//============================================================================ // Name : fsdwClient.cpp // Author : // Version : // Copyright : Your copyright notice // Description : Hello World in C, Ansi-style //============================================================================ #include "fsdwClient.h" #define MAX_MSGLEN 1024 void error(const char *msg) { perror(msg); exit(0); } const char * program_name; // File Descriptor for output; FILE * outputfds = stdout; // Default ports int cmdport = 1700; int dataport = 1701; // Server Address char * ipAddress = "localhost"; // Verbose option bool verbose = false; void print_usage(FILE * fds, int exit_code) { fprintf(fds, "Usage: %s options [ipaddress]\n", program_name); fprintf(fds, " -h --help Display this usage information.\n"); fprintf(fds, " -o --output [filename] Set the output file for all messages.\n"); fprintf(fds, " -C --cmdport [number] Select the tcp port for commands.\n"); fprintf(fds, " -D --dataport [number] Select the tcp port for data.\n"); fprintf(fds, " -v --verbose Print verbose data to STDOUT.\n"); exit(exit_code); } /* * This reader function interprets piped data for textual command intepretation into the class * Command Summary: * a: test comms by querying version number. * e: enable ping on channel w/ 1/0 (enable/disable), channels are esb, esshf,esslf, e (all * channels). EXAMPLE: e1 (all on), e0 (all off), esb1 (subbottom on) * p: print status to output file establish during class constructor. * i: query common settings * */ void reader() { char buffer[1024]; EdgeTechHandler * Handler = new EdgeTechHandler(ipAddress, cmdport, dataport, outputfds); //Test Connection if (!Handler->isConnected()) { perror("main: Handler not connnected"); exit(ERROR_NOCONNECTION); } else { Handler->Initialize(); fprintf(stdout, "Handler Connected, Ready for commands.\n"); } // Test Communications /* * Here is a Routine for for checking comms each loop cycle and attempting * a reconnect and state assessment after regaining connection. */ // int i = 10; // while (i > 0) { // // if (!Handler->IsHealthy()) { //sends a test message to validate communication // // fprintf(stdout, "ERROR, comms lost\n"); // //Attempt Connection and ReInitialize // if (Handler->Connect()) { // Handler->Initialize(); // // } // } // i--; // sleep(3); // } // Start processing stream commands from the parent process //struct pollfd fd; struct timeval timeout; fd_set readfds; int iActivity; timeout.tv_sec = (time_t) floor((double) (POLL_TIME_MILLISECONDS / 1000)); timeout.tv_usec = (suseconds_t)((POLL_TIME_MILLISECONDS % 1000) * 1000); //fd.fd = STDIN_FILENO; // fd.events = POLLIN; // fd.revents = 0; double floatval; //int timeout = POLL_TIME_MILLISECONDS; while (!feof(stdin) && !ferror(stdin) && buffer[0] != 'q') { FD_ZERO(&readfds); FD_SET(STDIN_FILENO, &readfds); iActivity = select(STDIN_FILENO + 1, &readfds, NULL, NULL, &timeout); if (FD_ISSET(STDIN_FILENO, &readfds)) { //(poll(&fd, 1, timeout) > 0) && (fd.revents & POLLIN != 0)) { fgets(buffer, sizeof(buffer), stdin); fflush (stdin); //fprintf(stdout, "GOT: %s", buffer); // We shouldn't care about keyboard input then. // if (!Handler->isConnected()) continue; // We accept single letter commands to start switch (buffer[0]) { case 'a': //ACK if (Handler->IsHealthy()) fprintf(stdout, "System communcations confirmed.\n"); else { fprintf(stdout, "No response from Edgetech system.