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nuttx-apps/examples/pwlines/pwlines_main.c

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/****************************************************************************
* examples/pwlines/pwlines_main.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/boardctl.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sched.h>
#include <pthread.h>
#include <fixedmath.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include <nuttx/nx/nx.h>
#include <nuttx/nx/nxtk.h>
#include <nuttx/nx/nxbe.h>
#include "pwlines_internal.h"
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: pwlines_server_initialize
****************************************************************************/
static bool pwlines_server_initialize(FAR struct pwlines_state_s *st)
{
struct sched_param param;
int ret;
/* Set the client task priority */
param.sched_priority = CONFIG_EXAMPLES_PWLINES_CLIENT_PRIO;
ret = sched_setparam(0, &param);
if (ret < 0)
{
printf("pwlines_server_initialize: ERROR: "
"sched_setparam failed: %d\n" ,
ret);
return false;
}
/* Start the NX server kernel thread */
ret = boardctl(BOARDIOC_NX_START, 0);
if (ret < 0)
{
printf("pwlines_server_initialize: ERROR: "
"Failed to start the NX server: %d\n",
errno);
return false;
}
/* Connect to the server */
st->hnx = nx_connect();
if (st->hnx)
{
#ifdef CONFIG_VNCSERVER
/* Setup the VNC server to support keyboard/mouse inputs */
struct boardioc_vncstart_s vnc =
{
0, st->hnx
};
ret = boardctl(BOARDIOC_VNC_START, (uintptr_t)&vnc);
if (ret < 0)
{
printf("pwlines_server_initialize: ERROR: "
"boardctl(BOARDIOC_VNC_START) failed: %d\n",
ret);
nx_disconnect(st->hnx);
return false;
}
#endif
}
else
{
printf("pwlines_server_initialize: ERROR: "
"nx_connect failed: %d\n",
errno);
return false;
}
return true;
}
/****************************************************************************
* Name: pwlines_listener_initialize
****************************************************************************/
static bool pwlines_listener_initialize(FAR struct pwlines_state_s *st)
{
struct sched_param param;
pthread_attr_t attr;
pthread_t thread;
int ret;
/* Start a separate thread to listen for server events. This is probably
* the least efficient way to do this, but it makes this example flow more
* smoothly.
*/
(void)pthread_attr_init(&attr);
param.sched_priority = CONFIG_EXAMPLES_PWLINES_LISTENER_PRIO;
(void)pthread_attr_setschedparam(&attr, &param);
(void)pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_PWLINES_LISTENER_STACKSIZE);
ret = pthread_create(&thread, &attr, pwlines_listener, st);
if (ret != 0)
{
printf("pwlines_listener_initialize: ERROR: "
"pthread_create failed: %d\n",
ret);
return false;
}
/* Don't return until we are connected to the server */
while (!st->connected)
{
/* Wait for the listener thread to wake us up when we really
* are connected.
*/
(void)sem_wait(&st->semevent);
}
return true;
}
/****************************************************************************
* Name: pwlines_state_initialize
****************************************************************************/
static bool pwlines_state_initialize(FAR struct pwlines_state_s *st)
{
/* Initialize semaphores */
sem_init(&st->semevent, 0, 0);
/* Initialize color information (only a single color plane supported) */
st->wndo[0].color[0] = CONFIG_EXAMPLES_PWLINES_COLOR1;
st->wndo[1].color[0] = CONFIG_EXAMPLES_PWLINES_COLOR2;
st->wndo[2].color[0] = CONFIG_EXAMPLES_PWLINES_COLOR3;
st->facecolor[0] = CONFIG_EXAMPLES_PWLINES_FACECOLOR;
st->bordercolor[0] = CONFIG_EXAMPLES_PWLINES_BORDERCOLOR;
st->linecolor[0] = CONFIG_EXAMPLES_PWLINES_LINECOLOR;
return true;
}
/****************************************************************************
* Name: pwlines_configure_window
****************************************************************************/
static bool pwlines_configure_window(FAR struct pwlines_state_s *st, int wndx,
FAR struct nxgl_size_s *size,
FAR struct nxgl_point_s *pos,
double deltax, double deltay)
{
FAR struct pwlines_window_s *wndo = &st->wndo[wndx];
struct nxgl_rect_s rect;
int ret;
/* Set the total size of the window */
printf("pwlines_configure_window: Set window %d size to (%d,%d)\n",
wndx + 1, size->w, size->h);
ret = nxtk_setsize(wndo->hwnd, size);
if (ret < 0)
{
printf("pwlines_configure_window: ERROR: "
"nxtk_setsize failed: %d\n", errno);
goto errout_with_hwnd;
}
/* Set the drawable size (excludes borders) */
wndo->size.h = size->h - 2 * CONFIG_NXTK_BORDERWIDTH;
wndo->size.w = size->w - 2 * CONFIG_NXTK_BORDERWIDTH;
/* Set the position of window */
printf("pwlines_configure_window: Set window %d position to (%d,%d)\n",
wndx + 1, pos->x, pos->y);
ret = nxtk_setposition(wndo->hwnd, pos);
if (ret < 0)
{
printf("pwlines_configure_window: ERROR: "
"nxtk_setposition failed: %d\n",
errno);
goto errout_with_hwnd;
}
/* Create a bounding box. This is actually too large because it does not
* account for the boarder widths. However, NX should clip the fill to
* stay within the frame.
