first commit: event device reading, heng long protocl conversion with CRC
This commit is contained in:
Stefan Helmert
commit
39f0566283
|
|
@ -0,0 +1,42 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||||
<CodeBlocks_project_file>
|
||||
<FileVersion major="1" minor="6" />
|
||||
<Project>
|
||||
<Option title="UDPclient" />
|
||||
<Option pch_mode="2" />
|
||||
<Option compiler="gcc" />
|
||||
<Build>
|
||||
<Target title="Debug">
|
||||
<Option output="bin/Debug/UDPclient" prefix_auto="1" extension_auto="1" />
|
||||
<Option object_output="obj/Debug/" />
|
||||
<Option type="1" />
|
||||
<Option compiler="gcc" />
|
||||
<Compiler>
|
||||
<Add option="-g" />
|
||||
</Compiler>
|
||||
</Target>
|
||||
<Target title="Release">
|
||||
<Option output="bin/Release/UDPclient" prefix_auto="1" extension_auto="1" />
|
||||
<Option object_output="obj/Release/" />
|
||||
<Option type="1" />
|
||||
<Option compiler="gcc" />
|
||||
<Compiler>
|
||||
<Add option="-O2" />
|
||||
</Compiler>
|
||||
<Linker>
|
||||
<Add option="-s" />
|
||||
</Linker>
|
||||
</Target>
|
||||
</Build>
|
||||
<Compiler>
|
||||
<Add option="-Wall" />
|
||||
</Compiler>
|
||||
<Unit filename="main.c">
|
||||
<Option compilerVar="CC" />
|
||||
</Unit>
|
||||
<Extensions>
|
||||
<code_completion />
|
||||
<debugger />
|
||||
</Extensions>
|
||||
</Project>
|
||||
</CodeBlocks_project_file>
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
# depslib dependency file v1.0
|
||||
1388607752 source:/home/stefan/Proj/UDPclient/main.c
|
||||
<pthread.h>
|
||||
<stdio.h>
|
||||
<stdlib.h>
|
||||
<string.h>
|
||||
<unistd.h>
|
||||
<errno.h>
|
||||
<fcntl.h>
|
||||
<dirent.h>
|
||||
<linux/input.h>
|
||||
<sys/types.h>
|
||||
<sys/stat.h>
|
||||
<sys/select.h>
|
||||
<sys/time.h>
|
||||
<termios.h>
|
||||
<signal.h>
|
||||
<sys/socket.h>
|
||||
<netinet/in.h>
|
||||
<stdio.h>
|
||||
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||||
<CodeBlocks_layout_file>
|
||||
<ActiveTarget name="Debug" />
|
||||
<File name="main.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
|
||||
<Cursor>
|
||||
<Cursor1 position="1353" topLine="176" />
|
||||
</Cursor>
|
||||
</File>
|
||||
</CodeBlocks_layout_file>
|
||||
Binary file not shown.
|
|
@ -0,0 +1,248 @@
|
|||
|
||||
#include <pthread.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <fcntl.h>
|
||||
#include <dirent.h>
|
||||
#include <linux/input.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/select.h>
|
||||
#include <sys/time.h>
|
||||
#include <termios.h>
|
||||
#include <signal.h>
|
||||
|
||||
|
||||
typedef struct input_thread_t
|
||||
{
|
||||
char* filename;
|
||||
struct input_event event;
|
||||
} input_thread_t;
|
||||
|
||||
|
||||
void *input_thread_fcn(void * arg)
|
||||
{
|
||||
printf("pthread started\n");
|
||||
|
||||
struct input_event ev[2];
|
||||
int result = 0;
|
||||
int fevdev;
|
||||
int size = sizeof(struct input_event);
|
||||
int rd;
|
||||
int value;
|
||||
input_thread_t* args;
|
||||
|
||||
args = (input_thread_t*) arg;
|
||||
fevdev = open(args->filename, O_RDONLY);
|
||||
if (fevdev == -1) {
|
||||
printf("Failed to open event device.\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
while (1)
|
||||
{
|
||||
if ((rd = read(fevdev, ev, size * 2)) < size) {
|
||||
break;
|
||||
}
|
||||
|
||||
value = ev[0].value;
|
||||
|
||||
args->event = ev[1];
|
||||
// quit
|
||||
if(16==args->event.code && 1==args->event.value) break;
|
||||
}
|
||||
|
||||
printf("Exiting.\n");
|
||||
result = ioctl(fevdev, EVIOCGRAB, 1);
|
||||
close(fevdev);
|
||||
|
||||
pthread_exit(0);
|
||||
}
|
||||
|
||||
|
||||
int CRC(int data)
|
||||
{
|
||||
int c;
|
||||
c = 0;
|
||||
c ^= data & 0x03;
|
||||
c ^= (data >> 2) & 0x0F;
|
||||
c ^= (data >> 6) & 0x0F;
|
||||
c ^= (data >> 10) & 0x0F;
|
||||
c ^= (data >> 14) & 0x0F;
|
||||
c ^= (data >> 18) & 0x0F;
|
||||
return c;
|
||||
}
|
||||
|
||||
int data2frame(int data)
|
||||
{
|
||||
int frame;
|
||||
frame = 0;
|
||||
frame |= CRC(data) << 2;
|
||||
frame |= data << 6;
|
||||
frame |= 0xFE000000;
|
||||
return frame;
|
||||
}
|
||||
|
||||
|
||||
int values2data(int velocity, int direction, int ignation, int mg, int fire, int turretelev, int turret_left, int turret_right, int recoil)
