u8 get_a_char()
{
u8 ch;
if (ch_peek != -1) {
ch = ch_peek;
ch_peek = -1;
close_keyboard(1);
return ch;
}
int v = read(0,&ch,1);
close_keyboard(1);
if (v == 0)
return 0;
return ch;
}
int _getch() {
init_keyboard();
kbhit();
char c = readch();
close_keyboard();
return c;
}
int normal_mode(void)
{
int ret, arg = 0, pos[6];
init_keyboard();
ioctl(gldev, NORMAL_MODE, arg);
while (1)
{
char buf[10] = "\0";
if (kbhit())
{
char key = getkey();
if (key == '\n') break;
}
ret = read(gldev, buf, 10);
if (buf[0] != 0)
{
pos[0] = buf[0];
pos[1] = buf[1];
pos[2] = ((buf[3] << 8) | (buf[2]));
pos[3] = ((buf[5] << 8) | (buf[4]));
pos[4] = ((buf[7] << 8) | (buf[6]));
pos[5] = ((buf[9] << 8) | (buf[8]));
printf("touching=%d oldtouching=%d x1=%-3d y1=%-3d x2=%-3d y2=%-3d\n", pos[0], pos[1],
pos[2], pos[3], pos[4], pos[5]);
}
}
close_keyboard();
return ret;
}
void set_echo_off(Bool echo_off)
{
init_keyboard();
if (echo_off) t_orig.c_lflag &= ~ECHO;
else t_orig.c_lflag |= ECHO;
close_keyboard(0);
}
DEFINE_THREAD_ROUTINE(KeyboardController, data)
{
init_keyboard();
update_keyboard();
close_keyboard();
return (THREAD_RET) 0;
}
int main(int argc, char** argv)
{
time_t t = time(NULL);
struct tm *tms = localtime(&t);
snprintf(logdir, sizeof(logdir), "%d-%02d-%02d-%02d-%02d-%02d",
tms->tm_year+1900, tms->tm_mon+1, tms->tm_mday,
tms->tm_hour , tms->tm_min , tms->tm_sec);
printf("log directory: %s", logdir);
mkdir(logdir, 0755);
string motlog = logdir + string("/mot.txt");
FILE *mot_log = fopen(motlog.c_str(), "w");
if (!mot_log)
{
printf("couldn't open motor log\n");
return 1;
}
mot = new IPDCMOT(ipdcmot_ip, 0, false);
mot->set_pos_deg_blocking(left_scan_extent);
usleep(500000);
scan = new urg_laser_scan_t;
if (start())
{
printf("bogus. couldn't start the laser.\n");
return 1;
}
pthread_t urg_thread;
pthread_create(&urg_thread, NULL, urg_thread_func, NULL);
mot->set_patrol(left_scan_extent, right_scan_extent, 1.9, 1);
init_keyboard();
int count = 0;
while (!bail && !_kbhit())
{
double pos;
if (!mot->get_pos_blocking(&pos, NULL, 1))
{
printf("woah! couldn't get position\n");
break;
}
if (mot->get_patrol_dir() < 0)
{
printf("scan complete\n");
break;
}
ros::Time t = ros::Time::now();
fprintf(mot_log, "%d.%09d %f\n", t.sec, t.nsec, pos);
if (!(count++ % 100))
printf("%f\t", pos);
}
printf("\n");
mot->stop();
fclose(mot_log);
bail = true;
pthread_join(urg_thread, NULL);
stop();
close_keyboard();
return 0;
}
int readch()
{
char ch;
init_keyboard();
if( peek_character != -1 ) {
ch = peek_character;
peek_character = -1;
return( ch );
}
read( 0, &ch, 1 );
close_keyboard();
return( ch );
}
int main(int argc, char* argv[]) {
/*X10I BOARD*/
void *xBoard;
Authenticate x15Authenticate;
BYTE fittedBoard;
/* initialise the firefly device */
xBoard = XlineInitBoard();
if (xBoard == NULL) {
return ( XlineExit("initialisation failed.", xBoard, &x15Authenticate, 1));
}
/* Determine which board type is fitted, and unlock the IO security accordingly */
XlineGetFittedBoard(xBoard, &fittedBoard);
