Update of /cvsroot/playerstage/code/player/server/drivers/rfid
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10644
Modified Files:
rfi341_protocol.cc rfi341_protocol.h sickrfi341.cc
Log Message:
finalized the sickrfi341 driver
Index: sickrfi341.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/rfid/sickrfi341.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** sickrfi341.cc 14 Mar 2007 18:01:08 -0000 1.1
--- sickrfi341.cc 15 Mar 2007 12:06:45 -0000 1.2
***************
*** 118,122 ****
// connection parameters
const char* portName;
! int portSpeed;
int debug;
--- 118,124 ----
// connection parameters
const char* portName;
! int connect_rate;
! int transfer_rate;
! int current_rate;
int debug;
***************
*** 131,136 ****
{
// Read connection settings
! portName = cf->ReadString (section, "port", DEFAULT_RFI341_PORT);
! portSpeed = cf->ReadInt (section, "speed", DEFAULT_RFI341_RATE);
debug = cf->ReadInt (section, "debug", 0);
--- 133,140 ----
{
// Read connection settings
! portName = cf->ReadString (section, "port", DEFAULT_RFI341_PORT);
! connect_rate = cf->ReadInt (section, "connect_rate", DEFAULT_RFI341_RATE);
! transfer_rate = cf->ReadInt (section, "transfer_rate", DEFAULT_RFI341_RATE);
! current_rate = 0;
debug = cf->ReadInt (section, "debug", 0);
***************
*** 152,158 ****
// Attempt to connect to the rfid unit
! if (rfi341->Connect (portSpeed) != 0)
return (-1);
// Start the device thread
StartThread ();
--- 156,173 ----
// Attempt to connect to the rfid unit
! if (rfi341->Connect (connect_rate) != 0)
return (-1);
+ current_rate = connect_rate;
+
+ if (connect_rate != transfer_rate)
+ {
+ // Attempt to connect to the rfid unit
+ if (rfi341->SetupSensor (transfer_rate) != 0)
+ return (-1);
+ else
+ current_rate = transfer_rate;
+ }
+
// Start the device thread
StartThread ();
***************
*** 169,172 ****
--- 184,191 ----
StopThread ();
+ // Change back to the original speed
+ if (current_rate != connect_rate)
+ rfi341->SetupSensor (connect_rate);
+
// Disconnect from the rfid unit
rfi341->Disconnect ();
Index: rfi341_protocol.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/rfid/rfi341_protocol.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** rfi341_protocol.cc 14 Mar 2007 18:01:08 -0000 1.1
--- rfi341_protocol.cc 15 Mar 2007 12:06:45 -0000 1.2
***************
*** 17,23 ****
rfi341_protocol::rfi341_protocol (const char* port_name, int debug_mode)
{
! port = port_name;
! verbose = debug_mode;
! tags = (char**)NULL;
number_of_tags = 0;
}
--- 17,23 ----
rfi341_protocol::rfi341_protocol (const char* port_name, int debug_mode)
{
! port = port_name;
! verbose = debug_mode;
! tags = (char**)NULL;
number_of_tags = 0;
}
***************
*** 33,41 ****
if (fd < 0)
{
! PLAYER_ERROR2 ("> Connecting to SICK RFI341 on [%s]; [%s]...[failed!]",
! (char*) port, strerror (errno));
! return (-1);
}
- PLAYER_MSG0 (1, "> Connecting to SICK RFI341...[done]");
// Change port settings
--- 33,40 ----
if (fd < 0)
{
! PLAYER_ERROR2 ("> Connecting to SICK RFI341 on [%s]; [%s]...[failed!]",
! (char*) port, strerror (errno));
! return (-1);
}
// Change port settings
***************
*** 44,50 ****
// Get the current port settings
if (tcgetattr (fd, &options) != 0) {
! PLAYER_ERROR (">> Unable to get serial port attributes !");
! return (-1);
}
// turn off break sig, cr->nl, parity off, 8 bit strip, flow control
--- 43,50 ----
// Get the current port settings
if (tcgetattr (fd, &options) != 0) {
! PLAYER_ERROR (">> Unable to get serial port attributes !");
! return (-1);
}
+ tcgetattr (fd, &initial_options);
// turn off break sig, cr->nl, parity off, 8 bit strip, flow control
***************
*** 108,112 ****
// Activate the settings for the port
! if (tcsetattr (this->fd, TCSAFLUSH, &options) < 0)
{
PLAYER_ERROR (">> Unable to set serial port attributes !");
--- 108,112 ----
// Activate the settings for the port
! if (tcsetattr (fd, TCSAFLUSH, &options) < 0)
{
PLAYER_ERROR (">> Unable to set serial port attributes !");
***************
*** 114,119 ****
}
// Make sure queues are empty before we begin
! tcflush (this->fd, TCIOFLUSH);
return (0);
--- 114,120 ----
}
+ PLAYER_MSG1 (1, "> Connecting to SICK RFI341 at %dbps...[done]",
port_speed);
// Make sure queues are empty before we begin
! tcflush (fd, TCIOFLUSH);
return (0);
***************
*** 126,132 ****
--- 127,137 ----
rfi341_protocol::Disconnect ()
{
+ // Close the serial port
+ tcsetattr (fd, TCSANOW, &initial_options);
return (close (fd));
}
+
////////////////////////////////////////////////////////////////////////////////
+ // Changes the transfer speed (or other parameters) of the RFI341 unit.
