/*******************************************************************************
* this function is called by the client
* it takes care that the request is processed by the buffer
*******************************************************************************/
int clientrequest(int server, const message_t *request, message_t **response_ptr) {
int verbose = 0;
if (verbose>0) fprintf(stderr, "clientrequest: server = %d\n", server);
if (verbose>0) print_request(request->def);
if (server<0) {
fprintf(stderr, "clientrequest: invalid value for server (%d)\n", server);
return -1;
}
else if (server==0) {
/* use direct memory acces to the buffer */
if (dmarequest(request, response_ptr)!=0)
return -2;
}
else if (server>0) {
/* use TCP connection to the buffer */
if (tcprequest(server, request, response_ptr)!=0)
return -3;
}
if (verbose>0) print_response((*response_ptr)->def);
/* everything went fine */
return 0;
}
int main(int argc, char *argv[]) {
struct emokit_device* d;
struct emokit_frame c;
int i, j, k, sample = 0, si=0, status = 0, verbose = 0;
host_t host;
/* these represent the acquisition system properties */
int nchans = NCHANS;
int fsample = FSAMPLE;
int blocksize = BLOCKSIZE;
int channamesize = 0;
char *labelsbuf = NULL;
/* these are used in the communication and represent statefull information */
int server = -1;
message_t *request = NULL;
message_t *response = NULL;
header_t *header = NULL;
data_t *data = NULL;
emokit_samp_t *databuf = NULL; // for holding the sample info
event_t *event = NULL;
ft_chunkdef_t chunkdef; // for holding the channel names
if (argc>2) {
sprintf(host.name, "%s", argv[1]);
host.port = atoi(argv[2]);
}
else {
sprintf(host.name, "%s", DEFAULT_HOSTNAME);
host.port = DEFAULT_PORT;
}
if (verbose>0) fprintf(stderr, "emokit2ft: host.name = %s\n", host.name);
if (verbose>0) fprintf(stderr, "emokit2ft: host.port = %d\n", host.port);
//-------------------------------------------------------------------------------
// open the emotive device
d = emokit_create();
k = emokit_get_count(d, EMOKIT_VID, EMOKIT_PID);
printf("Current epoc devices connected: %d\n", k);
for ( i=k; i<k; i--){
status = emokit_open(d, EMOKIT_VID, EMOKIT_PID, i);
if(status != 0)
{
printf("CANNOT CONNECT: %d:%d\n", i,status);
}
}
if ( status != 0 ) {
printf("Could not connect to any device\nDo you have permission to read from : /dev/hidrawX\nsee https://github.com/openyou/emokit/issues/89");
return 1;
}
printf("Connected\n");
status = emokit_open(d, EMOKIT_VID, EMOKIT_PID, 1);
if(status != 0)
{
printf("CANNOT CONNECT: %d\n", status);
return 1;
}
printf("Connected\n");
//-------------------------------------------------------------------------------
/* allocate the elements that will be used in the buffer communication */
request = malloc(sizeof(message_t));
request->def = malloc(sizeof(messagedef_t));
request->buf = NULL;
request->def->version = VERSION;
request->def->bufsize = 0;
header = malloc(sizeof(header_t));
header->def = malloc(sizeof(headerdef_t));
header->buf = NULL; /* header buf contains the channel names */
//header->buf = labels;
data = malloc(sizeof(data_t));
data->def = malloc(sizeof(datadef_t));
data->buf = NULL;
event = malloc(sizeof(event_t));
event->def = malloc(sizeof(eventdef_t));
event->buf = NULL;
/* define the header */
header->def->nchans = nchans;
header->def->nsamples = 0;
header->def->nevents = 0;
header->def->fsample = fsample;
header->def->data_type = DATATYPE_EMOKIT;
header->def->bufsize = 0;
FREE(header->buf);
//-------------------------------------------------------------------------------
/* define the stuff for the channel names */
/* compute the size of the channel names set */
channamesize=0;
for( i=0; i<nchans; i++){
for ( j=0; labels[i][j]!='\0'; j++); j++;
channamesize+=j;
}
/* allocate the memory for the channel names, and copy them into
it */
labelsbuf = malloc(WORDSIZE_CHAR*channamesize);
k=0;
for( i=0; i<nchans; i++){
for ( j=0; labels[i][j]!='\0'; j++,k++) {
labelsbuf[k]=labels[i][j];
}
labelsbuf[k]=labels[i][j]; k++;
}
chunkdef.type = FT_CHUNK_CHANNEL_NAMES;
