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https://git.rwth-aachen.de/acs/public/villas/node/
synced 2025-03-09 00:00:00 +01:00
added new message format
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parent
ecbc4bc247
commit
258d5414dc
2 changed files with 54 additions and 34 deletions
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@ -25,7 +25,7 @@
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#define MSG_VALUES MAX_VALUES
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/** The current version number for the message format */
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#define MSG_VERSION 0
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#define MSG_VERSION 1
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/** @todo Implement more message types */
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#define MSG_TYPE_DATA 0 /**< Message contains float values */
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@ -36,23 +36,29 @@
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#define MSG_ENDIAN_BIG 1 /**< Message values are in bit endian format */
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#if BYTE_ORDER == LITTLE_ENDIAN
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#define MSG_ENDIAN_HOST MSG_ENDIAN_LITTLE
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#define MSG_ENDIAN_HOST MSG_ENDIAN_LITTLE
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#elif BYTE_ORDER == BIG_ENDIAN
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#define MSG_ENDIAN_HOST MSG_ENDIAN_BIG
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#define MSG_ENDIAN_HOST MSG_ENDIAN_BIG
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#else
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#error "Unknown byte order!"
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#endif
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/** The total length of a message */
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#define MSG_LEN(values) (4 * (values + 1))
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#define MSG_LEN(msg) (4 * ((msg)->length + 4))
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#define MSG_TS(msg) (struct timespec) { \
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.tv_sec = (msg)->ts.sec, \
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.tv_nsec = (msg)->ts.nsec \
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}
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/** Initialize a message */
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#define MSG_INIT(i) { \
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.version = MSG_VERSION, \
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.type = MSG_TYPE_DATA, \
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.endian = MSG_ENDIAN_HOST, \
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.length = i, \
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.sequence = 0 \
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#define MSG_INIT(i) (struct msg) { \
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.version = MSG_VERSION, \
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.type = MSG_TYPE_DATA, \
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.endian = MSG_ENDIAN_HOST, \
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.length = i, \
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.sequence = 0, \
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.rsvd1 = 0, .rsvd2 = 0 \
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}
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/** This message format is used by all clients
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@ -62,25 +68,32 @@
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struct msg
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{
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#if BYTE_ORDER == BIG_ENDIAN
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unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
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unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
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unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
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unsigned : 1; /**< Reserved padding bits */
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unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
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unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
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unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
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unsigned rsvd1 : 1; /**< Reserved bits */
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#elif BYTE_ORDER == LITTLE_ENDIAN
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unsigned : 1; /**< Reserved padding bits */
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unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
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unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
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unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
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unsigned rsvd1 : 1; /**< Reserved bits */
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unsigned endian : 1; /**< Specifies the byteorder of the message (see MSG_ENDIAN_*) */
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unsigned type : 2; /**< Data or control message (see MSG_TYPE_*) */
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unsigned version: 4; /**< Specifies the format of the remaining message (see MGS_VERSION) */
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#endif
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unsigned rsvd2 : 8; /**< Reserved bits */
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/** The number of values in msg::data[] */
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uint16_t length;
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/** Number of valid dword values in msg::data[] */
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uint8_t length;
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/** The sequence number gets incremented by one for consecutive messages */
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uint16_t sequence;
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uint32_t sequence; /**< The sequence number is incremented by one for consecutive messages */
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/** A timestamp per message */
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struct {
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uint32_t sec; /**< Seconds since 1970-01-01 00:00:00 */
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uint32_t nsec; /**< Nanoseconds since 1970-01-01 00:00:00 */
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} ts;
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/** The message payload */
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union {
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float f; /**< Floating point values (note msg::endian) */
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float f; /**< Floating point values (note msg::endian) */
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uint32_t i; /**< Integer values (note msg::endian) */
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} data[MSG_VALUES];
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} __attribute__((aligned(64), packed));
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@ -46,7 +46,7 @@ int msg_fprint(FILE *f, struct msg *m)
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if (m->endian != MSG_ENDIAN_HOST)
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msg_swap(m);
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fprintf(f, "%hu", m->sequence);
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fprintf(f, "%10u.%09u\t%hu", m->ts.sec, m->ts.nsec, m->sequence);
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for (int i = 0; i < m->length; i++)
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fprintf(f, "\t%.6f", m->data[i].f);
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@ -56,27 +56,34 @@ int msg_fprint(FILE *f, struct msg *m)
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return 0;
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}
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/** @todo Currently only floating point values are supported */
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int msg_fscan(FILE *f, struct msg *m)
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{
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char line[MSG_VALUES * 16];
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char *ptr = line;
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char *next, *ptr = line;
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if (!fgets(line, sizeof(line), f))
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return 0;
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m->ts.sec = (uint32_t) strtoul(ptr, &ptr, 10); ptr++;
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m->ts.nsec = (uint32_t) strtoul(ptr, &ptr, 10);
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m->sequence = (uint16_t) strtoul(ptr, &ptr, 10);
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m->sequence = (uint16_t) strtol(ptr, &ptr, 10);
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m->version = MSG_VERSION;
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m->endian = MSG_ENDIAN_HOST;
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m->length = 0;
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m->rsvd1 = 0;
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m->rsvd2 = 0;
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int i;
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for (i = 0; i <= MSG_VALUES; i++) {
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while(isblank(*ptr++));
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if (*ptr == '\n' || *ptr == '\0')
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while (m->length < MSG_VALUES) {
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m->data[m->length].f = strtod(ptr, &next);
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if (next == ptr)
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break;
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m->data[i].f = strtod(ptr, &ptr);
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ptr = next;
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m->length++;
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}
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m->length = i;
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m->endian = MSG_ENDIAN_HOST;
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return m->length;
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}
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