00001 #define VERSION "1.4 (April 7, 2004)"
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024 static char g_history[] =
00025 "----------------------------------------------------------------------\n"
00026 " history:\n"
00027 "\n"
00028 " 0.1 March 25, 2004 [tross]\n"
00029 " - basic outline with serial functions\n"
00030 "\n"
00031 " 1.0 March 31, 2004 [rickr]\n"
00032 " - initial full release\n"
00033 "\n"
00034 " 1.1 April 1, 2004 [rickr]\n"
00035 " - added a little more to the -help section\n"
00036 "\n"
00037 " 1.2 April 1, 2004 [rickr]\n"
00038 " - complain about bad options\n"
00039 "\n"
00040 " 1.3 April 2, 2004 [tross/rickr]\n"
00041 " - set SH_DEF_MIN_FVAL to -12.7\n"
00042 " - use -128 as the special value denoting start of serial data\n"
00043 "\n"
00044 " 1.4 April 7, 2004 [rickr]\n"
00045 " - added 'sys/file.h' for solaris builds (thanks, Vince)\n"
00046 "\n"
00047 " 1.4a March 22, 2005 [rickr]\n"
00048 " - removed all tabs\n"
00049 "----------------------------------------------------------------------\n";
00050
00051
00052 #include <stdio.h>
00053 #include <string.h>
00054 #include <termios.h>
00055 #include <unistd.h>
00056 #include <fcntl.h>
00057 #include <errno.h>
00058
00059 #include <stdlib.h>
00060 #include <signal.h>
00061 #include <sys/file.h>
00062 #include <sys/types.h>
00063 #include <sys/socket.h>
00064 #include <netinet/in.h>
00065 #include <arpa/inet.h>
00066
00067 #define SH_MAX_VALS 6
00068 #define SH_DEF_MIN_FVAL -12.7
00069 #define SH_DEF_MAX_FVAL 12.7
00070 #define SH_DEF_SOCKET 53214
00071
00072 #define SH_USE_HIST 1
00073 #define SH_USE_VERSION 2
00074 #define SH_USE_SHORT 3
00075 #define SH_USE_LONG 4
00076
00077 #define CHECK_NULL_STR(str) ( str ? str : "(NULL)" )
00078
00079 typedef struct{
00080 char * serial_port;
00081 int no_serial;
00082 float mp_min;
00083 float mp_max;
00084 int sock_num;
00085 int swap;
00086 int debug;
00087 } optiondata;
00088
00089 typedef struct {
00090 int nread;
00091 int nvals;
00092 float data[SH_MAX_VALS];
00093 } motparm;
00094
00095 typedef struct
00096 {
00097 int debug;
00098 int sport;
00099 int tdata_sd;
00100 int tserver_sd;
00101 } port_list;
00102
00103
00104 void cleanup ( int sig_num );
00105 int close_data_ports ( port_list * plist );
00106 int disp_optiondata ( char * info, optiondata * D );
00107 int get_options ( optiondata *opt, motparm * mp, port_list * plist,
00108 int argc, char *argv[] );
00109 int init_structs ( optiondata *opt, motparm * mp, port_list * plist );
00110 int open_incoming_socket ( optiondata *opt, port_list * plist );
00111 int open_serial ( optiondata *opt, port_list * plist );
00112 int read_socket ( optiondata *opt, port_list * plist, motparm * mp );
00113 void send_serial ( optiondata * opt, port_list * plist, motparm *mot);
00114 void swap_4 ( void * data, int nswaps );
00115 int usage ( char * prog, int level );
00116 int wait_for_socket ( optiondata *opt, port_list * plist );
00117
00118
00119 static port_list g_ports;
00120
00121 static char g_magic_hi [] = { 0xab, 0xcd, 0xef, 0xab, 0 };
00122 static char g_magic_bye[] = { 0xde, 0xad, 0xde, 0xad, 0 };
