Cleanup
This commit is contained in:
Anders Sandstrom
File diff suppressed because it is too large
Load Diff
@@ -1,153 +0,0 @@
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/*************************************************************************\
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* Copyright (c) 2019 European Spallation Source ERIC
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* ecmc is distributed subject to a Software License Agreement found
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* in file LICENSE that is included with this distribution.
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*
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* ecmcFFT.h
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*
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* Created on: Mar 22, 2020
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* Author: anderssandstrom
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*
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\*************************************************************************/
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#ifndef ECMC_FFT_H_
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#define ECMC_FFT_H_
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#include <stdexcept>
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#include "ecmcDataItem.h"
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#include "ecmcAsynPortDriver.h"
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#include "ecmcFFTDefs.h"
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#include "inttypes.h"
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#include <string>
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#include "kissfft/kissfft.hh"
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class ecmcFFT : public asynPortDriver {
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public:
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/** ecmc FFT class
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* This object can throw:
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* - bad_alloc
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* - invalid_argument
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* - runtime_error
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* - out_of_range
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*/
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ecmcFFT(int fftIndex, // index of this object
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char* configStr,
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char* portName);
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~ecmcFFT();
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// Add data to buffer (called from "external" callback)
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void dataUpdatedCallback(uint8_t* data,
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size_t size,
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ecmcEcDataType dt);
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// Call just before realtime because then all data sources should be available
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void connectToDataSource();
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void setEnable(int enable);
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void setModeFFT(FFT_MODE mode);
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FFT_STATUS getStatusFFT();
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void clearBuffers();
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void triggFFT();
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void doCalcWorker(); // Called from worker thread calc the results
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virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
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virtual asynStatus readFloat64Array(asynUser *pasynUser, epicsFloat64 *value,
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size_t nElements, size_t *nIn);
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virtual asynStatus readInt8Array(asynUser *pasynUser, epicsInt8 *value,
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size_t nElements, size_t *nIn);
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virtual asynStatus readFloat64(asynUser *pasynUser, epicsFloat64 *value);
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private:
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void parseConfigStr(char *configStr);
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void addDataToBuffer(double data);
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void calcFFT();
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void scaleFFT();
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void calcFFTAmp();
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void calcFFTXAxis();
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void removeDCOffset();
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void removeLin();
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void initAsyn();
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void updateStatus(FFT_STATUS status); // Also updates asynparam
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static int dataTypeSupported(ecmcEcDataType dt);
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ecmcDataItem *dataItem_;
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ecmcDataItemInfo *dataItemInfo_;
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ecmcAsynPortDriver *asynPort_;
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kissfft<double>* fftDouble_;
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double* rawDataBuffer_; // Input data (real)
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double* prepProcDataBuffer_; // Preprocessed data (real)
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std::complex<double>* fftBufferInput_; // Result (complex)
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std::complex<double>* fftBufferResult_; // Result (complex)
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double* fftBufferResultAmp_; // Resulting amplitude (abs of fftBufferResult_)
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double* fftBufferXAxis_; // FFT x axis with freqs
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size_t elementsInBuffer_;
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double ecmcSampleRateHz_;
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int dataSourceLinked_; // To avoid link several times
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// ecmc callback handle for use when deregister at unload
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int callbackHandle_;
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int fftWaitingForCalc_;
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int destructs_;
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int objectId_; // Unique object id
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int triggOnce_;
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int cycleCounter_;
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int ignoreCycles_;
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double scale_; // Config: Data set size
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FFT_STATUS status_; // Status/state (NO_STAT, IDLE, ACQ, CALC)
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// Config options
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char* cfgDataSourceStr_; // Config: data source string
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int cfgDbgMode_; // Config: allow dbg printouts
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int cfgApplyScale_; // Config: apply scale 1/nfft
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int cfgDcRemove_; // Config: remove dc (average)
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int cfgLinRemove_; // Config: remove linear componet (by least square)
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size_t cfgNfft_; // Config: Data set size
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int cfgEnable_; // Config: Enable data acq./calc.
