Code:
/*
UART communication
send/receive string of tokens
*
Raspberry Pi master
ver 0704
*/
/*
* change log
* 0704: extra console thread
* 0703: pthread MT
* 0702: debug value (i2) from Raspi
* 0701: Serial Read delimiter, debug value (i0) from Arduino
* 0700: first adjustments
* 0669: UART 115200 baud *
* 0667: Arduino via USB = ACM0
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <stdint.h>
#include <math.h>
#include <fcntl.h>
#include <string.h>
#include <string>
#include <sys/ioctl.h>
#include <sys/time.h>
#include <errno.h>
#include <pthread.h>
#include <linux/input.h>
#include <termios.h>
#include <signal.h>
#include <sys/types.h>
#include <dirent.h>
#include <sys/stat.h>
#include <sys/select.h>
#include <wiringPi.h>
#include <wiringSerial.h>
#define byte uint8_t
char uart[128] = "/dev/ttyACM0";
int Serial;
const uint32_t UARTclock = 115200;
int32_t i0=0,i1=0,i2=0,i3=0,i4=0,i5=0,i6=0,i7=0,i8=0,i9=0; // int (general)
//int32_t i0,i1,i2,i3,i4,i5,i6,i7,i8,i9;
#define TOKLEN 30
#define MSGLEN 1024
#define iINVALID -29999
std::string inputString="";
char cval[TOKLEN]; // number as cstring
char mbuf[MSGLEN]; // cstring msg buffer
volatile uint8_t _TASKS_ACTIVE_= 1;
//==================================================================
// tools
//==================================================================
// ============================================================
// conio.h
bool kbhit(void)
{
struct termios original;
tcgetattr(STDIN_FILENO, &original);
struct termios term;
memcpy(&term, &original, sizeof(term));
term.c_lflag &= ~ICANON;
tcsetattr(STDIN_FILENO, TCSANOW, &term);
int characters_buffered = 0;
ioctl(STDIN_FILENO, FIONREAD, &characters_buffered);
tcsetattr(STDIN_FILENO, TCSANOW, &original);
bool pressed = (characters_buffered != 0);
return pressed;
}
void echoOff(void)
{
struct termios term;
tcgetattr(STDIN_FILENO, &term);
term.c_lflag &= ~ECHO;
tcsetattr(STDIN_FILENO, TCSANOW, &term);
}
void echoOn(void)
{
struct termios term;
tcgetattr(STDIN_FILENO, &term);
term.c_lflag |= ECHO;
tcsetattr(STDIN_FILENO, TCSANOW, &term);
}
// ============================================================
// string tokens
int16_t strstrpos(const char * haystack, const char * needle) // find 1st occurance of substr in str
{
const char *p = strstr(haystack, needle);
if (p) return static_cast<int16_t>(p-haystack);
return -1; // Not found = -1.
}
char * cstringarg( const char* haystack, const char* vname, char* sarg ) {
int i=0, pos=-1;
unsigned char ch=0xff;
const char* kini = "&"; // start of varname: '&'
const char* kin2 = "?"; // start of varname: '?'
