37s20 306s21 -31V13*Octets_To_Uint64{9M9} 19|56s20 -33V13*Uint64_To_Float64{10F9} 19|64s20 -34V13*Float64_To_Uint64{9M9} 19|122s20 - diff --git a/external/controller/obj/byte_buffer.o b/external/controller/obj/byte_buffer.o deleted file mode 100644 index 99af9fe90325577c96b67095673241dcc2c9e53f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 245136 zcmeEv3w%}8mG?RK!M!&;5*|ual;8_cL`1PX)FzOtH#WhjL}@Dp#3-}~6cWW53DA(5 zGuO093vD`0r|DG3bV}Q_RT^6#5m2IKG(Ku$wG~_2CJmiZi#1h7zW-Wl@AJyNc>(QA zzuq6@oc&sR?X}llYwfikXLG#p%7AGa`ezzf7*0sX8bFsC*)H46phnAwd7|TBwEK z3-vt0Ws@a62`fu+NM1?aB5LuJLhHpstE7#|k!L-b_XrhDB$}eS zYgod%A&Ou#f-MQ_O0?jH?1c4W&8Su|VZAOGJ_Z=T4v-71-JRFIfAnZx<@;vY1>9cr zMcGXBMfdCi>#4lQDQnkRM~@yYvfl0v7NGZ-0Nqa%SqCY+mr2n5bfI;?Zb{|d1d}-L 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.../harness/src/buffer_suite/buffer_suite.ads | 7 + .../harness/src/buffer_suite/buffer_tests.adb | 90 +++++ .../harness/src/buffer_suite/buffer_tests.ads | 22 ++ external/harness/src/composite_suite.adb | 22 ++ external/harness/src/composite_suite.ads | 6 + external/harness/src/tcp_suite/tcp_suite.adb | 19 ++ external/harness/src/tcp_suite/tcp_suite.ads | 7 + external/harness/src/tcp_suite/tcp_tests.adb | 27 ++ external/harness/src/tcp_suite/tcp_tests.ads | 19 ++ external/harness/src/test_main.adb | 12 + .../harness/src/types_suite/types_suite.adb | 19 ++ .../harness/src/types_suite/types_suite.ads | 7 + .../harness/src/types_suite/types_tests.adb | 168 ++++++++++ .../harness/src/types_suite/types_tests.ads | 31 ++ shared/Makefile | 72 ++++ shared/buffer_reader.cpp | 5 +- shared/buffer_writer.cpp | 5 +- test/main.cpp | 279 ++++++++++++++++ webots/controllers/controller/Makefile | 8 +- webots/controllers/controller/controller | Bin 121232 -> 133496 bytes webots/controllers/controller/controller.cpp | 153 +++++++++ .../controller/robot_container.cpp | 313 +++++++++--------- webots/worlds/.cabservice.wbproj | 14 +- webots/worlds/cabservice.wbt | 28 +- 38 files changed, 1986 insertions(+), 207 deletions(-) create mode 100644 external/controller/src/Path/.#pathfollowing.adb# create mode 100644 external/controller/src/Path/pathfollowing.adb create mode 100644 external/controller/src/Path/pathfollowing.ads create mode 100644 external/controller/src/collision_detection/.#object_collision.adb# create mode 100644 external/controller/src/collision_detection/collision_detection.adb create mode 100644 external/controller/src/collision_detection/collision_detection.ads create mode 100644 external/harness/Makefile create mode 100644 external/harness/harness.gpr create mode 100644 external/harness/src/buffer_suite/buffer_suite.adb create mode 100644 external/harness/src/buffer_suite/buffer_suite.ads create mode 100644 external/harness/src/buffer_suite/buffer_tests.adb create mode 100644 external/harness/src/buffer_suite/buffer_tests.ads create mode 100644 external/harness/src/composite_suite.adb create mode 100644 external/harness/src/composite_suite.ads create mode 100644 external/harness/src/tcp_suite/tcp_suite.adb create mode 100644 external/harness/src/tcp_suite/tcp_suite.ads create mode 100644 external/harness/src/tcp_suite/tcp_tests.adb create mode 100644 external/harness/src/tcp_suite/tcp_tests.ads create mode 100644 external/harness/src/test_main.adb create mode 100644 external/harness/src/types_suite/types_suite.adb create mode 100644 external/harness/src/types_suite/types_suite.ads create mode 100644 external/harness/src/types_suite/types_tests.adb create mode 100644 external/harness/src/types_suite/types_tests.ads create mode 100644 shared/Makefile create mode 100644 test/main.cpp diff --git a/external/controller/main b/external/controller/main index 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+1,213 @@ +package body pathfollowing is + colour : Integer := 0; + r : Integer := 0; + g : Integer := 0; + b : Integer := 0; + + bottomPoint : Integer := 0; + topPoint : Integer := 0; + leftPoint : Integer := 0; + rightPoint : Integer:= 0; + bottomPoint1 : Integer := 0; + topPoint1 : Integer := 0; + leftPoint1 : Integer := 0; + rightPoint1 : Integer:= 0; + --steeringAngle : float64 := 0.0; + + red : Colour_Matrix := (others => (others => 0)); + blue : Colour_Matrix := (others => (others => 0)); + green : Colour_Matrix := (others => (others => 0)); + grey : Colour_Matrix := (others => (others => 0)); + binaImage : Colour_Matrix := (others => (others => 0)); + + wheehlvelocity : Wheehl_velocity := (others => 0.0); + --axleTrack : float64 := 1.1; + basicVelocity : float64 :=4.0 ; + --ratio : float64 := 8.0; + V_turn : float64 := 0.0; + offset : Integer := 32; + Kp : float64 := 0.08; + Ki : float64 :=0.08; + Kd : float64 := 0.08; + Error : float64 := 0.0; + lastError : float64 := 0.0; + integral : float64 := 0.0; + derivative : float64 := 0.0; + + + function path_following (imageInput : in Communication_Packet) return Communication_Packet is + raw : access types.payload := imageInput.local_payload; + index : Image_Index := 0; + o8 : Octets_8; + u64 : uint64; + begin + + for I in Row_Index loop + for J in Column_Index loop + index := Image_Index(4 * (Integer(I) * width + Integer(J))); + blue (I) (J) := raw (types.uint32(index) + 4); + green (I) (J) := raw (types.uint32(index + 1) + 4); + red (I) (J) := raw (types.uint32(index + 2) + 4); + colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; + grey (I) (J) := uint8(colour); + end loop; + end loop; + + --Binarized + for I in Row_Index loop + for J in Column_Index loop + if grey (I)(J) > 100 then + binaImage (I)(J) := 255; + else + binaImage (I)(j) := 0; + end if; + --Put(uint8'Image (binaImage (I) (J))); + + end loop; + --Put_Line(""); + end loop; + + --for I in Row_Index loop + --for J in Column_Index loop + --Put(Value'Image (blue (I) (J))); + --Put(Value'Image (green (I) (J))); + --Put(Value'Image (red (I) (J))); + --Put(Value'Image (grey (I) (J))); + --Put_Line(""); + --end loop; + --end loop; +-- find bottompoint + for J in Column_Index loop + if binaImage(Row_Index(height-5))(J) = 255 then + bottomPoint := Integer(J); + end if; + -- + end loop; + for J in reverse Column_Index loop + if binaImage(Row_Index(height-5))(J) = 255 then + bottomPoint1 := Integer(J); + end if; + end loop; + bottomPoint := (bottomPoint + bottomPoint1) / 2; + -- find toppoint + for J in Column_Index loop + if binaImage(0)(J) = 255 then + topPoint := Integer(J); + end if; + end loop; + for J in reverse Column_Index loop + if binaImage(Row_Index(0))(J) = 255 then + topPoint1 := Integer(J); + end if; + end loop; + topPoint := (topPoint + topPoint1) / 2; + -- find rightpoint + for I in Row_Index loop + if binaImage(I)(Column_Index(width-1)) = 255 then + rightPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if binaImage(I)(Column_Index(width-1)) = 255 then + rightPoint1:= Integer(I); + end if; + end loop; + rightPoint := (rightPoint + rightPoint1) /2; + + --find leftPoint + for I in Row_Index loop + if binaImage(I)(0) = 255 then + leftPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if binaImage(I)(0) = 255 then + leftPoint1 := Integer(I); + end if; + end loop; + leftPoint := (leftPoint + leftPoint1)/2; + + Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); + --calculate steering angle + -- top and bottom + --if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then + --if topPoint - bottomPoint > 0 then + --steeringAngle := float64((topPoint - bottomPoint) / height) ; + --elsif topPoint - bottomPoint < 0 then + --steeringAngle := -float64((topPoint - bottomPoint) / height); + --else steeringAngle := 0.0; + --end if; + --end if; + -- bottom and left + --if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then + --steeringAngle := - float64(bottomPoint / (height - leftPoint)); + --end if; + -- top and right + --if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then + --steeringAngle := - float64((width - topPoint) / rightPoint); + --end if; + --top and left + --if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then + --steeringAngle := float64(topPoint / leftPoint); + --end if; + -- bottom and right + --if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then + --steeringAngle := float64((width-bottomPoint) / (height - leftPoint)); + --end if; + --Error : = bottomPoint - offset; + --integral : = integral + Error; + --derivative : = Error - lastError; + --V_turn := Kp * Error + Ki * integral + Kd * derivative; + + + + if bottomPoint >= 36 then + V_turn := 3.6; + elsif bottomPoint <= 28 and bottomPoint > 0 then + V_turn := -3.6; + else V_turn := 0.0; + end if; + + + Put_Line (V_turn'Image); + --turn right + + if V_turn > 0.0 then + wheehlvelocity(0) := basicVelocity + V_turn; + wheehlvelocity(1) := basicVelocity - V_turn; + --turn left + elsif V_turn < 0.0 then + wheehlvelocity(0) := basicVelocity + V_turn; + wheehlvelocity(1) := basicVelocity - V_turn; + else + wheehlvelocity(0) := basicVelocity; + wheehlvelocity(1) := basicVelocity; + end if; + + Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); + + declare packet : Communication_Packet; + begin + packet.package_ID := 129; + packet.payload_length := 16 + 5; + packet.local_payload := new payload (0 .. 15); + + u64 := types.float64_to_uint64 (wheehlvelocity (0)); + o8 := types.uint64_to_octets (u64); + + for I in o8'Range loop + packet.local_payload (I) := o8 (I); + end loop; + + u64 := types.float64_to_uint64 (wheehlvelocity (1)); + o8 := types.uint64_to_octets (u64); + + for I in o8'Range loop + packet.local_payload (I + 8) := o8 (I); + end loop; + + return packet; + end; + end path_following; + +end pathfollowing; diff --git a/external/controller/src/Path/pathfollowing.adb b/external/controller/src/Path/pathfollowing.adb new file mode 100644 index 0000000..5e0eda9 --- /dev/null +++ b/external/controller/src/Path/pathfollowing.adb @@ -0,0 +1,212 @@ +package body pathfollowing is + colour : Integer := 0; + r : Integer := 0; + g : Integer := 0; + b : Integer := 0; + + bottomPoint : Integer := 0; + topPoint : Integer := 0; + leftPoint : Integer := 0; + rightPoint : Integer:= 0; + bottomPoint1 : Integer := 0; + topPoint1 : Integer := 0; + leftPoint1 : Integer := 0; + rightPoint1 : Integer:= 0; + --steeringAngle : float64 := 0.0; + + red : Colour_Matrix := (others => (others => 0)); + blue : Colour_Matrix := (others => (others => 0)); + green : Colour_Matrix := (others => (others => 0)); + grey : Colour_Matrix := (others => (others => 0)); + binaImage : Colour_Matrix := (others => (others => 0)); + + wheehlvelocity : Wheehl_velocity := (others => 0.0); + --axleTrack : float64 := 1.1; + basicVelocity : float64 :=2.0 ; + --ratio : float64 := 8.0; + V_turn : float64 := 0.0; + offset : Integer := 32; + Kp : float64 := 0.08; + Ki : float64 :=0.08; + Kd : float64 := 0.08; + Error : float64 := 0.0; + lastError : float64 := 0.0; + integral : float64 := 0.0; + derivative : float64 := 0.0; + + + function path_following (imageInput : in Communication_Packet) return Communication_Packet is + raw : access types.payload := imageInput.local_payload; + index : Image_Index := 0; + o8 : Octets_8; + u64 : uint64; + begin + for I in Row_Index loop + for J in Column_Index loop + index := Image_Index(4 * (Integer(I) * width + Integer(J))); + blue (I) (J) := raw (types.uint32(index) + 4); + green (I) (J) := raw (types.uint32(index + 1) + 4); + red (I) (J) := raw (types.uint32(index + 2) + 4); + colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; + grey (I) (J) := uint8(colour); + end loop; + end loop; + + --Binarized + for I in Row_Index loop + for J in Column_Index loop + if grey (I)(J) > 100 then + binaImage (I)(J) := 255; + else + binaImage (I)(j) := 0; + end if; + --Put(uint8'Image (binaImage (I) (J))); + + end loop; + --Put_Line(""); + end loop; + + --for I in Row_Index loop + --for J in Column_Index loop + --Put(Value'Image (blue (I) (J))); + --Put(Value'Image (green (I) (J))); + --Put(Value'Image (red (I) (J))); + --Put(Value'Image (grey (I) (J))); + --Put_Line(""); + --end loop; + --end loop; +-- find bottompoint + for J in Column_Index loop + if binaImage(Row_Index(height-5))(J) = 255 then + bottomPoint := Integer(J); + end if; + -- + end loop; + for J in reverse Column_Index loop + if binaImage(Row_Index(height-5))(J) = 255 then + bottomPoint1 := Integer(J); + end if; + end loop; + bottomPoint := (bottomPoint + bottomPoint1) / 2; + -- find toppoint + for J in Column_Index loop + if binaImage(0)(J) = 255 then + topPoint := Integer(J); + end if; + end loop; + for J in reverse Column_Index loop + if binaImage(Row_Index(0))(J) = 255 then + topPoint1 := Integer(J); + end if; + end loop; + topPoint := (topPoint + topPoint1) / 2; + -- find rightpoint + for I in Row_Index loop + if binaImage(I)(Column_Index(width-1)) = 255 then + rightPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if binaImage(I)(Column_Index(width-1)) = 255 then + rightPoint1:= Integer(I); + end if; + end loop; + rightPoint := (rightPoint + rightPoint1) /2; + + --find leftPoint + for I in Row_Index loop + if binaImage(I)(0) = 255 then + leftPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if binaImage(I)(0) = 255 then + leftPoint1 := Integer(I); + end if; + end loop; + leftPoint := (leftPoint + leftPoint1)/2; + + -- Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); + --calculate steering angle + -- top and bottom + --if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then + --if topPoint - bottomPoint > 0 then + --steeringAngle := float64((topPoint - bottomPoint) / height) ; + --elsif topPoint - bottomPoint < 0 then + --steeringAngle := -float64((topPoint - bottomPoint) / height); + --else steeringAngle := 0.0; + --end if; + --end if; + -- bottom and left + --if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then + --steeringAngle := - float64(bottomPoint / (height - leftPoint)); + --end if; + -- top and right + --if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then + --steeringAngle := - float64((width - topPoint) / rightPoint); + --end if; + --top and left + --if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then + --steeringAngle := float64(topPoint / leftPoint); + --end if; + -- bottom and right + --if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then + --steeringAngle := float64((width-bottomPoint) / (height - leftPoint)); + --end if; + --Error : = bottomPoint - offset; + --integral : = integral + Error; + --derivative : = Error - lastError; + --V_turn := Kp * Error + Ki * integral + Kd * derivative; + + + + if bottomPoint >= 36 then + V_turn := 0.9; + elsif bottomPoint <= 28 and bottomPoint > 0 then + V_turn := -0.9; + else V_turn := 0.0; + end if; + + + -- Put_Line (V_turn'Image); + --turn right + + if V_turn > 0.0 then + wheehlvelocity(0) := basicVelocity + V_turn; + wheehlvelocity(1) := basicVelocity - V_turn; + --turn left + elsif V_turn < 0.0 then + wheehlvelocity(0) := basicVelocity + V_turn; + wheehlvelocity(1) := basicVelocity - V_turn; + else + wheehlvelocity(0) := basicVelocity; + wheehlvelocity(1) := basicVelocity; + end if; + +-- Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); + + declare packet : Communication_Packet; + begin + packet.package_ID := 129; + packet.payload_length := 16 + 5; + packet.local_payload := new payload (0 .. 15); + + u64 := types.float64_to_uint64 (wheehlvelocity (0)); + o8 := types.uint64_to_octets (u64); + + for I in o8'Range loop + packet.local_payload (I) := o8 (I); + end loop; + + u64 := types.float64_to_uint64 (wheehlvelocity (1)); + o8 := types.uint64_to_octets (u64); + + for I in o8'Range loop + packet.local_payload (I + 8) := o8 (I); + end loop; + + return packet; + end; + end path_following; + +end pathfollowing; diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads new file mode 100644 index 0000000..9ff2a15 --- /dev/null +++ b/external/controller/src/Path/pathfollowing.ads @@ -0,0 +1,26 @@ +with Ada.Text_IO; use Ada.Text_IO; +with Ada.Float_Text_Io; use Ada.Float_Text_Io; +with types; use types; +with mailbox; + +package pathfollowing is + + width : constant Integer := 64; + height : constant Integer := 64; + size : constant Integer := width * height * 4; + + type Pixel is array(0 .. 3) of uint8; + type Column_Index is range 0 .. width - 1; + type Row_Index is range 0 .. height - 1; + + type Image_Index is range 0 .. size - 1; + type Image_Raw is array(Image_Index) of uint8; + + type Colour_Column is array(Column_Index) of uint8; + type Colour_Matrix is array(Row_Index) of Colour_Column; + type Wheehl_velocity is array(0..1) of float64; + type Dtype is array(0..8) of float64; + + function path_following(imageInput : in Communication_Packet; d_sensor : in Dtype) return Communication_Packet; + +end pathfollowing; diff --git a/external/controller/src/collision_detection/.#object_collision.adb# b/external/controller/src/collision_detection/.#object_collision.adb# new file mode 100644 index 0000000..dd3280d --- /dev/null +++ b/external/controller/src/collision_detection/.#object_collision.adb# @@ -0,0 +1,62 @@ +with Ada.Text_IO; +with ADA.Integer_Text_IO; + +package body object_collision is + + procedure collision_detection_main is + distance: Dtype; + begin + car_state := Forward; + while True loop + -- Get distances + Ada.Text_IO.Put_Line("Enter distances:"); + for I in 0..Dtype'Length-1 loop + Ada.Integer_Text_IO.Get(distance(I)); + end loop; + detect(distance); + end loop; + + end ; + + procedure detect(distance: dtype) is + threshold: Integer := 10; + begin + -- Object in front of car + case car_state is + when Forward => + if distance(1) < threshold then + -- Slow down car + Ada.Text_IO.Put_Line("Slow down or stop car"); + + -- Take on obstacle + if distance(2) > threshold then + Ada.Text_IO.Put_Line("Take on right side"); + car_state := Right; + elsif distance(0) > threshold then + Ada.Text_IO.Put_Line("Take on left side"); + car_state := Left; + else + Ada.Text_IO.Put_Line("There is no space"); + end if; + end if; + + when Right => + Ada.Text_IO.Put_Line("Right"); + if distance(0) > threshold then + Ada.Text_IO.Put_Line("Get Back to path"); + car_state := Forward; + end if; + + when Left => + if distance(2) > threshold then + Ada.Text_IO.Put_Line("Get Back to path"); + car_state := Forward; + end if; + + end case; + + + end; + + +end ; diff --git a/external/controller/src/collision_detection/collision_detection.adb b/external/controller/src/collision_detection/collision_detection.adb new file mode 100644 index 0000000..94eec87 --- /dev/null +++ b/external/controller/src/collision_detection/collision_detection.adb @@ -0,0 +1,120 @@ +with Ada.Text_IO; +with ADA.Integer_Text_IO; +with tcp_client; use tcp_client; +with webots_thread; use webots_thread; +with Ada.Float_Text_IO; + +package body collision_detection is + + function detect(distance: Dtype) return Communication_Packet is + threshold: float64 := 900.0; + u64 : types.uint64; + o8 : types.Octets_8; + moves_left: Integer; + begin + -- Object in front of car + case car_state is + when Forward => + -- Ada.Float_Text_IO.Put(FLoat(distance(0)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(1)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(2)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(3)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(4)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(5)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(6)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(7)),5,3,0); +-- Ada.Float_Text_IO.Put(FLoat(distance(8)),5,3,0); +-- Ada.Text_IO.Put_Line(""); + if distance(0) < threshold then + -- Slow down car + + ls := -10.0; + + rs := 10.0; + + Ada.Text_IO.Put_Line("Slow down or stop car"); + -- Take on obstacle + if distance(2) > threshold then + Ada.Text_IO.Put_Line("Take on right side"); + moves_left := 0; + car_state := Left; + elsif distance(7) > threshold then + Ada.Text_IO.Put_Line("Take on left side"); + car_state := Right; + else + Ada.Text_IO.Put_Line("There is no space"); + end if; + end if; + + when Left => + moves_left := moves_left + 1; + if distance(0) > threshold then + + ls := 1.5; + + rs := 1.5; + + + end if; + + when Get_back_Left=> +-- +-- if distance(3) > 500.0 then +-- Webots_Cmd.package_ID := 129; +-- Webots_Cmd.payload_length := 5 + 16; +-- Webots_Cmd.local_payload := new types.payload (0 .. 15); +-- ls := 10.0; +-- u64 := types.float64_to_uint64 (ls); +-- o8 := types.uint64_to_octets (u64); +-- for I in o8'Range loop +-- Webots_Cmd.local_payload (I) := o8 (I); +-- end loop; +-- rs := - 10.0; +-- u64 := types.float64_to_uint64 (rs); +-- o8 := types.uint64_to_octets (u64); +-- for I in o8'Range loop +-- Webots_Cmd.local_payload (I + 8) := o8 (I); +-- end loop; + ADA.Integer_Text_IO.Put(Integer(Webots_Cmd.package_ID)); +-- send_bytes(Webots_Channel, Webots_Cmd); +-- + + when Right => + Ada.Text_IO.Put("Left"); + if distance(2) > threshold then + Ada.Text_IO.Put_Line("Get Back to path"); + car_state := Forward; + end if; + + end case; + if ls = 0.0 and rs = 0.0 then + declare packet : Communication_Packet; + begin + packet.payload_length := 0; + return packet; + end; + else + declare packet : Communication_Packet; + begin + packet.package_ID := 129; + packet.payload_length := 5 + 16; + packet.local_payload := new types.payload (0 .. 