int init_SDL(t_graph *graph)
{
graph->pos = (HEIGHT / 2) - (HEIGHT / 4);
graph->poscurs = 0;
set_null(graph);
SDL_WM_SetCaption(NAME, NULL);
graph->charac_num = 0;
if (TTF_Init() == -1)
return (-1);
init_font(graph);
if (SDL_Init(SDL_INIT_EVERYTHING) == -1)
return (-1);
graph->screen = SDL_SetVideoMode(WIDTH, HEIGHT, BPP,
SDL_SWSURFACE | SDL_FULLSCREEN);
if (graph->screen == NULL)
return (-1);
graph->quit = 0;
set_character(graph);
init_spaceship(graph);
graph->background = load_image("img/space.bmp");
graph->spacefactor = 1;
init_joystick(graph);
intro_music(graph);
return (0);
}
int
main()
{
init_joystick();
while(1){
read_joystick();
const rc_t * rc = get_rc();
printf("throttle: % .3f, yaw: % .3f, pitch: % .3f, roll: % .3f, "
"enable: %d, mode: %d, gear: %d, aux2: %d\n",
rc->throttle,rc->yaw,rc->pitch,rc->roll,rc->enable,rc->mode,rc->gear,rc->aux2);
usleep(100000);
}
}
static void setupHardware(void) {
// TODO: Put hardware configuration and initialisation in here
disable_global_int();
clk_system_init();
init_leds();
//init_pot();
init_buttons();
init_spi();
init_lcd_write_task();
init_uart0();
init_joystick();
enable_global_int();
// Warning: If you do not initialize the hardware clock, the timings will be inaccurate
}
int main (void)
{
board_init();
init_sensor_interrupts();
init_joystick();
init_timer0();
init_serial_stdio(9600,0);
init_var();
struct Motor* A = malloc(sizeof(Motor));
struct Motor* B = malloc(sizeof(Motor));
A->pos = 0;
B->pos = 0;
A->ID = 0;
B->ID = 1;
sei();
printf_P(PSTR("WOOP------------------------------------------------------------------------------\n"));
clear_terminal();
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// uSEFUL cODE //
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//To test the sensors are working
//banana();
//Seminar demo code
//DEMO(A,B);
//To test the motors are working
//Azathoth(A,B);
//To test beta pan function
//qwert(A,B);
//Tuesday test code
// Pin C0 acts as sensor input
// Pins D0-D7 run the motors
// Pin C1 is the Emitter control
// Pin C2 is the Magnet Control */
Nyarlathotep(A,B);
return 0;
}
int main(int argc ,char *argv[])
{
SDL_Init(SDL_INIT_EVERYTHING);
init_joystick();
while(1)
{
if(SDL_PollEvent( &event))
{
joy_axis_motion();
joy_button_down();
joy_button_up();
#if ANALOG
joy_hat_motion();
joy_ball_motion();
#endif
}
SDL_Delay(10);
}
close_joystick();
}
// Initializes an arduino.
// Parameters: the arduino pointer
// the device the arduino is connected to
// the device the joystick is connected to
// return: 0 on success, non-zero on failure.
int init_arduino(rov_arduino *a,const char *af,const char *jf){
struct termios topts;
if ((a->fd = open(af,O_RDWR | O_NONBLOCK)) == -1){
perror("init_arduino: could not open af");
return -1;
}
if (tcgetattr(a->fd,&topts) < 0){
perror("init_arduino: could not get term attr");
return -1;
}
// Sets up 'the terminal' settings, we treat the arduino as a tty.
cfsetispeed(&topts,B9600);
cfsetospeed(&topts,B9600);
topts.c_cflag &= ~PARENB;
topts.c_cflag &= ~CSTOPB;
topts.c_cflag &= ~CSIZE;
topts.c_cflag |= CS8;
topts.c_cflag &= ~CRTSCTS;
topts.c_cflag |= CREAD | CLOCAL;
topts.c_iflag &= ~(IXON | IXOFF | IXANY);
topts.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
topts.c_oflag &= ~OPOST;
topts.c_cc[VMIN] = 0; // Minimum number of characters to read.
topts.c_cc[VTIME] = 0; // VTIME * 0.1 = Time to wait for input.
tcsetattr(a->fd,TCSANOW,&topts);
if (tcsetattr(a->fd,TCSAFLUSH,&topts) < 0){
perror("init_arduino: could not set term attributes");
return -1;
}
if (!init_joystick(&a->joystick,jf)){
perror("init_arduino: could not read joystick file");
return -1;
}
init_ctrlstate(&a->ctrl);
init_pinlayout(&a->layout);
init_queue(&a->queue,a,2500,100);
return 0;
}
/*
Self-explanatory.
