sample_dynpick.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>
#include <sys/time.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;
  struct timeval c0, c1, l0, l1;

  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:
  gettimeofday(&l0, NULL);
  /* Send the data to the server and get a reply */
  msg.msg_no = _IO_MAX + num;
  gettimeofday(&c0, NULL);
  ret = MsgSend (fd, &msg, sizeof (msg), msg_reply, 255);
  gettimeofday(&c1, NULL);
  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]);
#define DELTA_SEC(start, end) (end.tv_sec - start.tv_sec + (end.tv_usec - start.tv_usec)/1e6)
      printf ("                   %7.3f %7.3f %7.3f %7.3f %7.3f %7.3f ... %7.3f msec\n",
              tmp[6], tmp[7], tmp[8], tmp[9], tmp[10], tmp[11],
              DELTA_SEC(c0, c1)*1000);
    }
  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)
    gettimeofday(&l1, NULL);
    printf ("Loop took %7.3f msec\n", DELTA_SEC(l0, l1)*1000);
    goto loop;

  close (fd);

  return EXIT_SUCCESS;
}