static int handle_error(nxt_t *nxt, char *msg, nxt_error_t err)
{
printf("%s: %s\n", msg, nxt_str_error(err));
if (nxt != NULL)
nxt_close(nxt);
exit(err);
}
int main(int argc,char *argv[]) {
char *name = NULL;
char *msg;
int box = 0;
int clear = 0;
int verbose = 0;
int c,newbox;
while ((c = getopt(argc,argv,":hn:m:cv"))!=-1) {
switch(c) {
case 'h':
usage(argv[0],0);
break;
case 'n':
name = strdup(optarg);
break;
case 'm':
newbox = atoi(optarg)-1;
if (NXT_VALID_MAILBOX(newbox)) box = newbox;
else {
fprintf(stderr,"Invalid mailbox: %d",newbox+1);
usage(argv[0],1);
}
break;
case 'v':
verbose = 1;
break;
case 'c':
clear = 1;
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
nxt_t *nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
if ((msg = nxt_recv_msg(nxt,box,clear))!=NULL) {
if (verbose) printf("Mailbox %d: ",box+1);
printf("%s%c",msg,verbose?'\n':0);
free(msg);
}
else fprintf(stderr,"Error: %s\n",nxt_strerror(nxt_error(nxt)));
int ret = nxt_error(nxt);
if (name!=NULL) free(name);
nxt_close(nxt);
return ret;
}
static void quit() {
SDL_JoystickClose(joy);
nxt_motor_stop(nxt, NXT_MOTORA, 0);
nxt_motor_stop(nxt, NXT_MOTORB, 0);
nxt_motor_stop(nxt, NXT_MOTORC, 0);
nxt_close(nxt);
SDL_Quit();
}
int main(int argc,char *argv[]) {
char *name = NULL;
int btn = NXT_UI_BUTTON_ENTER;
int c,newbtn;
while ((c = getopt(argc,argv,":hn:b:"))!=-1) {
switch (c) {
case 'h':
usage(argv[0],0);
break;
case 'b':
newbtn = nxt_str2button(optarg);
if (!NXT_VALID_BUTTON(newbtn)) {
fprintf(stderr,"Invalid button: %s\n",optarg);
return 1;
}
else btn = newbtn;
break;
case 'n':
name = strdup(optarg);
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
nxt_t *nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
nxt_set_button(nxt,btn);
int ret = nxt_error(nxt);
if (name!=NULL) free(name);
nxt_close(nxt);
return ret;
}
int main(int argc,char *argv[]) {
char *name = NULL;
int c;
nxt_t *nxt;
char *prog;
while ((c = getopt(argc,argv,":hn:"))!=-1) {
switch(c) {
case 'h':
usage(argv[0],0);
break;
case 'n':
name = strdup(optarg);
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
prog = nxt_get_program(nxt);
if (prog!=NULL) {
printf("%s\n",prog);
free(prog);
}
else fprintf(stderr,"Error: %s\n",nxt_strerror(nxt_error(nxt)));
int ret = nxt_error(nxt);
if (name!=NULL) free(name);
nxt_close(nxt);
return ret;
}
int main(int argc,char *argv[]) {
int ret = 0;
struct fuse_args args = FUSE_ARGS_INIT(argc,argv);
memset(&options,0,sizeof(struct options));
if (fuse_opt_parse(&args,&options,nxtfs_opts,NULL)==-1) return 1;
nxt = nxt_open(options.name);
if (nxt!=NULL) {
get_modules();
#ifdef FUSE_VERSION_2_5
ret = fuse_main(args.argc,args.argv,&nxtfs_oper);
#else
ret = fuse_main(args.argc,args.argv,&nxtfs_oper,NULL);
#endif
nxt_close(nxt);
}
else ret = 1;
fuse_opt_free_args(&args);
return ret;
}
int main(int argc, char *argv[])
{
nxt_t *nxt;
nxt_error_t err;
char *bios_file;
printf("#==========================================================#\n");
printf("# NXT BIOS Flash Utility #\n");
printf("#==========================================================#\n\n");
if (argc == 1)
{
bios_file = (char *) calloc(1,256);
strcat(bios_file,"../ecrobot/bios/nxt_bios_rom.bin");
}
else if (argc != 2)
{
printf("Syntax: %s [<NXT BIOS binary>]\n"
"\n"
"Example: %s nxt_bios_rom.bin\n", argv[0], argv[0]);
exit(1);
}
else
{
bios_file = argv[1];
}
