diff --git a/doc/develop_and_deploy.md b/doc/develop_and_deploy.md index afdcf4d..ae3ae9b 100644 --- a/doc/develop_and_deploy.md +++ b/doc/develop_and_deploy.md @@ -307,10 +307,11 @@ $ make CROSS_COMPILE=交叉编译工具链前缀 8. 安装编译得到的驱动文件`encode.ko`，并设置自动加载，对应自启脚本可以如下方式写入，也可以直接上传[script/loadencoder.sh](../script/loadencoder.sh)，ssh方式，`root`登录: ```shell - 上传encoder.ko到/lib/modules/[内核版本]/kernel/drivers/ - $ cd /lib/modules/[内核版本]; depmod + 上传encoder.ko到/lib/modules/[内核版本]/extra/ + $ cd /lib/modules/[内核版本]/extra/; depmod $ set +H $ echo -e "#!/bin/sh\nmodprobe encoder" > /etc/init.d/loadencoder.sh + $ chmod 755 /etc/init.d/loadencoder.sh $ cd /etc/rc5.d $ ln -s ../init.d/loadencoder.sh S20loadencoder.sh ``` diff --git a/doc/version b/doc/version index 400122e..dc39e58 100644 --- a/doc/version +++ b/doc/version @@ -1 +1 @@ -1.5 \ No newline at end of file +1.6 \ No newline at end of file diff --git a/source/linux_app/encoder_dev.c b/source/linux_app/encoder_dev.c index 82ab279..08bda58 100644 --- a/source/linux_app/encoder_dev.c +++ b/source/linux_app/encoder_dev.c @@ -1,17 +1,19 @@ /** * @file encoder_dev.c * @brief Manage the hardware encoder unit - * @author miaow (3703781@qq.com) - * @version 1.0 - * @date 2022/06/11 + * @author miaow, lyz (3703781@qq.com) + * @version 0.11 + * @date 2022/04/26 * @mainpage github.com/NanjingForestryUniversity - * - * @copyright Copyright (c) 2022 miaow - * + * + * @copyright Copyright (c) 2023 miaow, lyz + * * @par Changelog: * *
Date Version Author Description - *
2022/06/11 0.9 Miaow Write this module + *
2022/06/11 0.9 Miaow Write this module + *
2022/04/11 0.10 lyz Add seprate dividers up to 4 cameras + *
2023/04/26 0.11 Miaow Add Clear mode *
*/ @@ -31,9 +33,13 @@ static int encoder_dev_fd = -1; static char perror_buffer[128]; -static struct { - unsigned int valve_divide_value; - unsigned int camera_divide_value; +static struct +{ + uint32_t valve_divide_value; + uint32_t camera_a_divide_value; + uint32_t camera_b_divide_value; + uint32_t camera_c_divide_value; + uint32_t camera_d_divide_value; } encoder_dev_divide_value_structure; /** @@ -45,22 +51,37 @@ int encoder_dev_init() { encoder_dev_fd = open(ENCODER_DEV_PATH, O_RDWR); ON_ERROR_RET(encoder_dev_fd, "", "", -1); + encoder_dev_set_divide( 100, 100, 100, 100); return 0; } /** * @brief Set the two divider in the hareware encoder unit. - * @param valve_divide the frequency division factor between the encoder signal and valve output + * @param camera_a_divide the frequency division factor between the encoder signal and camera a triggle signal * Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter - * @param camera_divide the frequency division factor between the encoder signal and camera triggle signal + * @param camera_b_divide the frequency division factor between the encoder signal and camera b triggle signal + * Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter + * @param camera_c_divide the frequency division factor between the encoder signal and camera c triggle signal + * Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter + * @param camera_d_divide the frequency division factor between the encoder signal and camera d triggle signal * Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter - * * @return 0 - success, other - error */ -int encoder_dev_set_divide(int valve_divide, int camera_divide) +int encoder_dev_set_divide(int camera_a_divide, + int camera_b_divide, + int camera_c_divide, + int camera_d_divide) { - encoder_dev_divide_value_structure.valve_divide_value = valve_divide; - encoder_dev_divide_value_structure.camera_divide_value = camera_divide; + encoder_dev_divide_value_structure.valve_divide_value = 2; + if (camera_a_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET) + encoder_dev_divide_value_structure.camera_a_divide_value = camera_a_divide; + if (camera_b_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET) + encoder_dev_divide_value_structure.camera_b_divide_value = camera_b_divide; + if (camera_c_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET) + encoder_dev_divide_value_structure.camera_c_divide_value = camera_c_divide; + if (camera_d_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET) + encoder_dev_divide_value_structure.camera_d_divide_value = camera_d_divide; + ssize_t size = write(encoder_dev_fd, &encoder_dev_divide_value_structure, sizeof(encoder_dev_divide_value_structure)); int res = -(size != sizeof(encoder_dev_divide_value_structure)); ON_ERROR_RET(res, "size=", "", -1); @@ -70,12 +91,12 @@ int encoder_dev_set_divide(int valve_divide, int camera_divide) /** * @brief Set the trig signal to internal or external. - * @param mode ENCODER_TRIG_MODE_EXTERNEL for externally trig, or