/* Entry point of cc1/c++. Decode command args, then call compile_file.
Exit code is 35 if can't open files, 34 if fatal error,
33 if had nonfatal errors, else success. */
int main(int argc, char **argv)
{
register int i;
dd_list files, preludes;
dd_list_pos cur;
int version_flag = 0;
char *p;
char *config_file = NULL;
#ifdef TIMER_USERTIME
reset_timer(&total_time);
#endif
start_timer(&total_time);
region_init();
parse_region = newregion();
in_prelude = FALSE;
num_hotspots = 0;
parsed_files = dd_new_list(parse_region);
copy_argc = 0;
copy_argv = xmalloc((argc + 1) * sizeof(*copy_argv));
files = dd_new_list(parse_region);
preludes = dd_new_list(parse_region);
p = argv[0] + strlen (argv[0]);
while (p != argv[0] && p[-1] != '/'
#ifdef DIR_SEPARATOR
&& p[-1] != DIR_SEPARATOR
#endif
)
--p;
progname = p;
#ifdef SIGPIPE
signal (SIGPIPE, pipe_closed);
#endif
copy_argv[0] = argv[0];
copy_argc = 1;
for (i = 1; i < argc; i++)
{
int j;
bool copy_arg = TRUE;
/* If this is a language-specific option,
decode it in a language-specific way. */
for (j = 0; lang_options[j] != 0; j++)
if (!strncmp (argv[i], lang_options[j],
strlen (lang_options[j])))
break;
if (lang_options[j] != 0)
/* If the option is valid for *some* language,
treat it as valid even if this language doesn't understand it. */
c_decode_option(argv[i]);
else if (argv[i][0] == '-' && argv[i][1] != 0)
{
register char *str = argv[i] + 1;
if (str[0] == 'Y')
str++;
if (!strcmp (str, "dumpbase"))
copy_argv[copy_argc++] = argv[i++];
else if (str[0] == 'f')
{
register char *p = &str[1];
int found = 0;
/* Some kind of -f option.
P's value is the option sans `-f'.
Search for it in the table of options. */
for (j = 0;
!found && j < sizeof (f_options) / sizeof (f_options[0]);
j++)
{
if (!strcmp (p, f_options[j].string))
{
*f_options[j].variable = f_options[j].on_value;
/* A goto here would be cleaner,
but breaks the vax pcc. */
found = 1;
}
if (p[0] == 'n' && p[1] == 'o' && p[2] == '-'
&& ! strcmp (p+3, f_options[j].string))
{
*f_options[j].variable = ! f_options[j].on_value;
found = 1;
}
}
}
else if (!strcmp (str, "pedantic"))
pedantic = 1;
else if (!strcmp (str, "pedantic-errors"))
flag_pedantic_errors = pedantic = 1;
else if (!strcmp (str, "quiet"))
quiet_flag = 1;
else if (!strcmp (str, "version"))
version_flag = 1;
else if (!strcmp (str, "w"))
inhibit_warnings = 1;
else if (!strcmp (str, "W"))
{
extra_warnings = 1;
/* We save the value of warn_uninitialized, since if they put
-Wuninitialized on the command line, we need to generate a
warning about not using it without also specifying -O. */
if (warn_uninitialized != 1)
warn_uninitialized = 2;
}
else if (str[0] == 'W')
{
register char *p = &str[1];
int found = 0;
/* Some kind of -W option.
P's value is the option sans `-W'.
