// Ticktimer Handler Update
// s_nearbyStopsWindow: get current bus stop selection and scrolling offset. Request new data.
// s_busArrivalsWindow: get current bus service selection and scrolling offset. Reqeust new data.
static void tickHandler(struct tm *tickTime, TimeUnits unitsChanged) {
if (window_stack_get_top_window() == s_nearbyStopsWindow) {
requestData("location");
} else if (window_stack_get_top_window() == s_busArrivalsWindow) {
requestData(lastStopRequest);
}
}
void UniqueIDBDatabase::handleOpenDatabaseOperations()
{
ASSERT(isMainThread());
LOG(IndexedDB, "(main) UniqueIDBDatabase::handleOpenDatabaseOperations");
// If a version change transaction is currently in progress, no new connections can be opened right now.
// We will try again later.
if (m_versionChangeDatabaseConnection)
return;
auto operation = m_pendingOpenDatabaseOperations.takeFirst();
// 3.3.1 Opening a database
// If requested version is undefined, then let requested version be 1 if db was created in the previous step,
// or the current version of db otherwise.
uint64_t requestedVersion = operation->requestData().requestedVersion();
if (!requestedVersion)
requestedVersion = m_databaseInfo->version() ? m_databaseInfo->version() : 1;
// 3.3.1 Opening a database
// If the database version higher than the requested version, abort these steps and return a VersionError.
if (requestedVersion < m_databaseInfo->version()) {
auto result = IDBResultData::error(operation->requestData().requestIdentifier(), IDBError(IDBExceptionCode::VersionError));
operation->connection().didOpenDatabase(result);
return;
}
Ref<UniqueIDBDatabaseConnection> connection = UniqueIDBDatabaseConnection::create(*this, operation->connection());
UniqueIDBDatabaseConnection* rawConnection = &connection.get();
m_server.registerDatabaseConnection(*rawConnection);
if (requestedVersion == m_databaseInfo->version()) {
addOpenDatabaseConnection(WTF::move(connection));
auto result = IDBResultData::openDatabaseSuccess(operation->requestData().requestIdentifier(), *rawConnection);
operation->connection().didOpenDatabase(result);
return;
}
ASSERT(!m_versionChangeOperation);
ASSERT(!m_versionChangeDatabaseConnection);
m_versionChangeOperation = adoptRef(operation.leakRef());
m_versionChangeDatabaseConnection = rawConnection;
// 3.3.7 "versionchange" transaction steps
// If there's no other open connections to this database, the version change process can begin immediately.
if (!hasAnyOpenConnections()) {
startVersionChangeTransaction();
return;
}
// Otherwise we have to notify all those open connections and wait for them to close.
notifyConnectionsOfVersionChange();
}
char *
MavlinkFTP::Request::dataAsCString()
{
// guarantee nul termination
if (header()->size < kMaxDataLength) {
requestData()[header()->size] = '\0';
} else {
requestData()[kMaxDataLength - 1] = '\0';
}
// and return data
return (char *)&(header()->data[0]);
}
// Accelerometer Handler Update
// s_nearbyStopsWindow: get current bus stop selection and scrolling offset. Request new data.
// s_busArrivalsWindow: get current bus service selection and scrolling offset. Reqeust new data.
