int i2c_write_bytes(i2c_t dev, uint8_t address, char *data, int length)
{
if ((unsigned int)dev >= I2C_NUMOF) {
return -1;
}
I2C_TypeDef *i2c = i2c_config[dev].dev;
/* start transmission and send slave address */
DEBUG("sending start sequence\n");
_start(i2c, address, I2C_FLAG_WRITE);
_clear_addr(i2c);
/* send out data bytes */
_write(i2c, data, length);
/* end transmission */
DEBUG("Ending transmission\n");
_stop(i2c);
DEBUG("STOP condition was send out\n");
return length;
}
int i2c_write_regs(i2c_t dev, uint8_t address, uint8_t reg, char *data, int length)
{
if ((unsigned int)dev >= I2C_NUMOF) {
return -1;
}
I2C_TypeDef *i2c = i2c_config[dev].dev;
/* start transmission and send slave address */
_start(i2c, address, I2C_FLAG_WRITE);
_clear_addr(i2c);
/* send register address and wait for complete transfer to be finished*/
_write(i2c, (char *)(®), 1);
/* write data to register */
_write(i2c, data, length);
/* finish transfer */
_stop(i2c);
/* return number of bytes send */
return length;
}
/*
* Ponto de entrada principal
*/
void __attribute__((weak,naked,alias("Default_Handler"))) Reset_Handler(void) {
unsigned long *pSource;
unsigned long *pDest;
/* Passo 1 : Copiar dados inicializados da flash para RAM (section DATA) */
pSource = &_text_end;
pDest = &_data_start;
while( pDest < &_data_end ) {
*pDest++ = *pSource++;
}
/* Passo 2 : Zerar variaveis nao inicializadas (section BSS) */
pDest = &_bss_start;
while( pDest < &_bss_end ) {
*pDest++ = 0;
}
#ifdef ENABLE_FPU
//
// Enable the floating-point unit. This must be done here to handle the
// case where main() uses floating-point and the function prologue saves
// floating-point registers (which will fault if floating-point is not
// enabled).
//
uint32_t t = SCB->CPACR;
t &= ~(SCB_CPACR_CP11_M|SCB_CPACR_CP10_M);
t |= SCB_CPACR_CP11_FULL_V|SCB_CPACR_CP10_FULL_V ;
SCB->CPACR = t;
#endif
/* Passo 3 : Chamar SystemInit conforme CMSIS */
SystemInit();
/* Passo 4 : Chamar _main para inicializar biblioteca */
_main();
/* Passo 5 : Chamar main */
main();
_stop();
}
Control_bar::Control_bar(Input::Session_component &input)
:
_input(input), _playing(true)
{
update_style_id(_play_pause_button, "play");
_volume_slider->setOrientation(Qt::Horizontal);
_volume_slider->setRange(0, 100);
_volume_slider->setTickInterval(10);
_volume_slider->setValue(100);
_layout->addWidget(_play_pause_button);
_layout->addWidget(_stop_button);
_layout->addStretch();
_layout->addWidget(_volume_label);
_layout->addWidget(_volume_slider);
connect(_play_pause_button, SIGNAL(clicked()), this, SLOT(_pause_resume()));
connect(_stop_button, SIGNAL(clicked()), this, SLOT(_stop()));
connect(_volume_slider, SIGNAL(valueChanged(int)), this, SIGNAL(volume_changed(int)));
}
static void _ftdi_unload(usbh_baseclassdriver_t *drv) {
osalDbgCheck(drv != NULL);
USBHFTDIDriver *const ftdip = (USBHFTDIDriver *)drv;