const char* kequ = "="; // end of varname, start of argument: '='
const int NLEN=30;
char needle[NLEN] = ""; // complete pattern: &varname=abc1234
strcpy(sarg,"");
strcpy(needle, kini);
strcat(needle, vname);
strcat(needle, kequ);
pos = strstrpos(haystack, needle);
if(pos==-1) {
needle[0]=kin2[0];
pos = strstrpos(haystack, needle);
if(pos==-1) return sarg;
}
pos=pos+strlen(vname)+2; // start of value = kini+vname+kequ
while( (ch!='&')&&(ch!='\0') ) {
ch=haystack[pos+i];
if( (ch=='&')||(ch==';')||(ch=='\0') ||(ch=='\n')
||(i+pos>=(int)strlen(haystack))||(i>NLEN-2) ) {
sarg[i]='\0';
return sarg;
}
if( (ch!='&') ) {
sarg[i]=ch;
i++;
}
}
return sarg;
}
//==================================================================
// threads
//==================================================================
void* UART_thr( void* ) {
while(_TASKS_ACTIVE_) {
static bool stringComplete = false;
//serialFlush(Serial);
//-------------------------------------------------------------
// send
// debug
i2++; // change value to send back to Arduino
char formatstr[MSGLEN];
// debug, cut-down:
strcpy(formatstr, "§");
strcat(formatstr, "&i0=%d;&i1=%d;&i2=%d;&i3=%d;\n");
sprintf(mbuf, formatstr, i0,i1,i2,i3);
for(uint8_t i=0; i<strlen(mbuf); i++) { //
serialPutchar( Serial, mbuf[i]); // Send values to the slave
}
//delay?
delay(1);
//-------------------------------------------------------------
// receive
inputString="";
char cstr[TOKLEN];
int n=0;
char inChar;
stringComplete=false;
if (serialDataAvail(Serial))
{
while(n<MSGLEN-1) {
if(n==MSGLEN-2) inChar='\n'; // emergency brake
else
inChar = serialGetchar(Serial);
if(inChar=='\n' || inChar>=' ') inputString += inChar;
if (inChar == '\n') {
stringComplete = true;
break;
}
n++;
}
}
if (stringComplete) {
//inputString.to_str(mbuf, len-1);
strcpy (mbuf, inputString.c_str() );
fprintf(stderr,"\n"); fprintf(stderr,mbuf); //fprintf(stderr,"\n");
// cstringarg( char* haystack, char* vname, char* carg )
// haystack pattern: &varname=1234abc; delimiters &, \n, \0, EOF
cstringarg(mbuf, "i0", cval); //
if(strlen(cval)>0) {
sprintf (cstr, "i0=%d \n", (int32_t)atol(cval));
fprintf(stderr, cstr);
}
cstringarg(mbuf, "i1", cval); //
if(strlen(cval)>0) {
sprintf (cstr, "i1=%d \n", (int32_t)atol(cval));
fprintf(stderr, cstr);
}
cstringarg(mbuf, "i2", cval); //
if(strlen(cval)>0) {
sprintf (cstr, "i2=%d \n", (int32_t)atol(cval));
fprintf(stderr, cstr);
}
inputString="";
stringComplete = false;
//delay?
delay(1);
}
}
return NULL;
}
//=================================================
void* KBD_thr(void*) // low priority: keyboard monitoring // low priority: keyboard monitoring
{
int ch; // keyboard scancode, letter char
while(_TASKS_ACTIVE_) {
ch=0;
echoOff();
if (kbhit()) {
ch=getchar();
if(ch>=32 && ch<127) {
printf("%c", ch);
fflush(stdout);
}
else if (ch<32) {
if (kbhit()) ch=getchar();
}
if(ch==27) _TASKS_ACTIVE_ = false;
}
delay(50);
}
return NULL;
}
//==================================================================
//==================================================================
int main() {
// threads
pthread_t thread1, thread2;
struct sched_param param;
printf("starting ..."); printf("\n");
// open UART Serial com port
Serial = serialOpen (uart, UARTclock);
// start multithreading
pthread_create(&thread1, NULL, KBD_thr, NULL); // low priority: keyboard monitor
param.sched_priority = 40;
pthread_setschedparam(thread1, SCHED_RR, ¶m);
pthread_create(&thread2, NULL, UART_thr, NULL); // medium priority: UART
param.sched_priority = 40;
pthread_setschedparam(thread2, SCHED_RR, ¶m);
while(_TASKS_ACTIVE_) { delay(10); }
// wait for threads to join before exiting
pthread_join(thread1, NULL);
pthread_join(thread2, NULL);
serialClose( Serial);
exit(0);
}
Zitieren
Lesezeichen