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root/truck/DashInterface/Display.cpp

Comparing:
GPS/GPS.cpp (file contents), Revision 25 by douglas, 2008-02-09T01:39:22-08:00 vs.
DashInterface/Display.cpp (file contents), Revision 36 by douglas, 2008-03-04T22:24:35-08:00

#	Line 1 | Line 1
1	<	// GPS
1	>	// Display (Crystalfontz CFA-635 USB LCD)
2		//
3		// Douglas Thrift
4		//
5		// $Id$
6
7	<	#include <cerrno>
7	>	#include <foreach.hpp>
8	>	#include <scopes.hpp>
9	>
10	>	#include <iomanip>
11		#include <iostream>
9	–	#include <sstream>
12
13	<	#include <posix.hpp>
13	>	#include <fcntl.h>
14	>	#include <termios.h>
15	>
16	>	#include "Display.hpp"
17	>
18	>	extern bool debug;
19	>
20	>	static uint16_t GetCRC(uint8_t *buffer, size_t length)
21	>	{
22	>	static const uint16_t table[256] = {
23	>	0x00000, 0x01189, 0x02312, 0x0329b, 0x04624, 0x057ad, 0x06536, 0x074bf,
24	>	0x08C48, 0x09DC1, 0x0AF5A, 0x0BED3, 0x0CA6C, 0x0DBE5, 0x0E97E, 0x0F8F7,
25	>	0x01081, 0x00108, 0x03393, 0x0221a, 0x056a5, 0x0472c, 0x075b7, 0x0643e,
26	>	0x09CC9, 0x08D40, 0x0BFDB, 0x0AE52, 0x0DAED, 0x0CB64, 0x0F9FF, 0x0E876,
27	>	0x02102, 0x0308b, 0x00210, 0x01399, 0x06726, 0x076af, 0x04434, 0x055bd,
28	>	0x0AD4A, 0x0BCC3, 0x08E58, 0x09FD1, 0x0EB6E, 0x0FAE7, 0x0C87C, 0x0D9F5,
29	>	0x03183, 0x0200a, 0x01291, 0x00318, 0x077a7, 0x0662e, 0x054b5, 0x0453c,
30	>	0x0BDCB, 0x0AC42, 0x09ED9, 0x08F50, 0x0FBEF, 0x0EA66, 0x0D8FD, 0x0C974,
31	>	0x04204, 0x0538d, 0x06116, 0x0709f, 0x00420, 0x015a9, 0x02732, 0x036bb,
32	>	0x0ce4c, 0x0dfc5, 0x0ed5e, 0x0fcd7, 0x08868, 0x099e1, 0x0ab7a, 0x0baf3,
33	>	0x05285, 0x0430c, 0x07197, 0x0601e, 0x014a1, 0x00528, 0x037b3, 0x0263a,
34	>	0x0decd, 0x0cf44, 0x0fddf, 0x0ec56, 0x098e9, 0x08960, 0x0bbfb, 0x0aa72,
35	>	0x06306, 0x0728f, 0x04014, 0x0519d, 0x02522, 0x034ab, 0x00630, 0x017b9,
36	>	0x0EF4E, 0x0FEC7, 0x0CC5C, 0x0DDD5, 0x0A96A, 0x0B8E3, 0x08A78, 0x09BF1,
37	>	0x07387, 0x0620e, 0x05095, 0x0411c, 0x035a3, 0x0242a, 0x016b1, 0x00738,
38	>	0x0FFCF, 0x0EE46, 0x0DCDD, 0x0CD54, 0x0B9EB, 0x0A862, 0x09AF9, 0x08B70,
39	>	0x08408, 0x09581, 0x0a71a, 0x0b693, 0x0c22c, 0x0d3a5, 0x0e13e, 0x0f0b7,
40	>	0x00840, 0x019c9, 0x02b52, 0x03adb, 0x04e64, 0x05fed, 0x06d76, 0x07cff,
41	>	0x09489, 0x08500, 0x0b79b, 0x0a612, 0x0d2ad, 0x0c324, 0x0f1bf, 0x0e036,
42	>	0x018c1, 0x00948, 0x03bd3, 0x02a5a, 0x05ee5, 0x04f6c, 0x07df7, 0x06c7e,
43	>	0x0a50a, 0x0b483, 0x08618, 0x09791, 0x0e32e, 0x0f2a7, 0x0c03c, 0x0d1b5,
44	>	0x02942, 0x038cb, 0x00a50, 0x01bd9, 0x06f66, 0x07eef, 0x04c74, 0x05dfd,
45	>	0x0b58b, 0x0a402, 0x09699, 0x08710, 0x0f3af, 0x0e226, 0x0d0bd, 0x0c134,
46	>	0x039C3, 0x0284A, 0x01AD1, 0x00B58, 0x07FE7, 0x06E6E, 0x05CF5, 0x04D7C,
47	>	0x0c60c, 0x0d785, 0x0e51e, 0x0f497, 0x08028, 0x091a1, 0x0a33a, 0x0b2b3,
48	>	0x04a44, 0x05bcd, 0x06956, 0x078df, 0x00c60, 0x01de9, 0x02f72, 0x03efb,
49	>	0x0d68d, 0x0c704, 0x0f59f, 0x0e416, 0x090a9, 0x08120, 0x0b3bb, 0x0a232,
50	>	0x05AC5, 0x04B4C, 0x079D7, 0x0685E, 0x01CE1, 0x00D68, 0x03FF3, 0x02E7A,
51	>	0x0e70e, 0x0f687, 0x0c41c, 0x0d595, 0x0a12a, 0x0b0a3, 0x08238, 0x093b1,
52	>	0x06b46, 0x07acf, 0x04854, 0x059dd, 0x02d62, 0x03ceb, 0x00e70, 0x01ff9,
53	>	0x0f78f, 0x0e606, 0x0d49d, 0x0c514, 0x0b1ab, 0x0a022, 0x092b9, 0x08330,
