Im Simu-Mode Bedienung über Tastatur

io/io.c

@@ -2,17 +2,22 @@
 #include "main.h"
 #include "io.h"
 #include <can/can_client.h>
+#include <settings/settings.h>
+#include <mqtt/mqtt_client.h>
 
 struct GPIO_KEY_DATA gpioKeyStop;
 struct GPIO_KEY_DATA gpioKeyPwrUp;
 struct GPIO_KEY_DATA gpioKeyPwrDown;
 
 char nInitialized = 0;
+int iPowerSupplyOn = 0;
 
 /// @brief Initialize the io pins
 /// @return 
 int IO_Init()
 {
+    iPowerSupplyOn = 0;
+
     if (wiringPiSetupPinType(WPI_PIN_BCM))
     {
         mylog(LOG_ERR, "IO: Set up wiringPi failed!");
@@ -179,46 +184,57 @@ void IO_DoCyclic()
     ReadKey(&gpioKeyPwrUp);
     ReadKey(&gpioKeyPwrDown);
 
-    if (gpioKeyStop.iKeyValue)
+    if (gpioKeyStop.iKeyValue || atomic_load(&abKeyStop))
     {
         // stop key is pressed
-        if (gpioKeyStop.iKeyRisingEdge)
+        if (gpioKeyStop.iKeyRisingEdge || atomic_load(&abKeyStop))
         {
             mylog(LOG_INFO, "IO: KEY-Stop: Stop motor.");
             Can_SetMotorGear(0, 0);
         }
     }
-    else if (motctrl[0].nDriveReady)    // plus and minus keys only when drive is ready
+
+    if (gpioKeyPwrUp.iKeyRisingEdge || atomic_load(&abKeyPlus))
     {
-        if (gpioKeyPwrUp.iKeyRisingEdge)
+        if (motctrl[0].nDriveReady)
         {
-            // plus key is pressed -> increase power
+            // when drive is ready to run: plus key is pressed -> increase power
             if (motctrl[0].iMotorGear == MOTOR_GEAR_NEUTRAL)
             {
                 mylog(LOG_INFO, "IO: KEY-Plus: Start motor.");
                 Can_SetMotorGear(0, 1);
                 Can_SetMotorPower(0, 1);
             }
-            else
+            else if (motctrl[0].iMotorPowerSteps < settings.iMotorPwrStepCount)
             {
                 mylog(LOG_INFO, "IO: KEY-Plus: Increase power.");
                 Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps + 1);
             }
         }
-
+        else if (settings.iShellySupplyCount > 0)
-        if (gpioKeyPwrDown.iKeyRisingEdge)
         {
-            // minus key is pressed -> decrease power
+            // when drive is not ready and we have to switch the supply
-            if (motctrl[0].iMotorPowerSteps > 1)
+            MqttClient_SwitchPowerSupply(1);
-            {
+            iPowerSupplyOn = 1;
-                mylog(LOG_INFO, "IO: KEY-Minus: Decrease power.");
-                Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps - 1);
-            }
-            else
-            {
-                mylog(LOG_INFO, "IO: KEY-Minus: Stop motor.");
-                Can_SetMotorGear(0, 0);
-            }
         }
     }
+
+    if (gpioKeyPwrDown.iKeyRisingEdge || atomic_load(&abKeyMinus))
+    {
+        // minus key is pressed -> decrease power
+        if (motctrl[0].iMotorPowerSteps > 1)
+        {
+            mylog(LOG_INFO, "IO: KEY-Minus: Decrease power.");
+            Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps - 1);
+        }
+        // else
+        // {
+        //     mylog(LOG_INFO, "IO: KEY-Minus: Stop motor.");
+        //     Can_SetMotorGear(0, 0);
+        // }
+    }
+
+    atomic_store(&abKeyPlus, false);
+    atomic_store(&abKeyMinus, false);
+    atomic_store(&abKeyStop, false);
 }

io/io.h

@@ -30,6 +30,8 @@ struct GPIO_KEY_DATA
     int iKeyRepeatCycleCounter;
 };
 