if (fittedBoard == X10I_BOARD)
UnlockX10c(xBoard);
else
return ( XlineExit("unknown board fitted.", xBoard, &x15Authenticate, 1));
printf("success.\n\n");
#ifdef X10_LINUX_BUILD
InitialiseConsole();
#endif
printf("Bismillah start X10i jogging. \n\n");
int charkey = 0;
run_menu();
init_keyboard();
for (;;) {
if (keyboard_hit()) {
charkey = read_charkey();
printf("You hit keyboard key: char = %c or int = %d \n", charkey, charkey);
cmd_interpreter(xBoard,charkey);
} //END IF
} // END FOR
close_keyboard();
printf("Alhamdulillah. finish Raspberry Pi jogging. \n\n");
return ( XlineExit("Leaving program.", xBoard, &x15Authenticate, 0));
}
int bitmap_play(char * filename)
{
char ch;
if (fb_init())
{
printf ("Unable to init framebuffer device\n");
return 2;
}
fb_pixel * bmp_buffer;
if ((bmp_buffer = bitmap_load(filename)) == NULL)
{
fb_uninit();
printf ("Error while reading bitmap\n");
return 1;
}
fb_clear_screen(screen);
bitmap_render(bmp_buffer);
init_keyboard();
ch=0;
while (1)
{
if (!kbhit())
{
ch = readch();
if (ch == KEY_ESC) break;
if (ch == KEY_UP && position_y >= JUMP_SIZE) position_y-=JUMP_SIZE;
if (ch == KEY_DOWN && fb_yres <= (bmp_info.bi_height-position_y-JUMP_SIZE)) position_y+=JUMP_SIZE;
if (ch == KEY_LEFT && position_x >= JUMP_SIZE) position_x-=JUMP_SIZE;
if (ch == KEY_RIGHT && fb_xres <= (bmp_info.bi_width-position_x-JUMP_SIZE)) position_x+=JUMP_SIZE;
ch = 0;
bitmap_render(bmp_buffer);
}
}
close_keyboard();
fflush(stdin);
fb_clear_screen(screen);
bitmap_free(bmp_buffer);
fb_uninit();
return 0;
}
int main(int argc, char **argv)
{
struct sigaction handler;
char num[100];
int n = 0;
// Set Interrrupt Signal Handler
memset(&handler, 0, sizeof(struct sigaction));
handler.sa_handler = SignalCatcher;
sigfillset(&handler.sa_mask);
sigaction(SIGINT, &handler, 0);
sigaction(SIGTERM, &handler, 0);
tcgetattr(0, &oldtio);
init_keyboard();
for(;!m_bExitSignalPending;)
{
display_menu();
memset(num, 0, 100);
n = readch();
printf("\r\n");
switch(n) {
case '0' :
m_bExitSignalPending = 1;
break;
case '1' :
if(m_bFirmwareInstalled) break;
printf("\r\n");
system("/usr/bin/tftp -g -r factoryInstall 192.168.10.20");
system("chmod +x /tmp/factoryInstall");
system("/tmp/factoryInstall factory");
printf("\r\n");
break;
case '2' :
if(!m_bFirmwareInstalled) break;
system("/app/sw/hwtest");
break;
}
}
close_keyboard();
return 0;
}
int main() {
int ch = 0;
init_keyboard();
while (ch != 'q') {
printf("looping\n");
sleep(1);
if (kbhit()) {
ch = readch();
printf("You hit '%c'\n", ch);
}
}
close_keyboard();
return 0;
}
int main()
{
char ch;
init_keyboard();
init_game(1);
do {
ch = readch();
printf("%c %d\n", ch, ch);
} while (ch != 'q');
close_keyboard();
return 0;
}
int main(int argc, const char *argv[])
{
int ch = 0;
init_keyboard();
while (ch != 'q') {
printf("looping\n");
sleep(1);
if (kbhit()) {
ch = readch();
printf("you hit %c\n", ch);
}
}
close_keyboard();
return 0;
}
int main()
{
int ch = 0;
init_keyboard();
while(ch != 'q'){
printf("looping\n");
sleep(1);
if(kbhit()){
