int main(int argc, char** argv)
{
int i, n,
cport_nr=16, // /dev/ttyS0 (COM1 on windows)
bdrate=57600; // 57600 baud
if(OpenComport(cport_nr, bdrate))
{
printf("Can not open comport\n");
}
glutInit(&argc, argv);
glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize (500, 500);
glutInitWindowPosition (100, 100);
glutCreateWindow (argv[0]);
init ();
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutTimerFunc(0,kalmanFilterResults,0);
glutMainLoop();
return 0;
}
//设置并开启串口_wh
FREObject setupPort(FREContext ctx, void* funcData, uint32_t argc, FREObject argv[])
{
FREObject result;
int comPortError = 0;
int useDtrControl;
FREGetObjectAsInt32(argv[0], &comPort);//从as获取信息_wh
FREGetObjectAsInt32(argv[1], &baud);
FREGetObjectAsInt32(argv[2], &useDtrControl);
bufferSize = 0;
comPortError = OpenComport(comPort, baud, useDtrControl);
if (comPortError == 0)
{
//pthread_cancel(ptrToThread);//杀掉该线程，以免重新开启串口时之前线程残留_wh
multiplatformSleep(20);//从100ms减到20ms，与as呼应，避免响应不对应_wh
pthread_create(&ptrToThread, NULL, pollForData, NULL);
FRENewObjectFromBool(1, &result);
}
else
{
FRENewObjectFromBool(0, &result);
}
return result;
}
int main()
{
int i, n, cport_nr=16, /* /dev/ttyS0 (COM1 on windows) */ bdrate=9600; /* 9600 baud */
unsigned char buf[4096];
unsigned char str[] = {'F','#','\0'};
printf("I am here on 31\n");
if(OpenComport(cport_nr, bdrate))
{
printf("Can not open comport\n");
return(0);
}
i = 0 ;
while(1)
{
int n, j ,k;
for(j = 0 ; str[j] != '\0' ; j ++)
{
n = SendByte(cport_nr,str[j]);
// delay_in_sec(1);
}
// delay_in_sec(5);
i ++ ;
}
return(0);
}
bool RunRadarDataList() {
const int c_PerComDataSize = 1024;
unsigned char com_data[1024];
int act_com_size;
bool ok_com;
char config_path[255];
int port_num;
int baud_rate;
GetConfigPath(config_path, sizeof(config_path));
GetPortNumOfSerialInterface(config_path, &port_num);
GetBaudRateOfSerialInterface(config_path, &baud_rate);
ok_com = OpenComport(port_num, baud_rate);
if (false == ok_com) {
LOG("OpenComport() error!\n");
return false;
}
else {
while (true) {
act_com_size = ReadComport(com_data, c_PerComDataSize);
if (0 == act_com_size)
continue;
else
AnalyseComData(com_data, act_com_size);
}
CloseComport();
return true;
}
}
int main()
{
int i, n,cport_nr=17, /* /dev/ttyS0 (COM1 on windows) */bdrate=9600; /* 9600 baud */
unsigned char buf[4096];
char temp ;
// printf("I am here on 31\n");
if(OpenComport(cport_nr, bdrate))
{
printf("Can not open comport\n");
return(0);
}
char str[13];
int count = 0 ;
int j;
while(1)
{
n = PollComport(cport_nr, buf, 1);
if(n > 0)
{
str[count ++ ] = buf[0] ;
if(str[count-1] == '#')
{
for(j = 0 ; str[j] != '#'; j++)
printf("%c",str[j]);
printf("\n");
count = 0;
}
buf[n] = 0;
for(i=0; i < n; i++)
{
if(buf[i] < 32) /* replace unreadable control-codes by dots */
{
buf[i] = '.';
}
}
// printf("received %i bytes: %c , %d \n", n, buf[0],strlen((char *)buf));
}
}
return(0);
}
int CiCreateDef::ConnectToPort() {
int pom = OpenComport();
if (pom == 0) {
// precitame co tam caka
unsigned char *dataR;
dataR = (unsigned char*) malloc(500);
PollComport(dataR, 500);
}
return pom;
}
/*******************************************************************************
* @fn uint8_t serial_open( int32_t port_number, int32_t baud_rate,
* uint8_t (*callback)( uint8_t*, uint32_t) )
* @brief Open serial port
* ****************************************************************************/
uint8_t serial_open( int32_t port_number, int32_t baud_rate,
uint8_t (*callback)( uint8_t*, uint32_t) )
{
serial_port_number = port_number;
// Use RS232 library to open serial port
if ( OpenComport( serial_port_number, baud_rate ) )
{
// Error opening serial port
return 1;
}
// Set a callback function for receiving packets
if( callback != NULL) {
serial_read_callback = callback;
}
return 0;
}
int main()
{
int i, n, cport_nr=0, bdrate=9600;
unsigned char buf[4096];
if(OpenComport(cport_nr, bdrate))
{
printf("Cannot open connection\n");
return(0);
}
while(1)
{
n = PollComport(cport_nr, buf, 4095);
if(n > 0)
{