15); + u64 := types.float64_to_uint64 (ls); + o8 := types.uint64_to_octets (u64); + for I in o8'Range loop + packet.local_payload (I) := o8 (I); + end loop; + u64 := types.float64_to_uint64 (rs); + o8 := types.uint64_to_octets (u64); + for I in o8'Range loop + packet.local_payload (I + 8) := o8 (I); + end loop; + + return packet; + end; + end if; + + + end; + +end ; diff --git a/external/controller/src/collision_detection/collision_detection.ads b/external/controller/src/collision_detection/collision_detection.ads new file mode 100644 index 0000000..4db20b5 --- /dev/null +++ b/external/controller/src/collision_detection/collision_detection.ads @@ -0,0 +1,11 @@ +with types;use types; + +package collision_detection is + + type State is (Forward, Right, Left, Get_back_Left); + type Dtype is array(0..8) of float64; + car_state: State; + function detect(distance: Dtype) return types.Communication_Packet; + ls, rs : types.float64 := 0.0; + +end collision_detection; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index 298108b..6950d85 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -1,14 +1,15 @@ with Ada.Text_IO; use Ada.Text_IO; + with Tcp_Client; with Backend_Thread; with Webots_Thread; -with Types; +with Types; use Types; with Mailbox; with Messages; use Messages; with Byte_Buffer; with Path_Following; - +with collision_detection; procedure Main is @@ -31,13 +32,20 @@ procedure Main is DS_Data : Messages.Distance_Sensor_Array := (others => 1000.0); V : Messages.Velocity_Message; - -- D : Messages.Distance_Sensor_Message; - Out_Buffer : Byte_Buffer.Buffer; - + V_old : Messages.Velocity_Message; + -- D : Messages.Distance_Sensor_ Out_Buffer : Byte_Buffer.Buffer; + + --current_packet : types.Communication_Packet; + --send_packet_path_following : types.Communication_Packet; + --send_packet_collision_avoidance : types.Communication_Packet; + --dist: types.Octets_8; + --distance_sensor_data: collision_detection.Dtype; + --is_object_collision: Boolean := False; begin - -- threads have started here + V_old := Messages.Velocity_Message_Create (0.0, 0.0); + -- threads have started here while true loop -- clear out both mailboxes @@ -48,22 +56,62 @@ begin Mailbox.check_mailbox (Backend_Thread.Backend_Mailbox, Webots_Thread.Webots_Mailbox, Current_Mail, alternator); Mailbox.update_alternator (alternator); - Put_Line (Current_Mail.Message.Id'Image); + -- Put_Line (Current_Mail.Message.Id'Image); -- do calculations with current packet - if Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then - DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; - elsif Current_Mail.Message.Id = Messages.EXTERNAL_IMAGE_DATA then +-- <<<<<<< HEAD +-- --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); +-- +-- send_packet_path_following.payload_length := 0; +-- -- Path following +-- if current_packet.package_ID = 67 then +-- send_packet_path_following := pathfollowing.path_following(current_packet); +-- end if; +-- +-- -- Object collision +-- if current_packet.package_ID = 66 then +-- for J in uint32 range 0..8 loop +-- for I in uint32 range 0..7 loop +-- dist(I) := current_packet.local_payload(I+J*8); +-- end loop; +-- distance_sensor_data(Integer(J)) := Types.uint64_to_float64(octets_to_uint64(dist)); +-- end loop; +-- send_packet_collision_avoidance := detect(distance_sensor_data); +-- end if; +-- if send_packet_collision_avoidance.payload_length = 0 then +-- if send_packet_path_following.payload_length /= 0 then +-- send_bytes(Webots_Channel, send_packet_path_following); +-- end if; +-- else +-- send_bytes(Webots_Channel, send_packet_collision_avoidance); +-- ======= + if Current_Mail.Message.Id = Messages.EXTERNAL_IMAGE_DATA then V := Path_Following.Main (Messages.ID_Message_Ptr (Current_Mail.Message), DS_Data); - Out_Buffer.Write_Message (V); - Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); - + --Out_Buffer.Write_Message (V); + --if (V_old.Left_Speed = V.Left_Speed) and (V_old.Right_Speed = V.Right_Speed) then + --if alternator = 1 then + -- V.Left_Speed := V.Left_Speed + 0.1; + -- V.Right_Speed := V.Right_Speed + 0.1; + -- else + -- V.Left_Speed := V.Left_Speed - 0.1; + -- V.Right_Speed := V.Right_Speed - 0.1; + -- end if; + -- end if; + -- V_old := V; + declare Out_Buffer : Byte_Buffer.Buffer; + begin + Out_Buffer.Write_Message(V); + Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); + end; + elsif Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then + DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; end if; -- Out_Buffer.Write_Message (V); -- Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); -- Out_Buffer.Delete_Bytes (V.Size); + end loop; end Main; diff --git a/external/controller/src/path/path_following.adb b/external/controller/src/path/path_following.adb index 4053dce..5774e4f 100644 --- a/external/controller/src/path/path_following.adb +++ b/external/controller/src/path/path_following.adb @@ -40,7 +40,7 @@ package body Path_Following is for I in Row_Index loop for J in Column_Index loop - if grey (I)(J) > 150 then + if grey (I)(J) > 100 then binaImage (I)(J) := 255; else binaImage (I)(j) := 0; @@ -78,25 +78,83 @@ package body Path_Following is function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Messages.Distance_Sensor_Array) return Velocity_Array is Velocity : Velocity_Array := (others => 0.0); + + steering_zones_size : Long_Float := Long_Float(width)/13.0; + + type steering_zones is array(1..13) of Long_Float; + + steering_zones_array : steering_zones; + begin + for I in steering_zones_array'Range loop + steering_zones_array(I) := Long_Float(I)*steering_zones_size; + end loop; + - if whiteLine >= 36 then - V_turn := 3.6; - elsif whiteLine <= 28 and whiteLine > 0 then - V_turn := -3.6; - elsif whiteLine > 28 and whiteLine < 36 then - V_turn := 0.0; - elsif whiteLine = 0 then - if d_sensor (6) < 500.0 then + if whiteLine = 0 then + if d_sensor (6) < 500.0 then V_turn := 1.0; end if; if d_sensor (3) < 500.0 then V_turn := -1.0; end if; + else + if Long_Float(whiteLine) < steering_zones_array(1) then + V_turn := -3.0; + elsif Long_Float(whiteLine) < steering_zones_array(2) then + V_turn := -2.5; + elsif Long_Float(whiteLine) < steering_zones_array(3) then + V_turn := -1.75; + elsif Long_Float(whiteLine) < steering_zones_array(4) then + V_turn := -0.75; + elsif Long_Float(whiteLine) < steering_zones_array(5) then + V_turn := -0.5; + elsif Long_Float(whiteLine) < steering_zones_array(6) then + V_turn := -0.25; + elsif Long_Float(whiteLine) < steering_zones_array(7) then-- straight + V_turn := 0.0; + elsif Long_Float(whiteLine) < steering_zones_array(8) then + V_turn := 0.255; + elsif Long_Float(whiteLine) < steering_zones_array(9) then + V_turn := 0.5; + elsif Long_Float(whiteLine) < steering_zones_array(10) then + V_turn := 0.75; + elsif Long_Float(whiteLine) < steering_zones_array(11) then + V_turn := 1.75; + elsif Long_Float(whiteLine) < steering_zones_array(12) then + V_turn := 2.5; + else + V_turn := 3.0; + end if; + --if whiteLine >= 36 then + --V_turn := 3.6; + --elsif whiteLine <= 28 and whiteLine > 0 then + --V_turn := -3.6; + --elsif whiteLine > 28 and whiteLine < 36 then + --V_turn := 0.0; + --end if; + end if; - Put_Line (d_sensor(3)'Image & ", " & d_sensor(6)'Image); + + + --if whiteLine >= 36 then + --V_turn := 3.6; + --elsif whiteLine <= 28 and whiteLine > 0 then + --V_turn := -3.6; + -- elsif whiteLine > 28 and whiteLine < 36 then + -- V_turn := 0.0; + -- elsif whiteLine = 0 then + -- if d_sensor (6) < 500.0 then + -- V_turn := 1.0; + -- end if; + -- if d_sensor (3) < 500.0 then + -- V_turn := -1.0; + -- end if; + -- end if; + + --Put_Line (d_sensor(3)'Image & ", " & d_sensor(6)'Image); Put_Line (V_turn'Image); --turn right @@ -113,6 +171,13 @@ package body Path_Following is end if; Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); + Put_Line ("front_ds: " & d_sensor(2)'Image); + + if d_sensor (2) < 300.0 then + Velocity (0) := 1.0; + Velocity (1) := -1.0; + end if; + return Velocity; end Wheel_Velocity; diff --git a/external/controller/src/tcp_client/mailbox.adb b/external/controller/src/tcp_client/mailbox.adb index c653df3..02f52fe 100644 --- a/external/controller/src/tcp_client/mailbox.adb +++ b/external/controller/src/tcp_client/mailbox.adb @@ -44,15 +44,15 @@ package body Mailbox is select first.Collect (new_packet); else - delay(0.000005); - Check_Mailbox (second, first, new_packet, alternator); + delay(0.00005); + check_mailbox(second,first,new_packet,alternator); end select; else select second.Collect (new_packet); else - delay(0.000005); - Check_Mailbox (second, first, new_packet, alternator); + delay(0.00005); + check_mailbox(second,first,new_packet,alternator); end select; end if; end Check_Mailbox; diff --git a/external/controller/src/tcp_client/messages.ads b/external/controller/src/tcp_client/messages.ads index e94a9f6..7629413 100644 --- a/external/controller/src/tcp_client/messages.ads +++ b/external/controller/src/tcp_client/messages.ads @@ -28,6 +28,7 @@ package Messages is type Distance_Sensor_Array is array(0 .. 8) of Types.Float64; + -- interesting ones: 2: front ,3,6,5,8 type Distance_Sensor_Message is new Message with record Payload : Distance_Sensor_Array; end record; diff --git a/external/harness/Makefile b/external/harness/Makefile new file mode 100644 index 0000000..f854eb2 --- /dev/null +++ b/external/harness/Makefile @@ -0,0 +1,5 @@ +all: + gprbuild -p -Pharness +clean: + -gprclean -Pharness + rm -rf harness/obj/* diff --git a/external/harness/harness.gpr b/external/harness/harness.gpr new file mode 100644 index 0000000..590bb9a --- /dev/null +++ b/external/harness/harness.gpr @@ -0,0 +1,24 @@ +with "aunit.gpr"; + +project Harness is + + for Source_Dirs use ("src/**", "../controller/src/backend_thread/**", "../controller/src/tcp_client/**", "../controller/src/webots_thread/**"); + for Object_Dir use "obj"; + for Main use ("test_main.adb"); + for Exec_Dir use "."; + + package Linker is + for Default_Switches ("ada") use ("-g"); + end Linker; + + package Binder is + for Default_Switches ("ada") use ("-E", "-static"); + end Binder; + + package Compiler is + for Default_Switches ("ada") use + ("-gnatQ", "-gnatf", "-gnato", "-gnat2012"); + end Compiler; + +end Harness; + diff --git a/external/harness/src/buffer_suite/buffer_suite.adb b/external/harness/src/buffer_suite/buffer_suite.adb new file mode 100644 index 0000000..17708b5 --- /dev/null +++ b/external/harness/src/buffer_suite/buffer_suite.adb @@ -0,0 +1,19 @@ +with buffer_tests; + +package body buffer_suite is + + use AUnit.Test_Suites; + + -- Statically allocate test suite: + Result : aliased Test_Suite; + + -- Statically allocate test cases: + Test_1 : aliased buffer_tests.buffer_test; + + function Suite return Access_Test_Suite is + begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end buffer_suite; diff --git a/external/harness/src/buffer_suite/buffer_suite.ads b/external/harness/src/buffer_suite/buffer_suite.ads new file mode 100644 index 0000000..d29238c --- /dev/null +++ b/external/harness/src/buffer_suite/buffer_suite.ads @@ -0,0 +1,7 @@ +with AUnit.Test_Suites; + +package buffer_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end buffer_suite; diff --git a/external/harness/src/buffer_suite/buffer_tests.adb b/external/harness/src/buffer_suite/buffer_tests.adb new file mode 100644 index 0000000..4f1a84e --- /dev/null +++ b/external/harness/src/buffer_suite/buffer_tests.adb @@ -0,0 +1,90 @@ +with AUnit.Assertions; use AUnit.Assertions; +with types; use types; +with byte_buffer; use byte_buffer; + +package body buffer_tests is + + procedure Register_Tests (T: in out buffer_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Test_Read_Write_Uint8'Access, "Test write and read uint8 from buffer."); + Register_Routine (T, Test_Read_Write_Uint16'Access, "Test write and read uint16 from buffer."); + Register_Routine (T, Test_Read_Write_Uint32'Access, "Test write and read uint32 from buffer."); + Register_Routine (T, Test_Read_Write_Uint64'Access, "Test write and read uint64 from buffer."); + Register_Routine (T, Test_Read_Write_Payload'Access, "Test write and read payload from buffer."); + end Register_Tests; + + -- Identifier of test case + function Name (T: buffer_test) return Test_String is + begin + return Format ("Buffer Tests"); + end Name; + + procedure Test_Read_Write_Uint8 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u8, u8t : uint8; + begin + b.Index := 0; + u8 := 230; + b.write_uint8 (u8); + b.read_uint8 (u8t); + + Assert (u8 = u8t, "Writing and reading uint8 does not work"); + end Test_Read_Write_Uint8; + + procedure Test_Read_Write_Uint16 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u16, u16t : uint16; + begin + b.Index := 0; + u16 := 5000; + b.write_uint16 (u16); + b.read_uint16 (u16t); + + Assert (u16 = u16t, "Writing and reading uint16 does not work"); + end Test_Read_Write_Uint16; + + procedure Test_Read_Write_Uint32 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u32, u32t : uint32; + begin + b.Index := 0; + u32 := 200000; + b.write_uint32 (u32); + b.read_uint32 (u32t); + + Assert (u32 = u32t, "Writing and reading uint32 does not work"); + end Test_Read_Write_Uint32; + + procedure Test_Read_Write_Uint64 (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + u64, u64t : uint64; + begin + b.Index := 0; + u64 := 5000000; + b.write_uint64 (u64); + b.read_uint64 (u64t); + + Assert (u64 = u64t, "Writing and reading uint64 does not work"); + end Test_Read_Write_Uint64; + + procedure Test_Read_Write_Payload (T : in out Test_Cases.Test_Case'Class) is + b : Buffer; + p_in, p_out : access payload := new payload (0 .. 31); + u8 : uint8 := 0; + begin + for I in p_in'Range loop + p_in (I) := u8; + u8 := u8 + 1; + end loop; + + b.write_payload (p_in); + b.read_payload (p_out); + + for I in p_out'Range loop + Assert (p_out (I) = p_in (I), "Writing and reading payload does not work"); + end loop; + end Test_Read_Write_Payload; + +end buffer_tests; diff --git a/external/harness/src/buffer_suite/buffer_tests.ads b/external/harness/src/buffer_suite/buffer_tests.ads new file mode 100644 index 0000000..90f41b5 --- /dev/null +++ b/external/harness/src/buffer_suite/buffer_tests.ads @@ -0,0 +1,22 @@ +with AUnit; use AUnit; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with types; use types; + +package buffer_tests is + + type buffer_test is new Test_Cases.Test_Case with null record; + + procedure Register_Tests (T : in out buffer_test); + -- Register routines to be run + + function Name (T : buffer_test) return Message_String; + -- Provide name identifying the test case + + -- Test Routines: + procedure Test_Read_Write_Uint8 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Uint16 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Uint32 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Uint64 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Read_Write_Payload (T : in out Test_Cases.Test_Case'Class); + +end buffer_tests; diff --git a/external/harness/src/composite_suite.adb b/external/harness/src/composite_suite.adb new file mode 100644 index 0000000..46e9c25 --- /dev/null +++ b/external/harness/src/composite_suite.adb @@ -0,0 +1,22 @@ +with tcp_suite; +with buffer_suite; +with types_suite; +with AUnit.Tests; + + +package body composite_suite is + use Test_Suites; + use tcp_suite; + use buffer_suite; + use types_suite; + + function Suite return Access_Test_Suite is + Result : Access_Test_Suite := AUnit.Test_Suites.New_Suite; + begin + Result.Add_Test (tcp_suite.Suite); + Result.Add_Test (buffer_suite.Suite); + Result.Add_Test (types_suite.Suite); + return Result; + end Suite; + +end composite_suite; diff --git a/external/harness/src/composite_suite.ads b/external/harness/src/composite_suite.ads new file mode 100644 index 0000000..7ebf840 --- /dev/null +++ b/external/harness/src/composite_suite.ads @@ -0,0 +1,6 @@ +with AUnit.Test_Suites; +with AUnit; use AUnit; + +package composite_suite is + function Suite return AUnit.Test_Suites.Access_Test_Suite; +end composite_suite; diff --git a/external/harness/src/tcp_suite/tcp_suite.adb b/external/harness/src/tcp_suite/tcp_suite.adb new file mode 100644 index 0000000..516c26d --- /dev/null +++ b/external/harness/src/tcp_suite/tcp_suite.adb @@ -0,0 +1,19 @@ +with tcp_tests; + +package body tcp_suite is + + use AUnit.Test_Suites; + + -- Statically allocate test suite: + Result : aliased Test_Suite; + + -- Statically allocate test cases: + Test_1 : aliased tcp_tests.tcp_test; + + function Suite return Access_Test_Suite is + begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end tcp_suite; diff --git a/external/harness/src/tcp_suite/tcp_suite.ads b/external/harness/src/tcp_suite/tcp_suite.ads new file mode 100644 index 0000000..15c706f --- /dev/null +++ b/external/harness/src/tcp_suite/tcp_suite.ads @@ -0,0 +1,7 @@ +with AUnit.Test_Suites; + +package tcp_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end tcp_suite; diff --git a/external/harness/src/tcp_suite/tcp_tests.adb b/external/harness/src/tcp_suite/tcp_tests.adb new file mode 100644 index 0000000..4ffada0 --- /dev/null +++ b/external/harness/src/tcp_suite/tcp_tests.adb @@ -0,0 +1,27 @@ +with AUnit.Assertions; use AUnit.Assertions; + +package body tcp_tests is + + -- Register test routines to call + procedure Register_Tests (T: in out tcp_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Sample_Test'Access, "This is an empty sample test, because Ada wants at least one test per suite to compile."); + end Register_Tests; + + -- Identifier of test case + function Name (T: tcp_test) return Test_String is + begin + return Format ("TCP Tests"); + end Name; + + procedure Sample_Test (T : in out Test_Cases.Test_Case'Class) is + local : Integer; + begin + local := 1; + + Assert (local = 1, "This should never happen."); + end Sample_Test; + +end tcp_tests; diff --git a/external/harness/src/tcp_suite/tcp_tests.ads b/external/harness/src/tcp_suite/tcp_tests.ads new file mode 100644 index 0000000..76dfb7a --- /dev/null +++ b/external/harness/src/tcp_suite/tcp_tests.ads @@ -0,0 +1,19 @@ +with AUnit; use AUnit; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with tcp_client; use tcp_client; +with types; use types; + +package tcp_tests is + + type tcp_test is new Test_Cases.Test_Case with null record; + + procedure Register_Tests (T : in out tcp_test); + -- Register routines to be run + + function Name (T : tcp_test) return Message_String; + -- Provide name identifying the test case + + -- Test Routines: + procedure Sample_Test (T : in out Test_Cases.Test_Case'Class); + +end tcp_tests; diff --git a/external/harness/src/test_main.adb b/external/harness/src/test_main.adb new file mode 100644 index 0000000..dbda8ae --- /dev/null +++ b/external/harness/src/test_main.adb @@ -0,0 +1,12 @@ +with AUnit.Reporter.Text; +with AUnit.Run; +with composite_suite; use composite_suite; +with Ada.Task_Identification; use Ada.Task_Identification; + +procedure Test_Main is + procedure Runner is new AUnit.Run.Test_Runner (composite_suite.Suite); + Reporter : AUnit.Reporter.Text.Text_Reporter; +begin + Runner (Reporter); + return; +end Test_Main; diff --git a/external/harness/src/types_suite/types_suite.adb b/external/harness/src/types_suite/types_suite.adb new file mode 100644 index 0000000..caeb47e --- /dev/null +++ b/external/harness/src/types_suite/types_suite.adb @@ -0,0 +1,19 @@ +with types_tests; + +package body types_suite is + + use AUnit.Test_Suites; + + -- Statically allocate test suite: + Result : aliased Test_Suite; + + -- Statically allocate test cases: + Test_1 : aliased types_tests.types_test; + + function Suite return Access_Test_Suite is + begin + Add_Test (Result'Access, Test_1'Access); + return Result'Access; + end Suite; + +end types_suite; diff --git a/external/harness/src/types_suite/types_suite.ads b/external/harness/src/types_suite/types_suite.ads new file mode 100644 index 0000000..c5250d4 --- /dev/null +++ b/external/harness/src/types_suite/types_suite.ads @@ -0,0 +1,7 @@ +with AUnit.Test_Suites; + +package types_suite is + + function Suite return AUnit.Test_Suites.Access_Test_Suite; + +end types_suite; diff --git a/external/harness/src/types_suite/types_tests.adb b/external/harness/src/types_suite/types_tests.adb new file mode 100644 index 0000000..2a76892 --- /dev/null +++ b/external/harness/src/types_suite/types_tests.adb @@ -0,0 +1,168 @@ +with AUnit.Assertions; use AUnit.Assertions; +with types; use types; + +package body types_tests is + + -- Register test routines to call + procedure Register_Tests (T: in out types_test) is + use AUnit.Test_Cases.Registration; + begin + -- Repeat for each test routine: + Register_Routine (T, Test_Uint16_To_Octet2'Access, "Test uint16 to Octet_2 and back."); + Register_Routine (T, Test_Uint32_To_Octet4'Access, "Test uint32 to Octet_4 and back."); + Register_Routine (T, Test_Uint64_To_Octet8'Access, "Test uint64 to Octet_8 and back."); + + Register_Routine (T, Test_Octet2_To_Uint16'Access, "Test Octet_2 to uint16 and back."); + Register_Routine (T, Test_Octet4_To_Uint32'Access, "Test Octet_4 to uint32 and back."); + Register_Routine (T, Test_Octet8_To_Uint64'Access, "Test Octet_8 to uint64 and back."); + + Register_Routine (T, Test_Uint64_To_Float64'Access, "Test uint64 to float64 and back."); + Register_Routine (T, Test_Float64_To_Uint64'Access, "Test float64 to uint64 and back."); + + Register_Routine (T, Test_Byte_Order_16'Access, "Test hton16 and ntoh16."); + Register_Routine (T, Test_Byte_Order_32'Access, "Test hton32 and ntoh32."); + Register_Routine (T, Test_Byte_Order_64'Access, "Test hton64 and ntoh64."); + end Register_Tests; + + -- Identifier of test case + function Name (T: types_test) return Test_String is + begin + return Format ("Types Tests"); + end Name; + + procedure Test_Uint16_To_Octet2 (T : in out Test_Cases.Test_Case'Class) is + u16, u16t : uint16; + o2 : Octets_2; + begin + u16 := 5000; + o2 := uint16_to_octets (u16); + u16t := octets_to_uint16 (o2); + + Assert (u16 = u16t, "Converting uint16 to octets and back does not work"); + end Test_Uint16_To_Octet2; + + procedure Test_Uint32_To_Octet4 (T : in out Test_Cases.Test_Case'Class) is + u32, u32t : uint32; + o4 : Octets_4; + begin + u32 := 100000; + o4 := uint32_to_octets (u32); + u32t := octets_to_uint32 (o4); + + Assert (u32 = u32t, "Converting uint32 to octets and back does not work"); + end Test_Uint32_To_Octet4; + + procedure Test_Uint64_To_Octet8 (T : in out Test_Cases.Test_Case'Class) is + u64, u64t : uint64; + o8 : Octets_8; + begin + u64 := 5000000; + o8 := uint64_to_octets (u64); + u64t := octets_to_uint64 (o8); + + Assert (u64 = u64t, "Converting uint64 to octets and back does not work"); + end Test_Uint64_To_Octet8; + + procedure Test_Octet2_To_Uint16 (T : in out Test_Cases.Test_Case'Class) is + o2, o2t : Octets_2; + u16 : uint16; + begin + o2 (0) := 150; + o2 (1) := 35; + u16 := octets_to_uint16 (o2); + o2t := uint16_to_octets (u16); + + Assert (o2 (0) = o2t (0) and o2 (1) = o2t (1), + "Converting Octets_2 to uint16 and back does not work"); + end Test_Octet2_To_Uint16; + + procedure Test_Octet4_To_Uint32 (T : in out Test_Cases.Test_Case'Class) is + o4, o4t : Octets_4; + u32 : uint32; + begin + o4 (0) := 150; + o4 (1) := 35; + o4 (2) := 255; + o4 (3) := 1; + u32 := octets_to_uint32 (o4); + o4t := uint32_to_octets (u32); + + Assert (o4 (0) = o4t (0) and o4 (1) = o4t (1) and + o4 (2) = o4t (2) and o4 (3) = o4t (3), + "Converting Octets_4 to uint32 and back does not work"); + end Test_Octet4_To_Uint32; + + procedure Test_Octet8_To_Uint64 (T : in out Test_Cases.Test_Case'Class) is + o8, o8t : Octets_8; + u64 : uint64; + begin + o8 (0) := 150; + o8 (1) := 35; + o8 (2) := 255; + o8 (3) := 1; + o8 (4) := 90; + o8 (5) := 200; + o8 (6) := 0; + o8 (7) := 70; + u64 := octets_to_uint64 (o8); + o8t := uint64_to_octets (u64); + + Assert (o8 (0) = o8t (0) and o8 (1) = o8t (1) and + o8 (2) = o8t (2) and o8 (3) = o8t (3) and + o8 (4) = o8t (4) and o8 (5) = o8t (5) and + o8 (6) = o8t (6) and o8 (7) = o8t (7), + "Converting Octets_4 to uint64 and back does not work"); + end Test_Octet8_To_Uint64; + + procedure Test_Uint64_To_Float64 (T : in out Test_Cases.Test_Case'Class) is + u64, u64t : uint64; + f64 : float64; + begin + u64 := 1234567; + f64 := uint64_to_float64 (u64); + u64t := float64_to_uint64 (f64); + Assert (u64 = u64t, "Converting uint64 to float64 and back doe not work"); + end Test_Uint64_To_Float64; + + procedure Test_Float64_To_Uint64 (T : in out Test_Cases.Test_Case'Class) is + f64, f64t : float64; + u64 : uint64; + begin + f64 := 3.004972; + u64 := float64_to_uint64 (f64); + f64t := uint64_to_float64 (u64); + + Assert (f64 = f64t, "Converting float64 to uint64 and back doe not work"); + end Test_Float64_To_Uint64; + + procedure Test_Byte_Order_16 (T : in out Test_Cases.Test_Case'Class) is + u16i, u16m, u16o : uint16; + begin + u16i := 45298; + u16m := hton16 (u16i); + u16o := ntoh16 (u16m); + + Assert (u16i = u16o, "hton16 and ntoh16 do not work."); + end Test_Byte_Order_16; + + procedure Test_Byte_Order_32 (T : in out Test_Cases.Test_Case'Class) is + u32i, u32m, u32o : uint32; + begin + u32i := 3568298; + u32m := hton32 (u32i); + u32o := ntoh32 (u32m); + + Assert (u32i = u32o, "hton32 and ntoh32 do not work."); + end Test_Byte_Order_32; + + procedure Test_Byte_Order_64 (T : in out Test_Cases.Test_Case'Class) is + u64i, u64m, u64o : uint64; + begin + u64i := 6568298; + u64m := hton64 (u64i); + u64o := ntoh64 (u64m); + + Assert (u64i = u64o, "hton64 and ntoh64 do not work."); + end Test_Byte_Order_64; + +end types_tests; diff --git a/external/harness/src/types_suite/types_tests.ads b/external/harness/src/types_suite/types_tests.ads new file mode 100644 index 0000000..1e406ea --- /dev/null +++ b/external/harness/src/types_suite/types_tests.ads @@ -0,0 +1,31 @@ +with AUnit; use AUnit; +with AUnit.Test_Cases; use AUnit.Test_Cases; +with types; use types; + +package types_tests is + + type types_test is new Test_Cases.Test_Case with null record; + + procedure Register_Tests (T : in out types_test); + -- Register routines to be run + + function Name (T : types_test) return Message_String; + -- Provide name identifying the test case + + -- Test Routines: + procedure Test_Uint16_To_Octet2 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Uint32_To_Octet4 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Uint64_To_Octet8 (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Octet2_To_Uint16 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Octet4_To_Uint32 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Octet8_To_Uint64 (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Uint64_To_Float64 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Float64_To_Uint64 (T : in out Test_Cases.Test_Case'Class); + + procedure Test_Byte_Order_16 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Byte_Order_32 (T : in out Test_Cases.Test_Case'Class); + procedure Test_Byte_Order_64 (T : in out Test_Cases.Test_Case'Class); + +end types_tests; diff --git a/shared/Makefile b/shared/Makefile new file mode 100644 index 0000000..de31d8a --- /dev/null +++ b/shared/Makefile @@ -0,0 +1,72 @@ +# Copyright 1996-2020 Cyberbotics Ltd. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +### Generic Makefile.include for Webots controllers, physics plugins, robot +### window libraries, remote control libraries and other libraries +### to be used with GNU make +### +### Platforms: Windows, macOS, Linux +### Languages: C, C++ +### +### Authors: Olivier Michel, Yvan Bourquin, Fabien Rohrer +### Edmund Ronald, Sergei Poskriakov +### +###----------------------------------------------------------------------------- +### +### This file is meant to be included from the Makefile files located in the +### Webots projects subdirectories. It is possible to set a number of variables +### to customize the build process, i.e., add source files, compilation flags, +### include paths, libraries, etc. These variables should be set in your local +### Makefile just before including this Makefile.include. This Makefile.include +### should never be modified. +### +### Here is a description of the variables you may set in your local Makefile: +### +### ---- C Sources ---- +### if your program uses several C source files: +### C_SOURCES = my_plugin.c my_clever_algo.c my_graphics.c +### +### ---- C++ Sources ---- +### if your program uses several C++ source files: +### CXX_SOURCES = my_plugin.cc my_clever_algo.cpp my_graphics.c++ +### +### ---- Compilation options ---- +### if special compilation flags are necessary: +### CFLAGS = -Wno-unused-result +### +### ---- Linked libraries ---- +### if your program needs additional libraries: +### INCLUDE = -I"/my_library_path/include" +### LIBRARIES = -L"/path/to/my/library" -lmy_library -lmy_other_library +### +### ---- Linking options ---- +### if special linking flags are needed: +### LFLAGS = -s +### +### ---- Webots included libraries ---- +### if you want to use the Webots C API in your C++ controller program: +### USE_C_API = true +### +### ---- Debug mode ---- +### if you want to display the gcc command line for compilation and link, as +### well as the rm command details used for cleaning: +### VERBOSE = 1 +### +###----------------------------------------------------------------------------- + +### Do not modify: this includes Webots global Makefile.include +space := +space += +WEBOTS_HOME_PATH=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME)))) +include $(WEBOTS_HOME_PATH)/resources/Makefile.include diff --git a/shared/buffer_reader.cpp b/shared/buffer_reader.cpp index 6fcd8b1..ee842e6 100644 --- a/shared/buffer_reader.cpp +++ b/shared/buffer_reader.cpp @@ -73,6 +73,7 @@ buffer_reader& buffer_reader::operator>>(double& data) return *this; } +/* buffer_reader& buffer_reader::operator>>(std::string& string) { std::size_t size = 0; @@ -81,8 +82,8 @@ buffer_reader& buffer_reader::operator>>(std::string& string) for(std::size_t i = 0; i < size; ++i) { - //*this >> string[i]; + *this >> string[i]; } return *this; -} +}*/ diff --git a/shared/buffer_writer.cpp b/shared/buffer_writer.cpp index 031a210..4204b4e 100644 --- a/shared/buffer_writer.cpp +++ b/shared/buffer_writer.cpp @@ -57,13 +57,14 @@ buffer_writer& buffer_writer::operator<<(double data) return *this; } +/* buffer_writer& buffer_writer::operator<<(const std::string& string) { *this << string.size(); for(auto element:string) { - //*this << element; + *this << element; } return *this; -} +}*/ diff --git a/test/main.cpp b/test/main.cpp new file mode 100644 index 0000000..b32cdbc --- /dev/null +++ b/test/main.cpp @@ -0,0 +1,279 @@ +#define BOOST_TEST_MODULE Test +#include + +#include + +#include "../shared/buffer_reader.hpp" +#include "../shared/buffer_writer.hpp" +#include "../shared/message.hpp" + +BOOST_AUTO_TEST_CASE(buffer_write_read_integer) +{ + const uint8_t wuint8 = 0xFF - 1; + const uint16_t wuint16 = 0xFFFF - 1; + const uint32_t wuint32 = 0xFFFFFFFF - 1; + const uint64_t wuint64 = 0xFFFFFFFFFFFFFFFF - 1; + const double wdouble = 3.1415; + + uint8_t ruint8 = 0; + uint16_t ruint16 = 0; + uint32_t ruint32 = 0; + uint64_t ruint64 = 0; + double rdouble = 0; + auto total = sizeof(uint8_t) + sizeof(uint16_t) + sizeof(uint32_t) + sizeof(uint64_t) + sizeof(double); + + buffer buffer; + + buffer_writer writer(buffer); + writer << wuint8 << wuint16 << wuint32 << wuint64 << wdouble; + + buffer_reader reader(buffer); + reader >> ruint8 >> ruint16 >> ruint32 >> ruint64 >> rdouble; + + BOOST_TEST(ruint8 != 0); + BOOST_TEST(ruint16 != 0); + BOOST_TEST(ruint32 != 0); + BOOST_TEST(ruint64 != 0); + BOOST_TEST(rdouble != 0); + + BOOST_TEST(wuint8 == ruint8); + BOOST_TEST(wuint16 == ruint16); + BOOST_TEST(wuint32 == ruint32); + BOOST_TEST(wuint64 == ruint64); + BOOST_TEST(wdouble == rdouble); + + BOOST_TEST(writer.written() == total); + BOOST_TEST(reader.read() == total); +} + +BOOST_AUTO_TEST_CASE(buffer_write_read_string) +{ + buffer buffer; + + std::string wstring = "Hello World"; + buffer_writer writer(buffer); + writer << wstring; + + std::string rstring; + buffer_reader reader(buffer); + reader >> rstring; + + //BOOST_TEST(wstring == rstring); +} + +BOOST_AUTO_TEST_CASE(buffer_write_read_array) +{ + buffer buffer; + + std::array warray = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; + buffer_writer writer(buffer); + writer << warray; + + std::array rarray; + buffer_reader reader(buffer); + reader >> rarray; + + BOOST_TEST(warray == rarray); +} + +BOOST_AUTO_TEST_CASE(buffer_write_read_vector) +{ + buffer buffer; + + std::vector wvector = {0, 2, 4, 6, 8}; + buffer_writer writer(buffer); + writer << wvector; + + std::vector rvector; + buffer_reader reader(buffer); + reader >> rvector; + + BOOST_TEST(wvector == rvector); +} + +BOOST_AUTO_TEST_CASE(message_header_write_read) +{ + const message_size size = 0xFF55; + const message_id id = message_id::PING; + buffer buffer; + + message_header write_header; + write_header.size = size; + write_header.id = id; + + buffer_writer writer(buffer); + writer << write_header; + + buffer_reader reader(buffer); + message_header read_header; + reader >> read_header; + + BOOST_TEST(read_header.id == id); + BOOST_TEST(read_header.size == size); +} + +BOOST_AUTO_TEST_CASE(empty_messages_empty) +{ + ping_message ping; + nop_message nop; + + BOOST_TEST(nop.body_size() == 0); + BOOST_TEST(ping.body_size() == 0); +} + +BOOST_AUTO_TEST_CASE(message_unmatching_ids) +{ + buffer buffer; + + buffer_writer writer(buffer); + writer << ping_message(); + + ping_message ping; + nop_message nop; + buffer_reader reader(buffer); + + BOOST_CHECK_THROW(reader >> nop, std::runtime_error); + BOOST_CHECK_NO_THROW(reader >> ping); +} + +BOOST_AUTO_TEST_CASE(webots_velocity_message_write_read) +{ + webots_velocity_message write_msg; + write_msg.right_speed = 2.5; + write_msg.left_speed = 4.1; + + buffer buffer; + buffer_writer writer(buffer); + writer << write_msg; + + webots_velocity_message read_msg; + buffer_reader reader(buffer); + reader >> read_msg; + + BOOST_TEST(read_msg.right_speed == write_msg.right_speed); + BOOST_TEST(read_msg.left_speed == write_msg.left_speed); +} + +BOOST_AUTO_TEST_CASE(external_distance_sensor_message_write_read) +{ + external_distance_sensor_message write_msg; + for(int i = 0; i<9; i++){ + write_msg.data[i] = static_cast(i) + 0.3; + } + + buffer buffer; + buffer_writer writer(buffer); + writer << write_msg; + + external_distance_sensor_message read_msg; + buffer_reader reader(buffer); + reader >> read_msg; + + for(int i = 0; i<9; i++){ + BOOST_TEST(read_msg.data[i] == write_msg.data[i]); + } +} + +BOOST_AUTO_TEST_CASE(external_light_sensor_message_write_read) +{ + external_light_sensor_message write_msg; + for(int i = 0; i<1; i++){ + write_msg.data[i] = static_cast(i) + 0.6; + } + + buffer buffer; + buffer_writer writer(buffer); + writer << write_msg; + + external_light_sensor_message read_msg; + buffer_reader reader(buffer); + reader >> read_msg; + + for(int i = 0; i<1; i++){ + BOOST_TEST(read_msg.data[i] == write_msg.data[i]); + } +} + +BOOST_AUTO_TEST_CASE(external_image_data_message_write_read) +{ + external_image_data_message write_msg; + unsigned char test[26]; + for(int i = 0; i<26; i++){ + test[i] = 65 + i; + } + std::vector vec(test, test + 26); + write_msg.pixel = vec; + + buffer buffer; + buffer_writer writer(buffer); + writer << write_msg; + + external_image_data_message read_msg; + buffer_reader reader(buffer); + reader >> read_msg; + + for(int i = 0; i<26; i++){ + BOOST_TEST(read_msg.pixel[i] == write_msg.pixel[i]); + } +} + +BOOST_AUTO_TEST_CASE(message_header_size) +{ + BOOST_TEST(sizeof(message_header) == 5); +} + +BOOST_AUTO_TEST_CASE(empty_message_size) +{ + BOOST_TEST((empty_message{}).body_size() == 0); +} + +BOOST_AUTO_TEST_CASE(test_message_sizes) +{ + #pragma pack(push, 1) + struct test_message final : public empty_message + { + }; + #pragma pack(pop) + + const auto msg = test_message{}; + + BOOST_TEST(msg.body_size() == 0); + BOOST_TEST(msg.size() == sizeof(message_header)); +} + +BOOST_AUTO_TEST_CASE(test_message2_sizes) +{ + #pragma pack(push, 1) + struct test_message2 final : public basic_message + { + std::uint8_t a; + std::uint32_t b; + std::uint8_t c; + float d; + std::array e; + double f; + std::uint8_t g; + std::array h; + }; + #pragma pack(pop) + + const auto size = sizeof(std::uint8_t) + + sizeof(std::uint32_t) + + sizeof(std::uint8_t) + + sizeof(float) + + sizeof(std::array) + + sizeof(double) + + sizeof(std::uint8_t) + + sizeof(std::array); + + const auto msg = test_message2{}; + + BOOST_TEST(msg.body_size() == size); + BOOST_TEST(msg.size() == sizeof(message_header) + size); +} + +BOOST_AUTO_TEST_CASE(webots_velocity_message_size) +{ + webots_velocity_message msg; + BOOST_TEST(msg.body_size() == 2 * sizeof(double)); +} diff --git a/webots/controllers/controller/Makefile b/webots/controllers/controller/Makefile index 7bf806a..bcb8177 100644 --- a/webots/controllers/controller/Makefile +++ b/webots/controllers/controller/Makefile @@ -78,9 +78,15 @@ 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b/webots/controllers/controller/controller.cpp index 182ae64..5caa929 100644 --- a/webots/controllers/controller/controller.cpp +++ b/webots/controllers/controller/controller.cpp @@ -14,9 +14,162 @@ int main(int argc, char **argv) return EXIT_FAILURE; } +// <<<<<<< HEAD + //setup server socket + // using boost::asio::ip::tcp; + // boost::asio::io_service io_service; + // tcp::socket client(io_service); + // try + // { + // tcp::acceptor acceptor(io_service, tcp::endpoint(tcp::v4(), std::atoi(argv[1]))); + // acceptor.accept(client); + // } + // catch(std::exception& e) + // { + // std::cerr << "Exception: " << e.what() << "\n"; + // return EXIT_FAILURE; + // } + + // Robot *robot = new Robot(); + + //get the time step of the current world. + // int timeStep = (int) robot->getBasicTimeStep(); + + //setup distance sensors + // std::cout << "setting up sensors" << std::endl; + // std::string ds_names[N_DISTANCE_SENSORS] = {"ds_fc", "ds_fcr", "ds_fr", "ds_rf", "ds_rc", "ds_lc", "ds_lf", "ds_fl", "ds_fcl"}; + // DistanceSensor *ds_sensors[N_DISTANCE_SENSORS]; + // for(int i = 0; igetDistanceSensor(ds_names[i]); + // ds_sensors[i]->enable(timeStep); + // } + + // setup light sensors + // std::string ls_names[N_LIGHT_SENSORS] = {"ls_front"}; + // LightSensor *ls_sensors[N_LIGHT_SENSORS]; + // for(int i = 0; igetLightSensor(ls_names[i]); + // ls_sensors[i]->enable(timeStep); + // } + + //setup camera + // Camera *camera = robot->getCamera("camera"); + // camera->enable(timeStep); + // int image_height = camera->getHeight(); + // int image_width = camera->getWidth(); + // int image_size = image_width * image_height * 4 * sizeof(unsigned char); + + //setup motors + // std::string m_names[4] = {"wheelFR", "wheelRR", "wheelRL", "wheelFL"}; + // Motor *m_motors[4]; + // for(int i = 0; i<4; i++) + // { + // m_motors[i] = robot->getMotor(m_names[i]); + // m_motors[i]->setPosition(INFINITY); + // m_motors[i]->setVelocity(0); + // } + // double left_speed = 0; + // double right_speed = 0; + + // buffer in; + // buffer_reader reader(in); + // buffer_writer writer(in); + // while (robot->step(timeStep) != -1) + // { + // read distance sensor data + // external_distance_sensor_message ds_msg; + // for(int i = 0; igetValue(); + // } + +// read light sensor data + // external_light_sensor_message ls_msg; + // for(int i = 0; igetValue(); + // } + + // read image data + // external_image_data_message img_msg; + // const unsigned char *image = camera->getImage(); + // std::vector vec(image, image + image_size); + // img_msg.pixel = vec; + + // try + // { + // buffer out; + // buffer_writer writer(out); + // writer << ds_msg ; + // std::size_t t = boost::asio::write(client, boost::asio::buffer(out)); + // } + // catch(std::exception& e) + // { + // std::cerr << "Exception: " << e.what() << std::endl; + // break; + // } + + // if(client.available() < 1) + // { + // continue; + // } + // std::array data; + // boost::system::error_code error; + // std::size_t length = client.read_some(boost::asio::buffer(data), error); + // if(error == boost::asio::error::eof) + // { + // break; + // } + // else if (error) + // { + // std::cerr << "Error: " << error << std::endl; + // break; + // } + + // for(std::size_t i = 0; i> vl_msg; + // right_speed = vl_msg.right_speed; + // left_speed = vl_msg.left_speed; + // std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; + // } + // catch(const std::runtime_error& e) + // { + // std::cerr << e.what() << '\n'; + // } + + // m_motors[0]->setVelocity(right_speed); + // m_motors[1]->setVelocity(right_speed); + // m_motors[2]->setVelocity(left_speed); + // m_motors[3]->setVelocity(left_speed); + // }; + + // for(int i = 0; i<4; i++) + // { + // m_motors[i]->setVelocity(0); + // } + +// Enter here exit cleanup code. + // client.close(); + // delete robot; +// ======= robot_container container; container.wait_for_connection(argv[1]); container.setup_robot(); container.run(); + return 0; } diff --git a/webots/controllers/controller/robot_container.cpp b/webots/controllers/controller/robot_container.cpp index fef42ae..eb82a78 100644 --- a/webots/controllers/controller/robot_container.cpp +++ b/webots/controllers/controller/robot_container.cpp @@ -1,156 +1,157 @@ -#include -#include -#include - -#include "robot_container.hpp" -#include "../../../shared/message.hpp" - -robot_container::robot_container() - : _external(_io_service), _reader(_in), _writer(_in) -{ - _basic_time_step = (int) _robot.getBasicTimeStep(); -} - -void robot_container::setup_robot() -{ - std::cout << "setting up distance sensors" << '\n'; - std::vector ds_names = {"ds_fc", "ds_fcr", "ds_fr", "ds_rf", "ds_rc", - "ds_lc", "ds_lf", "ds_fl", "ds_fcl"}; - for(std::size_t i = 0; ienable(_basic_time_step); - } - - std::cout << "setting up light sensors" << '\n'; - std::vector ls_names = {"ls_front"}; - for(std::size_t i = 0; ienable(_basic_time_step); - } - - std::cout << "setting up camera" << '\n'; - _camera = _robot.getCamera("camera"); - _camera->enable(_basic_time_step); - _image_size = _camera->getHeight() * _camera->getWidth() * 4 * sizeof(unsigned char); - - std::cout << "setting up motor" << '\n'; - std::vector m_names = {"wheelFR", "wheelRR", "wheelRL", "wheelFL"}; - for(std::size_t i = 0; isetPosition(INFINITY); - _motors[i]->setVelocity(0); - } -} - -int robot_container::wait_for_connection(char *port) -{ - std::cout << "waiting for external controller" << '\n'; - using boost::asio::ip::tcp; - try - { - tcp::acceptor acceptor(_io_service, tcp::endpoint(tcp::v4(), std::atoi(port))); - acceptor.accept(_external); - return 0; - } - catch(std::exception& e) - { - std::cerr << "Exception: " << e.what() << "\n"; - return -1; - } -} - -void robot_container::fill_distance_sensor_message(buffer_writer& writer) -{ - external_distance_sensor_message message; - for(std::size_t i = 0; i<_distance_sensors.size(); ++i) - { - message.data[i] = _distance_sensors[i]->getValue(); - } - writer << message; -} - -void robot_container::fill_light_sensor_message(buffer_writer& writer) -{ - external_light_sensor_message message; - for(std::size_t i = 0; i<_light_sensors.size(); ++i) - { - message.data[i] = _light_sensors[i]->getValue(); - } - writer << message; -} - -void robot_container::fill_image_data_message(buffer_writer& writer) -{ - const unsigned char *image = _camera->getImage(); - std::vector vec(image, image + _image_size); - external_image_data_message message; - message.pixel = vec; - writer << message; -} - -void robot_container::run() -{ - while (_robot.step(_basic_time_step) != -1) - { - buffer out; - buffer_writer out_writer(out); - fill_distance_sensor_message(out_writer); - fill_light_sensor_message(out_writer); - fill_image_data_message(out_writer); - - try - { - std::size_t t = boost::asio::write(_external, boost::asio::buffer(out)); - if(_external.available() < 1) - { - continue; - } - - std::array data; - boost::system::error_code error; - std::size_t length = _external.read_some(boost::asio::buffer(data), error); - if(error == boost::asio::error::eof) - { - std::cerr << "external controller has disconected" << std::endl; - break; - } - else if (error) - { - std::cerr << "Error: " << error << std::endl; - break; - } - - for(std::size_t i = 0; i> vl_msg; - _motors[0]->setVelocity(vl_msg.right_speed); - _motors[1]->setVelocity(vl_msg.right_speed); - _motors[2]->setVelocity(vl_msg.left_speed); - _motors[3]->setVelocity(vl_msg.left_speed); - std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; - } - catch(const std::exception& e) - { - std::cerr << e.what() << '\n'; - break; - } - } - - for(int i = 0; i<4; i++) - { - _motors[i]->setVelocity(0); - } - _external.close(); -} \ No newline at end of file +#include +#include +#include + +#include "robot_container.hpp" +#include "../../../shared/message.hpp" + +robot_container::robot_container() + : _external(_io_service), _reader(_in), _writer(_in) +{ + _basic_time_step = (int) _robot.getBasicTimeStep(); +} + +void robot_container::setup_robot() +{ + std::cout << "setting up distance sensors" << '\n'; + std::vector ds_names = {"ds_fc", "ds_fcr", "ds_fr", "ds_rf", "ds_rc", + "ds_lc", "ds_lf", "ds_fl", "ds_fcl"}; + for(std::size_t i = 0; ienable(_basic_time_step); + } + + std::cout << "setting up light sensors" << '\n'; + std::vector ls_names = {"ls_front"}; + for(std::size_t i = 0; ienable(_basic_time_step); + } + + std::cout << "setting up camera" << '\n'; + _camera = _robot.getCamera("camera"); + _camera->enable(_basic_time_step); + _image_size = _camera->getHeight() * _camera->getWidth() * 4 * sizeof(unsigned char); + + std::cout << "setting up motor" << '\n'; + std::vector m_names = {"wheelFR", "wheelRR", "wheelRL", "wheelFL"}; + for(std::size_t i = 0; isetPosition(INFINITY); + _motors[i]->setVelocity(0); + } +} + +int robot_container::wait_for_connection(char *port) +{ + std::cout << "waiting for external controller" << '\n'; + using boost::asio::ip::tcp; + try + { + tcp::acceptor acceptor(_io_service, tcp::endpoint(tcp::v4(), std::atoi(port))); + acceptor.accept(_external); + return 0; + } + catch(std::exception& e) + { + std::cerr << "Exception: " << e.what() << "\n"; + return -1; + } +} + +void robot_container::fill_distance_sensor_message(buffer_writer& writer) +{ + external_distance_sensor_message message; + for(std::size_t i = 0; i<_distance_sensors.size(); ++i) + { + message.data[i] = _distance_sensors[i]->getValue(); + } + writer << message; +} + +void robot_container::fill_light_sensor_message(buffer_writer& writer) +{ + external_light_sensor_message message; + for(std::size_t i = 0; i<_light_sensors.size(); ++i) + { + message.data[i] = _light_sensors[i]->getValue(); + } + writer << message; +} + +void robot_container::fill_image_data_message(buffer_writer& writer) +{ + const unsigned char *image = _camera->getImage(); + std::vector vec(image, image + _image_size); + external_image_data_message message; + message.pixel = vec; + writer << message; +} + +void robot_container::run() +{ + while (_robot.step(_basic_time_step) != -1) + { + buffer out; + buffer_writer out_writer(out); + fill_distance_sensor_message(out_writer); + fill_light_sensor_message(out_writer); + fill_image_data_message(out_writer); + + try + { + std::size_t t = boost::asio::write(_external, boost::asio::buffer(out)); + if(_external.available() < 1) + { + continue; + } + + std::array data; + boost::system::error_code error; + std::size_t length = _external.read_some(boost::asio::buffer(data), error); + if(error == boost::asio::error::eof) + { + std::cerr << "external controller has disconected" << std::endl; + break; + } + else if (error) + { + std::cerr << "Error: " << error << std::endl; + break; + } + + for(std::size_t i = 0; i> vl_msg; + _motors[0]->setVelocity(vl_msg.right_speed); + _motors[1]->setVelocity(vl_msg.right_speed); + _motors[2]->setVelocity(vl_msg.left_speed); + _motors[3]->setVelocity(vl_msg.left_speed); + std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; + std::cout << "set rs: " << _motors[0]->getVelocity() << ", ls: " << _motors[2]->getVelocity() << '\n'; + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + break; + } + } + + for(int i = 0; i<4; i++) + { + _motors[i]->setVelocity(0); + } + _external.close(); +} diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index 46b3050..73eca74 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,14 +1,14 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000000640000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff00000001000002450000024efc0200000001fb0000001400540065007800740045006400690074006f007201000000160000024e000000a200ffffff000000030000073800000178fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004ed0000024e00000001000000020000000100000008fc00000000 -simulationViewPerspectives: 000000ff000000010000000200000118000002d60100000006010000000101 +perspectives: 