RString LoadingWindow_Gtk::Init()
{
ASSERT( Handle == NULL );
Handle = dlopen( RageFileManagerUtil::sDirOfExecutable + "/" + "GtkModule.so", RTLD_NOW );
if( Handle == NULL )
return ssprintf( "dlopen(): %s", dlerror() );
Module_Init = (INIT) dlsym(Handle, "Init");
if( !Module_Init )
return ModuleError("Init");
Module_Shutdown = (SHUTDOWN) dlsym(Handle, "Shutdown");
if( !Module_Shutdown )
return ModuleError("Shutdown");
Module_SetText = (SETTEXT) dlsym(Handle, "SetText");
if( !Module_SetText )
return ModuleError("SetText");
Module_SetIcon = (SETICON) dlsym(Handle, "SetIcon");
if( !Module_SetIcon )
return ModuleError("SetIcon");
Module_SetSplash = (SETSPLASH) dlsym(Handle, "SetSplash");
if( !Module_SetSplash )
return ModuleError("SetSplash");
Module_SetProgress = (SETPROGRESS) dlsym(Handle, "SetProgress");
if( !Module_SetProgress )
return ModuleError("SetProgress");
Module_SetIndeterminate = (SETINDETERMINATE) dlsym(Handle, "SetIndeterminate");
if( !Module_SetIndeterminate )
return ModuleError("SetIndeterminate");
const char *ret = Module_Init( &g_argc, &g_argv );
if( ret != NULL )
return ret;
return "";
}
void iqrcommon::moduleEPuck::init(){
// cout << "moduleEPuck::init()" << endl;
ClsBaseKRobot::init();
#ifdef IQRMODULE
string strSerialPort = clsStringParameterSerialPort->getValue();
bShowOutput = clsBoolParameterShowOutput->getValue();
bLEDFrontal = clsBoolParameterLEDFrontal->getValue();
bLEDLateral = clsBoolParameterLEDLateral->getValue();
#else
string strSerialPort = "/dev/rfcomm0";
bLEDFrontal = true;
bLEDLateral = true;
bShowOutput = true;
#endif
string strReply;
int iSerialSpeed;
iSerialSpeed = B38400;
// iSerialSpeed = B115200;
serialPort.setDfltTimeOut(3000);
serialPort.setDevice(strSerialPort);
serialPort.setBaudRate(iSerialSpeed);
if (serialPort.openDevice()) {
serialPort.flush();
} else {
throw ModuleError(string("Module \"") + label() + "\": opening serial port " + strSerialPort);
}
iCounter = 0;
std::stringstream ssSpeed;
ssSpeed << robotCmds::setSpeed() << ",0,0";
serialPort.writeLine(ssSpeed.str()); // cout << "+command: " << ssSpeed.str() << endl;
strReply=serialPort.readLine();
if (!strReply.find("d")!=std::string::npos) {
serialPort.flush();
}
std::stringstream ssControler;
ssControler << robotCmds::setSpeedControler()
<< "," << iSCProportional
<< "," << iSCIntegral
<< "," << iSCDifferential;
serialPort.writeLine(ssControler.str()); // cout << "+command: " << ssControler.str() << endl;
if (!serialPort.readLine().find("a")!=std::string::npos){
serialPort.flush();
}
// serialPort.writeLine(str.sprintf("%s,1,%d", robotCmds::setLEDs(),
// (bLEDFrontal ? 1 : 0)));
// ss.clear();
std::stringstream ssLEDFrontal;
ssLEDFrontal << robotCmds::setLEDs() << ",1," << (bLEDFrontal ? 1 : 0);
serialPort.writeLine(ssLEDFrontal.str()); // cout << "+command: " << ssLEDFrontal.str() << endl;
if (!serialPort.readLine().find("l")!=std::string::npos) {
serialPort.flush();
}
// serialPort.writeLine(str.sprintf("%s,0,%d", robotCmds::setLEDs(),
// (bLEDLateral ? 1 : 0)));
// ss.clear();
std::stringstream ssLEDLateral;
ssLEDLateral << robotCmds::setLEDs() << ",0," << (bLEDLateral ? 1 : 0);
serialPort.writeLine(ssLEDLateral.str()); // cout << "+command: " << ssLEDLateral.str() << endl;
if (!serialPort.readLine().find("l")!=std::string::npos) {
serialPort.flush();
}
if(bShowOutput){
clsEPuckDisp = new ClsEPuckDisp("EPuck Display");
clsEPuckDisp->setGeometry(0, 0, 250, 250);
clsEPuckDisp->DrawStatus( );
clsEPuckDisp->show();
}
};
iqrcommon::moduleBttvVideo::moduleBttvVideo() : ClsBaseVideoItem() {
#else
