void thread_connect() {
connected.store(false);
do {
struct sockaddr_in addr;
int r;
hostent* h;
memset((void*)&addr, 0, sizeof(addr));
addr.sin_addr.s_addr = inet_addr(ip.c_str());
if(INADDR_NONE == addr.sin_addr.s_addr) {
h = gethostbyname(ip.c_str());
if(NULL == h) {
perror("Could not get host by name");
break;;
}
} else {
h = gethostbyaddr((const char*)&addr.sin_addr, sizeof(struct sockaddr_in), AF_INET);
if(NULL == h) {
perror("Could not get host by address");
break;;
}
}
sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
if(INVALID_SOCKET == sock) {
perror("Could not create socket");
break;
}
BOOL bDontLinger = TRUE;
setsockopt( sock, SOL_SOCKET, SO_DONTLINGER, ( const char* )&bDontLinger, sizeof( BOOL ) );
addr.sin_family = AF_INET;
addr.sin_addr = *((in_addr*)*h->h_addr_list);
addr.sin_port = htons(port);
printf("Connecting... ");
r = connect(sock, (sockaddr*)&addr, sizeof(struct sockaddr));
if(SOCKET_ERROR == r) {
printf("Cannot connect to server%d\n", get_errno());
break;
}
printf("connected.\n");
connected.store(true);
connecting.store(false);
sender.swap(std::thread(std::bind(&transport_t::thread_send, this)));
recver.swap(std::thread(std::bind(&transport_t::thread_recv, this)));
return;
} while (0);
connecting.store(false);
}
// ------------------------------------------------------------------------
void addAndSetTime(uint32_t ping, uint64_t server_time)
{
if (m_synchronised.load() == true)
return;
if (m_force_set_timer.load() == true)
{
m_force_set_timer.store(false);
m_synchronised.store(true);
STKHost::get()->setNetworkTimer(server_time + (uint64_t)(ping / 2));
return;
}
const uint64_t cur_time = StkTime::getMonoTimeMs();
// Discard too close time compared to last ping
// (due to resend when packet loss)
// 10 packets per second as seen in STKHost
const uint64_t frequency = (uint64_t)((1.0f / 10.0f) * 1000.0f) / 2;
if (!m_times.empty() &&
cur_time - std::get<2>(m_times.back()) < frequency)
return;
// Take max 20 averaged samples from m_times, the next addAndGetTime
// is used to determine that server_time if it's correct, if not
// clear half in m_times until it's correct
if (m_times.size() >= 20)
{
uint64_t sum = std::accumulate(m_times.begin(), m_times.end(),
(uint64_t)0, [cur_time](const uint64_t previous,
const std::tuple<uint32_t, uint64_t, uint64_t>& b)->uint64_t
{
return previous + (uint64_t)(std::get<0>(b) / 2) +
std::get<1>(b) + cur_time - std::get<2>(b);
});
const int64_t averaged_time = sum / 20;
const int64_t server_time_now = server_time + (uint64_t)(ping / 2);
int difference = (int)std::abs(averaged_time - server_time_now);
if (std::abs(averaged_time - server_time_now) <
UserConfigParams::m_timer_sync_difference_tolerance)
{
STKHost::get()->setNetworkTimer(averaged_time);
m_times.clear();
m_force_set_timer.store(false);
m_synchronised.store(true);
Log::info("NetworkTimerSynchronizer", "Network "
"timer synchronized, difference: %dms", difference);
return;
}
m_times.erase(m_times.begin(), m_times.begin() + 10);
}
m_times.emplace_back(ping, server_time, cur_time);
}
/**
* Start the IPC thread.
*/
void
ipcStart()
{
std::unique_lock<std::mutex> lock { sIpcMutex };
sIpcThreadRunning.store(true);
sIpcThread = std::thread { ipcThreadEntry };
}
LRESULT WINAPI WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam) {
WindowEvent params = {};
params.hWnd = hWnd;
params.msg = msg;
params.wParam = wParam;
params.lParam = lParam;
s_queue->Enqueue(params);
switch (msg)
{
case WM_SIZE:
if (g_renderApi && wParam != SIZE_MINIMIZED) {
g_renderApi->Resize((int32_t) LOWORD(lParam), (int32_t) HIWORD(lParam));
return 0;
}
break;
case WM_SYSCOMMAND:
if ((wParam & 0xfff0) == SC_KEYMENU) // Disable ALT application menu
return 0;
break;
case WM_DESTROY:
s_running.store(false);
PostQuitMessage(0);
return 0;
}
return DefWindowProcW(hWnd, msg, wParam, lParam);
}
progressIndicatorThreadWrapper( const std::chrono::nanoseconds& updateInterval )
{
m_stopCondition.store( false );
m_thread = std::thread( [this, &updateInterval]
{
FormattedPrint::On(std::cout, false).app(" ");
int slashIndex = 0;
while( ! m_stopCondition.load() )
{
FormattedPrint::On(std::cout, false).app("\b\b\b \b")
.color( Green )
.app('[')
.color( Yellow )
.app( slashes[ slashIndex++ ] )
.color( Green )
.app(']')
.color();
slashIndex = slashIndex % 4;
std::this_thread::sleep_for( updateInterval );
}
FormattedPrint::On(std::cout, false).app("\b\b\b");
});
}
/**
* This is the actual function that the thread executes.