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FFT_MODE cfgMode_; // Config: Mode continous or triggered.
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double cfgFFTSampleRateHz_; // Config: Sample rate (defaults to ecmc rate)
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double cfgScale_;
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double cfgDataSampleRateHz_; // Config: Sample for data
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// Asyn
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int asynEnableId_; // Enable/disable acq./calcs
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int asynRawDataId_; // Raw data (input) array (double)
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int asynPPDataId_; // Pre-processed data array (double)
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int asynFFTAmpId_; // FFT amplitude array (double)
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int asynFFTModeId_; // FFT mode (cont/trigg)
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int asynFFTStatId_; // FFT status (no_stat/idle/acq/calc)
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int asynSourceId_; // SOURCE
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int asynTriggId_; // Trigg new measurement
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int asynFFTXAxisId_; // FFT X-axis frequencies
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int asynNfftId_; // NFFT
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int asynSRateId_; // Sample rate
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int asynElementsInBuffer_; // Current buffer index
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// Thread related
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epicsEvent doCalcEvent_;
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// Some generic utility functions
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static uint8_t getUint8(uint8_t* data);
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static int8_t getInt8(uint8_t* data);
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static uint16_t getUint16(uint8_t* data);
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static int16_t getInt16(uint8_t* data);
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static uint32_t getUint32(uint8_t* data);
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static int32_t getInt32(uint8_t* data);
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static uint64_t getUint64(uint8_t* data);
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static int64_t getInt64(uint8_t* data);
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static float getFloat32(uint8_t* data);
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static double getFloat64(uint8_t* data);
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static size_t getEcDataTypeByteSize(ecmcEcDataType dt);
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static void printEcDataArray(uint8_t* data,
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size_t size,
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ecmcEcDataType dt,
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int objId);
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static void printComplexArray(std::complex<double>* fftBuff,
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size_t elements,
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int objId);
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static std::string to_string(int value);
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static int leastSquare(int n,
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const double y[],
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double* k,
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double* m); // y=kx+m
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};
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#endif /* ECMC_FFT_H_ */
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@@ -1,54 +0,0 @@
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/*************************************************************************\
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* Copyright (c) 2019 European Spallation Source ERIC
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* ecmc is distributed subject to a Software License Agreement found
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* in file LICENSE that is included with this distribution.
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*
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* ecmcFFTDefs.h
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*
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* Created on: Mar 22, 2020
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* Author: anderssandstrom
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* Credits to https://github.com/sgreg/dynamic-loading
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*
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\*************************************************************************/
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#ifndef ECMC_FFT_DEFS_H_
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#define ECMC_FFT_DEFS_H_
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// Options
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#define ECMC_PLUGIN_DBG_PRINT_OPTION_CMD "DBG_PRINT="
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#define ECMC_PLUGIN_SOURCE_OPTION_CMD "SOURCE="
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#define ECMC_PLUGIN_NFFT_OPTION_CMD "NFFT="
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//#define ECMC_PLUGIN_APPLY_SCALE_OPTION_CMD "APPLY_SCALE="
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#define ECMC_PLUGIN_RM_DC_OPTION_CMD "RM_DC="
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#define ECMC_PLUGIN_ENABLE_OPTION_CMD "ENABLE="
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#define ECMC_PLUGIN_RATE_OPTION_CMD "RATE="
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#define ECMC_PLUGIN_RM_LIN_OPTION_CMD "RM_LIN="
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#define ECMC_PLUGIN_SCALE_OPTION_CMD "SCALE="
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// CONT, TRIGG
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#define ECMC_PLUGIN_MODE_OPTION_CMD "MODE="
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#define ECMC_PLUGIN_MODE_CONT_OPTION "CONT"
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#define ECMC_PLUGIN_MODE_TRIGG_OPTION "TRIGG"
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typedef enum FFT_MODE{
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NO_MODE = 0,
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CONT = 1,
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TRIGG = 2,
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} FFT_MODE;
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typedef enum FFT_STATUS{
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NO_STAT = 0,
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IDLE = 1, // Doing nothing, waiting for trigg
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ACQ = 2, // Acquireing data
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CALC = 3, // Calc FFT
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} FFT_STATUS;
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/** Just one error code in "c" part of plugin
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(error handled with exceptions i c++ part) */
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#define ECMC_PLUGIN_FFT_ERROR_CODE 1
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// Default size (must be n²)
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#define ECMC_PLUGIN_DEFAULT_NFFT 4096
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#endif /* ECMC_FFT_DEFS_H_ */
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@@ -1,133 +0,0 @@
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/*************************************************************************\
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* Copyright (c) 2019 European Spallation Source ERIC
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* ecmc is distributed subject to a Software License Agreement found
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* in file LICENSE that is included with this distribution.
