// メインコマンドの処理
static void engine_handle_cmd(struct android_app* app, int32_t cmd) {
struct engine* engine = (struct engine*) app->userData;
switch (cmd) {
case APP_CMD_SAVE_STATE: // 状態保存を行うとき
// 状態保存エリア取得
engine->app->savedState = malloc(sizeof(struct saved_state));
*((struct saved_state*) engine->app->savedState) = engine->state;
engine->app->savedStateSize = sizeof(struct saved_state);
break;
case APP_CMD_INIT_WINDOW: // ウィンドウを初期化したとき
if (engine->app->window != NULL) {
// 画面を初期化する
engine_init_display(engine);
// 画面を描画する
engine_draw_frame(engine);
}
break;
case APP_CMD_TERM_WINDOW: // ウィンドウを破棄するとき
// EGL情報を破棄する
engine_term_display(engine);
break;
case APP_CMD_GAINED_FOCUS: // アプリがフォーカスを取得したとき
enable_sensors(engine);
break;
case APP_CMD_LOST_FOCUS: // フォーカスが消失したとき
disable_sensors(engine);
// アニメーション停止
engine->animating = 0;
// 画面を表示
engine_draw_frame(engine);
break;
}
}
/* Checks for delays in communication from the Gumstix to Robostix 1
as well as delays in communication from Robostix 2 to Robostix 1
*/
void check_receive_delay( )
{
/* check if new motor signals have been received */
if( !flag_new_signals )
{
/* DO NOT modify motor signals in shut-down mode! */
if( !flag_shut_down )
{
if( motor_signals.front > 0 ||
motor_signals.right > 0 ||
motor_signals.rear > 0 ||
motor_signals.left > 0 )
{
/* we're possibly airborne, so reduce
motor signals to force descending */
motor_signals.front -= MOTOR_DEC;
motor_signals.right -= MOTOR_DEC;
motor_signals.rear -= MOTOR_DEC;
motor_signals.left -= MOTOR_DEC;
}
else
{
/* we're possibly grounded, so keep
motor signals set to the minimum */
motor_signals.front = 0;
motor_signals.right = 0;
motor_signals.rear = 0;
motor_signals.left = 0;
}
/* set new motor signals */
pwm_set_signals( &motor_signals );
}
/* reset Gumstix-to-Robostix-1 interface */
serial_reset( );
LED_ON( YELLOW );
///////////////////////////////////////////////////////////////////
enable_sensors( 0 );
///////////////////////////////////////////////////////////////////
}
/* check if new sensor data have been received */
if( !flag_new_sensors )
{
/* reset Robostix-2-to-Robostix-1 interface */
//parallel_reset( );
LED_ON( BLUE );
}
/* update sensor status */
//enable_sensors( flag_new_signals );
flag_check_delay = 0;
flag_new_signals = 0;
flag_new_sensors = 0;
}
/* Processes COMM_SWITCH_STATE messages
*/
void process_state_switch( void )
{
if( flag_shut_down )
{
/* clear shut-down flag */
flag_shut_down = 0;
LED_OFF( RED );
}
///////////////////////////////////////////////////////////////////
enable_sensors( 1 );
///////////////////////////////////////////////////////////////////
}
/* Checks for delays in communication from Robostix 1 to Robostix 2
*/
void check_receive_delay( )
{
/* check if a new request has been received */
if( !flag_new_request )
{
/* disable specific sensors to save power */
enable_sensors( 0 );
/* reset Robostix-1-to-Robostix-2 interface */
parallel_reset( );
LED_ON( YELLOW );
}
flag_check_delay = 0;
flag_new_request = 0;
}
void
buffer_drv_data_free (BufferDrvData *buffer_data)
{
int i;
if (buffer_data == NULL)
return;
enable_sensors (buffer_data->device, 0);
g_clear_object (&buffer_data->device);
disable_ring_buffer (buffer_data);
g_free (buffer_data->trigger_name);
for (i = 0; i < buffer_data->channels_count; i++)
channel_info_free (buffer_data->channels[i]);
g_free (buffer_data->channels);
}
/* Processes COMM_SHUT_DOWN messages
*/
void process_shut_down( void )
{
/* set motor signals to minimum */
motor_signals.front = 0;
motor_signals.right = 0;
motor_signals.rear = 0;
motor_signals.left = 0;
/* set new motor signals */
pwm_set_signals( &motor_signals );
/* set shut-down flag */
flag_shut_down = 1;
LED_ON( RED );
///////////////////////////////////////////////////////////////////
enable_sensors( 0 );
///////////////////////////////////////////////////////////////////
}
/* Processes COMM_SENSOR_DATA messages
*/
void process_sensor_data( const uint8_t *data, uint8_t size )
{
static uint8_t delay = 0;
/* notify that a new request has been received */
flag_new_request = 1;
/* extract motor signals ID */
javiator_data.id = (data[ size-3 ] << 8) | data[ size-2 ];
/* update sensor status */
enable_sensors( data[ size-1 ] );
/* send sensor data to Robostix 1 */
send_sensor_data( );
if( ++delay % 10 == 0 )
{
LED_TOGGLE( YELLOW );
}
}
BufferDrvData *
buffer_drv_data_new (GUdevDevice *device,
const char *trigger_name)
{
BufferDrvData *buffer_data;
buffer_data = g_new0 (BufferDrvData, 1);
buffer_data->dev_dir_name = g_udev_device_get_sysfs_path (device);
buffer_data->trigger_name = g_strdup (trigger_name);
buffer_data->device = g_object_ref (device);
if (!iio_fixup_sampling_frequency (device) ||
!enable_sensors (device, 1) ||
!enable_trigger (buffer_data) ||
!enable_ring_buffer (buffer_data) ||
!build_channels (buffer_data)) {
buffer_drv_data_free (buffer_data);
return NULL;
}
return buffer_data;
}