int main()
{
AD1PCFGL = 0xFFFF;
TRISB &= ~(1<<8);
SPI_Init();
uartInit();
insight_init();
#ifdef ENC28J60_H
enc28j60Initialize(mac);
#endif
#ifdef ENC624J600_H
enc624j600Initialize(mac);
#endif
sram_23lc1024_init();
arpInit();
arpAnnounce(mac, ip, gateway);
ipv4Init();
udpInit();
tcpInit();
//tcpListen(1234, 32, handleConnection);
icmpInit();
ntpInit();
//ntpRequest(ntpServer);
RtosTaskInit();
RtosTaskCreate(ðTask, "Eth", EthernetTask, 5, ethTaskStk, sizeof(ethTaskStk));
RtosTaskCreate(&ledTask, "LED", LedTask, 1, ledTaskStk, sizeof(ledTaskStk));
RtosTaskRun();
while(1);
return 0;
}
int main(int argc, char *argv[])
{
printf("Start Client\n");
char *ip = "127.0.0.1";
if (argc > 1)
ip = argv[1];
int do_sig = 0;
if (argc > 2)
do_sig = atoi(argv[2]);
// Init modules
udpInit(ip, do_sig);
signalerInit();
controllerInit();
// Tasks with corresponding functions
pthread_t tasks[NUM_THREADS];
taskFunc_t taskFunctions[NUM_THREADS] = { udpTaskFunction, controllerTaskFunction, signalerTaskFunction };
for (int i = 0; i < NUM_THREADS - (1 ^ do_sig); ++i)
pthread_create(&tasks[i], NULL, taskFunctions[i], NULL);
// Only wait for controller, NB task id
pthread_join(tasks[1], NULL);
// Cleanup modules
controllerCleanup();
signalerCleanup();
udpCleanup();
return 0;
}
static void init(void)
{
udpInit();
/*artoolkit init*/
ARParam wparam;
/* open the video path */
if (arVideoOpen(vconf) < 0) exit(0);
/* find the size of the window */
if (arVideoInqSize(&xsize, &ysize) < 0) exit(0);
printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);
/* set the initial camera parameters */
if (arParamLoad(cparam_name, 1, &wparam) < 0) {
printf("Camera parameter load error !!\n");
//exitdr(0);
}
arParamChangeSize(&wparam, xsize, ysize, &cparam);
arInitCparam(&cparam);
printf("*** Camera Parameter ***\n");
arParamDisp(&cparam);
/* load in the object data - trained markers and associated bitmap files */
if ((object = read_ObjData(model_name, &objectnum)) == NULL) exit(0);
printf("Objectfile num = %d\n", objectnum);
for (int i = 0; i < objectnum; i++){
printf("object id: %i __ name: %s ___ \n", object[i].id, object[i].name);
}
/* open the graphics window */
argInit(&cparam, 1.0, 0, 0, 0, 0);//baina
}
/*
* netInit - Initialize the network communications subsystem.
