void KeyboardHandler (unsigned char cKey, int iX, int iY) // keyboard input handling function
{
GLfloat fRadians ;
switch (cKey)
{
case 'p' : // toggle pause
case 'P' :
bPause = !bPause ;
break ;
case '/' : // toggle filling
case '?' :
ToggleFilling(!bFilling) ;
break ;
case '.' : // toggle lighting
case '>' :
ToggleLighting(!bLighting) ;
break ;
case 'g' : // toggle fullscreen
case 'G' :
ToggleFullscreen(!bFullscreen) ;
break ;
case 'i' : // set initial position and velocity
case 'I' :
InitCamera() ;
ptVelocity = 0.0 ;
break ;
case 'f' : // move forward
case 'F' :
ptVelocity = 0.0 ;
fRadians = fPlaneOrientation[1] * 3.1415 / 180.0 ;
fCameraX += sin(fRadians) ;
fCameraZ += cos(fRadians) ;
fRadians = fPlaneOrientation[0] * 3.1415 / 180.0 ;
if (fCameraY + sin(fRadians) > 3) fCameraY += sin(fRadians) ;
break ;
case 'a' : // decrease velocity
case 'A' :
fPlaneOrientation[2] -= 10.0 ;
break ;
case 'd' : // increase velocity
case 'D' :
fPlaneOrientation[2] += 10.0 ;
break ;
case 'o' : // toggle time of day
case 'O' :
bTime = !bTime ;
break ;
case 'w' : // increase velocity
case 'W' :
ptVelocity.dVal[2] += 2 ;
break ;
case 's' : // decrease velocity
case 'S' :
ptVelocity.dVal[2] -= 2 ;
break ;
case 'c' : // toggle cockpit
case 'C' :
bCockpit = !bCockpit ;
break ;
case 'q' : // quit program
case 'Q' :
CleanObjects() ;
exit(0) ;
break ;
}
}
void CClassification::EnterTask()
{
#ifndef _WINDOWS // ------- Don't compile on windows -----
Uint32 unIntervalTicks;
Bool bLed2 = FALSE;
ledLight( 2, FALSE );
// Initialize the conveyor device driver and register the trigger semaphore.
convInit( );
SEM_new( &m_semTrigger, 0 );
convRegisterSemTrigger( &m_semTrigger, &m_bTrigger );
// Reset statstics
GetStats( NULL, TRUE );
// Initialize the high res timer
timeInit();
// Pre-calculate the maximum wait time for the semaphore.
unIntervalTicks = hlpMsToTicks( 1000 * MAXWAIT_SECONDS );
// Open the interlink UART channel and configure it.
m_hPPUSerial = serOpen( INTERLINK_UART_CHAN, sizeof( ClassificationTable ) *4 );
assertLog( m_hPPUSerial != NULL );
serConfigChannel( m_hPPUSerial, 115000, FALSE, FALSE, FALSE );
// Initialize the jet controller
TSK_sleep( 2000 );
CJetControl::Instance()->Init();
// Start watchdog and set it to twice the time of our maximum interval.
m_unWatchId = CWatchdog::Instance()->AddToWatch( "Classification", MAXWAIT_SECONDS * 2 );
CWatchdog::Instance()->EnableWatch( m_unWatchId, TRUE );
while( 1 )
{
// Wait for a trigger signal, timeout at some time to reset watchdog
if ( SEM_pend( &m_semTrigger, unIntervalTicks ) )
{
// Succesfully received a trigger
ledLight( 2, bLed2 );
bLed2 = !bLed2;
// Get the trigger time as exact as possible.
Uint32 unCurTime = convGetLastTriggerTime();
// Increment our trigger counter.
m_unCurrentTriggerPulse++;
// dbgLog( "Entering Trigger %d", m_unCurrentTriggerPulse );
// Store that trigger in the stats. This increments the number of possible potatoes by the number
// of lanes.
m_sClassificationStats.unNumPossible += m_nNumLanes;
// See if we're in service mode and handle it.
if ( m_csmServiceMode != CSM_NORMAL )
{
if ( (m_csmServiceMode == CSM_ADJUST_SMALL_EJECTION_PARAMS )
|| (m_csmServiceMode == CSM_ADJUST_MEDIUM_EJECTION_PARAMS )
|| (m_csmServiceMode == CSM_ADJUST_LARGE_EJECTION_PARAMS ) )
ServiceGenParamAdjustCommands( unCurTime );
}
else
{
// If not in service mode, see if we've got any due ejections to make and generate
// the commands for it.
EjectionTable * pTable;
// See if any ejections are due and generate the jetcontrol commands, which are then
// sent to the jet control.
pTable = GetDueEjectionTable();
if ( pTable != NULL )
{
// Generate ejection commands, but only if we're in classification mode.
if ( m_eOperationMode == OP_CLASSIFICATION )
{
GenerateEjectionCommands( pTable, unCurTime );
}
ReleaseEjectionTable( pTable );
}
// Now we have to classify the potatoes and create the ejection table for the current
// line. Only build the table if we've got a reference to the global potato table
if ( m_pPotatoTable != NULL )
{
// Build the local classification table (i.e. the per-frame classification)
BuildTable( &m_LocalClassificationTable, m_pPotatoTable );
// Only exchange tables if we're in classification mode.
if ( m_eOperationMode == OP_CLASSIFICATION )
{
// Exchange the table with the other DSP
if ( ExchangeTables( &m_LocalClassificationTable, &m_ForeignClassificationTable ) == TRUE )
{
MergeTables( &m_LocalClassificationTable, &m_ForeignClassificationTable );
}
}
// Classify the potatoes using a new ejection table. This, we'll
// have to do even in calibration mode, because of the statistics
// for the GUI.
pTable = GetNewEjectionTable( m_nNumTriggerPulsesDelay );
if ( pTable != NULL )
{
ClassifyPotatoes( & m_LocalClassificationTable, &m_ForeignClassificationTable, pTable );
}
} // if potatoobject table accessible
} // if not in servicemode
} // if trigger occured
else
{
// Clean the objects list from time to time, if we don't receive trigger signals for
// a long time. This prevents the number of objects from growing to big.
CleanObjects( m_pPotatoTable );
// Check for service operation
if ( m_csmServiceMode == CSM_CHECK_JETS )
ServiceGenJetCheckCommands();
}
// See if any of the strictness values changed and apply it to the properties
if ( m_propSplitStrictness.HasChanged()
|| m_propShapeStrictness.HasChanged()
|| m_propGreenStrictness.HasChanged()
|| m_propColorStrictness.HasChanged() )
{
ApplyStrictness();
}
// Signal the watchdog.
CWatchdog::Instance()->SignalAlive( m_unWatchId );
} // while(1)
#endif // ------------------------------------------------
}