/****************************************************************************/ /* Copyright (c) 2000 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Filename : _lblTest.cc */ /* Author : Rob McEwen */ /* Project : */ /* Version : 1.0 */ /* Created : 08/015/2000 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ /*-----------------------------------------------------------------------* $Id: _lblTest.cc,v 1.7 2001/06/02 21:33:24 hthomas Exp $ *-----------------------------------------------------------------------*/ #include #include #include #include #include #include #include "LblIF.h" #include "TimeIF.h" #include "LblServer.h" #include "Syslog.h" #include "System.h" #include "SerialParameters.h" #include "TimeP.h" int main( int argc, char **argv ) { LblIF *lbl; TimeIF::TimeSpec sampleTime; double depth, temp, pressure; pid_t _serverPid; Boolean debug = True; dprintf(" Start lblTest.\n"); try { SerialParameters serialParams(&argc, argv); char argString[100]; dprintf(" lblTest: Serial Port String = %s\n", serialParams.string()); sprintf(argString, "-serial %s", serialParams.string()); if ((_serverPid = System::spawn("lblServer", argString)) == -1) { Syslog::write("System::spawn(lblServer) failed\n"); } } catch ( ... ) { Syslog::write("lblTest -- " "caught exception on spawning of Lbl Server\n"); } dprintf(" lblTest: SerialParams.\n"); // // Start worksite server (needed by ps8000 to read the .cfg files). // pid_t workSiteServer; if ((workSiteServer = System::spawn("workSite", "")) == -1) throw Exception("System::spawn(workSite Server) failed"); dprintf(" lblTest: Started WorkSite Server.\n"); try { lbl = new LblIF( "Lbl", 1000 ); } catch (...) { Syslog::write("lblTest -- Caught exception on IF creation\n"); exit( -1 ); } dprintf(" lblTest: Opened lblIF.\n"); LblIF ::RTimes times[1]; double decimalTime; TimeIF::TimeSpec ping_time[1]; char buf[256]; fprintf(stderr, " Enter a command. Type h for help.\n"); // // Wait for the worksite to write to the screen, so the user will see // the prompt lblTest> // sleep(2); while (True) { fprintf(stderr, "lblTest> "); if (gets(buf) == 0) { // Some error occurred continue; } char *token = strtok(buf, " \t"); // // If strtok returns a null pointer it means that buf is empty. Jump to // the bottom of the while loop and try again. // if (!token) //if(NULL) continue; if (!strncmp(token, "pi", 2 )) { lbl->ping(); printf(" Ping issued.\n"); } else if (!strncmp(token, "t", 1 )) { lbl->get_ptime(ping_time); decimalTime = ping_time->seconds + ping_time->nanoSeconds/1000000000; printf(" The time at which the ping occured is: %.2f seconds\n", decimalTime ); lbl->get_tof( times ); printf(" The time-of-flight for each channel is:\n"); printf(" Channel 1 = %.6f\n", times->t1 ); printf(" Channel 2 = %.6f\n", times->t2 ); printf(" Channel 3 = %.6f\n", times->t3 ); printf(" Channel 4 = %.6f\n", times->t4 ); printf(" Channel 5 = %.6f\n", times->t5 ); printf(" Channel 6 = %.6f\n", times->t6 ); printf(" Channel 7 = %.6f\n", times->t7 ); printf(" Channel 8 = %.6f\n", times->t8 ); printf(" Channel 9 = %.6f\n", times->t9 ); printf(" Channel 10= %.6f\n", times->t10); } else if (!strncmp(token, "pe", 2 )) { pid_t scheduler; double lastReturnTime, returnTime; //TimeIF::TimeSpec timeSpec; struct timespec timeSpec; if ((scheduler = System::spawn("scheduler", "True")) == -1) throw Exception("System::spawn(Ping Scheduler) failed"); dprintf(" lblTest: Started Ping Scheduler.\n"); lbl->get_tof( times ); //lastReturnTime = ping_time->seconds + (ping_time->nanoSeconds)/1000000000.; timeSpec.tv_sec = times->sampleTime.seconds; timeSpec.tv_nsec = times->sampleTime.nanoSeconds; lastReturnTime = Time::seconds( &timeSpec ); dprintf(" lastReturnTime = %.2f\n", lastReturnTime); printf( "Strike any key to terminate.\n"); while( !kbhit() ) { lbl->get_tof( times ); timeSpec.tv_sec = times->sampleTime.seconds; timeSpec.tv_nsec = times->sampleTime.nanoSeconds; returnTime = Time::seconds( &timeSpec ); dprintf(" returnTime = %.2f\n", returnTime); if( returnTime > lastReturnTime ) { printf(" New data at t = %f seconds.\n", returnTime ); printf(" The time-of-flight for each channel is:\n"); printf(" Channel 1 = %.6f\n", times->t1 ); printf(" Channel 2 = %.6f\n", times->t2 ); printf(" Channel 3 = %.6f\n", times->t3 ); printf(" Channel 4 = %.6f\n", times->t4 ); printf(" Channel 5 = %.6f\n", times->t5 ); printf(" Channel 6 = %.6f\n", times->t6 ); printf(" Channel 7 = %.6f\n", times->t7 ); printf(" Channel 8 = %.6f\n", times->t8 ); printf(" Channel 9 = %.6f\n", times->t9 ); printf(" Channel 10= %.6f\n", times->t10); lastReturnTime = returnTime; } sleep(1); } kill(scheduler, SIGTERM); } else if (!strncmp(token, "pt", 2 )) { lbl->get_ptime(ping_time); decimalTime = ping_time->seconds + (ping_time->nanoSeconds)/1000000000.; printf(" The time at which the ping occured is: %.2f seconds\n", decimalTime ); } else if (!strncmp(token, "h", 1 )) { fprintf(stderr, "\n ***HELP*** \n"); fprintf(stderr, " Valid commands are:\n"); fprintf(stderr, " 'quit' - Quit this program.\n"); fprintf(stderr, " 'ping' - Send a ping.\n"); fprintf(stderr, " 'periodicPing' - Enter a loop that periodically,\n"); fprintf(stderr, " - pings and displays return times. \n"); fprintf(stderr, " - Depress any key to exit the loop.\n"); fprintf(stderr, " 'times' - Display ping time and time-of-flight\n"); fprintf(stderr, " for each channel.\n"); fprintf(stderr, " 'ptime' - Display ping time.\n"); fprintf(stderr, "\n"); fprintf(stderr, " Note: All commands can be abbreviated by their first.\n"); fprintf(stderr, " two characters.\n"); continue; } else if (!strncmp(token, "q", 1 )) { // Quit break; } else { fprintf(stderr, "Unknown command: %s\n", token); fprintf(stderr, "Type h for help.\n"); continue; } } fprintf(stderr, " Exiting lblTest\n"); delete lbl; kill(0, SIGTERM); kill(workSiteServer, SIGTERM); return 0; }