int
main(int argc, char **argv)
{
int to;
IBS = 256 * 1024;
if ((IB = (char *) malloc((size_t) IBS)) == NULL) {
printf("\n\nCan not allocate buffer with %d size...", IBS);
fflush(stdout);
return (0);
}
Version[0] = '\0';
Serial[0] = '\0';
Serial[4] = '\0';
IBCP = 0;
#ifdef COMM_DEBUG
printf("\nMemory allocated for %d bytes at %x", IBS, IB);
fflush(stdout);
#endif
SetUpSignals();
zerotime();
printf("\n... Opening port");
fflush(stdout);
if (OpenAndConfigurePort()) {
return 1;
}
gettime();
printf("\n%6d : Port opened. (%d)", curtime, Port);
fflush(stdout);
printf("\n... Clearing buffer");
fflush(stdout);
sprintf(Message, "\015\015\015");
WriteToPort(Message);
printf("\n... Sending Version Request");
fflush(stdout);
sprintf(Message, "V\015"); // get version
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (Version[0] != '\0')
to = 1;
}
--to;
}
gettime();
printf("\n%6d : Version = HW : %c.%c SW : %c.%c", curtime, Version[0], Version[1], Version[2],
Version[3]);
fflush(stdout);
printf("\n... Sending Serial Request");
fflush(stdout);
sprintf(Message, "N\015"); // get Serial
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (Serial[0] != '\0')
to = 1;
}
--to;
}
printf("\n%6d : Serial ID = %s ( %02x:%02x:%02x:%02x )", curtime, Serial, Serial[0], Serial[1],
Serial[2], Serial[3]);
fflush(stdout);
// When I need to switch from 230K to 115K and wise versa, I uncomment the #def on this one and change U1/U2...
//#define SET_NEW_UART_SPEED 1
#ifdef SET_NEW_UART_SPEED
CRSignal = 0;
sprintf(Message, "U1\015"); // UART with U0=230K, U1=115.2K U2=57.6K
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (CRSignal)
to = 1;
}
--to;
}
if (CRSignal)
printf("Set Successfully...");
fflush(stdout);
GoodBye();
return;
#endif
CRSignal = 0;
sprintf(Message, "S6\015"); // CAN with 500Kbps S0-10 S1-20 S2-50 S3-100 S4-125 S5-250 S7-800 S8-1M
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (CRSignal)
to = 1;
}
--to;
}
printf("\nCAN speed setup.");
fflush(stdout);
// The below needs to be done only once...
#if 0
CRSignal = 0;
sprintf(Message, "X1\015"); // Turn on out poll
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (CRSignal)
to = 1;
}
--to;
}
printf("\nAuto Poll setup.");
fflush(stdout);
#endif
CRSignal = 0;
sprintf(Message, "O\015"); // Open the CAN channel
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (CRSignal)
to = 1;
}
--to;
}
printf("\nChannel opened.");
fflush(stdout);
CRSignal = 0;
sprintf(Message, "t0000\015"); // Send 0 byte message to test CAN
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (CRSignal)
to = 1;
}
--to;
}
printf("\nBogus message sent, waiting 5 sec., check red LED, should be lit...");
fflush(stdout);
sleep(5);
CRSignal = 0;
sprintf(Message, "F\015"); // Get Status
WriteToPort(Message);
to = 1000000;
while (to) {
if (Poll()) {
if (CRSignal)
to = 1;
}
--to;
}
printf("\nStatus Flag = %02x", StatusFlag);
fflush(stdout);
to = 1000;
while (to) {
if (Poll()) {
}
--to;
}
GoodBye();
printf("\n\n");
fflush(stdout);
return 0;
}
void SWrite3(unsigned char header,unsigned char data, unsigned char end)
{
unsigned char Buf[3] = {header, data, end};
std::cerr << "Plant data: "<< mySim.curr_time << " ["<< (int)header << "]["<< (int)data << "]["<< (int)end << "]"<< std::endl;
WriteToPort(&gftHandle[giDeviceID], 3, &Buf[0]);
}
void SWrite(unsigned char data)
{
unsigned char Buf[1] = {data};
std::cerr << "Plant data: "<< mySim.curr_time << " ["<< data << "]"<< std::endl;
WriteToPort(&gftHandle[giDeviceID], 1, &Buf[0]);
}
int main(int nargs, char** argv)
{
struct termios oldTio;
struct addrinfo *hostInfoList = nullptr; // Pointer to the linked list of host_info's.