ch = readch();
printf("you hit %c\n",ch);
}
}
close_keyboard();
exit(0);
}
int main()
{
int ch=0;
init_keyboard();
while(ch!='q')
{
printf("looping \n");
sleep(2);/*pause for 1 second*/
if(kbhit())
{
ch=readch();
printf("You hit %c\n",ch);
}
}
close_keyboard();
exit(0);
}
// ------------------------------------------------------------------------------
// Listen Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
listen_thread()
{
listening_status = true;
init_keyboard();
while ( ! time_to_exit )
{
kbhit();
receive_ch = readch();
printf("\n%d\n", receive_ch);
receive_flag = true;
}
reading_status = false;
close_keyboard();
return;
}
char stdinputch()
{
char ch = 0;
init_keyboard();
bool keypressed = false;
while(!keypressed)
{
if(kbhit())
{
ch = readch();
printf("%c",ch);
fflush(stdout);
keypressed = true;
}
}
close_keyboard();
return ch;
}
Bool has_input()
{
u8 ch;
s32 nread;
init_keyboard();
if (ch_peek != -1) return 1;
t_new.c_cc[VMIN]=0;
tcsetattr(0, TCSANOW, &t_new);
nread = read(0, &ch, 1);
t_new.c_cc[VMIN]=1;
tcsetattr(0, TCSANOW, &t_new);
if(nread == 1) {
ch_peek = ch;
return 1;
}
close_keyboard(0);
return 0;
}
static void
doit (DDEV_REQ *packet)
{
switch (packet->header.msgtyp)
{
case DEV_OPN:
/* デバイスのオープン */
if (!initialized)
{
init_keyboard ();
}
open_keyboard (packet->header.mbfid, &(packet->body.opn_req));
break;
case DEV_CLS:
/* デバイスのクローズ */
close_keyboard (packet->header.mbfid, &(packet->body.cls_req));
break;
case DEV_REA:
read_keyboard (packet->header.mbfid, &(packet->body.rea_req));
break;
case DEV_PRD:
posix_read_keyboard (packet->header.mbfid, packet->header.tskid,
&(packet->body.prd_req));
break;
case DEV_RLY:
relay_keyboard (packet->header.mbfid, &(packet->body.rly_req));
break;
case DEV_WRI:
write_keyboard (packet->header.mbfid, &(packet->body.wri_req));
break;
case DEV_CTL:
control_keyboard (packet->header.mbfid, &(packet->body.ctl_req));
break;
}
}
int main(int argc, char *argv[])
{
int ret = 0;
setlocale(LC_ALL,"");
init_keyboard();
initscr();
init_allwin();
resize_allwin();
signal(SIGWINCH, sig_winch);
work_thread_start();
main_loop();
close_keyboard();
cleanup();
for (int i = 30; i<129;i++) {
printf("%d %c\t", i, i);
}
printf("\n");
struct winsize size;
Win *win = NULL;
ioctl(STDIN_FILENO,TIOCGWINSZ,&size);
Windows::iterator iter;
for (iter=windows.begin(); iter!=windows.end(); iter++) {
win = &iter->second;
printf("%s @(%d,%d), (%dx%d) %s\n", win->name,
win->locate.x, win->locate.y,
win->locate.w, win->locate.h,
win->title);
}
printf("SCREEN: %d x %d\n", size.ws_col, size.ws_row);
return ret;
}
int main(int argc, char** argv){
double offset_x,offset_y,offset_th;
offset_x=0;
offset_y=0;
offset_th=0;
ros::init(argc, argv, "my_tf_listener");
ros::NodeHandle node;
tf::TransformListener listener;
tf::TransformBroadcaster br;
ros::Rate rate(10.0);
int ch=0;
init_keyboard();
while (node.ok()){
tf::StampedTransform transform;
try
{
listener.lookupTransform("/ar_marker", "/usb_cam", ros::Time(0), transform);
double now_x = transform.getOrigin().x();
