From fe0747336c685624a642b973247f882b033e552d Mon Sep 17 00:00:00 2001
From: Stefan Helmert <stefan.helmert@gmx.net>
Date: Mon, 6 Jan 2014 21:38:22 +0100
Subject: [PATCH] USAGE prompt; client number, client select, server exit

---
 UDPclient.depend     |  14 +++--
 bin/Debug/UDPclient  | Bin 21518 -> 25830 bytes
 client.config        |   1 +
 henglong.c           | 135 ++++++++++++++++++++++++-------------------
 henglong.h           |   4 ++
 main.c               |  25 ++++++--
 obj/Debug/henglong.o | Bin 7584 -> 7944 bytes
 obj/Debug/main.o     | Bin 17432 -> 18376 bytes
 8 files changed, 109 insertions(+), 70 deletions(-)

diff --git a/UDPclient.depend b/UDPclient.depend
index 679bf23..ba39e76 100644
--- a/UDPclient.depend
+++ b/UDPclient.depend
@@ -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>
 
diff --git a/bin/Debug/UDPclient b/bin/Debug/UDPclient
index 740a021831ad76733017672007f40aa6d2cc5c07..b1dbef69c18dce32c269f6879df24b5d6631531e 100755
GIT binary patch
delta 8835
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diff --git a/client.config b/client.config
index be1d189..b11e9ae 100644
--- a/client.config
+++ b/client.config
@@ -2,3 +2,4 @@ INPUTDEV /dev/input/event2
 FRAME_US 100000
 SERVER 127.0.0.1:32000
 TIMEOUT 250
+CLINBR 0
diff --git a/henglong.c b/henglong.c
index c440128..6e5a721 100644
--- a/henglong.c
+++ b/henglong.c
@@ -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);
 }
diff --git a/henglong.h b/henglong.h
index 9dbdd03..9adf154 100644
--- a/henglong.h
+++ b/henglong.h
@@ -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);
diff --git a/main.c b/main.c
index 01a07d4..35dba46 100644
--- a/main.c
+++ b/main.c
@@ -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;
     }
 
diff --git a/obj/Debug/henglong.o b/obj/Debug/henglong.o
index bf0af531d5194ea6db36a9887322a4d13ab157be..1b6ee4c5f38533033b33fa399a23878e139c8055 100644
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diff --git a/obj/Debug/main.o b/obj/Debug/main.o
index d3905e4b54e9dbc20c8d063450cc073687c8cc2a..402296adc89d9a7644b2626b5630843d3211b993 100644
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