int main(void)
{
RTIME until;
RT_TASK *task;
comedi_insn insn[NCHAN];
unsigned int read_chan[NICHAN] = { 0 };
unsigned int write_chan[NOCHAN] = { 0 };
#if !SINGLE_INSN
comedi_insnlist ilist = { NCHAN, insn };
#endif
#if SIN_FREQ
lsampl_t sinewave;
double omega = (2.0*M_PI*SIN_FREQ)/1.0E9;
double actualtime;
#endif
lsampl_t *hist;
lsampl_t data[NCHAN];
long i, k, n, retval;
int toggle;
FILE *fp;
double tms[2];
#if SINGLE_INSN
printf("single insn true\n");
#endif
#if SIN_FREQ
printf(" true\n");
#endif
signal(SIGKILL, endme);
signal(SIGTERM, endme);
hist = malloc(SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
memset(hist, 0, SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
start_rt_timer(0);
task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
printf("COMEDI INSN%s TEST BEGINS: SAMPLING FREQ: %d, RUN TIME: %d.\n", SINGLE_INSN ? "" : "LIST", SAMP_FREQ, RUN_TIME);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
if (init_board()) {;
printf("Board initialization failed.\n");
return 1;
}
for (i = 0; i < NICHAN; i++) {
BUILD_AREAD_INSN(insn[i], subdevai, data[i], 1, read_chan[i], AI_RANGE, AREF_GROUND);
}
for (i = 0; i < NOCHAN; i++) {
BUILD_AWRITE_INSN(insn[NICHAN + i], subdevao, data[NICHAN + i], 1, write_chan[i], AO_RANGE, AREF_GROUND);
}
printf("done building.\n"); fflush (stdout);
until = rt_get_time();
for (toggle = n = k = 0; k < SAMP_FREQ*RUN_TIME && !end; k++) {
#if SIN_FREQ
actualtime = count2nano(rt_get_time());
if(k<2) tms[k] = actualtime;
sinewave = (int) (maxdatao/8*sin(omega*actualtime));
data[NICHAN] = sinewave+maxdatao/2;
//data[NICHAN + 1] = -sinewave+maxdatao/2;
#else
data[NICHAN] = toggle*maxdatao/2;
data[NICHAN + 1] = (1 - toggle)*maxdatao/2;
toggle = 1 - toggle;
#endif
#if SINGLE_INSN
for (i = 0; i < NCHAN; i++) {
if ((retval = comedi_do_insn(dev, insn + i)) > 0) {
hist[n++] = data[i];
} else {
printf("Comedi insn failed # %ld out of %d instructions, retval %ld.\n", i, NCHAN, retval);
break;
}
}
#else
if ((retval = rt_comedi_do_insnlist(dev, &ilist)) == NCHAN) {
for (i = 0; i < NCHAN; i++) {
hist[n++] = data[i];
}
} else {
printf("Comedi insnlist processed only %lu out of %d instructions.\n", retval, NCHAN);
break;
}
#endif
rt_sleep_until(until += nano2count(SAMP_TIME));
}
comedi_cancel(dev, subdevai);
comedi_cancel(dev, subdevao);
comedi_data_write(dev, subdevao, 0, 0, AREF_GROUND, 2048);
comedi_data_write(dev, subdevao, 1, 0, AREF_GROUND, 2048);
comedi_close(dev);
printf("COMEDI INSN%s ENDS.\n", SINGLE_INSN ? "" : "LIST");
printf("t1: %g\n", tms[0]);
printf("t2: %g\n", tms[1]);
printf("tdiff: %g\n", tms[1]-tms[0]);
fp = fopen("rec.dat", "w");
for (n = k = 0; k < SAMP_FREQ*RUN_TIME; k++) {
fprintf(fp, "# %ld: ", k);
for (i = 0; i < NCHAN; i++) {
fprintf(fp, "%d\t", hist[n++]);
}
fprintf(fp, "\n");
}
fclose(fp);
free(hist);
stop_rt_timer();
rt_make_soft_real_time();
rt_task_delete(task);
return 0;
}
int main(int argc, char *argv[])
{
RTIME until;
RT_TASK *task;
