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| #include "ListenSocket.h"
#include "Integrator.h"
#include "MotorCtrl.h"
void ListenSocket::GetPtrs(void)
{
extern Integrator * X4_Integrator;
extern MotorCtrl * X4_MotorCtrl;
ptIntegrator = X4_Integrator;
ptMotorCtrl = X4_MotorCtrl;
return;
}
double ListenSocket::getVit_d(int i)
{
return Vit_d[i];
}
void ListenSocket::listen_on_sock(void)
{
orcIntSigMask();
/** Create CAN Socket/Communication Channel */
if (ssyCANServerOpen(&nSockFd) == SSY_DEF_SOCK_ERROR)
{
printf("testCANClient: ssyCANClientCreate Failed errno = %d \n", errno);
//return SSY_DEF_SOCK_ERROR;
}
sMsg[0]='I';
nCommStatus = ssyCANSendMsg(nSockFd, sMsg, strlen(sMsg)+1, 0x15);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("ssyCANSendMsg Failed errno = %d\n", errno);
// return SSY_DEF_SOCK_ERROR;
}
else
printf("Connection ok\n");
nCommStatus = ssyCANReceiveMsg(nSockFd, sMsg, SSY_DEF_BUFFERSIZE, &ident);
printf("Init waiting connection Msg = %s \n", sMsg);
while (!(end_int))
{ //while
//do{ //do
//wait socket
/** Receive Msg from remote host */
//printf("testUDPClient: ssyUDPReceiveMsg \n");
nCommStatus = ssyCANReceiveMsg(nSockFd, sMsg, SSY_DEF_BUFFERSIZE, &ident);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("testCANClient: ssyCANReceiveMsg Failed errno = %d\n", errno);
//return SSY_DEF_SOCK_ERROR;
}
printf("testCANClient: Received Msg = %d from %d \n", sMsg[0], ident);
orcMutexLock(ptIntegrator->ComputeLsoda);
orcSemGive(ptIntegrator->SynchroLsoda);
orcSemTake(ptIntegrator->LsodaFinished,ORCFOREVER);
Time = ptIntegrator->GetTime();
for (i=0;i<NEQ;i++) x[i] = ptIntegrator->getX(i);
for (i=0;i<NMOT;i++) Volts[i] = ptMotorCtrl->getVolts(i);
modelx4_volts(&neq, &Time, x, dot_x, Volts);
for (i=0; i<17;i++) extended_state[i] = x[i];
for (i=0; i<3;i++) extended_state[i+17] = dot_x[i+10];
output(extended_state, b_m, wg_m, pos_m, vit_m, acc_m, vitmot);
orcMutexUnlock(ptIntegrator->ComputeLsoda);
switch (sMsg[0])
{ //switch
case GETACC:
for (i=0;i<3;i++) AccB[i] = dble2short(acc_m[i],GMAX);
// sprintf(sMsg,"%hd %hd %hd",AccB[0],AccB[1],AccB[2]);
for(i=0;i<=2;i++)
{
/*sMsg[0]=(char)(AccB[i]>>8);
sMsg[1]=(char)AccB[i];
sMsg[2]=0x00;*/
sMsg[0]=0x12;
sMsg[1]=0x34;
sMsg[2]=0x00;
nCommStatus = ssyCANSendMsg(nSockFd, sMsg, 2, 0xA0+i);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("ssyCANSendMsg Failed errno = %d\n", errno);
// return SSY_DEF_SOCK_ERROR;
}
}
break;
case GETVMOT:
fprintf(vitmot1,"%f %f \n",Time,vitmot[0]);
fprintf(vitmot2,"%f %f \n",Time,vitmot[1]);
fprintf(vitmot3,"%f %f \n",Time,vitmot[2]);
fprintf(vitmot4,"%f %f \n",Time,vitmot[3]);
for (i=0;i<4;i++) VmotB[i] = dble2short(vitmot[i],VITMOTMAX);
// sprintf(sMsg,"%hd %hd %hd %hd",VmotB[0],VmotB[1],VmotB[2],VmotB[3]);
sMsg[0]=(char)(VmotB[i]>>8);
sMsg[1]=(char)VmotB[i];
sMsg[2]=0x00;
nCommStatus = ssyCANSendMsg(nSockFd, sMsg, strlen(sMsg)+1, 0x20+i);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("ssyCANSendMsg Failed errno = %d\n", errno);
// return SSY_DEF_SOCK_ERROR;
}
break;
case GETMAG:
// for (i=0;i<3;i++) MagB[i] = dble2short(b_m[i],MAGMAX);