double now_y = transform.getOrigin().y();
double now_th = tf::getYaw(transform.getRotation());
if(kbhit())
{
ch = readch();
ROS_INFO("you hit %X : %c",ch,ch);
offset_x = now_x * cos(-now_th) - now_y * sin(-now_th);
offset_y = now_x * sin(-now_th) + now_y * cos(-now_th);
offset_th= now_th;
}
double diff_th = -(now_th-offset_th);
double rot_x = now_x * cos(-now_th) - now_y * sin(-now_th) - offset_x;
double rot_y = now_x * sin(-now_th) + now_y * cos(-now_th) - offset_y;
double rot_x2 = rot_x * cos(offset_th) - rot_y * sin(offset_th);
double rot_y2 = rot_x * sin(offset_th) + rot_y * cos(offset_th);
ROS_INFO("x:%f\ty=%f\tyaw:%f", rot_x2, rot_y2,diff_th*180/M_PI);
transform.setOrigin( tf::Vector3(rot_x2, rot_y2, 0.0) );
transform.setRotation( tf::Quaternion(diff_th, 0, 0) );
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "ar_marker", "robot_position"));
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
}
rate.sleep();
if(ch==0x03){
close_keyboard();
break;
}
}
return 0;
};
void tango2(int type, int mode, char flag)
{
int i, ret, len, fptr = -1;
unsigned char xline = 0;
unsigned char yline = 0;
unsigned char xline2 = 0;
unsigned char buf[131];ioctl(gldev, RESET_TP, 0);
short int xyraw1[34], xyraw2[32], xy_tmp[66];
if (flag)
{
char *fdat = "./rawdata.txt";
fptr = open(fdat, O_RDWR | O_CREAT, S_IRUSR | S_IWUSR);
if (fptr == -1)
{
puts("Open raw.dat failed.");
return;
}
}
init_keyboard();
ioctl(gldev, DISABLE_IRQ, 0);
ioctl(gldev, mode, 2);
while (1)
{
if (kbhit())
{
char key = getkey();
if (key == '\n')
{
ioctl(gldev, ENABLE_IRQ, 0);
break;
}
}
ret = read(gldev, buf, 131);
xline = buf[64];
yline = buf[65];
xline2 = buf[66]; // printf("xline=%d yline=%d xline2=%d\n", xline, yline, xline2);
for (i = 0; i < 32; i++)
{
xyraw1[i] = ((buf[i * 2 + 1] << 8) | buf[i * 2]);
xyraw2[i] = ((buf[67 + i * 2 + 1] << 8) | buf[67 + i * 2]);
}
for (i = 0; i < xline - 1; i++)
{
xy_tmp[i] = xyraw2[i];
}
if (xline2)
{
for (i = 0; i < xline2 - 1; i++)
{
xy_tmp[xline - 1 + i] = xyraw1[i];
}
len = xline - 1 + xline2 - 1;
}
else
{
len = xline - 1;
}
show_raw('X', len, 0, xy_tmp, flag, fptr);
show_raw('Y', yline - 1, xline2, xyraw1, flag, fptr);
}
close_keyboard();
if (flag)
{
close(fptr);
}
}
int32_t notmain (uint32_t earlypc) {
hardware_init();
int32_t samplerate = audio_init();
Lv2World *lv2_world = lv2_init(samplerate);
led_init();
switch_init();
printf("\r\nPiTracker console\r\n");
printf("Samplerate: %d\r\n", samplerate);
uint32_t inkey;
uint32_t counter=0;
LV2_Atom_Forge_Frame midi_seq_frame;
int buffer_processed = 0;
const Lv2Plugin *plugin;
plugin = lv2_world->plugin_list;
lv2_port *output_left = new_lv2_port(lv2_audio_port, 1);
lv2_port *output_right = new_lv2_port(lv2_audio_port, 2);
lv2_port *midi_in = new_lv2_port(lv2_atom_port, 3);
plugin->descriptor->connect_port(plugin->handle, midi_in->id, midi_in->buffer);
plugin->descriptor->connect_port(plugin->handle, output_left->id, output_left->buffer);
plugin->descriptor->connect_port(plugin->handle, output_right->id, output_right->buffer);
