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HengLongUDPclient
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bug memset size fixed; reading config file working

This commit is contained in:
Stefan Helmert 2014-01-06 00:20:30 +01:00
parent b29d631668
commit 8eabc532ed
8 changed files with 227 additions and 163 deletions
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12
UDPclient.depend
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@ -1,5 +1,5 @@
# depslib dependency file v1.0
1388888028 source:/home/stefan/Proj/UDPclient/main.c
1388947181 source:/home/stefan/Proj/UDPclient/main.c
<pthread.h>
<stdio.h>
<stdlib.h>
@ -17,5 +17,13 @@
<signal.h>
<sys/socket.h>
<netinet/in.h>
<stdio.h>
<unistd.h>
<arpa/inet.h>
<inttypes.h>
1388951235 source:/home/stefan/Proj/UDPclient/henglong.c
"henglong.h"
1388951303 /home/stefan/Proj/UDPclient/henglong.h
<linux/input.h>

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bin/Debug/UDPclient
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4
client.config Normal file
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@ -0,0 +1,4 @@
INPUTDEV /dev/input/event2
FRAME_US 100000
SERVER 127.0.0.1:32000
TIMEOUT 250

123
henglong.c Normal file
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@ -0,0 +1,123 @@
#include "henglong.h"
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;
}
void inithenglong(henglong_t* henglong)
{
henglong->velocity = 0b10000;
henglong->direction = 0b01111;
henglong->ignation = 0;
henglong->mg = 0;
henglong->fire = 0;
henglong->turretelev = 0;
henglong->turret_left = 0;
henglong->turret_right = 0;
henglong->recoil = 0;
}
int event2data(henglong_t* henglong, struct input_event event)
{
if(108==event.code){
if(event.value){
henglong->velocity = 0b11111;
}else{
henglong->velocity = 0b10000;
}
}
if(103==event.code){
if(event.value){
henglong->velocity = 0b00000;
}else{
henglong->velocity = 0b10000;
}
}
if(105==event.code){
if(event.value){
henglong->direction = 0b00000;
}else{
henglong->direction = 0b01111;
}
}
if(106==event.code){
if(event.value){
henglong->direction = 0b11111;
}else{
henglong->direction = 0b01111;
}
}
if(23==event.code){
if(event.value){
henglong->ignation = 1;
}else{
henglong->ignation = 0;
}
}
if(34==event.code){
if(event.value){
henglong->mg = 1;
}else{
henglong->mg = 0;
}
}
if(33==event.code){
if(event.value){
henglong->fire = 1;
}else{
henglong->fire = 0;
}
}
if(29==event.code){
if(event.value){
henglong->turret_left = 1;
}else{
henglong->turret_left = 0;
}
}
if(20==event.code){
if(event.value){
henglong->turretelev = 1;
}else{
henglong->turretelev = 0;
}
}
if(19==event.code){
if(event.value){
henglong->recoil = 1;
}else{
henglong->recoil = 0;
}
}
return values2data(henglong->velocity, henglong->direction, henglong->ignation, henglong->mg, henglong->fire, henglong->turretelev, henglong->turret_left, henglong->turret_right, henglong->recoil);
}

20
henglong.h Normal file
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@ -0,0 +1,20 @@
#ifndef HENGLONG_H_INCLUDED
#define HENGLONG_H_INCLUDED
#include <linux/input.h>
typedef struct henglong_t
{
int velocity, direction;
int ignation, mg, fire, turretelev, turret_left, turret_right, recoil;
} henglong_t;
int CRC(int data);
int data2frame(int data);
int values2data(int velocity, int direction, int ignation, int mg, int fire, int turretelev, int turret_left, int turret_right, int recoil);
void inithenglong(henglong_t* henglong);
int event2data(henglong_t* henglong, struct input_event event);
#endif // HENGLONG_H_INCLUDED

