//控制电机转向
extern void motor_ctrl(const uchar d)
{
switch(d)
{
case 'D':
direction = 0xAA;
set_orientation(1);
break;
case 'U':
direction = 0x55;
set_orientation(0);
break;
case 'L':
direction = 0x66;
speed = speed_limit;
break;
case 'R':
direction = 0x99;
speed = speed_limit;
break;
case 's':
direction = 0x00;
speed = 0;
break;
}
}
void main() {
/* Disable JTAG in software, so that it does not interfere with Port C */
MCUCR |= _BV(JTD);
MCUCR |= _BV(JTD);
init_stdio_uart1();
init_lcd();
set_orientation(East);
scanswitch_init();
button_map bmap;
bmap.left = 0;
bmap.right = 0;
bmap.up = 0;
bmap.down = 0;
bmap.center = 0;
bmap.wheel_d= 0;
bmap.has_pressed_button=0;
init_miniUI();
display_menu_at("test;tes2;tes3",1, 10,10,2);
}
int main() {
_delay_ms(100); //little delay for the rfm12 to initialize properly
rfm12_init(); //init the RFM12
_delay_ms(100);
init_lcd();
init_timer();
sei();
set_orientation(East);
put_string((char*)"Initialising...\n");
char random[120] = "hello aaron rowland, this is a string which should ";
char test[26] = "0123456789012345678901234";
int i = 23456;
char Rpacket[150];
SendPacket(THISDEVICE, random);
// while(1) {
// if(RecievePacket(Rpacket)) {
// put_string("PACKET RECEIVED!!!!!\n");
// put_string(Rpacket);
// }
// }
return 0;
}
Tooltip::Tooltip(int x, int y, int width, int height) : label(nullptr), color(96, 96, 96, 255), text_color(255, 255, 255, 255)
{
set_position(x, y);
set_size(width, height);
set_position(0, 0);
set_orientation(0);
label = new Label();
}
Tooltip::Tooltip() : label(nullptr), color(96, 96, 96, 255), text_color(255, 255, 255, 255)
{
set_position(0, 0);
set_size(100, 50);
set_position(0, 0);
set_orientation(0);
label = new Label();
}
void CameraObject::rotate (DTfloat angle_x, DTfloat angle_y)
{
Matrix3 roty, rotx;
roty = Matrix3::set_rotation_y(angle_y);
rotx = Matrix3::set_rotation_x(angle_x);
Matrix3 o = orientation() * roty * rotx;
set_orientation(o);
}
int main(void) {
init_lcd();
set_orientation(North);
rectangle r = {get_width() * 0.2, get_width() * 0.8, get_height() * 0.2, get_height() * 0.8};
do {
fill_rectangle(r, YELLOW);
_delay_ms(1);
} while(1);
}
Edit::Edit() : color(160, 160, 160, 255), character_limit(10),
cursor(true), cursor_x(0), cursor_y(0), zoom_factor(0), multilined(false)
{
set_position(0, 0);
set_size(200, 20); // 150, 20
set_orientation(0);
label = new Label();
}
Tooltip::Tooltip(const std::string& text) : label(nullptr), color(96, 96, 96, 255), text_color(255, 255, 255, 255)
{
label = new Label();
set_text(text);
set_position(0, 0);
set_size(100, 100);
set_position(0, 0);
set_orientation(0);
}
void ingame_camera::set_to_ideal(level_graph const& level, agent const& player)
{
vec_t player_pos = level.get_agent_position(player);
vec_t player_dir = level.get_agent_direction(player);
orient_t player_orient = lookat_orientation(player_dir, player.up);
set_position(calc_ideal_position(player_pos, player_orient));
set_orientation(calc_ideal_orientation(player_pos, player_orient));
}
void CameraObject::look_at (const Vector3 &to, const Vector3 &up)
{
Matrix3 m;
Vector3 delta;
delta = translation() - to;
m = Matrix3::set_orientation(delta, up);
set_orientation(m);
}
// data: [azimuth/pitch/roll]
void Orientation::set_orientation( string data ) {
string token[3];
float values[3];
for (int i = 0; i < 3; i++){
data = data.substr(myStrGetTok(data, token[i], 0, '/') + 1);
values[i] = (float)::atof(token[i].c_str());
}
set_orientation( values[0], values[1], values[2] );
}
Mesh::Mesh(const char *filename){
// Check whether the provided file exists.
