static FAR struct fb_vtable_s *trv_get_fbdev(void)
{
FAR struct fb_vtable_s *fbdev;
int ret;
/* Initialize the frame buffer device */
ret = up_fbinitialize();
if (ret < 0)
{
trv_abort("ERROR: up_fbinitialize failed: %d\n", -ret);
}
/* Set up to use video plane 0. There is no support for anything but
* video plane 0.
*/
fbdev = up_fbgetvplane(0);
if (!fbdev)
{
trv_abort("ERROR: up_fbgetvplane(0) failed\n");
}
return fbdev;
}
int trv_servertask(int argc, char *argv[])
{
FAR struct fb_vtable_s *fbdev;
int ret;
/* Get the framebuffer device */
fbdev = trv_get_fbdev();
/* Then start the server */
ret = nx_run(dev);
trv_abort("nx_run returned: %d\n", errno);
}
static void trv_fb_initialize(FAR struct trv_graphics_info_s *ginfo)
{
struct fb_videoinfo_s vinfo;
struct fb_planeinfo_s pinfo;
FAR struct fb_vtable_s *fbdev;
int ret;
/* Get the framebuffer device */
fbdev = trv_get_fbdev();
/* Get information about video plane 0 */
ret = fbdev->getvideoinfo(fbdev, &vinfo);
if (ret < 0)
{
trv_abort("ERROR: getvideoinfo() failed\n");
}
ginfo->xres = vinfo.xres;
ginfo->yres = vinfo.yres;
ret = fbdev->getplaneinfo(fbdev, 0, &pinfo);
if (ret < 0)
{
trv_abort("ERROR: getplaneinfo() failed\n");
}
ginfo->stride = pinfo.stride;
ginfo->hwbuffer = pinfo.fbmem;
if (vinfo.fmt != TRV_COLOR_FMT || pinfo.bpp != TRV_BPP)
{
trv_abort("ERROR: Bad color format(%d)/bpp(%d)\n", vinfo.fmt, pinfo.bpp);
}
}
static void trv_use_bgwindow(FAR struct trv_graphics_info_s *ginfo)
{
/* Get the background window */
ret = nx_requestbkgd(g_hnx, &g_trv_nxcallback, ginfo);
if (ret < 0)
{
trv_abort("nx_requestbkgd failed: %d\n", errno);
}
/* Wait until we have the screen resolution. We'll have this immediately
* unless we are dealing with the NX server.
*/
while (!g_trv_nxresolution)
{
(void)sem_wait(&g_trv_nxevent);
}
}
static inline int trv_nxsu_initialize(FAR struct trv_graphics_info_s *ginfo)
{
FAR struct fb_vtable_s *fbdev;
int ret;
/* Get the framebuffer device */
fbdev = trv_get_fbdev();
/* Open NX */
ginfo->hnx = nx_open(fbdev);
if (!ginfo->hnx)
{
trv_abort("trv_nxsu_initialize: nx_open failed: %d\n", errno);
}
/* And use the background window */
trv_use_bgwindow(ginfo);
}
FAR void *trv_nxlistener(FAR void *arg)
{
int ret;
/* Process events forever */
for (;;)
{
/* Handle the next event. If we were configured blocking, then
* we will stay right here until the next event is received. Since
* we have dedicated a while thread to servicing events, it would
* be most natural to also select CONFIG_NX_BLOCKING -- if not, the
* following would be a tight infinite loop (unless we added addition
* logic with nx_eventnotify and sigwait to pace it).
*/
ret = nx_eventhandler(g_hnx);
if (ret < 0)
{
/* An error occurred... assume that we have lost connection with
* the server.
*/
trv_abort("Lost server connection: %d\n", errno);
}
/* If we received a message, we must be connected */
if (!g_trv_nxrconnected)
{
g_trv_nxrconnected = true;
sem_post(&g_trv_nxevent);
trv_debug("Connected to server\n");
}
}
}
void trv_color_allocate(FAR struct trv_palette_s *pinfo)
{
#if RGB_CUBE_SIZE < MIN_LUM_LEVELS
dev_pixel_t *lut;
int uvndx;
int lumndx;
int index;
/* Check if a color lookup table has been allocated */
pinfo->lut = (dev_pixel_t*)
trv_malloc(sizeof(dev_pixel_t) * (NUNIT_VECTORS*NLUMINANCES));
if (!pinfo->lut)
{
trv_abort("ERROR: Failed to allocate color lookup table\n");
}
lut = pinfo->lut;
/* Save the color information and color lookup table for use in
* color mapping below.
