326 lines
8.4 KiB
C
326 lines
8.4 KiB
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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#include <sys/socket.h>
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#include <netinet/in.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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typedef struct henglong_t
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{
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int velocity, direction;
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int ignation, mg, fire, turretelev, turret_left, turret_right, recoil;
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} henglong_t;
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void inithenglong(henglong_t* henglong)
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{
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henglong->velocity = 0b10000;
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henglong->direction = 0b01111;
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henglong->ignation = 0;
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henglong->mg = 0;
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henglong->fire = 0;
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henglong->turretelev = 0;
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henglong->turret_left = 0;
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henglong->turret_right = 0;
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henglong->recoil = 0;
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}
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int event2data(henglong_t* henglong, struct input_event event)
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{
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if(108==event.code){
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if(event.value){
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henglong->velocity = 0b11111;
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}else{
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henglong->velocity = 0b10000;
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}
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}
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if(103==event.code){
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if(event.value){
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henglong->velocity = 0b00000;
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}else{
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henglong->velocity = 0b10000;
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}
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}
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if(105==event.code){
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if(event.value){
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henglong->direction = 0b00000;
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}else{
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henglong->direction = 0b01111;
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}
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}
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if(106==event.code){
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if(event.value){
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henglong->direction = 0b11111;
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}else{
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henglong->direction = 0b01111;
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}
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}
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if(23==event.code){
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if(event.value){
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henglong->ignation = 1;
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}else{
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henglong->ignation = 0;
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}
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}
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if(34==event.code){
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if(event.value){
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henglong->mg = 1;
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}else{
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henglong->mg = 0;
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}
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}
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if(33==event.code){
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if(event.value){
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henglong->fire = 1;
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}else{
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henglong->fire = 0;
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}
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}
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if(29==event.code){
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if(event.value){
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henglong->turret_left = 1;
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}else{
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henglong->turret_left = 0;
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}
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}
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if(20==event.code){
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if(event.value){
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henglong->turretelev = 1;
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}else{
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henglong->turretelev = 0;
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}
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}
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if(19==event.code){
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if(event.value){
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henglong->recoil = 1;
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}else{
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henglong->recoil = 0;
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}
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}
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return values2data(henglong->velocity, henglong->direction, henglong->ignation, henglong->mg, henglong->fire, henglong->turretelev, henglong->turret_left, henglong->turret_right, henglong->recoil);
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}
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typedef struct refl_thread_args_t
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{
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int sockfd;
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uint64_t timestamps[256];
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uint16_t frame_nbr_send;
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} refl_thread_args_t;
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uint64_t get_us(void)
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{
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struct timeval tv;
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gettimeofday(&tv,NULL);
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return (uint64_t)tv.tv_usec + 1000000* (uint64_t)tv.tv_sec;
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}
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void *refl_thread_fcn(void* arg)
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{
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int n, i = 0;
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int frame_refl;
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uint64_t time_us_refl;
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unsigned char recvline[64];
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uint16_t frame_nbr_refl;
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refl_thread_args_t* refl_thread_args_ptr;
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printf("pthread refl started\n");
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refl_thread_args_ptr = (refl_thread_args_t*) arg;
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while(1){
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n=recvfrom(refl_thread_args_ptr->sockfd,recvline,64,0,NULL,NULL);
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frame_nbr_refl = 0;
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for(i=0;i<2;i++){
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frame_nbr_refl |= recvline[i] << i*8;
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}
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time_us_refl = 0ULL;
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for(i=0;i<8;i++){
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time_us_refl |= ((uint64_t)recvline[i+2]) << i*8;
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}
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frame_refl = 0;
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for(i=0;i<4;i++){
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frame_refl |= recvline[i+10] << i*8;
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}
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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);
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refl_thread_args_ptr->timestamps[frame_nbr_refl&0x0F] = 0;
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}
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pthread_exit(0);
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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, refl_thread;
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pthread_attr_t inp_thread_attr;
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input_thread_t input_thread_args;
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refl_thread_args_t refl_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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uint16_t frame_nbr;
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uint16_t frame_nbr_refl;
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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;
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int sockfd,n, n_send;
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struct sockaddr_in servaddr,cliaddr;
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unsigned char sendline[64];
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unsigned char recvline[64];
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unsigned char tmpchr;
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henglong_t hl1;
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uint64_t time_us, time_us_refl;
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int frame_refl;
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inithenglong(&hl1);
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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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sockfd = socket(AF_INET,SOCK_DGRAM,0);
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refl_thread_args.sockfd = sockfd;
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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[2]);
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servaddr.sin_port=htons(32000);
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if (pthread_create(&refl_thread, NULL, refl_thread_fcn, (void *) &refl_thread_args)) printf("failed to create thread %d\n", i);
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memset(refl_thread_args.timestamps, 0, 256);
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frame_nbr = 0;
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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\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);
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frame = data2frame(event2data(&hl1, input_thread_args.event));
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time_us = get_us();
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frame_nbr++;
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refl_thread_args.frame_nbr_send = frame_nbr;
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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]);
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refl_thread_args.timestamps[frame_nbr & 0x0F] = time_us;
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for(i=0;i<2;i++){
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sendline[i] = (frame_nbr >> i*8) & 0xFF;
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}
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for(i=0;i<8;i++){
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sendline[i+2] = (time_us >> i*8) & 0xFF;
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}
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for(i=0;i<4;i++){
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sendline[i+10] = (frame >> i*8) & 0xFF;
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}
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n_send = sendto(sockfd, sendline, 16, 0, (struct sockaddr *)&servaddr, sizeof(servaddr));
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printf("SEND FRAME -- FRM_NBR: %5d, BYTES send: %3d, SEND_FRM: %#x\n", frame_nbr, n_send, 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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