ifstream ifile(filename);
if(!ifile){
std::cerr << "File " << filename << " does not exist." << std::endl;
exit(EXIT_FAILURE);
}
vtkXMLUnstructuredGridReader *reader = vtkXMLUnstructuredGridReader::New();
reader->SetFileName(filename);
reader->Update();
vtkUnstructuredGrid *ug = reader->GetOutput();
NNodes = ug->GetNumberOfPoints();
NElements = ug->GetNumberOfCells();
// Get the coordinates of each mesh vertex. There is no z coordinate in 2D,
// but VTK treats 2D and 3D meshes uniformly, so we have to provide memory
// for z as well (r[2] will always be zero and we ignore it).
for(size_t i=0;i<NNodes;i++){
double r[3];
ug->GetPoints()->GetPoint(i, r);
coords.push_back(r[0]);
coords.push_back(r[1]);
}
assert(coords.size() == 2*NNodes);
// Get the metric at each vertex.
for(size_t i=0;i<NNodes;i++){
double *tensor = ug->GetPointData()->GetArray("Metric")->GetTuple4(i);
metric.push_back(tensor[0]);
metric.push_back(tensor[1]);
assert(tensor[1] == tensor[2]);
metric.push_back(tensor[3]);
}
assert(metric.size() == 3*NNodes);
// Get the 3 vertices comprising each element.
for(size_t i=0;i<NElements;i++){
vtkCell *cell = ug->GetCell(i);
for(int j=0;j<3;j++){
ENList.push_back(cell->GetPointId(j));
}
}
assert(ENList.size() == 3*NElements);
reader->Delete();
create_adjacency();
find_surface();
set_orientation();
precompute_surfaceNodes();
precompute_cornerNodes();
}
Terminal::Terminal() {
dock_hint = GdkRectangle{0, 0, 0, 0};
vte = vte_terminal_new();
char *argv[] = { vte_get_user_shell(), NULL };
vte_terminal_spawn_sync(VTE_TERMINAL(vte), VTE_PTY_DEFAULT, NULL, argv, NULL,
(GSpawnFlags)0, NULL,
NULL, &child_pid, NULL, NULL);
set_orientation(Gtk::ORIENTATION_VERTICAL);
scrollbox.set_orientation(Gtk::ORIENTATION_HORIZONTAL);
scrollbar.set_orientation(Gtk::ORIENTATION_VERTICAL);
eventbox.add(label);
eventbox.signal_button_press_event().connect(mem_fun(this, &Terminal::header_button_press));
VteRegex *regex = vte_regex_new_for_match("(https?://|www\\.)[^\\s]*", -1, PCRE2_MULTILINE, NULL);
vte_terminal_match_add_regex(VTE_TERMINAL(vte), regex, 0);
vte_terminal_set_scrollback_lines(VTE_TERMINAL(vte), 10000);
g_signal_connect(vte, "bell", G_CALLBACK(Terminal::vte_beep), this);
g_signal_connect(vte, "child-exited", G_CALLBACK(Terminal::vte_child_exited), this);
g_signal_connect(vte, "button-press-event", G_CALLBACK(Terminal::vte_click), this);
g_signal_connect(vte, "focus-in-event", G_CALLBACK(Terminal::vte_got_focus), this);
g_signal_connect(vte, "focus-out-event", G_CALLBACK(Terminal::vte_lost_focus), this);
g_signal_connect(vte, "selection-changed", G_CALLBACK(Terminal::vte_selection_changed), this);
g_signal_connect(vte, "window-title-changed", G_CALLBACK(Terminal::vte_title_changed), this);
searchbar.add(searchentry);
searchbar.connect_entry(searchentry);
searchentry.signal_focus_out_event().connect(mem_fun(this, &Terminal::searchentry_lost_focus));
searchentry.signal_key_release_event().connect(mem_fun(this, &Terminal::searchentry_keypress));
