uint64_t rough_local_tick_count()
{
static atomic<uint32_t> h_time(0);
static atomic<uint32_t> l_time(time_get_time());
uint32_t now =time_get_time();
uint32_t ltime=l_time;
uint32_t htime=h_time;
uint64_t lastTime64= ((((uint64_t)htime)<<32)|ltime);
uint32_t diff=now-ltime;
lastTime64+=diff;
if (ltime>now||diff>0x7fffffffU)
{
h_time=(lastTime64>>32);
l_time=now;
ltime=l_time;
htime=h_time;
}
return ((uint64_t(ts.tv_sec) * 1000ULL + uint64_t(ts.tv_nsec)/1000000ULL))TIME_INACCURACY_TEST;
}
# endif
#endif
#if (defined(_WIN32) || defined(WIN32))
# include <MMSystem.h>
# pragma comment(lib, "winmm.lib")
inline uint32_t time_get_time()
{
return timeGetTime()TIME_INACCURACY_TEST;
}
static uint64_t s_diff_precise__=precise_local_tick_count()-time_get_time();
uint64_t rough_local_tick_count()
{
static atomic<uint32_t> h_time(0);
static atomic<uint32_t> l_time(time_get_time());
uint32_t now =time_get_time();
uint32_t ltime=l_time;
uint32_t htime=h_time;
uint64_t lastTime64= ((((uint64_t)htime)<<32)|ltime);
uint32_t diff=now-ltime;
lastTime64+=diff;
if (ltime>now||diff>0x7fffffffU)
{
h_time=(lastTime64>>32);
l_time=now;
int main( void ){
DDRC = 0xDB;
//PORTC = 0x7E;;
PORTC = 0xE7;
uint8_t error;
Packet packet;
Queue* packets;
packets = Packets_getQueue();
// initialize globals
globals_init();
// initialize Time
time_init();
TimeResult tr;
uint32_t previous = 0;
uint32_t watchdog = 0;
// initialize usart
usart_init();
// initialize motors
motors_init();
motors_set(MOTORS_LEFT, 0);
motors_set(MOTORS_RIGHT, 0);
// initialize analog input
analoginput_init();
// enable interrupts
sei();
// loop forever
while(1){
error = Packets_getError();
if (error){
Packets_sendError(ERROR_PACKETS, error);
continue;
}
if (packets->count > 0){
error = 0x00;
packet = Packets_getNext();
error = Queue_getError(packets);
if (error){
Packets_sendError(ERROR_QUEUE, error);
continue;
}
handle_packet(packet);
watchdog = time_get_time();
}
tr = time_get_time_delta(previous);
// every 20ms, calculate rpm
if (get_time_in_ms(tr.delta) > 20){
previous = tr.previous;
motors_tick();
send_status();
}
tr = time_get_time_delta(watchdog);
if (get_time_in_ms(tr.delta) > 500){
motors_set(MOTORS_LEFT, 0);
motors_set(MOTORS_RIGHT, 0);
}
}
}
/* hopefully obvious */
gchar *time_field_to_string (Track *track, T_item t_item)
{
return (time_time_to_string (time_get_time (track, t_item)));
}
int init_socket_tcp(int port){
//IpV4 - TCP Socket
int server_socket = socket(AF_INET, SOCK_STREAM, 0);
int server_init_state = -1;
if (server_socket == (-1)){
//Error while creating tcp socket
perror("init_socket_tcp");
//Cancelling next operations
return server_socket;
}
//Binding socket
if ((server_init_state = bind_socket_tcp(server_socket, port)) == -1)
//Cancelling next operations
return server_init_state;
//Listening
if ((server_init_state = listen_socket_tcp(server_socket)) == -1)
//Cancelling next operations
return server_init_state;
//LOG
struct tm * timeinfo;
timeinfo = time_get_time();
printf("[%d:%d:%d] Server started on port %d\n", timeinfo->tm_hour, timeinfo->tm_min, timeinfo->tm_sec, port);
//Accepting connections (Server loop process)
if (!fork()){
