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HengLongUDPclient
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HengLongUDPclient/main.c

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#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <fcntl.h>
#include <dirent.h>
#include <linux/input.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/select.h>
#include <sys/time.h>
#include <termios.h>
#include <signal.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#define __STDC_FORMAT_MACROS
#include <inttypes.h>
#include "henglong.h"
#include <linux/joystick.h>
#include "wansview.h"
#include "extern.h"
#include "checkvideo.h"
#include "checkkillswitch.h"
typedef struct outtty_t
{
int16_t motor_r;
int16_t motor_l;
int16_t servo_tilt;
int16_t servo_pan;
} outtty_t;
typedef struct input_thread_t
{
char* filename;
int frame;
henglong_t hl;
outtty_t outtty;
} input_thread_t;
void initouttty(outtty_t* tty)
{
tty->motor_l = 0;
tty->motor_r = 0;
tty->servo_pan = 0;
tty->servo_tilt = 0;
}
typedef struct RCdatagram_t
{
uint16_t frame_nbr;
uint64_t time_us;
int32_t frame_recv;
uint8_t clisel;
uint8_t clinbr;
uint8_t client_selected;
uint8_t servoff;
outtty_t outtty;
} __attribute__ ((packed)) RCdatagram_t;
void *keyboard_thread_fcn(void * arg)
{
printf("pthread input started\n");
struct input_event ev;
int fevdev;
int size = sizeof(ev);
int rd;
input_thread_t* args;
args = (input_thread_t*) arg;
fevdev = open(args->filename, O_RDONLY);
if (fevdev == -1) {
printf("Failed to open keyboard device.\n");
pthread_exit(0);
}
while (1)
{
if ((rd = read(fevdev, &ev, size)) < size) {
break;
}
if(EV_KEY == ev.type) {
printf("%d %d\n", ev.code, ev.value);
args->frame = data2frame(event2data(&args->hl, ev));
args->outtty.motor_r = (2*0b01111 - args->hl.velocity - args->hl.direction)*40;
args->outtty.motor_l = (- args->hl.velocity + args->hl.direction)*40;
}
// quit
if(16==ev.code && 1==ev.value) break;
}
printf("Exiting keyboard thread.\n");
ioctl(fevdev, EVIOCGRAB, 1);
close(fevdev);
pthread_exit(0);
}
void *joystick_thread_fcn(void * arg)
{
printf("pthread input started\n");
struct js_event ev;
struct JS_DATA_TYPE jsdata;
int fevdev;
int size = sizeof(ev);
int rd;
outtty_t outttyloc;
input_thread_t* args;
args = (input_thread_t*) arg;
fevdev = open(args->filename, O_RDONLY);
if (fevdev == -1) {
printf("Failed to open joystick device.\n");
pthread_exit(0);
}
jsdata.x = 0;
jsdata.y = 0;
jsdata.buttons = 0;
while (1)
{
if ((rd = read(fevdev, &ev, size)) < size) {
break;
}
if(JS_EVENT_BUTTON == ev.type) {
//printf("%d %d %d\n", ev.type, ev.value, ev.number);
if(1==ev.value){
jsdata.buttons |= 1<<ev.number;
}
if(0==ev.value){
jsdata.buttons &= ~(1<<ev.number);
}
}
if(JS_EVENT_AXIS == ev.type){
printf("%d %d %d\n", ev.type, ev.value, ev.number);
if(0==ev.number){
jsdata.x = ev.value;
}
if(1==ev.number){
jsdata.y = -ev.value;
if(-32768==ev.value){
jsdata.y = +32767;
}
}
if(2==ev.number){
outttyloc.servo_tilt = 0;
if(-30000 > ev.value){
outttyloc.servo_tilt = -1;
args->hl.tilt_down = 1;
args->hl.tilt_up = 0;
}else{
args->hl.tilt_down = 0;
if(+5000>ev.value){
args->hl.tilt_up = 1;