buf[n] = 0; //Always put a "null" at the end of a string
for(i=0; i < n; i++)
{
if(buf[i] < 32)
{
buf[i] = '.';
}
}
printf("received %i bytes: %s\n", n, (char *)buf);
}
usleep(100000);
}
return(0);
}
void init_com(GtkWidget *window)
{
ready = OpenComport(com_no, BAUD_RATE);
}
/*
* main program
*/
int main(int argc, char** argv) {
//global var
time_t sec0, sec1;
unsigned int delayPixel= 120000, delayGyrodataSending = 25000;
unsigned int idPayload = 303, useKeyboardCmd = 0, buffer_max_num = 64;
unsigned char keyChar;
int gpioOK = 0;
dictionary *iniDict; //ini dictionery
char strPathCfg[255];
GPS_DATA last_posx;
//init last gps pos
last_posx.gps_status = last_posx.gps_loc.lat = last_posx.gps_loc.lon = 0;
last_posx.gps_speed = last_posx.gps_altitude = last_posx.gps_time = 0;
//show titel
#if VERBOSE==1
printf("%s", APP_TITEL);
#endif
//init pin switch
gpioOK = wiringPiSetup();
if(gpioOK != -1)
{
pinMode(6, INPUT);
pullUpDnControl(6, PUD_UP);
}
else
printf("gpio init eror\r\n");
//parsing argumen jika ada
if(argc>2)
{
//default cfg file
getcwd(strPathCfg, sizeof(strPathCfg));
strcat(strPathCfg, "/");
strcat(strPathCfg, CFG_NAME);
int i;
for(i=1;i<(argc-1);i++)
{
//delay pixel
if(strcmp("-d",argv[i])==0)
delayPixel = atoi(argv[++i]);
//id payload
if(strcmp("-i",argv[i])==0)
idPayload = atoi(argv[++i]);
//pake keyboard ato tidak
if(strcmp("-k",argv[i])==0)
useKeyboardCmd = atoi(argv[++i]);
//gyro send
if(strcmp("-g",argv[i])==0)
delayGyrodataSending = atoi(argv[++i]);
//buffer size
if(strcmp("-b",argv[i])==0)
buffer_max_num = atoi(argv[++i]);
}
}
else //baca dari cfg file
{
//load ini file
//char strCfg[80];
if(argc==2)
{
strcpy(strPathCfg, argv[1]);
}
else
{
//get cwd
if (getcwd(strPathCfg, sizeof(strPathCfg)) != NULL)
printf("Current working dir: %s\r\n", strPathCfg);
else
{
strcpy(strPathCfg, argv[1]);
}
}
//check file exists
strcat(strPathCfg, "/");
strcat(strPathCfg, CFG_NAME);
if(!file_exist(strPathCfg))
{
printf("Configuration file %s not found!!!\r\n", strPathCfg );
return(EXIT_FAILURE);
}
//load from config file
printf("Loading configuration file from %s\r\n", strPathCfg);
//load ini parser
iniDict = iniparser_load(strPathCfg);
//read cfg value
if(iniDict)
{
idPayload = iniparser_getint(iniDict,"payload:id",100);
delayPixel = iniparser_getint(iniDict,"payload:cam_delay",120000);
delayGyrodataSending = iniparser_getint(iniDict,"payload:g_delay",20000);
buffer_max_num = iniparser_getint(iniDict,"payload:buffer",64);
}
}
//show config setup
printf("======================================\r\n");
printf("Configuration :\r\n");
printf("Delay Pixel = %d uS\r\n", delayPixel);
printf("ID Payload = %d\r\n", idPayload);
printf("Use Keyboard = %d\r\n", useKeyboardCmd);
printf("Gyro Delay = %d uS\r\n", delayGyrodataSending);
printf("Buffer = %d byte\r\n", buffer_max_num);
printf("======================================\r\n");
//init bus i2c
int i2c_hdl = I2C_Init_Bus(i2c_dev, &statusPeripheral);
//init start adxl345
ADXL345_Init_Start(i2c_hdl, adxl345_addr, &statusPeripheral);
//init itg3200
ITG3200_Init_Start(i2c_hdl, itg3200_addr, &statusPeripheral);
//open port
unsigned char buffRX[COM_BUFF_NUM];
int buffNumRX;
//make it as null string
buffRX[COM_BUFF_NUM-1] = 0;
if (OpenComport(COM_PORT, COM_SPEED)) {
fprintf(stderr, "Open port %d failed : %s\r\n!!!", COM_PORT, strerror(errno));
return errno;
}
#if VERBOSE==1
printf("communication port opened\r\n");
#endif
//tes port com
//while(1){
////ambil perintah dari comport
//buffNumRX = PollComport(COM_PORT, buffRX, (COM_BUFF_NUM - 2));
//if (buffNumRX > 0) {
////printf("%d = %s\n", buffNumRX, buffRX);
//int i;
//for(i=0;i<buffNumRX;i++)
//{
//printf("%X %s", buffRX[i], (i<buffNumRX-1) ? "":"\n");
//}
//char ss[10];
//snprintf(ss,6,"%d",(buffRX[1]<<8)+buffRX[2]);
//printf("id = %s\n", ss);
//}
//}
//open cam
CvCapture *camHdl = cvCaptureFromCAM(CV_CAP_ANY);
Cam_Init_Start(camHdl, &statusPeripheral);
//main loop
while (1) {
if(useKeyboardCmd)
{
//dummy keyboard input
printf("press command key\r\n");
keyChar = getchar();
//if (keyChar == cmdList[3][0])