*/
void init_at_startup(void)
{
LOCK_FUNCTION (framecount);
LOCK_FUNCTION (tickover);
LOCK_VARIABLE (ticked);
LOCK_VARIABLE (frames_per_second);
LOCK_VARIABLE (framecounter);
LOCK_VARIABLE (turns_per_second);
LOCK_VARIABLE (turncounter);
install_int (framecount, 1000);
install_int (tickover, 20);
set_color_depth(8);
int randseed = get_config_int("Misc", "Seed", 0);
srand(randseed);
options.windowed = get_config_int("Misc", "Windowed", 0);
int windowed;
switch(options.windowed)
{
default:
case 1: windowed = GFX_AUTODETECT_WINDOWED; break;
case 0: windowed = GFX_AUTODETECT_FULLSCREEN; break;
}
// windowed = GFX_AUTODETECT_WINDOWED;
// windowed = GFX_AUTODETECT_FULLSCREEN;
// if (set_gfx_mode(GFX_AUTODETECT_WINDOWED, 640, 480, 0, 0) != 0)
// if (set_gfx_mode(windowed, 640, 480, 0, 0) != 0)
if (set_gfx_mode(windowed, 800, 600, 0, 0) != 0)
{
set_gfx_mode(GFX_TEXT, 0, 0, 0, 0);
allegro_message("Unable to set 800x600 256 colour display mode. Sorry!\n%s\n", allegro_error);
exit(1);
}
init_trig();
prepare_display();
init_sound();
/*
PP.ckey [CKEY_UP] = KEY_UP;
PP.ckey [CKEY_DOWN] = KEY_DOWN;
PP.ckey [CKEY_LEFT] = KEY_LEFT;
PP.ckey [CKEY_RIGHT] = KEY_RIGHT;
PP.ckey [CKEY_FIRE1] = KEY_Z;
PP.ckey [CKEY_FIRE2] = KEY_X;
PP.ckey [CKEY_FIRE3] = KEY_C;
*/
int p = 0;
init_joystick();
player[0].control = get_config_int("misc", "player1_control", CONTROL_KEY_A);
player[1].control = get_config_int("misc", "player2_control", CONTROL_KEY_B);
// if a particular joystick isn't available, default to keyboard controls.
// note that this doesn't set the config values
for (p = 0; p < 2; p ++)
{
if (options.joystick_available [0] == 0
&& PP.control == CONTROL_JOY_A)
{
PP.control = CONTROL_KEY_A;
if (PP.control == CONTROL_KEY_A)
PP.control = CONTROL_KEY_B;
}
if (options.joystick_available [1] == 0
&& PP.control == CONTROL_JOY_B)
{
PP.control = CONTROL_KEY_A;
if (PP.control == CONTROL_KEY_A)
PP.control = CONTROL_KEY_B;
}
}
options.ckey [0] [CKEY_UP] = get_config_int("Misc", "key1_up", KEY_8_PAD);
options.ckey [0] [CKEY_DOWN] = get_config_int("Misc", "key1_down", KEY_2_PAD);
options.ckey [0] [CKEY_LEFT] = get_config_int("Misc", "key1_left", KEY_4_PAD);
options.ckey [0] [CKEY_RIGHT] = get_config_int("Misc", "key1_right", KEY_6_PAD);
options.ckey [0] [CKEY_LEFT2] = get_config_int("Misc", "key1_left2", KEY_1_PAD);
options.ckey [0] [CKEY_RIGHT2] = get_config_int("Misc", "key1_right2", KEY_3_PAD);
options.ckey [0] [CKEY_FIRE1] = get_config_int("Misc", "key1_fire1", KEY_Z);
options.ckey [0] [CKEY_FIRE2] = get_config_int("Misc", "key1_fire2", KEY_X);
options.ckey [0] [CKEY_FIRE3] = get_config_int("Misc", "key1_fire3", KEY_C);
options.ckey [0] [CKEY_FIRE4] = get_config_int("Misc", "key1_fire4", KEY_V);
options.ckey [0] [CKEY_COMMAND] = get_config_int("Misc", "key1_command", KEY_A);
options.ckey [1] [CKEY_UP] = get_config_int("Misc", "key2_up", KEY_UP);
options.ckey [1] [CKEY_DOWN] = get_config_int("Misc", "key2_down", KEY_DOWN);
options.ckey [1] [CKEY_LEFT] = get_config_int("Misc", "key2_left", KEY_LEFT);
options.ckey [1] [CKEY_RIGHT] = get_config_int("Misc", "key2_right", KEY_RIGHT);
options.ckey [1] [CKEY_LEFT2] = get_config_int("Misc", "key2_left2", KEY_J);
options.ckey [1] [CKEY_RIGHT2] = get_config_int("Misc", "key2_right2", KEY_K);
options.ckey [1] [CKEY_FIRE1] = get_config_int("Misc", "key2_fire1", KEY_T);
options.ckey [1] [CKEY_FIRE2] = get_config_int("Misc", "key2_fire2", KEY_Y);
options.ckey [1] [CKEY_FIRE3] = get_config_int("Misc", "key2_fire3", KEY_U);
options.ckey [1] [CKEY_FIRE4] = get_config_int("Misc", "key2_fire4", KEY_I);
options.ckey [1] [CKEY_COMMAND] = get_config_int("Misc", "key2_command", KEY_O);
/*
PP.ckey [CKEY_UP] = get_config_int("Misc", "key_up", KEY_UP);
PP.ckey [CKEY_DOWN] = get_config_int("Misc", "key_down", KEY_DOWN);
PP.ckey [CKEY_LEFT] = get_config_int("Misc", "key_left", KEY_LEFT);
PP.ckey [CKEY_RIGHT] = get_config_int("Misc", "key_right", KEY_RIGHT);
PP.ckey [CKEY_FIRE1] = get_config_int("Misc", "key_fire1", KEY_Z);
