ModCom::~ModCom(void) {
if (fd >= 0) serialport_close(fd);
if (dd == "" || devDescriptionList.size() == 0) return;
vector<string>::iterator redodev;
redodev = find(devDescriptionList.begin(), devDescriptionList.end(), dd);
devDescriptionList.erase(redodev);
}
int main (int argc, char *argv[])
{
optarg = (char *)malloc(100*sizeof(char));
//fill optarg with the path to the serial transmitter
find_serial_transmitter();
FILE *log_file;
char buf[1000];
char *str_array[140]={"\0"};
int i=0;
//Open the FM stations log file that will become the device database
log_file = fopen("log.txt","r");
if (!log_file){
printf("ERROR: Could not open FM Stations log file for reading.\n");
return -1;
}
//create a connection over the virtual serial port
open_port();
//send the start sequence
perror("START SEQUENCE:\n");
send_string("$$$");
printf("\n\n");
//wait a while to make sure the device has detected the start sequence and is ready for data
usleep(5000000);
//parse the log file line by line
while (fgets(buf,1000, log_file)!=NULL)
{
//keep track of each line
str_array[i] = buf;
strip_newline( str_array[i], 210);
//prepare, parse, and transmit the data within each line
parse_line(line_prep(str_array[i]));
i++;
}
//close the log file
fclose(log_file);
//make sure the device has had enough time to write all the data before sending end sequence
usleep(4000000);
//send the end sequence
printf("END SEQUENCE:\n");
send_string("^^^");
printf("\n\n");
//terminate the virtual serial port connection
serialport_close(fd);
return 0;
}
int open_port(void){
if( fd!=-1 ) {
serialport_close(fd);
printf("closed port %s\n",serialport);
}
strcpy(serialport,optarg);
fd = serialport_init(optarg, baudrate);
if( fd==-1 ){
printf("couldn't open port");
return -1;
}
printf("opened port %s\n",serialport);
serialport_flush(fd);
return 0;
}
int main (int argc, char *argv[])
{
FILE *file_hndl;
char buf[1000];
char *str_array[140]={"\0"};
int i;
//Open log file
file_hndl =fopen("log.txt","r");
if (!file_hndl){
printf("ERROR: Could not open file for reading.");
return -1;
}
//Fetch each line into a string
while (fgets(buf,1000, file_hndl)!=NULL){
str_array[i] = buf;
//printf("%s",str_array[i]);
strip_newline( str_array[i], 210);
parse_line(line_prep(str_array[i]));
i++;
}
//Close File
fclose(file_hndl);
open_port();
send_string("@");
send_string("testing");
send_string("#");
serialport_close(fd);
return 0;
}
gint disconnectSerial() {
if (fd >= 0) {
serialport_close(fd);
}
return -1;
}
void main(void)
{
int fd, Error;
int baud = 9600;
char serialport[] = "/dev/ttyACM0";
union uuFreq {
char fBytes[4];
float fFloat;
} uFreq;
uFreq.fFloat = 50.00;
union uuTime {
char tBytes[4];
unsigned long tLong;
} uTime;
uTime.tLong = 5000;
union uuChannel {
char cBytes[2];
unsigned int cInt;
} uChannel;
uChannel.cInt = 1;
fd = serialport_init(serialport, baud);
Error = serialport_flush(fd);
// Loop through several times then send song over
for (int i = 0; i < 71; i++)
{
if (i == 70)
{
uFreq.fFloat = 0xFFFFFFFF;
uTime.tLong = 0xFFFF;
uChannel.cInt = 0xFF;
}
// Send Frequency - incremented by 20
uFreq.fFloat = uFreq.fFloat + 20.0;
Error = serialport_writebyte(fd, uFreq.fBytes[0]);
tcdrain(fd);
Error = serialport_writebyte(fd, uFreq.fBytes[1]);
tcdrain(fd);
Error = serialport_writebyte(fd, uFreq.fBytes[2]);
tcdrain(fd);
Error = serialport_writebyte(fd, uFreq.fBytes[3]);
tcdrain(fd);
// Send Time - incremented by 500 ms
uTime.tLong = uTime.tLong + 500;
Error = serialport_writebyte(fd, uTime.tBytes[0]);
tcdrain(fd);
Error = serialport_writebyte(fd, uTime.tBytes[1]);
tcdrain(fd);
Error = serialport_writebyte(fd, uTime.tBytes[2]);
tcdrain(fd);
Error = serialport_writebyte(fd, uTime.tBytes[3]);
tcdrain(fd);
// Send Channel
Error = serialport_writebyte(fd, uChannel.cBytes[0]);
tcdrain(fd);
Error = serialport_writebyte(fd, uChannel.cBytes[1]);
tcdrain(fd);
// Send \0
Error = serialport_writebyte(fd, '\0');
usleep(50000);
tcdrain(fd);
}
serialport_close(fd);
//return 0;
}