pack_start(eventbox, false, false, 0);
pack_start(scrollbox, true, true, 0);
pack_start(searchbar, false, false, 0);
gtk_box_pack_start(GTK_BOX(scrollbox.gobj()), vte, true, true, 0);
scrollbox.pack_start(scrollbar, false, false, 0);
gtk_range_set_adjustment(GTK_RANGE(scrollbar.gobj()), gtk_scrollable_get_vadjustment(GTK_SCROLLABLE(vte)));
show_all_children();
find_label.terminal = this;
find_label.set_alignment(0.0, 0.5);
find_window->list_box.prepend(find_label);
std::vector<Gtk::TargetEntry> listTargets;
listTargets.push_back(Gtk::TargetEntry("SvanTerminal", Gtk::TARGET_SAME_APP, 0));
eventbox.drag_source_set(listTargets);
drag_dest_set(listTargets);
eventbox.signal_drag_begin().connect(sigc::mem_fun(this, &Terminal::on_my_drag_begin));
eventbox.signal_drag_failed().connect(sigc::mem_fun(this, &Terminal::on_my_drag_failed));
eventbox.signal_drag_end().connect(sigc::mem_fun(this, &Terminal::on_my_drag_end));
signal_drag_motion().connect(sigc::mem_fun(this, &Terminal::on_my_drag_motion));
signal_drag_drop().connect(sigc::mem_fun(this, &Terminal::on_my_drag_drop));
signal_drag_leave().connect(sigc::mem_fun(this, &Terminal::on_my_drag_leave));
}
int main(void) {
init_lcd();
set_orientation(South);
rectangle r = {
20, 20 + RECT_WIDTH - 1,
20, 20 + RECT_HEIGHT - 1
};
Box b = {r, 1, 1};
rectangle clear = {0, 0, 0, 0};
do {
if(b.vx > 0 && (b.r.right * SCALE) >= (get_width() - SCALE)) {
b.vx = - b.vx;
} else if(b.vx < 0 && (b.r.left * SCALE) <= 0) {
b.vx = - b.vx;
}
if(b.vy > 0 && (b.r.bottom * SCALE) >= get_height()) {
b.vy = - b.vy;
} else if(b.vy < 0 && (b.r.top * SCALE) <= 0) {
b.vy = - b.vy;
}
if(b.vx > 0) {
clear.left = b.r.left * SCALE;
clear.right = (b.r.left + 1) * SCALE;
clear.top = b.r.top * SCALE;
clear.bottom = b.r.bottom * SCALE;
fill_rectangle(clear, BLACK);
} else if(b.vx < 0) {
clear.right = b.r.right * SCALE;
clear.left = (b.r.right - 1) * SCALE;
clear.top = b.r.top * SCALE;
clear.bottom = b.r.bottom * SCALE;
fill_rectangle(clear, BLACK);
}
if(b.vy > 0) {
clear.left = b.r.left * SCALE;
clear.right = b.r.right * SCALE;
clear.top = b.r.top * SCALE;
clear.bottom = (b.r.top + 1) * SCALE;
fill_rectangle(clear, BLACK);
} else if(b.vy < 0) {
clear.left = b.r.left * SCALE;
clear.right = b.r.right * SCALE;
clear.bottom = b.r.bottom * SCALE;
clear.top = (b.r.bottom - 1) * SCALE;
fill_rectangle(clear, BLACK);
}
b.r.left += b.vx;
b.r.right += b.vx;
b.r.top += b.vy;
b.r.bottom += b.vy;
fill_rectangle_indexed_scale(b.r, pic, SCALE);
_delay_ms(50);
} while(1);
}
void RigidBody::Rotate(MATRIX3x3& R){
/**
\brief Arbitrary rotation in body frame, parameterized by a matrix
Warning: Matrix R should be a valid (unitary, with norm = 1) rotation matrix
\param[in] R Rotation matrix
*/
rb_A_I_to_e = R*rb_A_I_to_e;
set_orientation(rb_A_I_to_e);
}
//_____________________________________________________________________________
// Convienience constructor.
