src/FastResearchInterfaceLibrary/KRCCommunicationThreadMain.cpp

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#include <FastResearchInterface.h>
#include <pthread.h>
#include <sched.h>
#include <string.h>
#include <stdio.h>
#include <friudp.h>
#include <friComm.h>
#include <OSAbstraction.h>


#ifdef WIN32// \ToDo Make this clean through the OSAbstraction
#include <Windows.h>    
#endif



// ****************************************************************
// KRCCommunicationThreadMain()
//
void* FastResearchInterface::KRCCommunicationThreadMain(void *ObjectPointer)
{
    int                             SequenceCounter                 =   0
                                ,   ResultValue                     =   0;

    float                           ZeroVector[LBR_MNJ];

    friUdp                          KRC;

    tFriMsrData                     LocalReadData;

    tFriCmdData                     LocalCommandData;

    FastResearchInterface           *ThisObjectPtr                  =   (FastResearchInterface*)ObjectPointer;

    memset(ZeroVector, 0x0, LBR_MNJ * sizeof(float));
    
#ifdef WIN32
    // \ToDo Make this clean through the OSAbstraction
    SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_HIGHEST);
#endif  

    pthread_mutex_lock(&(ThisObjectPtr->MutexForThreadCreation));
    ThisObjectPtr->ThreadCreated    =   true;
    pthread_mutex_unlock(&(ThisObjectPtr->MutexForThreadCreation));

    pthread_cond_signal(&(ThisObjectPtr->CondVarForThreadCreation));

    for(;;)
    {
        // receive data from the KRC unit
        ResultValue =   KRC.Recv(&LocalReadData);

        if (ResultValue != 0)
        {
            ThisObjectPtr->OutputConsole->printf("FastResearchInterface::KRCCommunicationThreadMain(): ERROR during the reception of a UDP data package.\n");
        }

        pthread_mutex_lock(&(ThisObjectPtr->MutexForControlData));

        ThisObjectPtr->NewDataFromKRCReceived   =   true;
        ThisObjectPtr->ReadData             =   LocalReadData;

        if (ThisObjectPtr->TerminateKRCCommunicationThread)
        {
            pthread_mutex_unlock(&(ThisObjectPtr->MutexForControlData));
            break;
        }

        LocalCommandData    =   ThisObjectPtr->CommandData;

        SequenceCounter++;
        LocalCommandData.head.sendSeqCount  =   SequenceCounter;
        LocalCommandData.head.reflSeqCount  =   LocalReadData.head.sendSeqCount;
        LocalCommandData.head.datagramId    =   FRI_DATAGRAM_ID_CMD;
        LocalCommandData.head.packetSize    =   sizeof(tFriCmdData);

        pthread_mutex_unlock(&(ThisObjectPtr->MutexForControlData));

        pthread_cond_broadcast(&(ThisObjectPtr->CondVarForDataReceptionFromKRC));

        // send data to KRC unit
        ResultValue                     =   KRC.Send(&LocalCommandData);

        if (ResultValue != 0)
        {
            ThisObjectPtr->OutputConsole->printf("FastResearchInterface::KRCCommunicationThreadMain(): ERROR during the sending of a UDP data package.\n");
        }

        pthread_mutex_lock(&(ThisObjectPtr->MutexForLogging));

        if (ThisObjectPtr->LoggingIsActive)
        {
            pthread_mutex_unlock(&(ThisObjectPtr->MutexForLogging));
            ThisObjectPtr->DataLogger->AddEntry(        LocalReadData
                                                ,   LocalCommandData);
        }
        else
        {
            pthread_mutex_unlock(&(ThisObjectPtr->MutexForLogging));
        }
    }

    pthread_exit(NULL);
    
    return (NULL);
}