void startUp(int argc, const char *argv[])
{
#if __BORLANDC__ >= 1106
set_new_handler(0);
#endif
strcpy(fullExePath, argv[0]);
#ifndef WINCIT
fseek(stdin, 0, SEEK_CUR); // Borland says to fseek() before setbuf()
setbuf(stdin, NULL);
#endif
#ifndef WINCIT
#ifdef MULTI
if (!initTaskInfo(&ti))
#else
cfg.maxrooms = 0 ;
if (!initFakeTaskInfo())
#endif
{
printf("Could not create initial task information structure.\n");
exit(200);
}
#endif
tzset();
critical(TRUE);
#ifndef WINCIT
if (checkDataVer() != NumericVer)
{
printf("CTDL.DAT is version %d; version %d needed.\n", checkDataVer(), NumericVer);
critical(FALSE);
exit(200);
}
if (!read_messages())
{
printf("Could not read messages from CTDL.DAT\n");
critical(FALSE);
exit(200);
}
InitializeTimer();
#else
if (checkDataVer() != NumericVer)
{
char bbb[100];
sprintf(bbb, "CTDL.DAT is version %d; version %d needed.", checkDataVer(), NumericVer);
MessageBox(NULL, bbb, NULL, MB_ICONSTOP | MB_OK);
exit(200);
}
if (!read_messages())
{
MessageBox(NULL, "Could not read messages from CTDL.DAT.", NULL, MB_ICONSTOP | MB_OK);
exit(200);
}
WNDCLASS wndclass;
// define and register the main window class
wndclass.style = 0; // CS_HREDRAW | CS_VREDRAW
wndclass.cbClsExtra = 0;
wndclass.cbWndExtra = 0;
wndclass.hInstance = hInstance;
wndclass.hIcon = LoadIcon(hInstance, "CITADEL");
wndclass.hCursor = LoadCursor(NULL, IDC_ARROW);
wndclass.hbrBackground = (HBRUSH)GetStockObject(WHITE_BRUSH);
// define and register the logo window class
wndclass.lpszMenuName = NULL;
wndclass.lpfnWndProc = logoWndProc;
wndclass.lpszClassName = "Citadel Logo";
if (!RegisterClass(&wndclass))
{
MessageBox(NULL, "Could not register logo window", NULL, MB_ICONSTOP | MB_OK);
exit(200);
}
#ifdef NAHERROR
// define and register the error window class
wndclass.style = CS_VREDRAW;
wndclass.lpfnWndProc = errorWndProc;
wndclass.lpszClassName = "Citadel Error";
if (!RegisterClass(&wndclass))
{
MessageBox(NULL, "Could not register error window", NULL, MB_ICONSTOP | MB_OK);
exit(200);
}
// define and register the msg window class
wndclass.lpfnWndProc = msgWndProc;
wndclass.lpszClassName = "Citadel Message";
if (!RegisterClass(&wndclass))
{
MessageBox(NULL, "Could not register msg window", NULL, MB_ICONSTOP | MB_OK);
exit(200);
}
#endif
#endif
// initialize all drivers to internal functions
#ifdef WINCIT
// com
// initrs = (void (cdecl *)(int,int,int,int,int,int)) nullFunc;
// deinitrs = nullFunc;
// ringstatrs = (int (cdecl *)(void)) nullFunc;
// carrstatrs = (int (cdecl *)(void)) nullFunc;
// statrs = (int (cdecl *)(void)) nullFunc;
// flushrs = nullFunc;
// getrs = (int (cdecl *)(void)) nullFunc;
// putrs = (void (cdecl *)(char)) nullFunc;
// dtrrs = (void (cdecl *)(int)) nullFunc;
// flushoutrs = nullFunc;
#else
// Start using BIOS
charattr = bioschar;
stringattr = biosstring;
// com
initrs = InitRS;
deinitrs = DeInitRS;
ringstatrs = RingStatRS;
carrstatrs = CarrStatRS;
