void animate_pulse(widget_ptr wid)
{
int i, dt, d;
int x, y;
SDL_Rect rect;
int speed = 500;
if (!pulse_count) {
server_pulse();
}
rect.w = pipet + 2;
rect.h = pipet + 2;
i = 0;
while (i<pulse_count) {
x = pulse_list[i].x;
y = pulse_list[i].y;
d = pulse_list[i].dir;
dt = tick - pulse_list[i].tick;
if (dt > speed) {
pulse_count--;
memmove(&pulse_list[i], &pulse_list[i+1], sizeof(pulse_s) * (pulse_count - i));
add_dir(&x, &y, x, y, d);
new_pulse(x, y, (d + 2) % 4);
} else {
//wrap cases:
if (dir[d].x == -1 && 2 * dt > speed && !x) {
x += boardw;
}
if (dir[d].x == 1 && 2 * dt > speed && x == boardw - 1) {
x -= boardw;
}
if (dir[d].y == -1 && 2 * dt > speed && !y) {
y += boardh;
}
if (dir[d].y == 1 && 2 * dt > speed && y == boardh - 1) {
y -= boardh;
}
rect.x = x * (cellw + border) + pipex - 1;
rect.x += dir[d].x * (cellw + border) * dt / speed;
rect.x += border + padding;
rect.y = y * (cellh + border) + border + padding;
rect.y += dir[d].y * (cellh + border) * dt / speed;
rect.y += pipey - 1;
widget_fillrect(wid, &rect, c_pulse);
i++;
}
}
}
int extinputs_parse(const char *filename, struct pulse **cfginputs, int N)
{
FILE *fin;
char buf[MAX_LINE];
char *start;
char *end;
char *values;
int error = 0;
fin = fopen(filename, "r");
if (!fin)
return -1;
int lineno = 0;
double t, q, i, d, m; /* the values to be read */
/* Scan through file line by line */
while (fgets(buf, sizeof(buf), fin) != NULL) {
lineno++;
start = lskip(rstrip(buf)); /* chop whites */
if (*start && *start != '#') {
/* Remove possible comments at the end */
end = find_char_or_comment(start, '#');
if (*end == '#')
*end = '\0';
values = rstrip(start);
/* Not a comment, must be a line containing 4 numbers */
/* Scan and check if the inputs is correctly formatted */
if (sscanf(values, "%lf %lf %lf %lf %lf", &t, &d, &q, &i, &m) == 5) {
if (t >= 0 && d > 0 && m >= 0) {
*cfginputs = append_pulse(*cfginputs, new_pulse(N, t, d, q, i, m));
} else {
printf("Durations and time onsets should be positive.\n");
printf("Check configuration file for external inputs.\n");
error = lineno;
}
} else if (!error) {
/* No '=' found on name=value line */
error = lineno;
}
}
}
fclose(fin);
return error;
}
void ultrasonic_update_fsm(uint8 cmd, uint8 *param)
{
enum states
{
s_waiting_for_ping=0, //0
s_waiting_for_echo, //1
s_none=255
};
static enum states state=s_waiting_for_ping;
static enum states last_state=s_none;
static u32 t_entry=0;
static u08 initialized=0;
static u08 newpulse=0;
static u32 t_ping=0;
static u32 pulse;
static u16 distance;
static u08 sensor=0;
DEFINE_CFG2(u08,bitmap,4,1);
DEFINE_CFG2(u32,echo_timeout,4,2);
DEFINE_CFG2(u32,intra_delay,4,3);
//task_open();
if(!initialized)
{
initialized=1;
usb_printf("ultrasonic_update_fsm()\n");
PREPARE_CFG2(bitmap);
PREPARE_CFG2(echo_timeout);
PREPARE_CFG2(intra_delay);
}
//while(1)
{
UPDATE_CFG2(bitmap);
UPDATE_CFG2(echo_timeout);
UPDATE_CFG2(intra_delay);
first_(s_waiting_for_ping)
{
enter_(s_waiting_for_ping)
{
NOP();
}
if(get_ms() - t_ping >= intra_delay)
{
PING(sonar_pin[sensor]);
newpulse = new_pulse(sensor); //clear the pulse capture state
t_ping = get_ms();
state = s_waiting_for_echo;
}
exit_(s_waiting_for_ping)
{
