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Okay, so these are my errors.
std::invoke: no matching overloaded function found
// and
Failed to specialize function template 'unkown-type std::invoke("Callable &&,_Types &&...) noexcept()'
I really need your guys help. Im pretty new to C++, so I would like if you gave me examples on how to do it. Not only explain.
And this is my code:
#include <iostream>
#include <thread>
#include <stdio.h>
#include <Windows.h>
#include <string>
using namespace std;
void SetColor(int ForgC);
void Navigation();
void Switch(int index);
void UpdateMenu();
const int IWAL = 1;
const int ITRI = 0;
int M_Index = 0;
int Changes = 0;
bool Name1 = false;
bool Name2 = false;
string bools[2] = { "[OFF]", "[ON]" };
void Navigation()
{
for (;;)
{
for (int i = 2; i < 180; i++)
{
if (GetAsyncKeyState(i) & 0x8000)
{
switch (i)
{
case 38:
if (M_Index < 2)
M_Index++;
Changes++;
break;
case 40:
if (M_Index > 0)
M_Index--;
Changes++;
break;
case 37:
Switch(M_Index);
Changes++;
break;
case 39:
Switch(M_Index);
Changes++;
break;
}
Sleep(200);
}
}
}
}
void Switch(int index)
{
if (index == IWAL)
{
Name1 = !Name1;
}
else if (index == ITRI)
{
Name2 = !Name2;
}
}
void UpdateMenu()
{
int temp = -1;
for (;;)
{
if (temp != Changes)
{
temp = Changes;
system("cls");
SetColor(15);
cout << ">> Krizzo's Menu <<" << endl;
cout << "___________________" << endl << endl;
if (M_Index == IWAL)
{
SetColor(10);
cout << " Name1\t=\t" << bools[Name1] << endl;
}
else
{
SetColor(15);
cout << " Name1\t=\t" << bools[Name1] << endl;
}
if (M_Index == ITRI)
{
SetColor(10);
cout << " Name2\t=\t" << bools[Name2] << endl;
}
else
{
SetColor(15);
cout << " Name2\t=\t" << bools[Name2] << endl;
}
}
}
}
void SetColor(int ForgC)
{
WORD wColor;
//We will need this handle to get the current background attribute
HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
CONSOLE_SCREEN_BUFFER_INFO csbi;
//We use csbi for the wAttributes word.
if (GetConsoleScreenBufferInfo(hStdOut, &csbi))
{
//Mask out all but the background attribute, and add in the foreground color
wColor = (csbi.wAttributes & 0xF0) + (ForgC & 0x0F);
SetConsoleTextAttribute(hStdOut, wColor);
}
return;
}
int main(int argc, char** argv) {
std::thread t1(Navigation);
std::thread t2(Switch);
std::thread t3(UpdateMenu);
std::thread t4(SetColor);
t1.join();
t2.join();
t3.join();
t4.join();
return 0;
}
Your Switch and SetColor functions take a parameter. You have to pass this parameter to the thread constructor. Example:
int addOne(int x)
{
return x + 1;
}
int main()
{
std::thread t1(addOne, 5);
t1.join();
}
When dealing with reference parameters, you have to wrap the parameter in a std::ref() call:
void addOne(int& x)
{
x += 1;
}
int main()
{
int a = 42;
std::thread t1(addOne, std::ref(a));
t1.join();
}
Lastly, when you want to run a member function of a class on a seperate thread, you have to pass the this pointer, as the thread has to know which instance the member function is called on.
class X
{
void doSomething()
{
std::thread t1(X::expensiveCalculations, this);
//do something else
t1.join();
}
void expensiveCalculations()
{
}
};
int main()
{
X x;
x.doSomething();
}
My application start the logThread thread and then cyclically calls lookForSms wich makes a curl call and wait for logThread to read a certain string, but this string may never come so i used a condition_variable wait_for so that eventually (after 5 minutes) it can continue the test.
The problem is at times it waits a lot longer, sometimes 20 min sometimes forever.
How can I make it reliably work?
I'm using Visual Studio Community 2017, here the code:
void lookForSms(CURL *curl) {
sms_found = false;
int i;
CURLcode res;
cout << "\n" << timestamp() << "\t";
res = curl_easy_perform(curl);
if (res == CURLE_OK) {
unique_lock<mutex> lk(F);
analysis << timestampMil() << "\t";
while (cv.wait_for(lk, TIMEOUT_SMS * 1000ms) != cv_status::timeout && !sms_found);
if (sms_found) {
analysis << timestampMil() << "\tSMS RECEIVED\n";
cout << "\tOK";
}
else {
analysis << timestampMil() << "\tSMS LOST\n";
cout << "\tKO";
}
}
}
void logThread() {
string line;
int n, i, count;
unsigned char buf[BUFFER];
while (!close) {
N.lock();
M.lock();
N.unlock();
n = RS232_PollComport(comport, buf, BUFFER);
if (n > 0 && n < BUFFER) {
buf[n] = '\0';
for (i = 0; i < n; i++) {
if (buf[i] == '\n') {
all << timestampMil() << "\t" << line << "\n";
handleLine(line);
line = string();
}
else if (buf[i] != '\r' && buf[i] >= 32) {
line += buf[i];
}
}
}
M.unlock();
}
}
void handleLine(string line) {
if (searchString(line, RCV_SMS)) {
unique_lock<mutex> lk(F);
sms_found = true;
lk.unlock();
cv.notify_all();
}
}
[EDIT] This should have everything it needs to recreate the problem.
