/* USB (low priority) interrupt */
void usb_lp_isr(void)
{
u16 mask;
u16 status;
int ep_id;
u16 trans;
/* Interrupt mask */
mask = usbdevfs_get_interrupt_mask(USBDEVFS_CORRECT_TRANSFER |
USBDEVFS_ERROR | USBDEVFS_RESET |
USBDEVFS_SOF);
if (!mask)
return;
/* Interrupt status */
status = usbdevfs_get_interrupt_status(USBDEVFS_CORRECT_TRANSFER |
USBDEVFS_ERROR |
USBDEVFS_RESET |
USBDEVFS_SOF |
USBDEVFS_DIR | USBDEVFS_EP_ID);
if (!(status & (USBDEVFS_CORRECT_TRANSFER | USBDEVFS_ERROR |
USBDEVFS_RESET | USBDEVFS_SOF)))
return;
/* Start of frame */
if (mask & status & USBDEVFS_SOF) {
sof();
/* Clear interrupt. */
usbdevfs_clear_interrupt(USBDEVFS_SOF);
}
/* Correct transfer */
if (mask & status & USBDEVFS_CORRECT_TRANSFER) {
ep_id = status & USBDEVFS_EP_ID;
trans = usbdevfs_get_ep_status(ep_id, USBDEVFS_RX |
USBDEVFS_TX | USBDEVFS_SETUP);
/* Rx (OUT/SETUP transaction) */
if ((status & USBDEVFS_DIR) && (trans & USBDEVFS_RX))
rx_packet(ep_id, trans & USBDEVFS_SETUP);
/* Tx (IN transaction) */
if (!(status & USBDEVFS_DIR) && (trans & USBDEVFS_TX))
tx_packet(ep_id);
}
/* Error */
if (mask & status & USBDEVFS_ERROR) {
usb_error++;
/* Clear interrupt. */
usbdevfs_clear_interrupt(USBDEVFS_ERROR);
}
/* USB RESET */
if (mask & status & USBDEVFS_RESET) {
usb_reset();
/* Clear interrupt. */
usbdevfs_clear_interrupt(USBDEVFS_RESET);
}
}
void sbbs_t::read_sif_dat(char *siffile, char *datfile)
{
char *buf;
int file;
long length;
if((file=nopen(datfile,O_RDONLY))==-1) {
errormsg(WHERE,ERR_OPEN,datfile,O_RDONLY);
return;
}
length=filelength(file);
if(!length) {
close(file);
return;
}
if((buf=(char *)malloc(length))==NULL) {
close(file);
errormsg(WHERE,ERR_ALLOC,datfile,length);
return;
}
read(file,buf,length);
close(file);
sof(siffile,buf,length);
free(buf);