printf("Checking NXT BIOS %s ... ", bios_file);
NXT_HANDLE_ERR(nxt_firmware_validate(bios_file, MAX_BIOS_FLASH_PAGE ), NULL,
"Error in NXT BIOS file");
printf("NXT BIOS OK.\n");
NXT_HANDLE_ERR(nxt_init(&nxt), NULL,
"Error during library initialization");
err = nxt_find(nxt);
if (err)
{
if (err == NXT_NOT_PRESENT)
printf("NXT not found. Is it properly plugged in via USB?\n");
else
NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT");
exit(1);
}
if (!nxt_in_reset_mode(nxt))
{
printf("NXT found, but not running in reset mode.\n");
printf("Please reset your NXT manually and restart this program.\n");
exit(2);
}
NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT");
printf("NXT device in reset mode located and opened.\n"
"Starting NXT BIOS flash procedure now...\n");
NXT_HANDLE_ERR(nxt_firmware_flash(nxt, bios_file, 0, MAX_BIOS_FLASH_PAGE, 1, 0), nxt,
"Error flashing NXT BIOS");
printf("NXT BIOS flash complete.\n");
NXT_HANDLE_ERR(nxt_jump(nxt, 0x00100000), nxt, "Error booting new NXT BIOS");
printf("New NXT BIOS started!\n");
NXT_HANDLE_ERR(nxt_close(nxt), NULL,
"Error while closing connection to NXT");
return 0;
}
int main(int argc,char *argv[]) {
char *name = NULL;
int c,i,n,newport;
int port = 0;
int verbose = 1;
int reset = 0;
int mode = -1;
nxt_cam_object_t objects[8];
while ((c = getopt(argc,argv,":hn:s:qrl"))!=-1) {
switch(c) {
case 'h':
usage(argv[0],0);
break;
case 'n':
name = optarg;
break;
case 'q':
verbose = 0;
break;
case 'r':
reset = 1;
break;
case 's':
newport = atoi(optarg)-1;
if (NXT_VALID_SENSOR(newport)) port = newport;
else {
fprintf(stderr,"Invalid sensor: %s\n",optarg);
usage(argv[0],1);
}
break;
case 'o':
mode = NXT_CAM_TRACKING_OBJECT;
break;
case 'l':
mode = NXT_CAM_TRACKING_LINE;
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
nxt_t *nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
nxt_set_sensor_mode(nxt,port,NXT_SENSOR_TYPE_LOWSPEED,NXT_SENSOR_MODE_RAW);
nxt_wait_after_communication_command();
if (mode!=-1) {
nxt_cam_set_trackingmode(nxt,port,mode);
nxt_wait_after_communication_command();
}
nxt_cam_enable_tracking(nxt,port,1);
nxt_wait_after_communication_command();
n = nxt_cam_num_objects(nxt,port);
nxt_wait_after_communication_command();
if (n==-1) {
fprintf(stderr,"Error: %s\n",nxt_strerror(nxt_error(nxt)));
}
else if (nxt_cam_get_objects(nxt,port,0,n,objects)==-1) {
fprintf(stderr,"Error: %s\n",nxt_strerror(nxt_error(nxt)));
}
else {
if (verbose) {
printf("Sensor %d:\n",port+1);
printf("Objects: %d\n",n);
for (i=0;i<n;i++) {
printf("pos = (%d, %d);\tsize = (%d, %d);\tcolor = %d\n", objects[i].x, objects[i].y, objects[i].w, objects[i].h, objects[i].color);
}
}
else {
printf("%d\n",n);
for (i=0;i<n;i++) {
printf("%d %d %d %d %d\n", objects[i].x, objects[i].y, objects[i].w, objects[i].h, objects[i].color);
}
}
}
if (reset) {
nxt_cam_enable_tracking(nxt,port,0);
nxt_wait_after_communication_command();
nxt_set_sensor_mode(nxt,port,NXT_SENSOR_TYPE_NONE,NXT_SENSOR_MODE_RAW);
}
int ret = nxt_error(nxt);
nxt_close(nxt);
return ret;
}
int main(int argc,char *argv[]) {
SDL_Event event;
SDL_Surface *screen;
SDL_Surface *bg,*left,*enter,*right,*exit,*display_surface;
SDL_Rect rect_left = {
.x = 51,
.y = 172,
.w = 27,
.h = 31,
};
SDL_Rect rect_enter = {
.x = 91,
.y = 173,
.w = 32,
.h = 31,
};
SDL_Rect rect_right = {
.x = 136,
.y = 172,
.w = 27,
.h = 31,
};
