/****f* xml_element/xml_elem_new
* NAME
* xml_elem_new
* SYNOPSIS
* xml_element* xml_elem_new()
* FUNCTION
* allocates and initializes a new xml_element
* INPUTS
* none
* RESULT
* xml_element* or NULL. NULL indicates an out-of-memory condition.
* NOTES
* SEE ALSO
* xml_elem_free ()
* xml_elem_free_non_recurse ()
* SOURCE
*/
xml_element* xml_elem_new() {
xml_element* elem = calloc(1, sizeof(xml_element));
if(elem) {
Q_Init(&elem->children);
Q_Init(&elem->attrs);
simplestring_init(&elem->text);
/* init empty string in case we don't find any char data */
simplestring_addn(&elem->text, "", 0);
}
return elem;
}
int main(int argc, char *argv[])
{
int policy;
struct sched_param param;
pthread_attr_t attr;
char buffer[1024];
int err;
dprintf("init\n");
if(argc != 2) {
perr(AR_ERR_BAD_INIT_PARAM);
printf("Useage: %s INSTANCE\n", AR_MODULE_NAME);
return(AR_ERR_BAD_INIT_PARAM);
}
memset(&config, 0, sizeof(config));
erret(init_config(AR_MODULE_NAME, atoi(argv[1]), &config.base));
erret(read_config_int(config.base.name, "PRIORITY", &config.priority));
erret(read_config_int(config.base.name, "PRIORITY_DGPS_CORR_DATA", &config.priority_dgps_corr_data));
erret(read_config_string(config.base.name, "DEVICE", config.ser_device, sizeof(config.ser_device)));
err = read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_IN_GPS_CORR", &config.queue_corr_data);
if(err != 0) {
erret(read_config_string(config.base.name, "DEVICE_CORR_DATA_READ", config.ser_device_corr_data_read, sizeof(config.ser_device_corr_data_read)));
// fprintf(stderr, "DGPS correction data from ser. device <%s>\n", config.ser_device_corr_data_read);
} else {
// fprintf(stderr, "DGPS correction data from queue <%d>\n", config.queue_corr_data);
}
memset(buffer, 0, sizeof(buffer));
config.corr_mode = -1;
erret(read_config_string(config.base.name, "CORRECTION_MODE", buffer, sizeof(buffer)));
if(strnicmp(buffer, "RTCA", strlen("RTCA")) == 0) {
config.corr_mode = OEM4_RTCA_MODE;
} else if(strnicmp(buffer, "RTCM", strlen("RTCM")) == 0) {
config.corr_mode = OEM4_RTCM_MODE;
} else {
perrs(AR_ERR_BAD_INIT_PARAM, "Correction data mode not specified (RTCA | RTCM).");
// return(AR_ERR_BAD_INIT_PARAM);
}
erret(read_config_int_tab(config.base.name, "SHM_INDEX", "SHM_OUT_GPS_POS", &config.ishm_pos_out));
erret(read_config_int_tab(config.base.name, "SHM_INDEX", "SHM_OUT_GPS_VEL", &config.ishm_vel_out));
if(read_config_int(config.base.name, "UTC_OFFSET", &config.utc_offset)) {
config.utc_offset = 15;
}
erret(SHM_Init());
erret(SHM_InitSlot(config.ishm_pos_out, sizeof(gps_pos_novatel_t)));
erret(SHM_InitSlot(config.ishm_vel_out, sizeof(gps_vel_novatel_t)));
if(config.queue_corr_data != 0) {
erret(Q_Init());
erret(Q_InitSlot(config.queue_corr_data, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 1));
} else if (strlen(config.ser_device_corr_data_read)>0){
erret(open_comport(&fd_corr_data_read, config.ser_device_corr_data_read, O_RDWR, 115200));
}
erret(open_comport(&fd, config.ser_device, O_RDWR, 57600));
if(0){
struct termios termios_p;
if(tcgetattr(fd, &termios_p)==0) {
termios_p.c_cc[VTIME] = 1; // 2*0.1s = 0.2s
termios_p.c_cc[VMIN] = 0;
tcsetattr(fd, TCSADRAIN, &termios_p);
} else fprintf(stderr, "failed to set read timeout\n");
}
//create thread for reading and writing of the correction data:
ifret(pthread_getschedparam(pthread_self(), &policy, ¶m), AR_ERR_SYS_RESOURCES);
param.sched_priority = config.priority_dgps_corr_data;
pthread_attr_init( &attr );
ifret(pthread_attr_setschedparam(&attr, ¶m), AR_ERR_SYS_RESOURCES);
ifret(pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED), AR_ERR_SYS_RESOURCES);
ifret(pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED), AR_ERR_SYS_RESOURCES);
if(config.corr_mode == OEM4_RTCA_MODE) {
ifret(write(fd, OEM4_INIT_ROVER_RTCA, strlen(OEM4_INIT_ROVER_RTCA))==-1, AR_ERR_IO_ERROR);
ifret(pthread_create(&pthreads[0], &attr, &corr_data_thread_func, NULL), AR_ERR_SYS_RESOURCES);
} else if(config.corr_mode == OEM4_RTCM_MODE) {
ifret(write(fd, OEM4_INIT_ROVER_RTCM, strlen(OEM4_INIT_ROVER_RTCM))==-1, AR_ERR_IO_ERROR);
ifret(pthread_create(&pthreads[0], &attr, &corr_data_thread_func, NULL), AR_ERR_SYS_RESOURCES);
} else
{
ifret(write(fd, OEM4_INIT_ROVER_COM1, strlen(OEM4_INIT_ROVER_COM1))==-1, AR_ERR_IO_ERROR);
