PARTICLES::PARTICLES()
{
on_reset();
render_trail.parts = this;
render_explosions.parts = this;
render_general.parts = this;
}
int main(void)
{
/* On reset */
on_reset();
/* Init software subsystems */
log_init(); // Logging system
cmd_repo_init(); // Command repository initialization
dat_repo_init(); // Update status repository
LOGI(tag, "Creating tasks...");
/* Initializing shared Queues */
dispatcher_queue = osQueueCreate(25,sizeof(cmd_t *));
executer_cmd_queue = osQueueCreate(1,sizeof(cmd_t *));
executer_stat_queue = osQueueCreate(1,sizeof(int));
int n_threads = 3;
os_thread threads_id[n_threads];
/* Crating system task (the others are created inside taskDeployment) */
osCreateTask(taskDispatcher,"dispatcher", 2*configMINIMAL_STACK_SIZE,NULL,3, &threads_id[0]);
osCreateTask(taskExecuter, "executer", 5*configMINIMAL_STACK_SIZE, NULL, 4, &threads_id[1]);
osCreateTask(taskTest, "test", 2*configMINIMAL_STACK_SIZE, "TEST1", 2, &threads_id[2]);
#ifndef ESP32
/* Start the scheduler. Should never return */
osScheduler(threads_id, n_threads);
return 0;
#endif
}
int main(void)
{
//lenguaje C orientado a microcontroladores rev 1
//quidel.inele.ufro.cl
//cc5x
//printf("%i\n",0xFFFFFFFF);
/* Initializing shared Queues */
dispatcherQueue = osQueueCreate(25,sizeof(DispCmd));
executerCmdQueue = osQueueCreate(1,sizeof(ExeCmd));
executerStatQueue = osQueueCreate(1,sizeof(int));
/* Initializing shared Semaphore */
osSemaphoreCreate(&repoDataSem);
/* Crating all task (the others are created inside taskDeployment) */
osCreateTask(taskDispatcher,"dispatcher",2*configMINIMAL_STACK_SIZE,NULL,3);
osCreateTask(taskExecuter, "executer", 5*configMINIMAL_STACK_SIZE, NULL, 4);
osCreateTask(taskHousekeeping, "housekeeping", 2*configMINIMAL_STACK_SIZE, NULL, 2);
osCreateTask(taskConsole, "console", 2*configMINIMAL_STACK_SIZE, NULL, 2);
/* Configure Peripherals */
/* On reset */
on_reset();
/* Start the scheduler. Should never return */
osScheduler();
return 0;
}
void MainWindow::create_actions()
{
connect(view, SIGNAL(clicked(const QModelIndex &)), this, SLOT(on_recevied_index(const QModelIndex &)));
connect(buttonOK, SIGNAL(clicked()), this, SLOT(on_ok_clicked()));
connect(buttonCancel, SIGNAL(clicked()), this, SLOT(close()));
connect(button_reset, SIGNAL(clicked()), this, SLOT(on_reset()));
connect(video_tab, SIGNAL(comboChange(QString, QString, QString)), this, SLOT(on_combo_update(QString, QString, QString)));
connect(audio_tab, SIGNAL(comboChange(QString, QString, QString)), this, SLOT(on_combo_update(QString, QString, QString)));
}
VideoTab::VideoTab(QWidget *parent, CodeInterface &codeInt) : QWidget(parent)
{
code_int = &codeInt;
createDisplay();
populateBoxes();
createActions();
connect(parent, SIGNAL(repopulate_combos()), this , SLOT(on_repopulate()));
connect(parent, SIGNAL(reset_fields()), this, SLOT(on_reset()));
}
void GAMECLIENT::on_statechange(int new_state, int old_state)
{
if(demorec_isrecording())
demorec_record_stop();
// reset everything
on_reset();
// then change the state
for(int i = 0; i < all.num; i++)
all.components[i]->on_statechange(new_state, old_state);
}
void Snake::reset(const Vector& startingPoint,
const Vector& lookingAt,const int initialGrowth) {
_tail.assign(1);
_head.assign(0);
_previous_head = 1;
_is_alive = true;
_rotation_angle = 0;
_move_vector = _translation_vector;
_remaining_growth = initialGrowth;
_points[_tail].assign(startingPoint);
_points[_head].assign(startingPoint + _move_vector, &_points[_tail]);
on_reset();
}
int main(void)
#endif
{
/* On reset */
on_reset();
printf("\n\n--------- FLIGHT SOFTWARE START ---------\n");
printf("\t Version: %s\n", SCH_SW_VERSION);
printf("\t Device : %d (%s)\n", SCH_DEVICE_ID, SCH_NAME);
printf("-----------------------------------------\n\n");
/* Init software subsystems */