chunkdef.size = k;
// add this info to the header buffer
header->def->bufsize = append(&header->buf, header->def->bufsize, &chunkdef, sizeof(ft_chunkdef_t));
header->def->bufsize = append(&header->buf, header->def->bufsize, labelsbuf, chunkdef.size);
//-------------------------------------------------------------------------------
/* initialization phase, send the header */
request->def->command = PUT_HDR;
request->def->bufsize = append(&request->buf, request->def->bufsize, header->def, sizeof(headerdef_t));
request->def->bufsize = append(&request->buf, request->def->bufsize, header->buf, header->def->bufsize);
server = open_connection(host.name, host.port);
status = tcprequest(server, request, &response);
if (verbose>0) fprintf(stderr, "emokit2ft: clientrequest returned %d\n", status);
if (status) {
fprintf(stderr, "emokit2ft: put header error\n");
exit(1);
}
free(request->def);
free(request);
FREE(response->buf);
if (response->def->command != PUT_OK) {
fprintf(stderr, "emokit2ft: error in 'put header' request.\n");
exit(1);
}
free(response->def);
free(response);
/* add a small pause between writing header + first data block */
usleep(200000);
//-------------------------------------------------------------------------------
/* define the constant part of the data and allocate space for the variable part */
data->def->nchans = nchans;
data->def->nsamples = blocksize;
data->def->data_type = DATATYPE_EMOKIT;
data->def->bufsize = WORDSIZE_EMOKIT * nchans * blocksize;
FREE(data->buf);
databuf = malloc(WORDSIZE_EMOKIT*nchans*blocksize);
data->buf = databuf;
//-------------------------------------------------------------------------------
// Loop sending the data in blocks as it becomes available
while (1) {
//-------------------------------------------------------------------------------
for ( si=0; si<blocksize; si++){ // get a block's worth of samples
sample++;
// wait until new data to get, 4 milliSec N.B. inter-sample ~= 8 milliSec
while( emokit_read_data(d)<=0 ) { usleep(4000); }
/* get the new data */
c = emokit_get_next_frame(d);
if ( verbose>0 ) {
printf("%5d) %5d\t%5d\t%5d\t%5d\t%5d\t%5d\n", sample, c.counter, c.gyroX, c.gyroY, c.F3, c.FC6, c.P7);
fflush(stdout);
}
// copy the samples into the data buffer, in the order we
// *said* they should be
databuf[(si*nchans)+0] =c.counter;
databuf[(si*nchans)+1] =c.AF3 - eeg_zero_offset;
databuf[(si*nchans)+2] =c.F7 - eeg_zero_offset;
databuf[(si*nchans)+3] =c.F3 - eeg_zero_offset;
databuf[(si*nchans)+4] =c.FC5 - eeg_zero_offset;
databuf[(si*nchans)+5] =c.T7 - eeg_zero_offset;
databuf[(si*nchans)+6] =c.P7 - eeg_zero_offset;
databuf[(si*nchans)+7] =c.O1 - eeg_zero_offset;
databuf[(si*nchans)+8] =c.O2 - eeg_zero_offset;
databuf[(si*nchans)+9] =c.P8 - eeg_zero_offset;
databuf[(si*nchans)+10]=c.T8 - eeg_zero_offset;
databuf[(si*nchans)+11]=c.FC6 - eeg_zero_offset;
databuf[(si*nchans)+12]=c.F4 - eeg_zero_offset;
databuf[(si*nchans)+13]=c.F8 - eeg_zero_offset;
databuf[(si*nchans)+14]=c.AF4 - eeg_zero_offset;
databuf[(si*nchans)+15]=c.gyroX;
databuf[(si*nchans)+16]=c.gyroY;
}
//-------------------------------------------------------------------------------
/* create the request */
/* TODO: re-use the request structures rather than re-allocating
every time */
request = malloc(sizeof(message_t));
request->def = malloc(sizeof(messagedef_t));
request->buf = NULL;
request->def->version = VERSION;
request->def->command = PUT_DAT;
request->def->bufsize = 0;
request->def->bufsize = append(&request->buf, request->def->bufsize, data->def, sizeof(datadef_t));
request->def->bufsize = append(&request->buf, request->def->bufsize, data->buf, data->def->bufsize);
status = tcprequest(server, request, &response);
if (verbose>0) fprintf(stderr, "emokit2ft: clientrequest returned %d\n", status);
if (status) {
fprintf(stderr, "emokit2ft: err3\n");
exit(1);
}
cleanup_message((void**)&request);
if (response == NULL || response->def == NULL || response->def->command!=PUT_OK) {
fprintf(stderr, "Error when writing samples.\n");
}
cleanup_message((void**)&response);
