int init(){
open_bus();
unsigned char whoami=0;
i2c_read(MPU6050_ADDR, MPU6050_WHO_AM_I, 1, &whoami);
if(!silent_flag) {
printf("WHO_AM_I: %x\n", whoami);
}
struct int_param_s int_param;
if(!silent_flag) {
printf("MPU init: %i\n", mpu_init(&int_param));
printf("MPU sensor init: %i\n", mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL));
printf("MPU configure fifo: %i\n", mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL));
printf("DMP firmware: %i\n ",dmp_load_motion_driver_firmware());
printf("DMP orientation: %i\n ",dmp_set_orientation(
inv_orientation_matrix_to_scalar(gyro_orientation)));
}
unsigned short dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL;
if(!silent_flag) {
printf("DMP feature enable: %i\n", dmp_enable_feature(dmp_features));
printf("DMP set fifo rate: %i\n", dmp_set_fifo_rate(DEFAULT_MPU_HZ));
printf("DMP enable %i\n", mpu_set_dmp_state(1));
}
if(!no_interrupt_flag) {
mpu_set_int_level(1); // Interrupt is low when firing
dmp_set_interrupt_mode(DMP_INT_CONTINUOUS); // Fire interrupt on new FIFO value
}
return 0;
}
/*
* 处理主要游戏逻辑的逻辑服务器进程
*/
int main(int argc , char **argv){
sspackage_t sspackage;
char arg_segs[ARG_SEG_COUNT][ARG_CONTENT_LEN]; /*参数内容*/
online_players_t *ponline_players; /*保存在线玩家信息的结构，共享内存*/
runtime_env_t *pruntime_env; /*游戏运行时环境*/
int index;
u64 ticks = 0; /*计时滴答*/
struct sigaction sig_act; /*信号动作*/
int iret;
int icount;
int i;
module_commond_t module_commond;
void *handle = NULL; /*动态加载模块句柄*/
/*检测参数*/
if(argc < 2){
write_log(LOG_ERR , "logic_server:argc < 2 , please input more information worldid.lineid.xxxx , like:1.1.xxxx");
return -1;
}
/*解析参数字符串*/
icount = strsplit(argv[1] , '.' , arg_segs , ARG_SEG_COUNT , ARG_CONTENT_LEN);
if(icount < 2){
write_log(LOG_ERR , "logic_server:illegal argument 1:%s , exit!" , argv[1]);
return -1;
}
world_id = atoi(arg_segs[0]); /*世界ID*/
line_id = atoi(arg_segs[1]); /*线ID*/
if(world_id<=0 || world_id>MAX_WORLD_COUNT || line_id<=0 || line_id>MAX_LINE_COUNT){ /*ID不能小于0或超出最大*/
write_log(LOG_ERR , "logic_server:illegal argument1:%s , exit!" , argv[1]);
return -1;
}
#ifdef DEBUG
printf("world_id:%d , line_id:%d\n" , world_id , line_id);
#endif
connect_server_id = GEN_WORLDID(world_id) | GEN_LINEID(line_id) | FLAG_SERV | GAME_CONNECT_SERVER;
logic_server_id = GEN_WORLDID(world_id) | GEN_LINEID(line_id) | FLAG_SERV | GAME_LOGIC_SERVER;
log_server_id = GEN_WORLDID(world_id) | GEN_LINEID(line_id) | FLAG_SERV | GAME_LOG_SERVER;
/*注册信号*/
memset(&sig_act , 0 , sizeof(sig_act));
sig_act.sa_handler = handle_signal;
sigaction(SIGINT , &sig_act , NULL);
sigaction(SIGUSR1 , &sig_act , NULL);
ctrl_msg = 0;
/***链接BUS*/
iret = open_bus(connect_server_id , logic_server_id);
if(iret < 0){
write_log(LOG_ERR , "logic_server:open bus connect <-> logic failed!");
return -1;
}
/***获得游戏运行时环境*/
pruntime_env = (runtime_env_t *)attach_shm_res(GAME_RT_ENV , world_id , line_id);
if(!pruntime_env){
write_log(LOG_ERR , "logic_server:attach runtime env failed!");
return -1;
}else{
write_log(LOG_INFO , "logic_server:attach runtime env %x success!" , pruntime_env->basic.global_id);
}
//设置相关信息
index = index_last_1bit(GAME_LOGIC_SERVER);
pruntime_env->basic.proc_info[index].global_id = logic_server_id;
pruntime_env->basic.proc_info[index].pid = getpid();
// printf("proc_t:%x vs pid:%d\n" , pruntime_env->basic.proc_info[index].global_id , pruntime_env->basic.proc_info[index].pid);
/***链接在线玩家共享内存*/
ponline_players = (online_players_t *)attach_shm_res(GAME_ONLINE_PLAYERS , world_id , line_id);
if(!ponline_players){
return -1;
}else{
write_log(LOG_INFO , "logic_server:attach online_players %x success!" , ponline_players->global_id);
}
/***加载模块*/
iret = load_modules(MODULE_TYPE_CS , -1 , cs_module_starts , CS_PROTO_MODULE_COUNT);
if(iret < 0)
{
return -1;
}
// cs_module1_start(CS , 1 , NULL);
// cs_module2_start(1 , 1 , NULL);
// cs_module3_start(1 , 1 , NULL);
module_commond.type = MODULE_COMMOND_RELOAD;
module_commond.data.pmodule_dir_path = "../XXMODULE/";
for(i=0; i<CS_PROTO_MODULE_COUNT; i++)
{
cs_module_starts[i](MODULE_TYPE_CS , NULL , &module_commond);
}
/***start success*/
write_log(LOG_INFO , "start logic_server %s success!" , argv[1]);
/***主循环*/
while(1){
ticks++; /*循环一次加一次*/
/***读包*/
do{
iret = get_bus_pkg(logic_server_id , connect_server_id , &sspackage);
if(iret == -1){ /*读包出错*/
write_log(LOG_ERR , "logic server: recv bus failed!");
break;
}
if(iret == -2){ /*BUS为空*/
break;
}
/*BUS有货*/
switch(sspackage.sshead.package_type){
case SS_FROM_CLIENT:
handle_req_client(&sspackage);
break;
default:
break;
}
}while(0);
/***其他的定时处理机制*/
//检测是否存在控制信息
if(ticks % 5 == 0 && ctrl_msg){
handle_ctrl_msg(pruntime_env);
}
} /*end while*/
return 0;
}
i2c_helper::i2c_helper( unsigned bus_id )
:fd_(open_bus(bus_id))
,address_(-1)
{ }
