Car::Car()
:m_encoder{Encoder(0), Encoder(1)},
m_servo(0), m_lcd(true), m_lcd_console(&m_lcd), m_leds{Led(0), Led(1), Led(2), Led(3)},
m_motor{Motor(0), Motor(1)}, m_uart(3, libbase::k60::Uart::Config::BaudRate::BR_115200)
{
SetMotorPowerLeft(0);
SetMotorPowerRight(0);
SetMotorDirection(true);
m_servo.SetDegree(SERVO_MID_DEGREE);
m_uart.EnableRx();
}
Helm::Helm() {
leftEncoder = Encoder ( ENCODER1_ADDRESS, false, false );
rightEncoder = Encoder ( ENCODER2_ADDRESS, true, true );
leftMotor = Motor ( LEFT_MOTOR_PIN, LEFT_MOTOR_REVERSED, "/dev/servoblaster" );
rightMotor = Motor ( RIGHT_MOTOR_PIN, RIGHT_MOTOR_REVERSED, "/dev/servoblaster" );
currentPos.x = 0;
currentPos.y = 0;
currentPos.z = 0;
// pthread_create( &updater, NULL, this->publish, NULL );
}
/* Process called from each thread */
void Process(char* path, char* name){
// char* path = "/home/yash/Desktop/Sounds";
char* path1 = (char*) malloc(sizeof(char)* strlen(path));
strcpy(path1,path);
// char* name;
char* srcpath;
char* dstfile;
char* dstpath;
if(name != NULL){
srcpath = SetFullPath(name, path1);
dstfile = getDestName(name);
}
// printf(" SetFullPath :%s \n", dstfile);
// printf(" SetFullPath :%s \n", path1);
if(dstfile != NULL)
dstpath = SetFullPath(dstfile, path1);
// printf(" Srcpath :%s \n", srcpath);
// printf(" Dstpath :%s \n", dstpath);
if(srcpath != NULL && dstpath != NULL)
Encoder(srcpath, dstpath);
if(dstfile != NULL)
free(dstfile);
if(path1 != NULL)
free(path1);
}
Settings::Settings(BMessage* archive)
:
BArchivable(archive)
{
PRINT(("Settings::Settings(BMessage*)\n"));
status_t status;
BString tmp;
/*
status = archive->FindRect("windowFrame", &windowFrame);
if (status != B_OK) {
PRINT(("Error loading WINDOW_FRAME"));
windowFrame = BRect(50, 50, 50, 50);
}
*/
status = archive->FindMessage("columnsState", &columnsState);
if (status != B_OK) {
PRINT(("Error loading Columns State"));
}
encoding = false;
encoder = NULL;
status = archive->FindString("encoderName", &tmp);
if (status != B_OK) {
PRINT(("Error loading ENCODER\n"));
strcpy(encoderName, DEFAULT_ENCODER);
} else {
strcpy(encoderName, tmp.String());
}
status = archive->FindString("pathPattern", &tmp);
if (status != B_OK) {
PRINT(("Couldn't find pattern from settings"));
AEEncoder* encoder = Encoder();
BString str;
if (encoder) {
str = encoder->GetPattern();
strcpy(pathPattern, str.String());
} else {
strcpy(pathPattern, DEFAULT_PATHPATTERN);
}
} else {
strcpy(pathPattern, tmp.String());
}
app_info info;
be_app->GetAppInfo(&info);
BPath path(&(info.ref));
path.GetParent(&path);
path.Append(ADD_ON_DIR);
strcpy(addonDirectory, path.Path());
settings = this;
}
Encoder Encoder::createRequestKeepAliveMessage()
{
libs101::StreamEncoder<unsigned char> encoder;
encoder.encode(0x00); // Slot
encoder.encode(libs101::MessageType::EmBER); // Message type
encoder.encode(libs101::CommandType::KeepAliveRequest); // Command
encoder.encode(0x01); // Version