00123 static int g_magic_len = 4;
00124
00125 int main(int argc, char *argv[])
00126 {
00127 optiondata opt;
00128 motparm mp;
00129 port_list * plist = &g_ports;
00130 int rv;
00131
00132 if ( (rv = get_options(&opt, &mp, plist, argc, argv)) != 0 )
00133 return rv;
00134
00135
00136 signal( SIGTERM, cleanup );
00137 signal( SIGINT, cleanup );
00138
00139 if ( (rv = open_incoming_socket(&opt, plist)) < 0 )
00140 return rv;
00141
00142 while (1)
00143 {
00144 mp.nread = 0;
00145
00146
00147 if ( (rv = wait_for_socket(&opt, plist)) < 0 )
00148 return rv;
00149
00150 if ( ! opt.no_serial )
00151 if ( (rv = open_serial(&opt, plist)) != 0 )
00152 return rv;
00153
00154
00155 while (read_socket(&opt, plist, &mp) == 0)
00156 if ( ! opt.no_serial )
00157 send_serial(&opt, plist, &mp);
00158
00159 close_data_ports(plist);
00160 }
00161
00162 return 0;
00163 }
00164
00165
00166
00167
00168
00169
00170 int close_data_ports( port_list * plist )
00171 {
00172 if ( plist->sport != 0 ) close(plist->sport);
00173 if ( plist->tdata_sd != 0 ) close(plist->tdata_sd);
00174
00175 plist->sport = plist->tdata_sd = 0;
00176
00177 return 0;
00178 }
00179
00180
00181
00182
00183
00184
00185
00186
00187 int wait_for_socket(optiondata *opt, port_list * plist)
00188 {
00189 struct sockaddr_in sin;
00190 char data[8];
00191 int sd, len;
00192
00193 len = sizeof(sin);
00194
00195 if ( (sd = accept(plist->tserver_sd, (struct sockaddr *)&sin, &len)) == -1 )
00196 {
00197 perror("pe: accept");
00198 return -1;
00199 }
00200
00201 plist->tdata_sd = sd;
00202
00203 if ( opt->debug > 0 )
00204 fprintf(stderr,"++ accepting call from '%s'\n",inet_ntoa(sin.sin_addr));
00205
00206 if ( (len = recv(sd, data, g_magic_len, 0)) == -1 )
00207 {
00208 perror("pe: recv");
00209 return -1;
00210 }
00211
00212 if ( strncmp(data, g_magic_hi, g_magic_len) != 0 )
00213 {
00214 fprintf(stderr, "** bad data on socket: 0x%x%x%x%x\n",
00215 data[0], data[1], data[2], data[3] );
00216 return -1;
00217 }
00218
00219
00220
00221 if ( opt->debug > 0 )
00222 fprintf(stderr,"++ got hello string '%s', ready for data...\n",
00223 g_magic_hi);
00224
00225 return 0;
00226 }
00227
00228
00229
00230 int open_incoming_socket( optiondata * opt, port_list * plist )
00231 {
00232 struct sockaddr_in sin;
00233 int sd;
00234
00235 if ( opt->sock_num < 5000 || opt->sock_num > 65535 )
00236 {
00237 fprintf(stderr, "** bad socket number: %d\n", opt->sock_num);
00238 return -1;
00239 }
00240
00241 if ( opt->debug > 1 )
00242 fprintf(stderr,"-- attempting to open port %d\n", opt->sock_num);
00243
00244
00245 if ( (sd = socket(AF_INET, SOCK_STREAM, 0)) < 0 )
00246 {
00247 perror("pe: socket");
00248 return sd;
00249 }
00250
00251 memset( &sin, 0, sizeof(sin) );
00252 sin.sin_family = AF_INET;
00253 sin.sin_addr.s_addr = INADDR_ANY;
00254 sin.sin_port = htons(opt->sock_num);
00255
00256
00257 if ( bind(sd, (struct sockaddr *)&sin, sizeof(sin)) == -1 )
00258 {
00259 perror("pe: bind");
00260 return -1;
00261 }
00262
00263
00264 if ( listen(sd, 3) == -1 )
00265 {
00266 perror("pe: listen");
00267 return -1;
00268 }
00269
00270
00271
00272
00273 plist->tserver_sd = sd;
00274
