void FAutomationTestPresetManager::LoadPresets( )
{
TArray<FString> PresetFileNames;
IFileManager::Get().FindFiles(PresetFileNames, *(GetPresetFolder() / TEXT("*.uap")), true, false);
for (TArray<FString>::TConstIterator It(PresetFileNames); It; ++It)
{
FString PresetFilePath = GetPresetFolder() / *It;
FArchive* PresetFileReader = IFileManager::Get().CreateFileReader(*PresetFilePath);
if (PresetFileReader != nullptr)
{
AutomationPresetPtr LoadedPreset = LoadPreset(*PresetFileReader);
if (LoadedPreset.IsValid())
{
Presets.Add(LoadedPreset);
}
else
{
IFileManager::Get().Delete(*PresetFilePath);
}
delete PresetFileReader;
}
}
}
signed char RunPreset(signed char pnum) {
signed char ret;
switch (GetPresetType(pnum)) {
case 1:
LoadPreset(pnum, (unsigned char *) &CurrentPath);
ret = RunWaypointProgram();
if (ret<-2) return ret;
if (ret < 0) {
ret = RealtimeMode();
if (ret<-2) return ret;
}
break;
case 2:
LoadPreset(pnum, (unsigned char *) &CurrentOrbitProgram);
ret = RunOrbitProgram();
if (ret<-2) return ret;
if (ret < 0) {
ret = RealtimeMode();
if (ret<-2) return ret;
}
break;
}
return 0;
}
void Idle() {
unsigned int addr = 0;
unsigned char MsgAddr = 0;
unsigned char PresetNumber = 0;
unsigned char *ConfigPtr;
ConfigStruct TempConfig;
char idx;
MULTI temp;
PRESET tempPset;
if (ExtModeActive) {
idx = 255;
while (idx--);
return;
}
if (!RX_MsgComplete) {
idx = 255;
while (idx--);
return;
}
ChkSum = 0;
ReadIdx = 1;
RX_MsgComplete = 0;
MsgAddr = MessageStream_ReadByte();
if (MsgAddr == 0xFF) {
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(MyID);
MessageStream_WriteByte('O');
MessageStream_WriteByte('R');
MessageStream_WriteByte('B');
MessageStream_WriteByte('I');
MessageStream_WriteByte('T');
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
} else if (MsgAddr == MyID) {
unsigned char CmdID = MessageStream_ReadByte();
switch (CmdID) {
case CMD_GET_COMPLETE_STATUS:
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line2[idx]);
ChkSum += LCD_Line2[idx];
}
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line1[idx]);
ChkSum += LCD_Line1[idx];
}
bLock_Motor_Position = 1;
temp.dbl = Motor_Position;
bLock_Motor_Position = 0;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteByte(temp.ub[0]);
MessageStream_WriteByte(temp.ub[1]);
MessageStream_WriteByte(temp.ub[2]);
MessageStream_WriteByte(temp.ub[3]);
ChkSum += temp.ub[0];
ChkSum += temp.ub[1];
ChkSum += temp.ub[2];
ChkSum += temp.ub[3];
temp.dbl = 0;
while (!(temp.dbl == Move_speedQ24)) temp.dbl = Move_speedQ24;
temp.dbl *= INV_Conversion_Q24_500Hz;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteByte(temp.ub[0]);
MessageStream_WriteByte(temp.ub[1]);
MessageStream_WriteByte(temp.ub[2]);
MessageStream_WriteByte(temp.ub[3]);
ChkSum += temp.ub[0];
ChkSum += temp.ub[1];
ChkSum += temp.ub[2];
ChkSum += temp.ub[3];
temp.dbl = 0;
bLock_BatteryVoltage = 1;
temp.dbl = BatteryVoltage;
bLock_BatteryVoltage = 0;
temp.dbl *= Config.Volts_per_Count;
MessageStream_WriteByte(temp.ub[0]);
MessageStream_WriteByte(temp.ub[1]);