PP.ckey [CKEY_FIRE2] = get_config_int("Misc", "key_fire2", KEY_X);
PP.ckey [CKEY_FIRE3] = get_config_int("Misc", "key_fire3", KEY_C);
PP.ckey [CKEY_FIRE4] = get_config_int("Misc", "key_fire4", KEY_V);
*/
/*
player[1].ckey [CKEY_UP] = get_config_int("MiscP2", "key_up", KEY_UP);
player[1].ckey [CKEY_DOWN] = get_config_int("MiscP2", "key_down", KEY_DOWN);
player[1].ckey [CKEY_LEFT] = get_config_int("MiscP2", "key_left", KEY_LEFT);
player[1].ckey [CKEY_RIGHT] = get_config_int("MiscP2", "key_right", KEY_RIGHT);
player[1].ckey [CKEY_LEFT2] = get_config_int("MiscP2", "key_left2", KEY_K);
player[1].ckey [CKEY_RIGHT2] = get_config_int("MiscP2", "key_right2", KEY_L);
player[1].ckey [CKEY_FIRE1] = get_config_int("MiscP2", "key_fire1", KEY_0_PAD);
player[1].ckey [CKEY_FIRE2] = get_config_int("MiscP2", "key_fire2", KEY_P);
player[1].ckey [CKEY_FIRE3] = get_config_int("MiscP2", "key_fire3", KEY_O);
player[1].ckey [CKEY_FIRE4] = get_config_int("MiscP2", "key_fire4", KEY_I);
options.joy_stick = get_config_int("Misc", "joy_stick", 0);
options.joy_sensitivity = get_config_int("Misc", "joy_sensitivity", 70);
options.init_joystick = get_config_int("Misc", "joy_init", 1);*/
// options.joystick = 0;
// options.key_or_joy = 0; // don't put in initfile!
options.sfx_volume = get_config_int("Misc", "sfx_volume", 70);
options.ambience_volume = get_config_int("Misc", "ambience_volume", 100);
options.run_vsync = get_config_int("Misc", "run_vsync", 0);
options.fix_camera_angle = get_config_int("Misc", "fix_camera_angle", 0);
options.joystick_dual = get_config_int("Misc", "joystick_dual", 1);
// set_config_int("Misc", "Tourist", 3);
// set_config_int("Misc", "joy_stick", 0);
// if (options.init_joystick)
// if (options.joystick == 1) // set in init_joystick
{
options.joy_button [0] [0] = get_config_int("Misc", "joy1_button_1", 0);
if (options.joy_button [0] [0] > joy[0].num_buttons)
options.joy_button [0] [0] = joy[0].num_buttons - 1;
options.joy_button [0] [1] = get_config_int("Misc", "joy1_button_2", 1);
if (options.joy_button [0] [1] > joy[0].num_buttons)
options.joy_button [0] [1] = joy[0].num_buttons - 1;
options.joy_button [0] [2] = get_config_int("Misc", "joy1_button_3", 2);
if (options.joy_button [0] [2] > joy[0].num_buttons)
options.joy_button [0] [2] = joy[0].num_buttons - 1;
options.joy_button [0] [3] = get_config_int("Misc", "joy1_button_4", 4);
if (options.joy_button [0] [3] > joy[0].num_buttons)
options.joy_button [0] [3] = joy[0].num_buttons - 1;
options.joy_button [0] [4] = get_config_int("Misc", "joy1_button_5", 5);
if (options.joy_button [0] [4] > joy[0].num_buttons)
options.joy_button [0] [4] = joy[0].num_buttons - 1;
options.joy_button [0] [5] = get_config_int("Misc", "joy1_button_6", 6);
if (options.joy_button [0] [5] > joy[0].num_buttons)
options.joy_button [0] [5] = joy[0].num_buttons - 1;
options.joy_button [1] [0] = get_config_int("Misc", "joy2_button_1", 0);
if (options.joy_button [1] [0] > joy[0].num_buttons)
options.joy_button [1] [0] = joy[0].num_buttons - 1;
options.joy_button [1] [1] = get_config_int("Misc", "joy2_button_2", 1);
if (options.joy_button [1] [1] > joy[0].num_buttons)
options.joy_button [1] [1] = joy[0].num_buttons - 1;
options.joy_button [1] [2] = get_config_int("Misc", "joy2_button_3", 2);
if (options.joy_button [1] [2] > joy[0].num_buttons)
options.joy_button [1] [2] = joy[0].num_buttons - 1;
options.joy_button [1] [3] = get_config_int("Misc", "joy2_button_4", 4);
if (options.joy_button [1] [3] > joy[0].num_buttons)
options.joy_button [1] [3] = joy[0].num_buttons - 1;
options.joy_button [1] [4] = get_config_int("Misc", "joy2_button_5", 5);
if (options.joy_button [1] [4] > joy[0].num_buttons)
options.joy_button [1] [4] = joy[0].num_buttons - 1;
options.joy_button [1] [5] = get_config_int("Misc", "joy2_button_6", 6);
if (options.joy_button [1] [5] > joy[0].num_buttons)
options.joy_button [1] [5] = joy[0].num_buttons - 1;
}
ticked = 0;
arena.players = 1;
// NOTE: it's assumed in a few places that if there's just one player, it's player[0].
