int main(int *argc, char argv[]) {
udp_init_client(&conn, 9999, "192.168.0.1");
pthread_mutex_init(&UDP_mut,NULL);
pthread_mutex_init(&newPIval_mut,NULL);
pthread_mutex_init(&newSIG_mut,NULL);
pthread_t PI_thread;
pthread_t listen_thread;
pthread_t respond_thread;
pthread_create(&PI_thread, NULL, PIreg, NULL );
pthread_create(&listen_thread, NULL, UDPlis, NULL );
pthread_create(&respond_thread, NULL, UDPresp, NULL );
pthread_join(PI_thread,NULL);
pthread_join(listen_thread,NULL);
pthread_join(respond_thread,NULL);
return 0;
}
int main(int *argc, char argv[]) {
char sendBuf[100];
char receiveBuf[100];
struct timespec waitTime;
clock_gettime(CLOCK_REALTIME, &waitTime);
udp_init_client(&conn, 9999, "192.168.0.1");
//VARIABLES FOR REGULATING
double error, integral, u, y;
double reference = 1;
double Kp = 10;
double Ki = 800;
double period = PERIOD;
strncpy(sendBuf,"START", sizeof(sendBuf));
udp_send(&conn,sendBuf,sizeof(sendBuf)); //strlen(sendBuf)+1
//strncpy(sendBuf,"SET:12.3456",sizeof(sendBuf));
//udp_send(&conn,sendBuf,sizeof(sendBuf));
int numRep = RUNTIME/PERIOD;
int i;
for ( i = 0 ; i < numRep ; i++ ) {
timespec_add_us(&waitTime,PERIOD*1000000);
clock_nanosleep(&waitTime);
strncpy(sendBuf,"GET", sizeof(sendBuf));
udp_send(&conn,sendBuf,sizeof(sendBuf));
udp_receive(&conn,receiveBuf,sizeof(receiveBuf));
char * numVal = receiveBuf + 8;
y = atof(numVal);
//printf("Y-value from server is %f\n",y);
//WE HAVE A Y-VALUE, DO PI REGULATING
error = reference - y;
integral = integral + (error * period);
u = Kp * error + Ki * integral;
setU(u);
}
strncpy(sendBuf,"STOP", sizeof(sendBuf));
udp_send(&conn,sendBuf,sizeof(sendBuf));
return 0;
}
int main()
{
int err=0;
//Init mutexes and semaphores
init_sem_and_mutexes();
// Init UDP connection struct
err = udp_init_client(&tinfo_connection.conn, UDP_PORT, SERVER_IP);
if (err!=0)
{
perror("Error connecting to server");
}
//Start all 3 threads
pthread_t udprecv, pidctrl, sighandl;
err = pthread_create(&udprecv, NULL, UDP_listener, NULL);
if (err!=0)
{
perror("Thread Creation failed");
}
err = pthread_create(&pidctrl, NULL, PIDctrl, NULL);
if (err!=0)
{
perror("Thread Creation failed");
}
err = pthread_create(&sighandl, NULL,signalHandler,NULL );
if (err!=0)
{
perror("Thread Creation failed");
}
// Start simulation
pthread_mutex_lock(&tinfo_connection.sendlock);
if((udp_send(&tinfo_connection.conn, "START", sizeof("START")))==-1)
{
printf("Failed to start simulation");
}
pthread_mutex_unlock(&tinfo_connection.sendlock);
//Join thread
err = pthread_join(pidctrl, NULL);
if (err != 0) {
perror("Joining of thread failed stoped");
}
// Stop simulation
pthread_mutex_lock(&tinfo_connection.sendlock);
if((udp_send(&tinfo_connection.conn, "STOP", sizeof("STOP")))==-1)
{
perror("Failed to stop simulation");
}
pthread_mutex_unlock(&tinfo_connection.sendlock);
//Destroy all semaphores and mutexes
destroy_sem_and_mutexes();
return NULL;