int main(int argc, char** argv){
/*******************
* Base Drive Variables
*
* LOOP_RATE defines how fast we send orders to the arduino
* ORDER_TIMEOUT is the maximum amount of time between recieving orders
* before we shut the motors off
*
* BAUDRATE baudrate to arduino
* SERIAL_DEV the defauly dev file pointing to the arduino
* READ_CHAR_TIMEOUT the timeout to wait for the next character in a
* message, in us
* SERIAL_RESPONSE_TIMEOUT The timeout to wait for a response to our
* query, in us
*/
double LOOP_RATE = 10.0;
double ORDER_TIMEOUT = 0.25;
int BAUDRATE = B115200;
char* SERIAL_DEV = "/dev/ttyUSB0";
int READ_CHAR_TIMEOUT = 30;
int SERIAL_RESPONSE_TIMEOUT = 100;
char START_CHAR = '`';
/********************
* Set up ROS node
*/
ros::init(argc, argv, "TableMotorToSerial");
ros::NodeHandle n;
ROS_INFO( "Starting Subscriber" );
ros::Subscriber sub = n.subscribe("DriveTable", 2, callbackTableMotorToSerial );
ros::Publisher pub = n.advertise<alfred_msg::TableEncoders>("TableEncoders", 2);
/********************
* Setup loop variables and start serial
*/
char* serialDevice = SERIAL_DEV;
if( argc > 1 )
serialDevice = argv[1];
int fd = serialport_init(serialDevice, BAUDRATE);
if(fd < 0){
ROS_ERROR( "Could not open serial device \'%s\'\n", serialDevice);
return -1;
}
usleep( 3000 * 1000 );
ros::Rate rate(LOOP_RATE);
int maxNumLoopsWithoutOrder = (int)( ORDER_TIMEOUT * LOOP_RATE );
int numLoopsWithoutOrder(-1);
while (n.ok()) {
// If we haven't yet started
if( numLoopsWithoutOrder == -1){
tableOrder_serialArduino1 = 0.0;
tableOrder_serialArduino2 = 0.0;
tableOrder_serialArduino3 = 0.0;
tableOrder_serialArduino4 = 0.0;
}
// Safety Check 1 : time without orders
else if( numLoopsWithoutOrder >= maxNumLoopsWithoutOrder ){
tableOrder_serialArduino1 = 0.0;
tableOrder_serialArduino2 = 0.0;
tableOrder_serialArduino3 = 0.0;
tableOrder_serialArduino4 = 0.0;
ROS_ERROR( "Base Motor to Serial hasn't received a new motor order in %f mS!", 1000 * ORDER_TIMEOUT );
}
// Safety check passed, send
if( numLoopsWithoutOrder >= 0 )
numLoopsWithoutOrder++;
if( receivedOrder_serialArduino == true ){
numLoopsWithoutOrder = 0;
receivedOrder_serialArduino = false;
}
ROS_INFO( "Sending output to table: [%f, %f, %f, %f]",
tableOrder_serialArduino1,
tableOrder_serialArduino2,
tableOrder_serialArduino3,
tableOrder_serialArduino4);
//write
std::stringstream ss;
ss << "`"
<< tableOrder_serialArduino1 << ";"
<< tableOrder_serialArduino2 << ";"
<< tableOrder_serialArduino3 << ";"
<< tableOrder_serialArduino4 << ";\0";
std::string msg = ss.str();
int isok = serialport_write(fd, msg.c_str() );
// now read, and wait for the arduino to reply with the encoder values
int encoders[4];
char buf[10];
// First, wait for a response
if( serialport_read_until(fd, buf, START_CHAR, SERIAL_RESPONSE_TIMEOUT) <= 0)
{
ROS_ERROR("ERROR: Timeout on serial response message start!");
for( int i(0); i < 4; i++ )
encoders[i]=-1;
}
else{
for( int i(0); i < 4; i++ ){
isok = serialport_read_until(fd, buf, ';', READ_CHAR_TIMEOUT );
if( isok <= 0 ){
ROS_ERROR("ERROR: Timeout reading message");
break;
}
encoders[i] = std::atoi(buf);
}
if( isok <= 0 )
for( int i(0); i < 4; i++ )
encoders[i]=-1;
}
ROS_INFO( "Publishing Encoder Vals: [%d, %d, %d, %d]",
encoders[0],
encoders[1],
encoders[2],
encoders[3]);
alfred_msg::TableEncoders encTopic;
encTopic.enc1 = encoders[0];
encTopic.enc2 = encoders[1];
encTopic.enc3 = encoders[2];
encTopic.enc4 = encoders[3];
pub.publish(encTopic);
ROS_INFO("\n");
rate.sleep();
ros::spinOnce();
}
serialport_close(fd);
return 0;
}
int main(int argc, char *argv[]) {
if (eval_flag(argc,argv,"-h\0")) {
printf("Usage: lold [-p PORT] [-D DELAY] [-d DEVICE]\n\n");
return EXIT_FAILURE;
}
delay = int_arg(eval_arg(argc, argv, "-D\0", NULL), DEF_DELAY);
port = int_arg(eval_arg(argc, argv, "-p\0", NULL), DEF_LOLD_PORT);
device = eval_arg(argc, argv, "-d\0", NULL);
to_stdout = eval_flag(argc, argv, "--stdout\0");
if (!to_stdout && device==NULL) //no device provided?
