Douglas H. Williams. PDA Robotics. 2003. 256p

Подождите немного. Документ загружается.

Click OK after entering the information and the dialog shown in

Figure 8.4 is displayed, showing the application information.

The additional SDKs to add are grayed out because this is the evalua-

tion version. No additional SDKs are needed for this project anyway.

The Creator Code and Minimum OS Version is grayed out as well, but

this will be changed in the code later.

Click Finish to create the project files and open the project window

(see Figure 8.5).

Click on the source folder and then double click on pdarobotMain.c to

open this file for editing. First, open the Constructor for the Palm OS

1.6 by clicking on the Resources folder and double-click the file pdaro-

bot.rsrc. The constructor window will appear with the project

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158

Figure 8.4

Application

information.

Figure 8.5

The PDA Robot

project window.

PDA 08 5/27/03 8:47 AM Page 158

resources viewable in a dialog. From here, we will create the buttons

and labels that will make the graphical user interface (GUI) for

PDARobot.prc.

Double click Main under Forms to bring up the main dialog, allowing

us to place the buttons and labels, after which we can assign the IDs

needed for tracking in the event loop of main.c (see Figures 8.6 and

8.7).

Clicking Window/Catalog will bring up the catalog window that con-

tains the controls to be placed on the form (see Figure 8.8).

Figure 8.9 shows the form with the buttons and labels in place. The

IDs and captions have been assigned to each. I made the Object

Chapter 8 / PDA Robot Palm OS Software Using Code Warrior 8.0

159

Figure 8.6

Portion of the

constructor menu.

Figure 8.7

Clean palette where

the controls will be

placed.

PDA 08 5/27/03 8:47 AM Page 159

Identifier the same as the Label displayed on each Object. To generate

the header file used when we compile and link the program, click

File/Generate Header File or simply click File/Save.

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160

Figure 8.8

UI Objects.

Figure 8.9

Form with the

controls placed.

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If we switch back to the Metrowerks CodeWarrior IDE and click

Project/Make or hit F7, the application will build and generate

PDARobot.prc that can be loaded on the PDA and run (though nothing

will happen when you press the buttons).

It can be run on the Windows desktop by starting the emulator pro-

vided by Palm OS (that was installed with the evaluation version of

CodeWarrior). To do this, start the emulator (after downloading or

acquiring a ROM of the device) and in the IDE, click Project/Run or hit

Ctrl+F5. Figure 8.11 shows the program so far, running in the Palm OS

Emulator. It looks exactly the same running on the device.

Chapter 8 / PDA Robot Palm OS Software Using Code Warrior 8.0

161

Figure 8.10

The Release and

Debug executables

in the OBJ directory.

Figure 8.11

PDA Robot running

on the Palm OS

Emulator.

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The AppStart() function reads in any saved information and initializes

the infrared libray by calling the function StartApplication, which I

should have called InitializeInfrared().

// FUNCTION: AppStart

// DESCRIPTION: Get the current application's preferences.

// RETURNED:

// errNone - if nothing went wrong

static Err AppStart(void)

{

UInt16 prefsSize;

// Read the saved preferences / saved-state information.

prefsSize = sizeof(pdarobotPreferenceType);

if (PrefGetAppPreferences(

appFileCreator, appPrefID, &g_prefs, &prefsSize, true) !=

noPreferenceFound)

{

// FIXME: setup g_prefs with default values

}

if (!Star tApplication())

return 0;

return errNone;

}

The AppStop() function saves any preferences and calls

StopApplication() which shuts down the infrared communication.

// FUNCTION: AppStop

// DESCRIPTION: Save the current state of the application.

static void AppStop(void)

{

// Write the saved preferences / saved-state information. This

// data will be saved during a HotSync backup.

PrefSetAppPreferences(

appFileCreator, appPrefID, appPrefVersionNum,

&g_prefs, sizeof(pdarobotPreferenceType), true);

StopApplication();

// Close all the open forms.

FrmCloseAllForms();

}

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StartApplication loads the IR library, opens and binds a port, saving

the information in the variable irref so it can be used elsewhere. This

is the first step in creating the IrDA link.

// Loads the Infrared Librar y and opens and binds the port.

static Boolean StartApplication(void )

{

if (SysLibFind(irLibName,&irref) != 0)

{

FrmAlert(IrLibProblemAler t);

return false;

}

else

{

if (IrOpen(irref,irOpenOptSpeed115200) != 0)

{

FrmAlert(IrLibProblemAler t);

return false;

}

IrSetConTypeLMP(&connect);

packet.buff = (unsigned char *)"Data";

packet.len = 4;

IrBind(irref,&connect,callback);

return true;

}

StopApplication unbinds the port, disconnects, and closes the IR con-

nection.

