// this is the main message handler for the program
LRESULT CALLBACK WindowProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
{
switch(message)
{
case WM_DESTROY:
PostQuitMessage(0);
return 0;
case WM_KEYDOWN:
switch (wParam) {
case VK_ESCAPE: case 'q': case 'Q':
DestroyWindow(hWnd);
break;
case VK_SPACE:
g_Sim.tick();
break;
case 'r': case 'R':
initSim();
break;
case 'f': case 'F':
g_Sim.point(0).setFixed(false);
break;
}
return 0;
}
return DefWindowProc (hWnd, message, wParam, lParam);
}
//====================================
void loadCurrentProj()
//====================================
{
int x,res;
char syscom[120],temp[200];
g_warning = S_NO;
putMsg(1,"Loading ...");
res = loadSketch(confSketchFile);
if(res == 0)
{
if(confSteps < 0) confSteps = 100;
if(confSteps > MAX_STEP) confSteps = MAX_STEP-1;
sprintf(syscom,"cd servuino;./servuino %d %d;",confSteps,g_scenSource);
x=system(syscom);
initSim();
resetSim();
readSimulation();
readSketchInfo();
setRange(confBoardType);
init(confWinMode);
saveConfig(currentConf);
unoInfo();
sprintf(temp,"Sketch load ready: %s",confSketchFile);
putMsg(msg_h-2,temp);
}
}
void* naCreate() {
struct tkState* gState = (struct tkState*) malloc(sizeof(struct tkState));
if(gState) {
gState->simTok = NULL;
// Initialise the Simulator
initSim(gState);
// Initialise the items in the simulation
initBodies(gState);
}
return (void *) gState;
}
// the entry point for any Windows program
int WINAPI WinMain(HINSTANCE hInstance,
HINSTANCE hPrevInstance,
LPSTR lpCmdLine,
int nCmdShow)
{
HWND hWnd;
WNDCLASSEX wc;
initSim();
ZeroMemory(&wc, sizeof(WNDCLASSEX));
wc.cbSize = sizeof(WNDCLASSEX);
wc.style = CS_HREDRAW | CS_VREDRAW;
wc.lpfnWndProc = WindowProc;
wc.hInstance = hInstance;
wc.hCursor = LoadCursor(NULL, IDC_ARROW);
wc.lpszClassName = "WindowClass";
RegisterClassEx(&wc);
hWnd = CreateWindowEx(NULL, "WindowClass", "Direct3D",
WS_OVERLAPPEDWINDOW & ~WS_THICKFRAME, 0, 0, SCREEN_WIDTH, SCREEN_HEIGHT,
NULL, NULL, hInstance, NULL);
ShowWindow(hWnd, nCmdShow);
// set up and initialize Direct3D
initD3D(hWnd);
// enter the main loop:
MSG msg;
while(TRUE)
{
while(PeekMessage(&msg, NULL, 0, 0, PM_REMOVE))
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
if(msg.message == WM_QUIT)
break;
render_frame();
}
// clean up DirectX and COM
cleanD3D();
return msg.wParam;
}
/*
* Grund für den letzten Start der CPU
*/
void init_type()
{
//info("Ermittelt den Startgrund");
adl_InitType_e result =
adl_InitGetType();
//info("Behandelt des Startgrund");
switch(result)
{
case ADL_INIT_POWER_ON:
info("Startgrund: Normaler Start");
break;
case ADL_INIT_REBOOT_FROM_EXCEPTION:
info("Startgrund: Neustart nach schwerem Fehler durch die ADL");
break;
case ADL_INIT_DOWNLOAD_SUCCESS:
info("Startgrund: Neustart nach erfolgreicher Installation");
break;
case ADL_INIT_DOWNLOAD_ERROR:
info("Startgrund: Neustart nach gescheiterter Installation");
break;
case ADL_INIT_RTC:
info("Startgrund: Start durch Wecksignal der Echtzeituhr");
break;
default:
info("Unbekanntes Ereignis");
break;
}
// UART2 muss mit 'at+wmfm=0,1,2' aktiviert worden sein!