statrs = StatRS;
flushrs = FlushRS;
getrs = GetRS;
putrs = PutRS;
dtrrs = DtrRS;
flushoutrs = nullFunc;
// ups
initups = nullFunc;
deinitups = nullFunc;
statups = NULL;
// kbd
initkbd = nullFunc;
deinitkbd = nullFunc;
statcon = StatCON;
getcon = GetCON;
sp_press = special_pressed;
// snd
init_sound = (int (cdecl *)(void)) nullFunc;
close_sound = (int (cdecl *)(void)) nullFunc;
get_version = (int (cdecl *)(void)) nullFunc;
query_drivers = (int (cdecl *)(void)) nullFunc;
query_status = (int (cdecl *)(void)) nullFunc;
start_snd_src = (int (cdecl *)(int, const void *)) nullFunc;
play_sound = (int (cdecl *)(int)) nullFunc;
stop_sound = (int (cdecl *)(int)) nullFunc;
pause_sound = (int (cdecl *)(int)) nullFunc;
resume_sound = (int (cdecl *)(int)) nullFunc;
read_snd_stat = (int (cdecl *)(int)) nullFunc;
set_midi_map = (int (cdecl *)(int)) nullFunc;
get_src_vol = (int (cdecl *)(int)) nullFunc;
set_src_vol = (int (cdecl *)(int, int)) nullFunc;
set_fade_pan = (int (cdecl *)(void *)) nullFunc;
strt_fade_pan = (int (cdecl *)(void)) nullFunc;
stop_fade_pan = (int (cdecl *)(int)) nullFunc;
pse_fade_pan = (int (cdecl *)(void)) nullFunc;
res_fade_pan = (int (cdecl *)(void)) nullFunc;
read_fade_pan = (int (cdecl *)(int)) nullFunc;
get_pan_pos = (int (cdecl *)(int)) nullFunc;
set_pan_pos = (int (cdecl *)(int, int)) nullFunc;
say_ascii = (int (cdecl *)(const char *, int)) nullFunc;
#endif
parseArgs(argc, argv);
#ifndef WINCIT
if (!cfg.bios)
{
charattr = directchar;
stringattr = directstring;
}
#endif
#ifndef WINCIT
if (!cmdLine[1])
{
uchar *ptr = (uchar *) MK_FP(_psp, 128);
if (ptr[0])
{
memcpy(cmdLine, ptr + 1, max(128, ptr[0]));
cmdLine[ptr[0]] = 0;
}
}
OC.whichIO = CONSOLE;
#endif
if (!initCitadel())
{
#ifndef WINCIT
DeinitializeTimer();
#endif
critical(FALSE);
exit(200);
}
#ifndef WINCIT
ScreenSaver.Update();
#endif
if (BoardNameHash && hash(cfg.nodeTitle) != BoardNameHash)
{
crashout(getmsg(681));
}
#ifndef WINCIT
// Set system to a known state
OC.Echo = BOTH;
OC.SetOutFlag(IMPERVIOUS);
modStat = FALSE;
OC.whichIO = CONSOLE;
OC.setio();
if (!(login_pw || login_user || (slv_door && cfg.forcelogin)))
{
CommPort->FlushInput();
greeting();
}
Cron.ResetTimer();
if (slv_net)
{
doccr();
if(read_tr_messages())
{
cPrintf(gettrmsg(49), slv_node);
dump_tr_messages();
}
if (net_callout(slv_node))
{
did_net(slv_node);
}
ExitToMsdos = TRUE;
}
if (slv_door) // set according to carrier
{
// set baud rate even if carrier not present
if (slv_baud != PS_ERROR)
{
CommPort->SetSpeed(slv_baud);
}
else
{
CommPort->SetSpeed(cfg.initbaud);
}
for (ModemSpeedE i = MS_300; i < MS_NUM; i = (ModemSpeedE) (i +1))
{
if (connectbauds[i] == bauds[CommPort->GetSpeed()])
{
CommPort->SetModemSpeed(i);
break;
}
}
if (CommPort->HaveConnection())
{
CarrierJustFound();
OC.whichIO = MODEM;
OC.setio();
}
else
{
OC.whichIO = CONSOLE;
OC.setio();
}
}
setdefaultTerm(TT_ANSI);
StatusLine.Toggle(); // Turns it on (starts life off).
