unsigned char net_receive()
{
if (!com_check())
return NET_NOTHING;
com_connect();
unsigned char cCommand = com_get_command();
switch (cCommand)
{
case (CMD_MA_OUT):
com_receive_chunk(&com_receive_buffer_size);
com_disconnect();
return NET_RECEIVED;
break;
case (CMD_MA_REQ):
sbi(COM_INT_PORT, COM_INT_PIN);
com_config(BUS_OUTPUT);
com_send_chunk(com_send_buffer_size);
com_disconnect();
return NET_SENT;
break;
}
return NET_NOTHING;
}
void net_send(uint8_t uiLen)
{
com_connect();
com_set_command(CMD_MA_OUT);
com_config(BUS_OUTPUT);
com_send_chunk(uiLen);
com_disconnect();
}
// Process to connect with URG
int urg_connect(urg_state_t* state,
const char* port, const long baudrate) {
const long try_baudrate[] = { 19200,57600,115200 };
for (size_t i = 0; i < sizeof(try_baudrate)/sizeof(try_baudrate[0]); ++i) {
com_connect(port,try_baudrate[i]);
int recv_n = 0;
urg_sendMessage("SCIP2.0", Timeout, &recv_n);
if (recv_n <= 0) {
// If there is no reply it is considered as baud rate incompatibility, try with different baud rate
com_disconnect();
continue;
}
// Change the baud rate if not match the setting
if (try_baudrate[i] != baudrate) {
urg_changeBaudrate(baudrate);
com_disconnect();
com_connect(port,baudrate);
}
// Read parameter
if (urg_getParameters(state) < 0) {
ErrorMessage = "PP command fail.";
return -1;
}
state->last_timestamp = 0;
urg_changeMotor(5);
// URG is detected
return 0;
}
// URG is not detected
return -1;
}
void net_receive()
{
if (!com_check())
return;
com_connect();
com_set_command(CMD_MA_REQ);
com_config(BUS_INPUT);
uint8_t uiLen =0;
com_receive_chunk(&uiLen);
com_disconnect();
cDataReq = 0;
sbi(GICR,INT0);
uiLen = parser_parse();
net_send(uiLen);
}
/*
**************************************************************************************************
* main
**************************************************************************************************
* Main function
**************************************************************************************************
* Params:
* std main params
**************************************************************************************************
*/
int main(int argc, char **argv)
{
int res;
srand((unsigned long)time(NULL));
/* if (fork()) exit(0); */
atexit(quit_do_cleanup);
signal(SIGINT, quit_got_signal);
signal(SIGTERM, quit_got_signal);
signal(SIGHUP, sighup_rehash);
if ((res = conf_load())) quit_service(res);
if ((res = log_open())) quit_service(res);
log_command(LOG_SERVICES, NULL, "", "Services startup");
log_write("#############################################################################\n");
if ((res = dbase_load_persistant())) quit_service(res);
if ((res = queue_init())) quit_service(res);
help_load();
nickserv_dbase_checkold(NULL);
chanserv_dbase_check_expire(NULL);
pthread_mutex_init(&sock_mutex, NULL);
irc = com_sock_create(SOCK_SERVER);
if (!com_connect(irc)) quit_service(ERROR_SERVER_COULD_NOT_CONNECT);
irc->buffer[0] = '\0';
res = com_mainloop();
pthread_mutex_destroy(&sock_mutex);
quit_service(res);
return res;
}
/**** Main program ***********************************************************/
int main( int argc, char *argv[])
{
char Buffer[MAXBUFFERSIZE];
printf("Khepera3 server program (C) K-Team S.A\r\n");
if(!initKH3())
{
printf("Init ok...\r\n");
kh3_revision((char *)Buffer, dsPic);
printf("\r\n%c,%4.4u,%4.4u => Version = %u, Revision = %u\r\n",
Buffer[0], (Buffer[1] | Buffer[2]<<8), (Buffer[3] | Buffer[4]<<8),
(Buffer[1] | Buffer[2]<<8), (Buffer[3] | Buffer[4]<<8));
if (argc == 2)
{
strcpy(Buffer,argv[1]); // use serial port given by parameter
}
else
{
strcpy(Buffer,SERIAL_PORT); // copy default
}
// open serial port
if ((porthandle=com_connect(Buffer,BAUDRATE))<0)
{
printf("\nError: Serial port %s could not be open!\n",Buffer);
