refactor v1

software/pc_client/src/main.c

@@ -0,0 +1,163 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+// Linux headers
+#include <fcntl.h> // Contains file controls like O_RDWR
+#include <sys/types.h>
+#include <termios.h> // Contains POSIX terminal control definitions
+#include <unistd.h>  // write(), read(), close()
+
+#include "rs485.h"
+#include "sfbus.h"
+#include <unistd.h>
+#include "devicemgr.h"
+
+void printUsage(char *argv[]) {
+  fprintf(stderr, "Usage: %s -p <tty> -c <command> [value]\n", argv[0]);
+  exit(EXIT_FAILURE);
+}
+
+int main(int argc, char *argv[]) {
+  int opt;
+  u_int16_t addr_int = 0;
+  char *port = malloc(256);
+  char *command = malloc(16);
+  char *addr = malloc(16);
+  char *data = malloc(256);
+  command = "";
+  addr = "";
+  data = "";
+  while ((opt = getopt(argc, argv, "p:c:a:d:")) != -1) {
+    switch (opt) {
+    case 'p':
+      port = optarg;
+      break;
+    case 'c':
+      command = optarg;
+      break;
+    case 'a':
+      addr = optarg;
+      break;
+    case 'd':
+      data = optarg;
+      break;
+    default:
+      printUsage(argv);
+    }
+  }
+  if (access(port, F_OK) != 0) {
+    fprintf(stderr, "Filedescriptor: %s does not exist or cannot be opened\n",
+            port);
+    printUsage(argv);
+  }
+  // parse address
+  if (strlen(addr) == 0) {
+    fprintf(stderr, "Please specify address\n");
+    printUsage(argv);
+  } else {
+    addr_int = strtol(addr, NULL, 10);
+  }
+
+  // start program
+  setvbuf(stdout, NULL, _IONBF, 0); // do not buffer stdout!!!!
+
+  printf("Open device at %s\n", port);
+  int fd = rs485_init(port, B19200); // setup rs485
+
+  // test
+  devicemgr_init();
+  devicemgr_register(fd,0,0,0);
+  devicemgr_register(fd,1,1,0);
+  devicemgr_printDetailsAll();
+  //exit(1);
+
+  if (strcmp(command, "ping") == 0) {
+    sfbus_ping(fd, addr_int);
+    exit(0);
+  } else if (strcmp(command, "r_eeprom") == 0) {
+    char *buffer = malloc(64);
+    sfbus_read_eeprom(fd, addr_int, buffer);
+    printf("Read data: 0x");
+    print_charHex(buffer, 5);
+    printf("\n");
+    free(buffer);
+    exit(0);
+  } else if (strcmp(command, "w_addr") == 0) {
+    int n_addr = strtol(data, NULL, 10);
+    if (n_addr < 1) {
+      printf("Please specify new address > 0 with -d\n");
+      exit(-1);
+    }
+    // read current eeprom status
+    char *buffer_w = malloc(64);
+    char *buffer_r = malloc(64);
+    if (sfbus_read_eeprom(fd, addr_int, buffer_w) < 0) {
+      fprintf(stderr, "Error reading eeprom\n");
+      exit(1);
+    }
+    // modify current addr
+    u_int16_t n_addr_16 = n_addr;
+    memcpy(buffer_w, &n_addr_16, 2);
+    if (sfbus_write_eeprom(fd, addr_int, buffer_w, buffer_r) < 0) {
+      fprintf(stderr, "Error writing eeprom\n");
+      exit(1);
+    }
+
+    exit(0);
+  } else if (strcmp(command, "status") == 0) {
+    double voltage = 0;
+    u_int32_t counter = 0;
+    u_int8_t status = sfbus_read_status(fd, addr_int, &voltage, &counter);
+    printf("=======================\n");
+    printf("Status register flags :\n");
+    printf(" 00 -> errorTooBig : %i\n", (status >> 0) & 0x01);
+    printf(" 01 -> noHome      : %i\n", (status >> 1) & 0x01);
+    printf(" 02 -> fuseBlown   : %i\n", (status >> 2) & 0x01);
+    printf(" 03 -> homeSense   : %i\n", (status >> 3) & 0x01);
+    printf(" 04 -> powerDown   : %i\n", (status >> 4) & 0x01);
+    printf(" 05 -> failSafe    : %i\n", (status >> 5) & 0x01);
+    printf(" 06 -> busy        : %i\n", (status >> 6) & 0x01);
+    printf("Driver-Voltage    : %.2fV\n", voltage);
+    printf("Rotations         : %i\n", counter);
+    
+    exit(0);
+  } else if (strcmp(command, "display") == 0) {
+    int flap = strtol(data, NULL, 10);
+    // read current eeprom status
+    char *buffer_w = malloc(4);
+    sfbus_display(fd, addr_int, flap);
+    exit(0);
+  } else if (strcmp(command, "display_fr") == 0) {
+    int flap = strtol(data, NULL, 10);
+    // read current eeprom status
+    char *buffer_w = malloc(4);
+    sfbus_display_full(fd, addr_int, flap);
+    exit(0);
+  }else if (strcmp(command, "reset") == 0) {
+    sfbus_reset_device(fd, addr_int);
+    exit(0);
+  } else if (strcmp(command, "power_on") == 0) {
+    sfbus_motor_power(fd, addr_int,1);
+    exit(0);
+  } else if (strcmp(command, "power_off") == 0) {
+    sfbus_motor_power(fd, addr_int,0);
+    exit(0);
+  } else {
+    fprintf(stderr, "Invalid command specified!\n");
+    printUsage(argv);
+  }
+
+  char *buffer = malloc(256);
+  char *cmd = "\xF0";
+
+  sfbus_send_frame(fd, 0, strlen(cmd), cmd);
+
+  int len = sfbus_recv_frame_wait(fd, 0xFFFF, buffer);
+  // printf("TEST:%i %s\n", len, buffer);
+
+  free(buffer);
+
+  return 0;
+}