void ArrowLineComp::Write (ostream& out) {
LineComp::Write(out);
ArrowLine* arrow = GetArrowLine();
out << arrow->Head() << " " << arrow->Tail() << " ";
out << arrow->ArrowScale() << " ";
WritePattern(arrow->GetPattern(), out);
}
void MultiLineComp::Write (ostream& out) {
VerticesComp::Write(out);
SF_MultiLine* ml = GetMultiLine();
const Coord* x, *y;
int count = ml->GetOriginal(x, y);
WriteVertices(x, y, count, out);
WriteBgFilled(ml->BgFilled(), out);
WriteColor(ml->GetFgColor(), out);
WriteColor(ml->GetBgColor(), out);
WriteBrush(ml->GetBrush(), out);
WritePattern(ml->GetPattern(), out);
WriteTransformer(ml->GetTransformer(), out);
}
void RectComp::Write (ostream& out) {
GraphicComp::Write(out);
SF_Rect* rect = GetRect();
Coord x0, y0, x1, y1;
rect->GetOriginal(x0, y0, x1, y1);
out << x0 << " " << y0 << " " << x1 << " " << y1 << " ";
WriteBgFilled(rect->BgFilled(), out);
WriteColor(rect->GetFgColor(), out);
WriteColor(rect->GetBgColor(), out);
WriteBrush(rect->GetBrush(), out);
WritePattern(rect->GetPattern(), out);
WriteTransformer(rect->GetTransformer(), out);
}
void SplineComp::Write (ostream& out) {
VerticesComp::Write(out);
SFH_OpenBSpline* spline = GetSpline();
const Coord* x, *y;
int count = spline->GetOriginal(x, y);
WriteVertices(x, y, count, out);
WriteBgFilled(spline->BgFilled(), out);
WriteColor(spline->GetFgColor(), out);
WriteColor(spline->GetBgColor(), out);
WriteBrush(spline->GetBrush(), out);
WritePattern(spline->GetPattern(), out);
WriteTransformer(spline->GetTransformer(), out);
}
void EllipseComp::Write (ostream& out) {
GraphicComp::Write(out);
SF_Ellipse* ellipse = GetEllipse();
Coord x0, y0;
int r1, r2;
ellipse->GetOriginal(x0, y0, r1, r2);
out << x0 << " " << y0 << " " << r1 << " " << r2 << " ";
WriteBgFilled(ellipse->BgFilled(), out);
WriteColor(ellipse->GetFgColor(), out);
WriteColor(ellipse->GetBgColor(), out);
WriteBrush(ellipse->GetBrush(), out);
WritePattern(ellipse->GetPattern(), out);
WriteTransformer(ellipse->GetTransformer(), out);
}
unsigned int PreloaderCmd::CMD_BootAsFastboot(BOOT_ARG_S * pArg)
{
unsigned int iRet = S_DONE;
//Check parameters
if(NULL == pArg)
{
printf( "Incorrect parameters!(NULL pointer)\n");
return S_INVALID_ARGUMENTS;
}
//Set parameters and open/configure port
SetParameters(pArg);
if(0 != (iRet = SetPort(pArg)))
{
printf("Set port fail!\n");
return iRet;
}
//printf("Start handshake with Preloader...\n");
//Read pattern "READY"
PATTERN_INFO_S stPattern;
stPattern.m_uStatus = S_DONE;
stPattern.m_uLen = strlen(kStrReady);
strcpy(stPattern.m_szPattern, kStrReady);
iRet = ReadPattern(&stPattern, 1);
if(S_DONE == iRet)
{
//printf("PreloaderCmd::CMD_BootAsFastboot(): Receive READY succeed!\n");
}
else
{
printf( "Cannot receive pattern wanted!Ret(%u).\n", iRet);
m_cPort.Close();
return iRet;
}
//Write pattern "FASTBOOT" and its parameters
PL_MODE_PARA_S tModePara;
PARA_VALUE_S_V1 tValue;
tValue.m_cKernelUSBType = (pArg->m_bIsCompositeDeviceEnable) ? (0) : (1);
tValue.m_cKernelUSBNum= 0;
tValue.dummy1= 0;
tValue.dummy2= 0;
memcpy(tModePara.m_aMode, kStrFBTReq, strlen(kStrFBTReq));
tModePara.m_uParaLen = sizeof(PARA_VALUE_S_V1);
tModePara.m_uParaVer = 1;
tModePara.m_nParaVal.m_tParaV1 = tValue;
//iRet = WritePattern(kStrFBTReq, strlen(kStrFBTReq));
iRet = WritePattern((char *)&tModePara, sizeof(PL_MODE_PARA_S));
if(S_DONE == iRet)
{
//printf( "Send Request.\n");
}
else
{
printf("Send request fail. Ret(%u).\n", iRet);
m_cPort.Close();
return iRet;
}
//Read pattern "TOOBTSAF"
PATTERN_INFO_S stFBTPattern[1];
stFBTPattern[0].m_uStatus = S_DONE;
stFBTPattern[0].m_uLen = strlen(kStrFBTSuccess);
strcpy(stFBTPattern[0].m_szPattern, kStrFBTSuccess);
//stFBTPattern[1].m_uStatus = S_PL_MODE_FORBIDDEN;
//stFBTPattern[1].m_uLen = strlen(kStrFBTInvalid);
//strcpy(stFBTPattern[1].m_szPattern, kStrFBTInvalid);
iRet = ReadPattern(stFBTPattern, 1);
#if 0
stPattern.m_uStatus = S_DONE;
stPattern.m_uLen = strlen(kStrFBTSuccess);
strcpy(stPattern.m_szPattern, kStrFBTSuccess);
iRet = ReadPattern(&stPattern, 1);
#endif
if(S_DONE == iRet)
{
//printf("Receive confirm succeed.\n");
}
else if(S_PL_MODE_INVALID_ARGUMETS == iRet)
{
printf("FASTBOOT mode arguments is invalid!\n");
}
else
{
printf("Cannot receive pattern wanted!Err(%u).\n", iRet);
}
m_cPort.Close();
return iRet;
}
/* *********************************************************************
* NAME: CollisionAvoidanceTask
* CALLED BY: Created by main() thread
* DESCRIPTION: Thread to Display movement of Car. This car speed
* is controlled the measured distance.
