Initial commit of files

daemons/cand/CanTxGenerator.cpp

@@ -0,0 +1,139 @@
+//
+// Linux Daemon
+//
+
+//****************************************************************************
+// includes
+//***************************************************************************/
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+#include    <stdarg.h>
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+#include    <sys/wait.h>
+
+#include "ClockTimer.h"
+#include "CanTxGenerator.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+#ifndef min
+#define min(A,B)    ((A)<(B)?(A):(B))
+#endif
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+extern CAN_Packet Can;
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+static CanTxGenerator *Self = NULL;
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+CanTxGenerator::CanTxGenerator()
+{
+  Self = this;
+  m_period = 100;
+}
+
+CanTxGenerator::~CanTxGenerator()
+{
+}
+
+// generator itself
+void *CanTxGenerator::Run(void *arg)
+{
+  ClockTimer Loop;
+  
+  Loop.Start( m_period * 1000 );  // usec
+  
+  while (1)
+  {
+    
+    // send out
+    SendTo( &Can, sizeof(Can) );
+    
+    // log this message            // log this message
+    if ( Logging.IsLogging() )
+    {
+      struct timeval tv;
+      struct tm tm;
+      gettimeofday( &tv, NULL );
+      gmtime_r( &tv.tv_sec, &tm );
+      char buf[32];
+      sprintf( buf, "%4d/%2d/%2d-%2d:%2d:%2d.%03ld",
+               tm.tm_year+1900, tm.tm_mon, tm.tm_mday,
+               tm.tm_hour, tm.tm_min, tm.tm_sec,
+               tv.tv_usec / 1000L
+      );
+      
+      Logging.LogPrintf( "%s,%s,%f,%f,%f,%f,%u,%f,%u,%f,%f,%f,%f,%f,%u,%u,%u,%f,%u,%f",
+                         buf,
+                         "TX",
+                         0.0,
+                         0.0,
+                         0.0,
+                         0.0,
+                         0,
+                         Can.fSpeed,
+                         Can.byTransmission,
+                         Can.fSteering,
+                         Can.fAccelLongitudinal,
+                         Can.fAccelLateral,
+                         Can.fAccelVertical,
+                         Can.fYawRate,
+                         Can.wBrakeSystemStatus,
+                         Can.wEventFlags,
+                         Can.byExteriorLights,
+                         Can.fThrottle,
+                         Can.byFrontWipers,
+                         0.0
+      );
+    }
+    
+    // 100 msec, leave a little time to do the work
+    Loop.Sync();
+    //        msleep( m_period - 10L );
+    
+  }
+  
+  return NULL;
+}
+