bool Monster::CheckIfAlive(const float dt)
{
if (TimerCheck(lifeTimer, dt, MONSTER_LIFE_TIME))
return false;
else
return true;
} // End of CheckIfAlive function.
int Ssl_Rxd( char *psRxdData, ulong uiExpLen, ulong *puiOutLen, ushort UiTimeOutSec)
{
int iRet;
TimerSet(TIMER_TEMPORARY, (ushort)(UiTimeOutSec*10));
iRet = 0;
while (1)
{
if( TimerCheck(TIMER_TEMPORARY)==0 ) // 检查定时器
{
if( iRet>0 ) // 已经读取到数据
{
*puiOutLen = iRet;
return 0;
}
return 0xff;
}
iRet = SslRecv( iSSLSocket, psRxdData, uiExpLen );
if (iRet > 0)
{
*puiOutLen = iRet;
return 0;
}
}
}
// Modified by Kim_LinHB 2014-7-8
int CheckInitTerminal(void)
{
uchar szCurTime[16+1], szLastTime[16+1];
uchar ucKey;
uchar szBuff[50];
if( !(glSysParam.ucTermStatus & INIT_MODE) )
{
return 0;
}
TimerSet(0, 0);
memset(szCurTime, 0, sizeof(szCurTime));
memset(szLastTime, 0, sizeof(szLastTime));
while( glSysParam.ucTermStatus & INIT_MODE )
{
Gui_UpdateKey(XUI_KEYFUNC, _T("FUNC"), NULL, NULL);
Gui_SetVirtualButton(1, 0);
if( TimerCheck(0)==0 )
{
TimerSet(0, 10);
GetEngTime(szCurTime);
if (strcmp(szCurTime, szLastTime)!=0)
{
Gui_ClearScr();
sprintf(szBuff, "%s\n[%.14s]", _T("PLEASE INIT"), AppInfo.AppName);
Gui_UpdateTitle(szCurTime, gl_stTitleAttr);
Gui_DrawText(szBuff, gl_stCenterAttr, 0, 50);
memcpy(szLastTime, szCurTime, sizeof(szLastTime));
}
}
ucKey = PubWaitKey(10);
if(
(ucKey==KEYF1 && ChkTermEx(_TERMINAL_D200_)) || (ucKey==KEYFN && !ChkTermEx(_TERMINAL_D200_))
)
{
InitTransInfo();
FunctionInit();
TimerSet(0, 0);
memset(szLastTime, 0, sizeof(szLastTime));
}
}
return 0;
}
main()
{
printf("Testing OS abstraction layer\n");
printf("============================\n");
// System init
TEST_OK("os_init", os_init());
AllocatorCheck();
TimerCheck();
ThreadCheck();
EventCheck();
EventCheck2();
}
void Monster::ProcessTurn(const float dt, const D3DXVECTOR2 playerPosition, const X3DAUDIO_LISTENER* playerListener)
{
// Check if the monster is still alive.
if (CheckIfAlive(dt))
{
UpdateEmitterPosition();
ApplySoundEffects(playerListener);
// If time to move
if (TimerCheck(movementTimer, dt, MOVEMENT_TIME_DELAY))
ProcessMovement(playerPosition);
}
else
{
// The monster is dead, set alive value to false and play death sound.
alive = false;
deathSound->Play();
}
} // End of ProcessTurn function.
//接收数据
int WifiNetTcpRxd( uchar * RxData,ulong ExpLen,ulong * RxLen,ushort ms)
{
int ret;
#ifdef DEBUG_USE
return 0;
#endif
/* ret = Netioctl(wnet_socket_id, CMD_TO_SET, ms*1000);//设置超时
if(ret < 0)
return ret;
*/
TimerSet(TIMER_TEMPORARY, (ushort)(ms*10));
ret = 0;
while(1)
{
if( TimerCheck(TIMER_TEMPORARY)==0 ) // 检查定时器
{
if( ret>0 ) // 已经读取到数据
{
break;
}
return 0xff;
}
ret = NetRecv(wnet_socket_id, RxData, ExpLen, 0);
if(ret > 0)
{
*RxLen = ret;
return 0;
}
//else
//{
/* DxxScrClrLine(4, 18);
switch (ret)
{
case NET_ERR_MEM:
strcpy(sBuff,("MEM ERROR"));
break;
case NET_ERR_BUF:
strcpy(sBuff,("BUF ERROR"));
break;
case NET_ERR_CLSD:
strcpy(sBuff,("CONNE CLOSED"));
break;
case NET_ERR_CONN:
strcpy(sBuff,("CONNE NOT EST"));
break;
case NET_ERR_LINKDOWN:
strcpy(sBuff,("LINK DOWN"));
break;
case NET_ERR_TIMEOUT:
strcpy(sBuff,("TIMEOUT"));
break;
case NET_ERR_VAL:
strcpy(sBuff,("VARIABLE ERR"));
break;
case NET_ERR_ARG:
strcpy(sBuff,("PARA ERROR"));
break;
default:
sprintf(sBuff,"ret_rcv=%d",ret);
ret = 0xff;
break;
}
DxxScrClrLine(4,18);
PubDispString(sBuff,4|DISP_LINE_CENTER);
PubWaitKey(5);
*/
//if(ret == 0) ret = 0xff;
//return ret;
//}
}
return 0;
}
/*****************************************************************************
* Balance -
*****************************************************************************/
void balance(void)
{
unsigned long TimerMsWork;
long int g_bias = 0;
double x_offset = 532; //offset value 2.56V * 1024 / 4.93V = 4254
double q_m = 0.0;
double int_angle = 0.0;
double x = 0.0;
double tilt = 0.0;
int pwm;
InitADC();
init_pwm();
// initialize the UART (serial port)
uartInit();
// set the baud rate of the UART for our debug/reporting output
uartSetBaudRate(115200);
// initialize rprintf system
rprintfInit(uartSendByte);
// initialize vt100 library
vt100Init();
// clear the terminal screen
vt100ClearScreen();
TimerMsWork = TimerMsCur();
DDRB |= (1 << PB0); // Make B0 an output for LED
/* as a 1st step, a reference measurement of the angular rate sensor is
* done. This value is used as offset compensation */
for (int i=1 ; i<=200; i++) // determine initial value for bias of gyro
{
g_bias = g_bias + GetADC(gyro_sensor);
}
g_bias = g_bias / 200;
while (!(getkey() == 1))
{
/* insure loop runs at specified Hz */
while (!TimerCheck(TimerMsWork, (dt_PARAM * 1000) -1))
;
TimerMsWork = TimerMsCur();
// toggle pin B0 for oscilloscope timings.
