function stop()
{
global $serial, $DIYleftWheel, $sensors;
//chamilonoume tachitita
$rodastop = $GLOBALS['DIYrodastop'];
$curmove = findregisterMove();
if ($curmove == 'w') {
echo "chamilono tachitita w{$rodastop}:{$rodastop} ";
$exec = '@w' . $rodastop . ':' . $rodastop . '#';
} elseif ($curmove == 's') {
echo "chamilono tachitita s{$rodastop}:{$rodastop} ";
$exec = "@s{$rodastop}:{$rodastop}#";
} elseif ($curmove == 'a') {
echo "chamilono tachitita a{$rodastop}:{$rodastop} ";
$exec = "@a{$rodastop}:{$rodastop}#";
} elseif ($curmove == 'd') {
echo "chamilono tachitita d{$rodastop}:{$rodastop} ";
$exec = "@d{$rodastop}:{$rodastop}#";
}
$serial->deviceOpen();
$serial->sendMessage($exec);
$serial->deviceClose();
echo $DIYleftWheel;
echo " sssssssssssssssssssdsdsdfgdfghgfhgfhjfgf\n";
if ($curmove != 'q' || $curmove != '0') {
while ($DIYleftWheel == 0) {
sleep(0.5);
echo 'sleeping...' . "\n";
refreshDIYData($sensors);
}
registerMove('q');
echo " parking ";
$exec = "@q#";
$serial->deviceOpen();
$serial->sendMessage($exec);
$serial->deviceClose();
}
}
$result = stream_select($read, $write, $except, 0);
if ($result === false) {
throw new Exception('stream_select failed');
}
if ($result === 0) {
return false;
}
$data = stream_get_line($fd, 1);
return true;
}
$flag = 1;
while (!feof($sensors)) {
$x = "";
if (non_block_read(STDIN, $x) && $x == 'q' || trim(file_get_contents('/tmp/controller.run')) != '1') {
//stop();
$exec = '@q#';
$serial->deviceOpen();
// sleep(0.5);
$serial->sendMessage($exec);
// sleep(0.1);
$serial->deviceClose();
// sleep(1);
//sleep(1);
break;
}
// Quit on F10
//sleep(0.01);
refreshDIYData($sensors);
carscript();
}
echo "Main loop broke";
function rotate($m, $d)
{
global $serial, $DIYleftWheel, $sensors, $imu, $curDirection, $head;
if ($curDirection != 'a' || $curDirection != 'd') {
echo "Rotate\n";
stop();
sleep(0.01);
if ($curDirection == 'a') {
$wantedMoires = $head - $m;
} else {
$wantedMoires = $head + $m;
}
$curDirection = $d;
if ($wantedMoires < 0) {
$wantedMoires = 360 + $wantedMoires;
}
//sleep(0.01);
$exec = "@a060:063#";
$serial->deviceOpen();
$serial->sendMessage($exec);
$serial->deviceClose();
while (!($wantedMoires - 2 <= $head && $head <= $wantedMoires + 2)) {
refreshDIYData($sensors, $imu);
echo " wanted moires {$wantedMoires} head {$head} \n";
}
stop();
sleep(0.01);
}
}