NOP();
}
}
next_(s_waiting_for_echo)
{
enter_(s_waiting_for_echo)
{
NOP();
}
newpulse = new_high_pulse(sensor);
if(newpulse)
{
pulse = pulse_to_microseconds(get_last_high_pulse(sensor));
distance = ((pulse*10)/148) + 2;
state = s_waiting_for_ping;
}
else if( get_ms()-t_ping >= echo_timeout)
{
distance = 4000;
state = s_waiting_for_ping;
}
exit_(s_waiting_for_echo)
{
s.inputs.sonar[sensor] = distance;
s.us_avg[sensor] = (s.us_avg[sensor]*3 + distance)/4;
sensor=get_next_sensor();
if(get_ms() - t_ping >= intra_delay)
{
PING(sonar_pin[sensor]);
newpulse = new_pulse(sensor);
t_ping = get_ms();
state = s_waiting_for_echo;
}
}
}
}
}
int main (int argc, char**argv)
{
/* declare variables */
PSF_PROPS outprops; // properties of output soundfile
psf_format outformat = PSF_FMT_UNKNOWN;
double dur, freq, amp, peakdiff;
float val;
double minval, maxval, maxamp;
int srate, nharms;
unsigned long i, j;
int i_out;
int wavetype = -1;
int chans;
unsigned long width = DEFAULT_WIDTH;
unsigned long nbufs, outframes, remainder, nframes, framesread;
oscilt_tickfunc tickfunc = tabitick; // default table lookup is interpolating
/* init resources */
int ofd = -1;
int error = 0;
FILE *fpamp = NULL; // amplitude breakpoint file
FILE *fpfreq = NULL; // frequency breakpoint file
float* buffer = NULL;
BRKSTREAM* ampstream = NULL; // breakpoint amplitude values
BRKSTREAM* freqstream = NULL; // breakpoint frequency values
GTABLE* gtable = NULL; // wave table with guard point
OSCILT* p_osc = NULL; // oscillator using table lookup
unsigned long brkampSize = 0, // number of breakpoints
brkfreqSize = 0;
printf("TABGEN: a table lookup oscillator generator.\n");
/* check for command line options */
if (argc > 1)
{
while (argv[1][0]=='-')
{
switch(argv[1][1])
{
case('\0'):
printf("Error: you did not specify an option.\n"
"options: -wN set width of lookup table "
"to N points (default: 1024 points)\n"
" -t use truncating lookup "
"(default: interpolating lookup)\n");
return 1;
case('t'):
if (argv[1][2] == '\0')
tickfunc = tabtick;
else
{
printf("Error: %s is not a valid option.\n"
"options: -wN set width of lookup table "
"to N points (default: 1024 points)\n"
" -t use truncating lookup "
"(default: interpolating lookup)\n",
argv[1]);
return 1;
}
break;
case('w'):
if (argv[1][2] == '\0')
{
printf("Error: you did not specify a table lookup width.\n");
return 1;
}
if (argv[1][2] >= '0' && argv[1][2] <= '9')
{
width = atoi(&argv[1][2]);
if (width < 1)
{
printf("Error: table width must be at least 1\n");
return 1;
}
break;
}
default:
printf("Error: %s is not a valid option.\n"
"options: -wN set width of lookup table "
"to N points (default: 1024 points)\n"
" -t use truncating lookup "
"(default: interpolating lookup)\n",
argv[1]);
return 1;
}
argc--;
argv++;
}
}
/* check for sufficient command line input */
if (argc != ARG_NARGS)
{
printf("Error: insufficient number of arguments.\n"
"Usage: tabgen [-wN] [-t] outfile dur srate nchans amp freq type nharms\n"
" -wN: w option sets the width of the lookup table to N points\n"
" N >= 1\n"
" -t: t option selects truncating table lookup\n"
" default is interpolating table lookup\n"
" outfile: output soundfile\n"