ContactGeometry::ContactGeometry(const Vec3& location, const Vec3& orientation,
PhysicalFrame& body) : ModelComponent()
{
setNull();
constructProperties();
_body = &body;
set_body_name(body.getName());
set_location(location);
set_orientation(orientation);
}
void RigidBody::Rotate_I_z(double phi){
/**
Rotation around center of mass along the z
axis in external coordinate system (lab frame)
\param[in] phi The rotation angle, in radians
*/
MATRIX3x3 R; R.Rx(phi);
rb_A_I_to_e = R * rb_A_I_to_e;
set_orientation(rb_A_I_to_e);
}
void RigidBody::Rotate(QUATERNION& quat){
/**
\brief Arbitrary rotation in body frame, parameterized by a quaternion
\param[in] quaternion Rotation quaternion
*/
MATRIX3x3 R;
QUATERNION_TO_MATRIX(quat,R);
rb_A_I_to_e = R*rb_A_I_to_e;
set_orientation(rb_A_I_to_e);
}
void CameraObject::orbit (DTfloat angle_x, DTfloat angle_y, const Vector3 &around_pt)
{
Matrix3 roty, rotx;
roty = Matrix3::set_rotation_y(angle_y);
rotx = Matrix3::set_rotation_x(angle_x);
Matrix3 o = orientation();
Vector3 offset = o.inversed() * (translation() - around_pt);
o = o * roty * rotx;
set_translation(o * offset + around_pt);
set_orientation(o);
}
Menubar::Menubar() : color(106, 106, 106, 255), submenu_color(106, 106, 106, 255),
// outline
outline(false),
outline_width(1.0),
outline_color(0, 0, 0, 255),
outline_antialiased(false),
// highlight
highlight(true),
highlight_color(0, 51, 102, 255)
{
set_position(0, 0);
set_size(300, 20); // menubar_width / menu_width = how_many_menu_can_fit
set_orientation(0);
}
void RigidBody::Rotate_e_z(double phi){
/**
Rotation around center of mass along the y
axis in body-fixed coordinate system (body frame)
\param[in] phi The rotation angle, in radians
*/
VECTOR ux,uy,uz;
rb_A_I_to_e.get_vectors(ux,uy,uz);
MATRIX3x3 R; R.Rotation(phi*ux);
rb_A_I_to_e = R * rb_A_I_to_e;
set_orientation(rb_A_I_to_e);
}
void RoomSurface::init(Ogre::Vector3 normal, Ogre::Real x_size, Ogre::Real z_size,
CreateVisualActor create_visual_actor) {
create_visual_actor_ = create_visual_actor == CREATE_VISUAL_ACTOR;
init();
normal.normalise();
normal_ = normal;
// ***Important***
// The surface is constructed from a "flat" rectangle sitting in the xz-plane, hence
// we define its size by the x- and z- sizes. Once the surface has been rotated to have the
// passed-in normal the x_size and z_size will not actually correspond to the surfaces'
// x and z dimensions in world space.
StaticBox::set_size(Ogre::Vector3(x_size, kSurfaceThickness, z_size));
// Rotate the box to correspond to the passed-in normal
set_orientation(surfaceOrientationForNormal(normal));
}
void third_person_cam::update(level_graph const& level, agent const& player, float_t dtime)
{
vec_t player_pos = level.get_agent_position(player);
vec_t player_dir = level.get_agent_direction(player);
orient_t player_orient = lookat_orientation(player_dir, player.up);
vec_t ideal_pos = calc_ideal_position(player_pos, player_orient);
orient_t ideal_orientation = calc_ideal_orientation(player_pos, player_orient);
vec_t cur_pos = get_position();
// Let's try, moving proportionally to distance, such that in 1 second we would move the whole way (if happened in single step)
float const cam_move = dtime * move_speed_factor;
set_position(cur_pos + (ideal_pos - cur_pos) * std::min(cam_move, 1.0f));
orient_t cur_orientation = get_orientation();
float const cam_slerp = dtime * slerp_speed_factor;
orient_t interpolated = cur_orientation.slerp(std::min(cam_slerp, 1.0f), ideal_orientation);
set_orientation(interpolated);
}
VR_Window::VR_Window()
{
set_orientation( Gtk::ORIENTATION_HORIZONTAL );
pc_file_open = false;
vrender = new VRender;
volume_origin = make_float3( 0.5, 0, 0 );
cloud = new Cloud;
cloud->world.resolution = make_float3( RENDER_RESOLUTION, RENDER_RESOLUTION, RENDER_RESOLUTION );
