bool teo::CanBusControlboard::setEncoders(const double *vals) {
CD_INFO("\n");
bool ok = true;
for(unsigned int i=0; i < nodes.size(); i++)
ok &= setEncoder(i,vals[i]);
return ok;
}
NFABuilder::NFABuilder():
CurLabel(0),
ReserveSize(0),
Fsm(new NFA(1)),
TransFac(new TransitionFactory())
{
setEncoder(std::shared_ptr<Encoder>(new ASCII));
init();
}
std::unique_ptr<Memento::AnalysisBoxMemento> GUI::AnalysisBox::getMemento() {
auto memento=std::make_unique<Memento::AnalysisBoxMemento>();
if(origVideo_) {
memento->setPath(origVideo_->getPath());
memento->setMacroBlockVideo(&origVideo_->getMacroBlockVideo());
memento->setRgbDiffVideo(origVideo_->getRgbDiffVideo(
&parentContainer_->getParentTab()->getRawVideo()->getVideo()));
memento->setPsnrGraph(origVideo_->getPsnr());
memento->setBitrateGraph(&origVideo_->getBitrate());
memento->setRedHistogram(&origVideo_->getRedHistogram());
memento->setGreenHistogram(&origVideo_->getGreenHistogram());
memento->setBlueHistogram(&origVideo_->getBlueHistogram());
}
memento->setEncoder(label_codec_->text());
memento->setAverageBitrate(label_averageBitrate_->text());
memento->setFilename(label_filename_->text());
memento->setFilesize(label_filesize_->text());
memento->setComment(texteEdit_comment_->toPlainText());
return std::move(memento);
}
void RAW_learnmenue(void) {
const LABEL label1 = {BC_Label,0,25,50,10,SMALLFONT,0,"RAW Set 1",RAW_editset};
const LABEL label2 = {BC_Label,0,35,50,10,SMALLFONT,1,"RAW Set 2",RAW_editset};
const LABEL label3 = {BC_Label,0,45,50,10,SMALLFONT,2,"RAW Set 3",RAW_editset};
const LABEL label4 = {BC_Label,0,55,50,10,SMALLFONT,3,"RAW Set 4",RAW_editset};
const LABEL label5 = {BC_Labelnotab,0,15,100,10,BOLDFONT,0,"RAW Set bearbeiten:",0};
const BUTTON button1 = {BC_Button,0,70,80,15,SMALLFONT,0,"Alles loeschen",RAW_eraseall};
CONTROL* controls[6] = { (CONTROL*)&label1,
(CONTROL*)&label2,
(CONTROL*)&label3,
(CONTROL*)&label4,
(CONTROL*)&label5,
(CONTROL*)&button1};
FORM form = {"IR-Codes anlernen",0,0,0,0,controls,0,6};
form_exec(&form);
setEncoder(irDevTab.device[irDevTab.active].encoder, irDevTab.device[irDevTab.active].set);
}
bool teo::FakeControlboard::open(Searchable& config) {
axes = config.check("axes",DEFAULT_AXES,"number of axes to control").asInt();
double genInitPos = config.check("genInitPos",DEFAULT_GEN_INIT_POS,"general initialization positions").asDouble();
double genJointTol = config.check("genJointTol",DEFAULT_GEN_JOINT_TOL,"general joint tolerances").asDouble();
double genMaxLimit = config.check("genMaxLimit",DEFAULT_GEN_MAX_LIMIT,"general max limits").asDouble();
double genMinLimit = config.check("genMinLimit",DEFAULT_GEN_MIN_LIMIT,"general min limits").asDouble();
double genRefSpeed = config.check("genRefSpeed",DEFAULT_GEN_REF_SPEED,"general ref speed").asDouble();
double genEncRawExposed = config.check("genEncRawExposed",DEFAULT_GEN_ENC_RAW_EXPOSED,"general EncRawExposed").asDouble();
double genVelRawExposed = config.check("genVelRawExposed",DEFAULT_GEN_VEL_RAW_EXPOSED,"general VelRawExposed").asDouble();
modePosVel = config.check("modePosVel",DEFAULT_MODE_POS_VEL,"0:pos, 1:vel").asInt();
Bottle* initPoss;
if (config.check("initPoss")) {
initPoss = config.find("initPoss").asList();
printf("FakeControlboard using individual initPoss: %s\n",initPoss->toString().c_str());
if(initPoss->size() != axes) printf("[warning] initPoss->size() != axes\n");
} else {
initPoss = 0;
printf("FakeControlboard not using individual initPoss, defaulting to genInitPos.\n");
