Create command daemon on AIC.

diff --git a/CmdDaemon/CmdDaemon.java b/CmdDaemon/CmdDaemon.java
new file mode 100644 (file)
index 0000000..75ef6bc
--- /dev/null
+++ b/CmdDaemon/CmdDaemon.java
@@ -0,0 +1,192 @@
+/******************************************************************************
+
+                       Actuator Interface Card
+                             Command Daemon
+       Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+    You can also obtain a copy of the GNU General Public License
+    at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import br.ufrgs.eletro.AIC.*;
+import com.dalsemi.comm.*;
+import com.dalsemi.system.*;
+import java.io.*;
+import java.lang.*;
+
+class CmdDaemon extends Thread
+{
+       static final int BASE=0x800000;
+
+       static AIC aic;
+       static Host host;
+       static boolean debug=false;
+       static boolean udp=false;
+       static boolean help=false;
+
+       public static void main(String[] args) throws IOException,CanBusException
+       {
+               int i;
+               int hostarg=0;
+
+               System.out.println("AIC Command Daemon");
+               System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
+
+               switch(args.length)
+               {
+                       case 0:
+                       {
+                               help=true;
+                               break;
+                       }
+                       case 1:
+                       {
+                               if(args[0].equals("-debug") ||
+                                       args[0].equals("-UDP")) help=true;
+                               break;
+                       }
+                       case 2:
+                       {
+                               hostarg=1;
+                               if(args[0].equals("-debug")) debug=true;
+                               else help=true;
+                               break;
+                       }
+                       case 3:
+                       {
+                               hostarg=1;
+                               if(args[0].equals("-UDP")) udp=true;
+                               else help=true;
+                               break;
+                       }
+                       case 4:
+                       {
+                               hostarg=2;
+                               if(args[0].equals("-debug")) debug=true;
+                               else help=true;
+                               if(args[1].equals("-UDP")) udp=true;
+                               else help=true;
+                               break;
+                       }
+                       default:
+                       {
+                               help=true;
+                       }
+               }
+               
+
+               if(help)
+               {
+                       System.out.println("Usage:\tjava CmdDaemon.tini [-debug] aic_id");
+                       System.out.println("\tor");
+                       System.out.println("\tjava CmdDaemon.tini [-debug] -UDP controller_host status_port");
+                       System.exit(1);
+               }
+               try
+               {
+                       aic=new AIC(BASE,24.0,20e3,2000);
+                       if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
+                               else host=new HostCAN(Integer.parseInt(args[hostarg]));
+
+                       GetCommand getCommand=new GetCommand();
+                       getCommand.setPriority(Thread.MAX_PRIORITY);
+                       getCommand.start();
+
+                       if(debug) System.out.println("getCommand priority="+getCommand.getPriority());
+               }
+               catch (NumberFormatException nfe)
+               {
+                       System.out.println("Usage: java CmdDaemon.tini [-debug] [-UDP controller_host port] | aicid");
+                       System.exit(1);
+               }
+       }
+}
+
+
+class GetCommand extends CmdDaemon
+{
+       public void run()
+       {
+               try
+               {
+                       aic.on();
+                       aic.brake.release();
+
+                       for(int k=0;;k++)
+                       {
+                               if(debug) System.out.print("k="+k+"\t");
+
+                               int cmd=host.command();
+
+                               if(debug) System.out.print("Command="+ cmd  +"\t");
+                               
+                               switch(cmd)
+                               {
+                                       case Host.MOTOR_ON:
+                                       {
+                                               if(debug) System.out.print("Motor on\t");
+                                               aic.motor.on();
+                                               break;  
+                                       }
+                                       case Host.MOTOR_OFF:
+                                       {
+                                               if(debug) System.out.print("Motor off\t");
+                                               aic.motor.off();
+                                               break;
+                                       }
+                                       case Host.MOTOR_ACT:
+                                       {
+                                               if(debug) System.out.print("Voltage="+host.voltage()+"\t");
+                                               aic.motor.set(host.voltage());
+                                               break;
+                                       }
+                                       case Host.BRAKE_RELEASE:
+                                       {
+                                               if(debug) System.out.print("Brake release\t");
+                                               aic.brake.release();
+                                               break;  
+                                       }
+                                       case Host.BRAKE_APPLY:
+                                       {
+                                               if(debug) System.out.print("Brake apply\t");
+                                               aic.brake.apply();
+                                               break;
+                                       }
+/*                                     case Host.RESET:
+                                       {
+                                               if(debug) System.out.print("Reset\t");
+                                               aic.reset();
+                                               break;                  
+                                       }
+*/                                     
+                                       default:
+                                       {
+                                               if(debug) System.out.print("Invalid\t");
+                                               break;                  
+                                       }
+
+                               }
+                       if(debug) System.out.println("");               
+                       }
+               }
+               catch (Exception all)
+               {
+                       all.printStackTrace();
+               }
+       }
+}