*
* There is a race condition here we resolve by making the main thread
* lowest in priority. In order for the size and position to take effect,
* a command is sent to server which responds with an event. So we need
* to be synchronized at this point or the following fill will fail because
* it depends on current knowlede of the size and position.
* REVISIT: Use nx_synch()!
*/
rect.pt1.x = 0;
rect.pt1.y = 0;
rect.pt2.x = size->w - 1;
rect.pt2.y = size->h - 1;
/* Fill the window with the selected color */
ret = nxtk_fillwindow(wndo->hwnd, &rect, wndo->color);
if (ret < 0)
{
printf("pwlines_configure_window: ERROR: "
"nxtk_fillwindow failed: %d\n",
errno);
goto errout_with_hwnd;
}
/* Set up for motion */
wndo->xmax = itob16(st->xres - size->w - 1);
wndo->ymax = itob16(st->yres - size->h - 1);
wndo->ypos = itob16(pos->y);
wndo->xpos = itob16(pos->x);
wndo->deltax = dtob16(deltax);
wndo->deltay = dtob16(deltay);
return true;
errout_with_hwnd:
printf("pwlines_configure_window: Close window %d\n", wndx + 1);
ret = nxtk_closewindow(wndo->hwnd);
if (ret < 0)
{
printf("pwlines_configure_window: ERROR: "
"nxtk_closewindow failed: %d\n",
errno);
}
return false;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: pwlines_main
****************************************************************************/
#ifdef BUILD_MODULE
int main(int argc, FAR char *argv[])
#else
int pwlines_main(int argc, char *argv[])
#endif
{
struct pwlines_state_s wstate;
struct nxgl_size_s size;
struct nxgl_point_s pos;
nxgl_coord_t mindim;
nxgl_mxpixel_t color;
unsigned int elapsed;
int errcode = EXIT_SUCCESS;
int ret;
/* Connect to the NX server */
memset(&wstate, 0, sizeof(struct pwlines_state_s));
if (!pwlines_server_initialize(&wstate) || wstate.hnx == NULL)
{
printf("pwlines_main: ERROR: "
"Failed to get NX handle\n");
goto errout;
}
printf("pwlines_main: NX handle=%p\n", wstate.hnx);
/* Start the listener thread */
if (!pwlines_listener_initialize(&wstate))
{
printf("pwlines_main: ERROR: "
"pwlines_listener_initialize failed\n");
goto errout_with_nx;
}
/* Initialize the window state, colors, cache, etc. */
if (!pwlines_state_initialize(&wstate))
{
printf("pwlines_main: ERROR: "
"pwlines_state_initialize failed\n");
goto errout_with_nx;
}
/* Set the background to the configured background color */
printf("pwlines_main: Set background color=%d\n",
CONFIG_EXAMPLES_PWLINES_BGCOLOR);
color = CONFIG_EXAMPLES_PWLINES_BGCOLOR;
ret = nx_setbgcolor(wstate.hnx, &color);
if (ret < 0)
{
printf("pwlines_main: nx_setbgcolor failed: %d\n", errno);
goto errout_with_nx;
}
/* Open window 1 */
printf("pwlines_main: Open window 1\n");
wstate.wndo[0].hwnd = nxtk_openwindow(wstate.hnx, NXBE_WINDOW_RAMBACKED,
&g_pwlines_wncb, (FAR void *)&wstate);
if (wstate.wndo[0].hwnd == NULL)
{
printf("pwlines_main: ERROR: "
"nxtk_openwindow failed: %d\n",
errno);
goto errout_with_nx;
}
printf("pwlines_main: hwnd1=%p\n", wstate.wndo[0].hwnd);
/* Wait until we receive the screen resolution from the server. We only
* need to do this once after opening the first window.