}
int main (void)
{
int port = 9999;
char *ip = "192.168.0.1";
char msg[BUF_LEN];
pthread_t pi, listener;
#if WITH_SIGNAL
pthread_t signal_handler;
#endif
struct timespec start, stop;
// Init mutexes
pthread_mutex_init(&y_mutex, NULL);
pthread_mutex_init(&udp_mutex, NULL);
sem_init(&pi_sem, 0 ,1);
#if WITH_SIGNAL
sem_init(&signal_sem, 0, 1);
#endif
// UDP init
udp_init_client(&conn, port, ip);
printf("UDP Client initialized\n");
// Spawn UDP listener
pthread_create(&listener, NULL, udp_listen, NULL);
// Send start command
strcpy(msg, "START");
pthread_mutex_lock(&udp_mutex);
udp_send(&conn, msg, strlen(msg)+1);
pthread_mutex_unlock(&udp_mutex);
printf("START sent\n");
// Spawn pi controller and signal acknowledger
pthread_create(&pi, NULL, pi_controller, NULL);
#if WITH_SIGNAL
pthread_create(&signal_handler, NULL, signal_ack, NULL);
#endif
// Set get command
strcpy(msg, "GET");
// Init clocks
clock_gettime(CLOCK_REALTIME, &start);
clock_gettime(CLOCK_REALTIME, &stop);
// Define run time
timespec_add_us(&start, 0);
timespec_add_us(&stop, END);
while ((start.tv_sec <= stop.tv_sec) && (start.tv_nsec < stop.tv_nsec))
{
// Send get command
pthread_mutex_lock(&udp_mutex);
udp_send(&conn, msg, strlen(msg)+1);
pthread_mutex_unlock(&udp_mutex);
// Add timer TICK to start
timespec_add_us(&start, TICK);
// Wait for next tick
clock_nanosleep(&start);
}
// Send stop command to server
strcpy(msg, "STOP");
udp_send(&conn, msg, strlen(msg)+1);
printf("Stop sent\n");
// Destroy mutexes
pthread_mutex_destroy(&y_mutex);
pthread_mutex_destroy(&udp_mutex);
// Destroy semaphores
sem_destroy(&pi_sem);
#if WITH_SIGNAL
sem_destroy(&signal_sem);
#endif
// Kill threads
run_listen = 0;
run_pi = 0;
#if WITH_SIGNAL
run_signal = 0;
#endif
// Join threads
pthread_join(pi, NULL);
pthread_join(listener, NULL);
#if WITH_SIGNAL
pthread_join(signal_handler, NULL);
#endif
// Close UDP
udp_close(&conn);
return 0;
}
int main(void){
struct udp_conn udpcon;
udp_init_client(&udpcon, port, server_ip);
char buffer[255];
struct PID_parameters parameters= (struct PID_parameters){
10,
800,
0,
1,
period,
};
double y, u;
int i=0;
struct timespec next;
clock_gettime(CLOCK_REALTIME, &next);
timespec_add_us(&next, (int)(period*1000000));
udp_send(&udpcon, "START", 6);
while(1){
udp_send(&udpcon, "GET", 4);
while(1){
udp_receive(&udpcon, buffer, 255);
if (buffer[0]=='G'){
break;
}
}
y = doubleFromReply(buffer);
u = PID_controller(parameters, y);
setFromDouble(buffer,u);
udp_send(&udpcon, buffer, 255);
clock_nanosleep(&next);
timespec_add_us(&next, (int)(period*1000000));
if (i++*period >= 0.5){
break;
}
}
udp_send(&udpcon, "STOP",5);
printf("stop\n");
return 0;
}
void setFromDouble(char *buffer, double u){
buffer[0]='S';
buffer[1]='E';
buffer[2]='T';
buffer[3]=':';
char dummy[255];
sprintf(dummy, "%f", u);
char* ptr = dummy;
int i=4;
while(*ptr !='\0'){
buffer[i++]=*ptr;
ptr++;
}
buffer[i]='\0';
return;
}