54	>	0x07BC7, 0x06A4E, 0x058D5, 0x0495C, 0x03DE3, 0x02C6A, 0x01EF1, 0x00F78,
55	>	};
56	>	register uint16_t crc(0xffff);
57	>
58	>	while (length--)
59	>	crc = (crc >> 8) ^ table[(crc ^ *buffer++) & 0xff];
60	>
61	>	return ~crc;
62	>	}
63	>
64	>	Display::Packet::Packet(Display::Packet::Command command, uint8_t length, const uint8_t *data) : command(command), length(length)
65	>	{
66	>	if (length > sizeof (this->data))
67	>	throw;
68	>
69	>	::memcpy(this->data, data, length);
70	>
71	>	crc = GetCRC(reinterpret_cast<uint8_t *>(this), length + 2);
72	>	}
73	>
74	>	std::ostream &operator<<(std::ostream &output, const Display::Packet &packet)
75	>	{
76	>	return output << _B("0x") << std::hex << std::setw(2) << std::setfill('0') << unsigned(packet.command) << _B(" [") << packet.GetData() << ']';
77	>	}
78	>
79	>	void operator<<(int fd, const Display::Packet &packet)
80	>	{
81	>	if (packet.length != sizeof (packet.data))
82	>	::memcpy(const_cast<uint8_t *>(packet.data) + packet.length, &packet.crc, 2);
83	>
84	>	if (debug)
85	>	std::cerr << _B("<< ") << packet << std::endl;
86	>
87	>	Posix::Write(fd, &packet, packet.length + 4);
88	>	}
89	>
90	>	void operator>>(int fd, Display::Packet &packet)
91	>	{
92	>	Posix::Read(fd, &packet, 2);
93	>	Posix::Read(fd, packet.data, packet.length);
94	>	Posix::Read(fd, &packet.crc, 2);
95	>
96	>	if (debug)
97	>	std::cerr << _B(">> ") << packet << std::endl;
98	>	}
99	>
100	>	void Communicate(Display *display)
101	>	{
102	>	display->Communicate_();
103	>	}
104	>
105	>	Display::Display(const std::string &device) : ucom(Posix::Open(device, O_RDWR | O_NOCTTY | O_NONBLOCK)), ucomCondition(ucomLock), running(true), responsesCondition(responsesLock), thread(reinterpret_cast<void *(*)(void *)>(::Communicate), this)
106	>	{
107	>	::termios state;
108	>
109	>	Posix::CheckError(::tcgetattr(ucom, &state));
110	>	Posix::CheckError(::cfsetospeed(&state, B115200));
111	>	Posix::CheckError(::cfsetispeed(&state, B115200));
112	>
113	>	state.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | INPCK | ISTRIP | INLCR | IGNCR | ICRNL | IXON | IXOFF);
114	>	state.c_iflag |= IGNPAR;
115	>	state.c_oflag &= ~(OPOST | ONLCR | ONOCR | ONLRET);
116	>	state.c_cflag &= ~(CSIZE | PARENB | PARODD | HUPCL | CRTSCTS);
117	>	state.c_cflag |= CREAD | CS8 | CSTOPB | CLOCAL;
118	>	state.c_lflag &= ~(ISIG | ICANON | IEXTEN | ECHO);
119	>	state.c_lflag |= NOFLSH;
120	>
121	>	Posix::CheckError(::tcsetattr(ucom, TCSANOW, &state));
122	>
123	>	_synchronized (ucomLock)
124	>	ucomCondition.Signal();
125	>	}
126	>
127	>	Display::~Display()
128	>	{
129	>	running = false;
130	>
131	>	thread.Join();
132
133	<	#include "GPS.hpp"
133	>	Posix::Close(ucom);
134	>	}
135
136	<	namespace GPS
136	>	void Display::Communicate_()
137		{
138	+	_synchronized (ucomLock)
139	+	ucomCondition.Wait();
140	+
141	+	while (running)
142	+	{
143	+	Packet response;
144	+
145	+	_synchronized (ucomLock)
146	+	try
147	+	{
148	+	ucom >> response;
149	+	}
150	+	catch (const Posix::Error error)
151	+	{
152	+	if (error.what() != _B("Resource temporarily unavailable"))
153	+	throw error;
154	+
155	+	goto next;
156	+	}
157	+
158	+	if ((response.command & Packet::Error) == Packet::Error);
159	+	else if ((response.command & Packet::Report) == Packet::Report)
