/*---------------------------------------------------------------------------------------------------------*/
void LIN_FunctionTestUsingLinCtlReg(void)
{
uint32_t u32Item;
/* Set UART Configuration, LIN Max Speed is 20K */
UART_SetLine_Config(UART1, 9600, UART_WORD_LEN_8, UART_PARITY_NONE, UART_STOP_BIT_1);
/* === CASE 1====
The sample code will send a LIN header with a 12-bit break field,
0x55 sync field and ID field is 0x30. Measurement the UART1 Tx pin to check it.
*/
/* === CASE 2====
The sample code will send a LIN header with ID is 0x35 and response field.
The response field with 8 data bytes and checksum without including ID.
Measurement the UART1 Tx pin to check it.
*/
/* === CASE 3====
The sample code will send a LIN header with ID is 0x12 and response field.
The response field with 8 data bytes and checksum with including ID.
Measurement the UART1 Tx pin to check it.
*/
do {
LIN_TestItem();
u32Item = getchar();
printf("%c\n", u32Item);
switch(u32Item) {
case '1':
LIN_SendHeaderUsingLinCtlReg(0x30, UART_LIN_CTL_LIN_HEAD_SEL_BREAK_SYNC_ID);
break;
case '2':
LIN_MasterTestUsingLinCtlReg(0x35, MODE_CLASSIC);
break;
case '3':
LIN_MasterTestUsingLinCtlReg(0x12, MODE_ENHANCED);
break;
default:
break;
}
} while(u32Item != 27);
/* Clear header select setting */
UART1->LIN_CTL &= ~UART_LIN_CTL_LIN_HEAD_SEL_Msk;
UART_Close(UART1);
printf("\nLINSample Code End.\n");
}
int main(int argc, char **argv)
{
int fd = FALSE;
int ret;
char rcv_buf[512];
char send_buf[512];
int i;
if(argc != 2){
printf("Usage: %s /dev/ttySn \n",argv[0]);
return FALSE;
}
fd = UART_Open(fd,argv[1]);
if(FALSE == fd){
printf("open error\n");
exit(1);
}
ret = UART_Init(fd,9600,0,8,1,'N');
if (FALSE == fd){
printf("Set Port Error\n");
exit(1);
}
strcpy(send_buf,"ff0161\n");
ret = UART_Send(fd,send_buf,strlen(send_buf));
if(FALSE == ret){
printf("write error!\n");
exit(1);
}
printf("command: %s\n",send_buf);
memset(rcv_buf,0,sizeof(rcv_buf));
for(i=0;;i++)
{
ret = UART_Recv(fd, rcv_buf,512);
if( ret > 0){
rcv_buf[ret]='\0';
printf("%s",rcv_buf);
} else {
printf("cannot receive data1\n");
//break;
}
if('\n' == rcv_buf[ret-1]) break;
}
UART_Close(fd);
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "nav");
ros::NodeHandle n;
//ros::Publisher chatter_pub = n.advertise<mini::naviLoc>("navmsg", 1);
tf::TransformBroadcaster br;
tf::Transform transform_v2c,transform_w2v;
tf::Quaternion q(-sqrt(2)/2,0,0,sqrt(2)/2); //need calibration
transform_v2c.setOrigin(tf::Vector3(-0.025,0.125,0.23)); //need calibration
transform_v2c.setRotation(q);
transform_v2c = transform_v2c.inverse();
int fd = -1;
fd = UART_Open(fd,"/dev/ttyS4");
UART_Init(fd,115200,0,8,1,'N');
int data_len = 10;
char rcv_buf[100];
//FILE* fp = fopen("/home/haha/catkin_ws/odom.txt","w");
int ret;
while (ros::ok())
{
mini::naviLoc msg;
struct timeval tv;
while(1)
{
//ROS_INFO(" ");
ret = UART_Recv(fd, rcv_buf,1);
//ROS_INFO("[%d]",ret);
//usleep(10000);
if(ret==1)
{
//ROS_INFO("[%02X]",rcv_buf[0]);
}
if(ret==1 && rcv_buf[0]==char(0xA2))
{
break;
}
}
int counter = 1;
while(counter<data_len)
{
//ROS_INFO(" ");
ret = UART_Recv(fd, &rcv_buf[counter],1);
//ROS_INFO("[%d]",ret);
/*for(int i=0;i<ret;i++)
{
printf("%02X ",rcv_buf[i]);
}
printf("\n");*/
if(ret==-1)
{
continue;
}
counter++;
}
gettimeofday(&tv,0);
if(rcv_buf[data_len-1]!=char(0x2A))
{
continue;
}
unsigned int timeStamp = tv.tv_sec%100000*1000+tv.tv_usec/1000;
SerialData2Msg(timeStamp, rcv_buf, data_len, msg);
ros::Time ros_time = ros::Time::now();
transform_w2v.setOrigin(tf::Vector3(msg.x,msg.y,0.0));
q.setRPY(0.0,0.0,msg.theta);
transform_w2v.setRotation(q);
transform_w2v = transform_w2v.inverse();
br.sendTransform(tf::StampedTransform(transform_w2v, ros_time, "/base_frame","/odom_frame"));
br.sendTransform(tf::StampedTransform(transform_v2c, ros_time, "/camera_rgb_optical_frame","/base_frame"));
//chatter_pub.publish(msg);
ROS_INFO("[%d],[%f],[%f],[%f]",msg.timestamp,msg.x,msg.y,msg.theta);
//fprintf(fp,"%d %f %f %f\n",msg.timestamp,msg.x,msg.y,msg.theta);
//fflush(fp);
ros::spinOnce();
}
UART_Close(fd);
//fclose(fp);
return 0;
}
int main(int argc, char** argv)
{
int rc = 0;
unsigned char buf[100];
