BOOL CCANopenFrame::PrepareSendFrame_InitiateSDODownload(DWORD p_ulCobId, BOOL p_oExpeditedTransfer, BOOL p_oSizeIndicated, BYTE p_ubNonValidNbOfBytes, WORD p_usIndex, BYTE p_ubSubIndex, void* p_pDataBuffer, DWORD p_ulDataBufferLength)
{
const int FRAME_SIZE = 8;
const int COMMAND_SPECIFIER = 1;
const unsigned long MAX_DATA_SIZE = 4;
BOOL oResult(FALSE);
ResetFrame();
if(p_pDataBuffer)
{
//Limit Values
if(p_ulDataBufferLength > MAX_DATA_SIZE) p_ulDataBufferLength = MAX_DATA_SIZE;
if(p_ubNonValidNbOfBytes > MAX_DATA_SIZE) p_ubNonValidNbOfBytes = MAX_DATA_SIZE;
if(!p_oExpeditedTransfer || !p_oSizeIndicated) p_ubNonValidNbOfBytes = 0;
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = FRAME_SIZE;
m_FrameBuffer.nCanData.sInitiateSDODownload_SendFrame.ccs = COMMAND_SPECIFIER;
m_FrameBuffer.nCanData.sInitiateSDODownload_SendFrame.n = p_ubNonValidNbOfBytes;
m_FrameBuffer.nCanData.sInitiateSDODownload_SendFrame.e = p_oExpeditedTransfer;
m_FrameBuffer.nCanData.sInitiateSDODownload_SendFrame.s = p_oSizeIndicated;
m_FrameBuffer.nCanData.sInitiateSDODownload_SendFrame.index = p_usIndex;
m_FrameBuffer.nCanData.sInitiateSDODownload_SendFrame.subIndex = p_ubSubIndex;
memcpy(m_FrameBuffer.nCanData.sInitiateSDODownload_SendFrame.data, p_pDataBuffer, p_ulDataBufferLength);
oResult = TRUE;
}
return oResult;
}
BOOL CCANopenFrame::PrepareSendFrame_DownloadSDOSegment(DWORD p_ulCobId, BOOL p_oToggle, BYTE p_ubNonValidNbOfBytes, BOOL p_oNoMoreSegments, void* p_pSegDataBuffer, DWORD p_ulSegDataBufferLength)
{
const int FRAME_SIZE = 8;
const int COMMAND_SPECIFIER = 0;
const unsigned long MAX_DATA_SIZE = 7;
BOOL oResult(FALSE);
ResetFrame();
if(p_pSegDataBuffer)
{
//Limit Values
if(p_ulSegDataBufferLength > MAX_DATA_SIZE) p_ulSegDataBufferLength = MAX_DATA_SIZE;
if(p_ubNonValidNbOfBytes > MAX_DATA_SIZE) p_ubNonValidNbOfBytes = MAX_DATA_SIZE;
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = FRAME_SIZE;
m_FrameBuffer.nCanData.sDownloadSDOSegment_SendFrame.ccs = COMMAND_SPECIFIER;
m_FrameBuffer.nCanData.sDownloadSDOSegment_SendFrame.n = p_ubNonValidNbOfBytes;
m_FrameBuffer.nCanData.sDownloadSDOSegment_SendFrame.c = p_oNoMoreSegments;
m_FrameBuffer.nCanData.sDownloadSDOSegment_SendFrame.t = p_oToggle;
memcpy(m_FrameBuffer.nCanData.sDownloadSDOSegment_SendFrame.data, p_pSegDataBuffer, p_ulSegDataBufferLength);
oResult = TRUE;
}
return oResult;
}
TVizMapContext::TVizMapContext(PVizMap _VizMap):
VizMap(_VizMap), VizMapFrameN(0),
VizMapFrame(_VizMap->GetFirst()), SelMode(vmsmZoom),
MgGlassPoints(0), MouseInP(false), LeftButtonDownP(false),
MgGlassSize(0.2), NearPointN(-1) {
LoadColor();
LoadCatFullNms();
ResetFrame();
}
BOOL CCANopenFrame::PrepareSendFrame_RequestCANFrame(DWORD p_ulCobId, BYTE p_ubLength)
{
const int MAX_FRAME_SIZE = 8;
ResetFrame();
//Limit Values
if(p_ubLength > MAX_FRAME_SIZE) p_ubLength = MAX_FRAME_SIZE;
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = TRUE;
m_FrameBuffer.wDlc = p_ubLength;