ENCODER_TRIG_MODE_INTERNEL for internally trig + * @param count the count of virtual trig cycles. * @return 0 - success, other - error */ int encoder_dev_virtual_trig(int count) { - int res = ioctl(encoder_dev_fd, _IOW('D', ENCODER_CMD_FUNCTION_VIRT_INPUT, 4), count); + int res = ioctl(encoder_dev_fd, _IOW('D', ENCODER_CMD_FUNCTION_VIRT_INPUT, int), count); ON_ERROR_RET(res, "", "", -1); return 0; } @@ -85,9 +106,20 @@ int encoder_dev_virtual_trig(int count) * @param mode ENCODER_TRIG_MODE_EXTERNEL for externally trig, or ENCODER_TRIG_MODE_INTERNEL for internally trig * @return 0 - success, other - error */ -int encoder_dev_set_trigmod(int mode) +int encoder_dev_set_trigmod(encoder_dev_trig_mode_enum mode) { - int res = ioctl(encoder_dev_fd, _IOW('D', mode, 0)); + int res = ioctl(encoder_dev_fd, _IOW('D', mode, int)); + ON_ERROR_RET(res, "", "", -1); + return 0; +} + +/** + * @brief Set the clr signal to internal or both external and internal. + * @return 0 - success, other - error + */ +int encoder_dev_set_clrmod(encoder_dev_clear_mode_enum mode) +{ + int res = ioctl(encoder_dev_fd, _IOW('D', mode, int)); ON_ERROR_RET(res, "", "", -1); return 0; } diff --git a/source/linux_app/encoder_dev.h b/source/linux_app/encoder_dev.h index fc9cb19..231db31 100644 --- a/source/linux_app/encoder_dev.h +++ b/source/linux_app/encoder_dev.h @@ -1,16 +1,19 @@ /** * @file encoder_dev.h * @brief Manage the hardware encoder unit - * @author miaow (3703781@qq.com) - * @version 1.0 - * @date 2022/06/11 - * - * @copyright Copyright (c) 2022 miaow - * + * @author miaow, lzy (3703781@qq.com) + * @version 0.11 + * @date 2022/04/26 + * @mainpage github.com/NanjingForestryUniversity + * + * @copyright Copyright (c) 2023 miaow, lyz + * * @par Changelog: * *
Date Version Author Description - *
2022/06/11 0.9 Miaow Write this module + *
2022/06/11 0.9 Miaow Write this module + *
2022/04/11 0.10 lyz Add seprate dividers up to 4 cameras + *
2023/04/26 0.11 Miaow Add Clear mode *
*/ #ifndef __ENCODER_DEV_H @@ -20,14 +23,27 @@ #define ENCODER_DEV_PATH "/dev/encoder" -#define ENCODER_DEV_DIVIDE_NOT_TO_SET 0 +#define ENCODER_DEV_DIVIDE_NOT_TO_SET 0 -#define ENCODER_TRIG_MODE_EXTERNEL 100 -#define ENCODER_TRIG_MODE_INTERNEL 101 +typedef enum +{ + ENCODER_TRIG_MODE_EXTERNEL = 100, + ENCODER_TRIG_MODE_INTERNEL = 101 +} encoder_dev_trig_mode_enum; -int encoder_dev_set_divide(int valve_divide, int camera_divide); +typedef enum +{ + ENCODER_CLEAR_MODE_BOTH = 200, + ENCODER_CLEAR_MODE_INTERNAL = 201 +} encoder_dev_clear_mode_enum; + +int encoder_dev_set_divide(int camera_a_divide, + int camera_b_divide, + int camera_c_divide, + int camera_d_divide); int encoder_dev_flush(void); -int encoder_dev_set_trigmod(int mode); +int encoder_dev_set_trigmod(encoder_dev_trig_mode_enum mode); +int encoder_dev_set_clrmod(encoder_dev_clear_mode_enum mode); int encoder_dev_virtual_trig(int count); int encoder_dev_init(void); int encoder_dev_deinit(void); diff --git a/source/linux_app/fifo_dev.c b/source/linux_app/fifo_dev.c deleted file mode 100644 index ebcc0be..0000000 --- a/source/linux_app/fifo_dev.c +++ /dev/null @@ -1,149 +0,0 @@ -/** - * @file fifo_dev.c - * @brief Operate the hardware fifo with Linux application - * @details Call fifo_dev_init() paired with fifo_dev_deinit() as their names imply, fifo_dev_write_xxx() can be executed several times to operate the hardware fifo between fifo_dev_init() and fifo_dev_deinit() - * @mainpage github.com/NanjingForestryUniversity - * @author miaow (3703781@qq.com) - * @version 1.1 - * @date 2022/08/07 - * @mainpage github.com/NanjingForestryUniversity - * - * @copyright Copyright (c) 2022 miaow - * - * @par Changelog: - * - *
Date Version Author Description - *
2022/06/09 1.0 miaow Write this file - *
2022/08/07 1.1 miaow Add ignore_row_num to fifo_dev_write_frame - *
- */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define FIFO_CMD_FUNCTION_CLEAR 1 -#define FIFO_CMD_FUNCTION_PADDING 2 -#define FIFO_CMD_GET_EMPTYCOUNT 3 - -static int fifo_dev_fd = -1; -static char perror_buffer[128]; - -/** - * @brief Initialize the hardware fifo - * @note This function just open the file descriptor of the hardware fifo - * @return 0 - success, other - error - */ -int fifo_dev_init() -{ - fifo_dev_fd = open(FIFO_DEV_PATH, O_RDWR); - ON_ERROR_RET(fifo_dev_fd, "", "", -1); - return 0; -} - -/** - * @brief Get the count of read operation when the fifo is empty. - * @note The empty read count will be set to zero at fifo_dev_clear() only. - * @return >=0 - success, other - error - */ -int fifo_dev_get_emptycount() -{ - int count; - int res = ioctl(fifo_dev_fd, _IOR('D', FIFO_CMD_GET_EMPTYCOUNT, 0), &count); - - ON_ERROR_RET(res, "", "", -1); - return