/**
* Get the PWM value in terms of speed.
*
* This is intended to be used by speed controllers.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinPositivePwm() called.
* @pre SetMaxNegativePwm() called.
* @pre SetMinNegativePwm() called.
*
* @return The most recently set speed between -1.0 and 1.0.
*/
float PWM::GetSpeed()
{
if (StatusIsFatal()) return 0.0;
INT32 value = GetRaw();
if (value > GetMaxPositivePwm())
{
return 1.0;
}
else if (value < GetMinNegativePwm())
{
return -1.0;
}
else if (value > GetMinPositivePwm())
{
return (float)(value - GetMinPositivePwm()) / (float)GetPositiveScaleFactor();
}
else if (value < GetMaxNegativePwm())
{
return (float)(value - GetMaxNegativePwm()) / (float)GetNegativeScaleFactor();
}
else
{
return 0.0;
}
}
void RarTime::SetAgeText(char *TimeText)
{
uint Seconds=0,Value=0;
for (int I=0;TimeText[I]!=0;I++)
{
int Ch=TimeText[I];
if (IsDigit(Ch))
Value=Value*10+Ch-'0';
else
{
switch(etoupper(Ch))
{
case 'D':
Seconds+=Value*24*3600;
break;
case 'H':
Seconds+=Value*3600;
break;
case 'M':
Seconds+=Value*60;
break;
case 'S':
Seconds+=Value;
break;
}
Value=0;
}
}
SetCurrentTime();
int64 RawTime=GetRaw();
SetRaw(RawTime-INT32TO64(0,Seconds)*10000000);
}
void Timer::Start(Time timeout, Time repeat) {
Invoke(&uv_timer_start, GetRaw(),
[](uv_timer_t* handle) {
Timer& h = *static_cast<Timer*>(handle->data);
h.timeout();
},
timeout.count(), repeat.count());
}
static std::unique_ptr<SpinButton> grid_spinbutton(wxWindow* parent,
wxSizer* sizer,
winvec_t& showhide,
const on_spin_up& onSpinUp,
const on_spin_down& onSpinDown)
{
// Create the buttons for single-stepping the spacing
auto spinButton = std::make_unique<SpinButton>(parent,
IntSize(40,50),
"Adjust Grid Spacing",
onSpinUp,
onSpinDown);
spinButton->GetRaw()->Hide();
sizer->Add(spinButton->GetRaw());
showhide.push_back(spinButton->GetRaw());
return spinButton;
}
std::shared_ptr<Timer> Timer::Create(Loop& loop) {
auto h = std::make_shared<Timer>(private_init{});
int err = uv_timer_init(loop.GetRaw(), h->GetRaw());
if (err < 0) {
loop.ReportError(err);
return nullptr;
}
h->Keep();
return h;
}
std::shared_ptr<Tty> Tty::Create(Loop& loop, uv_file fd, bool readable) {
auto h = std::make_shared<Tty>(private_init{});
int err = uv_tty_init(loop.GetRaw(), h->GetRaw(), fd, readable ? 1 : 0);
if (err < 0) {
loop.ReportError(err);
return nullptr;
}
h->Keep();
return h;
}
/**
* Get the PWM value in terms of a position.
*
* This is intended to be used by servos.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinNegativePwm() called.
*
* @return The position the servo is set to between 0.0 and 1.0.
*/
float PWM::GetPosition() const {
if (StatusIsFatal()) return 0.0;
int32_t value = GetRaw();
if (value < GetMinNegativePwm()) {
return 0.0;
} else if (value > GetMaxPositivePwm()) {
return 1.0;
} else {
return (float)(value - GetMinNegativePwm()) /
(float)GetFullRangeScaleFactor();
}
}
wxIDirectFBSurfacePtr wxIDirectFBSurface::Clone()
{
wxIDirectFBSurfacePtr snew(CreateCompatible());
if ( !snew )
return NULL;
if ( !snew->SetBlittingFlags(DSBLIT_NOFX) )
return NULL;
if ( !snew->Blit(GetRaw(), NULL, 0, 0) )
return NULL;
return snew;
}
/**
* Get the PWM value in terms of a position.
*
* This is intended to be used by servos.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinNegativePwm() called.
*
* @return The position the servo is set to between 0.0 and 1.0.
*/
float PWM::GetPosition()
{
INT32 value = GetRaw();
if (value < GetMinNegativePwm())
{
return 0.0;
}
else if (value > GetMaxPositivePwm())
{
return 1.0;
}
else
{
return (float)(value - GetMinNegativePwm()) / (float)GetFullRangeScaleFactor();
}
}
/**
* Returns the (cloned) raw command converted into a CString.
