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i faced a problem with Multi-UDP Socket.
Now I have a PC(192.168.58.200), and 3 MPU(STM32F4)(192.168.85.100~102).
and I Conncected RS232 With MPU.
When MPU got a messasge, it returns just 'X', and print out same thing with RS232, so i can distinguish when PC can not send message and when MPU can get a message but PC can not recieve the message.
below is my code, Especially "UdpClient[c].Write( TempStr, strlen(TempStr));" doesnt work.
when it send mesage, only one MPU can get a message, and keep reciving 30~40 sec, some times changed other MPU.
1:1 is fine, but problem is more 2 Peer. please share your experiences.
// udpclient.cpp
#include <stdio.h>
#include "UDPCLIENT.h"
#include "UDPServer.h"
struct sPeer
{
char IP[64];
int Port;
};
#define CUR_MPU 3
#define MAX_MPU 16
sPeer Peer[MAX_MPU];
unsigned long _stdcall ReadThread(void *Param)
{
UDPSERVERSOCKET UDPSocket;
int ID = (int)Param;
printf("Server ID %d\n", ID);
UDPSocket.Open(Peer[ID].Port);
while (1)
{
char ReadBuffer[1024];
char Addr[32];
UDPSocket.Read(Addr, ReadBuffer, 1024);
printf("%s>%s\n", Addr, ReadBuffer);
}
UDPSocket.Close();
return 0;
}
int main()
{
sprintf(Peer[0].IP, "192.168.58.100"); Peer[0].Port = 7726;
sprintf(Peer[1].IP, "192.168.58.101"); Peer[1].Port = 7727;
sprintf(Peer[2].IP, "192.168.58.102"); Peer[2].Port = 7728;
///////////////////////쓰레드를 연다./////////////////
for (int c = 0; c < CUR_MPU; c++)
{
DWORD ID;
HANDLE thread01 = CreateThread( NULL,//보안 속성
0,//스택의 크기
ReadThread,//함수
(void *)c,//인자
0,//생성플러그
&ID);// 아이디
}
UDPCLIENTSOCKET UdpClient[CUR_MPU];
for (int c = 0; c < CUR_MPU; c++)
{
UdpClient[c].Open(Peer[c].IP, Peer[c].Port);
}
while (1)
{
char TempStr[1024];
printf("보낼 메시지 ---");
scanf("%s", TempStr);
for (int c = 0; c < CUR_MPU; c++)
{
UdpClient[c].Write( TempStr, strlen(TempStr));
}
}
for (int c = 0; c < CUR_MPU; c++)
UdpClient[c].Close();
return 0;
}
Cleint.cpp
#include "UDPCLIENT.h"
int UDPCLIENTSOCKET::Open(char *Address , int Port)
{
unsigned int addr;
int nRtn = WSAStartup(MAKEWORD(1, 1), &wsaData);
if (nRtn != 0) {
perror("WSAStartup 오류\n");
return -1;
}
s = socket(AF_INET, SOCK_DGRAM, 0);
if (s < 0) {
perror("소켓 오류\n");
WSACleanup();
return -2;
}
lpHostEnt = gethostbyname(Address);
if (lpHostEnt == NULL) {
addr = inet_addr(Address);
lpHostEnt = gethostbyaddr((char *)&addr, 4, AF_INET);
if (lpHostEnt == NULL) {
perror("서버를 찾을 수 없습니다.\n");
_getch();
return -3;
}
}
memset(&addrin, 0, sizeof(addrin));
memcpy(&(addrin.sin_addr),
lpHostEnt->h_addr_list[0],
lpHostEnt->h_length);
addrin.sin_port = htons(Port);
addrin.sin_family = AF_INET;
//addrin.sin_addr.s_addr =
// *((unsigned long *)lpHostEnt->h_addr);
return 1;
}
void UDPCLIENTSOCKET::Close()
{
closesocket(s);
WSACleanup();
}
int UDPCLIENTSOCKET::Write(char *Address, int Port, char *Buffer, int Size)
{
unsigned int addr;
lpHostEnt = gethostbyname(Address);
if (lpHostEnt == NULL) {
addr = inet_addr(Address);
lpHostEnt = gethostbyaddr((char *)&addr, 4, AF_INET);
if (lpHostEnt == NULL) {
perror("서버를 찾을 수 없습니다.\n");
_getch();
return -3;
}
}
memset(&addrin, 0, sizeof(addrin));
memcpy(&(addrin.sin_addr),
lpHostEnt->h_addr_list[0],
lpHostEnt->h_length);
addrin.sin_port = htons(Port);
addrin.sin_family = AF_INET;
int nRtn = sendto(s, Buffer, Size, 0,
(LPSOCKADDR)&addrin, sizeof(addrin));
return nRtn;
}
int UDPCLIENTSOCKET::Write(char *Buffer, int Size)
{
int nRtn = sendto(s, Buffer, Size, 0,
(LPSOCKADDR)&addrin, sizeof(addrin));
return nRtn;
}
Server.cpp
#include "UDPServer.h"
int UDPSERVERSOCKET::Open(u_short uport)
{
int nRtn;
if (WSAStartup(MAKEWORD(1, 1), &wsaData) != 0) {
perror("WSAStartup Error\n");
return -1;
}