PORTB = PINB ^ (1 << PB0);
// get rate gyro reading and convert to deg/sec
// q_m = (GetADC(gyro_sensor) - g_bias) / -3.072; // -3.07bits/deg/sec (neg. because forward is CCW)
q_m = (GetADC(gyro_sensor) - g_bias) * -0.3255; // each bit = 0.3255 /deg/sec (neg. because forward is CCW)
state_update(q_m);
// get Accelerometer reading and convert to units of gravity.
// x = (GetADC(accel_sensor) - x_offset) / 204.9; // (205 bits/G)
x = (GetADC(accel_sensor) - x_offset) * 0.00488; // each bit = 0.00488/G
// x is measured in multiples of earth gravitation g
// therefore x = sin (tilt) or tilt = arcsin(x)
// for small angles in rad (not deg): arcsin(x)=x
// Calculation of deg from rad: 1 deg = 180/pi = 57.29577951
tilt = 57.29577951 * (x);
kalman_update(tilt);
int_angle += angle * dt_PARAM;
rprintf(" x:");
rprintfFloat(8, x);
rprintf(" angle:");
rprintfFloat(8, angle);
rprintf(" rate:");
rprintfFloat(8, rate);
// Balance. The most important line in the entire program.
// balance_torque = Kp * (current_angle - neutral) + Kd * current_rate;
// rprintf("bal_torq: ");
// rprintfFloat(8, balance_torque);
// rprintfCRLF();
//steer_knob = 0;
// change from current angle to something proportional to speed
// should this be the abs val of the cur speed or just curr speed?
//double steer_cmd = (1.0 / (1.0 + Ksteer2 * fabs(current_angle))) * (Ksteer * steer_knob);
//double steer_cmd = 0.0;
// Get current rate of turn
//double current_turn = left_speed - right_speed; //<-- is this correct
//double turn_accel = current_turn - prev_turn;
//prev_turn = current_turn;
// Closed-loop turn rate PID
//double steer_cmd = KpTurn * (current_turn - steer_desired)
// + KdTurn * turn_accel;
// //+ KiTurn * turn_integrated;
// Possibly optional
//turn_integrated += current_turn - steer_cmd;
// Differential steering
//left_motor_torque = balance_torque + steer_cmd; //+ cur_speed + steer_cmd;
//right_motor_torque = balance_torque - steer_cmd; //+ cur_speed - steer_cmd;
// Limit extents of torque demand
//left_motor_torque = flim(left_motor_torque, -MAX_TORQUE, MAX_TORQUE);
// if (left_motor_torque < -MAX_TORQUE) left_motor_torque = -MAX_TORQUE;
// if (left_motor_torque > MAX_TORQUE) left_motor_torque = MAX_TORQUE;
//right_motor_torque = flim(right_motor_torque, -MAX_TORQUE, MAX_TORQUE);
// if (right_motor_torque < -MAX_TORQUE) right_motor_torque = -MAX_TORQUE;
// if (right_motor_torque > MAX_TORQUE) right_motor_torque = MAX_TORQUE;
pwm = (int) ((angle -3.5) * Kp) + (rate * Kd); // + (int_angle * Ki);
rprintf(" pwm:%d\r\n", pwm);
// Set PWM values for both motors
SetLeftMotorPWM(pwm);
SetRightMotorPWM(pwm);
}
SetLeftMotorPWM(0);
SetRightMotorPWM(0);
}
// 检查空闲计时，看是否已经流过了指定的分钟数
// check if the timer counted the specific time(uint:minute)
uchar ChkIdleTimer(int iSeconds)
{
int iCnt = TIMERCNT_MAX-TimerCheck(TIMER_TEMPORARY);
PubASSERT(TIMERCNT_MAX > iSeconds*10); // ScrPrint(0,7,ASCII,"%d ", iCnt/10);
return (iCnt >= iSeconds*10);
}