count; -} - -/** - * @brief Set value to put of a frame. - * @param valve_data An array HOST_COMPUTER_PICTURE_COLUMN_BYTES bytes * HOST_COMPUTER_PICTURE_ROW_NUM rows. - * @param ignore_row_num Remove the ignore_row_num rows at the beginning of the frame. range: [0, HOST_COMPUTER_PICTURE_BYTES) - * @return 0 - success, other - error - */ -int fifo_dev_write_frame(void *valve_data, int ignore_row_num) -{ - ssize_t size; - char *valve_to_write = (char *)valve_data + ignore_row_num * HOST_COMPUTER_PICTURE_COLUMN_BYTES; - int size_to_write = HOST_COMPUTER_PICTURE_COLUMN_BYTES * (HOST_COMPUTER_PICTURE_ROW_NUM - ignore_row_num); - - size = write(fifo_dev_fd, valve_to_write, size_to_write); - int res = -(size < size_to_write); - ON_ERROR_RET(res, "size=", "", -1); - - return 0; -} - -/** - * @brief Set value to put of a row. - * @param valve_data An array 32bytes. - * @return 0 - success, other - error - */ -int fifo_dev_write_row(void *valve_data) -{ - ssize_t size = write(fifo_dev_fd, valve_data, 32); - int res = -(size < 32); - ON_ERROR_RET(res, "size=", "", -1); - return 0; -} - -/** - * @brief Flush and clear the hardware fifo. - * @return 0 - success, other - error - */ -int fifo_dev_clear() -{ - int res = ioctl(fifo_dev_fd, _IOW('D', FIFO_CMD_FUNCTION_CLEAR, 0)); - ON_ERROR_RET(res, "", "", -1); - return 0; -} - - -/** - * @brief Write `count` zero-items to the haredware fifo, which acts as delay time. - * @param count Count of zero-items to write. - * @return 0 - success, other - error - */ -int fifo_dev_write_delay(uint32_t count) -{ - int res = ioctl(fifo_dev_fd, _IOW('D', FIFO_CMD_FUNCTION_PADDING, 0), count); - - ON_ERROR_RET(res, "", "", -1); - return 0; -} - -/** - * @brief Get the count of items in the hardware fifo. - * @note An item from hardware fifo is of 256 bits in size, aka. 32 bytes, 8 integers - * @return >=0 - success, other - error - */ -int fifo_dev_get_count() -{ - uint32_t fifo_item_count; - ssize_t size = read(fifo_dev_fd, &fifo_item_count, sizeof(fifo_item_count)); - - if (size != sizeof(fifo_item_count)) - ON_ERROR(-1, "size=", ""); - - return fifo_item_count; -} - -/** - * @brief Deinitialize the hardware fifo. - * @note This function just close the file descriptor of the hardware fifo. - * @return 0 - success, -1 - error - */ -int fifo_dev_deinit() -{ - int res = close(fifo_dev_fd); - - ON_ERROR_RET(res, "", "", -1); - return 0; -} diff --git a/source/linux_app/fifo_dev.h b/source/linux_app/fifo_dev.h deleted file mode 100644 index 8b0fbbd..0000000 --- a/source/linux_app/fifo_dev.h +++ /dev/null @@ -1,37 +0,0 @@ -/** - * @file fifo_dev.h - * @brief Operate the hardware fifo with Linux application - * @details Call fifo_dev_init() paired with fifo_dev_deinit() as their names imply, fifo_dev_write_xxx() can be executed several times to operate the hardware fifo between fifo_dev_init() and fifo_dev_deinit() - * @mainpage github.com/NanjingForestryUniversity - * @author miaow (3703781@qq.com) - * @version 1.1 - * @date 2022/08/07 - * @mainpage github.com/NanjingForestryUniversity - * - * @copyright Copyright (c) 2022 miaow - * - * @par Changelog: - * - *
Date Version Author Description - *
2022/06/09 1.0 miaow Write this file - *
2022/08/07 1.1 miaow Add ignore_row_num to fifo_dev_write_frame - *
- */ -#ifndef __FIFO_DEV_H -#define __FIFO_DEV_H - -#include - -#define FIFO_DEV_PATH "/dev/fifo" - -int fifo_dev_init(void); -int fifo_dev_get_emptycount(void); -int fifo_dev_write_frame(void *valve_data, int ignore_row_num); -int fifo_dev_clear(void); -int fifo_dev_write_delay(uint32_t count); -int fifo_dev_write_row(void *valve_data); -int fifo_dev_get_count(void); - -int fifo_dev_deinit(void); - -#endif \ No newline at end of file diff --git a/source/linux_app/host_computer.c b/source/linux_app/host_computer.c index 8edaa0c..94ecf4c 100644 --- a/source/linux_app/host_computer.c +++ b/source/linux_app/host_computer.c @@ -1,18 +1,19 @@ /** * @file host_computer.c - * @brief Commnunicate with host computer. Protocal is described in hostcomputer通信协议.md + * @brief Commnunicate with host computer. Protocal is described in 下位机和上位机通信协议 V1.4 * @author miaow (3703781@qq.com) - * @version 1.1 - * @date 2022/08/06 + * @version 1.2 + * @date 2023/05/07 * @mainpage github.com/NanjingForestryUniversity * - * @copyright Copyright (c) 2022 miaow + * @copyright Copyright (c) 2023 miaow * * @par Changelog: * *
Date Version Author Description *
2022/01/16 1.0 miaow Write this file *
2022/08/06 1.1 miaow Add fifob + *
2023/05/07 1.2 miaow Port to b03 branch *