s = socket(AF_INET, SOCK_DGRAM, 0);
if (s < 0) {
perror("socket 오류\n");
WSACleanup();
return -2;
}
memset(&addrin, 0, sizeof(addrin));
addrin.sin_port = htons(uport);
addrin.sin_family = AF_INET;
addrin.sin_addr.s_addr = htonl(INADDR_ANY);
nRtn = bind(s, (LPSOCKADDR)&addrin, (int)sizeof(addrin));
if (nRtn == SOCKET_ERROR) {
perror("bind 오류\n");
closesocket(s);
WSACleanup();
return -3;
}
return 1;
}
int UDPSERVERSOCKET::Read(char *Addr, char *Buffer, int Length)
{
int fromlen = (int)sizeof(from);
int nRtn = recvfrom(s,
Buffer,
Length -1,
0,
(SOCKADDR *)&from,
&fromlen);
if (nRtn == SOCKET_ERROR)
{
Addr[0] = 0;
perror("recvform 오류\n");
closesocket(s);
WSACleanup();
return -4;
}
strcpy(Addr, inet_ntoa(from.sin_addr));
Buffer[nRtn] = '\0';
return 1;
}
int UDPSERVERSOCKET::Close()
{
closesocket(s);
WSACleanup();
printf("WSACleanup 완료\n");
return 1;
}
void UDPSERVERSOCKET::ShowErrorMessage(int i)
{
}
void UDPSERVERSOCKET::ReturnClientIP(char *Buffer)
{
}
I am trying to recognize voices from microphone by pocketsphinx and pass it through espeak to say what it recognized in real-time/continuous speech(I mean user says a word/sentence, pocketsphinx will recognize it and collects it inside char* hyp, then passes the hyp to speech() function that uses espeak to say what is inside the hyp. But I don't know why do I get
Failed to read audio
In this part of the code:
if ((k = ad_read(ad, adbuf, 2048)) < 0)
E_FATAL("Failed to read audio\n");
This is the complete code:
static ps_decoder_t *ps;
static cmd_ln_t *config;
static FILE *rawfd;
ad_rec_t *ad;
char *hyp;
espeak_POSITION_TYPE position_type;
espeak_AUDIO_OUTPUT output;
char *path=NULL;
int Buflength = 2048, Options=0;
void* user_data;
char Voice[] = {"English"};
unsigned int Size,position=0, end_position=0, flags=espeakCHARS_AUTO, *unique_identifier;
t_espeak_callback *SynthCallback;
espeak_PARAMETER Parm;
static void after_speech()
{
espeak_Synth( hyp, Size, position, position_type, end_position, flags,unique_identifier, user_data );
espeak_Synchronize( );
ad_start_rec(ad);
}
int receive_espeak_events(short *wav, int numsamples, espeak_EVENT *event)
{
while (event->type != espeakEVENT_LIST_TERMINATED)
{
if (event->type == espeakEVENT_MSG_TERMINATED)
{
after_speech();
}
++event;
}
return 0;
}
static void initFuncs()
{
espeak_Initialize(output, Buflength, path, AUDIO_OUTPUT_PLAYBACK ); //AUDIO_OUTPUT_SYNCHRONOUS ); //Options );
espeak_SetVoiceByName(Voice);
}
static void sleep_msec(int32 ms)
{
struct timeval tmo;
tmo.tv_sec = 0;
tmo.tv_usec = ms * 1000;
select(0, NULL, NULL, NULL, &tmo);
}
static void speech(char* hyp)
{
Size = strlen(hyp)+1;
espeak_SetSynthCallback(receive_espeak_events);
}
static void recognize_from_microphone()
{
int16 adbuf[2048];
uint8 utt_started, in_speech;
int32 k;
if ((ad = ad_open_dev(cmd_ln_str_r(config, "-adcdev"),(int) cmd_ln_float32_r(config,"-samprate"))) == NULL)
E_FATAL("Failed to open audio device\n");
if (ad_start_rec(ad) < 0)
E_FATAL("Failed to start recording\n");
if (ps_start_utt(ps) < 0)
E_FATAL("Failed to start utterance\n");
utt_started = FALSE;
E_INFO("Ready....\n");
for (;;)
{
if ((k = ad_read(ad, adbuf, 2048)) < 0)
E_FATAL("Failed to read audio\n");
ps_process_raw(ps, adbuf, k, FALSE, FALSE);
in_speech = ps_get_in_speech(ps);
if (in_speech && !utt_started)
{
utt_started = TRUE;
E_INFO("Listening...\n");
}
if (!in_speech && utt_started)
{
ps_end_utt(ps);
hyp = (char*)ps_get_hyp(ps, NULL );
if (hyp != NULL)
{
ad_stop_rec(ad);
speech(hyp);
printf("%s\n",hyp);
fflush(stdout);
// sleep_msec(3000);
}
if (ps_start_utt(ps) < 0)
E_FATAL("Failed to start utterance\n");
utt_started = FALSE;
E_INFO("Ready....\n");
}
}//for loop
ad_close(ad);