Search for it in the table of options. */
for (j = 0;
!found && j < sizeof (W_options) / sizeof (W_options[0]);
j++)
{
if (!strcmp (p, W_options[j].string))
{
*W_options[j].variable = W_options[j].on_value;
/* A goto here would be cleaner,
but breaks the vax pcc. */
found = 1;
}
if (p[0] == 'n' && p[1] == 'o' && p[2] == '-'
&& ! strcmp (p+3, W_options[j].string))
{
*W_options[j].variable = ! W_options[j].on_value;
found = 1;
}
}
if (found)
;
else if (!strncmp (p, "id-clash-", 9))
{
char *endp = p + 9;
while (*endp)
{
if (*endp >= '0' && *endp <= '9')
endp++;
else
{
error ("Invalid option `%s'", argv[i]);
goto id_clash_lose;
}
}
warn_id_clash = 1;
id_clash_len = atoi (str + 10);
id_clash_lose: ;
}
else if (!strncmp (p, "larger-than-", 12))
{
char *endp = p + 12;
while (*endp)
{
if (*endp >= '0' && *endp <= '9')
endp++;
else
{
error ("Invalid option `%s'", argv[i]);
goto larger_than_lose;
}
}
warn_larger_than = 1;
larger_than_size = atoi (str + 13);
larger_than_lose: ;
}
}
else if (!strcmp (str, "o"))
copy_argv[copy_argc++] = argv[i++];
else if (str[0] == 'G')
{
if (str[1] == '\0')
copy_argv[copy_argc++] = argv[i++];
}
else if (!strncmp (str, "aux-info", 8))
{
if (str[8] == '\0')
copy_argv[copy_argc++] = argv[i++];
}
else if (!strcmp(str, "config"))
{
if (i < argc - 1)
{
i++;
config_file = strdup(argv[i]);
}
else
error ("Missing -config file");
}
else if (!strcmp(str, "prelude"))
{
if (i < argc - 1)
{
i++;
dd_add_last(parse_region, preludes,
rstrdup(parse_region, argv[i]));
}
else
error("Missing -prelude file");
}
else if (!strcmp(str, "hotspots"))
{
if (i < argc - 1)
{
i++;
num_hotspots = atoi(argv[i]);
if (num_hotspots < 0)
error("Negative value for -hotspots count");
}
else
error("Missing -hotspots count");
}
else if (!strcmp( str, "program-files"))
{
if (i < argc - 1)
{
i++;
add_program_files(argv[i], files);
}
else
error("Missing -program-files file");
}
}
else if (argv[i][0] == '+')
;
else
{
/* Allow wildcards, because PAM won't expand files */
glob_t globbuf;
char **cur;
if (glob(argv[i], 0, NULL, &globbuf))
{
/* glob returned non-zero error status; abort */
fprintf(stderr, "%s: file not found\n", argv[i]);
exit(FATAL_EXIT_CODE);
}
else
for (cur = globbuf.gl_pathv; *cur; cur++)
{
/* Assume anything called prelude.i is a prelude file */
if ( strlen(*cur) >= 9 &&
!strncmp("prelude.i", *cur + strlen(*cur) - 9, 9))
dd_add_last(parse_region, preludes,
rstrdup(parse_region, *cur));
else
dd_add_last(parse_region, files,
rstrdup(parse_region, *cur));
}
copy_arg = FALSE;
}
if (copy_arg)
copy_argv[copy_argc++] = argv[i];
}
copy_argv[copy_argc] = NULL;
if (flag_casts_preserve && flag_flow_sensitive) {
fprintf(stderr, "-fcasts-preserve currently not allowed with "
"-fflow_sensitive");
exit(FATAL_EXIT_CODE);
}
/* Now analyze *all* of the files. First, initialize all appropriate
data structures. */
init_types();
cval_init();
init_effects();
init_qtype();
init_quals();
init_qerror();
init_store();
if (config_file)
load_config_file_quals(config_file);
/* Add const so that we can do -fconst-subtyping no matter what */
if (!const_qual)
{
begin_po_qual();
const_qual = add_qual("const");
add_level_qual(const_qual, level_ref);
set_po_nonprop();
end_po_qual();
}
/* Add volatile so we can handle noreturn functions */
if (!volatile_qual)
{
begin_po_qual();
volatile_qual = add_qual("volatile");
add_level_qual(volatile_qual, level_ref);
add_sign_qual(volatile_qual, sign_eq);
set_po_nonprop();
end_po_qual();
}
/* Add noreturn, for non-returning functions */
if (!noreturn_qual)
{
begin_po_qual();
noreturn_qual = add_qual("noreturn");
add_level_qual(noreturn_qual, level_value);
add_sign_qual(noreturn_qual, sign_eq);
set_po_nonprop();
end_po_qual();
}
end_define_pos(); /* Allow cqual to run with no qualifiers */
init_pam();