" set to 16-bit format\n"
" use any of .wav .aiff .aif .afc .aifc formats\n"
" dur: duration of soundfile (seconds)\n"
" srate: sample rate\n"
" nchans: number of channels\n"
" amp: amplitude value or breakpoint file\n"
" 0.0 < amp <= 1.0\n"
" freq: frequency value or breakpoint file\n"
" freq >= 0.0\n"
" type: oscillator wave type\n"
" sine, square, triangle, sawup, sawdown, pulse\n"
" nharms: number of wave harmonics that are\n"
" added together in oscillator bank\n"
" nharms >= 1\n"
);
return 1;
}
/* check duration input */
dur = atof(argv[ARG_DUR]);
if (dur <= 0.0)
{
printf("Error: duration must be positive.\n");
return 1;
}
/* check sample rate input */
srate = atoi(argv[ARG_SR]);
if (srate <= 0)
{
printf("Error: sample rate must be positive.\n");
return 1;
}
outprops.srate = srate;
/* check number of channels input */
chans = atoi(argv[ARG_CHANS]);
if (chans <= STDWAVE || chans > MC_WAVE_EX)
{
printf("Error: portsf does not support %d channels.\n",
chans);
return 1;
}
outprops.chans = chans;
/* check the output soundfile extension */
outformat = psf_getFormatExt(argv[ARG_OUTFILE]);
if (outformat == PSF_FMT_UNKNOWN)
{
printf("Error: outfile extension unknown.\n"
" use any of .wav .aiff .aif .afc .aifc formats\n");
return 1;
}
outprops.format = outformat;
/* check for number of harmonics */
nharms = atoi(argv[ARG_NHARMS]);
if (nharms <= 0)
{
printf("Error: you must enter a positive number for harmonics.\n");
return 1;
}
/* get the wavetype */
int count = 0;
while (argv[ARG_TYPE][count] != '\0') count++;
switch (count)
{
case (WAVE_SINE):
if (!strcmp(argv[ARG_TYPE],"sine"))
wavetype = WAVE_SINE;
break;
case (WAVE_SAWUP):
if (!strcmp(argv[ARG_TYPE],"sawup"))
wavetype = WAVE_SAWUP;
/* case (WAVE_PULSE): */
if (!strcmp(argv[ARG_TYPE],"pulse"))
wavetype = WAVE_PULSE;
break;
case (WAVE_SQUARE):
if (!strcmp(argv[ARG_TYPE],"square"))
wavetype = WAVE_SQUARE;
break;
case (WAVE_SAWDOWN):
if (!strcmp(argv[ARG_TYPE],"sawdown"))
wavetype = WAVE_SAWDOWN;
break;
case (WAVE_TRIANGLE):
if (!strcmp(argv[ARG_TYPE],"triangle"))
wavetype = WAVE_TRIANGLE;
break;
default:
wavetype = -1;
}
if (wavetype < 0)
{
printf("Error: %s is not a valid wave type.\n"
"wavetype: sine, square, triangle, sawup, sawdown, pulse\n",
argv[ARG_TYPE]);
return 1;
}
/* start portsf */
psf_init();
/* create output soundfile - set to 16-bit by default */
outprops.samptype = PSF_SAMP_16;
outprops.chformat = PSF_STDWAVE;
ofd = psf_sndCreate(argv[ARG_OUTFILE],&outprops,0,0,PSF_CREATE_RDWR);
if (ofd < 0)
{
printf("Error: unable to create soundfile \"%s\"\n",
argv[ARG_OUTFILE]);
return 1;
}
/* resources have been gathered at this point
use goto upon hitting any errors */
/* get amplitude value or breakpoint file */
fpamp = fopen(argv[ARG_AMP],"r");
if (fpamp == NULL)
{
/* if the user specified a non-existant breakpoint file
or didn't specify a breakpoint value */
if ( (argv[ARG_AMP][0] < '0' || argv[ARG_AMP][0] > '9') &&
(argv[ARG_AMP][0] != '.' && argv[ARG_AMP][0] != '-') ||
(argv[ARG_AMP][0] == '.' && (argv[ARG_AMP][1] < '0' || argv[ARG_AMP][1] > '9')) ||
(argv[ARG_AMP][0] == '-' && (argv[ARG_AMP][1] < '0' || argv[ARG_AMP][1] > '9') && argv[ARG_AMP][1] != '.') )
