void OpenCL::scan(cl_mem dOut, cl_mem dIn, size_t numElements)
{
boost::compute::command_queue queue( m_commandQueue );
boost::compute::buffer bufIn( dIn );
boost::compute::buffer bufOut( dOut );
boost::compute::exclusive_scan( boost::compute::make_buffer_iterator<unsigned int>( bufIn, 0 ), boost::compute::make_buffer_iterator<unsigned int>( bufIn, numElements ),
boost::compute::make_buffer_iterator<unsigned int>( bufOut, 0 ), queue );
queue.finish();
// m_pScanner->scan( dOut, dIn, numElements );
}
unsigned int OpenCL::reduce( cl_mem dIn, size_t numElements )
{
unsigned int uiRet = 0;
boost::compute::command_queue queue( m_commandQueue );
boost::compute::buffer bufIn( dIn );
boost::compute::reduce( boost::compute::make_buffer_iterator<unsigned int>( bufIn, 0 ), boost::compute::make_buffer_iterator<unsigned int>( bufIn, numElements ), &uiRet, queue );
queue.finish();
return uiRet;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "fmRemoteNode");
ros::NodeHandle nh;
ros::NodeHandle n("~");
int baudRate;
std::string device;
ros::Publisher tele_pub = nh.advertise<fmMsgs::airframeControl>("/radioData", 1);
n.param<int> ("baudrate", baudRate, 115200);
n.param<std::string> ("device", device, "/dev/ttyUSB0");
int fd = ttySetup(baudRate, device.c_str());
uint8_t buf[512];
char num[9];
uint32_t msg_type;
uint32_t msg_size;
uint8_t msg_chksum;
// while (ros::ok()) {
while (ros::ok()) {
uint32_t len = unslip_pkg(fd, buf, 512); // Only returns when package is received...
if (len < 8) {
printf("Package to small (len = %i) - skipping\n", len);
continue;
}
memcpy(num, buf, 8); // First 8 bytes contain ascii hex descritions of msg_type and msg_size
num[8] = 0x0A; // Insert \n
sscanf(num, "%04X%04X", &msg_type, &msg_size); // Extract msg_type and msg_size
if (msg_size != len - 10) {
printf("Package size does not match description: %i (expected %i)\n", len, msg_size + 10);
continue;
}
memcpy(num, &(buf[8 + msg_size]), 2);
num[2] = 0x0A;
sscanf(num, "%02X", (uint32_t*) &msg_chksum);
uint8_t calc_chksum = 0;
for (uint32_t i = 0; i < len - 2; i++)
calc_chksum += buf[i];
if (msg_chksum != calc_chksum) {
printf("Wrong checksum : %i != %i - 10\n", msg_chksum, calc_chksum);
continue;
}
fmMsgs::airframeControl msg_in;
boost::shared_array<uint8_t> bufIn(new uint8_t[msg_size]);
ros::serialization::IStream streamIn(bufIn.get(), msg_size);
memcpy(bufIn.get(), buf + 8, msg_size);
switch(msg_type) {
case 0x1000:
ros::serialization::deserialize(streamIn, msg_in);
tele_pub.publish(msg_in);
break;
default:
printf("Unknown message type...\n");
}
// }
// tcflush(fd, TCIFLUSH); /* Clean the tty line*/
}
}