000000ff00000000fd00000003000000000000020000000308fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000002000000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000200000002fbfc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002fb000000a200ffffff0000000300000738000000cbfc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff00000532000002fb00000004000000040000000100000008fc00000000 +simulationViewPerspectives: 000000ff0000000100000002000001180000060b0100000006010000000101 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 -minimizedPerspectives: 000000ff00000000fd000000030000000000000064000003ccfc0100000002fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000000640000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024500000368fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000368000000a200ffffff00000003000006ce0000005efc0100000001fb0000000e0043006f006e0073006f006c0065010000006a000006ce0000005400ffffff000004830000036800000001000000020000000100000008fc00000000 +minimizedPerspectives: 000000ff00000000fd00000003000000000000016c00000469fc0200000001fb00000012005300630065006e006500540072006500650100000019000004690000018500ffffff000000010000022e0000036bfc0200000001fb0000001400540065007800740045006400690074006f007201000000190000036b000000ab00ffffff00000003000005cd000000f8fc0100000001fb0000000e0043006f006e0073006f006c00650100000172000005cd0000004e00ffffff000003990000036b00000004000000040000000100000008fc00000000 maximizedDockId: -1 centralWidgetVisible: 1 -renderingMode: PLAIN +projectionMode: PERSPECTIVE selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 -textFiles: 1 "controllers/controller/controller.cpp" "controllers/controller/robot_container.cpp" -globalOptionalRendering: CameraFrustums -renderingDevicePerspectives: Cab2:camera;1;2.75;0.0123077;0 +textFiles: 0 "controllers/controller/controller.cpp" "../shared/buffer_reader.cpp" "../shared/buffer_writer.cpp" +globalOptionalRendering: DistanceSensorRays::CameraFrustums +renderingDevicePerspectives: Cab2:camera;1;3.2;0;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 4cd3234..01150a6 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation 0.3964315639655759 0.8562811891924998 0.33109596815256703 4.537015861658589 - position -21.43945251505827 70.86407098440792 56.44335159785557 + orientation -0.12999345844820634 0.9679236439620974 0.21500120981010715 1.6901476623869045 + position 39.485908187861 19.583802825808746 -28.36101590197844 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation 58.2892 0.401257 63.0321 - rotation 0.000540126459047014 -0.9999998488153964 0.00010311446265089072 0.40299466883488555 + translation 4.91052 0.398702 -32.0922 + rotation -0.0001548789968393237 0.9999999795926091 0.00012971999735275326 -1.229045307179586 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -350,7 +350,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 4737.891624046295 + position 1733.736964765539 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +361,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0.18100505758643243 -0.1808609757695577 0.9667090961462067 1.6038516386770183 + rotation -0.6085854300438158 0.6081009900195697 0.509742052685084 2.1981264146711905 children [ DEF wheel Shape { appearance PBRAppearance { @@ -383,7 +383,7 @@ DEF Cab2 Robot { } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 4737.883773946999 + position 6407.099545312441 anchor 0.55 -0.1 -0.7 } device [ @@ -394,7 +394,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0.17732696068063522 -0.17718580666528927 0.9680704204406511 1.602445161052551 + rotation -0.609089495895868 0.6086046546302153 0.5085374719248856 2.200040523037505 children [ DEF wheel Shape { appearance PBRAppearance { @@ -416,7 +416,7 @@ DEF Cab2 Robot { } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 4405.575297673597 + position 5794.712234104554 anchor -0.55 -0.1 -0.7 } device [ @@ -427,7 +427,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation -0.45218060019924533 0.4518206599671721 -0.7690193729876248 4.453487966671667 + rotation 0.5860475937623598 -0.5855810940788015 0.5600383916329507 2.11987842939071 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,7 +449,7 @@ DEF Cab2 Robot { } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 4405.4660981141515 + position 5794.706979565616 anchor -0.55 -0.1 0.55 } device [ @@ -460,7 +460,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation -0.41724934156602844 0.4169172069614714 -0.8075165815648379 4.50098608340385 + rotation 0.5850782144363221 -0.5846124863882998 0.5620602492179063 2.1168015617508615 children [ DEF wheel Shape { appearance PBRAppearance { @@ -501,6 +501,7 @@ DEF Cab2 Robot { controllerArgs "5555" } DEF environment Solid { + translation -1.80485 -1.42108e-14 -1.11554 scale 1.09819 1.09819 1.09819 children [ DEF PickUp1 BusStop { @@ -1781,3 +1782,6 @@ Floor { metalness 0 } } +WoodenBox { + translation -10.0739 0.3 -30.3994 +} From 0e0800646814ae41f4b75eb38c3e747b5e413a85 Mon Sep 17 00:00:00 2001 From: Yue Date: Thu, 16 Jul 2020 01:33:45 +0200 Subject: [PATCH 24/25] update --- external/controller/main | Bin 393104 -> 393304 bytes external/controller/src/.#main.adb# | 117 ++++++++++ external/controller/src/main.adb | 8 +- .../controller/src/path/.#path_following.adb# | 208 ++++++++++++++++++ .../controller/src/path/path_following.adb | 111 +++++++--- .../controller/src/path/path_following.ads | 4 +- webots/controllers/controller/controller | Bin 133496 -> 133496 bytes webots/controllers/controller/controller.cpp | 155 +------------ .../controller/robot_container.cpp | 31 ++- .../controller/robot_container.hpp | 6 +- webots/worlds/.cabservice.wbproj | 9 +- webots/worlds/cabservice.wbt | 39 ++-- 12 files changed, 476 insertions(+), 212 deletions(-) create mode 100644 external/controller/src/.#main.adb# create mode 100644 external/controller/src/path/.#path_following.adb# diff --git a/external/controller/main b/external/controller/main index dec64ad7367da1d2a0b124c6cb3775e28edd828a..5beb898bcf5d147d608a743555a213d1f90a46fc 100755 GIT binary patch delta 136056 zcmZ@>34Bb~_n-S1Nl0WNCW(;PV~>3e38E9FqJ-Eg6b*_{TWu2}YD6?Vyp*;=H+w@= z&?1(SZiK3)mWrh{5ld=otoeV>z3)w4-mm}o%-r|=o^#JV_uS>(d*{taE4Ab&`lb2# zn3kLPU${t2e*dm&@@3`Bg#uh zq6d{v3u+6!%)uhn@{tzh%ZwHJnepY*PytP9Dj#7{bz=V%E*aCns={`l+*s;g=l}C0 zv!>9>ls}TXRKN6Y?e#APXC3t$c4gqAg0I?l9sl)l*&)?upUWN<`rAH-?iYA{h1V9m zw&F#9+wt0o*Dky=@!E|S{q4c)8@%@8bpWq}czugk4qnIbqQ4V(eb28@%jO; zAMyGbuV3&wgBSj6rgM1z6|dj$`W>%)y#B!JGG15kqQ5^yV!EoP*VObn(wpk_-$-xa z<-n^5uRD0%!|Og?|KRlyFZz3e*HeB)Z>}cOb0jZKSz{`$WNeE(ppr#)t>nite~8SWpCzC5u&}Z6 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zQSXi$YA5{S#rgQ(xaT%{w?x@jJK1B?j;s22pks|*AZXw2WRK11SC)vhFLxR`fKq<- zZjH1rby_=sX7hP)`-3u`_IR3h{OXlOs7UI2!Ap#c!)`ThDb2p%-5QmIb9=lom3A^; z(EjtXJzh(}J0jXp%ZpwQ-&*Q((YqyR-wS1r(KJ`X)jvpr*yB{%!EmH~O;jwuRO_O5 zYl|e*6n;(AC9ii2`?82Mnx#+eBcxZmfo4uQ0^#OEX-vcC9{fdkl@d z;>ATicT%tgKFt<4IKofsuXxcdV!si*kak@0(ppUPjO6rn%=KJs)7Z#w&k1tBmiuo} CLPZk* diff --git a/external/controller/src/.#main.adb# b/external/controller/src/.#main.adb# new file mode 100644 index 0000000..4a45a1d --- /dev/null +++ b/external/controller/src/.#main.adb# @@ -0,0 +1,117 @@ +with Ada.Text_IO; use Ada.Text_IO; + + +with Tcp_Client; +with Backend_Thread; +with Webots_Thread; +with Types; use Types; +with Mailbox; +with Messages; use Messages; +with Byte_Buffer; +with Path_Following; +with collision_detection; + +procedure Main is + + task webots_task; + task backend_task; + + task body webots_task is + begin + Webots_Thread.Main; + end webots_task; + + task body backend_task is + begin + Backend_Thread.Main; + end backend_task; + + Current_Mail : Mailbox.Mail; + alternator : Types.Uint8 := 1; + + DS_Data : Messages.Distance_Sensor_Array := (others => 1000.0); + + V : Messages.Velocity_Message; + V_old : Messages.Velocity_Message; + -- D : Messages.Distance_Sensor_ Out_Buffer : Byte_Buffer.Buffer; + + --current_packet : types.Communication_Packet; + --send_packet_path_following : types.Communication_Packet; + --send_packet_collision_avoidance : types.Communication_Packet; + --dist: types.Octets_8; + -- distance_sensor_data: collision_detection.Dtype; + is_object_collision: Boolean := False; +begin + + V_old := Messages.Velocity_Message_Create (0.0, 0.0); + + -- threads have started here + while true loop + + -- clear out both mailboxes + Backend_Thread.Backend_Mailbox.Clear; + Webots_Thread.Webots_Mailbox.Clear; + + -- alternate between checking webots and backend mailbox first, then update alternator + Mailbox.check_mailbox (Backend_Thread.Backend_Mailbox, Webots_Thread.Webots_Mailbox, Current_Mail, alternator); + Mailbox.update_alternator (alternator); + + -- Put_Line (Current_Mail.Message.Id'Image); + + -- do calculations with current packet +-- <<<<<<< HEAD +-- --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); +-- +-- send_packet_path_following.payload_length := 0; +-- -- Path following +-- if current_packet.package_ID = 67 then +-- send_packet_path_following := pathfollowing.path_following(current_packet); +-- end if; +-- +-- -- Object collision +-- if current_packet.package_ID = 66 then +-- for J in uint32 range 0..8 loop +-- for I in uint32 range 0..7 loop +-- dist(I) := current_packet.local_payload(I+J*8); +-- end loop; +-- distance_sensor_data(Integer(J)) := Types.uint64_to_float64(octets_to_uint64(dist)); +-- end loop; +-- send_packet_collision_avoidance := detect(distance_sensor_data); +-- end if; +-- if send_packet_collision_avoidance.payload_length = 0 then +-- if send_packet_path_following.payload_length /= 0 then +-- send_bytes(Webots_Channel, send_packet_path_following); +-- end if; +-- else +-- send_bytes(Webots_Channel, send_packet_collision_avoidance); +-- ======= + if Current_Mail.Message.Id = Messages.EXTERNAL_IMAGE_DATA then + V := Path_Following.Main (Messages.ID_Message_Ptr (Current_Mail.Message), DS_Data); + --Out_Buffer.Write_Message (V); + --if (V_old.Left_Speed = V.Left_Speed) and (V_old.Right_Speed = V.Right_Speed) then + --if alternator = 1 then + -- V.Left_Speed := V.Left_Speed + 0.1; + -- V.Right_Speed := V.Right_Speed + 0.1; + -- else + -- V.Left_Speed := V.Left_Speed - 0.1; + -- V.Right_Speed := V.Right_Speed - 0.1; + -- end if; + -- end if; + -- V_old := V; + declare Out_Buffer : Byte_Buffer.Buffer; + begin + Out_Buffer.Write_Message(V); + Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); + end; + elsif Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then + DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; + end if; + + -- Out_Buffer.Write_Message (V); + -- Byte_Buffer.Buffer'Write (Webots_Thread.Webots_Channel, Out_Buffer); + -- Out_Buffer.Delete_Bytes (V.Size); + + + end loop; + +end Main; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index 6950d85..707eca8 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -30,6 +30,7 @@ procedure Main is alternator : Types.Uint8 := 1; DS_Data : Messages.Distance_Sensor_Array := (others => 1000.0); + LS_Data : Messages.Light_Sensor_Array := (others => 0.0); V : Messages.Velocity_Message; V_old : Messages.Velocity_Message; @@ -39,8 +40,8 @@ procedure Main is --send_packet_path_following : types.Communication_Packet; --send_packet_collision_avoidance : types.Communication_Packet; --dist: types.Octets_8; - --distance_sensor_data: collision_detection.Dtype; - --is_object_collision: Boolean := False; + -- distance_sensor_data: collision_detection.Dtype; + is_object_collision: Boolean := False; begin V_old := Messages.Velocity_Message_Create (0.0, 0.0); @@ -105,6 +106,9 @@ begin end; elsif Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; + elsif Current_Mail.Message.Id = Messages.EXTERNAL_LIGHT_SENSOR then + LS_Data := Messages.LS_Message_Ptr (Current_Mail.Message).Payload; + Put_Line (LS_Data(0)'Image); end if; -- Out_Buffer.Write_Message (V); diff --git a/external/controller/src/path/.#path_following.adb# b/external/controller/src/path/.#path_following.adb# new file mode 100644 index 0000000..548c3ce --- /dev/null +++ b/external/controller/src/path/.#path_following.adb# @@ -0,0 +1,208 @@ +package body Path_Following is + colour : Integer := 0; + r : Integer := 0; + g : Integer := 0; + b : Integer := 0; + + bottomPoint : Integer := 0; + --topPoint : Integer := 0; + --leftPoint : Integer := 0; + --rightPoint : Integer:= 0; + bottomPoint1 : Integer := 0; + white_Line : Integer := 0; + --topPoint1 : Integer := 0; + --leftPoint1 : Integer := 0; + --rightPoint1 : Integer:= 0; + --steeringAngle : float64 := 0.0; + + red : Colour_Matrix := (others => (others => 0)); + blue : Colour_Matrix := (others => (others => 0)); + green : Colour_Matrix := (others => (others => 0)); + grey : Colour_Matrix := (others => (others => 0)); + binaImage : Colour_Matrix := (others => (others => 0)); + + wheehlvelocity : Velocity_Array := (others => 0.0); + --axleTrack : float64 := 1.1; + basicVelocity : Float64 :=4.0 ; + --ratio : float64 := 8.0; + V_turn : Float64 := 0.0; + --offset : Integer := 32; + --Kp : float64 := 0.08; + --Ki : float64 :=0.08; + --Kd : float64 := 0.08; + --Error : float64 := 0.0; + --lastError : float64 := 0.0; + --integral : float64 := 0.0; + --derivative : float64 := 0.0; + + function Binarize (grey : in Colour_Matrix) return Colour_Matrix is + begin + + for I in Row_Index loop + for J in Column_Index loop + if grey (I)(J) > 150 then + binaImage (I)(J) := 255; + else + binaImage (I)(j) := 0; + end if; + --Put(uint8'Image (binaImage (I) (J))); + + end loop; + --Put_Line(""); + end loop; + return binaImage; + + end Binarize; + + function Find_Line (binarizedImage : in Colour_Matrix) return Integer is + begin + for J in Column_Index loop + if binaImage(Row_Index(height-5))(J) = 255 then + bottomPoint := Integer(J); + end if; + -- + end loop; + + for J in reverse Column_Index loop + if binaImage(Row_Index(height-5))(J) = 255 then + bottomPoint1 := Integer(J); + end if; + end loop; + + bottomPoint := (bottomPoint + bottomPoint1) / 2; + Put_Line(Integer'Image(bottomPoint)); + return bottomPoint; + + end Find_Line; + + + function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Messages.Distance_Sensor_Array) return Velocity_Array is + Velocity : Velocity_Array := (others => 0.0); + + steering_zones_size : Long_Float := Long_Float(width)/13.0; + + type steering_zones is array(1..13) of Long_Float; + + steering_zones_array : steering_zones; + + begin + + for I in steering_zones_array'Range loop + steering_zones_array(I) := Long_Float(I)*steering_zones_size; + end loop; + + + if whiteLine = 0 then + if d_sensor (6) < 500.0 then + V_turn := 1.0; + end if; + if d_sensor (3) < 500.0 then + V_turn := -1.0; + end if; + else + if Long_Float(whiteLine) < steering_zones_array(1) then + V_turn := -2.0; + elsif Long_Float(whiteLine) < steering_zones_array(2) then + V_turn := -1.5; + elsif Long_Float(whiteLine) < steering_zones_array(3) then + V_turn := -1.25; + elsif Long_Float(whiteLine) < steering_zones_array(4) then + V_turn := -0.75; + elsif Long_Float(whiteLine) < steering_zones_array(5) then + V_turn := -0.5; + elsif Long_Float(whiteLine) < steering_zones_array(6) then + V_turn := -0.25; + elsif Long_Float(whiteLine) < steering_zones_array(7) then-- straight + V_turn := 0.0; + elsif Long_Float(whiteLine) < steering_zones_array(8) then + V_turn := 0.255; + elsif Long_Float(whiteLine) < steering_zones_array(9) then + V_turn := 0.5; + elsif Long_Float(whiteLine) < steering_zones_array(10) then + V_turn := 0.75; + elsif Long_Float(whiteLine) < steering_zones_array(11) then + V_turn := 1.25; + elsif Long_Float(whiteLine) < steering_zones_array(12) then + V_turn := 1.5; + else + V_turn := 2.0; + end if; + end if; + + + + --if whiteLine >= 36 then + --V_turn := 3.6; + --elsif whiteLine <= 28 and whiteLine > 0 then + --V_turn := -3.6; + -- elsif whiteLine > 28 and whiteLine < 36 then + -- V_turn := 0.0; + -- elsif whiteLine = 0 then + -- if d_sensor (6) < 500.0 then + -- V_turn := 1.0; + -- end if; + -- if d_sensor (3) < 500.0 then + -- V_turn := -1.0; + -- end if; + -- end if; + + --Put_Line (d_sensor(3)'Image & ", " & d_sensor(6)'Image); + --Put_Line (V_turn'Image); + --turn right + + if V_turn > 0.0 then + Velocity (0) := basicVelocity + V_turn; + Velocity (1) := basicVelocity - V_turn; + --turn left + elsif V_turn < 0.0 then + Velocity (0) := basicVelocity + V_turn; + Velocity (1) := basicVelocity - V_turn; + else + Velocity (0) := basicVelocity; + Velocity (1) := basicVelocity; + end if; + Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); + + Put_Line ("front_ds: " & d_sensor(2)'Image); + + if d_sensor (2) < 300.0 then + Velocity (0) := 1.0; + Velocity (1) := -1.0; + end if; + + return Velocity; + + end Wheel_Velocity; + + function Main (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Messages.Distance_Sensor_Array) return Messages.Velocity_Message is + Index : Image_Index := 0; + Velocity : Velocity_Array; + begin + --grayscale Image + for I in Row_Index loop + for J in Column_Index loop + Index := Image_Index(4 * (Integer(I) * width + Integer(J))); + blue (I) (J) := Data_Input.Payload (Types.Uint32(Index)); + green (I) (J) := Data_Input.Payload (Types.Uint32(Index + 1)); + red (I) (J) := Data_Input.Payload (Types.Uint32(Index + 2)); + colour := Integer(blue (I) (J)) * 114/1000 + Integer(green (I) (J)) * 587/1000 + Integer(red (I) (J)) * 299/1000; + grey (I) (J) := uint8(colour); + end loop; + end loop; + + --Binarized + binaImage := Binarize (grey); + --findLine + white_Line := Find_Line (binaImage); + --wheelvelocity calculate + Velocity := Wheel_Velocity (white_Line, d_sensor); + + declare + Message : Messages.Velocity_Message := + Messages.Velocity_Message_Create (Velocity (0), Velocity (1)); + begin + return Message; + end; + end Main; + +end Path_Following; diff --git a/external/controller/src/path/path_following.adb b/external/controller/src/path/path_following.adb index 5774e4f..e0471df 100644 --- a/external/controller/src/path/path_following.adb +++ b/external/controller/src/path/path_following.adb @@ -40,7 +40,7 @@ package body Path_Following is for I in Row_Index loop for J in Column_Index loop - if grey (I)(J) > 100 then + if grey (I)(J) > 160 then binaImage (I)(J) := 255; else binaImage (I)(j) := 0; @@ -55,26 +55,87 @@ package body Path_Following is end Binarize; function Find_Line (binarizedImage : in Colour_Matrix) return Integer is + + pick_up_location_reached : Boolean := False; + begin for J in Column_Index loop - if binaImage(Row_Index(height-5))(J) = 255 then + --if binaImage(Row_Index(height-5))(J) = 255 then + if binaImage(Row_Index(height-1))(J) = 255 then bottomPoint := Integer(J); end if; - -- end loop; for J in reverse Column_Index loop - if binaImage(Row_Index(height-5))(J) = 255 then + --if binaImage(Row_Index(height-5))(J) = 255 then + if binaImage(Row_Index(height-1))(J) = 255 then bottomPoint1 := Integer(J); end if; end loop; + --Put_Line("BottomPoint: " & Integer'Image(bottomPoint)); + --Put_Line("BottomPoint1: " & Integer'Image(bottomPoint1)); + -- check for fork here + if bottomPoint /= 0 or bottomPoint1 /= 0 then + --Put_Line("Checking for Fork."); + Check_For_Fork(pick_up_location_reached,bottomPoint,bottomPoint1); + end if; + bottomPoint := (bottomPoint + bottomPoint1) / 2; - Put_Line(Integer'Image(bottomPoint)); + --Put_Line("MiddlePoint: " & Integer'Image(bottomPoint)); return bottomPoint; end Find_Line; + procedure Check_For_Fork (pick_up_location_reached : in Boolean; bottomPoint : in out Integer; bottomPoint1 : in out Integer ) is + + old_value : Integer; + + begin + + -- current assumption: bottomPoint: right, bottomPoint1: left + -- careful: bottomPoint might be right point and bottomPoint1 might be the left point + + -- save old value + if pick_up_location_reached = True then + old_value := bottomPoint1; + -- check right side + for J in reverse Integer range bottomPoint1..bottomPoint loop + --Put_Line(Integer'Image(J) & ": " & Integer'Image(Integer(binaImage(Row_Index(height-5))(Column_Index(J))))); + -- if black pixel found, update bottomPoint + if binaImage(Row_Index(height-5))(Column_Index(J)) /= 255 then + bottomPoint1 := Integer(J) + 1; + --Put_Line("Fork detected."); + --Put_Line("Trying to go right."); + --Put_Line("old_value: " & Integer'Image(old_value)); + --Put_Line("new bottomPoint1: " & Integer'Image(bottomPoint1)); + end if; + + -- if the value changed then exit + exit when old_value /= bottomPoint1; + end loop; + else + + old_value := bottomPoint; + -- check left side + for J in Integer range bottomPoint1..bottomPoint loop + + -- if black pixel found, update bottomPoint1 + if binaImage(Row_Index(height-5))(Column_Index(J)) /= 255 then + bottomPoint := Integer(J) - 1; + --Put_Line("Fork detected."); + --Put_Line("Trying to go left."); + --Put_Line("old_value: " & Integer'Image(old_value)); + --Put_Line("new bottomPoint1: " & Integer'Image(bottomPoint)); + end if; + + -- if the value changed then exit + exit when old_value /= bottomPoint; + end loop; + end if; + + end Check_For_Fork; + function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Messages.Distance_Sensor_Array) return Velocity_Array is Velocity : Velocity_Array := (others => 0.0); @@ -101,40 +162,32 @@ package body Path_Following is end if; else if Long_Float(whiteLine) < steering_zones_array(1) then - V_turn := -3.0; - elsif Long_Float(whiteLine) < steering_zones_array(2) then V_turn := -2.5; + elsif Long_Float(whiteLine) < steering_zones_array(2) then + V_turn := -2.0; elsif Long_Float(whiteLine) < steering_zones_array(3) then V_turn := -1.75; elsif Long_Float(whiteLine) < steering_zones_array(4) then - V_turn := -0.75; + V_turn := -1.25; elsif Long_Float(whiteLine) < steering_zones_array(5) then - V_turn := -0.5; + V_turn := -0.75; elsif Long_Float(whiteLine) < steering_zones_array(6) then - V_turn := -0.25; + V_turn := -0.5; elsif Long_Float(whiteLine) < steering_zones_array(7) then-- straight V_turn := 0.0; elsif Long_Float(whiteLine) < steering_zones_array(8) then - V_turn := 0.255; - elsif Long_Float(whiteLine) < steering_zones_array(9) then V_turn := 0.5; - elsif Long_Float(whiteLine) < steering_zones_array(10) then + elsif Long_Float(whiteLine) < steering_zones_array(9) then V_turn := 0.75; + elsif Long_Float(whiteLine) < steering_zones_array(10) then + V_turn := 1.25; elsif Long_Float(whiteLine) < steering_zones_array(11) then V_turn := 1.75; elsif Long_Float(whiteLine) < steering_zones_array(12) then - V_turn := 2.5; + V_turn := 2.0; else - V_turn := 3.0; + V_turn := 2.5; end if; - --if whiteLine >= 36 then - --V_turn := 3.6; - --elsif whiteLine <= 28 and whiteLine > 0 then - --V_turn := -3.6; - --elsif whiteLine > 28 and whiteLine < 36 then - --V_turn := 0.0; - --end if; - end if; @@ -155,7 +208,7 @@ package body Path_Following is -- end if; --Put_Line (d_sensor(3)'Image & ", " & d_sensor(6)'Image); - Put_Line (V_turn'Image); + --Put_Line (V_turn'Image); --turn right if V_turn > 0.0 then @@ -169,15 +222,9 @@ package body Path_Following is Velocity (0) := basicVelocity; Velocity (1) := basicVelocity; end if; - Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); - - Put_Line ("front_ds: " & d_sensor(2)'Image); - - if d_sensor (2) < 300.0 then - Velocity (0) := 1.0; - Velocity (1) := -1.0; - end if; + --Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); + --Put_Line ("front_ds: " & d_sensor(2)'Image); return Velocity; end Wheel_Velocity; diff --git a/external/controller/src/path/path_following.ads b/external/controller/src/path/path_following.ads index 4adc158..dff344b 100644 --- a/external/controller/src/path/path_following.ads +++ b/external/controller/src/path/path_following.ads @@ -8,7 +8,8 @@ with Messages; package Path_Following is width : constant Integer := 64; - height : constant Integer := 64; + --height : constant Integer := 64; + height : constant Integer := 5; size : constant Integer := width * height * 4; type Pixel is array(0 .. 