00275 if ( opt->debug > 0 )
00276 fprintf(stderr,"++ port %d open (sd = %d), listening...\n",
00277 opt->sock_num, sd);
00278
00279 return 0;
00280 }
00281
00282
00283
00284
00285
00286 int init_structs( optiondata *opt, motparm * mp, port_list * plist )
00287 {
00288 memset(opt, 0, sizeof(*opt) );
00289 memset(plist, 0, sizeof(*plist));
00290 memset(mp, 0, sizeof(*mp) );
00291
00292 opt->serial_port = NULL;
00293 opt->mp_min = SH_DEF_MIN_FVAL;
00294 opt->mp_max = SH_DEF_MAX_FVAL;
00295 opt->sock_num = SH_DEF_SOCKET;
00296
00297 return 0;
00298 }
00299
00300
00301
00302 void cleanup(int sig_num)
00303 {
00304 if ( g_ports.debug > 0 )
00305 {
00306 fputs("-- final check: closing ports\n", stderr);
00307 if ( g_ports.debug > 1 )
00308 {
00309 fprintf(stderr," descriptors: ser = %d, data = %d, serv = %d\n",
00310 g_ports.sport, g_ports.tdata_sd, g_ports.tserver_sd);
00311 fprintf(stderr,"-- sig_num = %d\n", sig_num);
00312 }
00313 }
00314
00315 if ( g_ports.sport != 0)
00316 close(g_ports.sport);
00317 if (g_ports.tdata_sd != 0)
00318 close(g_ports.tdata_sd);
00319 if (g_ports.tserver_sd != 0)
00320 close(g_ports.tserver_sd);
00321
00322 g_ports.sport = g_ports.tdata_sd = g_ports.tserver_sd = 0;
00323 }
00324
00325 #define CHECK_ARG_COUNT(ac,str) \
00326 do { \
00327 if ((ac+1) >= argc) { \
00328 fputs(str,stderr); \
00329 return -1; \
00330 } \
00331 } while (0) \
00332
00333 int get_options(optiondata *opt, motparm * mp, port_list * plist,
00334 int argc, char *argv[])
00335 {
00336 char * prog = argv[0];
00337 int ac;
00338
00339 init_structs(opt, mp, plist);
00340
00341 if ( argc < 2 )
00342 return usage(prog, SH_USE_SHORT);
00343
00344 for ( ac = 1; ac < argc; ac++ )
00345 {
00346 if ( !strncmp(argv[ac], "-help", 5) )
00347 return usage(prog, SH_USE_LONG);
00348 if ( !strncmp(argv[ac], "-hist", 5) )
00349 return usage(prog, SH_USE_HIST);
00350 else if ( !strncmp(argv[ac], "-debug", 6) )
00351 {
00352 CHECK_ARG_COUNT(ac, "opt use: -debug DEBUG_LEVEL\n");
00353 opt->debug = atoi(argv[++ac]);
00354 }
00355 else if ( !strncmp(argv[ac], "-mp_max", 6) )
00356 {
00357 CHECK_ARG_COUNT(ac, "opt use: -mp_max MAX_MP_VAL\n");
00358 opt->mp_max = atof(argv[++ac]);
00359 }
00360 else if ( !strncmp(argv[ac], "-mp_min", 6) )
00361 {
00362 CHECK_ARG_COUNT(ac, "opt use: -mp_min MIN_MP_VAL\n");
00363 opt->mp_min = atof(argv[++ac]);
00364 }
00365 else if ( !strncmp(argv[ac], "-no_serial", 7) )
00366 opt->no_serial = 1;
00367 else if ( !strncmp(argv[ac], "-serial_port", 7) )
00368 {
00369 CHECK_ARG_COUNT(ac, "opt use: -serial_port SERIAL_FILENAME\n");
00370 opt->serial_port = argv[++ac];
00371 }
00372 else if ( !strncmp(argv[ac], "-sock_num", 7) )
00373 {
00374 CHECK_ARG_COUNT(ac, "opt use: -sock_num SOCKET_NUMBER\n");
00375 opt->sock_num = atoi(argv[++ac]);
00376 }
00377 else if ( !strncmp(argv[ac], "-swap", 5) )
00378 opt->swap = 1;
00379 else if ( !strncmp(argv[ac], "-ver", 4) )
00380 return usage(prog, SH_USE_VERSION);
00381 else
00382 {
00383 fprintf(stderr,"** invalid option '%s', exiting...\n", argv[ac]);
00384 return -1;
00385 }
00386 }
00387
00388
00389 if ( opt->sock_num <= 0 || opt->sock_num > 65536 )