*
* The method should only be called when the called is sure
* that the current command isn't a binary command.
* The returned string must be deleted by the called
* (exception to the rule).
*/
CString* CNaoCommand::GetShortenString(int length) {
if (IsEmpty()) return new CString(_T(""));
CString* s=new CString(GetRaw());
if (s->GetLength()>120) {
CString* s2=new CString(s->Left(120)+_T("..."));
delete s;
return s2;
// We are returning a pointer, so it must be on the heap
// to stay in focus.
}
else {
return s;
}
}
/**
* Get the PWM value in terms of speed.
*
* This is intended to be used by speed controllers.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinPositivePwm() called.
* @pre SetMaxNegativePwm() called.
* @pre SetMinNegativePwm() called.
*
* @return The most recently set speed between -1.0 and 1.0.
*/
float PWM::GetSpeed() const {
if (StatusIsFatal()) return 0.0;
int32_t value = GetRaw();
if (value == PWM::kPwmDisabled) {
return 0.0;
} else if (value > GetMaxPositivePwm()) {
return 1.0;
} else if (value < GetMinNegativePwm()) {
return -1.0;
} else if (value > GetMinPositivePwm()) {
return (float)(value - GetMinPositivePwm()) /
(float)GetPositiveScaleFactor();
} else if (value < GetMaxNegativePwm()) {
return (float)(value - GetMaxNegativePwm()) /
(float)GetNegativeScaleFactor();
} else {
return 0.0;
}
}
// Adds another string to the end of this string
void String::Append(const String * a_other)
{
// Gets the c style string of the this object
const char* temp = GetRaw();
// Get the length of this object and the other string and adds 1 to the end for the null
// terminator
int length = GetLength() + a_other->GetLength() + 1;
// Stores the this string length
int lengthOld = GetLength();
// Requests the memory for this char array to be dellocated
Kill();
// Creates a new char array with the length from before combining both + 1
m_data = new char[length];
// Adds all the old characters into the array first as this is a append. This uses that
// length of the original string.
for (int i = 0; i < lengthOld; i++)
{
m_data[i] = temp[i];
}
// Adds the characters from the appending string to this string object.
for (int i = 0; i < a_other->GetLength(); i++)
{
m_data[lengthOld + i] = a_other->At(i);
}
// Sets the last the character, the reason for the plus 1 is so I can add the null
// terminator
m_data[length - 1] = '\0';
//Deletes the Get raw memory allocation which is used above
delete[] temp;
}
VOID CHOSTAPI(ULONG * pEAX, ULONG * pEBX, ULONG * pECX, ULONG * pEDX, VOID ** pESI, VOID ** pEDI)
{
ULONG EAX = *pEAX;
ULONG EBX = *pEBX;
ULONG ECX = *pECX;
ULONG EDX = *pEDX;
VOID * ESI = *pESI;
VOID * EDI = *pEDI;
int Command;
int Stream;
int n;
int Temp;
PBPQVECSTRUC HostVec;
TRANSPORTENTRY * Session;
/*
; COMMANDS SUPPORTED ARE
;
; AH = 0 Get node/switch version number and description. On return
; AH = major version number and AL = minor version number,
; and user's buffer pointed to by ES:ESI is set to the text
; string normally output by the USERS command, eg:
; "G8BPQ Packet Switch Version 4.01 Dev". CX is set to the
; length of the text string.
;
;
; AH = 1 Set application mask to value in DL (or even DX if 16
; applications are ever to be supported).
;
; Set application flag(s) to value in CL (or CX).
; whether user gets connected/disconnected messages issued
; by the node etc.
;
;
; AH = 2 Send frame in ES:ESI (length CX)
;
;
; AH = 3 Receive frame into buffer at ES:ESI, length of frame returned
; in CX. BX returns the number of outstanding frames still to
; be received (ie. after this one) or zero if no more frames
; (ie. this is last one).
;
;
;
; AH = 4 Get stream status. Returns:
;
; CX = 0 if stream disconnected or CX = 1 if stream connected
; DX = 0 if no change of state since last read, or DX = 1 if
; the connected/disconnected state has changed since
; last read (ie. delta-stream status).
;
;
;
; AH = 6 Session control.
