//--------------------------------------------------------------
void testApp::update() {
if (currentMode == MODE_CONTROLLED_BY_ARDUINO) {
processSerial();
rotationalSpeed = ofMap(potValue, 0, 1023, -maxSpeed, maxSpeed);
float elapsedTime = ofGetLastFrameTime();
imageSectionHeading += rotationalSpeed * elapsedTime;
generateVBOs();
}
}
//pocess serial and I2C interface
void Interface::process(void)
{
processSerial();
processI2C();
}
int main(int argc, char **argv)
{
in_port_t port = DEFAULT_PORT;
long baud = DEFAULT_BAUD;
char dv3000tty[MAXPATHLEN] = DEFAULT_TTY;
fd_set fds;
int serialFd;
int sockFd;
int topFd;
int c;
#ifdef __CYGWIN__
int commnum;
#endif
char reset = 0;
char daemon = 0;
setvbuf(stdout, NULL, _IOLBF, 0);
setvbuf(stderr, NULL, _IOLBF, 0);
#ifdef __CYGWIN__
while ((c = getopt(argc, argv, "dp:s:c:vxrh")) != -1) {
#else
while ((c = getopt(argc, argv, "dp:s:i:vxrh")) != -1) {
#endif
switch (c) {
case 'd':
daemon = 1;
break;
case 'p':
errno = 0;
port = strtol(optarg, NULL, 10);
if(errno != 0 || port == 0) {
fprintf(stderr, "Invalid port number: %s\n", optarg);
usage();
}
break;
case 's':
errno = 0;
baud = strtol(optarg, NULL, 10);
if(errno != 0 || baud == 0) {
fprintf(stderr, "Invalid baud rate: %s\n", optarg);
usage();
}
break;
#ifdef __CYGWIN__
case 'c':
commnum = strtol(optarg, NULL, 10);
sprintf(dv3000tty,"/dev/ttyS%d",commnum - 1);
break;
#else
case 'i':
strncpy(dv3000tty, optarg, sizeof(dv3000tty));
break;
#endif
case 'v':
fprintf(stdout, "AMBEserver: version " DV3000_VERSION "\n");
return 0;
case 'x':
debug = 1;
break;
case 'r':
reset = 1;
break;
case 'h':
default:
usage();
break;
}
}
if (strlen(dv3000tty) < 1) {
fprintf(stderr, "An input tty filename (-i /dev/ttyXXX) must be set.\n");
return 1;
}
if (daemon) {
pid_t pid = fork();
if (pid < 0) {
fprintf(stderr, "AMBEserver: error in fork(), exiting\n");
exit(1);
}
// If this is the parent, exit
if (pid > 0)
exit(0);
// We are the child from here onwards
setsid();
umask(0);
}
fprintf(stdout, "AMBEserver: Starting...\n");
serialFd = openSerial(dv3000tty, baud);
if (serialFd < 0)
exit(1);
fprintf(stdout, "AMBEserver: Opened serial port %s at %ld bps.\n", dv3000tty, baud);
if(initDV3K(serialFd, reset) == 0) {
fprintf(stderr, "AMBEserver: Could not initialize the DV3K!\n");
exit(1);
}
sockFd = openSocket(port);
if (sockFd < 0)
exit(1);
fprintf(stdout, "AMBEserver: Listening for connections on UDP port %d.\n", port);
topFd = (sockFd > serialFd ? sockFd : serialFd ) + 1;
for (;;) {
FD_ZERO(&fds);
FD_SET(sockFd, &fds);
FD_SET(serialFd, &fds);
if (select(topFd, &fds, NULL, NULL, NULL) < 0) {
fprintf(stderr, "AMBEserver: error from select: %s\n", strerror(errno));
exit(1);
}
if(FD_ISSET(sockFd, &fds))
if (!processSocket(sockFd, serialFd))
exit(1);
if(FD_ISSET(serialFd, &fds))
if (!processSerial(sockFd, serialFd))
exit(1);
}
exit(0);
}
