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root/truck/DashInterface/Display.cpp

Comparing:
GPS/GPS.cpp (file contents), Revision 23 by douglas, 2008-02-08T07:13:30-08:00 vs.
DashInterface/Display.cpp (file contents), Revision 38 by douglas, 2008-03-05T13:36:38-08:00

#	Line 1 | Line 1
1	<	// GPS
1	>	// Display (Crystalfontz CFA-635 USB LCD)
2		//
3		// Douglas Thrift
4		//
5		// $Id$
6
7	<	#include <gps.h>
7	>	#include <foreach.hpp>
8	>	#include <scopes.hpp>
9	>	#include <timing.hpp>
10
11	<	#include "GPS.hpp"
11	>	#include <iomanip>
12	>	#include <iostream>
13	>
14	>	#include <fcntl.h>
15	>	#include <termios.h>
16	>
17	>	#include "Display.hpp"
18	>
19	>	extern bool debug;
20	>
21	>	static uint16_t GetCRC(uint8_t *buffer, size_t length)
22	>	{
23	>	static const uint16_t table[256] = {
24	>	0x00000, 0x01189, 0x02312, 0x0329b, 0x04624, 0x057ad, 0x06536, 0x074bf,
25	>	0x08C48, 0x09DC1, 0x0AF5A, 0x0BED3, 0x0CA6C, 0x0DBE5, 0x0E97E, 0x0F8F7,
26	>	0x01081, 0x00108, 0x03393, 0x0221a, 0x056a5, 0x0472c, 0x075b7, 0x0643e,
27	>	0x09CC9, 0x08D40, 0x0BFDB, 0x0AE52, 0x0DAED, 0x0CB64, 0x0F9FF, 0x0E876,
28	>	0x02102, 0x0308b, 0x00210, 0x01399, 0x06726, 0x076af, 0x04434, 0x055bd,
29	>	0x0AD4A, 0x0BCC3, 0x08E58, 0x09FD1, 0x0EB6E, 0x0FAE7, 0x0C87C, 0x0D9F5,
30	>	0x03183, 0x0200a, 0x01291, 0x00318, 0x077a7, 0x0662e, 0x054b5, 0x0453c,
31	>	0x0BDCB, 0x0AC42, 0x09ED9, 0x08F50, 0x0FBEF, 0x0EA66, 0x0D8FD, 0x0C974,
32	>	0x04204, 0x0538d, 0x06116, 0x0709f, 0x00420, 0x015a9, 0x02732, 0x036bb,
33	>	0x0ce4c, 0x0dfc5, 0x0ed5e, 0x0fcd7, 0x08868, 0x099e1, 0x0ab7a, 0x0baf3,
34	>	0x05285, 0x0430c, 0x07197, 0x0601e, 0x014a1, 0x00528, 0x037b3, 0x0263a,
35	>	0x0decd, 0x0cf44, 0x0fddf, 0x0ec56, 0x098e9, 0x08960, 0x0bbfb, 0x0aa72,
36	>	0x06306, 0x0728f, 0x04014, 0x0519d, 0x02522, 0x034ab, 0x00630, 0x017b9,
37	>	0x0EF4E, 0x0FEC7, 0x0CC5C, 0x0DDD5, 0x0A96A, 0x0B8E3, 0x08A78, 0x09BF1,
38	>	0x07387, 0x0620e, 0x05095, 0x0411c, 0x035a3, 0x0242a, 0x016b1, 0x00738,
39	>	0x0FFCF, 0x0EE46, 0x0DCDD, 0x0CD54, 0x0B9EB, 0x0A862, 0x09AF9, 0x08B70,
40	>	0x08408, 0x09581, 0x0a71a, 0x0b693, 0x0c22c, 0x0d3a5, 0x0e13e, 0x0f0b7,
41	>	0x00840, 0x019c9, 0x02b52, 0x03adb, 0x04e64, 0x05fed, 0x06d76, 0x07cff,
42	>	0x09489, 0x08500, 0x0b79b, 0x0a612, 0x0d2ad, 0x0c324, 0x0f1bf, 0x0e036,
43	>	0x018c1, 0x00948, 0x03bd3, 0x02a5a, 0x05ee5, 0x04f6c, 0x07df7, 0x06c7e,
44	>	0x0a50a, 0x0b483, 0x08618, 0x09791, 0x0e32e, 0x0f2a7, 0x0c03c, 0x0d1b5,
45	>	0x02942, 0x038cb, 0x00a50, 0x01bd9, 0x06f66, 0x07eef, 0x04c74, 0x05dfd,
46	>	0x0b58b, 0x0a402, 0x09699, 0x08710, 0x0f3af, 0x0e226, 0x0d0bd, 0x0c134,
47	>	0x039C3, 0x0284A, 0x01AD1, 0x00B58, 0x07FE7, 0x06E6E, 0x05CF5, 0x04D7C,
48	>	0x0c60c, 0x0d785, 0x0e51e, 0x0f497, 0x08028, 0x091a1, 0x0a33a, 0x0b2b3,
49	>	0x04a44, 0x05bcd, 0x06956, 0x078df, 0x00c60, 0x01de9, 0x02f72, 0x03efb,
50	>	0x0d68d, 0x0c704, 0x0f59f, 0x0e416, 0x090a9, 0x08120, 0x0b3bb, 0x0a232,
51	>	0x05AC5, 0x04B4C, 0x079D7, 0x0685E, 0x01CE1, 0x00D68, 0x03FF3, 0x02E7A,
52	>	0x0e70e, 0x0f687, 0x0c41c, 0x0d595, 0x0a12a, 0x0b0a3, 0x08238, 0x093b1,
