/* 获取BMP文件的位图数据(打开1bit/像素) */
int get_bmp_data(bmp_t *pstBmp, const char *pcFileName)
{
FILE *fp;
BITMAPFILEHEADER stBmpFileHeader;
BITMAPINFOHEADER stBmpInfoHeader;
/* 输入参数检查 */
if(INVALID_POINTER(pstBmp) || INVALID_POINTER(pcFileName))
{
DEBUG_MSG("E:input param error.\r\n");
return -1;
}
/* 打开bmp文件 */
if((fp = fopen(pcFileName, "rb")) == NULL)
{
DEBUG_MSG("E:Error opening file %s.\r\n", pcFileName);
return -1;
}
/* 读BMP文件头信息(分开读取) */
fread(&(stBmpFileHeader.bfType), sizeof(stBmpFileHeader.bfType), 1, fp);
fread(&(stBmpFileHeader.bfSize), sizeof(stBmpFileHeader.bfSize), 1, fp);
fread(&(stBmpFileHeader.bfReserved1), sizeof(stBmpFileHeader.bfReserved1), 1, fp);
fread(&(stBmpFileHeader.bfReserved2), sizeof(stBmpFileHeader.bfReserved2), 1, fp);
fread(&(stBmpFileHeader.bfOffBits), sizeof(stBmpFileHeader.bfOffBits), 1, fp);
/* 打印文件头信息 */
print_bmp_file_header(&stBmpFileHeader);
if(0x4d42 != stBmpFileHeader.bfType)
{
DEBUG_MSG("E:is not bmp file.\r\n");
return -1;
}
/* 读位图信息 */
if(0 > fread(&stBmpInfoHeader, sizeof(stBmpInfoHeader), 1, fp))
{
ERROR_MSG("E:fread bmiHeader error!\r\n");
}
/* 打印位图信息头 */
print_bmp_info_header(&stBmpInfoHeader);
/* 保存信息 */
pstBmp->usBitCount = stBmpInfoHeader.biBitCount;
pstBmp->ulWidth = stBmpInfoHeader.biWidth;
pstBmp->ulHeight = stBmpInfoHeader.biHeight;
pstBmp->ulRowBytes = (((pstBmp->ulWidth)*(pstBmp->usBitCount) + 31) >> 5) << 2;
pstBmp->pucData = (unsigned char *)malloc((pstBmp->ulHeight)*(pstBmp->ulRowBytes));
if(NULL == pstBmp->pucData)
{
DEBUG_MSG("E:malloc error.\r\n");
return -1;
}
fseek(fp, stBmpFileHeader.bfOffBits, SEEK_SET);
fread(pstBmp->pucData, (pstBmp->ulHeight)*(pstBmp->ulRowBytes), 1, fp);
/* 关闭文件 */
fclose(fp);
return 0;
}
/* 阻塞读CAN */
int can_read(struct can_frame *pstCanFrame)
{
int ret = 0;
if((canfd <= 0) || INVALID_POINTER(pstCanFrame))
{
DEBUG_MSG("E:input param error!\r\n");
return -1;
}
ret = read(canfd, pstCanFrame, sizeof(*pstCanFrame));
if(ret < sizeof(*pstCanFrame))
{
ERROR_MSG("E:read failed!\r\n");
return -1;
}
/* 判断设备是否错误 */
if(pstCanFrame->can_id & CAN_ERR_FLAG)
{
handle_err_frame(pstCanFrame);
DEBUG_MSG("E:CAN device error!\r\n");
return -1;
}
/* 打印CAN帧 */
print_frame(pstCanFrame);
return 0;
}
/* 打印bmp文件头信息 */
static void print_bmp_file_header(BITMAPFILEHEADER *pstBmpFileHeader)
{
/* 输入参数检查 */
if(INVALID_POINTER(pstBmpFileHeader))
{
DEBUG_MSG("E:input param error.\r\n");
return;
}
