static int bail = 0;
static void sigdie(int signum) {
bail = signum;
}
int main(int argc __attribute__((unused)),
char **argv __attribute__((unused))) {
zsock_print = NULL;
struct sched_param param;
set_priority(¶m, 30);
stack_prefault();
int err = serial_port_setup();
if (err != UART_ERR_NONE)
printf("Error setting up UART \n");
setbuf(stdin, NULL);
/* Confignals. */
if (signal(SIGINT, &sigdie) == SIG_IGN)
signal(SIGINT, SIG_IGN);
if (signal(SIGTERM, &sigdie) == SIG_IGN)
signal(SIGTERM, SIG_IGN);
if (signal(SIGHUP, &sigdie) == SIG_IGN)
signal(SIGHUP, SIG_IGN);
if (signal(SIGABRT, &sigdie) == SIG_IGN)
signal(SIGABRT, SIG_IGN);
/* ZMQ setup first. */
int main(int argc, char *argv[]){
write_uart_error_ptr = &write_uart_error; //initialize the function pointer to write error
write_udp_error_ptr = &write_udp_error;
write_decode_error_ptr = &write_decode_error;
write_log_error_ptr = &write_log_error;
//parse arguments
if(argc == 4){
//first argument is always name of program or empty string
connection.server_ip=argv[1];
connection.port_number_lisa_to_pc=atoi(argv[2]);
connection.port_number_pc_to_lisa=atoi(argv[3]);
}else{
printf("wrong parameters: server ip - send port number - receive port number\n");
exit(EXIT_FAILURE);
}
//init log (mount sd card if necessary)
int err = init_log();
LOG_err_handler(err,write_log_error_ptr);
if(err != LOG_ERR_NONE){
exit(EXIT_FAILURE); //mounting SD card failed
}
enable_ptp();
#if LOGGING > 0
//init circular data log buffers
cbInit(cb_read_lisa, CBSIZE);
cbInit(cb_write_lisa, CBSIZE);
cbInit(cb_read_ground, CBSIZE);
cbInit(cb_write_ground, CBSIZE);
#endif
err = serial_port_setup();
UART_err_handler(err,write_uart_error_ptr);
if(err != UART_ERR_NONE){
exit(EXIT_FAILURE);
}
//thread variables
pthread_t thread_lisa_to_pc,thread_data_logging_lisa,thread_data_logging_ground;
//create a second thread which executes lisa_to_pc
if(pthread_create(&thread_lisa_to_pc, NULL, lisa_to_pc,NULL)) {
error_write(FILENAME,"error creating lisa thread");
exit(EXIT_FAILURE);
}
#if LOGGING > 0
//create a third thread which executes data_logging_lisa
if(pthread_create(&thread_data_logging_lisa, NULL, data_logging_lisa,NULL)) {
error_write(FILENAME,"error creating lisa logging thread");
exit(EXIT_FAILURE);
}
//create a fourth thread which executes data_logging_groundstation
if(pthread_create(&thread_data_logging_ground, NULL, data_logging_groundstation,NULL)) {
error_write(FILENAME,"error creating groundstation logging thread");
exit(EXIT_FAILURE);
}
#endif
/*-------------------------START OF FIRST THREAD: PC TO LISA------------------------*/
static UDP udp_server;
uint8_t input_stream[OUTPUT_BUFFER];
ElemType cb_elem = {0};
//init the data decode pointers
init_decoding();
UDP_err_handler(openUDPServerSocket(&udp_server,connection.port_number_pc_to_lisa,UDP_SOCKET_TIMEOUT),write_udp_error_ptr);
while(1){
//1. retreive UDP data form PC from ethernet port.
err=receiveUDPServerData(&udp_server,(void *)&input_stream,sizeof(input_stream)); //blocking !!!
UDP_err_handler(err,write_udp_error_ptr);
if(err==UDP_ERR_NONE){
#if LOGGING > 0
if(!cbIsFull(cb_write_ground)){
memcpy (&cb_elem.value, &input_stream, sizeof(input_stream));
cbWrite(cb_write_ground, &cb_elem);
}else{
if(reading_flag_ground==0){
switch_cb_ground_pointers();
}else{
printf("GROUND WRITE WAS NOT READY \n");
}
}
#endif
int new_length = strip_timestamp(input_stream); //lisa expects a package without a timestamp
UART_err_handler(serial_port_write(input_stream,new_length),write_uart_error_ptr);
}
}
UART_err_handler(serial_port_close(),write_uart_error_ptr);
UDP_err_handler(closeUDPServerSocket(&udp_server),write_udp_error_ptr);
/*------------------------END OF FIRST THREAD------------------------*/
//wait for the second thread to finish
if(pthread_join(thread_lisa_to_pc, NULL)) {
error_write(FILENAME,"error joining thread_lisa_to_pc");
}
#if LOGGING > 0
//wait for the third thread to finish
if(pthread_join(thread_data_logging_lisa, NULL)) {
error_write(FILENAME,"error joining thread_data_logging_lisa");
}
//wait for the fourth thread to finish
if(pthread_join(thread_data_logging_ground, NULL)) {
error_write(FILENAME,"error joining thread_data_logging_ground");
}
//free circular buffers
cbFree(cb_read_lisa);
cbFree(cb_write_lisa);
cbFree(cb_read_ground);
cbFree(cb_write_ground);
#endif
return 0;
}