log_init(); // Logging system
cmd_repo_init(); // Command repository initialization
dat_repo_init(); // Update status repository
/* Initializing shared Queues */
dispatcher_queue = osQueueCreate(25,sizeof(cmd_t *));
if(dispatcher_queue == 0)
LOGE(tag, "Error creating dispatcher queue");
executer_stat_queue = osQueueCreate(1,sizeof(int));
if(executer_stat_queue == 0)
LOGE(tag, "Error creating executer stat queue");
executer_cmd_queue = osQueueCreate(1,sizeof(cmd_t *));
if(executer_cmd_queue == 0)
LOGE(tag, "Error creating executer cmd queue");
int n_threads = 4;
os_thread threads_id[n_threads];
LOGI(tag, "Creating basic tasks...");
/* Crating system task (the others are created inside taskInit) */
int t_inv_ok = osCreateTask(taskDispatcher,"invoker", SCH_TASK_DIS_STACK, NULL, 3, &threads_id[1]);
int t_exe_ok = osCreateTask(taskExecuter, "receiver", SCH_TASK_EXE_STACK, NULL, 4, &threads_id[2]);
int t_wdt_ok = osCreateTask(taskWatchdog, "watchdog", SCH_TASK_WDT_STACK, NULL, 2, &threads_id[0]);
int t_ini_ok = osCreateTask(taskInit, "init", SCH_TASK_INI_STACK, NULL, 3, &threads_id[3]);
/* Check if the task were created */
if(t_inv_ok != 0) LOGE(tag, "Task invoker not created!");
if(t_exe_ok != 0) LOGE(tag, "Task receiver not created!");
if(t_wdt_ok != 0) LOGE(tag, "Task watchdog not created!");
if(t_ini_ok != 0) LOGE(tag, "Task init not created!");
#ifndef ESP32
/* Start the scheduler. Should never return */
osScheduler(threads_id, n_threads);
return 0;
#endif
}
void GAMECLIENT::on_statechange(int new_state, int old_state)
{
if(demorec_isrecording())
demorec_record_stop();
// reset everything
on_reset();
// then change the state
for(int i = 0; i < all.num; i++)
all.components[i]->on_statechange(new_state, old_state);
if(new_state == CLIENTSTATE_ONLINE && config.tc_autodemo)
teecomp_demo_start();
}
void
IgcReplay::Start()
{
if (Enabled)
Stop();
if (!OpenFile()) {
on_bad_file();
return;
}
cli.Reset();
reset_time();
on_reset();
Enabled = true;
}
GMTools::GMTools(QWidget *parent)
: QDialog(parent)
{
state_ = 0;
auto_set_times_ = 1;
maxset_ = 1;
ui = new Ui::GMToolsClass();
ui->setupUi(this);
QTimer::singleShot(20, this, SLOT(step()));
connect(ui->btn_logingame, SIGNAL(clicked()), this, SLOT(on_logingame()));
connect(ui->btn_sendcmd, SIGNAL(clicked()), this, SLOT(on_sendcmd()));
connect(ui->btn_reset, SIGNAL(clicked()), this, SLOT(on_reset()));
ui->cmb_functions->clear();
ui->cmb_functions->addItem("Dynamic Set User Stock", 1);
ui->cmb_functions->addItem("Disable User Stock", 2);
ui->cmb_functions->addItem("Query System Balance", 3);
}
static
int on_request(struct mg_connection* conn) {
int ret = MG_FALSE;
// LOG(("MG_REQUEST: %p %d %d\n", conn, conn->is_websocket, conn->wsbits));
engine_lock();
if (!strncmp(conn->uri, API_SETTINGS, strlen(API_SETTINGS))) {
on_settings(conn);
ret = MG_TRUE;
} else if (!strncmp(conn->uri, API_EFFECTS, strlen(API_EFFECTS))) {
on_effects(conn);
ret = MG_TRUE;
} else if (!strncmp(conn->uri, API_RESET, strlen(API_RESET))) {
on_reset(conn);
ret = MG_TRUE;
}
engine_unlock();
return ret;
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
ui->starttime->setText("0");
ui->simurate->setText("1");
///create node
//STM32 MCU
Simulator* stm32comm = new Simulator(library, "Sensor_stm32comm", "stm32comm", config, QTime(),1);
stm32comm->setOutputNodesName(QList<QString>()<<"stm32comm_viewer;stm32comm_storage;doordetection;simplecollect;planner");
VisualizationMono* stm32comm_viewer = new VisualizationMono(library, "Sensor_stm32comm", "stm32comm_viewer", config);
stm32comm_viewer->setInputNodesName(QList<QString>()<<"stm32comm");
stm32comm_viewer->connectExternalTrigger(0, DRAINSLOT);
//LCamera
Simulator* l_camera = new Simulator(library, "Sensor_Camera", "l_camera", config, QTime(),1);
