bool KEventAdapterChain::transform(const EventWrapper& input, EventWrapper& output)
{
char buf1[512];
char buf2[512];
bool done = false;
const EventWrapper* pi = &input;
EventWrapper my1(0, &buf1, sizeof(buf1));
EventWrapper my2(0, &buf2, sizeof(buf2));
EventWrapper* po = &my1;
Node* node = m_list.begin();
while(node)
{
if(node->adapter->transform(*pi, *po))
{
pi = po;
po = (po == &my1) ? &my2 : &my1;
done = TRUE;
}
node = m_list.next(node);
}
if(done)
{
output.evt = pi->evt;
output.len = pi->len;
memcpy((void*)output.data, pi->data, pi->len);
}
return done;
}
MainWindow::MainWindow(QWidget* _parent)
:QMainWindow(_parent),
m_settings(new Settings()),
m_ui(new Ui::MainWindow()),
m_copterCtrl(),
m_tcpServer(),
m_tcpConnection(),
m_accelerometerInputFd(-1),
m_accelerometerInputNotifier(0),
m_lastTiltX(0),
m_lastTiltY(0)
{
m_ui->setupUi(this);
const auto s_ctrl_path = m_settings->getControlPath();
QSharedPointer<CopterMotor> mx1(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.0/pwm/ehrpwm.0:0/duty_percent", m_ui->motor_x1));
QSharedPointer<CopterMotor> mx2(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.0/pwm/ehrpwm.0:1/duty_percent", m_ui->motor_x2));
QSharedPointer<CopterMotor> my1(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.1/pwm/ehrpwm.1:0/duty_percent", m_ui->motor_y1));
QSharedPointer<CopterMotor> my2(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.1/pwm/ehrpwm.1:1/duty_percent", m_ui->motor_y2));
QSharedPointer<CopterAxis> m_axisX(new CopterAxis(mx1, mx2));
QSharedPointer<CopterAxis> m_axisY(new CopterAxis(my1, my2));
m_copterCtrl = new CopterCtrl(m_settings, m_axisX, m_axisY, m_ui->motor_all);
m_tcpServer.listen(QHostAddress::Any, m_settings->getTcpPort());
connect(&m_tcpServer, SIGNAL(newConnection()), this, SLOT(onConnection()));
auto const s_accel_input_path = m_settings->getAccelInputPath();
m_accelerometerInputFd = ::open(s_accel_input_path.toLatin1().data(), O_SYNC, O_RDONLY);
if (m_accelerometerInputFd == -1)
qDebug() << "Cannot open accelerometer input file " << s_accel_input_path << ", reason: " << errno;
m_accelerometerInputNotifier = new QSocketNotifier(m_accelerometerInputFd, QSocketNotifier::Read, this);
connect(m_accelerometerInputNotifier, SIGNAL(activated(int)), this, SLOT(onAccelerometerRead()));
m_accelerometerInputNotifier->setEnabled(true);
m_copterCtrl->adjustPower(0);
showFullScreen();
showMaximized();
}