\n"); // } break; case 'c': Handler->SetTimeFromSystem(false); break; case 'd': if (!strncmp(buffer, "dsshf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetPulseDuration(SUBSYSID_SSHF, floatval, true); } else if (!strncmp(buffer, "dsslf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetPulseDuration(SUBSYSID_SSLF, floatval, true); } else if (!strncmp(buffer, "dsb", 3)) { floatval = atof(&buffer[3]); if (floatval == 0 && buffer[3] != '0') break; //bad atof Handler->SetPulseDuration(SUBSYSID_SB, floatval, true); } else if (!strncmp(buffer, "d", 1)) { //all channels floatval = (float) atof(&buffer[1]); if (floatval == 0 && buffer[1] != '0') break; //bad atof Handler->SetPulseDuration(SUBSYSID_SB, floatval, true); Handler->SetPulseDuration(SUBSYSID_SSHF, floatval, true); Handler->SetPulseDuration(SUBSYSID_SSLF, floatval, true); } break; case 'l': if (buffer[1] == '1' || buffer[1] == '0') { Handler->EnableStorage(((buffer[1] == '1') ? true : false), true); } break; case 'D': //Send Depth Value if (strlen(buffer) > 1) { floatval = (float) atof(&buffer[1]); if (floatval == 0 && buffer[1] != '0') break; //bad atof Handler->SendPressureData(0, 1, 2, 3, 4, floatval, 5); Handler->SendAltitudeData(0,1,3,4); ulonglong timestamp; Handler->SendCompositeSituation(0,1,timestamp,3,4,5,6,7,8,9,10,11,12,13,14,15); timestamp.HighPart = 0; timestamp.LowPart = 0; Handler->SendSituation(0,timestamp,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28); } break; case 'e': if (buffer[1] == '1' || buffer[1] == '0') { Handler->EnablePingAllChannels((buffer[1] == '1') ? true : false, true); } else if ((!strncmp(buffer, "esb", 3)) && (buffer[3] == '1' || buffer[3] == '0')) { Handler->EnablePing(SUBSYSID_SB, (buffer[3] == 1) ? true : false, true); } else if ((!strncmp(buffer, "esshf", 5)) && (buffer[5] == '1' || buffer[5] == '0')) { Handler->EnablePing(SUBSYSID_SSHF, (buffer[5] == '1') ? true : false, true); } else if ((!strncmp(buffer, "esslf", 5)) && (buffer[5] == '1' || buffer[5] == '0')) { Handler->EnablePing(SUBSYSID_SSLF, (buffer[5] == '1') ? true : false, true); } else fprintf(stdout, " eX - enable/disable (X?1:0) pings on all channels\n"); break; case 'g': if (!strncmp(buffer, "gsshf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetTxPower(SUBSYSID_SSHF, floatval, true); } else if (!strncmp(buffer, "gsslf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetTxPower(SUBSYSID_SSLF, floatval, true); } else if (!strncmp(buffer, "gsb", 3)) { floatval = atof(&buffer[3]); if (floatval == 0 && buffer[3] != '0') break; //bad atof Handler->SetTxPower(SUBSYSID_SB, floatval, true); } else if (!strncmp(buffer, "g", 1)) { //all channels floatval = (float) atof(&buffer[1]); if (floatval == 0 && buffer[1] != '0') break; //bad atof Handler->SetTxPower(SUBSYSID_SB, floatval, true); Handler->SetTxPower(SUBSYSID_SSHF, floatval, true); Handler->SetTxPower(SUBSYSID_SSLF, floatval, true); } break; case 'o': if (!strncmp(buffer, "osshf", 5)) { Handler->PingOnce(SUBSYSID_SSHF); } else if (!strncmp(buffer, "osslf", 5)) { Handler->PingOnce(SUBSYSID_SSLF); } else if (!strncmp(buffer, "osb", 3)) { Handler->PingOnce(SUBSYSID_SB); } else { //Subbottom is default. Handler->PingOnce(SUBSYSID_SB); } break; case 'p': if (!strncmp(buffer, "psshf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetPingRate(SUBSYSID_SSHF, floatval, true); } else if (!strncmp(buffer, "psslf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetPingRate(SUBSYSID_SSLF, floatval, true); } else if (!strncmp(buffer, "psb", 3)) { floatval = atof(&buffer[3]); if (floatval == 0 && buffer[3] != '0') break; //bad atof Handler->SetPingRate(SUBSYSID_SB, floatval, true); } else if (!strncmp(buffer, "p", 1)) { //all channels floatval = (float) atof(&buffer[1]); if (floatval == 0 && buffer[1] != '0') break; //bad atof