}
int main(int argc, char *argv[])
{
initFuncs();
config = cmd_ln_init(NULL, ps_args(), TRUE,
"-hmm", "/home/m/myrobot3/robot/model_parameters/robot.cd_cont_1000",
"-lm","/home/m/myrobot3/robot/etc/robot.lm.bin",
"-dict", "/home/m/myrobot3/robot/etc/robot.dic",
NULL);
ps = ps_init(config);
recognize_from_microphone();
ps_free(ps);
cmd_ln_free_r(config);
return 0;
}
NOTE: I used espeak_SetSynthCallback(receive_espeak_events); because I must pause the pocketsphinx's listening to new voices, until the espeak ends speaking of the previous recognized voice. So I tried to ad_stop_rec(ad); after finding a new hyp() inside the for(;;) loop, then tried to ad_start_rec(ad); when espeakEVENT_MSG_TERMINATED happened inside the receive_espeak_events callback.
I am trying to call the HappyTime onvif library from Swift.
I have the library linked in to my project and I am able to call some simple functions, but I am having trouble getting the syntax right in my call which passes my callback function.
Here is the Swift code:
func discoverCameras()
{
HappyInterface.sharedInstance().startProb()
//this line gives syntax error
HappyInterface.sharedInstance().setProbeCB(cameraDiscovered)
}
func cameraDiscovered(cameraFound:UnsafeMutablePointer<DEVICE_BINFO>)
{
table.reloadData()
}
my setProbeCB call gives this error:
Cannot convert value of type '(UnsafeMutablePointer) -> ()' to expected argument type 'UnsafeMutablePointer' (aka 'UnsafeMutablePointer, UnsafeMutablePointer<()>) -> ()>>')
Here is the Obj C implementation:
- (void) setProbeCB:(onvif_probe_cb *)cb {
set_probe_cb(*cb, 0);
}
This is the Obj C header:
- (void) setProbeCB:(onvif_probe_cb *)cb;
This is the C header:
#ifndef __H_ONVIF_PROBE_H__
#define __H_ONVIF_PROBE_H__
#include "onvif.h"
typedef void (* onvif_probe_cb)(DEVICE_BINFO * p_res, void * pdata);
#ifdef __cplusplus
extern "C" {
#endif
ONVIF_API void set_probe_cb(onvif_probe_cb cb, void * pdata);
ONVIF_API void set_probe_interval(int interval);
ONVIF_API int start_probe(int interval);
ONVIF_API void stop_probe();
ONVIF_API void send_probe_req();
#ifdef __cplusplus
}
#endif
#endif // __H_ONVIF_PROBE_H__
This is the C code:
/***************************************************************************************/
#define MAX_PROBE_FD 8
/***************************************************************************************/
onvif_probe_cb g_probe_cb = 0;
void * g_probe_cb_data = 0;
pthread_t g_probe_thread = 0;
int g_probe_fd[MAX_PROBE_FD];
int g_probe_interval = 30;
BOOL g_probe_running = FALSE;
/***************************************************************************************/
int onvif_probe_init(unsigned int ip)
{
int opt = 1;
SOCKET fd;
struct sockaddr_in addr;
struct ip_mreq mcast;
fd = socket(AF_INET, SOCK_DGRAM, 0);
if(fd < 0)
{
log_print(LOG_ERR, "socket SOCK_DGRAM error!\n");
return -1;
}
addr.sin_family = AF_INET;
addr.sin_port = htons(3702);
addr.sin_addr.s_addr = ip;
if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) == -1)
{
// if port 3702 already occupied, only receive unicast message
addr.sin_port = 0;
if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) == -1)
{
closesocket(fd);
log_print(LOG_ERR, "bind error! %s\n", sys_os_get_socket_error());
return -1;
}
}
/* reuse socket addr */
if (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, (char*)&opt, sizeof(opt)))
{
log_print(LOG_WARN, "setsockopt SO_REUSEADDR error!\n");
}
memset(&mcast, 0, sizeof(mcast));
mcast.imr_multiaddr.s_addr = inet_addr("239.255.255.250");
mcast.imr_interface.s_addr = ip;
if (setsockopt(fd, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char*)&mcast, sizeof(mcast)) < 0)
{
#if __WIN32_OS__
