int main(void) {
int lines = 0;
struct Line* head = 0;
struct Line* tail = 0;
while(1)
{
usleep(4000000) ;
FILE* log;
if( ( log = fopen( "/home/peter/log/log_cpu_temperature.txt", "w")) == 0) {
exit(-1);
}
int err = 0;
if( ( err = get_cpu_temperature( AMD_FX_4100_tempInfo)) < 0) {
fprintf( log, "error get_cpu_temperature:%d\n", err);
exit( -1);
}
if( lines == MAX_LINE_COUNT)
{
struct Line* new_head = head->pred;
free( head);
head = new_head;
head->next = 0;
--lines;
}
struct Line* new_line = (Line*)malloc( sizeof(Line));
struct tm* gmt;
time_t now = time(0);
gmt = gmtime( &now);
char buff[50];
strftime ( new_line->line, sizeof( new_line->line), "%Y-%m-%d %H:%M:%S, ", gmt);
sprintf( buff, "temp1: %.4lf, temp2: %.4lf, temp3: %.4lf",
AMD_FX_4100_tempInfo[0], AMD_FX_4100_tempInfo[1], AMD_FX_4100_tempInfo[2]);
strcat( new_line->line, buff);
new_line->next = tail;
if( tail) tail->pred = new_line;
new_line->pred = 0;
tail = new_line;
++lines;
if( lines == 1) head = new_line;
for( struct Line* pl = head; ; pl = pl->pred) {
if( fprintf( log, "%s\n", pl->line) < 0)
exit(-1);
if( pl->pred == 0) break;
}
fclose( log);
}
return 0;
}
void flying_status_return()
{
uint8 *fa = (uint8*)(get_flying_attitude());
uint8 buf[145];
uint16 crc_value;
buf[0] = CTRL_FRAME_START1;
buf[1] = CTRL_FRAME_START2;
buf[2] = get_aircraft_no()&0xFF;
buf[3] = get_aircraft_no()>>8;
*(uint32*)(buf+4) = 0x91;
buf[8] = 1;
buf[9] = 1;
buf[10] = CTRL_FRAME_TYPE_FLY_STATUS;
// compiler add 4bytes between float data and double data for flying_attitude struct
// so we have to copy separately
memcpy(buf+11,fa,60);
memcpy(buf+71,fa+64,36);
*(uint32*)(buf+107) = get_sonar_data();
buf[111] = 0;
buf[112] = 0; // next waypoint
memcpy(buf+113,(uint8 *)(&ppwm),20);//pwm output
buf[133] = get_flying_status()&0xFF;
buf[134] = get_flying_status()>>8;
buf[135] = 0; // gps status
buf[136] = 0; // imu status
buf[137] = 0; // AP status :cpu1 or cpu2
buf[138] = get_input_voltage()&0xFF;
buf[139] = 0;
buf[140] = get_cpu_temperature()/1000;
buf[141] = 0;
crc_value=crc_checksum16(buf, 142);
buf[142] = crc_value&0xFF;
buf[143] = crc_value>>8;
buf[144] = CTRL_FRAME_END;
control_cmd_send(buf, 145);
}
int main(int argc, char * const argv[]){
/* Parse the command line arguments */
MFC.fork = TRUE;
parse_options(argc, argv);
signal(SIGHUP,Signal_Handler); /* hangup signal */
signal(SIGTERM,Signal_Handler); /* software termination signal from kill */
struct timespec timx,tim1;
openlog("mfc-daemon", LOG_PID, LOG_DAEMON);
MFC.syslog = TRUE;
/* check machine and pidfile*/
MFC.total_cpus = check_cpu();
MFC.total_fans = check_fan();
check_pidfile();
write_pidfile();
MFC.pidfile = TRUE;
if (MFC.fork) {
start_daemon();
}
int fan;
for (fan = 1; fan <= MFC.total_fans; ++fan) {
write_fan_manual(fan, 1);
}
tim1.tv_sec = TV_SEC;
tim1.tv_nsec = TV_NSEC;
//init
int wr_manual=0;
int change_number=0;
int old_fan_speed=-1;
INFO("Start");
int temp = get_cpu_temperature();
int old_temp_change = 0;
int fan_speed=GET_FAN_SPEED(temp);
fan_speed=set_min_max_fan_speed(fan_speed);
for (fan = 1; fan <= MFC.total_fans; ++fan) {
write_fan_speed(fan, fan_speed);
}
while (1){
wr_manual++;
if (wr_manual==9){
for (fan = 1; fan <= MFC.total_fans; ++fan) {
write_fan_manual(fan, 1);
}
wr_manual=0;
}
temp = get_cpu_temperature();
int diff = abs(temp - old_temp_change);
if (diff >= 2){
// temp = average of both cpu's
fan_speed=GET_FAN_SPEED(temp);
fan_speed=set_min_max_fan_speed(fan_speed);
if (fan_speed!=old_fan_speed){
for (fan = 1; fan <= MFC.total_fans; ++fan) {
write_fan_speed(fan, fan_speed);
}
change_number=log_fan_speed(fan_speed,change_number,temp);
old_fan_speed=fan_speed;
}
old_temp_change = temp;
}
if (nanosleep(&tim1,&timx) == -1){
QUIT_DAEMON("Error nanosleep");
}
}
}
int main(int argc, char** argv)
{
const uint8_t MAGIC_BYTE = 0x11;
const uint8_t VERSION = 0x02;
struct sockaddr_in saddr;
int status;
char hostname[255];
parse_options(argc, argv);
if(gethostname(hostname, sizeof(hostname))) {
perror("Infocast: gethostname");
exit(1);
}
int hlen = strlen(hostname) + 1;
int len = 512;
char* message = (char*)malloc(len);
while(1) {
unsigned char lanMacAddress[6];
unsigned char wifiMacAddress[6];
uint32_t ipLan, ipWLan;
int8_t bat = (int8_t)(get_battery_info() * 100);
uint8_t wifiStrength = get_wifi_quality();
uint8_t cpuTemp = get_cpu_temperature();
get_ip_address("eth0", ipLan, lanMacAddress);
get_ip_address("wlan0", ipWLan, wifiMacAddress);
char* start = message;
*start = MAGIC_BYTE; start++;
*start = VERSION; start++;
WRITE(&ipLan, sizeof(ipLan));
WRITE(&ipWLan, sizeof(ipWLan));
WRITE(&bat, sizeof(bat));
WRITE(&cpuTemp, sizeof(cpuTemp));
WRITE(&wifiStrength, sizeof(wifiStrength));
WRITE(lanMacAddress, sizeof(lanMacAddress));
WRITE(wifiMacAddress, sizeof(wifiMacAddress));
memcpy(start, hostname, hlen); start += hlen;
/*
* We have to do this every iteration because we want see the Nao also
* when a new interface becomes ready. For example eth0 gets an IP address
* This should be no problem. Creating a socket is cheap.
