//绑定img为btn
void imgbase::btn_bind(void *outitem,int min_alpha,void *data)
{
btn_map = new btnmap;
//创建不规则按钮
if(min_alpha!=0)
{
mytex *btn_map_tex = new mytex;
btn_map_tex->tex = 0;
if(rendr_to_texture(btn_map_tex,btn_map->x_delta,btn_map->y_delta))
{
btn_map->width = btn_map_tex->width; btn_map->height = btn_map_tex->height;
getbtnmap(btn_map_tex,btn_map,min_alpha);
}
//释放btnmap纹理
if(btn_map_tex)
SAFE_RELEASE(btn_map_tex->tex);
delete btn_map_tex;
btn_map_tex = 0;
}
btn_map->min_alpha = min_alpha;
btn_map->outitem = outitem; //主程序中储存img数据的结构指针
btn_map->data = data; //绑定的数据,回调时返回
btn_enable = true;
}
//当img发生变化(放缩,角度变化)时重新刷新btnmap
void imgbase::refresh_map()
{
if(btn_map->min_alpha==0)
return;
mytex *btn_map_tex = new mytex;
if(rendr_to_texture(btn_map_tex,btn_map->x_delta,btn_map->y_delta))
{
//释放原有的map
delete[] *(btn_map->btn_map);
delete[] btn_map->btn_map;
btn_map->width = btn_map_tex->width; btn_map->height = btn_map_tex->height;
getbtnmap(btn_map_tex,btn_map,btn_map->min_alpha);
}
//释放btnmap纹理
SAFE_RELEASE(btn_map_tex->tex);
delete btn_map_tex;
btn_map_tex = 0;
}
int main (int argc, char **argv)
{
FILE *fp;
char fBuf[60];
int fd1;
char buf2 [64] ;
// int PinA = 0;
// int PinB = 2;
// int PinC = 3;
int fd;
int i;
unsigned long curJsTime=0;
unsigned long prevJsTime=0;
int botDir=-1;
unsigned char armDir=0;
unsigned char axes = 2;
unsigned char buttons = 2;
int version = 0x000800;
char name[NAME_LENGTH] = "Unknown";
uint16_t btnmap[BTNMAP_SIZE];
uint8_t axmap[AXMAP_SIZE];
int btnmapok = 1;
int blevel;
// char btaddress[18]="00:16:53:0e:c9:97"; //old NXT
// char btaddress[18]="00:16:53:03:ca:76"; //new NXT
char btaddress[18];
time_t curr_time, prev_time, diff_time;
fp = fopen("/root/btslct.conf","r");
if(fp != NULL){
fBuf[0]=0;
while(fgets(fBuf,sizeof fBuf, fp) != NULL){
strncpy(btaddress,&fBuf[0],18);//NXT BT addr
}
}
fclose(fp);
if (wiringPiSetup () == -1)
exit (1) ;
fd1 = lcdInit (2, 16, 4, 11, 10, 0,1,2,3,0,0,0,0) ;
if (fd1 == -1)
{
printf ("lcdInit 1 failed\n") ;
return 1 ;
}
pinMode (4, INPUT) ; // Pin 4 EncA
pinMode (5, INPUT) ; // Pin 5 EncB
pinMode (6, INPUT) ; // Pin 6 EncSw
CurVal = digitalRead(4);
PrevVal = CurVal;
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " GLXP MoonBots ");
sleep(1);
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Connecting to ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " Robot ");
//sleep(1);
int waitForStart =0;
if(init_bluetooth(btaddress) <0){
waitForStart =0;
close(nxtSocket);
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Robot ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " Not Connected ");
sleep(1);
return 1;
}
else
waitForStart =1;
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Robot ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, "Connected Via BT");
sleep(1);
// digitalWrite(PinA, 0);
printf("bluetooth connected to %s \n", btaddress);
blevel = nxt_getbattery();
if(blevel<0){
waitForStart =0;
close(nxtSocket);
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Robot ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " Low Battery ");
