void arm(int power, int time){
timeConvert(time);
motor[leftTopArm] = power;
motor[leftBottomArm] = power;
motor[rightTopArm] = power;
motor[rightBottomArm] = power;
wait1Msec(timeMS);
}
void turnRight(int power, int time){
timeConvert(time);
motor[rightFrontMotor] = power;
motor[rightBackMotor] = power;
motor[leftFrontMotor] = power;
motor[leftBackMotor] = power;
wait1Msec(timeMS);
}
/**
\fn getPacket
*/
bool ADM_tsAccess::getPacket(uint8_t *buffer, uint32_t *size, uint32_t maxSize,uint64_t *dts)
{
uint64_t p,d,start;
// If it is adts, ask ffmpeg to unwrap it...
switch(muxing)
{
case ADM_TS_MUX_ADTS:
{
bool r=false;
int outsize=0;
*size=0;
bool gotPacket=false;
int insize=0;
uint8_t *ptr=NULL;
while(1)
{
// Manage several packet in packet
if(ADM_adts2aac::ADTS_OK==adts.convert2(insize,ptr,&outsize,buffer))
{
*size=outsize;
if(gotPacket)
*dts=timeConvert(packet->pts);
else
*dts=ADM_NO_PTS;
return true;
}
if(false==demuxer.getNextPES(packet)) return false;
int avail=packet->payloadSize-packet->offset;
if(avail>maxSize) ADM_assert(0);
insize=avail;
ptr=packet->payload+packet->offset;
gotPacket=true;
}
break;
}
case ADM_TS_MUX_NONE:
{
if(false==demuxer.getNextPES(packet)) return false;
int avail=packet->payloadSize-packet->offset;
if(avail>maxSize) ADM_assert(0);
*size=avail;
memcpy(buffer,packet->payload+packet->offset,avail);
*dts=timeConvert(packet->pts);
break;
}
case ADM_TS_MUX_LATM:
{
// Try to get one...
int retries=10;
again:
if(latm.empty()==true) // fetch next LOAS frame, it will contain several frames
{
if(!retries)
{
ADM_error("Cannot get AAC packet from LATM\n");
return false;
}
if(false==demuxer.getNextPES(packet)) return false;
int avail=packet->payloadSize-packet->offset;
if(avail>maxSize) ADM_assert(0);
latm.pushData(avail,packet->payload+packet->offset,packet->pts);
retries--;
goto again;
}
uint64_t myPts;
latm.getData(&myPts,size,buffer,maxSize);
*dts=timeConvert(myPts);
break;
}
default:
ADM_assert(0);
}
if(*dts!=ADM_NO_PTS)
{
aprintf("[psAudio] getPacket dts = %" PRIu32" ms\n",(uint32_t)*dts/1000);
}
return true;
}