ScreenSaver.SetMayTurnOn(TRUE);
time(&LastActiveTime);
TimeoutChecking = TRUE;
if (*cmd_script)
{
#ifdef WINCIT
runScript(cmd_script, NULL);
#else
runScript(cmd_script);
#endif
}
doEvent(EVT_STARTUP);
#endif
}
static void do_command (int sock, char* func, char*args[], int num_args)
{
int result;
char response[100];
struct cpg_name group_name;
ssize_t rc;
size_t send_len;
qb_log (LOG_TRACE, "RPC:%s() called.", func);
if (strcmp ("cpg_mcast_joined",func) == 0) {
struct iovec iov[5];
int a;
for (a = 0; a < num_args; a++) {
iov[a].iov_base = args[a];
iov[a].iov_len = strlen(args[a])+1;
}
cpg_mcast_joined (cpg_handle, CPG_TYPE_AGREED, iov, num_args);
} else if (strcmp ("cpg_join",func) == 0) {
if (strlen(args[0]) >= CPG_MAX_NAME_LENGTH) {
qb_log (LOG_ERR, "Invalid group name");
exit (1);
}
strcpy (group_name.value, args[0]);
group_name.length = strlen(args[0]);
result = cpg_join (cpg_handle, &group_name);
if (result != CS_OK) {
qb_log (LOG_ERR,
"Could not join process group, error %d", result);
exit (1);
}
qb_log (LOG_INFO, "called cpg_join(%s)!", group_name.value);
} else if (strcmp ("cpg_leave",func) == 0) {
strcpy (group_name.value, args[0]);
group_name.length = strlen(args[0]);
result = cpg_leave (cpg_handle, &group_name);
if (result != CS_OK) {
qb_log (LOG_ERR,
"Could not leave process group, error %d", result);
exit (1);
}
qb_log (LOG_INFO, "called cpg_leave(%s)!", group_name.value);
} else if (strcmp ("cpg_initialize",func) == 0) {
int retry_count = 0;
result = cpg_initialize (&cpg_handle, &callbacks);
while (result != CS_OK) {
qb_log (LOG_ERR,
"cpg_initialize error %d (attempt %d)",
result, retry_count);
if (retry_count >= 3) {
exit (1);
}
sleep(1);
retry_count++;
result = cpg_initialize (&cpg_handle, &callbacks);
}
cpg_fd_get (cpg_handle, &cpg_fd);
qb_loop_poll_add (ta_poll_handle_get(),
QB_LOOP_MED,
cpg_fd,
POLLIN|POLLNVAL,
NULL,
cpg_dispatch_wrapper_fn);
} else if (strcmp ("cpg_local_get", func) == 0) {
unsigned int local_nodeid;
cpg_local_get (cpg_handle, &local_nodeid);
snprintf (response, 100, "%u",local_nodeid);
send_len = strlen (response);
rc = send (sock, response, send_len, 0);
assert(rc == send_len);
} else if (strcmp ("cpg_finalize", func) == 0) {
if (cpg_handle > 0) {
cpg_finalize (cpg_handle);
cpg_handle = 0;
}
} else if (strcmp ("record_config_events", func) == 0) {
record_config_events (sock);
} else if (strcmp ("record_messages", func) == 0) {
record_messages ();
} else if (strcmp ("read_config_event", func) == 0) {
read_config_event (sock);
} else if (strcmp ("read_messages", func) == 0) {
read_messages (sock, args[0]);
} else if (strcmp ("msg_blaster_zcb", func) == 0) {
msg_blaster_zcb (sock, args[0]);
} else if (strcmp ("pcmk_test", func) == 0) {
pcmk_test = 1;
} else if (strcmp ("msg_blaster", func) == 0) {
msg_blaster (sock, args[0]);
} else if (strcmp ("context_test", func) == 0) {
context_test (sock);
} else if (strcmp ("are_you_ok_dude", func) == 0) {
snprintf (response, 100, "%s", OK_STR);
send_len = strlen (response);
rc = send (sock, response, strlen (response), 0);
assert(rc == send_len);
} else if (strcmp ("cfg_shutdown", func) == 0) {
qb_log (LOG_INFO, "calling %s() called!", func);
result = corosync_cfg_try_shutdown (cfg_handle, COROSYNC_CFG_SHUTDOWN_FLAG_REQUEST);
qb_log (LOG_INFO,"%s() returned %d!", func, result);
} else if (strcmp ("cfg_initialize",func) == 0) {
int retry_count = 0;
qb_log (LOG_INFO,"%s() called!", func);
result = corosync_cfg_initialize (&cfg_handle, &cfg_callbacks);
while (result != CS_OK) {
qb_log (LOG_ERR,
"cfg_initialize error %d (attempt %d)",
result, retry_count);
if (retry_count >= 3) {
exit (1);
}
sleep(1);
retry_count++;
result = corosync_cfg_initialize (&cfg_handle, &cfg_callbacks);
}
qb_log (LOG_INFO,"corosync_cfg_initialize() == %d", result);
result = corosync_cfg_fd_get (cfg_handle, &cfg_fd);
qb_log (LOG_INFO,"corosync_cfg_fd_get() == %d", result);
qb_loop_poll_add (ta_poll_handle_get(),
QB_LOOP_MED,
cfg_fd,
POLLIN|POLLNVAL,
NULL,
cfg_dispatch_wrapper_fn);
} else {
qb_log(LOG_ERR, "RPC:%s not supported!", func);
}
}
int main(int argc, char argv[]) {
//Serial Configs
initialize_defaults();
open_serial();
//Reading messages
//FREQUENCY OF READ MSG
int f_linux = 10;
int i ;
int wert;
int check=0;
int unique_counter =0;
int counter = 0;
int unique_list[100];
int liste[100];
int time_start;
int time_stop;
int error_counter = 0;
float t_sample_linux = 1.0/(float)f_linux;
int sleep_time = t_sample_linux*1e6;
/*int fails = 0;*/
//..........
