uint8_t TerminalReceiveChar(unsigned int timeout)
{
// Try to read a character from the USB library
unsigned int start = GetMilliSeconds();
while (GetMilliSeconds() - start < timeout)
{
int16_t ReceivedByte = CDC_Device_ReceiveByte(&VirtualSerial_CDC_Interface);
if (!(ReceivedByte < 0))
{
// got a character
return((unsigned char)ReceivedByte);
}
}
return 0;
}
int _tmain(int argc, _TCHAR* argv[])
{
std::wcout << L"version : 2015.09.14" << std::endl;
std::wcout << L"Usage : FbxExporter <path to fbx file> <outdir> [/fps:60|30|24] [/skipemptynodes] [/animstack:\"animstack name\"]" << std::endl;
if (argc < 3) {
std::wcerr << L"Invalid argument count" << std::endl;
return -1;
}
std::wstring wInputPath(argv[1]);
std::wstring wInputDir(argv[1]);
std::wstring wInputFileName(argv[1]);
auto lastDirSeparator = wInputDir.find_last_of(L'\\');
if (lastDirSeparator == wInputDir.npos) {
wInputDir = L".";
}
else {
wInputDir.erase(lastDirSeparator);
wInputFileName.erase(0, lastDirSeparator + 1);
}
std::wstring wOutputPath(argv[2]);
CreateDirectory(wOutputPath.c_str(), nullptr);
bool skipEmptyNodes = false;
std::wstring animStackName;
for (int i = 3; i < argc; ++i) {
std::wstring warg = argv[i];
if (warg == L"/skipemptynodes") {
skipEmptyNodes = true;
}
else if (warg.find(L"/fps:") == 0) {
if (warg == L"/fps:60") {
GlobalSettings::Current().AnimationsTimeMode = FbxTime::EMode::eFrames60;
}
else if (warg == L"/fps:30") {
GlobalSettings::Current().AnimationsTimeMode = FbxTime::EMode::eFrames30;
}
else if (warg == L"/fps:24") {
GlobalSettings::Current().AnimationsTimeMode = FbxTime::EMode::eFrames24;
}
else {
std::wcerr << L"Unrecognized fps parameter" << std::endl;
return -2;
}
}
else if (warg.find(L"/animstack:") == 0) {
animStackName = warg.substr(11);
if (animStackName.size()>0 && animStackName[0] == L'\"') {
animStackName.erase(0, 1);
}
if (animStackName.size() > 0 && animStackName[animStackName.size() - 1] == L'\"') {
animStackName.erase(animStackName.size() - 1, 1);
}
}
}
FbxSceneLoader sceneLoader(wstringToUtf8(wInputPath));
auto animStackCount = sceneLoader.getScene()->GetSrcObjectCount<FbxAnimStack>();
if (animStackName.size() == 0) {
GlobalSettings::Current().AnimStackIndex = 0;
}
else {
for (auto ix = 0; ix < animStackCount; ++ix) {
auto animStack = sceneLoader.getScene()->GetSrcObject<FbxAnimStack>(ix);
if (utf8ToWstring(animStack->GetName()) == animStackName) {
GlobalSettings::Current().AnimStackIndex = ix;
}
}
}
std::wcout << L"Animation stacks : " << std::endl;
for (auto ix = 0; ix < animStackCount; ++ix) {
auto animStack = sceneLoader.getScene()->GetSrcObject<FbxAnimStack>(ix);
if (ix == GlobalSettings::Current().AnimStackIndex) {
std::wcout << L"[X] ";
sceneLoader.getScene()->SetCurrentAnimationStack(animStack);
}
else {
std::wcout << L"[ ] ";
}
std::wcout << utf8ToWstring(animStack->GetName());
auto ts=animStack->GetLocalTimeSpan();
auto start = ts.GetStart();
auto stop = ts.GetStop();
std::wcout << L"(" << start.GetMilliSeconds() << L" - " << stop.GetMilliSeconds() << L")" << std::endl;
}
auto root = sceneLoader.rootNode();
BabylonScene babScene(*root, skipEmptyNodes);
for (auto& mat : babScene.materials()) {
exportTexture(mat.ambientTexture, wOutputPath);
exportTexture(mat.diffuseTexture, wOutputPath);
exportTexture(mat.specularTexture, wOutputPath);
exportTexture(mat.emissiveTexture, wOutputPath);
exportTexture(mat.reflectionTexture, wOutputPath);
exportTexture(mat.bumpTexture, wOutputPath);
}
auto json = babScene.toJson();
if (L'\\' != *wOutputPath.crbegin()) {
wOutputPath.append(L"\\");
}
wOutputPath.append(wInputFileName);
auto lastDot = wOutputPath.find_last_of(L'.');
wOutputPath.erase(lastDot);
wOutputPath.append(L".babylon");
DeleteFile(wOutputPath.c_str());
std::ofstream stream(wOutputPath);
json.serialize(stream);
stream.flush();
return 0;
}
/*
* Writes Out information of one frame of the worm to a disk
* in YAML format.
