bool getHapticInput(btTransform &trans0, bool buttons0[2], btTransform &trans1, bool buttons1[2]) {
Vector3d start_proxy_pos, end_proxy_pos;
Matrix3d start_proxy_rot, end_proxy_rot;
if (!getDeviceState(start_proxy_pos, start_proxy_rot, buttons0,
end_proxy_pos, end_proxy_rot, buttons1))
return false;
trans0 = btTransform(toHapticBtMatrix(start_proxy_rot) * HAPTIC_ROTATION,
HAPTIC_TRANS_SCALE*toHapticBtVector(start_proxy_pos) + HAPTIC_OFFSET0);
trans1 = btTransform(toHapticBtMatrix(end_proxy_rot) * HAPTIC_ROTATION,
HAPTIC_TRANS_SCALE*toHapticBtVector(end_proxy_pos) + HAPTIC_OFFSET1);
return true;
}
int main(int argc, const char * argv[])
{
HelloSoundplaneDriverListener listener;
const auto driver = SoundplaneDriver::create(&listener);
std::cout << "Hello, Soundplane?\n";
std::cout << "Initial device state: " << driver->getDeviceState() << std::endl;
for (;;)
{
sleep(1);
}
return 0;
}
/** \brief
*
* \type local
*
* \param[in] pvData not used
*
* \return void
*
******************************************************************************/
void vConnectionTask(void *pvData) {
//nRF8001 initialisieren
nRF8001();
vTaskDelay(10);
while (1) {
//Check the current DeviceState
deviceCurrentState=getDeviceState();
switch(deviceCurrentState)
{
case Initial:
setup(); //DeviceStartedEvent
break;
case Setup:
break;
case Standby:
//Check the current connectionState
connectionState=getConnectionStatus();
switch(connectionState)
{
//Is not connected
case Disconnected:
connect(0x3f,0xff,0x40,0x00);
poll(0x200); //CommandResponseEvent
pollvoid(); //ConnectEvent
break;
//Is connected
case Connected:
//Open the Pipe to Receive
openRemotePipe(1);
pollvoid(); //CommandResponseEvent
//Request the Data
requestData(1);
pollvoid(); //DataReceivedEvent
//Write the Data in local varible
length = rxEvent->length;
for(txcount=0;txcount<=length-3;txcount++)
{
Data[txcount]=rxEvent->msg.dataReceived.data[txcount];
}
//Close the Pipe
closeRemotePipe(1);
pollvoid();
// Check the Received Message from the PeerDevice
switch((Data[0]<<8)|Data[1])
{
//Turn the Socket on
case PLUG_ON:
//Sets the Control LED
GPIO_SetBits(GPIOB, GPIO_Pin_11);
//Solid State Relay active
GPIO_SetBits(GPIOB, GPIO_Pin_0);
break;
//Turn the Socket off
case PLUG_OFF:
//Resets the Control LED
GPIO_ResetBits(GPIOB, GPIO_Pin_11);
//Resets the Solid State Relay
GPIO_ResetBits(GPIOB, GPIO_Pin_0);
break;
// Get the data
case GET_DATA:
//write the received time in a local varible
CurrentTime.hour[0]=Data[4];
CurrentTime.hour[1]=Data[3];
CurrentTime.minute[0]=Data[6];
CurrentTime.minute[1]=Data[5];
//update the time
xQueueSend(xQueueTime, (void *) &CurrentTime, portMAX_DELAY);
//Receive PowerMessage from Logger Task
xQueueReceive( xQueuePowerMessage, &( PowerMessage ), portMAX_DELAY );
active=(float)PowerMessage.active/60;
voltage=(float)PowerMessage.voltage/4;
current=(float)PowerMessage.current*4;
switch(Data[2])
{
case ACTIVE_POWER:
//write the active Power in the Outgoing Message
sprintf(OutMessage,"P:%4.1f W %c%c:%c%c",active, PowerMessage.hour[1], PowerMessage.hour[0], PowerMessage.minute[1], PowerMessage.minute[0]);
break;
case REACTIVE_POWER:
//write the reactive Power in the Outgoing Message
sprintf(OutMessage,"Q:%d mVAr %c%c:%c%c",PowerMessage.reactive, PowerMessage.hour[1], PowerMessage.hour[0], PowerMessage.minute[1], PowerMessage.minute[0]);
break;
case APPARENT_POWER:
//write the apparent Power in the Outgoing Message
sprintf(OutMessage,"S:%d mVA %c%c:%c%c",PowerMessage.apparent, PowerMessage.hour[1], PowerMessage.hour[0], PowerMessage.minute[1], PowerMessage.minute[0]);
break;
case U_RMS:
//write the RMS voltage in the Outgoing Message
sprintf(OutMessage,"U:%4.1f V %c%c:%c%c",voltage, PowerMessage.hour[1], PowerMessage.hour[0], PowerMessage.minute[1], PowerMessage.minute[0]);
break;
case I_RMS:
//write the RMS current in the Outgoing Message
sprintf(OutMessage,"I:%4.1f mA %c%c:%c%c",current, PowerMessage.hour[1], PowerMessage.hour[0], PowerMessage.minute[1], PowerMessage.minute[0]);
break;
default:
break;
}
//Open the send Pipe
openRemotePipe(2);
pollvoid(); //CommandResponseEvent
// Send the Output Message to the Peer Device
sendData(2,20,OutMessage);//s135k
for(txcount=0;txcount<20;txcount++)
{
OutMessage[txcount]=0;
}
//Close the Send Pipe
closeRemotePipe(2);
pollvoid();
break;
default:
break;
}
break;
//Is connecting
case Connecting:
break;
default:
break;
}
break;
case Invalid:
break;
default:
break;
}
vTaskDelay(10);
}
}
