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White Rabbit Switch - Software
Commit 1c1b97ff authored by Adam Wujek's avatar Adam Wujek 💬
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Merge branch 'adam-wr_mon' into master

parents a26170b2 7ebd7f1a
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Showing with 57 additions and 18 deletions
userspace/tools/wr_mon.c
View file @ 1c1b97ff
......@@ -7,6 +7,7 @@
#include <libwr/shmem.h>
#include <libwr/hal_shmem.h>
#include <minipc.h>
#include <signal.h>
#include "term.h"
......@@ -30,6 +31,7 @@ static struct pp_globals *ppg;
static struct wr_servo_state_t *ppsi_servo;
static struct wr_servo_state_t ppsi_servo_local; /* local copy of
servo status */
static pid_t ptp_ch_pid; /* pid of ppsi connected via minipc */
static struct hal_temp_sensors *temp_sensors;
static struct hal_temp_sensors temp_sensors_local;
......@@ -76,6 +78,22 @@ int read_servo(void){
}
void ppsi_connect_minipc()
{
if (ptp_ch) {
/* close minipc, if connected before */
minipc_close(ptp_ch);
}
ptp_ch = minipc_client_create("ptpd", 0);
if (!ptp_ch) {
fprintf(stderr, "Can't establish WRIPC connection "
"to the PTP daemon!\n");
exit(1);
}
/* store pid of ppsi connected via minipc */
ptp_ch_pid = ppsi_head->pid;
}
void init_shm(void)
{
struct hal_shmem_header *h;
......@@ -83,14 +101,14 @@ void init_shm(void)
hal_head = wrs_shm_get(wrs_shm_hal, "", WRS_SHM_READ);
if (!hal_head) {
fprintf(stderr, "unable to open shm for HAL!\n");
exit(-1);
exit(1);
}
/* check hal's shm version */
if (hal_head->version != HAL_SHMEM_VERSION) {
fprintf(stderr, "wr_mon: unknown HAL's shm version %i "
"(known is %i)\n",
hal_head->version, HAL_SHMEM_VERSION);
exit(-1);
exit(1);
}
h = (void *)hal_head + hal_head->data_off;
/* Assume number of ports does not change in runtime */
......@@ -99,7 +117,7 @@ void init_shm(void)
fprintf(stderr, "Too many ports reported by HAL. "
"%d vs %d supported\n",
hal_nports_local, HAL_MAX_PORTS);
exit(-1);
exit(1);
}
/* Even after HAL restart, HAL will place structures at the same
* addresses. No need to re-dereference pointer at each read. */
......@@ -107,14 +125,14 @@ void init_shm(void)
if (!hal_ports) {
fprintf(stderr, "Unalbe to follow hal_ports pointer in HAL's "
"shmem");
exit(-1);
exit(1);
}
temp_sensors = &(h->temp);
ppsi_head = wrs_shm_get(wrs_shm_ptp, "", WRS_SHM_READ);
if (!ppsi_head) {
fprintf(stderr, "unable to open shm for PPSI!\n");
exit(-1);
exit(1);
}
/* check hal's shm version */
......@@ -122,23 +140,17 @@ void init_shm(void)
fprintf(stderr, "wr_mon: unknown PPSI's shm version %i "
"(known is %i)\n",
ppsi_head->version, WRS_PPSI_SHMEM_VERSION);
exit(-1);
exit(1);
}
ppg = (void *)ppsi_head + ppsi_head->data_off;
ppsi_servo = wrs_shm_follow(ppsi_head, ppg->global_ext_data);
if (!ppsi_servo) {
fprintf(stderr, "Cannot follow ppsi_servo in shmem.\n");
exit(-1);
exit(1);
}
ptp_ch = minipc_client_create("ptpd", 0);
if (!ptp_ch)
{
fprintf(stderr,"Can't establish WRIPC connection "
"to the PTP daemon!\n");
exit(-1);
}
ppsi_connect_minipc();
}
void show_ports(void)
......@@ -415,14 +427,36 @@ int track_onoff = 1;
void show_all()
{
int hal_alive;
int ppsi_alive;
if (mode == SHOW_GUI) {
term_clear();
term_pcprintf(1, 1, C_BLUE,
"WR Switch Sync Monitor v 1.0 [q = quit]");
"WR Switch Sync Monitor %s[q = quit]\n",
__GIT_VER__);
}
show_ports();
show_servo();
show_temperatures();
hal_alive = (hal_head->pid && (kill(hal_head->pid, 0) == 0));
ppsi_alive = (ppsi_head->pid && (kill(ppsi_head->pid, 0) == 0));
if (hal_alive)
show_ports();
else if (mode == SHOW_GUI)
term_cprintf(C_RED, "\nHAL is dead!\n");
else if (mode == SHOW_STATS)
printf("HAL is dead!\n");
if (ppsi_alive)
show_servo();
else if (mode == SHOW_GUI)
term_cprintf(C_RED, "\nPPSI is dead!\n");
else if (mode == SHOW_STATS)
printf("PPSI is dead!\n");
if (hal_alive)
show_temperatures();
fflush(stdout);
}
......@@ -465,6 +499,11 @@ int main(int argc, char *argv[])
if(c=='t') {
int rval;
track_onoff = 1-track_onoff;
if (ptp_ch_pid != ppsi_head->pid) {
/* ppsi was restarted since minipc
* connection, reconnect now */
ppsi_connect_minipc();
}
minipc_call(ptp_ch, 200, &__rpcdef_cmd,
&rval, PTPDEXP_COMMAND_TRACKING,
track_onoff);
......
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