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*
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* ecmcFFTWrap.cpp
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*
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* Created on: Mar 22, 2020
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* Author: anderssandstrom
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* Credits to https://github.com/sgreg/dynamic-loading
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*
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\*************************************************************************/
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// Needed to get headers in ecmc right...
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#define ECMC_IS_PLUGIN
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#include <vector>
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#include <stdexcept>
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#include <string>
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#include "ecmcFFTWrap.h"
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#include "ecmcFFT.h"
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#include "ecmcFFTDefs.h"
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#define ECMC_PLUGIN_MAX_PORTNAME_CHARS 64
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#define ECMC_PLUGIN_PORTNAME_PREFIX "PLUGIN.FFT"
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static std::vector<ecmcFFT*> ffts;
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static int fftObjCounter = 0;
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static char portNameBuffer[ECMC_PLUGIN_MAX_PORTNAME_CHARS];
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int createFFT(char* configStr) {
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// create new ecmcFFT object
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ecmcFFT* fft = NULL;
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// create asynport name for new object ()
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memset(portNameBuffer, 0, ECMC_PLUGIN_MAX_PORTNAME_CHARS);
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snprintf (portNameBuffer, ECMC_PLUGIN_MAX_PORTNAME_CHARS,
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ECMC_PLUGIN_PORTNAME_PREFIX "%d", fftObjCounter);
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try {
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fft = new ecmcFFT(fftObjCounter, configStr, portNameBuffer);
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}
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catch(std::exception& e) {
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if(fft) {
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delete fft;
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}
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printf("Exception: %s. Plugin will unload.\n",e.what());
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return ECMC_PLUGIN_FFT_ERROR_CODE;
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}
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ffts.push_back(fft);
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fftObjCounter++;
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return 0;
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}
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void deleteAllFFTs() {
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for(std::vector<ecmcFFT*>::iterator pfft = ffts.begin(); pfft != ffts.end(); ++pfft) {
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if(*pfft) {
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delete (*pfft);
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}
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}
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}
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int linkDataToFFTs() {
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for(std::vector<ecmcFFT*>::iterator pfft = ffts.begin(); pfft != ffts.end(); ++pfft) {
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if(*pfft) {
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try {
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(*pfft)->connectToDataSource();
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}
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catch(std::exception& e) {
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printf("Exception: %s. Plugin will unload.\n",e.what());
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return ECMC_PLUGIN_FFT_ERROR_CODE;
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}
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}
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}
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return 0;
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}
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int enableFFT(int fftIndex, int enable) {
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try {
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ffts.at(fftIndex)->setEnable(enable);
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}
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catch(std::exception& e) {
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printf("Exception: %s. FFT index out of range.\n",e.what());
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return ECMC_PLUGIN_FFT_ERROR_CODE;
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}
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return 0;
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}
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int clearFFT(int fftIndex) {
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try {