struct ThreadSerialInfo sInfo = {-1, -1, -1, 1, SIM_NONE, &mySim, 0, {0, 0, 0, 0}};
auto serial = ARDUINO_SP_NAME;
pthread_t threadID;
gettimeofday(&gStartTime, NULL);
signal(SIGINT, SIG_IGN);
signal(SIGHUP, signalHandler);
// Hardcode the serial communication for PC client
mySim.verbose = atoi(argv[2]);
if(!CreateSocket(&sInfo.gSocketHandle, hostInfoList))
return 1;
// Create the the thread
if(pthread_create(&threadID, NULL, &SocketReadThread, &sInfo)) {
print("Error: Couldn't create the thread\n");
CloseSocket(&sInfo.gSocketHandle, &sInfo.gListenSocketHandle, hostInfoList);
return 1;
}
while(sInfo.gSocketHandle==-1)
usleep(WAIT_TIME_INF_LOOP);
print("Waiting for python script app to connect...\n");
while(sInfo.gListenSocketHandle==-1)
usleep(WAIT_TIME_INF_LOOP);
print("Python script connected\n");
// The third parameter for the app is the port name
if((gftHandle[giDeviceID] = open(serial, O_RDWR | O_NOCTTY | O_NONBLOCK | O_NDELAY))==-1) {
print("Error: Could not connect to "); print(serial); print("\n");
CloseSocket(&sInfo.gSocketHandle, &sInfo.gListenSocketHandle, hostInfoList);
return 1;
} else {
print("Opened device "); print(serial); print("\n");
SetDefaultPortSettings(&gftHandle[giDeviceID], &oldTio);
sInfo.serialPortHandle = gftHandle[giDeviceID];
gWaitDescriptors[0].fd = gftHandle[giDeviceID];
gWaitDescriptors[0].events = POLLIN;
gWaitDescriptors[1].fd = sInfo.gListenSocketHandle;
gWaitDescriptors[1].events = POLLIN;
TR_PL_ID *bufIDs = NULL;
while(sInfo.gCommands!=SIM_END) {
unsigned char Buf = 0, sParBuf[6], tmpBuf[2048];
int idx = 0;
ssize_t dwBytes;
unsigned int nBufIDSize = 0, parValue = 0;
int pollRc;
size_t bytesRead = 0;
unsigned int test = 0;
//simulate a batch of trajectory
if(sInfo.gCommands != SIM_NONE)
mySim.SimulateSinglePath();
//usleep(WAIT_TIME_INF_LOOP);
switch (sInfo.gCommands)
{
case SIM_START:
nAtriumBeats = 0;
nVentricleBeats = 0;
gettimeofday(&gStartTime, NULL);
gTranList.clear();
mySim.StartSimulation();
Buf = 'W';
WriteToPort(&gftHandle[giDeviceID], 1, &Buf);
break;
case SIM_END:
Buf = 'S';
WriteToPort(&gftHandle[giDeviceID], 1, &Buf);
break;
case SIM_STOP:
sInfo.gCommands = SIM_NONE;
std::cerr << "********************************"<<std::endl;
std::cerr << "Client simulation stop at time: "<< mySim.curr_time << std::endl;
Buf = 'S';
WriteToPort(&gftHandle[giDeviceID], 1, &Buf);
Buf = 0;
while(Buf!=SIM_READY) {
pollRc = poll(&gWaitDescriptors[0], 2, -1);
if (pollRc < 0) {
print("Error: setting the poll\n");
sInfo.gCommands = SIM_END;
} else if(pollRc > 0) {
if( gWaitDescriptors[0].revents & POLLIN )
bytesRead = read(gftHandle[giDeviceID], &Buf, (int)1);
else if(gWaitDescriptors[0].revents & POLLHUP || gWaitDescriptors[0].revents & POLLERR) {
print("Error: poll read gftHandle\n");
sInfo.gCommands = SIM_END;
