int main(int argc, char *argv[]) {
int i,j,k,portFD;
unsigned char data[1024];
gettimeofday(&tStart,NULL);
output(1,"HP iPAQ 214 BT chip GPIO twiddling util v1.1\n----------------------------------\n");
#ifndef NOIO
gpioInit(1);
#else
output(1,"TESTING MODE - NOT USING IO\n");
#endif
if(argc > 1 && strcmp(argv[1],"on")==0){
portFD=openPort();
if(portFD == -1){ return 0; }
output(1,"Shutting down chip first...\n");
#ifndef NOIO
shutdownChip();
tcflush(portFD, TCIOFLUSH); //flush buffers again
#endif
output(1,"Waiting 2 secs.\n");
sleep(2);
output(1,"Bringing up chip...\n");
bringUpChip();
output(1,"Resetting chip...\n");
#ifndef NOIO
sendReset(portFD);
#endif
output(1,"Turning LED on.\n");
#ifndef NOIO
gpioSet(3,1);
#endif
output(1,"closing port..."); fflush(stdout);
close(portFD);
output(1,"done\n");
}else if(argc > 1 && strcmp(argv[1],"off")==0){
output(1,"Shutting down chip...\n");
#ifndef NOIO
shutdownChip();
gpioSet(3,0); //turn LED off
#endif
}else
printf("usage %s on/off\n",argv[0]);
#ifndef NOIO
gpioCleanup();
#endif
return 0;
}
void RiscComm::onConsoleInput(QString input)
{
m_sp->readAll(); // flush any residual crap out (from FPGA reset for example)
if (input.compare("s") == 0) {
sendStep();
doScan();
}
else if (input.compare("sc") == 0)
doScan();
else if (input.compare("q") == 0)
QCoreApplication::exit();
else if (input.compare("r") == 0)
sendRun();
else if (input.compare("rs") == 0)
sendReset();
else if (input.compare("st") == 0) {
sendStop();
doScan();
} else if (input.startsWith("wp")) {
QStringList args = input.split(" ");
if (args.length() == 2) { // upload a file
sendProgram(args.at(1));
}
} else if (input.compare("clrmem") == 0) {
QByteArray zeros;
zeros.fill(0, 256);
writeMem(zeros, 0, true);
} else if (input.compare("dm") == 0) {
dumpMem();
}
else
qDebug() << "Unknown command:" << input;
}
void rfid::receiveID(QString _ID)
{
//If a card is detected, request the ID of it
if(_ID.toInt() == 253)
{
sendRequestID();
}
//If we are in the process of receiving an ID, add it to receivedData
else if(_ID.toInt() != 251)
{
if(_ID.toInt() < 10)
receivedData += (QString::number(0) + QString::number(0) + _ID);
else if (_ID.toInt() < 100)
receivedData += (QString::number(0) + _ID);
else
receivedData += _ID;
}
// If we get the endofline command (251), and receivedData is not empty, emit newID.
else if(_ID.toInt() == 251 && !receivedData.isEmpty())
{
emit newID(receivedData);
//qDebug() << receivedData;
receivedData.clear();
}
//Always send reset to prevent getting stuck if card is removed too quickly.. :)
sendReset();
}
rfid::rfid(QObject *parent, QString port, int baudrate) :
QObject(parent)
{
serial = new QAsyncSerial(port, baudrate);
connect(serial, SIGNAL(lineReceived(QString)),
this, SLOT(receiveID(QString)));
sendReset();
}
AddVaccineWid::AddVaccineWid(QString rootdir,QWidget *parent) :
QWidget(parent)
{
path = rootdir;
lay = new QVBoxLayout(this);
det_w = new VaccineDetailsWid();
bottom = new VaccineBottomWid();
lay->addWidget(det_w);
lay->addWidget(bottom);
connect(bottom,SIGNAL(sendSave()),this,SLOT(performSave()));
connect(bottom,SIGNAL(sendReset()),this,SLOT(performReset()));
}
void
BasicModem::initialize(void)
{
// Reset and flush pending input.
sendReset();
Time::Delay::wait(2.0);
m_handle->flushInput();
// Perform initialization.