if(setsockopt(fd, IPPROTO_IP, 5, (char*)&mcast, sizeof(mcast)) < 0)
#endif
{
closesocket(fd);
log_print(LOG_ERR, "setsockopt IP_ADD_MEMBERSHIP error! %s\n", sys_os_get_socket_error());
return -1;
}
}
return fd;
}
char probe_req1[] =
"<?xml version=\"1.0\" encoding=\"utf-8\"?>"
"<Envelope xmlns:tds=\"http://www.onvif.org/ver10/device/wsdl\" xmlns=\"http://www.w3.org/2003/05/soap-envelope\">"
"<Header>"
"<wsa:MessageID xmlns:wsa=\"http://schemas.xmlsoap.org/ws/2004/08/addressing\">uuid:%s</wsa:MessageID>"
"<wsa:To xmlns:wsa=\"http://schemas.xmlsoap.org/ws/2004/08/addressing\">urn:schemas-xmlsoap-org:ws:2005:04:discovery</wsa:To>"
"<wsa:Action xmlns:wsa=\"http://schemas.xmlsoap.org/ws/2004/08/addressing\">http://schemas.xmlsoap.org/ws/2005/04/discovery/Probe</wsa:Action>"
"</Header>"
"<Body>"
"<Probe xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\" xmlns:xsd=\"http://www.w3.org/2001/XMLSchema\" xmlns=\"http://schemas.xmlsoap.org/ws/2005/04/discovery\">"
"<Types>tds:Device</Types>"
"<Scopes />"
"</Probe>"
"</Body>"
"</Envelope>";
char probe_req2[] =
"<?xml version=\"1.0\" encoding=\"utf-8\"?>"
"<Envelope xmlns:dn=\"http://www.onvif.org/ver10/network/wsdl\" xmlns=\"http://www.w3.org/2003/05/soap-envelope\">"
"<Header>"
"<wsa:MessageID xmlns:wsa=\"http://schemas.xmlsoap.org/ws/2004/08/addressing\">uuid:%s</wsa:MessageID>"
"<wsa:To xmlns:wsa=\"http://schemas.xmlsoap.org/ws/2004/08/addressing\">urn:schemas-xmlsoap-org:ws:2005:04:discovery</wsa:To>"
"<wsa:Action xmlns:wsa=\"http://schemas.xmlsoap.org/ws/2004/08/addressing\">http://schemas.xmlsoap.org/ws/2005/04/discovery/Probe</wsa:Action>"
"</Header>"
"<Body>"
"<Probe xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\" xmlns:xsd=\"http://www.w3.org/2001/XMLSchema\" xmlns=\"http://schemas.xmlsoap.org/ws/2005/04/discovery\">"
"<Types>dn:NetworkVideoTransmitter</Types>"
"<Scopes />"
"</Probe>"
"</Body>"
"</Envelope>";
int onvif_probe_req_tx(int fd)
{
int len;
int rlen;
char * p_bufs = NULL;
struct sockaddr_in addr;
int buflen = 10*1024;
p_bufs = (char *)malloc(buflen);
if (NULL == p_bufs)
{
return -1;
}
memset(p_bufs, 0, buflen);
sprintf(p_bufs, probe_req1, onvif_uuid_create());
memset(&addr, 0, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_addr.s_addr = inet_addr("239.255.255.250");
addr.sin_port = htons(3702);
len = strlen(p_bufs);
rlen = sendto(fd, p_bufs, len, 0, (struct sockaddr *)&addr, sizeof(struct sockaddr_in));
if (rlen != len)
{
log_print(LOG_ERR, "onvif_probe_req_tx::rlen = %d,slen = %d\r\n", rlen, len);
}
usleep(1000);
memset(p_bufs, 0, buflen);
sprintf(p_bufs, probe_req2, onvif_uuid_create());
len = strlen(p_bufs);
rlen = sendto(fd, p_bufs, len, 0, (struct sockaddr *)&addr, sizeof(struct sockaddr_in));
if (rlen != len)
{
log_print(LOG_ERR, "onvif_probe_req_tx::rlen = %d,slen = %d\r\n", rlen, len);
}
free(p_bufs);
return rlen;
}
BOOL onvif_parse_device_binfo(XMLN * p_node, DEVICE_BINFO * p_res)
{
XMLN * p_EndpointReference;
XMLN * p_Types;
XMLN * p_XAddrs;
p_EndpointReference = xml_node_soap_get(p_node, "EndpointReference");
if (p_EndpointReference)
{
XMLN * p_Address = xml_node_soap_get(p_EndpointReference, "Address");
if (p_Address && p_Address->data)
{
strncpy(p_res->EndpointReference, p_Address->data, sizeof(p_res->EndpointReference)-1);
}
}
p_Types = xml_node_soap_get(p_node, "Types");
if (p_Types && p_Types->data)
{
p_res->type = parse_DeviceType(p_Types->data);
}
p_XAddrs = xml_node_soap_get(p_node, "XAddrs");
if (p_XAddrs && p_XAddrs->data)
{
parse_XAddr(p_XAddrs->data, &p_res->XAddr);
if (p_res->XAddr.host[0] == '\0' || p_res->XAddr.port == 0)
{
return FALSE;
}
}
else
{
return FALSE;
}
return TRUE;
}
