/************************************
* FUNCTIONS
* **********************************/
static void *lisa_to_pc(void *arg){
/*-------------------------START OF SECOND THREAD: LISA TO PC------------------------*/
static UDP udp_client;
int message_length;
ElemType cb_elem = {0};
uint8_t input_buffer[INPUT_BUFFER_SIZE];
UDP_err_handler(openUDPClientSocket(&udp_client,connection.server_ip,connection.port_number_lisa_to_pc,UDP_SOCKET_TIMEOUT),write_udp_error_ptr);
while(1)
{
message_length = serial_input_get_lisa_data(input_buffer); //blocking !!!
if(message_length > 0){
//to test latency from lisa pull pin high when airspeed package arrives
/*if(serial_input.buffer[3]==AIRSPEED_ETS){
if (test==0){
system("echo 1 > /sys/class/gpio/gpio60/value");
test=1;
}else{
system("echo 0 > /sys/class/gpio/gpio60/value");
test=0;
}
}*/
//add timestamp
message_length=add_timestamp(input_buffer);
//send data to eth port using UDP
UDP_err_handler(sendUDPClientData(&udp_client,input_buffer,message_length),write_udp_error_ptr);
#if LOGGING > 0
//write the data to circual buffer for log thread
if(!cbIsFull(cb_write_lisa)){
memcpy (&cb_elem.value, input_buffer, message_length);
cbWrite(cb_write_lisa, &cb_elem);
}else{
if(reading_flag_lisa==0){
switch_cb_lisa_pointers();
//printf("switching lisa pointers\n");
}else{
printf("LISA WRITE WAS NOT READY \n");
exit(1); //FOR DEBUGGING
}
}
#endif
}else{
//send error message to server: not receiving data on uart port
printf("error on uart, see log...\n"); //FOR DEBUGGING
UART_err_handler(message_length,write_uart_error_ptr);
}
}
UART_err_handler(serial_port_close(),write_uart_error_ptr);
UDP_err_handler(closeUDPClientSocket(&udp_client),write_udp_error_ptr);
return NULL;
/*------------------------END OF SECOND THREAD------------------------*/
}
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;
}
/***********************************
* MAIN
* *********************************/
int main(int argc, char *argv[]){
Connection connection;
write_error_ptr = &write_error; //initialize the function pointer to write error
//parse arguments
if(argc == 4){
//first argument is always name of program or empty string
connection.planebone_ip=argv[1];
connection.port_number_server_to_planebone=atoi(argv[2]);
connection.port_number_planebone_to_server=atoi(argv[3]);
}else{
printf("wrong parameters: planebone ip - send port number - receive port number\n");
exit(EXIT_FAILURE);
}
pthread_t thread_server_to_planebone;
//create a second thread which executes server_to_planebone
if(pthread_create(&thread_server_to_planebone, NULL, server_to_planebone,&connection)) {
error_write(FILENAME,"error creating lisa thread");
exit(EXIT_FAILURE);
}
/*-------------------------START OF FIRST THREAD: PLANEBONE TO SERVER------------------------*/