l_camera->setOutputNodesName(QList<QString>()<<"l_camera_viewer;l_camera_storage;cameralasercalib");
VisualizationMono* l_camera_viewer = new VisualizationMono(library, "Sensor_Camera", "l_camera_viewer", config);
l_camera_viewer->setInputNodesName(QList<QString>()<<"l_camera");
l_camera_viewer->connectExternalTrigger(0, DRAINSLOT);
//RCamera
Simulator* r_camera = new Simulator(library, "Sensor_Camera", "r_camera",config, QTime(),1);
r_camera->setOutputNodesName(QList<QString>()<<"r_camera_viewer");
VisualizationMono*r_camera_viewer = new VisualizationMono(library, "Sensor_Camera", "r_camera_viewer", config);
r_camera_viewer->setInputNodesName(QList<QString>()<<"r_camera");
r_camera_viewer->connectExternalTrigger(0, DRAINSLOT);
//Laser
Simulator* laser = new Simulator(library, "Sensor_Laser", "laser", config, QTime(),1);
laser->setOutputNodesName(QList<QString>()<<"laser_viewer;doordetection;simplecollect;calib;cameralasercalib");
VisualizationMono* laser_viewer = new VisualizationMono(library, "Sensor_Laser", "laser_viewer", config);
laser_viewer->setInputNodesName(QList<QString>()<<"laser");
laser_viewer->connectExternalTrigger(0, DRAINSLOT);
//camera laser calib
ProcessorMulti* cameralasercalib = new ProcessorMulti(library, "Processor_CameraLaser", "cameralasercalib", config);
cameralasercalib->setInputNodesName(QList<QString>()<<"l_camera"<<"laser");
cameralasercalib->setOutputNodesName(QList<QString>()<<"cameralasercalib_viewer");
cameralasercalib->connectExternalTrigger(1,PROCESSORSLOT);
VisualizationMono *cameralasercalib_viewer = new VisualizationMono(library, "Processor_CameraLaser", "cameralasercalib_viewer", config);
cameralasercalib_viewer->setInputNodesName(QList<QString>()<<"cameralasercalib");
cameralasercalib_viewer->connectExternalTrigger(0, DRAINSLOT);
//calibration
VisualizationMono *laserCalib = new VisualizationMono(library, "Calibration_Laser", "calib", config);
laserCalib->setInputNodesName(QList<QString>()<<"laser");
laserCalib->connectExternalTrigger(0, DRAINSLOT);
//Path
ProcessorMono* pathPlanner = new ProcessorMono(library, "Processor_PathGenerator", "planner", config);
pathPlanner->setInputNodesName(QList<QString>() << "stm32comm");
pathPlanner->setOutputNodesName(QList<QString>() << "plannerViewer");
pathPlanner->connectExternalTrigger(0, PROCESSORSLOT);
VisualizationMono* pathPlannerViewer = new VisualizationMono(library, "Processor_PathGenerator", "plannerViewer", config);
pathPlannerViewer->setInputNodesName(QList<QString>() << "planner");
pathPlannerViewer->connectExternalTrigger(0, DRAINSLOT);
//doordetection
ProcessorMulti* doordetection = new ProcessorMulti(library,"Processor_doordetection", "doordetection",config);
doordetection->setInputNodesName(QList<QString>()<<"laser"<<"stm32comm");
doordetection->setOutputNodesName(QList<QString>()<<"doordetection_viewer;simplecollect");
doordetection->connectExternalTrigger(1, PROCESSORSLOT);
VisualizationMono* doordetection_viewer = new VisualizationMono(library,"Processor_doordetection", "doordetection_viewer", config);
doordetection_viewer->setInputNodesName(QList<QString>()<<"doordetection");
doordetection_viewer->connectExternalTrigger(0,DRAINSLOT);
//simple collect
ProcessorMulti* simplecollect = new ProcessorMulti(library,"Processor_SimpleCollect", "simplecollect", config);
simplecollect->setInputNodesName(QList<QString>()<<"joystick"<<"laser"<<"stm32comm"<<"doordetection");
simplecollect->setOutputNodesName(QList<QString>()<<"simplecollect_viewer");
simplecollect->connectExternalTrigger(2, PROCESSORSLOT);
VisualizationMono* simplecollect_viewer = new VisualizationMono(library,"Processor_SimpleCollect", "simplecollect_viewer",config);
simplecollect_viewer->setInputNodesName(QList<QString>()<<"simplecollect");
simplecollect_viewer->connectExternalTrigger(0,DRAINSLOT);
///add node