+extern int iPowerSupplyOn;
+
 int IO_Init();
 void IO_DoCyclic();
 void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin);

main.c

@@ -4,12 +4,17 @@
 #include <can/can_client.h>
 #include <io/io.h>
 #include <settings/settings.h>
+#include <termios.h>
 
 // Period info of the realtime task
 struct period_info pinfo;
-int iThreadControl = 0;         // 0: thread is running, <0: thread shall exit, >0 thread has exited
 int iLogToConsole = 1;
+atomic_short asThreadControl = ATOMIC_VAR_INIT(0);      // 0: thread is running, <0: thread shall exit, >0 thread has exited
 
+// values for simulation
+atomic_bool abKeyPlus = ATOMIC_VAR_INIT(false);
+atomic_bool abKeyMinus = ATOMIC_VAR_INIT(false);
+atomic_bool abKeyStop = ATOMIC_VAR_INIT(false);
 
 /// @brief send a log message
 /// @param prio 
@@ -150,7 +155,7 @@ void *thread_func(void *data)
         }
 
         // Connect to mqtt broker
-        while (MqttClient_Connect() && (iThreadControl == 0))
+        while (MqttClient_Connect() && atomic_load(&asThreadControl) == 0)
         {
                 mylog(LOG_ERR, "MqttClient_Connect() failed!");
                 sleep(10);
@@ -163,7 +168,7 @@ void *thread_func(void *data)
         WriteOutputPin(GPIO_OUT_PWRON, HIGH);
 
         // cyclic call of do_cyclic_1ms()
-        while (iThreadControl == 0)
+        while (atomic_load(&asThreadControl) == 0)
         {
                 pinfo.cyclecounter++;
                 if (pinfo.cyclecounter > CYCLE_COUNTER_MAX)
@@ -185,11 +190,22 @@ void *thread_func(void *data)
         Can_CloseInterface(0);
         
         // signal thread has finnished
-        iThreadControl = 1;
+        atomic_store(&asThreadControl, 1);
         return NULL;
 }
 
 
+// Funktion, um das Terminal in den "Raw Mode" zu versetzen
+void set_conio_terminal_mode() 
+{
+    struct termios new_termios;
+    tcgetattr(0, &new_termios);
+    new_termios.c_lflag &= ~ICANON; // Deaktiviert den zeilenweisen Modus
+    new_termios.c_lflag &= ~ECHO;   // Verhindert, dass die Taste angezeigt wird
+    tcsetattr(0, TCSANOW, &new_termios);
+}
+
+
 /// @brief catch signals and set flag to terminate for the realtime thread
 /// @param signo 
 void sig_handler(int signo)
@@ -197,7 +213,7 @@ void sig_handler(int signo)
         if ((signo == SIGINT) || (signo == SIGTERM))
         {
                 mylog(LOG_INFO, "Received signal %d", signo);
-                iThreadControl = -1;    // signal realtime thread to exit
+                atomic_store(&asThreadControl, -1);     // signal realtime thread to exit
         }
 }
 
@@ -222,16 +238,24 @@ int main(int argc, char* argv[])
         // Read the settings file after opening the log
         Settings_ReadConfFile();
 
-        // catch signals
+        if (settings.iCanSimu)
-        if (signal(SIGTERM, sig_handler) == SIG_ERR)
         {
-                mylog(LOG_ERR, "Can't catch SIGTERM");
+                // in simulation mode switch terminal to raw mode
-                exit(-1);
+                set_conio_terminal_mode();
         }
-        if (signal(SIGINT, sig_handler) == SIG_ERR)
+        else
         {
-                mylog(LOG_ERR, "Can't catch SIGINT");
+                // catch signals
-                exit(-2);
+                if (signal(SIGTERM, sig_handler) == SIG_ERR)
+                {
+                        mylog(LOG_ERR, "Can't catch SIGTERM");
+                        exit(-1);
+                }
+                if (signal(SIGINT, sig_handler) == SIG_ERR)
+                {
+                        mylog(LOG_ERR, "Can't catch SIGINT");
+                        exit(-2);
+                }
         }
 
