void VertexShader_createShader(VertexShader* shader)
{
GLint shaderCompiled;
shader->id = glCreateShader(GL_VERTEX_SHADER);
glShaderSource(shader->id, 1, &shader->shaderSrc, 0);
glCompileShader(shader->id);
glGetShaderiv(shader->id, GL_COMPILE_STATUS, &shaderCompiled);
if (shaderCompiled == GL_FALSE)
{
int infologLength = 0;
int charsWritten = 0;
char *infoLog;
glGetShaderiv(shader->id, GL_INFO_LOG_LENGTH, &infologLength);
if (infologLength > 0)
{
infoLog = (char *) malloc(infologLength);
glGetShaderInfoLog(shader->id, infologLength, &charsWritten, infoLog);
Log_errorf("The shader %s failed to compile: %s\n", shader->filePath, infoLog);
free(infoLog);
}
else
{
Log_errorf("The shader %s failed to compile\n", shader->filePath);
}
}
}
static void
OBD_reset( void )
{
Log_errorf( "Resetting CAN controller\n", NULL );
g_OBD_dataRequestErrors = 0;
CAN_reset();
/* Enable loopback mode for testing */
CAN_setOperatingMode( CAN_OPMODE_LOOPBACK );
}
char* readFile(const char* filename)
{
FILE *stream = NULL;
size_t size = 0;
char *contents = NULL;
int fileSize = 0;
stream = fopen(filename, "r");
if (stream == 0)
{
Log_errorf("Unable to load %s\n", filename);
exit(2);
}
fseek(stream, 0L, SEEK_END);
fileSize = ftell(stream);
fseek(stream, 0L, SEEK_SET);
contents = malloc(fileSize + 1);
assert(contents);
size = fread(contents, 1, fileSize + 1, stream);
contents[size] = 0; /* Add terminating zero. */
fclose(stream);
return contents;
}
static void
OBD_errorCallback( CAN_Error_t errorType )
{
Log_errorf( "OBD error callback\n", NULL );
return;
}
static void
OBD_clientUpdate( void )
{
/* OBD client state machine */
switch ( g_OBD_state_client ) {
/* IDLE state - wait for sample timer to expire */
case OBD_STATE_IDLE: {
/* If in the idle state and the sample expired then request data */
if ( millis() - g_OBD_timer_max_sample_count_ms >= OBD_TIMER_MAX_SAMPLE_RATE_MS ) {
/* Handle any errors while requesting data */
if ( OBD_requestVehicleSpeed() == false ) {
g_OBD_dataRequestErrors++;
g_OBD_timer_max_sample_count_ms = millis();
Log_errorf( "OBD_requestVehicleSpeed() failed %u times\n", g_OBD_dataRequestErrors );
if ( g_OBD_dataRequestErrors >= OBD_MAX_NUM_DATA_REQUEST_ERRORS ) {
OBD_reset();
}
return;
}
/* Reset error count */
g_OBD_dataRequestErrors = 0;
/* Otherwise go to the next state */
g_OBD_state_client = OBD_STATE_DATA_REQUESTED;
/* Start the data request timeout timer */
g_OBD_timer_data_requested_timeout_count_ms = millis();
}
break;
}
/* DATA_REQUESTED state - wait for data to be returned */
case OBD_STATE_DATA_REQUESTED: {
if ( millis() - g_OBD_timer_data_requested_timeout_count_ms >= OBD_TIMER_DATA_REQUESTED_TIMEOUT_MS ) {
Log_errorf( "OBD data request timed out after %u ms\n", OBD_TIMER_DATA_REQUESTED_TIMEOUT_MS );
/* If we haven't received a response yet then timeout and go back to idle state */
g_OBD_state_client = OBD_STATE_IDLE;
}
break;
}
case OBD_STATE_DATA_RECEIVED: {
OBD_clientParseResponse();
break;
}
/* invalid state - return to IDLE */
default: {
/* debug check since we should never get here */
ASSERT( false );
g_OBD_state_client = OBD_STATE_IDLE;
break;
}
}
}