comedi_insn insn[NCHAN];
unsigned int read_chan[NICHAN] = { 2, 3, 4, 5, 6 };
unsigned int write_chan[NOCHAN] = { 0, 1 };
#if !SINGLE_INSN
comedi_insnlist ilist = { NCHAN, insn };
#endif
#if SIN_FREQ
lsampl_t sinewave;
double omega = (2.0*M_PI*SIN_FREQ)/1.0E9;
double actualtime;
#endif
lsampl_t *hist;
lsampl_t data[NCHAN];
long i, k, n, retval;
int toggle;
FILE *fp;
struct sockaddr_in addr;
signal(SIGKILL, endme);
signal(SIGTERM, endme);
hist = malloc(SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
memset(hist, 0, SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
start_rt_timer(0);
task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
daqnode = 0;
if (argc == 2 && strstr(argv[1], "RcvNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
daqnode = addr.sin_addr.s_addr;
}
if (!daqnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
daqnode = addr.sin_addr.s_addr;
}
while ((daqport = rt_request_port(daqnode)) <= 0 && daqport != -EINVAL);
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("COMEDI INSN%s TEST BEGINS: SAMPLING FREQ: %d, RUN TIME: %d, NODE: %x, PORT: %d.\n", SINGLE_INSN ? "" : "LIST", SAMP_FREQ, RUN_TIME, daqnode, daqport);
rt_make_hard_real_time();
if (init_board()) {;
printf("Board initialization failed.\n");
return 1;
}
for (i = 0; i < NICHAN; i++) {
BUILD_AREAD_INSN(insn[i], subdevai, data[i], 1, read_chan[i], AI_RANGE, AREF_GROUND);
}
for (i = 0; i < NOCHAN; i++) {
BUILD_AWRITE_INSN(insn[NICHAN + i], subdevao, data[NICHAN + i], 1, write_chan[i], AO_RANGE, AREF_GROUND);
}
until = rt_get_time();
for (toggle = n = k = 0; k < SAMP_FREQ*RUN_TIME && !end /*SAMP_FREQ*RUN_TIME && !end*/; k++) {
#if SIN_FREQ
actualtime = count2nano(rt_get_time());
sinewave = (int) (maxdatao/8*sin(omega*actualtime));
data[NICHAN] = sinewave+maxdatao/2;
data[NICHAN + 1] = -sinewave+maxdatao/2;
#else
data[NICHAN] = toggle*maxdatao/2;
data[NICHAN + 1] = (1 - toggle)*maxdatao/2;
toggle = 1 - toggle;
#endif
#if SINGLE_INSN
for (i = 0; i < NCHAN; i++) {
if ((retval = RT_comedi_do_insn(daqnode, daqport, dev, insn + i)) > 0) {
hist[n++] = data[i];
} else {
printf("Comedi insn failed # %ld out of %d instructions, retval %ld.\n", i, NCHAN, retval);
break;
}
}
#else
if ((retval = RT_comedi_do_insnlist(daqnode, daqport, dev, &ilist)) == NCHAN) {
for (i = 0; i < NCHAN; i++) {
hist[n++] = data[i];
}
} else {
printf("Comedi insnlist processed only %lu out of %d instructions.\n", retval, NCHAN);
break;
}
#endif
rt_sleep_until(until += nano2count(SAMP_TIME));
}
RT_comedi_cancel(daqnode, daqport, dev, subdevai);
RT_comedi_cancel(daqnode, daqport, dev, subdevao);
RT_comedi_data_write(daqnode, daqport, dev, subdevao, 0, 0, AREF_GROUND, 2048);
RT_comedi_data_write(daqnode, daqport, dev, subdevao, 1, 0, AREF_GROUND, 2048);
RT_comedi_close(daqnode, daqport, dev);
printf("COMEDI INSN%s ENDS.\n", SINGLE_INSN ? "" : "LIST");
fp = fopen("rec.dat", "w");
for (n = k = 0; k < SAMP_FREQ*RUN_TIME; k++) {
fprintf(fp, "# %ld: ", k);