*
* Note the Worm object must have the following fields
* Worm->frameNum
* Worm->Segmented->Head
* Worm->Segmented->Tail
* Worm->Segmented->LeftBound
* Worm->Segmented->RightBound
* Worm->Segmented->Centerline
*
* and Params object must have
* Params->DLPOn
* Params->IllumSegCenter
* Params->IllumSegRadius
* Params->IllumLRC
*
* And more now!
*/
int AppendWormFrameToDisk(WormAnalysisData* Worm, WormAnalysisParam* Params, WriteOut* DataWriter){
CvFileStorage* fs=DataWriter->fs;
cvStartWriteStruct(fs,NULL,CV_NODE_MAP,NULL);
/** Frame Number Info **/
cvWriteInt(fs,"FrameNumber",Worm->frameNum);
/** TimeStamp **/
cvWriteInt(fs,"sElapsed",GetSeconds(Worm->timestamp));
cvWriteInt(fs,"msRemElapsed",GetMilliSeconds(Worm->timestamp));
/** Segmentation Info **/
if(cvPointExists(Worm->Segmented->Head)){
cvStartWriteStruct(fs,"Head",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",Worm->Segmented->Head->x);
cvWriteInt(fs,"y",Worm->Segmented->Head->y);
cvEndWriteStruct(fs);
}
if(cvPointExists(Worm->Segmented->Tail)){
cvStartWriteStruct(fs,"Tail",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",Worm->Segmented->Tail->x);
cvWriteInt(fs,"y",Worm->Segmented->Tail->y);
cvEndWriteStruct(fs);
}
if(cvSeqExists(Worm->Segmented->LeftBound)) cvWrite(fs,"BoundaryA",Worm->Segmented->LeftBound);
if(cvSeqExists(Worm->Segmented->RightBound)) cvWrite(fs,"BoundaryB",Worm->Segmented->RightBound);
if(cvSeqExists(Worm->Segmented->Centerline)) cvWrite(fs,"SegmentedCenterline",Worm->Segmented->Centerline);
/** Illumination Information **/
cvWriteInt(fs,"DLPIsOn",Params->DLPOn);
cvWriteInt(fs,"FloodLightIsOn",Params->IllumFloodEverything);
cvWriteInt(fs,"IllumInvert",Params->IllumInvert);
cvWriteInt(fs,"IllumFlipLR",Params->IllumFlipLR);
CvPoint origin=ConvertSlidlerToWormSpace(Params->IllumSquareOrig,Params->DefaultGridSize);
cvStartWriteStruct(fs,"IllumRectOrigin",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",origin.x);
cvWriteInt(fs,"y",origin.y);
cvEndWriteStruct(fs);
cvStartWriteStruct(fs,"IllumRectRadius",CV_NODE_MAP,NULL);
cvWriteInt(fs,"x",Params->IllumSquareRad.width);
cvWriteInt(fs,"y",Params->IllumSquareRad.height);
cvEndWriteStruct(fs);
if (Params->stageTrackingOn){
cvStartWriteStruct(fs,"StageVelocity",CV_NODE_MAP,NULL);
cvWriteInt(fs,"i",Worm->stageVelocity.x);
cvWriteInt(fs,"j",Worm->stageVelocity.y);
cvEndWriteStruct(fs);
}
/** Protocol Information **/
cvWriteInt(fs,"ProtocolIsOn",Params->ProtocolUse);
cvWriteInt(fs,"ProtocolStep",Params->ProtocolStep);
cvEndWriteStruct(fs);
return 0;
}
EipStatus
NetworkHandlerInitialize(void)
{
#ifdef WIN32
WORD wVersionRequested;
WSADATA wsaData;
wVersionRequested = MAKEWORD(2, 2);
WSAStartup(wVersionRequested, &wsaData);
#endif
/* clear the master an temp sets */
FD_ZERO(&master);
FD_ZERO(&read_fds);
/* create a new TCP socket */
if ((g_network_status.tcp_listener = socket(PF_INET, SOCK_STREAM, 0)) == -1)
{
OPENER_TRACE_ERR("error allocating socket stream listener, %d\n", errno);
return kEipStatusError;
}
int nOptVal = 1;
if (setsockopt(g_network_status.tcp_listener, SOL_SOCKET, SO_REUSEADDR,
(char *)&nOptVal, sizeof(nOptVal)) == -1)
{
OPENER_TRACE_ERR("error setting socket option SO_REUSEADDR on nTCPListener\n");
return kEipStatusError;
}
/* create a new UDP unicast socket */
if ((g_network_status.udp_unicast_listener = socket(PF_INET, SOCK_DGRAM, 0)) == -1)
{
OPENER_TRACE_ERR("error allocating udp listener socket, %d\n", errno);
return kEipStatusError;
}
if (setsockopt(g_network_status.udp_unicast_listener, SOL_SOCKET, SO_REUSEADDR,
(char *)&nOptVal, sizeof(nOptVal)) == -1)
{
OPENER_TRACE_ERR("error setting socket option SO_REUSEADDR on nUDPListener\n");
return kEipStatusError;
}
/* create a new UDP broadcast socket */
if ((g_network_status.udp_broadcast_listener = socket(PF_INET, SOCK_DGRAM, 0)) == -1)
{
OPENER_TRACE_ERR("error allocating udp listener socket, %d\n", errno);
return kEipStatusError;