USBHFTDIPortDriver *ftdipp = ftdip->ports;
osalMutexLock(&ftdip->mtx);
while (ftdipp) {
_stop(ftdipp);
ftdipp = ftdipp->next;
}
ftdipp = ftdip->ports;
osalSysLock();
while (ftdipp) {
USBHFTDIPortDriver *next = ftdipp->next;
usbhftdipObjectInit(ftdipp);
ftdipp = next;
}
osalSysUnlock();
osalMutexUnlock(&ftdip->mtx);
}
static void
_process_emotion_commands(struct _App *app)
{
int cmd = _em_cmd_read(app);
switch (cmd) {
case EM_CMD_FILE_SET:
_file_set(app);
break;
case EM_CMD_FILE_SET_DONE:
_file_set_done(app);
break;
case EM_CMD_FILE_CLOSE:
_file_close(app);
break;
case EM_CMD_PLAY:
_play(app);
break;
case EM_CMD_STOP:
_stop(app);
break;
case EM_CMD_POSITION_SET:
_position_set(app);
break;
case EM_CMD_SPEED_SET:
_speed_set(app);
break;
case EM_CMD_AUDIO_MUTE_SET:
_mute_set(app);
break;
case EM_CMD_VOLUME_SET:
_volume_set(app);
break;
case EM_CMD_AUDIO_TRACK_SET:
_audio_track_set(app);
break;
case EM_CMD_VIDEO_TRACK_SET:
_video_track_set(app);
break;
};
}
int i2c_read_regs(i2c_t dev, uint8_t address, uint8_t reg, void *data, int length)
{
assert(length > 0);
if (!(dev < I2C_NUMOF)) {
return -1;
}
/* start transmission and send slave address */
if (_start(address, I2C_FLAG_WRITE) != 0) {
return 0;
}
/* send register address and wait for complete transfer to be finished*/
if (_write(®, 1) != 1) {
_stop();
return 0;
}
/* now start a new start condition and receive data */
return i2c_read_bytes(dev, address, data, length);
}
static inline int _write(SercomI2cm *dev, const uint8_t *data, int length,
uint8_t stop)
{
uint8_t count = 0;
/* Write data buffer until the end. */
DEBUG("Looping through bytes\n");
while (length--) {
/* Check that bus ownership is not lost. */
if ((dev->STATUS.reg & SERCOM_I2CM_STATUS_BUSSTATE_Msk)
!= BUSSTATE_OWNER) {
DEBUG("STATUS_ERR_PACKET_COLLISION\n");
return -EAGAIN;
}
/* Wait for hardware module to sync */
while (dev->SYNCBUSY.reg & SERCOM_I2CM_SYNCBUSY_MASK) {}
DEBUG("Written byte #%i to data reg, now waiting for DR"
" to be empty again\n", count);
dev->DATA.reg = data[count++];
/* Wait for response on bus. */
if (_wait_for_response(dev, SAMD21_I2C_TIMEOUT) < 0) {
return -ETIMEDOUT;
}
/* Check for NACK from slave. */
if (dev->STATUS.reg & SERCOM_I2CM_STATUS_RXNACK) {
DEBUG("STATUS_ERR_OVERFLOW\n");
return -EIO;
}
}
if (stop) {
/* Issue stop command */
_stop(dev);
}
return 0;
}
static inline int _read(SercomI2cm *dev, uint8_t *data, int length,
uint8_t stop)
{
uint8_t count = 0;
/* Set action to ack. */
dev->CTRLB.reg &= ~SERCOM_I2CM_CTRLB_ACKACT;
/* Read data buffer. */
while (length--) {
/* Check that bus ownership is not lost. */
if ((dev->STATUS.reg & SERCOM_I2CM_STATUS_BUSSTATE_Msk)
!= BUSSTATE_OWNER) {
DEBUG("STATUS_ERR_PACKET_COLLISION\n");
return -EAGAIN;
}
/* Wait for hardware module to sync */
while (dev->SYNCBUSY.reg & SERCOM_I2CM_SYNCBUSY_MASK) {}
/* Check if this is the last byte to read */