sleep(1);
return 1;
}
else
waitForStart =1;
printf("battery level: %.2f\n",blevel/1000.00);
// mlevel = nxt_move();
nxt_move_vr(0,0);
/*
if (argc < 2 || argc > 3 || !strcmp("--help", argv[1])) {
puts("");
puts("Usage: jstest [<mode>] <device>");
puts("");
puts("Modes:");
puts(" --normal One-line mode showing immediate status");
puts(" --old Same as --normal, using 0.x interface");
puts(" --event Prints events as they come in");
puts(" --nonblock Same as --event, in nonblocking mode");
puts(" --select Same as --event, using select() call");
puts("");
return 1;
}
*/
if ((fd = open(argv[argc - 1], O_RDONLY)) < 0) {
perror("jstest");
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Gamepad ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " Not Found ");
sleep(1);
return 1;
}
// digitalWrite(PinB, 0);
ioctl(fd, JSIOCGVERSION, &version);
ioctl(fd, JSIOCGAXES, &axes);
ioctl(fd, JSIOCGBUTTONS, &buttons);
ioctl(fd, JSIOCGNAME(NAME_LENGTH), name);
getaxmap(fd, axmap);
getbtnmap(fd, btnmap);
printf("Driver version is %d.%d.%d.\n",
version >> 16, (version >> 8) & 0xff, version & 0xff);
/* Determine whether the button map is usable. */
for (i = 0; btnmapok && i < buttons; i++) {
if (btnmap[i] < BTN_MISC || btnmap[i] > KEY_MAX) {
btnmapok = 0;
break;
}
}
if (!btnmapok) {
/* btnmap out of range for names. Don't print any. */
puts("jstest is not fully compatible with your kernel. Unable to retrieve button map!");
printf("Joystick (%s) has %d axes ", name, axes);
printf("and %d buttons.\n", buttons);
} else {
printf("Joystick (%s) has %d axes (", name, axes);
for (i = 0; i < axes; i++)
printf("%s%s", i > 0 ? ", " : "", axis_names[axmap[i]]);
puts(")");
printf("and %d buttons (", buttons);
for (i = 0; i < buttons; i++) {
printf("%s%s", i > 0 ? ", " : "", button_names[btnmap[i] - BTN_MISC]);
}
puts(").");
}
printf("Testing ... (interrupt to exit)\n");
int *axis;
char *button;
// int ii;
struct js_event js;
int apwr = 0;
int preApwr=0;
int mvpwr = 0;
int preMvpwr = 0;
int waitForRed=0;
int motorNotSync = 0;
axis = calloc(axes, sizeof(int));
button = calloc(buttons, sizeof(char));
fcntl(fd, F_SETFL, O_NONBLOCK);//js non-blocking mode, remove for event mode
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Set Gamepad ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " Mode to Red? ");
// while((!waitForRed)&&(read(fd, &js, sizeof(struct js_event)) != sizeof(struct js_event))) {
while(!waitForRed){
read(fd, &js, sizeof(struct js_event));
if((js.type & ~JS_EVENT_INIT) == JS_EVENT_AXIS){
axis[js.number] = js.value;
if((axis[0]!=0)||(axis[1]!=0)||(axis[2]!=0)||(axis[3]!=0)||(axis[4]!=0))
waitForRed=0;
else
waitForRed=1;
}//if
fflush(stdout);
}
// sleep(2);
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Robot Ready ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " Gamepad Ready ");
sleep(1);
// digitalWrite(PinC, 0);
// ii = 0;
prev_time = time((time_t *)0);
while(1){
while(waitForStart){
curr_time = time((time_t *)0);
diff_time = curr_time - prev_time;
if(diff_time >= 1){
blevel = nxt_getbattery();
if(blevel<0){