static UDP udp_server;
uint8_t input_stream[MAX_INPUT_STREAM_SIZE];
timeval tv_now;
UDP_err_handler(openUDPServerSocket(&udp_server,connection.port_number_planebone_to_server,UDP_SOCKET_TIMEOUT),write_error_ptr);
//init the data decode pointers
init_decoding();
/*
* WHAT WE EXPECT:
* IMU_ACCEL_RAW 204
* IMU_GYRO_RAW 203
* IMU_MAG_RAW 205
* BARO_RAW 221
* GPS_INT 155
* AIRSPEED_ETS 57
* SYSMON 33
* UART_ERROR 208
* ACTUATORS_received 105
* */
int IMU_ACCEL_RAW_received=0;
int IMU_GYRO_RAW_received=0;
int IMU_MAG_RAW_received=0;
int BARO_RAW_received=0;
int GPS_INT_received=0;
int AIRSPEED_received=0;
int SVINFO_received=0;
int SYSMON_received=0;
int UART_ERROR_received=0;
int ACTUATORS_received=0;
int NMEA_IIMWV_received = 0;
int NMEA_WIXDR_received = 0;
int err;
#if ANALYZE
Analyze an_imu_accel_raw_freq,an_imu_accel_raw_lat;
int an_imu_accel_freq_done=0,an_imu_accel_lat_done=0;
init_analyze(&an_imu_accel_raw_freq,2000);
init_analyze(&an_imu_accel_raw_lat,2000);
Analyze an_imu_gyro_raw_freq,an_imu_gyro_raw_lat;
int an_imu_gyro_freq_done=0,an_imu_gyro_lat_done=0;
init_analyze(&an_imu_gyro_raw_freq,2000);
init_analyze(&an_imu_gyro_raw_lat,2000);
Analyze an_imu_mag_raw_freq,an_imu_mag_raw_lat;
int an_imu_mag_freq_done=0,an_imu_mag_lat_done=0;
init_analyze(&an_imu_mag_raw_freq,2000);
init_analyze(&an_imu_mag_raw_lat,2000);
Analyze an_baro_raw_freq,an_baro_raw_lat;
int an_baro_raw_freq_done=0,an_baro_raw_lat_done=0;
init_analyze(&an_baro_raw_freq,2000);
init_analyze(&an_baro_raw_lat,2000);
Analyze an_gps_int_freq,an_gps_int_lat;
int an_gps_int_freq_done=0,an_gps_int_lat_done=0;
init_analyze(&an_gps_int_freq,40);
init_analyze(&an_gps_int_lat,40);
Analyze an_airspeed_ets_freq,an_airspeed_ets_lat;
int an_airspeed_ets_freq_done=0,an_airspeed_ets_lat_done=0;
init_analyze(&an_airspeed_ets_freq,100);
init_analyze(&an_airspeed_ets_lat,100);
Analyze an_actuators_freq,an_actuators_lat;
int an_actuators_freq_done=0,an_actuators_lat_done=0;
init_analyze(&an_actuators_freq,500);
init_analyze(&an_actuators_lat,500);
Analyze an_UART_errors_freq,an_UART_errors_lat;
int an_UART_errors_freq_done=0,an_UART_errors_lat_done=0;
init_analyze(&an_UART_errors_freq,50);
init_analyze(&an_UART_errors_lat,50);
Analyze an_sys_mon_freq,an_sys_mon_lat;
int an_sys_mon_freq_done=0,an_sys_mon_lat_done=0;
init_analyze(&an_sys_mon_freq,50);
init_analyze(&an_sys_mon_lat,50);
#endif
int recv_len;
size_t data_len = sizeof(input_stream);
while (1){
// err = receiveUDPServerData(&udp_server,(void *)&input_stream, sizeof(input_stream)); //blocking !!!
//1. retreive UDP data form planebone from ethernet port.
err = receiveUDPServerData(&udp_server,(void *)&input_stream, data_len, &recv_len); //blocking !!!