init_analyze();
found_fs_qual = FALSE; /* Force reset, since init_analyze may
look up some quals */
/* Now analyze the prelude files */
in_prelude = TRUE;
dd_scan(cur, preludes)
{
char *file;
file = DD_GET(char *, cur);
fprintf(stderr, "Analyzing prelude %s\n", file);
compile_file(file);
}
/***********************************
* MAIN
* *********************************/
int main(int argc, char *argv[]){
Connection connection;
write_error_ptr = &write_error; //initialize the function pointer to write error
//parse arguments
if(argc == 4){
//first argument is always name of program or empty string
connection.planebone_ip=argv[1];
connection.port_number_server_to_planebone=atoi(argv[2]);
connection.port_number_planebone_to_server=atoi(argv[3]);
}else{
printf("wrong parameters: planebone ip - send port number - receive port number\n");
exit(EXIT_FAILURE);
}
pthread_t thread_server_to_planebone;
//create a second thread which executes server_to_planebone
if(pthread_create(&thread_server_to_planebone, NULL, server_to_planebone,&connection)) {
error_write(FILENAME,"error creating lisa thread");
exit(EXIT_FAILURE);
}
/*-------------------------START OF FIRST THREAD: PLANEBONE TO SERVER------------------------*/
static UDP udp_server;
uint8_t input_stream[MAX_INPUT_STREAM_SIZE];
timeval tv_now;
UDP_err_handler(openUDPServerSocket(&udp_server,connection.port_number_planebone_to_server,UDP_SOCKET_TIMEOUT),write_error_ptr);
//init the data decode pointers
init_decoding();
/*
* WHAT WE EXPECT:
* IMU_ACCEL_RAW 204
* IMU_GYRO_RAW 203
* IMU_MAG_RAW 205
* BARO_RAW 221
* GPS_INT 155
* AIRSPEED_ETS 57
* SYSMON 33
* UART_ERROR 208
* ACTUATORS_received 105
* */
int IMU_ACCEL_RAW_received=0;
int IMU_GYRO_RAW_received=0;
int IMU_MAG_RAW_received=0;
int BARO_RAW_received=0;
int GPS_INT_received=0;
int AIRSPEED_received=0;
int SVINFO_received=0;
int SYSMON_received=0;
int UART_ERROR_received=0;
int ACTUATORS_received=0;
int NMEA_IIMWV_received = 0;
int NMEA_WIXDR_received = 0;
int err;
#if ANALYZE
Analyze an_imu_accel_raw_freq,an_imu_accel_raw_lat;
int an_imu_accel_freq_done=0,an_imu_accel_lat_done=0;
init_analyze(&an_imu_accel_raw_freq,2000);
init_analyze(&an_imu_accel_raw_lat,2000);
Analyze an_imu_gyro_raw_freq,an_imu_gyro_raw_lat;
int an_imu_gyro_freq_done=0,an_imu_gyro_lat_done=0;
init_analyze(&an_imu_gyro_raw_freq,2000);
init_analyze(&an_imu_gyro_raw_lat,2000);
Analyze an_imu_mag_raw_freq,an_imu_mag_raw_lat;
int an_imu_mag_freq_done=0,an_imu_mag_lat_done=0;
init_analyze(&an_imu_mag_raw_freq,2000);
init_analyze(&an_imu_mag_raw_lat,2000);
Analyze an_baro_raw_freq,an_baro_raw_lat;
int an_baro_raw_freq_done=0,an_baro_raw_lat_done=0;
init_analyze(&an_baro_raw_freq,2000);
init_analyze(&an_baro_raw_lat,2000);
Analyze an_gps_int_freq,an_gps_int_lat;
int an_gps_int_freq_done=0,an_gps_int_lat_done=0;
init_analyze(&an_gps_int_freq,40);
init_analyze(&an_gps_int_lat,40);
Analyze an_airspeed_ets_freq,an_airspeed_ets_lat;
int an_airspeed_ets_freq_done=0,an_airspeed_ets_lat_done=0;
init_analyze(&an_airspeed_ets_freq,100);
init_analyze(&an_airspeed_ets_lat,100);
Analyze an_actuators_freq,an_actuators_lat;
int an_actuators_freq_done=0,an_actuators_lat_done=0;
init_analyze(&an_actuators_freq,500);
init_analyze(&an_actuators_lat,500);
Analyze an_UART_errors_freq,an_UART_errors_lat;
int an_UART_errors_freq_done=0,an_UART_errors_lat_done=0;
init_analyze(&an_UART_errors_freq,50);
init_analyze(&an_UART_errors_lat,50);
Analyze an_sys_mon_freq,an_sys_mon_lat;
int an_sys_mon_freq_done=0,an_sys_mon_lat_done=0;
init_analyze(&an_sys_mon_freq,50);
init_analyze(&an_sys_mon_lat,50);
#endif
int recv_len;
size_t data_len = sizeof(input_stream);
while (1){
// err = receiveUDPServerData(&udp_server,(void *)&input_stream, sizeof(input_stream)); //blocking !!!