#include <iostream>
#include <thread>
#include <mutex>
#include <condition_variable>
#define TIMEOUT_SMS 300
#define DELAY_SMS 10
mutex L, M, N, F;
condition_variable cv;
void logThread() {
while (!close) {
N.lock();
M.lock();
N.unlock();
handleLine("");
Sleep(500);
M.unlock();
}
}
void lookForSms() {
unique_lock<mutex> lk(F);
sms_found = false;
unlocked = false;
//while (cv.wait_for(lk, TIMEOUT_SMS * 1000ms) != cv_status::timeout && !unlocked);
cv.wait_for(lk, 10 * TIMEOUT_SMS * 1000ms, []() {return unlocked; });
if (sms_found) {
cout << "\tOK";
}
else {
cout << "\tKO";
}
}
}
void handleLine(string line) {
if (false) {// the problem is when cv remains locked
unique_lock<mutex> lk(F);
unlocked = true;
sms_found = true;
lk.unlock();
cv.notify_all();
}
}
void stopThreads() {
N.lock();
M.lock();
//stop log thread
close = true;
N.unlock();
M.unlock();
}
int main(int argc, const char * argv[]) {
thread logger(logThread);
for (i = 0; i < repeat; i++) {
lookForSms();
Sleep(DELAY_SMS * 1000);
}
//aquire mutex and set close to true, then join
stopThreads();
//wait for the thread to end
logger.join();
return 0;
}
I'm studying ZeroMQ with myself.
I tested PUB as a server(bind), SUB as a client(connect) and worked fine. Opposite (PUB as a client(connect), SUB as a server(bind)) also works fine.
When I connect a another SUB socket as client something goes wrong without any exception or errors.
here's my example code.
#include <zmq.hpp>
#include <string>
#include <iostream>
#include <unistd.h>
#include <thread>
class ZMQSock
{
public:
ZMQSock(const char* addr)
{
if (addr != NULL)
{
mctx = new zmq::context_t(1);
mszAddr = new char[strlen(addr) + 1];
snprintf(mszAddr, strlen(addr) + 1, "%s", addr);
}
}
virtual ~ZMQSock()
{
if (msock != nullptr)
delete msock;
if (mctx != nullptr)
delete mctx;
if (mszAddr != nullptr)
delete [] mszAddr;
}
int zbind()
{
if (msock != nullptr)
msock->bind(mszAddr);
else return -1;
return 0;
}
int zconnect()
{
if (msock != nullptr)
msock->connect(mszAddr);
else return -1;
return 0;
}
void start()
{
if (mbthread != false)
return ;
mbthread = true;
mhthread = std::thread(std::bind(&ZMQSock::run, this));
}
virtual void stop()
{
if (mbthread == false)
return ;
mbthread = false;
if (mhthread.joinable())
mhthread.join();
}
virtual void run() = 0;
protected:
char* mszAddr{nullptr};
zmq::context_t* mctx{nullptr};
zmq::socket_t* msock{nullptr};
bool mbthread{false};
std::thread mhthread;
};
class ZPublisher : public ZMQSock
{
public:
ZPublisher(const char* addr) : ZMQSock(addr)
{
if (msock == nullptr)
{
msock = new zmq::socket_t(*mctx, ZMQ_PUB);
}
}
virtual ~ZPublisher()
{
}
bool zsend(const char* data, const unsigned int length, bool sendmore=false)
{
zmq::message_t msg(length);
memcpy(msg.data(), data, length);
if (sendmore)
return msock->send(msg, ZMQ_SNDMORE);
return msock->send(msg);
}
void run()
{
if (mszAddr == nullptr)
return ;
if (strlen(mszAddr) < 6)
return ;
const char* fdelim = "1";
const char* first = "it sends to first. two can not recv this sentence!\0";
const char* sdelim = "2";
const char* second = "it sends to second. one can not recv this sentence!\0";
while (mbthread)
{
zsend(fdelim, 1, true);
zsend(first, strlen(first));
zsend(sdelim, 1, true);
zsend(second, strlen(second));
usleep(1000 * 1000);
}
}
};
class ZSubscriber : public ZMQSock
{
public:
ZSubscriber(const char* addr) : ZMQSock(addr)
{
if (msock == nullptr)
{
msock = new zmq::socket_t(*mctx, ZMQ_SUB);
}
}
virtual ~ZSubscriber()
{
}
void setScriberDelim(const char* delim, const int length)
{
msock->setsockopt(ZMQ_SUBSCRIBE, delim, length);
mdelim = std::string(delim, length);
}
std::string zrecv()
{
zmq::message_t msg;
msock->recv(&msg);
return std::string(static_cast<char*>(msg.data()), msg.size());
}
void run()
{
if (mszAddr == nullptr)
return ;
if (strlen(mszAddr) < 6)
return ;
while (mbthread)
{
std::cout << "MY DELIM IS [" << mdelim << "] - MSG : ";
std::cout << zrecv() << std::endl;
usleep(1000 * 1000);
}
}
private:
std::string mdelim;
};
int main ()
{
ZPublisher pub("tcp://localhost:5252");
ZSubscriber sub1("tcp://localhost:5252");
ZSubscriber sub2("tcp://*:5252");
pub.zconnect();
sub1.zconnect();
sub2.zbind();
sub1.setScriberDelim("1", 1);
sub2.setScriberDelim("2", 1);
pub.start();
std::cout << "PUB Server has been started.." << std::endl;
usleep(1000 * 1000);
sub1.start();
std::cout << "SUB1 Start." << std::endl;
sub2.start();
std::cout << "SUB2 Start." << std::endl;
int i = 0;
std::cout << "< Press any key to exit program. >" << std::endl;
std::cin >> i;
std::cout << "SUB1 STOP START" << std::endl;
sub1.stop();
std::cout << "SUB2 STOP START" << std::endl;
sub2.stop();
std::cout << "PUB STOP START" << std::endl;
pub.stop();
std::cout << "ALL DONE" << std::endl;
return 0;
}
What causes this? or Am I using PUB/SUB illegally?