BOOL onvif_probe_res(XMLN * p_node, DEVICE_BINFO * p_res)
{
XMLN * p_body = xml_node_soap_get(p_node, "Body");
if (p_body)
{
XMLN * p_ProbeMatches = xml_node_soap_get(p_body, "ProbeMatches");
if (p_ProbeMatches)
{
XMLN * p_ProbeMatch = xml_node_soap_get(p_ProbeMatches, "ProbeMatch");
while (p_ProbeMatch && soap_strcmp(p_ProbeMatch->name, "ProbeMatch") == 0)
{
if (onvif_parse_device_binfo(p_ProbeMatch, p_res))
{
if (g_probe_cb)
{
g_probe_cb(p_res, g_probe_cb_data);
}
}
p_ProbeMatch = p_ProbeMatch->next;
}
}
else
{
XMLN * p_Hello = xml_node_soap_get(p_body, "Hello");
if (p_Hello)
{
if (onvif_parse_device_binfo(p_Hello, p_res))
{
if (g_probe_cb)
{
g_probe_cb(p_res, g_probe_cb_data);
}
}
}
}
}
return TRUE;
}
int onvif_probe_net_rx()
{
int i;
int ret;
int maxfd = 0;
int fd = 0;
char rbuf[10*1024];
fd_set fdread;
struct timeval tv = {1, 0};
FD_ZERO(&fdread);
for (i = 0; i < MAX_PROBE_FD; i++)
{
if (g_probe_fd[i] > 0)
{
FD_SET(g_probe_fd[i], &fdread);
if (g_probe_fd[i] > maxfd)
{
maxfd = g_probe_fd[i];
}
}
}
ret = select(maxfd+1, &fdread, NULL, NULL, &tv);
if (ret == 0) // Time expired
{
return 0;
}
for (i = 0; i < MAX_PROBE_FD; i++)
{
if (g_probe_fd[i] > 0 && FD_ISSET(g_probe_fd[i], &fdread))
{
int rlen;
int addr_len;
struct sockaddr_in addr;
unsigned int src_ip;
unsigned int src_port;
XMLN * p_node;
fd = g_probe_fd[i];
addr_len = sizeof(struct sockaddr_in);
rlen = recvfrom(fd, rbuf, sizeof(rbuf), 0, (struct sockaddr *)&addr, (socklen_t*)&addr_len);
if (rlen <= 0)
{
log_print(LOG_ERR, "onvif_probe_net_rx::rlen = %d, fd = %d\r\n", rlen, fd);
continue;
}
src_ip = addr.sin_addr.s_addr;
src_port = addr.sin_port;
p_node = xxx_hxml_parse(rbuf, rlen);
if (p_node == NULL)
{
log_print(LOG_ERR, "onvif_probe_net_rx::hxml parse err!!!\r\n");
}
else
{
DEVICE_BINFO res;
memset(&res, 0, sizeof(DEVICE_BINFO));
onvif_probe_res(p_node, &res);
}
xml_node_del(p_node);
}
}
return 1;
}
void * onvif_probe_thread(void * argv)
{
int count = 0;
int i = 0;
int j = 0;
for (; i < get_if_nums() && j < MAX_PROBE_FD; i++, j++)
{
unsigned int ip = get_if_ip(i);
if (ip != 0 && ip != inet_addr("127.0.0.1"))
{
g_probe_fd[j] = onvif_probe_init(ip);
}
}
for (i = 0; i < MAX_PROBE_FD; i++)
{
if (g_probe_fd[i] > 0)
{
onvif_probe_req_tx(g_probe_fd[i]);
}
}
while (g_probe_running)
{
if (onvif_probe_net_rx() == 0)
{
count++;
}
if (count >= g_probe_interval)
{
count = 0;
for (i = 0; i < MAX_PROBE_FD; i++)
{
if (g_probe_fd[i] > 0)
{
onvif_probe_req_tx(g_probe_fd[i]);
}
}
}
usleep(1000);
}
g_probe_thread = 0;
return NULL;
}
ONVIF_API void set_probe_cb(onvif_probe_cb cb, void * pdata)
{
g_probe_cb = cb;
g_probe_cb_data = pdata;
}
ONVIF_API void send_probe_req()
{
int i;
for (i = 0; i < MAX_PROBE_FD; i++)
{
if (g_probe_fd[i] > 0)
{
onvif_probe_req_tx(g_probe_fd[i]);
}
}
}
ONVIF_API void set_probe_interval(int interval)
{
g_probe_interval = interval;
if (g_probe_interval < 10)
{
g_probe_interval = 30;
}
}
ONVIF_API int start_probe(int interval)
{
g_probe_running = TRUE;
set_probe_interval(interval);
g_probe_thread = sys_os_create_thread((void *)onvif_probe_thread, NULL);
if (g_probe_thread)
{
return 0;
}
return -1;
}
ONVIF_API void stop_probe()
{
int i;
g_probe_running = FALSE;
while (g_probe_thread)
{
usleep(1000);
}
for (i = 0; i < MAX_PROBE_FD; i++)
{
if (g_probe_fd[i] > 0)
{
closesocket(g_probe_fd[i]);
g_probe_fd[i] = 0;
}
}
}
Here is what the DEVICE_BINFO struct looks like:
typedef struct
{
int type; // device type
char EndpointReference[100];
onvif_XAddr XAddr; // xaddr, include port host, url
} DEVICE_BINFO;
