Connection::Connection(ACE_Reactor * _reactor,
Mcp::EventHandler * _mcpEventHandler,
Consumer * _consumer,
EventHandler * _eventHandler,
const Parameters& _parameters)
throw(Miro::Exception, Miro::EDevIO) :
Super(_reactor, _mcpEventHandler, _parameters),
rotateState(LIMP),
rotateVelocity(0x0080),
rotateAcceleration(0x0400),
translateState(LIMP),
translateVelocity(0x800),
translateAcceleration(0x4000),
stateMutex(),
eventHandler(_eventHandler),
baseConsumer(_consumer),
batteryTimerId(-1)
{
// set base rotation and speed to zero and initiate an index report
const iovec vec[3] = { { &MSG_ROT_LIMP, sizeof(Mcp::OutMessage)},
{ &MSG_TRANS_LIMP, sizeof(Mcp::OutMessage)},
{ &MSG_INDEX_REPORT, sizeof(OutMessage)} };
sendCommands(vec, 3);
// trigger polling of the current battery voltage
ACE_Time_Value batteryStart(BATTERYPOLL_START);
ACE_Time_Value batteryPolling(BATTERYPOLL_INTERVAL);
batteryTimerId = reactor_->schedule_timer(eventHandler,
NULL, // no parameter
batteryStart, // delay
batteryPolling); // respawn every timeout sec.
if (batteryTimerId == -1)
throw Miro::ACE_Exception(errno, "failed to register battery poll timer");
}
void NetworkLocalBehavior::begin() {
const int delay = 4;
/* send empty commands */
for (int i = 0; i < delay; i++) {
commands.push_back(vector<string>());
sendCommands(vector<string>(), socket);
}
}
Connection::~Connection()
{
// halt robot
const iovec vec[2] = { {&MSG_ROT_LIMP, sizeof(OutMessage)},
{&MSG_TRANS_LIMP, sizeof(OutMessage)} };
sendCommands(vec, 2);
// stop battery polling
reactor_->cancel_timer(batteryTimerId);
// deleting eventHandler handler
delete eventHandler;
}
void EntitiesResponse::serializeto_internal( BitStream &tgt ) const
{
EntityManager &ent_manager=m_client->current_map()->m_entities;
tgt.StorePackedBits(1,m_incremental ? 2 : 3); // opcode 3 - full update.
tgt.StoreBits(1,entReceiveUpdate); // passed to Entity::EntReceive as a parameter
sendCommands(tgt);
tgt.StoreBits(32,abs_time);
//tgt.StoreBits(32,db_time);
tgt.StoreBits(1,unkn2);
if(unkn2)
{
//g_debug_info 0
//interpolation level 2
//g_bitcount_rel 1
}
else
{
tgt.StoreBits(1,debug_info);
tgt.StoreBits(1,m_interpolating);
if(m_interpolating==1)
{
tgt.StoreBits(2,m_interpolation_level);
tgt.StoreBits(2,m_interpolation_bits);
}
}
//else debug_info = false;
ent_manager.sendEntities(tgt);
if(debug_info&&!unkn2)
{
ent_manager.sendDebuggedEntities(tgt); // while loop, sending entity id's and debug info for each
ent_manager.sendGlobalEntDebugInfo(tgt);
}
sendServerPhysicsPositions(tgt); // These are not client specific ?
sendControlState(tgt);// These are not client specific ?
ent_manager.sendDeletes(tgt);
// Client specific part
sendClientData(tgt);
//FIXME: Most Server messages must follow entity update.