time_start = get_time_usec();
// Read out all the messages in a for loop that has 1000 iterations (about 0.25s) and storing them into a list (unsorted and not filtered)
while((get_time_usec()-time_start)/1000000.0 < 1)
{
int success = read_messages(&all_counter, &wert);
float t = messages.global_position_int.time_boot_ms;
/*printf("Time since start %0.3f", t/1000.0 - t_px_start);*/
/*printf("\n ---------------- \nLinux Time: %0.3f \n", (get_time_usec()-time_start)/1e6);*/
liste[counter] = wert;
if(success == 1) {
counter++;
}
else {
error_counter++;
}
/*printf("i %i \n", i);*/
/*if(get_time_usec()-time_start > 5000000){break;}*/
time_stop = get_time_usec();
usleep(sleep_time);
}
float t_diff = (time_stop - time_start)/1000000.0;
int int_t_diff = t_diff*1e6;
//..........
float scale = 1/t_diff;
float frequency = scale*all_counter;
float t_sample = 1/frequency;
printf("Received %i messages in %f secs (Real time)\n", all_counter, t_diff);
printf("Pixhawk time difference: %f \n -----------------\n", t_px_stop - t_px_start);
printf("Sample Rate of Linux: %0.4f , Frequency of Linux: %i \n", t_sample_linux, f_linux);
printf("Sample time: %f and Frequency: %f \n -------------\n", t_sample, frequency);
int times_called = error_counter + all_counter;
printf("Error counter: %i, Times called: %i \n", error_counter, times_called);
printf("Time for a while loop: %i us \n", (int_t_diff - times_called*sleep_time)/times_called);
printf("int_t_diff %i, times_called %i, sleep_time %i \n", int_t_diff, times_called, sleep_time);
printf("---------------------\n");
printf("Packets dropped: %i \n", packets_dropped);
// Generating a list with unique values
for(i=0; i<all_counter; i++) {
wert = liste[i];
check = 0;
int a;
for(a=0; a<unique_counter; a++) {
if(wert ==unique_list[a]) {
check =1;
}
}
if (check == 0) {
unique_list[unique_counter] = wert;
unique_counter++;
}
}
qsort(unique_list, unique_counter, sizeof(int), cmpfcn);
int unique_count_list[100] = {0}; //variable size cannot be initialized
/*for (i=0; i < unique_counter; i++){*/
/*printf("value of ucl %i \n", unique_count_list[i]);*/
/*}*/
for(i=0; i < unique_counter; i++) {
int unique_value = unique_list[i];
/*printf("\n ----------\n unique_value %i \n", unique_value);*/
int a;
for(a=0; a < all_counter; a++) {
/*printf("liste[a] %i \n", liste[a]);*/
if(unique_value == liste[a]) {
unique_count_list[i] += 1;
/*printf("unique_coutn_value %i \n",unique_count_list[i]);*/
}
}
}
//Printing the results
printf("Got %i unique values: \n", unique_counter);
for (i = 0; i < unique_counter; i++) {
printf("%i: %i times\n", unique_list[i], unique_count_list[i]);
}
printf("..............................\n");
//Serial Port stuff
close_serial();
sleep(1);
return 0;
}
static void do_command (int sock, char* func, char*args[], int num_args)
{
int result;
char response[100];
struct cpg_name group_name;
if (parse_debug)
syslog (LOG_DEBUG,"RPC:%s() called.", func);
if (strcmp ("cpg_mcast_joined",func) == 0) {
struct iovec iov[5];
int a;
for (a = 0; a < num_args; a++) {
iov[a].iov_base = args[a];
iov[a].iov_len = strlen(args[a])+1;