} /* while(1) */
// free all the stuff we've allocated
free(labelsbuf);
free(databuf);
cleanup_message((void**)&header);
cleanup_message((void**)&event);
cleanup_message((void**)&data);
}
int main(int argc, char **argv) {
SerialPort SP;
int ftBuffer = -1;
eventdef_t *evdef;
UINT32_T sizetype, sizevalue, bufsize;
char *valBuf;
messagedef_t reqdef;
message_t request, *response;
char *confname;
if (argc < 2) {
confname = "serial_event.conf";
} else {
confname = argv[1];
}
if (parseConfig(&conf, confname) != 0) {
printf("Errors during parsing the configuration file\n");
exit(1);
}
sizetype = wordsize_from_type(conf.type_type) * conf.type_numel;
sizevalue = wordsize_from_type(conf.value_type) * conf.value_numel;
bufsize = sizeof(eventdef_t) + sizetype + sizevalue;
evdef = (eventdef_t *) malloc(bufsize);
if (evdef == NULL) {
printf("Out of memory\n");
exit(1);
}
/* prepare fixed fields */
reqdef.version = VERSION;
reqdef.bufsize = bufsize;
reqdef.command = PUT_EVT;
request.def = &reqdef;
request.buf = evdef;
evdef->offset = conf.offset;
evdef->duration = conf.duration;
evdef->type_type = conf.type_type;
evdef->type_numel = conf.type_numel;
evdef->value_type = conf.value_type;
evdef->value_numel = conf.value_numel;
evdef->bufsize = sizetype + sizevalue;
valBuf = (char *) evdef + sizeof(eventdef_t);
memcpy(valBuf, conf.type_buf, sizetype);
valBuf += sizetype;
memcpy(valBuf, conf.value_buf, sizevalue);
if (!serialOpenByName(&SP, conf.comport)) {
printf("Could not open serial port.\n");
exit(1);
}
/* timeout = 1 decisecond (least common denominator) = 100 ms */
if (!serialSetParameters(&SP, conf.baudrate, conf.databits, conf.parity, conf.stopbits, 1)) {
printf("Could not modify serial port parameters\n");
exit(1);
}
ftBuffer = open_connection(conf.hostname, conf.port);
if (ftBuffer < 0) {
printf("Connection to FieldTrip buffer failed.\n");
exit(1);
}
sample = conf.sample_start;
udp_socket = create_udp_receiver(conf.udp_port);
if (udp_socket != -1) {
if (pthread_create(&udpThread, NULL, _udp_thread, NULL)) {
printf("Warning: UDP socket thread could not be spawned.\n");
closesocket(udp_socket);
udp_socket = -1;
}
}
/* register CTRL-C handler */
signal(SIGINT, abortHandler);
printf("Starting to listen - press CTRL-C to quit\n");
while (keepRunning) {
char input;
int n;
n = serialRead(&SP, 1, &input);
if (n<0) {
printf("Error while reading from serial port - exiting\n");
break;
}
if (n==0) continue; /* timeout - just wait longer */
/* we got one */
if (conf.character != -1 && conf.character != input) {
printf("Ignoring input %c\n", input);
continue;
}
if (conf.set_value) *valBuf = input;
pthread_mutex_lock(&sampleMutex);
evdef->sample = sample;
pthread_mutex_unlock(&sampleMutex);
if (evdef->sample < 0) {
printf("Ignoring negative sample (%i) event...\n", evdef->sample);
} else {
n = tcprequest(ftBuffer, &request, &response);
if (n<0 || response == NULL) {
printf("Error in FieldTrip connection\n");
} else {
if (response->def == NULL || response->def->command != PUT_OK) {
printf("FieldTrip server returned an error\n");
} else {
printf("Sent off event (sample = %i, input = %c)\n", evdef->sample, input);
}
FREE(response->def);
FREE(response->buf);
free(response);
}
}
pthread_mutex_lock(&sampleMutex);
sample += conf.sample_increase;
pthread_mutex_unlock(&sampleMutex);
}
if (udp_socket!=-1) {
pthread_join(udpThread, NULL);
closesocket(udp_socket);
}
close_connection(ftBuffer);
serialClose(&SP);
free(evdef);
return 0;
}
int main(int argc, char *argv[]) {
struct emokit_device* d;
struct emokit_frame c;
int32_t i, j, k, nsamp = 0, nblk=0, si=0, status = 0, verbose = 1;
int32_t putdatrequestsize=0;
long int elapsedusec=0, printtime=0;
struct timeval starttime, curtime;
host_t buffhost;
/* these represent the acquisition system properties */
int nchans = NCHANS;
int fsample = FSAMPLE;
int blocksize = roundf(fsample/((float)BUFFRATE));
int channamesize = 0;
char *labelsbuf = NULL;
/* these are used in the communication and represent statefull information */
int serverfd = -1;
message_t request;
char *requestbuf = NULL;