00390 {
00391 fprintf(stderr,"** socket number %d is out of range\n", opt->sock_num);
00392 return -1;
00393 }
00394 if ( ! opt->serial_port && opt->no_serial == 0 )
00395 {
00396 fprintf(stderr,"** missing option '-serial_port'\n");
00397 return -1;
00398 }
00399
00400 if ( opt->debug > 1 )
00401 disp_optiondata( "options read: ", opt );
00402
00403 plist->debug = opt->debug;
00404 mp->nvals = 6;
00405
00406 return 0;
00407 }
00408
00409
00410
00411
00412
00413
00414
00415
00416
00417
00418 int usage( char * prog, int level )
00419 {
00420 if ( level == SH_USE_SHORT )
00421 printf( "usage: %s -help\n"
00422 "usage: %s [options] -serial_port FILENAME\n", prog, prog );
00423 else if ( level == SH_USE_HIST )
00424 fputs( g_history, stdout );
00425 else if ( level == SH_USE_VERSION )
00426 printf( "%s, version %s, compiled %s\n", prog, VERSION, __DATE__ );
00427 else if ( level == SH_USE_LONG )
00428 {
00429 printf(
00430 "------------------------------------------------------------\n"
00431 "%s - pass motion parameters from socket to serial port\n"
00432 "\n"
00433 " This program is meant to receive registration (motion?)\n"
00434 " correction parameters from afni's realtime plugin, and to\n"
00435 " pass that data on to a serial port.\n"
00436 "\n"
00437 " The program is meant to run as a tcp server. It listens\n"
00438 " for a connection, then processes data until a termination\n"
00439 " flag is received (sending data from the tcp socket to the\n"
00440 " serial port), closes the new connection, and goes back\n"
00441 " to a listening state.\n"
00442 "\n"
00443 " The basic outline is:\n"
00444 "\n"
00445 " open tcp server socket\n"
00446 " repeat forever:\n"
00447 " wait for a tcp client connection\n"
00448 " open a serial port\n"
00449 " while the client sends new data\n"
00450 " write that data to the serial port\n"
00451 " close the serial port and client socket\n"
00452 "\n"
00453 " The expected client is the realtime plugin to afni,\n"
00454 " plug_realtime.so. If the afni user has their environment\n"
00455 " variable AFNI_REALTIME_MP_HOST_PORT set as HOST:PORT,\n"
00456 " then for EACH RUN, the realtime plugin will open a tcp\n"
00457 " connection to the given HOST and PORT, pass the magic hello\n"
00458 " data (0xabcdefab), pass the 6 motion parameters for each\n"
00459 " time point, and signal a closure by passing the magic bye\n"
00460 " data (0xdeaddead).\n"
00461 "\n"
00462 " On this server end, the 'repeat forever' loop will do the\n"
00463 " following. First it will establish the connection by\n"
00464 " checking for the magic hello data. If that data is found,\n"
00465 " the serial port will be opened.\n"
00466 "\n"
00467 " Then it will repeatedly check the incoming data for the\n"
00468 " magic bye data. As long as that check fails, the data is\n"
00469 " assumed to be valid motion parameters. And so 6 floats at a\n"
00470 " time are read from the incoming socket and passed to the\n"
00471 " serial port.\n"
00472 "\n"
00473 " usage: %s [options] -serial_port FILENAME\n"
00474 "------------------------------------------------------------\n"
00475 " examples:\n"