DEBUG_MSG("D:bmp file header > type=0x%04x, size=%d, offbits=%d\r\n", \
pstBmpFileHeader->bfType, \
pstBmpFileHeader->bfSize, \
pstBmpFileHeader->bfOffBits);
}
/* can发送 */
int can_write(struct can_frame *pstCanFrame)
{
if((canfd <= 0) || INVALID_POINTER(pstCanFrame))
{
DEBUG_MSG("E:input param error!\r\n");
return -1;
}
if(0 > write(canfd, pstCanFrame, sizeof(*pstCanFrame)))
{
DEBUG_MSG("E: can write failed!\r\n");
return -1;
}
else
{
return 0;
}
}
/* 打印GPS信息 */
static int print_gps_info(gps_info_t *pstGpsInfo)
{
if(INVALID_POINTER(pstGpsInfo))
{
DEBUG_MSG("E:input param error!\r\n");
return -1;
}
printf("GPS INFO: ");
printf("utc_date=%s ", pstGpsInfo->utc_data);
printf("time=%s ", pstGpsInfo->utc_time);
printf("status=%c ", pstGpsInfo->status);
printf("latitude=%f ", pstGpsInfo->latitude_value);
printf("N/S=%c ", pstGpsInfo->latitude);
printf("longtitude=%f ", pstGpsInfo->longtitude_value);
printf("E/W=%c ", pstGpsInfo->longtitude);
printf("speed=%f ", pstGpsInfo->speed);
printf("azimuth_angle=%f ", pstGpsInfo->azimuth_angle);
printf("\r\n");
}
/* 打印位图信息头 */
static void print_bmp_info_header(BITMAPINFOHEADER *pstBmpInfoHeader)
{
/* 输入参数检查 */
if(INVALID_POINTER(pstBmpInfoHeader))
{
DEBUG_MSG("E:input param error.\r\n");
return;
}
DEBUG_MSG("D:bmp info header > size=%d, width=%d, height=%d, bitcount=%d, \
biCompression=%d, biSizeImage=%d, biXPelsPerMeter=%d, biYPelsPerMeter=%d, \
biClrUsed=%d, biClrImportant=%d\r\n", \
pstBmpInfoHeader->biSize, \
pstBmpInfoHeader->biWidth, \
pstBmpInfoHeader->biHeight, \
pstBmpInfoHeader->biBitCount, \
pstBmpInfoHeader->biCompression, \
pstBmpInfoHeader->biSizeImage, \
pstBmpInfoHeader->biXPelsPerMeter, \
pstBmpInfoHeader->biYPelsPerMeter, \
pstBmpInfoHeader->biClrUsed, \
pstBmpInfoHeader->biClrImportant);
}
/*! \fn int32 put_string(int8 *pPutStr)
*
* \brief 输出字符串(在调试串口)
*
* \param *pPutStr [in] 指向输出的字符串
*
* \exception 无
*
* \return EXIT_SUCCESS：成功，EXIT_FAILURE：失败
*/
int32 put_string(int8 *pPutStr)
{
int32 lRet = EXIT_FAILURE;
uint16 unOutStrLen = 0;
do
{
/*! 输入参数检查 */
if(INVALID_POINTER(pPutStr))
{
break;
}
/*! 计算输出字符串的长度 */
unOutStrLen = 0;
while('\0' != *(pPutStr+unOutStrLen))
{
unOutStrLen++;
}
/*! 串口输出 */
lRet = uart_send((uint8 *)pPutStr, unOutStrLen);
}while(0);
return lRet;
}
Sprite::~Sprite(void)
{
m_hostWnd = NULL;
Sprite *sp = m_firstChild;
while(sp)
{
Sprite *tmp = sp->m_nextSibling;
sp->Unref(); // FIXME 有没有想过这里其实如果数量太多 会不会爆栈呢? 事实上是一个递归调用.