static void accelerometerHandler(AccelAxisType axis, int32_t direction) {
light_enable_interaction();
time_t now = time(NULL);
if (difftime(now, lastUpdate) < MINIMUM_UPDATE_SECONDS) {
return;
}
if (window_stack_get_top_window() == s_nearbyStopsWindow) {
requestData("location");
} else if (window_stack_get_top_window() == s_busArrivalsWindow) {
requestData(lastStopRequest);
}
}
// Menu Item Selection
// Last index item: View more bus stops
// Other items: request data using the stop details which is selected
// Stop description is retrieved to be used for the busArrivalsWindow showing bus services
static void menu_select_callback(MenuLayer *menu_layer, MenuIndex *cell_index, void *data) {
int index = cell_index->row;
if (strcmp(busStops[index].stopDescription, "DISPLAY MORE") == 0) {
requestData("more");
} else {
snprintf(lastStopRequest, sizeof(lastStopRequest), "%s", busStops[index].stopDetails);
snprintf(lastStopDescription, sizeof(lastStopDescription), "%s", busStops[index].stopDescription);
// APP_LOG(// APP_LOG_LEVEL_DEBUG, "Selected: %s", stopDetails[index]);
window_stack_push(s_splashWindow, true);
text_layer_set_text(s_splashText, "Getting estimated bus arrival timings...");
requestData(lastStopRequest);
}
}
void SerialThrustMasterBase::open() {
SerialDevice::open();
struct termios settings;
if (tcgetattr(handle, &settings) == -1) {
throw IOException(name + " failed to get termios attributes: " + std::strerror(errno));
}
if (cfsetspeed(&settings, B9600) == -1) {
throw IOException(name + " failed to set baud speed: " + std::strerror(errno));
}
// set the terminal to "raw" mode, see TERMIOS(3)
settings.c_iflag &= ~(IGNBRK | BRKINT | IGNPAR | PARMRK | INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXOFF);
settings.c_oflag &= ~OPOST;
settings.c_cflag &= ~(CSIZE | PARENB | CSTOPB | HUPCL);
settings.c_cflag |= CS8 | CLOCAL | CREAD;
settings.c_lflag &= ~(ISIG | ICANON | ECHO | ECHOE | ECHOK | ECHONL | IEXTEN);
settings.c_cc[VTIME] = 0;
settings.c_cc[VMIN] = 0;
if (tcsetattr(handle, TCSANOW, &settings) == -1) {
throw IOException(name + " failed to set termios attributes: " + std::strerror(errno));
}
// start getting data
requestData();
}
void Table::process( const Eref& e, ProcPtr p )
{
lastTime_ = p->currTime;
// send out a request for data. This magically comes back in the
// RecvDataBuf and is handled.
requestData()->send( e, p->threadIndexInGroup, recvDataBuf()->getFid());
}
void PostScene::widgetTouchUp(Widget *_widget){
if (btnBack == _widget){
SceneManager::instance()->showScene("listScene");
}
else if (btnSubmit == _widget){
if (isEdit)
tool->act = "3";
else
tool->act = "1";
tool->userid = SceneManager::instance()->userid;
tool->customid = customID;
for (std::map<string, tabCheck::AttType>::iterator it = tool->mapAtt.begin(); it != tool->mapAtt.end(); it++)
{
TextField* _txt = static_cast<TextField*>(rootNode->getChildByName(it->first));
// if (_txt != NULL&&_txt->getString() != ""){
if (_txt != NULL){
if (_txt->getString() == "" || _txt->getString() == "完善此处信息"){
_txt->setPlaceHolder("完善此处信息");
_txt->setPlaceHolderColor(Color3B::RED);
return;
}
_txt->setPlaceHolderColor(Color3B::GRAY);
tool->*(it->second) = _txt->getString();
}
}
requestData(tool);
}
}
void frameDraw( const eq::uint128_t& )
{
applyCamera();
initializeLivreFrustum();
requestData();
const eq::fabric::Viewport& vp = _channel->getViewport( );
const Viewport viewport( vp.x, vp.y, vp.w, vp.h );
_renderViewPtr->setViewport( viewport );
livre::Node* node = static_cast< livre::Node* >( _channel->getNode( ));
livre::Window* window = static_cast< livre::Window* >( _channel->getWindow( ));
AvailableSetGenerator generateSet( node->getDashTree( ),
window->getTextureCache( ));
_frameInfo.clear();
generateSet.generateRenderingSet( _currentFrustum, _frameInfo );
EqRenderViewPtr renderViewPtr =
boost::static_pointer_cast< EqRenderView >( _renderViewPtr );
RayCastRendererPtr renderer =
boost::static_pointer_cast< RayCastRenderer >(
renderViewPtr->getRenderer( ));
const livre::Pipe* pipe = static_cast< const livre::Pipe* >( _channel->getPipe( ));