*/ #include @@ -24,11 +25,14 @@ #include #include #include +#include #include #include -#include #include #include +#include +#include +#include static char perror_buffer[128]; /** @@ -41,33 +45,42 @@ typedef struct int need_exit; // The flag variable to indicate whether to exit the loop_thread in this file pthread_t loop_thread; // The main routine of this module, which parses commands and data from host, puts them into the queue pthread_mutex_t loop_thread_mutex; // The mutex for loop_thread + pthread_mutex_t is_connected_mutex; + timer_t heartbeat_timer; } hostcomputer_t; static hostcomputer_t _global_structure; void *loop_thread_func(void *param); +void heartbeat_timer_func(__sigval_t param); /** * @brief Pre initialize host computer module * @param data_q A pointer to the queue storing the valve data from host computer - * @param cmd_q A pointer to the queue storing the cmd from host computer + * @param cmd_q A pointer#include to the queue storing the cmd from host computer * @return 0 - success */ int hostcomputer_init(queue_uint64_msg_t *cmd_q) { + struct sigevent evp; + struct itimerspec ts; _global_structure.cmd_q = cmd_q; pthread_mutex_init(&_global_structure.loop_thread_mutex, NULL); + pthread_mutex_init(&_global_structure.is_connected_mutex, NULL); pthread_create(&_global_structure.loop_thread, NULL, loop_thread_func, NULL); - + memset(&evp, 0, sizeof(evp)); + evp.sigev_value.sival_ptr = &_global_structure.heartbeat_timer; + evp.sigev_notify = SIGEV_THREAD; + evp.sigev_notify_function = heartbeat_timer_func; + timer_create(CLOCK_REALTIME, &evp, &_global_structure.heartbeat_timer); + ts.it_interval.tv_sec = 3; + ts.it_interval.tv_nsec = 0; + ts.it_value.tv_sec = 3; + ts.it_value.tv_nsec = 0; + timer_settime(_global_structure.heartbeat_timer, TIMER_ABSTIME, &ts, NULL); return 0; } -static void send_error(int fd) -{ - write(fd, "error", 5); - printf("\r\nerror sent\r\n"); -} - /** * @brief Receive `size` bytes from a socket. If no more bytes are available at the socket, this function return -1 when timeout reaches. * @param fd The socket fd @@ -105,7 +118,9 @@ static int is_connected(int sock_fd) { struct tcp_info info; int len = sizeof(info); + pthread_mutex_lock(&_global_structure.is_connected_mutex); getsockopt(sock_fd, IPPROTO_TCP, TCP_INFO, &info, (socklen_t *)&len); + pthread_mutex_unlock(&_global_structure.is_connected_mutex); return info.tcpi_state == TCP_ESTABLISHED; } @@ -117,16 +132,12 @@ static int is_connected(int sock_fd) void *loop_thread_func(void *param) { // printf("loop thread in %s start\r\n", __FILE__); - int need_exit = 0, frame_count = 0, error_sent = 0; - int std_count, empty_packets_num = 0; - int empty_count_initial = 0; - int empty_count_processed = 0; + int need_exit = 0; char pre; - uint16_t n_bytes; + uint32_t n_bytes; char type[2]; - char data[HOST_COMPUTER_PICTURE_BYTES + 1]; + char data[20]; char check[2]; - datafilter_typedef datafilter; while (!need_exit) { @@ -136,6 +147,7 @@ void *loop_thread_func(void *param) // reconnect if not connected if (!is_connected(_global_structure.socket_fd)) { + queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_STOP); _global_structure.socket_fd = socket(AF_INET, SOCK_STREAM, 0); struct timeval timeout = {.tv_sec = 10, .tv_usec = 0}; setsockopt(_global_structure.socket_fd, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)); @@ -158,7 +170,6 @@ void *loop_thread_func(void *param) } // =======================parse the protocol========================================= - if (recvn(_global_structure.socket_fd, (char *)&pre, 1) > 1) { // close(_global_structure.socket_fd); @@ -172,17 +183,17 @@ void *loop_thread_func(void *param) // fflush(stdout); continue; } - if (recvn(_global_structure.socket_fd, (char *)&n_bytes, 2) != 2) + if (recvn(_global_structure.socket_fd, (char *)&n_bytes, 4) != 4) { // close(_global_structure.socket_fd); - printf("n_bytes_len!=2\r\n"); + printf("n_bytes_len!=4\r\n"); continue; } - n_bytes = ntohs(n_bytes); - if (n_bytes != HOST_COMPUTER_PICTURE_BYTES + 2 && n_bytes > 10) + n_bytes = ntohl(n_bytes); + if (n_bytes != 10 && n_bytes != 3) { // close(_global_structure.socket_fd); - printf("n_bytes> 10 and n_bytes!=HOST_COMPUTER_PICTURE_BYTES + 2\r\n"); + printf("n_bytes is not 10 or 3\r\n"); continue; } if (recvn(_global_structure.socket_fd, (char *)type, 2) != 2) @@ -220,96 +231,9 @@ void *loop_thread_func(void *param) // =======================parse the commands========================================= // commands are reformed as an uint64_t, 0x--------xxxxxxxx, where `-` refers its paramter and `x` is HOSTCOMPUTER_CMD - if (type[0] == 'd' && type[1] == 'a') - { - /* - int current_count = fifo_dev_get_count(); - int current_count_filtered = datafilter_calculate(&datafilter_a, current_count); - - if (++frame_count_a > HOST_COMPUTER_BEGINNING_PICTURES_IGNORE_NUM) - { - fifo_dev_write_frame(data, 0); - } - int added_count = fifo_dev_get_count(); - printf("before %d->after %d, diff %d, filter %d\r\n", current_count, added_count, added_count - current_count, current_count_filtered); - */ - //================================================= - - int current_count, current_count_filtered, diff_count, empty_count_to_process; - if (n_bytes - 2 != HOST_COMPUTER_PICTURE_BYTES) - { - printf("n_bytes-2!