LDD_TError FLASH1_Erase(LDD_TDeviceData *DeviceDataPtr, LDD_FLASH_TAddress FromAddress, LDD_FLASH_TDataSize Size)
{
FLASH1_TDeviceDataPtr DeviceDataPrv = (FLASH1_TDeviceDataPtr)DeviceDataPtr; /* Auxiliary variable - pointer to an internal state structure */
if (!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_IDLE) && /* If some operation is already in progress return error. */\
!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_STOP) && \
!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_FAILED)) {
return ERR_BUSY;
}
if (RangeCheck(FromAddress, Size) != (LDD_TError)ERR_OK) { /* Is an address range of desired operation out of used flash memory areas? */
return ERR_PARAM_ADDRESS; /* If yes, return error. */
}
if (((FromAddress & FLASH1_ERASABLE_UNIT_MASK) != 0U) || ((Size & FLASH1_ERASABLE_UNIT_MASK) != 0U)){ /* Is the desired area misaligned to erasable unit borders? */
return ERR_PARAM_ADDRESS; /* If yes, return error. */
}
/* Filling of the internal state structure */
DeviceDataPrv->CurrentOperation = LDD_FLASH_ERASE; /* Set the current operation type */
DeviceDataPrv->CurrentOperationStatus = LDD_FLASH_START; /* Set the current operation status to START */
DeviceDataPrv->DataCounter = Size; /* Reset Data counter */
DeviceDataPrv->CurrentDataPtr = NULL; /* Reset the "Data pointer" for the operation */
DeviceDataPrv->CurrentFlashAddress = FromAddress; /* Reset the "From address" for the operation */
DeviceDataPrv->CurrentDataSize = FLASH1_ERASABLE_UNIT_SIZE; /* Set the current data size */
DeviceDataPrv->CurrentCommand = LDD_FLASH_ERASE_SECTOR; /* Set the current operation flash command */
return ERR_OK; /* Return with no error */
}
int operatorDriveTrain()
{
int ErrorCode;
//ToggleCheck(btnOldNewDrive, btnOldNewDrivePressed, (int) OldNewDrive);
ToggleCheck(btnFrontBackDrive, btnFrontBackDrivePressed, (int) FrontBackDrive);
if (OldNewDrive == PLAIN)
{
// Deadband control for each axis.
if(!(abs(stkDriveX) > JOYSTICKDEADZONE)) stkDriveX = 0;
if(!(abs(stkDriveY) > JOYSTICKDEADZONE)) stkDriveY = 0;
if(!(abs(stkDriveS) > JOYSTICKDEADZONE * 2)) stkDriveS = 0;
JoystickMax = 127+((10)+(0-cos(atan((stkDriveY/stkDriveX)*4)*(10))));
JoystickPower = sqrt(pow(stkDriveY,2)+pow(stkDriveX,2)+pow(stkDriveS,2));
motorLeftFrontDrive = stkDriveY + stkDriveX + stkDriveS;
motorLeftBackDrive = stkDriveY + stkDriveX - stkDriveS;
motorRightFrontDrive = stkDriveY - stkDriveX - stkDriveS;
motorRightBackDrive = stkDriveY - stkDriveX + stkDriveS;
}
else
{
if((abs(stkDriveY) > JOYSTICKDEADZONE) || (abs(stkDriveX) > JOYSTICKDEADZONE)) //If the Joystick has been pushed far enough
{
motorLeftFrontDrive = stkDriveY + stkDriveX;
motorLeftBackDrive = stkDriveY + stkDriveX;
motorRightFrontDrive = stkDriveY - stkDriveX;
motorRightBackDrive = stkDriveY - stkDriveX;
}
else
{
motorLeftFrontDrive = 0;
motorLeftBackDrive = 0;
motorRightFrontDrive = 0;
motorRightBackDrive = 0;
}
}
// Make sure our values are within the appropriate range
RangeCheck(0-MOTORDRIVEMAX, motorLeftFrontDrive, MOTORDRIVEMAX);
RangeCheck(0-MOTORDRIVEMAX, motorLeftBackDrive, MOTORDRIVEMAX);
RangeCheck(0-MOTORDRIVEMAX, motorRightFrontDrive, MOTORDRIVEMAX);
RangeCheck(0-MOTORDRIVEMAX, motorRightBackDrive, MOTORDRIVEMAX);
return ErrorCode;
}
/// Delete element i (1-based). Move last element to position i.