renderer->initTransferFunction(
pipe->getFrameData()->getRenderSettings()->getTransferFunction( ));
RenderBricks renderBricks;
generateRenderBricks( _frameInfo.renderNodes, renderBricks );
renderViewPtr->render( _frameInfo, renderBricks, *_glWidgetPtr );
}
void Table::reinit( const Eref& e, ProcPtr p )
{
input_ = 0.0;
vec().resize( 0 );
lastTime_ = 0;
// cout << "tabReinit on :" << p->groupId << ":" << p->threadIndexInGroup << endl << flush;
requestData()->send( e, p->threadIndexInGroup, recvDataBuf()->getFid());
}
float testTemperatureGetDataHandler() {
byte cmd_buffer[8] = { 0xFF, 0x00, 0xFC, 0x01, 0x00, 0x00, 0x00, 0x00};
const byte write_pipe[] = { "2Node" };
float value = requestData(cmd_buffer, write_pipe);
debugPrint("FLOAT VALUE: ", value);
return value;
}
float testPresenceGetDataHandler() {
byte cmd_buffer[8] = { 0xFF, 0x00, 0xFC, 0x03, 0x00, 0x00, 0x00, 0x00};
const byte write_pipe[] = { "3Node" };
float value = requestData(cmd_buffer, write_pipe);
debugPrint("PRESENCE VALUE: ", value);
return value;
}
void frameDraw( const eq::uint128_t& )
{
livre::Node* node = static_cast< livre::Node* >( _channel->getNode( ));
const DashRenderStatus& renderStatus = node->getDashTree()->getRenderStatus();
const uint32_t frame = renderStatus.getFrameID();
if( frame >= INVALID_FRAME )
return;
applyCamera();
initializeLivreFrustum();
const DashRenderNodes& visibles = requestData();
const eq::fabric::Viewport& vp = _channel->getViewport( );
const Viewport viewport( vp.x, vp.y, vp.w, vp.h );
_renderViewPtr->setViewport( viewport );
livre::Window* window = static_cast< livre::Window* >( _channel->getWindow( ));
const livre::Pipe* pipe = static_cast< const livre::Pipe* >( _channel->getPipe( ));
const bool isSynchronous = pipe->getFrameData()->getVRParameters()->getSynchronousMode();
// #75: only wait for data in synchronous mode
const bool dashTreeUpdated = window->apply( isSynchronous );
if( dashTreeUpdated )
{
const Frustum& receivedFrustum = renderStatus.getFrustum();
// If there are multiple channels, this may cause the ping-pong
// because every channel will try to update the same DashTree in
// node with their own frustum.
if( !isSynchronous && receivedFrustum != _currentFrustum )
_channel->getConfig()->sendEvent( REDRAW );
}
const AvailableSetGenerator generateSet( node->getDashTree(),
window->getTextureCache( ));
_frameInfo.clear();
for( const auto& visible : visibles )
_frameInfo.allNodes.push_back(visible.getLODNode().getNodeId());
generateSet.generateRenderingSet( _frameInfo );
EqRenderViewPtr renderViewPtr =
boost::static_pointer_cast< EqRenderView >( _renderViewPtr );
RayCastRendererPtr renderer =
boost::static_pointer_cast< RayCastRenderer >(
renderViewPtr->getRenderer( ));
renderer->update( *pipe->getFrameData( ));
RenderBricks renderBricks;
generateRenderBricks( _frameInfo.renderNodes, renderBricks );
renderViewPtr->render( _frameInfo, renderBricks, *_glWidgetPtr );
updateRegions( renderBricks );
}
byte PulsePlug::getReg (byte reg) {
// get a register
beginTransmission();
Wire.write(reg);
endTransmission();
requestData(1);
byte result = Wire.read();
delay(10); // XXX Nothing in datasheet indicates this is required; was in original code.
return result;
}
void IDBConnectionToServer::openDatabase(IDBOpenDBRequest& request)
{
LOG(IndexedDB, "IDBConnectionToServer::openDatabase - %s", request.databaseIdentifier().debugString().utf8().data());
ASSERT(!m_openDBRequestMap.contains(request.requestIdentifier()));
m_openDBRequestMap.set(request.requestIdentifier(), &request);
IDBRequestData requestData(*this, request);
m_delegate->openDatabase(requestData);
}
void LLGroupMoneyTabEventHandler::onClickLater()
{
if ( mImplementationp->mTextEditorp )
{
mImplementationp->mTextEditorp->setText(mImplementationp->mLoadingText);
}
mImplementationp->mCurrentInterval--;
mImplementationp->updateButtons();
requestData(gMessageSystem);
}
/******************************************************
*
* Main; the master of functions, the definer of variables.