}
TJOYSTICK_EVENT test_joystick(){
TJOYSTICK_EVENT result;
result = no_pressing;
uint8_t j_status;
j_status = get_joystick_status();
switch(j_status) //проверяем, что нажато
{
case UP_KEY_MASK:
{
if(joystick_key_pressing_duration.key_up>= SHORT_DURATION)
{
result=key_up_pressing;
joystick_key_pressing_duration.key_up =0;
joystick_key_pressing_duration.key_up_inc=0;
}
else
{
joystick_key_pressing_duration.key_up += joystick_key_pressing_duration.key_up_inc;
result = joystick_event;
}
}
break;
case RIGHT_KEY_MASK:
{
if(joystick_key_pressing_duration.key_right>= SHORT_DURATION)
{
result=key_right_pressing;
joystick_key_pressing_duration.key_right =0;
joystick_key_pressing_duration.key_right_inc=0;
}
else
{
joystick_key_pressing_duration.key_right += joystick_key_pressing_duration.key_right_inc;
result = joystick_event;
}
}
break;
case DOWN_KEY_MASK:
{
if(joystick_key_pressing_duration.key_down>= SHORT_DURATION)
{
result=key_down_pressing;
joystick_key_pressing_duration.key_down =0;
joystick_key_pressing_duration.key_down_inc=0;
}
else
{
joystick_key_pressing_duration.key_down += joystick_key_pressing_duration.key_down_inc;
result = joystick_event;
}
}
break;
case LEFT_KEY_MASK:
{
if(joystick_key_pressing_duration.key_left>= SHORT_DURATION)
{
result=key_left_pressing;
joystick_key_pressing_duration.key_left =0;
joystick_key_pressing_duration.key_left_inc=0;
}
else
{
joystick_key_pressing_duration.key_left += joystick_key_pressing_duration.key_left_inc;
result = joystick_event;
}
}
break;
case CENTRAL_KEY_MASK:
{
if(joystick_key_pressing_duration.key_central>= SHORT_DURATION)
{
result=key_central_pressing;
joystick_key_pressing_duration.key_central =0;
joystick_key_pressing_duration.key_central_inc=0;
}
else
{
joystick_key_pressing_duration.key_central += joystick_key_pressing_duration.key_central_inc;
result = joystick_event;
}
}
break;
case 0:
{
init_joystick();
}
break;
default:
{
joystick_key_pressing_duration.key_up=0;
joystick_key_pressing_duration.key_up_inc=0;
joystick_key_pressing_duration.key_right=0;
joystick_key_pressing_duration.key_right_inc=0;
joystick_key_pressing_duration.key_down=0;
joystick_key_pressing_duration.key_down_inc=0;
joystick_key_pressing_duration.key_left=0;
joystick_key_pressing_duration.key_left_inc=0;
joystick_key_pressing_duration.key_central=0;
joystick_key_pressing_duration.key_central_inc=0;
}
}
return result;
}
void main_init() {
int i;
float starting_speed = 0.0;
init_robot();
flag = 0;
robot_state = malloc(sizeof (float) *3);
for (i = 0; i < LEN_PIC_BUFFER; i++) {
set_vel_2_array(pic_buffer[i], starting_speed, starting_speed);
}
write(pic_fd, pic_message_reset_steps_acc, PACKET_TIMING_LENGTH + 1);
tcflush(pic_fd, TCOFLUSH);
sync();
steps_anomaly = 0;
#ifdef TEST_KALMAN
float v=0;
float w=0;
set_robot_speed(&v,&w);
#endif
#ifdef OB_AV
init_probstavoid_module();
#endif
#ifdef CARTESIAN_REGULATOR
viapoints[0][0]=38;
viapoints[0][1]=119;
viapoints[0][2]=0;
viapoints[1][0]=98;
viapoints[1][1]=161;
viapoints[1][2]=0;
viapoints[2][0]=187;
viapoints[2][1]=179;
viapoints[2][2]=0;
viapoints[3][0]=158;
viapoints[3][1]=238;
viapoints[3][2]=0;
viapoints[4][0]=187;
viapoints[4][1]=268;
viapoints[4][2]=0;
curr_via=0;
via_done=0;
#endif
#ifdef HOKUYO
init_urg_laser(&urg,ON_DEMAND);
#endif
#ifdef JOYSTICK
init_joystick();
#endif
#ifdef EKF_LOC
load_map("ekf_map.txt");
init_ekf();
#ifdef HOKUYO_SENSOR
for (i=0; i< NUM_SENS; i++){
ANGLE_IDX[i]=urg_rad2index(urg,ANGLE_H[i]);
printf("angle: %f \tidx: %d\n",ANGLE_H[i],urg_rad2index(urg,ANGLE_H[i]));
}
#endif
xpost.x=50;
xpost.y=45;
xpost.th=M_PI/2;
xpred.x=0;
xpred.y=0;
xpred.th=0;
#endif
}
void initialize(void) {
init_joystick();
init_timer0();
