int getPortUE9(CONNECTION *ret, int portNumber, int *value) {
/*
0-7 FIO0-FIO7, 0-3 traffic lights
8-11 Sensors
12-15 tracks
8-15 EIO0-EIO7
*/
if((ret->error = eDI(ret->socketFD, portNumber, &ret->lngState)) != 0) // Get port, returns true if succesfull, native UE9
{
printf("Could not read the state of Port %d", portNumber);
return -1;
}
else
{
*value = (int) ret->lngState;
return 0;
}
}
//main
int main (int argc, const char * argv[]) {
bool retval;
HANDLE ljHandle;
printf("Main\n");
if( (ljHandle = openUSBConnection(-1)) == NULL) {
printf("Error\n");
return -1;
}
retval = ljU6ConfigPorts(ljHandle);
long long i;
long long t1,t2;
long state;
long long savedEl[STATSN+1];
long long tStart;
int savedN=0;
double meanEl;
int iM;
int r;
double maxEl;
//eDO(ljHandle, LJU6_REWARD_FIO, 0);
tStart = timeUS();
for (i=0; true; i++) {
t1 = timeUS();
// DI
r = eDI(ljHandle, 0, &state);
if (r < 0) {
printf("eDI call failed. Exiting");
return r;
}
// // DO high
//usleep(1000);
//r = eDO(ljHandle, 1, 1);
//if (r < 0) {
// printf("eDO high call failed. Exiting");
// return r;
//}
//// DO low
//usleep(2000);
//r = eDO(ljHandle, 1, 0);
//if (r < 0) {
// printf("eDO low call failed. Exiting");
// return r;
//}
t2 = timeUS();
if (i % 100 == 0) {
printf("Elapsed %lld us, iter %10lld\n", t2-t1, i);
fflush(stdout);
}
savedEl[savedN] = t2-t1;
savedN++;
// stats, every STATSN trials
if (i % STATSN == 0 && i>0) { // not the first time
meanEl = 0;
maxEl = 0;
for (iM=0; iM<STATSN; iM++) {
meanEl = meanEl + savedEl[iM];
if (savedEl[iM] > maxEl) {
maxEl = savedEl[iM];
}
}
meanEl = meanEl/STATSN;
savedN = 0;
printf("** Mean %8.1f max %8.1f totalElapsedUs %lld\n", meanEl, maxEl, timeUS()-tStart);
}
//while (timeUS() - t1 < 1000) {
// usleep(1000);
//}
}
closeUSBConnection(ljHandle);
return 0;
}
