This commit was generated by cvs2svn to compensate for changes in r2726,svn2git-root

which included commits to RCS files with non-trunk default branches.

svn path=/trunk/externals/iem/comport/; revision=2727

3 files changed, 375 insertions, 0 deletions

diff --git a/bird/bird.c b/bird/bird.c
new file mode 100644
index 0000000..5f3df3c
--- /dev/null
+++ b/bird/bird.c
@@ -0,0 +1,375 @@
+/***********************************************************************
+************************************************************************
+bird.c        - controls and parses one flock of bird out of a comport
+                    
+Author: W. Ritsch 16.01.97
+Desc.:  put the object in a correct parse state and send commands
+
+first input: where data from bird is thrown in (eg.from comport)
+first output: a list of data which size is dependen on the parse mode
+second output: to control the bird eg connect to a comport in
+
+*/
+
+#ifdef NT
+#pragma warning( disable : 4244 )
+#pragma warning( disable : 4305 )
+#endif
+
+#include <stdlib.h>
+#include <stdio.h>          /* general I/O */
+#include <string.h>         /* for string commands */
+#include "m_pd.h"
+ 
+#define B_MAX_DATA 32    /* Maximal awaited data per record */
+#define B_MAX_CMDDATA 6  /* Maximum of awaited cmd arguments */
+
+typedef struct {
+
+  t_object x_obj;
+  t_outlet *x_out2;
+  t_int x_n;
+  t_atom *x_vec;
+
+  int databytes;    /* expected databytes */
+  int datacount;    /* count bytes in record */
+  int phase_wait;   /* wait for phasebit */
+
+  int datamode;     /* data mode is data or examine*/
+/*  int flowmode;      stream or point mode */
+  int phase_error;
+
+  void (*writefun)(void *this,unsigned char c);
+
+  unsigned char data[B_MAX_DATA]; /* maximal record length */
+  char *argname;
+  int argc;
+  int argv[B_MAX_DATA];
+  
+  int verbose;
+
+} bird_t;
+
+bird_t *bird_init( bird_t *this);
+int bird_data( bird_t *this, unsigned char data );
+void bird_setwritefun(bird_t *this,void (*newwritefun)(void *bird,unsigned char c));
+void bird_send(bird_t *this,unsigned char chr);
+void bird_bang(bird_t *this);
+void bird_set(bird_t *this,char *cmdname,long *cmddata);
+
+
+
+typedef struct {
+
+  char *name;
+  unsigned char cmd;
+  int cmdbytes;      /*  number of cmd arguments */
+  int cmdsize;       /* size of arguments in bytes (most 2) */
+  int databytes;     /*  number of awaited data */
+  int datamode;     /* data mode is ignore, point flow or examine*/
+
+} bird_cmd;
+
+
+/* defines Modes for data receiving */
+#define B_MODE_IGNORE 0 
+#define B_MODE_POINT  1
+#define B_MODE_STREAM 2 
+#define B_MODE_EXAM   3
+
+/*#define B_STREAM_ON 1
+ #define B_STREAM_OFF 0
+*/
+#define B_WAIT_PHASE  1
+#define B_FOUND_PHASE 0
+
+
+/* definitions */
+
+/* cmds accepted by the flock */
+static bird_cmd cmds[]= {
+ 
+  /* cmd , value, nr of cmdatabytes, cmddatasize, nr datainbytes 
+                          data modes, if change always point */
+  {"ANGLES",      'W', 0, 0,  6, B_MODE_POINT}, 
+  {"MATRIX",      'X', 0, 0, 18, B_MODE_POINT},
+  {"POSITION",    'V', 0, 0,  6, B_MODE_POINT},
+  {"QUATER",     0x5C, 0, 0,  8, B_MODE_POINT},