setReadMode(READ_MODE_LINE);
start();
sendInitialization();
}
bool PBBP::enumerate(void (*callback)(uint8_t*)) {
uint8_t b;
if (!sendReset() || !sendByte(BC_CMD_ENUMERATE)) {
if (this->last_error == NO_ACK_OR_NACK) {
// Nobody on the bus
return true;
}
// Other error
return false;
}
uint8_t num_slaves = 0;
while (num_slaves < this->max_slaves) {
// Allocate room to store one more address
uint8_t id[UNIQUE_ID_LENGTH];
uint8_t crc = 0;
for (uint8_t i = 0; i < UNIQUE_ID_LENGTH; ++i) {
if (!receiveByte(&id[i])) {
if (i == 0 && this->last_error == NO_ACK_OR_NACK) {
// Nobody responded, meaning all device are enumerated
return true;
}
// Other error
return false;
}
crc = pinoccio_crc_update(UNIQUE_ID_CRC_POLY, crc, id[i]);
}
if (crc != 0) {
this->last_error = CRC_ERROR;
return false;
}
callback(id);
num_slaves++;
}
// See if there is one more
if (receiveByte(&b)) {
// Succesfully received a byte, there are more slaves!
this->last_error = TOO_MANY_SLAVES;
return false;
} else {
return (this->last_error == NO_ACK_OR_NACK);
}
}
DownloadView::DownloadView(QWidget *parent) : QWidget(parent) {
QBoxLayout *layout = new QVBoxLayout(this);
layout->setMargin(0);
layout->setSpacing(0);
bar = new THBlackBar(this);
QAction *action = new QAction(tr("Downloads"), this);
bar->addAction(action);
layout->addWidget(bar);
listView = new DownloadListView(this);
#ifdef APP_MAC
listView->setAlternatingRowColors(true);
#endif
/*
QPalette p = listView->palette();
p.setColor(QPalette::Base, palette().color(QPalette::Window));
listView->setPalette(p);
*/
PrettyItemDelegate *delegate = new PrettyItemDelegate(this, true);
listView->setItemDelegate(delegate);
listView->setSelectionMode(QAbstractItemView::NoSelection);
// cosmetics
listView->setVerticalScrollMode(QAbstractItemView::ScrollPerPixel);
listView->setFrameShape(QFrame::NoFrame);
listView->setAttribute(Qt::WA_MacShowFocusRect, false);
listView->setMinimumSize(320,240);
listView->setUniformItemSizes(true);
listModel = DownloadManager::instance()->getModel();
listView->setModel(listModel);
connect(listView, SIGNAL(downloadButtonPushed(QModelIndex)), SLOT(buttonPushed(QModelIndex)));
connect(listView, SIGNAL(entered(const QModelIndex &)), SLOT(itemEntered(const QModelIndex &)));
layout->addWidget(listView);
updateTimer = new QTimer(this);
updateTimer->setInterval(1000);
connect(updateTimer, SIGNAL(timeout()), listModel, SLOT(sendReset()));
downloadSettings = new DownloadSettings(this);
layout->addWidget(downloadSettings);
}
dacDialog::dacDialog(QWidget *parent, QSerialPort *serial) :
QDialog(parent),
ui(new Ui::dacDialog)
{
ui->setupUi(this);
if(serial != NULL)
serialPort = serial;
activeMsg = new GUI_message();
connect(ui->resetButton, SIGNAL(clicked()), this, SLOT(sendReset()));
connect(ui->writePushButton, SIGNAL(clicked()), this, SLOT(sendDACMessage()));
connect(ui->readPushButton, SIGNAL(clicked()), this, SLOT(sendDACMessage()));
connect(this, SIGNAL(updateData(unsigned char)), this, SLOT(updateDataLineEdit(unsigned char)));
ui->pageLineEdit->setInputMask("0xHH");
ui->pageLineEdit->setText("0x00");
ui->addressLineEdit->setInputMask("0xHH");
ui->addressLineEdit->setText("0x00");
ui->dataLineEdit->setInputMask("0xHH");
ui->dataLineEdit->setText("0x00");
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent)
{
thread = new QThread();
reader = new Reader();
reader->moveToThread(thread);
connect(reader, SIGNAL(sendPoint(int,int,double)),
this, SLOT(setPointProb(int,int,double)));
connect(reader, SIGNAL(workRequested()), thread, SLOT(start()));
connect(thread, SIGNAL(started()), reader, SLOT(doWork()));
connect(reader, SIGNAL(finished()),
thread, SLOT(quit()) , Qt::DirectConnection);
connect(reader, SIGNAL(finished()),
this, SLOT(fileFinished()));