data_t data;
emokit_samp_t *samples=NULL;
message_t *response = NULL;
messagedef_t responsedef;
header_t header;
ft_chunkdef_t chunkdef; // for holding the channel names
if ( argc==1 ) usage();
if ( argc>1 && (strcmp(argv[1],"-help")==0 || strcmp(argv[1],"-h")==0) ) {
usage();
sig_handler(0);
}
if (argc>1) {
char *fname=argv[1];
int ci=0;
/* find the which splits the host and port info */
for (ci=0; fname[ci]!=0; ci++) {
if ( fname[ci]==':' ) { /* parse the port info */
buffhost.port=atoi(&(fname[ci+1]));
break;
}
}
memcpy(buffhost.name,fname,ci);
buffhost.name[ci]=0; /* copy hostname out and null-terminate */
}
else {
sprintf(buffhost.name, "%s", DEFAULT_HOSTNAME);
buffhost.port = DEFAULT_PORT;
}
if (verbose>0) fprintf(stderr, "emokit2ft: buffer = %s:%d\n", buffhost.name,buffhost.port);
if ( argc>2 ) {
BUFFRATE = atoi(argv[2]);
blocksize = (int)(roundf(fsample/((float)BUFFRATE)));
}
if (verbose>0) fprintf(stderr, "emokit2ft: BUFFRATE = %d\n", BUFFRATE);
if (verbose>0) fprintf(stderr, "emokit2ft: blocksize = %d\n", blocksize);
//-------------------------------------------------------------------------------
// open the emotive device
d = emokit_create();
k = emokit_get_count(d, EMOKIT_VID, EMOKIT_PID);
printf("Current epoc devices connected: %d\n", k);
status=-1;
if ( k>0 ) {
for ( i=k-1; i>=0 & i<k; i--) {
status = emokit_open(d, EMOKIT_VID, EMOKIT_PID, i);
if(status == 0 ) {
printf("Connected : %d:%d\n",i,status);
break;
} else {
printf("CANNOT CONNECT: %d:%d\n", i,status);
}
}
}
if ( status != 0 ) {
printf("Could not connect to any device\nDo you have permission to read from : /dev/hidrawX\nsee https://github.com/openyou/emokit/issues/89\n");
return 1;
}
//-------------------------------------------------------------------------------
/* allocate the elements that will be used in the buffer communication */
request.def = malloc(sizeof(messagedef_t));
request.buf = NULL;
request.def->version = VERSION;
request.def->bufsize = 0;
header.def = malloc(sizeof(headerdef_t));
header.buf = NULL; /* header buf contains the channel names */
//header.buf = labels;
/* define the header */
header.def->nchans = nchans;
header.def->nsamples = 0;
header.def->nevents = 0;
header.def->fsample = fsample;
header.def->data_type = DATATYPE_EMOKIT;
header.def->bufsize = 0;
//-------------------------------------------------------------------------------
/* define the stuff for the channel names */
/* compute the size of the channel names set */
channamesize=0;
for( i=0; i<nchans; i++) {
for ( j=0; labels[i][j]!='\0'; j++);
j++;
channamesize+=j;
}
/* allocate the memory for the channel names, and copy them into
it */
labelsbuf = malloc(WORDSIZE_CHAR*channamesize);
k=0;
for( i=0; i<nchans; i++) {
for ( j=0; labels[i][j]!='\0'; j++,k++) {
labelsbuf[k]=labels[i][j];
}
labelsbuf[k]=labels[i][j];
k++;
}
chunkdef.type = FT_CHUNK_CHANNEL_NAMES;
chunkdef.size = k;
// add this info to the header buffer
header.def->bufsize = append(&header.buf, header.def->bufsize, &chunkdef, sizeof(ft_chunkdef_t));
header.def->bufsize = append(&header.buf, header.def->bufsize, labelsbuf, chunkdef.size);
//-------------------------------------------------------------------------------
/* initialization phase, send the header */
request.def->command = PUT_HDR;
request.def->bufsize = append(&request.buf, request.def->bufsize, header.def, sizeof(headerdef_t));
request.def->bufsize = append(&request.buf, request.def->bufsize, header.buf, header.def->bufsize);
fprintf(stderr,"emokit2ft: Attempting to open connection to buffer....");
while ( (serverfd = open_connection(buffhost.name,buffhost.port)) < 0 ) {
fprintf(stderr, "emokit2ft; failed to create socket. waiting\n");
usleep(1000000);/* sleep for 1second and retry */
}
fprintf(stderr,"done.\nSending header...");
status = tcprequest(serverfd, &request, &response);
if (status) {
fprintf(stderr, "emokit2ft: put header error = %d\n",status);
sig_handler(-1);
}
fprintf(stderr, "done\n");
free(request.buf);
free(request.def);
if (response->def->command != PUT_OK) {