}
Bottle* jointTols;
if (config.check("jointTols")) {
jointTols = config.find("jointTols").asList();
printf("FakeControlboard using individual jointTols: %s\n",jointTols->toString().c_str());
if(jointTols->size() != axes) printf("[warning] jointTols->size() != axes\n");
} else {
jointTols = 0;
printf("FakeControlboard not using individual jointTols, defaulting to genJointTol.\n");
}
Bottle* maxLimits;
if (config.check("maxLimits")) {
maxLimits = config.find("maxLimits").asList();
printf("FakeControlboard using individual maxLimits: %s\n",maxLimits->toString().c_str());
if(maxLimits->size() != axes) printf("[warning] maxLimits->size() != axes\n");
} else {
maxLimits = 0;
printf("FakeControlboard not using individual maxLimits, defaulting to genMaxLimit.\n");
}
Bottle* minLimits;
if (config.check("minLimits")) {
minLimits = config.find("minLimits").asList();
printf("FakeControlboard using individual minLimits: %s\n",minLimits->toString().c_str());
if(minLimits->size() != axes) printf("[warning] minLimits->size() != axes\n");
} else {
minLimits = 0;
printf("FakeControlboard not using individual minLimits, defaulting to genMinLimit.\n");
}
Bottle* refSpeeds;
if (config.check("refSpeeds")) {
refSpeeds = config.find("refSpeeds").asList();
printf("FakeControlboard using individual refSpeeds: %s\n",refSpeeds->toString().c_str());
if(refSpeeds->size() != axes) printf("[warning] refSpeeds->size() != axes\n");
} else {
refSpeeds = 0;
printf("FakeControlboard not using individual refSpeeds, defaulting to genRefSpeed.\n");
}
Bottle* encRawExposeds;
if (config.check("encRawExposeds")) {
encRawExposeds = config.find("encRawExposeds").asList();
printf("FakeControlboard using individual encRawExposeds: %s\n",encRawExposeds->toString().c_str());
if(encRawExposeds->size() != axes) printf("[warning] encRawExposeds->size() != axes\n");
} else {
encRawExposeds = 0;
printf("FakeControlboard not using individual encRawExposeds, defaulting to genEncRawExposed.\n");
}
Bottle* velRawExposeds;
if (config.check("velRawExposeds")) {
velRawExposeds = config.find("velRawExposeds").asList();
printf("FakeControlboard using individual velRawExposeds: %s\n",velRawExposeds->toString().c_str());
if(velRawExposeds->size() != axes) printf("[warning] velRawExposeds->size() != axes\n");
} else {
velRawExposeds = 0;
printf("FakeControlboard not using individual velRawExposeds, defaulting to genVelRawExposed.\n");
}
encRawExposed.resize(axes);
jointStatus.resize(axes);
initPos.resize(axes);
jointTol.resize(axes);
maxLimit.resize(axes);
minLimit.resize(axes);
refSpeed.resize(axes);
velRawExposed.resize(axes);
for (unsigned int i=0; i<axes; i++) {
jointStatus[i]=0;
if(!refSpeeds) refSpeed[i]=genRefSpeed;
else refSpeed[i]=refSpeeds->get(i).asDouble();
if(!minLimits) minLimit[i]=genMinLimit;
else minLimit[i]=minLimits->get(i).asDouble();
if(!maxLimits) maxLimit[i]=genMaxLimit;
else maxLimit[i]=maxLimits->get(i).asDouble();
if(!initPoss) initPos[i]=genInitPos;
else initPos[i]=initPoss->get(i).asDouble();
if(!jointTols) jointTol[i]=genJointTol;
else jointTol[i]=jointTols->get(i).asDouble();
if(!encRawExposeds) encRawExposed[i]=genEncRawExposed;
else encRawExposed[i]=encRawExposeds->get(i).asDouble();
if(!velRawExposeds) velRawExposed[i]=genVelRawExposed;
else velRawExposed[i]=velRawExposeds->get(i).asDouble();
}
encRaw.resize(axes, 0.0);
refAcc.resize(axes, 1.0);
targetExposed.resize(axes, 0.0);
velRaw.resize(axes, 0.0);