//1. retreive UDP data form planebone from ethernet port.
err = receiveUDPServerData(&udp_server,(void *)&input_stream, data_len, &recv_len); //blocking !!!
if (recv_len != 30) {
printf("Wrong number of bytes in received UDP packet!\n");
printf("Expected 30 bytes, Received %d bytes!\n", recv_len);
err = UDP_ERR_RECV;
}
UDP_err_handler(err,write_error_ptr);
if(err == UDP_ERR_NONE){
gettimeofday(&tv_now,NULL); //timestamp from receiving to calculate latency
#if DEBUG > 0
printf("message raw: ");
int i;
for(i=0;i<input_stream[1];i++){
printf("%d ",input_stream[i]);
}
printf("\n");
printf("start hex: %x\n", input_stream[0]);
printf("length: %d\n", input_stream[1]);
printf("send id: %d\n", input_stream[2]);
printf("message id: %d\n", input_stream[3]);
printf("checksum1: %d\n", input_stream[input_stream[1]-2]);
printf("checksum2: %d\n", input_stream[input_stream[1]-1]);
// printf("%d", input_stream[3]);
printf("\n");
#endif
//2. decode data
int err = data_decode(input_stream);
DEC_err_handler(err,write_error_ptr);
if(err==DEC_ERR_NONE){
switch_read_write(); //only switch read write if data decoding was succesfull
Data* data = get_read_pointer();
if(input_stream[3]==IMU_GYRO_RAW){
IMU_GYRO_RAW_received=1;
}else if(input_stream[3]==IMU_ACCEL_RAW){
IMU_ACCEL_RAW_received=1;
}else if(input_stream[3]==IMU_MAG_RAW){
IMU_MAG_RAW_received=1;
}else if(input_stream[3]==BARO_RAW){
BARO_RAW_received=1;
}else if(input_stream[3]==GPS_INT){
GPS_INT_received=1;
}else if(input_stream[3]==AIRSPEED_ETS){
AIRSPEED_received=1;
}else if(input_stream[3]==SVINFO){
SVINFO_received=1;
}else if(input_stream[3]==SYSMON){
SYSMON_received=1;
}else if(input_stream[3]==UART_ERRORS){
UART_ERROR_received=1;
}else if(input_stream[3]==ACTUATORS){
ACTUATORS_received=1;
}else if(input_stream[3]==NMEA_IIMWV_ID){
NMEA_IIMWV_received=1;
}else if(input_stream[3]==NMEA_WIXDR_ID){
NMEA_WIXDR_received=1;
}
/*printf("IMU_GYRO_RAW_received %d\n",IMU_GYRO_RAW_received);
printf("IMU_ACCEL_RAW_received %d\n",IMU_ACCEL_RAW_received);
printf("IMU_MAG_RAW_received %d\n",IMU_MAG_RAW_received);
printf("BARO_RAW_received %d\n",BARO_RAW_received);
printf("GPS_INT_received %d\n",GPS_INT_received);
printf("AIRSPEED_received %d\n",AIRSPEED_received);
printf("SVINFO_received %d\n",SVINFO_received);
printf("SYSMON_received %d\n",SYSMON_received);
printf("UART_ERROR_received %d\n",UART_ERROR_received);
printf("ACTUATORS_received %d\n",ACTUATORS_received);
printf("NMEA_IIMWV_received %d\n",NMEA_IIMWV_received);
printf("NMEA_WIXDR_received %d\n",NMEA_WIXDR_received);
printf("\n");*/
if(input_stream[3]==BARO_RAW){
#if ANALYZE
if(calculate_frequency(&an_baro_raw_freq,data->lisa_plane.baro_raw.tv)==1){
an_baro_raw_freq_done=1;
}
if(calculate_latency(&an_baro_raw_lat,data->lisa_plane.baro_raw.tv,tv_now)==1){
an_baro_raw_lat_done=1;
}
#endif
/*int i;
printf("Baro_raw content:");
print_mem((void *)&data->lisa_plane.baro_raw,sizeof(Baro_raw));
printf("abs %d\n",data->lisa_plane.baro_raw.abs);
printf("diff %d\n",data->lisa_plane.baro_raw.diff);
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_GYRO_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_gyro_raw_freq,data->lisa_plane.imu_gyro_raw.tv)==1){