3) of uint8; @@ -27,5 +28,6 @@ package Path_Following is function Find_Line (binarizedImage : in Colour_Matrix) return Integer; function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Messages.Distance_Sensor_Array) return Velocity_Array; + procedure Check_For_Fork (pick_up_location_reached : in Boolean; bottomPoint : in out Integer; bottomPoint1 : in out Integer ); end Path_Following; diff 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5caa929..6748bb3 100644 --- a/webots/controllers/controller/controller.cpp +++ b/webots/controllers/controller/controller.cpp @@ -14,162 +14,9 @@ int main(int argc, char **argv) return EXIT_FAILURE; } -// <<<<<<< HEAD - //setup server socket - // using boost::asio::ip::tcp; - // boost::asio::io_service io_service; - // tcp::socket client(io_service); - // try - // { - // tcp::acceptor acceptor(io_service, tcp::endpoint(tcp::v4(), std::atoi(argv[1]))); - // acceptor.accept(client); - // } - // catch(std::exception& e) - // { - // std::cerr << "Exception: " << e.what() << "\n"; - // return EXIT_FAILURE; - // } - - // Robot *robot = new Robot(); - - //get the time step of the current world. - // int timeStep = (int) robot->getBasicTimeStep(); - - //setup distance sensors - // std::cout << "setting up sensors" << std::endl; - // std::string ds_names[N_DISTANCE_SENSORS] = {"ds_fc", "ds_fcr", "ds_fr", "ds_rf", "ds_rc", "ds_lc", "ds_lf", "ds_fl", "ds_fcl"}; - // DistanceSensor *ds_sensors[N_DISTANCE_SENSORS]; - // for(int i = 0; igetDistanceSensor(ds_names[i]); - // ds_sensors[i]->enable(timeStep); - // } - - // setup light sensors - // std::string ls_names[N_LIGHT_SENSORS] = {"ls_front"}; - // LightSensor *ls_sensors[N_LIGHT_SENSORS]; - // for(int i = 0; igetLightSensor(ls_names[i]); - // ls_sensors[i]->enable(timeStep); - // } - - //setup camera - // Camera *camera = robot->getCamera("camera"); - // camera->enable(timeStep); - // int image_height = camera->getHeight(); - // int image_width = camera->getWidth(); - // int image_size = image_width * image_height * 4 * sizeof(unsigned char); - - //setup motors - // std::string m_names[4] = {"wheelFR", "wheelRR", "wheelRL", "wheelFL"}; - // Motor *m_motors[4]; - // for(int i = 0; i<4; i++) - // { - // m_motors[i] = robot->getMotor(m_names[i]); - // m_motors[i]->setPosition(INFINITY); - // m_motors[i]->setVelocity(0); - // } - // double left_speed = 0; - // double right_speed = 0; - - // buffer in; - // buffer_reader reader(in); - // buffer_writer writer(in); - // while (robot->step(timeStep) != -1) - // { - // read distance sensor data - // external_distance_sensor_message ds_msg; - // for(int i = 0; igetValue(); - // } - -// read light sensor data - // external_light_sensor_message ls_msg; - // for(int i = 0; igetValue(); - // } - - // read image data - // external_image_data_message img_msg; - // const unsigned char *image = camera->getImage(); - // std::vector vec(image, image + image_size); - // img_msg.pixel = vec; - - // try - // { - // buffer out; - // buffer_writer writer(out); - // writer << ds_msg ; - // std::size_t t = boost::asio::write(client, boost::asio::buffer(out)); - // } - // catch(std::exception& e) - // { - // std::cerr << "Exception: " << e.what() << std::endl; - // break; - // } - - // if(client.available() < 1) - // { - // continue; - // } - // std::array data; - // boost::system::error_code error; - // std::size_t length = client.read_some(boost::asio::buffer(data), error); - // if(error == boost::asio::error::eof) - // { - // break; - // } - // else if (error) - // { - // std::cerr << "Error: " << error << std::endl; - // break; - // } - - // for(std::size_t i = 0; i> vl_msg; - // right_speed = vl_msg.right_speed; - // left_speed = vl_msg.left_speed; - // std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; - // } - // catch(const std::runtime_error& e) - // { - // std::cerr << e.what() << '\n'; - // } - - // m_motors[0]->setVelocity(right_speed); - // m_motors[1]->setVelocity(right_speed); - // m_motors[2]->setVelocity(left_speed); - // m_motors[3]->setVelocity(left_speed); - // }; - - // for(int i = 0; i<4; i++) - // { - // m_motors[i]->setVelocity(0); - // } - -// Enter here exit cleanup code. - // client.close(); - // delete robot; -// ======= robot_container container; container.wait_for_connection(argv[1]); - container.setup_robot(); + container.setup_robot(8); container.run(); - return 0; } diff --git a/webots/controllers/controller/robot_container.cpp b/webots/controllers/controller/robot_container.cpp index eb82a78..a3b00f1 100644 --- a/webots/controllers/controller/robot_container.cpp +++ b/webots/controllers/controller/robot_container.cpp @@ -9,9 +9,11 @@ robot_container::robot_container() : _external(_io_service), _reader(_in), _writer(_in) { _basic_time_step = (int) _robot.getBasicTimeStep(); + _last = std::chrono::duration_cast + (std::chrono::system_clock::now().time_since_epoch()); } -void robot_container::setup_robot() +void robot_container::setup_robot(int n_images) { std::cout << "setting up distance sensors" << '\n'; std::vector ds_names = {"ds_fc", "ds_fcr", "ds_fr", "ds_rf", "ds_rc", @@ -32,9 +34,18 @@ void robot_container::setup_robot() std::cout << "setting up camera" << '\n'; _camera = _robot.getCamera("camera"); - _camera->enable(_basic_time_step); _image_size = _camera->getHeight() * _camera->getWidth() * 4 * sizeof(unsigned char); + // limiting the number if image messages send per second + // standart value is 10 + if((n_images * 16) > 1000 || n_images == -1) + { + n_images = 10; + } + // calculate wait time in milliseconds in steps of _basic_time_step + _wait_time = static_cast(1000 / (n_images * _basic_time_step)) * _basic_time_step; + std::cout << "wait time: " << _wait_time << '\n'; + std::cout << "setting up motor" << '\n'; std::vector m_names = {"wheelFR", "wheelRR", "wheelRL", "wheelFL"}; for(std::size_t i = 0; i + (std::chrono::system_clock::now().time_since_epoch()); + // turn on camera at least _basic_time_step millieconds before _wait_time + if((now - _last).count() > (_wait_time - (_basic_time_step + 4))){ + _camera->enable(_basic_time_step); + } + + if((now - _last).count() < _wait_time){ + return; + } + // std::cout << (now - _last).count() << '\n'; + const unsigned char *image = _camera->getImage(); std::vector vec(image, image + _image_size); external_image_data_message message; message.pixel = vec; writer << message; + + _last = now; + _camera->disable(); } void robot_container::run() @@ -140,7 +166,6 @@ void robot_container::run() _motors[2]->setVelocity(vl_msg.left_speed); _motors[3]->setVelocity(vl_msg.left_speed); std::cout << "recieved rs: " << vl_msg.right_speed << ", ls: " << vl_msg.left_speed << '\n'; - std::cout << "set rs: " << _motors[0]->getVelocity() << ", ls: " << _motors[2]->getVelocity() << '\n'; } catch(const std::exception& e) { diff --git a/webots/controllers/controller/robot_container.hpp b/webots/controllers/controller/robot_container.hpp index 5fe817a..894571d 100644 --- a/webots/controllers/controller/robot_container.hpp +++ b/webots/controllers/controller/robot_container.hpp @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -25,6 +26,9 @@ class robot_container std::array _light_sensors; webots::Camera *_camera; int _image_size; + int _wait_time; + + std::chrono::milliseconds _last; boost::asio::io_service _io_service; boost::asio::ip::tcp::socket _external; @@ -37,7 +41,7 @@ class robot_container void fill_image_data_message(buffer_writer& writer); public: robot_container(); - void setup_robot(); + void setup_robot(int n_images); int wait_for_connection(char *port); void run(); }; diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index 73eca74..e214542 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,5 +1,5 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd00000003000000000000020000000308fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000002000000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000200000002fbfc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002fb000000a200ffffff0000000300000738000000cbfc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff00000532000002fb00000004000000040000000100000008fc00000000 +perspectives: 000000ff00000000fd000000030000000000000236000003ccfc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000002360000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000200000002fbfc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002fb000000a200ffffff00000003000004fc000000cbfc0100000001fb0000000e0043006f006e0073006f006c0065010000023c000004fc0000005400ffffff000002f6000002fb00000004000000040000000100000008fc00000000 simulationViewPerspectives: 000000ff0000000100000002000001180000060b0100000006010000000101 sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 minimizedPerspectives: 000000ff00000000fd00000003000000000000016c00000469fc0200000001fb00000012005300630065006e006500540072006500650100000019000004690000018500ffffff000000010000022e0000036bfc0200000001fb0000001400540065007800740045006400690074006f007201000000190000036b000000ab00ffffff00000003000005cd000000f8fc0100000001fb0000000e0043006f006e0073006f006c00650100000172000005cd0000004e00ffffff000003990000036b00000004000000040000000100000008fc00000000 @@ -9,6 +9,7 @@ projectionMode: PERSPECTIVE selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 -textFiles: 0 "controllers/controller/controller.cpp" "../shared/buffer_reader.cpp" "../shared/buffer_writer.cpp" -globalOptionalRendering: DistanceSensorRays::CameraFrustums -renderingDevicePerspectives: Cab2:camera;1;3.2;0;0 +textFiles: 1 "controllers/controller/controller.cpp" "controllers/controller/robot_container.cpp" "../shared/buffer_writer.cpp" "../shared/buffer_reader.cpp" +robotWindow: Cab2 +globalOptionalRendering: DistanceSensorRays::CameraFrustums::LightSensorRays +renderingDevicePerspectives: Cab2:camera;1;6.4;0;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 01150a6..8c8ac75 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation -0.12999345844820634 0.9679236439620974 0.21500120981010715 1.6901476623869045 - position 39.485908187861 19.583802825808746 -28.36101590197844 + orientation -0.9531500668783005 -0.2979099264145855 -0.052484528706537074 0.9327618822535761 + position 48.81434146116777 10.326356252322716 11.352834117189145 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation 4.91052 0.398702 -32.0922 - rotation -0.0001548789968393237 0.9999999795926091 0.00012971999735275326 -1.229045307179586 + translation 53.1477 0.40013 -6.16024 + rotation -0.02123539995702098 0.9997744112822371 -0.0004293412647112401 -0.010949479688002072 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -36,11 +36,12 @@ DEF Cab2 Robot { density 1 } fieldOfView 0.75 + height 5 far 10 } DEF ls_f LightSensor { - translation 0 -0.19 1 - rotation 0 1 0 -1.57 + translation -0.209949 -0.17929 1.06091 + rotation -0.577197562004763 0.5771965620055218 0.57765656165646 -2.093935307179586 children [ Shape { appearance PBRAppearance { @@ -64,6 +65,9 @@ DEF Cab2 Robot { physics Physics { density 1 } + recognitionColors [ + 0 0 0 + ] lookupTable [ 0 0 0 5 1000 0 @@ -350,7 +354,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 1733.736964765539 + position 2470.1710685428375 anchor 0.55 -0.1 0.55 } device [ @@ -361,7 +365,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation -0.6085854300438158 0.6081009900195697 0.509742052685084 2.1981264146711905 + rotation 0.21560339969647083 -0.21543177725692292 -0.9524202451582218 4.664454766528894 children [ DEF wheel Shape { appearance PBRAppearance { @@ -383,7 +387,7 @@ DEF Cab2 Robot { } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 6407.099545312441 + position 7143.498755787596 anchor 0.55 -0.1 -0.7 } device [ @@ -394,7 +398,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation -0.609089495895868 0.6086046546302153 0.5085374719248856 2.200040523037505 + rotation 0.23274759381272836 -0.23256232442502214 -0.9443216204410528 4.655926859888109 children [ DEF wheel Shape { appearance PBRAppearance { @@ -416,7 +420,7 @@ DEF Cab2 Robot { } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 5794.712234104554 + position 6384.68660439792 anchor -0.55 -0.1 -0.7 } device [ @@ -427,7 +431,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0.5860475937623598 -0.5855810940788015 0.5600383916329507 2.11987842939071 + rotation 0.4229302582905978 -0.4225936016201163 0.8015888250792839 1.7893973702043697 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,7 +453,7 @@ DEF Cab2 Robot { } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 5794.706979565616 + position 6384.735319671028 anchor -0.55 -0.1 0.55 } device [ @@ -460,7 +464,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0.5850782144363221 -0.5846124863882998 0.5620602492179063 2.1168015617508615 + rotation 0.438674254029874 -0.4383250649829978 0.7844973143733408 1.8103864602074378 children [ DEF wheel Shape { appearance PBRAppearance { @@ -504,6 +508,11 @@ DEF environment Solid { translation -1.80485 -1.42108e-14 -1.11554 scale 1.09819 1.09819 1.09819 children [ + CeilingSpotLight { + translation 49.81 0.05 0 + rotation 0 0 1 3.14159 + spotLightIntensity 50 + } DEF PickUp1 BusStop { translation 0 0 -45 rotation 0 1 0 3.14159 @@ -687,7 +696,7 @@ DEF environment Solid { } } CurvedRoadSegment { - translation 33 0 -56 + translation 33 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xCtk8msez*Sy)he04HPF%JR-cn=BH7tl`|7q$#A=XekMKhz5HAlSKm~e^M5bKO*sGn diff --git a/external/controller/src/.#main.adb# b/external/controller/src/.#main.adb# index 4a45a1d..c76e790 100644 --- a/external/controller/src/.#main.adb# +++ b/external/controller/src/.#main.adb# @@ -26,11 +26,12 @@ procedure Main is Backend_Thread.Main; end backend_task; + Current_Mail : Mailbox.Mail; alternator : Types.Uint8 := 1; DS_Data : Messages.Distance_Sensor_Array := (others => 1000.0); - + LS_Data : Messages.Light_Sensor_Array := (others => 0.0); V : Messages.Velocity_Message; V_old : Messages.Velocity_Message; -- D : Messages.Distance_Sensor_ Out_Buffer : Byte_Buffer.Buffer; @@ -105,6 +106,9 @@ begin end; elsif Current_Mail.Message.Id = Messages.EXTERNAL_DISTANCE_SENSOR then DS_Data := Messages.DS_Message_Ptr (Current_Mail.Message).Payload; + --elsif Current_Mail.Message.Id = Messages.EXTERNAL_LIGHT_SENSOR then + --LS_Data := Messages.LS_Message_Ptr (Current_Mail.Message).Payload; + --Put_Line (LS_Data(0)'Image); end if; -- Out_Buffer.Write_Message (V); diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index 707eca8..245f824 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -26,12 +26,12 @@ procedure Main is Backend_Thread.Main; end backend_task; + Current_Mail : Mailbox.Mail; alternator : Types.Uint8 := 1; DS_Data : Messages.Distance_Sensor_Array := (others => 1000.0); LS_Data : Messages.Light_Sensor_Array := (others => 0.0); - V : Messages.Velocity_Message; V_old : Messages.Velocity_Message; -- D : Messages.Distance_Sensor_ Out_Buffer : Byte_Buffer.Buffer; diff --git a/external/controller/src/path/.#path_following.adb# b/external/controller/src/path/.#path_following.adb# deleted file mode 100644 index 548c3ce..0000000 --- a/external/controller/src/path/.#path_following.adb# +++ /dev/null @@ -1,208 +0,0 @@ -package body Path_Following is - colour : Integer := 0; - r : Integer := 0; - g : Integer := 0; - b : Integer := 0; - - bottomPoint : Integer := 0; - --topPoint : Integer := 0; - --leftPoint : Integer := 0; - --rightPoint : Integer:= 0; - bottomPoint1 : Integer := 0; - white_Line : Integer := 0; - --topPoint1 : Integer := 0; - --leftPoint1 : Integer := 0; - --rightPoint1 : Integer:= 0; - --steeringAngle : float64 := 0.0; - - red : Colour_Matrix := (others => (others => 0)); - blue : Colour_Matrix := (others => (others => 0)); - green : Colour_Matrix := (others => (others => 0)); - grey : Colour_Matrix := (others => (others => 0)); - binaImage : Colour_Matrix := (others => (others => 0)); - - wheehlvelocity : Velocity_Array := (others => 0.0); - --axleTrack : float64 := 1.1; - basicVelocity : Float64 :=4.0 ; - --ratio : float64 := 8.0; - V_turn : Float64 := 0.0; - --offset : Integer := 32; - --Kp : float64 := 0.08; - --Ki : float64 :=0.08; - --Kd : float64 := 0.08; - --Error : float64 := 0.0; - --lastError : float64 := 0.0; - --integral : float64 := 0.0; - --derivative : float64 := 0.0; - - function Binarize (grey : in Colour_Matrix) return Colour_Matrix is - begin - - for I in Row_Index loop - for J in Column_Index loop - if grey (I)(J) > 150 then - binaImage (I)(J) := 255; - else - binaImage (I)(j) := 0; - end if; - --Put(uint8'Image (binaImage (I) (J))); - - end loop; - --Put_Line(""); - end loop; - return binaImage; - - end Binarize; - - function Find_Line (binarizedImage : in Colour_Matrix) return Integer is - begin - for J in Column_Index loop - if binaImage(Row_Index(height-5))(J) = 255 then - bottomPoint := Integer(J); - end if; - -- - end loop; - - for J in reverse Column_Index loop - if binaImage(Row_Index(height-5))(J) = 255 then - bottomPoint1 := Integer(J); - end if; - end loop; - - bottomPoint := (bottomPoint + bottomPoint1) / 2; - Put_Line(Integer'Image(bottomPoint)); - return bottomPoint; - - end Find_Line; - - - function Wheel_Velocity (whiteLine : in Integer; d_sensor : in Messages.Distance_Sensor_Array) return Velocity_Array is - Velocity : Velocity_Array := (others => 0.0); - - steering_zones_size : Long_Float := Long_Float(width)/13.0; - - type steering_zones is array(1..13) of Long_Float; - - steering_zones_array : steering_zones; - - begin - - for I in steering_zones_array'Range loop - steering_zones_array(I) := Long_Float(I)*steering_zones_size; - end loop; - - - if whiteLine = 0 then - if d_sensor (6) < 500.0 then - V_turn := 1.0; - end if; - if d_sensor (3) < 500.0 then - V_turn := -1.0; - end if; - else - if Long_Float(whiteLine) < steering_zones_array(1) then - V_turn := -2.0; - elsif Long_Float(whiteLine) < steering_zones_array(2) then - V_turn := -1.5; - elsif Long_Float(whiteLine) < steering_zones_array(3) then - V_turn := -1.25; - elsif Long_Float(whiteLine) < steering_zones_array(4) then - V_turn := -0.75; - elsif Long_Float(whiteLine) < steering_zones_array(5) then - V_turn := -0.5; - elsif Long_Float(whiteLine) < steering_zones_array(6) then - V_turn := -0.25; - elsif Long_Float(whiteLine) < steering_zones_array(7) then-- straight - V_turn := 0.0; - elsif Long_Float(whiteLine) < steering_zones_array(8) then - V_turn := 0.255; - elsif Long_Float(whiteLine) < steering_zones_array(9) then - V_turn := 0.5; - elsif Long_Float(whiteLine) < steering_zones_array(10) then - V_turn := 0.75; - elsif Long_Float(whiteLine) < steering_zones_array(11) then - V_turn := 1.25; - elsif Long_Float(whiteLine) < steering_zones_array(12) then - V_turn := 1.5; - else - V_turn := 2.0; - end if; - end if; - - - - --if whiteLine >= 36 then - --V_turn := 3.6; - --elsif whiteLine <= 28 and whiteLine > 0 then - --V_turn := -3.6; - -- elsif whiteLine > 28 and whiteLine < 36 then - -- V_turn := 0.0; - -- elsif whiteLine = 0 then - -- if d_sensor (6) < 500.0 then - -- V_turn := 1.0; - -- end if; - -- if d_sensor (3) < 500.0 then - -- V_turn := -1.0; - -- end if; - -- end if; - - --Put_Line (d_sensor(3)'Image & ", " & d_sensor(6)'Image); - --Put_Line (V_turn'Image); - --turn right - - if V_turn > 0.0 then - Velocity (0) := basicVelocity + V_turn; - Velocity (1) := basicVelocity - V_turn; - --turn left - elsif V_turn < 0.0 then - Velocity (0) := basicVelocity + V_turn; - Velocity (1) := basicVelocity - V_turn; - else - Velocity (0) := basicVelocity; - Velocity (1) := basicVelocity; - end if; - Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); - - Put_Line ("front_ds: " & d_sensor(2)'Image); - - if d_sensor (2) < 300.0 then - Velocity (0) := 1.0; - Velocity (1) := -1.0; - end if; - - return Velocity; - - end Wheel_Velocity; - - function Main (Data_Input : in Messages.ID_Message_Ptr; d_sensor : in Messages.Distance_Sensor_Array) return Messages.Velocity_Message is - Index : Image_Index := 0; - Velocity : Velocity_Array; - begin - --grayscale Image - for I in Row_Index loop - for J in Column_Index loop - Index := Image_Index(4 * (Integer(I) * width + Integer(J))); - blue (I) (J) := Data_Input.Payload (Types.Uint32(Index)); - green (I) (J) := Data_Input.Payload (Types.Uint32(Index + 1)); - red (I) (J) := Data_Input.Payload (Types.Uint32(Index + 2)); - colour := Integer(blue (I) (J)) * 114/1000 + Integer(green (I) (J)) * 587/1000 + Integer(red (I) (J)) * 299/1000; - grey (I) (J) := uint8(colour); - end loop; - end loop; - - --Binarized - binaImage := Binarize (grey); - --findLine - white_Line := Find_Line (binaImage); - --wheelvelocity calculate - Velocity := Wheel_Velocity (white_Line, d_sensor); - - declare - Message : Messages.Velocity_Message := - Messages.Velocity_Message_Create (Velocity (0), Velocity (1)); - begin - return Message; - end; - end Main; - -end Path_Following; diff --git a/external/controller/src/path/path_following.adb b/external/controller/src/path/path_following.adb index e0471df..8cd04d0 100644 --- a/external/controller/src/path/path_following.adb +++ b/external/controller/src/path/path_following.adb @@ -40,7 +40,7 @@ package body Path_Following is for I in Row_Index loop for J in Column_Index loop - if grey (I)(J) > 160 then + if grey (I)(J) > 150 then binaImage (I)(J) := 255; else binaImage (I)(j) := 0; @@ -55,34 +55,22 @@ package body Path_Following is end Binarize; function Find_Line (binarizedImage : in Colour_Matrix) return Integer is - - pick_up_location_reached : Boolean := False; - begin for J in Column_Index loop - --if binaImage(Row_Index(height-5))(J) = 255 then - if binaImage(Row_Index(height-1))(J) = 255 then + if binaImage(Row_Index(height-5))(J) = 255 then bottomPoint := Integer(J); end if; + -- end loop; for J in reverse Column_Index loop - --if binaImage(Row_Index(height-5))(J) = 255 then - if binaImage(Row_Index(height-1))(J) = 255 then + if binaImage(Row_Index(height-5))(J) = 255 then bottomPoint1 := Integer(J); end if; end loop; - --Put_Line("BottomPoint: " & Integer'Image(bottomPoint)); - --Put_Line("BottomPoint1: " & Integer'Image(bottomPoint1)); - -- check for fork here - if bottomPoint /= 0 or bottomPoint1 /= 0 then - --Put_Line("Checking for Fork."); - Check_For_Fork(pick_up_location_reached,bottomPoint,bottomPoint1); - end if; - bottomPoint := (bottomPoint + bottomPoint1) / 2; - --Put_Line("MiddlePoint: " & Integer'Image(bottomPoint)); + Put_Line(Integer'Image(bottomPoint)); return bottomPoint; end Find_Line; @@ -162,31 +150,31 @@ package body Path_Following is end if; else if Long_Float(whiteLine) < steering_zones_array(1) then - V_turn := -2.5; - elsif Long_Float(whiteLine) < steering_zones_array(2) then V_turn := -2.0; + elsif Long_Float(whiteLine) < steering_zones_array(2) then + V_turn := -1.5; elsif Long_Float(whiteLine) < steering_zones_array(3) then - V_turn := -1.75; - elsif Long_Float(whiteLine) < steering_zones_array(4) then