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|
#include <SDL2/SDL.h>
#include <stdio.h>
#include <string.h>
#include <cmath>
#include "ATC3DG.h"
#include "Sample.h"
#include <iostream>
#include <time.h>
using namespace std;
//Screen dimension constants
const int SCREEN_WIDTH = 640;
const int SCREEN_HEIGHT = 480;
//Starts up SDL and creates window
bool init();
//Frees media and shuts down SDL
void close();
//The window we'll be rendering to
SDL_Window* gWindow = NULL;
//The window renderer
SDL_Renderer* gRenderer = NULL;
bool init()
{
//Initialization flag
bool success = true;
//Initialize SDL
if( SDL_Init( SDL_INIT_VIDEO ) < 0 )
{
printf( "SDL could not initialize! SDL Error: %s\n", SDL_GetError() );
success = false;
}
else
{
//Set texture filtering to linear
if( !SDL_SetHint( SDL_HINT_RENDER_SCALE_QUALITY, "1" ) )
{
printf( "Warning: Linear texture filtering not enabled!" );
}
//Create window
gWindow = SDL_CreateWindow( "SDL Tutorial", SDL_WINDOWPOS_UNDEFINED, SDL_WINDOWPOS_UNDEFINED, SCREEN_WIDTH, SCREEN_HEIGHT, SDL_WINDOW_SHOWN );
if( gWindow == NULL )
{
printf( "Window could not be created! SDL Error: %s\n", SDL_GetError() );
success = false;
}
else
{
//Create renderer for window
gRenderer = SDL_CreateRenderer( gWindow, -1, SDL_RENDERER_ACCELERATED );
if( gRenderer == NULL )
{
printf( "Renderer could not be created! SDL Error: %s\n", SDL_GetError() );
success = false;
}
else
{
//Initialize renderer color
SDL_SetRenderDrawColor( gRenderer, 0, 0, 0, 1 );
}
}
}
return success;
}
void close()
{
//Destroy window
SDL_DestroyRenderer( gRenderer );
SDL_DestroyWindow( gWindow );
gWindow = NULL;
gRenderer = NULL;
//Quit SDL subsystems
SDL_Quit();
}
int main( int argc, char* args[] )
{
CSystem ATC3DG; // pointeur vers une structure
CSensor *pSensor; // pointeur vers une structure
CXmtr *pXmtr;//pointeur vers une structure
int i;
short id;
int errorCode;
clock_t goal;
clock_t wait=10;
int records = 100;
char output[256];
int sensorID;
int numberBytes;
// Initialisation du Trakstar
printf("InitializCXmtring ATC3DG system...\n");
errorCode = InitializeBIRDSystem();
if(errorCode!=BIRD_ERROR_SUCCESS) cout << "erreur lors de l'initialisation" <<endl;
errorCode = GetBIRDSystemConfiguration(&ATC3DG.m_config);
if(errorCode!=BIRD_ERROR_SUCCESS) cout << "erreur lors du Get Bird System config" <<endl;
cout << "frequence de mesure " << ATC3DG.m_config.measurementRate<< "Hz" <<endl; // affiche fréquence de mesure du trakstar
pSensor = new CSensor[ATC3DG.m_config.numberSensors];
for(i=0;i<ATC3DG.m_config.numberSensors;i++)
{
errorCode = GetSensorConfiguration(i, &(pSensor+i)->m_config);
if(errorCode!=BIRD_ERROR_SUCCESS) cout << "erreur lors du Get sensor config" <<endl;
}
pXmtr = new CXmtr[ATC3DG.m_config.numberTransmitters];
for(i=0;i<ATC3DG.m_config.numberTransmitters;i++)
{
errorCode = GetTransmitterConfiguration(i, &(pXmtr+i)->m_config);
if(errorCode!=BIRD_ERROR_SUCCESS) cout << "erreur lors de l'obtention de la configuration du transmetteur" <<endl;
}
// Recherche du transmetteur présent et on le met en mode ON
for(id=0;id<ATC3DG.m_config.numberTransmitters;id++)
{
if((pXmtr+id)->m_config.attached)
{
errorCode = SetSystemParameter(SELECT_TRANSMITTER, &id, sizeof(id));
if(errorCode!=BIRD_ERROR_SUCCESS) cout << "erreur lors lors de la mise en route du transmetteur" <<endl;
break;
}
}
// Collecte des données du trakstar en mode asynchrone, ce mode retourne la donnée enregistrée
// du dernier cycle d'enregistrement. Si cette fonction est appellée à une fréquence plus importante
// que la fréquence d'acquisition du trackstar alors on aura des données similaires.
//Start up SDL and create window
if( !init() )
{
printf( "Failed to initialize!\n" );
}
else
{
//Main loop flag
bool quit = false;
//Event handler
SDL_Event e;
//Clear screen
SDL_SetRenderDrawColor( gRenderer, 0, 0, 0, 1 );
SDL_RenderClear( gRenderer );
DOUBLE_POSITION_ANGLES_RECORD record, *pRecord = &record;
//While application is running
while( !quit )
{
//User requests quit
if( e.type == SDL_QUIT )
{
quit = true;
}
goal = wait + clock();
// collect as many records as specified in the command line
for(i=0;i<records;i++)
{
// delay 10ms between collecting data
// wait till time delay expires
while(goal>clock());
// set up time delay for next loop
goal = wait + clock();
// scan the sensors and request a record
for(sensorID=0;sensorID<ATC3DG.m_config.numberSensors;sensorID++)
{
// sensor attached so get record
errorCode = GetAsynchronousRecord(sensorID, pRecord, sizeof(record));
if(errorCode!=BIRD_ERROR_SUCCESS) {cout << "erreur lors lors la transmission des données" <<endl;}
// Obtient le status de la dernière donnée enregistrée
// Rapporte seulement la données si tout est OK
unsigned int status = GetSensorStatus( sensorID);
if( status == VALID_STATUS)
{
//Render red filled quad
SDL_Rect fillRect = { SCREEN_WIDTH /2-SCREEN_WIDTH / 12, SCREEN_HEIGHT-record.y*5000, SCREEN_WIDTH / 6, SCREEN_HEIGHT / 25 };
SDL_SetRenderDrawColor( gRenderer, 255, 255, 255, 1 );
SDL_RenderFillRect( gRenderer, &fillRect );
//Update screen
SDL_RenderPresent( gRenderer );
}
}
}
}
}
//Free resources and close SDL
close();
return 0;
} |
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