int sensor_data_proc(int msg, DIALOG *d, int c)
{
int ret;
int reset = FALSE;
ret = nostretch_icon_proc(msg, d, c); // call the parent object
if (msg == MSG_GOTMOUSE) // if we got mouse, display description
sprintf(button_description, "Display current sensor data (RPM, Engine Load, Coolant Temperature, Speed, etc.)");
if (ret == D_CLOSE) // trap the close value
{
if (comport.status != READY)
{
reset = TRUE;
if (open_comport() != 0)
{
comport.status = NOT_OPEN; // reset comport status
while (comport.status == NOT_OPEN)
{
if (alert("COM Port could not be opened.", "Please check that port settings are correct", "and that no other application is using it", "&Configure Port", "&Ignore", 'c', 'i') == 1)
display_options();
else
comport.status = USER_IGNORED;
}
}
else
comport.status = READY;
}
display_sensor_dialog(reset); // display sensor data dialog
strcpy(button_description, welcome_message);
return D_REDRAW;
}
return ret; // return
}
main()
{
int c,res;
if (open_comport(1))
{
/* loop while waiting for input. normally we would do something
useful here */
while (stop == FALSE)
{
printf(".\n");usleep(100000);
/* after receiving SIGIO, wait_flag = FALSE, input is available
and can be read */
if (wait_flag==FALSE)
{
res = read(fd,buf,255);
buf[res]=0;
printf(":%s:%d\n", buf, res);
if (res==1)
{
stop = TRUE; /* stop loop if only a CR was input */
}
wait_flag = TRUE; /* wait for new input */
}
}
}
}
int main(int argc, char *argv[])
{
int policy;
struct sched_param param;
pthread_attr_t attr;
char buffer[1024];
int err;
dprintf("init\n");
if(argc != 2) {
perr(AR_ERR_BAD_INIT_PARAM);
printf("Useage: %s INSTANCE\n", AR_MODULE_NAME);
return(AR_ERR_BAD_INIT_PARAM);
}
memset(&config, 0, sizeof(config));
erret(init_config(AR_MODULE_NAME, atoi(argv[1]), &config.base));
erret(read_config_int(config.base.name, "PRIORITY", &config.priority));
erret(read_config_int(config.base.name, "PRIORITY_DGPS_CORR_DATA", &config.priority_dgps_corr_data));
erret(read_config_string(config.base.name, "DEVICE", config.ser_device, sizeof(config.ser_device)));
err = read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_IN_GPS_CORR", &config.queue_corr_data);
if(err != 0) {
erret(read_config_string(config.base.name, "DEVICE_CORR_DATA_READ", config.ser_device_corr_data_read, sizeof(config.ser_device_corr_data_read)));
// fprintf(stderr, "DGPS correction data from ser. device <%s>\n", config.ser_device_corr_data_read);
} else {
// fprintf(stderr, "DGPS correction data from queue <%d>\n", config.queue_corr_data);
}
memset(buffer, 0, sizeof(buffer));
config.corr_mode = -1;
erret(read_config_string(config.base.name, "CORRECTION_MODE", buffer, sizeof(buffer)));
if(strnicmp(buffer, "RTCA", strlen("RTCA")) == 0) {
config.corr_mode = OEM4_RTCA_MODE;
} else if(strnicmp(buffer, "RTCM", strlen("RTCM")) == 0) {
config.corr_mode = OEM4_RTCM_MODE;
} else {
perrs(AR_ERR_BAD_INIT_PARAM, "Correction data mode not specified (RTCA | RTCM).");
// return(AR_ERR_BAD_INIT_PARAM);
}
erret(read_config_int_tab(config.base.name, "SHM_INDEX", "SHM_OUT_GPS_POS", &config.ishm_pos_out));
erret(read_config_int_tab(config.base.name, "SHM_INDEX", "SHM_OUT_GPS_VEL", &config.ishm_vel_out));
if(read_config_int(config.base.name, "UTC_OFFSET", &config.utc_offset)) {
config.utc_offset = 15;
}
erret(SHM_Init());
erret(SHM_InitSlot(config.ishm_pos_out, sizeof(gps_pos_novatel_t)));
erret(SHM_InitSlot(config.ishm_vel_out, sizeof(gps_vel_novatel_t)));
if(config.queue_corr_data != 0) {
erret(Q_Init());
erret(Q_InitSlot(config.queue_corr_data, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 1));
} else if (strlen(config.ser_device_corr_data_read)>0){