You are connecting a SUB socket to a SUB socket, that is an invalid connection. In your case the PUB should bind and the SUBs should connect.
Closed. This question needs debugging details. It is not currently accepting answers.
Edit the question to include desired behavior, a specific problem or error, and the shortest code necessary to reproduce the problem. This will help others answer the question.
Closed 7 years ago.
Improve this question
I am trying to write a c++ program that assembles MIPS instructions. While debugging, it keeps throwing an error at line 74 of my main:
myassembler.add(lexed[i].labels[0], lexed[i].name, tokens, i);
my main is here:
#include <fstream>
#include <iostream>
#include <iomanip>
#include <memory>
#include <stdexcept>
#include <string>
#include <sstream>
#include <vector>
#include "exceptions.h"
#include "lexer.h"
#include "util.h"
#include "assembler.h"
std::string read_file(const std::string& name) {
std::ifstream file(name);
if (!file.is_open()) {
std::string error = "Could not open file: ";
error += name;
throw std::runtime_error(error);
}
std::stringstream stream;
stream << file.rdbuf();
return std::move(stream.str());
}
int main(int argc, char** argv) {
// Adjusting -- argv[0] is always filename.
--argc;
++argv;
if (argc == 0) {
std::cerr << "Need a file" << std::endl;
return 1;
}
assembler myassembler;
for (int i = 0; i < argc; ++i) {
std::string asmName(argv[i]);
if (!util::ends_with_subseq(asmName, std::string(".asm"))) {
std::cerr << "Need a valid file name (that ends in .asm)" << std::endl;
std::cerr << "(Bad name: " << asmName << ")" << std::endl;
return 1;
}
// 4 is len(".asm")
auto length = asmName.size() - string_length(".asm");
std::string baseName(asmName.begin(), asmName.begin() + length);
std::string objName = baseName + ".obj";
try {
auto text = read_file(asmName);
try {
auto lexed = lexer::analyze(text); // Parses the entire file and returns a vector of instructions
for (int i =0; i < (int)lexed.size(); i++){
if(lexed[i].labels.size() > 0) // Checking if there is a label in the current instruction
std::cout << "label = " << lexed[i].labels[0] << "\n"; // Prints the label
std::cout<< "instruction name = " << lexed[i].name<< "\n"; // Prints the name of instruction
std::cout << "tokens = ";
std::vector<lexer::token> tokens = lexed[i].args;
for(int j=0; j < (int)tokens.size(); j++){ // Prints all the tokens of this instruction like $t1, $t2, $t3
if (tokens[j].type == lexer::token::Integer)
std::cout << tokens[j].integer() << " ";
else
std::cout << tokens[j].string() << " ";
}
myassembler.add(lexed[i].labels[0], lexed[i].name, tokens, i);
myassembler.p();
std::cout << "\n\n\n";
}
} catch(const bad_asm& e) {
std::stringstream error;
error << "Cannot assemble the assembly code at line " << e.line;
throw std::runtime_error(error.str());
} catch(const bad_label& e) {
std::stringstream error;
error << "Undefined label " << e.what() << " at line " << e.line;
throw std::runtime_error(error.str());
}
} catch (const std::runtime_error& err) {
std::cout << err.what() << std::endl;
return 1;
}
}
/*getchar();*/
return 0;
}
assembler.h:
#include "lexer.h"
#include <fstream>
#include <vector>
#include <string>
struct symbol
{
std::string label = "";
int slinenum;
};
struct relocation
{
std::string instruct = "";
std::string label = "";
int rlinenum;
int rt = 0;
int rs = 0;
};
struct opcode
{
std::string instruct = "";
int opc = 0;
bool isloadstore = false;
int extType = 0;
bool isbranch = false;
};
struct function
{
std::string instruct = "";
int funct = 0;
bool isjr = false;
bool isshift = false;
};
struct regs
{
std::string name;
int num;
};
enum instrtype
{
R, I, neither
};
class assembler
{
public:
assembler();
void oinit(void);
void finit(void);
void rinit(void);
void printToFile(std::fstream &file);
void savesymb(std::string label, int line);
void saverel(std::string instr, std::string label, int line, int rt, int rs);
std::vector<int> formatr(std::string instr, lexer::token toke1, lexer::token toke2, lexer::token toke3, int line);
int formatr(std::string instr, lexer::token toke, int line);
std::vector<int> formati(std::string instr, lexer::token toke1, lexer::token toke2, lexer::token toke3, int line);
std::vector<int> formati(std::string instr, lexer::token toke1, lexer::token toke2, int line);
int findnum(std::string regname);
void add(std::string label, std::string instr, const std::vector<lexer::token> &tokens, int linen);
void secAdd(void);
int rassemble(std::string instr, int rd, int rs, int rt, int shamt);
int iassemble(std::string instr, int rt, int rs, int imm);
void p();
private:
std::vector<int> results;
std::vector<symbol> symbtable;
std::vector<relocation> reloctable;