*/
g_pixel2um_lut = (struct trv_color_lum_s*)
trv_malloc(sizeof(struct trv_color_lum_s) * (NUNIT_VECTORS*NLUMINANCES));
if (!g_pixel2um_lut)
{
trv_abort("ERROR: Failed to allocate luminance table\n");
}
/* Allocate each color at each luminance value */
pinfo->ncolors = 0;
index = 0;
for (uvndx = 0; uvndx < NUNIT_VECTORS; uvndx++)
{
for (lumndx = 0; lumndx < NLUMINANCES; lumndx++)
{
struct trv_color_rgb_s color;
FAR struct trv_color_lum_s *lum;
/* Get a convenience pointer to the lookup table entry */
lum = &g_pixel2um_lut[index];
*lum = g_unit_vector[uvndx];
/* Get the luminance associated with this lum for this
* unit vector.
*/
lum->luminance = (lum->luminance * (float)(lumndx + 1)) / NLUMINANCES;
/* Convert to RGB and allocate the color */
color.red = (short) (lum->red * lum->luminance);
color.green = (short) (lum->green * lum->luminance);
color.blue = (short) (lum->blue * lum->luminance);
/* Save the RGB to pixel lookup data */
lut[index] = TRV_MKRGB(color.red, color.green, color.blue);
pinfo->ncolors = ++index;
}
}
#else
dev_pixel_t *lut;
int index;
struct trv_color_rgb_s rgb;
/* Check if a color lookup table has been allocated */
pinfo->lut = (dev_pixel_t*)
trv_malloc(sizeof(dev_pixel_t) * (TRV_PIXEL_MAX+1));
if (!pinfo->lut)
{
trv_abort("ERROR: Failed to allocate color lookup table\n");
}
/* Save the color information and color lookup table for use in
* subsequent color mapping.
*/
lut = pinfo->lut;
/* Check if a Pixel-to-RGB color mapping table has been allocated */
g_pixl2rgb_lut = (struct trv_color_rgb_s*)
trv_malloc(sizeof(struct trv_color_rgb_s) * (TRV_PIXEL_MAX+1));
if (!g_pixl2rgb_lut)
{
trv_abort("ERROR: Failed to allocate luminance table\n");
}
for (index = 0; index <= TRV_PIXEL_MAX; index++)
{
g_pixl2rgb_lut[index].red
= g_pixl2rgb_lut[index].green
= g_pixl2rgb_lut[index].blue = 0;
}
/* Calculate the cube to trv_pixel_t scale factor. This factor will
* convert an RGB component in the range {0..RGB_CUBE_SIZE-1} to
* a value in the range {0..TRV_PIXEL_MAX}.
*/
g_trv_cube2pixel = (float)TRV_PIXEL_MAX / (float)(RGB_CUBE_SIZE-1);
/* Allocate each color in the RGB Cube */
pinfo->ncolors = index = 0;
for (rgb.red = 0; rgb.red < RGB_CUBE_SIZE; rgb.red++)
for (rgb.green = 0; rgb.green < RGB_CUBE_SIZE; rgb.green++)
for (rgb.blue = 0; rgb.blue < RGB_CUBE_SIZE; rgb.blue++)
{
struct trv_color_rgb_s color;
color.red = (short) (rgb.red * 65535 / (RGB_CUBE_SIZE - 1));
color.green = (short) (rgb.green * 65535 / (RGB_CUBE_SIZE - 1));
color.blue = (short) (rgb.blue * 65535 / (RGB_CUBE_SIZE - 1));
/* Save the RGB to pixel lookup data */
lut[index] = TRV_MKRGB(color.red, color.green, color.blue);
pinfo->ncolors = ++index;
/* Save the pixel to RGB lookup data */
if (color.pixel <= TRV_PIXEL_MAX)
{
g_pixl2rgb_lut[color.pixel] = rgb;
}
}
#endif
}
void trv_input_read(void)
{
#if defined(CONFIG_GRAPHICS_TRAVELER_JOYSTICK)
#if defined(CONFIG_GRAPHICS_TRAVELER_AJOYSTICK)
struct ajoy_sample_s sample;
int ret;
/* Read data from the analog joystick */
ret = trv_joystick_read(&sample);
if (ret < 0)
{
trv_abort("ERROR: trv_joystick_read() failed: %d\n", ret);
}
/* Determine the input data to return to the POV logic */
/* Assuming moving slowing so we cannot step over tall things */
g_trv_input.stepheight = g_walk_stepheight;
/* Move forward or backward OR look up or down */
g_trv_input.leftrate = 0;
g_trv_input.yawrate = 0;
g_trv_input.pitchrate = 0;