connect(reader, SIGNAL(sendReset()), this, SLOT(resetPositions()));
setFixedSize(800,600);
p_scene = new QGraphicsScene(this);
p_view = new QGraphicsView(p_scene, this);
QPixmap background(QCoreApplication::applicationDirPath() +
"/img/sol.png");
if (background.isNull()) {
std::cout << "Ouverture de sol.png échouée, ouverture de sol.jpg" << std::endl;
background = QPixmap(QCoreApplication::applicationDirPath() +
"/img/sol.jpg");
}
p_scene->setBackgroundBrush(QBrush(background));
p_view->setGeometry(10,10,505,505);
p_addPosition = new QPushButton("Ajouter position", this);
p_addPosition->setGeometry(590,90, 120, 30);
p_deletePos = new QPushButton("Réinitialiser positions", this);
p_deletePos->setGeometry(590,130, 120, 30);
p_openFile = new QPushButton("Ouvrir fichier", this);
p_openFile->setGeometry(590, 170, 120, 30);
p_changeTableSize = new QPushButton("Changer taille table", this);
p_changeTableSize->setGeometry(50, 560, 120, 30);
pauseButton = new QPushButton("", this);
QIcon pauseIcon(QCoreApplication::applicationDirPath() + "/img/pause.png");
if (pauseIcon.isNull()) {
std::cout << "Ouverture de pause.png échouée, ouverture de pause.jpg" << std::endl;
pauseIcon = QIcon((QCoreApplication::applicationDirPath() + "/img/pause.jpg"));
}
pauseButton->setIcon(pauseIcon);
pauseButton->setGeometry(590, 250, 30, 30);
pauseButton->setDisabled(true);
stopButton = new QPushButton("", this);
QIcon stopIcon(QCoreApplication::applicationDirPath() + "/img/stop.png");
if (stopIcon.isNull()) {
std::cout << "Ouverture de stop.png échouée, ouverture de stop.jpg" << std::endl;
pauseIcon = QIcon((QCoreApplication::applicationDirPath() + "/img/stop.jpg"));
}
stopButton->setIcon(stopIcon);
stopButton->setGeometry(630, 250, 30, 30);
stopButton->setDisabled(true);
stepButton = new QPushButton("", this);
QIcon stepIcon(QCoreApplication::applicationDirPath() + "/img/step.png");
if (stepIcon.isNull()) {
std::cout << "Ouverture de step.png échouée, ouverture de step.jpg" << std::endl;
stepIcon = QIcon((QCoreApplication::applicationDirPath() + "/img/step.jpg"));
}
stepButton->setIcon(stepIcon);
stepButton->setGeometry(670, 250, 30, 30);
stepButton->setDisabled(true);
p_quit = new QPushButton("Quitter", this);
p_quit->setGeometry(600, 560, 100, 30);
p_addPosX = new QLineEdit(this);
p_addPosY = new QLineEdit(this);
p_addPosP = new QLineEdit(this);
p_addPosX->setGeometry(580, 50, 40, 30);
p_addPosY->setGeometry(630, 50, 40, 30);
p_addPosP->setGeometry(680, 50, 40, 30);
p_addPosX->setPlaceholderText("Abscisse");
p_addPosY->setPlaceholderText("Ordonnée");
p_addPosP->setPlaceholderText("Proba");
currentDate = new QLabel("Pas de fichier en cours", this);
currentDate->setGeometry(580, 300, 140, 30);
QObject::connect(p_addPosition, SIGNAL(clicked()),
this, SLOT(sendPointProbValues()));
QObject::connect(this, SIGNAL(pointProbValues(int,int,double)),
this, SLOT(setPointProb(int,int,double)));
QObject::connect(p_deletePos, SIGNAL(clicked()),
this, SLOT(resetPositions()));
QObject::connect(p_quit, SIGNAL(clicked()),
qApp, SLOT(quit()));
QObject::connect(p_openFile, SIGNAL(clicked()),
this, SLOT(readMatrixFromFile()));
QObject::connect(p_changeTableSize, SIGNAL(clicked()),
this, SLOT(changeTableSize()));
QObject::connect(pauseButton, SIGNAL(clicked()),
this, SLOT(pauseRead()));
QObject::connect(stopButton, SIGNAL(clicked()),
this, SLOT(stopRead()));
QObject::connect(reader, SIGNAL(sendDate(QString)),
this, SLOT(setDate(QString)));
QObject::connect(stepButton, SIGNAL(clicked()),
this, SLOT(clickNextDate()));
}
//--------------------------------------------------------------
void testApp::update(){
for(int i = 0; i < K; i++)
kinects[i].markAsOld();
processOSC();
//-------------------------
if(bLoadMLP){
bLoadMLP = false;
matrixData.openMLP();
for(int i = 0; i < K; i++)