init_stepmotor();
}
int main( int argc, char **argv )
{
/* Print copyright notice */
fprintf( stderr,
"Tux Rider World Challenge -- http://www.barlow-server.com\n"
"a fork from:\n"
"Tux Racer " VERSION " -- a Sunspire Studios Production "
"(http://www.sunspirestudios.com)\n"
"(c) 1999-2000 Jasmin F. Patry "
"<*****@*****.**>\n"
"\"Tux Racer\" is a trademark of Jasmin F. Patry\n"
"Tux Rider World Challenge comes with ABSOLUTELY NO WARRANTY. "
"This is free software,\nand you are welcome to redistribute "
"it under certain conditions.\n"
"See http://www.gnu.org/copyleft/gpl.html for details.\n\n" );
/* Init the game clock */
g_game.secs_since_start = 0;
/* Seed the random number generator */
srand( time(NULL) );
/*
* Set up the game configuration
*/
/* Don't support multiplayer, yet... */
g_game.num_players = 2;
/* Create a Tcl interpreter */
g_game.tcl_interp = Tcl_CreateInterp();
if ( g_game.tcl_interp == NULL ) {
handle_error( 1, "cannot create Tcl interpreter" );
}
/* Setup the configuration variables and read the ~/.tuxracer/options file */
init_game_configuration();
read_config_file();
/* Set up the debugging modes */
init_debug();
/* Setup diagnostic log if requested */
if ( getparam_write_diagnostic_log() ) {
setup_diagnostic_log();
}
/*
* Setup Tcl stdout and stderr channels to point to C stdout and stderr
* streams
*/
setup_tcl_std_channels();
/*
* Initialize rendering context, create window
*/
winsys_init( &argc, argv, WINDOW_TITLE, WINDOW_TITLE );
/* Ingore key-repeat messages */
winsys_enable_key_repeat(0);
/* Set up a function to clean up when program exits */
winsys_atexit( cleanup );
/*
* Initial OpenGL settings
*/
glBlendFunc( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
init_opengl_extensions();
/* Print OpenGL debugging information if requested */
if ( debug_mode_is_active( DEBUG_GL_INFO ) ) {
print_debug( DEBUG_GL_INFO,
"OpenGL information:" );
print_gl_info();
}
/*
* Load the game data and initialize game state
*/
register_game_config_callbacks( g_game.tcl_interp );
register_course_load_tcl_callbacks( g_game.tcl_interp );
register_key_frame_callbacks( g_game.tcl_interp );
register_fog_callbacks( g_game.tcl_interp );
register_course_light_callbacks( g_game.tcl_interp );
register_particle_callbacks( g_game.tcl_interp );
register_texture_callbacks( g_game.tcl_interp );
register_font_callbacks( g_game.tcl_interp );
register_sound_tcl_callbacks( g_game.tcl_interp );
register_sound_data_tcl_callbacks( g_game.tcl_interp );
register_course_manager_callbacks( g_game.tcl_interp );
init_saved_games();
load_tux();
init_textures();
init_fonts();
init_audio_data();
init_audio();
init_ui_manager();
init_course_manager();
init_joystick();
/* Read the tuxracer_init.tcl file */
read_game_init_script();
/* Need to set up an initial view position for select_course
(quadtree simplification)
*/
//Player 0 = classic mode player ; Player 1 = Speed Only Mode Player
g_game.player[0].view.pos = make_point( 0., 0., 0. );
g_game.player[1].view.pos = make_point( 0., 0., 0. );
/* Placeholder name until we give players way to enter name */
g_game.player[0].name = "noname";
g_game.player[1].name = "nonameSpeedOnly";
init_preview();
splash_screen_register();
intro_register();
racing_register();
game_over_register();
paused_register();
reset_register();
game_type_select_register();
racing_mode_select_register();
event_select_register();
race_select_register();
credits_register();
loading_register();
g_game.mode = NO_MODE;
set_game_mode( SPLASH );
g_game.difficulty = DIFFICULTY_LEVEL_NORMAL;
init_keyboard();
winsys_show_cursor( False );
/* We use this to "prime" the GLUT loop */
winsys_set_idle_func( main_loop );
/*
* ...and off we go!
