/* Define the Input used.
Add the callbacks on input
p_input is held once here */
void InputManager::setInput( input_thread_t *_p_input )
{
delInput();
p_input = _p_input;
if( p_input && !( p_input->b_dead || !vlc_object_alive (p_input) ) )
{
msg_Dbg( p_intf, "IM: Setting an input" );
vlc_object_hold( p_input );
addCallbacks();
UpdateStatus();
UpdateName();
UpdateArt();
UpdateTeletext();
UpdateNavigation();
UpdateVout();
p_item = input_GetItem( p_input );
emit rateChanged( var_GetFloat( p_input, "rate" ) );
}
else
{
p_input = NULL;
p_item = NULL;
assert( !p_input_vbi );
emit rateChanged( var_InheritFloat( p_intf, "rate" ) );
}
}
/* Define the Input used.
Add the callbacks on input
p_input is held once here */
void InputManager::setInput( input_thread_t *_p_input )
{
delInput();
p_input = _p_input;
if( p_input != NULL )
{
msg_Dbg( p_intf, "IM: Setting an input" );
vlc_object_hold( p_input );
addCallbacks();
UpdateStatus();
UpdateName();
UpdateArt();
UpdateTeletext();
UpdateNavigation();
UpdateVout();
p_item = input_GetItem( p_input );
emit rateChanged( var_GetFloat( p_input, "rate" ) );
/* Get Saved Time */
if( p_item->i_type == ITEM_TYPE_FILE )
{
char *uri = input_item_GetURI( p_item );
int i_time = RecentsMRL::getInstance( p_intf )->time( qfu(uri) );
if( i_time > 0 && qfu( uri ) != lastURI &&
!var_GetFloat( p_input, "run-time" ) &&
!var_GetFloat( p_input, "start-time" ) &&
!var_GetFloat( p_input, "stop-time" ) )
{
emit resumePlayback( (int64_t)i_time * 1000 );
}
playlist_Lock( THEPL );
// Add root items only
playlist_item_t* p_node = playlist_CurrentPlayingItem( THEPL );
if ( p_node != NULL && p_node->p_parent != NULL && p_node->p_parent->i_id == THEPL->p_playing->i_id )
{
// Save the latest URI to avoid asking to restore the
// position on the same input file.
lastURI = qfu( uri );
RecentsMRL::getInstance( p_intf )->addRecent( lastURI );
}
playlist_Unlock( THEPL );
free( uri );
}
}
else
{
p_item = NULL;
lastURI.clear();
assert( !p_input_vbi );
emit rateChanged( var_InheritFloat( p_intf, "rate" ) );
}
}
/* Define the Input used.
Add the callbacks on input
p_input is held once here */
void InputManager::setInput( input_thread_t *_p_input )
{
delInput();
p_input = _p_input;
if( p_input != NULL )
{
msg_Dbg( p_intf, "IM: Setting an input" );
vlc_object_hold( p_input );
addCallbacks();
UpdateStatus();
UpdateName();
UpdateArt();
UpdateTeletext();
UpdateNavigation();
UpdateVout();
p_item = input_GetItem( p_input );
emit rateChanged( var_GetFloat( p_input, "rate" ) );
/* Get Saved Time */
if( p_item->i_type == ITEM_TYPE_FILE )
{
int i_time = RecentsMRL::getInstance( p_intf )->time( p_item->psz_uri );
if( i_time > 0 &&
!var_GetFloat( p_input, "run-time" ) &&
!var_GetFloat( p_input, "start-time" ) &&
!var_GetFloat( p_input, "stop-time" ) )
{
emit resumePlayback( (int64_t)i_time * 1000 );
}
}
}
else
{
p_item = NULL;
assert( !p_input_vbi );
emit rateChanged( var_InheritFloat( p_intf, "rate" ) );
}
}
/* Convert the event from the callbacks in actions */
void InputManager::customEvent( QEvent *event )
{
int i_type = event->type();
IMEvent *ple = static_cast<IMEvent *>(event);
if( i_type == IMEvent::ItemChanged )
UpdateMeta( ple->item() );
if( !hasInput() )
return;
/* Actions */
switch( i_type )
{
case IMEvent::PositionUpdate:
UpdatePosition();
break;
case IMEvent::StatisticsUpdate:
UpdateStats();
break;
case IMEvent::ItemChanged:
/* Ignore ItemChanged_Type event that does not apply to our input */
if( p_item == ple->item() )
{
UpdateStatus();
// UpdateName();
UpdateArt();
UpdateMeta();
/* Update duration of file */
}
break;
case IMEvent::ItemStateChanged:
// TODO: Fusion with above state
UpdateStatus();
// UpdateName();
// UpdateNavigation(); This shouldn't be useful now
// UpdateTeletext(); Same
break;
case IMEvent::NameChanged:
UpdateName();
break;
case IMEvent::MetaChanged:
UpdateMeta();
UpdateName(); /* Needed for NowPlaying */
UpdateArt(); /* Art is part of meta in the core */
break;
case IMEvent::InfoChanged:
UpdateInfo();
break;
case IMEvent::ItemTitleChanged:
UpdateNavigation();
UpdateName(); /* Display the name of the Chapter, if exists */
break;
case IMEvent::ItemRateChanged:
UpdateRate();
break;
case IMEvent::ItemEsChanged:
UpdateTeletext();
// We don't do anything ES related. Why ?