* It receives a block from the scheduler, class its run() method and returns it to the scheduler.
* The thread runs until the it is told to stop by setting the m_stop boolean flag
*/
void operator()()
{
if(CPU_COUNT(&m_mask)>0)
{
pthread_t id = pthread_self();
int ret = pthread_setaffinity_np(id, sizeof(m_mask), &m_mask);
if(ret != 0)
{
perror("setaffinity");
throw(std::runtime_error("set affinity failed"));
}
}
while(!m_stop.load())
{
std::shared_ptr<Block>torun(m_scheduler.next_task(m_id));
if(torun)
{
torun->run();
m_scheduler.task_done(m_id, std::move(torun));
}
else
{
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
m_stop.store(false);
}
bool init(const char* pipeline, core::c_window *window, bool validation) {
VERIFY(graphics::render3d::resources::load_pipeline(pipeline));
VERIFY(create_instance("appname"));
VERIFY(create_surface(window));
VERIFY(create_device());
VERIFY(create_device_queue());
VERIFY(graphics::render3d::resources::create_pipeline());
vk_globals::is_init = true;
flag_needs_recreate_swapchain.store(false);
flag_needs_shutdown.store(false);
on_window_resize_listener = window->add_event_listener(core::e_window_event::ON_RESIZE, on_window_resize);
return true;
}
~progressIndicatorThreadWrapper()
{
m_stopCondition.store( true );
if( m_thread.joinable() )
{
m_thread.join();
}
}
void disconnect() {
connected.store(false);
closesocket(sock);
sender.join();
recver.join();
send_queue.clear();
recv_queue.clear();
}
~WorkerThreads()
{
_shutdownFlag.store(true);
_cache.setShutdownFlag();
for (auto worker : _workers)
{
worker->join();
delete worker;
}
}
void
handleDbgBreakInterrupt()
{
// If we are not initialised, we should ignore DbgBreaks
if (!decaf::config::debugger::enabled) {
return;
}
std::unique_lock<std::mutex> lock(sMutex);
auto coreId = cpu::this_core::id();
// Store our core state before we flip isPaused
sCorePauseState[coreId] = cpu::this_core::state();
// Check to see if we were the last core to join on the fun
auto coreBit = 1 << coreId;
auto isPausing = sIsPausing.fetch_or(coreBit);
if (isPausing == 0) {
// This is the first core to hit a breakpoint
sPauseInitiatorCoreId = coreId;
// Signal the rest of the cores to stop
for (auto i = 0; i < 3; ++i) {
cpu::interrupt(i, cpu::DBGBREAK_INTERRUPT);
}
}
if ((isPausing | coreBit) == (1 | 2 | 4)) {
// This was the last core to join.
sIsPaused.store(true);
sIsPausing.store(0);
sIsResuming.store(0);
}
// Spin around the release condition while we are paused
while (sIsPausing.load() || sIsPaused.load()) {
sPauseReleaseCond.wait(lock);
}
// Clear any additional DbgBreaks that occured
cpu::this_core::clearInterrupt(cpu::DBGBREAK_INTERRUPT);
// Everyone needs to leave at once in case new breakpoints occur.
if ((sIsResuming.fetch_or(coreBit) | coreBit) == (1 | 2 | 4)) {
sPauseReleaseCond.notify_all();
} else {
while ((sIsResuming.load() | coreBit) != (1 | 2 | 4)) {
sPauseReleaseCond.wait(lock);
}
}
}
void swap_queues()
{
for(unsigned int i=0; i<m_full_slots; ++i)
{
m_queues[m_consumer_q].vec[i].valid.store(false,std::memory_order_release);
}
unsigned int newpoint=m_consumer_q<<30;
m_consumer_q=exchange_queue(m_consumer_q);
unsigned int old_pointer=m_pointer.exchange(newpoint,std::memory_order_release);
m_full.store(false,std::memory_order_release);
old_pointer&=~MASK;
m_full_slots=std::min(old_pointer,Qlen);
m_read=0;
}
WorkerThreads(unsigned int threadsCount, RJCache& cache) :
_nextThreadId(0),
_cache(cache)
{
_shutdownFlag.store(false);
_workers.reserve(threadsCount);
for (unsigned int i = 0; i < threadsCount; i++)
{
std::thread* worker = new std::thread(&WorkerThreads::workerThreadFunc, this, _nextThreadId++, &cache);
_workers.push_back(worker);
}
}
int WINAPI _tWinMain(HINSTANCE hInstance, HINSTANCE /*hPrevInstance*/, LPTSTR lpstrCmdLine, int nCmdShow)
{
#ifdef _DEBUG // ATLTRACEで日本語を使うために必要
_tsetlocale(LC_ALL, _T("japanese"));
#endif
HRESULT hRes = ::CoInitialize(NULL);
// If you are running on NT 4.0 or higher you can use the following call instead to
// make the EXE free threaded. This means that calls come in on a random RPC thread.
