int main(void){
struct timespec t;
t.tv_sec = 0;
t.tv_nsec = 30000000;
//setup sockets
struct sockaddr_in relays_socket, analog_in_socket, analog_out_socket, digital_in_socket, digital_out_socket;
socklen_t slen = sizeof(struct sockaddr_in);
int s_relays, s_analog_in, s_analog_out, s_digital_in, s_digital_out;
initServerSocket(25101, &s_analog_in, &analog_in_socket);
initServerSocket(25301, &s_digital_in, &digital_in_socket);
while(1){
char buf[255];
EBUanalogIn analogIn = new_EBUanalogIn;
//wait for analog in packet
recvfrom(s_analog_in, buf, 255, 0, (struct sockaddr*) &analog_in_socket, &slen);
memcpy(&analogIn, buf, sizeof(EBUanalogIn)); //copy data to type
system("clear");
float value;
for(int i=0; i<24; i++){
value = getAnalogIn(&analogIn, i);
printf("A%d= %f\n", (i+1), value);
}
}
}
int main(void){
char rcvBuf[255];
commandPacket comPacket;
int packetId = 1;
struct sockaddr_in commandInSocket, commandOutSocket;
socklen_t slen = sizeof(struct sockaddr_in);
int s_commandInSocket, s_commandOutSocket;
//setup socket to send to wheel loader
initClientSocket(CMDO_PORT, &s_commandOutSocket, WL_WIRELESSIP, &commandOutSocket);
// initClientSocket(CMDO_PORT, &s_commandOutSocket, "127.0.0.1", &commandOutSocket);
//setup socket to receive packets from simulator
initServerSocket(CMDI_PORT, &s_commandInSocket, &commandInSocket);
while(1){
recvfrom(s_commandInSocket, rcvBuf, 255, 0, (struct sockaddr*) &commandInSocket, &slen);
memcpy(&comPacket, rcvBuf, sizeof(commandPacket));
comPacket.packetId = packetId++;
clock_gettime(CLOCK_REALTIME, &comPacket.timeSent);
printf("sending packet\n");
sendto(s_commandOutSocket, (char*)&comPacket, sizeof(commandPacket), 0, (struct sockaddr*) &commandOutSocket, slen);
}
return 0;
}
int main (int argc, char* argv [])
{
int sockConnection, port;
char str[128];
count = 0;
checkArgs(argc, argv);
sscanf(argv[2],"%d", &port);
signal(SIGINT,sigHandler);
if(initServerSocket(&serverSock, argv[1], port)!=0)
{
sprintf(str,"I can't use %s:%d\n",argv[1],port);
perror(str);
return -1;
}
if (count < 50) {
while(waitConexion(serverSock,&sockConnection)!=-1)
{
pthread_create(&threadArray[count], NULL, attendClientThread, (void *) sockConnection);
count++;
}
} else {
printf("Server busy, aborting...\n");
return -1;
}
return 0;
}