;
; CX = 0 Conneect - _APPLMASK in DL
; CX = 1 connect
; CX = 2 disconnect
; CX = 3 return user to node
;
;
; AH = 7 Get buffer counts for stream. Returns:
;
; AX = number of status change messages to be received
; BX = number of frames queued for receive
; CX = number of un-acked frames to be sent
; DX = number of buffers left in node
; SI = number of trace frames queued for receive
;
;AH = 8 Port control/information. Called with a stream number
; in AL returns:
;
; AL = Radio port on which channel is connected (or zero)
; AH = SESSION TYPE BITS
; BX = L2 paclen for the radio port
; CX = L2 maxframe for the radio port
; DX = L4 window size (if L4 circuit, or zero)
; ES:EDI = CALLSIGN
;AH = 9 Fetch node/application callsign & alias. AL = application
; number:
;
; 0 = node
; 1 = BBS
; 2 = HOST
; 3 = SYSOP etc. etc.
;
; Returns string with alias & callsign or application name in
; user's buffer pointed to by ES:ESI length CX. For example:
;
; "WORCS:G8TIC" or "TICPMS:G8TIC-10".
;
;
; AH = 10 Unproto transmit frame. Data pointed to by ES:ESI, of
; length CX, is transmitted as a HDLC frame on the radio
; port (not stream) in AL.
;
;
; AH = 11 Get Trace (RAW Data) Frame into ES:EDI,
; Length to CX, Timestamp to AX
;
;
; AH = 12 Update Switch. At the moment only Beacon Text may be updated
; DX = Function
; 1=update BT. ES:ESI, Len CX = Text
; 2=kick off nodes broadcast
;
; AH = 14 Internal Interface for IP Router
;
; Send frame - to NETROM L3 if DL=0
; to L2 Session if DL<>0
;
;
; AH = 15 Get interval timer
;
*/
Command = (EAX & 0xFFFF) >> 8;
Stream = (EAX & 0xFF);
n = Stream - 1; // API Numbers Streams 1-64
if (n < 0 || n > 63)
n = 64;
HostVec = &BPQHOSTVECTOR[n];
Session = HostVec->HOSTSESSION;
switch (Command)
{
case 0: // Check Loaded/Get Version
EAX = ('P' << 8) | 'B';
EBX = ('Q' << 8) | ' ';
EDX = (MAJORVERSION << 8) | MINORVERSION;
break;
case 1: // Set Appl mAsk
HostVec->HOSTAPPLMASK = EDX; // APPL MASK
HostVec->HOSTAPPLFLAGS = (UCHAR)ECX; // APPL FLAGS
// If either is non-zero, set allocated and Process. This gets round problem with
// stations that don't call allocate stream
if (ECX || EBX)
{
HostVec->HOSTFLAGS |= 0x80; // SET ALLOCATED BIT
HostVec->STREAMOWNER = GetCurrentProcessId();
// Set Program Name
memcpy(&HostVec->PgmName, pgm, 31);
}
break;
case 2: // Send Frame
// ES:ESI = MESSAGE, CX = LENGTH, BX = VECTOR
EAX = SendMsg(Stream, ESI, ECX);
break;
case 3:
// AH = 3 Receive frame into buffer at ES:EDI, length of frame returned
// in CX. BX returns the number of outstanding frames still to
// be received (ie. after this one) or zero if no more frames
// (ie. this is last one).
EAX = GetMsg(Stream, EDI, &ECX, &EBX);
break;
case 4:
// AH = 4 Get stream status. Returns:
// CX = 0 if stream disconnected or CX = 1 if stream connected
// DX = 0 if no change of state since last read, or DX = 1 if
// the connected/disconnected state has changed since
// last read (ie. delta-stream status).
ECX = EDX = 0;
if (HostVec->HOSTFLAGS & 3) //STATE CHANGE BITS
EDX = 1;
if (Session)
ECX = 1;
break;
case 5:
// AH = 5 Ack stream status change
HostVec->HOSTFLAGS &= 0xFC; // Clear Chnage Bits
break;
case 6:
// AH = 6 Session control.