53	>	0x06b46, 0x07acf, 0x04854, 0x059dd, 0x02d62, 0x03ceb, 0x00e70, 0x01ff9,
54	>	0x0f78f, 0x0e606, 0x0d49d, 0x0c514, 0x0b1ab, 0x0a022, 0x092b9, 0x08330,
55	>	0x07BC7, 0x06A4E, 0x058D5, 0x0495C, 0x03DE3, 0x02C6A, 0x01EF1, 0x00F78,
56	>	};
57	>	register uint16_t crc(0xffff);
58	>
59	>	while (length--)
60	>	crc = (crc >> 8) ^ table[(crc ^ *buffer++) & 0xff];
61	>
62	>	return ~crc;
63	>	}
64	>
65	>	Display::Packet::Packet(Display::Packet::Command command, uint8_t length, const uint8_t *data) : command(command), length(length)
66	>	{
67	>	if (length > sizeof (this->data))
68	>	throw;
69	>
70	>	::memcpy(this->data, data, length);
71	>
72	>	crc = GetCRC(reinterpret_cast<uint8_t *>(this), length + 2);
73	>	}
74	>
75	>	std::ostream &operator<<(std::ostream &output, const Display::Packet &packet)
76	>	{
77	>	return output << _B("0x") << std::hex << std::setw(2) << std::setfill('0') << unsigned(packet.command) << _B(" [") << packet.GetData() << ']';
78	>	}
79	>
80	>	void operator<<(int fd, const Display::Packet &packet)
81	>	{
82	>	if (packet.length != sizeof (packet.data))
83	>	::memcpy(const_cast<uint8_t *>(packet.data) + packet.length, &packet.crc, 2);
84	>
85	>	if (debug)
86	>	std::cerr << _B("<< ") << packet << std::endl;
87	>
88	>	Posix::Write(fd, &packet, packet.length + 4);
89	>	}
90	>
91	>	void operator>>(int fd, Display::Packet &packet)
92	>	{
93	>	Posix::Read(fd, &packet, 2);
94	>	Posix::Read(fd, packet.data, packet.length);
95	>	Posix::Read(fd, &packet.crc, 2);
96	>
97	>	if (debug)
98	>	std::cerr << _B(">> ") << packet << std::endl;
99	>	}
100	>
101	>	void Communicate(Display *display)
102	>	{
103	>	display->Communicate_();
104	>	}
105	>
106	>	void Activity(Display *display)
107	>	{
108	>	display->Activity();
109	>	}
110	>
111	>	Display::Display(const std::string &device, Callback callback) : ucom(Posix::Open(device, O_RDWR | O_NOCTTY | O_NONBLOCK)), ucomCondition(ucomLock), running(true), responsesCondition(responsesLock), keyActivityCondition(keyActivityLock), callback(callback), communicate(reinterpret_cast<void *(*)(void *)>(::Communicate), this), activity(reinterpret_cast<void *(*)(void *)>(::Activity), this)
112	>	{
113	>	::termios state;
114	>
115	>	Posix::CheckError(::tcgetattr(ucom, &state));
116	>	Posix::CheckError(::cfsetospeed(&state, B115200));
117	>	Posix::CheckError(::cfsetispeed(&state, B115200));
118	>
119	>	state.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXOFF);
120	>	state.c_iflag |= IGNPAR;
121	>	state.c_oflag &= ~(OPOST | ONLCR | ONOCR | ONLRET);
122	>	state.c_cflag &= ~(CSIZE | PARENB | PARODD | HUPCL | CRTSCTS);
123	>	state.c_cflag |= CREAD | CS8 | CSTOPB | CLOCAL;
124	>	state.c_lflag &= ~(ISIG | ICANON | IEXTEN | ECHO);
125	>	state.c_lflag |= NOFLSH;
126	>
127	>	Posix::CheckError(::tcsetattr(ucom, TCSANOW, &state));
128	>
129	>	_synchronized (ucomLock)
130	>	ucomCondition.Signal();
131	>	}
132	>
133	>	Display::~Display()
134	>	{
135	>	running = false;
136	>
137	>	communicate.Join();