{
printf("Error: breakpoint file \"%s\" does not exist.\n",
argv[ARG_AMP]);
error++;
goto exit;
}
/* the user specified a breakpoint value */
amp = atof(argv[ARG_AMP]);
if (amp <= 0.0 || amp > 1.0)
{
printf("Error: amplitude value out of range.\n"
" 0.0 < amp <= 1.0\n");
error++;
goto exit;
}
}
else
{
/* gather breakpoint values */
ampstream = bps_newstream(fpamp,outprops.srate,&brkampSize);
if (ampstream == NULL)
{
printf("Error reading breakpoint values from file \"%s\".\n",
argv[ARG_AMP]);
error++;
goto exit;
}
if (bps_getminmax(ampstream,&minval,&maxval))
{
printf("Error: unable to read breakpoint range "
"from file \"%s\".\n", argv[ARG_AMP]);
error++;
goto exit;
}
if (minval <= 0.0 || minval > 1.0 || maxval <= 0.0 || maxval > 1.0)
{
printf("Error: breakpoint amplitude values out of range in file \"%s\"\n"
" 0.0 < amp <= 1.0\n", argv[ARG_AMP]);
error++;
goto exit;
}
maxamp = maxval; // retain the maximum breakpoint amplitude value
}
/* get frequency value or breakpoint file */
fpfreq = fopen(argv[ARG_FREQ],"r");
if (fpfreq == NULL)
{
if ( (argv[ARG_FREQ][0] < '0' || argv[ARG_FREQ][0] > '9') &&
(argv[ARG_FREQ][0] != '.' && argv[ARG_FREQ][0] != '-') ||
(argv[ARG_FREQ][0] == '.' && (argv[ARG_FREQ][1] < '0' || argv[ARG_FREQ][1] > '9')) ||
(argv[ARG_FREQ][0] == '-' && (argv[ARG_FREQ][1] < '0' || argv[ARG_FREQ][1] > '9') && argv[ARG_FREQ][1] != '.') )
{
printf("Error: breakpoint file \"%s\" does not exist.\n",
argv[ARG_FREQ]);
error++;
goto exit;
}
freq = atof(argv[ARG_FREQ]);
if (freq <= 0.0)
{
printf("Error: frequency must be positive.\n");
error++;
goto exit;
}
}
else
{
freqstream = bps_newstream(fpfreq,outprops.srate,&brkfreqSize);
if (freqstream == NULL)
{
printf("Error reading breakpoing values from file \"%s\".\n",
argv[ARG_FREQ]);
error++;
goto exit;
}
if (bps_getminmax(freqstream,&minval,&maxval))
{
printf("Error: unable to read breakpoint range "
"from file \"%s\".\n", argv[ARG_FREQ]);
error++;
goto exit;
}
if (minval < 0.0 || maxval < 0.0)
{
printf("Error: breakpoint frequency values out of range in file \"%s\"\n"
" freq >= 0.0\n", argv[ARG_FREQ]);
error++;
goto exit;
}
}
/* create an outfile buffer */
nframes = DEFAULT_NFRAMES;
buffer = (float *) malloc (sizeof(float) * nframes * outprops.chans);
if (buffer == NULL)
{
printf("No memory!\n");
error++;
goto exit;
}
/* calculate the total number of outfile frames */
outframes = (unsigned long) (dur * outprops.srate + 0.5);
/* calculate the number of buffers used in outfile */
nbufs = outframes / nframes;
remainder = outframes - nframes * nbufs;
if (remainder > 0)
nbufs++;
/* allocate space for new wavetype table oscillator
and initialize oscillator */
switch (wavetype)
{
case (WAVE_SINE):
gtable = new_sine(width);
if (gtable == NULL)
{
printf("Error: unable to create a sine wave table.\n");
error++;
goto exit;
}
p_osc = new_oscilt(outprops.srate,gtable,0);
break;
case (WAVE_SQUARE):
gtable = new_square(width,nharms);
if (gtable == NULL)
{
printf("Error: unable to create a square wave table.\n");
error++;
goto exit;
}
p_osc = new_oscilt(outprops.srate,gtable,0);
break;
case (WAVE_TRIANGLE):
gtable = new_triangle(width,nharms);
if (gtable == NULL)
{