*/
void netInit(void)
{
strcpy(hostname, LOCALHOST);
#if PPP_SUPPORT > 0
user[0] = '\0';
passwd[0] = '\0';
our_name[0] = '\0';
remote_name[0] = '\0';
explicit_remote = 0;
#endif
magicInit();
ipInit();
#if PPP_SUPPORT > 0
pppInit();
#endif
#if ETHER_SUPPORT > 0
// etherInit();
#endif
tcpInit();
#if UDP_SUPPORT > 0
udpInit();
#endif
}
// system
void systemInit(void) {
int ret;
clock_gettime(CLOCK_MONOTONIC, &start_time);
printf("[system]Init...\n");
SystemCoreClock = 500 * 1e6; // fake 500MHz
FLASH_Unlock();
if (pthread_mutex_init(&updateLock, NULL) != 0) {
printf("Create updateLock error!\n");
exit(1);
}
if (pthread_mutex_init(&mainLoopLock, NULL) != 0) {
printf("Create mainLoopLock error!\n");
exit(1);
}
ret = pthread_create(&tcpWorker, NULL, tcpThread, NULL);
if (ret != 0) {
printf("Create tcpWorker error!\n");
exit(1);
}
ret = udpInit(&pwmLink, "127.0.0.1", 9002, false);
printf("init PwnOut UDP link...%d\n", ret);
ret = udpInit(&stateLink, NULL, 9003, true);
printf("start UDP server...%d\n", ret);
ret = pthread_create(&udpWorker, NULL, udpThread, NULL);
if (ret != 0) {
printf("Create udpWorker error!\n");
exit(1);
}
// serial can't been slow down
rescheduleTask(TASK_SERIAL, 1);
}
//============================================================================
int main(int argc, char *argv[]) {
#ifndef WIN32
signal(SIGINT, exitProgram);
signal(SIGTERM, exitProgram);
signal(SIGHUP, exitProgram);
signal(SIGKILL, exitProgram);
#endif
timestamp = updateTimestamp();
// Set Default values
sendRate = 1.0;
strcpy(missionId, "Mission 01");
strcpy(platform, "Demo");
latitude = (uint32_t)htonl(mapLatitude("44.64423"));
longitude = (uint32_t)htonl(mapLongitude("-93.24013"));
altitude = (uint16_t)htons(mapAltitude("333"));
strcpy(address, "127.0.0.1");
servPort = 9000;
DEBUG = 0;
printf("\nUDP Generator, Version 1.0.1\nKevan Ahlquist\nAll Rights Reserved\n\n");
// read user options
int option_index = 0;
char optc;
static struct option long_options[] =
{
{"address", required_argument, 0, 'a'},
{"port", required_argument, 0, 'p'},
{"rate", required_argument, 0, 'r'},
{"mission-id", required_argument, 0, 'm'},
{"platform", required_argument, 0, 'n'},
{"latitude", required_argument, 0, 't'},
{"longitude", required_argument, 0, 'g'},
{"altitude", required_argument, 0, 'e'},
{"help", no_argument, 0, 'h'},
{"version", no_argument, 0, 'v'},
{0, 0, 0, 0}
};
while (( optc = getopt_long(argc, argv, "a:p:r:m:n:t:g:e:hv", long_options, &option_index)) != -1) {
switch(optc) {
case 'a':
strncpy(address, optarg, 16);
address[15] = '\0'; // Prevent buffer overrun
printf("Address received: %s\n", address);
break;
case 'p':
servPort = atol(optarg);
printf("Port received: %d\n", servPort);
break;
case 'r':
sendRate = atof(optarg);
printf("Rate received: %f\n", sendRate);
if (sendRate > 1000000) {
printf("Values greater than 1,000,000 packets per second are not supported\n");
exit(0);
}
break;
case 'm':
strncpy(missionId, optarg, 12);
missionId[12] = '\0'; // Prevent buffer overrun
if (strlen(optarg) > 12) printf("WARNING: Mission ID truncated to 12 characters\n");
printf("Mission ID received: %s\n", missionId);
break;
case 'n':
strncpy(platform, optarg, 12);
platform[12] = '\0'; // Prevent buffer overrun
if (strlen(optarg) > 12) printf("WARNING: Platform truncated to 12 characters\n");
printf("Platform received: %s\n", platform);
break;
case 't':
latitude = (uint32_t)htonl(mapLatitude(optarg));
printf("Latitude received: %s\n", optarg);