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ffts.at(fftIndex)->clearBuffers();
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}
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catch(std::exception& e) {
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printf("Exception: %s. FFT index out of range.\n",e.what());
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return ECMC_PLUGIN_FFT_ERROR_CODE;
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}
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return 0;
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}
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int triggFFT(int fftIndex) {
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try {
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ffts.at(fftIndex)->triggFFT();
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}
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catch(std::exception& e) {
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printf("Exception: %s. FFT index out of range.\n",e.what());
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return ECMC_PLUGIN_FFT_ERROR_CODE;
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}
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return 0;
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}
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int modeFFT(int fftIndex, FFT_MODE mode) {
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try {
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ffts.at(fftIndex)->setModeFFT(mode);
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}
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catch(std::exception& e) {
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printf("Exception: %s. FFT index out of range.\n",e.what());
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return ECMC_PLUGIN_FFT_ERROR_CODE;
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}
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return 0;
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}
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FFT_STATUS statFFT(int fftIndex) {
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try {
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return ffts.at(fftIndex)->getStatusFFT();
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}
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catch(std::exception& e) {
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printf("Exception: %s. FFT index out of range.\n",e.what());
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return NO_STAT;
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}
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return NO_STAT;
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}
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@@ -1,112 +0,0 @@
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/*************************************************************************\
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* Copyright (c) 2019 European Spallation Source ERIC
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* ecmc is distributed subject to a Software License Agreement found
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* in file LICENSE that is included with this distribution.
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*
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* ecmcFFTWrap.h
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*
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* Created on: Mar 22, 2020
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* Author: anderssandstrom
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*
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\*************************************************************************/
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#ifndef ECMC_FFT_WRAP_H_
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#define ECMC_FFT_WRAP_H_
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#include "ecmcFFTDefs.h"
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# ifdef __cplusplus
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extern "C" {
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# endif // ifdef __cplusplus
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/** \brief Create new FFT object
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*
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* The plugin supports creation of multiple FFT objects\n
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* (if loaded several times).\n
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* The different fft are adressed by fftindex (in other functions below).\n
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* The first loaded fft get index 0 and then increases for each load.\n
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* This function call will create the custom asynparameters dedicated for this plugin.\
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* The configuration string needs to define a data source by:\n
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* "SOURCE=<data source>;"\n
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* Example:\n
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* "SOURCE=ec0.s1.AI_1";\n
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* \param[in] configStr Configuration string.\n
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*
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* \return 0 if success or otherwise an error code.\n
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*/
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int createFFT(char *configStr);