if (length == 0 && stop) {
/* Send NACK before STOP */
dev->CTRLB.reg |= SERCOM_I2CM_CTRLB_ACKACT;
/* Prepare stop command before read last byte otherwise
hardware will request an extra byte to read */
_stop(dev);
}
/* Save data to buffer. */
data[count] = dev->DATA.reg;
/* Wait for response on bus. */
if (length > 0) {
if (_wait_for_response(dev, SAMD21_I2C_TIMEOUT) < 0)
return -ETIMEDOUT;
}
count++;
}
return 0;
}
uint8_t Softi2c::_wait_ack()
{
uint8_t cErrTime = 5;
pinMode(_SDApin,INPUT_PULLUP);
digitalWrite(_SCLpin,1);delay_us(delaytimes);
while(digitalRead(_SDApin))
{
cErrTime--;
delay_us(delaytimes);
if(cErrTime == 0)
{
pinMode(_SDApin,OUTPUT);
_stop();
return 0;
}
}
pinMode(_SDApin,OUTPUT);
digitalWrite(_SCLpin,0);delay_us(delaytimes);
return 1;
}
app_result_e mengine_play(void* msg_ptr)
{
bool ret_vals;
if (g_play_mode == PLAY_NO_PLAY)
{
ret_vals = _stop(STOP_PAUSE);//暂停播放
change_engine_state(ENGINE_STATE_PAUSE);
//清零setfile标志，播放需要重新set
g_set_file_flag = FALSE;
}
else
{
ret_vals = _play(g_play_mode);//播放
}
g_play_mode = PLAY_NORMAL;
//mengine_info.eg_playinfo.cur_file_switch |= 0x01;
mengine_reply_msg(msg_ptr, ret_vals);
return RESULT_IGNORE;
}
app_result_e mengine_play_cuemusic(void* msg_ptr)
{
bool ret_vals;
//消息指针
private_msg_t* data_ptr = (private_msg_t*) msg_ptr;
//mengine_status_t *eg_status = &mengine_info.eg_status;
mengine_config_t *eg_cfg = &mengine_info.eg_config;
//void * data_ptr = msg_ptr->msg.content.addr;//存放书签断点的数据指针
//当前是播放状态,则停止播放
ret_vals = _stop(STOP_PAUSE);//暂停播放,由内部保证是播放状态才停止
if (ret_vals == FALSE)
{
goto msg_end;
}
//保存断点,必须在_stop之后,因为_stop中会获取断点，放在_stop之前断点会被覆盖
libc_memcpy(&eg_cfg->bk_infor, data_ptr->msg.content.addr, sizeof(mmm_mp_bp_info_t));
//重新开始播放, 设置文件
//ret_vals = _set_file();
//if (ret_vals == FALSE)
//{
// goto msg_end;
//}
ret_vals = _play(PLAY_RESUME);//播放
msg_end:
//返回成功
mengine_reply_msg(msg_ptr, TRUE);
return RESULT_IGNORE;
}
int i2c_write_bytes(i2c_t dev, uint8_t address, const void *data, int length)
{
int bytes = 0;
assert(length > 0);
if (!(dev < I2C_NUMOF)) {
return -1;
}
/* start transmission and send slave address */
if (_start(address, I2C_FLAG_WRITE) != 0) {
return 0;
}
/* send out data bytes */
bytes = _write(data, length);
/* end transmission */
_stop();
return bytes;
}
int i2c_read_regs(i2c_t dev, uint8_t address, uint8_t reg, char *data, int length)
{
I2C_TypeDef *i2c;
switch (dev) {
#if I2C_0_EN
case I2C_0:
i2c = I2C_0_DEV;
break;
#endif
default:
return -1;
}
/* send start condition and slave address */
DEBUG("Send slave address and clear ADDR flag\n");
_start(i2c, address, I2C_FLAG_WRITE);
_clear_addr(i2c);
DEBUG("Write reg into DR\n");
i2c->DR = reg;
_stop(i2c);
DEBUG("Now start a read transaction\n");
return i2c_read_bytes(dev, address, data, length);
}
int i2c_write_regs(i2c_t dev, uint8_t address, uint8_t reg, const void *data, int length)
