void spanResetWires(Pin* source){
if (source == NULL) return;
if (source->visited()) return;
source->visited(true);
Wire *wire = source->wire();
if (!wire) return;
//cout <<"spanResetWires wire: "<< wire->info()<<endl;
wire->voltage(false);
list<Pin *>pins = wire->pins();
list<Pin *>::iterator it;
for (it = pins.begin(); it != pins.end(); it++){
Pin *pin = (*it);
if (pin == source) continue;
pin->visited(true);
Element *element = pin->element();
if (element->type() == "switch"){
Switch *switc = (Switch *)element;
Pin *nextPin = switc->outPin(pin);
spanResetWires(nextPin);
}
else if (element->type() == "resistor"){
Resistor *resistor = (Resistor *)element;
Pin *nextPin = resistor->outPin(pin);
spanResetWires(nextPin);
}
else if (element->type() == "bridge"){
Bridge *bridge = (Bridge *)element;
Pin *nextPin = bridge->outPin(pin);
spanResetWires(nextPin);
}
}
}
Capacitor::Capacitor( QObject* parent, QString type, QString id )
: Component( parent, type, id ), eCapacitor()
{
m_ePin.resize(2);
QString nodid = m_id;
nodid.append(QString("lnod"));
QPoint nodpos = QPoint(-16-8,0);
Pin* pin = new Pin( 180, nodpos, nodid, 0, this);
pin->setLength(12);
pin->setPos(-16, 0 );
m_ePin[0] = pin;
nodid = m_id;
nodid.append(QString("rnod"));
nodpos = QPoint(16+8,0);
pin = new Pin( 0, nodpos, nodid, 1, this);
pin->setLength(12);
pin->setPos( 16, 0 );
m_ePin[1] = pin;
label->setText( QString("") );
label->setPos(-16,-24);
/*const QFont sansFont("Helvetica [Cronyx]", 7);
m_labelcurr = Circuit::self()->addSimpleText( id.toLatin1().data(), sansFont );
m_labelcurr->setParentItem( this );
m_labelcurr->setPos(-13, -5.5 );
//m_labelcurr->rotate( 180-dir );
m_labelcurr->setText( QString("%1").arg(m_resist) );*/
}
virtual void eat()
{
TCritSect cs;
LED0.On();
LED0.Off();
}
Pin *Module::getPinByOffset(double offsetX, double offsetY) {
for (int i = 0; i < pins->size(); i++) {
Pin *pin = pins->at(i);
if (pin->getOffsetX() == offsetX && pin->getOffsetY() == offsetY) {
return pin;
}
}
return 0;
}
int HWAdmux::GetMuxOutput() {
int pin = admux&(MUX2|MUX1|MUX0);
Pin* p = ad[pin];
if(!p){
cerr << "HWAdmux::GetMuxOutput null pin on " << pin << endl;
return 0;
}
return p->GetAnalog();
}
void CCircuitView::OnKeyDown(UINT nChar, UINT nRepCnt, UINT nFlags)
{
// TODO: ¿©±â¿¡ ¸Þ½ÃÁö 󸮱â Äڵ带 Ãß°¡ ¹×/¶Ç´Â ±âº»°ªÀ» È£ÃâÇÕ´Ï´Ù.
