git-svn-id: svn+ssh://mecka.net/home/svn/dds@7 c30cbac5-9f56-4f76-8ed5-5c34e48a65ae

5 files changed, 309 insertions, 20 deletions

diff --git a/dds_io_pub/Writer.cpp b/dds_io_pub/Writer.cpp
index 82d5173..f0b16f0 100644
--- a/dds_io_pub/Writer.cpp
+++ b/dds_io_pub/Writer.cpp
@@ -76,39 +76,43 @@ Writer::svc ()
     cout<<"Writer thread, DataWriter Cast ok\n";
     
     struct timespec t_sleep;
-    t_sleep.tv_sec  = 1;
-    t_sleep.tv_nsec = 500000;
+    t_sleep.tv_sec  = 0;
+    t_sleep.tv_nsec = 10000;
 
     IOTest::Port port_obj;
     ::DDS::InstanceHandle_t handle = port_dw->_cxx_register (port_obj);
 
     port_obj.no       = 1;
-    port_obj.value    = 0xff;
     
     ACE_DEBUG((LM_DEBUG,
               ACE_TEXT("%T (%P|%t) Writer::svc starting to write.\n")));
+    
+    int actval, lastval = 0;
+    
     while(1) {
-      ::DDS::ReturnCode_t ret = port_dw->write(port_obj, handle);
-
-      if (ret != ::DDS::RETCODE_OK) {
-        ACE_ERROR ((LM_ERROR,
-                    ACE_TEXT("(%P|%t)ERROR  Writer::svc, ")
-                    ACE_TEXT ("write() returned %d.\n"),
-                    ret));
-        if (ret == ::DDS::RETCODE_TIMEOUT) {
-          timeout_writes_ ++;
-        }
-        cout<<"?\n";
+    	
+    	actval = io.get();
+    	
+    	if ( lastval != actval ){
+    		
+    		lastval = actval;
+    		port_obj.value = actval;
+    		
+    		::DDS::ReturnCode_t ret = port_dw->write(port_obj, handle);
+
+    		if (ret != ::DDS::RETCODE_OK)
+		        ACE_ERROR ((LM_ERROR,
+		                    ACE_TEXT("(%P|%t)ERROR  Writer::svc, ")
+		                    ACE_TEXT ("write() returned %d.\n"),
+		                    ret));
+
+	        if (ret == ::DDS::RETCODE_TIMEOUT)
+	        	timeout_writes_ ++;
       }
       
-      if( port_obj.value == 0xff )
-    	  port_obj.value =  0x00;
-      else
-    	  port_obj.value =  0xff;
-      
       nanosleep(&t_sleep, NULL);
       
-      cout<<".\n";
+      //cout<<".\n";
       
     }
   } catch (CORBA::Exception& e) {
diff --git a/dds_io_pub/Writer.h b/dds_io_pub/Writer.h
index 030211d..bfd603a 100644
--- a/dds_io_pub/Writer.h
+++ b/dds_io_pub/Writer.h
@@ -7,6 +7,7 @@
 #include <dds/DdsDcpsPublicationC.h>
 #include <ace/Task.h>
 
+#include "diasio.h"
 
 class Writer : public ACE_Task_Base
 {
@@ -31,6 +32,9 @@ private:
   ::DDS::DataWriter_var writer_;
   ACE_Atomic_Op<ACE_SYNCH_MUTEX, int> finished_instances_;
   ACE_Atomic_Op<ACE_SYNCH_MUTEX, int> timeout_writes_;
+  
+  DIASIO io;
+  
 };
 