device = autodetect();
if (!device && !to_stdout) //no device found by autodetect?
fprintf(stderr, "No serial USB device found! (Try -d flag?) Output to stdout.\n");
pthread_mutex_init(&imutex, NULL); //init mutex for interrupted flag
pthread_mutex_init(&qmutex, NULL); //init mutex for queue
//Start web server thread listening for clients sending stuff
pthread_t serverThread;
pthread_create(&serverThread, NULL, server_thread, NULL);
pthread_detach(serverThread);
//trap INT
signal(SIGINT, sig_handler);
LolTask *currtask = NULL; //task currently being executed
//clean lolshield
render_frame(device, EMPTY_FRAME);
//loop outputting animation frames to device
while (!shutting_down) {
//do nothing if some client is streaming
if (streaming) {
sleep_ms(100);
continue;
}
//New task arrived -> check stuff
pthread_mutex_lock(&imutex);
if (interrupted) {
interrupted = 0;
if (DEBUG) fprintf(stderr, "New task inserted!\n");
if (queue==NULL)
exit(EXIT_FAILURE); //can not happen!
pthread_mutex_lock(&qmutex);
LolTask *first = (LolTask*)(queue->value);
pthread_mutex_unlock(&qmutex);
//new arrived has higher priority? cancel current ani
if (currtask != NULL && first->pri > currtask->pri) {
loltask_free(currtask);
currtask = NULL;
if (DEBUG) fprintf(stderr, "Ani cancelled\n");
}
}
pthread_mutex_unlock(&imutex);
//load new task if neccessary
if (currtask == NULL) {
pthread_mutex_lock(&qmutex);
currtask = lollist_shift(&queue);
pthread_mutex_unlock(&qmutex);
if (DEBUG) if (currtask != NULL) fprintf(stderr, "Ani start\n");
}
//nothing in queue -> just wait
if (currtask == NULL) {
sleep_ms(delay);
continue;
}
//animation delay
sleep_ms(currtask->delay);
//get next frame
char *frame = lollist_shift(&(currtask->frames));
//current animation done?
if (frame == NULL) {
currtask = NULL;
clean_tasks(); //remove aged tasks
//render empty frame to clean lolshield -> breaks hardware text message
//render_frame(device, EMPTY_FRAME);
sleep_ms(delay);
if (DEBUG) fprintf(stderr, "Ani done\n");
continue;
}
//render next frame
render_frame(device, frame);
free(frame);
}
if (DEBUG) fprintf(stderr, "Shutting down\n");
//shutting down
render_frame(device, EMPTY_FRAME); //clean lolshield
serialport_close(port); //close port
pthread_cancel(serverThread); //kill server
pthread_mutex_destroy(&qmutex); //uninit mutex
pthread_mutex_destroy(&imutex); //uninit mutex
close(svr_sock); //close server listening socket
pthread_exit(NULL);
return EXIT_SUCCESS;
}
int download_firmware(const char* download_port,const char* firmware_filename){
int err=eDownloadErrCodeSuccess;
unsigned char* inbuf,*outbuf;
unsigned int inlen,outlen;
handle_download_port = firmware_size = -1;
threadhandle_timer = threadhandle_download = NULL;
inbuf = outbuf = firmware_buffer = NULL;
handle_download_port = serialport_open(download_port);
if(handle_download_port<0){
err = eDownloadErrCodePortError;goto failed;
}
//now open file to buffer
inlen = platform_readfile2buffer(firmware_filename,0,(char**)&inbuf);
if(inlen<0){
err = eDownloadErrCodeFileError;goto failed;
}
//allocate out buffer ,max size as half of inlen
outlen = inlen;
outbuf = (unsigned char* )malloc(outlen);
if(!outbuf){
err = eDownloadErrCodeUnknown;
goto failed;
}
//convert to bin format
err = mcu_hex2bin(inbuf,inlen,outbuf,&outlen);
firmware_buffer = outbuf;
firmware_size = outlen;
//only for demo
// firmware_buffer = DEMO;
// firmware_size=256;
//now firmware buffer is ready;
printf("firmware[%s] hex size[0x%x] bin size[0x%x] prepareokay!\n",firmware_filename,
inlen,outlen);
//create received thread
threadhandle_download = platform_createthread(download_recv_thread,(void*)handle_download_port);
if(!threadhandle_download){
printf("create firmware download thread failed\n");
err = eDownloadErrCodeUnknown;goto failed;
}
threadhandle_timer = platform_createthread(download_timer_thread,(void*)NULL);
if(!threadhandle_timer){