// Konfiguriert UART2 Bus für den GPS Empfänger
adl_atCmdCreate("AT+IPR=38400", ADL_AT_PORT_TYPE(ADL_PORT_UART2, FALSE), (adl_atRspHandler_t) NULL, NULL);
adl_atCmdCreate("AT+ICF=3", ADL_AT_PORT_TYPE(ADL_PORT_UART2, FALSE), (adl_atRspHandler_t) NULL, NULL);
adl_atCmdCreate("AT+IFC=0,0", ADL_AT_PORT_TYPE(ADL_PORT_UART2, FALSE), (adl_atRspHandler_t) NULL, NULL);
// Aktiviert den GPS Empfänger
gps_io_handle = adl_ioSubscribe(1, &gps_io_label, 0, 0, 0);
adl_ioWriteSingle(gps_io_handle, &gps_io_write, TRUE);
// Verarbeitet die Daten des GPS Empfängers
gps_fcm_handle = adl_fcmSubscribe(ADL_PORT_UART2, gps_fcm_ctrl_handler, gps_fcm_data_handler);
gps_data = ",,,,,,,,,,,";
if(!INIT_CONFIG)
//info("Die Anwenderapplikation wird gestartet");
appli_mainTask();
else
//info("Das Modul wird im Netz registriert");
initSim();
}
//------------------------------------------------------------------------------
int main (int argc, char* argv[])
{
cudaGLSetGLDevice(0);
glutInit(&argc, argv);
glutInitContextVersion(3, 3);
glutInitContextFlags(GLUT_FORWARD_COMPATIBLE);
glutInitContextProfile(GLUT_CORE_PROFILE);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowSize(WIDTH, HEIGHT);
glutCreateWindow("");
glewExperimental = TRUE;
glewInit();
initGL();
initSim();
glutDisplayFunc(display);
glutMouseFunc(mouse);
glutMotionFunc(mouseMotion);
glutKeyboardFunc(keyboard);
glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE,
GLUT_ACTION_GLUTMAINLOOP_RETURNS);
glutMainLoop();
return 0;
}
int main(int argc, char** argv)
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowPosition(0, 0);
glutInitWindowSize(windowWidth, windowHeight);
glutCreateWindow("Water Simulation 2D");
initGL();
initSim();
glutReshapeFunc(reshape);
glutIdleFunc(idle);
glutDisplayFunc(display);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glutKeyboardFunc(keyboard);
fps.init();
glutMainLoop();
return 0;
}
//====================================
int main(int argc, char *argv[])
//====================================
{
char syscom[120];
int ch,i,x;
currentStep = 1;
currentLoop = 0;
strcpy(gplFile,"gpl.txt");
inrpt[0] = IR0;
inrpt[1] = IR1;
inrpt[2] = IR2;
inrpt[3] = IR3;
inrpt[4] = IR4;
inrpt[5] = IR5;
sprintf(syscom,"ls *.conf > %s;",fileProjList);
x=system(syscom);
sprintf(syscom,"rm %s;touch %s;",fileTemp,fileTemp);
x=system(syscom);
sprintf(syscom,"rm %s;touch %s;",fileError,fileError);
x=system(syscom);
sprintf(syscom,"rm %s;touch %s;",fileServError,fileServError);
x=system(syscom);
sprintf(syscom,"rm %s;touch %s;",fileCopyError,fileCopyError);
x=system(syscom);
err = fopen(fileError,"w"); // Issue 15
readSetting();
readConfig(currentConf);
initSim();
resetSim();
readSimulation();
readSketchInfo();
setRange(confBoardType);
init(confWinMode);
unoInfo();
show(slog);
if(confLogFile == S_YES)resetFile("log.txt");
readMsg(gplFile);
openCommand();
delwin(uno);
delwin(ser);
delwin(slog);
delwin(msg);
endwin();
fclose(err);
}
//====================================
void runMode(int stop)
//====================================
{
int ch,x,step,tmp,res=0,a=0,b=0,ir,ok=0,n=0;
char tempName[80],syscom[120],temp[80];
char command[40][40];
