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p_lusterinc_camera_focallength_encoder_reset
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设置触发上报指令完成并测试通过

new_pcb
tianjialong 2 years ago
parent
de1d6c0675
commit
9af573d25a
2 changed files with 88 additions and 22 deletions
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  1. 6
      MDK-ARM/LWIP.uvguix.29643
  2. 104
      usersrc/udpclient.c

6
MDK-ARM/LWIP.uvguix.29643
View File

@ -3651,9 +3651,9 @@
</Doc>
<Doc>
<Name>..\usersrc\udpclient.c</Name>
<ColumnNumber>65</ColumnNumber>
<TopLine>97</TopLine>
<CurrentLine>120</CurrentLine>
<ColumnNumber>72</ColumnNumber>
<TopLine>53</TopLine>
<CurrentLine>57</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>

104
usersrc/udpclient.c
View File

@ -16,9 +16,6 @@
checksum_flag = false; \
}
static bool udp_client_active_flag;
static bool genlock_and_esync_active_flag;
/* 定义端口号 */
#define UDP_REMOTE_PORT 8881 /* 远端端口 */
#define UDP_LOCAL_PORT 8880 /* 本地端口 */
@ -33,6 +30,9 @@ static bool genlock_and_esync_active_flag;
#define AVTIVE_DISABLE 0
#define ACTIVE_ENABLE 1
#define TRIGGER_MOD_CLOSE 0
#define TRIGGER_MOD_GENLOCK_OPEN 1
#define CLEAR_ENCODER_ALL 0
#define CLEAR_ENCODER_1 1
#define CLEAR_ENCODER_2 2
@ -40,6 +40,10 @@ static bool genlock_and_esync_active_flag;
#define ORDER_RECEIPT_INTERCONVERSION 0X8000
#define ACTIVE_MIN_REPORT_CYCLE 50
static bool udp_client_active_flag;
static bool genlock_and_esync_active_flag;
static uint16_t s_trigger_mode;
static char s_sendBuf[BUFFER_SIZE]; // 发送数据的缓冲区
static char s_receBuf[BUFFER_SIZE]; // 接收数据的缓冲区
@ -50,6 +54,7 @@ static struct sockaddr_in sock;
socklen_t sock_len = sizeof(sock);
static protocol_active_and_trigger_report_t active_report_data_structer;
static protocol_active_and_trigger_report_t trigger_report_data_structer;
static int active_report_cycle;
static void udp_client_all_encoder_light_set(encoder_light_state_t state)
@ -78,11 +83,29 @@ static void active_report_data_structer_init(void)
active_report_data_structer.encoder2 = 0;
}
static void trigger_report_data_structer_init(void)
{
/* index在每次上报一次主动上报数据后+1，时间戳在获取ESync命令时更新，编码器数值在 active_report_data_structer_update中更新，校验和在上传数据前(udp_client_active_response)进行更新*/
trigger_report_data_structer.index = 0; /* */
trigger_report_data_structer.cmd_id = TRIGGER_ID; /* 指令id */
trigger_report_data_structer.placeholder_1 = 0;
trigger_report_data_structer.placeholder_2 = 0;
trigger_report_data_structer.encoder1 = 0;
trigger_report_data_structer.encoder2 = 0;
}
static void active_report_data_structer_update(void)
{
/* 时间戳暂时先不管，后续完善 */
encoder_read_with_encoder(CAMERA_ENCODER, &active_report_data_structer.encoder1);
encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &active_report_data_structer.placeholder_2);
encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &active_report_data_structer.encoder2);
}
static void trigger_report_data_structer_update(void)
{
/* 时间戳暂时先不管，后续完善 */
encoder_read_with_encoder(CAMERA_ENCODER, &trigger_report_data_structer.encoder1);
encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &trigger_report_data_structer.encoder2);
}
/* 主动上报格式 */
@ -95,6 +118,16 @@ static void udp_client_active_report(void)
}
}
/* 触发上报格式 */
static void udp_client_trigger_report(void)
{
trigger_report_data_structer.checksum = computesum8((char *)&trigger_report_data_structer, sizeof(protocol_active_and_trigger_report_t) - 1);
if (sendto(sock_Client, &trigger_report_data_structer, sizeof(protocol_active_and_trigger_report_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
{
printf("send basic_response error\r\n");
}
}
/* 清除编码器数据指令回执 */
static void udp_client_clear_encoder_cmd_receipt(protocol_clear_encoder_order_t *order, protocol_status_code_type state_code)
{
@ -117,7 +150,7 @@ static void udp_client_read_encoder_cmd_receipt(protocol_read_encoder_order_t *o
receipt.cmd_id = order->cmd_id + ORDER_RECEIPT_INTERCONVERSION;
active_report_data_structer_update();
receipt.encoder1 = active_report_data_structer.encoder1;
receipt.encoder2 = active_report_data_structer.placeholder_2;
