Revision 1224
Parallelized Master and Server
| server.c | ||
|---|---|---|
| 11 | 11 |
#define RD 3 |
| 12 | 12 |
#define FORWARD 1 |
| 13 | 13 |
#define BACKWARD 0 |
| 14 |
#define SENDER 1 |
|
| 15 |
#define RECEIVER 0 |
|
| 14 | 16 |
|
| 15 |
int main()
|
|
| 17 |
void setAttrib(int file)
|
|
| 16 | 18 |
{
|
| 17 |
int serialFile = open("/dev/ttyUSB0", O_RDWR);
|
|
| 18 |
if(serialFile < 1) |
|
| 19 |
{
|
|
| 20 |
printf("Error opening serial\n");
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|
| 21 |
return -1; |
|
| 22 |
} |
|
| 23 |
|
|
| 24 | 19 |
struct termios attributes; |
| 25 |
tcgetattr(serialFile, &attributes);
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|
| 20 |
tcgetattr(file, &attributes);
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|
| 26 | 21 |
|
| 27 | 22 |
cfsetispeed(&attributes, B115200); |
| 28 | 23 |
cfsetospeed(&attributes, B115200); |
| ... | ... | |
| 39 | 34 |
// attributes.c_cc[VTIME] = 50; |
| 40 | 35 |
|
| 41 | 36 |
|
| 42 |
if (tcsetattr(serialFile, TCSANOW, &attributes) < 0){
|
|
| 37 |
if (tcsetattr(file, TCSANOW, &attributes) < 0){
|
|
| 43 | 38 |
perror("tcsetattr failed");
|
| 44 | 39 |
exit(-1); |
| 45 | 40 |
} |
| 41 |
} |
|
| 42 |
|
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| 43 |
int main() |
|
| 44 |
{
|
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| 45 |
int serialFileIn = open("/dev/ttyUSB0", O_RDWR);
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| 46 |
int serialFileOut = open("/dev/ttyUSB1", O_RDWR);
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| 47 |
if(serialFileIn < 1 || serialFileOut < 1) |
|
| 48 |
{
|
|
| 49 |
printf("Error opening serial\n");
|
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| 50 |
return -1; |
|
| 51 |
} |
|
| 52 |
|
|
| 53 |
setAttrib(serialFileOut); |
|
| 54 |
setAttrib(serialFileIn); |
|
| 46 | 55 |
|
| 47 | 56 |
unsigned char encoders[4] = {1,1,1,1};
|
| 48 |
/// while(1) |
|
| 49 |
// write(serialFile, encoders, 1); |
|
| 57 |
|
|
| 58 |
char senderNum = SENDER; |
|
| 59 |
char receiverNum = RECEIVER; |
|
| 60 |
|
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| 61 |
write(serialFileIn, &receiverNum, 1); |
|
| 62 |
sleep(1); |
|
| 63 |
write(serialFileOut, &senderNum, 1); |
|
| 64 |
|
|
| 50 | 65 |
//Sending velocity as LS LD RS RD |
| 51 | 66 |
int tempCount = 0; |
| 52 | 67 |
|
| ... | ... | |
| 62 | 77 |
int count = 0; |
| 63 | 78 |
do |
| 64 | 79 |
{
|
| 65 |
tcflush(serialFile, TCIOFLUSH); |
|
| 66 |
temp = write(serialFile, encoders + count, 1); |
|
| 80 |
// tcflush(serialFile, TCIOFLUSH);
|
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| 81 |
temp = write(serialFileOut, encoders + count, 1);
|
|
| 67 | 82 |
if(temp < 0) |
| 68 | 83 |
perror("Write Error");
|
| 69 | 84 |
count += temp; |
| 70 | 85 |
printf("sent: %d\n", count);
|
| 71 |
usleep(1000);
|
|
| 86 |
usleep(100); |
|
| 72 | 87 |
}while(count < 4); |
| 73 | 88 |
count = 0; |
| 74 | 89 |
printf("READING DATA\n");
|
| 75 | 90 |
do |
| 76 | 91 |
{
|
| 77 |
count += read(serialFile, encoders, 4); |
|
| 92 |
count += read(serialFileIn, encoders, 4);
|
|
| 78 | 93 |
}while(count < 4); |
| 79 | 94 |
|
| 80 | 95 |
int leftEncoder = (encoders[0] << 8) | encoders[1]; |
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