erret(open_comport(&fd_corr_data_read, config.ser_device_corr_data_read, O_RDWR, 115200));
}
erret(open_comport(&fd, config.ser_device, O_RDWR, 57600));
if(0){
struct termios termios_p;
if(tcgetattr(fd, &termios_p)==0) {
termios_p.c_cc[VTIME] = 1; // 2*0.1s = 0.2s
termios_p.c_cc[VMIN] = 0;
tcsetattr(fd, TCSADRAIN, &termios_p);
} else fprintf(stderr, "failed to set read timeout\n");
}
//create thread for reading and writing of the correction data:
ifret(pthread_getschedparam(pthread_self(), &policy, ¶m), AR_ERR_SYS_RESOURCES);
param.sched_priority = config.priority_dgps_corr_data;
pthread_attr_init( &attr );
ifret(pthread_attr_setschedparam(&attr, ¶m), AR_ERR_SYS_RESOURCES);
ifret(pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED), AR_ERR_SYS_RESOURCES);
ifret(pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED), AR_ERR_SYS_RESOURCES);
if(config.corr_mode == OEM4_RTCA_MODE) {
ifret(write(fd, OEM4_INIT_ROVER_RTCA, strlen(OEM4_INIT_ROVER_RTCA))==-1, AR_ERR_IO_ERROR);
ifret(pthread_create(&pthreads[0], &attr, &corr_data_thread_func, NULL), AR_ERR_SYS_RESOURCES);
} else if(config.corr_mode == OEM4_RTCM_MODE) {
ifret(write(fd, OEM4_INIT_ROVER_RTCM, strlen(OEM4_INIT_ROVER_RTCM))==-1, AR_ERR_IO_ERROR);
ifret(pthread_create(&pthreads[0], &attr, &corr_data_thread_func, NULL), AR_ERR_SYS_RESOURCES);
} else
{
ifret(write(fd, OEM4_INIT_ROVER_COM1, strlen(OEM4_INIT_ROVER_COM1))==-1, AR_ERR_IO_ERROR);
printf("running without differential data\n");
}
ifret(pthread_getschedparam(pthread_self(), &policy, ¶m), AR_ERR_SYS_RESOURCES);
param.sched_priority = config.priority;
ifret(pthread_setschedparam(pthread_self(), policy, ¶m), AR_ERR_SYS_RESOURCES);
while(1) {
errp(read_data());
}
return 0;
}
int save_options_proc(int msg, DIALOG *d, int c)
{
int ret;
int old_baud_rate;
BITMAP *bmp;
FILE *file;
ret = d_button_proc(msg, d, c);
if (ret == D_CLOSE)
{
old_baud_rate = comport.baud_rate;
broadcast_dialog_message(MSG_SAVE_OPTIONS, 0);
if (comport.baud_rate != old_baud_rate)
{
if (alert("WARNING!", "This operation may cause scan tool to stop responding.", "Are you sure you want to change the baud rate?", "Yes", "No", 0, 0) != 1)
{
comport.baud_rate = old_baud_rate;
broadcast_dialog_message(MSG_REFRESH, 0);
return D_O_K;
}
}
close_comport(); // close current comport
open_comport(); // try reinitializing comport (comport.status will be set)
if ((!(display_mode & WINDOWED_MODE) && (display_mode & WINDOWED_MODE_SET)) || ((display_mode & WINDOWED_MODE) && !(display_mode & WINDOWED_MODE_SET)))
{
bmp = create_bitmap(SCREEN_W, SCREEN_H);
if (bmp)
{
scare_mouse();
blit(screen, bmp, 0, 0, 0, 0, SCREEN_W, SCREEN_H);
unscare_mouse();
if (display_mode & WINDOWED_MODE)
{
if (set_gfx_mode(GFX_AUTODETECT_WINDOWED, 640, 480, 0, 0) == 0)
display_mode |= WINDOWED_MODE_SET;
else
display_mode &= ~WINDOWED_MODE_SUPPORTED;
}
else
{
if (set_gfx_mode(GFX_AUTODETECT_FULLSCREEN, 640, 480, 0, 0) == 0)
display_mode &= ~WINDOWED_MODE_SET;
else
display_mode &= ~FULLSCREEN_MODE_SUPPORTED;
}
set_pallete(datafile[MAIN_PALETTE].dat);
gui_fg_color = C_BLACK; // set the foreground color
gui_bg_color = C_WHITE; // set the background color
gui_mg_color = C_GRAY; // set the disabled color
set_mouse_sprite(NULL); // make mouse use current palette
blit(bmp, screen, 0, 0, 0, 0, SCREEN_W, SCREEN_H);
show_mouse(screen);
destroy_bitmap(bmp);
}
else
alert("Error switching display modes.", "Not enough memory to save screen.", NULL, "OK", NULL, 0, 0);
}
file = fopen(options_file_name, "a");
if (file == NULL)
alert("Options could not be saved, because file", options_file_name, "could not be open for writing", "OK", NULL, 0, 0);
