killswitch in extra thread for lower control delay

UDPclient.depend

@@ -176,10 +176,10 @@
 1395878369 source:/home/chch/HengLongUDPclient/checkvideo.c
 	"checkvideo.h"
 
-1396205007 source:/home/chch/HengLongUDPclient/checkkillswitch.c
+1396457823 source:/home/chch/HengLongUDPclient/checkkillswitch.c
 	"checkkillswitch.h"
 
-1396202748 /home/chch/HengLongUDPclient/checkkillswitch.h
+1396457833 /home/chch/HengLongUDPclient/checkkillswitch.h
 	<stdio.h>
 	<string.h>
 	<unistd.h>

checkkillswitch.c

@@ -2,12 +2,15 @@
 #include "checkkillswitch.h"
 
 
-int getPage(char* ip, uint16_t port, char* url, char* recvBuffer, uint32_t size)
+int getPage(char* ip, uint16_t port, char* url, char* recvBuffer, uint32_t size, uint32_t timeout_us)
 {
     int sockfd = 0, n = 0;
     //char recvBuff[1024];
     char sendBuff[1024];
     struct sockaddr_in serv_addr;
+    struct timeval timeout;
+    timeout.tv_sec = timeout_us/1000000;
+    timeout.tv_usec = timeout_us;
 
     memset(recvBuffer, '0',size);
     if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) < 0)
@@ -27,6 +30,9 @@ int getPage(char* ip, uint16_t port, char* url, char* recvBuffer, uint32_t size)
         return 1;
     }
 
+    if (setsockopt (sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)) < 0) printf("setsockopt failed\n");
+    if (setsockopt (sockfd, SOL_SOCKET, SO_SNDTIMEO, (char *)&timeout, sizeof(timeout)) < 0) printf("setsockopt failed\n");
+
     if( connect(sockfd, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0)
     {
        printf("\n Error : Connect Failed \n");
@@ -48,12 +54,12 @@ int getPage(char* ip, uint16_t port, char* url, char* recvBuffer, uint32_t size)
     return n;
 }
 
-int checkkillswitch(char* ip, uint16_t port, char* url)
+int checkkillswitch(char* ip, uint16_t port, char* url, uint32_t timeout_us)
 {
     char rb[1024];
     int n;
     if(0==ip[0]) return 1;
-    getPage(ip, port, url, rb, sizeof(rb));
+    getPage(ip, port, url, rb, sizeof(rb), timeout_us);
     n = strstr(rb, "true");
     if(NULL != n) return 1;
     return 0;

checkkillswitch.h

@@ -9,7 +9,7 @@
 #include <sys/time.h>
 
 
-int getPage(char* ip, uint16_t port, char* url, char* recvBuffer, uint32_t size);
-int checkkillswitch(char* ip, uint16_t port, char* url);
+int getPage(char* ip, uint16_t port, char* url, char* recvBuffer, uint32_t size, uint32_t timeout_us);
+int checkkillswitch(char* ip, uint16_t port, char* url, uint32_t timeout_us);
 
 #endif // CHECKKILLSWITCH_H_INCLUDED

client.config

@@ -10,3 +10,4 @@ TIMEOUT 250
 CLINBR 0
 VIDEO 192.168.1.66:8080
 KILLSW 192.168.1.20:8080/status
+KILLSWTO_US 600000

main.c

@@ -275,6 +275,7 @@ typedef struct henglongconf_t
     uint16_t port, videoport, killport;
     uint8_t timeout;
     uint8_t clinbr;
+    uint32_t killswtimeoutus;
 } henglongconf_t;
 
 henglongconf_t getconfig(char* conffilename)
@@ -302,6 +303,7 @@ henglongconf_t getconfig(char* conffilename)
     conf.killsw[0] = 0;
     conf.killport = 0;
     conf.killurl[0] = 0;
+    conf.killswtimeoutus = 500000;
     while(fgets(line, 256, configFile)){
         sscanf(line, "%16s %256s", parameter, value);
         if(0==strcmp(parameter,"KEYBOARD")){
@@ -341,6 +343,9 @@ henglongconf_t getconfig(char* conffilename)
         if(0==strcmp(parameter,"KILLSW")){
             sscanf(value, "%16[^:]:%" SCNu16 "%256s", conf.killsw, &conf.killport, conf.killurl);
         }
+        if(0==strcmp(parameter,"KILLSWTO_US")){
+            sscanf(value, "%" SCNu32 , &conf.killswtimeoutus);
+        }
     }
     return conf;
 }
@@ -380,14 +385,37 @@ void *cam_ctrl_thread_fcn(void* arg)
 }
 
 
+typedef struct killsw_thread_t
+{
+    char* ip;
+    uint16_t port;
+    char* url;
+    uint32_t timeout_us;
+    int state;
+} killsw_thread_t;
+
+void *killsw_thread_fcn(void* arg)
+{
+    printf("pthread killsw started\n");
+    killsw_thread_t* args;
+    args = (killsw_thread_t*) arg;
+    args->state = 0;
+    while(1){
+            args->state = checkkillswitch(args->ip, args->port, args->url, args->timeout_us);
+    }
+    pthread_exit(0);
+}
+
+
 int main(int argc, char* argv[])
 {
 
 
-    pthread_t keybthread, joythread, refl_thread, cam_ctrl_thread;
+    pthread_t keybthread, joythread, refl_thread, cam_ctrl_thread, killsw_thread;
     input_thread_t keyboard_thread_args;
     input_thread_t joystick_thread_args;
     refl_thread_args_t refl_thread_args;
+    killsw_thread_t killsw_thread_args;
     cam_ctrl_thread_t cam_ctrl_thread_args;
     int frame = 0;
     uint16_t frame_nbr;
@@ -438,7 +466,17 @@ int main(int argc, char* argv[])
     }else{
         printf("no cam config!\n");
     }
-
+    killsw_thread_args.state = 1; // default, wenn kein Killswitch konfiguriert - immer an
+    if(conf.killsw[0]){
+        killsw_thread_args.ip = conf.killsw;
+        killsw_thread_args.port = conf.killport;
+        killsw_thread_args.url = conf.killurl;
+        killsw_thread_args.state = 0;
+        killsw_thread_args.timeout_us = conf.killswtimeoutus;
+        if (pthread_create(&killsw_thread, NULL, killsw_thread_fcn , (void *) &killsw_thread_args)) printf("failed to create killsw thread\n");
+    }else{
+        printf("no killswitch!\n");
+    }
 
     sockfd = socket(AF_INET,SOCK_DGRAM,0);
 
@@ -466,7 +504,7 @@ int main(int argc, char* argv[])
             printf("No video stream connection from %s:%u, remote control locked!\n", conf.video, conf.videoport);
             continue;
         }
-        if(0==checkkillswitch(conf.killsw,conf.killport,conf.killurl)){
+        if(0==killsw_thread_args.state){
             printf("Killswitch pressed or no connection.!\n");
             continue;
         }