if (nChar == VK_DELETE)
{
CLogicSimulatorDoc *pDoc = (CLogicSimulatorDoc *)GetDocument();
int lin = pDoc->currBox->lines.size();
int lon = pDoc->currBox->logicInfo.size();
for (int i = 0; i < lin; i++)
{
if (pDoc->currBox->lines.at(i)->isSelected == TRUE)
{
delete pDoc->currBox->lines.at(i);
pDoc->currBox->lines.erase(pDoc->currBox->lines.begin() + i);
lin--;
}
}
for (int i = 0; i < lon; i++)
{
if (pDoc->currBox->logicInfo.at(i)->isSelected == TRUE)
{
//OUT & INPIN Ưº° Ãë±Þ
if (pDoc->currBox->logicInfo.at(i)->objectName == PIN) {
Pin* TP = (Pin*)pDoc->currBox->logicInfo.at(i);
if (TP->getConNum() >= 0)
pDoc->currBox->ConnInput[TP->getConNum()] = FALSE;
pDoc->currBox->NumInput--;
}
else if (pDoc->currBox->logicInfo.at(i)->objectName == OUTPIN) {
Out* TO = (Out*)pDoc->currBox->logicInfo.at(i);
if (TO->getConNum() >= 0)
pDoc->currBox->ConnOutput[TO->getConNum()] = FALSE;
pDoc->currBox->NumOuput--;
}
delete pDoc->currBox->logicInfo.at(i);
pDoc->currBox->logicInfo.erase(pDoc->currBox->logicInfo.begin() + i);
lon--;
}
}
pDoc->currBox->LineCheck();
pDoc->CheckPoint();
Invalidate();
}
CView::OnKeyDown(nChar, nRepCnt, nFlags);
}
extern "C" void pinMode(uint8_t pin, uint8_t mode)
{
ResourceMap *rmap = ResourceMap::getInstance();
Pin *p = rmap->getPin(pin);
if (!p) return;
p->setTris(mode);
}
extern "C" void digitalWrite(uint8_t pin, uint8_t val)
{
ResourceMap *rmap = ResourceMap::getInstance();
Pin *p = rmap->getPin(pin);
if (!p) return;
p->setValue(val);
}
extern "C" int digitalRead(uint8_t pin)
{
ResourceMap *rmap = ResourceMap::getInstance();
Pin *p = rmap->getPin(pin);
if (!p) return -1;
if (p->getValue()) return HIGH;
return LOW;
}
void Motor::directionPin(
const int& value)
{
Pin* pin = Esp8266::getInstance()->getPin(directionPinId);
if (pin)
{
pin->digitalWrite(value);
Logger::logDebug("Direction pin[" + String(pin->getPinId()) + "] = " + String(value) + "\n");
}
}
void Motor::speedPin(
const int& value)
{
Pin* pin = Esp8266::getInstance()->getPin(speedPinId);
if (pin)
{
pin->analogWrite(value);
Logger::logDebug("Speed pin[" + String(pin->getPinId()) + "] = " + String(value) + "\n");
}
}
void Scope::SetInStateForChannel(unsigned int channel, Pin& p) {
if ( lastVal[channel]!= p.GetAnalog() ) {
ostringstream os;
os << name << " ChangeValue " << SystemClock::Instance().GetCurrentTime() << " " << channel << " " << p.GetAnalog()<<endl;
ui->Write(os.str());
//cout << "Set last val for channel " << channel << " value " << p.GetAnalog() << endl;
lastVal[channel]=p.GetAnalog();
//cout << "OK" << endl << endl;
}
}
int main()
{
// configure IO pins
LED0.Direct(OUTPUT);
LED0.Off();
LED1.Direct(OUTPUT);
LED1.Off();
// run OS
OS::run();
}
INTERRUPT_HANDLER(Timer3_period_ISR, ITC_IRQ_TIM3_OVF)
{
TIMER3_ISR.On();
TIM3->SR1 &= ~TIM3_SR1_UIF;
OS::TISRW ISRW;
TIMER3_TO_PROC1.On();
Timer3_Ovf.signal_isr();
TIMER3_ISR.Off();
}
void Thrusters::device_setup(){
port_motor.reset();
vertical_motor.reset();
starboard_motor.reset();
thrusterOutput.reset();
controltime.reset();
bypasssmoothing = false;
#ifdef ESCPOWER_PIN
escpower.reset();
escpower.write(1); //Turn on the ESCs
#endif
}
//void spanResistors(Pin *source, list<Wire *>wires){
void spanResistors(Pin *source, list<Resistor *>resistors){
//cout <<"entering spanResistors"<<endl;
/* 1. try to reach the end.