231
main.c
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@ -16,6 +16,11 @@
#include <signal.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <unistd.h>
#include <arpa/inet.h>
#define __STDC_FORMAT_MACROS
#include <inttypes.h>
#include "henglong.h"
typedef struct input_thread_t
{
@ -26,14 +31,12 @@ typedef struct input_thread_t
void *input_thread_fcn(void * arg)
{
printf("pthread started\n");
printf("pthread input 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;
@ -49,152 +52,26 @@ void *input_thread_fcn(void * arg)
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);
printf("Exiting input thread.\n");
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;
}
typedef struct henglong_t
{
int velocity, direction;
int ignation, mg, fire, turretelev, turret_left, turret_right, recoil;
} henglong_t;
void inithenglong(henglong_t* henglong)
{
henglong->velocity = 0b10000;
henglong->direction = 0b01111;
henglong->ignation = 0;
henglong->mg = 0;
henglong->fire = 0;
henglong->turretelev = 0;
henglong->turret_left = 0;
henglong->turret_right = 0;
henglong->recoil = 0;
}
int event2data(henglong_t* henglong, struct input_event event)
{
if(108==event.code){
if(event.value){
henglong->velocity = 0b11111;
}else{
henglong->velocity = 0b10000;
}
}
if(103==event.code){
if(event.value){
henglong->velocity = 0b00000;
}else{
henglong->velocity = 0b10000;
}
}
if(105==event.code){
if(event.value){
henglong->direction = 0b00000;
}else{
henglong->direction = 0b01111;
}
}
if(106==event.code){
if(event.value){
henglong->direction = 0b11111;
}else{
henglong->direction = 0b01111;
}
}
if(23==event.code){
if(event.value){
henglong->ignation = 1;
}else{
henglong->ignation = 0;
}
}
if(34==event.code){
if(event.value){
henglong->mg = 1;
}else{
henglong->mg = 0;
}
}
if(33==event.code){
if(event.value){
henglong->fire = 1;
}else{
henglong->fire = 0;
}
}
if(29==event.code){
if(event.value){
henglong->turret_left = 1;
}else{
henglong->turret_left = 0;
}
}
if(20==event.code){
if(event.value){
henglong->turretelev = 1;
}else{
henglong->turretelev = 0;
}
}
if(19==event.code){
if(event.value){
henglong->recoil = 1;
}else{
henglong->recoil = 0;
}
}
return values2data(henglong->velocity, henglong->direction, henglong->ignation, henglong->mg, henglong->fire, henglong->turretelev, henglong->turret_left, henglong->turret_right, henglong->recoil);
}
typedef struct refl_thread_args_t
{
int sockfd;
uint64_t timestamps[256];
uint16_t frame_nbr_send;
uint8_t timeout;
} refl_thread_args_t;
@ -231,12 +108,56 @@ void *refl_thread_fcn(void* arg)
for(i=0;i<4;i++){
frame_refl |= recvline[i+10] << i*8;
}
printf("REFL FRAME -- FRM_NBR: %5d, RTT: %7llu, BYTES recv: %3d, REFL_FRM: %#x\n", frame_nbr_refl, get_us() - time_us_refl, n, frame_refl);
refl_thread_args_ptr->timestamps[frame_nbr_refl&0x0F] = 0;
printf("REFL FRAME -- FRM_NBR: %5d, RTT: %7" PRIu64 ", BYTES recv: %3d, REFL_FRM: %#x\n", frame_nbr_refl, get_us() - time_us_refl, n, frame_refl);
refl_thread_args_ptr->timestamps[frame_nbr_refl % refl_thread_args_ptr->timeout] = 0;
}
pthread_exit(0);
}
typedef struct henglongconf_t
{
uint32_t frame_us;
char inpdevname[256];
in_addr_t ip; // v4 only
uint16_t port;
uint8_t timeout;
} henglongconf_t;
henglongconf_t getconfig(char* conffilename)
{
FILE *configFile;
char line[256];
char parameter[16], value[256];
char ip[16];
henglongconf_t conf;
configFile = fopen(conffilename, "r");
// defaults
conf.timeout = 16;
conf.frame_us = 100000;
strcpy(conf.inpdevname, "/dev/input/event2");