unsigned char readbuf[100];
/**********UART************/
int fd = FALSE;
int ret;
unsigned char rcv_buf[512];
unsigned char send_buf[64];
Data_t rcv_data;
int i;
int j;
cJSON *root,*img,*thm;
char *out;
/* Our "gallery" item: */
root=cJSON_CreateObject();
cJSON_AddItemToObject(root, "Image", img=cJSON_CreateObject());
cJSON_AddNumberToObject(img,"Width",800);
cJSON_AddNumberToObject(img,"Height",600);
cJSON_AddStringToObject(img,"Title","View from 15th Floor");
cJSON_AddItemToObject(img, "Thumbnail", thm=cJSON_CreateObject());
cJSON_AddStringToObject(thm, "Url", "http:/*www.example.com/image/481989943");
cJSON_AddNumberToObject(thm,"Height",125);
cJSON_AddStringToObject(thm,"Width","100");
out=cJSON_Print(root); cJSON_Delete(root); printf("%s\n",out); free(out); /* Print to text, Delete the cJSON, print it, release the string. */
fd = UART_Open(fd,"/dev/ttyS1");
if(FALSE == fd){
printf("open error\n");
exit(1);
}
ret = UART_Init(fd,115200,0,8,1,'N');
if (FALSE == fd){
printf("Set Port Error\n");
exit(1);
}
ret = UART_Send(fd,"*IDN?\n",6);
if(FALSE == ret){
printf("write error!\n");
exit(1);
}
printf("command: %s\n","*IDN?");
memset(rcv_buf,0,sizeof(rcv_buf));
if (argc < 2)
usage();
char* topic = argv[1];
// if (strchr(topic, '#') || strchr(topic, '+'))
// opts.showtopics = 1;
// if (opts.showtopics)
// printf("topic is %s\n", topic);
getopts(argc, argv);
Network n;
Client c;
MQTTMessage message={0,0,0,0,"hello",5};//dup,qos,retained,packetid,payload,payloadlen
NewNetwork(&n);
ConnectNetwork(&n, opts.host, opts.port);
MQTTClient(&c, &n, 1000, buf, 100, readbuf, 100);
MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
data.willFlag = 0;
data.MQTTVersion = 3;
data.clientID.cstring = opts.clientid;
data.username.cstring = opts.username;
data.password.cstring = opts.password;
data.keepAliveInterval = 10;
data.cleansession = 1;
printf("Connecting to %s %d\n", opts.host, opts.port);
rc = MQTTConnect(&c, &data);
printf("Connected %d\n", rc);
//test
while(1)
{
message.payload = "efewewreweefer";
message.payloadlen = strlen(message.payload);
MQTTPublish(&c,topic,&message);
}
while (!toStop)
{
MQTTYield(&c, 1000);
}
printf("Stopping\n");
UART_Close(fd);
MQTTDisconnect(&c);
n.disconnect(&n);
return 0;
}
int main(int argc, char *argv[])
{
/******MQTT*******/
MQTTPacket_connectData data = MQTTPacket_connectData_initializer;
int rc = 0;
char buf[200];
int buflen = sizeof(buf);
int mysock = 0;
MQTTString topicString = MQTTString_initializer;
char* payload = "mypayload";
int payloadlen = strlen(payload);
int len = 0;
char *host = "192.168.8.241";
int port = 1883;
/******UART*******/
int fd = FALSE;
int ret;
char rcv_buf[512];
int i;
if(argc < 2){
printf("Usage: %s /dev/ttySn \n",argv[0]);
return FALSE;
}
if (argc > 2)
host = argv[2];
if (argc > 3)
port = atoi(argv[3]);
fd = UART_Open(fd,argv[1]);
if(FALSE == fd){
printf("open error\n");
exit(1);
}
ret = UART_Init(fd,9600,0,8,1,'N');
if (FALSE == fd){
printf("Set Port Error\n");
exit(1);
}
ret = UART_Send(fd,"*IDN?\n",6);
if(FALSE == ret){
printf("write error!\n");
exit(1);
}
printf("command: %s\n","*IDN?");
memset(rcv_buf,0,sizeof(rcv_buf));
/**************MQTT tansport*************/
mysock = transport_open(host,port);
if(mysock < 0)
return mysock;
printf("Sending to hostname %s port %d\n", host, port);
data.clientID.cstring = "me";
data.keepAliveInterval = 20;
data.cleansession = 1;
data.username.cstring = "testuser";
data.password.cstring = "testpassword";
data.MQTTVersion = 4;
for(i=0;;i++)
{
ret = UART_Recv(fd, rcv_buf,512);
if(ret > 0)
{
rcv_buf[ret]='\0';
printf("%s",rcv_buf);
len = MQTTSerialize_connect((unsigned char *)buf, buflen, &data);
topicString.cstring = "mytopic";
len += MQTTSerialize_publish((unsigned char *)(buf + len), buflen - len, 0, 0, 0, 0, topicString, (unsigned char *)rcv_buf, ret+1);
len += MQTTSerialize_disconnect((unsigned char *)(buf + len), buflen - len);
rc = transport_sendPacketBuffer(mysock, buf, len);
if (rc == len)
printf("Successfully published\n");
else
printf("Publish failed\n");
}
else
{
printf("cannot receive data1\n");
break;
}
}
exit:
UART_Close(fd);
transport_close(mysock);
return 0;
}
