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csg-robomaster / binaries /cli /src /template /c /operator /operator-template.c

TomPei

Duplicate from opencsg/csg-robomaster

0bfb62b 8 days ago

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#include "operator_api.h"
#include <assert.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>

DoraInitResult_t dora_init_operator(void)
{
    // allocate memory for storing context across function calls (optional)
    void *context = malloc(10);
    // TODO initialize context memory

    DoraInitResult_t result = {.operator_context = context};
    return result;
}

DoraResult_t dora_drop_operator(void *operator_context)
{
    free(operator_context);

    DoraResult_t result = {};
    return result;
}

OnEventResult_t dora_on_event(
    RawEvent_t *event,
    const SendOutput_t *send_output,
    void *operator_context)
{
    if (event->input != NULL)
    {
        char id[event->input->id.len + 1];
        memcpy(id, event->input->id.ptr, event->input->id.len);
        id[event->input->id.len] = 0;

        // example for matching on input name
        if (strcmp(id, "foo") == 0)
        {
            char *out_id = "bar";
            char *out_id_heap = strdup(out_id);

            int data_alloc_size = 10;
            void *out_data = malloc(data_alloc_size);
            // TODO initialize out_data

            Output_t output = {.id = {
                                   .ptr = (uint8_t *)out_id_heap,
                                   .len = strlen(out_id_heap),
                                   .cap = strlen(out_id_heap) + 1,
                               },
                               .data = {.ptr = (uint8_t *)out_data, .len = strlen(out_data), .cap = data_alloc_size}};
            DoraResult_t res = (send_output->send_output.call)(send_output->send_output.env_ptr, output);

            OnEventResult_t result = {.result = res, .status = DORA_STATUS_CONTINUE};
            return result;
        }
    }
    if (event->stop)
    {
        printf("C operator received stop event\n");
    }
    OnEventResult_t result = {.status = DORA_STATUS_CONTINUE};
    return result;
}

	#include "operator_api.h"
	#include <assert.h>
	#include <string.h>
	#include <stdio.h>
	#include <stdlib.h>

	DoraInitResult_t dora_init_operator(void)
	{
	// allocate memory for storing context across function calls (optional)
	void *context = malloc(10);
	// TODO initialize context memory

	DoraInitResult_t result = {.operator_context = context};
	return result;
	}

	DoraResult_t dora_drop_operator(void *operator_context)
	{
	free(operator_context);

	DoraResult_t result = {};
	return result;
	}

	OnEventResult_t dora_on_event(
	RawEvent_t *event,
	const SendOutput_t *send_output,
	void *operator_context)
	{
	if (event->input != NULL)
	{
	char id[event->input->id.len + 1];
	memcpy(id, event->input->id.ptr, event->input->id.len);
	id[event->input->id.len] = 0;

	// example for matching on input name
	if (strcmp(id, "foo") == 0)
	{
	char *out_id = "bar";
	char *out_id_heap = strdup(out_id);

	int data_alloc_size = 10;
	void *out_data = malloc(data_alloc_size);
	// TODO initialize out_data

	Output_t output = {.id = {
	.ptr = (uint8_t *)out_id_heap,
	.len = strlen(out_id_heap),
	.cap = strlen(out_id_heap) + 1,
	},
	.data = {.ptr = (uint8_t *)out_data, .len = strlen(out_data), .cap = data_alloc_size}};
	DoraResult_t res = (send_output->send_output.call)(send_output->send_output.env_ptr, output);

	OnEventResult_t result = {.result = res, .status = DORA_STATUS_CONTINUE};
	return result;
	}
	}
	if (event->stop)
	{
	printf("C operator received stop event\n");
	}
	OnEventResult_t result = {.status = DORA_STATUS_CONTINUE};
	return result;
	}