an_imu_gyro_freq_done=1;
}
if(calculate_latency(&an_imu_gyro_raw_lat,data->lisa_plane.imu_gyro_raw.tv,tv_now)==1){
an_imu_gyro_lat_done=1;
}
#endif
/* int i;
printf("Imu_gyro_raw content:");
print_mem((void *)&data->lisa_plane.imu_gyro_raw,sizeof(Imu_gyro_raw));
printf("\n");
printf("gp %d\n",data->lisa_plane.imu_gyro_raw.gp);
printf("gq %d\n",data->lisa_plane.imu_gyro_raw.gq);
printf("gr %d\n",data->lisa_plane.imu_gyro_raw.gr);
print_latency(data->lisa_plane.imu_gyro_raw.tv);
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_ACCEL_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_accel_raw_freq,data->lisa_plane.imu_accel_raw.tv)==1){
an_imu_accel_freq_done=1;
}
if(calculate_latency(&an_imu_accel_raw_lat,data->lisa_plane.imu_accel_raw.tv,tv_now)==1){
an_imu_accel_lat_done=1;
}
#endif
/*int i;
printf("Imu_accel_raw content:");
print_mem((void *)&data->lisa_plane.imu_accel_raw,sizeof(Imu_accel_raw));
printf("\n");
printf("ax %d\n",data->lisa_plane.imu_accel_raw.ax);
printf("ay %d\n",data->lisa_plane.imu_accel_raw.ay);
printf("az %d\n",data->lisa_plane.imu_accel_raw.az);
printf("\n");
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_MAG_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_mag_raw_freq,data->lisa_plane.imu_mag_raw.tv)==1){
an_imu_mag_freq_done=1;
}
if(calculate_latency(&an_imu_mag_raw_lat,data->lisa_plane.imu_mag_raw.tv,tv_now)==1){
an_imu_mag_lat_done=1;
}
#endif
}
if(input_stream[3]==AIRSPEED_ETS){
#if ANALYZE
if(calculate_frequency(&an_airspeed_ets_freq,data->lisa_plane.airspeed_ets.tv)==1){
an_airspeed_ets_freq_done=1;
}
if(calculate_latency(&an_airspeed_ets_lat,data->lisa_plane.airspeed_ets.tv,tv_now)==1){
an_airspeed_ets_lat_done=1;
}
#endif
/*int i;
printf("airspeed content:");
print_mem((void *)&data->lisa_plane.airspeed_ets,sizeof(Airspeed_ets));
char temp[64];
timestamp_to_timeString(data->lisa_plane.airspeed_ets.tv,temp);
printf("send time %s\n",temp);
printf("adc %d\n",data->lisa_plane.airspeed_ets.adc);
printf("offset %d\n",data->lisa_plane.airspeed_ets.offset);
printf("scaled %f\n",data->lisa_plane.airspeed_ets.scaled);*/
}
if(input_stream[3]==GPS_INT){
#if ANALYZE
if(calculate_frequency(&an_gps_int_freq,data->lisa_plane.gps_int.tv)==1){
an_gps_int_freq_done=1;
}
if(calculate_latency(&an_gps_int_lat,data->lisa_plane.gps_int.tv,tv_now)==1){
an_gps_int_lat_done=1;
}
#endif
/*int i;
printf("Gps_int_message content:");
print_mem((void *)&data->lisa_plane.gps_int,sizeof(Gps_int));
printf("\n");
printf("ecef_x %d\n",data->lisa_plane.gps_int.ecef_x);
printf("ecef_y %d\n",data->lisa_plane.gps_int.ecef_y);
printf("ecef_z %d\n",data->lisa_plane.gps_int.ecef_z);
printf("lat %d\n",data->lisa_plane.gps_int.lat);
printf("lon %d\n",data->lisa_plane.gps_int.lon);
printf("alt %d\n",data->lisa_plane.gps_int.alt);
printf("hmsl %d\n",data->lisa_plane.gps_int.hmsl);
printf("ecef_xd %d\n",data->lisa_plane.gps_int.ecef_xd);
printf("ecef_yd %d\n",data->lisa_plane.gps_int.ecef_yd);
printf("ecef_zd %d\n",data->lisa_plane.gps_int.ecef_zd);
printf("pacc %d\n",data->lisa_plane.gps_int.pacc);
printf("sacc %d\n",data->lisa_plane.gps_int.sacc);