lv2_atom_forge_set_buffer(&forge,
midi_in->buffer,
LV2_ATOM_BUFFER_SIZE);
lv2_atom_forge_sequence_head(&forge, &midi_seq_frame, 0);
init_midi_source(&forge);
while (1) {
#ifdef DEBUG
if(kbhit()) {
inkey = readch();
//printf("%x", inkey);
switch(inkey) {
case 0x03:
#ifdef RASPBERRY_PI
printf("Rebooting\r\n");
usleep(2);
reboot();
#else
printf("Exiting\r\n");
close_keyboard();
exit(0);
#endif
break;
case 0x31:
if (plugin->next) plugin = plugin->next;
else plugin = lv2_world->plugin_list;
plugin->descriptor->connect_port(plugin->handle, midi_in->id, midi_in->buffer);
plugin->descriptor->connect_port(plugin->handle, output_left->id, output_left->buffer);
plugin->descriptor->connect_port(plugin->handle, output_right->id, output_right->buffer);
break;
case 0x0d:
printf("\r\n");
break;
default:
putc(inkey, stdout);
#ifdef LINUX
fflush(stdout);
#endif
break;
}
}
#endif
if (!buffer_processed) {
forge_midi_input();
lv2_atom_forge_pop(&forge, &midi_seq_frame);
plugin->descriptor->run(plugin->handle, LV2_AUDIO_BUFFER_SIZE);
lv2_atom_forge_set_buffer(&forge,
midi_in->buffer,
sizeof(uint8_t) * midi_in->buffer_sz);
lv2_atom_forge_sequence_head(&forge, &midi_seq_frame, 0);
buffer_processed = 1;
}
if (buffer_processed && audio_buffer_free_space() > LV2_AUDIO_BUFFER_SIZE * 2) {
audio_buffer_write(output_left->buffer, output_right->buffer, output_left->buffer_sz);
buffer_processed = 0;
counter++;
}
}
}
int main()
{
int status;
FILE *fd;
int fdc;
char fname[64];
char devname[64];
char str[256];
unsigned short data[6];
int comNo;
int tick;
int clk, clkb, clkb2, clk0;
int tw;
int num;
int n;
fd = NULL;
fdc = -1;
start :
// COMポートをオープン
printf("Enter COM port > ");
scanf("%d", &comNo);
printf("Open /dev/ttyUSB%d\n", comNo);
sprintf(devname, "/dev/ttyUSB%d", comNo);
fdc = open(devname, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (fdc < 0)
goto over;
// サンプリング周期を得る
tw = 16;
printf("Enter sampling time (ms) > ");
scanf("%d", &tw);
printf("Sampling time = %d ms\n", tw);
printf("Enter File name > ");
scanf("%s", fname);
fd = fopen(fname, "w");
if (!fd)
goto over;
// COMポートのボーレート等を設定
SetComAttr(fdc);
// データを読み出す
printf("=== record data ===\n");
clk0 = clock() / (CLOCKS_PER_SEC / 1000);
clkb = 0;
clkb2 = 0;
num = 0;
// 単データリクエスト（初回分）
write(fdc, "R", 1);
init_keyboard();
while (true)
{
// サンプリング周期だけ待つ
while (true)
{
clk = clock() / (CLOCKS_PER_SEC / 1000) - clk0;
if (clk >= clkb + tw)
{
clkb = clk / tw * tw;
break;
}
}
// 単データリクエスト（次回分）
write(fdc, "R", 1);
// 単データを得る
n = read(fdc, str, 27);
if (n < 27)
{
// printf ("=== error ! n = %d ===\n", n);
goto skip;
}
sscanf(str, "%1d%4hx%4hx%4hx%4hx%4hx%4hx",
&tick, &data[0], &data[1], &data[2], &data[3], &data[4], &data[5]);
sprintf(str, "%05d,%d,%05d,%05d,%05d,%05d,%05d,%05d\n",
clk / tw * tw, tick,
data[0], data[1], data[2], data[3], data[4], data[5]);
fprintf(fd, str);
num++;
skip :
if (clk >= 10000)
break;
// コンソールに間引き表示
if (clk >= clkb2 + 1000)
{
printf(str);
if (kbhit() &&
readch() == '.')