*
* ***************************************************/
int main( int argc, char **argv )
{
int i, j;
ros::init(argc, argv, "sonar");
ros::NodeHandle n;
//ros::Publisher nodenameVariablenameMsg = handle.outsidness<libraryname::type>("nodenameVariablename", bufflen?);
ros::Publisher sonarBearingMsg = n.advertise<std_msgs::Float32>("sonarBearing", 100);
ros::Publisher sonarBinsMsg = n.advertise<std_msgs::Float32>("sonarBins", 100);
std_msgs::Float32 sonarBearing;
std_msgs::Float32 sonarBins;
/* Open and Configure the Serial Port. */
open_port();
config_port();
//printf("dihqwdi %d\n", getU16(0x0A, 0x80));
/* Initilise the sonar */
initSonar();
/* optional, sendBBUser command, doesnt work :/ */
//sendBB();
/* Make and send the head parameters, currently defined at the top of this file */
headSetup();
/* ask for some data, will get datas */
for( i = 0; i < 200; i ++)
{
requestData();
//pass datas
sonarBearing.data = (float) bearing;
sonarBins.data = (float) bins;
//publish
sonarBearingMsg.publish(sonarBearing);
sonarBinsMsg.publish(sonarBins);
ros::spinOnce();
}
/* close file and exit program */
close(fd);
return 0;
}
void UniqueIDBDatabase::startVersionChangeTransaction()
{
LOG(IndexedDB, "(main) UniqueIDBDatabase::startVersionChangeTransaction");
ASSERT(!m_versionChangeTransaction);
ASSERT(m_versionChangeOperation);
ASSERT(m_versionChangeDatabaseConnection);
auto operation = m_versionChangeOperation;
m_versionChangeOperation = nullptr;
uint64_t requestedVersion = operation->requestData().requestedVersion();
if (!requestedVersion)
requestedVersion = m_databaseInfo->version() ? m_databaseInfo->version() : 1;
addOpenDatabaseConnection(*m_versionChangeDatabaseConnection);
m_versionChangeTransaction = &m_versionChangeDatabaseConnection->createVersionChangeTransaction(requestedVersion);
auto result = IDBResultData::openDatabaseUpgradeNeeded(operation->requestData().requestIdentifier(), *m_versionChangeTransaction);
operation->connection().didOpenDatabase(result);
}
void UniqueIDBDatabase::startVersionChangeTransaction()
{
LOG(IndexedDB, "(main) UniqueIDBDatabase::startVersionChangeTransaction");
ASSERT(!m_versionChangeTransaction);
ASSERT(m_versionChangeOperation);
ASSERT(m_versionChangeDatabaseConnection);
auto operation = m_versionChangeOperation;
m_versionChangeOperation = nullptr;
uint64_t requestedVersion = operation->requestData().requestedVersion();
if (!requestedVersion)
requestedVersion = m_databaseInfo->version() ? m_databaseInfo->version() : 1;
addOpenDatabaseConnection(*m_versionChangeDatabaseConnection);
m_versionChangeTransaction = &m_versionChangeDatabaseConnection->createVersionChangeTransaction(requestedVersion);
m_inProgressTransactions.set(m_versionChangeTransaction->info().identifier(), m_versionChangeTransaction);
m_server.postDatabaseTask(createCrossThreadTask(*this, &UniqueIDBDatabase::beginTransactionInBackingStore, m_versionChangeTransaction->info()));
auto result = IDBResultData::openDatabaseUpgradeNeeded(operation->requestData().requestIdentifier(), *m_versionChangeTransaction);
operation->connection().didOpenDatabase(result);
}
void TimeExchangeView::onEnterFrame(float dt)
{
if (!m_st) {
return;
}
int tmpMaxRwdLv = PortActController::getInstance()->getMaxRwdLv();
if (tmpMaxRwdLv != m_maxRwdLv) {
m_maxRwdLv = tmpMaxRwdLv;
generateData(NULL);
}
if (PortActController::getInstance()->isNewDay()) {
requestData(NULL);
}
}
void VLongPollClient::onServerDataReceived()
{
QNetworkReply *reply = qobject_cast<QNetworkReply *>(sender());
QByteArray rawData = reply->readAll();
