RobotInterface::DeviceList RobotInterface::XMLReader::Private::readDevicesTag(TiXmlElement *devicesElem)
{
const std::string &valueStr = devicesElem->ValueStr();
if (valueStr.compare("devices") != 0) {
SYNTAX_ERROR(devicesElem->Row()) << "Expected \"devices\". Found" << valueStr;
}
std::string filename;
if (devicesElem->QueryStringAttribute("file", &filename) == TIXML_SUCCESS) {
// yDebug() << "Found devices file [" << filename << "]";
#ifdef WIN32
std::replace(filename.begin(), filename.end(), '/', '\\');
filename = path + "\\" + filename;
#else // WIN32
filename = path + "/" + filename;
#endif //WIN32
return readDevicesFile(filename);
}
std::string robotName;
if (devicesElem->QueryStringAttribute("robot", &robotName) != TIXML_SUCCESS) {
SYNTAX_WARNING(devicesElem->Row()) << "\"devices\" element should contain the \"robot\" attribute";
}
if (robotName != robot.name()) {
SYNTAX_WARNING(devicesElem->Row()) << "Trying to import a file for the wrong robot. Found" << robotName << "instead of" << robot.name();
}
unsigned int build;
#if TINYXML_UNSIGNED_INT_BUG
if (devicesElem->QueryUnsignedAttribute("build", &build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(devicesElem->Row()) << "\"devices\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (devicesElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(devicesElem->Row()) << "\"devices\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
build = (unsigned)tmp;
#endif
if (build != robot.build()) {
SYNTAX_WARNING(devicesElem->Row()) << "Import a file for a different robot build. Found" << build << "instead of" << robot.build();
}
DeviceList devices;
for (TiXmlElement* childElem = devicesElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
DeviceList childDevices = readDevices(childElem);
for (DeviceList::const_iterator it = childDevices.begin(); it != childDevices.end(); ++it) {
devices.push_back(*it);
}
}
return devices;
}
void Input::update()
{
for(auto& device : m_devices)
{
device->update();
}
m_lastInput = readDevices();
}
// Reads the input file into memory returning 1 if it
// was read unsuccessfully, otherwise 0.
DataSetInitStatus readFile(char* fileName) {
DataSetInitStatus status = DATA_SET_INIT_STATUS_SUCCESS;
FILE *inputFilePtr;
// Open the file and hold on to the pointer.
inputFilePtr = fopen(fileName, "rb");
// If the file didn't open return -1.
if (inputFilePtr == NULL) {
return DATA_SET_INIT_STATUS_FILE_NOT_FOUND;
}
// Read the various data segments if the version is
// one we can read.
status = readVersion(inputFilePtr);
if (status != DATA_SET_INIT_STATUS_SUCCESS) {
fclose(inputFilePtr);
return status;
}
status = readCopyright(inputFilePtr);
if (status != DATA_SET_INIT_STATUS_SUCCESS) {
fclose(inputFilePtr);
return status;
}
status = readStrings(inputFilePtr);
if (status != DATA_SET_INIT_STATUS_SUCCESS) {
fclose(inputFilePtr);
return status;
}
status = readProperties(inputFilePtr);
if (status != DATA_SET_INIT_STATUS_SUCCESS) {
fclose(inputFilePtr);
return status;
}
status = readDevices(inputFilePtr);
if (status != DATA_SET_INIT_STATUS_SUCCESS) {
fclose(inputFilePtr);
return status;
}
status = readLookupList(inputFilePtr);
if (status != DATA_SET_INIT_STATUS_SUCCESS) {
fclose(inputFilePtr);
return status;
}
status = readNodes(inputFilePtr);
if (status != DATA_SET_INIT_STATUS_SUCCESS) {
fclose(inputFilePtr);
return status;