//opsState = STATE_EXIT;
//if (keyChar == cmdList[2][0])
//opsState = STATE_GET_CAM_DATA;
//if (keyChar == cmdList[1][0])
//opsState = STATE_GET_G_DATA;
if (keyChar == cmdList[3])
opsState = STATE_EXIT;
if (keyChar == cmdList[2])
opsState = STATE_GET_CAM_DATA;
if (keyChar == cmdList[1])
opsState = STATE_GET_G_DATA;
}
//ambil perintah dari comport
buffNumRX = PollComport(COM_PORT, buffRX, (COM_BUFF_NUM - 2));
//data diterima -> cek printah
if (buffNumRX > 0) {
//int i;
//unsigned char *chrPos;
////make it null string
//if (buffRX[buffNumRX] != 0)
//buffRX[buffNumRX] = 0;
////default ops state = idle
//opsState = STATE_IDLE;
////add new state
//for (i = 0; i < CMD_COUNTER; i++) {
//chrPos = strstr(buffRX,cmdList[i]);
//if ((chrPos != NULL) && ((chrPos - buffRX + 1) == 1)) { //got a match?
////proses state
//opsState = i;
//break;
//}
//}
opsState = CheckCommand(cmdList, buffNumRX, buffRX);
}
//cek tobmol
if(gpioOK != -1)
{
//printf("%d\r\n", digitalRead(6));
//SendByte(COM_PORT, digitalRead(6)+0x30);
//usleep(1e5);
if(digitalRead(6) == 0)
{
usleep(5e5);
if(digitalRead(6) == 0)
opsState = STATE_SHUTDOWN_OS;
}
}
//lakukan proses seuai ops state
if (opsState == STATE_EXIT) {
#if VERBOSE==1
printf("exiting...\r\n");
//fflush(stdout);
#endif
break;
}
//shutdown os
if (opsState == STATE_SHUTDOWN_OS)
{
printf("shutdown...\r\n");
break;
}
//restart os
if (opsState == STATE_RESTART_OS)
{
printf("restart...\r\n");
break;
}
//other state
switch (opsState) {
case STATE_IDLE: //idle state
//SendByte(COM_PORT, 's');
break;
case STATE_GET_G_DATA: //ambil data g
//SendByte(COM_PORT, 'g');
GetAndSendAccGyro(i2c_hdl, adxl345_addr, itg3200_addr, idPayload, delayGyrodataSending, &last_posx, buffer_max_num);
break;
case STATE_GET_CAM_DATA://ambil data cam
//SendByte(COM_PORT, 'c');
#if VERBOSE==1
printf("grab camera start\r\n");
sec0 = time(NULL);
#endif
GrabAndSendCameraData(camHdl, i2c_hdl, 5, delayPixel, idPayload, &last_posx, buffer_max_num);
#if VERBOSE==1
sec1 = time(NULL);
printf("grab camera finish in %lds\r\n", (sec1 - sec0));
#endif
opsState = STATE_IDLE;
//usleep(5e4);
//ComportFlush(COM_PORT);
//usleep(1.5e6);
break;
case STATE_GET_STATUS: //ambil status payload
snprintf((char*)buffRX, 16, "s,%.3d,%d,%d\r", idPayload, 990, statusPeripheral);
//SendBuf(COM_PORT, buffRX, 10);
//snprintf((char*)buffRX, 16, "s,%.3d,%d\r", idPayload, 990);
cprintf(COM_PORT, buffRX);
opsState = STATE_IDLE; //go back to idle
#if VERBOSE==1
printf("sendstatus reply = %s\r\n", buffRX);
#endif
break;
case STATE_REINIT_PERIPHERAL: //reinit peripheral
//init cam
Cam_Init_Start(camHdl, &statusPeripheral);
//init bus i2c
i2c_hdl = I2C_Init_Bus(i2c_dev, &statusPeripheral);
//init start adxl345
ADXL345_Init_Start(i2c_hdl, adxl345_addr, &statusPeripheral);
//init itg3200
ITG3200_Init_Start(i2c_hdl, itg3200_addr, &statusPeripheral);
opsState = STATE_IDLE; //go back to idle
break;
case STATE_READ_WRITE_CONFIGURATION: //read/write config file
printf("Opening configuration file %s\r\n", strPathCfg);
//load ini file
iniDict = iniparser_load(strPathCfg);
//write if neccessary
if(buffRX[1]==1) //write setting
{
char stmp[10];
//id
snprintf(stmp,10,"%d", (buffRX[2]<<8)+buffRX[3]);
iniparser_set(iniDict,"payload:id",stmp);
//cam delay in ms
snprintf(stmp,10,"%d", buffRX[4]*1000);
iniparser_set(iniDict,"payload:cam_delay",stmp);
//g delay in ms
snprintf(stmp,10,"%d", buffRX[5]*1000);
iniparser_set(iniDict,"payload:g_delay",stmp);
//buffer max
snprintf(stmp,10,"%d", buffRX[6]);
iniparser_set(iniDict,"payload:buffer",stmp);
Save_INI_File(iniDict, strPathCfg);
}
//reload ini file
iniDict = iniparser_load(strPathCfg);
//read cfg value
if(iniDict)
{
idPayload = iniparser_getint(iniDict,"payload:id",100);
delayPixel = iniparser_getint(iniDict,"payload:cam_delay",120000);
delayGyrodataSending = iniparser_getint(iniDict,"payload:g_delay",20000);
buffer_max_num = iniparser_getint(iniDict,"payload:buffer",64);
}
//send reply always
snprintf((char*)buffRX, 25, "f,%d,%d,%d,%d\r", idPayload, delayPixel, delayGyrodataSending,buffer_max_num);