*/
winsys_process_events();
return 0;
}
void real_main (int argc, char **argv)
{
#ifdef USE_SDL
SDL_Init (SDL_INIT_VIDEO | SDL_INIT_JOYSTICK
#if !defined(NO_SOUND) && !defined(GP2X)
| SDL_INIT_AUDIO
#endif
);
#endif
getcwd(launchDir,250);
/* PocketUAE prefs */
default_prefs_uae (&currprefs);
default_prefs();
#ifdef GP2X
gp2x_init(argc, argv);
#endif
// Set everthing to default and clear HD settings
SetDefaultMenuSettings(1);
loadconfig (1);
if (! graphics_setup ()) {
exit (1);
}
rtarea_init ();
hardfile_install();
if (! setup_sound ()) {
write_log ("Sound driver unavailable: Sound output disabled\n");
produce_sound = 0;
}
init_joystick ();
int err = gui_init ();
if (err == -1) {
write_log ("Failed to initialize the GUI\n");
} else if (err == -2) {
exit (0);
}
if (sound_available && produce_sound > 1 && ! init_audio ()) {
write_log ("Sound driver unavailable: Sound output disabled\n");
produce_sound = 0;
}
/* Install resident module to get 8MB chipmem, if requested */
rtarea_setup ();
keybuf_init (); /* Must come after init_joystick */
#ifdef USE_AUTOCONFIG
expansion_init ();
#endif
memory_init ();
filesys_install ();
native2amiga_install ();
custom_init (); /* Must come after memory_init */
DISK_init ();
m68k_init(0);
gui_update ();
#ifdef GP2X
switch_to_hw_sdl(1);
#endif
{
start_program ();
}
leave_program ();
}
void Sub::init_ardupilot()
{
if (!hal.gpio->usb_connected()) {
// USB is not connected, this means UART0 may be a Xbee, with
// its darned bricking problem. We can't write to it for at
// least one second after powering up. Simplest solution for
// now is to delay for 1 second. Something more elegant may be
// added later
hal.scheduler->delay(1000);
}
// initialise serial port
serial_manager.init_console();
cliSerial->printf("\n\nInit " FIRMWARE_STRING
"\n\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
//
// Report firmware version code expect on console (check of actual EEPROM format version is done in load_parameters function)
//
report_version();
// load parameters from EEPROM
load_parameters();
BoardConfig.init();
// initialise serial port
serial_manager.init();
// init cargo gripper
#if GRIPPER_ENABLED == ENABLED
g2.gripper.init();
#endif
// initialise notify system
notify.init(true);
// initialise battery monitor
battery.init();
barometer.init();
celsius.init();
// Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay.
hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
// we start by assuming USB connected, as we initialed the serial
// port with SERIAL0_BAUD. check_usb_mux() fixes this if need be.
ap.usb_connected = true;
check_usb_mux();
// setup telem slots with serial ports
for (uint8_t i = 0; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
}
// identify ourselves correctly with the ground station
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
log_init();
#endif
gcs().set_dataflash(&DataFlash);
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up motors and output to escs
init_joystick(); // joystick initialization
// initialise which outputs Servo and Relay events can use
ServoRelayEvents.set_channel_mask(~motors.get_motor_mask());
relay.init();
/*
* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
// Do GPS init
gps.init(&DataFlash, serial_manager);
if (g.compass_enabled) {
init_compass();
}
#if OPTFLOW == ENABLED
// make optflow available to AHRS
ahrs.set_optflow(&optflow);
#endif
// init Location class
Location_Class::set_ahrs(&ahrs);
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
Location_Class::set_terrain(&terrain);
wp_nav.set_terrain(&terrain);
#endif
#if AVOIDANCE_ENABLED == ENABLED
wp_nav.set_avoidance(&avoid);
#endif
pos_control.set_dt(MAIN_LOOP_SECONDS);
// init the optical flow sensor
init_optflow();
#if MOUNT == ENABLED
// initialise camera mount
camera_mount.init(&DataFlash, serial_manager);
#endif
#ifdef USERHOOK_INIT
USERHOOK_INIT
#endif
#if CLI_ENABLED == ENABLED
if (g.cli_enabled) {
const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
