// this is supported from 0.31.04 forward
DFhackCExport int SDL_NumJoysticks(void)
{
if(errorstate)
return -1;
if(!inited)
{
SHM_Init();
return -2;
}
SHM_Act();
return -3;
}
static void Test(void) {
uint8_t line;
SHM_Init();
sharpmem_buffer[0] = 0b11000111; /* bit 0: black, bit 1: white */
SHM_ClearDisplay();
for(line=0;line<SHARPMEM_LCDHEIGHT;line++) {
SHM_Line(line, 0xF0);
}
SHM_ClearDisplay();
SHM_Refresh();
}
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;
}
// This callback is called for initialising the Simulink model by the RTW code
// It should contain all definitions of callbacks and configurations
// Its arguments argc and argv are passed on by the calling RTW main function
// The argc argument contains the number of strings contained in the argv pointer array
// The argv argument contains an array of pointers to strings
// The pointer argv[0] contains the program's name
// The pointers argv[1...] contain the arguments with which the process was started
int AR_MatlabRTW_Init_CB(int argc, const char *argv[])
{
// Define call back functions for the main loop
// The functions on the right are the generated by RTW
// The handles on the left are used by the model's loop
// See ar_matlab_rtw_int.c for more info
ar_model_initialize_cb = airdata_sfl_initialize;
ar_model_step_cb = (void (*)(int_T))airdata_sfl_step;
ar_model_terminate_cb = airdata_sfl_terminate;
// Define call back functions for updating of input/output signals
// The function on the right will be defined in this module
// The handles on the left are used by the model's loop
// See ar_matlab_rtw_int.c for more info
AR_UpdateInputs_CB = Airdata_SFL_UpdateInputs;
AR_UpdateOutputs_CB = Airdata_SFL_UpdateOutputs;
// Define time constants
// The makros on the right are defined in the process' header file
// The variables on the left are used by the model's loop
// See ar_matlab_rtw_int.c for more info
AR_CtrlPeriod = AR_AIRDATA_SFL_PERIOD;
AR_MaxCommDelay = AR_AIRDATA_SFL_MAX_COMM_DELAY;
// Check for number of arguments to the function:
// argv[0] should be program name
// argv[1] should be instance number
// There should be no more arguments...
if(argc != 2)
{
// perr sends a message to the system logger and outputs an error to the screen
perr(AR_ERR_BAD_INIT_PARAM);
printf("Useage: %s INSTANCE\n", argv[0]);
return(AR_ERR_BAD_INIT_PARAM);
}
// init_config checks, that the config file is readable
// and sets the name of the process to filename_instance
// and sets the instance number of the process
// It accepts a pointer to the filename char, an instance integer and a pointer to the base configuration
erret(init_config((char*)"ar_airdata_sfl", atoi(argv[1]), &cfg.base));
// Read the process' priority into the base configuration structure
// read_config_int accepts:
// - the section name [some_process_INSTANCE]
// - the tag name SOME_TAG_NAME = 12345
// - a pointer to the variable the data will be stored in
erret(read_config_int( cfg.base.name, "PRIORITY_DRIVER", (int*)&cfg.base.priority ));
// Read the RTW priorities and ports into the appropriate global variables
// The external mode port port must be unique within the system
// See ar_matlab_rtw for more info
erret(read_config_int( cfg.base.name, "PRIORITY_RTW_CALC", &AR_CalcThreadPriority ));
erret(read_config_int( cfg.base.name, "PRIORITY_RTW_COMM", &AR_CommThreadPriority ));
erret(read_config_int( cfg.base.name, "EXT_MODE_PORT", &AR_ExtModePort ));
// Read the device name of the airdata connection
// read_config_string accepts the maximum length of the destination variable as an additional argument
erret(read_config_string( cfg.base.name, "DEVICE", cfg.ser_device, sizeof(cfg.ser_device) ));
// Read the shared memory slots into the configuration structure
// read_config_int_tab also accepts the section name for a table lookup.
// The string value found for the actual tag will then be replaced with its value from the table section
erret(read_config_int_tab( cfg.base.name, "SHM_INDEX", "SHM_OUT_AIRDATA", &cfg.shm_out_airdata ));
erret(read_config_int_tab( cfg.base.name, "SHM_INDEX", "SHM_OUT_TAS_ALPHA_BETA", &cfg.shm_out_tas_alpha_beta ));
erret(read_config_int_tab(cfg.base.name, "SHM_INDEX", "SHM_IN_CMD_NAV_FLAGS",&cfg.shm_in_cmd_nav_flags));
// Initialize the shared memory module
// SHM_Init initializes the internal slot table to null pointers
erret(SHM_Init());
// Initialize the modules shared memory slots
// SHM_InitSlot initializes a shared memory slot and allocates the pointer in the slots table
// Inputs: Slot number, data size
erret(SHM_InitSlot(cfg.shm_out_airdata, sizeof(airdata_t)));
erret(SHM_InitSlot(cfg.shm_out_tas_alpha_beta, sizeof(v3_t)));
erret(SHM_InitSlot(cfg.shm_in_cmd_nav_flags, sizeof(ar_cmd_nav_flags_t)));
// The private slots are used for inter-thread communication in this single process
erret(SHM_Priv_Init());
erret(SHM_Priv_InitSlot(AR_SHM_PRIV_SLOT_AIRDATA_SFL, sizeof(airdata_sfl_data_raw_t)));
// This section starts the driver thread to be independent of the RTW thread
{
static pthread_attr_t attr; // All attributes of a thread. Including scheduling policy and parameters
static pthread_t driver_thread; // ID of the driver thread
int policy; // Scheduling policy identifier (when to use how much resources for which thread)
struct sched_param param; // Scheduling parameters of a thread (to feed policy)
// Read current thread's scheduling parameters as a starter config and set custom priority of the new thread
ifret(pthread_getschedparam(pthread_self(), &policy, ¶m), AR_ERR_SYS_RESOURCES);
param.sched_priority = cfg.base.priority;
// Initialize an attributes structure and order the custom scheduling
pthread_attr_init( &attr );
ifret( pthread_attr_setschedparam( &attr, ¶m) ,AR_ERR_SYS_RESOURCES); // Set scheduling parameters
ifret( pthread_attr_setinheritsched( &attr, PTHREAD_EXPLICIT_SCHED) ,AR_ERR_SYS_RESOURCES); // Force custom scheduling
// As we will never want to wait for the new thread to finish, we start it in a detached state
ifret( pthread_attr_setdetachstate( &attr, PTHREAD_CREATE_DETACHED) ,AR_ERR_SYS_RESOURCES);
// Start the driver thread:
// Receive driver_thread as the new thread's ID
// Use attr as thread attributes
// Use start_driver as the starting function for the thread
// Use null arguments, as the start_driver function does not require any
ifret( pthread_create(&driver_thread, &attr, &start_driver, NULL) ,AR_ERR_SYS_RESOURCES);
}
return 0;
}