debug() << Q_FUNC_INFO << rawData;
QVariantMap data = Json::parse(rawData).toMap().value("response").toMap();
if (data.isEmpty() || reply->error() != QNetworkReply::NoError) {
if (m_connection->connectionState() == Connected)
QTimer::singleShot(1000, this, SLOT(requestServer()));
return;
}
QString url("http://%1?act=a_check&key=%2&wait=25");
m_url = url.arg(data.value("server").toString(), data.value("key").toString());
if (m_connection->connectionState() == Connected)
requestData(data.value("ts").toString());
}
void KAudioPlayStream::fillData( Arts::DataPacket<Arts::mcopbyte> *packet )
{
//kdDebug( 400 ) << k_funcinfo << "packet->size=" << packet->size << endl;
if ( d->_polling )
{
QByteArray bytearray( packet->size );
bytearray.setRawData( ( char* )packet->contents, packet->size );
bytearray.fill( 0 );
emit requestData( bytearray );
bytearray.resetRawData( ( char* )packet->contents, packet->size );
//for ( int i=0; i<10; i++ )
// kdDebug() << packet->contents[ i ] << " : " << bytearray.data()[ i ] << endl;
} else {
/// TODO: Implement a queue and fetching from it...
}
}
// Fetch data from the PS1, PS2 and PS3 registers.
// They are stored as LSB-MSB pairs of bytes there; convert them to 16bit ints here.
uint16_t* PulsePlug::fetchLedData() {
static uint16_t ps[3];
static uint16_t tmp;
beginTransmission();
Wire.write(PulsePlug::PS1_DATA0);
endTransmission();
requestData(6);
for (int i=0; i<=2; i++) {
ps[i] = Wire.read();
tmp = Wire.read();
ps[i] += (tmp << 8);
}
return ps;
}
// Returns ambient light values as an array
// First item is visual light, second is IR light.
uint16_t* PulsePlug::fetchALSData () {
static uint16_t als_data[2];
static uint16_t tmp;
// read out all result registers as lsb-msb pairs of bytes
beginTransmission();
Wire.write(ALS_VIS_DATA0);
endTransmission();
requestData(4);
for (int i=0; i<=1; i++) {
als_data[i] = Wire.read();
tmp = Wire.read();
als_data[i] += (tmp << 8);
}
return als_data;
}
void frameDraw( const eq::uint128_t& )
{
applyCamera();
initializeLivreFrustum();
requestData();
const eq::fabric::Viewport& vp = _channel->getViewport( );
const Viewportf viewport( Vector2f( vp.x, vp.y ),
Vector2f( vp.w, vp.h ));
_renderViewPtr->setViewport( viewport );
Viewporti pixelViewport;
_glWidgetPtr->setViewport( _renderViewPtr.get( ), pixelViewport );
livre::Node* node = static_cast< livre::Node* >( _channel->getNode( ));
AvailableSetGenerator generateSet( node->getDashTree( ));
FrameInfo frameInfo( _currentFrustum );
generateSet.generateRenderingSet( _currentFrustum,
frameInfo);
EqRenderViewPtr renderViewPtr =
boost::static_pointer_cast< EqRenderView >( _renderViewPtr );
renderViewPtr->setParameters( getFrameData()->getVRParameters( ));
RayCastRendererPtr renderer =
boost::static_pointer_cast< RayCastRenderer >(
renderViewPtr->getRenderer( ));
const livre::Pipe* pipe = static_cast< const livre::Pipe* >( _channel->getPipe());
renderer->initTransferFunction(
pipe->getFrameData()->getRenderSettings()->getTransferFunction( ));
RenderBricks renderBricks;
generateRenderBricks( frameInfo.renderNodeList,
renderBricks );
renderViewPtr->render( frameInfo,
renderBricks,
*_glWidgetPtr );
}
std::vector<std::vector<unsigned char> > SerialThrustMasterBase::read() {
std::vector<std::vector<unsigned char> > results;
int availableBytes;
if (ioctl(handle, FIONREAD, &availableBytes) == -1) {
throw IOException("Failed to get number of bytes available for " + name + ": " + std::strerror(errno));
}
// If a full packet is available or a timeout has occurred, process all available data.