+  {"POSANG",      'Y', 0, 0, 12, B_MODE_POINT},
+  {"POSMAT",      'Z', 0, 0, 24, B_MODE_POINT},
+  {"POSQUATER",   ']', 0, 0, 14, B_MODE_POINT},
+                          /* output cmd */
+  {"POINT",       'B', 0, 0,  0, B_MODE_POINT},
+  {"STREAM",       64, 0, 0,  0, B_MODE_STREAM},
+  {"RUN",         'F', 0, 0,  0, B_MODE_IGNORE},
+  {"SLEEP",       'G', 0, 0,  0, B_MODE_IGNORE},
+                          /* set cmds */
+  {"AngleAlign1", 'J', 6, 2,  0, B_MODE_IGNORE},
+  {"AngleAlign2", 'q', 3, 2,  0, B_MODE_IGNORE},
+  {"Hemisphere",  'L', 2, 1,  0, B_MODE_IGNORE},
+  {"RefFrame1",   'H', 6, 2,  0, B_MODE_IGNORE},
+  {"RefFrame2",   'r', 3, 2,  0, B_MODE_IGNORE},
+  {"RepRate1",    'Q', 0, 0,  0, B_MODE_IGNORE},
+  {"RepRate2",    'R', 0, 0,  0, B_MODE_IGNORE},
+  {"RepRate8",    'S', 0, 0,  0, B_MODE_IGNORE},
+  {"RepRate32",   'T', 0, 0,  0, B_MODE_IGNORE},
+  { NULL,        '\0', 0, 0,  0, B_MODE_IGNORE}
+};
+
+
+
+/* -------------------- the serial object methods -------------------- */
+bird_t *bird_init( bird_t *this)
+{
+  if(this == NULL){
+	 this = malloc(sizeof(bird_t));
+  }
+  if(this == NULL){
+	 post("Could not allocate data for bird_t");
+  }
+
+  this->databytes = 0;
+  this->datacount = 0;
+  this->phase_wait = B_WAIT_PHASE;
+  this->datamode = B_MODE_IGNORE;
+  this->phase_error = 0;
+  this->writefun = NULL;
+
+  this->argname = "STARTUP_MODE";
+  this->argc = 0;
+
+
+  return this;
+}
+
+int bird_data( bird_t *this, unsigned char data )
+{
+  int i;
+
+  if(this->datamode !=  B_MODE_IGNORE){
+
+    /* STREAM or POINT Mode */
+
+    /* Phase was detected */
+    if(this->phase_wait == B_FOUND_PHASE && data < 0x80){ 
+
+      this->data[this->datacount] = data; /* store data */
+      this->datacount++;                  /* increment counter */
+      
+      if(this->databytes <= this->datacount){ /* last byte of record */
+	this->datacount = 0;
+	this->phase_wait = B_WAIT_PHASE;
+
+	/* interpret and output */
+	this->argc = this->databytes / 2;
+	for(i=0;i<this->databytes;i+=2){
+
+	  this->argv[i/2] = (this->data[i]<<2)+(this->data[i+1]<<9);
+
+	  /*			 printf("list[%2d]=%7d (%3d,%3d) ",i,
+				 ((this->data[i]<<2)+(this->data[i+1]<<9)),
+				 this->data[i],this->data[i+1]);
+	  */
+	}
+	//		  printf("\n");
+	return this->argc;
+      };
+    }
+    else{ /* Phase wait */
+      
+      if( (data & 0x80) == 0x00 ){ /* phase bit not found */ 
+	if(this->phase_error == 0)
+	  if(this->verbose)post("phase error:%x",data);
+	this->phase_error++;
+      }
+      else{
+	this->phase_wait = B_FOUND_PHASE; /* phase found */
+	this->data[0] = data & 0x7F;      /* store first data */
+	this->datacount = 1;              /* wait for next */
+	this->phase_error = 0;            /* phase error reset */
+      };
+      
+    };
+  }; /* stream or point mode */
+  return 0;
+}
+
+
+void bird_setwritefun(bird_t *bird,void (*newwritefun)(void *this,unsigned char c))
+{
+  //if(bird == NULL) return; better segfault and you find the error...
+  bird->writefun = newwritefun;
+}
+
+void bird_send(bird_t *this,unsigned char chr)
+{
+  //  if(this == NULL)return; better segfault and you find the error...