void DeleteElement (int i)
{
#ifdef CHECK_ARRAY_RANGE
RangeCheck (i);
#endif
this->data[i-1] = this->data[this->size-1];
this->size--;
}
static void OptBytesPerLine (const char* Opt, const char* Arg)
/* Handle the --bytes-per-line option */
{
/* Convert the argument to a number */
unsigned long Val = CvtNumber (Opt, Arg);
/* Check for a valid range */
RangeCheck (Opt, Val, MIN_BYTESPERLINE, MAX_BYTESPERLINE);
/* Use the value */
BytesPerLine = (unsigned char) Val;
}
static void OptComments (const char* Opt, const char* Arg)
/* Handle the --comments option */
{
/* Convert the argument to a number */
unsigned long Val = CvtNumber (Opt, Arg);
/* Check for a valid range */
RangeCheck (Opt, Val, MIN_COMMENTS, MAX_COMMENTS);
/* Use the value */
Comments = (unsigned char) Val;
}
static void OptArgumentColumn (const char* Opt, const char* Arg)
/* Handle the --argument-column option */
{
/* Convert the argument to a number */
unsigned long Val = CvtNumber (Opt, Arg);
/* Check for a valid range */
RangeCheck (Opt, Val, MIN_ACOL, MAX_ACOL);
/* Use the value */
ACol = (unsigned char) Val;
}
index
create( const Name& model_name, const index n_nodes )
{
if ( n_nodes == 0 )
{
throw RangeCheck();
}
const Token model = kernel().model_manager.get_modeldict()->lookup( model_name );
if ( model.empty() )
throw UnknownModelName( model_name );
// create
const index model_id = static_cast< index >( model );
return kernel().node_manager.add_node( model_id, n_nodes );
}
/* ===================================================================*/
LDD_TError FLASH1_Read(LDD_TDeviceData *DeviceDataPtr, LDD_FLASH_TAddress FromAddress, LDD_TData *ToPtr, LDD_FLASH_TDataSize Size)
{
FLASH1_TDeviceDataPtr DeviceDataPrv = (FLASH1_TDeviceDataPtr)DeviceDataPtr; /* Auxiliary variable - pointer to an internal state structure */
if (!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_IDLE) && /* If some operation is already in progress return error */\
!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_STOP) && \
!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_FAILED)) {
return ERR_BUSY;
}
if (RangeCheck(FromAddress, Size) != (LDD_TError)ERR_OK) {
return ERR_PARAM_ADDRESS;
}
/* Filling of the internal state structure */
DeviceDataPrv->CurrentOperation = LDD_FLASH_READ; /* Set the current operation type */
DeviceDataPrv->CurrentOperationStatus = LDD_FLASH_START; /* Set the current operation status to START */
DeviceDataPrv->DataCounter = Size; /* Reset Data counter */
DeviceDataPrv->CurrentDataPtr = (uint8_t *)ToPtr; /* Reset the "To pointer" for the operation */
DeviceDataPrv->CurrentFlashAddress = FromAddress; /* Reset the "From address" for the operation */
DeviceDataPrv->CurrentDataSize = 1U; /* Set the current data size */
return ERR_OK; /* Return with no error */
}
/* ===================================================================*/
LDD_TError FLASH1_Write(LDD_TDeviceData *DeviceDataPtr, LDD_TData *FromPtr, LDD_FLASH_TAddress ToAddress, LDD_FLASH_TDataSize Size)
{
FLASH1_TDeviceDataPtr DeviceDataPrv = (FLASH1_TDeviceDataPtr)DeviceDataPtr; /* Auxiliary variable - pointer to an internal state structure */
if (!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_IDLE) && /* If some operation is already in progress return error */\
!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_STOP) && \
!(DeviceDataPrv->CurrentOperationStatus == LDD_FLASH_FAILED)) {
return ERR_BUSY;
}
if (RangeCheck(ToAddress, Size) != (LDD_TError)ERR_OK) { /* Is the given flash memory area in the allowed range? */
return ERR_PARAM_ADDRESS; /* If no, return error */
}
/* Filling of the internal state structure */
DeviceDataPrv->CurrentOperation = LDD_FLASH_WRITE; /* Set the current operation type */
DeviceDataPrv->CurrentOperationStatus = LDD_FLASH_START; /* Set the current operation status to START */
DeviceDataPrv->CurrentCommand = LDD_FLASH_WRITE_LONG_WORD; /* Set the flash command to be proceed for the operation */
DeviceDataPrv->DataCounter = Size; /* Reset Data counter */
DeviceDataPrv->CurrentDataPtr = (uint8_t *)FromPtr; /* Reset the "From pointer" for the operation */
DeviceDataPrv->CurrentFlashAddress = ToAddress; /* Reset the "To address" for the operation */
DeviceDataPrv->CurrentDataSize = 0U; /* Reset Current data size */
return ERR_OK; /* Return with no error */
}
// State machine manager. Layout and content of dialog panel will be changed here based on state.
