/**
* TODO : Rename Driver into ClientDriver
* @private
*/
void initMainBoardClientDriversBuffer() {
// Init the drivers
initDrivers(&driverRequestBuffer, &driverRequestBufferArray, MAIN_BOARD_REQUEST_DRIVER_BUFFER_LENGTH,
&driverResponseBuffer, &driverResponseBufferArray, MAIN_BOARD_RESPONSE_DRIVER_BUFFER_LENGTH);
// Get test driver for debug purpose
addDriver(testDriverGetDescriptor(), TRANSMIT_LOCAL);
}
/**
* @private
*/
void initDriversDescriptor() {
// Init the drivers
initDrivers(&driverRequestBuffer, &driverRequestBufferArray, MAIN_BOARD_REQUEST_DRIVER_BUFFER_LENGTH,
&driverResponseBuffer, &driverResponseBufferArray, MAIN_BOARD_RESPONSE_DRIVER_BUFFER_LENGTH);
// Get test driver for debug purpose
// addDriver(driverTestGetDescriptor(), TRANSMIT_LOCAL);
// Direct Devantech Driver
addDriver(getMD22DriverDescriptor(), TRANSMIT_NONE);
}
INT_PTR CALLBACK
AudioDlgProc (HWND hDlg, UINT uMsg, WPARAM wParam, LPARAM lParam)
{
switch (uMsg) {
case WM_COMMAND:
switch (LOWORD(wParam)) {
case IDC_AUDIO_CONFIGURE:
configureAudioDriver(hDlg);
break;
case IDC_AUDIO_TEST:
if(!PlaySound(MAKEINTRESOURCE(IDW_TESTSOUND), NULL, SND_RESOURCE | SND_SYNC))
MessageBox(NULL, "Audio test failed!", "Error", MB_OK | MB_ICONERROR);
break;
case IDC_AUDIO_CONTROL_PANEL:
MessageBox(NULL, "Launching audio control panel not implemented yet!", "Fixme", MB_OK | MB_ICONERROR);
break;
case IDC_DSOUND_HW_ACCEL:
if (HIWORD(wParam) == CBN_SELCHANGE) {
int selected_dsound_accel;
int i, j = 0;
SendMessage(GetParent(hDlg), PSM_CHANGED, 0, 0);
selected_dsound_accel = SendDlgItemMessage(hDlg, IDC_DSOUND_HW_ACCEL, CB_GETCURSEL, 0, 0);
for (i = 0; DSound_HW_Accels[i].settingStr; ++i)
{
if (DSound_HW_Accels[i].visible)
{
if (j == selected_dsound_accel)
{
set_reg_key(config_key, keypath("DirectSound"), "HardwareAcceleration",
DSound_HW_Accels[i].settingStr);
break;
}
j++;
}
}
}
break;
case IDC_DSOUND_RATES:
if (HIWORD(wParam) == CBN_SELCHANGE) {
int selected_dsound_rate;
SendMessage(GetParent(hDlg), PSM_CHANGED, 0, 0);
selected_dsound_rate = SendDlgItemMessage(hDlg, IDC_DSOUND_RATES, CB_GETCURSEL, 0, 0);
set_reg_key(config_key, keypath("DirectSound"), "DefaultSampleRate", DSound_Rates[selected_dsound_rate]);
}
break;
case IDC_DSOUND_BITS:
if (HIWORD(wParam) == CBN_SELCHANGE) {
int selected_dsound_bits;
SendMessage(GetParent(hDlg), PSM_CHANGED, 0, 0);
selected_dsound_bits = SendDlgItemMessage(hDlg, IDC_DSOUND_BITS, CB_GETCURSEL, 0, 0);
set_reg_key(config_key, keypath("DirectSound"), "DefaultBitsPerSample", DSound_Bits[selected_dsound_bits]);
}
break;
}
break;
case WM_SHOWWINDOW:
set_window_title(hDlg);
break;
case WM_NOTIFY:
switch(((LPNMHDR)lParam)->code) {
case PSN_KILLACTIVE:
SetWindowLongPtr(hDlg, DWLP_MSGRESULT, FALSE);
break;
case PSN_APPLY:
set_reg_key(config_key, "Drivers", "Audio", curAudioDriver);
apply();
SetWindowLongPtr(hDlg, DWLP_MSGRESULT, PSNRET_NOERROR);
break;
case PSN_SETACTIVE:
break;
case NM_CLICK:
if (((LPNMHDR)lParam)->idFrom == IDC_AUDIO_TREE)
{
TVHITTESTINFO ht;
DWORD dwPos = GetMessagePos();
HWND tree = ((LPNMHDR)lParam)->hwndFrom;
ZeroMemory(&ht, sizeof(ht));
ht.pt.x = (short)LOWORD(dwPos);
ht.pt.y = (short)HIWORD(dwPos);
MapWindowPoints(HWND_DESKTOP, tree, &ht.pt, 1);
SendMessageW( tree, TVM_HITTEST, 0, (LPARAM)&ht );
if (TVHT_ONITEMSTATEICON & ht.flags)
{
TVITEM tvItem;
int index;
ZeroMemory(&tvItem, sizeof(tvItem));
tvItem.hItem = ht.hItem;