iqrcommon::moduleBttvVideo::moduleBttvVideo() {
#endif
#ifdef IQRMODULE
clsStateVariableVideoOutput = addOutputToGroup("videoOutput", "Video Output");
#endif
iRoundCounter = 0;
}
#ifdef IQRMODULE
moduleIcon iqrcommon::moduleBttvVideo::getIcon() {
moduleIcon mi(ModuleIcon_CameraBttv_png_data, ModuleIcon_CameraBttv_png_len, 3 ,5);
return mi;
}
#endif
iqrcommon::moduleBttvVideo::~moduleBttvVideo() {
cleanup();
}
void iqrcommon::moduleBttvVideo::init() {
cout << "moduleBttvVideo::init()" << endl;
fCPS = 50;
deviceID = -1;
captureBuf = NULL;
ClsBaseVideoItem::init();
openDevice( strDeviceName) ;
// Select Y8 capture format
captureFormat = V4L_FORMAT_Y8;
// Initialize capture size based on window size
// Initialize picture attributes to mid-range
v4lFormat.width = imgWidth;
v4lFormat.height = imgHeight;
v4lFormat.format = captureFormat;;
V4LMSetFormat(&v4lFormat);
V4LMGetFormat(&v4lFormat);
imgWidth = v4lFormat.width;
imgHeight = v4lFormat.height;
captureFrame = 0;
if (V4LMCapture(deviceID, captureFrame) < 0) {
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: V4LMCapture: " + strerror(errno));
#else
cerr << "Error: V4LMCapture: " << strerror(errno) << endl;
exit(1);
#endif
}
setPictureProperties();
if(bShowOutput) {
clsXWin.createWindow(imgWidth, imgHeight);
iScreenDepth = clsXWin.getScreenDepth();
if(iScreenDepth != 16 && iScreenDepth != 24) {
cerr << "Cannot screen depth of " << iScreenDepth << endl;
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: V4LMCapture: " + strerror(errno));
#else
exit(-1);
#endif
}
}
#ifdef IQRMODULE
iNrCells = clsStateVariableVideoOutput->getStateArray().getWidth();
iGroupWidth = (int)(sqrt((double)iNrCells / fImageRatio));
iGroupHeight = iNrCells/iGroupWidth;
iHPace = (int)ceil((double)imgWidth / (double)iGroupWidth);
iVPace = (int)ceil((double)imgHeight / (double)iGroupHeight);
// cout << "iHPace, iVPace: " << iHPace << ", " << iVPace << endl;
// cout << "iGroupWidth, iGroupHeight: " << iGroupWidth << ", " << iGroupHeight << endl;
#endif
printDeviceInfo();
}
void iqrcommon::moduleBttvVideo::openDevice(string strDeviceName) {
cout << "moduleBttvVideo::openDevice(string strDeviceName)" << endl;
cout << "device: " << strDeviceName << endl;
errno = 0;
if ((deviceID = open(strDeviceName.c_str(), O_RDWR)) < 0) {
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: Can't open: " + strDeviceName + ", Error: " + strerror(errno));
#else
cerr << "Error: Can't open: " << strDeviceName.c_str() << ", Error: " << strerror(errno) << endl;
exit(1);
#endif
}
if (V4LMGetMMInfo(deviceID, &v4lMMInfo) < 0) {
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: V4LMGetMMInfo: " + strerror(errno));
#else
cerr << "Error: V4LMGetMMInfo: " << strerror(errno) << endl;
exit(1);
#endif
}
//#if (0)
cerr << "Capture buffer size = " << v4lMMInfo.size << endl;
cerr << "Capture buffer frames = " << v4lMMInfo.frames << endl;
//#endif
if (v4lMMInfo.frames < 2) {
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: V4LMGetMMInfo: frames < 2" + strerror(errno));
#else
cerr << "Error: V4LMGetMMInfo: frames < 2" << endl;
exit(1);
#endif
}
if ((captureBuf = (bits8 *) mmap(0, v4lMMInfo.size, PROT_READ | PROT_WRITE, MAP_SHARED, deviceID, 0)) == MAP_FAILED) {
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: mmap(): " + strerror(errno));
#else
cerr << "Error: mmap(): " << strerror(errno) << endl;
exit(1);
#endif
}
// if (V4LSetSource(v4l, BigPictureCompositeSource, VIDEO_MODE_NTSC) < 0) {
if (V4LSetSource(deviceID, BigPictureCompositeSource, VIDEO_MODE_PAL) < 0) {