cprintf(COM_PORT, buffRX);
opsState = STATE_IDLE; //go back to idle
#if VERBOSE==1
printf("send config reply = %s\r\n", buffRX);
#endif
break;
default:
break;
}
}
//release cam
cvReleaseCapture(&camHdl);
//release port
CloseComport(COM_PORT);
//close bus
closeBus(i2c_hdl);
//free ini handler
if(iniDict)
iniparser_freedict(iniDict);
//cek shutdown atau restart
switch (opsState)
{
case STATE_SHUTDOWN_OS:
system("sudo shutdown now");
break;
case STATE_RESTART_OS:
system("sudo shutdown -r now");
break;
default:
break;
}
//return
return (EXIT_SUCCESS);
}
int main(int argc, char *argv[] )
{
int cport_nr=16, /* /dev/ttyS0 (COM1 on windows) */
bdrate=9600; /* 9600 baud */
int i, n;
unsigned char buf[4096];
// unsigned char message[] = "Hell of a world";
char bufTest[] = "HALT!!";
char fifoFilename[] = "/tmp/trafficLight.fifo";
char shellFilename[] = "/usr/bin/trafficLightShutdown.sh";
pid_t pidSystem = fork();
pid_t pidArduino = fork();
if(OpenComport(cport_nr, bdrate)) {
printf("Can not open comport\n");
return(0);
}
// mkfifo(fifoFilename, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH| S_IWOTH);
switch(pidSystem) {
case -1:
/* error occured */
break;
case 0:
/* child process listen to the file */
// read the fifo file and see if anything was sent to it.
readSystemInput(fifoFilename);
break;
default:
/* parent stuff work on */
break;
}
/*
switch(pidArduino) {
case -1:
// error occured
break;
case 0:
// child process listen to the file
// read the fifo file and see if anything was sent to it.
// readArduinoInput(cport_nr, shellFilename, bufTest);
break;
default:
// parent stuff work on
break;
}
*/
/*
while(sentinel == 1)
{
n = PollComport(cport_nr, buf, 4095);
if(n > 0)
{
buf[n] = 0; // always put a "null" at the end of a string!
for(i=0; i < n; i++)
{
if(buf[i] < 32) // replace unreadable control-codes by dots
{
buf[i] = '.';
}
}
int comp = strncmp((char *)buf, (char *)bufTest, 4);
if(comp == 0) {
execv(shellFilename, argv);
sentinel = 0;
}
printf("received %i bytes: %s\n", n, (char *)buf);
}
#ifdef _WIN32
Sleep(100); // it's ugly to use a sleeptimer, in a real program, change the while-loop into a (interrupt) timerroutine
#else
usleep(100000); // sleep for 100 milliSeconds
#endif
}
*/
/*
int len = sizeof(message);
printf("Size is reported as: %d\n", len);
int sendData = SendBuf(cport_nr, message, sizeof(message));
// int sendData = cprintf(int comport_number, const char *text)
if(sendData < 0) {
printf("Data was not sent properly\n");
} else {
printf("Bytes reported as: %d\n", sendData);
printf("It SAYS we sent the data right\n");
}
*/
// delete the FIFO file
/*
int reResult = remove(fifoFilename);
if(reResult == 0) {
printf("File removed\n");
}
*/
printf("Exiting file\n");
return(0);
}
int main(int argc, char *argv[])
{
unsigned char buffer[4096] = {0};
int bufferLen = 0;
int bytesReceived = 0;
int bytesWritten = 0;
int timer = 0;
unsigned int deviceId[3];
Command command;
int extra = -1;
if (argc < 3)
{
print_error("Usage: insteon deviceId [on|off|status|temp_ambient]\n");
return 1;
}
// Parse arguments
parse_device(argv[1], deviceId);
command = parse_command(argv[2]);
if (argc > 3)
extra = parse_extra(argv[3]);
if (command < 0)
{
print_error("Invalid command name!\n");
return 1;
}
print_debug("*****************\n");
print_debug("Device: %s\n", argv[1]);
print_debug("Command: %s\n", argv[2]);
if (argc > 3)
print_debug("Extra: %s\n", argv[3]);
print_debug("*****************\n");
if (acquire_lock())
{
print_error("Timeout while acquiring lock!\n");
return 1;
}
print_debug("Opening comport\n");
if(OpenComport(comport, 19200))
{
print_error("Can not open comport\n");
release_lock();
return 1;
}
// Send command
bytesWritten = send_command(deviceId, command, extra);
if (bytesWritten < 0)
{
print_error("Invalid command or internal error!\n");
goto return_error;
}
// Wait for response
while(1)
{
bytesReceived = PollComport(16, buffer + bufferLen, 4095);
//print_debug("br=%d bl=%d ", bytesReceived, bufferLen);
bufferLen += bytesReceived;
