static char *dataDescription(WMPropList * plist)
{
const unsigned char *data;
char *retVal;
int i, j, length;
data = WMDataBytes(plist->d.data);
length = WMGetDataLength(plist->d.data);
retVal = (char *)wmalloc(2 * length + length / 4 + 3);
retVal[0] = '<';
for (i = 0, j = 1; i < length; i++) {
retVal[j++] = num2char((data[i] >> 4) & 0x0f);
retVal[j++] = num2char(data[i] & 0x0f);
if ((i & 0x03) == 3 && i != length - 1) {
/* if we've just finished a 32-bit int, add a space */
retVal[j++] = ' ';
}
}
retVal[j++] = '>';
retVal[j] = '\0';
return retVal;
}
void send_angle(int16_t angle){
//send commanded angle
uint8_t r1 = 0;
uint8_t r2 = 0;
uint8_t r3 = 0;
uint8_t r4 = 0;
uartSendByte(UART3, 'R');
r1 = num2char(0x0F & (uint8_t)angle);
r2 = num2char(0x0F & ((uint8_t)(angle >> 4)) );
r3 = num2char(0x0F & ((uint8_t)(angle >> 8)) );
r4 = num2char(0x0F & ((uint8_t)(angle >> 12)) );
/*
uartSendByte(UART1, r4);
uartSendByte(UART1, r3);
uartSendByte(UART1, r2);
uartSendByte(UART1, r1);
uartSendByte(UART1, '\r');
uartSendByte(UART1, '\n'); //line feed
*/
uartSendByte(UART3, r4);
uartSendByte(UART3, r3);
uartSendByte(UART3, r2);
uartSendByte(UART3, r1);
uartSendByte(UART3, '\n'); //line feed
}
//------------------------------------------------------------------
void toolBitmap()
{
int i;
TBADDBITMAP a;
HDC dc, wdc;
HGDIOBJ oldBmp, oldF;
TCHAR c;
HBRUSH br;
RECT rc;
HBITMAP b;
LOGFONT font;
const int Nbut1=35, Nbut=Nbut1+Msymbol+1;
wdc=GetDC(toolbar);
dc=CreateCompatibleDC(wdc);
b=CreateCompatibleBitmap(wdc, Nbut*16, 15);
ReleaseDC(toolbar, wdc);
oldBmp=SelectObject(dc, b);
rc.left=0; rc.right=16*Nbut1; rc.bottom=15; rc.top=0;
FillRect(dc, &rc, GetSysColorBrush(COLOR_BTNFACE));
SetBkMode(dc, TRANSPARENT);
SetTextAlign(dc, TA_CENTER);
memset(&font, 0, sizeof(LOGFONT));
font.lfHeight=-15;
_tcscpy(font.lfFaceName, _T("Tahoma"));
oldF=SelectObject(dc, CreateFontIndirect(&font));
for(i=0; i<Nbut1; i++){
c=num2char(i);
TextOut(dc, 16*i+8, -1, &c, 1);
}
DeleteObject(SelectObject(dc, oldF));
for(; i<Nbut; i++){
rc.left=i*16;
rc.right=rc.left+16;
FillRect(dc, &rc, br=CreateSolidBrush(colors[i-Nbut1]));
DeleteObject(br);
}
SelectObject(dc, oldBmp);
DeleteDC(dc);
if(toolBmp){
TBREPLACEBITMAP rb;
rb.hInstOld=0;
rb.nIDOld=(UINT_PTR)toolBmp;
rb.hInstNew=0;
rb.nIDNew=(UINT_PTR)b;
rb.nButtons=Nbut;
SendMessage(toolbar, TB_REPLACEBITMAP, 0, (LPARAM)&rb);
DeleteObject(toolBmp);
}
else{
a.hInst=(HINSTANCE)0;
a.nID=(UINT_PTR)b;
toolNumIndex= SendMessage(toolbar, TB_ADDBITMAP, Nbut, (LPARAM)&a);
}
toolBmp=b;
InvalidateRect(toolbar, 0, TRUE);
}
