187 lines
3.4 KiB
C
187 lines
3.4 KiB
C
#ifndef FACILITIES_CPM_H
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#define FACILITIES_CPM_H
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#include <arpa/inet.h>
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#include <stdbool.h>
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#include <cpm/CPM.h>
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#include <termios.h>
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#include <unistd.h>
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#include <time.h>
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#include <net/if.h>
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#include <linux/if_packet.h>
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#define READ_BUFFER_SIZE 1024 // Buffer for Serial and Ethernet read function (Used in cp_service)
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#define NOF_OBJECTS 127 // Number of Object UMRR-0C
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#define ROAD_ANGLE 120
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#define MESSAGE_ID 14
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#define PROTOCOL_VERSION 1
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#define RADAR_PORT "55555" // Destination port from the radar
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/* Structures */
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typedef struct
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{
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int i32_socket; // Socket descriptor server
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int i32_client; // Socket descriptor UMRR-0C
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int i32_port; // Listen on Port
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bool b_moxa;
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struct sockaddr_in s_server;
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struct sockaddr_in s_client;
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} S_ETHERNET_CONNECTION_T;
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typedef struct
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{
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int raw_fd;
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struct sockaddr_ll sll;
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struct ifreq ifr;
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} S_INTERFACE_CONNECTION_T;
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typedef struct
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{
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u_int8_t u8_numberOfCountedObjects;
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u_int32_t u32_UnixTime;
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u_int16_t u16_Milliseconds;
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u_int8_t u8_SensorNetworkID;
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u_int8_t u8_ObjectNumber;
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u_int8_t u8_ObjectID;
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int16_t i16_speed;
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u_int8_t u8_class;
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u_int8_t u8_mLineNumber;
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u_int16_t u8_laneNumber;
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} S_PVR_T;
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typedef struct
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{
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u_int8_t u8_sensorStatus;
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u_int8_t u8_InterfaceMode;
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u_int8_t u8_networkID;
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u_int8_t u8_diagnose;
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u_int32_t u32_time;
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} S_SENSOR_CONTROL_T;
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typedef struct
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{
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u_int8_t u8_numberOfObjects;
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u_int8_t u8_numberOfMessages;
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u_int8_t u8_cycleDuration;
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u_int8_t u8_objectData0Format;
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u_int8_t u8_objectData1Format;
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u_int32_t u32_cycleCount;
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} S_OBJECT_CONTROL_T;
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typedef struct
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{
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u_int8_t u8_modeSignal;
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float f_xPoint;
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float f_yPoint;
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float f_xSpeed;
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float f_ySpeed;
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float f_objectLength;
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u_int8_t u8_objectID;
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u_int8_t u8_updateFlag;
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} S_OBJECTS_T;
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enum state_t {
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IDLE,
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START_1,
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START_2,
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START_3,
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START_4,
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START_PATTERN,
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PROTOCOLVERSION,
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HEADERLENGTH,
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PAYLOADLENGTH_H,
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PAYLOADLENGTH_L,
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APPPROTOCOLTYPE,
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FLAG_1_H,
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FLAG_1_L,
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FLAG_2_H,
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FLAG_2_L,
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CRC16HEADER_H,
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CRC16HEADER_L,
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PAYLOAD_DATA,
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CAN_ID_H,
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CAN_ID_L,
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CAN_LEN,
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CAN_PAYLOAD,
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PAYLOAD_CRC16_H,
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PAYLOAD_CRC16_L
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};
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typedef struct
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{
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bool active;
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bool tmc_connect;
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char* int_radar;
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char* ip_radar;
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pthread_mutex_t lock;
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uint32_t type;
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uint64_t next_cpm_max;
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uint64_t next_cpm_min;
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uint64_t T_GenCpmMin;
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uint64_t T_GenCpmMax;
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uint64_t T_AddSensorInformation;
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uint64_t next_AddSensorInformation;
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/* Position of the radar (Value from toml) */
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int64_t radar_rotation;
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} dissemination_t;
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/* Prototype Functions */
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/*
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Summary : Waits for client to connect (Radar)
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*/
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bool waitingIncomingConnection(void);
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/*
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Summary : Creation of socket and binding to the radar add and port
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param [in] char* radar_ip: Radar IP
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param [in] char* radar_port: Radar PORT
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*/
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bool initEthernetConnection(const char* radar_ip,const char* radar_port);
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/*
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Summary : Initialization for dissemination control. (Memory allocation and mutex init
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*/
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dissemination_t* dissemination_init();
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/*
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Summary : Creation of socket and binding to the radar add and port
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param [in] char* radar_ip: Radar IP
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param [in] char* radar_port: Radar PORT
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*/
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bool initEthernetConnection(const char* radar_ip,const char* radar_port);
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/*
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Summary: Read from Radar socket (s_socket.i32_socket) call the function to interpret data
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param[in] void
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*/
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void* cp_service(void* fc);
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#endif
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