#include <string.h>
#include "cmd_proc.h"
+#include "logs.h"
+
+/*
+ * UDP_CAPABLE definuje, zda je pouzeitelna moznost cteni
+ * referencnich informaci z jineho zarizeni po protokolu
+ * UDP. Jde zatim jen o testovaci rezim
+ */
+#define UDP_CAPABLE
+
+#ifdef UDP_CAPABLE
+#include "udp_cli.h"
+#include "misc.h"
+#include <pthread.h>
+#endif
+
#define PRUM_PROUD 2061
#define PRUM_SOUC 6183
static char doPrint = 1;
-static char error = 0;
+
+#ifdef UDP_CAPABLE
+static struct remote_pos_st remote_pos={
+ .stop=1
+};
+#endif
+
+/*
+ * zastavi cteni po UDP
+ */
+static inline void stop_udp_SEM(){
+ #ifdef UDP_CAPABLE
+ remote_pos.stop=1;
+ #endif
+}
+
+
/*
* \brief
puts("duty:[hodnota] - Nastavi pevnou sirku plneni.");
puts("spd:[hodnota] - Zapne rizeni na danou rychlost.");
puts("log - Spusti nebo ulozi logovani.");
+ puts("ao:[hodnota] - Prenastavi alpha offset.");
+
+ #ifdef UDP_CAPABLE
+ puts("udp_pos:[ip] - Bude ridit pozici na hodnotu vzdaleneho zarizeni");
+ puts("udp_spd:[ip] - Bude ridit rychlost na hodnotu vzdaleneho zarizeni");
+ #endif
puts("print - Zapne nebo vypne pravidelne vypisovani hodnot.");
puts("help - Vypne vypisovani hodnot a zobrazi tuto napovedu.");
* Zastavi komutaci, vypne pwm
*/
static void stop(struct rpi_state* state){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
- state->commutate=0;
- state->pos_reg_ena=0;
- state->spd_reg_ena=0;
+ setCommutationOff(state);
+ setRegulationOff(state);
state->duty=0;
state->pwm1=0;
state->pwm2=0;
* Nastavi pevnou sirku plneni
*/
static void dutySet(struct rpi_state* state, int duty){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
if (duty>MAX_DUTY) duty=MAX_DUTY;
if (duty<-MAX_DUTY) duty=-MAX_DUTY;/*paranoia*/
state->duty=duty;
- state->pos_reg_ena=0;
- state->spd_reg_ena=0;
- state->commutate=1;
+ setRegulationOff(state);
+ setCommutationOn(state);
sem_post(&state->thd_par_sem);
}
* Zapne rizeni na zvolenou polohu vztazenou k pozici pri startu
*/
static void goAbsolute(struct rpi_state* state, int pos){
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
- state->spd_reg_ena=0;
- state->pos_reg_ena=1;
- state->commutate=1;
+ setRegulationPos(state);
+ setCommutationOn(state);
state->desired_pos=pos;
sem_post(&state->thd_par_sem);
}
static void setSpeed(struct rpi_state* state, int speed){
if (speed>MAX_SPEED) speed=MAX_SPEED;
if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+ stop_udp_SEM();
sem_wait(&state->thd_par_sem);
- state->pos_reg_ena=0;
- state->spd_reg_ena=1;
- state->commutate=1;
+ setRegulationSpeed(state);
+ setCommutationOn(state);
state->desired_spd=speed;
sem_post(&state->thd_par_sem);
}
/*
* \brief
- * Initialize logs
- */
-static void logInit(struct rpi_state* state){
- int r;
- state->log_col=0;
- state->log_col_count=LOG_DEF_COL;
- for (r=0;r<LOG_ROWS;r++){
- state->logs[r]=malloc(state->log_col_count*sizeof(int));
- if (state->logs[r]==NULL){
- error=1;
- state->log_col_count=-1;
- return;
- }
- }
- state->doLogs=1;
-}
-
-/*
- * \brief
- * Save logs
+ * Set alpha offset.
*/
-static void saveLogs(struct rpi_state* state){
- FILE *f;
- int r,s;
-
- f = fopen("logs.log", "w");
- if (f == NULL){
- printf("Error opening file!\n");
- return;
- }
-
- for (r=0;r<LOG_ROWS;r++){
- for(s=0;s<state->log_col-1;s++){ /*posledni sloupec je vevyplneny*/
- if (s==state->log_col-2){
- fprintf(f,"%d ",state->logs[r][s]);
- }else{
- fprintf(f,"%d, ",state->logs[r][s]);
- }
- }
- fprintf(f,"\r");
- }
- fclose(f);
- freeLogs();
+static void setAlphaOff(struct rpi_state* state, int offset){
+ if (offset<0) offset*=-1;
+ offset%=1000;
+ sem_wait(&state->thd_par_sem);
+ state->alpha_offset=(unsigned short)offset;
+ sem_post(&state->thd_par_sem);
}
/**
}
}
+#ifdef UDP_CAPABLE
+static void startUdpPos(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationPos(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-5;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_pos;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+
+/*FIXME thers no max speed limit check!!! hard debug mode!! be careful*/
+static void startUdpSpd(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationSpeed(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-1;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_spd;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+#endif
/**
* \brief
* Commands detection.
unsigned int tmp;
char buff[50];
char cmd[30];
+ char cmd2[30];
int val;
while(1){
scanf("%49s",buff);
delCol(buff);
sscanf(buff,"%s %d",cmd,&val);
+ sscanf(buff,"%s %s",cmd,cmd2);
if (!strcmp(cmd,"start")){
setSpeed(state, val);
}else if (!strcmp(cmd,"log")){
setLogSEM(state);
+ }else if (!strcmp(cmd,"ao")){
+ setAlphaOff(state,val);
}
+ #ifdef UDP_CAPABLE
+ else if (!strcmp(cmd,"udp_pos")){
+ startUdpPos(state,cmd2);
+ }else if (!strcmp(cmd,"udp_spd")){
+ startUdpSpd(state,cmd2);
+
+ }
+ #endif
+
}
}
printf("rychlost=%d\n",s.speed);
printf("chtena pozice=%d\n",s.desired_pos);
printf("chtena rychlost=%d\n",s.desired_spd);
+ printf("alpha offset=%hu\n",s.alpha_offset);
printf("transfer count=%u\n",s.tf_count);
printf("raw_pozice=%u\n",data_p.pozice_raw);
printf("raw_pozice last12=%u\n",(data_p.pozice_raw&0x0FFF));
if (s.index_ok) printf("index ok\n");
if (s.commutate) printf("commutation in progress\n");
if (s.doLogs) printf("logujeme\n");
- if (error) printf("error pri maloc logs!! \n");
+ if (s.error) printf("error pri maloc logs!! \n");
}