if (recv_len != 30) {
printf("Wrong number of bytes in received UDP packet!\n");
printf("Expected 30 bytes, Received %d bytes!\n", recv_len);
err = UDP_ERR_RECV;
}
UDP_err_handler(err,write_error_ptr);
if(err == UDP_ERR_NONE){
gettimeofday(&tv_now,NULL); //timestamp from receiving to calculate latency
#if DEBUG > 0
printf("message raw: ");
int i;
for(i=0;i<input_stream[1];i++){
printf("%d ",input_stream[i]);
}
printf("\n");
printf("start hex: %x\n", input_stream[0]);
printf("length: %d\n", input_stream[1]);
printf("send id: %d\n", input_stream[2]);
printf("message id: %d\n", input_stream[3]);
printf("checksum1: %d\n", input_stream[input_stream[1]-2]);
printf("checksum2: %d\n", input_stream[input_stream[1]-1]);
// printf("%d", input_stream[3]);
printf("\n");
#endif
//2. decode data
int err = data_decode(input_stream);
DEC_err_handler(err,write_error_ptr);
if(err==DEC_ERR_NONE){
switch_read_write(); //only switch read write if data decoding was succesfull
Data* data = get_read_pointer();
if(input_stream[3]==IMU_GYRO_RAW){
IMU_GYRO_RAW_received=1;
}else if(input_stream[3]==IMU_ACCEL_RAW){
IMU_ACCEL_RAW_received=1;
}else if(input_stream[3]==IMU_MAG_RAW){
IMU_MAG_RAW_received=1;
}else if(input_stream[3]==BARO_RAW){
BARO_RAW_received=1;
}else if(input_stream[3]==GPS_INT){
GPS_INT_received=1;
}else if(input_stream[3]==AIRSPEED_ETS){
AIRSPEED_received=1;
}else if(input_stream[3]==SVINFO){
SVINFO_received=1;
}else if(input_stream[3]==SYSMON){
SYSMON_received=1;
}else if(input_stream[3]==UART_ERRORS){
UART_ERROR_received=1;
}else if(input_stream[3]==ACTUATORS){
ACTUATORS_received=1;
}else if(input_stream[3]==NMEA_IIMWV_ID){
NMEA_IIMWV_received=1;
}else if(input_stream[3]==NMEA_WIXDR_ID){
NMEA_WIXDR_received=1;
}
/*printf("IMU_GYRO_RAW_received %d\n",IMU_GYRO_RAW_received);
printf("IMU_ACCEL_RAW_received %d\n",IMU_ACCEL_RAW_received);
printf("IMU_MAG_RAW_received %d\n",IMU_MAG_RAW_received);
printf("BARO_RAW_received %d\n",BARO_RAW_received);
printf("GPS_INT_received %d\n",GPS_INT_received);
printf("AIRSPEED_received %d\n",AIRSPEED_received);
printf("SVINFO_received %d\n",SVINFO_received);
printf("SYSMON_received %d\n",SYSMON_received);
printf("UART_ERROR_received %d\n",UART_ERROR_received);
printf("ACTUATORS_received %d\n",ACTUATORS_received);
printf("NMEA_IIMWV_received %d\n",NMEA_IIMWV_received);
printf("NMEA_WIXDR_received %d\n",NMEA_WIXDR_received);
printf("\n");*/
if(input_stream[3]==BARO_RAW){
#if ANALYZE
if(calculate_frequency(&an_baro_raw_freq,data->lisa_plane.baro_raw.tv)==1){
an_baro_raw_freq_done=1;
}
if(calculate_latency(&an_baro_raw_lat,data->lisa_plane.baro_raw.tv,tv_now)==1){
an_baro_raw_lat_done=1;
}
#endif
/*int i;
printf("Baro_raw content:");
print_mem((void *)&data->lisa_plane.baro_raw,sizeof(Baro_raw));
printf("abs %d\n",data->lisa_plane.baro_raw.abs);
printf("diff %d\n",data->lisa_plane.baro_raw.diff);
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_GYRO_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_gyro_raw_freq,data->lisa_plane.imu_gyro_raw.tv)==1){
an_imu_gyro_freq_done=1;
}
if(calculate_latency(&an_imu_gyro_raw_lat,data->lisa_plane.imu_gyro_raw.tv,tv_now)==1){