}
if (setsockopt(g_network_status.udp_broadcast_listener, SOL_SOCKET, SO_REUSEADDR,
(char *)&nOptVal, sizeof(nOptVal)) == -1)
{
OPENER_TRACE_ERR("error setting socket option SO_REUSEADDR on nUDPListener\n");
return kEipStatusError;
}
/* set up unicast udp socket */
struct sockaddr_in unicast_address = {
.sin_family = AF_INET,
.sin_port = htons(kOpenerEthernetPort),
.sin_addr.s_addr = interface_configuration_.ip_address
};
if ((bind(g_network_status.udp_unicast_listener, (struct sockaddr *) &unicast_address,
sizeof(struct sockaddr))) == -1)
{
int error_code = WSAGetLastError();
OPENER_TRACE_ERR("error with udp bind: %d, %s\n", error_code, strerror(error_code));
return kEipStatusError;
}
struct sockaddr_in my_address = {
.sin_family = AF_INET,
.sin_port = htons(kOpenerEthernetPort),
.sin_addr.s_addr = htonl(INADDR_ANY)
};
/* bind the new socket to port 0xAF12 (CIP) */
if ((bind(g_network_status.tcp_listener, (struct sockaddr *) &my_address,
sizeof(struct sockaddr))) == -1)
{
OPENER_TRACE_ERR("error with bind: %s\n", strerror(errno));
return kEipStatusError;
}
/* enable the udp socket to receive broadcast messages*/
int y = 1;
if (0
> setsockopt(g_network_status.udp_broadcast_listener, SOL_SOCKET, SO_BROADCAST, (char *)&y,
sizeof(int)))
{
OPENER_TRACE_ERR("error with setting broadcast receive for udp socket: %s\n", strerror(errno));
return kEipStatusError;
}
if ((bind(g_network_status.udp_broadcast_listener, (struct sockaddr *) &my_address,
sizeof(struct sockaddr))) == -1)
{
OPENER_TRACE_ERR("error with udp bind: %s\n", strerror(errno));
return kEipStatusError;
}
/* switch socket in listen mode */
if ((listen(g_network_status.tcp_listener, MAX_NO_OF_TCP_SOCKETS)) == -1)
{
OPENER_TRACE_ERR("networkhandler: error with listen: %s\n", strerror(errno));
return kEipStatusError;
}
/* add the listener socket to the master set */
FD_SET(g_network_status.tcp_listener, &master);
FD_SET(g_network_status.udp_broadcast_listener, &master);
FD_SET(g_network_status.udp_unicast_listener, &master);
/* keep track of the biggest file descriptor */
fdmax = GetMaxSocket(g_network_status.tcp_listener, g_network_status.udp_unicast_listener, g_network_status.udp_broadcast_listener, -1);
last_time = GetMilliSeconds(); /* initialize time keeping */
g_network_status.elapsed_time = 0;
return kEipStatusOk;
}
EipStatus
NetworkHandlerProcessOnce(void)
{
int fd;
int res;
read_fds = master;
time_value.tv_sec = 0;
time_value.tv_usec = (
g_network_status.elapsed_time < kOpenerTimerTickInMilliSeconds ? kOpenerTimerTickInMilliSeconds
- g_network_status.elapsed_time :
0) * 1000; /* 10 ms */
res = select(fdmax + 1, &read_fds, 0, 0, &time_value);
if (res == -1)
{
if (EINTR == errno) /* we have somehow been interrupted. The default behavior is to go back into the select loop. */
{
return kEipStatusOk;
}
else
{
OPENER_TRACE_ERR("networkhandler: error with select: %s\n", strerror(errno));
return kEipStatusError;
}
}
if (res > 0)
{
CheckAndHandleTcpListenerSocket();
CheckAndHandleUdpBroadCastSocket();
CheckAndHandleUdpUnicastSocket();
CheckAndHandleConsumingUdpSockets();
for (fd = 0; fd <= fdmax; fd++)
{
if (true == checkSocketSet(fd))
{
/* if it is still checked it is a TCP receive */
if (kEipStatusError == handleDataOnTCPSocket(fd)) /* if error */
{
CloseSocket(fd);
CloseSession(fd); /* clean up session and close the socket */
}
}
}
}
actual_time = GetMilliSeconds();
g_network_status.elapsed_time += actual_time - last_time;
last_time = actual_time;
/* check if we had been not able to update the connection manager for several OPENER_TIMER_TICK.
* This should compensate the jitter of the windows timer
*/
while (g_network_status.elapsed_time >= kOpenerTimerTickInMilliSeconds)
{
/* call manage_connections() in connection manager every OPENER_TIMER_TICK ms */
ManageConnections();
g_network_status.elapsed_time -= kOpenerTimerTickInMilliSeconds;
}
return kEipStatusOk;
}