printf("create firmware timer thread failed\n");
err = eDownloadErrCodeUnknown;goto failed;
}
err = Firmware_Download(firmware_buffer, firmware_size);
if (eDownloadErrCodeSuccess==err)
{
printf("\n\n\n"
"----Congratulations!Firmware download successful!----\n\n\n");
}
else
{
printf("\n\n\n"
"----FAIL FAIL FAIL![E%d,%s]----\n\n\n",err,download_error_code2string(err));
}
failed:
if(threadhandle_timer)
platform_terminatethread(threadhandle_timer);
if(threadhandle_download)
platform_terminatethread(threadhandle_download);
if(inbuf)
platform_releasebuffer(inbuf);
if(outbuf)
platform_releasebuffer(outbuf);
if(handle_download_port>0)
serialport_close(handle_download_port);
return err;
}
int main(int argc, char *argv[])
{
/*accelerometer related declarations*/
const int buf_max = 2048;
int fd = -1;
char serialport[buf_max];
int baudrate = 9600; // default
char quiet=0;
char eolchar = ' ';
int timeout = 5000;
char buf[buf_max];
int rc,n,p;
float xDat[103],yDat[103],zDat[103];
float sumX=0,sumY=0,sumZ=0;
float sum1=0,sum2=0,sum3=0;
float stdX=0,stdY=0,stdZ=0,avgX=0,avgY=0,avgZ=0,varX=0,varY=0,varZ=0,recal=0;
int total=1;
int calibrate=0;
/*---------------------------------*/
// char stdbuffer[10];
/*socket related declarations*/
int sockfd, portno, n2;
struct sockaddr_in serv_addr;
struct hostent *server;
char buffer[256];
int sendMessage=1;
/*----------------------------*/
if (argc==1) {
usage();
}
/* parse options */
int option_index = 0, opt;
static struct option loptions[] = {
{"help", no_argument, 0, 'h'},
{"port", required_argument, 0, 'p'},
{"baud", required_argument, 0, 'b'},
{"send", required_argument, 0, 's'},
{"setup", no_argument, 0, 'S'},
{"receive", no_argument, 0, 'r'},
{"flush", no_argument, 0, 'F'},
{"num", required_argument, 0, 'n'},
{"delay", required_argument, 0, 'd'},
{"eolchar", required_argument, 0, 'e'},
{"timeout", required_argument, 0, 't'},
{"quiet", no_argument, 0, 'q'},
{NULL, 0, 0, 0}
};
while(1) {
opt = getopt_long (argc, argv, "hp:b:s:rSFn:d:qe:t:",
loptions, &option_index);
if (opt==-1) break;
switch (opt) {
case '0': break;
case 'q':
quiet = 1;
break;
case 'e':
eolchar = optarg[0];
if(!quiet) printf("eolchar set to '%c'\n",eolchar);
break;
case 't':
timeout = strtol(optarg,NULL,10);
if( !quiet ) printf("timeout set to %d millisecs\n",timeout);
break;
case 'd':
n = strtol(optarg,NULL,10);
if( !quiet ) printf("sleep %d millisecs\n",n);
usleep(n * 1000 ); // sleep milliseconds
break;
case 'h':
usage();
break;
case 'b':
baudrate = strtol(optarg,NULL,10);
break;
case 'p':
if( fd!=-1 ) {
serialport_close(fd);
if(!quiet) printf("closed port %s\n",serialport);
}
strcpy(serialport,optarg);
fd = serialport_init(optarg, baudrate);
if( fd==-1 ) error("couldn't open port");
if(!quiet) printf("opened port %s\n",serialport);
serialport_flush(fd);
break;
case 'n':
if( fd == -1 ) error("serial port not opened");
n = strtol(optarg, NULL, 10); // convert string to number
rc = serialport_writebyte(fd, (uint8_t)n);
if(rc==-1) error("error writing");
break;
case 'S':
portno = 52002;//atoi(argv[2]);
/* Create a socket point*/
sockfd = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd < 0)
{
perror("ERROR opening socket");
exit(1);
}
server = gethostbyname("192.168.2.103");//gethostbyname(argv[1]);
if (server == NULL) {
fprintf(stderr,"ERROR, no such host\n");
exit(0);
}
bzero((char *) &serv_addr, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
bcopy((char *)server->h_addr,
(char *)&serv_addr.sin_addr.s_addr,
server->h_length);
serv_addr.sin_port = htons(portno);
/* Now connect to the server */
if (connect(sockfd,&serv_addr,sizeof(serv_addr)) < 0)
{
perror("ERROR connecting");
exit(1);
}
while(1){
int r;
int a1, a2, a3;
char a4[sizeof(float)*3+3];
memset (buf, 0, 256);
r = serialport_read_until(fd, buf);
//fprintf (stderr, "VAL: %s -->", buf);
if (r >= 0)
{
sscanf (buf, "A1:%d\tA2:%d\tA3:%d", &a1, &a2, &a3);