an_imu_gyro_lat_done=1;
}
#endif
/* int i;
printf("Imu_gyro_raw content:");
print_mem((void *)&data->lisa_plane.imu_gyro_raw,sizeof(Imu_gyro_raw));
printf("\n");
printf("gp %d\n",data->lisa_plane.imu_gyro_raw.gp);
printf("gq %d\n",data->lisa_plane.imu_gyro_raw.gq);
printf("gr %d\n",data->lisa_plane.imu_gyro_raw.gr);
print_latency(data->lisa_plane.imu_gyro_raw.tv);
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_ACCEL_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_accel_raw_freq,data->lisa_plane.imu_accel_raw.tv)==1){
an_imu_accel_freq_done=1;
}
if(calculate_latency(&an_imu_accel_raw_lat,data->lisa_plane.imu_accel_raw.tv,tv_now)==1){
an_imu_accel_lat_done=1;
}
#endif
/*int i;
printf("Imu_accel_raw content:");
print_mem((void *)&data->lisa_plane.imu_accel_raw,sizeof(Imu_accel_raw));
printf("\n");
printf("ax %d\n",data->lisa_plane.imu_accel_raw.ax);
printf("ay %d\n",data->lisa_plane.imu_accel_raw.ay);
printf("az %d\n",data->lisa_plane.imu_accel_raw.az);
printf("\n");
printf("\n\n\n");*/
}
if(input_stream[3]==IMU_MAG_RAW){
#if ANALYZE
if(calculate_frequency(&an_imu_mag_raw_freq,data->lisa_plane.imu_mag_raw.tv)==1){
an_imu_mag_freq_done=1;
}
if(calculate_latency(&an_imu_mag_raw_lat,data->lisa_plane.imu_mag_raw.tv,tv_now)==1){
an_imu_mag_lat_done=1;
}
#endif
}
if(input_stream[3]==AIRSPEED_ETS){
#if ANALYZE
if(calculate_frequency(&an_airspeed_ets_freq,data->lisa_plane.airspeed_ets.tv)==1){
an_airspeed_ets_freq_done=1;
}
if(calculate_latency(&an_airspeed_ets_lat,data->lisa_plane.airspeed_ets.tv,tv_now)==1){
an_airspeed_ets_lat_done=1;
}
#endif
/*int i;
printf("airspeed content:");
print_mem((void *)&data->lisa_plane.airspeed_ets,sizeof(Airspeed_ets));
char temp[64];
timestamp_to_timeString(data->lisa_plane.airspeed_ets.tv,temp);
printf("send time %s\n",temp);
printf("adc %d\n",data->lisa_plane.airspeed_ets.adc);
printf("offset %d\n",data->lisa_plane.airspeed_ets.offset);
printf("scaled %f\n",data->lisa_plane.airspeed_ets.scaled);*/
}
if(input_stream[3]==GPS_INT){
#if ANALYZE
if(calculate_frequency(&an_gps_int_freq,data->lisa_plane.gps_int.tv)==1){
an_gps_int_freq_done=1;
}
if(calculate_latency(&an_gps_int_lat,data->lisa_plane.gps_int.tv,tv_now)==1){
an_gps_int_lat_done=1;
}
#endif
/*int i;
printf("Gps_int_message content:");
print_mem((void *)&data->lisa_plane.gps_int,sizeof(Gps_int));
printf("\n");
printf("ecef_x %d\n",data->lisa_plane.gps_int.ecef_x);
printf("ecef_y %d\n",data->lisa_plane.gps_int.ecef_y);
printf("ecef_z %d\n",data->lisa_plane.gps_int.ecef_z);
printf("lat %d\n",data->lisa_plane.gps_int.lat);
printf("lon %d\n",data->lisa_plane.gps_int.lon);
printf("alt %d\n",data->lisa_plane.gps_int.alt);
printf("hmsl %d\n",data->lisa_plane.gps_int.hmsl);
printf("ecef_xd %d\n",data->lisa_plane.gps_int.ecef_xd);
printf("ecef_yd %d\n",data->lisa_plane.gps_int.ecef_yd);
printf("ecef_zd %d\n",data->lisa_plane.gps_int.ecef_zd);
printf("pacc %d\n",data->lisa_plane.gps_int.pacc);
printf("sacc %d\n",data->lisa_plane.gps_int.sacc);
printf("tow %d\n",data->lisa_plane.gps_int.tow);
printf("pdop %d\n",data->lisa_plane.gps_int.pdop);
printf("numsv %d\n",data->lisa_plane.gps_int.numsv);