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: V4LSetSource: " + strerror(errno));
#else
cerr << "Error: V4LSetSource: " << strerror(errno) << endl;
exit(1);
#endif
}
if (V4LGetCaps(deviceID, &v4lCaps) < 0) {
#ifdef IQRMODULE
throw ModuleError(string("Module \"") + label() + "\": Error: V4LGetCaps: " + strerror(errno));
#else
cerr << "Error: V4LGetCaps: " << strerror(errno) << endl;
exit(1);
#endif
}
}
void iqrcommon::moduleKhepera::init(){
// cout << "moduleKhepera::init()" << endl;
ClsBaseKRobot::init();
#ifdef IQRMODULE
string strSerialPort = clsStringParameterSerialPort->getValue();
bShowOutput = clsBoolParameterShowOutput->getValue();
bLEDFrontal = clsBoolParameterLEDFrontal->getValue();
bLEDLateral = clsBoolParameterLEDLateral->getValue();
#else
string strSerialPort = "/dev/ttyS0";
bLEDFrontal = true;
bLEDLateral = true;
bShowOutput = true;
#endif
string strReply;
int iSerialSpeed;
iSerialSpeed = B38400;
// iSerialSpeed = B115200;
serialPort.setDfltTimeOut(50);
serialPort.setDevice(strSerialPort);
serialPort.setBaudRate(iSerialSpeed);
if (serialPort.openDevice()) {
serialPort.flush();
serialPort.writeLine("restart");
// serialPort.writeLine("B");
bool timedOut;
bool ok=false;
do {
cout << "strReply: " << strReply << endl;
strReply=serialPort.readLine(1000 ,&timedOut);
if (strReply.find("Command not found")!=std::string::npos){
serialPort.writeLine("restart");
}
else if (strReply.find("ROM of minirobot")!=std::string::npos ||
strReply.find("hemisson")!=std::string::npos){
ok=true;
}
} while (!timedOut);
if (!ok) {
throw ModuleError(string("Module \"") + label() + "\": Cannot find robot on " + strSerialPort );
serialPort.closeDevice();
}
} else {
throw ModuleError(string("Module \"") + label() + "\": opening serial port " + strSerialPort);
}
iCounter = 0;
// serialPort.writeLine(str.sprintf("%s,0,0", robotCmds::setSpeed()));
// ss.clear();
std::stringstream ssSpeed;
ssSpeed << robotCmds::setSpeed() << ",0,0";
serialPort.writeLine(ssSpeed.str()); // cout << "+command: " << ssSpeed.str() << endl;
strReply=serialPort.readLine();
if (!strReply.find("d")!=std::string::npos) {
serialPort.flush();
}
// serialPort.writeLine(str.sprintf("%s,%d,%d,%d", robotCmds::setSpeedControler(),
// iSCProportional,
// iSCIntegral,
// iSCDifferential));
// ss.clear();
std::stringstream ssControler;
ssControler << robotCmds::setSpeedControler()
<< "," << iSCProportional
<< "," << iSCIntegral
<< "," << iSCDifferential;
serialPort.writeLine(ssControler.str()); // cout << "+command: " << ssControler.str() << endl;
if (!serialPort.readLine().find("a")!=std::string::npos){
serialPort.flush();
}
// serialPort.writeLine(str.sprintf("%s,1,%d", robotCmds::setLEDs(),
// (bLEDFrontal ? 1 : 0)));
// ss.clear();
std::stringstream ssLEDFrontal;
ssLEDFrontal << robotCmds::setLEDs() << ",1," << (bLEDFrontal ? 1 : 0);
serialPort.writeLine(ssLEDFrontal.str()); // cout << "+command: " << ssLEDFrontal.str() << endl;
if (!serialPort.readLine().find("l")!=std::string::npos) {
serialPort.flush();
}
// serialPort.writeLine(str.sprintf("%s,0,%d", robotCmds::setLEDs(),
// (bLEDLateral ? 1 : 0)));
// ss.clear();
std::stringstream ssLEDLateral;
ssLEDLateral << robotCmds::setLEDs() << ",0," << (bLEDLateral ? 1 : 0);
serialPort.writeLine(ssLEDLateral.str()); // cout << "+command: " << ssLEDLateral.str() << endl;
if (!serialPort.readLine().find("l")!=std::string::npos) {
serialPort.flush();
}
if(bShowOutput){
clsKhepDisp = new ClsKhepDisp("Khepera Display");
clsKhepDisp->setGeometry(0, 0, 250, 250);
clsKhepDisp->DrawStatus( );
clsKhepDisp->show();
}
};
