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Dot not only log FDM packets but also GUI and Ctrls packets when they arrive.

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This commit is contained in:
Erik Hofman 2021-03-25 14:21:30 +01:00
parent ee503ba89f
commit f88f38ec53
1 changed files with 102 additions and 32 deletions
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134
src/Network/DDS/fgfdm_log.c
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@ -1,5 +1,7 @@
#include "dds/dds.h" #include "dds/dds.h"
#include "dds_gui.h"
#include "dds_fdm.h" #include "dds_fdm.h"
#include "dds_ctrls.h"
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include <stdlib.h> #include <stdlib.h>
@ -59,48 +61,84 @@ void set_mode(int want_key)
int main() int main()
{ {
dds_entity_t participant; dds_entity_t participant;
dds_entity_t topic; dds_entity_t gui_topic;
dds_entity_t reader; dds_entity_t fdm_topic;
FG_DDS_FDM *fdm; dds_entity_t ctrls_topic;
dds_entity_t gui_reader;
dds_entity_t fdm_reader;
dds_entity_t ctrls_reader;
dds_entity_t rdcond;
void *samples[MAX_SAMPLES]; void *samples[MAX_SAMPLES];
dds_sample_info_t infos[MAX_SAMPLES]; dds_sample_info_t infos[MAX_SAMPLES];
dds_return_t rc; dds_return_t rc;
dds_qos_t *qos; dds_qos_t *qos;
int status;
/* Initialize sample buffer, by pointing the void pointer within
* the buffer array to a valid sample memory location. */
samples[0] = FG_DDS_FDM__alloc ();
/* Create a Participant. */ /* Create a Participant. */
participant = dds_create_participant(DDS_DOMAIN_DEFAULT, NULL, NULL); participant = dds_create_participant(DDS_DOMAIN_DEFAULT, NULL, NULL);
if(participant < 0) if(participant < 0)
DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant)); DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
/* Create a Topic. */ /* Create a wait set */
topic = dds_create_topic( dds_entity_t waitset = dds_create_waitset(participant);
participant, &FG_DDS_FDM_desc, "FG_DDS_FDM", NULL, NULL);
if(topic < 0)
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
/* Create a reliable Reader. */
qos = dds_create_qos(); qos = dds_create_qos();
dds_qset_reliability(qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10)); dds_qset_reliability(qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
reader = dds_create_reader(participant, topic, qos, NULL);
if(reader < 0) /* Create a GUI Topic. */
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-reader)); gui_topic = dds_create_topic(
participant, &FG_DDS_GUI_desc, "FG_DDS_GUI", NULL, NULL);
if(gui_topic < 0)
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-gui_topic));
gui_reader = dds_create_reader(participant, gui_topic, qos, NULL);
if(gui_reader < 0)
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-gui_reader));
rdcond = dds_create_readcondition(gui_reader, DDS_NOT_READ_SAMPLE_STATE);
status = dds_waitset_attach(waitset, rdcond, gui_reader);
if (status < 0)
DDS_FATAL("ds_waitset_attach: %s\n", dds_strretcode(-status));
/* Create an FDM Topic. */
fdm_topic = dds_create_topic(
participant, &FG_DDS_FDM_desc, "FG_DDS_FDM", NULL, NULL);
if(fdm_topic < 0)
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-fdm_topic));
fdm_reader = dds_create_reader(participant, fdm_topic, qos, NULL);
if(fdm_reader < 0)
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-fdm_reader));
rdcond = dds_create_readcondition(fdm_reader, DDS_NOT_READ_SAMPLE_STATE);
status = dds_waitset_attach(waitset, rdcond, fdm_reader);
if (status < 0)
DDS_FATAL("ds_waitset_attach: %s\n", dds_strretcode(-status));
/* Create an Ctrls Topic. */
ctrls_topic = dds_create_topic(
participant, &FG_DDS_Ctrls_desc, "FG_DDS_Ctrls", NULL, NULL);
if(ctrls_topic < 0)
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-ctrls_topic));
ctrls_reader = dds_create_reader(participant, ctrls_topic, qos, NULL);
if(ctrls_reader < 0)
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-ctrls_reader));
rdcond = dds_create_readcondition(ctrls_reader, DDS_NOT_READ_SAMPLE_STATE);
status = dds_waitset_attach(waitset, rdcond, ctrls_reader);
if (status < 0)
DDS_FATAL("ds_waitset_attach: %s\n", dds_strretcode(-status));
dds_delete_qos(qos); dds_delete_qos(qos);
printf("\n=== [fgfdm_log] Waiting for a sample ...\n"); printf("\n=== [fgfdm_log] Waiting for a sample ...\n");
fflush(stdout); fflush(stdout);
/* Initialize sample buffer, by pointing the void pointer within
* the buffer array to a valid sample memory location. */
samples[0] = FG_DDS_FDM__alloc ();
// wait set
dds_entity_t waitset = dds_create_waitset(participant);
dds_entity_t rdcond = dds_create_readcondition(reader,
DDS_NOT_READ_SAMPLE_STATE);
int status = dds_waitset_attach(waitset, rdcond, reader);
if (status < 0)
DDS_FATAL("ds_waitset_attach: %s\n", dds_strretcode(-status));
/* Wait for a new packet. */ /* Wait for a new packet. */
set_mode(1); set_mode(1);
@ -111,25 +149,57 @@ int main()
{ {
/* Do the actual read. /* Do the actual read.
