bool SetFilter(int filter)
{
struct can_filter rfilter[1];
rfilter[0].can_id = filter;
rfilter[0].can_mask = CAN_SFF_MASK;
if (0 != setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter)))
{
Writelog(LOG_ERR, "Set can filter fail.", __FILE__, __LINE__);
return false;
}
return true;
}
/**
** Build map from map array.
**
** @param map Pointer to map structure
**
** @note
** Class function = 0.
** Times perfomes = more once.
*/
global void BuildMap(Map *map)
{
ResourceObj *p_res=NULL;/*Pointer to resource*/
TileObj object= {};
Cord3f temp_cord= {};
int cnt_width,cnt_height;
for(cnt_height=0; cnt_height<SIZE_MAP_HEIGHT; cnt_height+=1) {
for(cnt_width=0; cnt_width<SIZE_MAP_WIDTH; cnt_width+=1) {
/*Define type of tile*/
object.type_tile=map->MapArray[(int)cnt_width][(int)cnt_height];
/*Find resource(image) for sprite by type tile*/
p_res=FindResource(object.type_tile,resources.objects);/*find resorses in RESOURCEARRAY*/
if(p_res==NULL) {
Writelog(ERROR,LOG_PATH,"Can't find resource - id:%d\n",object.type_tile);
return;
}
/**/
object.sprite.height=p_res->sprite.height;
object.sprite.width=p_res->sprite.width;
object.sprite.texture_obj=p_res->sprite.texture_obj;
object.sprite.redraw=ON;
object.xmap=cnt_width;
object.ymap=cnt_height;
/* @fixme (machine#1#): Calculated width and length iso */
object.cordinate_iso.x=cnt_width*32;
object.cordinate_iso.z=cnt_height*32;
/* Calclulated screen cordinate for sprite. */
temp_cord=IsoToScreen_fa(&(object.cordinate_iso));
object.sprite.cordinate.x=(int)temp_cord.x;
object.sprite.cordinate.y=(int)temp_cord.y;
object.sprite.cordinate.z=(int)temp_cord.z;
CreateTileObj(&object);
}
}
}
bool InitIMUCan()
{
const int bitrate = 1000000;
const char* interface = "can0";
if (can_do_stop(interface) < 0)
{
Writelog(LOG_ERR, "Can't stop can", __FILE__, __LINE__);
return false;
}
if (can_set_bitrate(interface, bitrate) < 0)
{
Writelog(LOG_ERR, "Set can bit rate fail.", __FILE__, __LINE__);
return false;
}
if (can_do_start(interface) < 0)
{
Writelog(LOG_ERR, "Fail to start can.", __FILE__, __LINE__);
return false;
}
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
{
Writelog(LOG_ERR, "Socket Fail.", __FILE__, __LINE__);
return false;
}
struct ifreq ifr;
strncpy(ifr.ifr_name, interface, sizeof(ifr.ifr_name));
if (ioctl(s, SIOCGIFINDEX, &ifr))
{
Writelog(LOG_ERR, "ioctl fail.", __FILE__, __LINE__);
return false;
}
struct sockaddr_can addr;
addr.can_family = PF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
{
Writelog(LOG_ERR, "bind socket fail.", __FILE__, __LINE__);
return false;
}
P_IMU_DATA = new char[(MAX_IMU_NUM + 1) * sizeof(imu_body)];
if (NULL == P_IMU_DATA)
{
return false;
}
memset(P_IMU_DATA, 0, (MAX_IMU_NUM + 1) * sizeof(imu_body));
begin_pos = 0;
end_pos = MAX_IMU_NUM * sizeof(imu_body);
fetch_pos = -1;
store_pos = 0;
return true;
}