*/
while (!wstate.haveres)
{
(void)sem_wait(&wstate.semevent);
}
printf("pwlines_main: Screen resolution (%d,%d)\n",
wstate.xres, wstate.yres);
/* Configure window 1 */
mindim = MIN(wstate.xres, wstate.yres);
size.w = mindim / 2;
size.h = size.w;
pos.x = wstate.xres / 8;
pos.y = wstate.yres / 8;
if (!pwlines_configure_window(&wstate, 0, &size, &pos, 4.200, 4.285))
{
printf("pwlines_main: ERROR: "
"pwlines_configure_window failed for window 1\n");
goto errout_with_hwnd1;
}
/* Open window 2 */
printf("pwlines_main: Open window 2\n");
wstate.wndo[1].hwnd = nxtk_openwindow(wstate.hnx, NXBE_WINDOW_RAMBACKED,
&g_pwlines_wncb, (FAR void *)&wstate);
if (wstate.wndo[1].hwnd == NULL)
{
printf("pwlines_main: ERROR: "
"nxtk_openwindow failed: %d\n",
errno);
goto errout_with_hwnd1;
}
printf("pwlines_main: hwnd1=%p\n", wstate.wndo[1].hwnd);
/* Configure window 2 (same size) */
pos.x = wstate.xres / 4;
pos.y = wstate.yres / 4;
if (!pwlines_configure_window(&wstate, 1, &size, &pos, -3.317, 5.0))
{
printf("pwlines_main: ERROR: "
"pwlines_configure_window failed for window 2\n");
goto errout_with_hwnd2;
}
/* Open window 3 */
printf("pwlines_main: Open window 3\n");
wstate.wndo[2].hwnd = nxtk_openwindow(wstate.hnx, NXBE_WINDOW_RAMBACKED,
&g_pwlines_wncb, (FAR void *)&wstate);
if (wstate.wndo[2].hwnd == NULL)
{
printf("pwlines_main: ERROR: "
"nxtk_openwindow failed: %d\n",
errno);
goto errout_with_hwnd2;
}
printf("pwlines_main: hwnd2=%p\n", wstate.wndo[2].hwnd);
/* Configure window 3 (same size) */
pos.x = (3 * wstate.xres) / 8;
pos.y = (3 * wstate.yres) / 8;
if (!pwlines_configure_window(&wstate, 2, &size, &pos, 4.600, -3.852))
{
printf("pwlines_main: ERROR: "
"pwlines_configure_window failed for window 2\n");
goto errout_with_hwnd3;
}
/* Apply the initial graphics */
pwlines_circle(&wstate);
pwlines_update(&wstate);
/* Now loop animating the windows */
elapsed = 0;
for (; ; )
{
usleep(CONFIG_EXAMPLES_PWLINES_RATECONTROL * 1000);
if (!pwlines_motion(&wstate))
{
printf("pwlines_main: ERROR:"
"pwlines_motion failed\n");
goto errout_with_hwnd3;
}
elapsed += CONFIG_EXAMPLES_PWLINES_RATECONTROL;
if (elapsed >= 1000)
{
pwlines_update(&wstate);
elapsed = 0;
}
}
errcode = EXIT_SUCCESS;
/* Close window 3 */
errout_with_hwnd3:
printf("pwlines_main: Close window #2\n");
ret = nxtk_closewindow(wstate.wndo[2].hwnd);
if (ret < 0)
{
printf("pwlines_main: ERROR: nxtk_closewindow failed: %d\n", errno);
}
/* Close window 2 */
errout_with_hwnd2:
printf("pwlines_main: Close window #2\n");
ret = nxtk_closewindow(wstate.wndo[1].hwnd);
if (ret < 0)
{
printf("pwlines_main: ERROR: nxtk_closewindow failed: %d\n", errno);
}
/* Close window1 */
errout_with_hwnd1:
printf("pwlines_main: Close window #1\n");
ret = nxtk_closewindow(wstate.wndo[0].hwnd);
if (ret < 0)
{
printf("pwlines_main: ERROR: nxtk_closewindow failed: %d\n", errno);
}
errout_with_nx:
/* Disconnect from the server */
printf("pwlines_main: Disconnect from the server\n");
nx_disconnect(wstate.hnx);
errout:
return errcode;
}
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