std::vector<opcode> ops;
std::vector<function> functions;
std::vector<regs> registers;
instrtype type = neither;
};
and assembler.cpp:
// ECE 2500
// Project 1: myAssembler
// assembler.cpp
// Sheila Zhu
#include "lexer.h"
#include <iostream>
#include <fstream>
#include <vector>
#include <string>
#include "assembler.h"
assembler::assembler()
{
oinit();
finit();
rinit();
}
void assembler::oinit()
{
opcode myop;
myop.instruct = "addi";
myop.opc = 8;
myop.extType = 1;
ops.push_back(myop);
// more of the same
}
void assembler::finit()
{
function myfunc;
myfunc.instruct = "add";
myfunc.funct = 32;
functions.push_back(myfunc);
// more of the same
}
void assembler::rinit()
{
regs myreg;
myreg.name = "$zero";
myreg.num = 0;
registers.push_back(myreg);
//more of the same
}
void assembler::printToFile(std::fstream &file)
{
for (int i = 0; i < (int)results.size(); i++)
file << results.at(i) << std::endl;
}
void assembler::savesymb(std::string label, int line)
{
symbol symb;
symb.label = label;
symb.slinenum = line * 4;
symbtable.push_back(symb);
}
void assembler::saverel(std::string instr, std::string label, int line, int rt, int rs)
{
relocation re;
re.instruct = instr;
re.label = label;
re.rlinenum = line;
re.rt = rt;
re.rs = rs;
}
int assembler::findnum(std::string regname)
{
for (int i = 0; i < (int)registers.size(); i++)
{
if (regname == registers.at(i).name)
return registers.at(i).num;
}
return -1;
}
std::vector<int> assembler::formatr(std::string instr, lexer::token toke1, lexer::token toke2, lexer::token toke3, int line)
{
int rd = 0, rs = 0, rt = 0, shamt = 0;
std::vector<int> x;
function currf;
for (int i = 0; i < (int)functions.size(); i++)
{
if (instr == functions.at(i).instruct)
currf = functions.at(i);
}
try
{
if (currf.isshift)
{
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rd = findnum(toke1.string());
if (rd == -1)
throw 2;
}
if (toke2.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke2.string());
if (rs == -1)
throw 2;
}
if (toke3.type == lexer::token::Integer)
{
shamt = toke3.integer();
if (shamt < 0)
throw 3;
}
else
throw 1;
}
else
{
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rd = findnum(toke1.string());
if (rd == -1)
throw 2;
}
if (toke2.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke2.string());
if (rs == -1)
throw 2;
}
if (toke3.type == lexer::token::Integer)
throw 1;
else
{
rt = findnum(toke3.string());
if (rt == -1)
throw 2;
}
}
}
catch (int e)
{
if (e == 1)
std::cerr << "Wrong argument in line " << line << std::endl;
else if (e == 2)
std::cerr << "Invalid register name in line " << line << std::endl;
else
std::cerr << "Shift amount cannot be negative in line " << line << std::endl;
}
x.push_back(rd);
x.push_back(rs);
x.push_back(rt);
x.push_back(shamt);
return x;
}
int assembler::formatr(std::string instr, lexer::token toke, int line)
{
int rs = 0;
try
{
if (toke.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke.string());
if (rs == -1)
throw 2;
}
}
catch (int e)
{
if (e == 1)
std::cerr << "Wrong argument in line " << line << std::endl;
else
std::cerr << "Invalid register name in line " << line << std::endl;
}
return rs;
}
std::vector<int> assembler::formati(std::string instr, lexer::token toke1, lexer::token toke2, lexer::token toke3, int line)
{
int rt = 0, rs = 0, imm = 0;
std::vector<int> x;
opcode currop;
for (int i = 0; i < (int)ops.size(); i++)
{
if (instr == ops.at(i).instruct)
currop = ops.at(i);
}
try
{
if (currop.isbranch)
{
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rt = findnum(toke1.string());
if (rt == -1)
throw 2;
}
if (toke2.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke2.string());
if (rs == -1)
throw 2;
}
if (toke3.type == lexer::token::Integer)
imm = toke3.integer();
else
saverel(instr, toke3.string(), line, rt, rs);
}
else if (currop.isloadstore)
{
if ((instr == "lbu") || (instr == "sb"))
{
if (toke2.type == lexer::token::String)
throw 1;
else
{
if (toke2.integer() < 0)
imm = (0xFFFF << 16) + (0xFF << 8) + toke2.integer();
else
imm = toke2.integer();
}
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rt = findnum(toke1.string());
if (rt == -1)
throw 2;
}
if (toke3.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke2.string());
if (rs == -1)
throw 2;
}
}
else
{
if (toke2.type == lexer::token::String)
throw 1;
else
{
if (toke2.integer() < 0)
imm = (0xFFFF << 16) + toke2.integer();
else
imm = toke2.integer();
}
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rt = findnum(toke1.string());
if (rt == -1)
throw 2;
}
if (toke3.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke2.string());
if (rs == -1)
throw 2;
}
}
}
else
{
if ((instr == "andi") || (instr == "ori"))
{