+  if(this->writefun)this->writefun(this,chr);
+}
+
+/* with bang to trigger a data output (POINT) */
+
+void bird_bang(bird_t *this)
+{
+    if(this->datamode == B_MODE_POINT)
+		bird_send(this,'B');
+}
+
+/* set the modes for the bird */
+void bird_set(bird_t *this,char *cmdname,long *cmddata)
+{
+  int i,j;
+  long data;
+  bird_cmd *cmd = cmds;
+
+  /* search for cmd */
+  while(cmd->name != (char *) 0l && strcmp(cmd->name,cmdname) != 0)cmd++;
+
+  if(cmd->name == (char *) 0l){
+	 post("bird:Dont know how to set %s",cmdname);
+	 return;
+  }
+
+  /* CMD found */
+  if(cmd->databytes > 0){  /* if databytes awaited, else dont change */
+
+	 this->databytes = cmd->databytes; /* expected databytes per record */
+	 this->datacount = 0;              /* start with first */
+	 this->argname = cmd->name;
+
+	 if( cmd->datamode == B_MODE_EXAM)
+		this->phase_wait = B_FOUND_PHASE;  /* wait for phase-bit */
+	 else
+		this->phase_wait = B_WAIT_PHASE;  /* wait for phase-bit */
+  }
+
+  if( cmd->datamode != B_MODE_IGNORE) /* go into data mode */
+	 this->datamode = cmd->datamode;
+
+
+  if(cmd->cmdbytes >= 0){        /* is a real cmd for bird */
+
+	 bird_send(this,cmd->cmd);
+
+	 for(i=0; i < cmd->cmdbytes;i++){ 
+
+		data = cmddata[i];
+		  
+		for(j=0; j < cmd->cmdsize;j++){      /* send it bytewise */
+		  bird_send(this, (unsigned char) (data&0xFF));
+		  data >>= 8;
+		};
+	 };
+	 
+  }
+
+  if(this->verbose)post("command %s (%c): databytes=%d, mode=%d, phase=%d",
+			cmd->name,cmd->cmd,
+			this->databytes,
+			this->datamode, this->phase_wait);
+
+}
+
+
+/* ---------------- pd object bird ----------------- */
+
+/* code for bird pd class */
+
+
+void bird_float(bird_t *x, t_floatarg f)
+{
+  int n,i;
+
+  if((n=bird_data(x,(unsigned char) f)) > 0){
+		  
+    /* make list and output */
+  			 
+    for(i=0; i < x->argc ; i++){
+      x->x_vec[i].a_type = A_FLOAT;
+      x->x_vec[i].a_w.w_float  =  x->argv[i];
+    }
+    outlet_list(x->x_obj.ob_outlet, &s_list, x->argc, x->x_vec);
+  }
+}
+
+void bird_setting(bird_t *x, t_symbol *s, int argc, t_atom *argv)
+{
+  int i;
+  char *cmdnam;
+  long buffer[ B_MAX_CMDDATA ];
+
+  if(argc < 1) return;
+  cmdnam = argv[0].a_w.w_symbol->s_name;
+
+  if(argc > (B_MAX_CMDDATA +1))
+    argc = B_MAX_CMDDATA +1;
+
+  for(i=1;i< argc;i++)
+    if(argv[i].a_type != A_FLOAT)
+      post("bird set arg %d no float",i);
+    else
+      buffer[i-1] = argv[i].a_w.w_float;
+
+  bird_set(x,cmdnam,buffer);
+}
+
+void bird_verbose(bird_t *x, t_floatarg f)
+{
+  if(f) x->verbose = 1;
+  else  x->verbose = 0;
+}
+
+void bird_free(bird_t *x)
+{
+  freebytes(x->x_vec, x->x_n * sizeof(*x->x_vec));
+}
+
+t_class *bird_class;
+
+void bird_output(void *x,unsigned char c)
+{
+  outlet_float(((bird_t *)x)->x_out2, (t_float) c);
+}
+
+void *bird_new(void)
+{
+  bird_t *x;
+
+  x = (bird_t *)pd_new(bird_class);
+  
+  outlet_new(&x->x_obj, &s_list);
+  x->x_out2 = outlet_new(&x->x_obj, &s_float);
+
+  
+  x->x_vec = (t_atom *)getbytes((x->x_n=B_MAX_DATA)  * sizeof(*x->x_vec));
+
+  bird_init(x);
+  bird_setwritefun(x,bird_output);
+  
+  bird_set(x,"RUN",NULL);
+  
+  bird_set(x,"POSANG",NULL);
+  //  out_byte('W');
+  
+  bird_set(x,"POINT",NULL);
+  //  out_byte(64);
+  
+  x->verbose = 0;
+ 
+  return (void *)x;
+}
+
+void bird_setup(void)
+{
+    bird_class = class_new(gensym("bird"), (t_newmethod)bird_new,
+    	(t_method)bird_free, sizeof(bird_t), 0, 0);
+
+    /* maximum commandatasize is 6*/
+    class_addmethod(bird_class, (t_method)bird_setting, gensym("set"), A_GIMME, 0); 
+    class_addmethod(bird_class, (t_method)bird_verbose, gensym("verbose"), A_FLOAT, 0); 
+
+    class_addbang(bird_class,bird_bang);
+
+    class_addfloat(bird_class, bird_float);
+}
+
diff --git a/bird/bird.dll b/bird/bird.dll
new file mode 100644
index 0000000..a2a18ee
--- /dev/null
+++ b/bird/bird.dll
diff --git a/bird/bird.pd_linux b/bird/bird.pd_linux
new file mode 100644
index 0000000..7021aa1
--- /dev/null
+++ b/bird/bird.pd_linux