MessageStream_WriteByte(temp.ub[2]);
MessageStream_WriteByte(temp.ub[3]);
ChkSum += temp.ub[0];
ChkSum += temp.ub[1];
ChkSum += temp.ub[2];
ChkSum += temp.ub[3];
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_GETDISPLAY:
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line2[idx]);
ChkSum += LCD_Line2[idx];
}
for (idx = 0; idx < 20; idx++) {
MessageStream_WriteByte(LCD_Line1[idx]);
ChkSum += LCD_Line1[idx];
}
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_UI_CLICK:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_CLICK;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_CANCEL:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_CANCEL;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_BACK:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_BACK;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_INC:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_INC;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_DEC:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = USER_INPUT_DEC;
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_UI_MACRO:
isPendingExternalUIEvent = 0;
PendingExternalUIEvent = -MessageStream_ReadByte();
isPendingExternalUIEvent = 1;
AckCmd(CmdID);
break;
case CMD_GET_UI_LOC:
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
MessageStream_WriteByte(UI_Location);
MessageStream_WriteByte(UI_Location);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_GET_POS:
bLock_Motor_Position = 1;
temp.dbl = Motor_Position;
bLock_Motor_Position = 0;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteMULTI(temp, CmdID);
break;
case CMD_GET_SPEED:
temp.dbl = 0;
while (!(temp.dbl == Move_speedQ24)) temp.dbl = Move_speedQ24;
temp.dbl *= INV_Conversion_Q24_500Hz;
temp.dbl *= Config.Degrees_Per_Count;
MessageStream_WriteMULTI(temp, CmdID);
break;
case CMD_GET_BATTERY:
temp.dbl = 0;
bLock_BatteryVoltage = 1;
temp.dbl = BatteryVoltage;
bLock_BatteryVoltage = 0;
temp.dbl *= Config.Volts_per_Count;
MessageStream_WriteMULTI(temp, CmdID);
break;
case CMD_GET_PRESET:
PresetNumber = MessageStream_ReadByte();
if (PresetNumber > 5) {
NackCmd(CmdID, 1);
break;
}
if (PresetNumber == 0) {
NackCmd(CmdID, 1);
break;
}
LoadPreset(PresetNumber, (unsigned char *) &tempPset);
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx<sizeof (tempPset); idx++) {
MessageStream_WriteByte(tempPset.ub[idx]);
ChkSum += tempPset.ub[idx];
}
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_SET_PRESET:
PresetNumber = MessageStream_ReadByte();
if (PresetNumber > 5) {
NackCmd(CmdID, 1);
break;
}
if (PresetNumber == 0) {
NackCmd(CmdID, 1);
break;
}
ChkSum += PresetNumber;
for (idx = 0; idx < 120; idx++) {
tempPset.ub[idx] = MessageStream_ReadByte();
ChkSum += tempPset.ub[idx];
}
if (ChkSum == MessageStream_ReadByte()) {
SavePreset(PresetNumber, (unsigned char *) &tempPset);
AckCmd(CmdID);
} else {
NackCmd(CmdID, ChkSum);
}
break;
case CMD_GET_CONFIG:
ConfigPtr = (unsigned char *) &Config;
TX_Idx = 0;
TXBuffer[TX_Idx++] = '$';
MessageStream_WriteByte(CmdID);