 #endif /* WRITER_H */
diff --git a/dds_io_pub/diasio.cpp b/dds_io_pub/diasio.cpp
new file mode 100644
index 0000000..3e2ca02
--- /dev/null
+++ b/dds_io_pub/diasio.cpp
@@ -0,0 +1,131 @@
+/*
+ ============================================================================
+ Name        : diasio.cpp
+ Author      : Manuel Traut
+ Version     :
+ Copyright   : Your copyright notice
+ Description : DAIS IO Class
+ ============================================================================
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <sys/io.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <time.h>
+
+#include "diasio.h"
+
+unsigned int DIASIO::instance = 0;
+bool DIASIO::stop_wd = false;
+int DIASIO::m_Bereich1;
+int DIASIO::m_Bereich2;
+int DIASIO::m_Bereich3;
+
+static void* watchDogTriggern(void* arg) 
+{
+	struct timespec req;
+	unsigned int out = 0;
+	
+	req.tv_sec  = 0;
+	req.tv_nsec = 300000;
+	while(!DIASIO::stop_wd){
+		outw( out, DIASIO::m_Bereich2 + 0x0c );
+		nanosleep(&req, NULL);
+	}
+	return NULL;
+}
+
+
+DIASIO::DIASIO(){
+	if(instance == 0){
+		init();
+	}
+	instance++;
+}
+
+DIASIO::~DIASIO(){
+	instance--;
+	
+	fprintf(stderr, "DECONSTRUCTION OF DAIS\n"); fflush(stderr);
+	
+	if(instance == 0){
+		stop_wd = true;
+		pthread_join(watchdog, NULL);
+	}
+}
+
+void DIASIO::set(TyuInt16 value){
+	iopl( 3 );
+	//fprintf(stderr, "writing: %d -> %x + %x\n", value, m_Bereich2, S_AdresseOut);
+	//fflush(stderr);
+	outw( value, m_Bereich2 + S_AdresseOut );
+	//fprintf(stderr, "DONE\n"); fflush(stderr);
+}
+
+TyuInt16 DIASIO::get(){
+	iopl( 3 );
+	return inw( m_Bereich2 + S_AdresseOut );
+}
+
+void DIASIO::init(){
+	
+	fprintf(stderr, "INIT DAIS\n"); fflush(stderr);
+	
+	char a_buffer[17];
+	
+	pthread_attr_t watchdog_attr;
+		
+	iopl( 3 );
+
+	sprintf( a_buffer, "/dev/diasio_card%i", 0 );
+	m_Deviceio = open( a_buffer, O_RDWR );
+
+	if( -1 == m_Deviceio ) {
+		fprintf(stderr, "Kein Zugriff auf IO-Karte %s", a_buffer);
+		fflush(stderr);
+		exit(0);
+	}
+   
+	//PCI-Kartenadressen holen
+	m_Bereich1 = 0;
+	if( 0 != ioctl( m_Deviceio, D_TCDIASIOC_IOADRESSELESEN, &m_Bereich1 ) )
+	{
+		fprintf(stderr, "couldn't get bereich1\n");
+		fflush(stderr);
+		close( m_Deviceio );
+		m_Deviceio = -1;
+		exit(0);
+	}
+
+	m_Bereich2 = 1;
+	if( 0 != ioctl( m_Deviceio, D_TCDIASIOC_IOADRESSELESEN, &m_Bereich2 ) )
+	{
+		fprintf(stderr, "couldn't get bereich2\n");
+		fflush(stderr);
+		close( m_Deviceio );
+		m_Deviceio = -1;
+		exit(0);
+	}
+
+	m_Bereich3 = 2;
+	if( 0 != ioctl( m_Deviceio, D_TCDIASIOC_IOADRESSELESEN, &m_Bereich3 ) )
+	{
+		fprintf(stderr, "couldn't get bereich3\n");
+		fflush(stderr);
+		close( m_Deviceio );
+		m_Deviceio = -1;
+		exit(0);
+	}
+
+	fprintf(stderr, "1: 0x%x, 2: 0x%x, 3: 0x%x\n", m_Bereich1, m_Bereich2, m_Bereich3);
+	fflush(stderr);
+
+	pthread_attr_init(&watchdog_attr);
+	if ( pthread_create(&watchdog, &watchdog_attr, watchDogTriggern, NULL) )
+		perror("watchdog thread creation failed");
+
+}
diff --git a/dds_io_pub/diasio.h b/dds_io_pub/diasio.h
new file mode 100644
index 0000000..d8a752f
--- /dev/null
+++ b/dds_io_pub/diasio.h
@@ -0,0 +1,75 @@
+//------------------------------------------------------------------------------
+//  All rights reserved to Trumpf GmbH + Co., Germany
+//------------------------------------------------------------------------------
+
+#ifndef TCDIASUSER_H
+#define TCDIASUSER_H
+
+// -- required headers ---------------------------------------------------------
+#include <linux/ioctl.h>
+#include "tctypdef.h"
+
+/*
+ * Ioctl definitions
+ */
+
+/* Use 'j' as magic number */
+#define D_TCDIAS_IOC_MAGIC  'j'
+
+#define D_TCDIASIOC_IOADRESSELESEN        _IOWR( D_TCDIAS_IOC_MAGIC, 0, TyuInt32 )
+#define D_TCDIASIOC_MEMLAENGE             _IOR( D_TCDIAS_IOC_MAGIC, 1, TysInt32 )
+#define D_TCDIASIOC_MEMOFFSET             _IOR( D_TCDIAS_IOC_MAGIC, 2, TyuInt32 )
+#define D_TCDIASIOC_AUTOSTART             _IOWR( D_TCDIAS_IOC_MAGIC, 3, TyuInt32 )