// sprintf(sMsg,"%hd %hd %hd,",MagB[0],MagB[1],MagB[2]);
for(i=0;i<=2;i++)
{
sMsg[0]=(char)(MagB[i]>>8);
sMsg[1]=(char)MagB[i];
sMsg[2]=0x00;
nCommStatus = ssyCANSendMsg(nSockFd, sMsg, strlen(sMsg)+1, 0x30+i);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("ssyCANSendMsg Failed errno = %d\n", errno);
// return SSY_DEF_SOCK_ERROR;
}
}
break;
case GETGYRO:
fprintf(qp1,"%f %f \n",Time,wg_m[0]);
fprintf(qp2,"%f %f \n",Time,wg_m[1]);
fprintf(qp3,"%f %f \n",Time,wg_m[2]);
fprintf(q1,"%f %f \n",Time,extended_state[0]);
fprintf(q2,"%f %f \n",Time,extended_state[1]);
fprintf(q3,"%f %f \n",Time,extended_state[2]);
fprintf(q4,"%f %f \n",Time,extended_state[3]);
for (i=0;i<3;i++) GyroB[i] = dble2short(wg_m[i],WMAX);
sprintf(sMsg,"%hd %hd %hd,",GyroB[0],GyroB[1],GyroB[2]);
nCommStatus = ssyCANSendMsg(nSockFd, sMsg, strlen(sMsg)+1, 0x40+i);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("ssyCANSendMsg Failed errno = %d\n", errno);
// return SSY_DEF_SOCK_ERROR;
}
break;
case GETUS:
break;
case GETPRES:
break;
case GETGPS:
/*fprintf(x_pos,"%f %f \n",Time,pos_m[0]);
fprintf(y_pos,"%f %f \n",Time,pos_m[1]);
fprintf(z_pos,"%f %f \n",Time,pos_m[2]);
for (i=0;i<3;i++) GPSB[i] = dble2short(pos_m[i],DISTMAX);
sprintf(sMsg,"%hd %hd %hd,",GPSB[0],GPSB[1],GPSB[2]);
nCommStatus = ssyCANSendMsg(nSockFd, sMsg, strlen(sMsg)+1, CTRL_IP, nPortClient);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("ssyCANSendMsg Failed errno = %d\n", errno);
// return SSY_DEF_SOCK_ERROR;
}*/
break;
case GETVREL:
fprintf(dx,"%f %f \n",Time,vit_m[0]);
fprintf(dy,"%f %f \n",Time,vit_m[1]);
fprintf(dz,"%f %f \n",Time,vit_m[2]);
for (i=0;i<3;i++) VrelB[i] = dble2short(vit_m[i],VMAX);
sprintf(sMsg,"%hd %hd %hd",VrelB[0],VrelB[1],VrelB[2]);
nCommStatus = ssyCANSendMsg(nSockFd, sMsg, strlen(sMsg)+1, 0x80+i);
if (nCommStatus == SSY_DEF_SOCK_ERROR)
{
printf("ssyCANSendMsg Failed errno = %d\n", errno);
// return SSY_DEF_SOCK_ERROR;
}
break;
case PUTVI:
sscanf(sMsg,"%c %hd %hd %hd %hd",&val,&Vit_dB[0],&Vit_dB[1],&Vit_dB[2],&Vit_dB[3]);
for (i=0;i<4;i++) Vit_d[i] = short2dble(Vit_dB[i],VITMOTMAX);
fprintf(vmd1,"%f %f \n",Time,Vit_d[0]);
fprintf(vmd2,"%f %f \n",Time,Vit_d[1]);
fprintf(vmd3,"%f %f \n",Time,Vit_d[2]);
fprintf(vmd4,"%f %f \n",Time,Vit_d[3]);
break;
case 'E':
printf("received 'E' \n");
end_int = 1;
clean_exit(end_int);
continue;
default:
break;
}
} //while(!end_int);
printf("LISTENSOCKET thread finished \n");
}
void ListenSocket::open_files(void)
{
strcpy(qf1 , "./q1") ;
strcpy(qf2 , "./q2") ;
strcpy(qf3 , "./q3") ;
strcpy(qf4 , "./q4") ;
strcpy(qpf1 , "./qp1") ;
strcpy(qpf2 , "./qp2") ;
strcpy(qpf3 , "./qp3") ;
//strcpy(thrf , "./thr") ;
strcpy(vmdf1 , "./vmd1") ;
strcpy(vmdf2 , "./vmd2") ;
strcpy(vmdf3 , "./vmd3") ;
strcpy(vmdf4 , "./vmd4") ;
strcpy(vitmotf1 , "./vitmot1") ;
strcpy(vitmotf2 , "./vitmot2") ;
strcpy(vitmotf3 , "./vitmot3") ;
strcpy(vitmotf4 , "./vitmot4") ;
strcpy(xf , "./x_pos") ;
strcpy(yf , "./y_pos") ;
strcpy(zf , "./z_pos") ;
strcpy(dxf , "./dx") ;
strcpy(dyf , "./dy") ;
strcpy(dzf , "./dz") ;