{
int bytes = 0;
assert(length > 0);
if (!(dev < I2C_NUMOF)) {
return -1;
}
/* start transmission and send slave address */
if (_start(address, I2C_FLAG_WRITE) != 0) {
return 0;
}
/* send register address and wait for complete transfer to be finished*/
if (_write(®, 1)) {
/* write data to register */
bytes = _write(data, length);
}
/* finish transfer */
_stop();
/* return number of bytes send */
return bytes;
}
app_result_e mengine_play_prev(void* msg_ptr)
{
play_status_e play_status = g_eg_status_p->play_status;
//大于5s重头开始播歌，不向前切歌
if (g_eg_playinfo_p->cur_time > 5000)
{
g_eg_playinfo_p->cur_time = 0;
//清除断点
libc_memset(&(g_eg_cfg_p->bk_infor), 0, sizeof(mmm_mp_bp_info_t));
_stop(STOP_NORMAL);//停止播放
if (play_status == PlaySta)
{
_set_file();
_play(PLAY_NORMAL);//播放
}
mengine_reply_msg(msg_ptr, TRUE);
return RESULT_IGNORE;
}
return mengine_play_switch(msg_ptr, FORCE_SWITCH_PREV);
}
void stop(void) {
_stop(gettid());
}
void CommandProcessor::stop(void) {
*mLog.debug() << UTILS_STR_FUNCTION;
_stop();
}
void Controller::stop()
{
_stop();
}
int hpx_init(int *argc, char ***argv) {
int status = HPX_SUCCESS;
// Start the internal clock
libhpx_time_start();
here = malloc(sizeof(*here));
if (!here) {
status = log_error("failed to allocate a locality.\n");
goto unwind0;
}
here->rank = -1;
here->ranks = 0;
here->epoch = 0;
sigset_t set;
sigemptyset(&set);
dbg_check(pthread_sigmask(SIG_BLOCK, &set, &here->mask));
here->config = config_new(argc, argv);
if (!here->config) {
status = log_error("failed to create a configuration.\n");
goto unwind1;
}
// check to see if everyone is waiting
if (config_dbg_waitat_isset(here->config, HPX_LOCALITY_ALL)) {
dbg_wait();
}
// bootstrap
here->boot = boot_new(here->config->boot);
if (!here->boot) {
status = log_error("failed to bootstrap.\n");
goto unwind1;
}
here->rank = boot_rank(here->boot);
here->ranks = boot_n_ranks(here->boot);
// initialize the debugging system
// @todo We would like to do this earlier but MPI_init() for the bootstrap
// network overwrites our segv handler.
if (LIBHPX_OK != dbg_init(here->config)) {
goto unwind1;
}
// Now that we know our rank, we can be more specific about waiting.
if (config_dbg_waitat_isset(here->config, here->rank)) {
// Don't wait twice.
if (!config_dbg_waitat_isset(here->config, HPX_LOCALITY_ALL)) {
dbg_wait();
}
}
// see if we're supposed to output the configuration, only do this at rank 0
if (config_log_level_isset(here->config, HPX_LOG_CONFIG)) {
if (here->rank == 0) {
config_print(here->config, stdout);
}
}
// topology discovery and initialization
here->topology = topology_new(here->config);
if (!here->topology) {
status = log_error("failed to discover topology.\n");
goto unwind1;
}
// Initialize our instrumentation.
if (inst_init(here->config)) {
log_dflt("error detected while initializing instrumentation\n");
}
// Allocate the global heap.