// HRESULT hRes = ::CoInitializeEx(NULL, COINIT_MULTITHREADED);
ATLASSERT(SUCCEEDED(hRes));
// this resolves ATL window thunking problem when Microsoft Layer for Unicode (MSLU) is used
::DefWindowProc(NULL, 0, 0, 0L);
AtlInitCommonControls(ICC_BAR_CLASSES); // add flags to support other controls
hRes = _Module.Init(NULL, hInstance);
ATLASSERT(SUCCEEDED(hRes));
FILE* fp_out = freopen("result.txt", "w", stdout);
g_atomicMegaThreadActive.store(true);
std::thread threadMegaLoop(CMegaAppImpl::StartMegaLoop);
int nRet = Run(lpstrCmdLine, nCmdShow);
g_atomicMegaThreadActive.store(false);
threadMegaLoop.join();
fclose(fp_out);
_Module.Term();
::CoUninitialize();
return nRet;
}
int main() {
/* Handle Signals */
std::signal(SIGTERM, cleanup);
std::signal(SIGINT , cleanup);
std::signal(SIGABRT, cleanup);
std::thread sw{stopwatch};
while(true) {
if(std::getchar() != '\x03') /* ctrl+c */
lap.store(true);
}
return 0;
}
/**
* Main thread entry point for the IPC thread.
*
* This thread represents the IOS side of the IPC mechanism.
*
* Responsible for receiving IPC requests and dispatching them to the
* correct IOS device.
*/
void
ipcThreadEntry()
{
std::unique_lock<std::mutex> lock { sIpcMutex };
while (true) {
if (!sIpcRequests.empty()) {
auto request = sIpcRequests.front();
sIpcRequests.pop();
lock.unlock();
iosDispatchIpcRequest(request);
lock.lock();
switch (request->cpuId) {
case IOSCpuId::PPC0:
sIpcResponses[0].push(request);
cpu::interrupt(0, cpu::IPC_INTERRUPT);
break;
case IOSCpuId::PPC1:
sIpcResponses[1].push(request);
cpu::interrupt(1, cpu::IPC_INTERRUPT);
break;
case IOSCpuId::PPC2:
sIpcResponses[2].push(request);
cpu::interrupt(2, cpu::IPC_INTERRUPT);
break;
default:
decaf_abort("Unexpected cpu id");
}
}
if (!sIpcThreadRunning.load()) {
break;
}
if (sIpcRequests.empty()) {
sIpcCond.wait(lock);
}
}
sIpcThreadRunning.store(false);
}
void
join()
{
for (auto i = 0; i < 3; ++i) {
if (gCore[i].thread.joinable()) {
gCore[i].thread.join();
}
}
// Mark the CPU as no longer running
gRunning.store(false);
// Notify the timer thread that something changed
gTimerCondition.notify_all();
// Wait for the timer thread to shut down
if (gTimerThread.joinable()) {
gTimerThread.join();
}
}
void
start()
{
installExceptionHandler();
gRunning.store(true);
for (auto i = 0; i < 3; ++i) {
auto &core = gCore[i];
core.id = i;
core.thread = std::thread(std::bind(&coreEntryPoint, &core));
core.next_alarm = std::chrono::time_point<std::chrono::system_clock>::max();
static const std::string coreNames[] = { "Core #0", "Core #1", "Core #2" };
platform::setThreadName(&core.thread, coreNames[core.id]);
}
gTimerThread = std::thread(std::bind(&timerEntryPoint));
platform::setThreadName(&gTimerThread, "Timer Thread");
}
int main( int argc, char **argv ) {
auto map = std::make_shared<concurrent::map>();
auto key = "foo";
auto t1 = std::thread( producer, map, key, "thread1" );
auto t2 = std::thread( producer, map, key, "thread2" );
auto t3 = std::thread( consumer, map, key );
std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
g_is_done.store( true );
t1.join();
t2.join();
t3.join();
return EXIT_SUCCESS;
}
unsigned int __stdcall MyThreadFunction(void*) {
EGraphicsApi graphicsApi = EGraphicsApi::D3D11;
if (!LoadRenderApiImpl(graphicsApi)) {
s_running.store(false);
return 1;
}
// Init time
QueryPerformanceFrequency(&s_perfFreq);
QueryPerformanceCounter(&s_lastTime);
GameInfo gameInfo;
ZeroMemory(&gameInfo, sizeof(gameInfo));
gameInfo.graphicsApi = graphicsApi;
gameInfo.imguiState = ImGui::GetCurrentContext();
//heapArea = new HeapArea(512 * 1024 * 1024);
//memory::SimpleArena arena(heapArea);
//gameInfo.allocator = &arena;
gameInfo.CalculateDeltaTime = CalculateDeltaTime;
gameInfo.gfxFuncs = g_renderApi;
gameInfo.config = &s_config;