//print_debug("br=%d bl=%d\n", bytesReceived, bufferLen);
if(bytesReceived > 0)
{
int i;
timer = 0;
print_debug("received %i bytes: (%i total)", bytesReceived, bufferLen);
for(i=0; i < bufferLen; i++)
{
print_debug("%02X ", buffer[i]);
}
print_debug("\n");
if (bufferLen > bytesWritten)
{
unsigned int ack = *(buffer + bytesWritten);
unsigned char* message = buffer + bytesWritten + 1;
int messageLen = bufferLen - bytesWritten - 1;
if (ack != CMD_ACK)
{
print_error("Message not acknowledged!\n");
goto return_error;
}
if (messageLen > 1)
{
if (message[0] == CMD_PREFIX)
{
if (message[1] == CMD_INSTEON_STD_RECEIVED)
{
if (messageLen >= 11)
{
static int resultCounter = 0;
print_debug("Insteon standard message received!\n");
if(parse_message(command, message))
{
goto return_error;
}
if(command == CMD_TEMP_GET_SETPOINT && resultCounter == 0 && extra == 3)
{
resultCounter++;
bufferLen -= 11;
}
else
{
goto return_success;
}
}
}
else if (message[1] == CMD_INSTEON_EXT_RECEIVED)
{
if (messageLen >= 25)
{
print_debug("Insteon extended message received!\n");
if(parse_message(command, message))
{
goto return_error;
}
goto return_success;
}
}
else if (message[1] == CMD_X10_RECEIVED)
{
if (messageLen >= 4)
{
print_debug("X10 message received!\n");
if(parse_message(command, message))
{
goto return_error;
}
goto return_success;
}
}
else
{
print_error("Unexpected message received! '");
for(i=0; i < messageLen; i++)
{
print_error("%02X ", message[i]);
}
print_error("'\n");
goto return_error;
}
}
else
{
print_error("Unexpected message header received! '");
for(i=0; i < messageLen; i++)
{
print_error("%02X ", message[i]);
}
print_error("'\n");
goto return_error;
}
}
}
}
usleep(250);
timer++;
if (timer > 4000)
{
print_error("Timeout while waiting for bytes!\n");
goto return_error;
}
}
return_success:
CloseComport(16);
release_lock();
return 0;
return_error:
CloseComport(16);
release_lock();
return 1;
}
int main()
{
MYSQL* con ;
MYSQL_RES * res ;
MYSQL_ROW row ;
con = mysql_init(NULL);
char *server = "localhost";
char *user = "******";
char *password = "******"; /* set me first */
char *database = "zandu";
// initiate the com port
int i, n,cport_nr=16,/* /dev/ttyS0 (COM1 on windows) */ bdrate=9600; /* 9600 baud */
if(OpenComport(cport_nr, bdrate))
{
printf("Can not open comport\n");
return(0);
}
// initiate the mysql connection
if (!mysql_real_connect(con, server,user, password, database, 0, NULL, 0)) {
fprintf(stderr, "%s\n", mysql_error(con));
exit(1);
}
//start the main logic
char query[100] ;
char * storeTime = (char *)malloc(100);
char * timeFormat = (char *)malloc(100);
timeFormat = "%Y-%m-%d %T";
//sprintf(query,"select * from SendToBot order by timestampdiff(microsecond,time_stamp,current_timestamp) desc");
sprintf(query,"select * from sendtobot");
/* send SQL query */
if (mysql_query(con, query))
{
fprintf(stderr, "%s\n", mysql_error(con));
exit(1);
}
i = 0 ;
int j = 0;
while(1)
{
res = mysql_use_result(con);
while( (row = mysql_fetch_row(res) ) != NULL )
{
printf("%s\t %s\t %d \t %s\n",row[0],row[3],i,row[2]);
int n , j ;
int length = strlen(row[0]);
for(j = 0 ; j < length ; j ++)
{
n = SendByte(cport_nr,row[0][j]) ;
}
n = SendByte(cport_nr,':') ; //To seperate ID from Command
length = strlen(row[3]);
for(j = 0 ; j < length ; j ++)
{
n = SendByte(cport_nr,row[3][j]) ;
}
//n = SendBuf(cport_nr,row[3],2) ;
i ++ ;
strcpy(storeTime,row[2]) ;
}
sprintf(query,"delete from sendtobot where time_stamp <= \"%s\"",storeTime);
if (mysql_query(con,query))
{
fprintf(stderr, "%s\n", mysql_error(con));
exit(1);
}
mysql_free_result(res);
sprintf(query,"select * from sendtobot order by timestampdiff(microsecond,time_stamp,str_to_date(\'%s\',\'%s\'))desc;",storeTime,timeFormat);
//sprintf(query,"select * from sendtobot");
if (mysql_query(con,query))
{
fprintf(stderr, "%s\n", mysql_error(con));
exit(1);
}
}
}
int main(int argc, char *argv[])
{
MYSQL* con ;
MYSQL_RES * res ;
MYSQL_ROW row ;
con = mysql_init(NULL);
char *server = "localhost";
char *user = "******";
char *password = "******"; /* set me first */