int
rfi341_protocol::SetupSensor (int transfer_speed)
***************
*** 194,207 ****
// Tell sensor to change the baud rate
char *c = (char*) malloc (10);
! sprintf (c, "1003%s", transferspeed_string);
! SendCommand (c);
! ReadResult ();
! //OK, we told the sensor to change baud rate, so let's do it also
struct termios options;
! memset (&options, 0, sizeof (options));// clear the struct for new port
settings
// Get the current port settings
! if (tcgetattr (this->fd, &options) != 0) {
PLAYER_ERROR (">> Unable to get serial port attributes !");
return (-1);
--- 199,216 ----
// Tell sensor to change the baud rate
char *c = (char*) malloc (10);
! while (strncmp ((const char*)buffer, "1003", 4) != 0)
! {
! sprintf (c, "1003%s", transferspeed_string);
! SendCommand (c);
! ReadResult ();
! }
! // OK, we told the sensor to change baud rate, so let's do it also
struct termios options;
! // clear the struct for new port settings
! memset (&options, 0, sizeof (options));
// Get the current port settings
! if (tcgetattr (fd, &options) != 0) {
PLAYER_ERROR (">> Unable to get serial port attributes !");
return (-1);
***************
*** 212,216 ****
// Activate the settings for the port
! if (tcsetattr (this->fd, TCSAFLUSH, &options) < 0)
{
PLAYER_ERROR (">> Unable to set serial port attributes !");
--- 221,225 ----
// Activate the settings for the port
! if (tcsetattr (fd, TCSAFLUSH, &options) < 0)
{
PLAYER_ERROR (">> Unable to set serial port attributes !");
***************
*** 218,232 ****
}
- // Make sure queues are empty before we begin
- tcflush (this->fd, TCIOFLUSH);
-
- // usleep (1000);
// issue Interface Test request so the sensor knows the baud rate change
went fine
! if (buffer[0] == 0x06) // got ACK?
{
SendCommand ("1002");
ReadResult ();
return (0);
}
return (-1);
}
--- 227,240 ----
}
// issue Interface Test request so the sensor knows the baud rate change
went fine
! if (checksum == 0x05) // if checksum == 5, then it's only STX "1003" ETX
{
SendCommand ("1002");
ReadResult ();
+ PLAYER_MSG1 (1, "> Changing transfer speed to %dbps...[done]",
transfer_speed);
return (0);
}
+ else
+ PLAYER_WARN1 ("> Checksum error [0x%x]!", checksum);
return (-1);
}
***************
*** 261,287 ****
// Read ACK
int n = read (fd, buffer, 1);
! if (n < 0)
! printf ("Error!\n");
! // else
! // printf ("Read one byte: %s\n",(buffer[0]==0x06)?"ACK":"no ack... :(");
// Read STX
n = read (fd, buffer, 1);
int read_count = 0;
! do // read until we find ETX
{
n = read (fd, &buffer[read_count], 1);
read_count += n;
! } while (buffer[read_count-1]!=0x03);
// don't forget to read checksum
n = read (fd, &buffer[read_count], 1);
! int checksum = buffer[read_count];
! read_count+=n;
! //TODO: check the checksum (that's what it's for!)
!
! buffer[read_count-2]=0x00;
bufferlength = read_count-2;
--- 269,294 ----
// Read ACK
int n = read (fd, buffer, 1);
! if (verbose && ((n < 0) || (buffer[0] != ACK)))
! printf (">> Error reading ACK [0x%x]!\n", buffer[0]);
// Read STX
n = read (fd, buffer, 1);
+ if (verbose && ((n < 0) || (buffer[0] != STX)))
+ printf (">> Error reading STX [0x%x]!\n", buffer[0]);
int read_count = 0;
! do // read until we find ETX
{
n = read (fd, &buffer[read_count], 1);
read_count += n;
! } while (buffer[read_count-1] != ETX);
// don't forget to read checksum
n = read (fd, &buffer[read_count], 1);
! checksum = buffer[read_count];
! read_count += n;
! // TODO: check the checksum (that's what it's for!)
