void procUdpMsg(const char* logicName, const int fd, const char* recvbuf, const int recvlen, void* from)
{
char sendbuf[1024] = {0};
int sendlen = 0, len = 0;
sprintf(sendbuf, "recv <%d> bytes from u.", recvlen);
sendlen = strlen(sendbuf);
printf("recv: [%s]\n", recvbuf);
len = sizeof(struct sockaddr);
commSend(fd, sendbuf, &sendlen, from);
}
void commRevTask(void)
{
u8 i,temp;
if( fgReceived )
{
u8commStatus = 0;
for(i=0,temp=0;i<(TOTAL_RX_BYTE-1);i++) temp += RxBuf[i];
if( (temp == RxBuf[TOTAL_RX_BYTE-1]) && (RxBuf[0] == 0x5a) )
{
GetMainBoardInfo();
delay(30);
commSend();
}
else
{
GPIO_Init(TxRxPort, RX, GPIO_MODE_IN_PU_IT); //开接收中断
}
}
}
/* Periodic Callback Function */
void checkEvent(const struct timeval curTimeval)
{
char* data = "hallo world!\n";
char recvdata[1024] = {0};
int datalen = strlen(data);
int sum;
int* pFd = NULL;
commGetAliveLinks("Udp-2", &sum, &pFd);
if(pFd && (*pFd > 0)) {
commSend(*pFd, data, &datalen, NULL);
DEBUGINFO("send <%d> bytes~", datalen);
}
#ifdef WIN32
Sleep(2000);
#else
sleep(2);
#endif
return;
}
int txFrame(int sock, const struct sockaddr_in* destination, int width, int height, txState_t* state, const char* frameBuffer)
{
if(!frameBuffer) return -1;
// calculate some values that will be needed later on
size_t frameBufferSize = width * height; // size in bytes of the grayscale framebuffer
if(FIRST_RUN){
STR_MTU = frameBufferSize;
while(STR_MTU > 6000){
STR_MTU >>= 1;
}
FIRST_RUN = 0;
}
int regions = frameBufferSize / STR_MTU; // number of chunks that the framebuffer will be split up into
size_t regionBytes = frameBufferSize / regions; // bytes in each chunk
int regionHeight = height / regions; // height in pixels of each region
#ifdef CMP_DEBUG
printf("Frame: %zu(B)\nRegions: %d\nRegion height: %d\n",
frameBufferSize,
regions,
regionHeight
);
#endif
// for each region, compress, and send
for(int i = regions; i--;){
frameHeader_t header = vidCompressFrame(
width, height,
frameBuffer + (i * regionBytes),
regionBytes,
TX_BUF + sizeof(frameHeader_t),
STR_MTU - sizeof(frameHeader_t) // account for the header
);
#ifdef CMP_DEBUG
printf("Compressed region %d\n", i);
#endif
// update the region information
header.region.x = 0;
header.region.y = regionHeight * i;
header.region.w = width;
header.region.h = regionHeight;
// now that we have a header, copy it into the start of the txBuf
((frameHeader_t*)TX_BUF)[0] = header;
#ifdef CMP_DEBUG
printf("Region: (%d, %d) - (%d, %d)\n", header.region.x, header.region.y, header.region.w, header.region.h);
#endif
commSend(MSG_VIDEO, NULL, 0, (struct sockaddr_in*)destination);
int res = sendto(
sock,
TX_BUF,
sizeof(frameHeader_t),
0,
(struct sockaddr*)destination,
sizeof(*destination)
);
res = sendto(
sock,
TX_BUF + sizeof(frameHeader_t),
header.bytes,
0,
(struct sockaddr*)destination,
sizeof(*destination)
);
#ifdef CMP_DEBUG
printf("Transmission res %d (errno %d)\n", res, errno);
#endif
// transmission failed, and we know it was because the
// chunk was too damn big
if(res < 0 && errno == 40){
errno = 0; // reset
STR_MTU >>= 1;
return -2;
}
}