+#define D_TCDIASIOC_INTERRUPTBETRIEB      _IOWR( D_TCDIAS_IOC_MAGIC, 4, TyuInt32 )
+#define D_TCDIASIOC_BEENDEN               _IO( D_TCDIAS_IOC_MAGIC, 5 )
+#define D_TCDIASIOC_BEENDENAUFHEBEN       _IO( D_TCDIAS_IOC_MAGIC, 6 )
+#define D_TCDIAS_IOC_MAXNR 7
+
+
+static const TyuInt32 S_AdresseLS7166 = 0;
+static const TyuInt32 S_AdresseLS7166Status = 1;
+static const TyuInt32 S_Adresse7Seg1 = 2;
+static const TyuInt32 S_Adresse7Seg2 = 3;
+static const TyuInt32 S_AdresseOut = 4;
+static const TyuInt32 S_AdresseIn = 5;
+static const TyuInt32 S_AdresseWatchdog = 0x0c;
+
+static const TyuInt32 S_AdresseStatus = 6;
+static const TyuInt32 S_AdresseADStart = 7;
+static const TyuInt32 S_AdresseMultiplexer = 8;
+static const TyuInt32 S_AdresseFreigabe = 9;
+static const TyuInt32 S_AdresseRevisionLogik = 0x0e;
+static const TyuInt32 S_AdresseRevisionKarte = 0x0f;
+
+//zweiter Adressblock
+static const TyuInt32 S_AdresseFrequenzzaehlerLW = 0;
+static const TyuInt32 S_AdresseFrequenzzaehlerHW = 2;
+static const TyuInt32 S_AdresseIndexRevisionZaehler = 4;
+static const TyuInt32 S_AdresseAD = 6;
+static const TyuInt32 S_AdresseDA0 = 8;
+static const TyuInt32 S_AdresseDA1 = 0x0a;
+static const TyuInt32 S_AdresseDA2 = 0x0c;
+static const TyuInt32 S_AdresseDA3 = 0x0e;
+// -- exported global variables - declarations (should be empty)----------------
+
+class DIASIO{
+	
+public:
+	DIASIO();
+	~DIASIO();
+	void set(TyuInt16 value);
+	TyuInt16 get();
+	static int m_Bereich1;
+	static int m_Bereich2;
+	static int m_Bereich3;
+	static bool stop_wd;
+	
+private:
+	int m_Deviceio;
+	static unsigned int instance;
+	pthread_t watchdog;
+	
+	void init();
+};
+
+#endif
diff --git a/dds_io_pub/tctypdef.h b/dds_io_pub/tctypdef.h
new file mode 100644
index 0000000..614771d
--- /dev/null
+++ b/dds_io_pub/tctypdef.h
@@ -0,0 +1,75 @@
+// \HEADER\--------------------------------------------------------------------
+//
+//  $Archive:   //pvcs_tw/data/archives/SensorSystems/Linuxprojekte/DIAS-Linux/rtsystem/src/rtsystem/lrt/treiber/dias4io/tctypdef.h-arc  $
+//
+//  $Revision:   1.0  $
+//
+//  $Date:   Mar 05 2007 12:07:38  $
+//
+//  $Author:   kraussjo  $
+//
+//  CONTENTS      :
+//
+//  DESCRIPTION   :
+//
+//  RESTRICTIONS  :
+//
+//  REQUIRES      :
+//
+//------------------------------------------------------------------------------
+//  All rights reserved to Trumpf GmbH + Co., Germany
+//------------------------------------------------------------------------------
+
+#ifndef tctypdef_H
+#define tctypdef_H
+
+
+// -- required headers ---------------------------------------------------------
+
+// -- forward declarations -----------------------------------------------------
+
+// -- exported constants, types, classes ---------------------------------------
+
+// -- exported functions - declarations ----------------------------------------
+
+/**
+* Description of
+*
+* Design Pattern:
+*
+* @author  krauss
+* @version  $Revision:   1.0  $
+*/
+#if defined DIASLINUX || WIN32
+typedef char     TysChar;
+typedef unsigned char   TyuChar;
+typedef signed short    TysInt16;
+typedef unsigned short  TyuInt16;
+typedef signed int      TysInt32;
+typedef unsigned int    TyuInt32;
+typedef signed long     TysInt64;
+typedef unsigned long   TyuInt64;
+typedef float           TyReal32;
+typedef double          TyReal64;
+#else
+typedef char     TysChar;
+typedef unsigned char   TyuChar;
+typedef signed int      TysInt16;
+typedef unsigned int    TyuInt16;
+typedef signed long     TysInt32;
+typedef unsigned long   TyuInt32;
+typedef float           TyReal32;
+typedef double          TyReal64;
+/*
+#define TysChar char
+#define TyuChar unsigned char
+#define TysInt16 int
+#define TyuInt16 unsigned int
+#define TysInt32 long
+#define TyuInt32 unsigned long
+#define TyReal32 float
+#define TyReal64 double*/
+#endif
+// -- exported global variables - declarations (should be empty)----------------
+
+#endif