// Initialize the application and telephony API. Blocks.
State * TeleKarma::Initialize(Action * a, State * s)
{
if (s->id != STATE_UNINITIALIZED) return s;
bool flag = false;
InitializeAction * ia = dynamic_cast<InitializeAction *>(a);
State * result = NULL;
if (ia == NULL) {
result = SetState(new State(STATE_INITIALIZING, s->turn+1));
result = SetState(new State(result->id, result->turn, STATUS_FAILED, "Programming error: action cast failed"));
result = SetState(new State(STATE_UNINITIALIZED, result->turn+1));
} else {
// set stun server **before** entering INITIALIZING state
model->SetStunServer(ia->stunServer);
result = SetState(new State(STATE_INITIALIZING, s->turn+1));
// verify existence and type of 'logs' folder
const char * strPath1 = "logs";
struct stat status;
stat(strPath1, &status);
bool existsLogs = !((ACCESS(strPath1, 0) == -1) || !(status.st_mode & S_IFDIR));
// verify existence and type of 'recordings' folder
const char * strPath2 = "recordings";
stat(strPath2, &status);
bool existsRecordings = !((ACCESS(strPath2, 0) == -1) || !(status.st_mode & S_IFDIR));
if (!(existsLogs || existsRecordings)){
result = SetState(new State(result->id, result->turn, STATUS_FAILED, "Please create \"logs\" and \"recordings\" folders in your TeleKarma program folder."));
flag = true;
} else if (!existsLogs) {
result = SetState(new State(result->id, result->turn, STATUS_FAILED, "Please create a \"logs\" folder in your TeleKarma program folder."));
flag = true;
} else if (!existsRecordings) {
result = SetState(new State(result->id, result->turn, STATUS_FAILED, "Please create a \"recordings\" folder in your TeleKarma program folder."));
flag = true;
}
if (flag) {
result = SetState(new State(STATE_UNINITIALIZED, result->turn+1));
} else {
// create log file
PTime now;
PString logFName("logs/log");
logFName += now.AsString("_yyyy.MM.dd_hh.mm.ss");
logFName += ".txt";
PTrace::Initialise(3, logFName);
// initialize telephony (blocking call)
phone->Initialise(ia->stunServer);
PSTUNClient * stunClient = phone->GetSTUNClient();
if (stunClient != NULL) {
model->SetStunType(stunClient->GetNatTypeName());
} else {
model->SetStunType("none");
}
result = SetState(new State(STATE_INITIALIZED, result->turn+1));
}
}
return result;
}
State * TeleKarma::StartRecording(State * currentState)
{
State * result = NULL;
PString assuranceName = "assurance.wav";
phone->PlayWAVCall(assuranceName, 0, 0);
/* XXX Do we care about what the return value. */
result = SetState(new State(currentState->id,
currentState->turn, STATUS_NOTIFY_RECORD));
while(phone->IsPlayingWav());
PTime now;
PString recFName("recordings/rec");
recFName += now.AsString("_yyyy.MM.dd_hh.mm.ss");
recFName += ".wav";
phone->StartRecording(recFName);
return result;
}
void ControllerThread::Main() {
PTime tBase; // base time for tStep multiplier
PTimeInterval tStep(1); // 1ms, loop step (1Hz); up to 14 bytes per step for 115200 serial line
PTime tNow; // current time
PTime tThen; // expected execution time
unsigned short i = 0; // multiplier for tStep
// initialize
PTRACE(1, "Arduino initialization");
char buffer[256];
PINDEX iRead = 0;
PINDEX len = 0;
// reset serial port
pserial->ClearDTR();
pserial->ClearRTS();
pserial->ClearBreak();
pserial->SetDTR();
pserial->SetRTS();
// drop junk from serial port
do {
if (shutdown.Wait(0)) {
return;
};
pserial->Read(buffer, 256); // flush serial data
} while (pserial->GetLastReadCount());
memset(buffer, 0, 256);
// waiting for 3 heat beat
do {
if (shutdown.Wait(0)) {
return;
};
pserial->Read(buffer, 256);
iRead = pserial->GetLastReadCount();
if (iRead == 2 && buffer[0] == 0 && buffer[1] == 0) {
len += iRead;
PTRACE(1, "HeatBeat from Arduino #" << len/2);
};
} while(len < 6);
PTRACE(1, "Arduino initialization done");
fReady = PTrue;
// reset Arduino
pushAction(0xFF, CMD_RESET);
pushAction(0xFF, CMD_SETBASE0); // X1
pushAction(0xFF, calibrationTable[0]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE1); // Y1
pushAction(0xFF, calibrationTable[1]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE2); // X2
pushAction(0xFF, calibrationTable[2]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE3); // Y2
pushAction(0xFF, calibrationTable[3]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE4); // LT
pushAction(0xFF, calibrationTable[4]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE5); // RT
pushAction(0xFF, calibrationTable[5]->GetAt(10000));
pushAction(0xFF, CMD_RESET);
// main loop
do {
bool fNewActions = false;
BYTE naction;
PInt32l value;
/*
* get x, y, button and other events
*/
PTRACE(6, "Main\t" << dumpAction("actions before population: "));
while(popAction(&naction, &value)) {
PIntArray *actionQueue = actionQueuePool[naction];
fNewActions = true;
PTRACE(6, "Main\tadd new value to actionQueuePool[" << (int)naction << "] with queue size " << actionQueue->GetSize());
actionQueue->SetAt(actionQueue->GetSize(), value);
};
if (fNewActions) {
PTRACE(6, "Main\t" << dumpAction("actions after population: "));
summarizeActions(); // summarize action events by type
PTRACE(6, "Main\t" << dumpAction("actions after summarization: "));
};
/*
* process actions:
* send current state to arduino
* then receive state from arduino
* and update actions after sucsessful transmit
*/
processActions();
/*
* wait next tStep ms
*/
i++;
tThen = tBase + tStep * i;
tNow = PTime();
// reset multiplier
if (i >= 255) {
i = 0;
tBase = tThen;
};
// step was too long (tThen less than tNow)
if (tNow.Compare(tThen) != LessThan) {
PTRACE(6, "Main\tnow: " << tNow.AsString("h:m:s.uuuu") << " then: " << tThen.AsString("h:m:s.uuuu") << " i: " << (int)i << " diff: " << (tNow - tThen).GetMilliSeconds() << "ms");
i += (tNow - tThen).GetMilliSeconds() / tStep.GetMilliSeconds() + 1; // number of steps + 1 step
tThen = tBase + tStep * i;
PTRACE(6, "Main\tcorrected then: " << tThen.AsString("h:m:s.uuuu") << " i: " << (int)i);
};
PTRACE(7, "Main\tstep " << (tThen - tNow).GetMilliSeconds() << "ms");
} while(!shutdown.Wait((tThen - tNow).GetMilliSeconds()));
}