}
cpg_mcast_joined (cpg_handle, CPG_TYPE_AGREED, iov, num_args);
} else if (strcmp ("cpg_join",func) == 0) {
strcpy (group_name.value, args[0]);
group_name.length = strlen(args[0]);
result = cpg_join (cpg_handle, &group_name);
if (result != CS_OK) {
syslog (LOG_ERR,
"Could not join process group, error %d\n", result);
exit (1);
}
syslog (LOG_INFO, "called cpg_join()!");
} else if (strcmp ("cpg_leave",func) == 0) {
strcpy (group_name.value, args[0]);
group_name.length = strlen(args[0]);
result = cpg_leave (cpg_handle, &group_name);
if (result != CS_OK) {
syslog (LOG_ERR,
"Could not leave process group, error %d\n", result);
exit (1);
}
syslog (LOG_INFO, "called cpg_leave()!");
} else if (strcmp ("cpg_initialize",func) == 0) {
int retry_count = 0;
result = cpg_initialize (&cpg_handle, &callbacks);
while (result != CS_OK) {
syslog (LOG_ERR,
"cpg_initialize error %d (attempt %d)\n",
result, retry_count);
if (retry_count >= 3) {
exit (1);
}
sleep(1);
retry_count++;
result = cpg_initialize (&cpg_handle, &callbacks);
}
cpg_fd_get (cpg_handle, &cpg_fd);
poll_dispatch_add (ta_poll_handle_get(), cpg_fd, POLLIN|POLLNVAL, NULL, cpg_dispatch_wrapper_fn);
} else if (strcmp ("cpg_local_get", func) == 0) {
unsigned int local_nodeid;
cpg_local_get (cpg_handle, &local_nodeid);
snprintf (response, 100, "%u",local_nodeid);
send (sock, response, strlen (response), 0);
} else if (strcmp ("cpg_finalize", func) == 0) {
cpg_finalize (cpg_handle);
poll_dispatch_delete (ta_poll_handle_get(), cpg_fd);
cpg_fd = -1;
} else if (strcmp ("record_config_events", func) == 0) {
record_config_events (sock);
} else if (strcmp ("record_messages", func) == 0) {
record_messages ();
} else if (strcmp ("read_config_event", func) == 0) {
read_config_event (sock);
} else if (strcmp ("read_messages", func) == 0) {
read_messages (sock, args[0]);
} else if (strcmp ("msg_blaster_zcb", func) == 0) {
msg_blaster_zcb (sock, args[0]);
} else if (strcmp ("pcmk_test", func) == 0) {
pcmk_test = 1;
} else if (strcmp ("msg_blaster", func) == 0) {
msg_blaster (sock, args[0]);
} else if (strcmp ("context_test", func) == 0) {
context_test (sock);
} else if (strcmp ("are_you_ok_dude", func) == 0) {
snprintf (response, 100, "%s", OK_STR);
send (sock, response, strlen (response), 0);
} else if (strcmp ("cfg_shutdown", func) == 0) {
corosync_cfg_try_shutdown (cfg_handle, COROSYNC_CFG_SHUTDOWN_FLAG_REQUEST);
} else if (strcmp ("cfg_initialize",func) == 0) {
int retry_count = 0;
syslog (LOG_INFO,"%s %s() called!", __func__, func);
result = corosync_cfg_initialize (&cfg_handle, &cfg_callbacks);
while (result != CS_OK) {
syslog (LOG_ERR,
"cfg_initialize error %d (attempt %d)\n",
result, retry_count);
if (retry_count >= 3) {
exit (1);
}
sleep(1);
retry_count++;
result = corosync_cfg_initialize (&cfg_handle, &cfg_callbacks);
}
corosync_cfg_fd_get (cfg_handle, &cfg_fd);
corosync_cfg_state_track (cfg_handle, 0, ¬ification_buffer);
poll_dispatch_add (ta_poll_handle_get(), cfg_fd, POLLIN|POLLNVAL, NULL, cfg_dispatch_wrapper_fn);
} else {
syslog (LOG_ERR,"%s RPC:%s not supported!", __func__, func);
}
}
