static void
_shutdown(void)
{
if (prefs_get_boolean(PREF_TITLEBAR_SHOW)) {
if (prefs_get_boolean(PREF_TITLEBAR_GOODBYE)) {
ui_goodbye_title();
} else {
ui_clear_win_title();
}
}
ui_close_all_wins();
jabber_disconnect();
jabber_shutdown();
roster_free();
muc_close();
caps_close();
ui_close();
#ifdef HAVE_LIBOTR
otr_shutdown();
#endif
#ifdef HAVE_LIBGPGME
p_gpg_close();
#endif
chat_log_close();
theme_close();
accounts_close();
tlscerts_close();
cmd_uninit();
log_stderr_close();
log_close();
prefs_close();
if (saved_status) {
free(saved_status);
}
}
void atexit_handler()
{
config_close();
program_close();
ui_close();
states_clear();
dwindow_free(data.win[0]);
dwindow_free(data.win[1]);
}
//called at the end of the program
void close_editor() {
// _MARK_("end of editor");//Nuked to compile -KRB
#ifndef __LINUX__
set_warn_func(msgbox_warning);
#else
clear_warn_func(NULL);
#endif
close_editor_screen();
//kill our camera object
Viewer = ConsoleObject; //reset viewer
//@@obj_delete(camera_objnum);
padnum = ui_pad_get_current();
close_autosave();
ui_close();
gr_close_font(editor_font);
PHYSFSX_removeRelFromSearchPath("editor/data");
PHYSFSX_removeRelFromSearchPath("editor");
PHYSFSX_removeRelFromSearchPath("editor.zip");
PHYSFSX_removeRelFromSearchPath("editor.dxa");
switch (ModeFlag)
{
case 1:
if (Game_wind)
window_close(Game_wind);
break;
case 2:
if (Game_wind)
window_close(Game_wind);
set_screen_mode(SCREEN_MENU); //put up menu screen
show_menus();
break;
case 3:
set_screen_mode(SCREEN_GAME); //put up game screen
Game_mode = GM_EDITOR;
editor_reset_stuff_on_level();
N_players = 1;
break;
}
return;
}
int main(int argc, char **argv)
{
char *paths[] = { NULL, NULL };
int i;
pthread_t u_tid;
cmdname = argv[0];
for (i = 1; i < argc && *argv[i] == '-'; i++) {
if (streq(argv[i], "-h")) {
usage();
}
}
paths[0] = (argc > i) ? argv[i] : ".";
paths[1] = (argc > (i + 1)) ? argv[i + 1] : paths[0];
atexit(atexit_handler);
if (!setlocale(LC_CTYPE, ""))
die("couldn't set locale\n");
config_init();
program_init();
read_config_files();
/* setup windows */
for (i = 0; i < 2; i++) {
data.win[i] = dwindow_create();
dwindow_set_sort(data.win[i], config()->sort);
dwindow_read(data.win[i], paths[i]);
}
data.wsel = data.win[0];
/* setup ui */
ui_init();
theme_init();
/* set default state */
states_push(list_state());
/* start update thread */
pthread_mutex_init(&data.mutex, NULL);
if (pthread_create(&u_tid, NULL, update_loop, &data) != 0)
die("pthread_create: %s\n", strerror(errno));
main_loop();
ui_close();
return 0;
}
void cmd_shell(struct wdata *data, const struct arg *arg)
{
char *shell = getenv("SHELL");
(void)arg;
if (!shell)
shell = "/bin/sh";
if (data->wsel->path) {
ui_close();
chdir(data->wsel->path);
system(shell);
ui_init();
}
}
static void
_shutdown(void)
{
ui_clear_win_title();
ui_close_all_wins();
jabber_disconnect();
jabber_shutdown();
roster_free();
muc_close();
caps_close();
ui_close();
chat_log_close();
prefs_close();
theme_close();
accounts_close();
cmd_uninit();
log_close();
}
static void
_shutdown(void)
{
if (prefs_get_boolean(PREF_TITLEBAR_SHOW)) {
if (prefs_get_boolean(PREF_TITLEBAR_GOODBYE)) {
ui_goodbye_title();
} else {
ui_clear_win_title();
}
}
jabber_conn_status_t conn_status = jabber_get_connection_status();
if (conn_status == JABBER_CONNECTED) {
cl_ev_disconnect();
}
#ifdef PROF_HAVE_GTK
if (gtk_ready) {
destroy_tray();
}
#endif
jabber_shutdown();
plugins_on_shutdown();
muc_close();
caps_close();
ui_close();
#ifdef PROF_HAVE_LIBOTR
otr_shutdown();
#endif
#ifdef PROF_HAVE_LIBGPGME