* INPUT PARAMETERS: TimeoutFlagLocal : used for ending this task
* RETURN VALUES: None
***********************************************************************/
void* CollisionAvoidanceTask(void *TimeoutFlagLocal)
{
int FdDisplay;
unsigned char count = 0, LoopIndex,SlowdownFlag = 0,LocalLineNum = 0,ReadBuff;
/* Pattern that defines the CAR structure */
const unsigned char PatternESP[8][8] = {
{0x00, 0x7c, 0x44, 0x47, 0x41, 0x7f, 0x22, 0x00},
{0x00, 0x3e, 0x22, 0xa3, 0xa0, 0xbf, 0x11, 0x00},
{0x00, 0x1f, 0x11, 0xd1, 0x50, 0xdf, 0x88, 0x00},
{0x00, 0x8f, 0x88, 0xe8, 0x28, 0xef, 0x44, 0x00},
{0x00, 0xc7, 0x44, 0x74, 0x14, 0xf7, 0x22, 0x00},
{0x00, 0xe3, 0x22, 0x3a, 0x0a, 0xfb, 0x11, 0x00},
{0x00, 0xf1, 0x11, 0x1d, 0x05, 0xfd, 0x88, 0x00},
{0x00, 0xf8, 0x88, 0x8e, 0x82, 0xfe, 0x44, 0x00}
};
/* Two speeds for the car */
unsigned short DisplaySequenceRun[10][2]={
{0,CAR_DEFAULT_SPEED},{1,CAR_DEFAULT_SPEED},{2,CAR_DEFAULT_SPEED},
{3,CAR_DEFAULT_SPEED},{4,CAR_DEFAULT_SPEED},{5,CAR_DEFAULT_SPEED},
{6,CAR_DEFAULT_SPEED},{7,CAR_DEFAULT_SPEED},{0,0},
{0,0}
};
unsigned short DisplaySequenceSlow[10][2]={
{0,CAR_SLOWDOW_SPEED},{1,CAR_SLOWDOW_SPEED},{2,CAR_SLOWDOW_SPEED},
{3,CAR_SLOWDOW_SPEED},{4,CAR_SLOWDOW_SPEED},{5,CAR_SLOWDOW_SPEED},
{6,CAR_SLOWDOW_SPEED},{7,CAR_SLOWDOW_SPEED},{0,0},
{0,0}
};
FdDisplay = open("/dev/spi_led",O_RDWR);
if (FdDisplay < 0)
{
printf("\n spi_led driver file open failed");
}
/* Check if the display is free to accept new pattern */
do
{
#ifdef DEBUG
printf("Waiting for display to get free ");
#endif
usleep(1000);
}while (0 > read(FdDisplay,&ReadBuff,1));
/* write the car pattern */
for (LoopIndex = 0; LoopIndex < 8; LoopIndex++)
{
WritePattern(LoopIndex,&(PatternESP[LoopIndex][0]),FdDisplay);
}
/* Keep sending the sequence untill the timeout */
do
{
/* poll if the display has become free to accept new sequnece */
do
{
#ifdef DEBUG
printf("Waiting for display to get free ");
#endif
usleep(1000);
}while (0 > read(FdDisplay,&ReadBuff,1));
/* Read the distance and decide whether the car needs to be slowed down */
pthread_mutex_lock(&DistanceMutex);
SlowdownFlag = (GlobalDistance < MINIMUM_DISTANCE_TO_STOP) ? (1) : (0);
pthread_mutex_unlock(&DistanceMutex);
/* Check whether car needs to be slowed down */
if(1 == SlowdownFlag)
{
/* Car needs to be slowed down , hence send the slow movement sequence */
write(FdDisplay,&DisplaySequenceSlow,sizeof(DisplaySequenceSlow));
}
else
{
/* No obstacle with in the scan area, hence send full run sequence */
write(FdDisplay,&DisplaySequenceRun,sizeof(DisplaySequenceRun));
}
}while(0 == (*((unsigned char *)TimeoutFlagLocal)));
#ifdef DEBUG
printf("\n Display programmed %i \n",Result);
#endif
return NULL;
}
/* *********************************************************************
* NAME: ESPDisplayTask
* CALLED BY: Created by main() thread
* DESCRIPTION: Thread to display moving alphabets "ESP"
* INPUT PARAMETERS: TimeoutFlagLocal : Not used
* RETURN VALUES: None
