ypprotocol.c

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>

#include <errno.h>

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif  // HAVE_CONFIG_H

#include <communication.h>
#include <ypprotocol.h>
#include <serial.h>
#include <utility.h>
#include <yprintf.h>

#define RECEIVE_BUFFER_SIZE 2048

int ss_receive(char *buf, int len, double receive_time, void *data)
{
  buf[len] = 0;
  if (len + strlen((char *)data) > RECEIVE_BUFFER_SIZE)
  {
    return -3;
  }
  strcat((char *)data, buf);
  if (strstr((char *)data, "\n\n"))
  {
    return -2;
  }
  return 0;
}

int set_baudrate(int baud)
{
  /* Send & Recive Buffer */
  char buf[RECEIVE_BUFFER_SIZE];
  /* Temporary */

  strcpy(buf, "\n\n\n\n");
  serial_write(buf, strlen(buf));
  yp_usleep(50000);
  serial_flush_in();
  yp_usleep(50000);
  sprintf(buf, "SS%06d\n", baud);
  serial_write(buf, strlen(buf));

  buf[0] = 0;
  if (serial_recieve(ss_receive, buf) != -2)
    return 0;

  if (strstr(buf, "\n00P\n") != NULL)
  {
    yp_usleep(100000);
    return serial_change_baudrate(baud);
  }
  // RS-232cインターフェース未搭載
  else if (strstr(buf, "\n04T\n") != NULL)
  {
    SER_BAUDRATE = 0;
    yp_usleep(100000);
    return 4;
  }

  return 0;
}

int vv_receive(char *buf, int len, double receive_time, void *data)
{
  buf[len] = 0;
  if (len + strlen((char *)data) > RECEIVE_BUFFER_SIZE)
  {
    return -3;
  }
  strcat((char *)data, buf);
  if (strstr((char *)data, "\n\n"))
  {
    return -2;
  }
  return 0;
}

int get_version(Ver_t *apVer)
{
  /* Send & Recive Buffer */
  char buf[RECEIVE_BUFFER_SIZE], *readpos;
  /* Temporary */
  char *tmp, *lf, *val;
  char *tag, *wbuf;

  readpos = buf;
  memset(apVer, 0, sizeof(Ver_t));

  strcpy(buf, "\n\n\n\n");
  serial_write(buf, strlen(buf));
  yp_usleep(50000);
  serial_flush_in();
  yp_usleep(50000);
  strcpy(buf, "VV\n");
  serial_write(buf, strlen(buf));

  buf[0] = 0;
  if (serial_recieve(vv_receive, buf) != -2)
    return 0;
  if (strstr(buf, "\n00P\n") == 0)
    return 0;

  while (1)
  {
    if ((lf = strchr(readpos, '\n')) == NULL)
      break;
    *lf = 0;
    if ((tag = strstr(readpos, "VEND:")) != 0)
    {
      wbuf = (apVer->vender);
    }
    else if ((tag = strstr(readpos, "PROD:")) != 0)
    {
      wbuf = (apVer->product);
    }
    else if ((tag = strstr(readpos, "FIRM:")) != 0)
    {
      wbuf = (apVer->firmware);
    }
    else if ((tag = strstr(readpos, "PROT:")) != 0)
    {
      wbuf = (apVer->protocol);
    }
    else if ((tag = strstr(readpos, "SERI:")) != 0)
    {
      wbuf = (apVer->serialno);
    }
    else
    {
      readpos = lf + 1;
      continue;
    }
    tmp = strchr(tag, ';');
    val = strchr(tag, ':');
    if (tmp && val)
    {
      *tmp = 0;
      if (wbuf)
      {
        strcpy(wbuf, val + 1);
      }
    }
    readpos = lf + 1;
  }
  return 1;
}

int get_parameter(Param_t *apParam)
{
  /* Send & Recive Buffer */
  char buf[RECEIVE_BUFFER_SIZE], *readpos;
  /* Temporary */
  char *tmp, *lf, *val;
  char *tag, *wbuf;

  readpos = buf;
  memset(apParam, 0, sizeof(Param_t));

  strcpy(buf, "\n\n\n\n");
  serial_write(buf, strlen(buf));
  yp_usleep(50000);
  serial_flush_in();
  yp_usleep(50000);
  strcpy(buf, "PP\n");
  serial_write(buf, strlen(buf));

  buf[0] = 0;
  if (serial_recieve(vv_receive, buf) != -2)
    return 0;
  if (strstr(buf, "\n00P\n") == 0)
    return 0;

  while (1)
  {
    if ((lf = strchr(readpos, '\n')) == NULL)
      break;
    *lf = 0;
    if ((tag = strstr(readpos, "PWMRES:")) != 0)
    {
      wbuf = (apParam->pwm_resolution);
    }
    else if ((tag = strstr(readpos, "MOTORNUM:")) != 0)
    {
      wbuf = (apParam->motor_num);
    }
    else if ((tag = strstr(readpos, "NAME:")) != 0)
    {
      wbuf = (apParam->robot_name);
    }
    else
    {
      readpos = lf + 1;
      continue;
    }
    tmp = strchr(tag, ';');
    val = strchr(tag, ':');
    if (tmp && val)
    {
      *tmp = 0;
      if (wbuf)
      {
        strcpy(wbuf, val + 1);
      }
    }
    readpos = lf + 1;
  }
  return 1;
}

int get_embedded_param(char *param)
{
  /* Send & Recive Buffer */
  char buf[RECEIVE_BUFFER_SIZE], *readpos;
  /* Temporary */
  char *lf;

  readpos = buf;
  memset(buf, 0, sizeof(buf));

  strcpy(buf, "\n\n\n\n");
  serial_write(buf, strlen(buf));
  yp_usleep(50000);
  serial_flush_in();
  yp_usleep(50000);
  strcpy(buf, "GETEMBEDDEDPARAM\n");
  serial_write(buf, strlen(buf));

  buf[0] = 0;
  if (serial_recieve(vv_receive, buf) != -2)
    return 0;
  if (strstr(buf, "\n00P\n") == 0)
    return 0;

  while (1)
  {
    if ((lf = strchr(readpos, '\n')) == NULL)
      break;
    *lf = 0;
    if (strstr(readpos, "00P") != 0)
    {
      lf++;
      break;
    }
    readpos = lf + 1;
  }
  if (lf == NULL)
    return 0;
  strcpy(param, lf);
  return 1;
}