Handler->SetPingRate(SUBSYSID_SB, floatval, true); Handler->SetPingRate(SUBSYSID_SSHF, floatval, true); Handler->SetPingRate(SUBSYSID_SSLF, floatval, true); } break; case 'r': if (!strncmp(buffer, "rsshf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetRange(SUBSYSID_SSHF, floatval, true); } else if (!strncmp(buffer, "rsslf", 5)) { floatval = atof(&buffer[5]); if (floatval == 0 && buffer[5] != '0') break; //bad atof Handler->SetRange(SUBSYSID_SSLF, floatval, true); } else if (!strncmp(buffer, "rsb", 3)) { floatval = atof(&buffer[3]); if (floatval == 0 && buffer[3] != '0') break; //bad atof Handler->SetRange(SUBSYSID_SB, floatval, true); } else if (!strncmp(buffer, "r", 1)) { //all channels floatval = (float) atof(&buffer[1]); if (floatval == 0 && buffer[1] != '0') break; //bad atof Handler->SetRange(SUBSYSID_SB, floatval, true); Handler->SetRange(SUBSYSID_SSHF, floatval, true); Handler->SetRange(SUBSYSID_SSLF, floatval, true); } break; case 's': Handler->printStatus(stdout); break; case 't': if (!strncmp(buffer, "tsshf", 5)) { switch (buffer[5]) { case ('I'): Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeInternal, true); break; case ('E'): Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeExternal, true); break; case ('C'): Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeCoupled, true); break; case ('G'): Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeGated, true); break; default: fprintf(stdout, " tX or tX- settriggermode (X? I = internal, E = external, C = coupled, G = gated\n"); break; } } else if (!strncmp(buffer, "tsslf", 5)) { switch (buffer[5]) { case ('I'): Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeInternal, true); break; case ('E'): Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeExternal, true); break; case ('C'): Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeCoupled, true); break; case ('G'): Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeGated, true); break; default: fprintf(stdout, " tX or tX- settriggermode (X? I = internal, E = external, C = coupled, G = gated\n"); break; } } else if (!strncmp(buffer, "tsb", 3)) { switch (buffer[3]) { case ('I'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeInternal, true); break; case ('E'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeExternal, true); break; case ('C'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeCoupled, true); break; case ('G'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeGated, true); break; default: fprintf(stdout, " tX or tX- settriggermode (X? I = internal, E = external, C = coupled, G = gated\n"); break; } } else if (!strncmp(buffer, "t", 1)) { //all channels switch (buffer[1]) { case ('I'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeInternal, true); Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeInternal, true); Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeInternal, true); break; case ('E'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeExternal, true); Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeExternal, true); Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeExternal, true); break; case ('C'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeCoupled, true); Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeCoupled, true); Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeCoupled, true); break; case ('G'): Handler->SetTriggerMode(SUBSYSID_SB, Handler->triggerModeGated, true); Handler->SetTriggerMode(SUBSYSID_SSHF, Handler->triggerModeGated, true); Handler->SetTriggerMode(SUBSYSID_SSLF, Handler->triggerModeGated, true); break; default: fprintf(stdout, " t or t - set triggermode (X? I = internal, E = external, C = coupled, G = gated\n"); break; } } else { fprintf(stdout, " t or t- set triggermode (X? I = internal, E = external, C = coupled, G = gated\n"); } break; case 'v': if (!strncmp(buffer, "vg", 2) && strlen(buffer) > 2) { floatval = atof(&buffer[2]); if (floatval == 0 && buffer[2] != '0') break; //bad atof if (Handler->isAGCEnabled() == true) { fprintf(stdout, "ERROR: AGC is already enabled, disable to change gain.