cliSerial->println(msg);
if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != NULL)) {
gcs_chan[1].get_uart()->println(msg);
}
if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != NULL)) {
gcs_chan[2].get_uart()->println(msg);
}
}
#endif // CLI_ENABLED
#if HIL_MODE != HIL_MODE_DISABLED
while (barometer.get_last_update() == 0) {
// the barometer begins updating when we get the first
// HIL_STATE message
gcs_send_text(MAV_SEVERITY_WARNING, "Waiting for first HIL_STATE message");
hal.scheduler->delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
// read Baro pressure at ground
//-----------------------------
init_barometer(false);
barometer.update();
for (uint8_t i = 0; i < barometer.num_instances(); i++) {
if (barometer.get_type(i) == AP_Baro::BARO_TYPE_WATER && barometer.healthy(i)) {
barometer.set_primary_baro(i);
ap.depth_sensor_present = true;
break;
}
}
if (!ap.depth_sensor_present) {
// We only have onboard baro
// No external underwater depth sensor detected
barometer.set_primary_baro(0);
EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
EKF3.set_baro_alt_noise(10.0f);
} else {
EKF2.set_baro_alt_noise(0.1f);
EKF3.set_baro_alt_noise(0.1f);
}
leak_detector.init();
// backwards compatibility
if (attitude_control.get_accel_yaw_max() < 110000.0f) {
attitude_control.save_accel_yaw_max(110000.0f);
}
last_pilot_heading = ahrs.yaw_sensor;
// initialise rangefinder
#if RANGEFINDER_ENABLED == ENABLED
init_rangefinder();
#endif
// initialise AP_RPM library
#if RPM_ENABLED == ENABLED
rpm_sensor.init();
#endif
// initialise mission library
mission.init();
startup_INS_ground();
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
serial_manager.set_blocking_writes_all(false);
// enable CPU failsafe
failsafe_enable();
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
ins.set_dataflash(&DataFlash);
// init vehicle capabilties
init_capabilities();
cliSerial->print("\nReady to FLY ");
// flag that initialisation has completed
ap.initialised = true;
}
/*
Self-explanatory.
*/
void init_at_startup(void)
{
LOCK_FUNCTION (framecount);
LOCK_FUNCTION (tickover);
LOCK_VARIABLE (ticked);
LOCK_VARIABLE (frames_per_second);
LOCK_VARIABLE (framecounter);
LOCK_VARIABLE (turns_per_second);
LOCK_VARIABLE (turncounter);
install_int (framecount, 1000);
install_int (tickover, 20);
set_color_depth(8);
int randseed = get_config_int("Misc", "Seed", 0);
srand(randseed);
options.windowed = get_config_int("Misc", "Windowed", 0);
int windowed;
switch(options.windowed)
{
default:
case 1: windowed = GFX_AUTODETECT_WINDOWED; break;
case 0: windowed = GFX_AUTODETECT_FULLSCREEN; break;
}
// windowed = GFX_AUTODETECT_WINDOWED;
// windowed = GFX_AUTODETECT_FULLSCREEN;
// if (set_gfx_mode(GFX_AUTODETECT_WINDOWED, 640, 480, 0, 0) != 0)
if (set_gfx_mode(windowed, 640, 480, 0, 0) != 0)
{
set_gfx_mode(GFX_TEXT, 0, 0, 0, 0);
allegro_message("Unable to set 640x480 display mode\n%s\n", allegro_error);
exit(1);
}
init_trig();
prepare_display();
init_sound();
/*
player[0].ckey [CKEY_UP] = KEY_UP;
player[0].ckey [CKEY_DOWN] = KEY_DOWN;
player[0].ckey [CKEY_LEFT] = KEY_LEFT;
player[0].ckey [CKEY_RIGHT] = KEY_RIGHT;
player[0].ckey [CKEY_FIRE1] = KEY_Z;
player[0].ckey [CKEY_FIRE2] = KEY_X;
player[0].ckey [CKEY_FIRE3] = KEY_C;
*/
player[0].ckey [CKEY_UP] = get_config_int("Misc", "key_up", KEY_UP);
player[0].ckey [CKEY_DOWN] = get_config_int("Misc", "key_down", KEY_DOWN);
player[0].ckey [CKEY_LEFT] = get_config_int("Misc", "key_left", KEY_LEFT);
player[0].ckey [CKEY_RIGHT] = get_config_int("Misc", "key_right", KEY_RIGHT);
player[0].ckey [CKEY_FIRE1] = get_config_int("Misc", "key_fire1", KEY_Z);
player[0].ckey [CKEY_FIRE2] = get_config_int("Misc", "key_fire2", KEY_X);
options.joy_stick = get_config_int("Misc", "joy_stick", 0);
options.joy_sensitivity = get_config_int("Misc", "joy_sensitivity", 70);
options.init_joystick = get_config_int("Misc", "joy_init", 1);
options.joystick = 0;
options.key_or_joy = 0; // don't put in initfile!