printf("tow %d\n",data->lisa_plane.gps_int.tow);
printf("pdop %d\n",data->lisa_plane.gps_int.pdop);
printf("numsv %d\n",data->lisa_plane.gps_int.numsv);
printf("fix %d\n",data->lisa_plane.gps_int.fix);
print_latency(data->lisa_plane.gps_int.tv);*/
}
if(input_stream[3]==SYSMON){
#if ANALYZE
if(calculate_frequency(&an_sys_mon_freq,data->lisa_plane.sys_mon.tv)==1){
an_sys_mon_freq_done=1;
}
if(calculate_latency(&an_sys_mon_lat,data->lisa_plane.sys_mon.tv,tv_now)==1){
an_sys_mon_lat_done=1;
}
#endif
/* int i;
printf("sysmon content:");
print_mem((void *)&data->lisa_plane.sys_mon,sizeof(Sys_mon));
printf("\n");
printf("periodic_time %d\n",data->lisa_plane.sys_mon.periodic_time);
printf("periodic_cycle %d\n",data->lisa_plane.sys_mon.periodic_cycle);
printf("periodic_cycle_min %d\n",data->lisa_plane.sys_mon.periodic_cycle_min);
printf("periodic_cycle_max %d\n",data->lisa_plane.sys_mon.periodic_cycle_max);
printf("event_number %d\n",data->lisa_plane.sys_mon.event_number);
printf("cpu_load %d\n",data->lisa_plane.sys_mon.cpu_load);
print_latency(data->lisa_plane.sys_mon.tv);*/
}
if(input_stream[3]==UART_ERRORS){
#if ANALYZE
if(calculate_frequency(&an_UART_errors_freq,data->lisa_plane.uart_errors.tv)==1){
an_UART_errors_freq_done=1;
}
if(calculate_latency(&an_UART_errors_lat,data->lisa_plane.uart_errors.tv,tv_now)==1){
an_UART_errors_lat_done=1;
}
#endif
/* int i;
printf("uart error content:");
print_mem((void *)&data->lisa_plane.uart_errors,sizeof(UART_errors));
printf("overrun_cnt %d\n",data->lisa_plane.uart_errors.overrun_cnt);
printf("noise_err_cnt %d\n",data->lisa_plane.uart_errors.noise_err_cnt);
printf("framing_err_cnt %d\n",data->lisa_plane.uart_errors.framing_err_cnt);
printf("bus_number %d\n",data->lisa_plane.uart_errors.bus_number);
print_latency(data->lisa_plane.uart_errors.tv);*/
}
if(input_stream[3]==ACTUATORS){
#if ANALYZE
if(calculate_frequency(&an_actuators_freq,data->lisa_plane.actuators.tv)==1){
an_actuators_freq_done=1;
}
if(calculate_latency(&an_actuators_lat,data->lisa_plane.actuators.tv,tv_now)==1){
an_actuators_lat_done=1;
}
#endif
/*int i;
printf("actuators content:");
print_mem((void *)&data->lisa_plane.actuators,sizeof(Actuators));
printf("arr_length %d\n",data->lisa_plane.actuators.arr_length);
for(i=0;i<data->lisa_plane.actuators.arr_length;i++){
printf("servo_%d %d\n",i,data->lisa_plane.actuators.values[i]);
}
print_latency(data->lisa_plane.actuators.tv);*/
}
if(input_stream[3]==BEAGLE_ERROR){
//printf("beagle bone error content:");
//print_mem((void *)&data->bone_plane.error,sizeof(Beagle_error));
switch(data->bone_plane.error.library){
case UDP_L:
UDP_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case UART_L:
UART_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case DECODE_L:
DEC_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case LOG_L:
LOG_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
}
}
if(input_stream[3]==NMEA_IIMWV_ID){
printf("NMEA_IIMWV_ID content:");
print_mem((void *)&data->bone_wind.nmea_iimmwv,sizeof(NMEA_IIMWV));
printf("wind angle %lf\n",data->bone_wind.nmea_iimmwv.wind_angle);
printf("relative %c\n",data->bone_wind.nmea_iimmwv.relative);