printf("running without differential data\n");
}
ifret(pthread_getschedparam(pthread_self(), &policy, ¶m), AR_ERR_SYS_RESOURCES);
param.sched_priority = config.priority;
ifret(pthread_setschedparam(pthread_self(), policy, ¶m), AR_ERR_SYS_RESOURCES);
while(1) {
errp(read_data());
}
return 0;
}
/**
* @ingroup app
* @brief
* ״̬����ʼ������ʼ����ָ��״̬S0
* @details
* @param ��
* @retval ��
* @note
* @code
* @endcode
*/
void Initial(QEVENT const *e)
{
bFoo = false;
Q_Init((QSTATE)s0);
}
int main(int argc, char* argv[])
{
int policy;
struct sched_param param;
char buffer[1024];
dprintf("init\n");
if(argc != 2)
{
perr(AR_ERR_BAD_INIT_PARAM);
printf("Useage: %s INSTANCE\n", AR_MODULE_NAME);
return(AR_ERR_BAD_INIT_PARAM);
}
erret(init_config(AR_MODULE_NAME, atoi(argv[1]), &config.base));
erret(read_config_int(config.base.name, "PRIORITY", &config.priority));
erret(read_config_string(config.base.name, "DEVICE", config.ser_device, sizeof(config.ser_device)));
memset(buffer, 0, sizeof(buffer));
erret(read_config_string(config.base.name, "CORRECTION_MODE", buffer, sizeof(buffer)));
if(strnicmp(buffer, "RTCA", strlen("RTCA")) == 0)
config.corr_mode = OEMX_RTCA_MODE;
else if(strnicmp(buffer, "RTCM", strlen("RTCM")) == 0)
config.corr_mode = OEMX_RTCM_MODE;
else {
perrs(AR_ERR_BAD_INIT_PARAM, "Correction data mode not specified (RTCA | RTCM).");
return(AR_ERR_BAD_INIT_PARAM);
}
erret(open_comport(&fd, config.ser_device, O_RDWR, 115200));
memset(buffer, 0, sizeof(buffer));
erret(read_config_string(config.base.name, "GPS_MODE", buffer, sizeof(buffer)));
if(strnicmp(buffer, "OEM4", strlen("OEM4")) == 0)
config.gps_mode = OEM4_GPS;
else if(strnicmp(buffer, "OEM5", strlen("OEM5")) == 0)
config.gps_mode = OEM4_GPS;
else {
perrs(AR_ERR_BAD_INIT_PARAM, "GPS_MODE must be OEM4 or OEM5.");
return(AR_ERR_BAD_INIT_PARAM);
}
//ifret(write(fd, OEM4_INIT_ROVER_COM1, strlen(OEM4_INIT_ROVER_COM1))==-1, AR_ERR_IO_ERROR);
/*
if(config.gps_mode == OEM4_GPS && config.corr_mode == OEMX_RTCA_MODE) {
ifret(write(fd, OEM4_INIT_RTCA, strlen(OEM4_INIT_RTCA))==-1, AR_ERR_IO_ERROR);
printf("INIT RTCA\n");
} else if(config.gps_mode == OEM4_GPS && config.corr_mode == OEMX_RTCM_MODE) {
struct termios termios_p;
int rlen=0;
if(tcgetattr(fd, &termios_p)==0) {
termios_p.c_cc[VTIME] = 10; // 2*0.1s = 0.2s
termios_p.c_cc[VMIN] = 0;
tcsetattr(fd, TCSANOW, &termios_p);
}
sprintf(buffer, "unlogall com2\n\r");
sleep(1);
write(fd,buffer, strlen(buffer));
rlen=read(fd,buffer,sizeof(buffer)-1);
buffer[rlen]=0;
printf("%s\n---\n",buffer);
ifret(write(fd, OEM4_INIT_RTCM, strlen(OEM4_INIT_RTCM))==-1, AR_ERR_IO_ERROR);
sleep(1);
write(fd,buffer, strlen(buffer));
rlen=read(fd,buffer,sizeof(buffer)-1);
buffer[rlen]=0;
printf("%s\n---\n",buffer);
printf("INIT RTCM\n");
} else {
perrs(AR_ERR_BAD_INIT_PARAM, "can not initialized mode for corr. data\n");
return(AR_ERR_BAD_INIT_PARAM);
}
*/
config.queue_corr_data_1 = 0;
config.queue_corr_data_2 = 0;
config.queue_corr_data_3 = 0;
config.queue_corr_data_4 = 0;
config.queue_corr_data_5 = 0;
config.queue_corr_data_6 = 0;
erret(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_1", &config.queue_corr_data_1));
erret(Q_Init());
erret(Q_InitSlot(config.queue_corr_data_1, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_2", &config.queue_corr_data_2)==0) {
erret(Q_InitSlot(config.queue_corr_data_2, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_3", &config.queue_corr_data_3)==0) {
erret(Q_InitSlot(config.queue_corr_data_3, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_4", &config.queue_corr_data_4)==0) {
erret(Q_InitSlot(config.queue_corr_data_4, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_5", &config.queue_corr_data_5)==0) {
erret(Q_InitSlot(config.queue_corr_data_5, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_6", &config.queue_corr_data_6)==0) {
erret(Q_InitSlot(config.queue_corr_data_6, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
//both queues are initialized in non-blocking mode; if one of communicators is blocked,
//the second one continues to transmit the data
ifret(pthread_getschedparam(pthread_self(), &policy, ¶m), AR_ERR_SYS_RESOURCES);
param.sched_priority = config.priority;
ifret(pthread_setschedparam(pthread_self(), policy, ¶m), AR_ERR_SYS_RESOURCES);
read_corr_data_loop();
return(0);
}