char *database = "zandu";
int i, n,cport_nr=16, /* /dev/ttyS0 (COM1 on windows) */bdrate=9600; /* 9600 baud */
unsigned char buf[4096];
char sensorValueQuery[200], registerQuery[200];
char temp ;
char sensorValues[100];
int count = 0 ;
int j;
int gotNewBot = 0, regNewBot = 0, botId = -1;
if(argc == 2){
cport_nr = atoi(argv[1]);
}
printf("I am here on 31\n");
if(OpenComport(cport_nr, bdrate))
{
printf("Can not open comport\n");
return(0);
}
// initiate the mysql connection
if (!mysql_real_connect(con, server,user, password, database, 0, NULL, 0))
{
fprintf(stderr, "%s\n", mysql_error(con));
exit(1);
}
/*queries for different works */
/**/
while(1)
{
n = PollComport(cport_nr, buf, 1);
if(n > 0)
{
/* Registration logic */
if(gotNewBot && n == 1){
botId = (int) buf[0];
regNewBot = 1;
}
else if(n == 2){
if(buf[0] == '@'){
botId = (int) buf[1];
regNewBot = 1;
}
}
else if(n == 1){
if(buf[0] == '@'){
gotNewBot = 1;
continue;
}
}
if(regNewBot){
sprintf(registerQuery,"insert into bot values (\'%d\',CURRENT_TIMESTAMP,\'%d\')",botId,0);
if (mysql_query(con,registerQuery))
{
fprintf(stderr, "%s\n", mysql_error(con));
gotNewBot = 0;regNewBot = 0;
continue;
//exit(1);
}
//mysql_free_result(res);
sprintf(registerQuery,"insert into sendtobot values (\'%d\',\'%s\',CURRENT_TIMESTAMP,\'%c\')",botId,"server",'Y');
if (mysql_query(con,registerQuery))
{
fprintf(stderr, "%s\n", mysql_error(con));
//exit(1);
}
sprintf(registerQuery,"insert into botinfo values (\'%d\',\'%d\',\'%s\',\'%s\',\'%s\',\'%s\',\'%s\',\'%s\',\'%s\',\'%s\',\'%s\')",botId,1101, "0:0:0:0:0:0:0:0:0", "0:0:0:0:0:0:0:0:0:0:0:0", "0","0", "0","10", "10", "0", "0");
if (mysql_query(con,registerQuery))
{
fprintf(stderr, "%s\n", mysql_error(con));
//exit(1);
}
gotNewBot = 0;regNewBot = 0;
continue;
}
/* Registration logic ends*/
/*sensor wala logic*/
sensorValues[count ++ ] = buf[0] ;
if(sensorValues[count-1] == '#')
{
for(j = 0 ; sensorValues[j] != '#'; j++)
{
printf("%c",sensorValues[j]);
}
sensorValues[j] = '\0'; //else garbage values can go into a database
if(sensorValues[2] == 'S'){
sprintf(sensorValueQuery,"update botinfo set sensor=\'%s\' where bot_id = \'%d\' ;",sensorValues+4,sensorValues[0]);
//puts(sensorValues);
}
else if(sensorValues[2] == 'P'){
sprintf(sensorValueQuery,"update botinfo set port_io=\'%s\' where bot_id = \'%d\' ;",sensorValues+4,sensorValues[0]);
}
// 0 replaced by 2||sensorValues + 2 repalce by sensorValues + 4 || botID replaced by sensorValues[0] || %d replaced by %c
if (mysql_query(con,sensorValueQuery))
{
printf("%s\n",sensorValueQuery);
fprintf(stderr, "%s\n", mysql_error(con));
//exit(1);
}
mysql_free_result(res);
printf("\n");
count = 0;
}
buf[n] = 0;
for(i=0; i < n; i++)
{
if(buf[i] < 32) /* replace unreadable control-codes by dots */
{
buf[i] = '.';
}
}
}
}
return(0);
}
int main(int argc, char *argv[])
{
an_decoder_t an_decoder;
an_packet_t *an_packet;
system_state_packet_t system_state_packet;
raw_sensors_packet_t raw_sensors_packet;
int bytes_received;
if (argc != 3)
{
printf("Usage - program com_port baud_rate\nExample - packet_example.exe COM1 115200\n");
exit(EXIT_FAILURE);
}
/* open the com port */
if (OpenComport(argv[1], atoi(argv[2])))
{
exit(EXIT_FAILURE);
}
an_decoder_initialise(&an_decoder);
while (1)
{
if ((bytes_received = PollComport(an_decoder_pointer(&an_decoder), an_decoder_size(&an_decoder))) > 0)
{
/* increment the decode buffer length by the number of bytes received */
an_decoder_increment(&an_decoder, bytes_received);
/* decode all the packets in the buffer */
while ((an_packet = an_packet_decode(&an_decoder)) != NULL)
{
if (an_packet->id == packet_id_system_state) /* system state packet */
{
/* copy all the binary data into the typedef struct for the packet */
/* this allows easy access to all the different values */
if(decode_system_state_packet(&system_state_packet, an_packet) == 0)
{
printf("System State Packet:\n");
printf("\tLatitude = %f, Longitude = %f, Height = %f\n", system_state_packet.latitude * RADIANS_TO_DEGREES, system_state_packet.longitude * RADIANS_TO_DEGREES, system_state_packet.height);
