6449ebeeac
1. 应用程序实现了心跳包 2. 应用程序实现了4个相机的单独设置 3. 应用程序去除了有关喷阀、接收处理mask和硬件fifo相关的代码 4. 删除了fifo相关驱动程序 5. 修正了encoder驱动程序中的清除缓存逻辑 Co-authored-by: lyz <1942503466@qq.com>
296 lines
10 KiB
C
296 lines
10 KiB
C
/**
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* @file host_computer.c
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* @brief Commnunicate with host computer. Protocal is described in 下位机和上位机通信协议 V1.4
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* @author miaow (3703781@qq.com)
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* @version 1.2
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* @date 2023/05/07
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* @mainpage github.com/NanjingForestryUniversity
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*
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* @copyright Copyright (c) 2023 miaow
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*
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* @par Changelog:
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* <table>
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* <tr><th>Date <th>Version <th>Author <th>Description
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* <tr><td>2022/01/16 <td>1.0 <td>miaow <td>Write this file
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* <tr><td>2022/08/06 <td>1.1 <td>miaow <td>Add fifob
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* <tr><td>2023/05/07 <td>1.2 <td>miaow <td>Port to b03 branch
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* </table>
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*/
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#include <host_computer.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <netinet/tcp.h>
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#include <stdlib.h>
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#include <pthread.h>
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#include <common.h>
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <encoder_dev.h>
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#include <data_filter.h>
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#include <sys/time.h>
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#include <time.h>
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#include <signal.h>
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static char perror_buffer[128];
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/**
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* @brief Queue handle structure
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*/
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typedef struct
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{
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queue_uint64_msg_t *cmd_q; // A pointer to the queue for commands
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int socket_fd; // The socket fd for receiving commands and data
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int need_exit; // The flag variable to indicate whether to exit the loop_thread in this file
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pthread_t loop_thread; // The main routine of this module, which parses commands and data from host, puts them into the queue
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pthread_mutex_t loop_thread_mutex; // The mutex for loop_thread
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pthread_mutex_t is_connected_mutex;
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timer_t heartbeat_timer;
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} hostcomputer_t;
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static hostcomputer_t _global_structure;
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void *loop_thread_func(void *param);
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void heartbeat_timer_func(__sigval_t param);
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/**
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* @brief Pre initialize host computer module
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* @param data_q A pointer to the queue storing the valve data from host computer
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* @param cmd_q A pointer#include <sys/time.h> to the queue storing the cmd from host computer
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* @return 0 - success
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*/
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int hostcomputer_init(queue_uint64_msg_t *cmd_q)
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{
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struct sigevent evp;
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struct itimerspec ts;
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_global_structure.cmd_q = cmd_q;
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pthread_mutex_init(&_global_structure.loop_thread_mutex, NULL);
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pthread_mutex_init(&_global_structure.is_connected_mutex, NULL);
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pthread_create(&_global_structure.loop_thread, NULL, loop_thread_func, NULL);
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memset(&evp, 0, sizeof(evp));
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evp.sigev_value.sival_ptr = &_global_structure.heartbeat_timer;
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evp.sigev_notify = SIGEV_THREAD;
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evp.sigev_notify_function = heartbeat_timer_func;
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timer_create(CLOCK_REALTIME, &evp, &_global_structure.heartbeat_timer);
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ts.it_interval.tv_sec = 3;
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ts.it_interval.tv_nsec = 0;
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ts.it_value.tv_sec = 3;
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ts.it_value.tv_nsec = 0;
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timer_settime(_global_structure.heartbeat_timer, TIMER_ABSTIME, &ts, NULL);
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return 0;
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}
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/**
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* @brief Receive `size` bytes from a socket. If no more bytes are available at the socket, this function return -1 when timeout reaches.
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* @param fd The socket fd
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* @param buf Received bytes
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* @param size Number of bytes to receive
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* @return These calls return the number of bytes received, or -1 if time out occurred
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*/
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static int recvn(int fd, char *buf, int size)
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{
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char *pt = buf;
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int count = size;
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while (count > 0)
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{
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int len = recv(fd, pt, count, 0);
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// if (len == -1 && (errno == EAGAIN || errno == EWOULDBLOCK))
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// {
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// // printf("recv timeout\r\n");
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// }
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if (len == -1)
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return -1;
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else if (len == 0)
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return size - count;
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pt += len;
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count -= len;
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}
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return size;
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}
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/**
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* @brief To inspect the status of TCP connection
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* @param sock_fd The socket
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* @return 0 - Not connected, 1 - connected
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*/
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static int is_connected(int sock_fd)
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{
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struct tcp_info info;
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int len = sizeof(info);
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pthread_mutex_lock(&_global_structure.is_connected_mutex);
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getsockopt(sock_fd, IPPROTO_TCP, TCP_INFO, &info, (socklen_t *)&len);
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pthread_mutex_unlock(&_global_structure.is_connected_mutex);
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return info.tcpi_state == TCP_ESTABLISHED;
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}
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/**
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* @brief This function runs in child thread and handles communication with host computer
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* @param param NULL
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* @return NULL
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*/
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void *loop_thread_func(void *param)
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{
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// printf("loop thread in %s start\r\n", __FILE__);
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int need_exit = 0;
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char pre;
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uint32_t n_bytes;
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char type[2];
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char data[20];
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char check[2];
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while (!need_exit)
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{
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pthread_mutex_lock(&_global_structure.loop_thread_mutex);
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need_exit = _global_structure.need_exit;
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pthread_mutex_unlock(&_global_structure.loop_thread_mutex);
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// reconnect if not connected
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if (!is_connected(_global_structure.socket_fd))
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{
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queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_STOP);
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_global_structure.socket_fd = socket(AF_INET, SOCK_STREAM, 0);
