/**
Write an unknown control code into the BNEP not understood control response
@internalComponent
*/
void RBnepNotUnderstoodResponseControl::SetUnknownControlType (TUint8 aUnknownControlType)
{
LOG_FUNC
TPckgBuf<TUint8> controlType(static_cast<TUint8>(EBnepControlCommandNotUnderstood));
TPckgBuf<TUint8> unknownControlType(aUnknownControlType);
CopyIn(controlType, KControlTypeOffset);
CopyIn(unknownControlType, KUnknownControlTypeResponseFieldOffset);
DUMPFRAME(_L8("RBnepNotUnderstoodResponseControl"));
}
String AccessibilityMediaControl::controlTypeName() const
{
DEFINE_STATIC_LOCAL(const String, mediaEnterFullscreenButtonName, (ASCIILiteral("EnterFullscreenButton")));
DEFINE_STATIC_LOCAL(const String, mediaExitFullscreenButtonName, (ASCIILiteral("ExitFullscreenButton")));
DEFINE_STATIC_LOCAL(const String, mediaMuteButtonName, (ASCIILiteral("MuteButton")));
DEFINE_STATIC_LOCAL(const String, mediaPlayButtonName, (ASCIILiteral("PlayButton")));
DEFINE_STATIC_LOCAL(const String, mediaSeekBackButtonName, (ASCIILiteral("SeekBackButton")));
DEFINE_STATIC_LOCAL(const String, mediaSeekForwardButtonName, (ASCIILiteral("SeekForwardButton")));
DEFINE_STATIC_LOCAL(const String, mediaRewindButtonName, (ASCIILiteral("RewindButton")));
DEFINE_STATIC_LOCAL(const String, mediaReturnToRealtimeButtonName, (ASCIILiteral("ReturnToRealtimeButton")));
DEFINE_STATIC_LOCAL(const String, mediaUnMuteButtonName, (ASCIILiteral("UnMuteButton")));
DEFINE_STATIC_LOCAL(const String, mediaPauseButtonName, (ASCIILiteral("PauseButton")));
DEFINE_STATIC_LOCAL(const String, mediaStatusDisplayName, (ASCIILiteral("StatusDisplay")));
DEFINE_STATIC_LOCAL(const String, mediaCurrentTimeDisplay, (ASCIILiteral("CurrentTimeDisplay")));
DEFINE_STATIC_LOCAL(const String, mediaTimeRemainingDisplay, (ASCIILiteral("TimeRemainingDisplay")));
DEFINE_STATIC_LOCAL(const String, mediaShowClosedCaptionsButtonName, (ASCIILiteral("ShowClosedCaptionsButton")));
DEFINE_STATIC_LOCAL(const String, mediaHideClosedCaptionsButtonName, (ASCIILiteral("HideClosedCaptionsButton")));
switch (controlType()) {
case MediaEnterFullscreenButton:
return mediaEnterFullscreenButtonName;
case MediaExitFullscreenButton:
return mediaExitFullscreenButtonName;
case MediaMuteButton:
return mediaMuteButtonName;
case MediaPlayButton:
return mediaPlayButtonName;
case MediaSeekBackButton:
return mediaSeekBackButtonName;
case MediaSeekForwardButton:
return mediaSeekForwardButtonName;
case MediaRewindButton:
return mediaRewindButtonName;
case MediaReturnToRealtimeButton:
return mediaReturnToRealtimeButtonName;
case MediaUnMuteButton:
return mediaUnMuteButtonName;
case MediaPauseButton:
return mediaPauseButtonName;
case MediaStatusDisplay:
return mediaStatusDisplayName;
case MediaCurrentTimeDisplay:
return mediaCurrentTimeDisplay;
case MediaTimeRemainingDisplay:
return mediaTimeRemainingDisplay;
case MediaShowClosedCaptionsButton:
return mediaShowClosedCaptionsButtonName;
case MediaHideClosedCaptionsButton:
return mediaHideClosedCaptionsButtonName;
default:
break;
}