printf("\tRoll = %f, Pitch = %f, Heading = %f\n", system_state_packet.orientation[0] * RADIANS_TO_DEGREES, system_state_packet.orientation[1] * RADIANS_TO_DEGREES, system_state_packet.orientation[2] * RADIANS_TO_DEGREES);
}
}
else if (an_packet->id == packet_id_raw_sensors) /* raw sensors packet */
{
/* copy all the binary data into the typedef struct for the packet */
/* this allows easy access to all the different values */
if(decode_raw_sensors_packet(&raw_sensors_packet, an_packet) == 0)
{
printf("Raw Sensors Packet:\n");
printf("\tAccelerometers X: %f Y: %f Z: %f\n", raw_sensors_packet.accelerometers[0], raw_sensors_packet.accelerometers[1], raw_sensors_packet.accelerometers[2]);
printf("\tGyroscopes X: %f Y: %f Z: %f\n", raw_sensors_packet.gyroscopes[0] * RADIANS_TO_DEGREES, raw_sensors_packet.gyroscopes[1] * RADIANS_TO_DEGREES, raw_sensors_packet.gyroscopes[2] * RADIANS_TO_DEGREES);
}
}
else
{
printf("Packet ID %u of Length %u\n", an_packet->id, an_packet->length);
}
/* Ensure that you free the an_packet when your done with it or you will leak memory */
an_packet_free(&an_packet);
}
}
#ifdef _WIN32
Sleep(10);
#else
usleep(10000);
#endif
}
}
int main( int argc, char *argv[] )
{
uint8_t serial_buffer[BUFFER_SIZE];
uint8_t packet_buffer[BUFFER_SIZE];
uint8_t final_buffer[BUFFER_SIZE];
//uint8_t adc_sample_buffer[ADC_MAX_SAMPLES];
uint16_t buffer_offset = 0;
uint8_t new_packet = 0;
uint16_t bytes_read = 0;
// Handle interrupt events to make sure files are closed before exiting
(void) signal( SIGINT, sigint_handler );
tx_power = dbm_to_watt(1l);
target_rssi = dbm_to_watt(-60l);
// Make sure input is correct
if( argc < 2 )
{
printf("Usage: %s port baudrate\n", argv[0]);
return 0;
}
printf("Power control test\r\n");
// Convert string serial number to integer
serial_port_number = atoi( argv[1] );
// Use RS232 library to open serial port
if ( OpenComport( serial_port_number, atoi(argv[2]) ) )
{
printf("Error opening serial port.\n");
return 1;
}
// Flush the port
while( PollComport( serial_port_number, serial_buffer, BUFFER_SIZE ) );
memset( serial_buffer, 0x00, sizeof(serial_buffer) );
// Run forever
for(;;)
{
// Read a buffer full of data (if available)
bytes_read = PollComport( serial_port_number, serial_buffer, BUFFER_SIZE );
if( bytes_read > 0 )
{
if( bytes_read >= BUFFER_SIZE )
{
printf("Uh oh!\n");
}
else
{
memcpy( packet_buffer + buffer_offset, serial_buffer, bytes_read );
if ( packet_in_buffer( packet_buffer ) )
{
buffer_offset = 0;
new_packet = 1;
bytes_read = find_and_escape_packet( packet_buffer, final_buffer );
}
else
{
buffer_offset += bytes_read;
if( buffer_offset > BUFFER_SIZE )
{
printf("damn...\n");
memset( packet_buffer, 0x00, sizeof(packet_buffer) );
memset( serial_buffer, 0x00, sizeof(serial_buffer) );
buffer_offset = 0;
}
}
if( new_packet == 1 )
{
process_packet( final_buffer );
new_packet = 0;
memset( packet_buffer, 0x00, sizeof(packet_buffer) );
}
}
}
memset( serial_buffer, 0x00, sizeof(serial_buffer) );
// Don't take up all the processor time
usleep(20000);
if( 0 == send_message-- )
{
SendByte( serial_port_number, next_power ); // Send initial packet
send_message = 1;
if(next_power == 0xff)
{
printf("*");
}
// If no message is received before the next round, use full power
next_power = 0xff;
}
}
return 0;
}
// Open the communication (done when you create it)
void CCPCBooster::OpenPort()
{
if (_currentState == PortOpened)
{
ClosePort();
}
_currentState = PortFailed;
/**
* code specifique aux windows
*/
#if _WINDOWS
_COMPortHandle = CreateFile(_COMPortNumber.c_str(),
GENERIC_READ | GENERIC_WRITE,
0, // must be opened with exclusive-access
NULL, // no security attributes
OPEN_EXISTING, // must use OPEN_EXISTING
0, // not overlapped I/O
NULL); // hTemplate must be NULL for comm devices
if (_COMPortHandle == INVALID_HANDLE_VALUE)
{
_currentError = ErrInvalidHandle;
}
else
{
// Build on the current configuration, and skip setting the size
// of the input and output buffers with SetupComm.
