485 lines
15 KiB
C++
485 lines
15 KiB
C++
//
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// Created by Владислав Остапов on 27.10.2022.
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//
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#include <cstring>
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#include <iostream>
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#include <libc.h>
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#include <netinet/tcp.h>
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#include "emulator.h"
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#include "robot.h"
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// закомментить когда надо будет отключить
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//#define DEBUG_CORRECTION
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struct barrel barrels[BARRELS_COUNT];
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struct robot_regs robot1;
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struct robot_regs robot2;
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char _scheduler_software_timer = 0;
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short scheduler_correction_stage = 0;
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// кнопка загрузки в зоне 0, означает что барабан надо изъять из этой загрузки (а перед этим создать)
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char button_load = 0;
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char button_unload = 0;
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char button_unload_end = 0;
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char button_unload_remove = 0;
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// времена операций для барабанов, устанавливается индивидуально каждому барабану
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short hla_time_degreasing = 12;
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short hla_time_washing_1a = 4;
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short hla_time_washing_1b = 6;
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short hla_time_etching = 25;
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short hla_time_washing_2a = 6;
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short hla_time_washing_2b = 8;
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short hla_time_galvanizing = 60;
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short hla_time_washing_3a = 8;
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short hla_time_washing_3b = 10;
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short hla_time_passivation = 3;
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short hla_time_washing_4a = 12;
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short hla_time_washing_4b = 14;
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// времена скапывания, одинаковые для всех барабанов
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short hla_time_digging = 8;
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short hla_time_reagent = 30;
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short hla_time_washing_1 = 3;
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short hla_time_washing_2 = 20;
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char hla_robot1_en = 1;
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char hla_robot2_en = 1;
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char one_robot_mode = (char)(hla_robot1_en ^ hla_robot2_en);
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char scheduler_en = 1;
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char scheduler_start_signal = 1;
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char auto_mode_pause = 0;
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char hla_night_mode = 0;
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short hla_exchange_zone = ZONE_GALVANIZING_1;
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short hla_disabled_zones = 0;
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short etching_zone = -2, galvanizing_zone = -2;
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char hla_correct_command = 0;
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static const int ROWS = 10;
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static const int COLS = 23 * 5 + 1;
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static char buffer[ROWS][COLS];
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static int current_tic = 0;
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robot_code robot1_code{0, -1};
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robot_code robot2_code{0, -1};
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short robot1_lock_zone = 0;
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short robot2_lock_zone = 0;
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static int sock_fd;
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static void send_str(const char* str) {
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write(sock_fd, str, strlen(str));
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}
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static void image_init() {
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// заполнение всего поля пробелами
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memset(buffer, ' ', sizeof(buffer));
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}
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static void image_insert_sprite(int row, int col, const char* str, bool alpha = true) {
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for (; row < ROWS; row++) {
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for (int curr_col = col;; curr_col++) {
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char src = *(str++);
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// конец строки, заканчиваем рисовать
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if (src == '\0') {
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return;
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}
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// перевод строки, перевод на новую строку в этом спрайте
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if (src == '\n') {
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break;
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}
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// чтобы не рисовать мусор
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if (src < ' ') {
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src = ' ';
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}
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if (curr_col < COLS) {
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// рисуем, остальные фрагменты будут отброшены
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char frag = buffer[row][curr_col];
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if (alpha) {
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// этот режим позволяет пропускать изменение символа, если исходный символ пробел
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if (src != ' ') {
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frag = src;
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}
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} else {
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frag = src;
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}
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buffer[row][curr_col] = frag;
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}
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}
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}
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}
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static void image_draw_borders() {
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// рамки ванн
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// for (int i = 0; i < COLS; i += 5) {
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// image_insert_sprite(5, i, "|\n|\n|");
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// }
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// рисование линий
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for (int i = 0; i < ROWS - 1; i++) {
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buffer[i][0] = '|';
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buffer[i][COLS - 1] = '|';
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}
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memset(buffer[1], '=', sizeof(buffer[0]));
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// рамки ванн
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char tmp[24];
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for (int i = 0, zone = 0; i < COLS; i += 5, zone++) {
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const char* label = nullptr;
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const char* disabled_label = "+XXXX+";
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const char* selected_label = "+####+";
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if (zone == ZONE_ETCHING_1) {
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if (hla_disabled_zones & DISABLED_ETCH_1) {
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label = disabled_label;
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}
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if (etching_zone == 0) {
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label = selected_label;
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}
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}
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if (zone == ZONE_ETCHING_2) {
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if (hla_disabled_zones & DISABLED_ETCH_2) {
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label = disabled_label;
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}
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if (etching_zone == 1) {
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label = selected_label;
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}
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}
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if (zone >= ZONE_GALVANIZING_1 && zone <= ZONE_GALVANIZING_8) {
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const auto zone_id = zone - ZONE_GALVANIZING_1;
