/*
Set the device into BROADCAST_MODE, which transmits the data
automatically. The second argument is the samping rate.
*/
RValue CHR_6dm::gotoMeasurementMode(SensorData *sensor, int freq)
{
addHeader(_shared.data);
_shared.data[3] = SET_BROADCAST_MODE;
_shared.data[4] = 1;
RValue ret_val;
if (freq < 20 || freq > 300) {
return CHR_ErrorCommand;
}
else {
_shared.data[5] = ((freq - 20) * 255) / 280;
printf("X = %X\n", _shared.data[5]);
}
addCheckSum(_shared.data);
ret_val = _sending_command(_shared.data);
if (ret_val != CHR_OK)
return ret_val;
serial.ClosePort();
if (pthread_create(&_comm_thread,NULL,CHR_6dm::_communicator,(void*)&_shared) < 0) {
perror("Thread Creation");
return CHR_Error;
}
_shared.measurement_mode = true;
return CHR_OK;
}
/*
This method simply set the device into SLIENT_MODE, not that
there really exist a config mode in the device. However, if
user wants to change any settings of the device, they have
to make sure the device is in a so called "config mode".
I think this is a better way to prevent accidentally option
changing.
*/
RValue CHR_6dm::gotoConfigMode()
{
if (!_shared.measurement_mode) {
addHeader(_shared.data);
_shared.data[3] = SET_SILENT_MODE;
_shared.data[4] = 0;
addCheckSum(_shared.data);
return _sending_command(_shared.data);
} else {
pthread_cancel(_comm_thread);
return open(_shared.timeout);
}
}
/*
Set active channels in the device. the class SensorData
is used to preserve the settings, thus it's passed by
pointer.
*/
RValue CHR_6dm::setActiveChannels(SensorData *sensor)
{
addHeader(_shared.data);
_shared.data[3] = SET_ACTIVE_CHANNELS;
_shared.data[4] = 2;
_shared.data[5] = sensor->getFirstChannelMask();
_shared.data[6] = sensor->getSecondChannelMask();
addCheckSum(_shared.data);
RValue ret_val = _sending_command(_shared.data);
if (ret_val == CHR_OK) {
_shared.dataNumber = (sensor->getNumberOfChannel() * 2) + 9;
printf("Number of data : %d\n", _shared.dataNumber);
}
return ret_val;
}
/*! \sa PacketProcessor
*/
Packet& PacketProcessor::buildIPPacket(string p_DestinationIP, string p_SourceIP, string p_Payload)
{
//store the arguments
m_DestinationIP = p_DestinationIP;
m_SourceIP = p_SourceIP;
m_Payload = p_Payload;
//set version
m_PacketBuffer[0] = (unsigned char)setSubField((unsigned)m_PacketBuffer[0], VERSION, 7, 4);
//set standard header length
m_PacketBuffer[0] = (unsigned char)setSubField((unsigned)m_PacketBuffer[0], IHL, 3, 0);
//set the second field to zero (DSCP[7-2] and ECN[1-0])
//set identification
setMultipleFields(&m_PacketBuffer[5], m_Identification++, SHORT);
//set flags
clearBit(&m_PacketBuffer[6], 7); //reserved
clearBit(&m_PacketBuffer[6], 6); //Don't fragment DF
clearBit(&m_PacketBuffer[6], 5); //More fragments MF
//set fragment offset
//set TTL
m_PacketBuffer[8] = TTL;
//set Protocol
m_PacketBuffer[9] = PROTOCOL;
//set source IP
m_Converter.ipToUChar(m_SourceIP, &m_PacketBuffer[12]);
//set destination IP
m_Converter.ipToUChar(m_DestinationIP, &m_PacketBuffer[16]);
//set paylod and packet length
setMultipleFields(&m_PacketBuffer[3], setPayload(&m_PacketBuffer[20]), SHORT);
addCheckSum(m_PacketBuffer);
//set the IP packet into the frame
m_Frame.setPDU(m_PacketBuffer);
resetPacketBuffer();
return m_Frame;
}
RValue CHR_6dm::getData(SensorData *sensor, UpdateMode umode)
{
byte local_buffer[BUF_MAX];
RValue ret_val;
if (umode == NONBLOCKING) {
if (!_shared.measurement_mode) {
addHeader(_shared.data);
_shared.data[3] = GET_DATA;
_shared.data[4] = 0;
addCheckSum(_shared.data);
ret_val = _sending_command(_shared.data);
if (ret_val != CHR_OK)
return ret_val;
}
pthread_mutex_lock(&_shared.mutex);
memcpy(local_buffer, _shared.data, _shared.dataNumber);
pthread_mutex_unlock(&_shared.mutex);
sensor->resolvePacket(local_buffer);
printf("mask = %X%X\n", local_buffer[5], local_buffer[6]);
return CHR_OK;
} else if (umode == BLOCKING) {
if (!_shared.measurement_mode)
return CHR_Error;
pthread_mutex_lock(&_shared.mutex);
pthread_cond_wait(&_shared.condvar, &_shared.mutex);
//printf("Signal Received!\n");
memcpy(local_buffer, _shared.data, _shared.dataNumber);
pthread_mutex_unlock(&_shared.mutex);
sensor->resolvePacket(local_buffer);
return CHR_OK;
} else {
return CHR_Error;
}
}
/*
This is how you can get the data in SLIENT_MODE.
*/
RValue CHR_6dm::getData(SensorData *sensor)
{
byte local_buffer[BUF_MAX];
RValue ret_val;
if (!_shared.measurement_mode) {
addHeader(_shared.data);
_shared.data[3] = GET_DATA;
_shared.data[4] = 0;
addCheckSum(_shared.data);
ret_val = _sending_command(_shared.data);
if (ret_val != CHR_OK)
return ret_val;
}
pthread_mutex_lock(&_shared.mutex);
memcpy(local_buffer, _shared.data, _shared.dataNumber);
pthread_mutex_unlock(&_shared.mutex);
sensor->resolvePacket(local_buffer);
printf("mask = %X%X\n", local_buffer[5], local_buffer[6]);
return CHR_OK;
}