printf("fix %d\n",data->lisa_plane.gps_int.fix);
print_latency(data->lisa_plane.gps_int.tv);*/
}
if(input_stream[3]==SYSMON){
#if ANALYZE
if(calculate_frequency(&an_sys_mon_freq,data->lisa_plane.sys_mon.tv)==1){
an_sys_mon_freq_done=1;
}
if(calculate_latency(&an_sys_mon_lat,data->lisa_plane.sys_mon.tv,tv_now)==1){
an_sys_mon_lat_done=1;
}
#endif
/* int i;
printf("sysmon content:");
print_mem((void *)&data->lisa_plane.sys_mon,sizeof(Sys_mon));
printf("\n");
printf("periodic_time %d\n",data->lisa_plane.sys_mon.periodic_time);
printf("periodic_cycle %d\n",data->lisa_plane.sys_mon.periodic_cycle);
printf("periodic_cycle_min %d\n",data->lisa_plane.sys_mon.periodic_cycle_min);
printf("periodic_cycle_max %d\n",data->lisa_plane.sys_mon.periodic_cycle_max);
printf("event_number %d\n",data->lisa_plane.sys_mon.event_number);
printf("cpu_load %d\n",data->lisa_plane.sys_mon.cpu_load);
print_latency(data->lisa_plane.sys_mon.tv);*/
}
if(input_stream[3]==UART_ERRORS){
#if ANALYZE
if(calculate_frequency(&an_UART_errors_freq,data->lisa_plane.uart_errors.tv)==1){
an_UART_errors_freq_done=1;
}
if(calculate_latency(&an_UART_errors_lat,data->lisa_plane.uart_errors.tv,tv_now)==1){
an_UART_errors_lat_done=1;
}
#endif
/* int i;
printf("uart error content:");
print_mem((void *)&data->lisa_plane.uart_errors,sizeof(UART_errors));
printf("overrun_cnt %d\n",data->lisa_plane.uart_errors.overrun_cnt);
printf("noise_err_cnt %d\n",data->lisa_plane.uart_errors.noise_err_cnt);
printf("framing_err_cnt %d\n",data->lisa_plane.uart_errors.framing_err_cnt);
printf("bus_number %d\n",data->lisa_plane.uart_errors.bus_number);
print_latency(data->lisa_plane.uart_errors.tv);*/
}
if(input_stream[3]==ACTUATORS){
#if ANALYZE
if(calculate_frequency(&an_actuators_freq,data->lisa_plane.actuators.tv)==1){
an_actuators_freq_done=1;
}
if(calculate_latency(&an_actuators_lat,data->lisa_plane.actuators.tv,tv_now)==1){
an_actuators_lat_done=1;
}
#endif
/*int i;
printf("actuators content:");
print_mem((void *)&data->lisa_plane.actuators,sizeof(Actuators));
printf("arr_length %d\n",data->lisa_plane.actuators.arr_length);
for(i=0;i<data->lisa_plane.actuators.arr_length;i++){
printf("servo_%d %d\n",i,data->lisa_plane.actuators.values[i]);
}
print_latency(data->lisa_plane.actuators.tv);*/
}
if(input_stream[3]==BEAGLE_ERROR){
//printf("beagle bone error content:");
//print_mem((void *)&data->bone_plane.error,sizeof(Beagle_error));
switch(data->bone_plane.error.library){
case UDP_L:
UDP_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case UART_L:
UART_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case DECODE_L:
DEC_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
case LOG_L:
LOG_err_handler(data->bone_plane.error.error_code,write_error_ptr);
break;
}
}
if(input_stream[3]==NMEA_IIMWV_ID){
printf("NMEA_IIMWV_ID content:");
print_mem((void *)&data->bone_wind.nmea_iimmwv,sizeof(NMEA_IIMWV));
printf("wind angle %lf\n",data->bone_wind.nmea_iimmwv.wind_angle);
printf("relative %c\n",data->bone_wind.nmea_iimmwv.relative);
printf("wind speed %lf\n",data->bone_wind.nmea_iimmwv.wind_speed);
printf("wind speed unit %c\n",data->bone_wind.nmea_iimmwv.wind_speed_unit);
