int16_t spektrum_satellite_get_channel(uint8_t index) {
int32_t i;
if (time_keeper_get_millis()-last_update>20)
{
#ifdef KEYBOARD_ACTIVE
get_keyboard_input(&joystick_axes);
#endif
get_joystick_status(joystick_filedescriptor, &joystick_axes, &joystick_buttons, 16, 16);
for (i=0; i<16; i++) {
if (joystick_axes[i]>joy_max[i]) joy_max[i]=joystick_axes[i];
if (joystick_axes[i]<joy_min[i]) joy_min[i]=joystick_axes[i];
}
sat.channels[RC_ROLL] = joystick_axes[JOY_ROLL]*J_GAIN/ (joy_max[JOY_ROLL]-joy_min[JOY_ROLL]);
sat.channels[RC_PITCH] = joystick_axes[JOY_PITCH]*J_GAIN/ (joy_max[JOY_PITCH]-joy_min[JOY_PITCH]);
sat.channels[RC_YAW] = joystick_axes[JOY_YAW]*J_GAIN/ (joy_max[JOY_YAW]-joy_min[JOY_YAW]);
sat.channels[RC_THROTTLE] = -joystick_axes[JOY_THROTTLE]*J_GAIN/ (joy_max[JOY_THROTTLE]-joy_min[JOY_THROTTLE]);
sat.channels[RC_SAFETY] = joystick_axes[JOY_SAFETY] *J_GAIN/ (joy_max[JOY_SAFETY]-joy_min[JOY_SAFETY]);
sat.channels[RC_ID_MODE] =joystick_axes[JOY_ID_MODE]*J_GAIN/ (joy_max[JOY_ID_MODE]-joy_min[JOY_ID_MODE]);
last_update=time_keeper_get_millis();
}
return sat.channels[index];
}
/*send a login request to server*/
void
login(){
if(system("clear"));//unused warnning
printf( "Hello, this is an IM program.\n"
"You may pick a nickname and login.\n"
"==========================================\n");
while(true){
while(true){
printf("Your name (no more than 15 characters):");
if(get_keyboard_input(username, 20) >= 3)
break;
else
printf("It's too short.\n");
}
/*construct a login request packet and send it*/
memset(sendbuf, 0, sizeof(sendbuf));
unsigned short data_size = 20; //request im packet data size
construct_im_pkt_head((struct im_pkt_head *)sendbuf, TYPE_REQUEST, SERVICE_LOGIN, data_size);
concat_im_pkt_data((struct im_pkt_head *)sendbuf, username);
send(client_sock, sendbuf, IM_PKT_HEAD_SIZE + data_size, 0);
/*get and parse the response packet*/
memset(recvbuf, 0 ,sizeof(recvbuf));
int n = readvrec(client_sock, recvbuf, BUF_SIZE);
struct im_pkt_head *response_head = (struct im_pkt_head *)recvbuf;
if( (n == 1) && (response_head -> service == SERVICE_LOGIN)){ //the response data size is 1
char *response_data = (char *)(response_head + 1);//right after the head
bool login_success = (bool) response_data[0];
if(login_success){
query_online_all();
break;
}
else{ //login falied. name repeat
printf( "\nSorry, that name seems to have been taken, pick another one!\n");
continue;
}
}
printf("Sorry ,the server seems overloaded, wait a moment and try again.\n");
exit(-1);
}
}
void game_loop() {
board_t a = {0};
board_t b = {0};
board_t *cur;
board_t *next;
int input;
int AI_input;
int score = 0;
cur = &a;
next = &b;
board_rnd_gen_cell(*cur);
while (1) {
clear();
/* Draw the board */
board_dump(*cur, 4, 8);
// stat_dump();
/* AI computation */
if (auto_play || suggestion) {
AI_input = get_AI_input(*cur);
const char *move_text[] = {"Left", "Right", "Up", "Down", "Game Over"};
mvprintw(1, 8, "Suggest: %s", move_text[AI_input]);
}
mvprintw(2, 8, "Score: %d", score);
/* Update screen */
refresh();
/* Get input */
if (auto_play) {
input = AI_input;
} else {
input = get_keyboard_input();
}
int moved = 0;
switch(input) {
case UP:
moved = move_up(*cur, *next); break;
case LEFT:
moved = move_left(*cur, *next); break;
case DOWN:
moved = move_down(*cur, *next); break;
case RIGHT:
moved = move_right(*cur, *next); break;
case QUIT:
return;
default:
continue;
}
if (!moved)
continue;
if (moved != 1)
score += moved;
/* Generate new cell */
board_rnd_gen_cell(*next);
/* Switch cur and next */
board_t *temp = cur;
cur = next;
next = temp;