SDL_Rect rect_exit = {
.x = 91,
.y = 216,
.w = 31,
.h = 20,
};
SDL_Rect rect_display = {
.x = 57,
.y = 62,
.w = 100,
.h = 64,
};
int c;
char *name = NULL;
int force = 0;
while ((c = getopt(argc,argv,":hn:f"))!=-1) {
switch (c) {
case 'h':
usage(argv[0],0);
break;
case 'f':
force = 1;
break;
case 'n':
name = optarg;
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
// init NXT
nxt_t *nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
if (nxt_get_connection_type(nxt)==NXT_CON_BT && !force) {
fprintf(stderr,"Warning! Using NXT Pilot over Bluetooth can make trouble. Are you sure to continue (y/n)[n]: ");
if (fgetc(stdin)!='y') {
nxt_close(nxt);
return 0;
}
}
nxt_display_t *display = nxt_display_open(nxt);
if (display==NULL) {
fprintf(stderr,"Could not open display\n");
nxt_close(nxt);
return 1;
}
// init window
if (SDL_Init(SDL_INIT_VIDEO)==-1) {
fprintf(stderr,"Can't init SDL: %s\n",SDL_GetError());
return 1;
}
atexit(SDL_Quit);
screen = SDL_SetVideoMode(215,322,32,SDL_HWSURFACE);
if (screen==NULL) {
fprintf(stderr,"Can't open window: %s\n",SDL_GetError());
return 1;
}
SDL_WM_SetCaption("NXT Pilot","NXT Pilot");
// load images
bg = IMG_ReadXPMFromArray(pilot_bg_xpm);
left = IMG_ReadXPMFromArray(pilot_left_xpm);
enter = IMG_ReadXPMFromArray(pilot_enter_xpm);
right = IMG_ReadXPMFromArray(pilot_right_xpm);
exit = IMG_ReadXPMFromArray(pilot_exit_xpm);
// display NXT
SDL_BlitSurface(bg,NULL,screen,NULL);
SDL_BlitSurface(left,NULL,screen,&rect_left);
SDL_BlitSurface(enter,NULL,screen,&rect_enter);
SDL_BlitSurface(right,NULL,screen,&rect_right);
SDL_BlitSurface(exit,NULL,screen,&rect_exit);
int done = 0;
unsigned int pause = nxt_get_connection_type(nxt)==NXT_CON_BT?500:100;
while (!done) {
while (SDL_PollEvent(&event)) {
switch(event.type) {
case SDL_QUIT:
done = 1;
break;
case SDL_KEYUP:
if (event.key.keysym.sym==SDLK_ESCAPE) done = 1;
else if (event.key.keysym.sym==SDLK_RETURN) nxt_set_button(nxt,NXT_UI_BUTTON_ENTER);
else if (event.key.keysym.sym==SDLK_BACKSPACE) nxt_set_button(nxt,NXT_UI_BUTTON_EXIT);
else if (event.key.keysym.sym==SDLK_LEFT) nxt_set_button(nxt,NXT_UI_BUTTON_LEFT);
else if (event.key.keysym.sym==SDLK_RIGHT) nxt_set_button(nxt,NXT_UI_BUTTON_RIGHT);
break;
case SDL_MOUSEBUTTONUP:
if (in_rect(rect_left,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_LEFT);
else if (in_rect(rect_enter,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_ENTER);
else if (in_rect(rect_right,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_RIGHT);
else if (in_rect(rect_exit,event.button)) nxt_set_button(nxt,NXT_UI_BUTTON_EXIT);
break;
}
}
display_surface = load_display(display);
if (display!=NULL) {
SDL_BlitSurface(display_surface,NULL,screen,&rect_display);
SDL_UpdateRect(screen,0,0,0,0);
SDL_FreeSurface(display_surface);
}
SDL_Delay(pause);
}
// free images
SDL_FreeSurface(bg);
SDL_FreeSurface(left);
SDL_FreeSurface(enter);
SDL_FreeSurface(right);
SDL_FreeSurface(exit);
// close nxt
int ret = nxt_error(nxt);
nxt_display_flush(display,1);
nxt_display_close(display);
nxt_close(nxt);
return ret;
}
int main(int argc, char *argv[])
{
nxt_t *nxt;
nxt_error_t err;
char *fw_file;
FILE *f;
int ret;
char *buf;
long lsize;
if (argc != 2)
{
printf("Syntax: %s <C program image to write>\n"
"\n"
"Example: %s flashled.bin\n", argv[0], argv[0]);
exit(1);
}
fw_file = argv[1];
NXT_HANDLE_ERR(nxt_init(&nxt), NULL,