// fprintf (stderr, "(%d)(%d)(%d)\n", a1, a2, a3);
if(calibrate==0){
sumX= sumX + a1; sumY= sumY + a2; sumZ= sumZ + a3;
xDat[total]=a1;yDat[total]=a2;zDat[total]=a3;
total++;
if (total==100){
calibrate=1;
avgX = sumX/(float)total; avgY = sumY/(float)total; avgZ = sumZ/(float)total;
for(p = 1; p<total;p++){
sum1 = sum1 + pow((xDat[p]-avgX),2); sum2 = sum2 + pow((yDat[p]-avgY),2); sum3 = sum3 + pow((zDat[p]-avgZ),2);
}
varX= sum1/(float)total; varY=sum2/(float)total; varZ=sum3/(float)total;
stdX=sqrt(varX); stdY=sqrt(varY); stdZ=sqrt(varZ);
}
}
if(calibrate==1){snprintf(a4, sizeof a4*7, "%f %f %f %f %f %f %f %f %f", (float)a1, (float)a2,(float)a3,avgX,avgY,avgZ,stdX,stdY,stdZ);}
while(sendMessage==1&&calibrate==1){
/* Send message to the server*/
//printf("here");
n2 = write(sockfd,a4,strlen(a4));
if (n2 < 0)
{
perror("ERROR writing to socket");
exit(1);
}
/* Now read server response */
bzero(buffer,256);
n2 = read(sockfd,buffer,255);
if (n2 < 0)
{
perror("ERROR reading from socket");
exit(1);
}
// printf("Received message: %s\n",buffer);
sendMessage=0;
}
sendMessage=1;
}
sendMessage=1;
fflush (0);
//sleep (5);
}
break;
case 's':
if( fd == -1 ) error("serial port not opened");
sprintf(buf, (opt=='S' ? "%s\n" : "%s"), optarg);
if( !quiet ) printf("send string:%s\n", buf);
rc = serialport_write(fd, buf);
if(rc==-1) error("error writing");
break;
case 'r':
while (1)
{
int r;
int a1, a2, a3;
memset (buf, 0, 256);
r = serialport_read_until(fd, buf);
fprintf (stderr, "VAL: %s -->", buf);
// printf("%d",r);
if (r >= 0)
{
sscanf (buf, "A1:%d\tA2:%d\tA3:%d", &a1, &a2, &a3);
fprintf (stderr, "(%d)(%d)(%d)\n", a1, a2, a3);
//fgets(stdbuffer,10,stdin);
//if(strcmp(stdbuffer,"getData")==0){
// printf("%d",a1);
// printf("%d",a2);
// printf("%d",a3);}
//}
/* while(sendMessage==1){
/* Send message to the server
n2 = write(sockfd,"measure",strlen("measure"));
if (n2 < 0)
{
perror("ERROR writing to socket");
exit(1);
}
/* Now read server response
bzero(buffer,256);
n2 = read(sockfd,buffer,255);
if (n2 < 0)
{
perror("ERROR reading from socket");
exit(1);
}
printf("Received message: %s\n",buffer);
sendMessage=0;
}*/
}
fflush (0);
usleep (10000);
}
break;
case 'F':
if( fd == -1 ) error("serial port not opened");
if( !quiet ) printf("flushing receive buffer\n");
serialport_flush(fd);
break;
}
}
exit(EXIT_SUCCESS);
} // end main
ModCom::ModCom(void) {
assigned = 0;
dd = "";
char ttyport[33];
char *serial_name;
vector<string>::iterator redodev;
// Search ttyUSB_'N' serial devices
for(int n = 0; n < 10; n++){
sprintf(ttyport, "/dev/ttyUSB%d", n);
serial_name = strdup(ttyport);
fd = serialport_init(serial_name, 9600);
if (fd != -1){
redodev = find(devDescriptionList.begin(), devDescriptionList.end(), string(ttyport));
if (redodev == devDescriptionList.end() || devDescriptionList.size() == 0) {
if (this->checkdev()){
dd = string(ttyport);
devDescriptionList.push_back(string(ttyport));
assigned = 1;
return;
}
}
}
serialport_close(fd);
}
// Search ttyACM_'N' arduino serial devices
for(int n = 0; n < 10; n++){
sprintf(ttyport, "/dev/ttyACM%d", n);
serial_name = strdup(ttyport);
fd = serialport_init(serial_name, 9600);
if (fd != -1){
redodev = find(devDescriptionList.begin(), devDescriptionList.end(), string(ttyport));
if (redodev == devDescriptionList.end() || devDescriptionList.size() == 0) {
if (this->checkdev()){
dd = string(ttyport);
devDescriptionList.push_back(string(ttyport));
assigned = 1;
return;
}
}
}
serialport_close(fd);
}
// Search rfcomm_'N' arduino bluetooth devices
for(int n = 0; n < 10; n++){
sprintf(ttyport, "/dev/rfcomm%d", n);
serial_name = strdup(ttyport);
fd = serialport_init(serial_name, 9600);
if (fd != -1){
redodev = find(devDescriptionList.begin(), devDescriptionList.end(), string(ttyport));
if (redodev == devDescriptionList.end() || devDescriptionList.size() == 0) {
if (this->checkdev()){
dd = string(ttyport);