void ProfileWizard::UpdateState(const int change)
{
ShowStatus(wxEmptyString);
if (SemanticCheck(m_State, change))
{
m_State = (DialogState) RangeCheck(((int)m_State + change));
if (m_State >= 0 && m_State < NUM_PAGES)
{
const wxBitmap& bmp = *m_bitmaps[m_State];
m_bitmap->SetSize(bmp.GetSize());
m_bitmap->SetBitmap(bmp);
}
switch (m_State)
{
case STATE_GREETINGS:
SetTitle(TitlePrefix + _("Introduction"));
m_pPrevBtn->Enable(false);
m_pGearLabel->Show(false);
m_pGearChoice->Show(false);
m_pUserProperties->Show(false);
m_pWrapUp->Show(false);
m_pInstructions->SetLabel(_("Welcome to the PHD2 'first light' wizard"));
m_pHelpText->SetSizeHints(wxSize(-1, TallHelpHeight));
SetSizerAndFit(m_pvSizer);
break;
case STATE_CAMERA:
SetTitle(TitlePrefix + _("Choose a Guide Camera"));
m_pPrevBtn->Enable(true);
m_pGearLabel->SetLabel(_("Guide Camera:"));
m_pGearChoice->Clear();
m_pGearChoice->Append(GuideCamera::List());
if (m_SelectedCamera.length() > 0)
m_pGearChoice->SetStringSelection(m_SelectedCamera);
m_pGearLabel->Show(true);
m_pGearChoice->Show(true);
m_pUserProperties->Show(true);
m_pWrapUp->Show(false);
m_pHelpText->SetSizeHints(wxSize(-1, NormalHelpHeight));
SetSizerAndFit(m_pvSizer);
m_pInstructions->SetLabel(_("Select your guide camera and specify the optical properties of your guiding set-up"));
m_pInstructions->Wrap(TextWrapPoint);
break;
case STATE_MOUNT:
SetTitle(TitlePrefix + _("Choose a Mount Connection"));
m_pPrevBtn->Enable(true);
m_pGearLabel->SetLabel(_("Mount:"));
m_pGearChoice->Clear();
m_pGearChoice->Append(Scope::List());
if (m_SelectedMount.length() > 0)
m_pGearChoice->SetStringSelection(m_SelectedMount);
m_pUserProperties->Show(false);
m_pInstructions->SetLabel(_("Select your mount connection - this will determine how guide signals are transmitted"));
break;
case STATE_AUXMOUNT:
if (m_PositionAware) // Skip this state if the selected mount is already position aware
{
UpdateState(change);
}
else
{
SetTitle(TitlePrefix + _("Choose an Auxiliary Mount Connection (optional)"));
m_pGearLabel->SetLabel(_("Aux Mount:"));
m_pGearChoice->Clear();
m_pGearChoice->Append(Scope::AuxMountList());
m_pGearChoice->SetStringSelection(m_SelectedAuxMount); // SelectedAuxMount is never null
m_pInstructions->SetLabel(_("Since your primary mount connection does not report pointing position, you may want to choose an 'Aux Mount' connection"));
}
break;
case STATE_AO:
SetTitle(TitlePrefix + _("Choose an Adaptive Optics Device (optional)"));
m_pGearLabel->SetLabel(_("AO:"));
m_pGearChoice->Clear();
m_pGearChoice->Append(StepGuider::List());
m_pGearChoice->SetStringSelection(m_SelectedAO); // SelectedAO is never null
m_pInstructions->SetLabel(_("Specify your adaptive optics device if desired"));
if (change == -1) // User is backing up in wizard dialog
{