for (idx = 0; idx<sizeof (Config); idx++) {
MessageStream_WriteByte((*ConfigPtr));
ChkSum += (*ConfigPtr);
ConfigPtr++;
}
MessageStream_WriteByte(ChkSum);
TXBuffer[TX_Idx++] = '#';
idx = TX_Idx;
TX_Idx = 0;
TX_bCount = idx;
break;
case CMD_SET_CONFIG:
ConfigPtr = (unsigned char *) &TempConfig;
for (idx = 0; idx < sizeof (Config); idx++) {
(*ConfigPtr) = MessageStream_ReadByte();
ChkSum += (*ConfigPtr);
ConfigPtr++;
}
if (ChkSum == MessageStream_ReadByte()) {
addr=0;
EEprom_write(&addr, (unsigned char *) &TempConfig, sizeof (TempConfig));
AckCmd(CmdID);
} else {
NackCmd(CmdID, ChkSum);
}
break;
default:
NackCmd(CmdID, 0xFF);
}
}
return;
}
int HandleCLIOptions(int argc,char *argv[], OPTIONS *options)
{
int i,firstnonoption=0;
for (i=1; i< argc;i++) {
if (argv[i][0] == '/' || argv[i][0] == '-') {
switch (argv[i][1]) {
/* An argument -? means help is requested */
case '?':
PrintUsage(argv[0]);
break;
case 'h':
case 'H':
if (!stricmp(argv[i]+1,"help")) {
PrintUsage(argv[0]);
}
if (!stricmp(argv[i]+1,"height")) { //also might mean height
if (i+1<argc) {
options->height = strtol(argv[i+1], NULL, 0);
i++;
}
}
break;
case 'n':
case 'N':
if (!stricmp(argv[i]+1,"north") || *(argv[i]+2)==0) { //if it's north or n (terminated with 0)
if (i+1<argc) {
options->north = strtod(argv[i+1], NULL);
i++;
}
}
break;
case 's':
case 'S':
if (!stricmp(argv[i]+1,"south") || *(argv[i]+2)==0) { //if it's north or n (terminated with 0)
if (i+1<argc) {
options->south = strtod(argv[i+1], NULL);
i++;
}
}
break;
case 'w':
case 'W':
if (!stricmp(argv[i]+1,"west") || *(argv[i]+2)==0) { //if it's north or n (terminated with 0)
if (i+1<argc) {
options->west = strtod(argv[i+1], NULL);
i++;
}
}
if (!stricmp(argv[i]+1,"width")) { //also might mean height
if (i+1<argc) {
options->width = strtol(argv[i+1], NULL, 0);
i++;
}
}
break;
case 'e':
case 'E':
if (!stricmp(argv[i]+1,"east") || *(argv[i]+2)==0) { //if it's north or n (terminated with 0)
if (i+1<argc) {
options->east = strtod(argv[i+1], NULL);
i++;
}
}
break;
case 'x':
case 'X':
if (i+1<argc) {
options->width = strtol(argv[i+1], NULL, 0);
i++;
}
break;
case 'y':
case 'Y':
if (i+1<argc) {
options->height = strtol(argv[i+1], NULL, 0);
i++;
}
break;
/* //I've stopped using zoom as an argument
case 'z':
case 'Z':
if (i+1<argc) {
options->zoom = strtod(argv[i+1], NULL);
i++; //move to the next variable, we've got a zoom
}
break;
*/
case 'g': //the grid
case 'G':
if (i+1<argc) {
options->gridsize = strtod(argv[i+1], NULL);
i++;
}
break;
case 'c': //how to cycle through the colours
case 'C':
if (i+1<argc) {
if (!stricmp(argv[i+1],"day")) options->colourcycle=60*60*24;
else if (!stricmp(argv[i+1],"week")) options->colourcycle=60*60*24*7;
else if (!stricmp(argv[i+1],"month")) options->colourcycle=60*60*24*30.4375;
else if (!stricmp(argv[i+1],"halfyear")) options->colourcycle=60*60*24*182.625;
else if (!stricmp(argv[i+1],"year")) options->colourcycle=60*60*24*365.25;
else if (!stricmp(argv[i+1],"hour")) options->colourcycle=60*60;