=%d\r\n", HOST_COMPUTER_PICTURE_BYTES); - continue; - } - // get the item counts and its slide average value - current_count = fifo_dev_get_count(); - current_count_filtered = datafilter_calculate(&datafilter, current_count); - frame_count++; - if (frame_count == HOST_COMPUTER_PICTURES_BEGINNING_IGNORE_NUM + 1) - { - empty_count_initial = fifo_dev_get_emptycount(); - } - else if (frame_count == 100) // record the normal item counts in fifo - { - std_count = current_count_filtered; - } - if (frame_count > HOST_COMPUTER_PICTURES_BEGINNING_IGNORE_NUM) - { - // do nothing at first two frames, because that the first frame is set to zero and was concatenated to the delay frame before - // in case of late arrival of the first two frames. - empty_count_to_process = fifo_dev_get_emptycount() - empty_count_initial - empty_count_processed; - if (empty_count_to_process >= HOST_COMPUTER_PICTURE_ROW_NUM) - { - empty_count_processed += HOST_COMPUTER_PICTURE_ROW_NUM; - } - else - { - fifo_dev_write_frame(data, empty_count_to_process); - empty_count_processed += empty_count_to_process; - } - } - if (current_count == 0) - empty_packets_num++; - else - empty_packets_num = 0; - - - // print fifo status - printf("a ||| %d | cnt %d | avgcnt %d | stdcnt %d", - frame_count, current_count, current_count_filtered, std_count); - fflush(stdout); - // if (empty_count_to_process) - printf(" ||| initemp %d | toprc %d | prcd %d\r\n", empty_count_initial, - empty_count_to_process, empty_count_processed); - // else - // printf("\r\n"); - // if the item counts changes a lot compared with normal counts, - // meaning something goes wrong, a message will send to the hostcomputer - diff_count = current_count_filtered - std_count; - int diff_cond = diff_count > 250 || diff_count < -250; - int frame_count_cond = frame_count > 100; - int empty_packets_cond = empty_packets_num >= 5; - - if (((frame_count_cond && diff_cond) || empty_packets_cond) && !error_sent) - { - error_sent = 1; - printf("\r\na ||| avgcnt %d | %d larger", current_count_filtered, diff_count); - fflush(stdout); - send_error(_global_structure.socket_fd); - } - } - else if (type[0] == 's' && type[1] == 't') + if (type[0] == 's' && type[1] == 't') { // printf("Start put to cmd queue, param:%d\r\n", (int)atoll(data)); - frame_count = 0; - error_sent = 0; - empty_packets_num = 0; - std_count = 0; - datafilter_deinit(&datafilter); - datafilter_init(&datafilter, 20); - empty_count_processed = 0; - empty_count_initial = 0; - queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_START); } else if (type[0] == 's' && type[1] == 'p') @@ -317,47 +241,46 @@ void *loop_thread_func(void *param) // printf("Stop put to cmd queue, param:%d\r\n", (int)atoll(data)); queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_STOP); } - else if (type[0] == 't' && type[1] == 'e') - { - // printf("Test put to cmd queue, param:%d\r\n", (int)atoll(data)); - queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_TEST); - } - else if (type[0] == 't' && type[1] == 't') - { - // printf("Test put to cmd queue, param:%d\r\n", (int)atoll(data)); - queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_STOP_TEST); - } - else if (type[0] == 'p' && type[1] == 'o') - { - // printf("Power on put to cmd queue, param:%d\r\n", (int)atoll(data)); - queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_POWERON); - } - else if (type[0] == 's' && type[1] == 'c') + else if (type[0] == 'p' && type[1] == 'a') { // printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data)); - queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT); + queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_A); } - else if (type[0] == 's' && type[1] == 'v') + else if (type[0] == 'p' && type[1] == 'b') { - // printf("Set valve pulse count put to cmd queue, param:%d\r\n", (int)atoll(data)); - queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETVALVETRIGPULSECOUNT); + // printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data)); + queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_B); } - else if ((type[0] == 's' && type[1] == 'd')) + else if (type[0] == 'p' && type[1] == 'c') { - // printf("Set camera to valve pulse count put to cmd