sample.c

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/*
 *  Message Client Process
 *
 *  This program is for JR3/Nitta Force moment sensor.
 *  Copyright(C) by Waseda University, Nitta Corporation. 2002.
 *
 * Modified by Kei Okada, 2014
 */

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <fcntl.h>
#include <errno.h>
#include <string.h>
#include <sys/neutrino.h>
#include <sys/iofunc.h>
#include <sys/dispatch.h>
#include <sys/mman.h>

#define Jr3DmAddrMask   0x6000
#define PAGE_SIZE       0x1000
unsigned long MappedAddress;

#define SENSOR0         0
#define SENSOR1         0x80000
#define SENSOR2         0x100000
#define SENSOR3         0x180000

typedef struct {
        uint16_t msg_no;
        char msg_data[255];
} client_msg_t;

int main(int argc, char **argv) {
        int fd;
        int c;
        client_msg_t msg;
        int ret;
        int num;
        char msg_reply[255];
        int i;

        printf("\x1b[2J");
        printf("\x1b[0;0H");

        num = 4;

        /* Process any command line arguments */
        while ((c = getopt(argc, argv, "n:")) != -1) {
                if (c == 'n') {
                        num = strtol(optarg, 0, 0);
                }
        }

        /* Open a connection to the server (fd == coid) */
        fd = open("/dev/jr3q", O_RDWR);
        if (fd == -1) {
                fprintf(stderr, "Unable to open server connection: %s\n",
                                strerror(errno));
                return EXIT_FAILURE;
        }

        /* Clear the memory for the msg and the reply */
        memset(&msg, 0, sizeof(msg));
        memset(&msg_reply, 0, sizeof(msg_reply));

        /* Setup the message data to send to the server */
        msg.msg_no = _IO_MAX + num;
        snprintf(msg.msg_data, 254, "client %d requesting reply.", getpid());

        printf("client: msg_no: _IO_MAX + %d\n", num);
        fflush(stdout);

        i = 0;
        loop:
        /* Send the data to the server and get a reply */
        msg.msg_no = _IO_MAX + num;
        ret = MsgSend(fd, &msg, sizeof(msg), msg_reply, 255);
        if (ret == -1) {
                fprintf(stderr, "Unable to MsgSend() to server: %s\n", strerror(errno));
                return EXIT_FAILURE;
        }
        if (num == 1) {
                float tmp[12];
                memcpy(tmp, msg_reply, sizeof(float) * 12);
                printf("client: msg_reply: %7.3f %7.3f %7.3f %7.3f %7.3f %7.3f\n",
                                tmp[0], tmp[1], tmp[2], tmp[3], tmp[4], tmp[5]);
                printf("                   %7.3f %7.3f %7.3f %7.3f %7.3f %7.3f\n",
                                tmp[6], tmp[7], tmp[8], tmp[9], tmp[10], tmp[11]);
        } else {
                printf("client: msg_reply:\n%s\n", msg_reply);
        }

        if (num > 1)
                num--;

        usleep(100000);
        if ((i % 20) == 0) {
                num = 4;
        }

        if (i++ < 100000)
                goto loop;

        close(fd);

        return EXIT_SUCCESS;
}