MdGpsSerial::MdGpsSerial()
{
#if defined (Q_OS_ANDROID)
setupPort("","");
#else
setupPort();
#endif
}
/*!
@param aDevName [in] Serial port device file name
@return Sesnor's communication handler
Returns NULL if failed
*/
tPort* scipConnect(char *aDevName)
{
tPort *port;
int ret;
fprintf(stdout,"Connecting at 19200 bps ...\n");
port=openPort(aDevName,19200);
ret=scipTryComm(port);
switch(ret){
case 1:
case 2:
fprintf(stdout,"Connected at 19200 bps\n\n");
return port;
default:
fprintf(stdout,"Could not connect at 19200 bps\n\n");
break;
}
fprintf(stdout,"Connecting at 57600 bps ...\n");
if(setupPort(fileno(port->dev),57600)!=EXIT_SUCCESS){
perror("Could not set terminal parameters ");
return NULL;
}
ret=scipTryComm(port);
switch(ret){
case 1:
case 2:
fprintf(stdout,"Connected at 57600 bps\n\n");
return port;
default:
fprintf(stdout,"Could not connect at 57600 bps\n\n");
break;
}
fprintf(stdout,"Connecting at 115200 bps ...\n");
if(setupPort(fileno(port->dev),115200)!=EXIT_SUCCESS){
perror("Could not set terminal parameters ");
return NULL;
}
ret=scipTryComm(port);
switch(ret){
case 1:
case 2:
fprintf(stdout,"Connected at 115200 bps\n\n");
return port;
default:
fprintf(stdout,"Could not connect at 115200 bps\n\n");
break;
}
return NULL;
}
void init(void (*byteReceivedCallback)(uint8_t data))
{
setupPort();
setBaudRate(9600);
itsByteReceivedCallback = byteReceivedCallback;
}
void MdQextSerialCom::togglePort()
{
if ( port ) {
if ( port->isOpen() )
closePort();
else {
openPort();
}
} else {
setupPort();
}
}
MBOOL
StereoNodeImpl::
onStart()
{
FUNC_START;
MBOOL ret = MFALSE;
MSize rgbSize = getRgbImgSize();
vector<HwPortConfig_t> lHwPortCfg;
HwPortConfig_t cfgImg = {
mapToPortID(STEREO_IMG),
eImgFmt_YV12,
getAlgoImgSize(),
MRect( MPoint(0, 0), getAlgoImgSize() )
};
HwPortConfig_t cfgRgb = {
mapToPortID(STEREO_RGB),
eImgFmt_ARGB8888,
rgbSize,
MRect( MPoint(0, 0), rgbSize )
};
//
if( !setupPort(mbCfgImgo, mbCfgFeo, mbCfgRgb ) )
goto lbExit;
//
if ( mbCfgImgo )
lHwPortCfg.push_back(cfgImg);
//
if ( mbCfgRgb )
lHwPortCfg.push_back(cfgRgb);
//
CAM_TRACE_BEGIN("alloc");
if( !allocBuffers(lHwPortCfg) )
{
MY_LOGE("alloc buffers failed");
goto lbExit;
}
CAM_TRACE_END();
//
muPostFrameCnt = 0;
muEnqFrameCnt = 0;
muDeqFrameCnt = 0;
//
ret = MTRUE;
lbExit:
FUNC_END;
return ret;
}
int main(int argc, char **argv) {
int xsvferrcode = 0;
printf("BeagleBone Black JTAG programming utility v0.5\n\n\r");
if(setFile(argv[1])) {
printf("file open error !\n\r");
return -1;
}
setupPort();
xsvf_setup();
xsvferrcode = xsvfExecute();
if(xsvferrcode == XSVF_ERROR_NONE)
printf("\n\r-> JTAG programming DONE !\n\r");
else
printf("\n\r->JTAG programming FAILED ! - XSVF errocode = %d\n\r", xsvferrcode);
return 0;
}
void ThreadFunc(Params* params) {
printf("=========================================================================\n");
printf(" SubThread %ld is watching over %s port \n", GetCurrentThreadId(), params->gszPort);
printf("=========================================================================\n");
HANDLE hComm = openPort(params->gszPort);
if (hComm == INVALID_HANDLE_VALUE) {
printf("failed to open serial port %s \n", params->gszPort);
return;
} else {
printf("serial port %s opened \n", params->gszPort);
if (setupPort(hComm)) {
// all sensors use the same calibration matrix and offset
while(isCalibratorInitialized == false) {
if(isCalibratorBeingInitialized == true)
continue;
isCalibratorBeingInitialized = true;
printf("\n************** please rotate your sensor with port %s *************\n", params->gszPort);
initCalibrator(hComm);
}
printf("======================= Now collect test data!! =================== \n");
SqQueue * queue = create_empty_queue();
char rawDataFileName[60]; //The file stores raw data
char correctedDataFileName[60]; //The file stores corrected magnetic data
printf("======================== THE TEST ====================== \n");
sprintf(rawDataFileName, "C:/Users/xing/Desktop/%s_Raw_Mag_Data.txt",params->gszPort);