"Error during library initialization");
err = nxt_find(nxt);
if (err)
{
if (err == NXT_NOT_PRESENT)
printf("NXT not found. Is it properly plugged in via USB?\n");
else
NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT");
exit(1);
}
f = fopen(fw_file, "rb");
if (f == NULL) NXT_HANDLE_ERR(8, NULL, "Error opening file");
fseek (f, 0, SEEK_END);
lsize=ftell (f);
rewind(f);
buf = (char *) malloc(lsize);
if (buf == NULL) NXT_HANDLE_ERR(8, NULL, "Error allocating memory");
ret = fread(buf, 1, lsize, f);
if (ret != (int) lsize) NXT_HANDLE_ERR(8, NULL, "Error reading file");
printf("File size is %ld\n", lsize);
fclose(f);
if (!nxt_in_reset_mode(nxt))
{
printf("NXT found, but not running in reset mode.\n");
printf("Please reset your NXT manually and restart this program.\n");
exit(2);
}
NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT");
printf("NXT device in reset mode located and opened.\n"
"Starting C program now...\n");
// Send the C program
NXT_HANDLE_ERR(nxt_send_file(nxt, 0x202000, buf, (int) lsize), nxt,
"Error Sending file");
NXT_HANDLE_ERR(nxt_jump(nxt, 0x202000), nxt,
"Error jumping to C program");
NXT_HANDLE_ERR(nxt_close(nxt), NULL,
"Error while closing connection to NXT");
return 0;
}
int main(int argc, char *argv[])
{
nxt_t *nxt;
nxt_error_t err;
char *fw_file, *menu_file;
char *nxj_home;
if (argc == 1)
{
nxj_home = getenv("NXJ_HOME");
if (nxj_home == NULL || strlen(nxj_home) == 0)
{
printf("NXJ_HOME is not defined\n");
exit(1);
}
printf("NXJ_HOME is %s\n", nxj_home);
fw_file = (char *) calloc(1,256);
strcpy(fw_file, nxj_home);
strcat(fw_file,"/bin/lejos_nxt_rom.bin");
menu_file = calloc(1,256);
strcpy(menu_file,nxj_home);
strcat(menu_file,"/bin/StartUpText.bin");
}
else if (argc != 3)
{
printf("Syntax: %s [<VM binary> <java menu binary>]\n"
"\n"
"Example: %s lejos_nxt_rom.bin StartUpText.bin\n", argv[0], argv[0]);
exit(1);
}
else
{
fw_file = argv[1];
menu_file = argv[2];
}
printf("Checking VM %s ... ", fw_file);
NXT_HANDLE_ERR(nxt_firmware_validate(fw_file, MAX_VM_PAGES ), NULL,
"Error in VM file");
printf("VM OK.\n");
printf("Checking Menu %s ... ", menu_file);
NXT_HANDLE_ERR(nxt_firmware_validate(menu_file, (MAX_MENU_PAGES ) - 4), NULL,
"Error in Menu file");
printf("Menu OK.\n");
NXT_HANDLE_ERR(nxt_init(&nxt), NULL,
"Error during library initialization");
err = nxt_find(nxt);
if (err)
{
if (err == NXT_NOT_PRESENT)
printf("NXT not found. Is it properly plugged in via USB?\n");
else
NXT_HANDLE_ERR(0, NULL, "Error while scanning for NXT");
exit(1);
}
if (!nxt_in_reset_mode(nxt))
{
printf("NXT found, but not running in reset mode.\n");
printf("Please reset your NXT manually and restart this program.\n");
exit(2);
}
NXT_HANDLE_ERR(nxt_open(nxt), NULL, "Error while connecting to NXT");
printf("NXT device in reset mode located and opened.\n"
"Starting VM flash procedure now...\n");
NXT_HANDLE_ERR(nxt_firmware_flash(nxt, fw_file, 0, MAX_VM_PAGES, 1, 0), nxt,
"Error flashing VM");
printf("VM flash complete.\n");
printf("Starting menu flash procedure now...\n");
NXT_HANDLE_ERR(nxt_firmware_flash(nxt, menu_file, MAX_VM_PAGES, MAX_MENU_PAGES, 0, 1), nxt,
"Error flashing menu");
printf("Menu flash complete.\n");
NXT_HANDLE_ERR(nxt_jump(nxt, 0x00100000), nxt,
"Error booting new firmware");
printf("New firmware started!\n");
printf("If battery level reads 0.0, remove and re-insert a battery\n");