devDescriptionList.push_back(string(ttyport));
assigned = 1;
return;
}
}
}
serialport_close(fd);
}
}
int main(int argc, char *argv[])
{
int sd = -1;
char *conf_file = NULL;
struct mosquitto *mosq;
struct module *md;
struct device *dev;
int rc;
int i;
gbuf[0] = 0;
if (!quiet) printf("Version: %s\n", version);
signal(SIGINT, handle_signal);
signal(SIGTERM, handle_signal);
signal(SIGUSR1, handle_signal);
signal(SIGUSR2, handle_signal);
signal(SIGALRM, each_sec);
for (i=1; i<argc; i++) {
if(!strcmp(argv[i], "-c") || !strcmp(argv[i], "--config")){
if(i==argc-1){
fprintf(stderr, "Error: -c argument given but no file specified.\n\n");
print_usage(argv[0]);
return 1;
}else{
conf_file = argv[i+1];
}
i++;
}else if(!strcmp(argv[i], "--quiet")){
quiet = true;
}else{
fprintf(stderr, "Error: Unknown option '%s'.\n",argv[i]);
print_usage(argv[0]);
return 1;
}
}
if (!conf_file) {
fprintf(stderr, "Error: No config file given.\n");
return 1;
}
memset(&config, 0, sizeof(struct bridge_config));
if (config_parse(conf_file, &config)) return 1;
if (quiet) config.debug = 0;
if (config.debug != 0) printf("Debug: %d\n", config.debug);
rc = bridge_init(&bridge, config.id, MODULES_BRIDGE_ID);
if (rc) {
if (config.debug) printf("Error: Failed to initialize bridge: %d\n", rc);
return 1;
}
mosquitto_lib_init();
mosq = mosquitto_new(config.id, true, NULL);
if(!mosq){
fprintf(stderr, "Error creating mqtt instance.\n");
switch(errno){
case ENOMEM:
fprintf(stderr, " out of memory.\n");
break;
case EINVAL:
fprintf(stderr, " invalid id.\n");
break;
}
return 1;
}
snprintf(gbuf, GBUF_SIZE, "%d", PROTOCOL_TIMEOUT);
mosquitto_will_set(mosq, bridge.bridge_dev->status_topic, strlen(gbuf), gbuf, config.mqtt_qos, MQTT_RETAIN);
mosquitto_connect_callback_set(mosq, on_mqtt_connect);
mosquitto_disconnect_callback_set(mosq, on_mqtt_disconnect);
mosquitto_message_callback_set(mosq, on_mqtt_message);
mosquitto_user_data_set(mosq, &sd);
md = bridge_add_module(bridge.bridge_dev, MODULES_MQTT_ID, true);
if (!md) {
fprintf(stderr, "Failed to add MQTT module.\n");
return 1;
}
if (config.scripts_folder) {
if (access(config.scripts_folder, R_OK )) {
fprintf(stderr, "Couldn't open scripts folder: %s\n", config.scripts_folder);
return 1;
}
md = bridge_add_module(bridge.bridge_dev, MODULES_SCRIPT_ID, true);
if (!md) {
fprintf(stderr, "Failed to add script module.\n");
return 1;
}
}
if (config.interface) {
//TODO: check if interface exists
if (access("/proc/net/dev", R_OK )) {
fprintf(stderr, "Couldn't open /proc/net/dev\n");
return 1;
}
md = bridge_add_module(bridge.bridge_dev, MODULES_BANDWIDTH_ID, true);
if (!md) {
fprintf(stderr, "Failed to add bandwidth module.\n");
return 1;
}
bandwidth = true;
}
if (config.serial.port) {
sd = serialport_init(config.serial.port, config.serial.baudrate);
if( sd == -1 ) {
fprintf(stderr, "Couldn't open serial port.\n");
return 1;
} else {
md = bridge_add_module(bridge.bridge_dev, MODULES_SERIAL_ID, true);
if (!md) {
fprintf(stderr, "Failed to add serial module.\n");
return 1;
}
serialport_flush(sd);
bridge.serial_ready = true;
if (config.debug) printf("Serial ready.\n");
}
}
if (config.debug > 2) bridge_print_modules(bridge.bridge_dev);
rc = mosquitto_connect(mosq, config.mqtt_host, config.mqtt_port, 60);
if (rc) {
fprintf(stderr, "ERROR: %s\n", mosquitto_strerror(rc));
return -1;
}
alarm(1);
while (run) {
if (bridge.serial_ready) {
rc = serial_in(sd, mosq, MODULES_SERIAL_ID);
if (rc == -1) {
serial_hang(mosq);
} else if (rc > 0) {
bridge.serial_alive = DEVICE_ALIVE_MAX;
}
}
if (user_signal) {
if (config.debug > 2) printf("Signal - SIGUSR: %d\n", user_signal);
signal_usr(sd, mosq);
}
rc = mosquitto_loop(mosq, 100, 1);
if (run && rc) {
if (config.debug > 2) printf("MQTT loop: %s\n", mosquitto_strerror(rc));
usleep(100000); // wait 100 msec
mosquitto_reconnect(mosq);
}
usleep(20);
if (every1s) {
every1s = false;
for (dev = bridge.dev_list; dev != NULL; dev = dev->next) {