printf("wind speed %lf\n",data->bone_wind.nmea_iimmwv.wind_speed);
printf("wind speed unit %c\n",data->bone_wind.nmea_iimmwv.wind_speed_unit);
printf("status %c\n",data->bone_wind.nmea_iimmwv.status);
char temp[64];
timestamp_to_timeString16(data->bone_wind.nmea_iimmwv.tv,temp);
printf("send time: %s\n",temp);
printf("\n");
}
if(input_stream[3]==NMEA_WIXDR_ID){
printf("NMEA_WIXDR_ID content:");
print_mem((void *)&data->bone_wind.nmea_wixdr,sizeof(NMEA_WIXDR));
printf("Temperature %lf\n",data->bone_wind.nmea_wixdr.temperature);
printf("unit %c\n",data->bone_wind.nmea_wixdr.unit);
char temp[64];
timestamp_to_timeString16(data->bone_wind.nmea_wixdr.tv,temp);
printf("send time: %s\n",temp);
printf("\n");
}
if(input_stream[3]==LINE_ANGLE_ID){
// Send a character (to gpio of arduino)
// to stop the arduino-timer
/*
FILE *myFile;
myFile = fopen("/dev/ttyUSB0", "w");
fputs ("a", myFile);
fclose (myFile);
*/
printf("LINE_ANGLE_ID content:");
print_mem((void *)&data->bone_arm.line_angle,sizeof(LINE_ANGLE));
printf("Azimuth %i\n",data->bone_arm.line_angle.azimuth_raw);
printf("Elevation %i\n",data->bone_arm.line_angle.elevation_raw);
// printf("unit %c\n",data->bone_wind.nmea_wixdr.unit);
//char temp[64];
//timestamp_to_timeString16(data->bone_arm.line_angle.tv,temp);
//printf("send time: %s\n",temp);
printf("\n");
}
}else{
printf("UNKNOW PACKAGE with id %d\n",input_stream[3]);
exit(1);
}
}
#if ANALYZE
if(an_imu_accel_freq_done==1 &&
an_imu_accel_lat_done==1 &&
an_imu_gyro_freq_done==1 &&
an_imu_gyro_lat_done==1 &&
an_imu_mag_freq_done==1 &&
an_imu_mag_lat_done==1 &&
an_baro_raw_lat_done==1 &&
an_baro_raw_freq_done==1 &&
an_airspeed_ets_lat_done==1 &&
an_airspeed_ets_freq_done==1 &&
an_actuators_lat_done==1 &&
an_actuators_freq_done==1 &&
an_UART_errors_lat_done==1 &&
an_UART_errors_freq_done==1 &&
an_sys_mon_lat_done==1 &&
an_sys_mon_freq_done==1)
{
printf("ANALYZE RESULTS - IMU_ACCEL_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_accel_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_accel_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_accel_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_accel_raw_freq,"analyze/imu_accel_raw_per.csv");
dump_buffer_to_file(&an_imu_accel_raw_lat,"analyze/imu_accel_raw_lat.csv");
destroy_analyze(&an_imu_accel_raw_freq);
destroy_analyze(&an_imu_accel_raw_lat);
printf("ANALYZE RESULTS - IMU_GYRO_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_gyro_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_gyro_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_gyro_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_gyro_raw_freq,"analyze/imu_gyro_raw_per.csv");
dump_buffer_to_file(&an_imu_gyro_raw_lat,"analyze/imu_gyro_raw_lat.csv");
destroy_analyze(&an_imu_gyro_raw_freq);
destroy_analyze(&an_imu_gyro_raw_lat);
printf("ANALYZE RESULTS - IMU_MAG_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_mag_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_mag_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_mag_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_mag_raw_freq,"analyze/imu_mag_raw_per.csv");
dump_buffer_to_file(&an_imu_mag_raw_lat,"analyze/imu_mag_raw_lat.csv");