V_turn := -1.25; - elsif Long_Float(whiteLine) < steering_zones_array(5) then + elsif Long_Float(whiteLine) < steering_zones_array(4) then V_turn := -0.75; - elsif Long_Float(whiteLine) < steering_zones_array(6) then + elsif Long_Float(whiteLine) < steering_zones_array(5) then V_turn := -0.5; + elsif Long_Float(whiteLine) < steering_zones_array(6) then + V_turn := -0.25; elsif Long_Float(whiteLine) < steering_zones_array(7) then-- straight V_turn := 0.0; elsif Long_Float(whiteLine) < steering_zones_array(8) then - V_turn := 0.5; + V_turn := 0.255; elsif Long_Float(whiteLine) < steering_zones_array(9) then - V_turn := 0.75; + V_turn := 0.5; elsif Long_Float(whiteLine) < steering_zones_array(10) then - V_turn := 1.25; + V_turn := 0.75; elsif Long_Float(whiteLine) < steering_zones_array(11) then - V_turn := 1.75; + V_turn := 1.25; elsif Long_Float(whiteLine) < steering_zones_array(12) then - V_turn := 2.0; + V_turn := 1.5; else - V_turn := 2.5; + V_turn := 2.0; end if; end if; @@ -222,9 +210,15 @@ package body Path_Following is Velocity (0) := basicVelocity; Velocity (1) := basicVelocity; end if; - --Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); + Put_Line (Velocity (0)'Image & ", " & Velocity (1)'Image); + + Put_Line ("front_ds: " & d_sensor(2)'Image); + + if d_sensor (2) < 300.0 then + Velocity (0) := 1.0; + Velocity (1) := -1.0; + end if; - --Put_Line ("front_ds: " & d_sensor(2)'Image); return Velocity; end Wheel_Velocity; diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index e214542..815d01a 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,7 +1,7 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd000000030000000000000236000003ccfc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000002360000005400fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff0000000100000200000002fbfc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002fb000000a200ffffff00000003000004fc000000cbfc0100000001fb0000000e0043006f006e0073006f006c0065010000023c000004fc0000005400ffffff000002f6000002fb00000004000000040000000100000008fc00000000 -simulationViewPerspectives: 000000ff0000000100000002000001180000060b0100000006010000000101 -sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 +perspectives: 000000ff00000000fd00000003000000000000022300000294fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000002230000006900fffffffb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000147000000a80000006900ffffff00000001000000750000024bfc0200000001fb0000001400540065007800740045006400690074006f007201000000160000024b0000008900ffffff00000003000002e900000047fc0100000001fb0000000e0043006f006e0073006f006c00650100000225000002e90000006900ffffff000002720000024b00000004000000040000000100000008fc00000000 +simulationViewPerspectives: 000000ff0000000100000002000000fa000001d60100000002010000000101 +sceneTreePerspectives: 000000ff000000010000000200000114000000fa0100000002010000000201 minimizedPerspectives: 000000ff00000000fd00000003000000000000016c00000469fc0200000001fb00000012005300630065006e006500540072006500650100000019000004690000018500ffffff000000010000022e0000036bfc0200000001fb0000001400540065007800740045006400690074006f007201000000190000036b000000ab00ffffff00000003000005cd000000f8fc0100000001fb0000000e0043006f006e0073006f006c00650100000172000005cd0000004e00ffffff000003990000036b00000004000000040000000100000008fc00000000 maximizedDockId: -1 centralWidgetVisible: 1 @@ -11,5 +11,5 @@ viewpointLocked: 0 orthographicViewHeight: 1 textFiles: 1 "controllers/controller/controller.cpp" "controllers/controller/robot_container.cpp" "../shared/buffer_writer.cpp" "../shared/buffer_reader.cpp" robotWindow: Cab2 -globalOptionalRendering: DistanceSensorRays::CameraFrustums::LightSensorRays -renderingDevicePerspectives: Cab2:camera;1;6.4;0;0 +globalOptionalRendering: LightSensorRays +renderingDevicePerspectives: Cab2:camera;1;5.84375;0;0 diff --git a/webots/worlds/cabservice.wbt b/webots/worlds/cabservice.wbt index 8c8ac75..6d8135a 100644 --- a/webots/worlds/cabservice.wbt +++ b/webots/worlds/cabservice.wbt @@ -3,16 +3,16 @@ WorldInfo { basicTimeStep 16 } Viewpoint { - orientation -0.9531500668783005 -0.2979099264145855 -0.052484528706537074 0.9327618822535761 - position 48.81434146116777 10.326356252322716 11.352834117189145 + orientation -0.2289060383911112 -0.9726738869847278 0.03882699017575833 0.6725048978222644 + position 48.153231191329446 4.322658598687687 9.342321704473504 } TexturedBackground { luminosity 2 reflections FALSE } DEF Cab2 Robot { - translation 53.1477 0.40013 -6.16024 - rotation -0.02123539995702098 0.9997744112822371 -0.0004293412647112401 -0.010949479688002072 + translation 53.08639034074971 0.39866977221676086 0.8210340586980484 + rotation -0.10807059688532915 0.9941430869624803 0.0005183951765051135 -0.0021523730941073976 children [ DEF cam_f Camera { translation 0 0.1 1 @@ -40,8 +40,8 @@ DEF Cab2 Robot { far 10 } DEF ls_f LightSensor { - translation -0.209949 -0.17929 1.06091 - rotation -0.577197562004763 0.5771965620055218 0.57765656165646 -2.093935307179586 + translation -0.530812 0.00071 -0.018814 + rotation 0.00028104690193075005 0.7071067532602977 0.7071067532602977 -3.141025307179586 children [ Shape { appearance PBRAppearance { @@ -65,13 +65,11 @@ DEF Cab2 Robot { physics Physics { density 1 } - recognitionColors [ - 0 0 0 - ] lookupTable [ 0 0 0 5 1000 0 ] + occlusion TRUE } DEF ds_fl DistanceSensor { translation 0.45 0.2 1 @@ -354,7 +352,7 @@ DEF Cab2 Robot { } DEF wheelFL HingeJoint { jointParameters HingeJointParameters { - position 2470.1710685428375 + position 2518.487501985725 anchor 0.55 -0.1 0.55 } device [ @@ -365,7 +363,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFL Solid { translation 0.55 -0.1 0.55 - rotation 0.21560339969647083 -0.21543177725692292 -0.9524202451582218 4.664454766528894 + rotation 0.681671629554792 -0.6811290121925502 -0.26718356650384645 3.6641597931520367 children [ DEF wheel Shape { appearance PBRAppearance { @@ -383,11 +381,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.002558085006116612 9.343365705307473e-06 1.2000306854532534 + angularVelocity 4.000010185305242 -1.546534534814798e-05 0.008578616312256388 } } DEF wheelRL HingeJoint { jointParameters HingeJointParameters { - position 7143.498755787596 + position 7191.815090854546 anchor 0.55 -0.1 -0.7 } device [ @@ -398,7 +398,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRL Solid { translation 0.55 -0.1 -0.7 - rotation 0.23274759381272836 -0.23256232442502214 -0.9443216204410528 4.655926859888109 + rotation 0.6843210583879725 -0.6837763320541612 -0.25328761669162264 3.6381128441835404 children [ DEF wheel Shape { appearance PBRAppearance { @@ -416,11 +416,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.002595415940324201 1.2645332829935152e-05 1.200018827050314 + angularVelocity 4.0000027330992225 1.701503893577195e-07 0.008572911913928862 } } DEF wheelRR HingeJoint { jointParameters HingeJointParameters { - position 6384.68660439792 + position 6438.8981917884885 anchor -0.55 -0.1 -0.7 } device [ @@ -431,7 +433,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelRR Solid { translation -0.55 -0.1 -0.7 - rotation 0.4229302582905978 -0.4225936016201163 0.8015888250792839 1.7893973702043697 + rotation 0.5341966638964049 -0.5337714380660853 -0.6555318269823479 4.302831410861123 children [ DEF wheel Shape { appearance PBRAppearance { @@ -449,11 +451,13 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.002594943808660431 -9.089326171472544e-06 1.199976485655985 + angularVelocity 3.9999825657958987 -5.552929463861547e-06 0.008574669039919665 } } DEF wheelFR HingeJoint { jointParameters HingeJointParameters { - position 6384.735319671028 + position 6438.946806065444 anchor -0.55 -0.1 0.55 } device [ @@ -464,7 +468,7 @@ DEF Cab2 Robot { ] endPoint DEF wheelFR Solid { translation -0.55 -0.1 0.55 - rotation 0.438674254029874 -0.4383250649829978 0.7844973143733408 1.8103864602074378 + rotation 0.5225397848190402 -0.5221238379798098 -0.6740466386641986 4.328519770256892 children [ DEF wheel Shape { appearance PBRAppearance { @@ -482,6 +486,8 @@ DEF Cab2 Robot { physics DEF physics_wheel Physics { density 10 } + linearVelocity -0.002544193729947055 -1.2392089133500373e-05 1.1999686227246273 + angularVelocity 3.999978497971207 -2.471777788141304e-05 0.008582604289942205 } } DEF car_body Shape { @@ -503,14 +509,16 @@ DEF Cab2 Robot { ] controller "controller" controllerArgs "5555" + linearVelocity -0.0025754723462867125 -7.765371970748067e-08 1.1999989678026008 + angularVelocity 2.651440975901488e-06 -3.897144445785283e-06 2.0150630291104718e-05 } DEF environment Solid { translation -1.80485 -1.42108e-14 -1.11554 scale 1.09819 1.09819 1.09819 children [ CeilingSpotLight { - translation 49.81 0.05 0 - rotation 0 0 1 3.14159 + translation 46.67 0.520008 0 + rotation 0 0 -1 -1.5707953071795862 spotLightIntensity 50 } DEF PickUp1 BusStop {

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zr~32qnQ6wkL$mU(fyb&^#PwIJAf)y7uLKP1>%sib(1iFF%_}a~xwxl|=fBO@nl;K( z%ozQLeWd$uAz->ptnmZd(CpR +X 9 a-reatim.ads +39K13*Real_Time 185e18 55|6w10 6r29 56|101r32 +49O9*Time +61V13*Clock{49O9} 56|101s42 +X 10 a-stream.ads +36K13*Streams 87e16 55|2w10 2r27 +X 12 a-textio.ads +49K13*Text_IO 471e16 55|3w10 3r27 +X 15 byte_buffer.ads +4K9*byte_buffer 33e16 55|4w6 20r112 22r77 24r51 56|51r111 70r77 80r7 84r7 +. 92r51 +11R9*Buffer 14e14 55|20r124 22r89 24r63 56|51r123 70r89 92r63 +16U14*write_uint8 56|60s25 +22U14*read_uint8 56|84s19 104s28 +24U14*read_uint32 56|80s19 +X 16 gnat.ads +34K9*GNAT 57e9 55|1r6 1r24 56|10r7 +X 17 g-socket.ads +55K14*Sockets 1472e17 55|1w11 1r29 56|10r12 +379U14*Initialize 56|10s20 +412I9*Socket_Type 55|16r48 56|6r48 +492I9*Port_Type 55|16r68 56|6r68 +597R9*Sock_Addr_Type 600e14 55|16r96 56|6r96 +598r7*Addr{517R9} 56|15m15 +599i7*Port{492I9} 56|17m15 +623V13*Inet_Addr{517R9} 56|15s23 +1008U14*Create_Socket 56|12s7 +1049U14*Connect_Socket 56|19s7 +1213P9*Stream_Access(10|39R9) 55|16r119 18r42 20r41 22r38 56|6r119 26r42 +. 51r40 70r38 +1216V13*Stream{1213P9} 56|21s14 +X 18 interfac.ads +63M9*Unsigned_8 +74M9*Unsigned_32 +X 21 mailbox.ads +4K9*mailbox 24e12 55|7w6 7r19 22r120 24r151 56|70r120 92r151 +8W19*Mailbox 16e15 55|22r128 24r159 56|70r128 92r159 +9U17 Clear 56|107s24 +10Y13 Deposit 56|108s24 +X 39 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 55 tcp_client.ads +9K9*tcp_client 26l5 26e15 56|3b14 114l5 114t15 +12m4*protocol_package_length{57|8M9} 56|79r51 +13m4*protocol_ID_length{57|8M9} 56|83r51 +14m4*protocol_join_ID{57|6M9} +16V13*build_connection{17|1213P9} 16=32 16>61 16=79 56|6b13 23l8 23t24 +16i32 client{17|412I9} 56|6b32 12m22 19r23 21r21 +16i61 port{17|492I9} 56|6b61 17r23 +16r79 address{17|597R9} 56|6b79 15m7 17m7 19r31 +18U14*send_bytes 18>26 18>57 56|26b14 48l8 48t18 +18p26 server_stream{17|1213P9} 56|26b26 35r28 39r25 44r31 +18r57 outgoing_packet{57|18R9} 56|26b57 33r55 39r40 42r10 43r19 44r46 +20V13*recv_bytes{57|8M9} 20>25 20>56 20=88 56|51b13 66l8 66t18 79s25 83s25 +. 87s25 +20p25 server_stream{17|1213P9} 56|51b24 59r27 +20m56 bytes_wanted{57|8M9} 56|51b55 58r30 +20r88 dynamic_buffer{15|11R9} 56|51b87 60m10 60r10 +22U14*listen 22>22 22=53 22=97 56|70b14 90l8 90t14 +22p22 server_stream{17|1213P9} 56|70b22 79r36 83r36 87r36 +22r53 dynamic_buffer{15|11R9} 56|70b53 79m76 79r76 80m31 83m71 83r71 84m30 +. 87m78 87r78 88m20 +22w97 local_mailbox{21|8W19} 56|70b97 88m79 +24U14*read_payload 24=27 24>71 24>102 24=128 56|88s7 92b14 112l8 112t20 +24r27 dynamic_buffer{15|11R9} 56|92b27 104m13 104r13 +24m71 payload_length{57|8M9} 56|92b71 99r39 100r54 +24m102 package_ID{57|6M9} 56|92b102 98r35 +24w128 local_mailbox{21|8W19} 56|92b128 107r10 108r10 +X 56 tcp_client.adb +28a7 uint8_payload_length{57|12A9} 33m7 34r16 35r43 +34m11 I<18|74M9> 35r64 +43m14 I<18|74M9> 44r76 +53m7 bytes_received{57|8M9} 58r13 61m10 61r28 64r14 +54m7 new_byte{57|6M9} 59m42 59r42 60r37 +72m7 bytes_received{57|8M9} 79m7 83m7 87m7 +73m7 conv_package_ID{57|6M9} 84m46 88r63 +74m7 conv_package_value_length{57|8M9} 80m47 87r51 88r36 +96r15 new_packet{57|18R9} 98m10 99m10 100m10 101m10 103r19 104r39 108r32 +103m14 I<18|74M9> 104r64 +X 57 types.ads +4K9*types 55|5w6 12r30 13r25 14r23 18r75 20r74 20r140 24r88 24r115 56|1w6 +. 1r17 26r75 28r30 35r10 39r7 44r13 51r73 51r139 53r24 54r18 59r10 72r24 +. 73r25 74r35 92r88 92r115 57|45e10 +6M9*uint8<18|63M9> 55|14r29 24r121 56|35r16 39r13 44r19 54r24 59r16 73r31 +. 92r121 +8M9*uint32<18|74M9> 55|12r36 13r31 20r80 20r146 24r94 56|51r79 51r145 53r30 +. 72r30 74r41 92r94 +12A9*Octets_4(6M9)<8M9> 56|28r36 +15A9*payload(6M9)<8M9> 56|100r42 +18R9*Communication_Packet 55|18r81 56|26r81 96r28 57|23e14 +19m7*package_ID{6M9} 56|39r56 98m21 +20m7*payload_length{8M9} 56|33r71 42r26 99m21 +21p7*local_payload(15A9) 56|43r35 44r62 100m21 103r30 104r50 +22o7*TTL{9|49O9} 56|101m21 +26V13*uint32_to_octets{12A9} 56|33s31 +39V13*hton32{8M9} 56|33s48 + diff 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8r23 9r23 10r24 +63M9*Unsigned_8 55|6r33 +66M9*Unsigned_16 55|7r34 +74M9*Unsigned_32 55|8r34 +77M9*Unsigned_64 55|9r34 +172F9*IEEE_Float_64 55|10r35 +X 22 system.ads +37K9*System 156e11 56|2w6 2r23 75r10 75r37 85r10 85r37 95r10 95r37 105r10 +. 105r37 115r10 115r37 126r10 126r37 +91E9*Bit_Order 91e57 56|2r30 +91n41*Low_Order_First{91E9} 56|75r44 85r44 95r44 105r44 115r44 126r44 +92e4*Default_Bit_Order{91E9} 56|75r17 85r17 95r17 105r17 115r17 126r17 +X 39 s-stausa.ads +203U14*Initialize 204i22 +268U14*Output_Results 272i22 +X 54 tcp_client.ads +9K9*tcp_client 26e15 56|4w6 +X 55 types.ads +4K9*types 45l5 45e10 56|6b14 134l8 134t13 +6M9*uint8<18|63M9> 11r51 12r52 13r52 15r46 19r20 +7M9*uint16<18|66M9> 25r35 29r52 36r25 36r40 37r25 37r40 56|9r46 18r66 32r35 +. 47r52 72r25 72r40 82r25 82r40 +8M9*uint32<18|74M9> 11r27 12r28 13r28 15r26 20r24 26r35 30r52 39r25 39r40 +. 40r25 40r40 56|12r46 21r66 37r35 52r52 92r25 92r40 102r25 102r40 +9M9*uint64<18|77M9> 27r35 31r52 33r36 34r52 42r25 42r40 43r25 43r40 56|15r47 +. 24r66 27r47 30r66 42r35 57r52 62r36 67r52 112r25 112r40 123r25 123r40 +10F9*float64<18|172F9> 33r51 34r36 56|27r65 30r47 62r51 67r36 +11A9*Octets_2(6M9)<8M9> 25r50 29r35 56|9r64 18r46 32r50 47r35 73r12 83r12 +12A9*Octets_4(6M9)<8M9> 26r50 30r35 56|12r64 21r46 37r50 52r35 93r12 103r12 +13A9*Octets_8(6M9)<8M9> 27r50 31r35 56|15r65 24r46 42r50 57r35 113r12 124r12 +15A9*payload(6M9)<8M9> 21r30 +18R9*Communication_Packet 23e14 +19m7*package_ID{6M9} +20m7*payload_length{8M9} +21p7*local_payload(15A9) +22o7*TTL{9|49O9} +25V13*uint16_to_octets{11A9} 25>31 56|32b13 35l8 35t24 76s16 86s16 +25m31 X{7M9} 56|32b31 34r38 +26V13*uint32_to_octets{12A9} 26>31 56|37b13 40l8 40t24 96s16 106s16 +26m31 X{8M9} 56|37b31 39r38 +27V13*uint64_to_octets{13A9} 27>31 56|42b13 45l8 45t24 116s16 127s16 +27m31 X{9M9} 56|42b31 44r38 +29V13*octets_to_uint16{7M9} 29>31 56|47b13 50l8 50t24 77s17 87s17 +29a31 X{11A9} 56|47b31 49r38 +30V13*octets_to_uint32{8M9} 30>31 56|52b13 55l8 55t24 97s17 107s17 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Integer:= 0; - steeringAngle : uint8:= 0.0; + steeringAngle : float64 := 0.0; red : Colour_Matrix := (others => (others => 0)); blue : Colour_Matrix := (others => (others => 0)); @@ -26,44 +20,40 @@ package body pathfollowing is grey : Colour_Matrix := (others => (others => 0)); binaImage : Colour_Matrix := (others => (others => 0)); - wheehlvelocity : Wheehl_velocity :=(others => 0); - axleTrack : uint8 := 1.1; - basicVelocity : uint8 := 1.0; - - function path_following (ImageData : in Communication_Packet) return Communication_Packet is - begin - - raw : = Image_Raw(ImageData.local_payload); + wheehlvelocity : Wheehl_velocity := (others => 0.0); + axleTrack : float64 := 1.1; + basicVelocity : float64 := 1.0; + function path_following (imageInput : in Communication_Packet) return Communication_Packet is + raw : access types.payload := imageInput.local_payload; + index : Image_Index := 0; + o8 : Octets_8; + u64 : uint64; + begin for I in Row_Index loop for J in Column_Index loop index := Image_Index(4 * (Integer(I) * width + Integer(J))); - blue (I) (J) := raw (index); - green (I) (J) := raw (index + 1); - red (I) (J) := raw (index + 2); - --colour := Integer((Integer(blue (I) (J)*50) + Integer(green (I) (J)*59)+ Integer(red (I) (J)*30) + 50)/100); + blue (I) (J) := raw (types.uint32(index) + 4); + green (I) (J) := raw (types.uint32(index + 1) + 4); + red (I) (J) := raw (types.uint32(index + 2) + 4); colour := Integer(blue (I) (J))*114/1000 + Integer(green (I) (J)) *587/1000 + Integer(red (I) (J))*299/1000; - --colour := colour / 3; - --r := Integer(red(I)(J) * 30); - --g := Integer(green(I)(J) * 59); - --b := Integer(blue(I)(J) * 50); - --colour := (r + g +b + 50) / 100; - grey (I) (J) := uint8(colour); + grey (I) (J) := uint8(colour); end loop; end loop; - --Binarized - for I in Row_Index loop - for J in Column_Index loop - if grey (I)(J) > 100 then - binaImage (I)(J) := 255; - else - binaImage (I)(j) := 0; - end if; - Put(uint8'Image (binaImage (I) (J))); + --Binarized + for I in Row_Index loop + for J in Column_Index loop + if grey (I)(J) > 100 then + binaImage (I)(J) := 255; + else + binaImage (I)(j) := 0; + end if; + --Put(uint8'Image (binaImage (I) (J))); + + end loop; + --Put_Line(""); end loop; - Put_Line(""); - end loop; --for I in Row_Index loop --for J in Column_Index loop @@ -75,97 +65,120 @@ package body pathfollowing is --end loop; --end loop; -- find bottompoint - for J in Column_Index loop - if grey(Row_Index(height-1))(J) = 255 then - bottomPoint := Integer(J); - end if; - -- - end loop; - for J in reverse Column_Index loop - if grey(Row_Index(height-1))(J) = 255 then - bottomPoint1 := Integer(J); + for J in Column_Index loop + if grey(Row_Index(height-1))(J) = 255 then + bottomPoint := Integer(J); + end if; + -- + end loop; + for J in reverse Column_Index loop + if grey(Row_Index(height-1))(J) = 255 then + bottomPoint1 := Integer(J); + end if; + end loop; + bottomPoint := (bottomPoint + bottomPoint1) / 2; + -- find toppoint + for J in Column_Index loop + if grey(0)(J) = 255 then + topPoint := Integer(J); + end if; + end loop; + for J in reverse Column_Index loop + if grey(Row_Index(0))(J) = 255 then + topPoint1 := Integer(J); + end if; + end loop; + topPoint := (topPoint + topPoint1) / 2; + -- find rightpoint + for I in Row_Index loop + if grey(I)(Column_Index(width-1)) = 255 then + rightPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if grey(I)(Column_Index(width-1)) = 255 then + rightPoint1:= Integer(I); + end if; + end loop; + rightPoint := (rightPoint + rightPoint1) /2; + + --find leftPoint + for I in Row_Index loop + if grey(I)(0) = 255 then + leftPoint:= Integer(I); + end if; + end loop; + for I in reverse Row_Index loop + if grey(I)(0) = 255 then + leftPoint1 := Integer(I); + end if; + end loop; + leftPoint := (leftPoint + leftPoint1)/2; + + --Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); + --calculate steering angle + -- top and bottom + if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then + if topPoint - bottomPoint > 0 then + steeringAngle := float64((topPoint - bottomPoint) / height) ; + elsif topPoint - bottomPoint < 0 then + steeringAngle := -float64((topPoint - bottomPoint) / height); + else steeringAngle := 0.0; + end if; end if; - end loop; - bottomPoint := (bottomPoint + bottomPoint1) / 2; - -- find toppoint - for J in Column_Index loop - if grey(0)(J) = 255 then - topPoint := Integer(J); + -- bottom and left + if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then + steeringAngle := - float64(bottomPoint / (height - leftPoint)); end if; - end loop; - for J in reverse Column_Index loop - if grey(Row_Index(0))(J) = 255 then - topPoint1 := Integer(J); + -- top and right + if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then + steeringAngle := - float64((width - topPoint) / rightPoint); end if; - end loop; - topPoint := (topPoint + topPoint1) / 2; - -- find rightpoint - for I in Row_Index loop - if grey(I)(Column_Index(width-1)) = 255 then - rightPoint:= Integer(I); + --top and left + if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then + steeringAngle := float64(topPoint / leftPoint); end if; - end loop; - for I in reverse Row_Index loop - if grey(I)(Column_Index(width-1)) = 255 then - rightPoint1:= Integer(I); + -- bottom and right + if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then + steeringAngle := float64((width-bottomPoint) / (height - leftPoint)); end if; - end loop; - rightPoint := (rightPoint + rightPoint1) /2; - --find leftPoint - for I in Row_Index loop - if grey(I)(0) = 255 then - leftPoint:= Integer(I); - end if; - end loop; - for I in reverse Row_Index loop - if grey(I)(0) = 255 then - leftPoint1 := Integer(I); - end if; - end loop; - leftPoint := (leftPoint + leftPoint1)/2; - - Put_Line(Integer'Image(bottomPoint) & Integer'Image(topPoint) & Integer'Image(rightPoint) & Integer'Image(leftPoint)); - --calculate steering angle - -- top and bottom - if bottomPoint /= 0 and topPoint /= 0 and rightPoint = 0 and leftPoint = 0 then - if topPoint - bottomPoint > 0 then - steeringAngle := Float((topPoint - bottomPoint) / height) ; - elsif topPoint - bottomPoint < 0 then - steeringAngle := -Float((topPoint - bottomPoint) / height); - else steeringAngle := 0.0; - end if; - end if; - -- bottom and left - if bottomPoint /= 0 and leftPoint/= 0 and topPoint = 0 and rightPoint = 0 then - steeringAngle := - Float(bottomPoint / (height - leftPoint)); - end if; - -- top and right - if topPoint /= 0 and rightPoint /= 0 and bottomPoint = 0 and leftPoint= 0 then - steeringAngle := - Float((width - topPoint) / rightPoint); - end if; - --top and left - if topPoint /= 0 and leftPoint /=0 and bottomPoint = 0 and rightPoint = 0 then - steeringAngle := Float(topPoint / leftPoint); - end if; - -- bottom and right - if bottomPoint/= 0 and rightPoint /= 0 and topPoint =0 and leftPoint = 0 then - steeringAngle := Float((width-bottomPoint) / (height - leftPoint)); - end if; - - - Put_Line (Float'Image(steeringAngle)); + + Put_Line (steeringAngle'Image); --turn right - if steeringAngle > 0 then - wheehlvelocity(0) = basicVelocity + steeringAngle * axleTrack; - wheehlvelocity(1) = basicVelocity; + if steeringAngle > 0.0 then + wheehlvelocity(0) := basicVelocity + steeringAngle * axleTrack; + wheehlvelocity(1) := basicVelocity; --turn left - elsif steeringAngle < 0 then - wheehlvelocity(0) = basicVelocity; - wheehlvelocity(1) = basicVelocity - steeringAngle * axleTrack; + elsif steeringAngle < 0.0 then + wheehlvelocity(0) := basicVelocity; + wheehlvelocity(1) := basicVelocity - steeringAngle * axleTrack; end if; - ImageData.local_payload := wheehlvelocity; - return ImageData; + + Put_Line (wheehlvelocity (0)'Image & ", " & wheehlvelocity (1)'Image); + + declare packet : Communication_Packet; + begin + packet.package_ID := 129; + packet.payload_length := 16 + 5; + packet.local_payload := new payload (0 .. 