else
{
fclose(file);
save_program_options();
}
}
return ret;
}
static void init()
{
char temp_buf[256];
is_not_genuine_scan_tool = FALSE;
/* initialize some varaibles with default values */
strcpy(options_file_name, "scantool.cfg");
strcpy(data_file_name, "scantool.dat");
strcpy(code_defs_file_name, "codes.dat");
datafile = NULL;
comport.status = NOT_OPEN;
display_mode = 0;
set_uformat(U_ASCII);
/* initialize hardware */
write_log("\nInitializing Allegro... ");
allegro_init();
write_log("OK");
set_window_title(WINDOW_TITLE);
write_log("\nInstalling Timers... ");
if (install_timer() != 0)
{
write_log("Error!");
fatal_error("Error installing timers");
}
write_log("OK");
write_log("\nInstalling Keyboard... ");
install_keyboard();
write_log("OK");
write_log("\nInstalling Mouse... ");
install_mouse();
write_log("OK");
/* load options from file, the defaults will be automatically substituted if file does not exist */
write_log("\nLoading Preferences... ");
set_config_file(options_file_name);
/* if config file doesn't exist or is of an incorrect version */
if (strcmp(get_config_string(NULL, "version", ""), SCANTOOL_VERSION_STR) != 0)
{
/* update config file */
remove(options_file_name);
set_config_file(options_file_name);
set_config_string(NULL, "version", SCANTOOL_VERSION_STR);
load_program_options(); // Load defaults
save_program_options();
}
else
load_program_options();
write_log("OK");
display_mode |= FULLSCREEN_MODE_SUPPORTED;
write_log("\nTrying Windowed Graphics Mode... ");
if (set_gfx_mode(GFX_AUTODETECT_WINDOWED, 640, 480, 0, 0) == 0)
{
display_mode |= WINDOWED_MODE_SUPPORTED;
write_log("OK");
}
else
{
display_mode &= ~(WINDOWED_MODE_SUPPORTED | WINDOWED_MODE_SET);
write_log(allegro_error);
}
if (!(display_mode & WINDOWED_MODE_SET))
{
write_log("\nTrying Full Screen Graphics Mode... ");
if (set_gfx_mode(GFX_AUTODETECT_FULLSCREEN, 640, 480, 0, 0) == 0)
{
display_mode |= FULLSCREEN_MODE_SUPPORTED;
write_log("OK");
}
else
{
display_mode &= ~FULLSCREEN_MODE_SUPPORTED;
write_log(allegro_error);
}
}
if (!(display_mode & (FULLSCREEN_MODE_SUPPORTED | WINDOWED_MODE_SUPPORTED)))
fatal_error(allegro_error);
else if ((display_mode & WINDOWED_MODE_SUPPORTED) && !(display_mode & FULLSCREEN_MODE_SUPPORTED))
{
set_gfx_mode(GFX_AUTODETECT_WINDOWED, 640, 480, 0, 0);
display_mode &= WINDOWED_MODE_SET;
}
write_log("\nLoading Data File... ");
packfile_password(PASSWORD);
datafile = load_datafile(data_file_name);
packfile_password(NULL);
if (datafile == NULL)
{
sprintf(temp_buf, "Error loading %s!", data_file_name);
write_log(temp_buf);
fatal_error(temp_buf);
}
write_log("OK");
set_pallete(datafile[MAIN_PALETTE].dat);
font = datafile[ARIAL12_FONT].dat;
gui_fg_color = C_BLACK; // set the foreground color
gui_bg_color = C_WHITE; // set the background color
gui_mg_color = C_GRAY; // set the disabled color
set_mouse_sprite(NULL); // make mouse use current palette
write_log("\nInitializing Serial Module... ");
serial_module_init();
write_log("OK");
sprintf(temp_buf, "\nOpening COM%i... ", comport.number + 1);
write_log(temp_buf);
/* try opening comport (comport.status will be set) */
open_comport();
switch (comport.status)
{
case READY:
write_log("OK");
break;
case NOT_OPEN:
write_log("Error!");
break;
default:
write_log("Unknown Status");
break;
}
}
int main(int argc, char* argv[])
{
int policy;
struct sched_param param;
char buffer[1024];
dprintf("init\n");
if(argc != 2)
{
perr(AR_ERR_BAD_INIT_PARAM);
printf("Useage: %s INSTANCE\n", AR_MODULE_NAME);
return(AR_ERR_BAD_INIT_PARAM);
}
erret(init_config(AR_MODULE_NAME, atoi(argv[1]), &config.base));