close(nxtSocket);
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Robot ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, "Connection Lost ");
sleep(1);
waitForStart=0;
// return 1;
}//blevel
else{
// sprintf (buf2, "Battery: %.2fV ",blevel/1000.00);
// lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Robot ");
sprintf (buf2, "Connected: %.2fV",blevel/1000.00);
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " GLXP MoonBots ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, buf2);
}
printf("battery level: %.2f\n",blevel/1000.00);
// printf("Time diff %ld\n",diff_time);
prev_time = curr_time;
diff_time=0;
}//diff_time
while (read(fd, &js, sizeof(struct js_event)) == sizeof(struct js_event)) {
if(!btBusy){
switch(js.type & ~JS_EVENT_INIT) {
case JS_EVENT_BUTTON:
// ii=0;
button[js.number] = js.value;
if(button[8]){
if(botDir==1) botDir=-1;
else botDir=1;
}
if(button[9]){
if(armDir) armDir=0;
else armDir=1;
}
if(button[0] && !button[2]) apwr = 30;
else if(!button[0] && button[2]) apwr = -30;
else apwr = 0;
if(armDir){
apwr = -1* apwr;
}
if(apwr!=preApwr){
nxt_move_arm(apwr);
preApwr=apwr;
}
if(button[6] && !button[4] && !button[7] && !button[5]) mvpwr = -20;
else if(!button[6] && button[4] && !button[7] && !button[5]) mvpwr = 20;
else if(!button[6] && !button[4] && button[7] && !button[5]) mvpwr = -100;
else if(!button[6] && !button[4] && !button[7] && button[5]) mvpwr = 100;
else mvpwr = 0;
if(mvpwr!=preMvpwr){
nxt_move_sync(botDir*mvpwr,motorNotSync);
motorNotSync=0;
preMvpwr=mvpwr;
}
// if(button[0]) nxt_start_prog();
// if(button[2]) nxt_stop_prog();
break;
case JS_EVENT_AXIS:
if((js.number == 1)||(js.number==4)){//process only axis 1 and 4
curJsTime=js.time;
// if(curJsTime != prevJsTime){
axis[js.number] = js.value;
// printf("%d %d %d %d %d\n",axis[1],axis[2],axis[3], axis[4],js.number);
if(js.number==1) {
// nxt_move_x(botDir*axis[1],320,1);
// nxt_move_b(botDir*axis[1],420);
motorNotSync=1;
nxt_move_b(botDir*axis[1],520);
}
if(js.number==4) {
// nxt_move_x(botDir*axis[4],320,2);
// nxt_move_c(botDir*axis[4],420);
motorNotSync=1;
nxt_move_c(botDir*axis[4],520);
}
// if(botDir)
// nxt_move_vr((axis[1]/320),(axis[4]/320));
// else
// nxt_move_vr(-1*(axis[1]/320),-1*(axis[4]/320));
// prevJsTime=curJsTime;
// }
}
break;
}//switch JS
// if(botDir)
// nxt_move_vr((axis[1]/320),(axis[4]/320));
// else
// nxt_move_vr(-1*(axis[1]/320),-1*(axis[4]/320));
// ii++;
// usleep(100000);
}//if !btBusy
// usleep(10000);
}//while js read
if(errno != EAGAIN){
perror("\njstest1: error reading");
return 1;
}//if error
// usleep(10000);
}//waitforstart
if(digitalRead(6) ==0){
if(init_bluetooth(btaddress) <0){
waitForStart =0;
close(nxtSocket);
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Robot ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " Not Connected ");
sleep(1);
}
else
waitForStart =1;
}
else{
lcdPosition (fd1, 0, 0); lcdPuts (fd1, " Press Knob ");
lcdPosition (fd1, 0, 1); lcdPuts (fd1, " to Reconnect ");
}
}//while(1)
printf("jstest2: unknown mode: %s\n", argv[1]);
close(nxtSocket);
return -1;
}