}
fclose(inputFilePtr);
return status;
}
RobotInterface::Robot& RobotInterface::XMLReader::Private::readRobotTag(TiXmlElement *robotElem)
{
if (robotElem->ValueStr().compare("robot") != 0) {
SYNTAX_ERROR(robotElem->Row()) << "Root element should be \"robot\". Found" << robotElem->ValueStr();
}
if (robotElem->QueryStringAttribute("name", &robot.name()) != TIXML_SUCCESS) {
SYNTAX_ERROR(robotElem->Row()) << "\"robot\" element should contain the \"name\" attribute";
}
#if TINYXML_UNSIGNED_INT_BUG
if (robotElem->QueryUnsignedAttribute("build", &robot.build()) != TIXML_SUCCESS) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
}
#else
int tmp;
if (robotElem->QueryIntAttribute("build", &tmp) != TIXML_SUCCESS || tmp < 0) {
// No build attribute. Assuming build="0"
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"build\" attribute [unsigned int]. Assuming 0";
tmp = 0;
}
robot.build() = (unsigned)tmp;
#endif
if (robotElem->QueryStringAttribute("portprefix", &robot.portprefix()) != TIXML_SUCCESS) {
SYNTAX_WARNING(robotElem->Row()) << "\"robot\" element should contain the \"portprefix\" attribute. Using \"name\" attribute";
robot.portprefix() = robot.name();
}
// yDebug() << "Found robot [" << robot.name() << "] build [" << robot.build() << "] portprefix [" << robot.portprefix() << "]";
for (TiXmlElement* childElem = robotElem->FirstChildElement(); childElem != 0; childElem = childElem->NextSiblingElement()) {
if (childElem->ValueStr().compare("device") == 0 || childElem->ValueStr().compare("devices") == 0) {
DeviceList childDevices = readDevices(childElem);
for (DeviceList::const_iterator it = childDevices.begin(); it != childDevices.end(); ++it) {
robot.devices().push_back(*it);
}
} else {
ParamList childParams = readParams(childElem);
for (ParamList::const_iterator it = childParams.begin(); it != childParams.end(); ++it) {
robot.params().push_back(*it);
}
}
}
return robot;
}
CamView::CamView(QWidget* parent)
: QMainWindow(parent)
{
setupUi(this);
readDevices();
QSettings settings;
QString dname = settings.value("device", devices.front().shortName).toString();
for (auto& i : devices) {
if (i.shortName == dname) {
setting.device = &i;
break;
}
}
setting.size = settings.value("size", devices.front().formats.front().size).toSize();
setting.fps = settings.value("fps", 30).toInt();
for (auto& i : devices) {
devs->addItem(i.name, QVariant::fromValue<CamDevice*>(&i));
if (i.shortName == dname)
devs->setCurrentIndex(devs->count()-1);
}
connect(devs, SIGNAL(activated(int)), SLOT(changeDevice(int)));
connect(sizes, SIGNAL(activated(int)), SLOT(changeSize(int)));
connect(fps, SIGNAL(activated(int)), SLOT(changeFps(int)));
connect(cam, SIGNAL(click(const QString&, int)), statusBar(), SLOT(showMessage(const QString&,int)));
connect(picturePath, SIGNAL(textEdited(const QString&)), cam, SLOT(setPicturePath(const QString&)));
connect(picturePrefix, SIGNAL(textEdited(const QString&)), cam, SLOT(setPicturePrefix(const QString&)));
connect(click, SIGNAL(clicked()), cam, SLOT(takeSnapshot()));
setCam(setting);
picturePath->setText(cam->picturePath());
picturePrefix->setText(cam->picturePrefix());
cam->start();
}
void main()
{
mydevices.numberOfInputs=0;
mydevices.numberOfOutputs=0;
clock = 0;
ledErrorCounter=0;
hw_setup();
//TODO: User Code
//struct switches array[NUMBER_OF_SWITCHES];
/*
button_test();
dimmer_test();
*/