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/** \brief Enable/disable FFT object
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*
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||||
* Enable/disable FFT object. If disabled no data will be acquired\n
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||||
* and no calculations will be made.\n
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* \param[in] fftIndex Index of fft (first loaded fft have index 0 then increases)\n
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||||
* \param[in] enable enable/disable (1/0).\n
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||||
*
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||||
* \return 0 if success or otherwise an error code.\n
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||||
*/
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||||
int enableFFT(int fftIndex, int enable);
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||||
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||||
/** \brief Clear FFT object\n
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||||
*
|
||||
* Clears buffers. After this command the acquistion can start from scratch.\n
|
||||
* \param[in] fftIndex Index of fft (first loaded fft have index 0 then increases)\n
|
||||
*
|
||||
* \return 0 if success or otherwise an error code.\n
|
||||
*/
|
||||
int clearFFT(int fftIndex);
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||||
|
||||
/** \brief Set mode of FFT object
|
||||
*
|
||||
* The FFT object can measure in two differnt modes:\n
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||||
* CONT(1) : Continious measurement (Acq data, calc, then Acq data ..)\n
|
||||
* TRIGG(2): Measurements are triggered from plc or over asyn and is only done once (untill next trigger)\n
|
||||
* \param[in] fftIndex Index of fft (first loaded fft have index 0 then increases)\n
|
||||
* \param[in] mode Mode CONT(1) or TRIGG(2)\n
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||||
*
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||||
* \return 0 if success or otherwise an error code.\n
|
||||
*/
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||||
int modeFFT(int fftIndex, FFT_MODE mode);
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||||
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||||
/** \brief Trigger FFT object\n
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||||
*
|
||||
* If in triggered mode a new measurment cycle is initiated (fft will be cleared first).\n
|
||||
* \param[in] fftIndex Index of fft (first loaded fft have index 0 then increases)\n
|
||||
*
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||||
* \return 0 if success or otherwise an error code.\n
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||||
*/
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||||
int triggFFT(int fftIndex);
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||||
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||||
/** \brief Get status of FFT object
|
||||
*
|
||||
* The FFT object can be in different states:\n
|
||||
* NO_STAT(0): Invalid state (something is most likely wrong)\n
|
||||
* IDLE(1) : Waiting for trigger in triggered mode\n
|
||||
* ACQ(2) : Acquiring data (filling data buffer)\n
|
||||
* CALC(3) : Calculating FFT results\n
|
||||
* \param[in] fftIndex Index of fft (first loaded fft have index 0 then increases)\n
|
||||
*
|
||||
* \return Status of fft (if index is out of range NO_STAT will be returned).\n
|
||||
*/
|
||||
FFT_STATUS statFFT(int fftIndex);
|
||||
|
||||
/** \brief Link data to _all_ fft objects
|
||||
*
|
||||
* This tells the FFT lib to connect to ecmc to find it's data source.\n
|
||||
* This function should be called just before entering realtime since then all\n
|
||||
* data sources in ecmc will be definded (plc sources are compiled just before runtime\n
|
||||
* so are only fist accesible now).\n
|
||||
* \return 0 if success or otherwise an error code.\n
|
||||
*/
|
||||
int linkDataToFFTs();
|
||||
|
||||
/** \brief Deletes all created fft objects\n
|
||||
*
|
||||
* Should be called when destructs.\n
|
||||
*/
|
||||
|
||||
void deleteAllFFTs();
|
||||
|
||||
# ifdef __cplusplus
|
||||
}
|
||||
# endif // ifdef __cplusplus
|
||||
|
||||
#endif /* ECMC_FFT_WRAP_H_ */
|
||||
@@ -299,3 +299,65 @@ ecmc_plugin_register(pluginDataDef);
|
||||
# ifdef __cplusplus
|
||||
}
|
||||
# endif // ifdef __cplusplus
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/**/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <net/if.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/socket.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include <linux/can.h>
|
||||
#include <linux/can/raw.h>
|
||||
|
||||
int
|
||||
main(void)
|
||||
{
|
||||
int s;
|
||||
int nbytes;
|
||||
struct sockaddr_can addr;
|
||||
struct can_frame frame;
|
||||
struct ifreq ifr;
|
||||
|
||||
const char *ifname = "vcan0";
|
||||
|
||||
if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) == -1) {
|
||||
perror("Error while opening socket");
|
||||
return -1;
|
||||
}
|
||||
|
||||
strcpy(ifr.ifr_name, ifname);
|
||||
ioctl(s, SIOCGIFINDEX, &ifr);
|
||||
|
||||
addr.can_family = AF_CAN;
|
||||
addr.can_ifindex = ifr.ifr_ifindex;
|
||||
|
||||
printf("%s at index %d\n", ifname, ifr.ifr_ifindex);
|
||||
|
||||
if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) == -1) {
|
||||
perror("Error in socket bind");
|
||||
return -2;
|
||||
}
|
||||
|
||||
frame.can_id = 0x123;
|
||||
frame.can_dlc = 2;
|
||||
frame.data[0] = 0x11;
|
||||
frame.data[1] = 0x22;
|
||||
|
||||
nbytes = write(s, &frame, sizeof(struct can_frame));
|
||||
|
||||
printf("Wrote %d bytes\n", nbytes);
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user