00476 "\n"
00477 " 1. display this help :\n"
00478 "\n"
00479 " %s -help\n"
00480 "\n"
00481 " 2. display the module history :\n"
00482 "\n"
00483 " %s -hist\n"
00484 "\n"
00485 " 3. display the current version number :\n"
00486 "\n"
00487 " %s -ver\n"
00488 "\n"
00489 " * 4. run normally, using the serial port file /dev/ttyS0 :\n"
00490 "\n"
00491 " %s -serial_port /dev/ttyS0\n"
00492 "\n"
00493 " * 5. same as 4, but specify socket number 53214 :\n"
00494 "\n"
00495 " %s -serial_port /dev/ttyS0 -sock_num 53214\n"
00496 "\n"
00497 " 6. same as 5, but specify minmum and maximum bounds on\n"
00498 " the values :\n"
00499 "\n"
00500 " %s \\\n"
00501 " -serial_port /dev/ttyS0 \\\n"
00502 " -sock_num 53214 \\\n"
00503 " -mp_min -12.7 \\\n"
00504 " -mp_max 12.7\n"
00505 "\n"
00506 " 7. run the program in socket test mode, without serial\n"
00507 " communication, and printing all the incoming data\n"
00508 "\n"
00509 " %s -no_serial -debug 3\n"
00510 "\n"
00511 " 8. same as 4, but use debug level 3 to see the parameters\n"
00512 " that will be passed on, and duplicate all output to the\n"
00513 " file, helper.output\n"
00514 "\n"
00515 " note: this command is for the t-shell, and will not work\n"
00516 " under bash (for bash do the 2>&1 thingy...)\n"
00517 "\n"
00518 " %s -serial_port /dev/ttyS0 -debug 3 |& tee helper.out\n"
00519 "------------------------------------------------------------\n"
00520 " program setup:\n"
00521 "\n"
00522 " 1. Start '%s' on the computer with the serial port that\n"
00523 " the motion parameters should be written to. Example 3\n"
00524 " is the most likely case, though it might be useful to\n"
00525 " use example 8.\n"
00526 "\n"
00527 " 2. On the computer which will be used to run 'afni -rt',\n"
00528 " set the environment variable AFNI_REALTIME_MP_HOST_PORT\n"
00529 " to the appropriate host:port pair. See the '-sock_num'\n"
00530 " option below for more details.\n"
00531 "\n"
00532 " This variable can also be set in the ~/.cshrc file, or\n"
00533 " as part of the AFNI environment via the ~/.afnirc file.\n"
00534 "\n"
00535 " 3. Start 'afni -rt'. Be sure to request 'realtime' graphing\n"
00536 " of the '3D: realtime' Registration parameters.\n"
00537 "\n"
00538 " 4. Start receiving data (sending it to the realtime plugin).\n"
00539 "\n"
00540 " Note that for testing purposes, I may work well to get a\n"
00541 " set of I-files (say, in directories 003, 023, etc.), and\n"
00542 " to use Imon to send not-so-real-time data to afni. An\n"
00543 " example of Imon for this purpose might be:\n"
00544 "\n"
00545 " Imon -start_dir 003 -quit -rt -host localhost\n"
00546 "\n"
00547 " See 'Imon -help' for more information.\n"
00548 "------------------------------------------------------------\n"
00549 " 'required' parameter:\n"
00550 "\n"
00551 " -serial_port FILENAME : specify output serial port\n"
00552 " : -serial_port /dev/ttyS0\n"
00553 "\n"
00554 " If the user is not using any of the 'special' options,\n"
00555 " below, then this parameter is required.\n"
00556 "\n"
00557 " The FILENAME is the device file for the serial port\n"
00558 " which will be used for output.\n"