p_gpg_close();
#endif
chat_log_close();
theme_close();
accounts_close();
tlscerts_close();
cmd_uninit();
log_stderr_close();
log_close();
plugins_shutdown();
prefs_close();
if (saved_status) {
free(saved_status);
}
}
static void
_shutdown(void)
{
if (prefs_get_boolean(PREF_WINTITLE_SHOW)) {
if (prefs_get_boolean(PREF_WINTITLE_GOODBYE)) {
ui_goodbye_title();
} else {
ui_clear_win_title();
}
}
jabber_conn_status_t conn_status = connection_get_status();
if (conn_status == JABBER_CONNECTED) {
cl_ev_disconnect();
}
#ifdef HAVE_GTK
tray_shutdown();
#endif
session_shutdown();
plugins_on_shutdown();
muc_close();
caps_close();
#ifdef HAVE_LIBOTR
otr_shutdown();
#endif
#ifdef HAVE_LIBGPGME
p_gpg_close();
#endif
chat_log_close();
theme_close();
accounts_close();
tlscerts_close();
log_stderr_close();
log_close();
plugins_shutdown();
cmd_uninit();
ui_close();
prefs_close();
}
// ---------------------------------------------------------------------------------------------------
//this function is the editor. called when editor mode selected. runs until
//game mode or exit selected
void editor(void)
{
int w,h;
grsBitmap * savedbitmap;
editorView *new_cv;
static int padnum=0;
vmsMatrix MouseRotMat,tempm;
//@@short camera_objnum; //a camera for viewing
init_editor();
InitCurve();
RestoreEffectBitmapIcons();
if (!SetScreenMode(SCREEN_EDITOR)) {
SetScreenMode(SCREEN_GAME);
gameStates.app.nFunctionMode=FMODE_GAME; //force back into game
return;
}
GrSetCurrentCanvas( NULL );
GrSetCurFont(editor_font);
//Editor renders into full (320x200) game screen
SetWarnFunc(med_show_warning);
gameStates.input.keys.bRepeat = 1; // Allow repeat in editor
// _MARK_("start of editor");//Nuked to compile -KRB
ui_mouse_hide();
ui_reset_idleSeconds();
gameData.objs.viewer = gameData.objs.console;
slew_init(gameData.objs.console);
UpdateFlags = UF_ALL;
medlisp_update_screen();
//set the wire-frame window to be the current view
currentView = &LargeView;
if (faded_in==0)
{
faded_in = 1;
//gr_pal_fade_in( grdCurScreen->pal );
}
w = GameViewBox->canvas->cvBitmap.bmProps.w;
h = GameViewBox->canvas->cvBitmap.bmProps.h;
savedbitmap = GrCreateBitmap(w, h );
GrBmUBitBlt( w, h, 0, 0, 0, 0, &GameViewBox->canvas->cvBitmap, savedbitmap );
GrSetCurrentCanvas( GameViewBox->canvas );
GrSetCurFont(editor_font);
//GrSetColor( CBLACK );
//gr_deaccent_canvas();
//gr_grey_canvas();
ui_mouse_show();
GrSetCurFont(editor_font);
ui_pad_goto(padnum);
gamestate_restore_check();
while (gameStates.app.nFunctionMode == FMODE_EDITOR) {
GrSetCurFont(editor_font);
info_display_all(EditorWindow);
ModeFlag = 0;
// Update the windows
// Only update if there is no key waiting and we're not in
// fast play mode.
if (!KeyPeekKey()) //-- && (MacroStatus != UI_STATUS_FASTPLAY))
medlisp_update_screen();
//do editor stuff
GrSetCurFont(editor_font);
ui_mega_process();
last_keypress &= ~KEYDBGGED; // mask off delete key bit which has no function in editor.
ui_window_do_gadgets(EditorWindow);
doRobot_window();
doObject_window();
do_wall_window();
do_trigger_window();
do_hostage_window();
do_centers_window();
check_wall_validity();
Assert(gameData.walls.nWalls>=0);
if (Gameview_lockstep) {
static tSegment *old_cursegp=NULL;
static int old_curside=-1;
if (old_cursegp!=Cursegp || old_curside!=Curside) {
SetPlayerFromCursegMinusOne();
old_cursegp = Cursegp;
old_curside = Curside;
}
}
if ( ui_get_idleSeconds() > COMPRESS_INTERVAL )
{
med_compress_mine();
ui_reset_idleSeconds();
}
// Commented out because it occupies about 25% of time in twirling the mine.