kinects[i].setMatrix(matrixData.getMatrix(i));
}
//-------------------------
if(bTracking){
if(!bCalibrated) {
bCalibrated = match.startTracking(kinects, trackers);
}
else{
for(int i = 0; i < N; i++)
trackers[i].resetCandidates();
match.matchCandidates(kinects, trackers);
for(int i = 0; i < N; i++)
trackers[i].match();
}
}
else{
bCalibrated = false;
}
//----
sendDistances();
sendPositions();
sendAzimuts();
if(bReset){
sendReset();
bReset = false;
}
if(bSaving){
if(!pbSaving){
frame = 0;
pbSaving = true;
}
sendSaving(frame);
frame += 1;
}
else{
pbSaving = false;
}
if(ofGetFrameNum() % 30 == 0)
sendPing();
//----- SCREEN INFO
char msg[2048];
matrixData.getStatus(msg);
strcat(msg, oscStatus);
char kinectMsg[500];
for(int i = 0; i < K; i++){
kinects[i].getStatus(kinectMsg, i);
strcat(msg, kinectMsg);
}
char other[500];
sprintf(other, "\n[CENTER] %4.f, %4.f\n[REF POINT] %4.f, %4.f\n[REF VECTOR] %4.f, %4.f ",
center.x, center.z, refPoint.x,
refPoint.z, refVector.x, refVector.z);
strcat(msg, other);
sprintf(other, "\n[GHOST 1] %4.f, %4.f\n[GHOST 2] %4.f, %4.f ", ghost0.x, ghost0.z, ghost1.x, ghost1.z);
strcat(msg, other);
float delta[3];
int n = 0;
if(bTracking && bCalibrated){
for(int i = 0; i < N; i++){
sprintf(other, "\n[TRACKER %d] %4.f %4.f %4.f", i, trackers[i].pos.x,
trackers[i].pos.y, trackers[i].pos.z);
strcat(msg, other);
}
}
sprintf(other, "\n[STATE] %1.d", state);
strcat(msg, other);
strcat(msg, "\n\nPRESS AND DRAG:\n[1] cam zoom [2] cam x/y [2] cam rot\n");
strcat(msg, "PRESS:\n[ ] to start tracking\n");
status->setName(msg);
status->setSize(300, 400);
calibratedButton ->setValue(bCalibrated);
//-----
// ...
//writeLog();
}
void RbFirmataController::ProcessIO()
{
try
{
m_bIOThreadProcessing = true;
std::cout << "Sending firmware version request\r\n";
//First lets flush the buffer.
_port.flush();
//First reset firmata
sendReset();
boost::this_thread::sleep(boost::posix_time::microseconds(10));
sendFirmwareVersionRequest();
//Loop through to do the innitial setup
int iSendFirmwareCount=0;
while(!(m_bStopIO || m_bSetupComplete))
{
if(!_firmwareReceived)
{
update();
//if(iSendFirmwareCount <= 0 && !_firmwareReceived)
//{
// //Then need to do this to init the pins, get the firmware version, and call setupArduino.
// //Will stay in update loop looking for signal. When it arrives Setup will be called
// //and we can start processing.
// iSendFirmwareCount = 1000;
//}
//iSendFirmwareCount--;
boost::this_thread::sleep(boost::posix_time::microseconds(300));
}
}
//Start the timer to measure motor send timing.
m_lMotorSendStart = GetSimulator()->GetTimerTick();
//Now that setup has compled lets do our main loop
while(!m_bStopIO)
{
if(m_bPauseIO || m_lpSim->Paused())
{
m_bIOPaused = true;
boost::this_thread::sleep(boost::posix_time::microseconds(1000));
}
else
{
m_bIOPaused = false;
//Update the firmata IO.
update();
//Do not try and step IO until it has been setup correctly.
StepIO();
if(_dynamixelMoveAdds > 0)
{
//Get the motor send time
m_fltMotorSendTime = GetSimulator()->TimerDiff_m(m_lMotorSendStart, GetSimulator()->GetTimerTick());
//Execute any synch moves that were setup for this IO loop in StepIO
//If none were setup it will ignore this call.
sendDynamixelSynchMoveExecute();
//Star the timer again.
m_lMotorSendStart = GetSimulator()->GetTimerTick();
}
}
}
}
catch(CStdErrorInfo oError)
{
m_bIOThreadProcessing = false;
}
catch(...)
{
m_bIOThreadProcessing = false;
}
m_bIOThreadProcessing = false;
}
bool PBBP::sendCommand(uint8_t slave_addr, uint8_t command) {
return sendReset() &&
sendByte(slave_addr) &&
sendByte(command);
}
void CEMIDriver::started()
{
after_reset = true;
reset_timer.start(0.5,0);
sendReset();
}
void AppointmentBottomBar::onResetPressed() {
emit sendReset();
}