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rt = findnum(toke1.string());
if (rt == -1)
throw 2;
}
if (toke2.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke2.string());
if (rs == -1)
throw 2;
}
if (toke3.type == lexer::token::Integer)
imm = toke3.integer();
else
throw 1;
}
else
{
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rt = findnum(toke1.string());
if (rt == -1)
throw 2;
}
if (toke2.type == lexer::token::Integer)
throw 1;
else
{
rs = findnum(toke2.string());
if (rs == -1)
throw 2;
}
if (toke3.type == lexer::token::Integer)
{
if (toke3.integer() < 0)
imm = (0xFFFF << 16) + toke2.integer();
else
imm = toke3.integer();
}
else
throw 1;
}
}
}
catch (int e)
{
if (e == 1)
std::cerr << "Wrong argument in line " << line << std::endl;
else
std::cerr << "Invalid register name in line " << line << std::endl;
}
x.push_back(rt);
x.push_back(rs);
x.push_back(imm);
return x;
}
std::vector<int> assembler::formati(std::string instr, lexer::token toke1, lexer::token toke2, int line)
{
int rt = 0, imm = 0;
std::vector<int> rval;
try
{
if (toke1.type == lexer::token::Integer)
throw 1;
else
{
rt = findnum(toke1.string());
if (rt == -1)
throw 2;
}
if (toke2.type == lexer::token::String)
throw 1;
else
imm = toke2.integer();
}
catch (int e)
{
if (e == 1)
std::cerr << "Wrong argument in line " << line << std::endl;
else
std::cerr << "Invalid register name in line " << line << std::endl;
}
rval.push_back(rt);
rval.push_back(imm);
return rval;
}
void assembler::add(std::string label, std::string instr, const std::vector<lexer::token> &token, int linen)
{
int assembled = 0, rd = 0, rt = 0;
std::vector<int> argh;
int arg;
if (label.length() > 0)
savesymb(label, linen);
for (int i = 0; i < (int)functions.size(); i++)
{
if (instr == functions.at(i).instruct)
type = R;
}
for (int i = 0; i < (int)ops.size(); i++)
{
if (instr == ops.at(i).instruct)
type = I;
}
if (type == R)
{
try
{
if (instr == "jr")
{
if ((int)token.size() == 1)
{
arg = formatr(instr, token.at(0), linen);
assembled = rassemble(instr, rd, arg, rt, 0);
}
else
throw 1;
}
else
{
if ((int)token.size() == 3)
{
argh = formatr(instr, token.at(0), token.at(2), token.at(3), linen);
assembled = rassemble(instr, argh[0], argh[1], argh[2], argh[3]);
}
else
throw 1;
}
}
catch (int e)
{
if (e == 1)
std::cerr << "Wrong number of arguments at line " << linen << std::endl;
}
}
else if (type == I)
{
try
{
if (instr == "lui")
{
if ((int)token.size() == 2)
{
argh = formati(instr, token.at(0), token.at(1), linen);
assembled = iassemble(instr, argh[0], 0, argh[1]);
}
else
throw 1;
}
else
{
if ((int)token.size() == 3)
{
argh = formati(instr, token.at(0), token.at(1), token.at(2), linen);
assembled = iassemble(instr, argh[0], argh[1], argh[2]);
}
else
throw 1;
}
}
catch (int e)
{
if (e == 1)
std::cout << "Wrong number of arguments at line " << linen << std::endl;
}
}
else
std::cerr << "Instruction not recognized at line " << linen << std::endl;
results.push_back(assembled);
}
void assembler::secAdd(void)
{
std::vector<int>::iterator iter = results.begin();
for (int i = 0; i < (int)reloctable.size(); i++)
{
for (unsigned int j = 0; j < symbtable.size(); j++)
{
if (reloctable.at(i).label == symbtable.at(j).label)
{
int assembled = 0;
iter += (reloctable.at(i).rlinenum / 4);
for (unsigned int k = 0; k < ops.size(); k++)
{
if (reloctable.at(i).instruct == ops.at(k).instruct)
type = I;
}
if (type == I)
assembled = iassemble(reloctable.at(i).instruct, reloctable.at(i).rt, reloctable.at(i).rs, symbtable.at(i).slinenum);
else
std::cerr << "Instruction not recognized at line " << reloctable.at(i).rlinenum << std::endl;
results.erase(iter);
results.insert(iter, assembled);
}
}
}
}
int assembler::rassemble(std::string instr, int rd, int rs, int rt, int shamt)
{
int func = 0;
int code = 0;
for (int i = 0; i < (int)functions.size(); i++)
{
if (instr == functions.at(i).instruct)
{
func = functions.at(i).funct;
break;
}
else
{
if (i == (functions.size() - 1))
return -1;
}
}
code = (rs << 21) + (rt << 16) + (rd << 11) + (shamt << 6) + func;
return code;
}
int assembler::iassemble(std::string instr, int rt, int rs, int imm)
{
int op = 0;
int code = 0;
for (int i = 0; i < (int)ops.size(); i++)
{
if (instr == ops.at(i).instruct)
{
op = ops.at(i).opc;
break;
}
else
{
if (i == (ops.size() - 1))
return -1;
}
}
code = (op << 26) + (rs << 21) + (rt << 16) + imm;
return code;
}
void assembler::p()
{
for (int i = 0; i < (int)results.size(); i++)
std::cout << results.at(i) << " ";
std::cout << std::endl;
}
When debugging, the tokens parameter triggers the error, and the this pointer in the vector code shows that the vector size changes to 0 at these lines:
#if _ITERATOR_DEBUG_LEVEL == 2
if (size() <= _Pos)
What exactly is happening?