gameInfo.controls = &s_controls;
gameInfo.CreateThread = slCreateThread;
gameInfo.reloadOnSave = true;
// Hardware info
{
SYSTEM_INFO sysinfo;
GetSystemInfo(&sysinfo);
s_hardware.numLogicalThreads = (uint32_t) sysinfo.dwNumberOfProcessors;
}
gameInfo.hardware = &s_hardware;
// ENet
if (enet_initialize() != 0)
{
s_running.store(false);
return 1;
}
// Main loop
while (s_running.load())
{
// Check if graphics API change was requested
if (gameInfo.graphicsApi != graphicsApi) {
if (LoadRenderApiImpl(gameInfo.graphicsApi)) {
graphicsApi = gameInfo.graphicsApi;
g_renderApi = gameInfo.gfxFuncs;
} else {
gameInfo.graphicsApi = graphicsApi;
gameInfo.gfxFuncs = g_renderApi;
}
}
#ifdef _DEBUG
{
// Reload DLL
FILETIME NewDLLWriteTime = Win32GetLastWriteTime((char*)s_dllName);
// If the .DLL is being written to, the last write time may change multiple times
// So we need to add a cooldown
LARGE_INTEGER currentTime;
QueryPerformanceCounter(¤tTime);
if (CompareFileTime(&NewDLLWriteTime, &s_gameFuncs.DLLLastWriteTime) != 0
&& (currentTime.QuadPart - s_lastDLLLoadTime.QuadPart) / s_perfFreq.QuadPart >= 1) {
if (s_gameFuncs.dll) {
FreeLibrary(s_gameFuncs.dll);
}
s_gameFuncs = LoadGameFuncs();
g_LogInfo("Reloaded DLL.");
} else {
// Ignore changes
s_gameFuncs.DLLLastWriteTime = NewDLLWriteTime;
}
}
#endif
// Reload Lua
if (gameInfo.reloadOnSave) {
DWORD obj = WaitForSingleObject(hDirectoryChange, 0);
if (obj == WAIT_OBJECT_0) {
if (!FindNextChangeNotification(hDirectoryChange)) {
g_LogInfo("Error: FindNextChangeNotification failed.");
}
// TODO: Change only of lua files changed (or make separate lua directory)
LARGE_INTEGER currentTime;
static LARGE_INTEGER s_lastLuaLoadTime;
QueryPerformanceCounter(¤tTime);
if ((currentTime.QuadPart - s_lastLuaLoadTime.QuadPart) / s_perfFreq.QuadPart >= 1) {
s_lastLuaLoadTime = currentTime;
gameInfo.reloadLua = true;
}
}
}
ParseMessages();
g_renderApi->ImGuiNewFrame();
s_controls.BeginFrame();
s_gameFuncs.UpdateGame(&gameInfo);
s_controls.EndFrame();
// Rendering
g_renderApi->Render();
}
s_gameFuncs.DestroyGame(&gameInfo);
g_renderApi->Destroy();
ImGui::Shutdown();
g_renderApi = nullptr;
//delete heapArea;
enet_deinitialize();
return 0;
}
NetworkTimerSynchronizer()
{
m_synchronised.store(false);
m_force_set_timer.store(false);
}
void on_window_resize(void *value) {
flag_needs_recreate_swapchain.store(true);
}
void DialogSystem::receive(const MouseClickEvent &mce)
{
game::entities.each<Position, Solid, Dialog, Name>(
[&](entityx::Entity e, Position &pos, Solid &dim, Dialog &d, Name &name) {
static std::atomic_bool dialogRun;
(void)e;
(void)d;
if (((mce.position.x > pos.x) & (mce.position.x < pos.x + dim.width)) &&
((mce.position.y > pos.y) & (mce.position.y < pos.y + dim.height))) {
if (!dialogRun.load()) {
std::thread([&] {
std::string questAssignedText;
int newIndex;
auto exml = game::engine.getSystem<WorldSystem>()->getXML()->FirstChildElement("Dialog");
dialogRun.store(true);
if (e.has_component<Direction>())
d.talking = true;
if (d.index == 9999) {
ui::dialogBox(name.name, "", false, randomDialog[d.rindex % randomDialog.size()]);
ui::waitForDialog();
} else if (exml != nullptr) {
while (exml->StrAttribute("name") != name.name)
exml = exml->NextSiblingElement();
exml = exml->FirstChildElement("text");
while (exml->IntAttribute("id") != d.index)
exml = exml->NextSiblingElement();
auto oxml = exml->FirstChildElement("set");
if (oxml != nullptr) {
do game::setValue(oxml->StrAttribute("id"), oxml->StrAttribute("value"));
while ((oxml = oxml->NextSiblingElement()));
game::briceUpdate();
}
auto qxml = exml->FirstChildElement("quest");
if (qxml != nullptr) {
const char *qname;
auto qsys = game::engine.getSystem<QuestSystem>();
do {
// assign quest
qname = qxml->Attribute("assign");
if (qname != nullptr) {