queue, param:%d\r\n", (int)atoll(data)); - queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATOVALVEPULSECOUNT); + // printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data)); + queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_C); + } + else if (type[0] == 'p' && type[1] == 'd') + { + // printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data)); + queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_D); } } printf("loop thread in %s exit\r\n", __FILE__); return NULL; } +void heartbeat_timer_func(__sigval_t param) +{ + static uint8_t heartbeat_packet[] = {0xaa, 0x00, 0x00, 0x00, 0x03, 'h', 'b', 0xff, 0xff, 0xff, 0xbb}; + if (is_connected(_global_structure.socket_fd)) + write(_global_structure.socket_fd, heartbeat_packet, sizeof(heartbeat_packet)); +} + /** * @brief Deinitialize and release resources used by host computer module * @return int */ int hostcomputer_deinit() { + timer_delete(_global_structure.heartbeat_timer); + pthread_mutex_lock(&_global_structure.loop_thread_mutex); _global_structure.need_exit = 1; pthread_mutex_unlock(&_global_structure.loop_thread_mutex); diff --git a/source/linux_app/host_computer.h b/source/linux_app/host_computer.h index 00cabf0..7443a78 100644 --- a/source/linux_app/host_computer.h +++ b/source/linux_app/host_computer.h @@ -1,17 +1,19 @@ /** * @file host_computer.h - * @brief Commnunicate with host computer. Protocal is described in hostcomputer通信协议.md + * @brief Commnunicate with host computer. Protocal is described in 下位机和上位机通信协议 V1.4 * @author miaow (3703781@qq.com) - * @version 1.1 - * @date 2022/08/6 + * @version 1.2 + * @date 2023/05/07 + * @mainpage github.com/NanjingForestryUniversity * - * @copyright Copyright (c) 2022 miaow + * @copyright Copyright (c) 2023 miaow * * @par Changelog: * *
Date Version Author Description *
2022/01/16 1.0 miaow Write this file *
2022/08/06 1.1 miaow Add fifob + *
2023/05/07 1.2 miaow Port to b03 branch *
*/ #ifndef __HOST_COMPUTER_H @@ -21,27 +23,20 @@ #include #include -#define HOST_COMPUTER_IP "192.168.10.8" +#define HOST_COMPUTER_IP "192.168.2.125" #define HOST_COMPUTER_PORT 13452 -#define HOST_COMPUTER_PICTURE_ROW_NUM 1024 -#define HOST_COMPUTER_PICTURE_COLUMN_NUM 256 -#define HOST_COMPUTER_PICTURE_COLUMN_BYTES (HOST_COMPUTER_PICTURE_COLUMN_NUM / 8) -#define HOST_COMPUTER_PICTURE_BYTES (HOST_COMPUTER_PICTURE_COLUMN_BYTES * HOST_COMPUTER_PICTURE_ROW_NUM) -#define HOST_COMPUTER_PICTURES_BEGINNING_IGNORE_NUM 1 /** - * @brief The commonds, ref 通信协议 + * @brief The commonds, ref 下位机和上位机通信协议V1.4 */ enum HOSTCOMPUTER_CMD { - HOSTCOMPUTER_CMD_START = 2, - HOSTCOMPUTER_CMD_STOP = 3, - HOSTCOMPUTER_CMD_TEST = 4, - HOSTCOMPUTER_CMD_POWERON = 5, - HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT = 6, - HOSTCOMPUTER_CMD_SETVALVETRIGPULSECOUNT = 7, - HOSTCOMPUTER_CMD_SETCAMERATOVALVEPULSECOUNT = 8, - HOSTCOMPUTER_CMD_STOP_TEST = 9 + HOSTCOMPUTER_CMD_START = 1, + HOSTCOMPUTER_CMD_STOP = 2, + HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_A = 3, + HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_B = 4, + HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_C = 5, + HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_D = 6, }; int hostcomputer_init(queue_uint64_msg_t *cmd_q); diff --git a/source/linux_app/main.c b/source/linux_app/main.c index eff06ab..659631f 100644 --- a/source/linux_app/main.c +++ b/source/linux_app/main.c @@ -2,19 +2,20 @@ * @file main.c * @brief Excute the commands from host_computer * @author miaow (3703781@qq.com) - * @version 1.0 - * @date 2022/06/12 + * @version 1.2 + * @date 2023/05/27 * @mainpage github.com/NanjingForestryUniversity * - * @copyright Copyright (c) 2022 miaow + * @copyright Copyright (c) 2023 miaow * * @par Changelog: * *
Date Version Author Description *
2022/06/12 1.0 miaow Write this file + *
2023/05/07 1.1 miaow Port to b03 + *
2023/05/27 1.2 miaow Fix bug caused by the missing encoder_dev_set_clrmod() *
*/ -#include #include #include #include @@ -25,12 +26,6 @@ #include #include -#define SET_VALVE_ONLY_N_ON(u32_buf, n) \ - bzero(u32_buf, sizeof(u32_buf)); \ - SET_VALVE_N_ON(u32_buf, n) -#define SET_VALVE_N_ON(u32_buf, n) u32_buf[n / 32] = 1 << (n % 32) - - /** * @brief Value of state machine */ @@ -43,9 +38,19 @@ typedef enum queue_uint64_msg_t cmd_queue = {0}; static status_enum_t status = SLEEPING; -static int camera_trigger_pulse_count = 1200; -static int valve_trigger_pulse_count = 120; -static int camera_to_valve_pulse_count = 500; +typedef struct +{ + uint32_t a; + uint32_t b; + uint32_t c; + uint32_t d; +} camera_trigger_pulse_count_typedef; + +camera_trigger_pulse_count_typedef camera_trigger_pulse_count = { + .a = 100, + .b = 100, + .c = 100, + .d = 100}; void process_cmd(uint64_t *cmd); @@ -57,51 +62,19 @@ void process_cmd(uint64_t *cmd); */ int main(int argc, char *argv[]) { + uint64_t cmd; queue_uint64_init(&cmd_queue, 9999); // Initialize drivers and clear all caches encoder_dev_init(); encoder_dev_set_trigmod(ENCODER_TRIG_MODE_INTERNEL); - encoder_dev_set_divide(2, 8); - fifo_dev_init(); + encoder_dev_set_divide(8, 8, 8, 8); - //==test encoder================================================================ - // fifo_dev_init(); - // encoder_dev_set_trigmod(ENCODER_TRIG_MODE_EXTERNEL); - // encoder_dev_set_divide(4, 8); - // int a = 1; - // while (a) - // { - // printf("input a\r\n"); - // scanf("%d", &a); - // printf("a=%d\r\n\r\n\r\n", a); - // } - // encoder_dev_set_trigmod(ENCODER_TRIG_MODE_INTERNEL); - // encoder_dev_deinit(); - // queue_uint64_deinit(&cmd_queue); - // return 0; - - //==test fifo================================================================ - // char data[HOST_COMPUTER_PICTURE_COLUMN_BYTES * HOST_COMPUTER_PICTURE_ROW_NUM + 1]; - // fifo_dev_init(); - // fifo_dev_write_frame(data); - // printf("%d\r\n", fifo_dev_get_count()); - // fifo_dev_write_frame(data); - // printf("%d\r\n", fifo_dev_get_count()); - // fifo_dev_clear(); - // printf("%d\r\n", fifo_dev_get_count()); - // fifo_dev_deinit(); - // encoder_dev_deinit(); - // return 0; - //================================================================== - - fifo_dev_clear(); hostcomputer_init(&cmd_queue); printf("\r\n>>>>>\r\nstatus==SLEEPING\r\n<<<<<\r\n\r\n"); - uint64_t cmd; - int TRUE = 1; + // Read from the cmd_queue and excute the command every 100ms - while (TRUE) + while (1) { if (queue_uint64_get(&cmd_queue, &cmd) == 0) process_cmd(&cmd); @@ -110,11 +83,9 @@ int main(int argc, char *argv[]) // Never run here hostcomputer_deinit(); - fifo_dev_clear(); - encoder_dev_set_divide(2, 8); + encoder_dev_set_divide(100,100,100,100); encoder_dev_virtual_trig(20); - fifo_dev_deinit(); encoder_dev_set_trigmod(ENCODER_TRIG_MODE_INTERNEL); encoder_dev_deinit(); queue_uint64_deinit(&cmd_queue); @@ -138,87 +109,51 @@ void process_cmd(uint64_t *cmd) { // Before running, clear the hardware fifo and hardware encoder. Then, the two dividers and delay value should be set. // Also, the hareware encoder is expected to receiving pluse of encoder: the EXTERNAL mode - fifo_dev_clear(); encoder_dev_flush(); - encoder_dev_set_divide(valve_trigger_pulse_count, camera_trigger_pulse_count); - fifo_dev_write_delay(camera_to_valve_pulse_count + HOST_COMPUTER_PICTURE_ROW_NUM * HOST_COMPUTER_PICTURES_BEGINNING_IGNORE_NUM); + encoder_dev_set_divide(camera_trigger_pulse_count.a, + camera_trigger_pulse_count.b, + camera_trigger_pulse_count.c, + camera_trigger_pulse_count.d); + encoder_dev_set_trigmod(ENCODER_TRIG_MODE_EXTERNEL); - printf("\r\n>>>>>\r\nstatus==RUNNING\r\ncamera_trigger_pulse_count=%d\r\nvalve_trigger_pulse_count=%d\r\n" - "camera_to_valve_pulse_count=%d\r\n<<<<<\r\n\r\n", camera_trigger_pulse_count, - valve_trigger_pulse_count, camera_to_valve_pulse_count + HOST_COMPUTER_PICTURE_ROW_NUM * HOST_COMPUTER_PICTURES_BEGINNING_IGNORE_NUM); + encoder_dev_set_clrmod(ENCODER_CLEAR_MODE_BOTH); + printf("\r\n>>>>>\r\nstatus==RUNNING\r\ncamera_a=%d\r\ncamera_b=%d\r\ncamera_c=%d\r\ncamera_d=%d\r\n<<<<<\r\n\r\n", + camera_trigger_pulse_count.a, + camera_trigger_pulse_count.b, + camera_trigger_pulse_count.c, + camera_trigger_pulse_count.d); status = RUNNING; } - else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST) + else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_A) { - uint32_t row_data[8] = {0}; - // When to excute TEST cmd (aka testing the valve), hardware fifo and hardware encoder should be cleared. - // A new combination of divider is set: 2 for both valve and camera, for less virtual pluse is needed to triggle valve in INTERNAL mode. - // Note that camera can be triggled during testing. - fifo_dev_clear(); - encoder_dev_flush(); - encoder_dev_set_trigmod(ENCODER_TRIG_MODE_INTERNEL); - encoder_dev_set_divide(2, 8); // fifo out every 8/4=2 cycle, valveboard operate every 2 cycle - - // A parameter below 256 represents a single shot, the value of parameter indicates the valve to triggle. - if (tmp_data < 256) - { - SET_VALVE_ONLY_N_ON(row_data, tmp_data); - fifo_dev_write_row(row_data); - // delay for 15000 us and turn off the valve - encoder_dev_virtual_trig(2); - usleep(15000); - encoder_dev_virtual_trig(2); - } - // 257 represents triggle valve from NO.1 to 256 sequenctially. This loop blocks for 25.7s. - else if (tmp_data == 257) - { - for (int i = 0; i < 256; i++) - { - SET_VALVE_ONLY_N_ON(row_data, i); - fifo_dev_write_row(row_data); - bzero(&row_data, sizeof(row_data)); - fifo_dev_write_row(row_data); - // printf("%d,%d\r\n", fifo_dev_get_count(), fifob_dev_get_count()); - } - for (int i = 0; i < 