138	>	activity.Join();
139	>
140	>	Posix::Close(ucom);
141	>	}
142	>
143	>	void Display::Communicate_()
144	>	{
145	>	_synchronized (ucomLock)
146	>	ucomCondition.Wait();
147	>
148	>	while (running)
149	>	{
150	>	Packet response;
151	>
152	>	_synchronized (ucomLock)
153	>	try
154	>	{
155	>	ucom >> response;
156	>	}
157	>	catch (const Posix::Error error)
158	>	{
159	>	if (error.what() != _B("Resource temporarily unavailable"))
160	>	throw error;
161	>
162	>	goto next;
163	>	}
164	>
165	>	if ((response.command & Packet::Error) == Packet::Error);
166	>	else if ((response.command & Packet::Report) == Packet::Report)
167	>	switch (response.command)
168	>	{
169	>	case Packet::KeyActivity:
170	>	_synchronized (keyActivityLock)
171	>	{
172	>	keyActivity.push(response);
173	>	keyActivityCondition.Signal();
174	>	}
175	>
176	>	break;
177	>	case Packet::FanSpeedReport:
178	>	case Packet::TemperatureSensorReport:
179	>	break;
180	>	}
181	>	else if ((response.command & Packet::Response) == Packet::Response)
182	>	_synchronized (responsesLock)
183	>	{
184	>	responses.push(response);
185	>	responsesCondition.Signal();
186	>	}
187	>
188	>	next:   Timing::NanoSleep(Timing::Time(0, 10000000));
189	>	}
190	>
191	>	keyActivityCondition.Signal();
192	>	}
193	>
194	>	Display::Packet Display::Communicate_(Display::Packet::Command command, uint8_t length, const uint8_t *data)
195	>	{
196	>	Packet packet(command, length, data);
197	>
198	>	retry:
199	>	_synchronized (ucomLock)
200	>	ucom << packet;
201	>
202	>	_synchronized (responsesLock)
203	>	{
204	>	while (responses.empty())
205	>	try
206	>	{
207	>	responsesCondition.Wait(Timing::GetTimeOfDay() += 1);
208	>	}
209	>	catch (const Posix::Error &error)
210	>	{
211	>	if (error.what() != _B("Operation timed out"))
212	>	throw error;
213	>
214	>	goto retry;
215	>	}
216	>
217	>	Packet response(responses.front());
218	>
219	>	responses.pop();
220	>
221	>	assert ((packet.command | Packet::Response) == response.command);
222	>
223	>	return response;
224	>	}
225	>
226	>	throw;
227	>	}
228	>
229	>	void Display::Activity()
230	>	{
231	>	if (callback == NULL)
232	>	return;
233	>
234	>	while (running)
235	>	_synchronized (keyActivityLock)
236	>	{
237	>	while (keyActivity.empty())
238	>	keyActivityCondition.Wait();
239	>
240	>	while (keyActivity.size())
241	>	{
242	>	KeyActivity activity(KeyActivity(*keyActivity.front().data));
243	>
244	>	keyActivity.pop();
245	>
246	>	_desynchronized (keyActivityLock)
247	>	callback(activity);
248	>	}
249	>	}
250	>	}
251	>
252	>	bool Display::Ping(const std::string &data)
253	>	{
254	>	return data == Communicate<const std::string &>(Packet::PingCommand, data).GetData();
255	>	}
256	>
257	>	std::string Display::Version()
258	>	{
259	>	return Communicate(Packet::GetHardwareAndFirmwareVersion).GetData();
260	>	}
261	>
262	>	void Display::Set(uint8_t column, uint8_t row, const std::string &data)
263	>	{
264	>	Communicate(Packet::SendDataToLCD, column, row, data);
265	>	}

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