int handleXError(Display* display, XErrorEvent* event)
{
if (event) {
char buffer[1024];
XGetErrorText(display, event->error_code, buffer, 1024);
EOUT("X11: " << buffer);
}
}
Device::~Device()
{
DOUT("closing device: "<<deviceId);
ALCboolean result = alcCloseDevice(device);ALDEBUG; // don't throw in destructor
if(!result)
{
EOUT("failed to close device: "<<deviceId<<" , did you attach it to a context?");
}
}
Json::Value Bundle::loadJson(const Path& relativePath) const
{
Json::Value result;
DataPtr data = load(relativePath);
string stringData = data->str();
Json::Reader jsonReader;
bool parsingSuccessful = jsonReader.parse(stringData, result);
if (!parsingSuccessful)
{
EOUT("!!!!!!!!!!!!!!!");
EOUT("!!!!!!!!!!!!!!!");
EOUT("Failed to parse file: "<<relativePath << " error:" << jsonReader.getFormatedErrorMessages());
EOUT("!!!!!!!!!!!!!!!");
EOUT("!!!!!!!!!!!!!!!");
}
return result;
}
void Layer::safeSetValue(const string& key, const Variant& v)
{
auto pos = key2setter.find(key);
if(pos != key2setter.end())
{
pos->second(v);
}
else
{
EOUT("can't find setter for key "<<key);
}
}
bool NeuroPolicy::init(const int observation_dim, const int action_dim, double deltat, const char* fname, const char* chapter)
{
ValueParser vp(fname, chapter==0?"Controller":chapter);
char filename[255];
if (vp.get("filename", filename, 255) < 1)
EOUT("No filename specified.");
_net = new Net();
_net->load_net(filename);
_adim = action_dim;
_sdim = observation_dim;
return true;
}
/*
* Wait until the PHY operation is complete.
*/
static __inline void sep_phy_wait(void)
{
unsigned long timeout = 2;
while ((sep_emac_read(MAC_MII_STATUS) & 0x2))
{
timeout--;
if (!timeout)
{
EOUT("sep_ether: MDIO timeout\n");
break;
}
}
return;
}
bool JoystickController::read_options(const char* fname, const char* chapter)
{
ValueParser vp(fname,chapter);
char paramstr[1024];
int nread;
if ((nread=vp.get("xwork", paramstr, 1024)) > 0) {
if (!xwork.parseStr(paramstr , odim)) {
EOUT("in parsing xwork!");
return false;
}
}
int jd=0;
char jdbuf[200];
vp.get("jdev" , jd);
sprintf(jdbuf,"/dev/input/js%d",jd);
joydev = jdbuf;
vp.get("rdev" , jd);
sprintf(jdbuf,"/dev/input/event%d",jd);
rumbdev = jdbuf;
if ((nread=vp.get("fail_controller_name", paramstr, 1024)) > 0) {
fail_controller_name = paramstr;
}
if ((nread=vp.get("fail_controller_fname", paramstr, 1024)) > 0) {
fail_controller_fname = paramstr;
}
for (int i=0; i<MAX_CONTROLLER; i++) {
char strbuf[1024];
sprintf(strbuf , "aux_controller_name%d" , i+1);
if ((nread=vp.get(strbuf, paramstr, 1024)) > 0) {
aux_controller_name[i] = paramstr;
}
sprintf(strbuf , "aux_controller_fname%d" , i+1);
if ((nread=vp.get(strbuf, paramstr, 1024)) > 0) {
aux_controller_fname[i] = paramstr;
}
}
return true;
}
VorbisFile::VorbisFile(const common::DataPtr& inFile)
{
data = NULL;
int err;
stb_vorbis* oggfile = stb_vorbis_open_memory((unsigned char*)inFile->bytes.get(), inFile->size, &err, NULL);
if(!oggfile)
{
EOUT("throwing from here");
lost::common::StringStream os;
os << "couldn't open ogg file '";
throw std::runtime_error(os.str().c_str());
}
stb_vorbis_info info = stb_vorbis_get_info(oggfile);
stb_vorbis_close(oggfile);
sampleRate = info.sample_rate;
numSamples = stb_vorbis_decode_memory((unsigned char*)(inFile->bytes.get()), inFile->size, &channels, &data);
DOUT("decoded to "<<numSamples*2 <<" bytes");
buffer.reset(new al::Buffer);
buffer->bufferData((channels == 2) ? AL_FORMAT_STEREO16 : AL_FORMAT_MONO16,