///////////////SALA//////////////////////////////
/* eeprom_on_off_init(20,21,6);//2 int Grande a comecar da esquerda
eeprom_on_off_init(22,23,0);//2
//eeprom_dimmer_init(40,41,42,7);//2
eeprom_on_off_init(41,42,7);//2
eeprom_on_off_init(26,27,3);//2
///Sanca parede grande
unsigned int on_adr[8]={20,255,255,255,255,255,255,255};
unsigned int off_adr[8]={21,255,255,255,255,255,255,255};
eeprom_onOff_out_init(on_adr,off_adr,3);//Sanca parede grande
eeprom_onOff_out_init(on_adr,off_adr,5);//Sanca parede grande
///Sanca parede rosa
unsigned int on_adrr[8]={22,255,255,255,255,255,255,255};
unsigned int off_adrr[8]={23,255,255,255,255,255,255,255};
eeprom_onOff_out_init(on_adrr,off_adrr,7);//Sanca parede grande
on_adrr[1]=26;
off_adrr[1]=27;
eeprom_onOff_out_init(on_adrr,off_adrr,4);//Sanca parede grande
///VARANDA
unsigned int dimmer_dim_adr[8]={40,255,255,255,255,255,255,255};
unsigned int dimmer_on_adr[8]={41,255,255,255,255,255,255,255};
unsigned int dimmer_off_adr[8]={42,255,255,255,255,255,255,255};
//eeprom_dimmer_out_init(dimmer_dim_adr,dimmer_on_adr,dimmer_off_adr,6);//varanda
eeprom_onOff_out_init(dimmer_on_adr,dimmer_off_adr,6);//varanda
eeprom_button_init(28,29,4,true);//estores down
eeprom_button_init(30,31,5,true);//estores up
unsigned int up_adr[8]={30,255,255,255,255,255,255,255};
unsigned int down_adr[8]={28,255,255,255,255,255,255,255};
unsigned int x_adr[8]={255,255,255,255,255,255,255,255};
eeprom_shutter_out_init(up_adr,down_adr,x_adr,x_adr,8,9,0,10);
eeprom_shutter_out_init(up_adr,down_adr,x_adr,x_adr,10,11,0,10);
eeprom_shutter_out_init(up_adr,down_adr,x_adr,x_adr,12,13,0,10);
eeprom_shutter_out_init(up_adr,down_adr,x_adr,x_adr,14,15,0,10);
*/
/////////////////////////////////////////////////7
/*
///////////////QUARTO GRANDE//////////////////////////////
eeprom_on_off_init(1,2,2);//2 on_adr off_adr real_button inicia botao
unsigned int on_adr[8]={1,255,255,255,255,255,255,255};
unsigned int off_adr[8]={2,10,255,255,255,255,255,255};
unsigned int nill_adr[8]={255,255,255,255,255,255,255,255};
unsigned int ventax_off_adr[8]={16,255,255,255,255,255,255,255};
unsigned int x_adr[8]={1,255,255,255,255,255,255,255};
eeprom_onOff_out_init(on_adr,off_adr,4);//SANCA?
//outputs 4=sanca 3=casabanho 2=casa de banho 9=ventax 1=corredor
///casa de banho
eeprom_on_off_init(3,4,4);//interruptor casa de banho??
off_adr[0]=4;
on_adr[0]=3;
eeprom_timer_init(off_adr,on_adr,15,16,time_off,60);
eeprom_onOff_out_init(on_adr,off_adr,3); //luz casa de banho
eeprom_onOff_out_init(on_adr,off_adr,2); //luz2 casa de banho
eeprom_onOff_out_init(on_adr,ventax_off_adr,9);//VENTAX
///fim casa de banho
//corredor
eeprom_on_off_init(17,18,5);//interruptor luz corredor
unsigned int corredor_on_adr[8]={17,255,255,255,255,255,255,255};
unsigned int corredor_off_adr[8]={18,255,255,255,255,255,255,255};
eeprom_onOff_out_init(corredor_on_adr,corredor_off_adr,1); //luz corredor
//fim corredor
eeprom_button_init(5,6,0,true);//2 //estores
eeprom_button_init(7,8,1,true);//2
off_adr[0]=255;
off_adr[1]=255;
on_adr[0]=5;
x_adr[0]=7;
eeprom_shutter_out_init(on_adr,x_adr,off_adr,off_adr,11,10,0,10);//up down fullup full down
eeprom_on_off_init(9,10,6);
eeprom_on_off_init(20,21,7);
unsigned int cama_on_adr[8]={9,255,255,255,255,255,255,255};
unsigned int cama_off_adr[8]={10,255,255,255,255,255,255,255};
eeprom_onOff_out_init(cama_on_adr,cama_off_adr,7);
