/// <summary>
/// wait for the specficed ms until keypressed
/// </summary>
/// <param name="ms">The ms to wait.</param>
/// <returns>The key pressed(ASC-II not guaranteed).</returns>
int waitkey(double ms)
{
int key = -1;
double start = get_real_time();
double end = start + ms / 1000;
#if defined(__unix__) || defined(__unix) || defined(unix) || (defined(__APPLE__) && defined(__MACH__))
set_conio_terminal_mode();
#endif
if (ms <= 0)
{
// disable timer if ms <= 0
end = DBL_MAX;
}
while (key == -1)
{
key = kb_hit();
//printf("%d", (int)get_elapsed_time_ms(start));
if (get_real_time() >= end)
{
break;
}
}
//std::cin.get();
#if defined(__unix__) || defined(__unix) || defined(unix) || (defined(__APPLE__) && defined(__MACH__))
reset_terminal_mode();
#endif
return key;
}
//------------------------------------------------------------
void ofAppNoWindow::exitApp(){
ofLogVerbose("ofAppNoWindow") << "terminating headless (no window) app!";
#if defined TARGET_OSX || defined TARGET_LINUX
// this doesn't exist on windows and gives linking errors, so commented out.
reset_terminal_mode();
#endif
OF_EXIT_APP(0);
}
int get_last_key()
{
int r;
uchar c;
if ((r = read(0, &c, sizeof(c))) < 0) {
return r;
}
else {
reset_terminal_mode();
return c;
}
}
void motor_usals(int frontend_fd, double site_lat, double site_long, double sat_long)
{
if (ioctl(frontend_fd, FE_SET_TONE, SEC_TONE_OFF) == -1)
perror("FE_SET_TONE ERROR!");
usleep(20000);
if (ioctl(frontend_fd, FE_SET_VOLTAGE, SEC_VOLTAGE_18) == -1)
perror("FE_SET_VOLTAGE ERROR!");
usleep(20000);
double r_eq = 6378.14; // Earth radius
double r_sat = 42164.57; // Distance from earth centre to satellite
site_lat = radian(site_lat);
site_long = radian(site_long);
sat_long = radian(sat_long);
double declination = degree( atan( r_eq * sin(site_lat) / ( (r_sat - r_eq) + (r_eq * (1 - cos(site_lat))) ) ) );
// x = [0], y = [1], z = [2]
double dishVector[3] = { r_eq * cos(site_lat), 0, r_eq * sin(site_lat) };
double satVector[3] = { r_sat * cos(site_long - sat_long), r_sat * sin(site_long - sat_long), 0 };
double satPointing[3] = { satVector[0] - dishVector[0], satVector[1] - dishVector[1], satVector[2] - dishVector[2] } ;
double motor_angle = degree( atan( satPointing[1]/satPointing[0] ) );
int sixteenths = fabs(motor_angle) * 16.0 + 0.5;
int angle_1, angle_2;
angle_1 = motor_angle > 0.0 ? 0xd0 : 0xe0;
angle_1 |= sixteenths >> 8;
angle_2 = sixteenths & 0xff;
printf("Long: %.2f, Lat: %.2f, Orbital Pos: %.2f, RotorCmd: %02x %02x, motor_angle: %.2f declination: %.2f\n", degree(site_long), degree(site_lat), degree(sat_long), angle_1, angle_2, motor_angle, declination);
struct dvb_diseqc_master_cmd usals_cmd = { { 0xe0, 0x31, 0x6e, angle_1, angle_2, 0x00 }, 5 };
diseqc_send_msg(frontend_fd, usals_cmd);
printf("Waiting for motor to move, either wait 45sec or hit 's' to skip\n");
int c;
int sec = time(NULL);
set_conio_terminal_mode();
do {
sleep(1);
if ( kbhit() )
c = kbgetchar(); /* consume the character */
} while( (char)c != 's' && sec+45 > time(NULL) );
reset_terminal_mode();
}
void motor_gotox(int frontend_fd, int pmem)
{
struct dvb_diseqc_master_cmd gotox_cmd = { { 0xe0, 0x31, 0x6B, pmem, 0x00, 0x00 }, 4 };
diseqc_send_msg(frontend_fd, gotox_cmd);
printf("Waiting for motor to move, either wait 45sec or hit 's' to skip\n");
int c;
int sec = time(NULL);
set_conio_terminal_mode();
do {
sleep(1);
if ( kbhit() )
c = kbgetchar(); /* consume the character */
} while( (char)c != 's' && sec+45 > time(NULL) );
reset_terminal_mode();
}
//------------------------------------------------------------
void ofAppNoWindow::exitApp() {
// -- This already exists in ofExitCallback
static ofEventArgs voidEventArgs;
#ifdef OF_USING_POCO
ofNotifyEvent( ofEvents().exit, voidEventArgs );
#endif
ofLog(OF_LOG_VERBOSE,"No Window OF app is being terminated!");
reset_terminal_mode();
OF_EXIT_APP(0);
}
int main(){
set_conio_terminal_mode();
int nCount=0;
int bLoop=1;
int xpos,ypos;
xpos=0;ypos=1;
char cmd;
while(bLoop){
// scanf("%c",&cmd);
if(kbhit() != 0){
cmd = getch();
switch(cmd){
case 'w':
ypos-=1;
break;
case 's':
ypos+=1;
break;
case 'a':
xpos-=1;
break;
case 'd':
xpos+=1;
break;
case 'q':
bLoop = 0;
break;
}
if(cmd == 'q'){
bLoop =0;
}
printf("%d \r\n",(int)cmd);
}
printf("%d \r",nCount);
nCount++;
nCount %=10;
system("clear");
drawMyBox(xpos,ypos,0,44,1,3);
drawMyBox(nCount,5,0,42,1,5);
gotoxy(0,20);
printf("-----------------------");
}
reset_terminal_mode();
return 0;
}
//------------------------------------------------------------
void ofxAppNoWindow::exitApp(){
// -- This already exists in ofExitCallback
// static ofEventArgs voidEventArgs;
//
// if(ofAppPtr)ofAppPtr->exit();
//
// #ifdef OF_USING_POCO
// ofNotifyEvent( ofEvents.exit, voidEventArgs );
// #endif
ofLogVerbose("ofxAppNoWindow") << "terminating headless (no window) app!";
#if defined TARGET_OSX || defined TARGET_LINUX
// this doesn't exist on windows and gives linking errors, so commented out.