destroy_analyze(&an_imu_mag_raw_freq);
destroy_analyze(&an_imu_mag_raw_lat);
printf("ANALYZE RESULTS - BARO_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_baro_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_baro_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_baro_raw_lat));
printf("\n");
dump_buffer_to_file(&an_baro_raw_freq,"analyze/baro_raw_per.csv");
dump_buffer_to_file(&an_baro_raw_lat,"analyze/baro_raw_lat.csv");
destroy_analyze(&an_baro_raw_freq);
destroy_analyze(&an_baro_raw_lat);
printf("ANALYZE RESULTS - GPS_INT:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_gps_int_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_gps_int_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_gps_int_lat));
printf("\n");
dump_buffer_to_file(&an_gps_int_freq,"analyze/gps_int_per.csv");
dump_buffer_to_file(&an_gps_int_lat,"analyze/gps_int_lat.csv");
destroy_analyze(&an_gps_int_freq);
destroy_analyze(&an_gps_int_lat);
printf("ANALYZE RESULTS - AIRSPEED_ETS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_airspeed_ets_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_airspeed_ets_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_airspeed_ets_lat));
printf("\n");
dump_buffer_to_file(&an_airspeed_ets_freq,"analyze/airspeed_ets_per.csv");
dump_buffer_to_file(&an_airspeed_ets_lat,"analyze/airspeed_ets_lat.csv");
destroy_analyze(&an_airspeed_ets_freq);
destroy_analyze(&an_airspeed_ets_lat);
printf("ANALYZE RESULTS - ACTUATORS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_actuators_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_actuators_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_actuators_lat));
printf("\n");
dump_buffer_to_file(&an_actuators_freq,"analyze/actuators_per.csv");
dump_buffer_to_file(&an_actuators_lat,"analyze/actuators_lat.csv");
destroy_analyze(&an_actuators_freq);
destroy_analyze(&an_actuators_lat);
printf("ANALYZE RESULTS - UART_ERRORS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_UART_errors_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_UART_errors_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_UART_errors_lat));
printf("\n");
dump_buffer_to_file(&an_UART_errors_freq,"analyze/UART_errors_per.csv");
dump_buffer_to_file(&an_UART_errors_lat,"analyze/UART_errors_lat.csv");
destroy_analyze(&an_UART_errors_freq);
destroy_analyze(&an_UART_errors_lat);
printf("ANALYZE RESULTS - SYS_MON:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_sys_mon_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_sys_mon_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_sys_mon_lat));
printf("\n");
dump_buffer_to_file(&an_sys_mon_freq,"analyze/sys_mon_per.csv");
dump_buffer_to_file(&an_sys_mon_lat,"analyze/sys_mon_lat.csv");
destroy_analyze(&an_sys_mon_freq);
destroy_analyze(&an_sys_mon_lat);
exit(1);
}
#endif
}
UDP_err_handler(closeUDPServerSocket(&udp_server),write_error_ptr);
/*------------------------END OF FIRST THREAD------------------------*/
//wait for the second thread to finish
if(pthread_join(thread_server_to_planebone, NULL)) {
error_write(FILENAME,"error joining thread_lisa_to_pc");
exit(EXIT_FAILURE);
}
return 0;
}
