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-rw-r--r--dds_io_pub/Writer.cpp44
-rw-r--r--dds_io_pub/Writer.h4
-rw-r--r--dds_io_pub/diasio.cpp131
-rw-r--r--dds_io_pub/diasio.h75
-rw-r--r--dds_io_pub/tctypdef.h75
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
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