//Init signals
init_signals();
//Clients accept() loop
while(1){
//Client information
struct sockaddr_in client_addr;
//Accepting client
int client_socket = accept_socket_tcp(server_socket, &client_addr);
if (client_socket != (-1)){
//LOG
_client_idata client_information;
get_client_information(&client_addr, &client_information);
printf("Request from [%s:%d] !\n", client_information.client_ip, client_information.client_port);
//New instance for client
if(!fork()){
//Client pipe
FILE * clnt_sd = fdopen(client_socket, "w+");
//Receive buffer
char rcv_buff[SERVER_RECEIVE_BUFFER_SIZE];
//HTTP header
http_request http_req;
//Header check vars
int header_valid = 0, url_valid = 0;
//Reading client request
fgets_or_exit(rcv_buff, sizeof(rcv_buff), clnt_sd);
//Parsing http
header_valid = parse_http_request(rcv_buff, &http_req);
//Checking header
header_valid = (((http_req.method == HTTP_GET) && (http_req.major_version == 1) && ((http_req.minor_version == 1) || (http_req.minor_version = 0))) ? 1 : 0);
//Valid URL
url_valid = ((strcmp(http_req.url,"/") == 0) ? 1 : 0);
//Skipping headers
skip_headers(clnt_sd);
//Header validation
if (http_req.method == HTTP_UNSUPPORTED)
//Method not supported
send_response (clnt_sd, 405, "Method Not Allowed", "Method Not Allowed\r\n");
else if ((header_valid == 1) && (url_valid == 1))
//Welcome message
send_response(clnt_sd, 200 , "OK" , SERVER_WELCOME_MSG );
else if ((header_valid == 1) && (url_valid == 0))
//404
send_response(clnt_sd, 404,"Not Found", "Not Found\r\n");
else
//Bad request
send_response(clnt_sd, 400, "Bad Request" , "Bad request\r\n");
//Disconnected
fclose(clnt_sd);
//Client child-process ending
exit(0);
}
//Closing client socket
close(client_socket);
}
}
}
//Success
return server_socket;
}
void log_event(struct error * e, ...)
{
PGM_P txt_sev;
uint16_t flags;
va_list ap;
time_h tv;
if( e->severity > log_level)
return;
// save flags
flags = stdout->flags;
va_start(ap, e);
tv = time_get_time();
// print timestamp
printf_P(PSTR("%ld.%3.3ld | "), tv.s, (tv.us/1000UL));
// print severity
switch(e->severity)
{
case ERROR_SEVERITY_EMERG : txt_sev = PSTR(ERROR_SEVTEXT_EMERG); break;
case ERROR_SEVERITY_ERROR : txt_sev = PSTR(ERROR_SEVTEXT_ERROR); break;
case ERROR_SEVERITY_WARNING : txt_sev = PSTR(ERROR_SEVTEXT_WARNING); break;
case ERROR_SEVERITY_NOTICE : txt_sev = PSTR(ERROR_SEVTEXT_NOTICE); break;
case ERROR_SEVERITY_DEBUG : txt_sev = PSTR(ERROR_SEVTEXT_DEBUG); break;
default : txt_sev = PSTR("XXX"); break;
}
printf_P(txt_sev);
printf_P(PSTR(": "));
// print message
vfprintf_P(stdout,e->text,ap);
printf_P(PSTR("\n"));
va_end(ap);
// restore flags
stdout->flags = flags;
// dead end
if( (e->severity == ERROR_SEVERITY_ERROR)
||(e->severity == ERROR_SEVERITY_EMERG) )
{
printf_P(PSTR("\nprogram stopped, strike a key other than 'x' to reset\n"));
#if 0 //TODO:temp
//XXX Add shutdown procedures here XXX
// breaking motors
motor_cs_break(1);
// killing cs & position tasks
scheduler_del_event(event_cs);
// wait for key
uint8_t key;
while(1)
{
key = cli_getkey();
if( (key == -1)||(key == 'x'))
continue;
break;
}
#endif
uart_recv(1);
// reset MCU
reset();
}
}
