Subject:
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LNPD problem
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Newsgroups:
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lugnet.robotics.rcx
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Date:
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Tue, 3 Dec 2002 22:31:06 GMT
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Viewed:
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2904 times
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Hi there,
I still don't manage to send any packages from the rcx to the PC.
I attached the client and the "receiver program" and here is a
fragment of the lnpd log:
148032:Client > connection 1 from host 127.0.0.1, port 33485
148039:Logical > Keepalive sent
151548:Logical > Keepalive sent
155058:Logical > Keepalive sent
155796:Integrity > Header f0
155801:Integrity > Length 3
155819:Integrity > Integrity reset
155819:Logical > Frame Error
158559:Logical > Keepalive sent
162068:Logical > Keepalive sent
165580:Logical > Keepalive sent
165831:Integrity > Header f0
165835:Integrity > Length 3
165854:Integrity > Integrity reset
165854:Logical > Frame Error
169088:Logical > Keepalive sent
172588:Logical > Keepalive sent
175865:Integrity > Header f0
175870:Integrity > Length 3
175888:Integrity > Integrity reset
175888:Logical > Frame Error
176098:Logical > Keepalive sent
179608:Logical > Keepalive sent
183109:Logical > Keepalive sent
185900:Integrity > Header f0
185904:Integrity > Length 3
185923:Integrity > Integrity reset
185923:Logical > Frame Error
186618:Logical > Keepalive sent
190128:Logical > Keepalive sent
193638:Logical > Keepalive sent
195935:Integrity > Header f0
195939:Integrity > Length 3
195958:Integrity > Integrity reset
195958:Logical > Frame Error
197148:Logical > Keepalive sent
200648:Logical > Keepalive sent
204158:Logical > Keepalive sent
205969:Integrity > Header f0
205974:Integrity > Length 3
205992:Integrity > Integrity reset
205992:Logical > Frame Error
A frame error occurs every time.
Isn't there someone out there who has got the same kind of problems
and found a solution for them?
These programs are tested on
-) Pentium III 667 Mhz running debian 3.0 (testing actually) gnu/linux
2.4.18 2.4.19 & 2.4.20 kernel's.
with brickOS/legOs 0.24 - 0.26.08
and on a pentium celeron 400 Mhz machine. with more ore less the same
configuration.
Has anyone some kind of clue please?
Your help would be greatly appreciated.
thanks in advance,
Pieter
===File ~/thesis/client/client.c============================
#include <conio.h>
#include <unistd.h>
#include <dsensor.h>
#include <dmotor.h>
#include <sys/lcd.h>
#include <lnp/lnp.h>
#include <lnp/lnp-logical.h>
#include <string.h>
#include <dsound.h>
#define NOTES_LENGTH 126
int gNewData = 0;
char gMessagingData[256];
int gDataLength;
note_t notes[NOTES_LENGTH];
static const char message[] = "fo";
static char ntest[] = {
'p', PITCH_D4, 2, PITCH_C4, 1, PITCH_D4, 1,
PITCH_F4, 1, PITCH_D4, 1, PITCH_D4, 2,
PITCH_F4, 2, PITCH_G4, 1, PITCH_C5, 1,
PITCH_A4, 2, PITCH_D4, 2, PITCH_END, 0
};
/* copy's the notes in the given array into the notes array
*/
void notecp(note_t *pnotes){
int i = 0;
while (pnotes->pitch != PITCH_END && i < NOTES_LENGTH)
notes[i++] = *pnotes++;
}
void init(void);
void DisplayHandler(char *command);
void MotorHandler(char* p);
MotorDirection mdir(char c);
void SoundHandler(char *command);
void packet_handler(const unsigned char* data, unsigned char length){
dsound_system(DSOUND_BEEP);
if (gNewData == 0){
memcpy(gMessagingData, data, length);
gDataLength = length;
gNewData = 1;
}
}
int PacketWatcher(int argc, char **argv){
wakeup_t WaitForData(wakeup_t data){
return gNewData;
}
cputs("go");