g_trv_input.fwdrate = 0;
if ((sample.as_buttons & AJOY_BUTTON_FIRE_BIT) != 0)
{
/* Move left/rignt */
g_trv_input.leftrate = trv_scale_input_x(&sample);
/* Look upward/downward */
g_trv_input.pitchrate = trv_scale_input_pitch(&sample);
/* If we are moving faster than a walk, we can jump higher */
if (g_trv_input.leftrate < -WALK_RATE || g_trv_input.leftrate > WALK_RATE)
{
g_trv_input.stepheight = g_run_stepheight;
}
}
else
{
/* Turn left/right */
g_trv_input.yawrate = trv_scale_input_yaw(&sample);
/* Move forward/backward */
g_trv_input.fwdrate = trv_scale_input_y(&sample);
/* If we are moving faster than a walk, we can jump higher */
if (g_trv_input.fwdrate < -WALK_RATE || g_trv_input.fwdrate > WALK_RATE)
{
g_trv_input.stepheight = g_run_stepheight;
}
}
g_trv_input.dooropen = ((sample.as_buttons & AJOY_BUTTON_SELECT_BIT) != 0);
#elif defined(CONFIG_GRAPHICS_TRAVELER_DJOYSTICK)
struct djoy_buttonset_t buttonset;
ssize_t nread;
int16_t move_rate;
int16_t turn_rate;
/* Read data from the discrete joystick */
nread = read(g_trv_joystick.fd, &buttonset, sizeof(djoy_buttonset_t));
if (nread < 0)
{
trv_abort("ERROR: Joystick read error: %d\n", errno);
}
else if (nread != sizeof(struct djoy_buttonset_t))
{
trv_abort("ERROR: Unexpected joystick read size: %ld\n", (long)nread);
}
/* Determine the input data to return to the POV logic */
if ((buttonset & DJOY_BUTTON_RUN_BIT) != 0)
{
/* Run faster/step higher */
g_trv_joystick.stepheight = g_run_stepheight;
move_rate = RUN_RATE;
turn_rate = ANGLE_9;
}
else
{
/* Normal walking rate and stepping height */
g_trv_joystick.stepheight = g_walk_stepheight;
move_rate = WALK_RATE;
turn_rate = ANGLE_6;
}
/* Move forward or backward OR look up or down */
g_trv_joystick.pitchrate = 0;
g_trv_joystick.fwdrate = 0;
switch (buttonset & (DJOY_UP_BIT | DJOY_DOWN_BIT))
{
case 0:
case (DJOY_UP_BIT | DJOY_DOWN_BIT):
/* Don't move, don't nod */
break;
case DJOY_UP_BIT:
if ((buttonset & DJOY_BUTTON_FIRE_BIT) != 0)
{
/* Look upward */
g_trv_input.pitchrate = turn_rate;
}
else
{
/* Move forward */
g_trv_input.fwdrate = move_rate;
}
break;
case DJOY_DOWN_BIT:
if ((buttonset & DJOY_BUTTON_FIRE_BIT) != 0)
{
/* Look downward */
g_trv_input.pitchrate = -turn_rate;
}
else
{
/* Move Backward */
g_trv_input.fwdrate = -move_rate;
}
break;
}
/* Move or loook left or right */
g_trv_input.yawrate = 0;
g_trv_input.leftrate = 0;
switch (buttonset & (DJOY_LEFT_BIT | DJOY_RIGHT_BIT))
{
case 0:
case (DJOY_LEFT_BIT | DJOY_RIGHT_BIT):
/* Don't move, don't nod */
break;
case DJOY_LEFT_BIT:
if ((buttonset & DJOY_BUTTON_FIRE_BIT) != 0)
{
/* Turn left */
g_trv_input.yawrate = turn_rate;
}
else
{
/* Move left */
g_trv_input.leftrate = move_rate;
}
break;
case DJOY_RIGHT_BIT:
if ((buttonset & DJOY_BUTTON_FIRE_BIT) != 0)
{
/* Turn right */
g_trv_input.yawrate = -turn_rate;
}
else
{
/* Move right */
g_trv_input.leftrate = -move_rate;
}
break;
}
g_trv_input.dooropen = ((buttonset & DJOY_BUTTON_SELECT_BIT) != 0);
#endif /* CONFIG_GRAPHICS_TRAVELER_DJOYSTICK */
#elif defined(CONFIG_GRAPHICS_TRAVELER_NX_XYINPUT)
/* Make position decision based on last sampled X/Y input data */
#warning Missing logic
#endif
}
void trv_input_initialize(void)
{
#if defined(CONFIG_GRAPHICS_TRAVELER_DJOYSTICK)
struct djoy_notify_s notify;
/* Open the joy stick device */
g_trv_joystick.fd = open(CONFIG_GRAPHICS_TRAVELER_JOYDEV, O_RDONLY);
if (g_trv_joystick.fd < 0)
{