printf("Error: unable to create a triangle wave table.\n");
error++;
goto exit;
}
p_osc = new_oscilt(outprops.srate,gtable,0.25);
break;
case (WAVE_SAWUP):
if (!strcmp(argv[ARG_TYPE],"pulse")) /* case (WAVE_PULSE): */
{
gtable = new_pulse(width,nharms);
if (gtable == NULL)
{
printf("Error: unable to create a pulse wave table.\n");
error++;
goto exit;
}
p_osc = new_oscilt(outprops.srate,gtable,0);
break;
}
case (WAVE_SAWDOWN):
if (wavetype==WAVE_SAWUP)
gtable = new_saw(width,nharms,SAW_UP);
else
gtable = new_saw(width,nharms,SAW_DOWN);
if (gtable == NULL)
{
printf("Error: unable to create a saw%s wave table.\n",
(wavetype==SAW_UP)?"up":"down");
error++;
goto exit;
}
p_osc = new_oscilt(outprops.srate,gtable,0);
break;
}
printf("Creating soundfile...\n");
/* process soundfile */
framesread = 0;
for (i=0; i < nbufs; i++)
{
/* update outfile copy status after the buffer
is refreshed every 100 times */
if(i%100)
{
printf("%lu frames copied... %d%%\r",
framesread, (int)(framesread*100/outframes));
}
/* clear update status when done */
if (i==(nbufs-1))
printf(" \n");
if ((i == (nbufs-1)) && remainder)
nframes = remainder;
for (j=0; j < nframes; j++)
{
if (ampstream)
amp = bps_tick(ampstream);
if (freqstream)
freq = bps_tick(freqstream);
val = tickfunc(p_osc,freq) * amp;
for (i_out=0; i_out < outprops.chans; i_out++)
buffer[j*outprops.chans + i_out] = val;
}
if (psf_sndWriteFloatFrames(ofd,buffer,nframes) != nframes)
{
printf("Error: unable to write frames to outfile.\n");
error++;
break;
}
framesread += nframes;
}
/* make sure peak amplitude roughly matches the
user requested amplitude */
if (ampstream)
peakdiff = maxamp-psf_sndPeakValue(ofd,&outprops);
else
peakdiff = amp-psf_sndPeakValue(ofd,&outprops);
if ((peakdiff>.001) || (peakdiff<-.001))
{
printf("ERROR: unable to generate the correct peak\n"
" amplitude for %s\n", argv[ARG_OUTFILE]);
error++;
}
printf("Done. %d error%s\n"
"soundfile created: %s\n"
"number of frames: %lu\n",
error, (error==1)?"":"s",
argv[ARG_OUTFILE], framesread);
/* display soundfile properties if successfully copied */
if (!error)
psf_sndInfileProperties(argv[ARG_OUTFILE],ofd,&outprops);
/* clean resources */
exit:
if (ofd >= 0)
{
if (psf_sndClose(ofd))
{
printf("Error: unable to close soundfile: %s\n",
argv[ARG_OUTFILE]);
}
else if (error)
{
printf("There was an error while processing the soundfile.\n"
"Deleting soundfile: %s\n", argv[ARG_OUTFILE]);
if (remove(argv[ARG_OUTFILE]))
printf("Error: unable to delete %s\n", argv[ARG_OUTFILE]);
else
printf("%s successfully deleted.\n", argv[ARG_OUTFILE]);
}
}
if (fpamp)
{
if (fclose(fpamp))
{
printf("Error: unable to close breakpoint file \"%s\"\n",
argv[ARG_AMP]);
}
}
if (fpfreq)
{
if (fclose(fpfreq))
{
printf("Error: unable to close breakpoint file \"%s\"\n",
argv[ARG_FREQ]);
}
}
if (buffer)
{
free(buffer);
buffer = NULL;
}
if (ampstream)
{
bps_freepoints(ampstream);
ampstream = NULL;
}
if (freqstream)
{
bps_freepoints(freqstream);
freqstream = NULL;
}
if (gtable)
gtable_free(>able);
if (p_osc)
{
free(p_osc);
p_osc = NULL;
}
psf_finish();
return error;
}
void server_pulse()
{
new_pulse(sourcex, sourceybottom, -1);
new_pulse(sourcex, sourceytop, -1);
}
