TmsiAmplifier::TmsiAmplifier(const char * address, int type, const char * r_address, const char* dump_file /* = NULL */) {
//printf("TmsiAmplifier writing to: %s\n", address);
//if (r_address!=NULL)
// printf(" reading from: %s",r_address);
//if (dump_file!=NULL)
// printf(" dumping amplifier output to: %s",dump_file);
//printf("\n");
if (tmsiAmplifierInstance!=NULL)
fprintf(stderr,"Warning: multiple tmsiAmplifier instances!!\n");
tmsiAmplifierInstance = this;
dev.Channel = NULL;
vli.SampDiv = NULL;
channel_data = NULL;
channel_data_index=0;
digi_channels=0;
read_errors=0;
mode=type;
if (type == USB_AMPLIFIER)
fd = connect_usb(address);
else
fd = connect_bluetooth(address);
if (r_address != NULL)
read_fd = open(r_address, O_RDONLY);
else
read_fd = fd;
if (dump_file!=NULL)
dump_fd = open(dump_file, O_WRONLY|O_CREAT|O_TRUNC);
else
dump_fd=-1;
debug("Descriptors: %d %d", fd, read_fd);
if (fd <= 0) {
perror("DEVICE OPEN ERROR");
exit(-1);
return;
}
refreshInfo();
}
//------------------------------------------------------------------------------
void* pic1_handle_msg(void *)
{
if(!WANT_PIC1)
while(true) usleep(100000);
char *_msg;
while(true)
{
if(connect_usb(PIC1)<0)
{
fprintf(stderr,"Connection failed PIC1, retrying...\n");
sleep(1);
continue;
}
if(callbackOnReconnectPIC1)
callbackOnReconnectPIC1();
fprintf(stderr,"Listen to PIC1...\n"); fflush(stdout);
while((_msg=read_usb(PIC1)))
{
if(_msg==NULL)
break;
//printf("Recv PIC1: %d\n",get_msg_type(_msg));
switch(get_msg_type(_msg))
{
case EMPTY_MSG:
#ifdef SIMULATION
fprintf(stderr,"<picInterface.cpp> PIC1: Connexion réinitialisée.\n");
fflush(stdout);
if(callbackRecvReset)
callbackRecvReset();
#endif
break;
case CODER:
#ifdef SIMULATION
picSendInfo();
#endif
if(callbackRecvCoder)
{
MSG_INT2_t *msg = (MSG_INT2_t *)_msg;
#ifdef SIMULATION
callbackRecvCoder(msg->value1, msg->value2);
#else
callbackRecvCoder(msg->value2, -msg->value1);
#endif
}
break;
case PRINTF:
{
MSG_INT1_t *msg = (MSG_INT1_t *)_msg;
printf("from pic %d: %d\n",1,msg->value);
}
break;
default:
fprintf(stderr,"<picInterface.cpp> PIC1: Unknown message type %d.\n",get_msg_type(_msg));
fflush(stdout);
break;
}
delete _msg;
}
fprintf(stderr,"Connection closed PIC1...\n");
fflush(stdout);
usleep(10000);
break;
}
return NULL;
}
//------------------------------------------------------------------------------
void* pic2_handle_msg(void *)
{
if(!WANT_PIC2)
while(true) usleep(100000);
char *_msg;
while(true)
{
if(connect_usb(PIC2)<0)
{
fprintf(stderr,"Connection failed PIC2, retrying...\n");
sleep(1);
continue;
}
picBegin();
if(callbackOnReconnectPIC2)
callbackOnReconnectPIC2();
fprintf(stderr,"Listen to PIC2...\n"); fflush(stdout);
while((_msg=read_usb(PIC2)))
{
if(_msg==NULL)
break;
//printf("Recv PIC2: %d\n",get_msg_type(_msg));
switch(get_msg_type(_msg))
{
case EMPTY_MSG:
#ifdef SIMULATION
fprintf(stderr,"<picInterface.cpp> PIC2: Connexion réinitialisée.\n");
fflush(stdout);
if(callbackRecvReset)
callbackRecvReset();
#endif
break;
#ifdef SIMULATION
case WEBCAM:
{
MSG_INT1_t *msg = (MSG_INT1_t *)_msg;
int size = msg->value;
int *ptr = &msg->value;
ptr++;
*((char**)webcam_data) = new char[size];
memcpy(*((char**)webcam_data),ptr,size);
pthread_mutex_unlock(mut_webcam);
mut_webcam = NULL;
}
break;
#endif
case BEGIN:
break;
case JACK:
{
callbackOnJack();
#ifdef SIMULATION
int buf = JACK;
if(write_usb(PIC2, &buf, sizeof(int))<0) break;
#else
unsigned char buf = JACK;
if(write_usb(PIC2, &buf, sizeof(buf))<0) break;
#endif
}
break;
case PRINTF:
{
MSG_INT1_t *msg = (MSG_INT1_t *)_msg;
printf("from pic %d: %d\n",2,msg->value);
}
break;
case VPOS:
if(mut_vpos)
{
if(true /*msg->msg_id == msg_id_vpos*/)
{
msg_id_vpos = 0;
pthread_mutex_unlock(mut_vpos);
mut_vpos = NULL;
}
}
else
fprintf(stderr,"<picInterface.cpp> PIC2: Unmatched ACK VPOS.\n");
fflush(stdout);
break;
case HPOS:
if(mut_hpos)
{
if(true /*msg->msg_id == msg_id_hpos*/)
{
msg_id_hpos = 0;
pthread_mutex_unlock(mut_hpos);
mut_hpos = NULL;
}
}
else
fprintf(stderr,"<picInterface.cpp> PIC2: Unmatched ACK HPOS.\n");
fflush(stdout);
break;
case CLAMP:
/*if(mut_clamp)
{
if(msg->msg_id == msg_id_clamp)
{
msg_id_clamp = 0;
pthread_mutex_unlock(mut_clamp);
mut_clamp = NULL;
}
}
else
printf("<picInterface.cpp> PIC2: Unmatched ACK CLAMP.\n");
fflush(stdout); */
break;
case DIST:
if(callbackRecvDistCaptors)
{
MSG_INTn_t *msg = (MSG_INTn_t *)_msg;
float *tab;
if(msg->n == 0)
tab = NULL;
else
tab = new float[msg->n];
int *values = &msg->n;
values++;
for(int i=0; i<msg->n; i++)
{
tab[i] = COEFF_A_DIST * pow(COEFF_B_DIST, ((double)(values[i]>>6)));
if(tab[i]<0.) tab[i] = 0.;
}
#ifdef SIMULATION
float tmp = tab[1];
values[1] = tab[2];
values[2] = tmp;
#endif
callbackRecvDistCaptors(msg->n, tab);
if(tab != NULL)
delete tab;
}
break;
case COUL:
if(callbackRecvCoulCaptors)
{
MSG_INTn_t *msg = (MSG_INTn_t *)_msg;
float *tab = new float[msg->n];
int *values = &msg->n;
values++;
for(int i=0; i<msg->n; i++)
tab[i] = ((float)values[i]);
callbackRecvCoulCaptors(msg->n, tab);
delete tab;
}
break;
default:
fprintf(stderr,"<picInterface.cpp> PIC2: Unknown message type %d.\n",get_msg_type(_msg));
fflush(stdout);
break;
}
delete _msg;
}
fprintf(stderr,"Connection closed PIC2...\n");
fflush(stdout);
usleep(10000);
break;
}
return NULL;
}