return -1;
}
printf("\nParsing commands from serial port %s, baudrate %ld.\nPush CTRL-C for quitting!\n",Buffer,VAL_BAUDRATE);
// loop
while (!quitReq)
{
#ifdef DEBUG
printf("\n> ");
#endif
process_command();
}
printf("Exiting...\r\n");
}
else
printf("Fatal error, unable to initialize\r\n");
// close serial port
if (porthandle>=0)
close(porthandle);
return 0;
}
int main(int argc,char* argv[])
{
com_config_t cfg;
vp_com_connection_t conn;
printf("---------- Network Adapter Inquiry ----------\n");
com_networkAdapterLookUp(COM_BLUETOOTH,adapterinquiry_df);
printf("---------------------------------------------\n");
cfg.connection = COM_BLUETOOTH;
cfg.localAdapterName = DEVICENAME;
cfg.localIpAddress = LOCALHOST;
cfg.localIpSubmask = "255.255.255.0";
printf("--------------- INITIALISATION --------------\n");
if(FAILED(com_init(&cfg)))
{
printf("Failed to init\n");
com_shutdown();
return -1;
}
/*
printf("----------- Remote Device Inquiry -----------\n");
com_inquire(deviceinquiry,60000);
printf("---------------------------------------------\n");
*/
printf("---------- Tentative de connection ----------\n");
com_strToAddress(BTADDR_SERVER,&conn.address);
com_passKey("1234");
if(FAILED(com_connect(&conn,1)))
{
printf("Failed to connect\n");
com_shutdown();
return -1;
}
printf("Connected to BTT\n");
printf("---------- BNEP Connection ----------\n");
{// Test d'execution bnep
com_socket_t socket;
Read read;
socket.socket = VP_COM_CLIENT;
socket.protocol = COM_BNEP;
socket.serverHost = SERVERHOST;
socket.port = BTADDR_PORT;
if(SUCCEED(com_open(&socket,&read,0)))
{
char buffer[10];
int r = 10;
printf("Connection BNEP succeeded\n");
if(SUCCEED(read((void*)&socket,buffer,&r)))
printf("Read succeed\n");
printf("socket closed\n");
com_close(&socket);
}
}
sleep(1);
printf("---------- RFCOMM Connection ----------\n");
{// Test d'execution rfcomm
com_socket_t socket;
Write write;
socket.socket = VP_COM_CLIENT;
socket.protocol = COM_RFCOMM;
socket.scn = BTADDR_SCN;
if(SUCCEED(com_open(&socket,0,&write)))
{
char buffer[10];
int r = 10;
printf("Connection RFCOMM succeeded\n");
if(SUCCEED(write((void*)&socket,buffer,&r)))
printf("Write succeed\n");
printf("socket closed\n");
com_close(&socket);
}
}
sleep(1);
printf("Deconnection\n");
com_disconnect();
printf("End of program\n");
com_shutdown();
return 0;
}
int main(void)
{
com_config_t config;
vp_com_connection_t connection;
config.connection = VP_COM_WIFI;
config.localAdapterName = "rausb0";
connection.essid = "Drone";
connection.channel = 10;
if(FAILED(com_init(&config)))
PRINT("com_init failed\n");
if(FAILED(com_passKey("9F1C3EE11CBA230B27BF1C1B6F")))
PRINT("com_passKey failed\n");
if(FAILED(com_connect(&connection,1)))
PRINT("com_connect failed\n");
clt.socket = VP_COM_CLIENT;
clt.port = DRONE_PORT;
clt.serverHost = DRONE_HOST;
if(SUCCEED(com_open(&clt,&my_read,&my_write)))
{
int32_t i = 0;
float st = timeGetTime();
float et = timeGetTime();
float db = 0.0f;
float d = 0.0f;
for(i=0; i < TIME_TO_SEND;i++)
{
int32_t received;
PRINT("\r reception n° %d... ",i);
received = 0;
size = SIZE_TO_SEND;
while(received != SIZE_TO_SEND)
{
my_read(&clt,buffer,&size);
received += size;
size = SIZE_TO_SEND - received;
}
PRINT("%d bytes ",received);
}
et = timeGetTime();
d = (et - st) / 1000.0f;
if(d > 0)
{
float tx = SIZE_TO_SEND * TIME_TO_SEND / 1024.0f;
db = tx / d;
}
PRINT("\n---------------\n");
PRINT("Start Time : %f\n",st);
PRINT("End Time : %f\n",et);
PRINT("%d Kbytes sent in %f time\n",SIZE_TO_SEND * TIME_TO_SEND / 1024,d);
PRINT("Debit: %f\n",db);
PRINT("\n---------------\n");
}
else
{
PRINT("snif... pas connecte a la socket\n");
}
PRINT("Waiting for disconnection\n");
vp_delay(5000);
com_disconnect();
PRINT("Disconnected\n");
com_shutdown();
return 0;
}