reset_terminal_mode();
#endif
OF_EXIT_APP(0);
}
int main(int argc, char *argv[])
{
set_conio_terminal_mode();
fdFifo = open("./RobotFifo", O_WRONLY);
SendCommand("RW:0\r");
bool autoMode = true;
char c = 0;
int leftPower = 0;
int rightPower = 0;
int turn = 0;
int speed = 0;
int prevSpeed = 0;
int mode = MODE_MOTOR;
while (c != 'q')
{
while (!kbhit())
{
usleep(1000);
}
c = getch();
if (c == 'q')
exit(0);
if (c == 'h')
{
reset_terminal_mode();
printf("\n\nNew heading: ");
char hdg[255];
fgets(hdg, 255, stdin);
int newHeading = strtol(hdg, 0, 10);
char cmd[255];
sprintf(cmd, "H:%d\r", newHeading);
SendCommand(cmd);
set_conio_terminal_mode();
continue;
}
if (c == 'c')
{
reset_terminal_mode();
printf("\n\nCalibrating. Rotate 360 degrees over 10 seconds...\n\n");
char cmd[255];
sprintf(cmd, "CAL:0\r");
SendCommand(cmd);
set_conio_terminal_mode();
continue;
}
if (mode == MODE_MOTOR)
{
switch (c)
{
case '+':
case '8': speed += 5; autoMode = false; break;
case '-':
case '2': speed -= 5; autoMode = false; break;
case '4': turn -= 5; autoMode = false; break;
case '6': turn += 5; autoMode = false; break;
case '5': turn = 0; autoMode = false; break;
case '0': speed = 0; turn = 0; autoMode = false; break;
case 's': mode = MODE_SERVO; break;
case 'a': speed = 0;
turn = 0;
autoMode = true;
SendCommand("A:0\r");
break;
}
if (!autoMode)
{
if (speed > 255)
speed = 255;
if (speed < -255)
speed = -255;
if (turn > 255)
turn = 255;
if (turn < -255)
turn = -255;
if (prevSpeed == 0 && speed < 0)
{
if (speed > -35)
speed = -35;
}
if (prevSpeed == 0 && speed > 0)
{
if (speed < 35)
speed = 35;
}
if (speed == 0 && turn < 0)
{
if (turn > -35)
turn = -35;
}
if (speed == 0 && turn > 0)
{
if (turn < 35)
turn = 35;
}
leftPower = speed - turn;
rightPower = speed + turn;
prevSpeed = speed;
if (leftPower > 255)
leftPower = 255;
if (leftPower < -255)
leftPower = -255;
if (rightPower > 255)
rightPower = 255;
if (rightPower < -255)
rightPower = -255;
char cmd[256];
sprintf(cmd, "M:%d,%d\r", leftPower, rightPower);
SendCommand(cmd);
}
}
else
{
switch (c)
{
case '4': panServo += 1; break;
case '6': panServo -= 1; break;
case '8': tiltServo += 1; break;
case '2': tiltServo -= 1; break;
case '5': panServo = PAN_CENTER; tiltServo = TILT_CENTER; break;
case 'm': mode = MODE_MOTOR; break;
case 'a': speed = 0;
turn = 0;
autoMode = true;
SendCommand("A:0\r");
break;
}
if (panServo > 180)
panServo = 180;
if (panServo < 0)
panServo = 0;
if (tiltServo > 180)
tiltServo = 180;
if (tiltServo < 0)
tiltServo = 0;
char cmd[256];
sprintf(cmd, "PT:%d,%d\r", panServo, tiltServo);
SendCommand(cmd);
}
}
}