if (atof(optarg) < -90.0 || atof(optarg) > 90.0) {
printf("ERROR: Latitude out of range (-90,90)\n");
exit(0);
}
break;
case 'g':
longitude = (uint32_t)htonl(mapLongitude(optarg));
printf("Longitude received: %s\n", optarg);
if (atof(optarg) < -180.0 || atof(optarg) > 180.0) {
printf("ERROR: Longitude out of range (-180,180)\n");
exit(0);
}
break;
case 'e':
altitude = (uint16_t)htons(mapAltitude(optarg));
printf("Altitude received: %s\n", optarg);
if (atof(optarg) < -900 || atof(optarg) > 19000) {
printf("ERROR: Altitude out of range(-900,19000)\n");
exit(0);
}
break;
case 'h':
help();
exit(0);
break;
case 'v':
exit(0);
break;
default:
printf("Usage: klvgen -a <address>:<port> -r <rate> -m<mission-id> -p <platform> -t <lat> -g <long> -e <elev>\n");
printf("For help use option -h or --help\n");
exit(0);
}
}
if (udpInit() == -1) exit(-1);
// TESTING ================================================================
int i;
if (DEBUG) {
printf("Testing mapping functions===============\n");
printf("map 0 from 0-10 to 0-100: %d\n", mapValue(0,0,10,0,100));
printf("map 10 from 0-10 to 0-100: %d\n", mapValue(10,0,10,0,100));
printf("map 5 from 0-10 to 0-100: %d\n", mapValue(5,0,10,0,100));
}
if (DEBUG) {
printf("uasLdsKey:\n");
for (i = 0; i < 16; ++i) {
printf("%X", uasLdsKey[i]);
}
printf("\n");
#ifdef WIN32
printf("Timestamp (truncated): %u\n", (unsigned int)timestamp);
#else
printf("Timestamp: %llu\n", timestamp);
#endif
}
if (DEBUG) {
printf("Testing makePacket, packetBuffer:\n");
printf(" K L Value...\n");
makePacket(packetBuffer);
for (i = 0; i < 80; ++i) {
printf("%2X ", packetBuffer[i]);
if ((i == 15) || (i == 25) || (i == 39) || (i == 53) || (i == 59) || (i == 65) || (i == 69) || (i == 72)) {
printf("\n");
}
}
printf("\n");
udpSendPacket((const char *)packetBuffer);
}
if (DEBUG) {
printf("Testing htonll function:\n num: 0x 01 02 03 04 05 06 07 08\n");
uint64_t number = 0x0102030405060708ULL;
uint64_t num2 = htonll(number);
printf("number: ");
printf("%2X ", (char)(number & 0xFF));
printf("%2X ", (char)((number & 0xFF00) >> 8));
printf("%2X ", (char)((number & 0xFF0000) >> 16));
printf("%2X ", (char)((number & 0xFF000000) >> 24));
printf("%2X ", (char)((number & 0xFF00000000ULL) >> 32));
printf("%2X ", (char)((number & 0xFF0000000000ULL) >> 40));
printf("%2X ", (char)((number & 0xFF000000000000ULL) >> 48));
printf("%2X ", (char)((number & 0xFF00000000000000ULL) >> 56));
printf("\n");
printf("num2: ");
printf("%2X ", (char)(num2 & 0xFF));
printf("%2X ", (char)((num2 & 0xFF00) >> 8));
printf("%2X ", (char)((num2 & 0xFF0000) >> 16));
printf("%2X ", (char)((num2 & 0xFF000000) >> 24));
printf("%2X ", (char)((num2 & 0xFF00000000ULL) >> 32));
printf("%2X ", (char)((num2 & 0xFF0000000000ULL) >> 40));
printf("%2X ", (char)((num2 & 0xFF000000000000ULL) >> 48));
printf("%2X ", (char)((num2 & 0xFF00000000000000ULL) >> 56));
printf("\n");
}
// END TESTING==========================================================
while (1) {
timestamp = htonll(updateTimestamp());
makePacket(packetBuffer);
udpSendPacket((const char *)packetBuffer);
if (DEBUG) {
printf("\n K L Value...\n");
for (i = 0; i < 80; ++i) {
printf("%2X ", packetBuffer[i]);
if ((i == 16) || (i == 26) || (i == 40) || (i == 54) ||
(i == 60) || (i == 66) || (i == 70) || (i == 73)) {
printf("\n");
}
}
}
#ifdef WIN32
Sleep((1 / sendRate) * 1000);
#else
usleep((1 / sendRate) * 1000); // usleep is untested, may not compile
#endif
}
}
