void particle_system_update(struct particle_system *ps, float dt) {
int i = 0;
if (ps->isActive) {
float rate = ps->config->emissionRate;
// emitCounter should not increase where ps->particleCount == ps->totalParticles
if (ps->particleCount < ps->config->totalParticles) {
ps->emitCounter += dt;
}
while (ps->particleCount < ps->config->totalParticles && ps->emitCounter > rate) {
_addParticle(ps);
ps->emitCounter -= rate;
}
ps->elapsed += dt;
if (ps->config->duration != DURATION_INFINITY && ps->config->duration < ps->elapsed) {
_stopSystem(ps);
}
}
while (i < ps->particleCount) {
struct particle *p = &ps->particles[i];
p->timeToLive -= dt;
if (p->timeToLive > 0) {
_update_particle(ps, p, dt);
if (p->size <= 0) {
_remove_particle(ps, i);
} else {
++i;
}
} else {
_remove_particle(ps, i);
}
}
ps->isAlive = ps->particleCount > 0;
}
void rDeviceAllegroDogCAN::onTerminate()
{
_stopSystem();
_closeCAN();
map<int, CANProtocolBuffer*>::iterator itr = _RxCmdQueue.begin();
while (itr != _RxCmdQueue.end())
{
delete (itr->second);
itr++;
}
_RxCmdQueue.clear();
RD_DEVICE_CLASS(Base)::onTerminate();
}
int rDeviceAllegroDogCAN::command(int cmd, int arg, void* udata, int port)
{
switch (cmd)
{
case CAN_CMD_MOTOR_ON:
{
if (port >= 0 && port < _jdof)
_motorOn(getMotorDrvId(port));
else
_motorOn();
}
break;
case CAN_CMD_MOTOR_OFF:
{
if (port >= 0 && port < _jdof)
_motorOff(getMotorDrvId(port));
else
_motorOff();
}
break;
case CAN_CMD_HOMING:
{
int offset = (short)(arg & 0x0000ffff);
int direction = (short)((arg & 0xffff0000) >> 16);
if (port >= 0 && port < _jdof)
_homing(offset, direction, getMotorDrvId(port), getMotorDrvChId(port));
else
_homing(offset, direction);
}
break;
case CAN_CMD_RESET_ENC:
{
if (port >= 0 && port < _jdof)
_resetEncoder(getMotorDrvId(port));
else
_resetEncoder();
}
break;
case CAN_CMD_QUERY_STATUS:
{
if (port >= 0 && port < _jdof)
_queryStatus(getMotorDrvId(port));
else
_queryStatus();
}
break;
case CAN_CMD_ENABLE:
{
_startPeriodicCommunication();
}
break;
case CAN_CMD_DISABLE:
{
_stopPeriodicCommunication();
}
break;
case CAN_CMD_OPMODE_POSITION:
{
if (port >= 0 && port < _jdof)
_setModeOfOperation(eOP_MODE_POS, getMotorDrvId(port));
else
_setModeOfOperation(eOP_MODE_POS);
}
break;
case CAN_CMD_OPMODE_VELOCITY:
{
if (port >= 0 && port < _jdof)
_setModeOfOperation(eOP_MODE_VEL, getMotorDrvId(port));
else
_setModeOfOperation(eOP_MODE_VEL);
}
break;
case CAN_CMD_OPMODE_CURRENT:
{
if (port >= 0 && port < _jdof)
_setModeOfOperation(eOP_MODE_CUR, getMotorDrvId(port));
else
_setModeOfOperation(eOP_MODE_CUR);
}
break;
case CAN_CMD_SET_POS_TARGET_RELATIVE:
{
if (port >= 0 && port < _jdof)
_sendMotorCmdP2PRelative(getMotorDrvId(port));
else
_sendMotorCmdP2PRelative();
}
break;
case CAN_CMD_SET_POS_TARGET_ABSOLUTE:
{
if (port >= 0 && port < _jdof)
_sendMotorCmdP2PAbsolute(getMotorDrvId(port));
else
_sendMotorCmdP2PAbsolute();
}
break;
case CAN_CMD_SET_POS_MAX_VELOCITY:
{
if (port >= 0 && port < _jdof)
_setVelocityInP2PMode(arg, arg, getMotorDrvId(port));
else
_setVelocityInP2PMode(arg, arg);
}
break;
case CAN_CMD_STOP_SYS:
{
_stopSystem();
}
break;
case CAN_CMD_UPDATE_READ:
updateWriteValue(0);
break;
case CAN_CMD_UPDATE_WRITE:
updateReadValue(0);
break;
}
return 0;
}