break;
clkb2 = clk / 1000 * 1000;
}
}
over1 :
close_keyboard();
over :
if (fd)
{
fclose(fd);
fd = NULL;
}
if (fdc >= 0)
{
close(fdc);
fdc = -1;
}
printf ("=== num = %d ===\n", num);
printf("exit (y / n) ? > ");
scanf("%s", str);
if (str[0] == 'y')
{
// exit(0);
}
else
{
goto start;
}
}
void cmd_interpreter( void *xBoard,int pressed_key) {
// ================================================
//printf("I am inside cmd_interpreter() before switch. \n");
switch (pressed_key) {
case 117:
// pressed_key char = u or int = 117
// DRIVE CNC ALONG Y-AXIS
printf("u \tdrive_up (500) y-axis (12,8 CW)\t==> Y-axis PINS = (0)(0) (1/0)(1) (0)(0) running ... ");
drive_up(xBoard, 500); // DRIVE (12,8 CW)
printf("done.\n");
break;
case 100:
// pressed_key char = d or int = 100
// DRIVE CNC ALONG Y-AXIS
printf("d \tdrive_down (500) y-axis (4,0 CCW)\t==> Y-axis PINS = (0)(0) (1)(0) (0)(0) running ... ");
drive_down(xBoard, 500); // DRIVE (4,0 CCW)
printf("done.\n");
break;
case 114:
// pressed_key char = r or int = 114
// DRIVE CNC ALONG X-AXIS
printf("r \tdrive_right (500) x-axis (3,2 CW)\t==> X-axis PINS = (1/0)(1) (0)(0) (0)(0) running ... ");
drive_right(xBoard, 500); // DRIVE (3,2 CW)
printf("done.\n");
break;
case 108:
// pressed_key char = l or int = 108
// DRIVE CNC ALONG X-AXIS
printf("l \tdrive_left (500) x-axis (1,0 CCW)\t==> X-axis PINS = (1)(0) (0)(0) (0)(0) running ... ");
drive_left(xBoard, 500); // DRIVE (1,0 CCW)
printf("done.\n");
break;
case 122:
// pressed_key char = z or int = 122
// DRIVE CNC ALONG Z-AXIS
printf("z \tdrivepen_up (500) z-axis (16,0 CW)\t==> Z-axis PINS = (0)(0) (0)(0) (1)(0) running ... ");
pen_up(xBoard, 500); // DRIVE (16,0 CW)
printf("done.\n");
break;
case 115:
// pressed_key char = s or int = 115
// DRIVE CNC ALONG Z-AXIS
printf("s \tdrivepen_down(500) z-axis (48,32 CCW)\t==> Z-axis PINS = (0)(0) (0)(0) (1/0)(1) running ... ");
pen_down(xBoard, 500); // DRIVE (48,32 CCW)
printf("done.\n");
break;
//===========
case 113:
// pressed_key char = q or int = 113
// QUIT AND EXIT PROGRAM
printf("q \tQuit and exit. \t\t==> Alhamdulillah. Done. \n\n");
// reset_CNC();
// RELEASE IO_PORTADDRESS WITH VALUE 0
printf("Alhamdulillah. Parallel port successfully released. \n\n");
close_keyboard();
exit(0);
default:
printf("%c \tERROR: Invalid command: ==> char %c or int %d \n", pressed_key, pressed_key, pressed_key);
}
//printf("I am exiting cmd_interpreter() after switch. \n");
}
void tango1(int type, int mode, char flag)
{
int buflen, rawlen;
int i, ret, fptr = -1;
unsigned char xline = 0;
unsigned char yline = 0;
unsigned char buf[98];
short int xyraw[48];
if(type==3)
{
buflen = 98;
rawlen = 48;
}
else
{
buflen = 66;
rawlen = 32;
}
if (flag)
{