outttyloc.servo_tilt = +1;
}else{
args->hl.tilt_up = 0;
}
}
}
if(3==ev.number){
outttyloc.servo_pan = 0;
if(-30000 > ev.value){
args->hl.pan_left = 1;
args->hl.pan_right = 0;
outttyloc.servo_pan = -1;
}else{
args->hl.pan_left = 0;
if(+5000>ev.value){
args->hl.pan_right = 1;
outttyloc.servo_pan = +1;
}else{
args->hl.pan_right = 0;
}
}
}
}
outttyloc.motor_r = jsdata.y/30 - jsdata.x/30;
outttyloc.motor_l = jsdata.y/30 + jsdata.x/30 ;
if(1022<outttyloc.motor_r) outttyloc.motor_r = 1023;
if(-1022>outttyloc.motor_r) outttyloc.motor_r = -1023;
if(1022<outttyloc.motor_l) outttyloc.motor_l = 1023;
if(-1022>outttyloc.motor_l) outttyloc.motor_l = -1023;
args->outtty = outttyloc;
args->hl.ignation = (1 & (jsdata.buttons >> 2));
args->hl.fire = (1 & (jsdata.buttons >> 0));
printf("%6d %6d %4x\n", jsdata.x, jsdata.y, jsdata.buttons);
}
printf("Exiting joystick thread.\n");
close(fevdev);
pthread_exit(0);
}
typedef struct refl_thread_args_t
{
int sockfd;
uint64_t timestamps[256];
uint16_t frame_nbr_send;
uint8_t timeout;
} refl_thread_args_t;
uint64_t get_us(void)
{
struct timeval tv;
gettimeofday(&tv,NULL);
return (uint64_t)tv.tv_usec + 1000000* (uint64_t)tv.tv_sec;
}
void *refl_thread_fcn(void* arg)
{
int n;
int frame_refl;
uint64_t time_us_refl;
uint16_t frame_nbr_refl;
refl_thread_args_t* refl_thread_args_ptr;
uint8_t clinbr, clisel;
unsigned char servoff;
RCdatagram_t refldata;
printf("pthread refl started\n");
refl_thread_args_ptr = (refl_thread_args_t*) arg;
while(1){
n=recvfrom(refl_thread_args_ptr->sockfd,&refldata,sizeof(refldata),0,NULL,NULL);
frame_nbr_refl = refldata.frame_nbr;
time_us_refl = refldata.time_us;
frame_refl = refldata.frame_recv;
clinbr = refldata.clinbr;
clisel = refldata.clisel;
servoff = refldata.servoff;
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);
}
typedef struct henglongconf_t
{
uint32_t frame_us;
char keyboarddevname[256];
char joystickdevname[256];
in_addr_t ip; // v4 only
char cam[64];
char video[16];
char killsw[16];
char killurl[256];
char user[64];
char pwd[64];
uint32_t caminterval;
uint16_t port, videoport, killport;
uint8_t timeout;
uint8_t clinbr;
uint32_t killswtimeoutus;
uint32_t killswint;
} 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;
conf.port = 32000;
conf.ip = inet_addr("127.0.0.1");
conf.keyboarddevname[0] = 0;
conf.joystickdevname[0] = 0;
conf.cam[0] = 0;
conf.caminterval = 100000;
conf.user[0] = 0;
conf.pwd[0] = 0;
conf.video[0] = 0;
conf.videoport = 0;
conf.killsw[0] = 0;
conf.killport = 0;
conf.killurl[0] = 0;
conf.killswtimeoutus = 500000;
conf.killswint = 100000;
while(fgets(line, 256, configFile)){
sscanf(line, "%16s %256s", parameter, value);
if(0==strcmp(parameter,"KEYBOARD")){
sscanf(value, "%256s", conf.keyboarddevname);
}
if(0==strcmp(parameter,"JOYSTICK")){
sscanf(value, "%256s", conf.joystickdevname);
}
if(0==strcmp(parameter,"CAM")){
sscanf(value, "%64s", conf.cam);
}
if(0==strcmp(parameter,"USER")){
sscanf(value, "%64s", conf.user);
}
if(0==strcmp(parameter,"PWD")){
sscanf(value, "%64s", conf.pwd);
}
if(0==strcmp(parameter,"CAMINTERVAL")){
sscanf(value, "%" SCNu32, &conf.caminterval);
}
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);
