/** * TODO : Rename Driver into ClientDriver * @private */ void initMainBoardClientDriversBuffer() { // Init the drivers initDrivers(&driverRequestBuffer, &driverRequestBufferArray, MAIN_BOARD_REQUEST_DRIVER_BUFFER_LENGTH, &driverResponseBuffer, &driverResponseBufferArray, MAIN_BOARD_RESPONSE_DRIVER_BUFFER_LENGTH); // Get test driver for debug purpose addDriver(testDriverGetDescriptor(), TRANSMIT_LOCAL); }
/** * @private */ void initDriversDescriptor() { // Init the drivers initDrivers(&driverRequestBuffer, &driverRequestBufferArray, MAIN_BOARD_REQUEST_DRIVER_BUFFER_LENGTH, &driverResponseBuffer, &driverResponseBufferArray, MAIN_BOARD_RESPONSE_DRIVER_BUFFER_LENGTH); // Get test driver for debug purpose // addDriver(driverTestGetDescriptor(), TRANSMIT_LOCAL); // Direct Devantech Driver addDriver(getMD22DriverDescriptor(), TRANSMIT_NONE); }
INT_PTR CALLBACK AudioDlgProc (HWND hDlg, UINT uMsg, WPARAM wParam, LPARAM lParam) { switch (uMsg) { case WM_COMMAND: switch (LOWORD(wParam)) { case IDC_AUDIO_CONFIGURE: configureAudioDriver(hDlg); break; case IDC_AUDIO_TEST: if(!PlaySound(MAKEINTRESOURCE(IDW_TESTSOUND), NULL, SND_RESOURCE | SND_SYNC)) MessageBox(NULL, "Audio test failed!", "Error", MB_OK | MB_ICONERROR); break; case IDC_AUDIO_CONTROL_PANEL: MessageBox(NULL, "Launching audio control panel not implemented yet!", "Fixme", MB_OK | MB_ICONERROR); break; case IDC_DSOUND_HW_ACCEL: if (HIWORD(wParam) == CBN_SELCHANGE) { int selected_dsound_accel; int i, j = 0; SendMessage(GetParent(hDlg), PSM_CHANGED, 0, 0); selected_dsound_accel = SendDlgItemMessage(hDlg, IDC_DSOUND_HW_ACCEL, CB_GETCURSEL, 0, 0); for (i = 0; DSound_HW_Accels[i].settingStr; ++i) { if (DSound_HW_Accels[i].visible) { if (j == selected_dsound_accel) { set_reg_key(config_key, keypath("DirectSound"), "HardwareAcceleration", DSound_HW_Accels[i].settingStr); break; } j++; } } } break; case IDC_DSOUND_RATES: if (HIWORD(wParam) == CBN_SELCHANGE) { int selected_dsound_rate; SendMessage(GetParent(hDlg), PSM_CHANGED, 0, 0); selected_dsound_rate = SendDlgItemMessage(hDlg, IDC_DSOUND_RATES, CB_GETCURSEL, 0, 0); set_reg_key(config_key, keypath("DirectSound"), "DefaultSampleRate", DSound_Rates[selected_dsound_rate]); } break; case IDC_DSOUND_BITS: if (HIWORD(wParam) == CBN_SELCHANGE) { int selected_dsound_bits; SendMessage(GetParent(hDlg), PSM_CHANGED, 0, 0); selected_dsound_bits = SendDlgItemMessage(hDlg, IDC_DSOUND_BITS, CB_GETCURSEL, 0, 0); set_reg_key(config_key, keypath("DirectSound"), "DefaultBitsPerSample", DSound_Bits[selected_dsound_bits]); } break; } break; case WM_SHOWWINDOW: set_window_title(hDlg); break; case WM_NOTIFY: switch(((LPNMHDR)lParam)->code) { case PSN_KILLACTIVE: SetWindowLongPtr(hDlg, DWLP_MSGRESULT, FALSE); break; case PSN_APPLY: set_reg_key(config_key, "Drivers", "Audio", curAudioDriver); apply(); SetWindowLongPtr(hDlg, DWLP_MSGRESULT, PSNRET_NOERROR); break; case PSN_SETACTIVE: break; case NM_CLICK: if (((LPNMHDR)lParam)->idFrom == IDC_AUDIO_TREE) { TVHITTESTINFO ht; DWORD dwPos = GetMessagePos(); HWND tree = ((LPNMHDR)lParam)->hwndFrom; ZeroMemory(&ht, sizeof(ht)); ht.pt.x = (short)LOWORD(dwPos); ht.pt.y = (short)HIWORD(dwPos); MapWindowPoints(HWND_DESKTOP, tree, &ht.pt, 1); SendMessageW( tree, TVM_HITTEST, 0, (LPARAM)&ht ); if (TVHT_ONITEMSTATEICON & ht.flags) { TVITEM tvItem; int index; ZeroMemory(&tvItem, sizeof(tvItem)); tvItem.hItem = ht.hItem; SendMessageW( tree, TVM_GETITEMW, 0, (LPARAM) &tvItem ); index = TreeView_GetItemState(tree, ht.hItem, TVIS_STATEIMAGEMASK); if (index == INDEXTOSTATEIMAGEMASK(1)) { TreeView_SetItemState(tree, ht.hItem, INDEXTOSTATEIMAGEMASK(2), TVIS_STATEIMAGEMASK); addDriver(loadedAudioDrv[tvItem.lParam & 0xff].szDriver); SendMessage(GetParent(hDlg), PSM_CHANGED, (WPARAM) hDlg, 0); /* enable apply button */ } else if (index == INDEXTOSTATEIMAGEMASK(2)) { TreeView_SetItemState(tree, ht.hItem, INDEXTOSTATEIMAGEMASK(1), TVIS_STATEIMAGEMASK); removeDriver(loadedAudioDrv[tvItem.lParam & 0xff].szDriver); SendMessage(GetParent(hDlg), PSM_CHANGED, (WPARAM) hDlg, 0); /* enable apply button */ } } } break; case NM_RCLICK: if (((LPNMHDR)lParam)->idFrom == IDC_AUDIO_TREE) { TVHITTESTINFO ht; DWORD dwPos = GetMessagePos(); HWND tree = ((LPNMHDR)lParam)->hwndFrom; POINT pt; ZeroMemory(&ht, sizeof(ht)); pt.x = (short)LOWORD(dwPos); pt.y = (short)HIWORD(dwPos); ht.pt = pt; MapWindowPoints(HWND_DESKTOP, tree, &ht.pt, 1); SendMessageW( tree, TVM_HITTEST, 0, (LPARAM)&ht ); if (TVHT_ONITEMLABEL & ht.flags) { TVITEM tvItem; ZeroMemory(&tvItem, sizeof(tvItem)); tvItem.hItem = ht.hItem; tvItem.mask = TVIF_PARAM; tvItem.lParam = -1; if (TreeView_GetItem(tree, &tvItem)) { if (tvItem.lParam & DRIVER_MASK) { if (hPopupMenus) { TrackPopupMenu(GetSubMenu(hPopupMenus, 0), TPM_RIGHTBUTTON, pt.x, pt.y, 0, tree, NULL); toConfigure = tvItem.lParam & ~DRIVER_MASK; } } else if (tvItem.lParam & DEVICE_MASK) { /* FIXME TBD */ } } } } } break; case WM_INITDIALOG: initAudioDlg(hDlg); break; } return FALSE; }
void runMainBoardPC(bool connectToRobotManagerMode) { connectToRobotManager = connectToRobotManagerMode; setBoardName(MAIN_BOARD_PC_NAME); moveConsole(0, 0, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT); // We use http://patorjk.com/software/taag/#p=testall&v=2&f=Acrobatic&t=MOTOR%20BOARD%20PC // with Font : Jerusalem printf(" __ __ _ ___ _ _ ____ ___ _ ____ ____ ____ ____ \r\n"); printf("| \\/ | / \\ |_ _| \\ | | | __ ) / _ \\ / \\ | _ \\| _ \\ | _ \\ / ___|\r\n"); printf("| |\\/| | / _ \\ | || \\| | | _ \\| | | |/ _ \\ | |_) | | | | | |_) | | \r\n"); printf("| | | |/ ___ \\ | || |\\ | | |_) | |_| / ___ \\| _ <| |_| | | __/| |___ \r\n"); printf("|_| |_/_/ \\_|___|_| \\_| |____/ \\___/_/ \\_|_| \\_|____/ |_| \\____|\r\n"); printf("\r\n"); initLogs(DEBUG, (LogHandler(*)[]) &logHandlerListArray, MAIN_BOARD_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK); initConsoleInputStream(&consoleInputStream); initConsoleOutputStream(&consoleOutputStream); addConsoleLogHandler(DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK); appendStringCRLF(getDebugOutputStreamLogger(), getBoardName()); initTimerList((Timer(*)[]) &timerListArray, MAIN_BOARD_PC_TIMER_LENGTH); initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MAIN_BOARD_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN"); initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MAIN_BOARD_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN"); // Dispatchers initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MAIN_BOARD_PC_DATA_DISPATCHER_LIST_LENGTH); addLocalDriverDataDispatcher(); initI2cBus(&motorBoardI2cBus, I2C_BUS_TYPE_MASTER, I2C_BUS_PORT_1); initI2cBusConnection(&motorBoardI2cBusConnection, &motorBoardI2cBus, MOTOR_BOARD_PC_I2C_ADDRESS); addI2CDriverDataDispatcher("MOTOR_BOARD_DISPATCHER", &motorBoardInputBuffer, (char(*)[]) &motorBoardInputBufferArray, MAIN_BOARD_PC_DATA_MOTOR_BOARD_DISPATCHER_BUFFER_LENGTH, &motorBoardOutputStream, &motorBoardInputStream, &motorBoardI2cBusConnection ); if (connectToRobotManager) { // Open the serial Link between RobotManager (C# Project) and the MainBoardPc openSerialLink(&robotManagerSerialStreamLink, &robotManagerInputBuffer, (char(*)[]) &robotManagerInputBufferArray, ROBOT_MANAGER_INPUT_BUFFER_LENGTH, &robotManagerOutputBuffer, (char(*)[]) &robotManagerOutputBufferArray, ROBOT_MANAGER_OUTPUT_BUFFER_LENGTH, &robotManagerOutputStream, SERIAL_PORT_ROBOT_MANAGER, 