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Commit 4290845d authored by ParkJuSung's avatar ParkJuSung
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Delete socketcode.c

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#include <sys/stat.h>
#include <sys/types.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <unistd.h>
#include <string.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <time.h>
#define IN 0
#define OUT 1
#define LOW 0
#define HIGH 1
#define R1 4
#define G1 17
#define B1 27
#define R2 22
#define G2 5
#define B2 6
#define R3 23
#define G3 24
#define B3 25
#define R4 16
#define G4 20
#define B4 21
#define BUFFER_MAX 45
#define DIRECTION_MAX 45
#define VALUE_MAX 256
char clipara_rgb[6];
char clipara_motor[6];
int exitcode=0;
static int PWMExport(int pwmnum){
char buffer[BUFFER_MAX];
int bytes_written;
int fd;
fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY);
if(-1 == fd){
fprintf(stderr, "Failed to open in unexport!\n");
return(-1);
}
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
write(fd, buffer, bytes_written);
close(fd);
sleep(1);
fd = open("/sys/class/pwm/pwmchip0/export", O_WRONLY);
if(-1 == fd){
fprintf(stderr, "Failed to open in export!\n");
return(-1);
}
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
write(fd, buffer, bytes_written);
close(fd);
sleep(1);
return(0);
}
static int PWMEnable(int pwmnum){
static const char s_unenable_str[] = "0";
static const char s_enable_str[] = "1";
char path[DIRECTION_MAX];
int fd;
snprintf(path, DIRECTION_MAX, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
fd = open(path, O_WRONLY);
if(-1 == fd){
fprintf(stderr, "Failed to open in enalbe!\n");
return(-1);
}
write(fd, s_unenable_str, strlen(s_unenable_str));
close(fd);
fd = open(path, O_WRONLY);
if(-1 == fd){
fprintf(stderr, "Failed to open in enalbe!\n");
return(-1);
}
write(fd, s_enable_str, strlen(s_enable_str));
close(fd);
return(0);
}
static int PWMWritePeriod(int pwmnum, int value){
char s_values_str[VALUE_MAX];
char path[VALUE_MAX];
int fd,byte;
snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/period", pwmnum);
fd = open(path, O_WRONLY);
if(-1 == fd){
fprintf(stderr, "Failed to open in period!\n");
return(-1);
}
byte = snprintf(s_values_str, VALUE_MAX, "%d", value);
if(-1 == write(fd,s_values_str,byte)){
fprintf(stderr, "Failed to write value in period!\n");
return(-1);
}
close(fd);
return(0);
}
static int PWMWriteDutyCycle(int pwmnum, int value){
char path[VALUE_MAX];
char s_values_str[VALUE_MAX];
int fd, byte;
snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/duty_cycle", pwmnum);
fd = open(path, O_WRONLY);
if(-1 == fd){
fprintf(stderr, "Failed to open in duty_cycle!\n");
return(-1);
}
byte = snprintf(s_values_str, VALUE_MAX, "%d", value);
if(-1 == write(fd, s_values_str, byte)){
fprintf(stderr, "Failed to write value! in duty_cycle\n");
close(fd);
return(-1);
}
close(fd);
return(0);
}
static int GPIOUnexport(int pin){
char buffer[BUFFER_MAX];
ssize_t bytes_written;
int fd;
fd=open("/sys/class/gpio/unexport",O_WRONLY);
if(-1==fd){
fprintf(stderr,"falied to pen unexport\n");
return -1;
}
bytes_written=snprintf(buffer,BUFFER_MAX,"%d",pin);
write(fd,buffer,bytes_written);
close(fd);
return 0;
}
static int GPIODirection(int pin,int dir){
static const char s_directions_str[]="in\0out";
char path[DIRECTION_MAX]="/sys/class/gpio/gpio%d/direction";
int fd;
snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction",pin);
fd=open(path,O_WRONLY);
if(-1==fd){
fprintf(stderr,"%d pin err ",pin);
fprintf(stderr,"Failed to open gpio direction for writing!\n");