while(1){
wait_event(&WaitForData, 0);
dsound_system(DSOUND_BEEP);
switch(gMessagingData[0]){
case 'm': MotorHandler(gMessagingData+1);
break;
case 'd': DisplayHandler(gMessagingData+1);
break;
case 's':
SoundHandler(gMessagingData+1);
break;
}
gNewData = 0;
}
}
void SoundHandler(char *command){
char *p;
switch(*command){
// plays the notes after it
case 'p':
p = command+1;
notecp( (note_t *) p);
dsound_play(notes);
break;
// play a pre defined tune
case 't':
break;
case 'b':
dsound_system(DSOUND_BEEP);
//beep
break;
}
}
//controls the motors
void MotorHandler(char *command){
switch(command[0]){
// controls the speed of the motor
case 's':
motor_a_speed(command[1]);
motor_b_speed(command[2]);
motor_c_speed(command[3]);
break;
// controls the direction of the motor
case 'd':
motor_a_dir(mdir(command[1]));
motor_b_dir(mdir(command[2]));
motor_c_dir(mdir(command[3]));
break;
// power on or power off
case 'p': break;
// timed power on
case 't': break;
}
}
//determine the direction of the moters
MotorDirection mdir(char c){
switch (c){
case 'f' : return fwd;
case 'r' : return rev;
case 'o' : return off;
case 'b' : return brake;
}
}
//display stuff (max 5 chars) on the rcx display
void DisplayHandler(char *command){
char buf[5];
buf[0]=' ';
buf[1]=' ';
buf[2]=' ';
buf[3]=' ';
buf[4]=' ';
memcpy(buf,command,5);
cputs(buf);
}
int Messenger(int argc, char **argv){
int len;
len = strlen(message);
while(1){
sleep(10);
dsound_system(DSOUND_BEEP);
lnp_integrity_write(message, len+1);
cputs("send");
}
}
int main(int argc, char *argv[]) {
init();
dsound_system(DSOUND_BEEP);
execi(&PacketWatcher, 0, NULL, PRIO_NORMAL, DEFAULT_STACK_SIZE);
execi(&Messenger, 0, NULL, PRIO_LOWEST, DEFAULT_STACK_SIZE);
return 0;
}
void init(void){
lnp_integrity_set_handler(&packet_handler); //sets the packet handler
lnp_logical_range(1);
}
============================================================
===File ~/thesis/client/command.c===========================
#include <liblnp.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
void integrity_handler(const unsigned char* data, unsigned char length){
char *b = malloc(length+1);
memcpy(b, data, length);
//b[length] = '\0';
printf("We ontvangen een package met inhoud %d \n", *b);
free(b);
}
void init(){
lnp_integrity_set_handler(integrity_handler);
}
/**
* main functie van het test-programma,
* dit laat ons toe gewoon strings naar het robotje te sturen
*
*/
int main(int argc, char **argv){
char *buffer, *b2;
int result,len;
int leng = 50;
lnp_init(0,0,0,0, 0);
b2 = malloc(leng+1);
init();
while(1){
fputs("send::",stdout);
fgets(b2,leng,stdin);
len = strlen(b2) + 1;
buffer = malloc(len);
memcpy(buffer, b2, len);
result = lnp_integrity_write(buffer,len);
printf("Het resultaat van write is %i \n", result);
free(buffer);
}
}
============================================================
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Message has 2 Replies:
 | | Re: LNPD problem
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| Hi Pieter, I'll take a shot at it... It's possible you may be experiencing a transmission problem on the RCX side. That's not to say that your RCX can't transmit IR data correctly... obviously it can since you are able to download BrickOS and that (...) (22 years ago, 4-Dec-02, to lugnet.robotics.rcx)
| | | Re: LNPD problem
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| At times I have experienced some issues wth using lnp; I was generally able to improve or elliminate the problem by increasing the packet_handler task priority... or lowering all other tasks to be less than the packet handler. (This includes kernel (...) (22 years ago, 4-Dec-02, to lugnet.robotics.rcx)
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