int OpenGL43Instance::EnumerateGpus()
{
fDebug0();
mGpuCount = 0;
return mGpuCount;
}
void Frame::CalibrateESCs()
{
fDebug0();
gDebug() << "Disabling ESCs\n";
for ( Motor* m : mMotors ) {
m->Disable();
}
gDebug() << "Waiting 10 seconds...\n";
usleep( 10 * 1000 * 1000 );
gDebug() << "Setting maximal speed\n";
for ( Motor* m : mMotors ) {
m->setSpeed( 1.0f, true );
}
gDebug() << "Waiting 10 seconds...\n";
usleep( 10 * 1000 * 1000 );
gDebug() << "Setting minimal speed\n";
for ( Motor* m : mMotors ) {
m->setSpeed( 0.0f, true );
}
gDebug() << "Waiting 2 seconds...\n";
usleep( 2 * 1000 * 1000 );
gDebug() << "Disarm all ESCs\n";
for ( Motor* m : mMotors ) {
m->Disarm();
}
}
int Socket::Connect()
{
fDebug0();
if ( mConnected ) {
return 0;
}
setBlocking( true );
if ( mSocket < 0 ) {
int type = ( mPortType == UDP or mPortType == UDPLite ) ? SOCK_DGRAM : SOCK_STREAM;
int proto = ( mPortType == UDPLite ) ? IPPROTO_UDPLITE : ( ( mPortType == UDP ) ? IPPROTO_UDP : 0 );
char myname[256];
gethostname( myname, sizeof(myname) );
memset( &mSin, 0, sizeof( mSin ) );
mSin.sin_addr.s_addr = htonl( INADDR_ANY );
mSin.sin_family = AF_INET;
mSin.sin_port = htons( mPort );
mSocket = socket( AF_INET, type, proto );
int option = 1;
setsockopt( mSocket, SOL_SOCKET, ( 15/*SO_REUSEPORT*/ | SO_REUSEADDR ), (char*)&option, sizeof( option ) );
if ( mPortType == TCP ) {
int flag = 1;
setsockopt( mSocket, IPPROTO_TCP, TCP_NODELAY, (char*)&flag, sizeof(int) );
}
if ( mBroadcast ) {
int broadcastEnable = 1;
setsockopt( mSocket, SOL_SOCKET, SO_BROADCAST, &broadcastEnable, sizeof(broadcastEnable) );
}
if ( mPortType == UDPLite ) {
uint16_t checksum_coverage = 8;
setsockopt( mSocket, IPPROTO_UDPLITE, UDPLITE_SEND_CSCOV, &checksum_coverage, sizeof(checksum_coverage) );
setsockopt( mSocket, IPPROTO_UDPLITE, UDPLITE_RECV_CSCOV, &checksum_coverage, sizeof(checksum_coverage) );
}
if ( bind( mSocket, (SOCKADDR*)&mSin, sizeof(mSin) ) < 0 ) {
gDebug() << "Socket ( " << mPort << " ) error : " << strerror(errno) << "\n";
mConnected = false;
return -1;
}
}
if ( mPortType == TCP ) {
int ret = listen( mSocket, 5 );
int size = 0;
if ( !ret ) {
mClientSocket = accept( mSocket, (SOCKADDR*)&mClientSin, (socklen_t*)&size );
if ( mClientSocket < 0 ) {
mConnected = false;
return -1;
}
} else {
mConnected = false;
return -1;
}
} else if ( mPortType == UDP or mPortType == UDPLite ) {
if ( not mBroadcast ) {
uint32_t flag = 0;
uint32_t fromsize = sizeof( mClientSin );
int ret = recvfrom( mSocket, &flag, sizeof( flag ), 0, (SOCKADDR *)&mClientSin, &fromsize );
if ( ret > 0 ) {
flag = ntohl( flag );
gDebug() << "flag : " << ntohl( flag ) << "\n";
if ( flag != 0x12345678 ) {
mConnected = false;
return -1;
}
} else {
gDebug() << strerror( errno ) << "\n";
mConnected = false;
return -1;
}
}
}
mConnected = true;
return 0;
}