// Removes some Asserts....
// med_check_all_vertices();
clear_editor_status(); // if enough time elapsed, clear editor status message
TimedAutosave(mine_filename);
set_editorTime_of_day();
GrSetCurrentCanvas( GameViewBox->canvas );
// Remove keys used for slew
switch(last_keypress)
{
case KEY_PAD9:
case KEY_PAD7:
case KEY_PADPLUS:
case KEY_PADMINUS:
case KEY_PAD8:
case KEY_PAD2:
case KEY_LBRACKET:
case KEY_RBRACKET:
case KEY_PAD1:
case KEY_PAD3:
case KEY_PAD6:
case KEY_PAD4:
last_keypress = 0;
}
if ((last_keypress&0xff)==KEY_LSHIFT) last_keypress=0;
if ((last_keypress&0xff)==KEY_RSHIFT) last_keypress=0;
if ((last_keypress&0xff)==KEY_LCTRL) last_keypress=0;
if ((last_keypress&0xff)==KEY_RCTRL) last_keypress=0;
// if ((last_keypress&0xff)==KEY_LALT) last_keypress=0;
// if ((last_keypress&0xff)==KEY_RALT) last_keypress=0;
GrSetCurFont(editor_font);
menubar_do( last_keypress );
//=================== DO FUNCTIONS ====================
if ( KeyFunction[ last_keypress ] != NULL ) {
KeyFunction[last_keypress]();
last_keypress = 0;
}
switch (last_keypress)
{
case 0:
case KEY_Z:
case KEY_G:
case KEY_LALT:
case KEY_RALT:
case KEY_LCTRL:
case KEY_RCTRL:
case KEY_LSHIFT:
case KEY_RSHIFT:
case KEY_LAPOSTRO:
break;
case KEY_SHIFTED + KEY_L:
ToggleLighting();
break;
case KEY_F1:
render_3d_in_big_window = !render_3d_in_big_window;
UpdateFlags |= UF_ALL;
break;
default:
{
char kdesc[100];
GetKeyDescription( kdesc, last_keypress );
editor_status("Error: %s isn't bound to anything.", kdesc );
}
}
//================================================================
if (ModeFlag==1)
{
close_editor_screen();
gameStates.app.nFunctionMode=FMODE_EXIT;
GrFreeBitmap( savedbitmap );
break;
}
if (ModeFlag==2) //-- && MacroStatus==UI_STATUS_NORMAL )
{
ui_mouse_hide();
gameStates.app.nFunctionMode = FMODE_GAME;
GrBmUBitBlt( w, h, 0, 0, 0, 0, savedbitmap, &GameViewBox->canvas->cvBitmap);
GrFreeBitmap( savedbitmap );
break;
}
if (ModeFlag==3) //-- && MacroStatus==UI_STATUS_NORMAL )
{
// med_compress_mine(); //will be called anyways before game.