here->gas = gas_new(here->config, here->boot);
if (!here->gas) {
status = log_error("failed to create the global address space.\n");
goto unwind1;
}
HPX_HERE = HPX_THERE(here->rank);
here->percolation = percolation_new();
if (!here->percolation) {
status = log_error("failed to activate percolation.\n");
goto unwind1;
}
int cores = system_get_available_cores();
dbg_assert(cores > 0);
if (!here->config->threads) {
here->config->threads = cores;
}
log_dflt("HPX running %d worker threads on %d cores\n", here->config->threads,
cores);
here->net = network_new(here->config, here->boot, here->gas);
if (!here->net) {
status = log_error("failed to create network.\n");
goto unwind1;
}
// thread scheduler
here->sched = scheduler_new(here->config);
if (!here->sched) {
status = log_error("failed to create scheduler.\n");
goto unwind1;
}
#ifdef HAVE_APEX
// initialize APEX, give this main thread a name
apex_init("HPX WORKER THREAD");
apex_set_node_id(here->rank);
#endif
action_registration_finalize();
inst_start();
// start the scheduler, this will return after scheduler_shutdown()
if (scheduler_startup(here->sched, here->config) != LIBHPX_OK) {
log_error("scheduler shut down with error.\n");
goto unwind1;
}
if ((here->ranks > 1 && here->config->gas != HPX_GAS_AGAS) ||
!here->config->opt_smp) {
status = hpx_run(&_hpx_143_fix);
}
return status;
unwind1:
_stop(here);
_cleanup(here);
unwind0:
return status;
}
void DepthCamera::_captureLoop()
{
uint consecutiveCaptureFails = 0;
while(_running)
{
uint32_t callBackTypesToBeCalled = _callBackTypesRegistered;
if(consecutiveCaptureFails > 100)
{
logger(LOG_ERROR) << "DepthCamera: 100 consecutive failures in capture of frame. Stopping stream for " << id() << std::endl;
_running = false;
continue;
}
if((_callBackTypesRegistered == 0 || _callBackTypesRegistered == FRAME_RAW_FRAME_UNPROCESSED) && !isSavingFrameStream()) // Only unprocessed frame types requested or none requested?
{
auto f = _rawFrameBuffers.get();
if(!_captureRawUnprocessedFrame(*f))
{
consecutiveCaptureFails++;
continue;
}
if(_callback[FRAME_RAW_FRAME_UNPROCESSED])
{
FilterSet<RawFrame>::FrameSequence _frameBuffers;
_frameBuffers.push_front(f);
if(!_unprocessedFilters.applyFilter(_frameBuffers))
{
logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on raw unprocessed frame" << std::endl;
consecutiveCaptureFails++;
continue;
}
if(!_isPaused)
_callback[FRAME_RAW_FRAME_UNPROCESSED](*this, (Frame &)(**_frameBuffers.begin()), FRAME_RAW_FRAME_UNPROCESSED);
_writeToFrameStream(**_frameBuffers.begin());
}
else
{
_writeToFrameStream(*f);
}
consecutiveCaptureFails = 0;
}
else
{
auto f1 = _rawFrameBuffers.get();
if(!_captureRawUnprocessedFrame(*f1))
{
consecutiveCaptureFails++;
continue;
}
FilterSet<RawFrame>::FrameSequence _unprocessedFrameBuffers;
_unprocessedFrameBuffers.push_front(f1);
if(!_unprocessedFilters.applyFilter(_unprocessedFrameBuffers))
{
logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on raw unprocessed frame" << std::endl;
consecutiveCaptureFails++;
continue;
}
if(!_callbackAndContinue(callBackTypesToBeCalled, FRAME_RAW_FRAME_UNPROCESSED, ***_unprocessedFrameBuffers.begin()) && !isSavingFrameStream())
{
consecutiveCaptureFails = 0;
continue;
}
auto f = _rawFrameBuffers.get();
if(!_processRawFrame(**_unprocessedFrameBuffers.begin(), *f))
{
consecutiveCaptureFails++;
continue;
}
FilterSet<RawFrame>::FrameSequence _processedFrameBuffers;
_processedFrameBuffers.push_front(f);
if(!_processedFilters.applyFilter(_processedFrameBuffers))
{
logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on raw processed frame" << std::endl;
consecutiveCaptureFails++;
continue;
}
if(!_callbackAndContinue(callBackTypesToBeCalled, FRAME_RAW_FRAME_PROCESSED, ***_processedFrameBuffers.begin()) && !isSavingFrameStream())
{
