int main(void)
{
union uKeyRoster scan;
init();
while (1)
{
wait_for_press();
// Result is stored in prev_keys & keys and hopefully keys2
SET_LED_1();
scan = pack_array( keys );
build_key_list ( keys );
if (isConfigured(MODE_SEND_ROSTER)==0) {
can_prep_button_roster_msg( &msg1, scan );
can_send_msg_no_wait( CAN_TRANSMIT_CHANNEL1, &msg1 );
}
if (isConfigured(MODE_SEND_PRESSED)==0) {
can_prep_button_pressed_msg( &msg2 );
can_send_msg_no_wait( CAN_TRANSMIT_CHANNEL2, &msg2 );
}
RESET_LED_1();
}
return(0);
}
/* Callback function (from the CAN ISR()).
Parse the Msg based on the msg id.
#define ID_MARK_MOTOR_STOP 0x0040 1 or 2 in data[0]
Set Stop 1 (Mark the current motor position as Stop 1 - angle given)
#define ID_MOVE_TO_ANGLE 0x0042 Instance goes with intended Receiver
#define ID_MOVE_SPEED 0x0043
#define ID_SET_MAX_MOTOR_ACCEL 0x0044 */
void can_file_message( sCAN* mMsg )
{
if ( id_match( mMsg->id, create_CAN_eid(ID_MARK_MOTOR_STOP, MyInstance)) )
{
can_proc_set_stop_msg( mMsg );
// Save EEPROM
save_cal( ); // defined in pot.c
}
else if ( id_match(mMsg->id, create_CAN_eid(ID_MOVE_TO_ANGLE, MyInstance)) )
{
// includes a speed
can_proc_move_to_angle_msg( mMsg );
// Initiate Motor
}
/* else if ( id_match(mMsg->id, create_CAN_eid(ID_MOVE_SPEED, MyInstance)) )
{
can_proc_move_speed_msg( mMsg );
} */
else if ( id_match(mMsg->id, create_CAN_eid(ID_SET_MAX_MOTOR_ACCEL, MyInstance)) )
{
can_proc_max_acceleration_msg( mMsg );
}
else if ( (isConfigured(MODE_TILT_RESPONDER)) &&
(id_match(mMsg->id, create_CAN_eid(ID_ACCEL_XYZ, 0)) ) )
{
can_proc_tilt_msg( mMsg );
}
}
bool JointControllerManager::startHook()
{
// Check that component is configured
if (!isConfigured())
{
PAL_ERROR("Failed to start joint controller manager: Component has not yet been configured.");
return false;
}
// Start joint interface
if (!joint_iface_->start())
{
PAL_ERROR("Failed to start joint controller manager: Could not start low level joint access.");
return false;
}
// Update current time
updateCurrentTime();
// Update current state
if (!updateCurrentState())
{
PAL_ERROR("Failed to start joint controller manager: Could not update current state.");
return false;
}
// Auto-start controllers
if (!autoStartComponents())
{
return false;
}
return true;
}
void LedMatrix::prepareFramebuffer()
{
if(isConfigured())
{
_framebuffer.resize(size().width()*size().height()*3);
}
}
void LedMatrix::computeLookUpTable()
{
if(isConfigured())
{
const unsigned int matrix_panel_width_in_pixels = _panelSize.width();
const unsigned int matrix_panel_height_in_pixels = _panelSize.height();
const unsigned int matrix_width_in_panel = _matrixSize.width();
//const unsigned int matrix_height_in_panel = _matrixSize.height();
const unsigned int matrix_width_in_pixels = size().width();
const unsigned int matrix_height_in_pixels = size().height();
_pixelsLUT.clear();
_pixelsLUT.resize(matrix_height_in_pixels*matrix_width_in_pixels);
for (unsigned int y=0;y<matrix_height_in_pixels;y++)
{
for (unsigned int x=0;x<matrix_width_in_pixels;x++) {
const unsigned int x_panel_id = (y%2)
?((matrix_panel_width_in_pixels-1)-(x%matrix_panel_width_in_pixels))
:(x%matrix_panel_width_in_pixels);
const unsigned int y_panel_id = (y%matrix_panel_height_in_pixels);
const unsigned int panel_id = ((y/matrix_panel_height_in_pixels)%2)
?((matrix_width_in_panel-1)-(x/matrix_panel_width_in_pixels)) + ((y/matrix_panel_height_in_pixels) * matrix_width_in_panel)