if (dev->alive) {
dev->alive--;
if (!dev->alive) {
if (connected) {
snprintf(gbuf, GBUF_SIZE, "%d", PROTOCOL_TIMEOUT);
mqtt_publish(mosq, dev->status_topic, gbuf);
rc = mosquitto_unsubscribe(mosq, NULL, dev->config_topic);
if (rc)
fprintf(stderr, "Error: MQTT unsubscribe returned: %s\n", mosquitto_strerror(rc));
}
if (config.debug) printf("Device: %s - Timeout.\n", dev->id);
bridge_remove_device(&bridge, dev->id);
}
}
}
}
if (every30s) {
every30s = false;
if (connected) {
send_alive(mosq);
if (bandwidth) {
md = bridge_get_module(bridge.bridge_dev, MODULES_BANDWIDTH_ID);
if (md) {
snprintf(gbuf, GBUF_SIZE, "%.0f,%.0f", upspeed, downspeed);
mqtt_publish(mosq, md->topic, gbuf);
if (config.debug > 2) printf("down: %f - up: %f\n", downspeed, upspeed);
}
}
} else {
if (config.debug) printf("MQTT Offline.\n");
}
if (bridge.serial_alive) {
bridge.serial_alive--;
if (!bridge.serial_alive) {
if (config.debug > 1) printf("Serial timeout.\n");
serial_hang(mosq);
}
} else {
if (config.serial.port && !bridge.serial_ready) {
if (config.debug > 1) printf("Trying to reconnect serial port.\n");
serialport_close(sd);
sd = serialport_init(config.serial.port, config.serial.baudrate);
if( sd == -1 ) {
fprintf(stderr, "Couldn't open serial port.\n");
} else {
serialport_flush(sd);
bridge.serial_ready = true;
snprintf(gbuf, GBUF_SIZE, "%d", MODULES_SERIAL_OPEN);
mqtt_publish(mosq, md->topic, gbuf);
if (config.debug) printf("Serial reopened.\n");
}
}
}
}
}
if (bridge.serial_ready) {
serialport_close(sd);
}
mosquitto_destroy(mosq);
mosquitto_lib_cleanup();
config_cleanup(&config);
printf("Exiting..\n\n");
return 0;
}
int main(int argc, char *argv[])
{
int sd = -1;
char *conf_file = NULL;
struct mosquitto *mosq;
struct module *md;
struct device *dev;
int rc;
int i;
if (!quiet) printf("Version: %s\n", version);
signal(SIGINT, handle_signal);
signal(SIGTERM, handle_signal);
signal(SIGUSR1, handle_signal);
signal(SIGUSR2, handle_signal);
signal(SIGALRM, each_sec);
for (i=1; i<argc; i++) {
if(!strcmp(argv[i], "-c") || !strcmp(argv[i], "--config")){
if(i==argc-1){
fprintf(stderr, "Error: -c argument given but no file specified.\n\n");
print_usage(argv[0]);
return 1;
}else{
conf_file = argv[i+1];
}
i++;
}else if(!strcmp(argv[i], "--quiet")){
quiet = true;
}else{
fprintf(stderr, "Error: Unknown option '%s'.\n",argv[i]);
print_usage(argv[0]);
return 1;
}
}
if(!conf_file) {
fprintf(stderr, "Error: No config file given.\n");
return 1;
}
memset(&config, 0, sizeof(struct bridge_config));
if(config_parse(conf_file, &config)) return 1;
if (quiet) config.debug = 0;
if (config.debug != 0) printf("Debug: %d\n", config.debug);
if (!device_isValid_id(config.id)) {
fprintf(stderr, "Invalid id.\n");
return -1;
}
if (device_init(&bridge, config.id) == -1)
return 1;
mosquitto_lib_init();
mosq = mosquitto_new(config.id, true, NULL);
if(!mosq){
fprintf(stderr, "Error creating mqtt instance.\n");
switch(errno){
case ENOMEM:
fprintf(stderr, " out of memory.\n");
break;
case EINVAL:
fprintf(stderr, " invalid id.\n");
break;
}
return 1;
}
snprintf(gbuf, GBUF_SIZE, "%d", PROTO_ST_TIMEOUT);
mosquitto_will_set(mosq, bridge.status_topic, strlen(gbuf), gbuf, config.mqtt_qos, MQTT_RETAIN);
mosquitto_connect_callback_set(mosq, on_mqtt_connect);
mosquitto_disconnect_callback_set(mosq, on_mqtt_disconnect);
mosquitto_message_callback_set(mosq, on_mqtt_message);
mosquitto_user_data_set(mosq, &sd);
if (config.debug > 1) printf("Subscribe topic: %s\n", bridge.config_topic);
rc = device_add_module(&bridge, MODULE_MQTT_ID, bridge.id); //TODO: autogen id?
if (rc) {
fprintf(stderr, "Failed to add mqtt module.\n");
return 1;
}
if (config.scripts_folder) {
if (access(config.scripts_folder, R_OK )) {
fprintf(stderr, "Couldn't open scripts folder: %s\n", config.scripts_folder);
return 1;
}
rc = device_add_module(&bridge, MODULE_SCRIPT_ID, bridge.id); //TODO: autogen id?