for (i = 0; i < NCHAN; i++) {
fprintf(fp, "%d\t", hist[n++]);
}
fprintf(fp, "\n");
}
fclose(fp);
free(hist);
stop_rt_timer();
rt_make_soft_real_time();
rt_task_delete(task);
return 0;
}
int main(int argc, char *argv[])
{
RT_TASK *task;
lsampl_t data[NCHAN] = { 0 };
unsigned int val, chan;
long i;
comedi_insn insn[NCHAN];
unsigned int read_chan[NICHAN] = { 2, 3, 4, 5, 6 };
unsigned int write_chan[NOCHAN] = { 0, 1 };
comedi_insnlist ilist = { NCHAN, insn };
struct sockaddr_in addr;
signal(SIGKILL, endme);
signal(SIGTERM, endme);
start_rt_timer(0);
task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
daqnode = 0;
#ifdef LOCAL_EXEC
#else
if (argc == 2 && strstr(argv[1], "DaqNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
daqnode = addr.sin_addr.s_addr;
}
if (!daqnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
daqnode = addr.sin_addr.s_addr;
}
while ((daqport = rt_request_port(daqnode)) <= 0 && daqport != -EINVAL);
#endif
printf("REMOTE COMEDI TEST BEGINS: NODE = %x, PORT = %d.\n", daqnode, daqport);
test_init_board();
RT_comedi_register_callback(daqnode, daqport, dev, subdevai, COMEDI_CB_EOS, NULL, task);
PRINT("Comedi analog input registered a call back.\n");
test_cmd();
val = COMEDI_CB_EOS;
PRINT("COMMAND WREAD TIMED with a %lld (ns) timeout.\n", TIMEOUT);
RT_comedi_command_data_wread_timed(daqnode, daqport, dev, subdevai, NCHAN, data, TIMEOUT, &val);
PRINT("COMMAND WREAD TIMED, val = %x.\n", val);
for (i = 0; i < NCHAN; i++) {
PRINT("CHAN # %ld, data = %x.\n", i, data[i]);
}
RT_comedi_get_driver_name(daqnode, daqport, dev, (char *)data);
PRINT("GET DRIVER NAME returned %s.\n", (char *)data);
RT_comedi_command_data_wread(daqnode, daqport, dev, subdevai, NCHAN, data, &val);
PRINT("COMMAND WREAD, val = %x.\n", val);
for (i = 0; i < NCHAN; i++) {
PRINT("CHAN # %ld, data = %x.\n", i, data[i]);
}
PRINT("COMMAND WAIT TIMED with a %lld (ns) timeout.\n", TIMEOUT);
RT_comedi_wait_timed(daqnode, daqport, TIMEOUT, &val);
PRINT("COMEDI WAIT TIMED, val = %x.\n", val);
RT_comedi_wait(daqnode, daqport, &val);
PRINT("COMEDI WAIT, val = %x.\n", val);
RT_comedi_command_data_read(daqnode, daqport, dev, subdevai, NCHAN, data);
PRINT("COMMAND READ.\n");
for (i = 0; i < NCHAN; i++) {
PRINT("CHAN # %ld, data = %x.\n", i, data[i]);
}
PRINT("COMMAND WRITE.\n");
for (i = 0; i < NCHAN; i++) {
data[i] = 0xcba + i;
PRINT("CHAN # %ld, data = %x.\n", i, data[i]);
}
rt_comedi_command_data_write(dev, subdevao, NCHAN, data);
PRINT("COMMAND TRIGGER.\n");
rt_comedi_trigger(dev, subdevai);
RT_comedi_data_write(daqnode, daqport, dev, subdevai, 0, 0, AREF_GROUND, 2048);
PRINT("DATA WRITE: dev = %p, subdev = %u, chan = %u, range = %u, aref = %x, data = %u.\n", dev, subdevai, 0, 0, AREF_GROUND, 2048);
RT_comedi_data_read(daqnode, daqport, dev, subdevai, 0, 0, AREF_GROUND, data);
PRINT("DATA READ: dev = %p, subdev = %u, chan = %u, range = %u, aref = %x, data = %x.\n", dev, subdevao, 0, 0, AREF_GROUND, data[0]);