strcpy(tempName,"help.txt");
s_mode = S_RUN;
if(stop > 1)
{
if(stop > g_steps)stop = g_steps;
//if(stop > currentStep)
runAll(stop);
return;
}
putMsg(3,"Run Mode. Press h for help.");
while(1)
{
anyErrors();
if(g_silent==S_NO )mvwprintw(uno,board_h-2,1,"R%1d>",confWinMode);
if(g_silent==S_YES)mvwprintw(uno,board_h-2,1,"R%1d<",confWinMode);
unoInfo();
if(g_debug == 1)
readFile(confSketchFile,g_lineSketch[currentStep]);
ch = getchar();
if (ch=='q')
{
return;
}
if (ch=='h')
{
readMsg(fileInfoRun);
}
else if (ch=='c')
{
readMsg(currentConf);
}
else if (ch=='d')
{
readMsg(fileServTime);
}
else if(ch=='y' ) // scenario
{
readMsg(fileServScen);
}
else if (ch=='x')
{
readMsg(fileServScenario);
}
else if (ch=='G')
{
runAll(g_steps);
}
else if (ch=='l')
{
showLoops();
}
else if (ch=='s')
{
g_debug++;
if(g_debug > 1)g_debug = 0;
}
else if (ch=='w')
{
confWinMode++;
if(confWinMode > WIN_MODES)confWinMode = 0;
init(confWinMode);
mvwprintw(uno,board_h-2,1,"R%1d>",confWinMode);
unoInfo();
}
else if (ch=='a')
{
goStep(1);
}
else if (ch=='r')
{
goStep(loopStep[currentLoop+1]);
}
else if (ch=='o')
{
goStep(loopStep[currentLoop]);
}
else if (ch=='p')
{
goStep(loopStep[currentLoop-1]);
}
else if (ch=='z')
{
goStep(g_steps);
}
else if (ch=='k')
{
resetSim();
init(confWinMode);
unoInfo();
mvwprintw(uno,board_h-2,1,"R%1d>",confWinMode);
show(uno);
}
else if (ch=='f')// Up Arrow
{
goStep(currentStep+1);
}
else if (ch=='b')// Down Arrow
{
goStep(currentStep-1);
}
else if (ch=='R') // Right Arrow
{
runLoop(S_FORWARD);
}
else if (ch=='P') // Left Arrow
{
runLoop(S_BACKWARD);
}
else if (ch=='t')
{
runNextRead();
}
else if (ch=='j')
{
runPrevRead();
}
else if (ch=='i')
{
step = currentStep;
sprintf(temp,"(Step:%d) Enter: d/a pin value (q - cancel)",step);
putMsg(2,temp);
wgetstr(uno,temp);
n = tokCommand(command,temp);
if(strstr(command[0],"q") == NULL && n == 3)
{
g_pinNo = atoi(command[1]);
x = atoi(command[2]);
printf("%s %d %d",command[0],g_pinNo,x);
if(strstr(command[0],"a"))
{
ok = ok + checkRange(S_OK,"anapin",g_pinNo);
ok = ok + checkRange(S_OK,"anaval",x);
g_pinType = ANA;
}
if(strstr(command[0],"d"))
{
ok = ok + checkRange(S_OK,"digpin",g_pinNo);
ok = ok + checkRange(S_OK,"digval",x);
g_pinType = DIG;
}
if(ok == S_OK)
{
g_scenSource = 1;
// steps, source, pintype, pinno, pinvalue, pinstep
sprintf(syscom,"cd servuino;./servuino %d %d %d %d %d %d %d;",confSteps,g_scenSource,g_pinType,g_pinNo,x,currentStep,S_ADD);
tmp=system(syscom);
initSim();
readSketchInfo();
readSimulation();
goStep(currentStep);
readMsg(fileServScen);
}
}
else
putMsg(2,"Cancelled!");
}
else if (ch=='v')
{
step = currentStep ;
sprintf(temp," Enter value to be read at step %d (q - cancel)",step);
putMsg(2,temp);
res = analyzeEvent(simulation[step]);
if(res > 0)
{
wgetstr(uno,temp);
if(strstr(temp,"q") == NULL)
{
x = atoi(temp);
ok = S_OK;
if(res == ANA)ok = ok + checkRange(S_OK,"anaval",x);
if(res == DIG)ok = ok + checkRange(S_OK,"digval",x);
if(ok == S_OK)
{
g_scenSource = 1;
// steps, source, pintype, pinno, pinvalue, pinstep
sprintf(syscom,"cd servuino;./servuino %d %d %d %d %d %d %d;",confSteps,g_scenSource,g_pinType,g_pinNo,x,currentStep,S_ADD);