* 2. if end is reached, must go back and turn all wires on in the path
*/
if (source == NULL) return;
if (source->visited()) return;
source->visited(true);
//debug("spanResistors source pin: "<< source->fullName());
Wire *wire = source->wire();
if (!wire) return;
//debug("spanResistors wire: "<< wire->name());
list<Pin *>pins = wire->pins();
list<Pin *>::iterator it;
for (it = pins.begin(); it != pins.end(); it++){
Pin *pin = (*it);
if (pin == source) continue;
pin->visited(true);
//get element for source
Element *element = pin->element();
if (element->type() == "source"){
//cerr << "Encountered source "<< element->info() <<" while completing circuit."<<endl;
return;
}
else if (element->type() == "ground"){
//cout <<"ground reached: "<<endl;
//end reached.
activateResistors(resistors);
//upWires(wires);
}
else if (element->type() == "switch"){
Switch *switc = (Switch *)element;
if (!switc->isOn()) continue;
Pin *nextPin = switc->outPin(pin);
spanResistors(nextPin,resistors);
}
else if (element->type() == "resistor"){
Resistor *resistor = (Resistor *)element;
resistors.push_back(resistor);
Pin *nextPin = resistor->outPin(pin);
spanResistors(nextPin, resistors);
}
else if (element->type() == "bridge"){
Bridge *bridge = (Bridge *)element;
Pin *nextPin = bridge->outPin(pin);
spanResistors(nextPin, resistors);
}
}
}
void Circuit::calculateCellsPins(){
int halfPinSize=currentRules->getRule(E1M1VI)+currentRules->getRule(W2VI)/2;
int hGrid=currentRules->getIntValue(getHPitch()), vGrid=currentRules->getIntValue(getVPitch());
for(map<string, CellNetlst>::iterator cellNetlsts_it=cellNetlsts.begin(); cellNetlsts_it!=cellNetlsts.end(); ++cellNetlsts_it){
map<string, CLayout>::iterator layouts_it=layouts.find(cellNetlsts_it->first);
if(layouts_it!=layouts.end()){
layouts_it->second.getPins().clear();
for(int x=hGrid/2; x<=layouts_it->second.getWidth(); x+=hGrid){
for(int y=vGrid; y<=layouts_it->second.getHeight()-vGrid; y+=vGrid){
string connectedNet="none";
string aroundNet="none";
bool fail=false;
int finalX, finalY;
for(map <layer_name , list<Box> >::iterator layers_it = layouts_it->second.layers.begin(); layers_it != layouts_it->second.layers.end(); layers_it++){
if(layers_it->first==MET1){
for(list <Box>::iterator layer_it = layers_it->second.begin(); layer_it != layers_it->second.end(); layer_it++){
int dx=max(layer_it->getX1(),x-halfPinSize) - min(layer_it->getX2(),x+halfPinSize);
int dy=max(layer_it->getY1(),y-halfPinSize) - min(layer_it->getY2(),y+halfPinSize);
if(dx<=-(2*halfPinSize-1) && dy<=-(2*halfPinSize-1)){
if(connectedNet=="none"){
connectedNet=layer_it->getNet();
finalX=x;
finalY=y;
}
if(connectedNet!=layer_it->getNet() || (aroundNet!="none" && aroundNet!=connectedNet)) fail=true;
}else if((dx<0 && dy<0) ||
(dx<=0 && dy>=0 && dy<currentRules->getRule(S1M1M1)-1) ||
(dx>=0 && dy<=0 && dx<currentRules->getRule(S1M1M1)-1) ||
(dx>=0 && dy>=0 && sqrt(float(dx*dx+dy*dy))<currentRules->getRule(S1M1M1)-1)){
if(aroundNet=="none") aroundNet=layer_it->getNet();
if(aroundNet!=layer_it->getNet() || (connectedNet!="none" && aroundNet!=connectedNet)) fail=true;
}
}
}
}
Pin p;
p.setPos(x,y);
p.setLayer(MET1);
if(!fail && connectedNet!="none" && connectedNet!=""){
layouts_it->second.getPins().insert(make_pair(connectedNet,p));
layouts_it->second.addLabel(connectedNet, Point(x, y));
} else if(!(connectedNet=="none" && aroundNet=="none")){
layouts_it->second.getPins().insert(make_pair("bl",p));
