void udb_init(void)
{
// If we were reest:
if (mp_argc >= 2 && strcmp(mp_argv[1], UDB_HW_RESET_ARG) == 0) {
mp_rcon = 128; // enable just the external/MCLR reset bit
}
int16_t i;
for (i=0; i<4; i++) {
leds[i] = LED_OFF;
}
udb_heartbeat_counter = 0;
udb_flags.B = 0;
sil_radio_on = 1;
sil_ui_init(mp_rcon);
gpsSocket = UDBSocket_init((SILSIM_GPS_RUN_AS_SERVER) ? UDBSocketUDPServer : UDBSocketUDPClient, SILSIM_GPS_PORT, SILSIM_GPS_HOST, NULL, 0);
telemetrySocket = UDBSocket_init((SILSIM_TELEMETRY_RUN_AS_SERVER) ? UDBSocketUDPServer : UDBSocketUDPClient, SILSIM_TELEMETRY_PORT, SILSIM_TELEMETRY_HOST, NULL, 0);
if (strlen(SILSIM_SERIAL_RC_INPUT_DEVICE) > 0) {
serialSocket = UDBSocket_init(UDBSocketSerial, 0, NULL, SILSIM_SERIAL_RC_INPUT_DEVICE, SILSIM_SERIAL_RC_INPUT_BAUD);
}
}
void sil_ui_init(uint16_t mp_rcon)
{
printf("MatrixPilot SIL%s\n\n", (mp_rcon == 128) ? " (HW Reset)" : "");
print_help();
printf("\nINIT: Calibrating...\n");
stdioSocket = UDBSocket_init(UDBSocketStandardInOut, 0, NULL, NULL, 0);
}
void StartServer(void)
{
fprintf(stderr, "--- trying server on port %d\n", PortNum);
udpSock = UDBSocket_init(UDBSocketUDPServer, PortNum, NULL, NULL, 0);
if (udpSock) {
LoggingFile.mLogFile << "Opened UDP server on port " << PortNum << endl;
} else {
LoggingFile.mLogFile << "Open UDP server on port " << PortNum << " failed." << endl;
LoggingFile.mLogFile << UDBSocketLastErrorMessage() << endl;
printf("%s\n", UDBSocketLastErrorMessage());
}
}
void StartSerial(void)
{
fprintf(stderr, "--- trying comm port %s\n", CommPortString.c_str());
serialSock = UDBSocket_init(UDBSocketSerial, 0, NULL, (char*)CommPortString.c_str(), CommPortSpeed);
if (serialSock) {
LoggingFile.mLogFile << "Opened serial port " << CommPortString.c_str() << endl;
} else {
LoggingFile.mLogFile << "Open serial port " << CommPortString.c_str() << " failed." << endl;
LoggingFile.mLogFile << UDBSocketLastErrorMessage() << endl;
printf("%s\n", UDBSocketLastErrorMessage());
}
}
int main(int argc, char** argv)
{
UDBSocketType socketType = (!SILSIM_TELEMETRY_RUN_AS_SERVER) ? UDBSocketUDPServer : UDBSocketUDPClient;
uint32_t udpPort = SILSIM_TELEMETRY_PORT;
char *udpHost = SILSIM_TELEMETRY_HOST;
char *serialPort = NULL;
uint32_t serialBaud = 0;
uint8_t argPos = 0;
int i;
for (i = 1; i < argc; i++) {
if (argv[i][0] == '-') {
if (argv[i][1] == 'h') {
printHelp();
return 0;
}
else if (argv[i][1] == 's') {
socketType = UDBSocketUDPServer;
}
else if (argv[i][1] == 'c') {
socketType = UDBSocketUDPClient;
}
else if (argv[i][1] == 'l') {
socketType = UDBSocketSerial;
}
}
else {
if (argPos == 0) {
if (socketType == UDBSocketSerial) {
serialPort = argv[i];
}
else {
udpPort = atoi(argv[i]);
}
}
else if (argPos == 1) {
if (socketType == UDBSocketUDPClient) {
udpHost = argv[i];
}
else {
serialBaud = atoi(argv[i]);
}
}
else {
printHelp();
return 0;
}
argPos++;
}
}
stdioSocket = UDBSocket_init(UDBSocketStandardInOut, 0, NULL, NULL, 0);
transportSocket = UDBSocket_init(socketType, udpPort, udpHost, serialPort, serialBaud);
if (!transportSocket) {
printf("ERROR: UDBSocket_init failed: %s\n", UDBSocketLastErrorMessage());
exit(1);
}
while (1) {
if (!readSockets()) {
usleep(1000);
}
}
}