// CX = 0 Conneect - APPLMASK in DL
// CX = 1 connect
// CX = 2 disconnect
// CX = 3 return user to node
SessionControl(Stream, ECX, EDX);
break;
case 7:
// AH = 7 Get buffer counts for stream. Returns:
// AX = number of status change messages to be received
// BX = number of frames queued for receive
// CX = number of un-acked frames to be sent
// DX = number of buffers left in node
// SI = number of trace frames queued for receive
ECX = 0; // unacked frames
EDX = QCOUNT;
ESI = (void *)MONCount(Stream);
EBX = RXCount(Stream);
ECX = TXCount(Stream);
EAX = 0; // Is this right ???
break;
case 8:
// AH = 8 Port control/information. Called with a stream number
// in AL returns:
//
// AL = Radio port on which channel is connected (or zero)
// AH = SESSION TYPE BITS
// BX = L2 paclen for the radio port
// CX = L2 maxframe for the radio port
// DX = L4 window size (if L4 circuit, or zero)
// ES:EDI = CALLSIGN
GetConnectionInfo(Stream, EDI, &EAX, &Temp, &EBX, &ECX, &EDX); // Return the Secure Session Flag rather than not connected
EAX |= Temp <<8;
break;
case 9:
// Not Implemented
break;
case 10:
// AH = 10 Unproto transmit frame. Data pointed to by ES:ESI, of
// length CX, is transmitted as a HDLC frame on the radio
// port (not stream) in AL.
EAX = SendRaw(EAX, ESI, ECX);
return;
case 11:
// AH = 11 Get Trace (RAW Data) Frame into ES:EDI,
// Length to CX, Timestamp to AX
EAX = GetRaw(Stream, EDI, &ECX, &EBX);
break;
case 12:
// Update Switch
if (EDX == 2)
{
SENDNODESMSG();
break;
}
if (EDX == 2)
{
// UPDATE BT
BTLENGTH = ECX;
memcpy(BTEXTFLD, ESI, ECX + 7);
}
break;
case 13:
// BPQALLOC
// AL = 0 = Find Free
// AL != 0 Alloc or Release
if (EAX == 0)
{
EAX = FindFreeStream();
break;
}
if (ECX == 1) // Allocate
{
EAX = AllocateStream(Stream);
break;
}
DeallocateStream(Stream);
break;
case 14:
// AH = 14 Internal Interface for IP Router
// Send frame - to NETROM L3 if DL=0
// to L2 Session if DL<>0
break; // Shouldn't be needed
case 15:
// GETTIME
EAX = REALTIMETICKS;
EBX = 0;
#ifdef EXCLUDEBITS
EBX = (ULONG)ExcludeList;
#endif
break;
}
*pEAX = EAX;
*pEBX = EBX;
*pECX = ECX;
*pEDX = EDX;
*pESI = ESI;
*pEDI = EDI;
return;
}
/**
* Gets the current count.
*
* Returns the current count on the Encoder. This method compensates for the
* decoding type.
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale
* factor.
*/
int32_t Encoder::Get() const {
if (StatusIsFatal()) return 0;
return (int32_t)(GetRaw() * DecodingScaleFactor());
}
/**
* Get the distance the robot has driven since the last reset.
*
* @return The distance driven since the last reset as scaled by the value from
* SetDistancePerPulse().
*/
double Encoder::GetDistance() const {
if (StatusIsFatal()) return 0.0;
return GetRaw() * DecodingScaleFactor() * m_distancePerPulse;
}
/**
* Get the distance the robot has driven since the last reset.
*
* @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
*/
double Encoder::GetDistance()
{
return GetRaw() * DecodingScaleFactor() * m_distancePerPulse;
}
bool GetString(pfc::string_base & out) {
pfc::array_t<t_uint8> temp;
if (!GetRaw(CF_TCHAR,temp)) return false;
out = pfc::stringcvt::string_utf8_from_os(reinterpret_cast<const TCHAR*>(temp.get_ptr()),temp.get_size() / sizeof(TCHAR));
return true;
}
bool RarTime::operator < (RarTime &rt)
{
return(GetRaw()<rt.GetRaw());
}
/**
* Gets the current count.
* Returns the current count on the Encoder.
* This method compensates for the decoding type.
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
*/
INT32 Encoder::Get()
{
return (INT32) (GetRaw() * DecodingScaleFactor());
}
bool RarTime::operator > (RarTime &rt)
{
return(GetRaw()>rt.GetRaw());
}
int Player::ToScore () const {
return 1 - int(GetRaw() + GetRaw()) ;
}
Player Player::Other() const {
return Player(GetRaw() ^ 1);
}
/**
* Gets the current count.
* Returns the current count on the Encoder.
* This method compensates for the decoding type.
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
*/
INT32 Encoder::Get()
{
if (StatusIsFatal()) return 0;
return (INT32) (GetRaw() * DecodingScaleFactor());
}
void Idle::Start() {
Invoke(&uv_idle_start, GetRaw(), [](uv_idle_t* handle) {
Idle& h = *static_cast<Idle*>(handle->data);
h.idle();
});
}