}
/*
** Use 'time' and 'clock' as sources of "randomness". Because we don't
** know the types 'clock_t' and 'time_t', we cannot cast them to
** anything without risking overflows. A safe way to use their values
** is to copy them to an array of a known type and use the array values.
*/
static unsigned int l_randomizePivot (void) {
clock_t c = clock();
time_t t = time(NULL);
unsigned int buff[sof(c) + sof(t)];
unsigned int i, rnd = 0;
memcpy(buff, &c, sof(c) * sizeof(unsigned int));
memcpy(buff + sof(c), &t, sof(t) * sizeof(unsigned int));
for (i = 0; i < sof(buff); i++)
rnd += buff[i];
return rnd;
}
odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode Ivrule::body()
{
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == odcore::data::dmcp::ModuleStateMessage::RUNNING) {
odcore::data::TimeStamp now;
if((m_mioValidUntil-now).toMicroseconds() > 0) {
// Steer to mio
opendlv::perception::StimulusDirectionOfMovement sdom(now, m_mio.getDirection(),opendlv::model::Direction(0,0));
odcore::data::Container containerSdom(sdom);
getConference().send(containerSdom);
// std::cout << "Sent sdom." << std::endl;
opendlv::perception::StimulusAngularSizeAlignment sasa(now, m_mio.getDirection(),m_mio.getAngularSize(),m_desiredAngularSize);
odcore::data::Container containerSasa(sasa);
getConference().send(containerSasa);
// std::cout << "Sent sasa." << std::endl;
// std::cout
// << " Id: " << m_mio.getObjectId()
// << " Azimuth: " << m_mio.getDirection().getAzimuth()
// << " Distance: " << m_mio.getDistance()
// << " Desired angular size: " << m_desiredAngularSize
// << " Currently: " << m_mio.getAngularSize()
// << std::endl;
} else {
opendlv::perception::StimulusGroundSpeed sof(now, m_desiredOpticalFlow, m_speed);
odcore::data::Container containerSof(sof);
getConference().send(containerSof);
// std::cout << "Send sof. Desired OF: " << m_desiredOpticalFlow << " Current OF: " << m_speed << std::endl;
}
}
return odcore::data::dmcp::ModuleExitCodeMessage::OKAY;
}
void CSDLOpenGLWindow::RenderScene()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glm::mat4 mModelView = cCamera.look();
glm::mat4 mCurrent = mModelView;
// First render textured objects
glEnable(GL_TEXTURE_2D);
spTextured.UseProgram();
glBindVertexArray(uiVAOs[0]);
spTextured.SetUniform("projectionMatrix", GetProjectionMatrix());
spTextured.SetUniform("modelViewMatrix", mModelView);
spTextured.SetUniform("vColor", glm::vec4(1, 1, 1, 1));
// Render ground
tBlueIce.BindTexture();
glDrawArrays(GL_TRIANGLES, 36, 6);
// Render 5 opaque boxes
tBox.BindTexture();
for (int i = 0; i < 5; i++)
{
float fSign = -1.0f + float(i % 2)*2.0f; // This just returns -1.0f or 1.0f (try to examine this)
glm::vec3 vPos = glm::vec3(fSign*15.0f, 0.0f, 50.0f - float(i)*25.0f);
mCurrent = glm::translate(mModelView, vPos);
mCurrent = glm::scale(mCurrent, glm::vec3(8.0f, 8.0f, 8.0f));
mCurrent = glm::rotate(mCurrent, fGlobalAngle + float(i)*50.0f* PIover180, glm::vec3(0.0f, 1.0f, 0.0f));
spTextured.SetUniform("modelViewMatrix", mCurrent);
glDrawArrays(GL_TRIANGLES, 0, 36);
}
// Now switch to only colored rendering
glDisable(GL_TEXTURE_2D);
spColored.UseProgram();
glBindVertexArray(uiVAOs[1]);
spColored.SetUniform("projectionMatrix", GetProjectionMatrix());
// Render 5 transparent boxes
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDepthMask(0); // Disable writing to depth buffer
for (int i = 0; i < 5; i++)
{
float fSign = 1.0f - float(i % 2)*2.0f; // Same case as before - -1.0f or 1.0f
glm::vec3 vPos = glm::vec3(fSign*15.0f, 0.0f, 50.0f - float(i)*25.0f);