trv_abort("ERROR: Failed to open %s: %d\n",
CONFIG_GRAPHICS_TRAVELER_JOYDEV, errno);
}
#elif defined(CONFIG_GRAPHICS_TRAVELER_AJOYSTICK)
struct ajoy_notify_s notify;
int ret;
/* Open the joy stick device */
g_trv_joystick.fd = open(CONFIG_GRAPHICS_TRAVELER_JOYDEV, O_RDONLY);
if (g_trv_joystick.fd < 0)
{
trv_abort("ERROR: Failed to open %s: %d\n",
CONFIG_GRAPHICS_TRAVELER_JOYDEV, errno);
}
/* Register to receive a signal on any change in the joystick buttons. */
notify.an_press = BUTTON_SET;
notify.an_release = 0;
notify.an_signo = CONFIG_GRAPHICS_TRAVELER_JOYSTICK_SIGNO;
ret = ioctl(g_trv_joystick.fd, AJOYIOC_REGISTER, (unsigned long)((uintptr_t)¬ify));
if (ret < 0)
{
fprintf(stderr, "ERROR: ioctl(AJOYIOC_REGISTER) failed: %d\n", errno);
goto errout_with_fd;
}
/* Calibrate the analog joystick device */
ret = trv_joystick_calibrate();
if (ret < 0)
{
trv_abort("ERROR: Failed to calibrate joystick: %d\n", ret);
goto errout_with_fd;
}
/* Disable any further button events. */
notify.an_press = 0;
notify.an_release = 0;
notify.an_signo = CONFIG_GRAPHICS_TRAVELER_JOYSTICK_SIGNO;
ret = ioctl(g_trv_joystick.fd, AJOYIOC_REGISTER, (unsigned long)((uintptr_t)¬ify));
if (ret < 0)
{
fprintf(stderr, "ERROR: ioctl(AJOYIOC_REGISTER) failed: %d\n", errno);
goto errout_with_fd;
}
return;
errout_with_fd:
close(g_trv_joystick.fd);
g_trv_joystick.fd = -1;
#elif defined(CONFIG_GRAPHICS_TRAVELER_NX_XYINPUT)
/* Set the position to the center of the display at eye-level */
#warning Missing logic
#endif
}
int trv_graphics_initialize(FAR struct trv_graphics_info_s *ginfo)
{
int width;
int height;
int scale;
/* Initialize the graphics device and get information about the display */
#if !defined(CONFIG_NX)
trv_fb_initialize(ginfo);
#elif defined(CONFIG_NX_MULTIUSER)
trv_nxmu_initialize(ginfo);
#else
trv_nxsu_initialize(ginfo);
#endif
/* Check the size of the display */
width = ginfo->xres;
height = ginfo->yres;
if (width < TRV_SCREEN_WIDTH || height < TRV_SCREEN_HEIGHT)
{
trv_abort("ERROR: Display is too small\n");
}
/* Check if we need to scale the image */
scale = 0;
while (width >= TRV_SCREEN_WIDTH)
{
width -= TRV_SCREEN_WIDTH;
scale++;
}
ginfo->xscale = scale;
ginfo->xoffset = (width >> 1);
ginfo->imgwidth = scale * TRV_SCREEN_WIDTH * sizeof(dev_pixel_t);
scale = 0;
while (height >= TRV_SCREEN_HEIGHT)
{
height -= TRV_SCREEN_HEIGHT;
scale++;
}
ginfo->yscale = scale;
ginfo->yoffset = (height >> 1);
/* Allocate buffers
*
* ginfo->swbuffer - Software renders into this buffer using an 8-bit
* encoding and perhaps at a different resolution that the final
* image.
*/
ginfo->swbuffer = (trv_pixel_t*)
trv_malloc(TRV_SCREEN_WIDTH * TRV_SCREEN_HEIGHT * sizeof(trv_pixel_t));
if (!ginfo->swbuffer)
{
trv_abort("ERROR: Failed to allocate render buffer\n");
}
/* Using the framebuffer driver:
* ginfo->hwbuffer - This address of the final, expanded frame image.
* This address is determined by hardware and is neither allocated
* nor freed.
*
* Using NX
* ginfo->hwbuffer - This address of one line of the final expanded
* image that must transferred to the window.
*/
#ifdef CONFIG_NX
ginfo->hwbuffer = (trv_pixel_t*)trv_malloc(ginfo->imgwidth);
if (!ginfo->hwbuffer)
{
trv_abort("ERROR: Failed to allocate hardware line buffer\n");
}
#endif
/* Allocate color mapping information */
trv_color_allocate(&ginfo->palette);
trv_vdebug("%d colors allocated\n", ginfo->palette.ncolors);
return OK;
}