break;
case IMEvent::ItemTeletextChanged:
UpdateTeletext();
break;
case IMEvent::InterfaceVoutUpdate:
UpdateVout();
break;
case IMEvent::SynchroChanged:
emit synchroChanged();
break;
case IMEvent::CachingEvent:
UpdateCaching();
break;
case IMEvent::BookmarksChanged:
emit bookmarksChanged();
break;
case IMEvent::InterfaceAoutUpdate:
UpdateAout();
break;
case IMEvent::RecordingEvent:
UpdateRecord();
break;
case IMEvent::ProgramChanged:
UpdateProgramEvent();
break;
case IMEvent::EPGEvent:
UpdateEPG();
break;
default:
msg_Warn( p_intf, "This shouldn't happen: %i", i_type );
assert(0);
}
}
//------------------------------------------------------------------------------
int main(void)
{
VICConfig();
TimingInit();
LEDInit();
UART1Init();
UART2Init();
I2CInit();
SPISlaveInit();
Wait(100);
UART1Printf("University of Tokyo NaviCtrl firmware V2");
ReadEEPROM();
UBloxInit();
LSM303DLInit();
FlightCtrlCommsInit();
SDCardInit();
NavigationInit();
ExternalButtonInit();
// Enable the "new data" interrupt.
VIC_Config(EXTIT0_ITLine, VIC_IRQ, IRQ_PRIORITY_NEW_DATA);
VIC_ITCmd(EXTIT0_ITLine, ENABLE);
// Enable the 50Hz Interrupt.
VIC_Config(EXTIT3_ITLine, VIC_IRQ, IRQ_PRIORITY_50HZ);
VIC_ITCmd(EXTIT3_ITLine, ENABLE);
// Main loop.
uint32_t led_timer = GetTimestamp();
for (;;)
{
#ifndef VISION
// Check for new data from the magnetometer.
ProcessIncomingLSM303DL();
// Skip the rest of the main loop if mag calibration is ongoing.
if (MagCalibration(mag_calibration_)) continue;
// Check for new data on the GPS UART port.
ProcessIncomingUBlox();
#endif
// Check for new data from the FlightCtrl.
if (NewDataFromFlightCtrl())
{
ClearNewDataFromFlightCtrlFlag();
#ifdef VISION
KalmanAccelerometerUpdate();
#endif
UpdateNavigation();
PrepareFlightCtrlDataExchange();
#ifndef VISION
RequestLSM303DL();
#endif
// Check if new data has come while processing the data. This indicates
// that processing did not complete fast enough.
if (NewDataFromFlightCtrl())
{
overrun_counter_++;
}
}
#ifndef VISION
CheckUBXFreshness();
CheckLSM303DLFreshness();
// Normally the magnetometer is read every time new data comes from the
// FlightCtrl. The following statement is a backup that ensures the
// magnetometer is updated even if there is no connection to the FlightCtrl
// and also deals with read errors.
if (LSM303DLDataStale())
{
if (MillisSinceTimestamp(LSM303DLLastRequestTimestamp()) > 20)
RequestLSM303DL();
if (LSM303DLErrorBits() & LSM303DL_ERROR_BIT_I2C_BUSY)
I2CReset();
}
#else
CheckVisionFreshness();
#endif
// Check for incoming data on the "update & debug" UART port.
ProcessIncomingUART1();
// Check for incoming data on the "FligthCtrl" UART port.
ProcessIncomingUART2();
ProcessLogging();
if (TimestampInPast(led_timer))
{
GreenLEDToggle();
while (TimestampInPast(led_timer)) led_timer += 100;
// Debug output for GPS and magnetomter. Remove after testing is completed
// UART1Printf("%+5.2f,%+5.2f,%+5.2f",
// MagneticVector()[0],
// MagneticVector()[1],
// MagneticVector()[2]);
// UART1Printf("%i,%i,%i",
// MagnetometerVector()[0],
// MagnetometerVector()[1],
// MagnetometerVector()[2]);
// UART1Printf("%i,%i,%i",
// MagnetometerBiasVector()[0],
// MagnetometerBiasVector()[1],
// MagnetometerBiasVector()[2]);
// UART1Printf("%f", CurrentHeading());
// UART1Printf("%f,%f,%f",
// (float)(UBXPosLLH()->longitude * 1e-7),
// (float)(UBXPosLLH()->latitude * 1e-7),
// (float)(UBXPosLLH()->height_above_ellipsoid * 1e-3));
UART1PrintfSafe("%+5.2f,%+5.2f,%+5.2f,%+5.2f",
PositionVector()[0],
PositionVector()[1],
PositionVector()[2],
CurrentHeading());
}
}
}
