static msg_t PollTmp75Thread(void *arg) {
chRegSetThreadName("PollTmp75");
(void)arg;
while (TRUE) {
/*chThdSleepMilliseconds(rand() & 31);*/
chThdSleepMilliseconds(15);
/* Call reading function */
request_temperature();
}
return 0;
}
int vrpn_BiosciencesTools::reset(void)
{
//-----------------------------------------------------------------------
// Sleep half a second and then drain the input buffer to make sure we start
// with a fresh slate.
vrpn_SleepMsecs(500);
vrpn_flush_input_buffer(serial_fd);
//-----------------------------------------------------------------------
// Set the temperatures for channel 1 and 2 and then set the temperature
// control to be on or off depending on what we've been asked to do.
if (!set_reference_temperature(0, static_cast<float>(o_channel[0]))) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot send set ref temp 0, trying again\n");
return -1;
}
if (!set_reference_temperature(1, static_cast<float>(o_channel[1]))) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot send set ref temp 1, trying again\n");
return -1;
}
if (!set_control_status(o_channel[0] != 0)) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot send set control status, trying again\n");
return -1;
}
//-----------------------------------------------------------------------
// Send the command to request input from the first channel, and set up
// the finite-state machine so we know which thing to request next.
d_next_channel_to_read = 0;
if (!request_temperature(d_next_channel_to_read)) {
fprintf(stderr,"vrpn_BiosciencesTools::reset(): Cannot request temperature, trying again\n");
return -1;
}
// We're now waiting for any responses from devices
status = STATUS_SYNCING;
DO_WARNING("reset complete (this is good)");
vrpn_gettimeofday(×tamp, NULL); // Set watchdog now
return 0;
}
int vrpn_BiosciencesTools::get_report(void)
{
int ret; // Return value from function call to be checked
//--------------------------------------------------------------------
// If we're SYNCing, then the next character we get should be the start
// of a report. If we recognize it, go into READing mode and tell how
// many characters we expect total. If we don't recognize it, then we
// must have misinterpreted a command or something; reset
// and start over
//--------------------------------------------------------------------
if (status == STATUS_SYNCING) {
// Try to get a character. If none, just return.
if (vrpn_read_available_characters(serial_fd, (unsigned char *)(d_buffer), 1) != 1) {
return 0;
}
d_expected_chars = 8;
// Got the first character of a report -- go into READING mode
// and record that we got one character at this time. The next
// bit of code will attempt to read the rest of the report.
// The time stored here is as close as possible to when the
// report was generated.
d_bufcount = 1;
vrpn_gettimeofday(×tamp, NULL);
status = STATUS_READING;
#ifdef VERBOSE
printf("... Got the 1st char\n");
#endif
}
//--------------------------------------------------------------------
// Read as many bytes of this report as we can, storing them
// in the buffer. We keep track of how many have been read so far
// and only try to read the rest.
//--------------------------------------------------------------------
ret = vrpn_read_available_characters(serial_fd, (unsigned char *)(&d_buffer[d_bufcount]),
d_expected_chars-d_bufcount);
if (ret == -1) {
DO_ERROR("Error reading");
status = STATUS_RESETTING;
return 0;
}
d_bufcount += ret;
#ifdef VERBOSE
if (ret != 0) printf("... got %d characters (%d total)\n",ret, d_bufcount);
#endif
if (d_bufcount < d_expected_chars) { // Not done -- go back for more
return 0;
}
d_buffer[d_expected_chars] = '\0'; // NULL terminate.
//--------------------------------------------------------------------
// We now have enough characters to make a full report. Check to make
// sure that its format matches what we expect. If it does, the next
// section will parse it.
// Store the report into the appropriate analog channel.
//--------------------------------------------------------------------
float value = convert_bytes_to_reading(d_buffer);
if (value == -1000) {
char msg[256];
sprintf(msg,"Invalid report, channel %d, resetting", d_next_channel_to_read);
DO_ERROR(msg);
status = STATUS_RESETTING;
}
channel[d_next_channel_to_read] = value;
#ifdef VERBOSE
printf("got a complete report (%d of %d)!\n", d_bufcount, d_expected_chars);
#endif
//--------------------------------------------------------------------
// Request a reading from the next channe.