SendMessageW( tree, TVM_GETITEMW, 0, (LPARAM) &tvItem );
index = TreeView_GetItemState(tree, ht.hItem, TVIS_STATEIMAGEMASK);
if (index == INDEXTOSTATEIMAGEMASK(1))
{
TreeView_SetItemState(tree, ht.hItem, INDEXTOSTATEIMAGEMASK(2), TVIS_STATEIMAGEMASK);
addDriver(loadedAudioDrv[tvItem.lParam & 0xff].szDriver);
SendMessage(GetParent(hDlg), PSM_CHANGED, (WPARAM) hDlg, 0); /* enable apply button */
}
else if (index == INDEXTOSTATEIMAGEMASK(2))
{
TreeView_SetItemState(tree, ht.hItem, INDEXTOSTATEIMAGEMASK(1), TVIS_STATEIMAGEMASK);
removeDriver(loadedAudioDrv[tvItem.lParam & 0xff].szDriver);
SendMessage(GetParent(hDlg), PSM_CHANGED, (WPARAM) hDlg, 0); /* enable apply button */
}
}
}
break;
case NM_RCLICK:
if (((LPNMHDR)lParam)->idFrom == IDC_AUDIO_TREE)
{
TVHITTESTINFO ht;
DWORD dwPos = GetMessagePos();
HWND tree = ((LPNMHDR)lParam)->hwndFrom;
POINT pt;
ZeroMemory(&ht, sizeof(ht));
pt.x = (short)LOWORD(dwPos);
pt.y = (short)HIWORD(dwPos);
ht.pt = pt;
MapWindowPoints(HWND_DESKTOP, tree, &ht.pt, 1);
SendMessageW( tree, TVM_HITTEST, 0, (LPARAM)&ht );
if (TVHT_ONITEMLABEL & ht.flags)
{
TVITEM tvItem;
ZeroMemory(&tvItem, sizeof(tvItem));
tvItem.hItem = ht.hItem;
tvItem.mask = TVIF_PARAM;
tvItem.lParam = -1;
if (TreeView_GetItem(tree, &tvItem))
{
if (tvItem.lParam & DRIVER_MASK)
{
if (hPopupMenus)
{
TrackPopupMenu(GetSubMenu(hPopupMenus, 0), TPM_RIGHTBUTTON, pt.x, pt.y, 0, tree, NULL);
toConfigure = tvItem.lParam & ~DRIVER_MASK;
}
}
else if (tvItem.lParam & DEVICE_MASK)
{
/* FIXME TBD */
}
}
}
}
}
break;
case WM_INITDIALOG:
initAudioDlg(hDlg);
break;
}
return FALSE;
}
void runMainBoardPC(bool connectToRobotManagerMode) {
connectToRobotManager = connectToRobotManagerMode;
setBoardName(MAIN_BOARD_PC_NAME);
moveConsole(0, 0, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT);
// We use http://patorjk.com/software/taag/#p=testall&v=2&f=Acrobatic&t=MOTOR%20BOARD%20PC
// with Font : Jerusalem
printf(" __ __ _ ___ _ _ ____ ___ _ ____ ____ ____ ____ \r\n");
printf("| \\/ | / \\ |_ _| \\ | | | __ ) / _ \\ / \\ | _ \\| _ \\ | _ \\ / ___|\r\n");
printf("| |\\/| | / _ \\ | || \\| | | _ \\| | | |/ _ \\ | |_) | | | | | |_) | | \r\n");
printf("| | | |/ ___ \\ | || |\\ | | |_) | |_| / ___ \\| _ <| |_| | | __/| |___ \r\n");
printf("|_| |_/_/ \\_|___|_| \\_| |____/ \\___/_/ \\_|_| \\_|____/ |_| \\____|\r\n");
printf("\r\n");
initLogs(DEBUG, (LogHandler(*)[]) &logHandlerListArray, MAIN_BOARD_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
appendStringCRLF(getDebugOutputStreamLogger(), getBoardName());
initTimerList((Timer(*)[]) &timerListArray, MAIN_BOARD_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MAIN_BOARD_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MAIN_BOARD_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MAIN_BOARD_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
initI2cBus(&motorBoardI2cBus, I2C_BUS_TYPE_MASTER, I2C_BUS_PORT_1);
initI2cBusConnection(&motorBoardI2cBusConnection, &motorBoardI2cBus, MOTOR_BOARD_PC_I2C_ADDRESS);
addI2CDriverDataDispatcher("MOTOR_BOARD_DISPATCHER",
&motorBoardInputBuffer,
(char(*)[]) &motorBoardInputBufferArray,
MAIN_BOARD_PC_DATA_MOTOR_BOARD_DISPATCHER_BUFFER_LENGTH,
&motorBoardOutputStream,
&motorBoardInputStream,
&motorBoardI2cBusConnection
);
if (connectToRobotManager) {
// Open the serial Link between RobotManager (C# Project) and the MainBoardPc
openSerialLink(&robotManagerSerialStreamLink,