0); } // CONFIG initRobotConfigPc(&robotConfig); // EEPROM initEepromPc(&eeprom, "TODO"); initEepromFile(&eeprom); // Clock initPcClock(&clock); // Temperature initTemperaturePc(&temperature); // I2C Debug initI2CDebugBuffers(&i2cMasterDebugInputBuffer, (char(*)[]) &i2cMasterDebugInputBufferArray, MAIN_BOARD_PC_I2C_DEBUG_MASTER_IN_BUFFER_LENGTH, &i2cMasterDebugOutputBuffer, (char(*)[]) &i2cMasterDebugOutputBufferArray, MAIN_BOARD_PC_I2C_DEBUG_MASTER_OUT_BUFFER_LENGTH); // Init the drivers initDrivers(&driverRequestBuffer, (char(*)[]) &driverRequestBufferArray, MAIN_BOARD_PC_REQUEST_DRIVER_BUFFER_LENGTH, &driverResponseBuffer, (char(*)[]) &driverResponseBufferArray, MAIN_BOARD_PC_RESPONSE_DRIVER_BUFFER_LENGTH); // Get test driver for debug purpose addDriver(testDriverGetDescriptor(), TRANSMIT_LOCAL); // Devices initDeviceList((Device(*)[]) &deviceListArray, MAIN_BOARD_PC_DEVICE_LIST_LENGTH); // addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor()); testDevice = addI2cRemoteDevice(getTestDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); testDevice->deviceHandleNotification = mainBoardDeviceHandleNotification; // LOCAL BOARD addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor()); addLocalDevice(getStrategyDeviceInterface(), getStrategyDeviceDescriptor()); addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor()); addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(&robotConfig)); addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor()); addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor()); addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor()); addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor()); addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock)); // addLocalDevice(getFileDeviceInterface(), getFileDeviceDescriptor()); addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom)); addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor()); addLocalDevice(getLCDDeviceInterface(), getLCDDeviceDescriptor()); addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&temperature)); addLocalDevice(getNavigationDeviceInterface(), getNavigationDeviceDescriptor()); initStartMatch(&startMatch, isMatchStartedPc, mainBoardPcWaitForInstruction, &eeprom); addLocalDevice(getStartMatchDeviceInterface(), getStartMatchDeviceDescriptor(&startMatch)); // MOTOR BOARD addI2cRemoteDevice(getBatteryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); // addI2cRemoteDevice(getEepromDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); addI2cRemoteDevice(getPIDDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); addI2cRemoteDevice(getMotorDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); addI2cRemoteDevice(getCodersDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); addI2cRemoteDevice(getTrajectoryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); addI2cRemoteDevice(getMotionDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); addI2cRemoteDevice(getRobotKinematicsDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); addI2cRemoteDevice(getMotionSimulationDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS); initDevices(); delaymSec(100); setDebugI2cEnabled(false); // Ping if (!pingDriverDataDispatcherList()) { printf("PING PROBLEM !"); } // Set Clock for Motor Board ! // Read Clock ClockData* clockData = clock.readClock(&clock); // TODO : Change Dispatcher Index ... writeDateRemoteClockData(clockData, 0x01); writeHourRemoteClockData(clockData, 0x01); // testDriverIntensive(100); startTimerList(); while (1) { mainBoardPcWaitForInstruction(&startMatch); } // TODO : ShowEnd }