NXT_HANDLE_ERR(nxt_close(nxt), NULL,
"Error while closing connection to NXT");
return 0;
}
int main(int argc,char *argv[]) {
char *name = NULL;
int c,newport;
int port = 3;
int verbose = 1;
int reset = 0;
int show_length = 0;
double length;
struct nxt_accel_vector accel;
while ((c = getopt(argc,argv,":hn:s:qrm"))!=-1) {
switch(c) {
case 'h':
usage(argv[0],0);
break;
case 'n':
name = strdup(optarg);
break;
case 'q':
verbose = 0;
break;
case 'r':
reset = 1;
break;
case 's':
newport = atoi(optarg)-1;
if (NXT_VALID_SENSOR(newport)) port = newport;
else {
fprintf(stderr,"Invalid sensor: %s\n",optarg);
usage(argv[0],1);
}
break;
case 'm':
show_length = 1;
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
nxt_t *nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
nxt_set_sensor_mode(nxt,port,NXT_SENSOR_TYPE_LOWSPEED,NXT_SENSOR_MODE_RAW);
nxt_wait_after_communication_command();
if (nxt_accel_get_accel(nxt,port,&accel)==-1) {
fprintf(stderr,"Error: %s\n",nxt_strerror(nxt_error(nxt)));
}
else {
if (show_length) {
length = sqrt(pow(0.001*accel.x, 2.)+pow(0.001*accel.y, 2.)+pow(0.001*accel.z, 2.));
}
if (verbose) {
printf("Sensor %d:\n",port+1);
printf("x = %.3f G\n", 0.001*accel.x);
printf("y = %.3f G\n", 0.001*accel.y);
printf("z = %.3f G\n", 0.001*accel.z);
if (show_length) {
printf("m = %.3f G\n", length);
}
}
else {
if (show_length) {
printf("%.3f\n%.3f\n%.3f\n%.3f\n", 0.001*accel.x, 0.001*accel.y, 0.001*accel.z, length);
}
else {
printf("%.3f\n%.3f\n%.3f\n", 0.001*accel.x, 0.001*accel.y, 0.001*accel.z);
}
}
}
if (reset) {
nxt_set_sensor_mode(nxt,port,NXT_SENSOR_TYPE_NONE,NXT_SENSOR_MODE_RAW);
}
int ret = nxt_error(nxt);
if (name!=NULL) free(name);
nxt_close(nxt);
return ret;
}
int main(int argc,char *argv[]) {
char screen[64][100];
char *name = NULL;
char *file = NULL;
int format = NXT_PNG;
int transparency = 0;
int c,x,y,newfmt;
while ((c = getopt(argc,argv,":hn:f:o:t"))!=-1) {
switch(c) {
case 'h':
usage(argv[0],0);
break;
case 'n':
name = optarg;
break;
case 'f':
newfmt = nxt_str2fileformat(optarg);
if (newfmt==0) {
fprintf(stderr,"Invalid file format\n");
usage(argv[0],1);
}
else format = newfmt;
break;
case 'o':
file = optarg;
break;
case 't':
transparency = 1;
break;
case ':':
fprintf(stderr,"Option -%c requires an operand\n",optopt);
usage(argv[0],1);
break;
case '?':
fprintf(stderr,"Unrecognized option: -%c\n", optopt);
usage(argv[0],1);
break;
}
}
nxt_t *nxt = nxt_open(name);
if (nxt==NULL) {
fprintf(stderr,"Could not find NXT\n");
return 1;
}
nxt_display_t *display = nxt_display_open(nxt);
if (display==NULL) {
fprintf(stderr,"Could not open display\n");
nxt_close(nxt);
return 1;
}
if (nxt_display_refresh(display)==0) {
gdImagePtr im;
int black,white;
im = gdImageCreate(100,64);
black = gdImageColorAllocate(im,0,0,0);
white = gdImageColorAllocate(im,255,255,255);
if (transparency) gdImageColorTransparent(im,white);
for (y=0;y<64;y++) {
for (x=0;x<100;x++) gdImageSetPixel(im,x,y,display->buffer[y][x]==NXT_DISPLAY_BLACK?black:white);
}
FILE *out = fopen(file!=NULL?file:(format==NXT_JPEG?"display.jpg":"display.png"),"w");
if (format==NXT_JPEG) gdImageJpeg(im,out,-1);
else if (format==NXT_PNG) gdImagePng(im,out);
fclose(out);
gdImageDestroy(im);
}
int ret = nxt_error(nxt);
nxt_display_flush(display,1);
nxt_display_close(display);
nxt_close(nxt);
return ret;
}
