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HengLongUDPclient
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USAGE prompt; client number, client select, server exit

This commit is contained in:
Stefan Helmert 2014-01-06 21:38:22 +01:00
parent 8eabc532ed
commit fe0747336c
8 changed files with 109 additions and 70 deletions
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14
UDPclient.depend
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@ -1,5 +1,5 @@
# depslib dependency file v1.0
1388947181 source:/home/stefan/Proj/UDPclient/main.c
1389037649 source:/home/stefan/Proj/UDPclient/main.c
<pthread.h>
<stdio.h>
<stdlib.h>
@ -17,13 +17,15 @@
<signal.h>
<sys/socket.h>
<netinet/in.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>
1389038648 source:/home/stefan/Proj/UDPclient/henglong.c
"henglong.h"
1389038543 /home/stefan/Proj/UDPclient/henglong.h
<linux/input.h>
<stdio.h>
<inttypes.h>

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bin/Debug/UDPclient
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1
client.config
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@ -2,3 +2,4 @@ INPUTDEV /dev/input/event2
FRAME_US 100000
SERVER 127.0.0.1:32000
TIMEOUT 250
CLINBR 0

135
henglong.c
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@ -43,81 +43,96 @@ void inithenglong(henglong_t* henglong)
henglong->turret_left = 0;
henglong->turret_right = 0;
henglong->recoil = 0;
henglong->clisel = 0;
henglong->servoff = 0;
}
int event2data(henglong_t* henglong, struct input_event event)
{
if(108==event.code){
if(event.value){
henglong->velocity = 0b11111;
}else{
henglong->velocity = 0b10000;
}
//printf("%d\n", event.code);
if(107==event.code){
if(event.value){
henglong->servoff = 1;
}else{
henglong->servoff = 0;
}
if(103==event.code){
if(event.value){
henglong->velocity = 0b00000;
}else{
henglong->velocity = 0b10000;
}
}
if(2<=event.code && 11>=event.code){
if(event.value){
henglong->clisel = (event.code - 1) % 10;
}
if(105==event.code){
if(event.value){
henglong->direction = 0b00000;
}else{
henglong->direction = 0b01111;
}
}
if(108==event.code){
if(event.value){
henglong->velocity = 0b11111;
}else{
henglong->velocity = 0b10000;
}
if(106==event.code){
if(event.value){
henglong->direction = 0b11111;
}else{
henglong->direction = 0b01111;
}
}
if(103==event.code){
if(event.value){
henglong->velocity = 0b00000;
}else{
henglong->velocity = 0b10000;
}
if(23==event.code){
if(event.value){
henglong->ignation = 1;
}else{
henglong->ignation = 0;
}
}
if(105==event.code){
if(event.value){
henglong->direction = 0b00000;
}else{
henglong->direction = 0b01111;
}
if(34==event.code){
if(event.value){
henglong->mg = 1;
}else{
henglong->mg = 0;
}
}
if(106==event.code){
if(event.value){
henglong->direction = 0b11111;
}else{
henglong->direction = 0b01111;
}
if(33==event.code){
if(event.value){
henglong->fire = 1;
}else{
henglong->fire = 0;
}
}
if(23==event.code){
if(event.value){
henglong->ignation = 1;
}else{
henglong->ignation = 0;
}
if(29==event.code){
if(event.value){
henglong->turret_left = 1;
}else{
henglong->turret_left = 0;
}
}
if(34==event.code){
if(event.value){
henglong->mg = 1;
}else{
henglong->mg = 0;
}
if(20==event.code){
if(event.value){
henglong->turretelev = 1;
}else{
henglong->turretelev = 0;
}
}
if(33==event.code){
if(event.value){
henglong->fire = 1;
}else{
henglong->fire = 0;
}
if(19==event.code){
if(event.value){
henglong->recoil = 1;
}else{
henglong->recoil = 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);
}

4
henglong.h
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@ -2,12 +2,16 @@
#define HENGLONG_H_INCLUDED
#include <linux/input.h>
#include <stdio.h>
#include <inttypes.h>
typedef struct henglong_t
{
int velocity, direction;
int ignation, mg, fire, turretelev, turret_left, turret_right, recoil;
uint8_t clisel;
unsigned char servoff;
} henglong_t;
int CRC(int data);

25
main.c
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@ -16,7 +16,6 @@
#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>
@ -90,6 +89,8 @@ void *refl_thread_fcn(void* arg)
unsigned char recvline[64];
uint16_t frame_nbr_refl;
refl_thread_args_t* refl_thread_args_ptr;
uint8_t clinbr, clisel;
unsigned char servoff;
printf("pthread refl started\n");
refl_thread_args_ptr = (refl_thread_args_t*) arg;
@ -108,7 +109,10 @@ 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: %7" PRIu64 ", BYTES recv: %3d, REFL_FRM: %#x\n", frame_nbr_refl, get_us() - time_us_refl, n, frame_refl);
clinbr = recvline[14];
clisel = recvline[15];
servoff = recvline[16];
printf("REFL FRAME -- FRM_NBR: %5d, RTT: %7" PRIu64 ", BYTES recv: %3d, REFL_FRM: %#x, CLINBR: %d, CLISEL: %d, SERVOFF: %d\n", frame_nbr_refl, get_us() - time_us_refl, n, frame_refl, clinbr, clisel, servoff);
refl_thread_args_ptr->timestamps[frame_nbr_refl % refl_thread_args_ptr->timeout] = 0;
}
pthread_exit(0);
@ -121,6 +125,7 @@ typedef struct henglongconf_t
in_addr_t ip; // v4 only
uint16_t port;
uint8_t timeout;
uint8_t clinbr;
} henglongconf_t;
henglongconf_t getconfig(char* conffilename)
@ -154,6 +159,9 @@ henglongconf_t getconfig(char* conffilename)
if(0==strcmp(parameter,"TIMEOUT")){
sscanf(value, "%" SCNu8 , &conf.timeout);
}
if(0==strcmp(parameter,"CLINBR")){
sscanf(value, "%" SCNu8 , &conf.clinbr);
}
}
return conf;
}
@ -175,6 +183,12 @@ int main(int argc, char* argv[])
uint64_t time_us;
henglongconf_t conf;
if(2!=argc){
printf("\nThis program is intented to be run on the PC as client to control the server on the heng long tank. \n\n USAGE: UDPclient client.config\n\n Copyright (C) 2014 Stefan Helmert <stefan.helmert@gmx.net>\n\n");
return 0;
}
inithenglong(&hl1);
@ -220,10 +234,13 @@ int main(int argc, char* argv[])
for(i=0;i<4;i++){
sendline[i+10] = (frame >> i*8) & 0xFF;
}
sendline[14] = conf.clinbr;
sendline[15] = hl1.clisel;
sendline[16] = hl1.servoff;
n_send = sendto(sockfd, sendline, 16, 0, (struct sockaddr *)&servaddr, sizeof(servaddr));
n_send = sendto(sockfd, sendline, 32, 0, (struct sockaddr *)&servaddr, sizeof(servaddr));
printf("SEND FRAME -- FRM_NBR: %5d, BYTES send: %3d, SEND_FRM: %#x\n", frame_nbr, n_send, frame);
printf("SEND FRAME -- FRM_NBR: %5d, BYTES send: %3d, SEND_FRM: %#x, CLINBR: %d, CLISEL: %d, SERVOFF: %d\n", frame_nbr, n_send, frame, conf.clinbr, hl1.clisel, hl1.servoff);
if(pthread_kill(inpthread, 0)) break;
}

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obj/Debug/henglong.o
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obj/Debug/main.o
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