questAssignedText = qname;
auto req = qxml->GetText();
qsys->assign(qname, qxml->StrAttribute("desc"), req ? req : "");
}
// check / finish quest
else {
qname = qxml->Attribute("check");
if (qname != nullptr) {
if (qname != nullptr && qsys->hasQuest(qname) && qsys->finish(qname) == 0) {
d.index = 9999;
} else {
ui::dialogBox(name.name, "", false, "Finish my quest u nug");
ui::waitForDialog();
return;
}
// oldidx = d.index;
// d.index = qxml->UnsignedAttribute("fail");
// goto COMMONAIFUNC;
}
}
} while((qxml = qxml->NextSiblingElement()));
}
auto cxml = exml->FirstChildElement("content");
const char *content;
if (cxml == nullptr) {
content = randomDialog[d.rindex % randomDialog.size()].c_str();
} else {
content = cxml->GetText() - 1;
while (*++content && isspace(*content));
}
ui::dialogBox(name.name, "", false, content);
ui::waitForDialog();
if (!questAssignedText.empty())
ui::passiveImportantText(5000, ("Quest assigned:\n\"" + questAssignedText + "\"").c_str());
if (exml->QueryIntAttribute("nextid", &newIndex) == XML_NO_ERROR)
d.index = newIndex;
}
d.talking = false;
dialogRun.store(false);
}).detach();
}
}
});
}
extern "C" JNIEXPORT void JNICALL Java_eu_vcmi_vcmi_NativeMethods_notifyServerReady(JNIEnv * env, jobject cls)
{
logNetwork->info("Received server ready signal");
androidTestServerReadyFlag.store(true);
}
int CALLBACK WinMain(
HINSTANCE hInstance,
HINSTANCE hPrevInstance,
LPSTR lpCmdLine,
int nCmdShow)
{
s_gameFuncs = LoadGameFuncs();
assert(s_gameFuncs.valid);
ImGuiIO& io = ImGui::GetIO();
//io.MemAllocFn = memory::malloc;
//io.MemFreeFn = memory::free;
//_crtBreakAlloc = 4015;
s_queue = new util::ThreadSafeQueue<WindowEvent>();
g_LogInfo(SL_BUILD_DATE);
// Log CPU features
{
#if 0
struct CPUInfo {
union {
int i[4];
};
} info = { 0 };
// Get number of functions
__cpuid(info.i, 0);
int nIds_ = info.i[0];
// Dump info
std::vector<CPUInfo> data;
for (int i = 0; i <= nIds_; ++i)
{
__cpuidex(info.i, i, 0);
data.push_back(info);
}
// Vendor
if(data.size() >= 0) {
char vendor[13] = {0};
memcpy(vendor + 0, data[0].i + 1, 4);
memcpy(vendor + 4, data[0].i + 3, 4);
memcpy(vendor + 8, data[0].i + 2, 4);
g_LogInfo("CPU Vendor: " + std::string(vendor));
}
#endif
// http://stackoverflow.com/questions/850774/how-to-determine-the-hardware-cpu-and-ram-on-a-machine
int CPUInfo[4] = { 0 };
char CPUBrandString[0x40];
// Get the information associated with each extended ID.
__cpuid(CPUInfo, 0x80000000);
int nExIds = CPUInfo[0];
for (int i = 0x80000000; i <= nExIds; i++)
{
__cpuid(CPUInfo, i);
// Interpret CPU brand string
if (i == 0x80000002)
memcpy(CPUBrandString, CPUInfo, sizeof(CPUInfo));
else if (i == 0x80000003)
memcpy(CPUBrandString + 16, CPUInfo, sizeof(CPUInfo));
else if (i == 0x80000004)
memcpy(CPUBrandString + 32, CPUInfo, sizeof(CPUInfo));
}
//string includes manufacturer, model and clockspeed
std::string brand(CPUBrandString);
g_LogInfo(brand.substr(brand.find_first_not_of(" ")));
SYSTEM_INFO sysInfo;
GetSystemInfo(&sysInfo);
g_LogInfo("Logical processors: " + std::to_string(sysInfo.dwNumberOfProcessors));
MEMORYSTATUSEX statex;
statex.dwLength = sizeof (statex);
GlobalMemoryStatusEx(&statex);
g_LogInfo("Total System Memory: " + std::to_string(statex.ullTotalPhys/1024/1024) + " MB");
}
auto className = L"StarlightClassName";
WNDCLASSEXW wndClass = { 0 };
wndClass.cbSize = sizeof(WNDCLASSEXW);
wndClass.style = CS_CLASSDC;
wndClass.lpfnWndProc = WndProc;
wndClass.hInstance = GetModuleHandleW(nullptr);
wndClass.hCursor = LoadCursorW(nullptr, IDC_ARROW);
wndClass.lpszClassName = className;
RegisterClassExW(&wndClass);
// Get desktop rectangle
RECT desktopRect;
GetClientRect(GetDesktopWindow(), &desktopRect);
// Get window rectangle
RECT windowRect = { 0, 0, 800, 600 }; // TODO: Config file?