mCurrent = glm::translate(mModelView, vPos);
mCurrent = glm::scale(mCurrent, glm::vec3(8.0f, 8.0f, 8.0f));
mCurrent = glm::rotate(mCurrent, fGlobalAngle*0.8f + i*30.0f*PIover180, glm::vec3(1.0f, 0.0f, 0.0f)); // Just a variation of first rotating
spColored.SetUniform("modelViewMatrix", mCurrent);
spColored.SetUniform("vColor", vBoxColors[i]);
glDrawArrays(GL_TRIANGLES, 0, 36);
}
glDisable(GL_BLEND);
glDepthMask(1); // Re-enable writing to depth buffer
fGlobalAngle += sof(100.0f*PIover180);
cCamera.Update(this);
}
void CSDLOpenGLWindow::RenderScene()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_TEXTURE_2D);
spDirectionalLight.UseProgram();
glBindVertexArray(uiVAOs[0]);
// Set light properties
float fSine = sin(fSunAngle*PIover180);
glm::vec3 vSunPos(cos(fSunAngle*PIover180) * 70, sin(fSunAngle*PIover180) * 70, 0.0);
// We'll change color of skies depending on sun's position
glClearColor(0.0f, std::max(0.0f, 0.9f*fSine), std::max(0.0f, 0.9f*fSine), 1.0f);
spDirectionalLight.SetUniform("sunLight.vColor", glm::vec3(1.0f, 1.0f, 1.0f));
spDirectionalLight.SetUniform("sunLight.fAmbientIntensity", 0.25f);
spDirectionalLight.SetUniform("sunLight.fStrength", 1.0f);
spDirectionalLight.SetUniform("sunLight.vDirection", -glm::normalize(vSunPos));
spDirectionalLight.SetUniform("projectionMatrix", GetProjectionMatrix());
glm::mat4 mView = cCamera.look();
glm::mat4 mModel(1.0);
spDirectionalLight.SetUniform("gSampler", 0);
spDirectionalLight.SetUniform("modelViewMatrix", mView*mModel);
spDirectionalLight.SetUniform("normalMatrix", glm::transpose(glm::inverse(glm::mat3(mModel))));
spDirectionalLight.SetUniform("vColor", glm::vec4(1.0f, 1.0f, 1.0f, 1.0f));
// Render ground
tTextures[0].BindTexture();
glDrawArrays(GL_TRIANGLES, 36, 6);
tTextures[1].BindTexture();
for (int i = 0; i < 5; i++)
{
float fSign = -1.0f + float(i % 2)*2.0f; // This just returns -1.0f or 1.0f (try to examine this)
glm::vec3 vPos = glm::vec3(fSign*15.0f, 0.0f, 50.0f - float(i)*25.0f);
mModel = glm::translate(glm::mat4(1.0), vPos);
mModel = glm::scale(mModel, glm::vec3(8.0f, 8.0f, 8.0f));
// We need to trasnsform normals properly, it's done by transpose of inverse matrix of rotations and scales
spDirectionalLight.SetUniform("normalMatrix", glm::transpose(glm::inverse(glm::mat3(mModel))));
spDirectionalLight.SetUniform("modelViewMatrix", mView*mModel);
glDrawArrays(GL_TRIANGLES, 0, 36);
}
// Render 5 tori (plural of torus :D)
tTextures[2].BindTexture();
for (int i = 0; i < 5; i++)
{
float fSign = 1.0f - float(i % 2)*2.0f; // This just returns -1.0f or 1.0f (try to examine this)
glm::vec3 vPos = glm::vec3(fSign*15.0f, 0.0f, 50.0f - float(i)*25.0f);
mModel = glm::translate(glm::mat4(1.0), vPos);
mModel = glm::rotate(mModel, fGlobalAngle + i*30.0f, glm::vec3(0.0f, 1.0f, 0.0f));
spDirectionalLight.SetUniform("normalMatrix", glm::transpose(glm::inverse(glm::mat3(mModel))));
spDirectionalLight.SetUniform("modelViewMatrix", mView*mModel);
glDrawArrays(GL_TRIANGLES, 42, iTorusFaces1 * 3);
}
tTextures[3].BindTexture();
// Render "sun" :D
mModel = glm::translate(glm::mat4(1.0), vSunPos);
spDirectionalLight.SetUniform("modelViewMatrix", mView*mModel);
spDirectionalLight.SetUniform("normalMatrix", glm::transpose(glm::inverse(glm::mat3(mModel))));
// It must shine
spDirectionalLight.SetUniform("sunLight.fAmbientIntensity", 0.8f);
glDrawArrays(GL_TRIANGLES, 42 + iTorusFaces1 * 3, iTorusFaces2 * 3);
fGlobalAngle += sof(100.0f*PIover180);
cCamera.Update(this);
if (Keys::Key(SDL_SCANCODE_LEFT))fSunAngle -= sof(45.0f);
if (Keys::Key(SDL_SCANCODE_RIGHT))fSunAngle += sof(45.0f);
}