receipt.encoder2 = active_report_data_structer.encoder2;
receipt.checksum = computesum8((char *)&receipt, sizeof(protocol_read_encoder_receipt_t) - 1);
if (sendto(sock_Client, &receipt, sizeof(protocol_read_encoder_receipt_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
{
@ -140,6 +173,21 @@ static void udp_client_active_cmd_receipt(protocol_active_order_t *order, protoc
printf("send basic_response error\r\n");
}
}
/* 设置触发上报指令回执 */
static void udp_client_trigger_cmd_receipt(protocol_trigger_order_t *order, protocol_status_code_type state_code)
{
protocol_trigger_receipt_t receipt;
receipt.index = order->index;
receipt.cmd_id = order->cmd_id + ORDER_RECEIPT_INTERCONVERSION;
receipt.trigger_mode = order->trigger_mode;
receipt.status_code = state_code;
receipt.checksum = computesum8((char *)&receipt, sizeof(protocol_trigger_receipt_t) - 1);
if (sendto(sock_Client, &receipt, sizeof(protocol_trigger_receipt_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
{
printf("send basic_response error\r\n");
}
}
/* ===================================================================== */
void udp_client_recv_data_dump(int recv_datalen)
@ -178,7 +226,7 @@ void udp_client_send_string(char *pData)
void udp_client_init(void)
{
active_report_data_structer_init();
active_report_cycle = 1000; /* 上报周期开始设置默认为1S */
trigger_report_data_structer_init();
// bool bOpt = true;
struct timeval tv = {0, 1000};
@ -240,9 +288,10 @@ void udp_client_parse(int recv_datalen)
bool checksum_flag = true;
if (recv_datalen >= adwin_config_protocol_size)
{
/* 时码相关逻辑暂时不处理 */
// adwin_config_protocol_t *rxcmd = (adwin_config_protocol_t *)s_receBuf;
// active_report_data_structer.time_stamp_s = rxcmd->time_stamp_s;
genlock_and_esync_active_flag = true;
// genlock_and_esync_active_flag = true;
}
else if (recv_datalen >= protocol_basic_size)
{
@ -250,7 +299,7 @@ void udp_client_parse(int recv_datalen)
protocol_clear_encoder_order_t *protocol_clear_encoder_cmd = (protocol_clear_encoder_order_t *)s_receBuf;
protocol_read_encoder_order_t *protocol_read_encoder_cmd = (protocol_read_encoder_order_t *)s_receBuf;
protocol_active_order_t *protocol_active_cmd = (protocol_active_order_t *)s_receBuf;
// protocol_trigger_order_t *protocol_trigger_cmd = (protocol_trigger_order_t *)s_receBuf;
protocol_trigger_order_t *protocol_trigger_cmd = (protocol_trigger_order_t *)s_receBuf;
// protocol_modify_network_configurations_order_t *protocol_modify_network_configurations_cmd = (protocol_modify_network_configurations_order_t *)s_receBuf;
switch (protocol_basic_cmd->cmd_id)
{
@ -317,7 +366,21 @@ void udp_client_parse(int recv_datalen)
}
break;
case PROTOCOL_CMD_TRIGGER: /* 配置触发上报指令 */
cmd_checksum(protocol_trigger_cmd);
if (checksum_flag)
{
/* 校验通过 */
if ((protocol_trigger_cmd->trigger_mode == TRIGGER_MOD_CLOSE) || (protocol_trigger_cmd->trigger_mode == TRIGGER_MOD_GENLOCK_OPEN))
{
s_trigger_mode = protocol_trigger_cmd->trigger_mode;
}
udp_client_trigger_cmd_receipt(protocol_trigger_cmd, PROTOCOL_STATUS_SUCCESS);
}
else
{
/* 校验未通过 */
udp_client_trigger_cmd_receipt(protocol_trigger_cmd, PROTOCOL_STATUS_PARAMETER_ERROR);
}
break;
case PROTOCOL_CMD_MODIFY_NETWORK_CONFIGURATIONS: /* 配置网络相关指令 */
@ -350,19 +413,22 @@ void udp_client_active(void)
void udp_client_genlock_and_esync_active(void)
{
if (genlock_and_esync_active_flag)
if (s_trigger_mode == TRIGGER_MOD_GENLOCK_OPEN)
{
active_report_data_structer_update();
udp_client_active_report();
if (!udp_client_active_flag)
if (genlock_and_esync_active_flag)
{
udp_client_all_encoder_light_set(STANDBY);
}
trigger_report_data_structer_update();
udp_client_trigger_report();
active_report_data_structer.index += 1;
// active_report_data_structer.time_stamp_s = 0;
genlock_and_esync_active_flag = false;
if (!udp_client_active_flag)
{
udp_client_all_encoder_light_set(STANDBY);
}
trigger_report_data_structer.index += 1;
// active_report_data_structer.time_stamp_s = 0;
genlock_and_esync_active_flag = false;
}
}
}

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