371a71e6
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/*
Copyright (C) 2014 Parrot SA
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
* Neither the name of Parrot nor the names
of its contributors may be used to endorse or promote products
derived from this software without specific prior written
permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
*/
/**
* @file ihm.c
* @brief This file contains sources about ncurses IHM used by arsdk example "BebopSample"
* @date 15/01/2015
*/
/*****************************************
*
* include file :
*
*****************************************/
#include <stdlib.h>
#include <curses.h>
#include <string.h>
#include <libARSAL/ARSAL.h>
#include "ihm.h"
/*****************************************
*
* define :
*
*****************************************/
#define HEADER_X 0
#define HEADER_Y 0
#define INFO_X 0
#define INFO_Y 2
#define BATTERY_X 0
#define BATTERY_Y 4
#define SENSOR_X 0
#define SENSOR_Y 6
#define TEST_X 0
#define TEST_Y 8
/*****************************************
*
* private header:
*
****************************************/
void *IHM_InputProcessing(void *data);
/*****************************************
*
* implementation :
*
*****************************************/
IHM_t *IHM_New (IHM_onInputEvent_t onInputEventCallback)
{
int failed = 0;
IHM_t *newIHM = NULL;
// check parameters
if (onInputEventCallback == NULL)
{
failed = 1;
}
if (!failed)
{
// Initialize IHM
newIHM = malloc(sizeof(IHM_t));
if (newIHM != NULL)
{
// Initialize ncurses
newIHM->mainWindow = initscr();
newIHM->inputThread = NULL;
newIHM->run = 1;
newIHM->onInputEventCallback = onInputEventCallback;
newIHM->customData = NULL;
}
else
{
failed = 1;
}
}
if (!failed)
{
raw(); // Line buffering disabled
keypad(stdscr, TRUE);
noecho(); // Don't echo() while we do getch
timeout(100);
refresh();
}
if (!failed)
{
//start input thread
if(ARSAL_Thread_Create(&(newIHM->inputThread), IHM_InputProcessing, newIHM) != 0)
{
failed = 1;
}
}
if (failed)
{
IHM_Delete (&newIHM);
}
return newIHM;
}
void IHM_Delete (IHM_t **ihm)
{
// Clean up
if (ihm != NULL)
{
if ((*ihm) != NULL)
{
(*ihm)->run = 0;
if ((*ihm)->inputThread != NULL)
{
ARSAL_Thread_Join((*ihm)->inputThread, NULL);
ARSAL_Thread_Destroy(&((*ihm)->inputThread));
(*ihm)->inputThread = NULL;
}
delwin((*ihm)->mainWindow);
(*ihm)->mainWindow = NULL;
endwin();
refresh();
free (*ihm);
(*ihm) = NULL;
}
}
}
void IHM_setCustomData(IHM_t *ihm, void *customData)
{
if (ihm != NULL)
{
ihm->customData = customData;
}
}
void *IHM_InputProcessing(void *data)
{
IHM_t *ihm = (IHM_t *) data;
int key = 0;
if (ihm != NULL)
{
while (ihm->run)
{
key = getch();
if ((key == 27) || (key =='q'))
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_EXIT, ihm->customData);
}
}
else if(key == KEY_UP)
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_UP, ihm->customData);
}
}
else if(key == KEY_DOWN)
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_DOWN, ihm->customData);
}
}
else if(key == KEY_LEFT)
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_LEFT, ihm->customData);
}
}
else if(key == KEY_RIGHT)
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_RIGHT, ihm->customData);
}
}
else if(key == 'e')
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_EMERGENCY, ihm->customData);
}
}
else if(key == 't')
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_TAKEOFF, ihm->customData);
}
}
else if(key == ' ')
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_LAND, ihm->customData);
}
}
else if(key == 'r')
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_FORWARD, ihm->customData);
}
}
else if(key == 'f')
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_BACK, ihm->customData);
}
}
else if(key == 'd')
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_ROLL_LEFT, ihm->customData);
}
}
else if(key == 'g')
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_ROLL_RIGHT, ihm->customData);
}
}
else
{
if(ihm->onInputEventCallback != NULL)
{
ihm->onInputEventCallback (IHM_INPUT_EVENT_NONE, ihm->customData);
}
}
usleep(10);
}
}
return NULL;
}
void IHM_PrintHeader(IHM_t *ihm, char *headerStr)
{
if (ihm != NULL)
{
move(HEADER_Y, 0); // move to begining of line
clrtoeol(); // clear line
mvprintw(HEADER_Y, HEADER_X, headerStr);
}
}
void IHM_PrintInfo(IHM_t *ihm, char *infoStr)
{
if (ihm != NULL)
{
move(INFO_Y, 0); // move to begining of line
clrtoeol(); // clear line
mvprintw(INFO_Y, INFO_X, infoStr);
}
}
void IHM_PrintBattery(IHM_t *ihm, uint8_t percent)
{
if (ihm != NULL)
{
move(BATTERY_Y, 0); // move to begining of line
clrtoeol(); // clear line
mvprintw(BATTERY_Y, BATTERY_X, "Battery: %d", percent);
}
}
void IHM_PrintSensors(IHM_t *ihm, uint8_t sensorName, uint8_t sensorValue){
if (ihm != NULL)
{
move(TEST_Y, 0);
clrtoeol();
mvprintw(TEST_Y, TEST_X, "Test");
move(SENSOR_Y, 0); // move to begining of line
clrtoeol(); // clear line
mvprintw(SENSOR_Y, SENSOR_X, "Sensor: %d, Value: %d", sensorName, sensorValue);
}
}
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