data,
numSamples*2,
sampleRate);
}
static void update_link_speed(unsigned short phy_addr)
{
unsigned int bmsr, bmcr, lpa, mac_cfg;
unsigned int speed, duplex;
if (!mii_link_ok(phy_addr))
{
EOUT("Link Down\n");
//goto result;
}
read_phy(phy_addr,MII_BMSR,&bmsr);
read_phy(phy_addr,MII_BMCR,&bmcr);
if (bmcr & BMCR_ANENABLE) /* AutoNegotiation is enabled */
{
if (!(bmsr & BMSR_ANEGCOMPLETE)) /* Do nothing - another interrupt generated when negotiation complete */
goto result;
read_phy(phy_addr, MII_LPA, &lpa);
if ((lpa & LPA_100FULL) || (lpa & LPA_100HALF))
speed = SPEED_100;
else
speed = SPEED_10;
if ((lpa & LPA_100FULL) || (lpa & LPA_10FULL))
duplex = DUPLEX_FULL;
else
duplex = DUPLEX_HALF;
}
else
{
speed = (bmcr & BMCR_SPEED100) ? SPEED_100 : SPEED_10;
duplex = (bmcr & BMCR_FULLDPLX) ? DUPLEX_FULL : DUPLEX_HALF;
}
/* Update the MAC */
mac_cfg = sep_emac_read(MAC_CTRL);
if (speed == SPEED_100)
{
mac_cfg |= 0x800; /* set speed 100 M */
//bmcr &=(~0x2000);
//write_phy(lp->phy_address, MII_BMCR, bmcr); //将dm9161的速度设为10M
if (duplex == DUPLEX_FULL) /* 100 Full Duplex */
mac_cfg |= 0x400;
else /* 100 Half Duplex */
mac_cfg &= (~0x400);
}
else
{
mac_cfg &= (~0x800); /* set speed 10 M */
if (duplex == DUPLEX_FULL) /* 10 Full Duplex */
mac_cfg |= 0x400;
else /* 10 Half Duplex */
mac_cfg &= (~0x400);
}
sep_emac_write(MAC_CTRL, mac_cfg);
rt_kprintf("Link now %i M-%s\n", speed, (duplex == DUPLEX_FULL) ? "FullDuplex" : "HalfDuplex");
result:
mac_cfg = sep_emac_read(MAC_CTRL);
DBOUT("After mac_cfg=%d\n",mac_cfg);
return;
}
bool JoystickController::init(const int observed_state_dim, const int action_dim, double deltat, const char *fname, const char* chapter)
{
joydev = "/dev/input/js1";
rumbdev = "/dev/input/event7";
udim = action_dim;
odim = observed_state_dim;
xwork = SetDef();
fail_controller = 0;
fail_controller_name = "";
fail_controller_fname = fname;
fail_controller_active = false;
for (int i=0; i<MAX_CONTROLLER; i++) {
aux_controller[i] = 0;
aux_controller_name[i] = "";
aux_controller_fname[i] = fname;
aux_controller_button[i] = i;
aux_controller_active[i] = false;
}
if (!read_options(fname, chapter==0 ? "Controller" : chapter)) {
EOUT("in reading options.");
return false;
}
if (fail_controller_name!="") {
fail_controller = ControllerFactory::getTheControllerFactory()->create(fail_controller_name.c_str());
if (fail_controller == 0) {
EOUT ("No implementation found for Controller (" << fail_controller_name << ")!");
return false;
}
if (!fail_controller->init(observed_state_dim,
action_dim,
deltat,
fail_controller_fname.c_str())) {
EOUT("Can not init fail_controller");
return false;
}
}
for (int i=0; i<MAX_CONTROLLER; i++) {
if (aux_controller_name[i]!="") {
aux_controller[i] = ControllerFactory::getTheControllerFactory()->create(aux_controller_name[i].c_str());
if (aux_controller[i] == 0) {
EOUT ("No implementation found for Controller (" << aux_controller_name[i] << ")!");
return false;
}
if (!aux_controller[i]->init(observed_state_dim,
action_dim,
deltat,
aux_controller_fname[i].c_str())) {
EOUT("Can not init aux_controller" << i+1);
return false;
}
IOUT("Inited aux_controller" << i+1 << " " << aux_controller_name[i]);
}
}
joy = 0;
try {
joy = new Joystick(joydev.c_str());
} catch (std::exception& e) {
joy = 0;
EOUT("No Joystick available ... on " << joydev << " : " << e.what());
return false;
}
rumb = new Rumble(rumbdev.c_str());
return true;
}
