void SpektrumRX::logData(void){
sprintf(write_buffer,"%u,%u,%u,%u,%u,%u,%.0f\r\n",
channel[0],
channel[1],
channel[2],
channel[3],
channel[4],
channel[5],
timeSinceStart());
writeLogFile();
}
void Game::update(float delta) {
timeCounter += delta;
this->delta = delta;
// calculate lava flow time
int lavaInterval = 20;
if (inFinalBattle || ((int)timeSinceStart() / lavaInterval) % 2 == 1 ||
Input::pressed(sf::Keyboard::BackSpace)) { // for debugging purposes
flowRate += delta / flowSpeed;
} else {
flowRate -= delta / flowSpeed;
}
flowRate = Mth::saturate(flowRate);
lavaTime += delta * flowRate;
// delay play on music in final battle
if (inFinalBattle) {
finalBattleMusicTimer += delta;
if (finalBattleMusicTimer > 5.0f) {
Resources::get().bossTrack.play();
finalBattleMusicTimer = -100000.0f;
}
}
}
SpektrumRX::SpektrumRX(double t0, PWM_module * pwm) {
read_len = -1;
pwm_module = pwm;
sprintf(devicename, "%s", MODEMDEVICE);
time_t0 = t0;
time_t0 = timeSinceStart();
memset(&reference_command[0], 10, sizeof(float)*6);
spektrum_fd = open(devicename, O_RDWR | O_NOCTTY);
if (spektrum_fd < 0){
perror(devicename);
exit(1);
}
else
std::cout << "Port " << devicename << " successfully opened." << std::endl;
tcgetattr(spektrum_fd, &options);
options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
options.c_oflag &= ~(ONLCR | OCRNL);
// set baud rate
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
tcsetattr(spektrum_fd, TCSANOW, &options);
openLogFile();
if (pthread_create(&autoSample_thread, 0, &thread_catch_spektrumrx, this) != 0){
std::cout << "Receive thread creation error." << std::endl;
}
// // Make thread priority high
// struct sched_param sp;
// sp.sched_priority = 95;
// pthread_setschedparam(autoSample_thread, SCHED_FIFO, &sp);
}