conf.port = 32000;
conf.ip = inet_addr("127.0.0.1");
while(fgets(line, 256, configFile)){
sscanf(line, "%16s %256s", parameter, value);
if(0==strcmp(parameter,"INPUTDEV")){
sscanf(value, "%256s", conf.inpdevname);
}
if(0==strcmp(parameter,"FRAME_US")){
sscanf(value, "%" SCNu32 , &conf.frame_us);
}
if(0==strcmp(parameter,"SERVER")){
sscanf(value, "%16[^:]:%" SCNu16, ip, &conf.port);
conf.ip = inet_addr(ip);
}
if(0==strcmp(parameter,"TIMEOUT")){
sscanf(value, "%" SCNu8 , &conf.timeout);
}
}
return conf;
}
int main(int argc, char* argv[])
{
@ -244,29 +165,22 @@ int main(int argc, char* argv[])
pthread_attr_t inp_thread_attr;
input_thread_t input_thread_args;
refl_thread_args_t refl_thread_args;
int inpdetachstate;
int i=0;
int frame;
uint16_t frame_nbr;
uint16_t frame_nbr_refl;
int velocity = 0b10000, direction=0b01111;
int ignation = 0, mg = 0, fire = 0, turretelev = 0, turret_left = 0, turret_right = 0, recoil = 0;
int sockfd,n, n_send;
struct sockaddr_in servaddr,cliaddr;
int sockfd, n_send;
struct sockaddr_in servaddr;
unsigned char sendline[64];
unsigned char recvline[64];
unsigned char tmpchr;
henglong_t hl1;
uint64_t time_us, time_us_refl;
int frame_refl;
uint64_t time_us;
henglongconf_t conf;
inithenglong(&hl1);
input_thread_args.filename = argv[1];
conf = getconfig(argv[1]);
input_thread_args.filename = conf.inpdevname;
pthread_attr_init(&inp_thread_attr);
@ -276,26 +190,26 @@ int main(int argc, char* argv[])
sockfd = socket(AF_INET,SOCK_DGRAM,0);
refl_thread_args.sockfd = sockfd;
refl_thread_args.timeout = conf.timeout;
bzero(&servaddr,sizeof(servaddr));
servaddr.sin_family = AF_INET;
servaddr.sin_addr.s_addr=inet_addr(argv[2]);
servaddr.sin_port=htons(32000);
servaddr.sin_addr.s_addr=conf.ip;
servaddr.sin_port=htons(conf.port);
if (pthread_create(&refl_thread, NULL, refl_thread_fcn, (void *) &refl_thread_args)) printf("failed to create thread %d\n", i);
memset(refl_thread_args.timestamps, 0, 256);
memset(refl_thread_args.timestamps, 0, 256*sizeof(uint64_t));
frame_nbr = 0;
while(1){
usleep(100000);
//printf("%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, input_thread_args.event.code, input_thread_args.event.value, input_thread_args.event.type, input_thread_args.event.time);
usleep(conf.frame_us);
frame = data2frame(event2data(&hl1, input_thread_args.event));
time_us = get_us();
frame_nbr++;
refl_thread_args.frame_nbr_send = frame_nbr;
if(refl_thread_args.timestamps[frame_nbr & 0x0F]) printf("*** Frameloss detected! Lost frame from local time: %llu \n", refl_thread_args.timestamps[frame_nbr & 0x0F]);
refl_thread_args.timestamps[frame_nbr & 0x0F] = time_us;
if(refl_thread_args.timestamps[frame_nbr % conf.timeout]) printf("*** Frameloss detected! Lost frame from local time: %" PRIu64 "\n", refl_thread_args.timestamps[frame_nbr % conf.timeout]);
refl_thread_args.timestamps[frame_nbr % conf.timeout] = time_us;
for(i=0;i<2;i++){
sendline[i] = (frame_nbr >> i*8) & 0xFF;
@ -307,13 +221,8 @@ int main(int argc, char* argv[])
sendline[i+10] = (frame >> i*8) & 0xFF;
}
n_send = sendto(sockfd, sendline, 16, 0, (struct sockaddr *)&servaddr, sizeof(servaddr));
printf("SEND FRAME -- FRM_NBR: %5d, BYTES send: %3d, SEND_FRM: %#x\n", frame_nbr, n_send, frame);
if(pthread_kill(inpthread, 0)) break;
}

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obj/Debug/henglong.o Normal file
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obj/Debug/main.o
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