return TRUE;
}
void NeuroSandCube::Update()
{
m_spCommandController->PollCommands();
if (player->levelRestart)
{
ResetLevel();
}
StateDistributor::GetInstance().Distribute();
m_spIOService->Update();
ResetFrame();
}
BOOL CCANopenFrame::PrepareSendFrame_SendNMTService(BYTE p_ubCommandSpecifier, BYTE p_ubNodeId)
{
const int COB_ID = 0;
const int FRAME_SIZE = 2;
ResetFrame();
//Frame
m_FrameBuffer.dId = COB_ID;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = FRAME_SIZE;
m_FrameBuffer.nCanData.aDataByte[0] = p_ubCommandSpecifier;
m_FrameBuffer.nCanData.aDataByte[1] = p_ubNodeId;
return TRUE;
}
BOOL CCANopenFrame::PrepareSendFrame_UploadSDOSegment(DWORD p_ulCobId, BOOL p_oToggle)
{
const int FRAME_SIZE = 8;
const int COMMAND_SPECIFIER = 3;
ResetFrame();
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = FRAME_SIZE;
m_FrameBuffer.nCanData.sUploadSDOSegment_SendFrame.ccs = COMMAND_SPECIFIER;
m_FrameBuffer.nCanData.sUploadSDOSegment_SendFrame.t = p_oToggle;
return TRUE;
}
BOOL CCANopenFrame::PrepareSendFrame_InitiateSDOUpload(DWORD p_ulCobId, WORD p_usIndex, BYTE p_ubSubIndex)
{
const int FRAME_SIZE = 8;
const int COMMAND_SPECIFIER = 2;
ResetFrame();
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = FRAME_SIZE;
m_FrameBuffer.nCanData.sInitiateSDOUpload_SendFrame.ccs = COMMAND_SPECIFIER;
m_FrameBuffer.nCanData.sInitiateSDOUpload_SendFrame.index = p_usIndex;
m_FrameBuffer.nCanData.sInitiateSDOUpload_SendFrame.subIndex = p_ubSubIndex;
return TRUE;
}
BOOL CCANopenFrame::PrepareSendFrame_AbortSDOTransfer(DWORD p_ulCobId, WORD p_usIndex, BYTE p_ubSubIndex, DWORD p_ulAbortCode)
{
const int FRAME_SIZE = 8;
const int COMMAND_SPECIFIER = 4;
ResetFrame();
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = FRAME_SIZE;
m_FrameBuffer.nCanData.sAbortTransfer_AbortFrame.cs = COMMAND_SPECIFIER;
m_FrameBuffer.nCanData.sAbortTransfer_AbortFrame.index = p_usIndex;
m_FrameBuffer.nCanData.sAbortTransfer_AbortFrame.subIndex = p_ubSubIndex;
m_FrameBuffer.nCanData.sAbortTransfer_AbortFrame.abortCode = p_ulAbortCode;
return TRUE;
}
BOOL CCANopenFrame::PrepareSendFrame_NetworkIndication(DWORD p_ulCobId, WORD p_usTargetNetworkId, BYTE p_ubTargetNodeId)
{
const int FRAME_SIZE = 8;
const int COMMAND_SPECIFIER = 7;
ResetFrame();
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = FRAME_SIZE;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.ccs = COMMAND_SPECIFIER;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.r = 0;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.m1 = p_usTargetNetworkId;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.m2 = p_ubTargetNodeId;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.reserved[0] = 0;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.reserved[1] = 0;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.reserved[2] = 0;
m_FrameBuffer.nCanData.sNetworkIndication_SendFrame.reserved[3] = 0;
return TRUE;
}