return -1;
}
if(-1==write(fd,&s_directions_str[IN == dir ? 0 :3], IN==dir ? 2:3)){
fprintf(stderr,"failed to set direction!\n");
return -1;
}
close(fd);
return 0;
}
static int GPIOExport(int pin){
char buffer[BUFFER_MAX];
ssize_t bytes_written;
int fd;
fd=open("/sys/class/gpio/export",O_WRONLY);
if(-1==fd){
fprintf(stderr, "failed export wr");
return 1;
}
bytes_written=snprintf(buffer,BUFFER_MAX, "%d", pin);
write(fd,buffer,bytes_written);
close(fd);
return 0;
}
static int GPIOWrite(int pin, int value){
static const char s_values_str[] ="01";
char path[VALUE_MAX];
int fd;
snprintf(path,VALUE_MAX, "/sys/class/gpio/gpio%d/value",pin);
fd=open(path,O_WRONLY);
if(-1==fd){
fprintf(stderr,"failed open gpio write\n");
return -1;
}
//0 1 selection
if(1!=write(fd,&s_values_str[LOW==value ? 0:1],1)){
fprintf(stderr,"failed to write value\n");
return -1;
}
close(fd);
return 0;
}
static int GPIORead(int pin){
char path[VALUE_MAX];
char value_str[3];
int fd;
snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value",pin);
fd=open(path, O_RDONLY);
if(-1==fd){
fprintf(stderr,"failed to open gpio value for reading\n");
return -1;
}
if(-1==read(fd,value_str,3)){
fprintf(stderr,"failed to read val\n");
return -1;
}
close(fd);
return(atoi(value_str));
}
void error_handling(char *message){
fputs(message,stderr);
fputc('\n',stderr);
exit(1);
}
int unexport_GPIOs(){
//Enable GPIO pins
if (-1 == GPIOUnexport(R1) || -1 == GPIOUnexport(R2)|| -1 == GPIOUnexport(R3)|| -1 == GPIOUnexport(R4)|| -1 == GPIOUnexport(G1)|| -1 == GPIOUnexport(G2)|| -1 == GPIOUnexport(G3)
|| -1 == GPIOUnexport(G4)|| -1 == GPIOUnexport(B1)|| -1 == GPIOUnexport(B2)|| -1 == GPIOUnexport(B3)|| -1 == GPIOUnexport(B4))
return -1;
return 0;
}
int export_GPIOs(){
//Enable GPIO pins
if (-1 == GPIOExport(R1) || -1 == GPIOExport(R2)|| -1 == GPIOExport(R3)|| -1 == GPIOExport(R4)|| -1 == GPIOExport(G1)|| -1 == GPIOExport(G2)|| -1 == GPIOExport(G3)
|| -1 == GPIOExport(G4)|| -1 == GPIOExport(B1)|| -1 == GPIOExport(B2)|| -1 == GPIOExport(B3)|| -1 == GPIOExport(B4))
return -1;
return 0;
}
int direction_GPIOs(){
if(-1==GPIODirection(R1,OUT)||-1==GPIODirection(R2,OUT)||-1==GPIODirection(R3,OUT)||-1==GPIODirection(R4,OUT)||-1==GPIODirection(G1,OUT)||-1==GPIODirection(G2,OUT)
||-1==GPIODirection(G3,OUT)||-1==GPIODirection(G4,OUT)||-1==GPIODirection(B1,OUT)||-1==GPIODirection(B2,OUT)||-1==GPIODirection(B3,OUT)||-1==GPIODirection(B4,OUT))
return -1;
return 0;
}
int turnOffRGBs(){
if(-1==GPIOWrite(R1,0)||-1==GPIOWrite(G1,0)||-1==GPIOWrite(B1,0)||-1==GPIOWrite(R2,0)||-1==GPIOWrite(G2,0)||-1==GPIOWrite(B2,0)
||-1==GPIOWrite(R3,0)||-1==GPIOWrite(G3,0)||-1==GPIOWrite(B3,0)||-1==GPIOWrite(R4,0)||-1==GPIOWrite(G4,0)||-1==GPIOWrite(B4,0))
return -1;
return 0;
}
int RGB_setting(int position,int r,int g,int b){
int Rn,Gn,Bn;
if(position==1){
Rn=R1; Gn=G1; Bn=B1;
}else if(position==2){
Rn=R2; Gn=G2; Bn=B2;
}else if(position==3){
Rn=R3; Gn=G3; Bn=B3;
}if(position==4){
Rn=R4; Gn=G4; Bn=B4;
}
if(-1==GPIOWrite(Rn,r)||-1==GPIOWrite(Gn,g)||-1==GPIOWrite(Bn,b))
return -1;
return 0;
}
int RGB_8steps(int pos,int step){
int r,g,b;
for (int i = 2; i >= 0; --i) { //8자리 숫자까지 나타냄
int result = step >> i & 1;
if(i==2)
r=result;
if(i==1)
g=result;
if(i==0)
b=result;
}
RGB_setting(pos,r,g,b);
}
int motor_speed(int step){
if(step==0){
return 1000;
}else if(step==1){
return 500;
}else if(step==2){
return 100;
}
}
void step3_motor_speed(int pwmnum,int step,int period){
double f=0.0;
int speed=motor_speed(step);
f=0.05;
PWMWriteDutyCycle(pwmnum,period*f);
usleep(speed*1000);
f=0.990;
PWMWriteDutyCycle(pwmnum,period*f);
usleep(speed*1000);