Sorry if my formatting is bad/wrong, etc., and please let me know if I should make any edits/provide more code.
Thanks in advance.
The error is caused by accessing by index vector element that does not exist.
In you case lexed[i] should be valid. So, the only possible issue may be with empty labels vector. Validate this vector before accessing its elements, for example
myassembler.add(lexed[i].labels.empty() ? "" : lexed[i].labels[0],
lexed[i].name, tokens, i);
Actually there is one more bug for very large lexed arrays when integer index may overflow. You should not cast result of .size() to int. Instead proper type should be used for i:
for (size_t i = 0; i < lexed.size(); i++)
I have an issue where my Arduino program hangs for no reason. I run my program, and at some undetermined point, the Serial Monitor stops printing output. Here's what I've tested so far:
In my "com.init_drone()" method, I've commented everything out except for the last line, which signals that the method returned. When I do this, my program hangs somewhere else but still it doesn't get to the infinite while loop.
I've been outputting memory usage, and I'm getting numbers no lower than 450 -- this tells me that I'm not using an absurd amount of memory.
I've tried removing the Timer1 instantiation, interrupt attach/detach, bu that has had no effect on the program.
My .ino file(and Command) is located here for anyone that wants a fuller picture and doesn't want to scroll through all this code I'm going to post below.
Here's my log output so far. Notice the truncation!:
AT&F
AT+NMAC=00:1d:c9:10:39:6f
AT+WM=0
AT+NDHCP=1
AT+WA=ardrone_279440
AT+NCUDP=192.168.1.1,5556
S0AT*CONFIG=1,"general:navdata_demo","TRUE"
EAT*CONFIG=1,"general:navdata_demo","TRUE"
638
S0AT*CONFIG=2,"control:altitude_max","2000"
EAT*CONFIG=2,"control:altitude_max","2000"
638
S0AT*CONFIG=3,"control:euler_angle_max","0.35"
EAT*CONFIG=3,"control:euler_angle_max","0.35"
586
S0AT*CONFIG=4,"control:outdoor","FALSE"
EAT*CONFIG=4,"control:outdoor","FALSE"
635
S0AT*CONFIG=5,"control:flight_without_shell","FALSE"
EAT*CONFIG=5,"control:flight_without_shell","FALSE"
574
S0AT*CTRL=6,4,0
EAT*CTRL=6,4,0
629
S0AT*CTRL=7,0,0
EAT*CTRL=7,0,0
629
S0AT*CTRL=8,4,0
EAT*CTRL=8,4,0
629
S0AT*COMWDG=9
EAT*COMWDG=9
629
S0AT*COMWDG=10
EAT*COMWDG=10
629
S0AT*COMWDG=11
EAT*COMWDG=11
629
S0AT*COMWDG=12
EAT*COMWDG=12
629
S0AT*COMWDG=13
EAT*COMWDG=13
629
S0AT*FTRIM=14
EAT*FTRIM=14
629
Here is my .ino file:
#include "Command.h"
#include "Streaming.h"
int debug = 1;
extern ring_buffer rx_buf;
extern resultint_ resultint;
Command com;
int sequenceNumber = 1;
String atcmd = "";
#include "TimerOne.h"
#define LEDpin 13
void setup()
{
PCsrl.begin(9600);
com.start_wifi_connection();
com.drone_is_init = com.init_drone();
Timer1.initialize(COMWDG_INTERVAL_USEC);
Timer1.attachInterrupt(watchdog_timer);
}
void watchdog_timer() {
com.sendwifi(com.makeComwdg());
}
void loop()
{
if (com.drone_is_init == 0) {
if (debug) {
// never use three ! together in arduino code
PCsrl.println("Drone wasn't initlized before loop() was called. Initalizing now.\r\n");
}
} else {
com.drone_takeoff();
com.drone_takeoff();
com.sendwifi(com.makePcmd(1,0,0,0,0));
com.sendwifi(com.makePcmd(1,0,0,0,0));
delay(5000);
com.moveForward(1);
com.moveRotate(180);
com.moveForward(1);
com.moveRotate(180);
delay(500);
com.drone_landing();
com.drone_landing();
delay(500);
//end of program
Timer1.detachInterrupt();
PCsrl.println("Program finished");
while (1){};
}
}
And my Command.cpp
#ifndef GAINSPAN
#define GAINSPAN
#include "Command.h"
extern int sequenceNumber;
extern int debug;
ring_buffer rx_buf= {{0}, 0, 0};
resultint_ resultint;
Command::Command()
{
at = "";
command = "";
s2ip_running = 0;
drone_is_init = 0;
drone_is_hover = 0;
emergency = 0;
}
void Command::sendwifi(String s) {
WIFIsrl.write(27); //esc
WIFIsrl.print("S0"); //choose connection CID 0