return String();
}
String AccessibilityMediaTimeDisplay::accessibilityDescription() const
{
DEFINE_STATIC_LOCAL(const String, currentTimeDisplay, ("CurrentTimeDisplay"));
DEFINE_STATIC_LOCAL(const String, timeRemainingDisplay, ("TimeRemainingDisplay"));
if (controlType() == MediaCurrentTimeDisplay)
return localizedMediaControlElementString(currentTimeDisplay);
return localizedMediaControlElementString(timeRemainingDisplay);
}
synthv1_controls::Key synthv1widget_control::controlKey (void) const
{
synthv1_controls::Key key;
const synthv1_controls::Type ctype = controlType();
const unsigned short channel = controlChannel();
key.status = ctype | (channel & 0x1f);
key.param = controlParam();
return key;
}
void DXLJointInterface::relax()
{
if(controlType() == CT_TORQUE)
{
dxl_write_word(id(), REG_GOAL_TORQUE, 1);
sleep(3);
}
dxl_write_word(id(), REG_TORQUE_ENABLE, 0);
dxl_write_word(id(), REG_TORQUE_LIMIT, 1023);
m_currentVelocity = 0;
m_currentAcc = 0;
}
bool AccessibilityMediaControl::accessibilityIsIgnored() const
{
if (!m_renderer || !m_renderer->style() || m_renderer->style()->visibility() != VISIBLE || controlType() == MediaTimelineContainer)
return true;
return false;
}
void DXLJointInterface::process()
{
switch(controlType())
{
case CT_POSITION:
{
int goalTicks = m_goalPosition / TICKS_TO_RAD;
dxl_write_word(id(), REG_GOAL_POSITION, goalTicks + m_tickOffset);
}
break;
case CT_VELOCITY:
{
int velTicks = m_goalSpeed / VEL_TO_RAD_PER_S;
if(velTicks < 0)
{
velTicks = (1 << 10) | (-velTicks);
}
dxl_write_word(id(), REG_MOVING_SPEED, velTicks);
}
break;
case CT_TORQUE:
{
int torqueTicks = m_goalTorque / TORQUE_TO_NM;
if(torqueTicks < 0)
{
torqueTicks = (1 << 10) | (-torqueTicks);
}
if(torqueTicks == 0)
torqueTicks = 1;
dxl_write_word(id(), REG_GOAL_TORQUE, torqueTicks);
}
break;
}
// int torqueTicks = 1023.0 * (m_torqueLimit / 4.4); // at 12V
// if(torqueTicks > 1023)
// torqueTicks = 1023;
// printf("torque: %4d\n", torqueTicks);
//
// dxl_write_word(id(), 34, torqueTicks);
dxl_set_txpacket_id(id());
dxl_set_txpacket_instruction(INST_READ);
dxl_set_txpacket_length(2 + 2);
dxl_set_txpacket_parameter(0, 36); // start address: present pos
dxl_set_txpacket_parameter(1, 6); // #bytes
dxl_txrx_packet();
if(dxl_get_rxpacket_length() != 6+2)
{
fprintf(stderr, "DXL: Got malformed read answer\n");
return;
}
int currentTicks = (dxl_get_rxpacket_parameter(1) << 8) | dxl_get_rxpacket_parameter(0);
m_currentPosition = TICKS_TO_RAD * (currentTicks - m_tickOffset);
double lastVel = m_currentVelocity;
int velTicks = (dxl_get_rxpacket_parameter(3) << 8) | dxl_get_rxpacket_parameter(2);
if(velTicks & (1 << 10))
velTicks = -(velTicks & 1023);
m_currentVelocity = VEL_TO_RAD_PER_S * velTicks;
int loadTicks = (dxl_get_rxpacket_parameter(5) << 8) | dxl_get_rxpacket_parameter(4);
if(loadTicks & (1 << 10))
loadTicks = -(loadTicks & 1023);
m_currentLoad = (1.0 / 1023.0) * loadTicks;
int current = dxl_read_word(id(), 68) - 2048;
m_currentCurrent = 0.0045 * current;
m_currentAcc = (m_currentVelocity - lastVel) / 0.02;
}