// layouts_it->second.addLabel("bl", Point(x, y));
}
}
}
}
}
}
void Motor::setup()
{
Pin* pin = Esp8266::getInstance()->getPin(directionPinId);
if (pin)
{
pin->setMode(OUTPUT);
}
pin = Esp8266::getInstance()->getPin(speedPinId);
if (pin)
{
pin->setMode(OUTPUT);
}
}
NavModeAutoTest () {
system("gpsd -n -S 3001 /dev/ttyS4 /dev/ttyACM0");
mode = NavModeBase::factory(me, NavModeEnum::AUTONOMOUS);
rcchannels->at(Conf::get()->RCchannelMap().at("auto")) = Conf::get()->RClimits().at("min");
start = std::chrono::system_clock::now();
me.health = &health;
health.setADCdevice(&adc);
me.rudder = &rudder;
me.throttle = &throttle;
me.rc = &rc;
me.adc = &adc;
me.gps = &gps;
me.orient = &orient;
me.relays = RelayMap::instance();
adc.init();
me.relays->init();
harness.accessADC(&adc, &adcraw, &adcvalid);
harness.accessRC(&rc, NULL, NULL, &rcfailsafe, &rcvalid, &rcchannels, NULL, NULL, NULL);
harness.accessGPSd(&gps, &fix, NULL);
harness.accessOrientation(&orient, &orientvalue, &orientvalid);
for (auto r: *me.relays->getmap()) {
Pin *drive;
Pin *fault;
harness.accessRelay(r.second, &drive, &fault);
fault->setDir(true);
fault->init();
fault->clear();
}
fix->fixValid = true;
fix->speed = 0;
fix->track = 0;
fix->fix.lat = 48.0;
fix->fix.lon = -114.0;
me.lastFix = *fix;
me.rudder->attach(Conf::get()->rudderPort(), Conf::get()->rudderPin());
me.disarmInput.setDir(true);
me.disarmInput.init();
me.disarmInput.set();
me.armInput.setDir(true);
me.armInput.init();
me.armInput.clear();
*adcvalid = true;
*rcvalid = true;
*rcfailsafe = false;
*orientvalid = true;
adcraw->at(Conf::get()->batmonName()) = 3000;
health.readHealth();
}
void MSERNode::tick( double dt )
{
Timer t;
t.start();
Pin* outPin = findPinFromLabel("out");
Pin* inPin = findPinFromLabel("in");
if( !inPin->isConnected() )
waitForConnection();
if( !outPin->isConnected() )
waitForConnection();
if( outPin->isConnected() && inPin->isConnected() )
{
vector<ObjectBlob*> b = inPin->read();
if( b.size() > 0 )
{
for( int k = 0; k < b.size(); ++k )
{
if( b[k]->getTypeName() == "Image" )
{
monadic::Image img;
img.deserialize(b[k]);
cv::Mat m( img.getHeight(), img.getWidth(), CV_8UC3, img.ptr() );
cv::Mat res( img.getHeight(), img.getWidth(), CV_8UC3 );
res = m.clone();
cv::cvtColor( m, m, CV_RGB2GRAY );
vector< vector< cv::Point > > ret;
cv::MSER* det = (cv::MSER*)(detector);
(*det)(m, ret);
for( size_t i = 0; i < ret.size(); ++i )
{
//cv::circle( res, kps[i].pt, 3, CV_RGB(255,0,0) );
cv::Rect r = cv::boundingRect(ret[i]);
cv::rectangle( res, r, CV_RGB(255,0,0), 3 );
}
monadic::Image imgout;
imgout.create( res.cols, res.rows, 8, res.channels() );
size_t bufferSize = res.cols * res.rows * res.channels();
imgout.copyFrom( (char*)res.data, bufferSize );
ObjectBlob* bout = imgout.serialize();
outPin->write( bout );
delete bout;
}
delete b[k];
}
}
}
t.stop();
}
inline bool wait_for(bool value, unsigned int timeout) {
timeout += millis();
while (echo->read_digital() != value)
if (millis() > timeout)
return false;
return true;
}
void OS::system_timer_user_hook()
{
static int timer_event_counter = 5;
if (!--timer_event_counter)
{
timer_event_counter = 5;
LED1.On();
TimerEvent.signal_isr();
}
}
void setup() {
Serial.begin(9600);
ppm_sp.setup();
ppm_rl.setup();
motor_l.setup();
motor_r.setup();
power_h_bridge.set_output(true);
}
void removeFromPin(Pin &pin) {
// get disc on the middle point
goTo(pin.x, pin.y,
(pin.num_discs - 0.5) * DISC_HEIGHT + BASE_HEIGHT);
// close Gripper!