consecutiveCaptureFails = 0;
continue;
}
auto d = _depthFrameBuffers.get();
if(!_convertToDepthFrame(**_processedFrameBuffers.begin(), *d))
{
consecutiveCaptureFails++;
continue;
}
FilterSet<DepthFrame>::FrameSequence _depthFrameBuffers;
_depthFrameBuffers.push_front(d);
if(!_depthFilters.applyFilter(_depthFrameBuffers))
{
logger(LOG_ERROR) << "DepthCamera: Failed to apply filters on depth frame" << std::endl;
consecutiveCaptureFails++;
continue;
}
if(!_callbackAndContinue(callBackTypesToBeCalled, FRAME_DEPTH_FRAME, ***_depthFrameBuffers.begin()) && !isSavingFrameStream())
{
consecutiveCaptureFails = 0;
continue;
}
auto p = _pointCloudBuffers.get();
if(!_convertToPointCloudFrame(**_depthFrameBuffers.begin(), *p))
{
consecutiveCaptureFails++;
continue;
}
_callbackAndContinue(callBackTypesToBeCalled, FRAME_XYZI_POINT_CLOUD_FRAME, **p);
consecutiveCaptureFails = 0;
_writeToFrameStream(**_unprocessedFrameBuffers.begin());
}
}
if(!_running)
{
closeFrameStream();
_stop();
}
logger(LOG_INFO) << "DepthCamera: Streaming stopped." << std::endl;
}
void Module::Stop()
{
IOAssert(_type == Type::Extension, "Only extensions can be stopped");
_stop(this);
}
void MPSimpleBoard::gameOverFlag()
{
Q_ASSERT( BS_Play );
_stop(TRUE);
state = BS_Stop;
}
void MPSimpleBoard::stopFlag()
{
_stop(FALSE);
state = BS_Standby;
}
exit()
{
_stop("Exit called");
}
static PyObject*
stop(PyObject *self)
{
_stop();
Py_RETURN_NONE;
}
void
BLEPeripheral::end()
{
_stop();
}
void process_platform() {
if(getOrderID() != MP.completed_order) {
if(!(getOrderState()&ORDER_ACTIVE)) {
switch(getOrderType()) {
case(ORDER_TYPE_FORWARD):
orderStartForward();
break;
case(ORDER_TYPE_LEFT_TURN):
orderStartLeftTurn();
break;
case(ORDER_TYPE_RIGHT_TURN):
orderStartRightTurn();
break;
}
} else {
if(MP._rotary_driver_state&ROTARY_DRIVER_ACTIVE) {
if(rotaryDriverDone()) {
deactivatePID();
set_stop();
setOrderDone();
MP.completed_order = getOrderID();
rotaryDriverStop();
rotaryDriverReset();
MP.adjust_state = 0;
}
} else {
if(MP._state == PLATFORM_FORWARD) {
if(getOrderTargetTicks() < cmtoticks(PLATFORM_PID_THRESHOLD)) {
deactivatePID();
//set_forward(MOTOR_DEFAULT_SPEED, MOTOR_DEFAULT_SPEED);
if(getOrderCurrentTicks() >= getOrderTargetTicks()) {
set_stop();
setOrderDone();
MP.completed_order = getOrderID();
MP.adjust_state = 0;
}
} else {
if(!MP.adjust_state&PLATFORM_ADJUST_DONE) {
if(getOrderLengthToWall() < 7.0) {
if(getOrderCurrentTicks() >= getOrderTargetTicks()*0.40 && getOrderCurrentTicks() <= getOrderTargetTicks()*0.60) {
platformFineAdjust();
}
}
}
if(getOrderCurrentTicks() >= getOrderTargetTicks()*0.6) {
if(!checkFrontRight()) {
deactivatePID();
set_forward(MP._originalLspeed, MP._originalRspeed);
}
if((!checkBackRight() && !checkFrontRight()) || (!checkBackLeft() && !checkFrontLeft())) {
set_stop();
deactivatePID();
if(getOrderLengthToWall() >= 7.0) {
rotaryDriverStartCM(8);
} else {
rotaryDriverStartCM(10);
}
}
}
}
} else if(MP._state == PLATFORM_LEFT || MP._state == PLATFORM_RIGHT) {
deactivatePID();
if(getOrderCurrentTicks() >= getOrderTargetTicks()) {
set_stop();
setOrderDone();
MP.completed_order = getOrderID();
}
}
}
}
}
if(change==1){
switch(MP._state){
case(PLATFORM_STOP):
_stop();
break;
case(PLATFORM_FORWARD):
_go_forward();
break;
case(PLATFORM_BACKWARD):
_go_backward();
break;
case(PLATFORM_LEFT):
_turn_left();
break;
case(PLATFORM_RIGHT):
_turn_right();
break;
default:
_stop();
break;
}
change=0;
}
}
//-----------------------------------------------------------------------------
void MusicStream::_play(size_t id,size_t pos,float fadeIn,bool loop)
{
// Checks bounds
if (id == 0 || id > Database::getSingleton().musics.size())
{
SONETTO_THROW("Unknown music ID");
}
int errCode;
char fill;
std::string path = Music::FOLDER + Database::getSingleton().musics[id-1].