}
if(0==strcmp(parameter,"CLINBR")){
sscanf(value, "%" SCNu8 , &conf.clinbr);
}
if(0==strcmp(parameter,"VIDEO")){
sscanf(value, "%16[^:]:%" SCNu16, conf.video, &conf.videoport);
}
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);
}
if(0==strcmp(parameter,"KILLSWINT")){
sscanf(value, "%" SCNu32, &conf.killswint);
}
}
return conf;
}
typedef struct cam_ctrl_thread_t
{
char* ip;
char* username;
char* password;
int up, down, cw, ccw, nul, end;
uint32_t caminterval;
} cam_ctrl_thread_t;
void *cam_ctrl_thread_fcn(void* arg)
{
printf("pthread cam_ctrl started\n");
cam_ctrl_thread_t* args;
args = (cam_ctrl_thread_t*) arg;
while(!args->end){
usleep(args->caminterval);
if(args->up) cam_up(args->ip, args->username, args->password);
if(args->down) cam_down(args->ip, args->username, args->password);
if(args->cw) cam_cw(args->ip, args->username, args->password);
if(args->ccw) cam_ccw(args->ip, args->username, args->password);
if(args->nul) {
cam_nul(args->ip, args->username, args->password);
args->nul = 0;
}
}
pthread_exit(0);
}
typedef struct killsw_thread_t
{
char* ip;
uint16_t port;
char* url;
uint32_t timeout_us;
uint32_t killswint;
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){
usleep(args->killswint);
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, 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;
int sockfd, n_send;
struct sockaddr_in servaddr;
uint64_t time_us;
henglongconf_t conf;
RCdatagram_t senddata;
int updown, cwccw;
int fire_old;
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(&keyboard_thread_args.hl);
initouttty(&keyboard_thread_args.outtty);
inithenglong(&joystick_thread_args.hl);
initouttty(&joystick_thread_args.outtty);
conf = getconfig(argv[1]);
joystick_thread_args.filename = conf.joystickdevname;
keyboard_thread_args.filename = conf.keyboarddevname;
if(keyboard_thread_args.filename[0]){
if (pthread_create(&keybthread, NULL, keyboard_thread_fcn , (void *) &keyboard_thread_args)) printf("failed to create keyboard thread\n");
}else{
printf("no keyboard!\n");
}
if(joystick_thread_args.filename[0]){
if (pthread_create(&joythread, NULL, joystick_thread_fcn , (void *) &joystick_thread_args)) printf("failed to create joystick thread\n");
}else{
printf("no joystick!\n");
}
if(conf.cam[0]){
cam_ctrl_thread_args.down = 0;
cam_ctrl_thread_args.up = 0;
cam_ctrl_thread_args.cw = 0;
cam_ctrl_thread_args.ccw = 0;
cam_ctrl_thread_args.end = 0;
cam_ctrl_thread_args.ip = conf.cam;
cam_ctrl_thread_args.caminterval = conf.caminterval;
cam_ctrl_thread_args.username = conf.user;
cam_ctrl_thread_args.password = conf.pwd;
if (pthread_create(&cam_ctrl_thread, NULL, cam_ctrl_thread_fcn , (void *) &cam_ctrl_thread_args)) printf("failed to create cam_ctrl thread\n");
}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;
killsw_thread_args.killswint = conf.killswint;
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);
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=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\n");
memset(refl_thread_args.timestamps, 0, 256*sizeof(uint64_t));
frame_nbr = 0;
senddata.outtty.servo_pan = 0;