\n"); break; } Handler->SetRxGain(floatval, true); } else if (!strncmp(buffer, "v", 1) && strlen(buffer) > 1) { if (buffer[1] == '1' || buffer[1] == '0') { Handler->EnableAGC((buffer[1] == '1') ? true : false, true); } } break; case 'P': if (!strncmp(buffer, "Psshf", 5) && strlen(buffer) > 5) { Handler->SetPulseFile(SUBSYSID_SSHF, &buffer[5], strlen(buffer) - 6, true); } else if (!strncmp(buffer, "Psslf", 5) && strlen(buffer) > 5) { Handler->SetPulseFile(SUBSYSID_SSLF, &buffer[5], strlen(buffer) - 6, true); } else if (!strncmp(buffer, "Psb", 3) && strlen(buffer) > 3) { Handler->SetPulseFile(SUBSYSID_SB, &buffer[3], strlen(buffer) - 4, true); } else fprintf(stdout, " P - PX \n"); break; case 'i': Handler->QueryCommonSettings(); break; case 'q': Handler->Disconnect(); exit(0); break; case '?': default: fprintf(stdout, "Commands are as follows:\n" " is 'sb','sslf','sshf'\n" " a - (a)ck test unit communications.\n" " c - set (c)lock time from pc.\n" " e or e- (e)nable/disable (X?1:0) pings on all channels\n" " i - (i)nquire common settings\n" " l - (l)ogging enable/disable (X?1:0)" " o - ping (o)nce on annel [SB is default]\n" " s - print (s)tatus\n" " d - set pulse duration in milliseconds\n" " p - set ping rate in pings per second\n" " r or r - set (r)ange in meters [0 is max]\n" " t or t - set(t)riggermode (X? I = internal, E = external, C = coupled, G = gated\n" " v - Enable/disable recei(v)e gain on subbottom channel (X?1:0)\n" " vg - Set receive gain on subbottom in percent\n" " P - set (P)ulsefile name P \n" " g or g - set transmit (g)ains in percent\n" " D - send a (D)epth message with depth value X in meters\n" "\n q - (q)uit test program\n"); break; } } else if (!Handler->isConnected()) { // Not connected, let's try again. fprintf(stdout, "Attempting to reconnect in 5 seconds...\n"); sleep(5); if (Handler->Connect()) { // We reconnected, re-initialize Handler->Initialize(); } } else { // Nothing to send and we are connected, poll ports for information. Handler->ReceiveMessage(); } } } int main(int argc, char *argv[]) { const char* const short_options = "hC:D:o:v"; // const struct option long_options[] = { { "help", 0, NULL, 'h' }, { "cmdport", 1, NULL, 'C' }, { "dataport", 1, NULL, 'D' }, { "output", 1, NULL, 'o' }, { "verbose", 0, NULL, 'v' }, { NULL, 0, NULL, 0 } }; // Where to point program output const char* output_fname = NULL; // Program Name program_name = argv[0]; int next_option; do { next_option = getopt(argc, argv, short_options); // next_option = getopt_long(argc, argv, short_options, long_options, NULL); switch (next_option) { case 'h': print_usage(stdout, 0); break; case 'o': output_fname = optarg; outputfds = fopen(output_fname, "a"); break; case 'C': cmdport = atoi(optarg); if (cmdport == 0) { fprintf(stderr, "Unknown Command Port: %s\n", optarg); exit(ERROR_BAD_INPUT); } break; case 'D': dataport = atoi(optarg); if (dataport == 0) { fprintf(stderr, "Unknown Data Port: %s\n", optarg); exit(ERROR_BAD_INPUT); } break; case 'v': verbose = true; break; case '?': print_usage(stderr, 1); break; case -1: break; default: abort(); } } while (next_option != -1); // Process non option arguments if ((argc - optind) >= 1) { ipAddress = argv[optind]; } reader(); return 0; }