BOOL CCANopenFrame::PrepareSendFrame_SendCANFrame(DWORD p_ulCobId, BYTE p_ubLength, void* p_pDataBuffer, DWORD p_ulDataBufferLength)
{
const unsigned long MAX_FRAME_SIZE = 8;
BOOL oResult(FALSE);
ResetFrame();
if(p_pDataBuffer)
{
//Limit Values
if(p_ulDataBufferLength > MAX_FRAME_SIZE) p_ulDataBufferLength = MAX_FRAME_SIZE;
//Frame
m_FrameBuffer.dId = p_ulCobId;
m_FrameBuffer.oRtr = FALSE;
m_FrameBuffer.wDlc = (WORD)p_ulDataBufferLength;
memcpy(m_FrameBuffer.nCanData.aDataByte, p_pDataBuffer, p_ulDataBufferLength);
oResult = TRUE;
}
return oResult;
}
bool BMDOpenGLOutput::Start()
{
IDeckLinkDisplayModeIterator* pDLDisplayModeIterator;
IDeckLinkDisplayMode* pDLDisplayMode = NULL;
// Get first avaliable video mode for Output
if (pDLOutput->GetDisplayModeIterator(&pDLDisplayModeIterator) == S_OK)
{
if (pDLDisplayModeIterator->Next(&pDLDisplayMode) != S_OK)
{
QMessageBox::critical(NULL,"DeckLink error.", "Cannot find video mode.");
pDLDisplayModeIterator->Release();
return false;
}
pDLDisplayModeIterator->Release();
}
uiFrameWidth = pDLDisplayMode->GetWidth();
uiFrameHeight = pDLDisplayMode->GetHeight();
pDLDisplayMode->GetFrameRate(&frameDuration, &frameTimescale);
uiFPS = ((frameTimescale + (frameDuration-1)) / frameDuration);
if (pDLOutput->EnableVideoOutput(pDLDisplayMode->GetDisplayMode(), bmdVideoOutputFlagDefault) != S_OK)
return false;
// Flip frame vertical, because OpenGL rendering starts from left bottom corner
if (pDLOutput->CreateVideoFrame(uiFrameWidth, uiFrameHeight, uiFrameWidth*4, bmdFormat8BitBGRA, bmdFrameFlagFlipVertical, &pDLVideoFrame) != S_OK)
return false;
uiTotalFrames = 0;
ResetFrame();
SetPreroll();
pContext->makeCurrent();
pGLScene->InitScene();
glGenFramebuffersEXT(1, &idFrameBuf);
glGenRenderbuffersEXT(1, &idColorBuf);
glGenRenderbuffersEXT(1, &idDepthBuf);
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, idFrameBuf);
glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, idColorBuf);
glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_RGBA8, uiFrameWidth, uiFrameHeight);
glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, idDepthBuf);
glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_DEPTH_COMPONENT, uiFrameWidth, uiFrameHeight);
glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_COLOR_ATTACHMENT0_EXT, GL_RENDERBUFFER_EXT, idColorBuf);
glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_DEPTH_ATTACHMENT_EXT, GL_RENDERBUFFER_EXT, idDepthBuf);
glStatus = glCheckFramebufferStatusEXT(GL_FRAMEBUFFER_EXT);
if (glStatus != GL_FRAMEBUFFER_COMPLETE_EXT)
{
QMessageBox::critical(NULL,"OpenGL initialization error.", "Cannot initialize framebuffer.");
return false;
}
pFrameBuf = (char*)malloc(pDLVideoFrame->GetRowBytes() * uiFrameHeight);
UpdateScene();
pDLOutput->StartScheduledPlayback(0, 100, 1.0);
return true;
}
void TVizMapContext::SetVizMapFrame(const int& NewVizMapFrameN) {
VizMapFrameN = NewVizMapFrameN;
VizMapFrame = VizMap->GetVizMapFrame(VizMapFrameN);
ResetFrame();
}