:(x/matrix_panel_width_in_pixels) + ((y/matrix_panel_height_in_pixels) * matrix_width_in_panel);
const unsigned int id = x_panel_id + (y_panel_id*matrix_panel_width_in_pixels) + (panel_id*matrix_panel_width_in_pixels*matrix_panel_height_in_pixels);
const unsigned int i = x+(y*matrix_width_in_pixels);
Q_ASSERT(i<(unsigned int)_pixelsLUT.size());
_pixelsLUT.data()[i] = id;
}
}
}
}
void IOToaster::setup()
{
// Set the pin configuration
setupPins();
// Open serial communication
Serial.begin(9600);
Serial.setTimeout(5000);
// Load the configuration
if (isConfigured())
{
// Normal mode
_setupMode = false;
loadConfiguration();
connectServer();
setActivityLedState(HIGH);
}
else {
// Setup mode
setActivityLedState(LOW);
_setupMode = true;
createServer();
}
}
OMX_ERRORTYPE SoftAMR::internalGetParameter(
OMX_INDEXTYPE index, OMX_PTR params) {
switch (index) {
case OMX_IndexParamAudioAmr:
{
OMX_AUDIO_PARAM_AMRTYPE *amrParams =
(OMX_AUDIO_PARAM_AMRTYPE *)params;
if (amrParams->nPortIndex != 0) {
return OMX_ErrorUndefined;
}
amrParams->nChannels = 1;
amrParams->eAMRDTXMode = OMX_AUDIO_AMRDTXModeOff;
amrParams->eAMRFrameFormat = OMX_AUDIO_AMRFrameFormatConformance;
if (!isConfigured()) {
amrParams->nBitRate = 0;
amrParams->eAMRBandMode = OMX_AUDIO_AMRBandModeUnused;
} else {
amrParams->nBitRate = 0;
amrParams->eAMRBandMode =
mMode == MODE_NARROW
? OMX_AUDIO_AMRBandModeNB0 : OMX_AUDIO_AMRBandModeWB0;
}
return OMX_ErrorNone;
}
case OMX_IndexParamAudioPcm:
{
OMX_AUDIO_PARAM_PCMMODETYPE *pcmParams =
(OMX_AUDIO_PARAM_PCMMODETYPE *)params;
if (pcmParams->nPortIndex != 1) {
return OMX_ErrorUndefined;
}
pcmParams->nChannels = 1;
pcmParams->eNumData = OMX_NumericalDataSigned;
pcmParams->eEndian = OMX_EndianBig;
pcmParams->bInterleaved = OMX_TRUE;
pcmParams->nBitPerSample = 16;
pcmParams->nSamplingRate =
(mMode == MODE_NARROW) ? kSampleRateNB : kSampleRateWB;
pcmParams->ePCMMode = OMX_AUDIO_PCMModeLinear;
pcmParams->eChannelMapping[0] = OMX_AUDIO_ChannelLF;
pcmParams->eChannelMapping[1] = OMX_AUDIO_ChannelRF;
return OMX_ErrorNone;
}
default:
return SimpleSoftOMXComponent::internalGetParameter(index, params);
}
}
QByteArray OpAdapterDetailsRequ::marshall()
{
QByteArray serialized_data;
QDataStream stream(&serialized_data, QIODevice::WriteOnly);
stream << opStatus();
stream << adapterName();
stream << adapterVersion();
stream << adapterDescription();
stream << isConfigured();
return serialized_data;
}
bool ConfigManager::runConfigureTool()
{
QString configureToolApp = m_currentConfigPath + CONFIGURE_TOOL_NAME;
QWidget *parentW = qobject_cast<QWidget *>(parent());
if(!parentW || isVisible())
parentW = this;
if(QFile::exists(configureToolApp))
{
PGE_JsEngine js;
js.bindProxy(new PGE_JS_Common(parentW), "PGE");
js.bindProxy(new PGE_JS_File(m_currentConfigPath, parentW), "FileIO");
js.bindProxy(new PGE_JS_INI(parentW), "INI");
bool successfulLoaded = false;
js.loadFileByExpcetedResult<void>(configureToolApp, &successfulLoaded);
if(successfulLoaded)
{
setEnabled(false);
if(!js.call<bool>("onConfigure", nullptr))
{
setEnabled(true);
return false;
}
setEnabled(true);
if(!isConfigured())
return false;
return true;
}
else
{
QMessageBox::critical(parentW,
tr("Configuration script failed"),
tr("Configuring tool encountered an error: %1 at line %2.\n"
"File path: %3")
.arg(js.getLastError())
.arg(js.getLastErrorLine())
.arg(configureToolApp),
QMessageBox::Ok);