senddata.outtty.servo_tilt = 0;
cam_ctrl_thread_args.nul = 1;
fire_old = 0;
while(1){
usleep(conf.frame_us);
// do not send control commands if live video is not watched
if(0==checkvideo(conf.video, conf.videoport)){
printf("No video stream connection from %s:%u, remote control locked!\n", conf.video, conf.videoport);
continue;
}
if(0==killsw_thread_args.state){
printf("Killswitch pressed or no connection.!\n");
continue;
}
frame = 0xc0ffee;
time_us = get_us();
frame_nbr++;
refl_thread_args.frame_nbr_send = frame_nbr;
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;
senddata.frame_nbr = frame_nbr;
senddata.time_us = time_us;
senddata.frame_recv = frame;
senddata.clinbr = conf.clinbr;
senddata.clisel = keyboard_thread_args.hl.clisel;
senddata.servoff = keyboard_thread_args.hl.servoff;
senddata.outtty.motor_l = keyboard_thread_args.outtty.motor_l + joystick_thread_args.outtty.motor_l;
senddata.outtty.motor_r = keyboard_thread_args.outtty.motor_r + joystick_thread_args.outtty.motor_r;
cwccw = keyboard_thread_args.hl.pan_right - keyboard_thread_args.hl.pan_left + joystick_thread_args.hl.pan_right - joystick_thread_args.hl.pan_left;
updown = keyboard_thread_args.hl.tilt_up - keyboard_thread_args.hl.tilt_down + joystick_thread_args.hl.tilt_up - joystick_thread_args.hl.tilt_down;
senddata.outtty.servo_pan += cwccw;
senddata.outtty.servo_tilt += updown;
if(+1<=cwccw) {
cam_ctrl_thread_args.ccw = 1;
cam_ctrl_thread_args.cw = 0;
}else if(-1>=cwccw){
cam_ctrl_thread_args.ccw = 0;
cam_ctrl_thread_args.cw = 1;
}else{
cam_ctrl_thread_args.ccw = 0;
cam_ctrl_thread_args.cw = 0;
}
if(+1<=updown) {
cam_ctrl_thread_args.up = 1;
cam_ctrl_thread_args.down = 0;
}else if(-1>=updown){
cam_ctrl_thread_args.up = 0;
cam_ctrl_thread_args.down = 1;
}else{
cam_ctrl_thread_args.up = 0;
cam_ctrl_thread_args.down = 0;
}
if(keyboard_thread_args.hl.ignation | joystick_thread_args.hl.ignation){
senddata.outtty.servo_pan = 0;
senddata.outtty.servo_tilt = 0;
cam_ctrl_thread_args.nul = 1;
}
if(1022<senddata.outtty.motor_l) senddata.outtty.motor_l = 1023;
if(-1022>senddata.outtty.motor_l) senddata.outtty.motor_l = -1023;
if(1022<senddata.outtty.motor_r) senddata.outtty.motor_r = 1023;
if(-1022>senddata.outtty.motor_r) senddata.outtty.motor_r = -1023;
if(senddata.outtty.servo_pan>50) senddata.outtty.servo_pan = 50;
if(senddata.outtty.servo_pan<-50) senddata.outtty.servo_pan = -50;
if(senddata.outtty.servo_tilt>50) senddata.outtty.servo_tilt = 50;
if(senddata.outtty.servo_tilt<-50) senddata.outtty.servo_tilt = -50;
// Return-Button on Keyboard via Joystick-Fire for screenshot in Browser
if((0==fire_old) & (1==joystick_thread_args.hl.fire)){
fire();
}
fire_old = joystick_thread_args.hl.fire;
n_send = sendto(sockfd, &senddata, sizeof(senddata), 0, (struct sockaddr *)&servaddr, sizeof(servaddr));
printf("SEND FRAME -- FRM_NBR: %5d, BYTES send: %3d, SEND_FRM: %#x, CLINBR: %d, CLISEL: %d, SERVOFF: %d\n", frame_nbr, n_send, frame, senddata.clinbr, senddata.clisel, senddata.servoff);
if(keyboard_thread_args.filename[0]) if(pthread_kill(keybthread, 0)) break;
}
return 0;
}
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