         /* Lock memory */
@@ -281,7 +305,7 @@ int main(int argc, char* argv[])
 
         
         /* Create a pthread with specified attributes */
-        iThreadControl = 0;
+        atomic_store(&asThreadControl, 0);
         ret = pthread_create(&thread, &attr, thread_func, NULL);
         if (ret) 
         {
@@ -289,6 +313,48 @@ int main(int argc, char* argv[])
                 goto out;
         }
 
+        if (settings.iCanSimu)
+        {
+                // in simulation mode we use keys to control the motors
+                mylog(LOG_INFO, "*** CanRtDriver in Simu-Mode ***");
+                while (1)
+                {
+                        char ch = getchar();
+                        mylog(LOG_INFO, "SIMU: Taste gedrückt: %c", ch);
+
+                        if (ch == '+')
+                        {
+                                atomic_store(&abKeyPlus, true);
+                        }
+                        else if (ch == '-')
+                        {
+                                atomic_store(&abKeyMinus, true);
+                        }
+                        else if (ch == 's')
+                        {
+                                atomic_store(&abKeyStop, true);
+                        }
+                        else if (ch == 'p')
+                        {
+                                if (iPowerSupplyOn)
+                                {
+                                        MqttClient_SwitchPowerSupply(0);
+                                        iPowerSupplyOn = 0;
+                                }
+                                else
+                                {
+                                        MqttClient_SwitchPowerSupply(1);
+                                        iPowerSupplyOn = 1;
+                                }
+                        }
+                        else if ( ch == 'q')
+                        {
+                                atomic_store(&asThreadControl, -1);     // signal realtime thread to exit
+                                break;
+                        }
+                }
+        }
+
         // join the thread and wait for it to exit
         ret = pthread_join(thread, NULL);
         if (ret)

main.h

@@ -13,6 +13,9 @@
 #include <signal.h>
 #include <syslog.h>
 #include <stdarg.h>
+#include <stdatomic.h>
+#include <stdbool.h>
+
 
 #define CYCLE_COUNTER_MAX 86400000
 
@@ -24,6 +27,10 @@ struct period_info
         float fStartTime; 
 };
 
+extern atomic_bool abKeyPlus;
+extern atomic_bool abKeyMinus;
+extern atomic_bool abKeyStop;
+
 extern struct period_info pinfo;
 extern void mylog(int prio, const char *format, ...);
 

mqtt/mqtt_client.c

@@ -301,4 +301,17 @@ void MqttClient_Publish_MotorActualPowerW(int iMotorIndex, int iMotorPowerW)
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_actualpowerw, strlen(message), message, 0, false);
         }
     }
+}
+
+
+void MqttClient_SwitchPowerSupply(int on)
+{
+    char *cmd = on ? "on" : "off";
+
+    for (int i=0; i<settings.iShellySupplyCount; i++)
+    {
+        mosquitto_publish(mosq, NULL, settings.sShellySupplyTopic[i], strlen(cmd), cmd, 0, false);
+    }
+
+    mylog(LOG_INFO, "MQTT: Switch supply-shellies %s", cmd);
 }

mqtt/mqtt_client.h

@@ -11,5 +11,6 @@ void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear);
 void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower);
 void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchState);
 void MqttClient_Publish_MotorActualPowerW(int iMotorIndex, int iMotorPowerW);
+void MqttClient_SwitchPowerSupply(int on);
 
 #endif

settings/settings.c

@@ -23,6 +23,12 @@ void Settings_InitDefaultValues()
     settings.iMotorPwrMaxRaw = 250;
     settings.iMotorPwrStepCount = 7;
 