DCB dcb;
BOOL fSuccess = GetCommState(_COMPortHandle, &dcb);
if (fSuccess != TRUE)
{
_currentError = ErrGetStateFailed;
}
else
{
// configure COM properties
// http://msdn.microsoft.com/library/default.asp?url=/library/en-us/wcecoreos5/html/wce50conprogrammingserialconnections.asp
dcb.BaudRate = CBR_115200; // set the baud rate
dcb.ByteSize = 8; // data size, xmit, and rcv
dcb.Parity = NOPARITY; // no parity bit
dcb.StopBits = ONESTOPBIT; // one stop bit
// additionnal properties to fix some USB crappy serial interface
dcb.fBinary = TRUE; // Binary mode; no EOF check
dcb.fOutxCtsFlow = FALSE; // No CTS output flow control
dcb.fOutxDsrFlow = FALSE; // No DSR output flow control
dcb.fDtrControl = DTR_CONTROL_DISABLE;
dcb.fDsrSensitivity = FALSE; // DSR sensitivity
dcb.fTXContinueOnXoff = FALSE; // XOFF continues Tx
dcb.fOutX = FALSE; // No XON/XOFF out flow control
dcb.fInX = FALSE; // No XON/XOFF in flow control
dcb.fNull = FALSE; // Disable null stripping
dcb.fRtsControl = RTS_CONTROL_DISABLE;
dcb.fAbortOnError = FALSE; // Do not abort reads/writes on error
fSuccess = SetCommState(_COMPortHandle, &dcb);
if (fSuccess != TRUE)
{
_currentError = ErrSetStateFailed;
}
else
{
_currentState = PortOpened;
}
COMMTIMEOUTS timeOut;
GetCommTimeouts(_COMPortHandle, &timeOut);
timeOut.ReadTotalTimeoutMultiplier = 10;
SetCommTimeouts(_COMPortHandle, &timeOut);
}
}
/**
* Code specifique aux unices
*/
#else
if (OpenComport(_COMPortNumber.c_str(),115200) == 0)
{
_currentState = PortOpened ;
_COMPortHandle = 0;
}
#endif
}
int main(int argc,char** argv)
{
ros::init(argc, argv, "servo");
ros::param::get("/port", port);
if(port == "/dev/ttyS0")
Comport = 0;
else if(port == "/dev/ttyS1")
Comport = 1;
else if(port == "/dev/ttyS2")
Comport = 2;
else if(port == "/dev/ttyS3")
Comport = 3;
else if(port == "/dev/ttyS4")
Comport = 4;
else if(port == "/dev/ttyS5")
Comport = 5;
else if(port == "/dev/ttyS6")
Comport = 6;
else if(port == "/dev/ttyS7")
Comport = 7;
else if(port == "/dev/ttyS8")
Comport = 8;
else if(port == "/dev/ttyS9")
Comport = 9;
else if(port == "/dev/ttyS10")
Comport = 10;
else if(port == "/dev/ttyS11")
Comport = 11;
else if(port == "/dev/ttyS12")
Comport = 12;
else if(port == "/dev/ttyS13")
Comport = 13;
else if(port == "/dev/ttyS14")
Comport = 14;
else if(port == "/dev/ttyS15")
Comport = 15;
else if(port == "/dev/ttyUSB0")
Comport = 16;
else if(port == "/dev/ttyUSB1")
Comport = 17;
else if(port == "/dev/ttyUSB2")
Comport = 18;
else if(port == "/dev/ttyUSB3")
Comport = 19;
else if(port == "/dev/ttyUSB4")
Comport = 20;
else if(port == "/dev/ttyUSB5")
Comport = 21;
ros::param::get("/baudrate", baudrate);
ros::param::get("/servo_id", servo_id);
ros::param::get("/servo_speed", servo_speed);
ros::param::get("/max_angle", max_angle);
ros::param::get("/min_angle", min_angle);
OpenComport(Comport, baudrate);
servoAction servo(ros::this_node::getName());
if (!ros::ok())
{
CloseComport(Comport);
}
ros::spin();
return 0;
}
int
initSerial() {
return OpenComport(SERIAL_PORT, SERIAL_BAUD);
}