fprintf(stderr, "emokit2ft: error in 'put header' request.\n");
sig_handler(-1);
}
FREE(response->buf);
free(response->def);
free(response);
/* add a small pause between writing header + first data block */
usleep(200000);
//-------------------------------------------------------------------------------
/* allocate space for the putdata request as 1 block, this contains
[ request_def data_def data ] */
putdatrequestsize = sizeof(messagedef_t) + sizeof(datadef_t) + WORDSIZE_EMOKIT*nchans*blocksize;
requestbuf = malloc(putdatrequestsize);
/* define the constant part of the send-data request and allocate space for the variable part */
request.def = requestbuf ;
request.buf = request.def + 1; /* N.B. cool pointer arithemetic trick for above! */
request.def->version = VERSION;
request.def->command = PUT_DAT;
request.def->bufsize = putdatrequestsize - sizeof(messagedef_t);
/* setup the data part of the message */
data.def = request.buf;
data.buf = data.def + 1; /* N.B. cool pointer arithemetic trick for above */
samples = data.buf; /* version with correct type */
/* define the constant part of the data */
data.def->nchans = nchans;
data.def->nsamples = blocksize;
data.def->data_type = DATATYPE_EMOKIT;
data.def->bufsize = WORDSIZE_EMOKIT * nchans * blocksize;
//-------------------------------------------------------------------------------
// Loop sending the data in blocks as it becomes available
gettimeofday(&starttime,NULL); /* get time we started to compute delay before next sample */
while (1) {
//-------------------------------------------------------------------------------
for ( si=0; si<blocksize; si++) { // get a block's worth of samples
// wait until new data to get, 4 milliSec N.B. inter-sample ~= 8 milliSec
while( emokit_read_data(d)<=0 ) {
usleep(2000);
}
/* get the new data */
c = emokit_get_next_frame(d);
if ( verbose>1 ) {
printf("%5d) %5d\t%5d\t%5d\t%5d\t%5d\t%5d\n", nsamp, c.counter, c.gyroX, c.gyroY, c.F3, c.FC6, c.P7);
fflush(stdout);
}
// copy the samples into the data buffer, in the order we
// *said* they should be
samples[(si*nchans)+0] =c.counter;
samples[(si*nchans)+1] =(c.AF3 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+2] =(c.F7 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+3] =(c.F3 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+4] =(c.FC5 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+5] =(c.T7 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+6] =(c.P7 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+7] =(c.O1 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+8] =(c.O2 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+9] =(c.P8 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+10]=(c.T8 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+11]=(c.FC6 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+12]=(c.F4 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+13]=(c.F8 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+14]=(c.AF4 - eeg_zero_offset)*eeg_scale;
samples[(si*nchans)+15]=c.gyroX;
samples[(si*nchans)+16]=c.gyroY;
nsamp+=1;/*nsamp; */
}
//-------------------------------------------------------------------------------
/* send the data to the buffer */
/* 0. If send data already read response to previous put-data */
if ( nblk > 0 ) {
if ( readresponse(serverfd,&responsedef) !=0 ||
responsedef.command != PUT_OK ) {
fprintf(stderr,"emokit2ft: Error writing samples.\n");
}
}
/* 1. Send the new data, but don't wait for a response */
if ((k = bufwrite(serverfd, request.def, putdatrequestsize)) != putdatrequestsize) {
fprintf(stderr, "write size = %d, should be %d\n", k, putdatrequestsize);
sig_handler(-1);
}
/* do some logging */
gettimeofday(&curtime,NULL);
elapsedusec=(curtime.tv_usec + 1000000 * curtime.tv_sec) - (starttime.tv_usec + 1000000 * starttime.tv_sec);
if ( elapsedusec / 1000000 >= printtime ) {
fprintf(stderr,"%d %d %d %f (blk,samp,event,sec)\r",nblk,nsamp,0,elapsedusec/1000000.0);
printtime+=10;
}
nblk+=1;
} /* while(1) */
// free all the stuff we've allocated
free(labelsbuf);
free(requestbuf);
}