printf("status %c\n",data->bone_wind.nmea_iimmwv.status);
char temp[64];
timestamp_to_timeString16(data->bone_wind.nmea_iimmwv.tv,temp);
printf("send time: %s\n",temp);
printf("\n");
}
if(input_stream[3]==NMEA_WIXDR_ID){
printf("NMEA_WIXDR_ID content:");
print_mem((void *)&data->bone_wind.nmea_wixdr,sizeof(NMEA_WIXDR));
printf("Temperature %lf\n",data->bone_wind.nmea_wixdr.temperature);
printf("unit %c\n",data->bone_wind.nmea_wixdr.unit);
char temp[64];
timestamp_to_timeString16(data->bone_wind.nmea_wixdr.tv,temp);
printf("send time: %s\n",temp);
printf("\n");
}
if(input_stream[3]==LINE_ANGLE_ID){
// Send a character (to gpio of arduino)
// to stop the arduino-timer
/*
FILE *myFile;
myFile = fopen("/dev/ttyUSB0", "w");
fputs ("a", myFile);
fclose (myFile);
*/
printf("LINE_ANGLE_ID content:");
print_mem((void *)&data->bone_arm.line_angle,sizeof(LINE_ANGLE));
printf("Azimuth %i\n",data->bone_arm.line_angle.azimuth_raw);
printf("Elevation %i\n",data->bone_arm.line_angle.elevation_raw);
// printf("unit %c\n",data->bone_wind.nmea_wixdr.unit);
//char temp[64];
//timestamp_to_timeString16(data->bone_arm.line_angle.tv,temp);
//printf("send time: %s\n",temp);
printf("\n");
}
}else{
printf("UNKNOW PACKAGE with id %d\n",input_stream[3]);
exit(1);
}
}
#if ANALYZE
if(an_imu_accel_freq_done==1 &&
an_imu_accel_lat_done==1 &&
an_imu_gyro_freq_done==1 &&
an_imu_gyro_lat_done==1 &&
an_imu_mag_freq_done==1 &&
an_imu_mag_lat_done==1 &&
an_baro_raw_lat_done==1 &&
an_baro_raw_freq_done==1 &&
an_airspeed_ets_lat_done==1 &&
an_airspeed_ets_freq_done==1 &&
an_actuators_lat_done==1 &&
an_actuators_freq_done==1 &&
an_UART_errors_lat_done==1 &&
an_UART_errors_freq_done==1 &&
an_sys_mon_lat_done==1 &&
an_sys_mon_freq_done==1)
{
printf("ANALYZE RESULTS - IMU_ACCEL_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_accel_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_accel_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_accel_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_accel_raw_freq,"analyze/imu_accel_raw_per.csv");
dump_buffer_to_file(&an_imu_accel_raw_lat,"analyze/imu_accel_raw_lat.csv");
destroy_analyze(&an_imu_accel_raw_freq);
destroy_analyze(&an_imu_accel_raw_lat);
printf("ANALYZE RESULTS - IMU_GYRO_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_gyro_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_gyro_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_gyro_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_gyro_raw_freq,"analyze/imu_gyro_raw_per.csv");
dump_buffer_to_file(&an_imu_gyro_raw_lat,"analyze/imu_gyro_raw_lat.csv");
destroy_analyze(&an_imu_gyro_raw_freq);
destroy_analyze(&an_imu_gyro_raw_lat);
printf("ANALYZE RESULTS - IMU_MAG_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_imu_mag_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_imu_mag_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_imu_mag_raw_lat));
printf("\n");
dump_buffer_to_file(&an_imu_mag_raw_freq,"analyze/imu_mag_raw_per.csv");
dump_buffer_to_file(&an_imu_mag_raw_lat,"analyze/imu_mag_raw_lat.csv");
destroy_analyze(&an_imu_mag_raw_freq);
