/**
* Loads a model from a file if needed or increases its refrence count.
* @return Pointer to the loaded model.
*/
Model* ResourceManager::loadModel(const string filename) {
map< string, pair<Model*, int> >::iterator moditer = models_.find(filename);
Model* model = NULL;
if(moditer != models_.end()) {
pair<Model*, int> modref = moditer->second;
model = modref.first;
modref.second++;
} else {
//int fullpath_size = strlen(DIRECTORY_MODELS) + strlen(filename) +1;
//char* fullpath = malloc(fullpath_size);
//snprintf(fullpath, fullpath_size, "%s%s", DIRECTORY_MODELS, filename);
DEBUG_A("FLAG1 '%s', '%s'", DIRECTORY_MOD.c_str(), filename.c_str());
string fullpath = DIRECTORY_MOD + filename;
DEBUG_A("FLAG2");
model = RCBC_LoadFile(fullpath.c_str(), getImages());
DEBUG_L("Loading model '%s'", fullpath.c_str());
pair<Model*, int> modref(model, 1);
models_.insert(pair<string, pair<Model*, int> >(filename, modref));
//free(fullpath);
}
return model;
}
//
// Call at 1ms ISR - Part of ISR
// ISR complete within 5uS
//
void my_TMR_ISR(void)
{
unsigned char tFS=0;
static u32 tPACC=0;
static unsigned char tLED=0;
static unsigned int tTMR=0;
#ifdef debug_isr
DEBUG_H();
#endif
tTMR++;
if (tTMR>=200)
{
// Generate Sync. Task Flag on Every 100mS
// Decouple it from ISR
mTask_Sync_Flag = 1;
mTMR_100ms +=2;
tTMR = 0;
}
// Phase Accumulator to generate Flow Sensor count
// 60000 phase unit per cycle
// n delta phase unit = n count / min
// 1 delta phase unit = 1 count / min
// 3000 delta phase unit = 3000 counts / min
mDP = mFR;
tPACC += mDP;
if (tPACC>=60000)
{
tPACC = 0;
}
if (tPACC<30000)
{ FS_O = 1;
}
else
{ FS_O = 0;
}
// Flow Sensor Input 0
tFS = FS_I0;
if ((tFS != mFS_CNT[0][1]) && (tFS==1))
mFS_CNT[0][0]++;
mFS_CNT[0][1] = tFS;
// Flow Sensor Input 1
tFS = FS_I1;
if ((tFS != mFS_CNT[1][1]) && (tFS==1))
mFS_CNT[1][0]++;
mFS_CNT[1][1] = tFS;
// Flow Sensor Input 2
tFS = FS_I2;
if ((tFS != mFS_CNT[2][1]) && (tFS==1))
mFS_CNT[2][0]++;
mFS_CNT[2][1] = tFS;
tLED ++;
if (tLED>=16)
{
tLED = 0;
}
if (mLED[0]>tLED)
{
LED_R_ON();
}
else
{
LED_R_OFF();
}
my_printQ();
#ifdef debug_isr
DEBUG_L();
#endif
}