closeGripper();
// go to the top of the pin
goTo(pin.x, pin.y, (3 + ALPHA) * DISC_HEIGHT + BASE_HEIGHT);
// update pin state
pin.remove();
}
void moveToPin(Pin &pin) {
// go to the top of the pin
goTo(pin.x, pin.y, (3 + ALPHA) * DISC_HEIGHT + BASE_HEIGHT);
// update pin state
pin.add();
// get disc on the middle point
goTo(pin.x, pin.y,
(pin.num_discs - 0.5) * DISC_HEIGHT + BASE_HEIGHT);
// open Gripper!
openGripper();
}
void move_discs(Pin &orig, Pin &dest, int num_discs) {
// Stop case of recorrence
if (num_discs == 1) {
move_disc(orig, dest);
return;
}
// Discover intermediate pin
if (orig.pos() != PIN_A && dest.pos() != PIN_A) {
move_discs(orig, p_a, num_discs - 1);
move_disc(orig, dest);
move_discs(p_a, dest, num_discs - 1);
} else if (orig.pos() != PIN_B && dest.pos() != PIN_B) {
move_discs(orig, p_b, num_discs - 1);
move_disc(orig, dest);
move_discs(p_b, dest, num_discs - 1);
} else {
move_discs(orig, p_c, num_discs - 1);
move_disc(orig, dest);
move_discs(p_c, dest, num_discs - 1);
}
}
PluginChip::PluginChip(DLLHANDLETYPE aDllHandle, const char *aChipname)
{
memset(&mChipInfo,0,sizeof(mChipInfo));
dllcreate = (createproc)getdllproc(aDllHandle, "create");
dllupdate = (updateproc)getdllproc(aDllHandle, "update");
dllrender = (renderproc)getdllproc(aDllHandle, "render");
dllcleanup = (cleanupproc)getdllproc(aDllHandle, "cleanup");
if (dllcreate == NULL ||
dllupdate == NULL ||
dllrender == NULL ||
dllcleanup == NULL ||
dllcreate(&mChipInfo, aChipname) == 0)
{
dllcreate = NULL;
return;
}
set(0, 0, mChipInfo.mWidth, mChipInfo.mHeight, mChipInfo.mTooltip);
int i;
for (i = 0; i < mChipInfo.mPinCount; i++)
{
const char *tt = NULL;
Pin *p = new Pin;
mPin.push_back(p);
if (mChipInfo.mPinTooltips)
tt = mChipInfo.mPinTooltips[i];
if (tt == NULL)
tt = "-";
p->set(mChipInfo.mPinCoordinates[i*2+0], mChipInfo.mPinCoordinates[i*2+1], this, tt);
}
mTexture = 0;
if (mChipInfo.mTextureFilename)
mTexture = load_texture((char*)mChipInfo.mTextureFilename);
}
void Lights::device_loop(Command command){
if( command.cmp("ligt")){
int value = command.args[1]; //0 - 255
light.write(value);
_SERIAL_PORT_.print(F("LIGT:"));
_SERIAL_PORT_.print(value);
_SERIAL_PORT_.print(';');
_SERIAL_PORT_.print(F("LIGP:"));
_SERIAL_PORT_.print(command.args[1]/255.0);
_SERIAL_PORT_.println(';');
}
}
VibrationSensor2::VibrationSensor2(
const String& id,
const int& pinId) : Component(id)
{
this->pinId = pinId;
serverId = "";
sensitivity = DEFAULT_SENSITIVITY;
responsiveness= DEFAULT_RESPONSIVENESS;
vibrationCount = 0;
for (int i = 0; i < NUM_INTERVALS; i++)
{
queue[i] = NOT_VIBRATING;
}
Pin* pin = Esp8266::getInstance()->getPin(pinId);
if (pin)
{
pin->setMode(INPUT);
}
stateChangeTime = millis();
}
void Pin::copy(const Pin &rhs)
{
setPen(rhs.pen());
attributes = rhs.attributes;
hidden = rhs.hidden;
_length = rhs._length;
_bubble = rhs._bubble;
bubbleToggle = rhs.bubbleToggle;
clock = rhs.clock;
position = rhs.position;
// pinname and pinnumber depend on bubble and clock so they need to be assigned after bubble and clock
pinname = rhs.pinname;
pinnumber = rhs.pinnumber;
rebuild();
}
