int DISK_InitialiseMemory()
{
#if 1
if (LoadRom(DiskRomLo,0x2000,"roms/1540-c000.325302-01.bin"))
return 1;
if (LoadRom(DiskRomHi,0x2000,"roms/1540-e000.325303-01.bin"))
return 1;
#else
if (LoadRom(combinedRom,0x4000,"roms/dos1541"))
return 1;
memcpy(DiskRomLo,combinedRom,0x2000);
memcpy(DiskRomHi,combinedRom+0x2000,0x2000);
#endif
#if USE_DRW_IMAGE
if (LoadRom(DiskData,252004,"disks/vicdemos3b.drw"))
return 1;
#else
if (LoadRom(DiskData,333744,"disks/party.g64"))
return 1;
#endif
if (curTrack<0)
{
MoveHead(1); // Initialise DISK
}
return 0;
}
void NaoMarkServiceDetection::FindMarkArround()
{
_isAllowedToMove = false;
MoveHead(-0.7f);
Sleep((DWORD)50);
if(_naoMarkDetected)
{
TurnToDetectedMark(-0.7f);
return;
}
MoveHead(-1.5f);
Sleep((DWORD)50);
if(_naoMarkDetected)
{
TurnToDetectedMark(-1.5f);
return;
}
MoveHead(0.7f);
Sleep((DWORD)50);
if(_naoMarkDetected)
{
TurnToDetectedMark(0.7f);
return;
}
MoveHead(1.5f);
Sleep((DWORD)50);
if(_naoMarkDetected)
{
TurnToDetectedMark(1.5f);
return;
}
MoveHead(0);
_isAllowedToMove = true;
Sleep((DWORD)100);
}
void* audioProcess(void* param)
{
Handle<es::Context> root = System()->getRoot();
gSoundOutput = root->lookup("device/soundOutput");
Handle<es::CurrentThread> currentThread = System()->currentThread();
monitorPlayState = System()->createMonitor();
monitorPlaySize = System()->createMonitor();
long len = 0;
long offset;
long n;
for (;;)
{
monitorPlayState->lock();
while (!playState.playing)
{
monitorPlayState->wait();
}
monitorPlayState->unlock();
monitorPlaySize->lock();
while (playState.size == 0)
{
monitorPlaySize->wait();
}
len = playState.size;
monitorPlaySize->unlock();
for (offset = 0; offset < len; offset += n)
{
Setup();
n = gSoundOutput->write(playState.head, playState.played);
if (n < 0)
{
break;
}
else if (n == 0)
{
continue;
}
MoveHead(n);
synchronizedSignalSemaphoreWithIndex(playState.playSemaIndex);
if (len <= offset + n)
{
break;
}
}
}
if (monitorPlayState)
{
monitorPlayState->release();
}
if (monitorPlaySize)
{
monitorPlaySize->release();
}
return 0;
}
void NaoMarkServiceDetection::TurnToDetectedMark(float angle)
{
motionProxy->moveTo(0,0,angle);
MoveHead(0);
_isAllowedToMove = true;
}