return false;
}
}
else
{
QMessageBox::information(parentW,
tr("No configuration needed"),
tr("This config pack has no configuring tool."),
QMessageBox::Ok);
return false;
}
}
//------------------------------------------------------------------------------
void AgentThread::start()
//------------------------------------------------------------------------------
{
if( !isConfigured() )
{
throw AgentException(0, "[AgentThread::start] : Attempted to start without configuring");
}
setExitFlag(false);
QThread::start();
if( !QThread::isRunning() )
{
throw AgentException(0, "[AgentThread::start] : Error starting thread");
}
}
bool GitVersionControl::supportsOperation(Operation operation) const
{
if (!isConfigured())
return false;
switch (operation) {
case AddOperation:
case DeleteOperation:
case MoveOperation:
case CreateRepositoryOperation:
case SnapshotOperations:
case AnnotateOperation:
return true;
}
return false;
}
bool PerforceVersionControl::supportsOperation(Operation operation) const
{
bool supported = isConfigured();
switch (operation) {
case AddOperation:
case DeleteOperation:
case MoveOperation:
case AnnotateOperation:
return supported;
case CreateRepositoryOperation:
case SnapshotOperations:
case CheckoutOperation:
case GetRepositoryRootOperation:
break;
}
return false;
}
bool ConfigManager::checkForConfigureTool()
{
QString configureToolApp = m_currentConfigPath + CONFIGURE_TOOL_NAME;
//If configure tool has been detected
if(QFile::exists(configureToolApp) && (!isConfigured()))
{
QMessageBox::StandardButton reply =
QMessageBox::information(this,
tr("Configuration package is not configured!"),
tr("\"%1\" configuration package is not configured yet.\n"
"Do you want to configure it?")
.arg(m_currentConfig),
QMessageBox::Yes | QMessageBox::No);
if(reply == QMessageBox::Yes)
return runConfigureTool();
else
return false;
}
return true;
}
void can_prep_motor_values_raw( sCAN* mMsg )
{
mMsg->id = create_CAN_eid( 0x00, ID_MOTOR_VALUE, MyInstance );
if (isConfigured(MODE_USE_ENCODER)) {
mMsg->data[0] = hi(EncoderCount);
mMsg->data[1] = lo(EncoderCount);
} else {
mMsg->data[0] = hi(PotSample[1]);
mMsg->data[1] = lo(PotSample[1]);
}
// Also send Currents Raw:
mMsg->data[2] = hi(LeftCurrentSample[1] );
mMsg->data[3] = lo(LeftCurrentSample[1] );
mMsg->data[4] = hi(RightCurrentSample[1]);
mMsg->data[5] = lo(RightCurrentSample[1]);
word Duty = MotorDutyRequest * 100;
mMsg->data[6] = hi(Duty);
mMsg->data[7] = lo(Duty);
mMsg->header.DLC = 8;
mMsg->header.rtr = 0;
}
/**
* @brief reads the value of the counter
* @param val value of the counter
* @return true in case of success, false in case of failure
*/
bool counterPin::readCounter(unsigned int &val) {
if (!isConfigured())
return false;
// send request string
unsigned char pinNumber = m_pinVect[0].getPinNumber();
int const msgSize = 4;
unsigned char msg[msgSize] = { CT_COUNTER, DT_COUNTER_READ, pinNumber,
CT_COUNTER + DT_COUNTER_READ + pinNumber };
m_serial->writeToSerial(msg, msgSize);
// retrieve answer and evaluate it
int const replySize = 5;
boost::shared_ptr<unsigned char> reply = m_serial->readFromSerial(
replySize);
if (reply.get()[0] != CT_COUNTER || reply.get()[1] != DT_COUNTER_READ) {
std::cerr << __FILE__ << ":" << __LINE__ << " Error in request reply message."
<< std::endl;
return false;
}
if (!isChecksumOk(reply.get(), replySize)) {
std::cerr << __FILE__ << ":" << __LINE__ << " Error in checksum."
