int main(int argc, char *argv[])
{
signal(SIGABRT, &sighandler);
signal(SIGTERM, &sighandler);
signal(SIGQUIT, &sighandler);
signal(SIGINT, &sighandler);
int ch;
char filename[128];
change_current_dir();
if(argc < 2)
strcpy(filename, MOTION_FILE_PATH); // Set default motion file path
else
strcpy(filename, argv[1]);
minIni* ini = new minIni(INI_FILE_PATH);
/////////////// Load/Create Action File //////////////////
if(Action::GetInstance()->LoadFile(filename) == false)
{
printf("Can not open %s\n", filename);
printf("Do you want to make a new action file? (y/n) ");
ch = _getch();
if(ch != 'y')
{
printf("\n");
return 0;
}
if(Action::GetInstance()->CreateFile(filename) == false)
{
printf("Fail to create %s\n", filename);
return 0;
}
}
////////////////////////////////////////////////////////////
//////////////////// Framework Initialize ////////////////////////////
if(MotionManager::GetInstance()->Initialize(&cm730) == false)
{
printf("Initializing Motion Manager failed!\n");
return 0;
}
MotionManager::GetInstance()->SetEnable(false);
MotionManager::GetInstance()->AddModule((MotionModule*)Action::GetInstance());
linuxMotionTimer.Initialize(MotionManager::GetInstance());
linuxMotionTimer.Stop();
//MotionManager::GetInstance()->StopThread();
/////////////////////////////////////////////////////////////////////
MotionManager::GetInstance()->LoadINISettings(ini);
DrawIntro(&cm730);
while(1)
{
ch = _getch();
if(ch == 0x1b)
{
ch = _getch();
if(ch == 0x5b)
{
ch = _getch();
if(ch == 0x41) // Up arrow key
MoveUpCursor();
else if(ch == 0x42) // Down arrow key
MoveDownCursor();
else if(ch == 0x44) // Left arrow key
MoveLeftCursor();
else if(ch == 0x43) // Right arrow key
MoveRightCursor();
}
}
else if( ch == '[' )
UpDownValue(&cm730, -1);
else if( ch == ']' )
UpDownValue(&cm730, 1);
else if( ch == '{' )
UpDownValue(&cm730, -10);
else if( ch == '}' )
UpDownValue(&cm730, 10);
else if( ch == ' ' )
ToggleTorque(&cm730);
else if( ch >= 'A' && ch <= 'z' )
{
char input[128] = {0,};
char *token;
int input_len;
char cmd[80];
int num_param;
int iparam[30];
int idx = 0;
BeginCommandMode();
printf("%c", ch);
input[idx++] = (char)ch;
while(1)
{
ch = _getch();
if( ch == 0x0A )
break;
else if( ch == 0x7F )
{
if(idx > 0)
{
ch = 0x08;
printf("%c", ch);
ch = ' ';
printf("%c", ch);
ch = 0x08;
printf("%c", ch);
input[--idx] = 0;
}
}
else if( ( ch >= 'A' && ch <= 'z' ) || ch == ' ' || ( ch >= '0' && ch <= '9'))
{
if(idx < 127)
{
printf("%c", ch);
input[idx++] = (char)ch;
}
}
}
fflush(stdin);
input_len = strlen(input);
if(input_len > 0)
{
token = strtok( input, " " );
if(token != 0)
{
strcpy( cmd, token );
token = strtok( 0, " " );
num_param = 0;
while(token != 0)
{
iparam[num_param++] = atoi(token);
token = strtok( 0, " " );
}
if(strcmp(cmd, "exit") == 0)
{
if(AskSave() == false)
break;
}
else if(strcmp(cmd, "re") == 0)
{
ReadStep(&cm730);
DrawPage();
}
else if(strcmp(cmd, "help") == 0)
HelpCmd();
else if(strcmp(cmd, "set") == 0)
{
if(num_param > 0)
SetValue(&cm730, iparam[0]);
else
PrintCmd("Need parameter");
}
else if(strcmp(cmd, "on") == 0)
OnOffCmd(&cm730, true, num_param, iparam);
else if(strcmp(cmd, "off") == 0)
OnOffCmd(&cm730, false, num_param, iparam);
else if(strcmp(cmd, "save") == 0)
SaveCmd(ini);
else if(strcmp(cmd, "pgain") == 0)
{
if(num_param > 0)
GainCmd(&cm730, iparam[0], P_GAIN_COL);
else
PrintCmd("Need parameter");
}
else if(strcmp(cmd, "igain") == 0)
{
if(num_param > 0)
GainCmd(&cm730, iparam[0], I_GAIN_COL);
else
PrintCmd("Need parameter");
}
else if(strcmp(cmd, "dgain") == 0)
{
if(num_param > 0)