encoder.finish();
return Encoder(encoder.begin(), encoder.end());
}
Motor::Motor(int fwdPin, int bwdPin, int pwmPin, int fwdEncoderPin, int bwdEncoderPin):
fwdPin(fwdPin),
bwdPin(bwdPin),
pwmPin(pwmPin)
#ifdef __MK20DX256__ // Teensy Compile
, encoder(Encoder(fwdEncoderPin, bwdEncoderPin))
#endif
{
initPins();
}
Encoder Encoder::createProviderStateMessage(bool state)
{
libs101::StreamEncoder<unsigned char> encoder;
encoder.encode(0x00); // Slot
encoder.encode(libs101::MessageType::EmBER); // Message type
encoder.encode(libs101::CommandType::ProviderState); // Command
encoder.encode(0x01); // Version
encoder.encode(state ? 0x01 : 0x00);
encoder.finish();
return Encoder(encoder.begin(), encoder.end());
}
void CHolly_Theora_Video::WriteHeader()
{
th_comment tc;
th_comment_init( &tc );
tc.vendor = (char *)"Holly";
ogg_packet header;
ogg_packet header_comm;
ogg_packet header_code;
while ( th_encode_flushheader( m_Encoder, &tc, &header ) > 0 )
{
Encoder()->Container()->WriteHeader( this, &header );
}
}
void main(void)
{
int a=100;
int b=200;
int c;
//c=add(a,b);
Word16 new_speech[L_FRAME]; /* Pointer to new speech data */
Word16 rserial[SERIAL_FRAMESIZE]; /* Output bitstream buffer */
Word16 oserial[SERIAL_FRAMESIZE]; /* Output bitstream buffer */
Word16 new_synth[L_FRAME]; /* Output bitstream buffer */
Word16 org_synth[L_FRAME]; /* Output bitstream buffer */
//int c;
//c=add(a,b);
//c=Encoder();
c=Encoder(new_speech,rserial,1);
printf("%d\n",c);
}
void CHolly_Theora_Video::ProcessFrame( bool bLast )
{
if ( !m_bFrameWaiting ) return;
m_bFrameWaiting = false;
Holly::IContainer* pContainer = Encoder()->Container();
if ( th_encode_ycbcr_in( m_Encoder, m_Frame ) != 0 )
{
return;
}
ogg_packet Packet;
while ( th_encode_packetout( m_Encoder, bLast ? 1 : 0, &Packet ) > 0 )
{
pContainer->AddFrame( this, &Packet, 0, 0, 0 );
}
}
void main()
{
InitHardware();
Encoder(true);
ResetServo();
delay_ms(200);
bEnable = !STEP_ENABLE;
// run these asynch tasks
for (;;){
if (!STEP_ENABLE){
HandleRXData();
if (bDirty && !bEnable){
bDirty = false;
SaveEEPROM();
}
}
}
}
void main()
{
InitHardware();
Encoder(true);
ResetServo();
delay_ms(200);
bEnable = !STEP_ENABLE;
// run these asynch tasks
for (;;){
if (bServo){
SYNC = true;
UpdatePosition();
UpdateTrajectory();
CalculateExtCount();
UpdatePID();
UpdatePWM();
HandleErrorTask();
bServo = false;
} else {
//HandleRXData();
if (SYNC){
if (bDirty && !bEnable){
bDirty = false;
SaveEEPROM();
}
SYNC = false;
}
}
}
}
void IComplexDatum::Serialize (CDatum::ESerializationFormats iFormat, IByteStream &Stream) const
// Serialize
//
// Serialize the datum
{
DWORD dwFlags = OnGetSerializeFlags();
switch (iFormat)
{
case CDatum::formatAEONScript:
case CDatum::formatAEONLocal:
{
if (!(dwFlags & FLAG_SERIALIZE_NO_TYPENAME))
{
Stream.Write("[", 1);
Stream.Write(GetTypename());
Stream.Write(":", 1);
}
// If this is object is serializable as a struct, then we do that.