for (unsigned int i=0; i<axes; i++) {
setEncoder(i,initPos[i]);
}
// Start the RateThread
this->setRate(jmcMs);
this->start();
return true;
}
int main(void)
{
sysInfo = 0;
SCS |= 0x01;
FIODIR0 |= ((1<<21) | (1<<4) | (1<<11) | (1<<6) | (1<<23) | (1<<19) | (1<<17));
FIODIR0 |= (1<<12);
FIOSET0 |= (1<<12);
xx = 0x00;
setSpeed(SPEED_30);
lcd_init(0);
serial_init();
startTimerIRQ();
startADC();
initKeys();
initSound();
startSoundIRQ();
initIR();
startIrIRQ();
RF_init();
startcc1100IRQ();
enableWOR();
initRTC();
startRtcIRQ();
enableIRQ();
testmenu_init();
init_menu();
initBacklight();
oldkeys[0] = keys[0];
oldkeys[1] = keys[0];
key_state = KEY_IDLE;
set_font(BOLDFONT);
BFS_Mount();
load_RC_setting();
load_RF_setting();
load_setting();
{
struct RAWset_ RAWset;
unsigned char x;
unsigned long RAWcmdbase;
RAWcmdbase = FLASH1_BASE +(secaddr[0]<<1);
x=memcmp((void*)RAWcmdbase,"RC01",4);
if(!x) {
memcpy(&RAWset,(void *)RAWcmdbase,sizeof(struct RAWset_));
RAWset.name[7] = 0;
BFS_SaveFile(BFS_ID_RAWslot0, sizeof(struct RAWset_), (unsigned char*) &RAWset);
eraseSector(1,0);
}
}
if (EncIsValid(irDevTab.device[irDevTab.active].encoder, irDevTab.device[irDevTab.active].set)) {
setEncoder(irDevTab.device[irDevTab.active].encoder, irDevTab.device[irDevTab.active].set);
}
drawMainscreen();
ask_for_time(0);
/*
playSound((unsigned char*)sound1_data, sound1_len);
waitSound();
playSound((unsigned char*)sound2_data, sound2_len);
*/
while (1)
{
if(keys[0] != oldkeys[0] || keys[1] != oldkeys[1])
{
oldkeys[0] = keys[0];
oldkeys[1] = keys[1];
sysInfo |= 0x40;
}
switch(key_state)
{
case KEY_IDLE:
if(sysInfo & 0x40)
{
sysInfo &= 0xBF;
if(KEY_Betty)
{
setBacklight(BL_AUTO);
menu_exec(&mainMenu);
if (EncIsValid(irDevTab.device[irDevTab.active].encoder, irDevTab.device[irDevTab.active].set)) {
setEncoder(irDevTab.device[irDevTab.active].encoder, irDevTab.device[irDevTab.active].set);
}
drawMainscreen();
}
else if(KEY_2)
{
//setSpeed(SPEED_30);
}
else if(KEY_3)
{
//setSpeed(SPEED_60);
}
else if(KEY_A || KEY_B || KEY_C || KEY_D)
{
unsigned char x;
//playSound((unsigned char*)sound3_data, sound3_len);
x=0;
if (KEY_B) x=1;
if (KEY_C) x=2;
if (KEY_D) x=3;
if (EncIsValid(irDevTab.device[x].encoder, irDevTab.device[x].set)) {
setBacklight(BL_AUTO);
irDevTab.active = x;
setEncoder(irDevTab.device[x].encoder, irDevTab.device[x].set);
drawMainscreen();
}
}
/* else if(KEY_B)
{
}
else if(KEY_C)
{
// playSound((unsigned char*)sound1_data, sound1_len);
}
else if(KEY_D)
{
// playSound((unsigned char*)sound2_data, sound2_len);
}*/
if((keys[0] != 0) || (keys[1] != 0))
key_state = KEY_PRESS;
}
break;
case KEY_PRESS:
irSend(getCode());
key_state = KEY_HOLD;
// autorepeat = 0;
break;
case KEY_HOLD:
// if(autorepeat >= AUTO_TIMEOUT)
irRepeat();
if(keys[0] == 0 && keys[1] == 0)
key_state = KEY_RELEASE;
break;
case KEY_RELEASE:
irStop();
key_state = KEY_IDLE;
break;
}
if(serial_tstc() > 0)
{
i = serial_getc();
if(i=='.')
{
serial_puts("HELO");
}
else if(i=='0')
{
setBacklight(0x00); // pwm value
}
else if(i=='1')
{
setBacklight(0x1F); // pwm value
}
else if(i=='2')
{
setBacklight(0x3F); // pwm value
}
else
serial_putc(i);
}
if ((bl_val == 0) && (key_state == KEY_IDLE) && !((FIOPIN0 & (1<<30)) == 0) && (((RFstatus & (WORrxon | RXenabled)) == 0))) {
EXTINT = 0x08;
PCON = 0x02;
PLLFEED = 0xAA;
PLLFEED = 0x55;
}
if (timeInfo & timechanged) {
printTime(86,152,(struct time_ *)&time);
printDate(0,152,(struct date_ *)&date,0);
timeInfo &= ~timechanged;
}
}
return 0;
}