cama_on_adr[0]=20;
cama_off_adr[0]=21;
eeprom_onOff_out_init(cama_on_adr,cama_off_adr,6);
/////////////////////////////////////////////////7
*/
/////////////////////QUARTO RENATA///////////////
//
// INPUTS
// 0,1 cozinha
// 2,3 quarto
//
// OUTPUTS
// 5 quarto renata economica
// 6 janela hologeneo
// 7 entrada
// 2 cozinha fluorescente
// 3 cima balcao halogeneo
// 4 divisoria halogeneo
// 10 balcao baixo verde
// 11 balcao cima verde
// 12 balcao cima vermelho
// 13 balcao cima azul
// 14 balcao baixo azul
// 15 balcao baixo vermelho
//INPUT INIT
eeprom_on_off_init(60,61,0);//on_adr off_adr real_btn interruptor cozinha 1
eeprom_on_off_init(62,63,1);//on_adr off_adr real_btn interruptor cozinha 2
// eeprom_dimmer_init(68,62,63,1);//dim_adr on_adr off_adr
eeprom_on_off_init(64,65,2);//on_adr off_adr real_btn interruptor quarto renata 1
// eeprom_on_off_init(66,67,3);//on_adr off_adr real_btn interruptor quarto renata 2
eeprom_dimmer_init(68,66,67,3);//dim_adr on_adr off_adr
//OUTPUT INIT
unsigned int on_adr[8]={60,255,255,255,255,255,255,255};
unsigned int off_adr[8]={61,10,255,255,255,255,255,255};
unsigned int dim_adr[8]={68,255,255,255,255,255,255,255};
eeprom_onOff_out_init(on_adr,off_adr,2); //luz cozinha fluorescente
on_adr[0]=62;
off_adr[0]=63;
eeprom_onOff_out_init(on_adr,off_adr,3); //luz cozinha cima balcao halogeneo
eeprom_onOff_out_init(on_adr,off_adr,4); //luz cozinha divisoria
eeprom_onOff_out_init(on_adr,off_adr,15); //luz balcao baixo vermelho
eeprom_onOff_out_init(on_adr,off_adr,12); //luz balcao cima vermelho
//eeprom_dimmer_out_init(dim_adr,on_adr,off_adr,3); //luz cozinha cima balcao halogeneo
//eeprom_dimmer_out_init(dim_adr,on_adr,off_adr,4); //luz cozinha divisoria
//eeprom_dimmer_out_init(dim_adr,on_adr,off_adr,15); //luz cozinha divisoria
on_adr[0]=64;
off_adr[0]=65;
eeprom_onOff_out_init(on_adr,off_adr,5); //luz quarto renata economica
on_adr[0]=66;
off_adr[0]=67;
// eeprom_onOff_out_init(on_adr,off_adr,7); //luz quarto renata entrada
// eeprom_onOff_out_init(on_adr,off_adr,6); //luz quarto renata janela
eeprom_dimmer_out_init(dim_adr,on_adr,off_adr,7); //luz quarto renata entrada
eeprom_dimmer_out_init(dim_adr,on_adr,off_adr,6); //luz quarto renata janela
readDevices();
#ifdef DEBUG
printf("inputs:%d outputs:%d %d %d\n\r",mydevices.numberOfInputs,mydevices.numberOfOutputs,((struct outputs)mydevices.myoutputs[0]).type,((struct outputs)mydevices.myoutputs[1]).type);
#endif
dimmer_outputs_init();
// printf("start %Lu %Lu %Lu\n\r",fpointer(N_LUZES,0),delays1[N_LUZES][0],delays2[N_LUZES][0]);
/*((struct light)mydevices.myoutputs[0].device).dim_value.value=50;
((struct light)mydevices.myoutputs[0].device).dim_value.needs_update=true;
((struct light)mydevices.myoutputs[0].device).off.value=1;
((struct light)mydevices.myoutputs[0].device).off.needs_update=true;
*/
write_outputs();
// printf("start %Lu\n\r",fpointer(N_LUZES,0));
interrupts_enable();
while(true){
restart_wdt();
if(syncError || oscError)
{
++ledErrorCounter;
if(ledErrorCounter>1000)
{
output_toggle(LED);
ledErrorCounter=0;
}
}
#ifdef DEBUG
if(kbhit())
{
setup_wdt(WDT_OFF);
disable_interrupts (GLOBAL) ;
goDebug();
}
#endif
process_outpoints();
write_outputs();
if(secondFlag)
{
secondFlag=false;
processTimedEvents();
if(!syncError && !oscError) output_toggle(LED);
}
// print_inputs(false);
}
}