One thing that should be fixed is a mismatch in the number of arguments to the callback. Swift calls the Objective-C setProbeCB() method, giving it a pointer to the cameraDiscovered() function, which takes a single argument. Then setProbeCB() gives the function pointer to the C set_probe_cb() function, which expects a pointer to a function that takes two arguments.
Another observation is that setProbeCB() could just take onvif_probe_cb instead of onvif_probe_cb* and then call C code simply as set_probe_cb(cb, 0). However, I don't think it makes much difference.
Also, I think the question could have been distilled to a smaller size.
The following is a simplified example based on your original code. It shows how to implement a callback in Swift and have C code call it, but the real fun starts when passing data via callback parameters and return values. It gets very tricky very fast, and that's why the example doesn't show how to deal with DEVICE_BINFO in Swift code. It's a topic in its own right.
The clue to using (Objective-)C functions and types in Swift is figuring out how they are imported into Swift. For example, to find out how onvif_probe_cb is imported, type it on a line in the Swift code, place the cursor in it, and Quick Help will show you this:
Declaration: typealias onvif_probe_cb = (UnsafeMutablePointer<DEVICE_BINFO>, UnsafeMutablePointer<Void>) -> Void
Declared in: clib.h
That tells us the parameter and return types to use in our Swift implementation of the callback.
The example is by no means production quality: there are all kinds of things that can go haywire in terms of memory management etc. Please see the code comments for additional info.
First, here is the C code header (clib.h):
#ifndef clib_h
#define clib_h
#include <stdio.h>
typedef struct {
char hostname[50];
int32_t port;
char url[200];
} onvif_XAddr;
typedef struct
{
int type; // device type
char EndpointReference[100];
onvif_XAddr XAddr; // xaddr, include port host, url
} DEVICE_BINFO;
/**
* This is the typedef of the function pointer to be used for our callback.
* The function takes a pointer to DEVICE_BINFO and a pointer to some arbitrary
* data meaningful to the code that provides the callback implementation. It will
* be NULL in this example.
*/
typedef void (* onvif_probe_cb)(DEVICE_BINFO * p_res, void * pdata);
/**
* A function to set the callback.
*/
void set_probe_cb(onvif_probe_cb cb, void * pdata);
/**
* This is a function that calls the callback.
*/
void find_device();
#endif /* clib_h */
Here is the rest of our C source (clib.c):
#include "clib.h"
#include <string.h>
onvif_probe_cb gCB = 0; // global variable to store the callback pointer
void * gUserData = 0; // global variable to store pointer to user data
DEVICE_BINFO gDeviceInfo; // global variable to store device info struct
void find_device() {
// Set up gDeviceInfo
gDeviceInfo.XAddr.port = 1234;
strcpy( gDeviceInfo.XAddr.hostname, "myhost");
strcpy( gDeviceInfo.XAddr.url, "http://junk.com");
gDeviceInfo.type = 777;
// ... and, if a callback is available, call it with the device info
if (gCB) gCB(&gDeviceInfo, gUserData);
else puts("No callback available");
}
void set_probe_cb(onvif_probe_cb cb, void * pdata) {
gCB = cb;
gUserData = pdata;
}
Here is the Objective-C wrapper header (oclib.h):
#ifndef oclib_h
#define oclib_h
#import "clib.h"
#import <Foundation/Foundation.h>
/**
* Interface of an Objective-C wrapper around C code in clib.*. We could have
* gone straight to C from Swift, but I'm trying to keep the example close to the
* code in the question. Also, this extra Objective C layer could be helpful in
* translating data structures, such as DEVICE_BINFO, between C and Swift, since
* Objective-C plays much nicer with C data types. This is no surprise: any C code
* is valid Objective-C (Objective-C is a strict superset of C).