257; i++) - { - encoder_dev_virtual_trig(2); - usleep(15000); - encoder_dev_virtual_trig(2); - usleep(100000 - 15000); - // printf("%d,%d\r\n", fifo_dev_get_count(), fifob_dev_get_count()); - } - } + camera_trigger_pulse_count.a = tmp_data; } - else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT) + else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_B) { - camera_trigger_pulse_count = tmp_data; + camera_trigger_pulse_count.b = tmp_data; } - else if (tmp_cmd == HOSTCOMPUTER_CMD_SETVALVETRIGPULSECOUNT) + else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_C) { - valve_trigger_pulse_count = tmp_data; + camera_trigger_pulse_count.c = tmp_data; } - else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATOVALVEPULSECOUNT) + else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_D) { - camera_to_valve_pulse_count = tmp_data; + camera_trigger_pulse_count.d = tmp_data; } } // Only in RUNNING state, the lower machine responds to STOP command. else if (status == RUNNING) { if (tmp_cmd == HOSTCOMPUTER_CMD_STOP) - { - // Clear hardware fifo. - // 10 virtual triggles in internal mode ensure valve is turned off. + { // Hardware encoder is flushed for a fresh start. - fifo_dev_clear(); encoder_dev_set_trigmod(ENCODER_TRIG_MODE_INTERNEL); - encoder_dev_set_divide(4, 4); + encoder_dev_set_divide(4, 4, 4, 4); encoder_dev_virtual_trig(20); encoder_dev_flush(); status = SLEEPING; printf("\r\n>>>>>\r\nstatus==SLEEPING\r\n<<<<<\r\n\r\n"); } } -} +} diff --git a/source/linux_app/version b/source/linux_app/version index ea710ab..a58941b 100644 --- a/source/linux_app/version +++ b/source/linux_app/version @@ -1 +1 @@ -1.2 \ No newline at end of file +1.3 \ No newline at end of file diff --git a/source/linux_driver/encoder.c b/source/linux_driver/encoder.c index f32d6f5..1d26fd1 100644 --- a/source/linux_driver/encoder.c +++ b/source/linux_driver/encoder.c @@ -188,12 +188,12 @@ static long encoder_ioctl(struct file *fp, unsigned int cmd, unsigned long tmp) // 3. 恢复为原来的状态和模式 writel(data, encoder_cr_addr); } - else if (cmd_parsed == ENCODER_CMD_CLEAR_MODE_INTERNAL) + else if (cmd_parsed == ENCODER_CMD_CLEAR_MODE_BOTH) { // 设为允许内部和外部信号清除缓存 writel(data & ~ENCODER_CR_ICO_MASK, encoder_cr_addr); } - else if (cmd_parsed == ENCODER_CMD_CLEAR_MODE_BOTH) + else if (cmd_parsed == ENCODER_CMD_CLEAR_MODE_INTERNAL) { // 设为仅允许内部清除缓存 writel(data | ENCODER_CR_ICO_MASK, encoder_cr_addr); diff --git a/source/linux_driver/encoder_drv_test/encoder_dev.c b/source/linux_driver/encoder_drv_test/encoder_dev.c index f5091ad..0ac9d88 100644 --- a/source/linux_driver/encoder_drv_test/encoder_dev.c +++ b/source/linux_driver/encoder_drv_test/encoder_dev.c @@ -57,8 +57,6 @@ int encoder_dev_init() /** * @brief Set the two divider in the hareware encoder unit. - * @param valve_divide the frequency division factor between the encoder signal and valve output - * Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter * @param camera_a_divide the frequency division factor between the encoder signal and camera a triggle signal * Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter * @param camera_b_divide the frequency division factor between the encoder signal and camera b triggle signal @@ -69,14 +67,13 @@ int encoder_dev_init() * Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter * @return 0 - success, other - error */ -int encoder_dev_set_divide(int valve_divide, - int camera_a_divide, +int encoder_dev_set_divide(int camera_a_divide, int camera_b_divide, int camera_c_divide, int camera_d_divide) { if (valve_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET) - encoder_dev_divide_value_structure.valve_divide_value = valve_divide; + encoder_dev_divide_value_structure.valve_divide_value = 100; if (camera_a_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET) encoder_dev_divide_value_structure.camera_a_divide_value = camera_a_divide; if (camera_b_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET) diff --git a/source/linux_driver/encoder_drv_test/encoder_dev.h b/source/linux_driver/encoder_drv_test/encoder_dev.h index fbc5b8e..231db31 100644 --- a/source/linux_driver/encoder_drv_test/encoder_dev.h +++ b/source/linux_driver/encoder_drv_test/encoder_dev.h @@ -37,8 +37,7 @@ typedef enum ENCODER_CLEAR_MODE_INTERNAL = 201 } encoder_dev_clear_mode_enum; -int encoder_dev_set_divide(int valve_divide, - int camera_a_divide, +int encoder_dev_set_divide(int camera_a_divide, int camera_b_divide, int camera_c_divide, int camera_d_divide); diff --git a/source/linux_driver/version b/source/linux_driver/version index 400122e..dc39e58 100644 --- a/source/linux_driver/version +++ b/source/linux_driver/version @@ -1 +1 @@ -1.5 \ No newline at end of file +1.6 \ No newline at end of file