q1 = fopen(qf1,"w") ;
q2 = fopen(qf2,"w") ;
q3 = fopen(qf3,"w") ;
q4 = fopen(qf4,"w") ;
qp1 = fopen(qpf1,"w") ;
qp2 = fopen(qpf2,"w") ;
qp3 = fopen(qpf3,"w") ;
//thr = fopen(thrf,"w");
vmd1 = fopen(vmdf1,"w") ;
vmd2 = fopen(vmdf2,"w") ;
vmd3 = fopen(vmdf3,"w") ;
vmd4 = fopen(vmdf4,"w") ;
vitmot1 = fopen(vitmotf1,"w") ;
vitmot2 = fopen(vitmotf2,"w") ;
vitmot3 = fopen(vitmotf3,"w") ;
vitmot4 = fopen(vitmotf4,"w") ;
x_pos = fopen(xf,"w") ;
y_pos = fopen(yf,"w") ;
z_pos = fopen(zf,"w") ;
dx = fopen(dxf,"w") ;
dy = fopen(dyf,"w") ;
dz = fopen(dzf,"w") ;
fprintf(q1,"%f %f \n",Time,extended_state[0]);
fprintf(q2,"%f %f \n",Time,extended_state[1]);
fprintf(q3,"%f %f \n",Time,extended_state[2]);
fprintf(q4,"%f %f \n",Time,extended_state[3]);
/* fprintf(q2,"%f %f \n",Time,rtl[0]); */
/* fprintf(q3,"%f %f \n",Time,rtl[1]); */
/* fprintf(q4,"%f %f \n",Time,rtl[2]); */
fprintf(qp1,"%f %f \n",Time,extended_state[4]);
fprintf(qp2,"%f %f \n",Time,extended_state[5]);
fprintf(qp3,"%f %f \n",Time,extended_state[6]);
//fprintf(thr,"%f %f \n",Time,D_attitude[2]);
fprintf(vitmot1,"%f %f \n",Time,extended_state[13]);
fprintf(vitmot2,"%f %f \n",Time,extended_state[14]);
fprintf(vitmot3,"%f %f \n",Time,extended_state[15]);
fprintf(vitmot4,"%f %f \n",Time,extended_state[16]);
fprintf(x_pos,"%f %f \n",Time,extended_state[7]);
fprintf(y_pos,"%f %f \n",Time,extended_state[8]);
fprintf(z_pos,"%f %f \n",Time,extended_state[9]);
fprintf(dx,"%f %f \n",Time,extended_state[10]);
fprintf(dy,"%f %f \n",Time,extended_state[11]);
fprintf(dz,"%f %f \n",Time,extended_state[12]);
return;
}
void ListenSocket::close_files(void)
{
fclose(q1);
fclose(q2);
fclose(q3);
fclose(q4);
fclose(qp1);
fclose(qp2);
fclose(qp3);
//fclose(thr);
fclose(vmd1);
fclose(vmd2);
fclose(vmd3);
fclose(vmd4);
fclose(vitmot1);
fclose(vitmot2);
fclose(vitmot3);
fclose(vitmot4);
fclose(x_pos);
fclose(y_pos);
fclose(z_pos);
fclose(dx);
fclose(dy);
fclose(dz);
return;
}
void * ListenSocket::thread_create_listen_on_sock(void * i)
{
ListenSocket* listensocket = static_cast<ListenSocket*> (i);
listensocket->listen_on_sock();
}
void ListenSocket::StartThread()
{
GetPtrs();
if (orcSpawn(&(ListenSocketThread),
"ListenSocket",
PRI_CLK-2,
NORMAL_STACK,
(SOSO) thread_create_listen_on_sock,
static_cast<void*> (this)) == ERROR)
printf("ERROR orcspawn ListenSocket");
}
ListenSocket::ListenSocket()
{
printf("ListenSocket constructor \n");
orcIntSigMask();
end_int = 0;
neq = NEQ;
open_files();
nPort = SOCK_PORT;
//nPortClient = SOCK_PORT;
return;
}
ListenSocket::~ListenSocket()
{
printf("closing files \n");
close_files();
// /** Close CAN Socket */
printf("testCANClient: Close CAN Socket\n");
if (ssyCANClose(nSockFd) == SSY_DEF_SOCK_ERROR)
{
printf("testCANClient: ssyCANClose Failed errno = %d\n", errno);
//return SSY_DEF_SOCK_ERROR;
}
// if (orcTaskIdVerify(ListenSocketThread) == OK)
// {
// printf("deleting ListenSocket \n");
// orcTaskDelete(ListenSocketThread);
// } else printf("ListenSocket not OK \n");
// printf("ListenSocket deleted \n");
return;
} |
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