tmp=system(syscom);
initSim();
readSketchInfo();
readSimulation();
goStep(currentStep);
readMsg(fileServScen);
}
}
else
putMsg(2,"Cancelled!");
}
else
putMsg(2,"Next step is not a Read event");
}
else
{
sprintf(temp,"Unknown command: %c",ch);
putMsg(msg_h-2,temp);
}
}
return;
}
//====================================
void openCommand()
//====================================
{
struct stat st;
int ch,nsteps=1000,x,i,n,stop=0,loop,projNo = 0,ok=0,tmp;
char *p,str[120],sstr[20],fileName[120],temp[120],syscom[120];
char command[40][40];
s_mode = S_ADMIN;
g_silent = 0;
readMsg(gplFile);
while(strstr(str,"ex") == NULL)
{
anyErrors();
unoInfo();
wmove(uno,board_h-2,1);
wprintw(uno," ");
if(g_silent==S_NO )mvwprintw(uno,board_h-2,1,"A%1d>",confWinMode);
if(g_silent==S_YES)mvwprintw(uno,board_h-2,1,"A%1d<",confWinMode);
strcpy(command[0],"");
wgetstr(uno,str);
n = tokCommand(command,str);
strcpy(sstr,command[0]);
p = str;
projNo = atoi(sstr);
if(strstr(sstr,"gpl"))
{
readMsg(gplFile);
}
else if(strstr(sstr,"err"))
{
readMsg(fileTemp);
}
else if(strstr(sstr,"run"))
{
stop = 1;
if(n == 2)stop = atoi(command[1]);
stop = checkRange(HEAL,"step",stop);
runMode(stop);
if(stop==0)putMsg(2,"Back in Admin Mode!");
}
else if(strstr(sstr,"res")) // reset simulation
{
resetSim();
init(confWinMode);
unoInfo();
readMsg(currentConf);
}
else if(strstr(sstr,"help")) //
{
strcpy(fileName,fileInfoAdmin);
readMsg(fileName);
}
else if(strstr(sstr,"rem")) //
{
if(n == 4)
{
if(strstr(command[1],"a"))g_pinType = ANA;
if(strstr(command[1],"d"))g_pinType = DIG;
g_pinNo = atoi(command[2]);
g_pinStep = atoi(command[3]);
if(g_pinType == ANA)
ok = checkRange(S_OK,"anapin",g_pinNo);
if(g_pinType == DIG)
ok = checkRange(S_OK,"digpin",g_pinNo);
if(ok == S_OK)
{
g_scenSource = 1;
sprintf(syscom,"cd servuino;./servuino %d %d %d %d %d %d %d;",confSteps,g_scenSource,g_pinType,g_pinNo,0,g_pinStep,S_DELETE);
//putMsg(2,syscom);
tmp=system(syscom);
initSim();
readSketchInfo();
readSimulation();
runStep(S_FORWARD);
readMsg(fileServScen);
}
else
putMsg(2,"Wrong pin number or pin type!");
}
else
putMsg(2,"Syntax: rem <a or d> <pin> <step>");
}
else if(strstr(sstr,"add")) //
{
if(n == 5)
{
if(strstr(command[1],"a"))g_pinType = ANA;
if(strstr(command[1],"d"))g_pinType = DIG;
g_pinNo = atoi(command[2]);
g_pinStep = atoi(command[3]);
g_pinValue = atoi(command[4]);
ok = S_OK;
if(g_pinType == ANA)
ok = checkRange(S_OK,"anapin",g_pinNo);
if(g_pinType == DIG)
ok = checkRange(S_OK,"digpin",g_pinNo);
ok = ok + checkRange(S_OK,"step",g_pinStep);
if(ok == S_OK)
{
g_scenSource = 1;
sprintf(syscom,"cd servuino;./servuino %d %d %d %d %d %d %d;",confSteps,g_scenSource,g_pinType,g_pinNo,g_pinValue,g_pinStep,S_ADD);
tmp=system(syscom);
initSim();
readSketchInfo();
readSimulation();
runStep(S_FORWARD);
readMsg(fileServScen);
}
}
else
putMsg(2,"Syntax: add <a or d> <pin> <step> <value>");
}
else if(strstr(sstr,"info"))
{
if(n == 2)
{
if(strstr(command[1],"conf"))
{
readMsg(fileDefault);
}
else if(strstr(command[1],"err"))
{
readMsg(fileServError);
}
else if(strstr(command[1],"g++"))
{
readMsg(fileServComp);
}