}
void *motor_thread(){
fprintf(stderr,"motor thread\n");
int period=9000000;
PWMExport(0); //pwm0 is gpio18
PWMWritePeriod(0,period);
PWMWriteDutyCycle(0,0);
PWMEnable(0);
while(1){
int d1=clipara_motor[1]-48;
// printf("thr 1 motor %d\n",d1);
if(d1==-48){
sleep(1);
continue;
}
step3_motor_speed(0,d1,period);
}
}
void *motor_thread2(){
// fprintf(stderr,"motor thread\n");
int period=9000000;
PWMExport(1); //pwm0 is gpio18
PWMWritePeriod(1,period);
PWMWriteDutyCycle(1,0);
PWMEnable(1);
int speed=1000;
while(1){
int d2=clipara_motor[2]-48;
// printf("thr 2 motor %d\n",d2);
// printf("thr 2 %s",clipara_motor);
if(d2==-48){
sleep(1);
continue;
}
step3_motor_speed(1,d2,period);
}
}
void *rgb_thread(){
if(-1==export_GPIOs())
return 1;
//Set GPIO directions
if (-1 ==direction_GPIOs())
return (2);
if (-1 == turnOffRGBs())
return (3);
int c=0;
while(1){
if(exitcode==1){
turnOffRGBs();
break;
}
int d1=clipara_rgb[1]-48;
int d2=clipara_rgb[2]-48;
int d3=clipara_rgb[3]-48;
int d4=clipara_rgb[4]-48;
if(d1==-48&&d1==d2&&d1==d3&&d1==d4){
continue;
}
// printf("clipara_rgb: %s ",clipara_rgb);
// printf("%d %d %d %d \n",d1,d2,d3,d4);
RGB_8steps(1,d1);
RGB_8steps(2,d2);
RGB_8steps(3,d3);
RGB_8steps(4,d4);
usleep(1000*200);
}
}
int main(int argc, char *argv[])
{
int state = 1;
int prev_state = 1;
int light = 0;
int serv_sock, clnt_sock , clnt_sock2= -1;
struct sockaddr_in serv_addr, clnt_addr,clnt_addr2;
socklen_t clnt_addr_size;
char msg[6];
char msg2[6];
int str_len;
int str_len2;
pthread_t p_thread[2];
int thr_id;
int status;
char p1[] = "thread_1";
char p2[] = "thread_2";
if(argc==3){
exitcode=1;
fprintf(stderr,"all stopped\n");
return 0;
}
fprintf(stderr,"%d",argc);
thr_id = pthread_create(&p_thread[0], NULL, motor_thread, NULL);
if(thr_id < 0){
perror("thread create error : ");
exit(0);
usleep(1000);
}
thr_id = pthread_create(&p_thread[1], NULL, motor_thread2, NULL);
if(thr_id < 0){
perror("thread create error : ");
exit(0);
usleep(1000);
}
thr_id = pthread_create(&p_thread[2], NULL, rgb_thread, NULL);
if(thr_id < 0){
perror("thread create error : ");
exit(0);
usleep(1000);
}
if (argc != 2)
{
printf("Usage : %s <port>\n", argv[0]);
}
serv_sock = socket(PF_INET, SOCK_STREAM, 0);
if (serv_sock == -1)
error_handling("socket() error");
memset(&serv_addr, 0, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
serv_addr.sin_addr.s_addr = htonl(INADDR_ANY);
serv_addr.sin_port = htons(atoi(argv[1]));
if (bind(serv_sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) == -1)
error_handling("bind() error");
if (listen(serv_sock, 5) == -1)
error_handling("listen() error");
if (clnt_sock < 0)
{
clnt_addr_size = sizeof(clnt_addr);
clnt_sock = accept(serv_sock, (struct sockaddr *)&clnt_addr,
&clnt_addr_size);
if (clnt_sock == -1)
error_handling("accept() error");
}
if (clnt_sock2 < 0)
{
clnt_addr_size = sizeof(clnt_addr2);
clnt_sock2 = accept(serv_sock, (struct sockaddr *)&clnt_addr2,
&clnt_addr_size);
if (clnt_sock2 == -1)
error_handling("accept() error");
}
while (1)
{
str_len=read(clnt_sock,msg,sizeof(msg));
if(str_len==-1)
error_handling("read() error");
str_len2=read(clnt_sock2,msg2,sizeof(msg2));
if(str_len2==-1)
error_handling("read() error");
if(msg2[0]=='s'){
strcpy(clipara_rgb,msg);
}else{
strcpy(clipara_motor,msg);
}
if(msg[0]=='s'){
strcpy(clipara_rgb,msg);
}else{
strcpy(clipara_motor,msg);
}
printf("received msg -> %s\n",msg);
usleep(500 * 100);
}
close(clnt_sock);
close(serv_sock);
// //Disable GPIO pins
if (-1==unexport_GPIOs())
return (4);
return (0);
}
\ No newline at end of file
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