sp = tmp;
}
m_firstChild = INVALID_POINTER(Sprite);
m_lastChild = INVALID_POINTER(Sprite);
m_prevSibling = INVALID_POINTER(Sprite);
m_nextSibling = INVALID_POINTER(Sprite);
m_parent = INVALID_POINTER(Sprite);
//ClearPointer(m_parent);
delete m_luaSide;
m_luaSide = INVALID_POINTER(SpriteLua);
LOG(<<"sprite deleted"); // TODO 加个名字
}
/* 发送数据到CAN */
int send_data_to_can(int lBoardType, char *pcCmd, int lCmdLen)
{
struct can_frame stCanFrame;
int i = 0;
uint8 ucCnt = 0;
uint16 unTemp = 0;
if(INVALID_POINTER(pcCmd) || (1 > lCmdLen) || (1 > lBoardType))
{
DEBUG_MSG("E:input param error!\r\n");
return -1;
}
/*! 计算数据需要几个报文帧 */
unTemp = lCmdLen / 8;
if(0x0000 != (lCmdLen & 0x0007))
{
unTemp = unTemp + 1;
}
/*! 数据不大于8字节，无需分段 */
if(1 == unTemp)
{
stCanFrame.can_id = 0x80000000 | (15 << 22) | (lBoardType << 16) |FRAME_NONE_SEG;
stCanFrame.can_dlc = lCmdLen;
for(i = 0; i < lCmdLen; i++)
{
stCanFrame.data[i] = pcCmd[i];
}
if(0 > can_write(&stCanFrame))
{
return -1;
}
}
else
{
/*! 第一个分段报文 */
stCanFrame.can_id = 0x80000000 | (15 << 22) | (lBoardType << 16) | FRAME_FIRST_SEG;
stCanFrame.can_dlc = 8;
for(i = 0; i<8; i++)
{
stCanFrame.data[i] = *pcCmd;
pcCmd++;
}
if(0 > can_write(&stCanFrame))
{
return -1;
}
unTemp--;
ucCnt = 1;
/*! 中间分段报文 */
while(1 != unTemp)
{
stCanFrame.can_id = 0x80000000 | (15 << 22) | (lBoardType << 16) | FRAME_MIDDLE_SEG | (ucCnt << 8);
stCanFrame.can_dlc = 8;
for(i = 0; i<8; i++)
{
stCanFrame.data[i] = *pcCmd;
pcCmd++;
}
if(0 > can_write(&stCanFrame))
{
return -1;
}
unTemp--;
ucCnt++;
}
/*! 最后分段报文 */
if(0x0000 == (lCmdLen & 0x0007))
{
unTemp = 8;
}
else
{
unTemp = lCmdLen & 0x0007;
}
ucCnt = 0;
stCanFrame.can_id = 0x80000000 | (15 << 22) | (lBoardType << 16) | FRAME_END_SEG | (ucCnt << 8);
stCanFrame.can_dlc = unTemp;
for(i = 0; i<unTemp; i++)
{
stCanFrame.data[i] = *pcCmd;
pcCmd++;
}
if(0 > can_write(&stCanFrame))
{
return -1;
}
}
return 0;
}
/*! \fn int32 put_file_line(int8 *pFile, uint16 ulLine)
*
* \brief 输出调用此函数的文件名及行号(debug_msg(__FILE__, __LINE__);)
*
* \param *pFile [in] 指向文件名字符串
*
* \param ulLine [in] 行号(不能大于65535)
*
* \exception 无
*
* \return EXIT_SUCCESS：成功，EXIT_FAILURE：失败
*/
int32 put_file_line(int8 *pFile, uint16 ulLine)
{
uint16 unFileSize = 0;
uint8 aLineBuf[16] = {0};
uint8 aLineString[16] = {0};
uint8 ucLineSize = 0;
uint16 ulTemp = 0;
uint8 i = 0;
if(INVALID_POINTER(pFile))
{
return EXIT_FAILURE;
}
/*! 计算__FILE__字符串长度 */
while('\0' != *(pFile+unFileSize))
{
unFileSize++;
}
/*! 2013-05-22 只打印最后一个“\”后的内容 */
for(ulTemp=(unFileSize-1); ulTemp != 0; ulTemp--)
{
if(0x5C == *(pFile+ulTemp))
{
break;
}
}
/*! 串口输出文件名称 */
uart_send(" ", 1);
uart_send((uint8 *)(pFile+ulTemp), (unFileSize-ulTemp));
/*! 将__LINE__转换为字符串 */
aLineString[0] = ' ';
if(ulLine < 1)
{
ucLineSize = 1;
aLineString[1] = '0';
aLineString[2] = '\r';
aLineString[3] = '\n';
}
else
{
ucLineSize = 0;
ulTemp = ulLine;
while(ulTemp != 0)
{
aLineBuf[ucLineSize] = ulTemp % 10 + '0';
ulTemp = ulTemp / 10;
ucLineSize++;
}
/*! 字符串反顺序 */
for(i=0; i<ucLineSize; i++)
{
aLineString[i+1] = aLineBuf[ucLineSize-i-1];
}
aLineString[ucLineSize+1] = '\r'; /*!< 字符串结尾 */
aLineString[ucLineSize+2] = '\n';
}
/*! 串口输出行号加换行 */
uart_send(aLineString, ucLineSize+3);
return EXIT_SUCCESS;
}
