From 9af573d25a2922f8f832006158a158508e33d4d3 Mon Sep 17 00:00:00 2001 From: tianjialong Date: Fri, 17 Mar 2023 15:41:05 +0800 Subject: [PATCH] =?UTF-8?q?=E8=AE=BE=E7=BD=AE=E8=A7=A6=E5=8F=91=E4=B8=8A?= =?UTF-8?q?=E6=8A=A5=E6=8C=87=E4=BB=A4=E5=AE=8C=E6=88=90=E5=B9=B6=E6=B5=8B?= =?UTF-8?q?=E8=AF=95=E9=80=9A=E8=BF=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/LWIP.uvguix.29643 | 6 +-- usersrc/udpclient.c | 104 +++++++++++++++++++++++++++++++++++++--------- 2 files changed, 88 insertions(+), 22 deletions(-) diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643 index afd063d..198fc24 100644 --- a/MDK-ARM/LWIP.uvguix.29643 +++ b/MDK-ARM/LWIP.uvguix.29643 @@ -3651,9 +3651,9 @@ ..\usersrc\udpclient.c - 65 - 97 - 120 + 72 + 53 + 57 1 0 diff --git a/usersrc/udpclient.c b/usersrc/udpclient.c index 2f95d87..28e23bd 100644 --- a/usersrc/udpclient.c +++ b/usersrc/udpclient.c @@ -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; + } } }