15); + + u64 := types.float64_to_uint64 (wheehlvelocity (0)); + o8 := types.uint64_to_octets (u64); + + for I in o8'Range loop + packet.local_payload (I) := o8 (I); + end loop; + + u64 := types.float64_to_uint64 (wheehlvelocity (1)); + o8 := types.uint64_to_octets (u64); + + for I in o8'Range loop + packet.local_payload (I + 8) := o8 (I); + end loop; + + return packet; + end; end path_following; end pathfollowing; diff --git a/external/controller/src/Path/pathfollowing.ads b/external/controller/src/Path/pathfollowing.ads index b8d312f..cb75f66 100644 --- a/external/controller/src/Path/pathfollowing.ads +++ b/external/controller/src/Path/pathfollowing.ads @@ -5,11 +5,11 @@ with mailbox; package pathfollowing is - width : constant Integer := 100; - height : constant Integer := 100; + width : constant Integer := 50; + height : constant Integer := 50; size : constant Integer := width * height * 4; - type Pixel is array(0 .. 3) of uint84; + type Pixel is array(0 .. 3) of uint8; type Column_Index is range 0 .. width - 1; type Row_Index is range 0 .. height - 1; @@ -18,8 +18,8 @@ package pathfollowing is type Colour_Column is array(Column_Index) of uint8; type Colour_Matrix is array(Row_Index) of Colour_Column; - type Wheehl_velocity is array(0..1) of uint8; + type Wheehl_velocity is array(0..1) of float64; - function path_following(imageInput : in Communication_Packt) return Communication_Packt; + function path_following(imageInput : in Communication_Packet) return Communication_Packet; end pathfollowing; diff --git a/external/controller/src/main.adb b/external/controller/src/main.adb index 5c546d8..283470a 100644 --- a/external/controller/src/main.adb +++ b/external/controller/src/main.adb @@ -4,7 +4,7 @@ with backend_thread; use backend_thread; with webots_thread; use webots_thread; with types; use types; with mailbox; -with pathfollowing; +with pathfollowing;use pathfollowing; procedure Main is @@ -23,8 +23,9 @@ procedure Main is end backend_thread; current_packet : types.Communication_Packet; + send_packet : types.Communication_Packet; alternator : types.uint8 := 1; - wheehvelocity : types.Octets_2 := (other => 0); --wheelvelocity + --wheehvelocity : types.Octets_2 := (other => 0); --wheelvelocity begin -- threads have started here @@ -39,9 +40,13 @@ begin mailbox.check_mailbox(Backend_Mailbox,Webots_Mailbox,current_packet,alternator); mailbox.update_alternator(alternator); --path following - current_packet := path_following(current_packet); + if(current_packet.package_ID = 67) then + send_packet := pathfollowing.path_following(current_packet); + send_bytes(Webots_Channel,send_packet); + end if; + -- do calculations with current packet - Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); + --Ada.Text_IO.Put_Line(Integer'Image(Integer(current_packet.package_ID))); end loop; diff --git a/external/controller/src/webots_thread/webots_thread.adb b/external/controller/src/webots_thread/webots_thread.adb index 813fd5f..245bbff 100644 --- a/external/controller/src/webots_thread/webots_thread.adb +++ b/external/controller/src/webots_thread/webots_thread.adb @@ -1,18 +1,26 @@ package body webots_thread is procedure webots_main is - + test : Float64 := 4.0; + test_uint64 : uint64; + test_to_send : Octets_8; begin - Webots_Channel := build_connection (Webots_Client, 2000, Webots_Address); + Webots_Channel := build_connection (Webots_Client, 9999, Webots_Address); - Webots_Cmd.package_ID := protocol_join_ID; - Webots_Cmd.payload_length := 0; + test_uint64 :=float64_to_uint64(test); + test_to_send := uint64_to_octets(test_uint64); + Webots_Cmd.package_ID := 129; + Webots_Cmd.payload_length := 5; + Webots_Cmd.local_payload := new types.payload(0..15); --Backend_Cmd.local_payload := new types.payload(0..1); send_bytes(Webots_Channel, Webots_Cmd); - while true loop - listen( Webots_Channel, Webots_Vector_Buffer, Webots_Mailbox ); + --while true loop + --listen( Webots_Channel, Webots_Vector_Buffer, Webots_Mailbox ); + --end loop; + for I in Webots_Cmd.local_payload'Range loop + Webots_Cmd.local_payload(I) := test_to_send(I mod 8); end loop; end webots_main; diff --git a/external/controller/src/webots_thread/webots_thread.ads b/external/controller/src/webots_thread/webots_thread.ads index ba19abf..e85bc1a 100644 --- a/external/controller/src/webots_thread/webots_thread.ads +++ b/external/controller/src/webots_thread/webots_thread.ads @@ -2,7 +2,7 @@ with GNAT.Sockets; use GNAT.Sockets; with Ada.Streams; use Ada.Streams; with tcp_client; use tcp_client; with Ada.Text_IO; -with types; +with types; use types; with byte_buffer; with mailbox; diff --git a/webots/controllers/controller/Makefile b/webots/controllers/controller/Makefile index d9e7b7e..d7b2312 100644 --- a/webots/controllers/controller/Makefile +++ b/webots/controllers/controller/Makefile @@ -75,7 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-//#include -//#include +#include +#include +#include #include #include @@ -13,10 +13,10 @@ #include #include -//#include "../../../shared/buffer.hpp" -//#include "../../../shared/buffer_reader.hpp" -//#include "../../../shared/buffer_writer.hpp" -//#include "../../../shared/message.hpp" +#include "../../../shared/buffer.hpp" +#include "../../../shared/buffer_reader.hpp" +#include "../../../shared/buffer_writer.hpp" +#include "../../../shared/message.hpp" #define N_DISTANCE_SENSORS 9 #define N_LIGHT_SENSORS 1 @@ -26,7 +26,7 @@ using namespace webots; int main(int argc, char **argv) { - /* if(argc != 2) + if(argc != 2) { std::cerr << "port missing" << std::endl; return EXIT_FAILURE; @@ -45,7 +45,7 @@ int main(int argc, char **argv) { std::cerr << "Exception: " << e.what() << "\n"; return EXIT_FAILURE; - } */ + } Robot *robot = new Robot(); @@ -93,7 +93,7 @@ int main(int argc, char **argv) robot->step(timeStep); camera->saveImage("picture.png", 100); - /* buffer in; + buffer in; buffer_reader reader(in); while (robot->step(timeStep) != -1) { @@ -180,7 +180,7 @@ int main(int argc, char **argv) } // Enter here exit cleanup code. - client.close(); */ + client.close(); delete robot; return 0; } diff --git a/webots/controllers/controller/picture.png b/webots/controllers/controller/picture.png deleted file mode 100644 index d08ec9bce45fff75c0cf45091b88e79ddfd0cd39..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 3284 zcmWkxX;@PS+Pyb7xmh6zdoVx{!GMYhsDMUugD4QFTxrBeQ9@*~jABGfL8oK`Swsno zis%Octs>(>+{Ri9iAdQ6JE&Bv1P9O}*2p4I0vWy^?|Xiq_nhaP=Pf|Dg<6rENdN#? zg@=ViFQVW74*_1>uKau*08q|{hX_QOd-mSRFwOP=P?5}`*yv=%kXpdsAlSrm2v>KN-T~@y&)GUNNdR{*dqAz+kvvJwCkp zl+$d~DX4w2OnG&c`oU%2{=vwuF1=Wi2n3nTzn4)0ZpI^@u_&BtsisT4m6uw8liO_K z!fI3cgZd4#%G}eZ2M6L&KMOuG+QP_QFh4O3PlUqgZ=o4xIb4Tp7$XlqDszCMDaP-} zB9~zz$tJ9R^lyEnxj=xR`GY;xe7)JwZnCfV$ud9RY5LMlK5o(5O;pn(YSbfcXDs4U 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zn0i?;)CA(+B3~0(Jvt~46)@cXhy*WhKriE4SOoPr(c>O*dmj%o0SvdCRcP1{dy=)q z8_Kk%{jmglFHzv)gXR*PUtxw_(5hLm%Z(MK+7D;BE`uw(r8!<}HG$WTzr(FN=9GVe z-m$T^<^Uz_fjZb#GGhI@y_yNXiG^JG^&97G-xqop~|HfSog6s4%%h6wCYyWAQ`mj?{(gj;@M@JT{BGa{zRAILEtz&sP ya Date: Tue, 30 Jun 2020 02:04:30 +0200 Subject: [PATCH 08/25] merge --- webots/.cabservice.wbproj | 13 + webots/cabservice.wbt | 2258 +++++++++++++++++ .../controller/build/release/buffer_reader.d | 3 + .../controller/build/release/buffer_reader.o | Bin 0 -> 3760 bytes .../controller/build/release/buffer_writer.d | 3 + .../controller/build/release/buffer_writer.o | Bin 0 -> 6808 bytes .../controller/build/release/controller | Bin 0 -> 108944 bytes .../controller/build/release/controller.d | 22 +- .../controller/build/release/controller.exe | Bin 25088 -> 0 bytes .../controller/build/release/controller.o | Bin 11012 -> 279288 bytes .../controller/build/release/message.d | 5 + .../controller/build/release/message.o | Bin 0 -> 2728 bytes webots/controllers/controller/controller | Bin 0 -> 108944 bytes webots/worlds/.cabservice.wbproj | 16 +- 14 files changed, 2302 insertions(+), 18 deletions(-) create mode 100644 webots/.cabservice.wbproj create mode 100644 webots/cabservice.wbt create mode 100644 webots/controllers/controller/build/release/buffer_reader.d create mode 100644 webots/controllers/controller/build/release/buffer_reader.o create mode 100644 webots/controllers/controller/build/release/buffer_writer.d create mode 100644 webots/controllers/controller/build/release/buffer_writer.o create mode 100755 webots/controllers/controller/build/release/controller delete mode 100644 webots/controllers/controller/build/release/controller.exe create mode 100644 webots/controllers/controller/build/release/message.d create mode 100644 webots/controllers/controller/build/release/message.o create mode 100755 webots/controllers/controller/controller diff --git a/webots/.cabservice.wbproj b/webots/.cabservice.wbproj new file mode 100644 index 0000000..beaa309 --- /dev/null +++ b/webots/.cabservice.wbproj @@ -0,0 +1,13 @@ +Webots Project File version R2020a +perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000012400000362fc0200000001fb0000001400540065007800740045006400690074006f0072010000001c00000362000000a200ffffff00000003000007380000005efc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff0000060e0000036200000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff000000010000000200000118000002d60100000006010000000101 +sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 +minimizedPerspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024700000341fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000341000000a200ffffff000000030000073800000085fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004eb0000034100000004000000040000000100000008fc00000000 +maximizedDockId: -1 +centralWidgetVisible: 1 +selectionDisabled: 0 +viewpointLocked: 0 +orthographicViewHeight: 1 +textFiles: 0 "webots/controllers/controller/controller.cpp" +renderingDevicePerspectives: Cab1:camera;1;3.2;0;0 +renderingDevicePerspectives: Cab2:camera;1;3.2;0;0.127016 diff --git a/webots/cabservice.wbt b/webots/cabservice.wbt new file mode 100644 index 0000000..eb43698 --- /dev/null +++ b/webots/cabservice.wbt @@ -0,0 +1,2258 @@ +#VRML_SIM R2020a utf8 +WorldInfo { + basicTimeStep 16 +} +Viewpoint { + orientation 0.03808682417150016 0.7714041274115354 0.635204743399305 3.119688131672871 + position 6.409620980680648 139.501828724283 -82.55227138078858 +} +TexturedBackground { + luminosity 2 + reflections FALSE +} +DEF Cab1 Robot { + translation 0 0.4 -29.2 + rotation 0 1 0 -1.5723853071795864 + children [ + DEF cam_f Camera { + translation 0 0.1 1 + rotation 0 1 0 3.14 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.4 0 0 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + boundingObject Cylinder { + height 0.1 + radius 0.05 + } + physics Physics { + density 1 + } + fieldOfView 0.75 + width 18 + height 10 + far 10 + } + DEF ls_f LightSensor { + translation 0 0 1 + rotation 0 1 0 -1.57 + children [ + Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ls_front" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fl DistanceSensor { + translation 0.45 0.2 1 + rotation 0 1 0 -1.047 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fl" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_lf DistanceSensor { + translation 0.5 0.2 0.95 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_lf" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_lc DistanceSensor { + translation 0.5 0.2 0 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_lc" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fr DistanceSensor { + translation -0.45 0.2 1 + rotation 0 1 0 -2.09 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fr" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_rf DistanceSensor { + translation -0.5 0.2 0.95 + rotation 0 1 0 -3.14 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_rf" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_rc DistanceSensor { + translation -0.5 0.2 0 + rotation 0 1 0 -3.14 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_rc" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fc DistanceSensor { + translation 0 0.2 1 + rotation 0 1 0 -1.57 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fc" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fcr DistanceSensor { + translation -0.225 0.2 1 + rotation 0 1 0 -1.833 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fcr" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fcl DistanceSensor { + translation 0.225 0.2 1 + rotation 0 1 0 -1.309 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fcl" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + Transform { + translation 0 0.5 -0.3 + rotation 1 0 0 0 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.5 0.5 0.5 + transparency 0.3 + } + geometry Box { + size 0.9 0.5 1.2 + } + } + ] + } + Transform { + translation 0 0.8 -0.3 + rotation 1 0 0 0 + children [ + Shape { + appearance PBRAppearance { + baseColor 0 0 0 + } + geometry Box { + size 1 0.1 1.3 + } + } + ] + } + DEF wheelFL HingeJoint { + jointParameters HingeJointParameters { + anchor 0.55 -0.1 0.55 + } + device [ + DEF wheelFL RotationalMotor { + name "wheelFL" + maxTorque 30 + } + ] + endPoint DEF wheelFL Solid { + translation 0.55 -0.1 0.55 + rotation 0 0 1 1.5699999999999963 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelFL" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF wheelRL HingeJoint { + jointParameters HingeJointParameters { + anchor 0.55 -0.1 -0.7 + } + device [ + DEF wheelRL RotationalMotor { + name "wheelRL" + maxTorque 30 + } + ] + endPoint DEF wheelRL Solid { + translation 0.55 -0.1 -0.7 + rotation 0 0 1 1.5699999999999963 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelRL" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF wheelRR HingeJoint { + jointParameters HingeJointParameters { + anchor -0.55 -0.1 -0.7 + } + device [ + DEF wheelRR RotationalMotor { + name "wheelRR" + maxTorque 30 + } + ] + endPoint DEF wheelRR Solid { + translation -0.55 -0.1 -0.7 + rotation 0 0 1 1.5699999999999963 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelRR" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF wheelFR HingeJoint { + jointParameters HingeJointParameters { + anchor -0.55 -0.1 0.55 + } + device [ + DEF wheelFR RotationalMotor { + name "wheelFR" + maxTorque 30 + } + ] + endPoint DEF wheelFR Solid { + translation -0.55 -0.1 0.55 + rotation 0 0 1 1.5699999999999956 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelFR" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF car_body Shape { + appearance PBRAppearance { + baseColor 1 1 0 + } + geometry Box { + size 1 0.6 2 + } + } + ] + name "Cab1" + boundingObject USE car_body + physics Physics { + density 10 + } + recognitionColors [ + 0 0 0 + ] + controller "controller" +} +DEF Cab2 Robot { + translation 10 0.4 -29.1 + rotation 0 1 0 -1.5723853071795864 + children [ + DEF cam_f Camera { + translation 0 0.1 1 + rotation 0 1 0 3.14 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.4 0 0 + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + ] + boundingObject Cylinder { + height 0.1 + radius 0.05 + } + physics Physics { + density 1 + } + fieldOfView 0.75 + width 18 + height 10 + far 10 + } + DEF ls_f LightSensor { + translation 0 0 1 + rotation 0 1 0 -1.57 + children [ + Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ls_front" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Cylinder { + height 0.1 + radius 0.05 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fl DistanceSensor { + translation 0.45 0.2 1 + rotation 0 1 0 -1.047 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fl" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_lf DistanceSensor { + translation 0.5 0.2 0.95 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_lf" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_lc DistanceSensor { + translation 0.5 0.2 0 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_lc" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fr DistanceSensor { + translation -0.45 0.2 1 + rotation 0 1 0 -2.09 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fr" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_rf DistanceSensor { + translation -0.5 0.2 0.95 + rotation 0 1 0 -3.14 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_rf" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_rc DistanceSensor { + translation -0.5 0.2 0 + rotation 0 1 0 -3.14 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_rc" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fc DistanceSensor { + translation 0 0.2 1 + rotation 0 1 0 -1.57 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fc" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fcr DistanceSensor { + translation -0.225 0.2 1 + rotation 0 1 0 -1.833 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fcr" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + DEF ds_fcl DistanceSensor { + translation 0.225 0.2 1 + rotation 0 1 0 -1.309 + children [ + Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + ] + name "ds_fcl" + boundingObject Shape { + appearance PBRAppearance { + } + geometry Box { + size 0.1 0.1 0.1 + } + } + physics Physics { + density 1 + } + lookupTable [ + 0 0 0 + 5 1000 0 + ] + } + Transform { + translation 0 0.5 -0.3 + rotation 1 0 0 0 + children [ + Shape { + appearance PBRAppearance { + baseColor 0.5 0.5 0.5 + transparency 0.3 + } + geometry Box { + size 0.9 0.5 1.2 + } + } + ] + } + Transform { + translation 0 0.8 -0.3 + rotation 1 0 0 0 + children [ + Shape { + appearance PBRAppearance { + baseColor 0 0 0 + } + geometry Box { + size 1 0.1 1.3 + } + } + ] + } + DEF wheelFL HingeJoint { + jointParameters HingeJointParameters { + anchor 0.55 -0.1 0.55 + } + device [ + DEF wheelFL RotationalMotor { + name "wheelFL" + maxTorque 30 + } + ] + endPoint DEF wheelFL Solid { + translation 0.55 -0.1 0.55 + rotation 0 0 1 1.5699999999999963 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelFL" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF wheelRL HingeJoint { + jointParameters HingeJointParameters { + anchor 0.55 -0.1 -0.7 + } + device [ + DEF wheelRL RotationalMotor { + name "wheelRL" + maxTorque 30 + } + ] + endPoint DEF wheelRL Solid { + translation 0.55 -0.1 -0.7 + rotation 0 0 1 1.5699999999999963 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelRL" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF wheelRR HingeJoint { + jointParameters HingeJointParameters { + anchor -0.55 -0.1 -0.7 + } + device [ + DEF wheelRR RotationalMotor { + name "wheelRR" + maxTorque 30 + } + ] + endPoint DEF wheelRR Solid { + translation -0.55 -0.1 -0.7 + rotation 0 0 1 1.5699999999999963 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelRR" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF wheelFR HingeJoint { + jointParameters HingeJointParameters { + anchor -0.55 -0.1 0.55 + } + device [ + DEF wheelFR RotationalMotor { + name "wheelFR" + maxTorque 30 + } + ] + endPoint DEF wheelFR Solid { + translation -0.55 -0.1 0.55 + rotation 0 0 1 1.5699999999999956 + children [ + DEF wheel Shape { + appearance PBRAppearance { + baseColor 0 0 0 + metalness 0 + } + geometry Cylinder { + height 0.1 + radius 0.3 + } + } + ] + name "wheelFR" + boundingObject USE wheel + physics DEF physics_wheel Physics { + density 10 + } + } + } + DEF car_body Shape { + appearance PBRAppearance { + baseColor 1 1 0 + } + geometry Box { + size 1 0.6 2 + } + } + ] + name "Cab2" + boundingObject USE car_body + physics Physics { + density 10 + } + recognitionColors [ + 0 0 0 + ] + controller "controller" +} +DEF environment Solid { + scale 1.09819 1.09819 1.09819 + children [ + DEF PickUp1 BusStop { + translation 0 0 -45 + rotation 0 1 0 3.14159 + name "PickUp1" + bench FALSE + appearance PBRAppearance { + baseColor 0 0 0 + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + } + DEF PickUp2 BusStop { + translation 45 0 0 + rotation 0 -1 0 -1.5707953071795862 + name "PickUp2" + bench FALSE + appearance PBRAppearance { + baseColor 1 0 0 + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + advertisingLightOn FALSE + } + DEF PickUp3 BusStop { + translation 0 0 45 + rotation 0 1 0 -5.307179586466759e-06 + name "PickUp3" + bench FALSE + appearance PBRAppearance { + baseColor 0 1 0 + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + advertisingLightOn FALSE + } + DEF PickUp4 BusStop { + translation -45 0 0 + rotation 0 1 0 -1.5707953071795862 + name "PickUp4" + bench FALSE + appearance PBRAppearance { + baseColor 0 0 1 + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + advertisingLightOn FALSE + } + DEF PickUp5 BusStop { + translation 0 0 -71 + rotation 0 1 0 3.14159 + name "PickUp5" + bench FALSE + appearance PBRAppearance { + baseColor 1 1 0 + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + advertisingLightOn FALSE + } + DEF PickUp6 BusStop { + translation 71 0 0 + rotation 0 -1 0 -1.5707953071795862 + name "PickUp6" + bench FALSE + appearance PBRAppearance { + baseColor 1 0 1 + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + advertisingLightOn FALSE + } + DEF PickUp7 BusStop { + translation 0 0 71 + rotation 0 1 0 -5.307179586466759e-06 + name "PickUp7" + bench FALSE + appearance PBRAppearance { + baseColor 0 1 1 + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + advertisingLightOn FALSE + } + DEF PickUp8 BusStop { + translation -71 0 0 + rotation 0 1 0 -1.5707953071795862 + name "PickUp8" + bench FALSE + appearance PBRAppearance { + roughness 0.5 + metalness 0 + } + internalAdvertisingTexture [] + externalAdvertisingTexture [] + advertisingLightOn FALSE + } + CurvedRoadSegment { + translation -56 0 33 + rotation 0 1 0 -1.570796 + name "road(1)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation -56 0 -33 + rotation 0 1 0 3.14 + name "road(7)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation -33 0 -56 + rotation 0 1 0 3.14 + name "road(8)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation 33 0 -56 + rotation 0 1 0 1.57 + name "road(9)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation 56 0 -33 + rotation 0 1 0 1.57 + name "road(10)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation 56 0 33 + name "road(11)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation 33 0 56 + name "road(12)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation -33 0 56 + rotation 0 1 0 -1.57 + name "road(13)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + curvatureRadius 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + RoadIntersection { + translation -53 0 53 + rotation 0 1 0 0.785 + roadsWidth 6 + startRoadsLength [ + -0.1 + ] + startRoadsStartLine [ + "" + "" + ] + startRoadsLine [ + RoadLine { + type "continuous" + width 0.3 + } + ] + startRoadBorderWidth 0.5 + bottom TRUE + appearance Asphalt { + colorOverride 0.5 0.5 0 + } + } + RoadIntersection { + translation 53 0 53 + rotation 0 1 0 0.785 + name "road intersection(1)" + roadsWidth 6 + startRoadsLength [ + -0.1 + ] + startRoadsStartLine [ + "" + "" + ] + startRoadsLine [ + RoadLine { + type "continuous" + width 0.3 + } + ] + startRoadBorderWidth 0.5 + bottom TRUE + appearance Asphalt { + colorOverride 0.5 0.5 0 + } + } + RoadIntersection { + translation 53 0 -53 + rotation 0 1 0 0.785 + name "road intersection(2)" + roadsWidth 6 + startRoadsLength [ + -0.1 + ] + startRoadsStartLine [ + "" + "" + ] + startRoadsLine [ + RoadLine { + type "continuous" + width 0.3 + } + ] + startRoadBorderWidth 0.5 + bottom TRUE + appearance Asphalt { + colorOverride 0.5 0.5 0 + } + } + RoadIntersection { + translation -53 0 -53 + rotation 0 1 0 0.785 + name "road intersection(3)" + roadsWidth 6 + startRoadsLength [ + -0.1 + ] + startRoadsStartLine [ + "" + "" + ] + startRoadsLine [ + RoadLine { + type "continuous" + width 0.3 + } + ] + startRoadBorderWidth 0.5 + bottom TRUE + appearance Asphalt { + colorOverride 0.5 0.5 0 + } + } + StraightRoadSegment { + translation -53 0 20 + name "road(20)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation -53 0 20 + rotation 0 1 0 3.14 + width 6 + length 10 + numberOfNewLanes 1 + newLaneLeft FALSE + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation -51.48 0 15.5 + rotation 0 1 0 -0.2617996938995747 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(1)" + } + StraightRoadSegment { + translation -51.5 0 -10 + name "road(17)" + width 9 + numberOfLanes 3 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation -53 0 -20 + name "road(3)" + width 6 + length 10 + numberOfNewLanes 1 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation -51.48 0 -15.5 + rotation 0 1 0 0.2618 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(2)" + } + StraightRoadSegment { + translation -53 0 -50 + name "road(5)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation -50 0 -53 + rotation 0 1 0 1.57 + name "road(4)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation -10 0 -51.5 + rotation 0 1 0 -1.57 + name "road(2)" + width 9 + length 10 + numberOfLanes 3 + numberOfNewLanes 1 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + RoadLine { + type "continuous" + width -1.73472e-18 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation 15.5 0 -51.48 + rotation 0 1 0 1.8326 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(3)" + } + StraightRoadSegment { + translation -10 0 -51.5 + rotation 0 1 0 1.571 + name "road(18)" + width 9 + numberOfLanes 3 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation 10 0 -51.5 + rotation 0 1 0 1.57 + name "road(19)" + width 9 + length 10 + numberOfLanes 3 + numberOfNewLanes 1 + newLaneLeft FALSE + lines [ + RoadLine { + type "continuous" + width 0.3 + } + RoadLine { + type "continuous" + width -1.73472e-18 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation -15.5 0 -51.48 + rotation 0 1 0 -1.8326 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(4)" + } + CurvedRoadSegment { + translation 20 0 -36.8 + rotation 0 1 0 1.571 + name "road(33)" + width 5.8 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + roadBorderWidth [ + 0 + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + totalAngle 3.14 + subdivision 21 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation -20 0 -26.8 + rotation 0 1 0 1.571 + name "road(35)" + width 5.8 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 40 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + CurvedRoadSegment { + translation -20 0 -36.8 + rotation 0 1 0 -1.571 + name "road(34)" + width 5.8 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + roadBorderWidth [ + 0 + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + totalAngle 3.14 + subdivision 21 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation 20 0 -53 + rotation 0 1 0 1.57 + name "road(21)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation 53 0 -50 + name "road(22)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation 53 0 -20 + name "road(23)" + width 6 + length 10 + numberOfNewLanes 1 + newLaneLeft FALSE + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation 51.48 0 -15.5 + rotation 0 1 0 -0.2617996938995747 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(5)" + } + StraightRoadSegment { + translation 51.5 0 -10 + name "road(24)" + width 9 + numberOfLanes 3 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation 53 0 20 + rotation 0 1 0 3.14 + name "road(25)" + width 6 + length 10 + numberOfNewLanes 1 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation 51.48 0 15.5 + rotation 0 1 0 0.2618 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(6)" + } + StraightRoadSegment { + translation 53 0 20 + name "road(26)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation 20 0 53 + rotation 0 1 0 1.57 + name "road(27)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation 20 0 53 + rotation 0 1 0 -1.57 + name "road(28)" + width 6 + length 10 + numberOfNewLanes 1 + newLaneLeft FALSE + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation 15.5 0 51.48 + rotation 0 1 0 -1.8326 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(7)" + } + StraightRoadSegment { + translation -10 0 51.5 + rotation 0 1 0 1.57 + name "road(29)" + width 9 + numberOfLanes 3 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 20 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + AddLanesRoadSegment { + translation -20 0 53 + rotation 0 1 0 1.57 + name "road(30)" + width 6 + length 10 + numberOfNewLanes 1 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + Solid { + translation -15.5 0 51.48 + rotation 0 1 0 1.8326 + children [ + Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Box { + size 0.2 0.01 11.6 + } + } + ] + name "solid(8)" + } + StraightRoadSegment { + translation -50 0 53 + rotation 0 1 0 1.57 + name "road(32)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation 53 0 20 + name "road(31)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 30 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation -76 0 -33 + name "road(6)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 66 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation -33 0 -76 + rotation 0 1 0 1.57 + name "road(14)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 66 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation 76 0 -33 + name "road(15)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + bottom TRUE + length 66 + appearance Asphalt { + colorOverride 0 0 0 + IBLStrength 0 + } + pavementAppearance StonePavement { + colorOverride 0 0 0 + } + } + StraightRoadSegment { + translation -33 0 76 + rotation 0 1 0 1.57 + name "road(16)" + width 6 + numberOfForwardLanes 2 + lines [ + RoadLine { + type "continuous" + width 0.3 + } + ] + rightBarrier TRUE + leftBarrier TRUE + 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ab34799..7670cb8 100644 --- a/webots/controllers/controller/build/release/controller.d +++ b/webots/controllers/controller/build/release/controller.d @@ -1,9 +1,13 @@ -build/release/controller.o: controller.cpp \ - D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/Robot.hpp \ - D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/Motor.hpp \ - D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/Device.hpp \ - D:/Henrik/Uni/EES/Webots/include/controller/c/webots/types.h \ - D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/Camera.hpp \ - D:/Henrik/Uni/EES/Webots/include/controller/c/webots/camera_recognition_object.h \ - D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/DistanceSensor.hpp \ - D:\Henrik\Uni\EES\Webots/include/controller/cpp/webots/LightSensor.hpp +build/release/controller.o: controller.cpp \ + /usr/local/webots/include/controller/cpp/webots/Robot.hpp \ + /usr/local/webots/include/controller/cpp/webots/Motor.hpp \ + /usr/local/webots/include/controller/cpp/webots/Device.hpp \ + /usr/local/webots/include/controller/cpp/webots/../../c/webots/types.h \ + /usr/local/webots/include/controller/cpp/webots/Camera.hpp \ + /usr/local/webots/include/controller/cpp/webots/../../c/webots/camera_recognition_object.h \ + /usr/local/webots/include/controller/cpp/webots/DistanceSensor.hpp \ + /usr/local/webots/include/controller/cpp/webots/LightSensor.hpp \ + ../../../shared/buffer.hpp ../../../shared/buffer_reader.hpp \ + ../../../shared/buffer_reader.inl ../../../shared/buffer_writer.hpp \ + ../../../shared/buffer_writer.inl ../../../shared/message.hpp \ + ../../../shared/message.inl diff --git a/webots/controllers/controller/build/release/controller.exe b/webots/controllers/controller/build/release/controller.exe deleted file mode 100644 index 73524c502219f8b4eff3742d1c5876ca68ee1f32..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 25088 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zb1C$Pn>D?K`#&WA*Pxd+=`n)Yb%(oA^ReyK=9e1&2MMxtFvFIUN}pO^mfpgDK`Sb@ z^mbkI?uX=W>3xVPl3IGl&gWq*f58|M6aM@O&+>Q_XrdxZZ|(PjZyI`2u`+(hpUu~n zOSU}|^SA4wO0zGx(K1%laeB+=Scntp9b=a`-8%o&^|H;^uyc+FO?cUCiVc0Cp|7wB shM?FI8aT=1Uyu@S>GM+JwNzSWNs@3%7K&nt$=__(sW|y(>21XS2IY2Wp8x;= literal 0 HcmV?d00001 diff --git a/webots/worlds/.cabservice.wbproj b/webots/worlds/.cabservice.wbproj index 04af7ec..07bff77 100644 --- a/webots/worlds/.cabservice.wbproj +++ b/webots/worlds/.cabservice.wbproj @@ -1,15 +1,13 @@ Webots Project File version R2020a -perspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000007f0000040dfc0200000001fb0000001400540065007800740045006400690074006f007201000000150000040d0000008700ffffff000000030000078000000039fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007800000006900ffffff000006ff0000040d00000004000000040000000100000008fc00000000 -simulationViewPerspectives: 000000ff0000000100000002000001180000060b0100000002010000000101 -sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000002010000000201 -minimizedPerspectives: 000000ff00000000fd00000003000000000000016c00000469fc0200000001fb00000012005300630065006e006500540072006500650100000019000004690000018500ffffff000000010000022e0000036bfc0200000001fb0000001400540065007800740045006400690074006f007201000000190000036b000000ab00ffffff00000003000005cd000000f8fc0100000001fb0000000e0043006f006e0073006f006c00650100000172000005cd0000004e00ffffff000003990000036b00000004000000040000000100000008fc00000000 +perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000019600000362fc0200000001fb0000001400540065007800740045006400690074006f0072010000001c00000362000000a200ffffff00000003000007380000005efc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff0000059c0000036200000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff000000010000000200000118000002d60100000006010000000101 +sceneTreePerspectives: 000000ff0000000100000002000000c0000000fc0100000006010000000201 +minimizedPerspectives: 000000ff00000000fd00000003000000000000020000000448fc0100000003fc00000000ffffffff0000000000fffffffc0200000001fb00000012005300630065006e0065005400720065006501000000000000039f0000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770000000000000003200000000000000000fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000005400ffffff000000010000024700000341fc0200000001fb0000001400540065007800740045006400690074006f0072010000001600000341000000a200ffffff000000030000073800000085fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff000004eb0000034100000004000000040000000100000008fc00000000 maximizedDockId: -1 centralWidgetVisible: 1 -projectionMode: PERSPECTIVE selectionDisabled: 0 viewpointLocked: 0 orthographicViewHeight: 1 -textFiles: 0 "controllers/webots_controller/webots_controller.c" -globalOptionalRendering: DistanceSensorRays -renderingDevicePerspectives: Cab1:camera;1;3.2;0;0 -renderingDevicePerspectives: Cab2:camera;1;3.2;0;0 +textFiles: 0 "controllers/controller/controller.cpp" +renderingDevicePerspectives: Cab1:camera;1;15.8;0.000869565;0 +renderingDevicePerspectives: Cab2:camera;1;15.8;0;0.226485 From 8a291777163d915468606064952aa5d7a88c30b2 Mon Sep 17 00:00:00 2001 From: Yue Date: Tue, 30 Jun 2020 02:18:54 +0200 Subject: [PATCH 09/25] fix webot --- external/controller/obj/gnatinspect.db | Bin 274432 -> 274432 bytes external/controller/obj/gnatinspect.db-shm | Bin 0 -> 32768 bytes external/controller/obj/gnatinspect.db-wal | Bin 0 -> 271952 bytes external/controller/obj/gpsauto.cgpr | 91 ++++++++++++++++++ .../controller/build/release/controller | Bin 108944 -> 108944 bytes .../controller/build/release/controller.o | Bin 0 -> 280504 bytes webots/controllers/controller/controller | Bin 108944 -> 108944 bytes webots/worlds/.cabservice.wbproj | 12 +++ 8 files changed, 103 insertions(+) create mode 100644 external/controller/obj/gnatinspect.db-shm create mode 100644 external/controller/obj/gnatinspect.db-wal create mode 100644 external/controller/obj/gpsauto.cgpr create mode 100644 webots/controllers/controller/build/release/controller.o create mode 100644 webots/worlds/.cabservice.wbproj diff --git a/external/controller/obj/gnatinspect.db b/external/controller/obj/gnatinspect.db index 70a5b14266f920f8fdf3523610ff166ae367737a..3d8860a5f2dba04409ffa5be00a280b8d09d1521 100644 GIT binary patch delta 44320 zcmb@vd7Mw>`}lvB`#$^fnthmI_Kg|F*v;72VTPe0FG`9ektG$Omn~@sC60C#+9ah+ zJMDW>sDxB1l_DV}`CjL`?rQox-jB!cpP$FW{k-n$+~>T`axd4puj@WD_h4l1!N`g< zHzG+=Pxzk?|K(c>+slzBM&H*}hg_ZgptREHwkqop_kQ;d_g1&go$p@fPID)?m$)O` zA#Q)Shug_5bDOQat6Nd~`ObCDG-rZyi8I0(;`DcVIGvm_rKWInY}`q50Adt%3~wUSe?n?-Y7Lm(oI52 zloksqLAp^$@zNq8#Yr~^DIzTtk}oX~k|)g{uw6a*cjHX=-a? 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000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000000000140000005400ffffff00000001000001240000034efc0200000001fb0000001400540065007800740045006400690074006f0072010000001c0000034e0000003c00ffffff000000030000073800000072fc0100000001fb0000000e0043006f006e0073006f006c00650100000000000007380000005400ffffff0000060e0000034e00000001000000020000000100000008fc00000000 +simulationViewPerspectives: 000000ff0000000100000002000001180000050e0100000006010000000100 +sceneTreePerspectives: 000000ff00000001000000020000027e000000fc0100000006010000000200 +maximizedDockId: -1 +centralWidgetVisible: 1 +selectionDisabled: 0 +viewpointLocked: 0 +orthographicViewHeight: 1 +textFiles: -1 +renderingDevicePerspectives: Cab1:camera;1;3.2;0;0 +renderingDevicePerspectives: Cab2:camera;1;3.2;0;0 From 5b5b73645426c2c0304ab54c76420ab05ad6af14 Mon Sep 17 00:00:00 2001 From: Yue Date: Tue, 30 Jun 2020 12:02:31 +0200 Subject: [PATCH 10/25] use PID to control the velocity of Wheels but still have problem --- external/controller/main | Bin 335360 -> 335688 bytes external/controller/obj/b__main.ads | 6 +- external/controller/obj/b__main.ali | 8 +- external/controller/obj/b__main.o | Bin 86064 -> 86064 bytes external/controller/obj/gnatinspect.db | Bin 274432 -> 274432 bytes external/controller/obj/gnatinspect.db-shm | Bin 32768 -> 0 bytes external/controller/obj/gnatinspect.db-wal | Bin 271952 -> 0 bytes external/controller/obj/main.ali | 8 +- external/controller/obj/main.bexch | 2 +- external/controller/obj/main.o | Bin 33224 -> 33224 bytes external/controller/obj/pathfollowing.ali | 149 +++++++++--------- external/controller/obj/pathfollowing.o | Bin 24008 -> 21304 bytes external/controller/obj/webots_thread.ali | 4 +- .../controller/src/Path/pathfollowing.adb | 73 +++++---- .../controller/src/Path/pathfollowing.ads | 4 +- external/controller/src/main.adb | 2 +- webots/worlds/.cabservice.wbproj | 13 +- webots/worlds/cabservice.wbt | 40 +++-- 18 files changed, 169 insertions(+), 140 deletions(-) delete mode 100644 external/controller/obj/gnatinspect.db-shm delete mode 100644 external/controller/obj/gnatinspect.db-wal diff --git a/external/controller/main b/external/controller/main index 0dbc1db843f55c6d24432fedc8bdcf186ceda48b..98bdaf3691fa492b41c1f82de4903730986a40bf 100755 GIT binary patch delta 54227 zcmbS!cUV-%7xvDD1y(^o!36}t-WBW(1r-H@ioMrZuw$Y|jk;LFiYR!|V;5tIT@iaM z*bp@_m>8o*4JO8{HCUp=B<}al%)N;F{r>sBeV*l=Ip@roGiT1Ud+%NnkNf1F^hxzA zJ!HB;d?F+m+{&ia+*%?#US_l7({9x*(dciPYxK8Tn$$5_g z%NBZ1voet{Le*dS+Q+uPPiv2?|HAvPym>vVa?&ZMsIcv-O{vUQs~%3>Evr#vExzmU zT`!6o3>$zO@%<9tP55rcmw&e4yA9u+`0m1&e|F=$AKwE!gU=y+4~vw+a74pnz^}FR zao|ZU4X_xp@%J>oXYoCU?|FQ4@x6#I|6Gz_xUAu~8eReBY3c8QKj3=}-=FZkf$uGR zf5!I?zQ5qhKfmJpyGY4D4-8HQgDq>Q^I*mWlRUPVPHvV2j%~8|b%oOsG zv$J~5)rU0~dKYsW)B-m@woT;6i$YWMLTa2Tl(kmpnCh`Bq7}78oj(Zs>kE6mU~gB^ zwvF5pc2MxHh<5%h=q@5XnODzNsaGL0SWu3O_FYgndYIMFl72=-uazxOhnB3za)d<& 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Version_32 := 16#409cd94a#; pragma Export (C, u00001, "mainB"); u00002 : constant Version_32 := 16#050ff2f0#; pragma Export (C, u00002, "system__standard_libraryB"); @@ -485,9 +485,9 @@ package ada_main is pragma Export (C, u00223, "system__storage_pools__subpools__finalizationB"); u00224 : constant Version_32 := 16#fe2f4b3a#; pragma Export (C, u00224, "system__storage_pools__subpools__finalizationS"); - u00225 : constant Version_32 := 16#232e2b88#; + u00225 : constant Version_32 := 16#0768e467#; pragma Export (C, u00225, "pathfollowingB"); - u00226 : constant Version_32 := 16#be52b532#; + u00226 : constant Version_32 := 16#930898fb#; pragma Export (C, u00226, "pathfollowingS"); u00227 : constant Version_32 := 16#8aa4f090#; pragma Export (C, u00227, "system__img_realB"); diff --git a/external/controller/obj/b__main.ali b/external/controller/obj/b__main.ali index c793f22..02ff8fc 100644 --- a/external/controller/obj/b__main.ali +++ b/external/controller/obj/b__main.ali @@ -19,13 +19,13 @@ RV NO_ELABORATION_CODE RV NO_OBSOLESCENT_FEATURES RV SPARK_05 -U ada_main%b b__main.adb 2f5dcd9b OO PK IL +U ada_main%b b__main.adb 53401670 OO PK IL W ada%s ada.ads ada.ali W ada.exceptions%s a-except.adb a-except.ali W system%s system.ads system.ali W system.restrictions%s s-restri.adb s-restri.ali -U ada_main%s b__main.ads b0c3cecb EE NE OO PK IL +U ada_main%s b__main.ads ccde1520 EE NE OO PK IL W system%s system.ads system.ali W system.parameters%s s-parame.adb s-parame.ali W system.secondary_stack%s s-secsta.adb s-secsta.ali @@ -33,8 +33,8 @@ W system.secondary_stack%s s-secsta.adb s-secsta.ali D ada.ads 20200312110721 76789da1 ada%s D a-except.ads 20200312110721 291912d5 ada.exceptions%s D a-unccon.ads 20200312110721 0e9b276f ada.unchecked_conversion%s -D b__main.ads 20200629183425 9ea190d2 ada_main%s -D b__main.adb 20200629183425 837849ee ada_main%b +D b__main.ads 20200630095813 e2bc4b39 ada_main%s +D b__main.adb 20200630095813 837849ee ada_main%b D system.ads 20200312110721 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topPoint{integer} 83m13 91m7 91r20 121r31 122r13 123r39 124r16 125r40 -. 130r49 134r10 135r46 138r10 139r35 142r50 -9i4 leftPoint{integer} 108m13 116m7 116r21 121r68 130r31 131r61 134r68 138r28 -. 139r46 142r66 143r67 -10i4 rightPoint{integer} 95m13 103m7 103r22 121r49 130r66 134r28 135r58 138r66 -. 142r30 -11i4 bottomPoint1{integer} 76m13 79r37 -12i4 topPoint1{integer} 88m13 91r31 -13i4 leftPoint1{integer} 113m13 116r33 -14i4 rightPoint1{integer} 100m13 103r35 -15f4 steeringAngle{46|10F9} 123m13 125m13 126m15 131m10 135m10 139m10 143m10 -. 147r17 149r10 150r47 153r13 155r47 -17a4 red{16|20A9} 38m13 39r99 -18a4 blue{16|20A9} 36m13 39r31 -19a4 green{16|20A9} 37m13 39r64 -20a4 grey{16|20A9} 40m13 47r16 69r13 75r13 82r13 87r13 94r13 99r13 107r13 -. 112r13 -21a4 binaImage{16|20A9} 48m16 50m16 -23a4 wheehlvelocity{16|21A9} 150m10 151m10 154m10 155m10 158r17 158r51 166r42 -. 173r42 -24f4 axleTrack{46|10F9} 150r63 155r63 -25f4 basicVelocity{46|10F9} 150r31 151r31 154r31 155r31 -28p7 raw(46|15A9) 36r29 37r30 38r28 -29i7 index{16|16I9} 35m13 36r47 37r48 38r46 -30a7 o8{46|13A9} 167m10 169r19 170r41 174m10 176r19 177r45 -31m7 u64{46|9M9} 166m10 167r40 173m10 174r40 -33i11 I{16|14I9} 35r47 36r19 37r20 38r18 39r37 39r71 39r104 40r19 -34i14 J{16|13I9} 35r68 36r23 37r24 38r22 39r41 39r75 39r108 40r23 -45i11 I{16|14I9} 47r22 48r27 50r27 -46i14 J{16|13I9} 47r25 48r30 50r30 -68i11 J{16|13I9} 69r39 70r36 -74i11 J{16|13I9} 75r39 76r37 -81i11 J{16|13I9} 82r21 83r33 -86i11 J{16|13I9} 87r32 88r34 -93i11 I{16|14I9} 94r18 95r34 -98i11 I{16|14I9} 99r18 100r35 -106i11 I{16|14I9} 107r18 108r33 -111i11 I{16|14I9} 112r18 113r35 -160r15 packet{46|18R9} 162m10 163m10 164m10 170r13 177r13 180r17 -169m14 I<12|74M9> 170r35 170r45 -176m14 I<12|74M9> 177r35 177r49 +7i4 bottomPoint{integer} 80m13 89m7 89r23 132r24 +8i4 topPoint{integer} 93m13 101m7 101r20 +9i4 leftPoint{integer} 118m13 126m7 126r21 +10i4 rightPoint{integer} 105m13 113m7 113r22 +11i4 bottomPoint1{integer} 86m13 89r37 +12i4 topPoint1{integer} 98m13 101r31 +13i4 leftPoint1{integer} 123m13 126r33 +14i4 rightPoint1{integer} 110m13 113r35 +15f4 steeringAngle{46|10F9} +17a4 red{16|20A9} 48m13 49r99 +18a4 blue{16|20A9} 46m13 49r31 +19a4 green{16|20A9} 47m13 49r64 +20a4 grey{16|20A9} 50m13 57r16 79r13 85r13 92r13 97r13 104r13 109r13 117r13 +. 122r13 +21a4 binaImage{16|20A9} 58m16 60m16 +23a4 wheehlvelocity{16|21A9} 165m10 166m10 173r17 173r51 181r42 188r42 +25f4 basicVelocity{46|10F9} 165r31 166r31 +26i4 offsetImage{integer} 132r38 +27f4 V_turn{46|10F9} 135m7 165r47 166r47 +29f4 Kp{46|10F9} 135r17 +30f4 Ki{46|10F9} 135r30 +31f4 Kd{46|10F9} 135r45 +32f4 Error{46|10F9} 132m7 133r30 134r21 135r22 +33f4 lastError{46|10F9} 134r29 +34f4 integral{46|10F9} 133m7 133r19 135r34 +35f4 derivative{46|10F9} 134m7 135r50 +38p7 raw(46|15A9) 46r29 47r30 48r28 +39i7 index{16|16I9} 45m13 46r47 47r48 48r46 +40a7 o8{46|13A9} 182m10 184r19 185r41 189m10 191r19 192r45 +41m7 u64{46|9M9} 181m10 182r40 188m10 189r40 +43i11 I{16|14I9} 45r47 46r19 47r20 48r18 49r37 49r71 49r104 50r19 +44i14 J{16|13I9} 45r68 46r23 47r24 48r22 49r41 49r75 49r108 50r23 +55i11 I{16|14I9} 57r22 58r27 60r27 +56i14 J{16|13I9} 57r25 58r30 60r30 +78i11 J{16|13I9} 79r39 80r36 +84i11 J{16|13I9} 85r39 86r37 +91i11 J{16|13I9} 92r21 93r33 +96i11 J{16|13I9} 97r32 98r34 +103i11 I{16|14I9} 104r18 105r34 +108i11 I{16|14I9} 109r18 110r35 +116i11 I{16|14I9} 117r18 118r33 +121i11 I{16|14I9} 122r18 123r35 +175r15 packet{46|18R9} 177m10 178m10 179m10 185r13 192r13 195r17 +184m14 I<12|74M9> 185r35 185r45 +191m14 I<12|74M9> 192r35 192r49 X 34 s-stausa.ads 203U14*Initialize 204i22 268U14*Output_Results 272i22 X 46 types.ads -4K9*types 16|3w6 3r17 17|28r20 36r34 37r35 38r33 166r17 167r16 173r17 174r16 +4K9*types 16|3w6 3r17 17|38r20 46r34 47r35 48r33 181r17 182r16 188r17 189r16 . 46|45e10 -6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|40r29 -8M9*uint32<12|74M9> 17|36r40 37r41 38r39 -9M9*uint64<12|77M9> 17|31r13 -10F9*float64<12|172F9> 16|21r43 17|15r20 24r16 25r20 123r30 125r31 131r29 -. 135r29 139r27 143r27 -13A9*Octets_8(6M9)<8M9> 17|30r12 -15A9*payload(6M9)<8M9> 17|28r26 164r38 -18R9*Communication_Packet 16|23r44 23r73 17|27r45 27r74 160r24 46|23e14 -19m7*package_ID{6M9} 17|162m17 -20m7*payload_length{8M9} 17|163m17 -21p7*local_payload(15A9) 17|28r48 164m17 170r20 177r20 -27V13*uint64_to_octets{13A9} 17|167s22 174s22 -34V13*float64_to_uint64{9M9} 17|166s23 173s23 +6M9*uint8<12|63M9> 16|12r35 17r44 19r49 17|50r29 +8M9*uint32<12|74M9> 17|46r40 47r41 48r39 +9M9*uint64<12|77M9> 17|41r13 +10F9*float64<12|172F9> 16|21r43 17|15r20 25r20 27r13 29r9 30r9 31r9 32r12 +. 33r16 34r15 35r17 132r16 +13A9*Octets_8(6M9)<8M9> 17|40r12 +15A9*payload(6M9)<8M9> 17|38r26 179r38 +18R9*Communication_Packet 16|23r44 23r73 17|37r45 37r74 175r24 46|23e14 +19m7*package_ID{6M9} 17|177m17 +20m7*payload_length{8M9} 17|178m17 +21p7*local_payload(15A9) 17|38r48 179m17 185r20 192r20 +27V13*uint64_to_octets{13A9} 17|182s22 189s22 +34V13*float64_to_uint64{9M9} 17|181s23 188s23 diff --git a/external/controller/obj/pathfollowing.o b/external/controller/obj/pathfollowing.o index ffb2886a7b259548806fcd9c399b9eca539d2962..6f94fbc713bc1b22cb79961c8c7392b509e52961 100644 GIT binary patch literal 21304 zcmcg!3wV^pxt_iJn++k^+(04%%T-WFxTFY(%>@=W7$k+HjZ*uwNjAw!l8u`U7X=cH zvFu56gma{|9<26WtG3irC{iv7mn2$i)5q51V^1qRtrm-?MLb72>S@mR&3v<&%>Ii$ zeR?|2v;WMz^Un8u^UdX-fBrw|@RhHz+iXk*8~Y?1%}JE8%j-td#XMQeCa_#q<&VAY zk6rf1-uB0y_s4t}{jsXccbwk)_rOa&Q}XGOs*=i${(Ij#0!I5|$1ne7WW*mkbP=PT zZV^>v`g@Aq{#f_s5iH!_2vPl@?Uv0+S~+nI6`sF=1pk(Xk=F=ft{WaH%@(pLf}FxX|SX3>xdVo$~h@*b={OxOmUP`mS9^M|NeMD6llc zkfN>3(5p!9Uu(u+z>I~KX1JtiD>L*elKa<~0S@z#*K}Wb4l~c;zAZx$e{H`%)c4Z5 znoNKHd2j4g|NE}kQ2*s=v6tr!d}RI5&@FaweG(D#PQ`|8A4kabI2EoWoZth73fL+1*J?>85aod}HAC8Q4`i|M&d;$^!z7sH+P84-)9q^rm z)XAcbdK7U2E>$NJ1{*kVW!+Zq6&M3-7w#YM^?}yDqK;Xp zu#bkd=djbha-@A67}6)4(CO>5U3huG*I(4RtDkM>?EXY{Ke3zpf!#9!9U`2TWM#Mw zJvL@#=s!QrHvIF;Le7Bi6j*nPtdo;YvF?<#?i9D~G+1|5pe!@T06d 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