//--------------------------------------------------------------------
d_next_channel_to_read = (d_next_channel_to_read + 1) % 6;
if (!request_temperature(d_next_channel_to_read)) {
char msg[256];
sprintf(msg,"Can't request reading, channel %d, resetting", d_next_channel_to_read);
DO_ERROR(msg);
status = STATUS_RESETTING;
}
//--------------------------------------------------------------------
// Done with the decoding, send the reports and go back to syncing
//--------------------------------------------------------------------
report_changes();
status = STATUS_SYNCING;
d_bufcount = 0;
return 1;
}
int vrpn_OmegaTemperature::get_report(void)
{
int ret; // Return value from function call to be checked
//--------------------------------------------------------------------
// If we're SYNCing, then the next character we get should be the start
// of a report. If we recognize it, go into READing mode and tell how
// many characters we expect total. If we don't recognize it, then we
// must have misinterpreted a command or something; reset
// and start over
//--------------------------------------------------------------------
if (status == STATUS_SYNCING) {
// Try to get a character. If none, just return.
if (vrpn_read_available_characters(serial_fd, (unsigned char *)(d_buffer), 1) != 1) {
return 0;
}
// Got the first character of a report -- go into READING mode
// and record that we got one character at this time. Clear the
// rest of the buffer to 0's so that we won't be looking at old
// data when we parse.
// The time stored here is as close as possible to when the
// report was generated.
d_bufcount = 1;
vrpn_gettimeofday(×tamp, NULL);
status = STATUS_READING;
size_t i;
for (i = 1; i < sizeof(d_buffer); i++) {
d_buffer[i] = 0;
}
#ifdef VERBOSE
printf("... Got the 1st char\n");
#endif
}
//--------------------------------------------------------------------
// Read as many bytes of this report as we can, storing them
// in the buffer.
//--------------------------------------------------------------------
while ( 1 == (ret = vrpn_read_available_characters(serial_fd, (unsigned char *)(&d_buffer[d_bufcount]), 1))) {
d_bufcount++;
}
if (ret == -1) {
VRPN_MSG_ERROR("Error reading");
status = STATUS_RESETTING;
return 0;
}
#ifdef VERBOSE
if (ret != 0) printf("... got %d total characters\n", d_bufcount);
#endif
if (d_buffer[d_bufcount-1] != '\r') { // Not done -- go back for more
return 0;
}
//--------------------------------------------------------------------
// We now have enough characters to make a full report. Check to make
// sure that its format matches what we expect. If it does, the next
// section will parse it.
// Store the report into the appropriate analog channel.
//--------------------------------------------------------------------
#ifdef VERBOSE
printf(" Complete report: \n%s\n",d_buffer);
#endif
float value = convert_bytes_to_reading(d_buffer);
if (value == -1000) {
char msg[256];
sprintf(msg,"Invalid report, channel %d, resetting", d_next_channel_to_read);
VRPN_MSG_ERROR(msg);
status = STATUS_RESETTING;
}
channel[d_next_channel_to_read] = value;
#ifdef VERBOSE
printf("got a complete report (%d chars)!\n", d_bufcount);
#endif
//--------------------------------------------------------------------
// Request a reading from the next channe.
//--------------------------------------------------------------------
d_next_channel_to_read = (d_next_channel_to_read + 1) % 6;
if (!request_temperature(d_next_channel_to_read)) {
char msg[256];
sprintf(msg,"Can't request reading, channel %d, resetting", d_next_channel_to_read);
VRPN_MSG_ERROR(msg);
status = STATUS_RESETTING;
}
//--------------------------------------------------------------------
// Done with the decoding, send the reports and go back to syncing
//--------------------------------------------------------------------
report_changes();
status = STATUS_SYNCING;
d_bufcount = 0;
return 1;
}