***********************************************************************/
void* ESPDisplayTask(void *TimeoutFlagLocal)
{
int FdDisplay;
unsigned char count = 0, LoopIndex, ReadBuff;
const unsigned char PatternESP[23][8] = {
{0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01},
{0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03},
{0x07, 0x07, 0x06, 0x07, 0x07, 0x06, 0x07, 0x07},
{0x0f, 0x0f, 0x0c, 0x0f, 0x0f, 0x0c, 0x0f, 0x0f},
{0x1f, 0x1f, 0x18, 0x1f, 0x1f, 0x18, 0x1f, 0x1f},
{0x3e, 0x3e, 0x30, 0x3e, 0x3e, 0x30, 0x3e, 0x3e},
{0x7d, 0x7d, 0x61, 0x7d, 0x7d, 0x60, 0x7d, 0x7d},
{0xfb, 0xfb, 0xc3, 0xfb, 0xfb, 0xc0, 0xfb, 0xfb},
{0xf7, 0xf7, 0x86, 0xf7, 0xf7, 0x81, 0xf7, 0xf7},
{0xef, 0xef, 0x0c, 0xef, 0xef, 0x03, 0xef, 0xef},
{0xde, 0xde, 0x18, 0xde, 0xde, 0x06, 0xde, 0xde},
{0xbd, 0xbd, 0x31, 0xbd, 0xbd, 0x0d, 0xbd, 0xbd},
{0x7b, 0x7b, 0x63, 0x7b, 0x7b, 0x1b, 0x7b, 0x7b},
{0xf7, 0xf7, 0xc6, 0xf6, 0xf7, 0x36, 0xf6, 0xf6},
{0xef, 0xef, 0x8c, 0xec, 0xef, 0x2c, 0xec, 0xec},
{0xdf, 0xdf, 0x19, 0xd9, 0xdf, 0xd8, 0xd8, 0xd8},
{0xbe, 0xbe, 0x32, 0xb2, 0xbe, 0xb0, 0xb0, 0xb0},
{0x7c, 0x7c, 0x64, 0x64, 0x7c, 0x60, 0x60, 0x60},
{0xf8, 0xf8, 0xc8, 0xc8, 0xf8, 0xc0, 0xc0, 0xc0},
{0xf0, 0xf0, 0x90, 0x90, 0xf0, 0x80, 0x80, 0x80},
{0xe0, 0xe0, 0x20, 0x20, 0xe0, 0x00, 0x00, 0x00},
{0xc0, 0xc0, 0x40, 0x40, 0xc0, 0x00, 0x00, 0x00},
{0x80, 0x80, 0x80, 0x80, 0x80, 0x00, 0x00, 0x00}
};
unsigned short DisplaySequence[10][2]={
{0,500},{1,500},{2,500},
{3,500},{4,500},{5,500},
{6,500},{7,500},{8,500},
{9,400}/*Last one will be followed by a pattern change, hence less time*/
};
FdDisplay = open("/dev/spi_led",O_RDWR);
if (FdDisplay < 0)
{
printf("\n spi_led driver file open failed");
}
/* write first 10 pattern */
for(LoopIndex = 0; LoopIndex < 10; LoopIndex++)
{
WritePattern(LoopIndex,&(PatternESP[LoopIndex][0]),FdDisplay);
}
/* Write the display sequence */
write(FdDisplay,&DisplaySequence,sizeof(DisplaySequence));
/* poll if the display has become free to accept new pattern */
do
{
usleep(10000);
}while (0 > read(FdDisplay,&ReadBuff,1));
/* By now it will be ready to accept new commands */
/* write next 10 pattern */
for(LoopIndex = 0; LoopIndex < 10; LoopIndex++)
{
WritePattern(LoopIndex,&(PatternESP[LoopIndex + 10][0]),FdDisplay);
}
/* Write the display sequence */
write(FdDisplay,&DisplaySequence,sizeof(DisplaySequence));
/* poll if the display has become free to accept new pattern */
do
{
usleep(10000);
}while (0 > read(FdDisplay,&ReadBuff,1));
/* By now it will be ready to accept new commands */
/* write next 10 pattern */
for(LoopIndex = 0; LoopIndex < 3; LoopIndex++)
{
WritePattern(LoopIndex,&(PatternESP[LoopIndex + 20][0]),FdDisplay);
}
/* Display only last 3 patterns */
DisplaySequence[3][0] = 0;
DisplaySequence[3][1] = 0;
/* Write the display sequence */
write(FdDisplay,&DisplaySequence,sizeof(DisplaySequence));
#ifdef DEBUG
printf("\n Display programmed %i \n",Result);
#endif
close(FdDisplay);
return NULL;
}