void EntityFactory::LoadItems(const char* filename)
{
TiXmlDocument doc;
if (!doc.LoadFile(filename))
{
DIE("can't open items definition %s\n%s", filename, doc.ErrorDesc());
}
TiXmlHandle handle(&doc);
TiXmlElement* elem = handle.FirstChildElement().FirstChildElement().Element();
const char* name;
while (elem != NULL)
{
QueryPtr(elem, "name", name);
Item::Type item_type = Item::StringToType(name);
ItemPattern item;
QueryStr(elem, "label", item.label);
QueryInt(elem, "x", item.x);
QueryInt(elem, "y", item.y);
QueryInt(elem, "w", item.w);
QueryInt(elem, "h", item.h);
items_[Item::StringToType(name)] = item;
elem = elem->NextSiblingElement();
}
}
void MainProcessCommand(char cmd, char *qi){
char buf[50];
int iVal;
char cVal;
double dVal;
int ch;
switch(cmd){
case 'h':
MainMenu();
break;
case 'a' :
ch = QueryInt("Analog Channel",0,16,ch,qi);
printf("ch %d : %.4lf V\n", ch, HW->ReadAnalogCh((IoHardware::AnalogInputCh) ch));
//HW->AnalogInAvgStart((IoHardware::AnalogInputCh) ch);
sleep(1);
//printf("ch %d : %.4lf V\n", ch, HW->AnalogInAvgGet());
break;
case 'g':
SampleLoop->Kp = QueryReal("Value Kp",0.,10000.0,SampleLoop->Kp,qi);
SampleLoop->Kd = QueryReal("Value Kd",0.,10000.0,SampleLoop->Kd,qi);
SampleLoop->Ki = QueryReal("Value Ki",0.,10000.0,SampleLoop->Ki,qi);
break;
case 'o':
printf("SampleLoop Overrun = %d\n", SampleLoop->mOverRun);
break;
case 't':
dVal = QueryReal("Test duration [s]",0.,10000.0,10.,qi);
SampleLoop->TimingStart(dVal);
break;
case 'c':
SampleLoop->camera = !(SampleLoop->camera);
if(SampleLoop->camera == 0) printf("camera is OFF.\n");
else printf("camera is ON.\n");
break;
case 'm':
if(HW->motorStatus == MOTOR_OFF){
HW->WriteDigitalBit(IoHardware::MOTOR_ENABLE, MOTOR_ON);
HW->motorStatus = MOTOR_ON;
printf("motor is ON.\n");
}
else{
HW->WriteDigitalBit(IoHardware::MOTOR_ENABLE, MOTOR_OFF);
HW->motorStatus = MOTOR_OFF;
printf("motor is OFF.\n");
}
break;
case 'f':
SampleLoop->currentI = QueryReal("Value iCmd",-0.1,0.1,SampleLoop->currentI,qi);
break;
case 'e':
startpos = (HW->GetEncoderCount(IoHardware::ENC_0) % 100000 + 100000) % 100000;
printf("set start encoder:%d\n", startpos);
break;
case 's':
if (setstartpos(startpos))
printf("start position setted!\n");
else
printf("Didn't get it..");
break;
default:
printf("Bad command %c. Try 'h'.\n", cmd);
}
}