if (availableBytes >= 9 || getTime() > timeout) {
int remainingBytes = availableBytes;
std::vector<unsigned char> buffer(remainingBytes);
/**
* While we know how many bytes are avialable, read can still be interrupted by signals,
* so call it in a loop.
*/
while (remainingBytes) {
remainingBytes -= SerialDevice::read(&buffer[0] + (availableBytes - remainingBytes), remainingBytes);
}
/**
* Only return the data to the caller if exactly one full packet arrived. If a timeout
* occurred or extra bytes arrived, discard all of the data.
*/
if (availableBytes == 9) {
results.push_back(buffer);
}
/**
* Request the next state update from the device. Sending requests too quickly can corrupt
* the device's output, so we only send a new request when at least a full packet has
* arrived or a timeout occured.
*/
requestData();
}
return results;
}
void LLGroupMoneyTabEventHandler::onClickTab()
{
requestData(gMessageSystem);
}
void PostScene::getTickData(){
tabCheck* _tabTick = new tabCheck();
_tabTick->act = "4";
_tabTick->customid = customID;
requestData(_tabTick);
}
void WebPage::receivedApplicationSchemeRequest(const QNetworkRequest& request, QtNetworkReply* reply)
{
QtNetworkRequestData requestData(request, reply);
m_applicationSchemeReplies.add(requestData.m_replyUuid, reply);
send(Messages::WebPageProxy::ResolveApplicationSchemeRequest(requestData));
}
/******************************************************
*
* Main; the master of functions, the definer of variables.
*
* ***************************************************/
int main( int argc, char **argv )
{
int i, j;
ros::init(argc, argv, "sonar");
ros::NodeHandle n;
//ros::Publisher nodenameVariablenameMsg = handle.outsidness<libraryname::type>("nodenameVariablename", bufflen?);
ros::Publisher sonarBearingMsg = n.advertise<std_msgs::Float32>("sonarBearing", 100);
ros::Publisher sonarBinsMsg = n.advertise<std_msgs::Float32>("sonarBins", 100);
ros::Publisher sonarBinsArrMsg = n.advertise<std_msgs::Int32MultiArray>("sonarBinsArr", 100);
ros::Publisher sonarScanMsg = n.advertise<sensor_msgs::LaserScan>("sonarScan", 100);
ros::Subscriber sub1 = n.subscribe("sonarCmd", 100, cmdCallback);
ros::Subscriber sub2 = n.subscribe("sonarRange", 100, rangeCallback);
ros::Subscriber sub3 = n.subscribe("sonarLeft", 100, leftCallback);
std_msgs::Float32 sonarBearing;
std_msgs::Float32 sonarBins;
std_msgs::Int32MultiArray sonarBinsArr;
sensor_msgs::LaserScan sonarScan;
//ros::Time scan_time = ros::Time::now();
//Set up a LaserScan message:
initLaserData(sonarScan);
/* Open and Configure the Serial Port. */
open_port();
if( tcgetattr(fd, &orig_terimos) < 0)
{
ROS_ERROR("Probably didn't get the serial port (is it connected?).\n");
return 0;
}
config_port();
//makePacket(mtReBoot);
//printf("dihqwdi %d\n", getU16(0x0A, 0x80));
/* Initilise the sonar */
initSonar();
/* optional, sendBBUser command, doesnt work :/ */
//sendBB();
while(ros::ok())
{