printf("\n World Resolution: %f x %f x %f", cloud->world.resolution.x, cloud->world.resolution.y, cloud->world.resolution.z );
cloud->world.size = make_uint3( MAX_VOLUME_SIDE, MAX_VOLUME_SIDE, MAX_VOLUME_SIDE );
printf("\n World Size: %d x %d x %d", cloud->world.size.x, cloud->world.size.y, cloud->world.size.z );
cloud->world.count = cloud->world.size.x * cloud->world.size.y * cloud->world.size.z;
printf("\n World Count: %d",cloud->world.count);
cloud->world.dimension = make_float3( cloud->world.resolution.x * (float)cloud->world.size.x,
cloud->world.resolution.y * (float)cloud->world.size.y,
cloud->world.resolution.z * (float)cloud->world.size.z );
printf("\n World Dimension: %f x %f x %f", cloud->world.dimension.x, cloud->world.dimension.y, cloud->world.dimension.z );
cloud->world.min.x = 1000.f * volume_origin.x - 0.5 * cloud->world.dimension.x;
cloud->world.min.y = 1000.f * volume_origin.y - 0.5 * cloud->world.dimension.y;
cloud->world.min.z = 1000.f * volume_origin.z - 0.5 * cloud->world.dimension.z;
printf("\n World Minimum: %f %f %f", cloud->world.min.x, cloud->world.min.y, cloud->world.min.z );
cloud->world.max.x = cloud->world.min.x + cloud->world.dimension.x;
cloud->world.max.y = cloud->world.min.y + cloud->world.dimension.y;
cloud->world.max.z = cloud->world.min.z + cloud->world.dimension.z;
printf("\n World Maximum: %f %f %f\n", cloud->world.max.x, cloud->world.max.y, cloud->world.max.z );
adaptive_world_sizing = false;
socket_timer_idx = 0;
memset( socket_timer, 0, TIMER_SIZE * sizeof(double) );
numKinects = 1;
}
void init_lcd()
{
/* Enable extended memory interface with 10 bit addressing */
XMCRB = _BV(XMM2) | _BV(XMM1);
XMCRA = _BV(SRE);
DDRC |= _BV(RESET);
DDRB |= _BV(BLC);
_delay_ms(1);
PORTC &= ~_BV(RESET);
_delay_ms(20);
PORTC |= _BV(RESET);
_delay_ms(120);
write_cmd(DISPLAY_OFF);
write_cmd(SLEEP_OUT);
_delay_ms(60);
write_cmd_data(INTERNAL_IC_SETTING, 0x01);
write_cmd(POWER_CONTROL_1);
write_data16(0x2608);
write_cmd_data(POWER_CONTROL_2, 0x10);
write_cmd(VCOM_CONTROL_1);
write_data16(0x353E);
write_cmd_data(VCOM_CONTROL_2, 0xB5);
write_cmd_data(INTERFACE_CONTROL, 0x01);
write_data16(0x0000);
write_cmd_data(PIXEL_FORMAT_SET, 0x55); /* 16bit/pixel */
set_orientation(West);
clear_screen();
display.x = 0;
display.y = 0;
display.background = BLACK;
display.foreground = WHITE;
write_cmd(DISPLAY_ON);
_delay_ms(50);
write_cmd_data(TEARING_EFFECT_LINE_ON, 0x00);
EICRB |= _BV(ISC61);
PORTB |= _BV(BLC);
}
/**
* Called once on initialization - Initialize the io functions and the controller state.
*/
void init(State* state) {
init_lcd();
init_adc();
DDRA = (1 << 3) | (1 << 4) | (1 << 5); //Setup up digital input ports as input
PORTA = (1 << 3) | (1 << 4) | (1 << 5); //Enable pull up resistors on input ports
set_orientation(North);
rectangle r2 = {5, 45, 5, 45}; //The three squares denoting digital inputs
rectangle r3 = {5, 45, 50, 90};
rectangle r4 = {5, 45, 95, 135};
state->r2 = r2; //Initialize the state.
state->r3 = r3;
state->r4 = r4;
rectangle r5 = {get_width() - 50, get_width() - 5, 5, 45}; //The three squares denoting digital outputs
rectangle r6 = {get_width() - 50, get_width() - 5, 50, 90};
rectangle r7 = {get_width() - 50, get_width() - 5, 95, 135};
state->r5 = r5;
state->r6 = r6;
state->r7 = r7;
state->x10 = (get_width() / 4); //Computes the x positions of the analogue bars
state->x11 = state->x10 + (get_width() / 6);
state->x21 = state->x11 + (get_width() / 6);
state->x31 = state->x21 + (get_width() / 6);
}
SceneObject &SceneObject::rotate(float dir, float up, float tilt)
{
set_orientation(get_orientation() * Quaternionf(up, dir, tilt, angle_degrees, order_YXZ));
return *this;
}
Menubar::Menubar(int x, int y, int width, int height)
{
set_position(x, y);
set_size(width, height);
set_orientation(0);
}
Menubar::Menubar(int x, int y)
{
set_position(x, y);
set_size(300, 20);
set_orientation(0);
}