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if (hla_disabled_zones & (DISABLED_GAL_1 << zone_id)) {
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label = disabled_label;
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}
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if (galvanizing_zone == zone_id) {
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label = selected_label;
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}
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}
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if (label == nullptr) {
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label = "+----+";
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}
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sprintf(tmp, "|\n|\n%s\n|\n|Z-%02d|", label, zone);
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image_insert_sprite(5, i, tmp, false);
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}
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image_insert_sprite(8, 1, "LOAD LOAD DEFA W-1A W-1B ETCH ETCH W-2A W-2B "
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" GAL GAL GAL GAL GAL GAL GAL GAL "
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"W-3A W-3B PASS W-4A W-4B UNLD", true);
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// счетчик тиков
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sprintf(tmp, "tic: %d", current_tic);
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image_insert_sprite(0, (int)(COLS - strlen(tmp) - 2), tmp, false);
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}
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static int barrels_count = 0, barrels_time = 0, max_time = 0;
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static void collectBarrelsStatistic() {
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barrels_time = 0;
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barrels_count = 0;
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for (int i = 0; i < BARRELS_COUNT; i++) {
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if (barrels[i].flags.is_exist) {
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barrels_count++;
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if (barrels[i].zone <= ZONE_LOAD_2 || barrels[i].zone == ZONE_PASSIVATION || barrels[i].zone == ZONE_UNLOAD) {
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continue;
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}
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if (barrels[i].flags.robot == 0 && barrels[i].software_timer < 0) {
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// время отрицательное, вычитаем его чтобы убрать минус
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barrels_time -= barrels[i].software_timer;
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}
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}
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}
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if (max_time < barrels_time) {
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max_time = barrels_time;
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}
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}
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static void showAll() {
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// 10 строк, 10*(\sb%1d\s) = 40
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// барабан хочу показывать так
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//
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// # Bx | Bx | Bx
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// #time|time|time
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//
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image_init();
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image_draw_borders();
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char tmp[64];
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sprintf(tmp, "Lock1=%2d Lock2=%2d E=%d G=%d", robot1_lock_zone, robot2_lock_zone, etching_zone, galvanizing_zone);
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image_insert_sprite(0, 2, tmp);
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collectBarrelsStatistic();
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sprintf(tmp, "barrels=%2d time=%d max_time=%d", barrels_count, barrels_time, max_time);
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image_insert_sprite(0, 30, tmp);
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sprintf(tmp, "MODE: night=%d pause=%d", hla_night_mode, auto_mode_pause);
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image_insert_sprite(0, 70, tmp);
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// рисование бочек
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for (int i = 0; i < BARRELS_COUNT; i++) {
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const auto& b = barrels[i];
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if (b.flags.is_exist) {
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char flag_r = ' ';
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if (b.flags.is_night) {
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flag_r = 'n';
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}
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if (b.flags.is_empty) {
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flag_r = 'e';
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}
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char flag_l = ' ';
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if (b.flags.robot) {
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flag_l = '*';
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}
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if (b.flags.is_up) {
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sprintf(tmp, "%cB%d%c", flag_l, i, flag_r);
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image_insert_sprite(4, (b.zone * 5) + 1, tmp);
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} else {
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sprintf(tmp, "%cB%d%c\n%04d", flag_l, i, flag_r, b.software_timer);
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image_insert_sprite(5, (b.zone * 5) + 1, tmp);
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}
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}
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}
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// рисуем роботов
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if (hla_robot1_en) {
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sprintf(tmp, "R1");
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image_insert_sprite(2 + (robot1.mz.is_up ? 0 : 2) - (robot1.mx.correct_sensor ? 1 : 0),
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(robot1.dx.current_zone * 5) + 2 + (robot1_offset_pos * 2) + (robot1.mx.correct_sensor ? 1 : 0),
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tmp);
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}
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if (hla_robot2_en) {
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sprintf(tmp, "R2");
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image_insert_sprite(2 + (robot2.mz.is_up ? 0 : 2),
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(robot2.dx.current_zone * 5) + 2 + (robot2_offset_pos * 2) - (robot2.mx.correct_sensor ? 1 : 0),
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tmp);
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}
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for (const auto & r : buffer) {
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write(sock_fd, r, COLS);
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send_str("\n");
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}
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}
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static void open_socket() {
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sockaddr_in serv_addr{};
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sock_fd = socket(AF_INET, SOCK_STREAM, 0);
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if (sock_fd < 0) {
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printf("Socket creation error\n");
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exit(-1);
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}
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// setting socket options
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int flag = 1;
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if(setsockopt(sock_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(flag)) == -1){
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printf("setsockopt TCP_NODELAY failed for server socket on address 127.0.0.1\n");
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}
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serv_addr.sin_family = AF_INET;
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serv_addr.sin_port = htons(40000);
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// Convert IPv4 and IPv6 addresses from text to binary form
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if (inet_pton(AF_INET, "127.0.0.1", &serv_addr.sin_addr) <= 0) {
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printf("Invalid address/ Address not supported\n");
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exit(-1);
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}
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if (connect(sock_fd, (struct sockaddr*)&serv_addr, sizeof(serv_addr)) < 0) {
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printf("Connection Failed\n");
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exit(-1);
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}
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}
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int main() {
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#ifdef DEBUG_CORRECTION
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robot1.mx.correct_sensor = false;
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robot1.dx.current_zone = 5;
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robot2.mx.correct_sensor = false;
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robot2.dx.current_zone = 3;
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hla_correct_command = 1;