// Assert UI state for gear selection
m_pGearGrid->Show(true);
m_pNextBtn->SetLabel(_("Next >"));
m_pNextBtn->SetToolTip(_("Move forward to next screen"));
m_pWrapUp->Show(false);
}
break;
case STATE_WRAPUP:
SetTitle(TitlePrefix + _("Finish Creating Your New Profile"));
m_pGearGrid->Show(false);
m_pWrapUp->Show(true);
m_pNextBtn->SetLabel(_("Finish"));
m_pNextBtn->SetToolTip(_("Finish creating the equipment profile"));
m_pInstructions->SetLabel(_("Enter a name for your profile and optionally launch the process to build a dark library"));
SetSizerAndFit(m_pvSizer);
break;
case STATE_DONE:
WrapUp();
break;
}
}
ShowHelp(m_State);
}
bool RayTraceDataGenerator::CalcIntersect(const XMVECTOR& p1, const XMVECTOR& n, XMVECTOR* nResult, XMVECTOR* intersectLocation, float* depth)
{
/*
// grid space
vec3 grid = floor( pos ); //向下取整将坐标在网格中使用
vec3 grid_step = sign( dir ); //获取dir(方向)的正负符号<-意思就是说获取网格的步进方向,虽然只是正负
vec3 corner = max( grid_step, vec3( 0.0 ) );//负号->0 //应该是最后在步进方向上产生的偏差值,但是原因不明
// ray space
vec3 inv = vec3( 1.0 ) / dir; //取倒数使得各个方向的比值倒过来
vec3 ratio = ( grid + corner - pos ) * inv;//corn+pos的小数部分
vec3 ratio_step = grid_step * inv;//不懂
//于是这个rayspace只是提供一个比值,来决定grid的步进么
// dda <-数值微分法
float hit = -1.0;
for ( int i = 0; i < 128; i++ ) {
if ( voxel( grid ) > 0.5 ) {
hit = 1.0;
break; //这里应该是可以直接退出循环的,感觉没什么区别
continue;
}
vec3 cp = step( ratio, ratio.yzx );//二维情况的搞清楚了,问题还有就是在三维空间上的扩展
mask = cp * ( vec3( 1.0 ) - cp.zxy );
grid += grid_step * mask;
ratio += ratio_step * mask;
}
center = grid + vec3( 0.5 );//中心形式表示(跟grid应该没区别吧0 0)
return dot(ratio - ratio_step,vec3(1.0)) * hit;//dot( ratio - ratio_step, mask ) * hit;
//这里关心的是hit的深度好像
*/
//p1是起点
XMVECTOR start = p1;
XMVECTOR dir = n;
XMVECTOR zero = XMVectorSetBinaryConstant(0, 0, 0, 0);
XMVECTOR one = XMVectorSetBinaryConstant(1, 1, 1, 1);
XMVECTOR grid;
XMVECTOR grid_step;
XMVECTOR grid_corner;
grid = XMVectorFloor(start);//实际上w分量为0应该就不影响了吧(
//好像DirectXMath没有提供Sign的函数(于是用了一个挺别扭的方法- -
//grid_step 就是 sign_dir
grid_step = DirectX::XMVectorOrInt(DirectX::XMVectorAndInt(dir, DirectX::XMVectorSplatSignMask()), DirectX::XMVectorSplatOne());
grid_corner = XMVectorClamp(grid_step, zero, one);
XMVECTOR inv;
XMVECTOR ratio;
XMVECTOR ratio_step;
inv = XMVectorReciprocal(dir);
ratio = XMVectorMultiply(XMVectorSubtract(XMVectorAdd(grid, grid_corner), start), inv);
ratio_step = XMVectorMultiply(grid_step, inv);
bool hit = false;
XMVECTOR cp;
XMVECTOR mask;
XMVECTOR ratioyzx;
XMVECTOR cpzxy;
XMFLOAT4 tmp1;
XMFLOAT4 tmp2;
int i;
for (i = 0; i < 128; ++i)//最大深度为128
{
XMStoreFloat4(&tmp1, grid);
/*
__try{
if (map->At(tmp1.x, tmp1.y, tmp1.z).TexType != -1)
{
hit = true;
break;
}
}
__except ((GetExceptionCode() == EXCEPTION_ARRAY_BOUNDS_EXCEEDED)?EXCEPTION_EXECUTE_HANDLER:EXCEPTION_CONTINUE_SEARCH)
{
//捕获越界错误作为跳出条件,看看有没有问题...