|
||||
{
|
||||
int data = 0;
|
||||
data = (mg & 1) | (ignation & 1) << 1 | (direction & 0b11111) << 2 | (fire & 1) << 7 | (turretelev & 1) << 8 | (turret_left & 1) << 9 | (turret_right & 1) << 10 | (recoil & 1) << 11 | (velocity & 0b11111) << 12;
|
||||
return data;
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
pthread_t inpthread;
|
||||
pthread_attr_t inp_thread_attr;
|
||||
input_thread_t input_thread_args;
|
||||
int inpdetachstate;
|
||||
int i=0;
|
||||
int frame;
|
||||
|
||||
int velocity = 0b10000, direction=0b01111;
|
||||
int ignation = 0, mg = 0, fire = 0, turretelev = 0, turret_left = 0, turret_right = 0, recoil = 0, smoke = 0;
|
||||
|
||||
|
||||
input_thread_args.filename = argv[1];
|
||||
|
||||
|
||||
pthread_attr_init(&inp_thread_attr);
|
||||
if (pthread_create(&inpthread, &inp_thread_attr, input_thread_fcn , (void *) &input_thread_args)) printf("failed to create thread %d\n", i);
|
||||
|
||||
|
||||
while(1){
|
||||
usleep(100000);
|
||||
printf("%d %d %d %d %d %d %d %d %d %d | %d %d %d %d\n", velocity, direction, ignation, mg, fire, turret_left, turret_right, turretelev, recoil, smoke, input_thread_args.event.code, input_thread_args.event.value, input_thread_args.event.type, input_thread_args.event.time);
|
||||
if(108==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
velocity = 0b11111;
|
||||
}else{
|
||||
velocity = 0b10000;
|
||||
}
|
||||
}
|
||||
if(103==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
velocity = 0b00000;
|
||||
}else{
|
||||
velocity = 0b10000;
|
||||
}
|
||||
}
|
||||
if(105==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
direction = 0b00000;
|
||||
}else{
|
||||
direction = 0b01111;
|
||||
}
|
||||
}
|
||||
if(106==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
direction = 0b11111;
|
||||
}else{
|
||||
direction = 0b01111;
|
||||
}
|
||||
}
|
||||
if(23==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
ignation = 1;
|
||||
}else{
|
||||
ignation = 0;
|
||||
}
|
||||
}
|
||||
if(34==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
mg = 1;
|
||||
}else{
|
||||
mg = 0;
|
||||
}
|
||||
}
|
||||
if(33==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
fire = 1;
|
||||
}else{
|
||||
fire = 0;
|
||||
}
|
||||
}
|
||||
if(29==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
turret_left = 1;
|
||||
}else{
|
||||
turret_left = 0;
|
||||
}
|
||||
}
|
||||
if(20==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
turretelev = 1;
|
||||
}else{
|
||||
turretelev = 0;
|
||||
}
|
||||
}
|
||||
if(19==input_thread_args.event.code){
|
||||
if(input_thread_args.event.value){
|
||||
recoil = 1;
|
||||
}else{
|
||||
recoil = 0;
|
||||
}
|
||||
}
|
||||
|
||||
frame = data2frame(values2data(velocity, direction, ignation, mg, fire, turretelev, turret_left, turret_right, recoil));
|
||||
printf("%#x\n", frame);
|
||||
if(pthread_kill(inpthread, 0)) break;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Sample UDP client */
|
||||
/*
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <stdio.h>
|
||||
|
||||
int main(int argc, char**argv)
|
||||
{
|
||||
|
||||
FILE *kbfp;
|
||||
char key;
|
||||
|
||||
kbfp = fopen("/dev/input/event2", "rb");
|
||||
|
||||
while(1){
|
||||
key = fgetc(kbfp);
|
||||
printf("%c\n", key);
|
||||
}
|
||||
fclose(kbfp);
|
||||
|
||||
int sockfd,n;
|
||||
struct sockaddr_in servaddr,cliaddr;
|
||||
char sendline[1000];
|
||||
char recvline[1000];
|
||||
|
||||
if (argc != 2)
|
||||
{
|
||||
printf("usage: udpcli <IP address>\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
sockfd=socket(AF_INET,SOCK_DGRAM,0);
|
||||
|
||||
bzero(&servaddr,sizeof(servaddr));
|
||||
servaddr.sin_family = AF_INET;
|
||||
servaddr.sin_addr.s_addr=inet_addr(argv[1]);
|
||||
servaddr.sin_port=htons(32000);
|
||||
|
||||
while (fgets(sendline, 10000,stdin) != NULL)
|
||||
{
|
||||
sendto(sockfd,sendline,strlen(sendline),0,
|
||||
(struct sockaddr *)&servaddr,sizeof(servaddr));
|
||||
n=recvfrom(sockfd,recvline,10000,0,NULL,NULL);
|
||||
recvline[n]=0;
|
||||
fputs(recvline,stdout);
|
||||
}
|
||||
}
|
||||
*/
|
||||
Binary file not shown.
Loading…
Reference in New Issue