void getSensorData()
{
temperature = sensorManager.getTemperature();
rainStatus = sensorManager.getRainStatus();
lightLevel = sensorManager.getLightLevel();
pressure = sensorManager.getPressure(altitude);
}
void sensorUpdater()
{
SensorManager sm;
int fixedValues[4];
int rateValues[4];
while( true )
{
sm.update();
sm.getValues( fixedValues );
sm.getRates( rateValues );
m.lock();
yaw = fixedValues[2];
pitch = fixedValues[1];
roll = fixedValues[0];
height = fixedValues[3];
yawRate = rateValues[2];
pitchRate = rateValues[1];
rollRate = rateValues[0];
heightRate = rateValues[3];
m.unlock();
}
}
// for tracking new sensors that connect to the system
void SensorManager::NuiStatusCallback( HRESULT hrStatus, const OLECHAR* connectionId, const OLECHAR* uniqueDeviceName, void* pUserData )
{
SensorManager* pThis = nullptr;
pThis = reinterpret_cast<SensorManager*>(pUserData);
if( nullptr != pThis )
{
pThis->UpdateSensorOnList(connectionId, hrStatus);
}
}
void Player::setSupressionField(float distance)
{
if(!isGhost())
{
disableSupressionField();
if(distance > 0) {
SensorManager *rm = (SensorManager *) manager->findObject(SensorManagerId);
if(rm)
rm->addPlayerSupressor(this);
}
supressionDist = distance;
}
}
static jlong nativeInitSensorEventQueue(JNIEnv *env, jclass clazz, jlong sensorManager,
jobject eventQWeak, jobject msgQ, jfloatArray scratch, jstring packageName, jint mode) {
SensorManager* mgr = reinterpret_cast<SensorManager*>(sensorManager);
ScopedUtfChars packageUtf(env, packageName);
String8 clientName(packageUtf.c_str());
sp<SensorEventQueue> queue(mgr->createEventQueue(clientName, mode));
sp<MessageQueue> messageQueue = android_os_MessageQueue_getMessageQueue(env, msgQ);
if (messageQueue == NULL) {
jniThrowRuntimeException(env, "MessageQueue is not initialized.");
return 0;
}
sp<Receiver> receiver = new Receiver(queue, messageQueue, eventQWeak, scratch);
receiver->incStrong((void*)nativeInitSensorEventQueue);
return jlong(receiver.get());
}
void setup() {
lcd.print("LOADING");
lcd.begin(20, 4);
sensorManager.init();
initButtons();
Serial.begin(9600);
setSyncProvider(RTC.get);
EEPROM_readAnything(0, altitude);
}
static jboolean
nativeGetSensorAtIndex(JNIEnv *env, jclass clazz, jlong sensorManager, jobject sensor, jint index)
{
SensorManager* mgr = reinterpret_cast<SensorManager*>(sensorManager);
Sensor const* const* sensorList;
size_t count = mgr->getSensorList(&sensorList);
if (size_t(index) >= count) {
return false;
}
Sensor const* const list = sensorList[index];
const SensorOffsets& sensorOffsets(gSensorOffsets);
jstring name = getInternedString(env, &list->getName());
jstring vendor = getInternedString(env, &list->getVendor());
jstring requiredPermission = getInternedString(env, &list->getRequiredPermission());
env->SetObjectField(sensor, sensorOffsets.name, name);
env->SetObjectField(sensor, sensorOffsets.vendor, vendor);
env->SetIntField(sensor, sensorOffsets.version, list->getVersion());
env->SetIntField(sensor, sensorOffsets.handle, list->getHandle());
env->SetFloatField(sensor, sensorOffsets.range, list->getMaxValue());
env->SetFloatField(sensor, sensorOffsets.resolution, list->getResolution());
env->SetFloatField(sensor, sensorOffsets.power, list->getPowerUsage());
env->SetIntField(sensor, sensorOffsets.minDelay, list->getMinDelay());
env->SetIntField(sensor, sensorOffsets.fifoReservedEventCount,
list->getFifoReservedEventCount());
env->SetIntField(sensor, sensorOffsets.fifoMaxEventCount,
list->getFifoMaxEventCount());
env->SetObjectField(sensor, sensorOffsets.requiredPermission,
requiredPermission);
env->SetIntField(sensor, sensorOffsets.maxDelay, list->getMaxDelay());
env->SetIntField(sensor, sensorOffsets.flags, list->getFlags());
if (env->CallBooleanMethod(sensor, sensorOffsets.setType, list->getType()) == JNI_FALSE) {
jstring stringType = getInternedString(env, &list->getStringType());
env->SetObjectField(sensor, sensorOffsets.stringType, stringType);
}
return true;
}
int main(int argc, char** argv) {
SensorManager sensors;
sensors.initialize();
VehicleControl control;
control.initialize();
//control.setSpeed(1);
while (1) {
sensors.update();
char c = getchar();
if (c == '\n') {
std::cout << "Ultrasonic = " << sensors.getUltrasonic() << std::endl;
std::cout << "Light_Left = " << sensors.getLeftLightTrip() << std::endl;
std::cout << "Light_Right = " << sensors.getRightLightTrip() << std::endl;
std::cout << "IR_Left = " << sensors.getLeftInfraredTrip() << std::endl;
std::cout << "IR_Right = " << sensors.getRightInfraredTrip() << std::endl;
}
}
return 0;
}
/**
* small static wrapper function to start thread
*/
void* SensorManager::threadWrapper(void* instance)
{
SensorManager* sm = reinterpret_cast<SensorManager*>(instance);
sm->collectDataWorker();
return 0;
}
static jboolean nativeIsDataInjectionEnabled(JNIEnv *_env, jclass _this, jlong sensorManager) {
SensorManager* mgr = reinterpret_cast<SensorManager*>(sensorManager);
return mgr->isDataInjectionEnabled();
}