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#else
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robot1.mx.correct_sensor = true;
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robot2.mx.correct_sensor = true;
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#endif
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open_socket();
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current_tic = 0;
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const char* message = nullptr;
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while (true) {
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_scheduler_software_timer = 1;
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// подсчитаем статистику
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collectBarrelsStatistic();
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// грузим не больше 5 барабанов
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// if (barrels_count < 5) {
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// button_load = 1;
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// }
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// ======= БЛОК КОДА bittons_logic =======
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// авто сброс кнопок на выгрузке, если там нет барабана
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if (!zone_is_busy(ZONE_UNLOAD)) {
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button_unload = 0;
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button_unload_remove = 0;
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}
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// кнопка загрузки барабана
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if (button_load) {
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if (!hla_night_mode) {
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if (!zone_is_busy(1)) {
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for (int i = 0; i < BARRELS_COUNT; i++) {
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if (!barrels[i].flags.is_exist) {
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barrels[i].flags.raw_word = 1; // только is_exist
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barrels[i].zone = 1;
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barrels[i].software_timer = -1;
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barrels[i].time_degreasing = hla_time_degreasing;
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barrels[i].time_washing_1a = hla_time_washing_1a;
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barrels[i].time_washing_1b = hla_time_washing_1b;
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barrels[i].time_etching = hla_time_etching;
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barrels[i].time_washing_2a = hla_time_washing_2a;
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barrels[i].time_washing_2b = hla_time_washing_2b;
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barrels[i].time_galvanizing = hla_time_galvanizing;
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barrels[i].time_washing_3a = hla_time_washing_3a;
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barrels[i].time_washing_3b = hla_time_washing_3b;
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barrels[i].time_passivation = hla_time_passivation;
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barrels[i].time_washing_4a = hla_time_washing_4a;
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barrels[i].time_washing_4b = hla_time_washing_4b;
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button_load = 0;
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break;
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}
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}
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}
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} else {
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button_load = 0;
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}
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}
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// кнопка выгрузки
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if (button_unload_end) {
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button_unload_end = 0;
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remove_barrel_from_zone(0);
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}
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// кнопка удаления барабана из 22 зоны
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if (button_unload_remove) {
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button_unload_remove = 0;
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remove_barrel_from_zone(22);
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}
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// ================ КОНЕЦ ================
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robot_main();
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scheduler_main();
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// increment_zone(ROBOT_ZONE_GAL);
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// increment_zone(ROBOT_ZONE_ETCH);
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send_str("\033c");
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showAll();
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if (message) {
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std::cout << message << std::endl;
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send_str(message);
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send_str("\n");
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}
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if (!one_robot_mode) {
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if (!robot2.mx.correct_sensor) {
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if (robot2.dx.current_zone + 1 >= robot1.dx.current_zone) {
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printf("ASSERTION FAILED: FOUND ROBOTS CORRUPTION\n");
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if (robot1_code.PC >= 0)
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debug_print_robot_code(&robot1_code, 1, 0);
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if (robot2_code.PC >= 0)
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debug_print_robot_code(&robot2_code, 2, 0);
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break;
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}
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}
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}
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if (robot1_code.PC >= 0)
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debug_print_robot_code(&robot1_code, 1, sock_fd);
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if (robot2_code.PC >= 0)
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debug_print_robot_code(&robot2_code, 2, sock_fd);
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#ifdef DEBUG_CORRECTION
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#endif
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send_str("cmd >> ");
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std::string in;
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while (true) {
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char tmp[2] = {0, 0};
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ssize_t res = read(sock_fd, tmp, 1);
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if (res < 0) {
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exit(-1);
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}
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if (res == 1) {
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if (tmp[0] == '\n') {
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break;
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}
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in.append(tmp);
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}
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}
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if (in == "q") {
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break;
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}
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if (in.empty()) {
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// просто продолжаем циклы
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message = "Continue...";
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} else {
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if (in == "u") {
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button_unload = 1;
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message = "Нажата кнопка выгрузки";
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} else if (in == "1") {
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button_unload_end = 1;
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message = "Нажата кнопка загрузки 1";
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} else if (in == "2") {
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button_load = 1;
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message = "Нажата кнопка загрузки 2";
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} else if (in == "n") {
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hla_night_mode = !hla_night_mode;
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message = "Переключен ночной режим";
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} else if (in == "p") {
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auto_mode_pause = !auto_mode_pause;
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message = "Переключен режим паузы";
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} else {
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message = "Неизвестная команда. q - выход, u - выгрузка, 1 - загрузка 1, 2 - загрузка 2";
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}
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}
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current_tic++;
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}
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fsync(sock_fd);
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close(sock_fd);
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return 0;
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} |