! buffer[read_count-2] = 0x00;
bufferlength = read_count-2;
***************
*** 292,301 ****
printf ("ETX 0x%X\n", checksum);
}
- // printf ("> %s\n", buffer);
return (0);
}
////////////////////////////////////////////////////////////////////////////////
! // adds a header and the checksum to the command to be sent
int
rfi341_protocol::assemblecommand (unsigned char* cmd, int len)
--- 299,307 ----
printf ("ETX 0x%X\n", checksum);
}
return (0);
}
////////////////////////////////////////////////////////////////////////////////
! // Adds a header and the checksum to the command to be sent
int
rfi341_protocol::assemblecommand (unsigned char* cmd, int len)
***************
*** 304,316 ****
int index = 0;
! command[0] = STX; // Messages start with STX
for (index = 0; index < len; index++)
! command[index + 1] = cmd[index];
! command[1 + len] = ETX; // Messages end with ETX
for (int i = 0; i < len+2; i++)
! checksum ^= command[i];
command[2 + len] = checksum;
--- 310,322 ----
int index = 0;
! command[0] = STX; // Messages start with STX
for (index = 0; index < len; index++)
! command[index + 1] = cmd[index];
! command[1 + len] = ETX; // Messages end with ETX
for (int i = 0; i < len+2; i++)
! checksum ^= command[i];
command[2 + len] = checksum;
***************
*** 321,324 ****
--- 327,333 ----
}
+
////////////////////////////////////////////////////////////////////////////////
+ // Create an inventory of tags from the reader, fill in the Player data packet
+ // and return it
player_rfid_data_t
rfi341_protocol::ReadTags ()
***************
*** 328,341 ****
// create inventory, single mode
! SendCommand("6C20s");
! ReadResult();
// get inventory
! SendCommand("6C21");
! ReadResult();
! if (tags!=NULL)
{
! for (int i=0; i < number_of_tags; i++)
free (tags[i]);
free (tags);
--- 337,350 ----
// create inventory, single mode
! SendCommand ("6C20s");
! ReadResult ();
// get inventory
! SendCommand ("6C21");
! ReadResult ();
! if (tags != NULL)
{
! for (int i = 0; i < number_of_tags; i++)
free (tags[i]);
free (tags);
***************
*** 343,349 ****
// read number of tags:
! memcpy (buf, &buffer[4],4);
! buf[4]=0;
!
number_of_tags = atol(buf);
--- 352,357 ----
// read number of tags:
! memcpy (buf, &buffer[4], 4);
! buf[4] = 0;
number_of_tags = atol(buf);
***************
*** 354,361 ****
// read the tag UID's
! for (int i=0; i < number_of_tags; i++)
{
memcpy (tags[i], &buffer[8+i*16], 16);
! tags[i][16]=0;
}
--- 362,369 ----
// read the tag UID's
! for (int i = 0; i < number_of_tags; i++)
{
memcpy (tags[i], &buffer[8+i*16], 16);
! tags[i][16] = 0;
}
***************
*** 363,382 ****
player_rfid_data_t player_data;
player_data.tags_count = number_of_tags;
! player_rfid_tag_t tag;
for (int i=0; i < number_of_tags; i++)
{
! tag.type = 1;
tag.guid_count = 8;
! for (int j=0; j<8; j++)
{
// transfer ASCII 0x30 into a char '0', f. ex.
// this is done in steps of two digits (1 char)
! sscanf(tags[i]+j*2 , "%2X", &hexnumber);
tag.guid[7-j] = (char) hexnumber;
}
! player_data.tags[i]=tag;
}
return player_data;
-
}
-
--- 371,389 ----
player_rfid_data_t player_data;
player_data.tags_count = number_of_tags;
!
! player_rfid_tag_t tag;
for (int i=0; i < number_of_tags; i++)
{
! tag.type = 1;
tag.guid_count = 8;
! for (int j = 0; j < 8; j++)
{
// transfer ASCII 0x30 into a char '0', f. ex.
// this is done in steps of two digits (1 char)
! sscanf (tags[i]+j*2, "%2X", &hexnumber);
tag.guid[7-j] = (char) hexnumber;
}
! player_data.tags[i] = tag;
}
return player_data;
}
Index: rfi341_protocol.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/rfid/rfi341_protocol.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** rfi341_protocol.h 14 Mar 2007 18:01:08 -0000 1.1
--- rfi341_protocol.h 15 Mar 2007 12:06:45 -0000 1.2
***************
*** 5,8 ****
--- 5,9 ----
CVS: $Id$
*/
+ #include <termios.h>
#include <sys/types.h>
#include <libplayercore/playercore.h>
***************
*** 45,48 ****
--- 46,52 ----
char **tags;
+ // Initial serial port attributes
+ struct termios initial_options;
+
// Internal Parameters:
int verbose;
***************
*** 54,57 ****
--- 58,62 ----
unsigned char buffer[4096];
unsigned int bufferlength;
+ int checksum;
// for sending:
-------------------------------------------------------------------------
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