*/
std::list<int> sockList = open_send_multicast_socket(saddr, multicast_ip.c_str(), multicast_port);
for(std::list<int>::iterator it = sockList.begin(); it != sockList.end(); ++it) {
int sock = *it;
status = sendto(sock, message, start - message, 0,
(struct sockaddr*)&saddr,sizeof(saddr));
close(sock);
if(status < 0)
perror("Infocast: sendto");
}
sleep(5);
}
}
void flying_status_return(int transmit_data)
{
flying_attitude_s *fa = get_flying_attitude();
uint8 buf[256];
uint16 crc_value;
int pressure;
buf[0] = CTRL_FRAME_START1;
buf[1] = CTRL_FRAME_START2;
buf[2] = get_aircraft_no()&0xFF;
buf[3] = get_aircraft_no()>>8;
*(uint16*)(buf+4) = 0x91;
buf[6] = 1;
buf[7] = 0;
buf[8] = 1;
buf[9] = 0;
buf[10] = CTRL_FRAME_TYPE_FLY_STATUS;
*((float *)(buf+11))=fa->roll;
*((float *)(buf+15))=fa->pitch;
*((float *)(buf+19))=fa->yaw;
*((float *)(buf+23))=fa->gx;
*((float *)(buf+27))=fa->gy;
*((float *)(buf+31))=fa->gz;
*((float *)(buf+35)) =fa->ax;
*((float *)(buf+39))=fa->ay;
*((float *)(buf+43))=fa->az;
*((uint32 *)(buf+47))=fa->g_time;
*((int *)(buf+51))=fa->vn;
*((int *)(buf+55))=fa->ve;
*((int *)(buf+59))=fa->vd;
*(( int *)(buf+63))=fa->heading;
*(( int *)(buf+67))=fa->b_h;
*((double *)(buf+71))=fa->lat;
*((double *)(buf+79))=fa->Long;
*((double *)(buf+87))=fa->g_h;
*((float *)(buf+95))=fa->vx;
*((float *)(buf+99))=fa->vy;
*((float *)(buf+103))=fa->vz;
sonar_data=get_sonar_data();
*(uint32*)(buf+107) = sonar_data;
buf[111] = gepoint.id & 0xFF ;
buf[112] = gepoint.id >> 8 ;// next waypoint
read_rc_data(rc_data);
if(get_flying_status() == AIRCRAFT_MANUAL_MODE){
memcpy(buf+113,rc_data,14);
}else
memcpy(buf+113,(uint8 *)(&ppwm),20);//pwm output
*(uint16*)(buf+131) = ppwm.c[9];
buf[133] = get_flying_status()&0xFF;
buf[134] = get_flying_status()>>8;
buf[135] = 0; // gps status
buf[136] = 0; // imu status
buf[137] = 0; // AP status :cpu1 or cpu2
working_status.input_voltage = get_input_voltage();
working_status.engine_voltage = get_monitor_voltage();
working_status.cpu_temprature = get_cpu_temperature();
buf[138] = working_status.input_voltage&0xFF;//AP power
buf[139] = working_status.engine_voltage&0xFF;//UAV power
buf[140] = working_status.cpu_temprature/1000;
buf[141] = 0;
if(transmit_data){
crc_value=crc_checksum16(buf, 142);
buf[142] = crc_value&0xFF;
buf[143] = crc_value>>8;
buf[144] = CTRL_FRAME_END;
control_cmd_send(buf, 145);
}
*(uint16*)(buf+4) = 0xAF;
memcpy(buf+142,rc_data,14);
pressure = get_altimeter();
*(uint16*)(buf+154)= pressure>>16;
*(uint16*)(buf+156)= pressure&0xffff;
*(uint16*)(buf+158)=time_estimation.data_return;
*(uint16*)(buf+160)=time_estimation.algorithm;
crc_value=crc_checksum16(buf, 172);
buf[172] = crc_value&0xFF;
buf[173] = crc_value>>8;
buf[174] = CTRL_FRAME_END;
fwrite(buf,175,1,fp_fly_status);
}