board_clear(*next);
}
}
int
main(void){
struct sockaddr_in server_addr;//server address
/*client start preparations*/
if((client_sock = socket(AF_INET, SOCK_STREAM, 0)) == -1){
printf("error create socket\n");
exit(-1);
}
memset(&server_addr, 0, sizeof(server_addr));
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(SERV_PORT);//the weather server port
inet_pton(AF_INET, SERV_IP, &server_addr.sin_addr.s_addr);//weather server ip address
if(connect(client_sock, (struct sockaddr *)&server_addr, sizeof(server_addr)) == -1){
printf("error connect\n");
exit(-1);
}
online_friend_queue = init_user_queue();
//load login page
login();
/*after login, the username and current online friends list will be settled down*/
/*create a thread to receive packets asynchronously */
pthread_t tid;
int rc = pthread_create(&tid, NULL, recv_packet_thread, NULL);
if(rc){
printf("ERROR creating thread, tid %d, return code %d\n", (int)tid, rc);
exit(-1);
}
/*main thread loads the next page to get user's command*/
if(system("clear")) ;
print_prompt_words(username);
while(true){
printf("enter >> ");
char command[20];
get_keyboard_input(command, 20);
//printf("debug:%s\n", command);
if(command[0] != '-'){
printf("input error, you can try again.\n");
continue;
}
if(strcmp(&command[1], "list") == 0) {
assert(online_friend_queue -> front != NULL);
print_online_friends(online_friend_queue);
continue;
} else if(strcmp(&command[1], "clear") == 0){
if(system("clear")) ;
print_prompt_words(username);
continue;
} else if(strcmp(&command[1], "logout") == 0){
logout();
break;//this lead to the end of the program.
} else if(strcmp(&command[1], "recent") == 0){
print_recent_messages(recent_messages, message_num);
continue;
}else if(strcmp(&command[1], "chat") == 0){
/*bug:if someone's name is "all", bug happens*/
char recipient[20];
printf("Who do you want to talk to?\n"
"Type he/she's name or type \"all\":");
get_keyboard_input(recipient, 20);
if(strcmp(recipient, username) == 0){
printf("it's funny to talk to yourself.\n");
}
else if(strcmp(recipient, "all") == 0){
char text[100];
printf("Input your words to say to %s.\n"
"Within 100 characters, end up with the Enter key):\n", recipient);
get_keyboard_input(text, 100);
/*build and send the packet*/
memset(sendbuf, 0, sizeof(sendbuf));
unsigned short data_size = 20 + 100;
construct_im_pkt_head((struct im_pkt_head *)sendbuf, TYPE_REQUEST, SERVICE_MULTI_MESSAGE, data_size);
strncpy(&sendbuf[IM_PKT_HEAD_SIZE], username, 20);
strncpy(&sendbuf[IM_PKT_HEAD_SIZE + 20], text, 100);
send(client_sock, sendbuf, IM_PKT_HEAD_SIZE + data_size, 0);
} else if(find_user_by_name(online_friend_queue, recipient) != NULL){
//printf("debug:%s\n", recipient);
char text[100];
printf("Input your words to say to %s.\n"
"Within 100 characters, end up with the Enter key):\n", recipient);
get_keyboard_input(text, 100);
/*build and send the packet*/
memset(sendbuf, 0, sizeof(sendbuf));
unsigned short data_size = 20 + 20 + 100;
construct_im_pkt_head((struct im_pkt_head *)sendbuf, TYPE_REQUEST, SERVICE_SINGLE_MESSAGE, data_size);
strncpy(&sendbuf[IM_PKT_HEAD_SIZE], username, 20);
strncpy(&sendbuf[IM_PKT_HEAD_SIZE + 20], recipient, 20);
strncpy(&sendbuf[IM_PKT_HEAD_SIZE + 40], text, 100);
send(client_sock, sendbuf, IM_PKT_HEAD_SIZE + data_size, 0);
} else{
printf("sorry, %s seems not online now\n", recipient);
print_online_friends(online_friend_queue);
}
continue;
} else{
printf("input error, you can try again.\n");
continue;
}
}
/*close socket and stop another thread before exit*/
pthread_cancel(tid);
close(client_sock);
return 0;
}