AdjustWindowRect(&windowRect, WS_OVERLAPPEDWINDOW, FALSE);
// Calculate window dimensions
LONG windowWidth = windowRect.right - windowRect.left;
LONG windowHeight = windowRect.bottom - windowRect.top;
LONG x = desktopRect.right / 2 - windowWidth / 2;
LONG y = desktopRect.bottom / 2 - windowHeight / 2;
#ifdef _DEBUG
// Move the screen to the right monitor on JOTARO
wchar_t computerName[MAX_COMPUTERNAME_LENGTH + 1];
DWORD dwSize = sizeof(computerName);
GetComputerNameW(computerName, &dwSize);
if (wcscmp(computerName, L"JOTARO") == 0) {
x += 1920;
}
#endif
s_config.Load();
s_hwnd = CreateWindowExW(
0L,
className,
L"Starlight",
WS_OVERLAPPEDWINDOW,
x,
y,
windowWidth,
windowHeight,
nullptr,
nullptr,
GetModuleHandleW(nullptr),
nullptr
);
// Show the window
ShowWindow(s_hwnd, SW_MAXIMIZE);
UpdateWindow(s_hwnd);
// Create thread
s_running.store(true);
unsigned int threadID;
HANDLE thread = (HANDLE) _beginthreadex(nullptr, 0, MyThreadFunction, nullptr, 0, &threadID);
if (!thread) {
// Error creating thread
return 1;
}
// Watch Lua directory
hDirectoryChange = FindFirstChangeNotification(L"../starlight/", TRUE, FILE_NOTIFY_CHANGE_LAST_WRITE);
if (!hDirectoryChange) {
g_LogInfo("Error creating directory change notification handle: Lua reload on save will not work.");
}
// Message loop
MSG msg;
while (s_running.load() && GetMessageW(&msg, nullptr, 0, 0))
{
TranslateMessage(&msg);
DispatchMessageW(&msg);
}
WaitForSingleObject(thread, INFINITE);
CloseHandle(thread);
if (hDirectoryChange) {
if (!FindCloseChangeNotification(hDirectoryChange)) {
g_LogInfo("Failed to close directory change notification handle.");
}
}
s_gameFuncs.DestroyLogger();
io.Fonts->Clear();
s_config.Save();
delete s_queue;
UnregisterClassW(className, GetModuleHandleW(nullptr));
_CrtDumpMemoryLeaks();
return 0;
}
void fiber_waiter::reset() noexcept
{
m_ready.store(false, std::memory_order_relaxed);
m_fstnext.store(fsnext_init, std::memory_order_relaxed);
m_promise_state.store(static_cast<unsigned>(ext::future_state::unsatisfied), std::memory_order_relaxed);
}
void fiber_waiter::continuate(shared_state_basic * caller) noexcept
{
m_ready.store(true, std::memory_order_relaxed);
m_thread_var.notify_all();
m_fiber_var.notify_all();
}
int main(int argc, char** argv)
{
bool desired_mode_full=false; //if false go in safe_mode
bool ir_warning_;
bool bumper_warning_;
ros::init(argc, argv, "roomba560_node");
ROS_INFO("Roomba for ROS %.2f", NODE_VERSION);
double last_x, last_y, last_yaw;
double vel_x, vel_y, vel_yaw;
double dt;
float last_charge = 0.0;
int time_remaining = -1;
ros::NodeHandle n;
ros::NodeHandle pn("~");
pn.param<std::string>("port", port, "/dev/ttyUSB0");
std::string base_frame_id;
std::string odom_frame_id;
pn.param<std::string>("base_frame_id", base_frame_id, "base_link");
pn.param<std::string>("odom_frame_id", odom_frame_id, "odom");
roomba = new irobot::OpenInterface(port.c_str());
ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
ros::Publisher battery_pub = n.advertise<irobotcreate2::Battery>("battery", 50);
ros::Publisher bumper_pub = n.advertise<irobotcreate2::Bumper>("bumper", 50);
ros::Publisher buttons_pub = n.advertise<irobotcreate2::Buttons>("buttons", 50);
ros::Publisher cliff_pub = n.advertise<irobotcreate2::RoombaIR>("cliff", 50);
ros::Publisher irbumper_pub = n.advertise<irobotcreate2::RoombaIR>("ir_bumper", 50);
ros::Publisher irchar_pub = n.advertise<irobotcreate2::IRCharacter>("ir_character", 50);
ros::Publisher wheeldrop_pub = n.advertise<irobotcreate2::WheelDrop>("wheel_drop", 50);
tf::TransformBroadcaster tf_broadcaster;
ros::Subscriber cmd_vel_sub = n.subscribe<geometry_msgs::Twist>("cmd_vel", 1, cmdVelReceived);
ros::Subscriber leds_sub = n.subscribe<irobotcreate2::Leds>("leds", 1, ledsReceived);
ros::Subscriber digitleds_sub = n.subscribe<irobotcreate2::DigitLeds>("digit_leds", 1, digitLedsReceived);
ros::Subscriber song_sub = n.subscribe<irobotcreate2::Song>("song", 1, songReceived);
ros::Subscriber playsong_sub = n.subscribe<irobotcreate2::PlaySong>("play_song", 1, playSongReceived);
ros::Subscriber mode_sub = n.subscribe<std_msgs::String>("mode", 1, cmdModeReceived);
irobot::OI_Packet_ID sensor_packets[1] = {irobot::OI_PACKET_GROUP_100};
roomba->setSensorPackets(sensor_packets, 1, OI_PACKET_GROUP_100_SIZE);
if( roomba->openSerialPort(true) == 0) ROS_INFO("Connected to Roomba.");