else options->colourcycle = strtol(argv[i+1], NULL, 0);
i++;
}
break;
case 'p':
case 'P':
if (!stricmp(argv[i]+1,"preset") || *(argv[i]+2)==0) { //preset or just p
if (i+1<argc) {
LoadPreset(options, argv[i+1]);
i++;
}
}
break;
case 'a': //alpha value
case 'A':
if (i+1<argc) {
options->alpha = strtod(argv[i+1], NULL);
i++;
}
break;
case 'f': //from time
case 'F':
if (i+1<argc) {
options->fromtimestamp = strtol(argv[i+1], NULL,0);
i++;
}
break;
case 't': //to time
case 'T':
if (i+1<argc) {
options->totimestamp = strtol(argv[i+1], NULL,0);
i++;
}
break;
case 'k':
case 'K':
if (i+1<argc) {
options->kmlfilenameinput = argv[i+1];
i++;
}
break;
case 'i':
case 'I':
if (i+1<argc) {
options->jsonfilenameinput = argv[i+1];
i++;
}
break;
case 'o':
case 'O':
if (i+1<argc) {
options->pngfilenameinput = argv[i+1];
i++;
}
break;
default:
fprintf(stderr,"unknown option %s\n",argv[i]);
break;
}
}
else {
options->pngfilenameinput = argv[i];
firstnonoption = i;
break;
}
}
return firstnonoption;
}
void main(void) {
signed char ret = 0;
signed char lastMenu = 0;
char pnum = 0;
SetupIO();
MOTOR_FORWARD = 0;
MOTOR_REVERSE = 0;
Move_shifted_position.ul = 0;
Move_position[0].ul = 0;
Move_position[1].ul = 0;
//PID_SetPoint = 0;
char idx;
for (idx = 0; idx < 16; idx++) RotaryDetentIntervals[idx] = 0xFF;
//LoadSettings();
FactoryDefault();
SetupHardware();
LCD_PowerUp();
LCD_ClearDisplay();
LCD_PrintString("CINEFLUX ORBIT\0");
LCD_SetPosition(1,0);
LCD_PrintString(VER);
Wait_ms(2000);
const char *COMMAND_0 = "ORBIT MODE\0";
const char *COMMAND_1 = "WAYPOINT MODE\0";
const char *COMMAND_3 = "RUN PRESET\0";
const char *COMMAND_2 = "REALTIME MODE\0";
const char *COMMAND_4 = "BATTERY VOLTAGE\0";
const char *COMMAND_5 = "GO TO SLEEP\0";
const char *COMMAND_6 = "EXTERNAL CTRL MODE\0";
const char*CommandMenu[7];
CommandMenu[0] = COMMAND_0;
CommandMenu[1] = COMMAND_1;
CommandMenu[2] = COMMAND_2;
CommandMenu[3] = COMMAND_3;
CommandMenu[4] = COMMAND_4;
CommandMenu[5] = COMMAND_5;
CommandMenu[6] = COMMAND_6;
bFollowMode = 1;
LCD_ClearDisplay();
LCD_PrintString("MOVE TO ZERO DEGREES\0");
LCD_SetPosition(1, 0);
LCD_PrintString("THEN CLICK...\0");
GetClick();
bClear_MotorPosition = 1;
while (bClear_MotorPosition) Idle();
Wait_ms(10);
bFollowMode = 0;
LCD_ClearDisplay();
while (1) {
ret = DisplayMenu(CommandMenu, 6, lastMenu);
switch (ret) {
case 0:
lastMenu = 0;
if (!CreateOrbitProgram() == 0)
RealtimeMode();
break;
case 1:
lastMenu = 1;
if (!CreateWaypointProgram() == 0)
RealtimeMode();
break;
case 3:
lastMenu = 2;
ret = GetPresetNumber();
if (ret == -1) break;
if (ret == -2) break;
pnum = ret;
switch (GetPresetType(pnum)) {
case 1:
LoadPreset(pnum, (unsigned char *) &CurrentPath);
if (!RunWaypointProgram() == 0)
RealtimeMode();
break;
case 2:
LoadPreset(pnum, (unsigned char *) &CurrentOrbitProgram);
if (!RunOrbitProgram() == 0)
RealtimeMode();
break;
}
break;
case 2:
lastMenu = 2;
RealtimeMode();
break;
case 4:
lastMenu = 0;
ShowVoltage();
break;
case 5:
lastMenu = 0;
GoToSleep();
break;
case 6:
lastMenu = 0;
ExtMode();
break;
}
}
}
