void PTGScene::init()
{
for (int i = 0; i < 255; i++)
keys[i] = false;
mb.lb = 0;
mb.rb = 0;
pEng->init();
initCams();
initMaterias();
initTerrain();
initSky();
initTrees();
initBots();
INITBATMOBILE(); //!!!!!!!!!!! OLOLOL
pPlayer = new PTGPlayer(this);
dt = timeGetTime();
tt = dt;
}
int main(void) {
AtomicCommand pcCom;
uint8_t optCamId = 0;
uint8_t camRetVal = 0;
uint8_t comholder[MAX_COMMAND_PAYLOAD];
uint8_t respholder[MAX_COMMAND_PAYLOAD];
uint8_t *compt = NULL;
uint8_t *resppt = NULL;
uint8_t respLength = 0;
pcCom.data = comholder;
/* initialize system modules */
//initMotors();
uart_init();
initCams();
/* set nRES on RFM12 HIGH */
DDRB |= _BV(PB2);
PORTB &= ~_BV(PB2);
_delay_ms(10);
PORTB |= _BV(PB2);
_delay_ms(100);
initRF();
sei();
/* set STATUS port to output */
DDRA |= 0xFF;
PORTA = 0x00;
/*
_delay_ms(2000);
setMotorDirection(ALL_MOTORS, FORWARD);
setMotorSpeed(ALL_MOTORS, 50);
_delay_ms(1000);
stopAllMotors();
while(1){
PORTA = 0b10101010;
_delay_ms(500);
PORTA = 0b01010101;
_delay_ms(500);
}*/
pwrDownCam(CAM0);
pwrDownCam(CAM1);
/* force cams LED on */
//forceAwakeCam(CAM0);
//forceAwakeCam(CAM1);
uart_putstr("All system initialized, AviCar online!");
while(1) {
rf12_rxdata(&pcCom);
compt = pcCom.data;
resppt = respholder;
respLength = 0;
while(compt != (pcCom.data + pcCom.length)) {
switch(compt[0] & CAR_SUB_COMM_MASK) {
case CAR_CAMS_SUB: /* resolve a cam command */
switch(compt[0] & CAR_CAMS_ID_MASK) {
case CAR_CAMS_ID_TOP:
optCamId = CAM1;
break;
case CAR_CAMS_ID_MID:
optCamId = CAM0;
break;
case CAR_CAMS_ID_ALL:
break;
default:
/* it shouldn't reach this point */
break;
}
switch(compt[0] & CAR_CAMS_FUNC_MASK) {
case CARS_CAMS_FUNC_SOFTRESET:
softResetCam(optCamId);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_PWRDOWN:
pwrDownCam(optCamId);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_FORCEON:
forceAwakeCam(optCamId);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETMAXPIXEL:
camRetVal = getMaxPixel(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETMINPIXEL:
camRetVal = getMinPixel(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETSQUAL:
camRetVal = getSqual(optCamId);
resppt[0] = camRetVal;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETPIXELSUM:
camRetVal = getPixelSum(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETXMOVEMENT:
camRetVal = getXMovement(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETYMOVEMENT:
camRetVal = getYMovement(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_SETCAMSTEP:
setPixelStep(optCamId, compt[1]);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 2;
break;
case CARS_CAMS_FUNC_GETPIXELS:
requirePixels(optCamId);
resppt = getPixelBuffer(optCamId);
respLength += CAM_PIX_BYTECNT;
compt += 1;
break;
default:
/* it shouldn't reach this point */
break;
}
break;
case CAR_MOTS_SUB:
break;
default:
break;
}
}
/* reply to demander */
pcCom.data = respholder;
pcCom.length = respLength;
rf12_txdata(&pcCom);
}
}