WIFIsrl.print(s);
WIFIsrl.write(27);
WIFIsrl.print("E");
if(debug) PCsrl.println(s);
WIFIsrl.println(memoryTest());
}
int Command::start_wifi_connection()
{
WIFIsrl.begin(9600);
WIFIsrl.println("");
WIFIsrl.println("AT&F");
//WIFIsrl.println("ATE0"); //turn off echo
WIFIsrl.print("AT+NMAC=00:1d:c9:10:39:6f\r"); //set MAC address
WIFIsrl.println("AT+WM=0");
WIFIsrl.println("AT+NDHCP=1");
/* drone's network profile, change if needed*/
WIFIsrl.println("AT+WA=ardrone_279440");
WIFIsrl.println("AT+NCUDP=192.168.1.1,5556");
readARsrl();
delay(3000); //need 3 seconds for connection to establish
return 0;
}
String Command::makeComwdg()
{
at = "AT*COMWDG=";
command = at + getSequenceNumber() + "\r\n";
return command;
}
void Command::sendComwdg_t(int msec)
{
for (int i = 0; i < msec; i+=20) {
sendwifi(makeComwdg());
delay(20);
}
}
void Command::sendFtrim()
{
at = "AT*FTRIM=";
command = at + getSequenceNumber() + "\r\n";
sendwifi(command);
}
void Command::sendConfig(String option, String value)
{
at = "AT*CONFIG=";
command = at + getSequenceNumber() + ",\"" + option + "\",\"" + value + "\"\r\n";
sendwifi(command);
}
void Command::sendRef(flying_status fs)
{
at = "AT*REF=";
if(fs == TAKEOFF){
command = at + getSequenceNumber() + ",290718208\r\n"; //takeoff
}
else if(fs == LANDING){
command = at + getSequenceNumber() + ",290717696\r\n"; //landing
} else if (fs == EMERGENCY_TOGGLE){
command = at + getSequenceNumber() + ",290717952\r\n"; //landing
}
// emergency -> 290717952
sendwifi(command);
}
void Command::send_control_commands(){
at = "AT*CTRL=";
sendwifi(at+getSequenceNumber()+",4,0\r\n");
sendwifi(at+getSequenceNumber()+",0,0\r\n");
sendwifi(at+getSequenceNumber()+",4,0\r\n");
}
void Command::drone_emergency_reset()
{
at = "AT*REF=";
command = at + getSequenceNumber() + ",290717952\r\n";
sendwifi(command);
}
/** Movement functions **/
int Command::moveForward(float distanceInMeters)
{
float i = 0;
String moveForward = makePcmd(1, 0, -.855, 0, 0);
delay(1000*distanceInMeters);
sendPcmd(moveForward);
return 1;
}
int Command::moveRotate(float yawInDegrees)
{
int i = 0;
while (i < yawInDegrees) {
String stayRotate = makePcmd(1, 0, 0, 0, 0.17);
sendPcmd(stayRotate);
delay(150);
i += 8;
}
return 1;
}
String Command::makePcmd(int enable, float roll, float pitch, float gaz, float yaw)
{
at = "AT*PCMD=";
command = at + getSequenceNumber() + "," + enable + "," + fl2int(roll) + "," + fl2int(pitch) + "," + fl2int(gaz) + "," + fl2int(yaw) + "\r";
return command;
}
void Command::sendPcmd(String command)
{
previousCommand = command;
sendwifi(command);
}
void Command::sendPcmd(int enable, float roll, float pitch, float gaz, float yaw)
{
at = "AT*PCMD=";
command = at + getSequenceNumber() + "," + enable + "," + fl2int(roll) + "," + fl2int(pitch) + "," + fl2int(gaz) + "," + fl2int(yaw) + "\r";
sendwifi(command);
}
String Command::makeAnim(anim_mayday_t anim, int time)
{
at = "AT*ANIM=";
command = at + getSequenceNumber() + "," + anim + "," + time + "\r\n";
return command;
}
void Command::doLEDAnim(int animseq, int duration)
{
PCsrl << "calling LEDAnim" << endl;
at = "AT*LED=";
command = at + getSequenceNumber() + "," + animseq + ",1073741824," + duration + "\r\n";
sendwifi(command);
}
int Command::start_s2ip()
{
char temp;
//delay(20000); //wait for drone to start
readARsrl();
if (debug) {
PCsrl << "trying to start s2ip" << endl;
}
ARsrl.print("\r\n");
delay(500);
ARsrl.print("\r\n");
delay(500);
ARsrl << "cd ~" << endl;
if (debug) {
readARsrl();
}
delay(500);
ARsrl << "cd data/video/apps/" << endl;
delay(500);
ARsrl << "./s2ip.arm" << endl;
while ((int) temp != 2) {
temp = ARsrl.read();
if (temp == 2) {
PCsrl << "s2ip is running" << endl;
ARsrl << "bullshit\r\n"; //to fix a delay bug
break;
}
//PCsrl << "s2ip not running" << endl;
}
if (debug) {
while (ARsrl.available()) {
PCsrl.write(ARsrl.read());
