Revision: 9043
http://playerstage.svn.sourceforge.net/playerstage/?rev=9043&view=rev
Author: jpgr87
Date: 2011-05-12 02:08:59 +0000 (Thu, 12 May 2011)
Log Message:
-----------
Applied patch #3296942: diocmd clk signal generation ability
Modified Paths:
--------------
code/player/trunk/server/drivers/shell/diocmd.cc
Modified: code/player/trunk/server/drivers/shell/diocmd.cc
===================================================================
--- code/player/trunk/server/drivers/shell/diocmd.cc 2011-04-11 22:16:54 UTC
(rev 9042)
+++ code/player/trunk/server/drivers/shell/diocmd.cc 2011-05-12 02:08:59 UTC
(rev 9043)
@@ -57,10 +57,19 @@
- read_only (integer)
- Default: 1
- If set to 1, received commands will not change the state
+- wait_on_normal (double)
+ - Default: 0.0 (no effect)
+ - Wait time in secs.
+- wait_on_opposite (double)
+ - Default: 0.0 (no effect)
+ - Wait time in secs.
- sleep_nsec (integer)
- Default: 100000000 (10 sends per second)
- timespec value for nanosleep()
+When wait_on_normal and wait_on_opposite options are given,
+this driver acts as a clock signal source.
+
@par Example
@verbatim
@@ -84,6 +93,8 @@
#include <pthread.h>
#include <libplayercore/playercore.h>
+#define EPS 0.000000000000001
+
class DioCmd : public ThreadedDriver
{
public:
@@ -110,9 +121,12 @@
uint32_t bits;
uint32_t bits_count;
int read_only;
+ double wait_on_normal;
+ double wait_on_opposite;
int sleep_nsec;
uint32_t state;
uint32_t state_count;
+ int opposite;
};
////////////////////////////////////////////////////////////////////////////////
@@ -131,9 +145,12 @@
this->bits = 0;
this->bits_count = 0;
this->read_only = 0;
+ this->wait_on_normal = 0.0;
+ this->wait_on_opposite = 0.0;
this->sleep_nsec = 0;
this->state = 0;
this->state_count = 0;
+ this->opposite = 0;
if (cf->ReadDeviceAddr(&(this->provided_dio_addr), section, "provides",
PLAYER_DIO_CODE, -1, NULL))
{
@@ -192,6 +209,20 @@
this->state = this->bits;
this->state_count = this->bits_count;
this->read_only = cf->ReadInt(section, "read_only", 1);
+ this->wait_on_normal = cf->ReadFloat(section, "wait_on_normal", 0.0);
+ if (this->wait_on_normal < 0.0)
+ {
+ PLAYER_ERROR("Invalid wait_on_normal value");
+ this->SetError(-1);
+ return;
+ }
+ this->wait_on_opposite = cf->ReadFloat(section, "wait_on_opposite", 0.0);
+ if (this->wait_on_opposite < 0.0)
+ {
+ PLAYER_ERROR("Invalid wait_on_opposite value");
+ this->SetError(-1);
+ return;
+ }
this->sleep_nsec = cf->ReadInt(section, "sleep_nsec", 100000000);
if ((this->sleep_nsec) <= 0)
{
@@ -236,14 +267,20 @@
////////////////////////////////////////////////////////////////////////////////
// Main function for device thread
-void DioCmd::Main()
+void DioCmd::Main()
{
struct timespec tspec;
player_dio_cmd_t dio_cmd;
player_dio_data_t dio_data;
+ double last_time = 0.0;
+ double d = 0.0;
+ uint32_t tmp;
+ int i;
this->state = this->bits;
this->state_count = this->bits_count;
+ this->opposite = 0;
+ GlobalTime->GetTimeDouble(&last_time);
for (;;)
{
// Test if we are supposed to cancel
@@ -255,6 +292,22 @@
// Test if we are supposed to cancel
pthread_testcancel();
+ if (((this->wait_on_normal) > EPS) && ((this->wait_on_opposite) > EPS))
+ {
+ GlobalTime->GetTimeDouble(&d);
+ if (((d - last_time) + EPS) >= ((this->opposite) ?
(this->wait_on_opposite) : (this->wait_on_normal)))
+ {
+ tmp = 1;
+ for (i = 0; i < static_cast<int>(this->state_count); i++)
+ {
+ this->state ^= tmp;
+ tmp <<= 1;
+ }
+ last_time = d;
+ (this->opposite) = (!(this->opposite));
+ }
+ }
+
if (this->use_dio)
{
memset(&dio_cmd, 0, sizeof dio_cmd);
@@ -324,6 +377,7 @@
if (!dio_cmd) return -1;
this->state = dio_cmd->digout;
this->state_count = dio_cmd->count;
+ this->opposite = 0;
return 0;
}
return -1;
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