erret(read_config_int(config.base.name, "PRIORITY", &config.priority));
erret(read_config_string(config.base.name, "DEVICE", config.ser_device, sizeof(config.ser_device)));
memset(buffer, 0, sizeof(buffer));
erret(read_config_string(config.base.name, "CORRECTION_MODE", buffer, sizeof(buffer)));
if(strnicmp(buffer, "RTCA", strlen("RTCA")) == 0)
config.corr_mode = OEMX_RTCA_MODE;
else if(strnicmp(buffer, "RTCM", strlen("RTCM")) == 0)
config.corr_mode = OEMX_RTCM_MODE;
else {
perrs(AR_ERR_BAD_INIT_PARAM, "Correction data mode not specified (RTCA | RTCM).");
return(AR_ERR_BAD_INIT_PARAM);
}
erret(open_comport(&fd, config.ser_device, O_RDWR, 115200));
memset(buffer, 0, sizeof(buffer));
erret(read_config_string(config.base.name, "GPS_MODE", buffer, sizeof(buffer)));
if(strnicmp(buffer, "OEM4", strlen("OEM4")) == 0)
config.gps_mode = OEM4_GPS;
else if(strnicmp(buffer, "OEM5", strlen("OEM5")) == 0)
config.gps_mode = OEM4_GPS;
else {
perrs(AR_ERR_BAD_INIT_PARAM, "GPS_MODE must be OEM4 or OEM5.");
return(AR_ERR_BAD_INIT_PARAM);
}
//ifret(write(fd, OEM4_INIT_ROVER_COM1, strlen(OEM4_INIT_ROVER_COM1))==-1, AR_ERR_IO_ERROR);
/*
if(config.gps_mode == OEM4_GPS && config.corr_mode == OEMX_RTCA_MODE) {
ifret(write(fd, OEM4_INIT_RTCA, strlen(OEM4_INIT_RTCA))==-1, AR_ERR_IO_ERROR);
printf("INIT RTCA\n");
} else if(config.gps_mode == OEM4_GPS && config.corr_mode == OEMX_RTCM_MODE) {
struct termios termios_p;
int rlen=0;
if(tcgetattr(fd, &termios_p)==0) {
termios_p.c_cc[VTIME] = 10; // 2*0.1s = 0.2s
termios_p.c_cc[VMIN] = 0;
tcsetattr(fd, TCSANOW, &termios_p);
}
sprintf(buffer, "unlogall com2\n\r");
sleep(1);
write(fd,buffer, strlen(buffer));
rlen=read(fd,buffer,sizeof(buffer)-1);
buffer[rlen]=0;
printf("%s\n---\n",buffer);
ifret(write(fd, OEM4_INIT_RTCM, strlen(OEM4_INIT_RTCM))==-1, AR_ERR_IO_ERROR);
sleep(1);
write(fd,buffer, strlen(buffer));
rlen=read(fd,buffer,sizeof(buffer)-1);
buffer[rlen]=0;
printf("%s\n---\n",buffer);
printf("INIT RTCM\n");
} else {
perrs(AR_ERR_BAD_INIT_PARAM, "can not initialized mode for corr. data\n");
return(AR_ERR_BAD_INIT_PARAM);
}
*/
config.queue_corr_data_1 = 0;
config.queue_corr_data_2 = 0;
config.queue_corr_data_3 = 0;
config.queue_corr_data_4 = 0;
config.queue_corr_data_5 = 0;
config.queue_corr_data_6 = 0;
erret(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_1", &config.queue_corr_data_1));
erret(Q_Init());
erret(Q_InitSlot(config.queue_corr_data_1, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_2", &config.queue_corr_data_2)==0) {
erret(Q_InitSlot(config.queue_corr_data_2, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_3", &config.queue_corr_data_3)==0) {
erret(Q_InitSlot(config.queue_corr_data_3, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_4", &config.queue_corr_data_4)==0) {
erret(Q_InitSlot(config.queue_corr_data_4, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_5", &config.queue_corr_data_5)==0) {
erret(Q_InitSlot(config.queue_corr_data_5, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
if(read_config_int_tab(config.base.name, "QUEUE_INDEX", "QUEUE_OUT_GPS_CORRCTION_6", &config.queue_corr_data_6)==0) {
erret(Q_InitSlot(config.queue_corr_data_6, sizeof(gps_corr_t), MAX_GPS_CORRECTION_Q_ITEMS_NUMBER, 0));
}
//both queues are initialized in non-blocking mode; if one of communicators is blocked,
//the second one continues to transmit the data
ifret(pthread_getschedparam(pthread_self(), &policy, ¶m), AR_ERR_SYS_RESOURCES);
param.sched_priority = config.priority;
ifret(pthread_setschedparam(pthread_self(), policy, ¶m), AR_ERR_SYS_RESOURCES);
read_corr_data_loop();
return(0);
}
