183 lines
4.7 KiB
C
183 lines
4.7 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <sys/time.h> // gettimeofday
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#include <sys/stat.h>
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#include <string.h>
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#include <unistd.h>
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#include <sys/types.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <netdb.h>
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#include <errno.h>
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#include <pthread.h>
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#include "serial.h"
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#include "uartinf.h"
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#include <stdbool.h>
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#include "parase.h"
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char _rx_data[200];
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unsigned char tx_jingdu[] = {0x01, 0x03, 0x00, 0xcf, 0x00, 0x03,0x35,0xf4};
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unsigned char tx_weidu[] = {0x01, 0x03, 0x00, 0xd2, 0x00, 0x03,0xa5,0xf2};
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unsigned char tx_state[] = {0x01, 0x03, 0x00, 0xc8, 0x00, 0x01,0x05,0xf4};
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static int socket_descriptor;
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static struct sockaddr_in address;
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//bool first = false;
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int socket_descriptor_recv;
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struct sockaddr_in address_recv;
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pthread_attr_t attr;
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pthread_t pkts_thread;
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// 定义数据发送格式结构体
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typedef struct {
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char header[2]; // 帧头 0xAA 0x55
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uint16_t dingwei_state;
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uint32_t longitude; // 经度
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uint32_t latitude; // 纬度
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char footer; // 帧尾 0xFF
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} LocationData;
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// 互斥锁保护经纬度数据访问
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pthread_mutex_t loc_mutex = PTHREAD_MUTEX_INITIALIZER;
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uint32_t lon_val;
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uint32_t lat_val;
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uint16_t state_val;
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int udp_init(char *ip, int port){
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bzero(&address,sizeof(address));
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address.sin_family=AF_INET;
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address.sin_addr.s_addr=inet_addr(ip);
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address.sin_port=htons(port);
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socket_descriptor=socket(AF_INET,SOCK_DGRAM,0);//IPV4
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return 0;
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}
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int send_specified_bytes(UART_INTF uart_type,unsigned char *data) {
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int ret = uart_write_len(uart_type, (char*)data, 8);
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if (ret < 0) {
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printf("发送失败，返回值: %d\n", ret);
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}
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return ret;
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}
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uint32_t parse_tude(unsigned char *data, int start_idx){
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return ((uint32_t)data[start_idx + 3] << 24 |
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(uint32_t)data[start_idx + 2] << 16 |
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(uint32_t)data[start_idx + 1] << 8 |
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(uint32_t)data[start_idx ]);
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}
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// 发送经纬度数据
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void send_location_data() {
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LocationData loc_data;
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pthread_mutex_lock(&loc_mutex);
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// 初始化数据包
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loc_data.header[0] = 0xAA;
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loc_data.header[1] = 0x55;
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loc_data.dingwei_state = state_val;
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loc_data.longitude = lon_val;
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loc_data.latitude = lat_val;
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loc_data.footer = 0xFF;
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pthread_mutex_unlock(&loc_mutex);
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// 发送数据
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int send_len = sendto(socket_descriptor, &loc_data, sizeof(LocationData),
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0, (struct sockaddr *)&address, sizeof(address));
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if (send_len < 0) {
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perror("发送经纬度失败");
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} else {
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//printf("成功发送经纬度数据，长度: %d 字节\n", send_len);
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}
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}
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// 经纬度发送线程函数
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void *send_location_thread(void *arg) {
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while (1) {
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send_location_data();
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// 1秒发送一次
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sleep(1);
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}
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return NULL;
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}
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#if 1
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int pthread_init()
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{
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int ret;
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pthread_attr_init(&attr);
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pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
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ret = pthread_create(&pkts_thread, &attr, send_location_thread, NULL);
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pthread_attr_destroy(&attr);
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if(ret){
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printf("create pthread1 error\n");
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return 1;
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}
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}
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#endif
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int main (int argc, char *argv[])
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{
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int n_read;
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n_read = uart_init(ROUTE_UART, "/dev/ttyAMA4", 9600, 'N');
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if(n_read <=0 ) {
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printf("open /dev/ttyAMA4 failed\n");
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return -1;
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}
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udp_init(argv[1], atoi(argv[2]));
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pthread_init();
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while(1){
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send_specified_bytes(ROUTE_UART,tx_state);
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n_read = uart_read(ROUTE_UART, _rx_data);
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if(n_read >0 && _rx_data[2]==0x02 ){
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pthread_mutex_lock(&loc_mutex);
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state_val=(uint16_t)_rx_data[3] |(uint16_t)_rx_data[4]<<8;
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pthread_mutex_unlock(&loc_mutex);
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//printf("%x \n",state_val);
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}
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usleep(100000);
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send_specified_bytes(ROUTE_UART,tx_jingdu);
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n_read = uart_read(ROUTE_UART, _rx_data);
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if(n_read >0 &&(_rx_data[4]==0x45||_rx_data[4]==0x57)){
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pthread_mutex_lock(&loc_mutex);
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lon_val = parse_tude(_rx_data, 5);
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//current_longitude = parse_longitude(_rx_data);
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pthread_mutex_unlock(&loc_mutex);
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//printf("经度: %x°\n", lon_val);
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}
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usleep(100000);
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send_specified_bytes(ROUTE_UART,tx_weidu);
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n_read = uart_read(ROUTE_UART, _rx_data);
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if(n_read >0 &&(_rx_data[4]==0x4E || _rx_data[4]==0x53)){
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pthread_mutex_lock(&loc_mutex);
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lat_val = parse_tude(_rx_data, 5);
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//current_latitude = parse_latitude(_rx_data);
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pthread_mutex_unlock(&loc_mutex);
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//printf("纬度: %x°\n", lat_val);
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}
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usleep(500000);
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}
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}
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