else
{
ROS_FATAL("Could not connect to Roomba.");
ROS_BREAK();
}
ros::Time current_time, last_time;
current_time = ros::Time::now();
last_time = ros::Time::now();
bool first_loop=true;
ros::Rate r(10.0);
while(n.ok())
{
ir_warning_ = false;
bumper_warning_ = false;
current_time = ros::Time::now();
last_x = roomba->odometry_x_;
last_y = roomba->odometry_y_;
last_yaw = roomba->odometry_yaw_;
if( roomba->getSensorPackets(100) == -1) ROS_ERROR("Could not retrieve sensor packets.");
else roomba->calculateOdometry();
dt = (current_time - last_time).toSec();
vel_x = (roomba->odometry_x_ - last_x)/dt;
vel_y = (roomba->odometry_y_ - last_y)/dt;
vel_yaw = (roomba->odometry_yaw_ - last_yaw)/dt;
// ******************************************************************************************
//first, we'll publish the transforms over tf
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = current_time;
odom_trans.header.frame_id = odom_frame_id;
odom_trans.child_frame_id = "base_footprint";
odom_trans.transform.translation.x = roomba->odometry_x_;
odom_trans.transform.translation.y = roomba->odometry_y_;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(roomba->odometry_yaw_);
tf_broadcaster.sendTransform(odom_trans);
geometry_msgs::TransformStamped base_trans;
base_trans.header.stamp = current_time;
base_trans.header.frame_id = "base_footprint";
base_trans.child_frame_id = base_frame_id;
base_trans.transform.translation.x = 0.0;
base_trans.transform.translation.y = 0.0;
base_trans.transform.translation.z = 0.0;
base_trans.transform.rotation.x = 0;
base_trans.transform.rotation.y = 0;
base_trans.transform.rotation.z = 0;
base_trans.transform.rotation.w = 1;
tf_broadcaster.sendTransform(base_trans);
geometry_msgs::TransformStamped scan_trans;
scan_trans.header.stamp = current_time;
scan_trans.header.frame_id = base_frame_id;
scan_trans.child_frame_id = "base_laser_link";
scan_trans.transform.translation.x = 0.0;
scan_trans.transform.translation.y = 0.0;
scan_trans.transform.translation.z = 0.0;
scan_trans.transform.rotation.x = 0;
scan_trans.transform.rotation.y = 0;
scan_trans.transform.rotation.z = 0;
scan_trans.transform.rotation.w = 1;
tf_broadcaster.sendTransform(scan_trans);
//TODO: Finish brodcasting the tf for all the ir sensors on the Roomba
/*geometry_msgs::TransformStamped cliff_left_trans;
cliff_left_trans.header.stamp = current_time;
cliff_left_trans.header.frame_id = "base_link";
cliff_left_trans.child_frame_id = "base_cliff_left";
cliff_left_trans.transform.translation.x = 0.0;
cliff_left_trans.transform.translation.y = 0.0;
cliff_left_trans.transform.translation.z = 0.0;
cliff_left_trans.transform.rotation = ;
tf_broadcaster.sendTransform(cliff_left_trans); */
// ******************************************************************************************
//next, we'll publish the odometry message over ROS
nav_msgs::Odometry odom;
odom.header.stamp = current_time;
odom.header.frame_id = odom_frame_id;
//set the position
odom.pose.pose.position.x = roomba->odometry_x_;
odom.pose.pose.position.y = roomba->odometry_y_;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = tf::createQuaternionMsgFromYaw(roomba->odometry_yaw_);
//set the velocity
odom.child_frame_id = base_frame_id;
odom.twist.twist.linear.x = vel_x;
odom.twist.twist.linear.y = vel_y;
odom.twist.twist.angular.z = vel_yaw;
//publish the message
odom_pub.publish(odom);
// ******************************************************************************************
//publish battery
irobotcreate2::Battery battery;
battery.header.stamp = current_time;
battery.power_cord = roomba->power_cord_;
battery.dock = roomba->dock_;
battery.level = 100.0*(roomba->charge_/roomba->capacity_);
if(last_charge > roomba->charge_) time_remaining = (int)(battery.level/((last_charge-roomba->charge_)/roomba->capacity_)/dt)/60;
last_charge = roomba->charge_;
battery.time_remaining = time_remaining;
battery_pub.publish(battery);
// ******************************************************************************************
//publish bumpers
irobotcreate2::Bumper bumper;
bumper.left.header.stamp = current_time;
bumper.left.state = roomba->bumper_[LEFT];
bumper.right.header.stamp = current_time;
bumper.right.state = roomba->bumper_[RIGHT];
bumper_pub.publish(bumper);
bumper_warning_ = bumper.left.state || bumper.right.state;