close_editor_screen();
gameStates.app.nFunctionMode=FMODE_GAME; //force back into game
SetScreenMode(SCREEN_GAME); //put up game screen
GrFreeBitmap( savedbitmap );
break;
}
// if (CurWindow->keyboard_focus_gadget == (UI_GADGET *)GameViewBox) currentView=NULL;
// if (CurWindow->keyboard_focus_gadget == (UI_GADGET *)GroupViewBox) currentView=NULL;
new_cv = currentView ;
#if ORTHO_VIEWS
if (CurWindow->keyboard_focus_gadget == (UI_GADGET *)LargeViewBox) new_cv=&LargeView;
if (CurWindow->keyboard_focus_gadget == (UI_GADGET *)TopViewBox) new_cv=&TopView;
if (CurWindow->keyboard_focus_gadget == (UI_GADGET *)FrontViewBox) new_cv=&FrontView;
if (CurWindow->keyboard_focus_gadget == (UI_GADGET *)RightViewBox) new_cv=&RightView;
#endif
if (new_cv != currentView ) {
currentView->ev_changed = 1;
new_cv->ev_changed = 1;
currentView = new_cv;
}
CalcFrameTime();
if (slew_frame(0)) { //do movement and check keys
UpdateFlags |= UF_GAME_VIEW_CHANGED;
if (Gameview_lockstep) {
Cursegp = &gameData.segs.segments[gameData.objs.console->nSegment];
med_create_new_segment_from_cursegp();
UpdateFlags |= UF_ED_STATE_CHANGED;
}
}
// DO TEXTURE STUFF
texpage_do();
objpage_do();
// Process selection of Cursegp using mouse.
if (LargeViewBox->mouse_onme && LargeViewBox->b1_clicked && !render_3d_in_big_window)
{
int xcrd,ycrd;
xcrd = LargeViewBox->b1_drag_x1;
ycrd = LargeViewBox->b1_drag_y1;
find_segments(xcrd,ycrd,LargeViewBox->canvas,&LargeView,Cursegp,Big_depth); // Sets globals N_found_segs, Found_segs
// If shift is down, then add tSegment to found list
if (gameStates.input.keys.pressed[ KEY_LSHIFT ] || gameStates.input.keys.pressed[ KEY_RSHIFT ])
subtract_found_segments_from_selected_list();
else
add_found_segments_to_selected_list();
Found_seg_index = 0;
if (N_found_segs > 0) {
sort_seg_list(N_found_segs,Found_segs,&gameData.objs.console->position.vPos);
Cursegp = &gameData.segs.segments[Found_segs[0]];
med_create_new_segment_from_cursegp();
if (LockView_to_cursegp)
setView_target_from_segment(Cursegp);
}
UpdateFlags |= UF_ED_STATE_CHANGED | UF_VIEWPOINT_MOVED;
}
if (GameViewBox->mouse_onme && GameViewBox->b1_dragging) {
int x, y;
x = GameViewBox->b1_drag_x2;
y = GameViewBox->b1_drag_y2;
ui_mouse_hide();
GrSetCurrentCanvas( GameViewBox->canvas );
GrSetColor( 15 );
GrRect( x-1, y-1, x+1, y+1 );
ui_mouse_show();
}
// Set current tSegment and tSide by clicking on a polygon in game window.
// If ctrl pressed, also assign current texture map to that tSide.
//if (GameViewBox->mouse_onme && (GameViewBox->b1_done_dragging || GameViewBox->b1_clicked)) {
if ((GameViewBox->mouse_onme && GameViewBox->b1_clicked && !render_3d_in_big_window) ||
(LargeViewBox->mouse_onme && LargeViewBox->b1_clicked && render_3d_in_big_window)) {
int xcrd,ycrd;
int seg,tSide,face,poly,tmap;
if (render_3d_in_big_window) {
xcrd = LargeViewBox->b1_drag_x1;
ycrd = LargeViewBox->b1_drag_y1;
}
else {
xcrd = GameViewBox->b1_drag_x1;
ycrd = GameViewBox->b1_drag_y1;
}
//Int3();
if (FindSegSideFace(xcrd,ycrd,&seg,&tSide,&face,&poly)) {
if (seg<0) { //found an tObject
CurObject_index = -seg-1;
editor_status("Object %d selected.",CurObject_index);
UpdateFlags |= UF_ED_STATE_CHANGED;
}
else {
// See if either shift key is down and, if so, assign texture map
if (gameStates.input.keys.pressed[KEY_LSHIFT] || gameStates.input.keys.pressed[KEY_RSHIFT]) {
Cursegp = &gameData.segs.segments[seg];
Curside = tSide;
AssignTexture();
med_create_new_segment_from_cursegp();
editor_status("Texture assigned");
} else if (gameStates.input.keys.pressed[KEY_G]) {