else if(strstr(command[1],"help"))
{
readMsg(fileInfoAdmin);
}
else if(strstr(command[1],"loop"))
{
showLoops();
}
else if(strstr(command[1],"scen")) // scenario
{
readMsg(fileServScen);
}
}
else
{
readMsg(fileInfoAdmin);
}
}
else if(strstr(sstr,"proj"))
{
if(n == 2)
{
strcpy(currentConf,command[1]);
strcat(currentConf,".conf");
readConfig(currentConf);
g_warning = S_YES;
unoInfo();
}
readMsg(currentConf);
}
else if(strstr(sstr,"list"))
{
readMsg(fileProjList);
}
else if(strstr(sstr,"sketch"))
{
if(n == 2)
{
if(strstr(command[1],"conf"))
{
readMsg(confSketchFile);
}
else if(strstr(command[1],"work"))
{
readMsg(fileServSketch);
}
}
else
readMsg(fileServSketch);
}
else if(strstr(sstr,"conf"))
{
if(n == 3)
{
if(strstr(command[1],"sim"))
{
confSteps = atoi(command[2]);
}
else if(strstr(command[1],"win"))
{
confWinMode = atoi(command[2]);
if(confWinMode > WIN_MODES)confWinMode = 0;
init(confWinMode);
unoInfo();
}
else if(strstr(command[1],"sketch"))
{
strcpy(temp,command[2]);
if(stat(temp,&st) == 0)
{
strcpy(confSketchFile,command[2]);
}
else
{
sprintf(temp,"Sketch not found: %s",command[2]);// Issue 16
putMsg(msg_h-2,temp);
}
}
saveConfig(currentConf);
}
readMsg(currentConf);
}
else if(strstr(sstr,"sav")) //save config
{
if(n == 2)
{
strcpy(currentConf,command[1]);
strcat(currentConf,".conf");
}
saveConfig(currentConf);
readMsg(currentConf);
sprintf(syscom,"ls *.conf > %s;",fileProjList);
x=system(syscom);
}
else if(strstr(sstr,"del")) //delete config
{
if(n == 2)
{
strcpy(currentConf,command[1]);
strcat(currentConf,".conf");
}
if(strstr(currentConf,"default") == NULL)
{
sprintf(syscom,"rm %s;",currentConf);
x=system(syscom);
sprintf(syscom,"ls *.conf > %s;",fileProjList);
x=system(syscom);
readMsg(fileProjList);
strcpy(currentConf,fileDefault);
}
}
else if(strstr(sstr,"win")) //windows layout
{
if(n == 2)
{
confWinMode = atoi(command[1]);
if(confWinMode > WIN_MODES)confWinMode = 0;
init(confWinMode);
unoInfo();
}
}
else if(strstr(sstr,"loop"))
{
if(n == 2)loop = atoi(command[1]);
loop = checkRange(HEAL,"loop",loop);
runLoops(loop);
}
else if(strstr(sstr,"clear"))
{
sprintf(syscom,"rm servuino/sketch.ino;rm servuino/data.su;rm servuino/data.scen;");
x=system(syscom);
}
else if(strstr(sstr,"load"))
{
if(n == 2)
{
confSteps = atoi(command[1]);
}
g_scenSource = 0;
loadCurrentProj();
}
else if(projNo > 0 && projNo < 10)
{
selectProj(projNo,currentConf);
readConfig(currentConf);
g_warning = S_YES;
unoInfo();
readMsg(currentConf);
}
else if(strstr(sstr,"data"))
{
if(n == 2)
{
if(strstr(command[1],"ard"))
{
readMsg(fileServArduino);
}
else if(strstr(command[1],"cus"))
{
readMsg(fileServCustom);
}
else if(strstr(command[1],"cod"))
{
readMsg(fileServCode);
}
else if(strstr(command[1],"err"))
{
readMsg(fileServError);
}
else if(strstr(command[1],"sce"))
{
readMsg(fileServScen);
}
}
else
readMsg(fileServArduino);
}
else
{
putMsg(msg_h-2,"Unknown Admin command");
}
}
}
void boidInit(int numberOfDesires, RulesParameters *applyingRules, SimulationParameters simParams,InfoCache infoCache,Vector *leaderPosition)
{
initSim(&simParams,applyingRules,&infoCache,numberOfDesires,leaderPosition);
}