GainCmd(&cm730, iparam[0], D_GAIN_COL);
else
PrintCmd("Need parameter");
}
else
PrintCmd("Bad command! please input 'help'");
}
}
EndCommandMode();
}
}
DrawEnding();
return 0;
}
int main(int argc, char *argv[])
{
signal(SIGABRT, &sighandler);
signal(SIGTERM, &sighandler);
signal(SIGQUIT, &sighandler);
signal(SIGINT, &sighandler);
char filename[128];
change_current_dir();
if(argc < 2)
strcpy(filename, MOTION_FILE_PATH); // Set default motion file path
else
strcpy(filename, argv[1]);
//////////////////// Framework Initialize ////////////////////////////
if(MotionManager::GetInstance()->Initialize(&cm730) == false)
{
printf("Initializing Motion Manager failed!\n");
exit(0);
}
MotionManager::GetInstance()->SetEnable(false);
MotionManager::GetInstance()->AddModule((MotionModule*)Action::GetInstance());
linuxMotionTimer.Initialize(MotionManager::GetInstance());
linuxMotionTimer.Stop();
/////////////////////////////////////////////////////////////////////
head_ctrl.SetMode( EMOHead::COMMAND );
/* BLINKS */
for ( int i = 0; i < 10; ++i )
{
blink_with_delay( 200000 );
}
LinuxActionScript::PlayMP3("../../../Data/mp3/chappie_chappie.mp3");
/* EYE DIRECTIONS */
head_ctrl.SetLookDirection( EMOHead::LOOK_LEFT );
sleep( 1 );
head_ctrl.SetLookDirection( EMOHead::LOOK_RIGHT );
sleep( 1 );
LinuxActionScript::PlayMP3("../../../Data/mp3/chappie_chicken.mp3");
head_ctrl.SetLookDirection( EMOHead::LOOK_LEFT );
sleep( 1 );
head_ctrl.SetLookDirection( EMOHead::LOOK_RIGHT );
sleep( 1 );
head_ctrl.SetLookDirection( EMOHead::LOOK_FORWARD );
sleep( 1 );
/* ANTENNA POSITIONS */
head_ctrl.SetSpeeds( 64, 64, 64 );
head_ctrl.SetPositions( 255, 255, 255 );
LinuxActionScript::PlayMP3("../../../Data/mp3/chappie_whats_that.mp3");
sleep( 1 );
head_ctrl.SetSpeeds( 8, 8, 8 );
head_ctrl.SetPositions( 0, 0, 0 );
sleep( 1 );
head_ctrl.SetSpeeds( 32, 32, 32 );
head_ctrl.SetPositions( 128, 128, 128 );
sleep( 1 );
head_ctrl.SetSpeeds( 8, 8, 8 );
head_ctrl.SetPositions( 255, 0, 255 );
sleep( 1 );
head_ctrl.SetSpeeds( 64, 64, 64 );
head_ctrl.SetPositions( 0, 255, 0 );
sleep( 1 );
head_ctrl.SetSpeeds( 32, 32, 32 );
head_ctrl.SetPositions( 128, 128, 128 );
sleep( 1 );
head_ctrl.SetSpeeds( 4, 4, 4 );
head_ctrl.SetPositions( 0, 0, 0 );
LinuxActionScript::PlayMP3("../../../Data/mp3/chappie_no_he_can_talk_hes_smart.mp3");
/* EYE DOT PATTERN */
for ( int i = 0; i < 0xff; ++i )
{
head_ctrl.SetEyeDotsRight( i );
head_ctrl.SetEyeDotsLeft( i );
usleep( 10000 );
}
head_ctrl.SetEyeDots( EMOHead::DOTS_UP );
sleep( 1 );
head_ctrl.SetEyeDots( EMOHead::DOTS_DOWN );
sleep( 1 );
LinuxActionScript::PlayMP3("../../../Data/mp3/chappie_i_cant_do_a_heist.mp3");
head_ctrl.SetEyeDotsRight( EMOHead::DOTS_WORRIED_RIGHT );
head_ctrl.SetEyeDotsLeft( EMOHead::DOTS_WORRIED_LEFT );
sleep( 3 );
head_ctrl.SetEyeDotsRight( EMOHead::DOTS_SAD_RIGHT );
head_ctrl.SetEyeDotsLeft( EMOHead::DOTS_SAD_LEFT );
sleep( 1 );
head_ctrl.SetEyeDots( EMOHead::DOTS_STAR );
sleep( 1 );
head_ctrl.SetEyeDots( EMOHead::DOTS_PLUS );
sleep( 1 );
LinuxActionScript::PlayMP3("../../../Data/mp3/chappie_clever_little_robot.mp3");
//ASCII art style spinner on high res OLED displays =P
for ( int i=0; i < 5; ++i )
{
head_ctrl.SetEyeDots( EMOHead::DOTS_BACKSLASH );
usleep( 100000 );
head_ctrl.SetEyeDots( EMOHead::DOTS_BAR );
usleep( 100000 );
head_ctrl.SetEyeDots( EMOHead::DOTS_FWDSLASH );
usleep( 100000 );
head_ctrl.SetEyeDots( EMOHead::DOTS_MINUS );
usleep( 100000 );
}
head_ctrl.SetEyeDots( EMOHead::DOTS_SHIP );
sleep( 1 );
head_ctrl.SetEyeDots( EMOHead::DOTS_FULL );
//head_ctrl.SetMode( EMOHead::DEMO );
exit(0);
}