tmap = gameData.segs.segments[seg].sides[tSide].nBaseTex;
texpage_grab_current(tmap);
editor_status( "Texture grabbed." );
} else if (gameStates.input.keys.pressed[ KEY_LAPOSTRO] ) {
ui_mouse_hide();
moveObject_to_mouse_click();
} else {
Cursegp = &gameData.segs.segments[seg];
Curside = tSide;
med_create_new_segment_from_cursegp();
editor_status("Curseg and curside selected");
}
}
UpdateFlags |= UF_ED_STATE_CHANGED;
}
else
editor_status("Click on non-texture ingored");
}
// Allow specification of LargeView using mouse
if (gameStates.input.keys.pressed[ KEY_LCTRL ] || gameStates.input.keys.pressed[ KEY_RCTRL ]) {
ui_mouse_hide();
if ( (Mouse.dx!=0) && (Mouse.dy!=0) ) {
GetMouseRotation( Mouse.dx, Mouse.dy, &MouseRotMat );
VmMatMul(&tempm,&LargeView.ev_matrix,&MouseRotMat);
LargeView.ev_matrix = tempm;
LargeView.ev_changed = 1;
LargeView_index = -1; // say not one of the orthogonal views
}
} else {
ui_mouse_show();
}
if ( gameStates.input.keys.pressed[ KEY_Z ] ) {
ui_mouse_hide();
if ( Mouse.dy!=0 ) {
currentView->evDist += Mouse.dy*10000;
currentView->ev_changed = 1;
}
} else {
ui_mouse_show();
}
}
// _MARK_("end of editor");//Nuked to compile -KRB
ClearWarnFunc(med_show_warning);
//kill our camera tObject
gameData.objs.viewer = gameData.objs.console; //reset viewer
//@@ReleaseObject(camera_objnum);
padnum = ui_pad_get_current();
close_editor();
ui_close();
}
int threads_linux_init(void)
{
int status = 0;
int n = 0;
int return_value = THREADS_LINUX_SUCCESS;
// Init data
status = sensors_init(&battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data);
if(status != SENSORS_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = calibration_init(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
if(status != CALIBRATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = gps_init(&gps_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = imu_init(&imu_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = magnetometer_init(&magnetometer_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = sonar_init(&sonar_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = estimation_init(ESTIMATION_DO_NOT_ESTIMATE_ACCEL_BIAS, &estimation_data);
if(status != ESTIMATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = control_init(&control_data);
if(status != CONTROL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = protocol_init();
if(status != PROTOCOL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = ui_init();
if(status != UI_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
if(return_value != THREADS_LINUX_FAILURE)
{
status = datalogger_init();
if(status != DATALOGGER_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
}
// Main Loop
if(return_value != THREADS_LINUX_FAILURE)
{
threads_linux_timer_start_task_1();
usleep(0.5*task_1_period_us);
threads_linux_timer_start_task_2();
usleep(5*task_1_period_us);
while(quittask == 0)
{
#if ANU_COMPILE_FOR_OVERO
#else
if(datalogger_status() == DATALOGGER_RUNNING) datalogger_update_IPC();
#endif
if(++n>100)
{
if(datalogger_status() == DATALOGGER_RUNNING) datalogger_write_file();
n = 0;
}
usleep(5*task_1_period_us);
}
threads_linux_timer_stop_task_1();
usleep(TASK1_PERIOD_US);
threads_linux_timer_stop_task_2();
usleep(TASK2_PERIOD_US);
}
status = datalogger_close();
if(status != DATALOGGER_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = ui_close();
if(status != UI_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = protocol_close();
if(status != PROTOCOL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = control_close();