&robotManagerInputBuffer,
(char(*)[]) &robotManagerInputBufferArray,
ROBOT_MANAGER_INPUT_BUFFER_LENGTH,
&robotManagerOutputBuffer,
(char(*)[]) &robotManagerOutputBufferArray,
ROBOT_MANAGER_OUTPUT_BUFFER_LENGTH,
&robotManagerOutputStream,
SERIAL_PORT_ROBOT_MANAGER,
0);
}
// CONFIG
initRobotConfigPc(&robotConfig);
// EEPROM
initEepromPc(&eeprom, "TODO");
initEepromFile(&eeprom);
// Clock
initPcClock(&clock);
// Temperature
initTemperaturePc(&temperature);
// I2C Debug
initI2CDebugBuffers(&i2cMasterDebugInputBuffer,
(char(*)[]) &i2cMasterDebugInputBufferArray,
MAIN_BOARD_PC_I2C_DEBUG_MASTER_IN_BUFFER_LENGTH,
&i2cMasterDebugOutputBuffer,
(char(*)[]) &i2cMasterDebugOutputBufferArray,
MAIN_BOARD_PC_I2C_DEBUG_MASTER_OUT_BUFFER_LENGTH);
// Init the drivers
initDrivers(&driverRequestBuffer, (char(*)[]) &driverRequestBufferArray, MAIN_BOARD_PC_REQUEST_DRIVER_BUFFER_LENGTH,
&driverResponseBuffer, (char(*)[]) &driverResponseBufferArray, MAIN_BOARD_PC_RESPONSE_DRIVER_BUFFER_LENGTH);
// Get test driver for debug purpose
addDriver(testDriverGetDescriptor(), TRANSMIT_LOCAL);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MAIN_BOARD_PC_DEVICE_LIST_LENGTH);
// addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
testDevice = addI2cRemoteDevice(getTestDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
testDevice->deviceHandleNotification = mainBoardDeviceHandleNotification;
// LOCAL BOARD
addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor());
addLocalDevice(getStrategyDeviceInterface(), getStrategyDeviceDescriptor());
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(&robotConfig));
addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor());
addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor());
addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
// addLocalDevice(getFileDeviceInterface(), getFileDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getLCDDeviceInterface(), getLCDDeviceDescriptor());
addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&temperature));
addLocalDevice(getNavigationDeviceInterface(), getNavigationDeviceDescriptor());
initStartMatch(&startMatch, isMatchStartedPc, mainBoardPcWaitForInstruction, &eeprom);
addLocalDevice(getStartMatchDeviceInterface(), getStartMatchDeviceDescriptor(&startMatch));
// MOTOR BOARD
addI2cRemoteDevice(getBatteryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
// addI2cRemoteDevice(getEepromDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getPIDDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotorDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getCodersDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getTrajectoryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotionDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getRobotKinematicsDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotionSimulationDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
initDevices();
delaymSec(100);
setDebugI2cEnabled(false);
// Ping
if (!pingDriverDataDispatcherList()) {
printf("PING PROBLEM !");
}
// Set Clock for Motor Board !
// Read Clock
ClockData* clockData = clock.readClock(&clock);
// TODO : Change Dispatcher Index ...
writeDateRemoteClockData(clockData, 0x01);
writeHourRemoteClockData(clockData, 0x01);
// testDriverIntensive(100);
startTimerList();
while (1) {
mainBoardPcWaitForInstruction(&startMatch);
}
// TODO : ShowEnd
}
