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Make simplest web-interface for serialsockCANmanage

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This commit is contained in:
Edward Emelianov
2022-02-18 12:34:07 +03:00
parent 215bd88698
commit d3b4a8b4bc
5 changed files with 129 additions and 22 deletions
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73
serialsockCANmanage/sersock.c
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@@ -75,6 +75,49 @@ static int CANsend(int sock, char *cmd){
return TRUE;
}
typedef union{
uint8_t b[4];
int32_t i32;
} _4bytes;
typedef union{
uint8_t b[2];
uint16_t u16;
} _2bytes;
// get motor speed & current
// @parameters addr - device address (6 bit), sock - socket fd, cmdidx - command index
static int getpars(int addr, int sock, int cmdidx){
static char buf[BUFLEN];
uint16_t id = 512 + (addr << 3) + 3, ansid = id + 1;
_4bytes udata;
_2bytes idx;
uint32_t tmillis, ID;
uint8_t cmd, subidx;
//uint8_t CANbuf[8] = {0};
sprintf(buf, "s %u 0x31 0 %d %d 0 0 0 0\n", id, (cmdidx>>8), (cmdidx&0xff));
if(CANsend(sock, buf)){
double T0 = dtime();
while(dtime() - T0 < TIMEOUT){
if(1 != canberead(sock)) continue;
int n = read(sock, buf, BUFLEN-1);
DBG("Got %d (%s)", n, buf);
if(n == 0){
WARNX("Server disconnected");
signals(1);
}
buf[n] = 0;
if(buf[n-1] == '\n') buf[n-1] = 0;
if(10 != sscanf(buf, "%d #%x %hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx",
&tmillis, &ID, &cmd, &subidx, &idx.b[1], &idx.b[0], &udata.b[3], &udata.b[2], &udata.b[1], &udata.b[0])) continue;
DBG("tmillis=%u, ID=%u, cmd=%u, idx=%u, data=%d", tmillis, ID, cmd, idx.u16, udata.i32);
if(ID != ansid) continue;
LOGMSG("RECEIVE: %s", buf);
break;
}
}else return INT_MIN;
return udata.i32;
}
int start_socket(char *path, CANcmd mesg, int par){
FNAME();
if(!path) return 1;
@@ -98,8 +141,6 @@ int start_socket(char *path, CANcmd mesg, int par){
LOGERR("connect()");
ERR("connect()");
}
int Bufsiz = BUFLEN;
char *recvBuff = MALLOC(char, Bufsiz);
char cmd[BUFLEN];
int setcmd = FALSE;
int16_t spd;
@@ -117,27 +158,15 @@ int start_socket(char *path, CANcmd mesg, int par){
break;
}
if(setcmd && !CANsend(sock, cmd)) return 1;
for(int i = 0; i < NMOTORS; ++i){
uint16_t id = 512 + ((i+1)<<3) + 3, cmdidx = PARIDX_GETSPEED;
//uint8_t CANbuf[8] = {0};
sprintf(cmd, "s %u 0x31 0 %d %d 0 0 0 0\n", id, (cmdidx>>8), (cmdidx&0xff));
if(!CANsend(sock, cmd)) continue;
double T0 = dtime();
while(dtime() - T0 < TIMEOUT){
if(1 != canberead(sock)) continue;
int n = read(sock, recvBuff, Bufsiz-1);
DBG("Got %d", n);
if(n == 0){
WARNX("Server disconnected");
signals(1);
}
recvBuff[n] = 0;
printf("%s", recvBuff);
if(recvBuff[n-1] == '\n') recvBuff[n-1] = 0;
LOGMSG("RECEIVE: %s", recvBuff);
break;
}
int gpar = getpars(1, sock, PARIDX_GETSPEED);
if(gpar != INT_MIN){
printf("SPEED=%.1f&", gpar/1000.);
}
gpar = getpars(1, sock, PARIDX_GETCURRENT);
if(gpar != INT_MIN){
printf("CURRENT=%.1f&", gpar/1000.);
}
printf("\n");
close(sock);
signals(0);
return 0;