<< std::endl;
return false;
}
if (reply.get()[2] == COUNTER_NOK) {
return false;
}
val = static_cast<unsigned int>(reply.get()[3]);
return true;
}
OMX_ERRORTYPE SoftVorbis::internalGetParameter(
OMX_INDEXTYPE index, OMX_PTR params) {
switch (index) {
case OMX_IndexParamAudioVorbis:
{
OMX_AUDIO_PARAM_VORBISTYPE *vorbisParams =
(OMX_AUDIO_PARAM_VORBISTYPE *)params;
if (vorbisParams->nPortIndex != 0) {
return OMX_ErrorUndefined;
}
vorbisParams->nBitRate = 0;
vorbisParams->nMinBitRate = 0;
vorbisParams->nMaxBitRate = 0;
vorbisParams->nAudioBandWidth = 0;
vorbisParams->nQuality = 3;
vorbisParams->bManaged = OMX_FALSE;
vorbisParams->bDownmix = OMX_FALSE;
if (!isConfigured()) {
vorbisParams->nChannels = 1;
vorbisParams->nSampleRate = 44100;
} else {
vorbisParams->nChannels = mVi->channels;
vorbisParams->nSampleRate = mVi->rate;
vorbisParams->nBitRate = mVi->bitrate_nominal;
vorbisParams->nMinBitRate = mVi->bitrate_lower;
vorbisParams->nMaxBitRate = mVi->bitrate_upper;
}
return OMX_ErrorNone;
}
case OMX_IndexParamAudioPcm:
{
OMX_AUDIO_PARAM_PCMMODETYPE *pcmParams =
(OMX_AUDIO_PARAM_PCMMODETYPE *)params;
if (pcmParams->nPortIndex != 1) {
return OMX_ErrorUndefined;
}
pcmParams->eNumData = OMX_NumericalDataSigned;
pcmParams->eEndian = OMX_EndianBig;
pcmParams->bInterleaved = OMX_TRUE;
pcmParams->nBitPerSample = 16;
pcmParams->ePCMMode = OMX_AUDIO_PCMModeLinear;
pcmParams->eChannelMapping[0] = OMX_AUDIO_ChannelLF;
pcmParams->eChannelMapping[1] = OMX_AUDIO_ChannelRF;
if (!isConfigured()) {
pcmParams->nChannels = 1;
pcmParams->nSamplingRate = 44100;
} else {
pcmParams->nChannels = mVi->channels;
pcmParams->nSamplingRate = mVi->rate;
}
return OMX_ErrorNone;
}
default:
return SimpleSoftOMXComponent::internalGetParameter(index, params);
}
}
OMX_ERRORTYPE SoftOpus::internalGetParameter(
OMX_INDEXTYPE index, OMX_PTR params) {
switch ((int)index) {
case OMX_IndexParamAudioPortFormat:
{
OMX_AUDIO_PARAM_PORTFORMATTYPE *formatParams =
(OMX_AUDIO_PARAM_PORTFORMATTYPE *)params;
if (!isValidOMXParam(formatParams)) {
return OMX_ErrorBadParameter;
}
if (formatParams->nPortIndex > 1) {
return OMX_ErrorUndefined;
}
if (formatParams->nIndex > 0) {
return OMX_ErrorNoMore;
}
formatParams->eEncoding =
(formatParams->nPortIndex == 0)
? (OMX_AUDIO_CODINGTYPE)OMX_AUDIO_CodingAndroidOPUS :
OMX_AUDIO_CodingPCM;
return OMX_ErrorNone;
}
case OMX_IndexParamAudioAndroidOpus:
{
OMX_AUDIO_PARAM_ANDROID_OPUSTYPE *opusParams =
(OMX_AUDIO_PARAM_ANDROID_OPUSTYPE *)params;
if (!isValidOMXParam(opusParams)) {
return OMX_ErrorBadParameter;
}
if (opusParams->nPortIndex != 0) {
return OMX_ErrorUndefined;
}
opusParams->nAudioBandWidth = 0;
opusParams->nSampleRate = kRate;
opusParams->nBitRate = 0;
if (!isConfigured()) {
opusParams->nChannels = 1;
} else {
opusParams->nChannels = mHeader->channels;
}
return OMX_ErrorNone;
}
case OMX_IndexParamAudioPcm:
{
OMX_AUDIO_PARAM_PCMMODETYPE *pcmParams =
(OMX_AUDIO_PARAM_PCMMODETYPE *)params;
if (!isValidOMXParam(pcmParams)) {
return OMX_ErrorBadParameter;
}
if (pcmParams->nPortIndex != 1) {
return OMX_ErrorUndefined;
}
pcmParams->eNumData = OMX_NumericalDataSigned;
pcmParams->eEndian = OMX_EndianBig;
pcmParams->bInterleaved = OMX_TRUE;
pcmParams->nBitPerSample = 16;
pcmParams->ePCMMode = OMX_AUDIO_PCMModeLinear;
pcmParams->eChannelMapping[0] = OMX_AUDIO_ChannelLF;
pcmParams->eChannelMapping[1] = OMX_AUDIO_ChannelRF;
pcmParams->nSamplingRate = kRate;
if (!isConfigured()) {
pcmParams->nChannels = 1;
} else {
pcmParams->nChannels = mHeader->channels;
}
return OMX_ErrorNone;
}
default:
return SimpleSoftOMXComponent::internalGetParameter(index, params);
}
}
