// S信号，R信号によるハンドシェーク
bool succeedS_R(serial_port& port)
{
//Sは'S'
char S[2] = "S";
if(0 < port.write_some(buffer(S))){
printf("S sent successfully\n");
char R[2] = "0";
//Rを受信して，かつ'R'だったら
if(0 < port.read_some(buffer(R)) && 'R' == R[0]){
return true;
}
}
return false;
}
// 1行毎にLEDの情報を送信
bool sendImage(serial_port& port)
{
char P[2] = "P";
for(int i = 0; i < NUM_LED; i++){
port.write_some(buffer(P)); //P信号を送信
char dev[3] = "\0\0"; //デバイスの番号, 行数を受け取る
if(0 < port.read_some(buffer(dev))){
int dev_num = atoi(dev);
printf("dev number[%d] : %s\n", dev_num, dev);
//P信号を送信
port.write_some(buffer(P));
dev[0] = dev[1] = '\0';
if(0 < port.read_some(buffer(dev))){
int dev_row = atoi(dev);
printf("dev row[%d] : %s\n", dev_row, dev);
port.write_some(buffer(P)); //P信号を送信
makeLedArray(dev_row, 0);
port.write_some(buffer(led_array));
printLedArray();
char C[2] = "\0";
if(0 < port.read_some(buffer(C)) && 'C' == C[0]){
//printf("\tC received : %s\n", C);
port.write_some(buffer(P)); //P信号を送信
makeLedArray(dev_row, 1);
port.write_some(buffer(led_array));
printLedArray();
}
}
}
}
//終了信号(F)を待って終了
char dev[2] = "\0";
while(1){
if(0 < port.read_some(buffer(dev)) && 'F' == dev[0]){
return true;
}
}
}
DriverComms(std::string port, int baudrate){
sp = new serial_port(io);
//connect to port
sp->open(port, ec);
if(ec)
{
//Failure to connect
ROS_ERROR_STREAM("Error connecting to expression board: " << ec.message());
sp->close();
delete sp;
throw std::exception();
}
//Set the baudrate
sp->set_option(serial_port_base::baud_rate(baudrate));
}
namespace debug {
extern serial_port com1;
void init() {}
void partial_init()
{
com1.init(serial_port::COM1);
}
}
// シリアル通信を行う
void writeBySerial(void)
{
// 1回目の通信なら初期設定
if(0 == config_counter){
port.set_option(serial_port_base::baud_rate(38400));
port.set_option(serial_port_base::character_size(8));
port.set_option(serial_port_base::flow_control(serial_port_base::flow_control::none));
port.set_option(serial_port_base::parity(serial_port_base::parity::none));
port.set_option(serial_port_base::stop_bits(serial_port_base::stop_bits::one));
config_counter++;
}
if(succeedS_R(port)){
printf("S_R Handshake successfully done\n");
if(sendImage(port)){
printf("data correctly written\n");
}
}
return;
}
void partial_init()
{
com1.init(serial_port::COM1);
}
int main()
{
SDL_Surface* wavs = NULL;
SDL_Surface* ffts = NULL;
SDL_Init( SDL_INIT_EVERYTHING );
wavs = SDL_SetVideoMode( 128, 256, 32, SDL_HWSURFACE );
port.serial_open("/dev/ttyUSB0", 38400);
bus.fanbus_set_port(&port);
ALCdevice *device = alcCaptureOpenDevice(NULL, 8000, AL_FORMAT_MONO8, 128);
alcCaptureStart(device);
blackman(win, 128);
while (true)
{
for(int i = 0; i < 128; i++)
{
buffer[i] = 0;
}
alcCaptureSamples(device, (ALCvoid *)buffer, 128);
for(int i = 0; i < 128; i++)
{
fft[i] = buffer[i]*5;
}
rfft(fft, 128, 1);
apply_window(fft, win, 128);
boxRGBA(wavs, 0, 0, 256, 256, 0, 0, 0, 255);
for(int i = 0; i < 128; i++)
{
pixelRGBA(wavs, i, 255-buffer[i], 255, 0, 0, 255);
if(i%2==0)
{
lineRGBA(wavs, i, 255, i, 255-(unsigned char)fabs(fft[i])*3, 0, 255, 0, 255);
}
else
{
lineRGBA(wavs, i, 255, i, 255-(unsigned char)fabs(fft[i])*3, 0, 0, 255, 255);
}
SDL_Flip(wavs);
}
SDL_Delay(25);
char red = (char)fabs(fft[10]);
char grn = (char)fabs(fft[20]);
char blu = (char)fabs(fft[30]);
bus.fanbus_write(0x10, 0x02, red);
bus.fanbus_write(0x13, 0x02, red);
bus.fanbus_write(0x16, 0x02, red);
bus.fanbus_write(0x19, 0x02, red);
bus.fanbus_write(0x11, 0x02, grn);
bus.fanbus_write(0x14, 0x02, grn);
bus.fanbus_write(0x17, 0x02, grn);
bus.fanbus_write(0x1A, 0x02, grn);
bus.fanbus_write(0x12, 0x02, blu);
bus.fanbus_write(0x15, 0x02, blu);
bus.fanbus_write(0x18, 0x02, blu);
bus.fanbus_write(0x1B, 0x02, blu);
bus.fanbus_write(0x0C, 0x02, 0x01);
}
alcCaptureStop(device);
alcCaptureCloseDevice(device);
return 0;
}
~DriverComms()
{
//Disconnect from port
sp->close();
delete sp;
}
