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added new message format

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This commit is contained in:
Steffen Vogel 2015-06-02 22:36:17 +02:00
parent ecbc4bc247
commit 258d5414dc
2 changed files with 54 additions and 34 deletions
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59
server/include/msg_format.h
View file

@ -25,7 +25,7 @@
#define MSG_VALUES MAX_VALUES
/** The current version number for the message format */
#define MSG_VERSION 0
#define MSG_VERSION 1
/** @todo Implement more message types */
#define MSG_TYPE_DATA 0 /**< Message contains float values */
@ -36,23 +36,29 @@
#define MSG_ENDIAN_BIG 1 /**< Message values are in bit endian format */
#if BYTE_ORDER == LITTLE_ENDIAN
#define MSG_ENDIAN_HOST MSG_ENDIAN_LITTLE
#define MSG_ENDIAN_HOST MSG_ENDIAN_LITTLE
#elif BYTE_ORDER == BIG_ENDIAN
#define MSG_ENDIAN_HOST MSG_ENDIAN_BIG
#define MSG_ENDIAN_HOST MSG_ENDIAN_BIG
#else
#error "Unknown byte order!"
#endif
/** The total length of a message */
#define MSG_LEN(values) (4 * (values + 1))
#define MSG_LEN(msg) (4 * ((msg)->length + 4))
#define MSG_TS(msg) (struct timespec) { \
.tv_sec = (msg)->ts.sec, \
.tv_nsec = (msg)->ts.nsec \
}
/** Initialize a message */
#define MSG_INIT(i) { \
.version = MSG_VERSION, \
.type = MSG_TYPE_DATA, \
.endian = MSG_ENDIAN_HOST, \
.length = i, \
.sequence = 0 \
#define MSG_INIT(i) (struct msg) { \
.version = MSG_VERSION, \
.type = MSG_TYPE_DATA, \
.endian = MSG_ENDIAN_HOST, \
.length = i, \
.sequence = 0, \
.rsvd1 = 0, .rsvd2 = 0 \
}
/** This message format is used by all clients
@ -62,25 +68,32 @@
struct msg
{
#if BYTE_ORDER == BIG_ENDIAN
unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
unsigned : 1; /**< Reserved padding bits */
unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
unsigned rsvd1 : 1; /**< Reserved bits */
#elif BYTE_ORDER == LITTLE_ENDIAN
unsigned : 1; /**< Reserved padding bits */
unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
unsigned rsvd1 : 1; /**< Reserved bits */
unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
#endif
unsigned rsvd2 : 8; /**< Reserved bits */
/** The number of values in msg::data[] */
uint16_t length;
/** Number of valid dword values in msg::data[] */
uint8_t length;
/** The sequence number gets incremented by one for consecutive messages */
uint16_t sequence;
uint32_t sequence; /**< The sequence number is incremented by one for consecutive messages */
/** A timestamp per message */
struct {
uint32_t sec; /**< Seconds since 1970-01-01 00:00:00 */
uint32_t nsec; /**< Nanoseconds since 1970-01-01 00:00:00 */
} ts;
/** The message payload */
union {
float f; /**< Floating point values (note msg::endian) */
float f; /**< Floating point values (note msg::endian) */
uint32_t i; /**< Integer values (note msg::endian) */
} data[MSG_VALUES];
} __attribute__((aligned(64), packed));

29
server/src/msg.c
View file

@ -46,7 +46,7 @@ int msg_fprint(FILE *f, struct msg *m)
if (m->endian != MSG_ENDIAN_HOST)
msg_swap(m);
fprintf(f, "%hu", m->sequence);
fprintf(f, "%10u.%09u\t%hu", m->ts.sec, m->ts.nsec, m->sequence);
for (int i = 0; i < m->length; i++)
fprintf(f, "\t%.6f", m->data[i].f);
@ -56,27 +56,34 @@ int msg_fprint(FILE *f, struct msg *m)
return 0;
}
/** @todo Currently only floating point values are supported */
int msg_fscan(FILE *f, struct msg *m)
{
char line[MSG_VALUES * 16];
char *ptr = line;
char *next, *ptr = line;
if (!fgets(line, sizeof(line), f))
return 0;
m->ts.sec = (uint32_t) strtoul(ptr, &ptr, 10); ptr++;
m->ts.nsec = (uint32_t) strtoul(ptr, &ptr, 10);
m->sequence = (uint16_t) strtoul(ptr, &ptr, 10);
m->sequence = (uint16_t) strtol(ptr, &ptr, 10);
m->version = MSG_VERSION;
m->endian = MSG_ENDIAN_HOST;
m->length = 0;
m->rsvd1 = 0;
m->rsvd2 = 0;
int i;
for (i = 0; i <= MSG_VALUES; i++) {
while(isblank(*ptr++));
if (*ptr == '\n' || *ptr == '\0')
while (m->length < MSG_VALUES) {
m->data[m->length].f = strtod(ptr, &next);
if (next == ptr)
break;
m->data[i].f = strtod(ptr, &ptr);
ptr = next;
m->length++;
}
m->length = i;
m->endian = MSG_ENDIAN_HOST;
return m->length;
}