* The return value contains the number of read samples. */ * The return value contains the number of read samples. */
rc = dds_take(reader, samples, infos, 1, 1); rc = dds_take(gui_reader, samples, infos, 1, 1);
if(rc < 0) if(rc < 0)
DDS_FATAL("dds_read: %s\n", dds_strretcode(-rc)); DDS_FATAL("dds_read: (gui) %s\n", dds_strretcode(-rc));
if((rc > 0) &&(infos[0].valid_data))
{
FG_DDS_GUI *gui = (FG_DDS_GUI*) samples[0];
printf("=== [fgfdm_log] Received : ");
printf("GUI Message:\n");
printf(" version: %i\n", gui->version);
printf(" tuned_freq: %lf\n", gui->longitude);
printf(" nav_radial %lf\n", gui->latitude);
printf(" dist_nm: %lf\n", gui->altitude);
}
rc = dds_take(fdm_reader, samples, infos, 1, 1);
if(rc < 0)
DDS_FATAL("dds_read: (fdm) %s\n", dds_strretcode(-rc));
/* Check if we read some data and it is valid. */ /* Check if we read some data and it is valid. */
if((rc > 0) &&(infos[0].valid_data)) if((rc > 0) &&(infos[0].valid_data))
{ {
/* Print Message. */ /* Print Message. */
fdm = (FG_DDS_FDM*) samples[0]; FG_DDS_FDM *fdm = (FG_DDS_FDM*) samples[0];
printf("=== [fgfdm_log] Received : "); printf("=== [fgfdm_log] Received : ");
printf("FDM Message:\n"); printf("FDM Message:\n");
printf(" version: %i\n", fdm->version); printf(" version: %i\n", fdm->version);
printf(" longitude: %lf\n", fdm->longitude); printf(" longitude: %lf\n", fdm->longitude);
printf(" latitude: %lf\n", fdm->latitude); printf(" latitude: %lf\n", fdm->latitude);
printf(" altitude: %lf\n", fdm->altitude); printf(" altitude: %lf\n", fdm->altitude);
fflush(stdout);
// break;
} }
rc = dds_take(ctrls_reader, samples, infos, 1, 1);
if(rc < 0)
DDS_FATAL("dds_read: (ctrls) %s\n", dds_strretcode(-rc));
/* Check if we read some data and it is valid. */
if((rc > 0) &&(infos[0].valid_data))
{
/* Print Message. */
FG_DDS_Ctrls *ctrls = (FG_DDS_Ctrls*) samples[0];
printf("=== [fgfdm_log] Received : ");
printf("Ctrls Message:\n");
printf(" version: %i\n", ctrls->version);
printf(" aileron: %lf\n", ctrls->aileron);
printf(" elevator: %lf\n", ctrls->elevator);
printf(" rudder: %lf\n", ctrls->rudder);
}
fflush(stdout);
if (get_key()) break; if (get_key()) break;
} }
set_mode(0); set_mode(0);