00559 "------------------------------\n"
00560 " special options (for information or testing):\n"
00561 "\n"
00562 " -help : show this help information\n"
00563 "\n"
00564 " -hist : show the module history\n"
00565 "\n"
00566 " -debug LEVEL : set the debugging level to LEVEL\n"
00567 " : e.g. -debug 2\n"
00568 " : default is 0, max is 3\n"
00569 "\n"
00570 " -no_serial : turn of serial port output\n"
00571 "\n"
00572 " This option is used for testing the incoming data,\n"
00573 " when output to a serial port is not desired. The\n"
00574 " program will otherwise operate normally.\n"
00575 "\n"
00576 " -version : show the current version number\n"
00577 "------------------------------\n"
00578 " 'normal' options:\n"
00579 "\n"
00580 " -mp_max MAX_VAL : limit the maximum value of the MP data\n"
00581 " : e.g. -mp_max 12.7\n"
00582 " : default is 12.7\n"
00583 "\n"
00584 " If any incoming data is greater than this value, it will\n"
00585 " be set to this value. The default of 12.7 is used to\n"
00586 " scale incoming floats to signed bytes.\n"
00587 "\n"
00588 " -mp_min MIN_VAL : limit the minimum value of the MP data\n"
00589 " : e.g. -mp_min -12.7\n"
00590 " : default is -12.7\n"
00591 "\n"
00592 " If any incoming data is less than this value, it will\n"
00593 " be set to this value. The default of -12.7 is used to\n"
00594 " scale incoming floats to signed bytes.\n"
00595 "\n"
00596 " -sock_num SOCK : specify socket number to serve\n"
00597 " : e.g. -sock_num 53214\n"
00598 " : default is 53214\n"
00599 "\n"
00600 " This is the socket the program will use to listen for\n"
00601 " new connections. This is the socket number that should\n"
00602 " be provided to the realtime plugin via the environment\n"
00603 " variable, AFNI_REALTIME_MP_HOST_PORT.\n"
00604 "\n"
00605 " On the machine the user run afni from, that environment\n"
00606 " variable should have the form HOST:PORT, where a basic\n"
00607 " example might be localhost:53214.\n"
00608 "------------------------------------------------------------\n"
00609 " Authors: R. Reynolds, T. Ross (March, 2004)\n"
00610 "------------------------------------------------------------\n",
00611 prog, prog,
00612 prog, prog, prog, prog, prog, prog, prog, prog,
00613 prog
00614 );
00615 }
00616 else
00617 fprintf(stderr,"** usage error: invalid level %d\n", level);
00618
00619 return 1;
00620 }
00621
00622
00623
00624
00625
00626
00627
00628
00629
00630
00631 int test_socket(int sd)
00632 {
00633 char data[16];
00634 int len;
00635
00636 if ( (len = recv(sd, data, g_magic_len, MSG_PEEK)) == -1 )
00637 {
00638 fputs("** test_socket_failure\n", stderr);
00639 perror("pe: recv");
00640 return -1;
00641 }
00642
00643 if ( strncmp(data, g_magic_bye, g_magic_len) == 0 )
00644 return 1;
00645
00646 return 0;
00647 }
00648
00649
00650
00651
00652
00653
00654
00655
00656
00657 int read_socket(optiondata * opt, port_list * plist, motparm * mp)
00658 {
00659 int rv, len;
00660
00661 if ( (rv = test_socket(plist->tdata_sd)) < 0 )
00662 return -1;
00663 else if ( rv == 1 )
00664 {
00665 if ( opt->debug > 0 )
00666 fprintf(stderr,"++ found close request, mpcount = %d\n", mp->nread);