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struct timeval timeout = {.tv_sec = 10, .tv_usec = 0};
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setsockopt(_global_structure.socket_fd, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout));
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ON_ERROR_RET(_global_structure.socket_fd, "hostcomputer_init", "", NULL);
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struct sockaddr_in serAddr;
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serAddr.sin_family = AF_INET;
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// serAddr.sin_addr.s_addr = inet_addr(HOST_COMPUTER_IP);
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inet_pton(AF_INET, HOST_COMPUTER_IP, &serAddr.sin_addr);
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serAddr.sin_port = htons(HOST_COMPUTER_PORT);
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printf("Connecting host computer...");
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fflush(stdout);
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if (connect(_global_structure.socket_fd, (struct sockaddr *)&serAddr, sizeof(struct sockaddr_in)) == -1)
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{
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sleep(2);
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close(_global_structure.socket_fd);
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printf("FAILED\r\n");
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continue;
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}
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printf("OK\r\n");
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}
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// =======================parse the protocol=========================================
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if (recvn(_global_structure.socket_fd, (char *)&pre, 1) > 1)
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{
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// close(_global_structure.socket_fd);
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printf("pre_len!=1\r\n");
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continue;
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}
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if (pre != 0xAA)
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{
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// close(_global_structure.socket_fd);
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// printf("%X ", (int)pre);
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// fflush(stdout);
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continue;
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}
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if (recvn(_global_structure.socket_fd, (char *)&n_bytes, 4) != 4)
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{
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// close(_global_structure.socket_fd);
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printf("n_bytes_len!=4\r\n");
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continue;
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}
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n_bytes = ntohl(n_bytes);
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if (n_bytes != 10 && n_bytes != 3)
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{
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// close(_global_structure.socket_fd);
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printf("n_bytes is not 10 or 3\r\n");
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continue;
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}
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if (recvn(_global_structure.socket_fd, (char *)type, 2) != 2)
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{
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// close(_global_structure.socket_fd);
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printf("type!=2\r\n");
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continue;
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}
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if (recvn(_global_structure.socket_fd, (char *)data, n_bytes - 2) != n_bytes - 2)
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{
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// close(_global_structure.socket_fd);
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printf("data_len!=n_bytes-2\r\n");
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continue;
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}
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data[n_bytes - 2] = 0;
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if (recvn(_global_structure.socket_fd, (char *)check, 2) != 2)
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{
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// close(_global_structure.socket_fd);
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printf("check_len!=2\r\n");
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continue;
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}
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if (recvn(_global_structure.socket_fd, (char *)&pre, 1) != 1)
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{
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// close(_global_structure.socket_fd);
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printf("end_len!=1\r\n");
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continue;
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}
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if (pre != 0xBB)
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{
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// close(_global_structure.socket_fd);
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printf("end!=0xBB\r\n");
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continue;
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}
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// =======================parse the commands=========================================
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// commands are reformed as an uint64_t, 0x--------xxxxxxxx, where `-` refers its paramter and `x` is HOSTCOMPUTER_CMD
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if (type[0] == 's' && type[1] == 't')
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{
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// printf("Start put to cmd queue, param:%d\r\n", (int)atoll(data));
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queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_START);
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}
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else if (type[0] == 's' && type[1] == 'p')
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{
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// printf("Stop put to cmd queue, param:%d\r\n", (int)atoll(data));
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queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_STOP);
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}
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else if (type[0] == 'p' && type[1] == 'a')
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{
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// printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data));
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queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_A);
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}
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else if (type[0] == 'p' && type[1] == 'b')
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{
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// printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data));
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queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_B);
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}
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else if (type[0] == 'p' && type[1] == 'c')
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{
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// printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data));
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queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_C);
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}
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else if (type[0] == 'p' && type[1] == 'd')
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{
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// printf("Set camera triggle pulse count put to cmd queue, param:%d\r\n", (int)atoll(data));
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queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT_D);
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}
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}
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printf("loop thread in %s exit\r\n", __FILE__);
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return NULL;
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}
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void heartbeat_timer_func(__sigval_t param)
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{
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static uint8_t heartbeat_packet[] = {0xaa, 0x00, 0x00, 0x00, 0x03, 'h', 'b', 0xff, 0xff, 0xff, 0xbb};
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if (is_connected(_global_structure.socket_fd))
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write(_global_structure.socket_fd, heartbeat_packet, sizeof(heartbeat_packet));
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}
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/**
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* @brief Deinitialize and release resources used by host computer module
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* @return int
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*/
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int hostcomputer_deinit()
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{
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timer_delete(_global_structure.heartbeat_timer);
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pthread_mutex_lock(&_global_structure.loop_thread_mutex);
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_global_structure.need_exit = 1;
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pthread_mutex_unlock(&_global_structure.loop_thread_mutex);
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pthread_join(_global_structure.loop_thread, NULL);
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pthread_mutex_destroy(&_global_structure.loop_thread_mutex);
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close(_global_structure.socket_fd);
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_global_structure.socket_fd = 0;
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_global_structure.need_exit = 0;
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_global_structure.cmd_q = NULL;
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return 0;
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}
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