160	+	switch (response.command)
161	+	{
162	+	case Packet::KeyActivity:
163	+	_synchronized (keyActivityLock)
164	+	keyActivity.push(response);
165	+
166	+	break;
167	+	case Packet::FanSpeedReport:
168	+	case Packet::TemperatureSensorReport:
169	+	break;
170	+	}
171	+	else if ((response.command & Packet::Response) == Packet::Response)
172	+	_synchronized (responsesLock)
173	+	{
174	+	responses.push(response);
175	+	responsesCondition.Signal();
176	+	}
177	+
178	+	next:   ::usleep(10000);
179	+	}
180	+	}
181
182	<	Error::Error()
182	>	Display::Packet Display::Communicate_(Display::Packet::Command command, uint8_t length, const uint8_t *data)
183		{
184	<	std::ostringstream message;
184	>	Packet packet(command, length, data);
185
186	<	message << _B("GPS[#") << errno << _B("] ");
186	>	retry:
187	>	_synchronized (ucomLock)
188	>	ucom << packet;
189
190	<	switch (errno)
190	>	_synchronized (responsesLock)
191		{
192	<	case NL_NOSERVICE:
193	<	message << _B("can't get service entry");
192	>	while (responses.empty())
193	>	try
194	>	{
195	>	timeval when;
196	>
197	>	::gettimeofday(&when, NULL);
198	>
199	>	timespec wait;
200	>
201	>	TIMEVAL_TO_TIMESPEC(&when, &wait);
202	>
203	>	++wait.tv_sec;
204	>
205	>	responsesCondition.Wait(wait);
206	>	}
207	>	catch (const Posix::Error &error)
208	>	{
209	>	if (error.what() != _B("Operation timed out"))
210	>	throw error;
211
212	<	break;
213	<	case NL_NOHOST:
31	<	message << _B("can't get host entry");
32	<
33	<	break;
34	<	case NL_NOPROTO:
35	<	message << _B("can't get protocol entry");
36	<
37	<	break;
38	<	case NL_NOSOCK:
39	<	message << _B("can't create socket");
40	<
41	<	break;
42	<	case NL_NOSOCKOPT:
43	<	message << _B("error SETSOCKOPT SO_REUSEADDR");
44	<
45	<	break;
46	<	case NL_NOCONNECT:
47	<	message << _B("can't connect to host");
212	>	goto retry;
213	>	}
214
215	<	break;
215	>	Packet response(responses.front());
216	>
217	>	responses.pop();
218	>
219	>	assert ((packet.command | Packet::Response) == response.command);
220	>
221	>	return response;
222		}
223
224	<	this->message = message.str();
224	>	throw;
225		}
226
227	<	GPS::GPS(const std::string &host, const std::string &port) : gps(::gps_open(host.c_str(), port.c_str()))
227	>	bool Display::Ping(const std::string &data)
228		{
229	<	if (gps == NULL)
58	<	throw Error();
229	>	return data == Communicate<const std::string &>(Packet::PingCommand, data).GetData();
230		}
231
232	<	void GPS::Poll()
232	>	std::string Display::Version()
233		{
234	<	Posix::CheckError(::gps_poll(gps));
234	>	return Communicate(Packet::GetHardwareAndFirmwareVersion).GetData();
235		}
236
237	<	void GPS::Query(const std::string &query)
237	>	void Display::Set(uint8_t column, uint8_t row, const std::string &data)
238		{
239	<	Posix::CheckError(::gps_query(gps, query.c_str()));
239	>	Communicate(Packet::SendDataToLCD, column, row, data);
240		}
241
242	+	Display::KeyActivity Display::GetKeyActivity()
243	+	{
244	+	_synchronized (keyActivityLock)
245	+	if (keyActivity.size())
246	+	{
247	+	KeyActivity activity(KeyActivity(*keyActivity.front().data));
248	+
249	+	keyActivity.pop();
250	+
251	+	return activity;
252	+	}
253	+
254	+	return None;
255		}

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