*/
#interface MyWrapper : NSObject
-(id)init;
// Please note: this one takes a single argument, while the C function it wraps
// takes 2; see the implementation.
-(void) setProbeCB:(onvif_probe_cb) cb;
-(void) findDevice;
#end
#endif /* oclib_h */
And the wrapper implementation (oclib.m):
#import "oclib.h"
/**
* Implementation of our Objective-C wrapper.
*/
#implementation MyWrapper
-(id)init { return self; }
-(void) setProbeCB:(onvif_probe_cb) cb {
// We don't want anything other than device info to be passed back and
// forth via the callback, so this wrapper function takes a single argument
// and passes 0 as the 2nd argument to the wrapped C function.
set_probe_cb(cb, 0);
}
-(void) findDevice {
find_device();
}
#end
Finally, here is the Swift code that implements the callback (main.swift):
var w : MyWrapper = MyWrapper()
/**
* This is the callback implementation in Swift. We don't use the 2nd argument, userData, but it still
* has to be present to satisfy the way the callback function pointer is specified in C code.
*/
func cameraDiscovered( info : UnsafeMutablePointer<DEVICE_BINFO>, userData : UnsafeMutablePointer<Void>) {
print("Called the Swift callback!")
let devInfo : DEVICE_BINFO = info.memory;
print( "The device type is \(devInfo.type)")
print( "The device port is \(devInfo.XAddr.port)")
}
// Provide the callback to C code via Objective-C
w.setProbeCB(cameraDiscovered)
// ... and call a function that will cause the C code to invoke the callback.
w.findDevice()
The bridging header just has #import oclib.h, thus exposing the contents of both C and Objective-C headers to Swift.
The expected output:
Called the Swift callback!
The device type is 777
The device port is 1234
I am enabling the pinctrl driver in the raspberry linux and I tried something and enabled it.
But what happened is, the __init is calling but the probe is not calling by the linux.
My code is
this is the probe
static int bcm2835_pinctrl_probe(struct platform_device *pdev)
{
struct device *dev = &pdev->dev;
struct device_node *np = dev->of_node;
struct bcm2835_pinctrl *pc;
struct resource iomem;
int err, i;
BUILD_BUG_ON(ARRAY_SIZE(bcm2835_gpio_pins) != BCM2835_NUM_GPIOS);
BUILD_BUG_ON(ARRAY_SIZE(bcm2835_gpio_groups) != BCM2835_NUM_GPIOS);
pc = devm_kzalloc(dev, sizeof(*pc), GFP_KERNEL);
if (!pc)
return -ENOMEM;
platform_set_drvdata(pdev, pc);
pc->dev = dev;
err = of_address_to_resource(np, 0, &iomem);
if (err) {
dev_err(dev, "could not get IO memory\n");
return err;
}
pc->base = devm_ioremap_resource(dev, &iomem);
if (IS_ERR(pc->base))
return PTR_ERR(pc->base);
pc->gpio_chip = bcm2835_gpio_chip;
pc->gpio_chip.dev = dev;
pc->irq_domain = irq_domain_add_linear(np, BCM2835_NUM_GPIOS,
&irq_domain_simple_ops, NULL);
if (!pc->irq_domain) {
dev_err(dev, "could not create IRQ domain\n");
return -ENOMEM;
}
for (i = 0; i < BCM2835_NUM_GPIOS; i++) {
int irq = irq_create_mapping(pc->irq_domain, i);
irq_set_lockdep_class(irq, &gpio_lock_class);
irq_set_chip_and_handler(irq, &bcm2835_gpio_irq_chip,
handle_simple_irq);
irq_set_chip_data(irq, pc);
set_irq_flags(irq, IRQF_VALID);
}
for (i = 0; i < BCM2835_NUM_BANKS; i++) {
unsigned long events;
unsigned offset;
int len;
char *name;
/* clear event detection flags */
bcm2835_gpio_wr(pc, GPREN0 + i * 4, 0);
bcm2835_gpio_wr(pc, GPFEN0 + i * 4, 0);
bcm2835_gpio_wr(pc, GPHEN0 + i * 4, 0);
bcm2835_gpio_wr(pc, GPLEN0 + i * 4, 0);
bcm2835_gpio_wr(pc, GPAREN0 + i * 4, 0);
bcm2835_gpio_wr(pc, GPAFEN0 + i * 4, 0);
/* clear all the events */
events = bcm2835_gpio_rd(pc, GPEDS0 + i * 4);