break;
}
*/
//理论上来说异常的话处理代价太大,还是判断一下range吧= =
if ((RangeCheck(tmp1.x, tmp1.y, tmp1.z)))
{
if (GetLocInfo(tmp1.x, tmp1.y, tmp1.z) != -1)
{
hit = true;
break;
}
}
/*
修正:发生越界的时候并不一定就要终止,需要考虑到从值域外射出的射线.....
不过就算不break效率应该也比原先的算法要高...(除了要限制一下最大遍历深度这方面
*/
XMStoreFloat4(&tmp1, ratio);
tmp2.x = tmp1.y; tmp2.y = tmp1.z; tmp2.z = tmp1.x;
ratioyzx = XMLoadFloat4(&tmp2);
cp = XMVectorAndInt(XMVectorGreaterOrEqual(ratioyzx, ratio), XMVectorSplatOne());//1 or 0
XMStoreFloat4(&tmp1, cp);
tmp2.x = tmp1.z; tmp2.y = tmp1.x; tmp2.z = tmp1.y;
cpzxy = XMLoadFloat4(&tmp2);
mask = XMVectorMultiply(cp, XMVectorSubtract(one, cpzxy));
grid += XMVectorMultiply(grid_step, mask);
ratio += XMVectorMultiply(ratio_step, mask);
}
if (hit)
{
XMFLOAT4 result;
result = tmp1; //所在方块
if (i == 0)
{
//这是在方块内部的情况
result.w = -1;
return false;
}
XMVECTOR ftmp;
ftmp = XMVectorSubtract(ratio, ratio_step);//因为取的只是mask方向的值,所以step在这里没必要乘mask
*depth = XMVectorGetX(DirectX::XMVector3Dot(ftmp, mask));
ftmp = XMVectorAdd(XMVectorScale(dir,*depth) , p1);
XMStoreFloat4(&tmp1, ftmp);
//需要全部反过来,因为上面的式子没有取反
*intersectLocation = ftmp;
result = tmp1;
result.w = 0;
XMVECTOR normal;
normal = XMVectorMultiply(mask, grid_step);
XMStoreFloat4(&tmp1, normal);
//需要全部反过来,因为上面的式子没有取反
if (tmp1.x > 0.5)
{
//法向量为1,0,0,后方
*nResult = XMVectorSetBinaryConstant(1, 0, 0, 0);
}
else if (tmp1.x < -0.5)
{
//法向量为-1,0,0,前方
*nResult = XMVectorSetBinaryConstant(-1, 0, 0, 0);
}
else if (tmp1.y < -0.5)
{
//法向量为0,-1,0,右方
*nResult = XMVectorSetBinaryConstant(0, -1, 0, 0);
}
else if (tmp1.y > 0.5)
{
//法向量为0,1,0,左方
*nResult = XMVectorSetBinaryConstant(0, 1, 0, 0);
}
else if (tmp1.z < -0.5)
{
//法向量为0,0,-1,上方
*nResult = XMVectorSetBinaryConstant(0, 0, -1, 0);
}
else if (tmp1.z > 0.5)
{
//法向量为0,0,1,下方
*nResult = XMVectorSetBinaryConstant(0, 0, 1, 0);
}
return true;
//return result;
}
else
{
return false;
}
//上面成功的进行了判断,可以得出grid编号了,不过还要算一下相交面(
return false;
}
String String::subString(std::size_t begin, std::size_t end) const
{
RangeCheck(begin, getSize());
return String(m_string.substr(begin, end).c_str());
}
const char& String::at(std::size_t index) const
{
RangeCheck(index, getSize());
return m_string[index];
}
int operatorDriveTrain()
{
int joystickDriveMax = 127; //Maximum distance of drive stick from center
int motorDriveMax = 127; //Maximum power we want our motors to go