ros::Time scan_time = ros::Time::now();
switchCmd = 1;
//Stare LL
if(switchCmd == 0)
{
/* Make and send the head parameters, currently defined at the top of this file */
if(switchFlag == 0)
{
//SCANSTARE = 0x2B;
//RANGE = 5;
LEFTANGLE = 3300;
RIGHTANGLE = 3600;
headSetup();
switchFlag = 1;
ROS_INFO("Stare Initilized");
}
// i = 0;
//makePacket(mtStopAlive);
/* ask for some data, will get datas */
// while(i < 30)
// {
requestData();
//
//tcflush(fd, TCIFLUSH);//remove
//pass datas
sonarBearing.data = (float) bearing;
//printf("%d", bearing);
sonarBins.data = (float) bins;
sonarBinsArr.data.clear();
for (int k = 0; k < 90; k++)
{
sonarBinsArr.data.push_back(tempBinArray[k]);
}
//publish
sonarBearingMsg.publish(sonarBearing);
sonarBinsMsg.publish(sonarBins);
sonarBinsArrMsg.publish(sonarBinsArr);
//ROS_INFO("Bearing: %f, Bins: %f", bearing, bins);
//printf("%d - %d\n", bearing, bins);
//ros::spinOnce();
i++;
// }
}
//scanner
else
{
/* Make and send the head parameters, currently defined at the top of this file */
if(switchFlag == 0)
{
SCANSTARE = 0xC0;
RANGE = 45;
LEFTANGLE = 0;
RIGHTANGLE = 6399;
headSetup();
switchFlag = 1;
ROS_INFO("Scanner Activated");
}
i = 0;
//makePacket(mtStopAlive);
/* ask for some data, will get datas */
// while(i < 30)
// {
requestData();
//
//tcflush(fd, TCIFLUSH);//remove
//pass datas
/* Hack to fix the bearing mess up between ~3327-3599, dafuq. */
//printf("%d - ", bearing);
if(sonarDirection == UP)
{
if( bearingOld != bearing - (STEPANGLE * 2) && bearingOld != 0)
{
if((bearing >= 0 && bearing <= 100) && (bearingOld <= 6399 && bearingOld >= 6300))
bearingFail = 0;
else
bearingFail = 1;
}
if( (bearing > bearingOld + 700) && bearingFail == 1)
bearingFail = 0;
}
else
{
if( bearingOld != bearing + (STEPANGLE * 2) && bearingOld != 0)
{
if((bearingOld >= 0 && bearingOld <= 100) && (bearing <= 6399 && bearing >= 6300))
bearingFail = 0;
else
bearingFail = 1;
}
if( (bearing > bearingOld + 700) && bearingFail == 1)
bearingFail = 0;
}
if(bearingFail == 1)
{
//bearing = bearing + 768;
sonarBearing.data = (float) bearing + 768;
}
else
{
sonarBearing.data = (float) bearing;
}
//printf("%d -- %d\n", bearing, bearingFail);
/* end fix */
//sonarBearing.data = (float) bearing;
sonarBins.data = (float) bins;
sonarBinsArr.data.clear();
for (int k = 0; k < 90; k++)
{
sonarBinsArr.data.push_back(tempBinArray[k]);
}
// Create laser scan data from the sonar bins array.
createLaserData(sonarScan, tempBinArray, scan_time);
//publish
sonarBearingMsg.publish(sonarBearing);
sonarBinsMsg.publish(sonarBins);
sonarBinsArrMsg.publish(sonarBinsArr);
sonarScanMsg.publish(sonarScan);
//ROS_INFO("Bearing: %f, Bins: %f", bearing, bins);
//printf("%d - %d\n", bearing, bins);
//ros::spinOnce();
i++;
bearingOld = bearing;
// }
}
ros::spinOnce();
//sleep(1);
}
/* close file and exit program */
tcflush(fd, TCIFLUSH);
tcsetattr(fd, TCSANOW, &(orig_terimos));
close(fd);
return 0;
}