diff --git a/CmdDaemon/Makefile b/CmdDaemon/Makefile
new file mode 100644 (file)
index 0000000..c344464
--- /dev/null
+++ b/CmdDaemon/Makefile
@@ -0,0 +1,33 @@
+CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
+APIDBPATH=-d /opt/tini/bin/tini.db
+DEPPATH=-p /opt/tini/bin/modules.jar
+DEPFILE=-x /opt/tini/bin/owapi_dep.txt
+DEPNAME=-add CAN
+LIBPATH=-path ../lib/AIC.jar
+NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib
+JAVAFLAGS=-O -target 1.1 -source 1.3
+TARGET= aic1 aic2 aic3 aic4 aic5
+
+all: CmdDaemon.tini
+
+CmdDaemon.class: CmdDaemon.java ../lib/AIC.jar
+       javac ${JAVAFLAGS} ${CLASSPATH} CmdDaemon.java
+
+CmdDaemon.tini: CmdDaemon.class ../lib/AIC.jar
+       java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CmdDaemon.class ${APIDBPATH} -o CmdDaemon.tini ${LIBPATH} ${NATLIB}
+
+clean:
+       rm -f *.bak *~ *.class UPLOADED
+
+distclean: clean
+       rm -f CmdDaemon.tini
+
+upload: UPLOADED
+
+UPLOADED: CmdDaemon.tini
+       for i in ${TARGET}; do \
+               ftp $$i < upload.ftp; \
+               echo $$i uploaded; \
+       done
+
+

diff --git a/IODaemon/IODaemon.java b/IODaemon/IODaemon.java
index 5edbf7b..023354f 100644 (file)
--- a/IODaemon/IODaemon.java
+++ b/IODaemon/IODaemon.java
@@ -32,7 +32,7 @@ import java.lang.*;
 class IODaemon extends Thread
 {
        static final int BASE=0x800000;
-       static final int ST=500;
+       static final int ST=50;
 
        static AIC aic;
        static Host host;

diff --git a/Makefile b/Makefile
index c2075f1..e4fb3ac 100644 (file)
--- a/Makefile
+++ b/Makefile
@@ -12,6 +12,7 @@ PACKAGES=     doc \
                PID \
                StrobeTest \
                DoorDaemon \
+               CmdDaemon \
                aicd \
                braketst \
                encodertst \

diff --git a/MotorTest/MotorTest.java b/MotorTest/MotorTest.java
index 18f321b..fb2b079 100644 (file)
--- a/MotorTest/MotorTest.java
+++ b/MotorTest/MotorTest.java
@@ -62,12 +62,12 @@ class MotorTest
 
                aic.brake.release();
 
-               for(i=0;(i <= 12) && run;i++) iter(i);
+               for(i=0;(i <= 24) && run;i++) iter(i);
 
                while(run)
                {
-                       for(i=12;(i >= -12) && run;i--) iter(i);
-                       for(i=-12;(i <= 12) && run;i++) iter(i);
+                       for(i=24;(i >= -24) && run;i--) iter(i);
+                       for(i=-24;(i <= 24) && run;i++) iter(i);
                }
                aic.off();
        }