// Shut down connections, close the library

static void StopApplication(void)

{

IrUnbind(irref,&connect);

if (IrIsIrLapConnected(irref))

IrDisconnectIrLap(irref);

IrClose(irref);

}

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The callback(IrConnect *con, IrCallBackParms *parms) function is

called whenever an infrared event happens, for example, when PDA

Robot sends us some data, this function is automatically called with

the event and data embedded in the parms parameter.

static void callback(IrConnect *con, IrCallBackParms *parms)

{

char* event;

char out= 0;

FormType *frm; // = FrmGetActiveForm();

switch (parms->event)

{

case LEVENT_DISCOVERY_CNF:

// This event was triggered by PDA Robot when

// we broadcast a discover y to ALL IrDA compliant

// devices. StoreDiscover y throws away all devices

// except PDA Robot. My HP printer always responds to

// the discovery request.

event = "DISCOVERY_CNF";

StoreDiscovery(parms->deviceList); break;

case LEVENT_PACKET_HANDLED:

packet_in_use = false;

event = "PACKET_HANDLED"; break;

case LEVENT_DATA_IND:

// PDA Robot has sent some data because we requested it.

// Let's copy the data to a global variable so it can be used

// elsewhere.

event = "DATA_IND";

MemMove(&received_data, parms->rxBuff, parms->rxLen);

MemMove(&out, &received_data[1], 1);

frm = FrmGetActiveForm ();

FrmDrawForm(frm);

StrPrintF((char *) range_data, "%u", out);//value);

current_range = out;

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// Display the range in the Range Label if we are in autonomous mode

if( autonomous == true )

{

FrmCopyLabel (frm, MainRangeLabel, (char*)&range_data);

}

range_aquired = true;

FrmDrawForm(FrmGetActiveForm());

break;

case LEVENT_STATUS_IND:

switch (parms->status)

{

case IR_STATUS_NO_PROGRESS:

event = "S_NO_PROGRESS"; break;

case IR_STATUS_LINK_OK:

event = "S_LINK_OK"; break;

case IR_STATUS_MEDIA_NOT_BUSY:

event = "S_MEDIA_NOT_BUSY"; break;

default:

event = "S_UNKNOWN";

}

break;

case LEVENT_TEST_CNF:

switch (parms->status)

{

case IR_STATUS_SUCCESS:

event = "TEST_SUCCESS"; break;

case IR_STATUS_FAILED:

event = "TEST_FAILED"; break;

}

break;

case LEVENT_TEST_IND:

event = "TEST_IND"; break;

default: event = "UNKNOWN";

}

// StoreDiscovery goes through the devices list returned when we

// sent out a Discovery request to all IrDA devices in the vicinity.

// It throws away all devices except PDA Robot and set the connection

// information returned to us by it.

void StoreDiscovery(IrDeviceList* deviceList)

{

UInt8 i;

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char info[36];

// clear the label

StrCopy((char *)&info, (char *)"______________________________");

FrmCopyLabel (FrmGetActiveForm(), MainStatusLabel, (char*)&info);

if( deviceList->nItems == 0 )

{

StrCopy((char *)&info, (char *)"NO Devices Discovered ");

FrmCopyLabel (FrmGetActiveForm(), MainStatusLabel, (char*)&info);

return;

}

for (i = 0; i < deviceList->nItems; i++)

{

// We don't want to recognize any device but PDA Robot

// so ensure that the device name is 'Generic IrDA'. This

// is the default name used by the MCP2150 chip. We will

// connect with the first found

if( (StrCompare((char *)"Generic IrDA", (char *) &deviceList->dev[i].xid[3])) == 0)

{

dev = deviceList->dev[i].hDevice;

connect.rLsap = deviceList->dev[i].xid[0];

StrCopy((char *)&info, (char *)"Discovered PDA Robot ");

FrmCopyLabel (FrmGetActiveForm(), MainStatusLabel, (char*)&info);

}

// Information Access Service Callback. This function

// is called when we query PDA Robot for information.

// If we received the LSAP information then we connect

// to to PDA Robot.

static void IrIasCallback(IrStatus status) {

UInt8 b;

UInt8 i;

if((query.retCode)!=IAS_RET_SUCCESS)

{

return;

}

i=IrIAS_GetType(&query);

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switch(i)

{

case IAS_ATTRIB_MISSING:

break;

case IAS_ATTRIB_INTEGER:

if(rtype!=0)

{

rlsap = connect.rLsap = IrIAS_GetIntLsap(&query);

}

connect.rLsap = rlsap;

packet.buff = (unsigned char *)&controlPacket;

packet.len = sizeof(controlPacket);

// Open a connection with PDA Robot

IrConnectReq(irref, &connect, &packet, DEFAULT_TTP_CREDIT);

rtype=0;

break;

case IAS_ATTRIB_USER_STRING:

b=IrIAS_GetUserStringCharSet(&query);

FrmCopyLabel (FrmGetActiveForm (), MainRangeLabel,

(char*)IrIAS_GetUserString(&query));

break;

default:

// Unknown IAS Reply

break;

}

Please go to www.pda-robotics.com to download the entire source

code and executable for this program.

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