if(status != CONTROL_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = estimation_close(&estimation_data);
if(status != ESTIMATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = magnetometer_close(&magnetometer_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = imu_close(&imu_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = gps_close(&gps_measure);
if(status != 1)
{
return_value = THREADS_LINUX_FAILURE;
}
status = calibration_close(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
if(status != CALIBRATION_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
status = sensors_close();
if(status != SENSORS_SUCCESS)
{
return_value = THREADS_LINUX_FAILURE;
}
return return_value;
}
int main(void)
{
int status = 0;
int n = 0;
int return_value = SUCCESS;
// Parameters for IMU and SPI
imu_param.acc.full_res=1;
imu_param.acc.rate=100;
imu_param.acc.range=16;
imu_param.gyr.rate=100;
imu_param.gyr.lpf_bw=188;
imu_param.gyr.clk_source='Z';
imu_param.gyr.act="XYZ";
imu_param.mag.rate=75;
imu_param.mag.range=0;
imu_param.mag.samples_avg=8;
imu_param.mag.meas_mode=0;
imu_param.mag.op_mode=0;
spi_param.mode=0;
spi_param.speed=375000;
spi_param.cs=0;
// printf("\ngpio186 inicialmente = %d\n",gpio_read(GPIO_S0));
//printf("gpio10 inicialmente = %d\n",gpio_read(GPIO_SHDN));
// Initialization
if( devices_init(&imu_param, &spi_param, &mra_data)==FAILURE )
{
perror("Unsuccesful devices initialization");
return -1;
}
if( datalogger_init()!=SUCCESS )
{
perror("Unsuccesful datalogger initialization");
return -1;
}
if( ui_init() != SUCCESS)
{
perror("Unsuccesful user interface initialization");
return -1;
}
// enc_zero_set(enc_data)!=SUCCESS ? perror("Unsuccesfull encoder set zero "); return -1;
//gpio_write(GPIO_S0,1);
//mra_data.Out_0=2275;
//actuate(spi_param.spi_dev,&mra_data);
//return_value=FAILURE;
// Main Loop
if(return_value != FAILURE)
{
//datalogger_start();
timer_start_task_1();
usleep(0.5*task_1_period_us);
timer_start_task_2();
usleep(5*task_1_period_us);
while(quittask == 0)
{
#if ANU_COMPILE_FOR_OVERO
#else
//if(datalogger_status() == DATALOGGER_RUNNING) datalogger_update_IPC();
#endif
if(++n>100)
{
//printf("n = %d\n",n);
if(datalogger_status() == DATALOGGER_RUNNING) datalogger_write_file();
n = 0;
}
usleep(5*task_1_period_us);
}
datalogger_stop();
timer_stop_task_1();
usleep(TASK1_PERIOD_US);
timer_stop_task_2();
usleep(TASK2_PERIOD_US);
}
status = datalogger_close();
if(status != DATALOGGER_SUCCESS)
{
return_value = FAILURE;
}
status = ui_close();
if(status != SUCCESS)
{
return_value = FAILURE;
}
devices_close(&imu_param, &spi_param, &mra_data);
return return_value;
}
bool ui_init()
{
movelist_init();
/* window, drawable stuff */
ui_display = XOpenDisplay(getenv("DISPLAY"));
if (NULL == ui_display) {
ui_close();
return false;
}
ui_rootwindow = DefaultRootWindow(ui_display);
if (0 == ui_rootwindow) {
ui_close();
return false;
}
ui_screenwidth = DisplayWidth(ui_display, DefaultScreen(ui_display));
ui_screenheight = DisplayHeight(ui_display, DefaultScreen(ui_display));
int depth = DisplayPlanes(ui_display, DefaultScreen(ui_display));
LOG( INFO, "Screen size: %dx%d, Depth: %d", ui_screenwidth, ui_screenheight, depth );
ui_backbuf = XCreatePixmap( ui_display, ui_rootwindow,
ui_screenwidth, ui_screenheight, depth );
if ( ui_backbuf == 0 ) {
ui_close();
return false;
}
ui_gcontext = XCreateGC(ui_display, ui_backbuf, 0, NULL);
if (0 == ui_gcontext) {
ui_close();
return false;
}
ui_xftdraw = XftDrawCreate(ui_display, ui_backbuf, DefaultVisual(ui_display, 0), DefaultColormap(ui_display, 0));