destroy_analyze(&an_imu_mag_raw_lat);
printf("ANALYZE RESULTS - BARO_RAW:\n");
printf("avg period:\t %0.4f ms\n",(get_avg(&an_baro_raw_freq)));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_baro_raw_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_baro_raw_lat));
printf("\n");
dump_buffer_to_file(&an_baro_raw_freq,"analyze/baro_raw_per.csv");
dump_buffer_to_file(&an_baro_raw_lat,"analyze/baro_raw_lat.csv");
destroy_analyze(&an_baro_raw_freq);
destroy_analyze(&an_baro_raw_lat);
printf("ANALYZE RESULTS - GPS_INT:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_gps_int_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_gps_int_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_gps_int_lat));
printf("\n");
dump_buffer_to_file(&an_gps_int_freq,"analyze/gps_int_per.csv");
dump_buffer_to_file(&an_gps_int_lat,"analyze/gps_int_lat.csv");
destroy_analyze(&an_gps_int_freq);
destroy_analyze(&an_gps_int_lat);
printf("ANALYZE RESULTS - AIRSPEED_ETS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_airspeed_ets_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_airspeed_ets_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_airspeed_ets_lat));
printf("\n");
dump_buffer_to_file(&an_airspeed_ets_freq,"analyze/airspeed_ets_per.csv");
dump_buffer_to_file(&an_airspeed_ets_lat,"analyze/airspeed_ets_lat.csv");
destroy_analyze(&an_airspeed_ets_freq);
destroy_analyze(&an_airspeed_ets_lat);
printf("ANALYZE RESULTS - ACTUATORS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_actuators_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_actuators_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_actuators_lat));
printf("\n");
dump_buffer_to_file(&an_actuators_freq,"analyze/actuators_per.csv");
dump_buffer_to_file(&an_actuators_lat,"analyze/actuators_lat.csv");
destroy_analyze(&an_actuators_freq);
destroy_analyze(&an_actuators_lat);
printf("ANALYZE RESULTS - UART_ERRORS:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_UART_errors_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_UART_errors_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_UART_errors_lat));
printf("\n");
dump_buffer_to_file(&an_UART_errors_freq,"analyze/UART_errors_per.csv");
dump_buffer_to_file(&an_UART_errors_lat,"analyze/UART_errors_lat.csv");
destroy_analyze(&an_UART_errors_freq);
destroy_analyze(&an_UART_errors_lat);
printf("ANALYZE RESULTS - SYS_MON:\n");
printf("avg period:\t %0.4f ms\n",get_avg(&an_sys_mon_freq));
printf("avg freq:\t %0.4f hz\n",1/(get_avg(&an_sys_mon_freq))*1e3);
printf("avg latency\t %0.4f ms\n",get_avg(&an_sys_mon_lat));
printf("\n");
dump_buffer_to_file(&an_sys_mon_freq,"analyze/sys_mon_per.csv");
dump_buffer_to_file(&an_sys_mon_lat,"analyze/sys_mon_lat.csv");
destroy_analyze(&an_sys_mon_freq);
destroy_analyze(&an_sys_mon_lat);
exit(1);
}
#endif
}
UDP_err_handler(closeUDPServerSocket(&udp_server),write_error_ptr);
/*------------------------END OF FIRST THREAD------------------------*/
//wait for the second thread to finish
if(pthread_join(thread_server_to_planebone, NULL)) {
error_write(FILENAME,"error joining thread_lisa_to_pc");
exit(EXIT_FAILURE);
}
return 0;
}
