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 // ------------------------------------------------ }