PRINT("DATA READING DELAYED: dev = %p, subdev = %u, chan = %u, range = %u, aref = %x, data = %x, delay = %u (ns).\n", dev, subdevao, 0, 0, AREF_GROUND, data[0], DATA_READ_DELAY);
RT_comedi_data_read_delayed(daqnode, daqport, dev, subdevai, 0, 0, AREF_GROUND, data, DATA_READ_DELAY);
PRINT("DATA READ DELAYED: dev = %p, subdev = %u, chan = %u, range = %u, aref = %x, data = %x.\n", dev, subdevao, 0, 0, AREF_GROUND, data[0]);
data[0] = 0x77777777;
data[1] = 0x77777777;
PRINT("DIO BITFIELD: dev = %p, subdev = %u, write_mask = %x, bits = %x.\n", dev, subdevdg, data[1], data[0]);
RT_comedi_dio_bitfield(daqnode, daqport, dev, subdevdg, data[1], data);
PRINT("DIO BITFIELD: dev = %p, subdev = %u, write_mask = %x, bits = %x.\n", dev, subdevdg, data[1], data[0]);
val = 0x77777777;
chan = 57;
PRINT("DIO WRITE: dev = %p, subdev = %u, chan = %u, val= %x.\n", dev, subdevdg, chan, val);
RT_comedi_dio_write(daqnode, daqport, dev, subdevdg, chan, val);
PRINT("DIO WRITE: dev = %p, subdev = %u, chan = %u, val= %x.\n", dev, subdevdg, chan, val);
PRINT("DIO READ: dev = %p, subdev = %u, chan = %u.\n", dev, subdevdg, chan);
RT_comedi_dio_read(daqnode, daqport, dev, subdevdg, chan, &val);
PRINT("DIO READ: dev = %p, subdev = %u, chan = %u, val= %x.\n", dev, subdevdg, chan, val);
for (i = 0; i < NICHAN; i++) {
data[i] = 1000 + i;
BUILD_AREAD_INSN(insn[i], subdevai, data[i], 1, read_chan[i], AI_RANGE, AREF_GROUND);
PRINT("READ INSN: insn = %u, n = %u, data = %u, subdev = %u, chanspec %u.\n", insn[i].insn, insn[i].n, insn[i].data[0], insn[i].subdev, insn[i].chanspec);
}
for (i = 0; i < NOCHAN; i++) {
data[NICHAN + i] = 1000 + i;
BUILD_AWRITE_INSN(insn[NICHAN + i], subdevao, data[NICHAN + i], 1, write_chan[i], AO_RANGE, AREF_GROUND);
PRINT("WRIT INSN: insn = %u, n = %u, data = %u, subdev = %u, chanspec = %u.\n", insn[NICHAN + i].insn, insn[NICHAN + i].n, insn[NICHAN + i].data[0], insn[NICHAN + i].subdev, insn[NICHAN + i].chanspec);
}
for (i = 0; i < NCHAN; i++) {
PRINT("1 COMEDI INST: insn = %u, n = %u, data = %u, subdev = %u, chanspec = %u.\n", insn[i].insn, insn[i].n, insn[i].data[0], insn[i].subdev, insn[i].chanspec);
PRINT("COMEDI INST: %d.\n", RT_comedi_do_insn(daqnode, daqport, dev, insn + i));
PRINT("2 COMEDI INST: insn = %u, n = %u, data = %x, subdev = %u, chanspec = %u.\n", insn[i].insn, insn[i].n, insn[i].data[0], insn[i].subdev, insn[i].chanspec);
insn[i].n = 1;
insn[i].data[0] = 999999;
}
PRINT("COMEDI INSTLST: %d.\n", RT_comedi_do_insnlist(daqnode, daqport, dev, &ilist));
for (i = 0; i < NCHAN; i++) {
PRINT("COMEDI INSTLST: insn = %u, n = %u, data = %x, subdev = %u, chanspec = %u.\n", insn[i].insn, insn[i].n, insn[i].data[0], insn[i].subdev, insn[i].chanspec);
}
RT_comedi_cancel(daqnode, daqport, dev, subdevai);
RT_comedi_cancel(daqnode, daqport, dev, subdevao);
RT_comedi_cancel(daqnode, daqport, dev, subdevdg);
PRINT("COMEDI CANCELs DONE.\n");
RT_comedi_close(daqnode, daqport, dev);
PRINT("COMEDI CLOSE.\n");
stop_rt_timer();
rt_task_delete(task);
return 0;
}
