first commit

Trinamic/websock_simple/test.c

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+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <syslog.h>
+
+#include <signal.h>
+
+#include <libwebsockets.h>
+
+#include <termios.h>		// tcsetattr
+#include <stdint.h>			// int types
+#include <sys/stat.h>		// read
+#include <fcntl.h>			// read
+
+
+#define _U_    __attribute__((__unused__))
+
+int force_exit = 0;
+
+uint8_t buf[9];
+
+char *comdev = "/dev/ttyUSB0";
+int BAUD_RATE = B115200;
+int comfd = -1; // TTY fd
+int send_command(uint8_t *ninebytes){
+	uint8_t crc = 0;
+	int i;
+	printf("send: ");
+	for(i = 0; i < 8; crc += ninebytes[i++])
+		printf("%u,", ninebytes[i]);
+	ninebytes[8] = crc;
+	printf("%u\n",ninebytes[8]);
+	if(9 != write(comfd, ninebytes, 9)){
+		perror("Can't write to Trinamic");
+		return 0;
+	}
+	return 1;
+}
+
+void fillbuf(char *command){
+	memset(buf, 0, 9);
+	buf[0] = 1; // controller #
+	if(command[1] == 'X') buf[3] = 2; // X motor -> #2
+	else buf[3] = 0; // Y motor -> #0
+	if(command[0] == 'D'){ // start moving
+		if(command[2] == '+') buf[1] = 1; // ROR
+		else buf[1] = 2; // ROL
+	}else{ // stop
+		buf[1] = 3; // STP
+	}
+	buf[7] = 50; // speed = 50
+	send_command(buf);
+}
+
+void move_motor(char *where){
+	printf("moving %s\n", where);
+
+}
+void stop_motor(char *where){
+	printf("stoping %s\n", where);
+}
+
+static int
+my_protocol_callback(_U_ struct libwebsocket_context *context,
+			_U_ struct libwebsocket *wsi,
+			enum libwebsocket_callback_reasons reason,
+				_U_ void *user, void *in, _U_ size_t len)
+{
+	//int n, m;
+	//unsigned char buf[LWS_SEND_BUFFER_PRE_PADDING + 512 +
+	//					  LWS_SEND_BUFFER_POST_PADDING];
+	//unsigned char *p = &buf[LWS_SEND_BUFFER_PRE_PADDING];
+
+	char *msg = (char*) in;
+
+	switch (reason) {
+
+	case LWS_CALLBACK_ESTABLISHED:
+	        printf("New Connection\n");
+		break;
+
+	case LWS_CALLBACK_SERVER_WRITEABLE:
+		break;
+
+	case LWS_CALLBACK_RECEIVE:
+		fillbuf(msg);
+		break;
+
+	case LWS_CALLBACK_FILTER_PROTOCOL_CONNECTION:
+		break;
+
+	default:
+		break;
+	}
+
+	return 0;
+}
+//**************************************************************************//
+/* list of supported protocols and callbacks */
+//**************************************************************************//
+static struct libwebsocket_protocols protocols[] = {
+	/* first protocol must always be HTTP handler */
+
+	{
+		"XY-protocol",			// name
+		my_protocol_callback,	// callback
+		30,						// per_session_data_size
+		10,						//  max frame size / rx buffer
+		0, NULL, 0
+	},
+	{ NULL, NULL, 0, 0, 0, NULL, 0} /* terminator */
+};
+//**************************************************************************//
+void sighandler(_U_ int sig){
+	close(comfd);
+	force_exit = 1;
+}
+//**************************************************************************//
+//**************************************************************************//
+int main(_U_ int argc, _U_ char **argv)
+{
+	int n = 0;
+	struct libwebsocket_context *context;
+	int opts = 0;
+	const char *iface = NULL;
+	int syslog_options = LOG_PID | LOG_PERROR;
+	//unsigned int oldus = 0;
+	struct lws_context_creation_info info;
+
+	int debug_level = 7;
+
+	memset(&info, 0, sizeof info);
+	info.port = 9999;
+
+	signal(SIGINT, sighandler);
+
+	printf("\nOpen port...\n");
+	if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		fprintf(stderr,"Can't use port %s\n",comdev);
+		return 1;
+	}
+
+
+	/* we will only try to log things according to our debug_level */
+	setlogmask(LOG_UPTO (LOG_DEBUG));
+	openlog("lwsts", syslog_options, LOG_DAEMON);
+
+	/* tell the library what debug level to emit and to send it to syslog */
+	lws_set_log_level(debug_level, lwsl_emit_syslog);
+
+	info.iface = iface;
+	info.protocols = protocols;
+	info.extensions = libwebsocket_get_internal_extensions();
+		info.ssl_cert_filepath = NULL;
+		info.ssl_private_key_filepath = NULL;
+
+	info.gid = -1;
+	info.uid = -1;
+	info.options = opts;
+
+	context = libwebsocket_create_context(&info);
+	if (context == NULL) {
+		lwsl_err("libwebsocket init failed\n");
+		return -1;
+	}
+
+	n = 0;
+	while (n >= 0 && !force_exit) {
+
+		n = libwebsocket_service(context, 50);
+
+	};//while n>=0
+
+
+	libwebsocket_context_destroy(context);
+
+	lwsl_notice("libwebsockets-test-server exited cleanly\n");
+
+	closelog();
+
+	return 0;
+}//main