char *fdat = "./rawdata.txt";
fptr = open(fdat, O_RDWR | O_CREAT, S_IRUSR | S_IWUSR);
if (fptr == -1)
{
puts("Open raw.dat failed.");
return;
}
}
init_keyboard();
ioctl(gldev, DISABLE_IRQ, 0);
ioctl(gldev, mode, 1);
while (1)
{
if (kbhit())
{
char key = getkey();
if (key == '\n')
{
ioctl(gldev, ENABLE_IRQ, 0);
printf("break debug.\n");
break;
}
}
ret = read(gldev, buf, buflen);
xline = buf[buflen-2];
yline = buf[buflen-1];
/* { */
/* for(i = 0; i < buflen; i++)*/
/* { */
/* printf("%x ", buf[i]);*/
/* if(i%50==0 && i>0) printf("\n");*/
/* }*/
/* printf("\n");*/
/* } */
for (i = 0; i < rawlen; i++)
{
xyraw[i] = ((buf[i * 2 + 1] << 8) | buf[i * 2]);
}
show_raw('X', xline-1, yline - 1, xyraw, flag, fptr);
show_raw('Y', yline-1, 0, xyraw, flag, fptr);
}
close_keyboard();
if (flag)
{
close(fptr);
}
}
int main(int argc, char* argv[])
{
int channel = 0;
unsigned short result;
float min,max,current;
int x,c;
int res;
int res2;
pthread_t a_thread;
pthread_t b_thread;
// We'll keep track of the minimum and maximum voltage values
// we see on a channel as well as the count of conversions
// completed.
max = -10.0;
min = 10.0;
count = 0;
// The default channel is 0 but an alternate channel can be specified
// as a command line argument.
if(argc > 1)
channel = atoi(argv[1]);
// Check for a valid channel number. Abort if bad
if(channel <0 || channel > 15)
{
printf("Channel numbers must be between 0 and 15 - Aborting\n");
exit(0);
}
// This call sets the mode for the specified channel. We are going to
// set up for single-ended +/- 10 V range. That way any legal input
// can be accomodated.
adc_set_channel_mode(channel,ADC_SINGLE_ENDED,ADC_BIPOLAR,ADC_TOP_10V);
if(mio_error_code)
{
printf("\nError occured - %s\n",mio_error_string);
exit(1);
}
/* Enable interrupts on both controllers */
enable_adc_interrupt(0);
enable_adc_interrupt(1);
if(mio_error_code)
{
printf("\nError occured - %s\n",mio_error_string);
exit(1);
}
res = pthread_create(&a_thread,NULL,thread_function,NULL);
if(res != 0)
{
perror("Thread 1 creation failed");
exit(EXIT_FAILURE);
}
res2 = pthread_create(&b_thread,NULL,thread_function2,NULL);
if(res != 0)
{
perror("Thread 2 creation failed");
exit(EXIT_FAILURE);
}
init_keyboard();
while(1)
{
// We'll keep running until a recognized key is pressed
if(kbhit())
{
c = readch();
// The 'C' key clears the min/max and count values
if(c== 'c' || c == 'C')
{
count = 0;
min = 10.0;
max = -10.0;
}
// The 'N' key moves to the next channel, wrapping from 15
// back to 0 when appropriate.
else if(c == 'n' || c == 'N')
{
printf("\n");
channel++;
if(channel > 15)
channel = 0;
// When we change channels we need to make sure we set
// the channel's mode to a valid range.