}
}
}
std::cerr << "Number of atrium beats: "<< nAtriumBeats << std::endl;
std::cerr << "Number of ventricle beats: "<< nVentricleBeats << std::endl;
break;
case SIM_GET_ID:
sInfo.gCommands = SIM_NONE;
print("Number of transition IDs: "); print((float)(gTranList.size())); print("\n");
//nBufIDSize = (gTranList.size())*sizeof(TR_PL_ID);
nBufIDSize = (gTranList.size())*sizeof(EventTime);
if(bufIDs!=NULL) delete [] bufIDs;
bufIDs = new TR_PL_ID[nBufIDSize];
memset((void*)&bufIDs[0], 0, nBufIDSize);
dwBytes = send(sInfo.gListenSocketHandle, (void*)&nBufIDSize, sizeof(nBufIDSize), 0);
for (std::list<EventTime>::iterator it=gTranList.begin(); it != gTranList.end(); ++it) {
bufIDs[idx] = (*it).event;
memcpy(&bufIDs[idx+1], (const void*)&(*it).time, sizeof(unsigned int));
//print((float)(*it).time); print(" "); print((float)(*it).event); print("\n");
//idx++;
idx+=sizeof(EventTime);
}
dwBytes = send(sInfo.gListenSocketHandle, (void*)bufIDs, (size_t)(nBufIDSize), 0);
if(!dwBytes)
print("No IDs or write socket error\n");
else {
print("Number of bytes sent: "); print((float)(dwBytes)); print("\n");
}
break;
case SIM_SET_CPAR:
sInfo.gCommands = SIM_NONE;
parValue = BytesToInt(sInfo.gParBuf);
print("Setting Client parameter ID: "); print((float)(sInfo.gParId)); print(" Value: "); print((float)parValue); print("\n");
SetParameters(sInfo.gParId, (unsigned long)(parValue));
Buf = SIM_READY;
dwBytes = send(sInfo.gListenSocketHandle, (void*)&Buf, 1, 0);
break;
case SIM_SET_PPAR:
sInfo.gCommands = SIM_NONE;
parValue = BytesToInt(sInfo.gParBuf);
print("Setting Arduino parameter ID: "); print((float)(sInfo.gParId)); print(" Value: "); print((float)parValue); print("\n");
sParBuf[0] = 'D';
sParBuf[1] = sInfo.gParId;
memcpy((void*)&sParBuf[2], (const void*)&sInfo.gParBuf[0], 4);
WriteToPort(&gftHandle[giDeviceID], 6, &sParBuf[0]);
pollRc = poll(&gWaitDescriptors[0], 2, -1);
if (pollRc < 0) {
print("Error: setting the poll\n");
sInfo.gCommands = SIM_END;
} else if(pollRc > 0) {
if( gWaitDescriptors[0].revents & POLLIN ) {
bytesRead = read(gftHandle[giDeviceID], &Buf, (int)1);
if (Buf!=SIM_READY) {
print("Wrong Arduino reply: "); print(Buf); print("\n");
sInfo.gCommands = SIM_END;
}
Buf=SIM_READY;
dwBytes = send(sInfo.gListenSocketHandle, (void*)&Buf, 1, 0);
}
else if(gWaitDescriptors[0].revents & POLLHUP || gWaitDescriptors[0].revents & POLLERR) {
print("Error: poll read gftHandle\n");
sInfo.gCommands = SIM_END;
}
}
break;
case SIM_NONE:
break;
default:
sInfo.gCommands = SIM_NONE;
}
}
if(bufIDs!=NULL)
delete [] bufIDs;
}
// End the thread
sInfo.gEndThread = 0;
// wait for the thread to exit
pthread_join(threadID, NULL);
CloseSocket(&sInfo.gSocketHandle, &sInfo.gListenSocketHandle, hostInfoList);
ClosePortDevice(&gftHandle[giDeviceID], &oldTio);
return (0);
}