options.sfx_volume = get_config_int("Misc", "sfx_volume", 70);
options.ambience_volume = get_config_int("Misc", "ambience_volume", 100);
options.run_vsync = get_config_int("Misc", "run_vsync", 0);
// set_config_int("Misc", "Tourist", 3);
// set_config_int("Misc", "joy_stick", 0);
if (options.init_joystick)
init_joystick();
if (options.joystick == 1) // set in init_joystick
{
options.joy_button [0] = get_config_int("Misc", "joy_button_1", 0);
if (options.joy_button [0] > joy[0].num_buttons)
options.joy_button [0] = joy[0].num_buttons - 1;
options.joy_button [1] = get_config_int("Misc", "joy_button_2", 1);
if (options.joy_button [1] > joy[0].num_buttons)
options.joy_button [1] = joy[0].num_buttons - 1;
options.joy_button [2] = get_config_int("Misc", "joy_button_engine", 3);
if (options.joy_button [2] > joy[0].num_buttons)
options.joy_button [2] = joy[0].num_buttons - 1;
options.joy_button [3] = get_config_int("Misc", "joy_button_brake", 2);
if (options.joy_button [3] > joy[0].num_buttons)
options.joy_button [3] = joy[0].num_buttons - 1;
}
ticked = 0;
}
void real_main (int argc, char **argv)
{
int numb;
char pattern[100];
char txt[100];
#ifdef USE_SDL
SDL_Init (SDL_INIT_VIDEO | SDL_INIT_JOYSTICK
#if !defined(NO_SOUND) && !defined(GP2X)
| SDL_INIT_AUDIO
#endif
);
#endif
// Initialize timebase
g_uae_epoch = read_processor_time();
syncbase = 1000000; // Microseconds
//------------------------------------------
//just safe the game conf file for later use
//------------------------------------------
if (argc > 1)
{
if (strlen(argv[1]) < 255)
{
strcpy(uae4all_game_conf_file0, argv[1]);
strcpy(uae4all_game_conf_file1, argv[1]);
strcpy(uae4all_game_conf_file2, argv[1]);
strcpy(uae4all_game_conf_file3, argv[1]);
strcpy(uae4all_game_conf_file4, argv[1]);
strcpy(uae4all_game_conf_file5, argv[1]);
strcpy(uae4all_game_conf_file6, argv[1]);
strcpy(uae4all_game_conf_file7, argv[1]);
getNumber(uae4all_game_conf_file0, "disk 1 of %", &numb);
strcpy(pattern, "disk %");
sprintf(txt, " of %d", numb);
strcat(pattern, txt);
replaceNumber(uae4all_game_conf_file1, pattern, '2');
strcpy(pattern, "disk %");
sprintf(txt, " of %d", numb);
strcat(pattern, txt);
replaceNumber(uae4all_game_conf_file2, pattern, '3');
strcpy(pattern, "disk %");
sprintf(txt, " of %d", numb);
strcat(pattern, txt);
replaceNumber(uae4all_game_conf_file3, pattern, '4');
strcpy(pattern, "disk %");
sprintf(txt, " of %d", numb);
strcat(pattern, txt);
replaceNumber(uae4all_game_conf_file4, pattern, '5');
strcpy(pattern, "disk %");
sprintf(txt, " of %d", numb);
strcat(pattern, txt);
replaceNumber(uae4all_game_conf_file5, pattern, '6');
strcpy(pattern, "disk %");
sprintf(txt, " of %d", numb);
strcat(pattern, txt);
replaceNumber(uae4all_game_conf_file6, pattern, '7');
strcpy(pattern, "disk %");
sprintf(txt, " of %d", numb);
strcat(pattern, txt);
replaceNumber(uae4all_game_conf_file7, pattern, '8');
}
}
getcwd(launchDir,250);
/* PocketUAE prefs */
default_prefs_uae (&currprefs);
default_prefs();
#ifdef GP2X
gp2x_init(argc, argv);
#endif
// Set everthing to default and clear HD settings
SetDefaultMenuSettings(1);
loadconfig (1);
if (! graphics_setup ()) {
exit (1);
}
rtarea_init ();
hardfile_install();
if (! setup_sound ()) {
write_log ("Sound driver unavailable: Sound output disabled\n");
produce_sound = 0;
}
init_joystick ();
int err = gui_init ();
if (err == -1) {
write_log ("Failed to initialize the GUI\n");
} else if (err == -2) {
exit (0);
}
if (sound_available && produce_sound > 1 && ! init_audio ()) {
write_log ("Sound driver unavailable: Sound output disabled\n");
produce_sound = 0;
}
/* Install resident module to get 8MB chipmem, if requested */
rtarea_setup ();
keybuf_init (); /* Must come after init_joystick */
#ifdef USE_AUTOCONFIG
expansion_init ();
#endif
memory_init ();
filesys_install ();
native2amiga_install ();
custom_init (); /* Must come after memory_init */
DISK_init ();
m68k_init(0);
gui_update ();
#ifdef GP2X
switch_to_hw_sdl(1);
#endif
{
start_program ();
}
leave_program ();
}