for_each_set_bit(offset, &events, 32)
bcm2835_gpio_wr(pc, GPEDS0 + i * 4, BIT(offset));
pc->irq[i] = irq_of_parse_and_map(np, i);
pc->irq_data[i].pc = pc;
pc->irq_data[i].bank = i;
spin_lock_init(&pc->irq_lock[i]);
len = strlen(dev_name(pc->dev)) + 16;
name = devm_kzalloc(pc->dev, len, GFP_KERNEL);
if (!name)
return -ENOMEM;
snprintf(name, len, "%s:bank%d", dev_name(pc->dev), i);
err = devm_request_irq(dev, pc->irq[i],
bcm2835_gpio_irq_handler, IRQF_SHARED,
name, &pc->irq_data[i]);
if (err) {
dev_err(dev, "unable to request IRQ %d\n", pc->irq[i]);
return err;
}
}
err = gpiochip_add(&pc->gpio_chip);
if (err) {
dev_err(dev, "could not add GPIO chip\n");
return err;
}
pc->pctl_dev = pinctrl_register(&bcm2835_pinctrl_desc, dev, pc);
if (!pc->pctl_dev) {
err = gpiochip_remove(&pc->gpio_chip);
return err;
}
pc->gpio_range = bcm2835_pinctrl_gpio_range;
pc->gpio_range.base = pc->gpio_chip.base;
pc->gpio_range.gc = &pc->gpio_chip;
pinctrl_add_gpio_range(pc->pctl_dev, &pc->gpio_range);
return 0;
}
static struct of_device_id bcm2835_pinctrl_match[] = {
{ .compatible = "brcm,bcm2835-gpio" },
{}
};
MODULE_DEVICE_TABLE(of, bcm2835_pinctrl_match);
static struct platform_driver bcm2835_pinctrl_driver = {
.probe = bcm2835_pinctrl_probe,
.remove = bcm2835_pinctrl_remove,
.driver = {
.name = MODULE_NAME,
.owner = THIS_MODULE,
.of_match_table = bcm2835_pinctrl_match,
},
};
static int __init bcm2835_pinctrl_init(void)
{
return platform_driver_register(&bcm2835_pinctrl_driver);
}
static void __exit bcm2835_pinctrl_exit(void)
{
platform_driver_unregister(&bcm2835_pinctrl_driver);
}
module_init(bcm2835_pinctrl_init);
module_exit(bcm2835_pinctrl_exit);
MODULE_AUTHOR("Chris Boot, Simon Arlott, Stephen Warren");
MODULE_DESCRIPTION("BCM2835 Pin control driver");
MODULE_LICENSE("GPL");
Can anyone help me out this?
I am not getting where i did wrong and why the probe is not calling?
The solution for this problem is that i forgot to add the driver structure in the board file.
After adding that i am getting call to the probe
How do I get the MAC address of the computer in Objective-C? I was using the following code but it started crashing once I switched to using the LLVM compiler. Can anyone tell me how to fix this code or give me new code that works? I found a way to do it in 10.6+, but I need it to work with 10.5 too.
void GetHWAddresses()
{
struct ifconf ifc;
struct ifreq *ifr;
int i, sockfd;
char buffer[BUFFERSIZE], *cp, *cplim;
char temp[80];
for (i=0; i<MAXADDRS; ++i)
{
hw_addrs[i] = NULL;
}
sockfd = socket(AF_INET, SOCK_DGRAM, 0);
if (sockfd < 0)
{
perror("socket failed");
return;
}
ifc.ifc_len = BUFFERSIZE;
ifc.ifc_buf = buffer;
if (ioctl(sockfd, SIOCGIFCONF, (char *)&ifc) < 0)
{
perror("ioctl error");
close(sockfd);
return;
}
ifr = ifc.ifc_req;
cplim = buffer + ifc.ifc_len;
for (cp=buffer; cp < cplim; )
{
ifr = (struct ifreq *)cp;
if (ifr->ifr_addr.sa_family == AF_LINK)
{
struct sockaddr_dl *sdl = (struct sockaddr_dl *)&ifr->ifr_addr;
int a,b,c,d,e,f;
int i;
strcpy(temp, (char *)ether_ntoa(LLADDR(sdl)));
sscanf(temp, "%x:%x:%x:%x:%x:%x", &a, &b, &c, &d, &e, &f);
sprintf(temp, "%02X:%02X:%02X:%02X:%02X:%02X",a,b,c,d,e,f);
for (i=0; i<MAXADDRS; ++i)
{
if ((if_names[i] != NULL) && (strcmp(ifr->ifr_name, if_names[i]) == 0))
{
if (hw_addrs[i] == NULL)
{
hw_addrs[i] = (char *)malloc(strlen(temp)+1);
strcpy(hw_addrs[i], temp);
break;
}
}
}
}
cp += sizeof(ifr->ifr_name) + max(sizeof(ifr->ifr_addr), ifr->ifr_addr.sa_len);
}
close(sockfd);
}
Apple actually have some example code for getting the MAC address from the IO registry