if (rc) {
fprintf(stderr, "Failed to add script module.\n");
return 1;
}
}
if (config.interface) {
//TODO: check if interface exists
if (access("/proc/net/dev", R_OK )) {
fprintf(stderr, "Couldn't open /proc/net/dev\n");
return 1;
}
rc = device_add_module(&bridge, MODULE_BANDWIDTH_ID, bridge.id); //TODO: autogen id?
if (rc) {
fprintf(stderr, "Failed to add bandwidth module.\n");
return 1;
}
bandwidth = true;
}
if (config.serial.port) {
sd = serialport_init(config.serial.port, config.serial.baudrate);
if( sd == -1 ) {
fprintf(stderr, "Couldn't open serial port.\n");
return 1;
} else {
rc = device_add_module(&bridge, MODULE_SERIAL_ID, bridge.id); //TODO: autogen id?
if (rc) {
fprintf(stderr, "Failed to add serial module.\n");
return 1;
}
serialport_flush(sd);
bridge.serial_ready = true;
if (config.debug) printf("Serial ready.\n");
}
}
rc = device_add_module(&bridge, MODULE_SIGUSR1_ID, bridge.id); //TODO: autogen id?
if (rc) {
fprintf(stderr, "Failed to add sigusr1 module.\n");
return 1;
}
rc = device_add_module(&bridge, MODULE_SIGUSR2_ID, bridge.id); //TODO: autogen id?
if (rc) {
fprintf(stderr, "Failed to add sigusr2 module.\n");
return 1;
}
device_print_modules(&bridge);
rc = mosquitto_connect(mosq, config.mqtt_host, config.mqtt_port, 60);
if (rc) {
fprintf(stderr, "Wrong MQTT parameters. Check your config.\n");
return -1;
}
alarm(1);
while (run) {
if (bridge.serial_ready) {
rc = serial_in(sd, mosq, MODULE_SERIAL_ID);
if (rc == -1) {
serial_hang(mosq);
} else if (rc > 0) {
bridge.serial_alive = ALIVE_CNT;
}
}
if (user_signal) {
if (config.debug > 1) printf("Signal - SIGUSR: %d\n", user_signal);
signal_usr(sd, mosq);
}
rc = mosquitto_loop(mosq, -1, 1);
if (run && rc) {
if (config.debug > 2) printf("MQTT loop: %s\n", mosquitto_strerror(rc));
usleep(100000); // wait 100 msec
mosquitto_reconnect(mosq);
}
if (every30s) {
every30s = false;
bridge.controller = false;
for (i = 0; i < bridge.devices_len; i++) {
dev = &bridge.devices[i];
if (dev->alive) {
dev->alive--;
if (!dev->alive) {
snprintf(gbuf, GBUF_SIZE, "%d,%s", PROTO_ST_TIMEOUT, dev->id);
mqtt_publish(mosq, bridge.status_topic, gbuf);
if (dev->md_deps->type == MODULE_MQTT && dev->type == DEVICE_TYPE_NODE) {
snprintf(gbuf, GBUF_SIZE, "status/%s", dev->id);
rc = mosquitto_unsubscribe(mosq, NULL, gbuf);
if (rc)
fprintf(stderr, "Error: MQTT unsubscribe returned: %s\n", mosquitto_strerror(rc));
}
if (config.debug) printf("Device timeout - id: %s\n", dev->id);
} else {
if (dev->type == DEVICE_TYPE_CONTROLLER)
bridge.controller = true;
}
}
}
if (!bridge.controller)
bridge.modules_update = false;
if (connected) {
snprintf(gbuf, GBUF_SIZE, "%d,%d", PROTO_ST_ALIVE, bridge.modules_len);
mqtt_publish(mosq, bridge.status_topic, gbuf);
if (bridge.modules_update) {
snprintf(gbuf, GBUF_SIZE, "%d", PROTO_ST_MODULES_UP);
if (mqtt_publish(mosq, bridge.status_topic, gbuf))
bridge.modules_update = false;
}
if (bandwidth) {
md = device_get_module(&bridge, MODULE_BANDWIDTH_ID);
if (md) {
if (mqtt_publish_bandwidth(mosq, md->topic) == -1)
break;
}
}
} else {
if (config.debug != 0) printf("MQTT Offline.\n");
}
if (bridge.serial_alive) {
bridge.serial_alive--;
if (!bridge.serial_alive) {
if (config.debug > 1) printf("Serial timeout.\n");
serial_hang(mosq);
}
} else {
if (config.serial.port && !bridge.serial_ready) {
if (config.debug > 1) printf("Trying to reconnect serial port.\n");
serialport_close(sd);
sd = serialport_init(config.serial.port, config.serial.baudrate);
if( sd == -1 )
fprintf(stderr, "Couldn't open serial port.\n");
else {
serialport_flush(sd);
bridge.serial_ready = true;
if (config.debug) printf("Serial reopened.\n");
}
}
}
}
usleep(20);
}
if (bridge.serial_ready) {
serialport_close(sd);
}
mosquitto_destroy(mosq);
mosquitto_lib_cleanup();
config_cleanup(&config);
printf("Exiting..\n\n");
return 0;
}