/*! \fn int32_t can_send(uint8_t *pucSendBuf, uint16_t unSendLen)
*
* \brief CAN发送(输入必须为完整的通信帧)
*
* \param pucSendBuf [in] 指向发送缓冲区
*
* \param unSendLen [in] 需发送数据的字节数
*
* \exception 无
*
* \return EXIT_SUCCESS：成功; EXIT_FAILURE：失败
*/
int32_t can_send(uint8_t *pucSendBuf, uint16_t unSendLen)
{
int32 lRet = EXIT_FAILURE;
uint8 ucCnt = 0;
uint16 i = 0, unDataCnt = 0, unTemp = 0;
do
{
/*! 输入参数检查 */
if(INVALID_POINTER(pucSendBuf) \
|| (1 > unSendLen) || (CAN_MSG_BUF_SIZE < unSendLen))
{
break;
}
unTemp = unSendLen / 8;
if(0x0000 != (unSendLen&0x0007))
{
unTemp = unTemp + 1;
}
while(1)
{
/*! 计算报文发送缓冲区空余空间 */
if(s_unCanMsgTxWrIndex >= s_unCanMsgTxRdIndex)
{
unDataCnt = s_unCanMsgTxWrIndex - s_unCanMsgTxRdIndex;
unDataCnt = CAN_MSG_BUF_SIZE - unDataCnt;
}
else
{
unDataCnt = s_unCanMsgTxRdIndex - s_unCanMsgTxWrIndex;
}
/*! 发送缓冲区 */
if(unDataCnt >= unTemp)
{
break;
}
/*! 添加超时，防止死循环 */
}
/*! 无分段 */
if(1 == unTemp)
{
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].ExtId = 0x00010000;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].IDE = CAN_Id_Extended;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].RTR = CAN_RTR_Data;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].DLC = (uint8)unSendLen;
for(i=0; i<(uint8)unSendLen; i++)
{
(s_astCanMsgTxBuf[s_unCanMsgTxWrIndex]).Data[i] = *pucSendBuf;
pucSendBuf++;
}
s_unCanMsgTxWrIndex++;
if(CAN_MSG_BUF_SIZE <= s_unCanMsgTxWrIndex)
{
s_unCanMsgTxWrIndex = 0;
}
}
else /*!< 帧分为多个报文段 */
{
/*! 第一个分段 */
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].ExtId = 0x00014000;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].IDE = CAN_Id_Extended;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].RTR = CAN_RTR_Data;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].DLC = 8;
for(i=0; i<8; i++)
{
(s_astCanMsgTxBuf[s_unCanMsgTxWrIndex]).Data[i] = *pucSendBuf;
pucSendBuf++;
}
s_unCanMsgTxWrIndex++;
if(CAN_MSG_BUF_SIZE <= s_unCanMsgTxWrIndex)
{
s_unCanMsgTxWrIndex = 0;
}
unTemp--;
ucCnt = 1;
/*! 中间段 */
while(1 != unTemp)
{
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].ExtId = 0x00018000 + (ucCnt<<8);
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].IDE = CAN_Id_Extended;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].RTR = CAN_RTR_Data;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].DLC = 8;
for(i=0; i<8; i++)
{
(s_astCanMsgTxBuf[s_unCanMsgTxWrIndex]).Data[i] = *pucSendBuf;
pucSendBuf++;
}
s_unCanMsgTxWrIndex++;
if(CAN_MSG_BUF_SIZE <= s_unCanMsgTxWrIndex)
{
s_unCanMsgTxWrIndex = 0;
}
unTemp--;
ucCnt++;
}
/*! 结束段 */
if(0x0000 == (unSendLen&0x0007))
{
unTemp = 8;
}
else
{
unTemp = unSendLen & 0x0007;
}
ucCnt = 0;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].ExtId = 0x0001C000 + (ucCnt<<8);;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].IDE = CAN_Id_Extended;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].RTR = CAN_RTR_Data;
s_astCanMsgTxBuf[s_unCanMsgTxWrIndex].DLC = unTemp;
for(i=0; i<unTemp; i++)
{
(s_astCanMsgTxBuf[s_unCanMsgTxWrIndex]).Data[i] = *pucSendBuf;
pucSendBuf++;
}
s_unCanMsgTxWrIndex++;
if(CAN_MSG_BUF_SIZE <= s_unCanMsgTxWrIndex)
{
s_unCanMsgTxWrIndex = 0;
}
}
/*! 发送消息 */
lRet = send_can_msg();
NVIC_EnableIRQ(USB_HP_CAN1_TX_IRQn);
}while(0);
return lRet;
}