if (dwFlags & FLAG_SERIALIZE_AS_STRUCT)
{
CComplexStruct *pStruct = new CComplexStruct;
OnSerialize(iFormat, pStruct);
CDatum dDatum(pStruct);
dDatum.Serialize(iFormat, Stream);
}
// Otherwise, serialize as base64 encoding
else
{
CBase64Encoder Encoder(&Stream);
OnSerialize(iFormat, Encoder);
Encoder.Close();
}
if (!(dwFlags & FLAG_SERIALIZE_NO_TYPENAME))
Stream.Write("]", 1);
break;
}
case CDatum::formatJSON:
{
if (!(dwFlags & FLAG_SERIALIZE_NO_TYPENAME))
{
Stream.Write("[\"AEON2011:", 11);
Stream.Write(GetTypename());
Stream.Write(":v1\", \"", 7);
}
// LATER: Handle serialization/deserialization of struct-based objects
CBase64Encoder Encoder(&Stream);
OnSerialize(iFormat, Encoder);
Encoder.Close();
if (!(dwFlags & FLAG_SERIALIZE_NO_TYPENAME))
Stream.Write("\"]", 2);
break;
}
default:
ASSERT(false);
}
}
int CeltCodec::Encode(const SoundBuffer &pcmFrame, unsigned char *compressed, int bitrate)
{
celt_encoder_ctl(Encoder(), CELT_SET_PREDICTION(0));
return celt_encode(Encoder(), (celt_int16*)&pcmFrame.data[0], MUMBLE_AUDIO_SAMPLES_IN_FRAME, compressed, qMin(bitrate / (8 * 100), 127));
}
Encoder raw_encoder(BitsPerPixel bpp, BytesPerPixel Bpp, Rect rect)
{
return Encoder(Raw{bpp, Bpp, rect});
}
void main(void)
{
FILE *file_speech; /* File of speech data */
FILE *file_synth; /* File of synth data */
FILE *file_encod; /* File of config */
FILE *file_amrResult;
FILE *file_amr;
FILE *file_dec;
char amr_frame[32] = {0};
char amr_filehead[6] = {0x23, 0x21, 0x41, 0x4D, 0x52, 0x0A};
Word16 new_speech[L_FRAME]; /* Pointer to new speech data */
Word16 rserial[SERIAL_FRAMESIZE]; /* Output bitstream buffer */
Word16 oserial[SERIAL_FRAMESIZE]; /* Output bitstream buffer */
Word16 new_synth[L_FRAME]; /* Output bitstream buffer */
Word16 org_synth[L_FRAME]; /* Output bitstream buffer */
Word32 frame;
int i;
if ((file_speech = fopen ("e:\\ccs_amrl\\amrtest\\testinp4\\T04.INP","rb")) == NULL)
{
printf("speech file not found\n");
exit(0);
}
if ((file_encod = fopen ("e:\\ccs_amrl\\amrtest\\testcod4\\122\\T04_122.COD","rb")) == NULL)
{
printf("encod file not found\n");
exit(0);
}
if ((file_amr = fopen ("f:\\AMR.AMR","wb")) == NULL)
{
printf("AMR file not found\n");
exit(0);
}
if ((file_dec = fopen ("e:\\dec.inp","wb")) == NULL)
{
printf("AMR file not found\n");
exit(0);
}
if(fwrite(amr_filehead, sizeof(char), 6, file_amr) != 6)
{
printf("fwrite() return error 0\n");
exit(0);
}
if ((file_synth = fopen ("e:\\ccs_amrl\\amrtest\\testcod4\\122\\T04_122.OUT","rb")) == NULL)
{
printf("synth file not found\n");
exit(0);
}
//if ((file_amrResult = fopen("E:\\AMR_RESULT.OUT","rb+")) == NULL)
//{
// printf("out file not found\n");
// exit(0);
//}
frame = 0;
while (fread (new_speech, 2, L_FRAME, file_speech) == L_FRAME)
{
frame++;
/* get channel memory pointer */
if(1==frame)
{
Encoder(new_speech,rserial,1);
}
else
{
Encoder(new_speech,rserial,0);
}
/* amr成帧*/
//Glin_Encode_Amr_Frame(amr_frame, rserial);
/*if(fwrite(amr_frame, sizeof(char), 32, file_amr) != 32)
{
printf("fwrite() return error 1\n");
exit(0);
}*/
/*与标准序列比较*/
fread (oserial, 2, SERIAL_FRAMESIZE, file_encod);
intel2moto(oserial,SERIAL_FRAMESIZE);
for (i = 0; i < SERIAL_FRAMESIZE; i++)
{
if(oserial[i] != rserial[i])
{
printf("encoder failed at %d\n",frame);
break;
}
}
printf("encoder passed at frame %d\n",frame);
if(1==frame)
{
Decoder(oserial,new_synth,1);
}
else
{
Decoder(oserial,new_synth,0);
}
fread(org_synth, sizeof(Word16), L_FRAME,file_synth);
//intel2moto(org_synth,L_FRAME);
intel2moto(new_synth,L_FRAME);
for (i = 0; i < L_FRAME; i++)
{
if(org_synth[i] != new_synth[i])
{
printf("decoder failed at %d\n",frame);
break;
}
}
printf("decoder passed at frame %d\n",frame);
fwrite(new_synth, sizeof(Word16), 160, file_dec);
}
printf("all passed\n");
fclose(file_speech);
fclose(file_encod);
fclose(file_synth);
//return (0);
}
Encoder Encoder::createEmberMessage(libember::glow::GlowContainer const* container)
{
return Encoder(container);
}