bumper_warning.store(bumper_warning_);
// ******************************************************************************************
//publish buttons
irobotcreate2::Buttons buttons;
buttons.header.stamp = current_time;
buttons.clean = roomba->buttons_[BUTTON_CLEAN];
buttons.spot = roomba->buttons_[BUTTON_SPOT];
buttons.dock = roomba->buttons_[BUTTON_DOCK];
buttons.day = roomba->buttons_[BUTTON_DAY];
buttons.hour = roomba->buttons_[BUTTON_HOUR];
buttons.minute = roomba->buttons_[BUTTON_MINUTE];
buttons.schedule = roomba->buttons_[BUTTON_SCHEDULE];
buttons.clock = roomba->buttons_[BUTTON_CLOCK];
buttons_pub.publish(buttons);
// ******************************************************************************************
//publish cliff
irobotcreate2::RoombaIR cliff;
cliff.header.stamp = current_time;
cliff.header.frame_id = "base_cliff_left";
cliff.state = roomba->cliff_[LEFT];
cliff.signal = roomba->cliff_signal_[LEFT];
cliff_pub.publish(cliff);
cliff.header.frame_id = "base_cliff_front_left";
cliff.state = roomba->cliff_[FRONT_LEFT];
cliff.signal = roomba->cliff_signal_[FRONT_LEFT];
cliff_pub.publish(cliff);
cliff.header.frame_id = "base_cliff_front_right";
cliff.state = roomba->cliff_[FRONT_RIGHT];
cliff.signal = roomba->cliff_signal_[FRONT_RIGHT];
cliff_pub.publish(cliff);
cliff.header.frame_id = "base_cliff_right";
cliff.state = roomba->cliff_[RIGHT];
cliff.signal = roomba->cliff_signal_[RIGHT];
cliff_pub.publish(cliff);
// ******************************************************************************************
//publish irbumper
irobotcreate2::RoombaIR irbumper;
irbumper.header.stamp = current_time;
irbumper.header.frame_id = "base_irbumper_left";
irbumper.state = roomba->ir_bumper_[LEFT];
irbumper.signal = roomba->ir_bumper_signal_[LEFT];
irbumper_pub.publish(irbumper);
ir_warning_ = ir_warning_ || irbumper.state;
irbumper.header.frame_id = "base_irbumper_front_left";
irbumper.state = roomba->ir_bumper_[FRONT_LEFT];
irbumper.signal = roomba->ir_bumper_signal_[FRONT_LEFT];
irbumper_pub.publish(irbumper);
ir_warning_ = ir_warning_ || irbumper.state;
irbumper.header.frame_id = "base_irbumper_center_left";
irbumper.state = roomba->ir_bumper_[CENTER_LEFT];
irbumper.signal = roomba->ir_bumper_signal_[CENTER_LEFT];
irbumper_pub.publish(irbumper);
ir_warning_ = ir_warning_ || irbumper.state;
irbumper.header.frame_id = "base_irbumper_center_right";
irbumper.state = roomba->ir_bumper_[CENTER_RIGHT];
irbumper.signal = roomba->ir_bumper_signal_[CENTER_RIGHT];
irbumper_pub.publish(irbumper);
ir_warning_ = ir_warning_ || irbumper.state;
irbumper.header.frame_id = "base_irbumper_front_right";
irbumper.state = roomba->ir_bumper_[FRONT_RIGHT];
irbumper.signal = roomba->ir_bumper_signal_[FRONT_RIGHT];
irbumper_pub.publish(irbumper);
ir_warning_ = ir_warning_ || irbumper.state;
irbumper.header.frame_id = "base_irbumper_right";
irbumper.state = roomba->ir_bumper_[RIGHT];
irbumper.signal = roomba->ir_bumper_signal_[RIGHT];
irbumper_pub.publish(irbumper);
ir_warning_ = ir_warning_ || irbumper.state;
ir_warning.store(ir_warning_);
// ******************************************************************************************
//publish irchar
irobotcreate2::IRCharacter irchar;
irchar.header.stamp = current_time;
irchar.omni = roomba->ir_char_[OMNI];
irchar.left = roomba->ir_char_[LEFT];
irchar.right = roomba->ir_char_[RIGHT];
irchar_pub.publish(irchar);
// ******************************************************************************************
//publish wheeldrop
irobotcreate2::WheelDrop wheeldrop;
wheeldrop.left.header.stamp = current_time;
wheeldrop.left.state = roomba->wheel_drop_[LEFT];
wheeldrop.right.header.stamp = current_time;
wheeldrop.right.state = roomba->wheel_drop_[RIGHT];
wheeldrop_pub.publish(wheeldrop);
ros::spinOnce();
r.sleep();
if(first_loop)
{
roomba->startOI(true);
if(!desired_mode_full) roomba->Safe();
first_loop=false;
}
}
// roomba->powerDown();
// do not powerDown the Roomba!
roomba->closeSerialPort();
}
// ------------------------------------------------------------------------
void enableForceSetTimer()
{
if (m_synchronised.load() == true)
return;
m_force_set_timer.store(true);
}
// ------------------------------------------------------------------------
void resynchroniseTimer() { m_synchronised.store(false); }