}
}
return 1;
}
void Command::quit_s2ip()
{
ARsrl.println("EXIT");
while (ARsrl.available()) {
PCsrl.write(ARsrl.read());
}
}
int Command::init_drone()
{
sendConfig("general:navdata_demo","TRUE");
sendConfig("control:altitude_max","2000");
sendConfig("control:euler_angle_max","0.35");
sendConfig("control:outdoor","FALSE");
sendConfig("control:flight_without_shell","FALSE");
send_control_commands();
sendComwdg_t(90);
sendFtrim();
drone_emergency_reset(); //clear emergency flag
return 1;
}
int Command::drone_takeoff()
{
sendRef(TAKEOFF);
int i = 0;
return 1;
}
int Command::drone_hover(int msec)
{
int i = 0;
while (i < msec) {
sendwifi(makePcmd(1, 0, 0, 0, 0));
delay(100);
i += 100;
}
return 1;
}
int Command::drone_landing()
{
sendRef(LANDING);
return 1;
}
int Command::drone_move_up(int centimeter)
{
int i = 0;
while (i < centimeter) {
ARsrl << makePcmd(1, 0, 0, 0.6, 0);
delay(100);
i += 10;
}
return 1;
}
int Command::drone_move_down(int centimeter)
{
int i = 0;
while (i < centimeter) {
sendwifi(makePcmd(1, 0, 0, -0.5, 0));
delay(100);
i += 10;
}
return 1;
}
long Command::fl2int(float value)
{
resultint.i = 0;
if (value < -1 || value > 1) {
resultint.f = 1;
} else {
resultint.f=value;
}
return resultint.i;
}
void Command::readARsrl()
{
while (ARsrl.available()) {
if (debug) {
PCsrl.write(ARsrl.read());
}
}
}
//Memory test code from : http://www.faludi.com/2007/04/18/arduino-available-memory-test/
int Command::memoryTest() {
int byteCounter = 0; // initialize a counter
byte *byteArray; // create a pointer to a byte array
// More on pointers here: http://en.wikipedia.org/wiki/Pointer#C_pointers
// use the malloc function to repeatedly attempt
// allocating a certain number of bytes to memory
// More on malloc here: http://en.wikipedia.org/wiki/Malloc
while ( (byteArray = (byte*) malloc (byteCounter * sizeof(byte))) != NULL ) {
byteCounter++; // if allocation was successful, then up the count for the next try
free(byteArray); // free memory after allocating it
}
free(byteArray); // also free memory after the function finishes
return byteCounter; // send back the highest number of bytes successfully allocated
}
int Command::getSequenceNumber(){
return sequenceNumber++;
}
// Volatile, since it is modified in an ISR.
volatile boolean inService = false;
void SrlRead()
{
if (inService) {
PCsrl.println("timer kicked too fast");
return;
}
interrupts();
inService = true;
while(ARsrl.available()) {
unsigned char k = ARsrl.read();
store_char(k, &rx_buf);
}
inService = false;
}
void read_rx_buf()
{
while (rx_buf.tail != rx_buf.head) {
if (debug) {
PCsrl.write(rx_buf.buffer[rx_buf.tail]);
}
rx_buf.tail = (unsigned int) (rx_buf.tail+ 1) % SERIAL_BUFFER_SIZE;
}
}
inline void store_char(unsigned char c, ring_buffer *buffer)
{
int i = (unsigned int)(buffer->head + 1) % SERIAL_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != buffer->tail) {
buffer->buffer[buffer->head] = c;
buffer->head = i;
}
else {
Serial.println("ring buffer is too small");
}
}
#endif
I know it sounds weird but, sometimes this happens when arduino is not getting enough power supply. Try connecting the arduino to a power source different from USB.
As soon as I started to put things in prog memory my program started to clear up it's hiccups. It seems it was a memory issue.
I had the same problem, but the issue was with Timer1.initialize(). Try this:
com.drone_is_init = com.init_drone();
Serial.println("One");
Serial.println("Two");
Serial.println("Three");
Timer1.initialize(COMWDG_INTERVAL_USEC);
Timer1.attachInterrupt(watchdog_timer);
Open serial monitor and see... it will show until "Two", and then Arduino will hang.
The issue was I calling some functions of the LiquidCrystal_I2C library, that need interrupt routines. Check if your timer ISR is using some interrupts. If so, you should move this code to another place in your project.