if (NULL == ui_xftdraw) {
ui_close();
return false;
}
/* load fonts */
ui_piecefont = XftFontOpen(ui_display, DefaultScreen(ui_display),
XFT_FAMILY, XftTypeString, UI_FONT_FAMILY_PIECES,
XFT_SIZE, XftTypeDouble, UI_FONT_SIZE_PIECES,
NULL);
if (NULL == ui_piecefont) {
ui_close();
return false;
}
ui_infofont = XftFontOpen(ui_display, DefaultScreen(ui_display),
XFT_FAMILY, XftTypeString, UI_FONT_FAMILY_TEXT,
XFT_SIZE, XftTypeDouble, UI_FONT_SIZE_INFO,
NULL);
if (NULL == ui_infofont) {
ui_close();
return false;
}
ui_namefont = XftFontOpen(ui_display, DefaultScreen(ui_display),
XFT_FAMILY, XftTypeString, UI_FONT_FAMILY_TEXT,
XFT_SIZE, XftTypeDouble, UI_FONT_SIZE_NAME,
NULL);
if (NULL == ui_namefont) {
ui_close();
return false;
}
ui_coordfont = XftFontOpen(ui_display, DefaultScreen(ui_display),
XFT_FAMILY, XftTypeString, UI_FONT_FAMILY_TEXT,
XFT_SIZE, XftTypeDouble, UI_FONT_SIZE_COORD,
XFT_WEIGHT, XftTypeInteger, XFT_WEIGHT_BOLD,
NULL);
if (NULL == ui_coordfont) {
ui_close();
return false;
}
ui_infofontchwidth = ui_info_font_normal_char_width();
/* create colors */
XRenderColor whiteSquareColor;
whiteSquareColor.red = (0xffff * ((UI_COL_WHITE_SQUARE >> 16) & 0xff)) / 0xff;
whiteSquareColor.green = (0xffff * ((UI_COL_WHITE_SQUARE >> 8) & 0xff)) / 0xff;
whiteSquareColor.blue = (0xffff * (UI_COL_WHITE_SQUARE & 0xff)) / 0xff;
whiteSquareColor.alpha = 0xffff;
if (!XftColorAllocValue(ui_display, DefaultVisual(ui_display, 0), DefaultColormap(ui_display, 0),
&whiteSquareColor, &ui_squarecolorwhite)) {
ui_squarecolorwhiteinit = false;
ui_close();
return false;
}
ui_squarecolorwhiteinit = true;
XRenderColor blackSquareColor;
blackSquareColor.red = (0xffff * ((UI_COL_BLACK_SQUARE >> 16) & 0xff)) / 0xff;
blackSquareColor.green = (0xffff * ((UI_COL_BLACK_SQUARE >> 8) & 0xff)) / 0xff;
blackSquareColor.blue = (0xffff * (UI_COL_BLACK_SQUARE & 0xff)) / 0xff;
blackSquareColor.alpha = 0xffff;
if (!XftColorAllocValue(ui_display, DefaultVisual(ui_display, 0), DefaultColormap(ui_display, 0),
&blackSquareColor, &ui_squarecolorblack)) {
ui_squarecolorblackinit = false;
ui_close();
return false;
}
ui_squarecolorblackinit = true;
XRenderColor white;
white.red = 0xffff;
white.green = 0xffff;
white.blue = 0xffff;
white.alpha = 0xffff;
if (!XftColorAllocValue(ui_display, DefaultVisual(ui_display, 0), DefaultColormap(ui_display, 0), &white, &ui_piececolorwhite)) {
ui_piececolorwhiteinit = false;
ui_close();
return false;
}
ui_piececolorwhiteinit = true;
XRenderColor black;
black.red = 0;
black.green = 0;
black.blue = 0;
black.alpha = 0xffff;
if (!XftColorAllocValue(ui_display, DefaultVisual(ui_display, 0), DefaultColormap(ui_display, 0), &black, &ui_piececolorblack)) {
ui_piececolorblackinit = false;
ui_close();
return false;
}
ui_piececolorblackinit = true;
XRenderColor infocolor;
infocolor.red = 0x6666;
infocolor.green = 0x6666;
infocolor.blue = 0x6666;
infocolor.alpha = 0xffff;
if (!XftColorAllocValue(ui_display, DefaultVisual(ui_display, 0), DefaultColormap(ui_display, 0), &infocolor, &ui_infocolor)) {
ui_infocolorinit = false;
ui_close();
return false;
}
ui_infocolorinit = true;
XRenderColor infocolortag;
infocolortag.red = 0x4444;
infocolortag.green = 0x4444;
infocolortag.blue = 0x4444;
infocolortag.alpha = 0xffff;
if (!XftColorAllocValue(ui_display, DefaultVisual(ui_display, 0),
DefaultColormap(ui_display, 0), &infocolortag, &ui_infocolortag)) {
ui_infocolortaginit = false;
ui_close();
return false;
}
ui_infocolortaginit = true;
/* start with board on the left */
ui_board_pos_x = UI_POS_BOARD_X_LEFT;
return true;
}
