//!xerces start element event
void amis::io::NccFileReader::startElement(const XMLCh* const uri,
const XMLCh* const localname,
const XMLCh* const qname,
const Attributes& attributes)
{
//get the name of the node from xerces
char *node_name_ = XMLString::transcode(qname);
string node_name;
node_name.assign(node_name_);
XMLString::release(&node_name_);
int lvl = isHeading(node_name);
//if this is a heading node
if (lvl > 0)
{
processHeading(lvl, &attributes);
}
else if(node_name.compare("span") == 0)
{
processSpan(&attributes);
}
else if(node_name.compare("div") == 0)
{
processDiv(&attributes);
}
else if(node_name.compare("meta") == 0 ||
node_name.substr(0, 3).compare("dc:") == 0)
{
processMetadata(node_name, &attributes);
}
//special condition for links due to the nested <a> element
else if (node_name.compare("a") == 0)
{
string href;
href.assign(SimpleAttrs::get("href", &attributes));
mbFlag_GetChars = true;
mTempChars.erase();
if (mListType == 0)
{
mpCurrentNavPoint->setContent(href);
}
else if (mListType == 1)
{
//nav list
mpCurrentNavTarget->setContent(href);
}
else if (mListType == 2)
{
//page list
mpCurrentPageTarget->setContent(href);
}
}
}
//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////// X MODE //////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
void processFlightControlXMode(void) {
// ********************** Calculate Flight Error ***************************
calculateFlightError();
// ********************** Update Yaw ***************************************
processHeading();
// ********************** Altitude Adjust **********************************
//processAltitudeHold();
// ********************** Calculate Motor Commands *************************
if (armed && safetyCheck) {
// Front = Front/Right, Back = Left/Rear, Left = Front/Left, Right = Right/Rear
motors.setMotorCommand(FRONT, throttle - motors.getMotorAxisCommand(PITCH) + motors.getMotorAxisCommand(ROLL) - motors.getMotorAxisCommand(YAW));
motors.setMotorCommand(RIGHT, throttle - motors.getMotorAxisCommand(PITCH) - motors.getMotorAxisCommand(ROLL) + motors.getMotorAxisCommand(YAW));
motors.setMotorCommand(LEFT, throttle + motors.getMotorAxisCommand(PITCH) + motors.getMotorAxisCommand(ROLL) + motors.getMotorAxisCommand(YAW));
motors.setMotorCommand(REAR, throttle + motors.getMotorAxisCommand(PITCH) - motors.getMotorAxisCommand(ROLL) - motors.getMotorAxisCommand(YAW));
}
// *********************** process min max motor command *******************
processMinMaxMotorCommand();
// Allows quad to do acrobatics by lowering power to opposite motors during hard manuevers
if (flightMode == ACRO) {
processHardManuevers();
}
// Apply limits to motor commands
for (int motor = FRONT; motor < LASTMOTOR; motor++) {
motors.setMotorCommand(motor, constrain(motors.getMotorCommand(motor), motors.getMinCommand(motor), motors.getMaxCommand(motor)));
}
// If throttle in minimum position, don't apply yaw
if (receiver.getData(THROTTLE) < MINCHECK) {
for (int motor = FRONT; motor < LASTMOTOR; motor++) {
motors.setMotorCommand(motor, MINTHROTTLE);
}
}
// ESC Calibration
if (armed == OFF) {
processCalibrateESC();
}
// *********************** Command Motors **********************
if (armed == ON && safetyCheck == ON) {
motors.write(); // Defined in Motors.h
}
}
//!xerces start element event
void amis::io::NcxFileReader::startElement(const XMLCh* const uri,
const XMLCh* const localname,
const XMLCh* const qname,
const Attributes& attributes)
{
char *node_name_ = XMLString::transcode(qname);
string node_name;
node_name.assign(node_name_);
XMLString::release(&node_name_);
if (node_name.compare("navMap") == 0)
{
mListType = 0;
}
//if this is a heading node
else if (node_name.compare("navPoint") == 0)
{
processHeading(&attributes);
}
else if(node_name.compare("docTitle") == 0)
{
mpTitle = new amis::MediaGroup();
mpCurrentMediaGroup = mpTitle;
}
else if(node_name.compare("docAuthor") == 0)
{
mpAuthor = new amis::MediaGroup();
mpCurrentMediaGroup = mpAuthor;
}
else if(node_name.compare("navLabel") == 0)
{
processNavLabel(&attributes);
}
else if(node_name.compare("text") == 0)
{
processText(&attributes);
}
else if(node_name.compare("audio") == 0)
{
processAudio(&attributes);
}
else if(node_name.compare("navTarget") == 0)
{
processNavTarget(&attributes);
}
else if(node_name.compare("pageTarget") == 0)
{
processPageTarget(&attributes);
}
else if(node_name.compare("content") == 0)
{
string src;
src.assign(SimpleAttrs::get("src", &attributes));
if (mListType == 0)
mpCurrentNavPoint->setContent(src);
else if(mListType == 2)
mpCurrentPageTarget->setContent(src);
else if(mListType == 1)
mpCurrentNavTarget->setContent(src);
}
else if(node_name.compare("navList") == 0)
{
mListType = 1;
string class_value;
class_value.assign(SimpleAttrs::get("class", &attributes));
int idx = mpNavModel->addNavList(class_value);
amis::dtb::nav::NavList* p_list = mpNavModel->getNavList(idx);
}
else if(node_name.compare("pageList") == 0)
{
mListType = 2;
amis::dtb::nav::PageList* p_list = mpNavModel->getPageList();
}
else if(node_name.compare("navInfo") == 0)
{
mpCurrentMediaGroup = new amis::MediaGroup();
if (mListType == 0)
mpNavModel->getNavMap()->setNavInfo(mpCurrentMediaGroup);
else if (mListType == 2)
mpNavModel->getPageList()->setNavInfo(mpCurrentMediaGroup);
else if (mListType == 1)
mpNavModel->getNavLists()->back()->setNavInfo(mpCurrentMediaGroup);
}
else if(node_name.compare("smilCustomTest") == 0)
{
processCustomTest(&attributes);
}
}
