mirror of
https://github.com/TheTesla/HengLongUDPclient.git
synced 2025-06-29 11:56:09 +02:00
first commit: event device reading, heng long protocl conversion with CRC
This commit is contained in:
Stefan Helmert
commit
39f0566283
6 changed files with 320 additions and 0 deletions
248
main.c
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248
main.c
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#include <pthread.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <dirent.h>
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#include <linux/input.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <sys/select.h>
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#include <sys/time.h>
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#include <termios.h>
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#include <signal.h>
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typedef struct input_thread_t
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{
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char* filename;
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struct input_event event;
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} input_thread_t;
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void *input_thread_fcn(void * arg)
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{
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printf("pthread started\n");
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struct input_event ev[2];
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int result = 0;
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int fevdev;
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int size = sizeof(struct input_event);
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int rd;
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int value;
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input_thread_t* args;
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args = (input_thread_t*) arg;
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fevdev = open(args->filename, O_RDONLY);
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if (fevdev == -1) {
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printf("Failed to open event device.\n");
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exit(1);
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}
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while (1)
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{
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if ((rd = read(fevdev, ev, size * 2)) < size) {
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break;
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}
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value = ev[0].value;
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args->event = ev[1];
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// quit
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if(16==args->event.code && 1==args->event.value) break;
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}
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printf("Exiting.\n");
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result = ioctl(fevdev, EVIOCGRAB, 1);
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close(fevdev);
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pthread_exit(0);
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}
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int CRC(int data)
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{
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int c;
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c = 0;
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c ^= data & 0x03;
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c ^= (data >> 2) & 0x0F;
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c ^= (data >> 6) & 0x0F;
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c ^= (data >> 10) & 0x0F;
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c ^= (data >> 14) & 0x0F;
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c ^= (data >> 18) & 0x0F;
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return c;
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}
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int data2frame(int data)
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{
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int frame;
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frame = 0;
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frame |= CRC(data) << 2;
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frame |= data << 6;
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frame |= 0xFE000000;
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return frame;
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}
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int values2data(int velocity, int direction, int ignation, int mg, int fire, int turretelev, int turret_left, int turret_right, int recoil)
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{
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int data = 0;
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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;
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return data;
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}
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int main(int argc, char* argv[])
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{
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pthread_t inpthread;
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pthread_attr_t inp_thread_attr;
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input_thread_t input_thread_args;
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int inpdetachstate;
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int i=0;
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int frame;
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int velocity = 0b10000, direction=0b01111;
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int ignation = 0, mg = 0, fire = 0, turretelev = 0, turret_left = 0, turret_right = 0, recoil = 0, smoke = 0;
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input_thread_args.filename = argv[1];
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pthread_attr_init(&inp_thread_attr);
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if (pthread_create(&inpthread, &inp_thread_attr, input_thread_fcn , (void *) &input_thread_args)) printf("failed to create thread %d\n", i);
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while(1){
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usleep(100000);
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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);
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if(108==input_thread_args.event.code){
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if(input_thread_args.event.value){
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velocity = 0b11111;
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}else{
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velocity = 0b10000;
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}
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}
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if(103==input_thread_args.event.code){
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if(input_thread_args.event.value){
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velocity = 0b00000;
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}else{
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velocity = 0b10000;
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}
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}
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if(105==input_thread_args.event.code){
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if(input_thread_args.event.value){
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direction = 0b00000;
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}else{
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direction = 0b01111;
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}
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}
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if(106==input_thread_args.event.code){
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if(input_thread_args.event.value){
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direction = 0b11111;
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}else{
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direction = 0b01111;
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}
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}
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if(23==input_thread_args.event.code){
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if(input_thread_args.event.value){
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ignation = 1;
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}else{
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ignation = 0;
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}
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}
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if(34==input_thread_args.event.code){
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if(input_thread_args.event.value){
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mg = 1;
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}else{
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mg = 0;
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}
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}
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if(33==input_thread_args.event.code){
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if(input_thread_args.event.value){
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fire = 1;
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}else{
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fire = 0;
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}
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}
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if(29==input_thread_args.event.code){
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if(input_thread_args.event.value){
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turret_left = 1;
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}else{
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turret_left = 0;
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}
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}
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if(20==input_thread_args.event.code){
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if(input_thread_args.event.value){
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turretelev = 1;
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}else{
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turretelev = 0;
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}
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}
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if(19==input_thread_args.event.code){
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if(input_thread_args.event.value){
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recoil = 1;
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}else{
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recoil = 0;
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}
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}
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frame = data2frame(values2data(velocity, direction, ignation, mg, fire, turretelev, turret_left, turret_right, recoil));
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printf("%#x\n", frame);
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if(pthread_kill(inpthread, 0)) break;
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}
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return 0;
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}
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/* Sample UDP client */
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/*
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <stdio.h>
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int main(int argc, char**argv)
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{
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FILE *kbfp;
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char key;
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kbfp = fopen("/dev/input/event2", "rb");
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while(1){
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key = fgetc(kbfp);
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printf("%c\n", key);
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}
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fclose(kbfp);
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int sockfd,n;
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struct sockaddr_in servaddr,cliaddr;
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char sendline[1000];
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char recvline[1000];
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if (argc != 2)
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{
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printf("usage: udpcli <IP address>\n");
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exit(1);
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}
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sockfd=socket(AF_INET,SOCK_DGRAM,0);
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bzero(&servaddr,sizeof(servaddr));
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servaddr.sin_family = AF_INET;
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servaddr.sin_addr.s_addr=inet_addr(argv[1]);
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servaddr.sin_port=htons(32000);
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while (fgets(sendline, 10000,stdin) != NULL)
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{
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sendto(sockfd,sendline,strlen(sendline),0,
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(struct sockaddr *)&servaddr,sizeof(servaddr));
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n=recvfrom(sockfd,recvline,10000,0,NULL,NULL);
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recvline[n]=0;
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fputs(recvline,stdout);
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}
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}
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*/
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