adc_set_channel_mode(channel,ADC_SINGLE_ENDED,ADC_BIPOLAR,ADC_TOP_10V);
if(mio_error_code)
{
printf("\nError occured - %s\n",mio_error_string);
exit(1);
}
// A new channel also clears the count and min/max values.
count = 0;
min = 10.0;
max = -10.0;
}
else
{
disable_adc_interrupt(0);
disable_adc_interrupt(1);
pthread_cancel(a_thread);
exit_flag = 1;
close_keyboard();
printf("\n\n");
exit(0);
}
}
// Finally the real thing. This function-call results in 2000
// conversions on the specified channel with the results going into
// a buffer called "values".
adc_convert_single_repeated(channel,2000,values);
if(mio_error_code)
{
printf("\nError occured - %s\n",mio_error_string);
exit(1);
}
// Bump up the count
; count += 2000;
// Now we'll read out the 2000 conversion values. Convert them to
// floating point voltages and set the min and max values as appropriate
for(x=0; x<2000; x++)
{
result = values[x];
current = adc_convert_to_volts(channel,result);
// Check and load the min/max values as needed
if(current < min)
min = current;
if(current > max)
max = current;
// Print the values
printf("CH %02d %09ld %9.5f Min =%9.5f Max =%9.5f\r",channel,count,current,min,max);
}
}
return 0;
}
int borplay(FILE *fd, char *fname, unsigned int off, unsigned int size) {
bor_header bh;
int len, kb = 0;
short *out;
unsigned char *in;
char *p, *artist, *title;
if(fseek(fd, off, SEEK_SET) < 0) std_err();
if(!fread(&bh, sizeof(bh), 1, fd)) return(-1);
size -= sizeof(bh);
if(strncmp(bh.identifier, BOR_IDENTIFIER, sizeof(bh.identifier))) return(0);
if((bh.version != BOR_MUSIC_VERSION) && (bh.version != NEW_MUSIC_VERSION)) {
printf("- warning: unknown file version (%08x)\n", bh.version);
}
// fix title
for(p = bh.title; *p; p++) {
if (*p == '_') *p = ' ';
}
// fix artist
for(p = bh.artist; *p; p++) {
if (*p == '_') *p = ' ';
}
// force mono if it's a v1 file
if ((bh.version == BOR_MUSIC_VERSION) && (bh.channels != 1))
{
printf("- warning: forcing mono playback because of file version; "
"use the newest Wav2Bor from LavaLit.com to create BOR files "
"with more than 1 channel of audio\n");
bh.channels = 1;
}
printf("- %08x (%dhz %dch) %s\n",
off,
bh.frequency, bh.channels,
fname);
// only print title and artist if at least one of them is specified
if (strlen(bh.artist) && strlen(bh.title))
printf(" %s - %s\n", bh.artist, bh.title);
else if (strlen(bh.artist))
printf(" %s\n", bh.artist);
else if (strlen(bh.title))
printf(" %s\n", bh.title);
if(bh.datastart > sizeof(bh)) {
bh.datastart -= sizeof(bh);
if(fseek(fd, bh.datastart, SEEK_CUR) < 0) std_err();
size -= bh.datastart;
}
in = malloc(MUSIC_BUF_SIZE);
if(!in) std_err();
out = malloc(MUSIC_BUF_SIZE * 4);
if(!out) std_err();
aoinit_fmt(bh.channels, bh.frequency);
#ifndef WIN32
init_keyboard();
#endif
while(size && (len = fread(in, 1, MUSIC_BUF_SIZE, fd))) {
if(size < len) len = size;
size -= len;
adpcm_decode(in, out, len, bh.channels);
if(!ao_play(device, (void *)out, len * 4)) break;
kb = check_kbhit();
if(kb) break;
}
#ifndef WIN32
close_keyboard();
#endif
ao_close(device);
free(in);
free(out);
return(kb);
}