sprintf(correctedDataFileName, "C:/Users/xing/Desktop/%s_Corrected_Mag_Data.txt",params->gszPort);
//the models of the four gestures
char *gestureModel[DTW_NUM] = {"./gesture_model/target.txt"
,"./gesture_model/point.txt"
,"./gesture_model/rotate_right.txt"
,"./gesture_model/rotate_left.txt"
,"./gesture_model/slide_over.txt"
,"./activity_model/stand_up.txt"
,"./activity_model/sit_down.txt"
,"./activity_model/walk.txt"};
//the tresholds of four model gestures
double threshold[DTW_NUM] = {TARGET_THRESHOLD,POINT_THRESHOLD,ROTATE_RIGHT_THRESHOLD,ROTATE_LEFT_THRESHOLD
,SLIDE_OVER_THRESHOLD,STAND_UP_THRESHOLD,SIT_DOWN_THRESHOLD,WALK_THRESHOLD};
//the time limit of four model gestures
double timeLimit[DTW_NUM] = {TARGET_TIMELIMIT,POINT_TIMELIMIT,ROTATE_RIGHT_TIMELIMIT,ROTATE_LEFT_TIMELIMIT
,SLIDE_OVER_TIMELIMIT,STAND_UP_TIMELIMIT,SIT_DOWN_TIMELIMIT,WALK_TIMELIMIT};
//initialize the four models and their GestureRecognitionProcess
//the order is :
//0->point
//1->rotate right
//2->rotate left
//3->slide over
OriginalGesture *og[DTW_NUM];
GRProcess grp[DTW_NUM];
int gt = 0;
for(gt = 0; gt < DTW_NUM; gt++) {
og[gt] = read_file_to_init_original_gesture(gestureModel[gt]);
int m = og[gt]->m;
//Pay attention to Free memory !!!
double *distanceArray = (double *)malloc(sizeof(double) * (m + 1));
double *distanceArrayLast = (double *)malloc(sizeof(double) * (m + 1));
int *startArray = (int *)malloc(sizeof(int) * (m + 1));
int *startArrayLast = (int *)malloc(sizeof(int) * (m + 1));
long int *timeArray = (long int *)malloc(sizeof(long int) * (m + 1));
long int *timeArrayLast = (long int *)malloc(sizeof(long int) * (m + 1));
double dmin = DBL_MAX;
int te = 1;
int ts = 1;
int k = 0;
for(k = 0; k <= m; k++) {
distanceArrayLast[k] = DBL_MAX;
startArrayLast[k] = 0;
timeArrayLast[k] = 0;
}
grp[gt].distanceArray = distanceArray;
grp[gt].distanceArrayLast = distanceArrayLast;
grp[gt].dmin = dmin;
grp[gt].originalGesture = *(og[gt]);
grp[gt].startArray = startArray;
grp[gt].startArrayLast = startArrayLast;
grp[gt].timeArray = timeArray;
grp[gt].timeArrayLast = timeArrayLast;
grp[gt].threshold = threshold[gt];
grp[gt].te = te;
grp[gt].ts = ts;
grp[gt].times = 0;
grp[gt].times = 0;
grp[gt].type = gt;
grp[gt].timeLimit = timeLimit[gt];
}
//Before read, flush the buffer.
purgePort(hComm);
int trueNum = 0;
bool hasTarget = false;
DataHeadNode *targetHead = create_list_with_head();
PktData pktData;
int i;
for(i = 0; i < params->magDataNum; i ++) {
pktData = blockingReadOnePacket(hComm);
if(equals(pktData, ZERO_PKT)) {
continue;
}
//Notice: it will override original raw data if queue is full
int position = add_to_queue(queue, pktData);
//input the current data into the SPRING
if(SPRING(pktData, &grp[0],position, queue) == TARGET_TYPE) {
trueNum++;
add_to_list_head(targetHead, pktData);
}
if(trueNum >= 20) {
/** compute target using the list of the target data list */
printf("\n!!!!!!!!!!!!!!!!!!!!!!%s target selected!!!!!!!!!!!!!!!!!!\n", params->gszPort);
trueNum = 0;
clear_list(targetHead);
hasTarget = true;
}
if(hasTarget) {
int l = 0;
for(l = 1; l <= 4; l++) {
SPRING(pktData, &grp[l],position, queue);
}
}
//compare_list_and_delete_queue(queue,startList,4);
}
int magLen = get_queue_length(queue);
printf("Actual mag data length: %d\n", magLen);
//This is the same heading in Cali.mat
double heading[magLen];
write_queue_to_file(rawDataFileName, queue);
calibrateMagData(queue->magXData, queue->magYData, queue->magZData, heading, magLen);
write_mag_to_file(correctedDataFileName, queue->magXData, queue->magYData, queue->magZData, heading, magLen);
//clear_queue(queue);
printf("\nSee %s \nand %s\nfor more detail!\n",rawDataFileName, correctedDataFileName);
free_queue(queue);
free_list(targetHead);
}
closePort(hComm);
}
}
bool MdQextSerialCom::changePortSettings (QString sport, QString speed) {
closePort();
setupPort (sport, speed);
qDebug() << "changed serial port to " << sport;
return true;
}