}
void
Connection::setTranslateVelocity(unsigned long arg) throw(Miro::EDevIO)
{
Miro::Guard guard(stateMutex);
if (translateVelocity != arg) {
translateVelocity = arg;
#ifdef DEBUG
std::cerr << __FILE__ << ":"
<< __LINE__ << ":"
<< __FUNCTION__ << "() - "
<< arg << ": 0x"
<< std::hex << convertMMToEncoders(arg) << std::dec << std::endl;
#endif
OutMessage message(OP_TRANS_VEL, convertMMToEncoders(arg));
const iovec vec[2] = { {&message, sizeof(OutMessage)},
{&MSG_USER_MESSAGE, sizeof(OutMessage)} };
sendCommands(vec, 2);
}
}
/////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8/////////9/////////A
ChopperMain::ChopperMain()
: doSendControl_(false)
{
setWindowTitle("ChopperRemote");
resize(480, 550);
QWidget *centralwidget = new QWidget(this);
centralwidget->setObjectName(QString::fromUtf8("centralwidget"));
radar = new ProximityRadar(200, centralwidget);
radar->setGeometry(QRect(0, 0, 400, 200));
cbSweep = new QCheckBox(centralwidget);
cbSweep->setGeometry(QRect(10, 380, 201, 22));
cbSweep->setText("sweep");
cbLog = new QCheckBox(centralwidget);
cbLog->setGeometry(QRect(10, 410, 191, 22));
cbLog->setText("log");
cbControl = new QCheckBox(centralwidget);
cbControl->setGeometry(QRect(10, 440, 220, 22));
cbControl->setText("control");
plainTextEdit = new QPlainTextEdit(centralwidget);
plainTextEdit->setGeometry(QRect(0, 470, 481, 80));
QPalette palComp;
palComp.setColor(QPalette::Base, Qt::darkBlue);
palComp.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
palComp.setColor(QPalette::Text, Qt::white);
Heading = new QwtCompass(centralwidget);
Heading->setGeometry(QRect(10, 230, 141, 131));
Heading->setLineWidth(4);
Heading->setValue(0);
Heading->setScaleOptions(QwtDial::ScaleTicks | QwtDial::ScaleLabel);
Heading->setScaleTicks(0, 0, 3);
Heading->setScale(36, 5, 0);
Heading->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130)));
Heading->setPalette(palComp);
QPalette palAtt;
palAtt.setColor(QPalette::Base, Qt::darkBlue);
palAtt.setColor(QPalette::Foreground, QColor(255,128,0).dark(120));
palAtt.setColor(QPalette::Text, Qt::white);
Attitude = new AttitudeIndicator(centralwidget);
Attitude->setGeometry(QRect(160, 230, 141, 131));
Attitude->setPalette(palAtt);
Vario = new QwtScaleWidget(centralwidget);
Vario->setGeometry(QRect(440, 10, 20, 421));
setCentralWidget(centralwidget);
try
{
sercomm = new Communication("/dev/rfcomm0");
sercomm->addListener(Communication::LST_RANGER, boost::bind(&ProximityRadar::addReadingAny, radar, ::_1));
sercomm->addListener(Communication::LST_COMPASS, CompasValSetter(*Heading));
sercomm->addListener(Communication::LST_ACCEL, AttitudeSetter(*Attitude));
// sercomm->addListener(Communication::LST_TEXT, TextAdder(*plainTextEdit));
}
catch(std::exception &ex)
{
std::stringstream sstr;
sstr << "Could not establish a bluetooth connection to the chopper on \"/dev/rfcomm0\" with the following message:\n" << ex.what();
QMessageBox::critical(this, "No connection to the chopper", sstr.str().c_str(), QMessageBox::Ok);
}
connect(cbSweep, SIGNAL(stateChanged(int)), this, SLOT(enableRanger(int)));
connect(cbLog, SIGNAL(stateChanged(int)), this, SLOT(enableLogging(int)));
connect(cbControl, SIGNAL(stateChanged(int)), this, SLOT(enableControl(int)));
TextAdder ta(*plainTextEdit);
ta(boost::any(std::string("Welcome")));
#ifdef _DEBUG
enableRanger(Qt::Checked);
// enableLogging(Qt::Checked);
#endif
#ifdef __arm__
// assuming we are on the freerunner, so read the accelerometers
#else
// assuming we are on a notebook or computer, see if we have a joystick to read
try
{
joyslis = new joystick_listener("/dev/input/js0");
sendCommands();
inputListener = boost::thread(boost::ref(*joyslis));
sercomm->addListener(Communication::LST_TEXT, boost::bind(&ChopperMain::sendCommands, this));
}
catch(std::exception& ex)
{
std::stringstream sstr;
sstr << "Could not connect to the joystick on \"/dev/input/js0\" with the following message:\n" << ex.what();
QMessageBox::critical(this, "No connection to the joystick", sstr.str().c_str(), QMessageBox::Ok);
}
#endif
}
void SMTPClientSession::sendMessage(const MailMessage& message, const Recipients& recipients)
{
sendCommands(message, &recipients);
transportMessage(message);
}
void SMTPClientSession::sendMessage(const MailMessage& message)
{
sendCommands(message);
transportMessage(message);
}
void SSD1308::setColumnAddress(uint8_t start, uint8_t end)
{
uint8_t data[3] = { SET_COLUMN_ADDRESS, start, end };
sendCommands(3, data);
}
void SSD1308::setPageAddress(uint8_t start, uint8_t end)
{
uint8_t data[3] = { SET_PAGE_ADDRESS, start, end };
sendCommands(3, data);
}
void SSD1308::setMemoryAddressingMode(uint8_t mode)
{
uint8_t cmds[2] = { SET_MEMORY_ADDRESSING_MODE, mode };
sendCommands(2, cmds);
}
void NetworkLocalBehavior::start(const Stage & stage, Character * owner, const std::vector<Command2*> & commands, bool reversed) {
vector<string> current = local->currentCommands(stage, owner, commands, reversed);
this->commands.push_back(current);
sendCommands(current, socket);
}