filename;
char *constlessStr = new char[path.length()+1];
// We use this `constlessStr' here because ov_fopen() needs a char *
// argument as filename, but std::string::c_str() returns a const char *,
// and I don't like const-casts
strcpy(constlessStr,path.c_str());
// Stops current music, if any
_stop(0.0f);
// Opens file and checks for errors
errCode = ov_fopen(constlessStr,&mFile);
if (errCode != 0)
{
SONETTO_THROW("Failed opening OGG/Vorbis file ("+
Ogre::StringConverter::toString(errCode)+")");
}
// We don't need this anymore
delete[] constlessStr;
// Tells the length of our stream
mStreamLen = static_cast<size_t>(ov_pcm_total(&mFile,-1));
if ((int)mStreamLen == OV_EINVAL)
{
SONETTO_THROW("Failed telling OGG/Vorbis stream length ("+
Ogre::StringConverter::toString((int)mStreamLen)+")");
}
// Sets current music index
mMusic = id;
// Sets fade state and speed
mFadeSpd = Math::clamp(fadeIn,0.0f,1.0f);
if (mFadeSpd == 0.0f) {
mFadeVolume = 1.0f;
mFade = MF_NO_FADE;
} else {
mFadeVolume = 0.0f;
mFade = MF_FADE_IN;
}
// Sets whether to loop or not
mLoop = loop;
// Resets stream state
mState = MSS_IDLE;
// Seeks stream
if (pos != 0)
{
errCode = ov_pcm_seek(&mFile,pos);
if (errCode != 0)
{
SONETTO_THROW("Couldn't seek OGG/Vorbis stream position");
}
}
// Fills buffers
fill = 1;
pullStream(mMusicBuf[0]);
if (loop) {
fill = 2;
pullStream(mMusicBuf[1]);
} else {
if (mState != MSS_ENDED)
{
fill = 2;
pullStream(mMusicBuf[1]);
}
}
// Queues buffers
alSourceQueueBuffers(mMusicSrc,fill,mMusicBuf);
mAudioMan->_alErrorCheck("MusicStream::_play()",
"Failed queuing music buffers");
// Sets source volume
alSourcef(mMusicSrc,AL_GAIN,mFadeVolume*mMaxVolume);
mAudioMan->_alErrorCheck("MusicStream::_play()",
"Failed setting music source volume");
// Starts playing the music
alSourcePlay(mMusicSrc);
mAudioMan->_alErrorCheck("MusicStream::_play()",
"Failed playing music source");
}
void _turn_right(void) {
_stop();
PWM_SetDC(PLATFORM_LEFT_FORWARD ,PLATFORM_PERIOD_PERCENTAGE*MP._Lspeed*MP._left_side._calibrate_speed);
PWM_SetDC(PLATFORM_RIGHT_BACKWARD ,PLATFORM_PERIOD_PERCENTAGE*MP._Rspeed*MP._right_side._calibrate_speed);
}