00667 return 1;
00668 }
00669
00670 len = mp->nvals * sizeof(float);
00671 if ( (rv = recv(plist->tdata_sd, (void *)mp->data, len, 0)) < len )
00672 {
00673 fprintf(stderr,"** read only %d of %d bytes on socket\n", rv, len);
00674 perror("pe: recv");
00675 return -1;
00676 }
00677
00678 if ( opt->swap )
00679 swap_4(mp->data, mp->nvals);
00680
00681 mp->nread++;
00682
00683 if ( opt->debug > 2 )
00684 {
00685 int c;
00686 fprintf(stderr,"++ recv floats:");
00687 for ( c = 0; c < mp->nvals; c++ )
00688 fprintf(stderr," %f", mp->data[c]);
00689 fputc('\n', stderr);
00690 }
00691
00692 return 0;
00693 }
00694
00695 void send_serial(optiondata * opt, port_list * plist, motparm *mot)
00696 {
00697 static char outdata[7];
00698 int i;
00699
00700 outdata[0] = -128;
00701 for (i=0; i<6; i++) {
00702 if (mot->data[i] > opt->mp_max)
00703 mot->data[i] = opt->mp_max;
00704 if (mot->data[i] < opt->mp_min)
00705 mot->data[i] = opt->mp_min;
00706 outdata[i+1] = (char) (mot->data[i] * 10.0);
00707 }
00708 i = write(plist->sport, outdata, 7);
00709 if (i<7)
00710 fprintf(stderr, "warning: only wrote %d bytes to serial port\n", i);
00711 }
00712
00713
00714 int open_serial(optiondata *opt, port_list * plist)
00715 {
00716 int sport;
00717 struct termios options;
00718
00719 sport = open(opt->serial_port, O_RDWR | O_NOCTTY | O_NDELAY);
00720 if (sport == -1) {
00721 perror("pe: Failed to open the serial port ");
00722 return -1;
00723 }
00724
00725
00726
00727
00728
00729 fcntl(sport, F_SETFL, FNDELAY);
00730
00731
00732 tcgetattr(sport, &options);
00733
00734
00735 cfsetispeed(&options, B9600);
00736 cfsetospeed(&options, B9600);
00737
00738
00739 options.c_cflag |= (CLOCAL | CREAD );
00740
00741
00742 options.c_cflag &= ~PARENB;
00743 options.c_cflag &= ~CSTOPB;
00744 options.c_cflag &= ~CSIZE;
00745 options.c_cflag |= CS8;
00746
00747
00748 options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
00749 options.c_oflag &= ~OPOST;
00750
00751
00752 if (tcsetattr(sport, TCSANOW, &options) == -1) {
00753 perror("pe: Failed to set attributes on the serial port ");
00754 close(sport);
00755 return -1;
00756 }
00757
00758 plist->sport = sport;
00759 return 0;
00760 }
00761
00762
00763
00764
00765
00766
00767 void swap_4( void * data, int nswaps )
00768 {
00769 char * cp, tmp;
00770 int c;
00771 for ( c = 0, cp = (char *)data; c < nswaps; c++, cp += 4 )
00772 {
00773 tmp = cp[0]; cp[0] = cp[3]; cp[3] = tmp;
00774 tmp = cp[1]; cp[1] = cp[2]; cp[2] = tmp;
00775 }
00776 }
00777
00778
00779
00780
00781
00782
00783 int disp_optiondata( char * info, optiondata * D )
00784 {
00785 if ( info )
00786 fputs(info, stderr);
00787
00788 if ( ! D )
00789 {
00790 fprintf(stderr,"** disp_optiondata: D == NULL\n");
00791 return -1;
00792 }
00793
00794 fprintf(stderr,
00795 " optiondata at %p :\n"
00796 " serial_port = %s\n"
00797 " no_serial = %d\n"
00798 " mp_min, mp_max = %f, %f\n"
00799 " sock_num = %d\n"
00800 " swap, debug = %d, %d\n",
00801 D, CHECK_NULL_STR(D->serial_port), D->no_serial,
00802 D->mp_min, D->mp_max, D->sock_num, D->swap, D->debug);
00803
00804 return 0;
00805 }