+    settings.iShellySupplyCount = 0;
+    for (int i=0; i<MAX_SHELLIES_COUNT; i++)
+    {
+        settings.sShellySupplyTopic[i][0] = '\0';
+    }
+
     // Get path of the executable itself
     ssize_t length = readlink("/proc/self/exe", settings.sExePath, sizeof(settings.sExePath) - 1);
     if (length >= 0)
@@ -74,12 +80,12 @@ void Settings_ReadConfFile()
     //const char *filename = "/etc/CanRtDriver.conf";
 
     char filename[MAX_PATH + 50];
-    sprintf(filename, "%s.conf", settings.sExePath);
+    sprintf(filename, "/etc/CanRtDriver.conf");
     FILE *file = fopen(filename, "r");
     if (file == NULL) 
     {
         mylog(LOG_INFO, "SETTINGS: File %s noch found", filename);
-        sprintf(filename, "/etc/CanRtDriver.conf");
+        sprintf(filename, "%s.conf", settings.sExePath);
         file = fopen(filename, "r");
         if (file == NULL)
         {
@@ -108,43 +114,53 @@ void Settings_ReadConfFile()
 
         if ((key != NULL) && (value != NULL)) 
         {
-            //mylog(LOG_INFO, "SETTINGS: Found key: '%s' | value: '%s'", key, value);
-            
             if (strcmp(key, "DebugLevel") == 0)
             {
+                // how many log messages we want to see
                 settings.iDebugLevel = atoi(value);
                 mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iDebugLevel);
             }
             else if (strcmp(key, "CanSimu") == 0)
             {
+                // shall we do simulation
                 settings.iCanSimu = atoi(value);
                 mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iCanSimu);
             }
             else if (strcmp(key, "MotorPowerMinRaw") == 0)
             {
+                // Minimum power value for the motors
                 settings.iMotorPwrMinRaw = atoi(value);
                 mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMinRaw);
             }
             else if (strcmp(key, "MotorPowerMaxRaw") == 0)
             {
+                // Maximum power value for the motors
                 settings.iMotorPwrMaxRaw = atoi(value);
                 mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMaxRaw);
             }
             else if (strcmp(key, "MotorPowerStepCount") == 0)
             {
+                // How many steps do we want to have switching the power
                 settings.iMotorPwrStepCount = atoi(value);
                 mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrStepCount);
             }
+            else if (strcmp(key, "SupplyShellyMqttTopic") == 0)
+            {
+                // MQTT topic for switching power supply
+                if (settings.iShellySupplyCount < MAX_SHELLIES_COUNT)
+                {
+                    strcpy(settings.sShellySupplyTopic[settings.iShellySupplyCount], value);
+                    settings.iShellySupplyCount++;
+                }
+                else
+                {
+                    mylog(LOG_WARNING, "SETTINGS: Too many SupplyShellyMqttTopic!");
+                }
+            }
             else
             {
                 mylog(LOG_WARNING, "SETTING: Unknown key: %s", key);
             }
-            // // Beispiel: Wert verarbeiten
-            // if (strcmp(key, "port") == 0) 
-            // {
-            //     int port = atoi(value);
-            //     printf("   [System] Port auf %d gesetzt.\n", port);
-            // }
         }
     }
 

settings/settings.h

@@ -9,6 +9,7 @@
 
 #define MAX_LINE_LENGTH 256
 #define MAX_PATH 256
+#define MAX_SHELLIES_COUNT 5
 
 struct APP_SETTINGS
 {
@@ -20,6 +21,9 @@ struct APP_SETTINGS
     int iMotorPwrMinRaw;        // Minimum power value for motor (raw value)
     int iMotorPwrMaxRaw;        // Maximum power value for motor (raw value)
     int iMotorPwrStepCount;     // Number of power steps
+
+    int iShellySupplyCount;     // How many Shellies we have to switch the power supply
+    char sShellySupplyTopic[MAX_SHELLIES_COUNT][MAX_PATH];
 };
 extern struct APP_SETTINGS settings;