float JoystickAngleSin; //Sine of the Drive Stick
float JoystickAngleCos; //Cosine of the Drive Stick
ToggleCheck(btnHoloStraight, btnHoloStraightPressed, (int) HolonomicMode);
ToggleCheck(btnOldNewDrive, btnOldNewDrivePressed, bOldNewDrive);
ToggleCheck(btnFrontBackDrive, btnFrontBackDrivePressed, bFrontBackDrive);
if(HolonomicMode == STRAIGHT)
{
}
else
{
if (!bOldNewDrive)
{
joystickDrivePower = sqrt((stkDriveX*stkDriveX)+(stkDriveY*stkDriveY)); // Calculate Joystick Hypotenuse
JoystickAngleSin = stkDriveY/joystickDriveMax; // Calculate Joystick Sin
JoystickAngleCos = stkDriveX/joystickDriveMax; // Calculate Joystick Cosin
motorLeftDriveTrain = (JoystickAngleSin + JoystickAngleCos) * joystickDrivePower;
motorRightDriveTrain = (JoystickAngleSin - JoystickAngleCos) * joystickDrivePower;
if(joystickDrivePower > joystickDriveDeadzone) //If the Joystick has been pushed far enough
{
RangeCheck(0-motorDriveMax, motorLeftDriveTrain, motorDriveMax);
RangeCheck(0-motorDriveMax, motorRightDriveTrain, motorDriveMax);
/*motorLeftDriveTrain = (motorLeftDriveTrain > motorDriveMax) ? motorDriveMax : motorLeftDriveTrain;
motorRightDriveTrain = (motorRightDriveTrain > motorDriveMax) ? motorDriveMax : motorRightDriveTrain;
motorLeftDriveTrain = (motorLeftDriveTrain < (0-motorDriveMax)) ? (0-motorDriveMax) : motorLeftDriveTrain;
motorRightDriveTrain = (motorRightDriveTrain < (0-motorDriveMax)) ? (0-motorDriveMax) : motorRightDriveTrain;*/
}
else
{
motorLeftDriveTrain = 0;
motorRightDriveTrain = 0;
}
}
/*else //Old Drive
{
joystickDrivePower = sqrt((stkDriveX*stkDriveX)+(stkDriveY*stkDriveY));
motorLeftDriveTrain = stkDriveY + stkDriveX;
motorRightDriveTrain = stkDriveY - stkDriveX;
if(joystickDrivePower > joystickDriveDeadzone) //If the Joystick has been pushed far enough
{
motorLeftDriveTrain = (motorLeftDriveTrain > motorDriveMax) ? motorDriveMax : motorLeftDriveTrain;
motorRightDriveTrain = (motorRightDriveTrain > motorDriveMax) ? motorDriveMax : motorRightDriveTrain;
motorLeftDriveTrain = (motorLeftDriveTrain < (0-motorDriveMax)) ? (0-motorDriveMax) : motorLeftDriveTrain;
motorRightDriveTrain = (motorRightDriveTrain < (0-motorDriveMax)) ? (0-motorDriveMax) : motorRightDriveTrain;
}
else
{
motorLeftDriveTrain = 0;
motorRightDriveTrain = 0;
}
}*/ //*********Commented because we ran out of space on the brain!
}
//return errorcode;
return 0;
}