edge.addNode(stm32comm, 1, MONITOR);
edge.addNode(stm32comm_viewer, 0, 0);
edge.addNode(l_camera, 1, MONITOR);
edge.addNode(l_camera_viewer, 0, 0);
edge.addNode(r_camera, 1, MONITOR);
edge.addNode(r_camera_viewer, 0, 0);
edge.addNode(laser, 1, MONITOR);
edge.addNode(laser_viewer, 0, 0);
edge.addNode(pathPlanner, 1, MONITOR);
edge.addNode(pathPlannerViewer, 0, 0);
edge.addNode(doordetection, 1, MONITOR);
edge.addNode(doordetection_viewer, 0, 0);
edge.addNode(cameralasercalib, 1, MONITOR);
edge.addNode(cameralasercalib_viewer, 0, 0);
// edge.addNode(simplecollect, 1, MONITOR);
// edge.addNode(simplecollect_viewer, 0, 0);
edge.addNode(laserCalib, 0, 0);
edge.connectAll();
connect(ui->open, SIGNAL(clicked()), &edge, SLOT(openAllNodesSlot()));
connect(ui->close, SIGNAL(clicked()), &edge, SLOT(closeAllNodesSlot()));
connect(ui->setvale, SIGNAL(clicked()), this, SLOT(on_setvalue()));
connect(this, SIGNAL(sig_setstarttime(QTime)), stm32comm, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), stm32comm, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), l_camera, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), l_camera, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), r_camera, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), r_camera, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), laser, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), laser, SLOT(setSimulateRateSlot(double)));
connect(ui->sync, SIGNAL(clicked()), this, SLOT(on_sync()));
connect(this, SIGNAL(sig_sync()), stm32comm, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), l_camera, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), r_camera, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), laser, SLOT(syncTimeTrackSlot()));
connect(ui->start, SIGNAL(clicked()), this, SLOT(on_start()));
connect(this, SIGNAL(sig_start()), stm32comm, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), l_camera, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), r_camera, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), laser, SLOT(startSimulatorSlot()));
connect(ui->stop, SIGNAL(clicked()), this, SLOT(on_stop()));
connect(this, SIGNAL(sig_stop()), stm32comm, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), l_camera, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), r_camera, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), laser, SLOT(stopSimulatorSlot()));
connect(ui->reset, SIGNAL(clicked()), this, SLOT(on_reset()));
connect(this, SIGNAL(sig_sync()), stm32comm, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), l_camera, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), r_camera, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), laser, SLOT(resetTimeTrackSlot()));
///visualazition
QList<QWidget *> widgets;
widgets = stm32comm_viewer->getVisualizationWidgets();
ui->scrollArea->setWidget(widgets.front());
widgets = laser_viewer->getVisualizationWidgets();
ui->scrollArea_2->setWidget(widgets.front());
// widgets = laserCalib->getVisualizationWidgets();
// ui->scrollArea_3->setWidget(widgets.front());
widgets =cameralasercalib_viewer->getVisualizationWidgets();
ui->scrollArea_3->setWidget(widgets.front());
widgets = l_camera_viewer->getVisualizationWidgets();
ui->scrollArea_4->setWidget(widgets.front());
widgets = r_camera_viewer->getVisualizationWidgets();
ui->scrollArea_5->setWidget(widgets.front());
widgets = doordetection_viewer->getVisualizationWidgets();
ui->scrollArea_6->setWidget(widgets.front());
widgets = pathPlannerViewer->getVisualizationWidgets();
ui->scrollArea_7->setWidget(widgets.front());
// widgets = simplecollect_viewer->getVisualizationWidgets();
// ui->scrollArea_8->setWidget(widgets.front());
if(MONITOR)
ui->tabWidget->addTab(&edge, "Monitor");
}
SCOREBOARD::SCOREBOARD()
{
on_reset();
}