Driver: Servd: Toggle closing when done

* Adds the ability to set a CoreMini signal value via the live data interface
* Adds definition for the Manual Trigger and DAQ Enable signals

api/icsneocpp/event.cpp

@@ -74,6 +74,8 @@ static constexpr const char* TIMEOUT = "The timeout was reached.";
 static constexpr const char* WIVI_NOT_SUPPORTED = "Wireless neoVI functions are not supported on this device.";
 static constexpr const char* RESTRICTED_ENTRY_FLAG = "Attempted to set a restricted flag in a Root Directory entry.";
 static constexpr const char* NOT_SUPPORTED = "The requested feature is not supported.";
+static constexpr const char* FIXED_POINT_OVERFLOW = "Value is too large to convert to fixed point.";
+static constexpr const char* FIXED_POINT_PRECISION = "Value is too small for fixed point precision.";
 
 // Device Errors
 static constexpr const char* POLLING_MESSAGE_OVERFLOW = "Too many messages have been recieved for the polling message buffer, some have been lost!";
@@ -240,6 +242,10 @@ const char* APIEvent::DescriptionForType(Type type) {
 			return RESTRICTED_ENTRY_FLAG;
 		case Type::NotSupported:
 			return NOT_SUPPORTED;
+		case Type::FixedPointOverflow:
+			return FIXED_POINT_OVERFLOW;
+		case Type::FixedPointPrecision:
+			return FIXED_POINT_PRECISION;
 
 		// Device Errors
 		case Type::PollingMessageOverflow:

bindings/python/icsneopy/api/event.cpp

@@ -142,7 +142,9 @@ void init_event(pybind11::module_& m) {
 		.value("VSAOtherError", APIEvent::Type::VSAOtherError)
 		.value("NoErrorFound", APIEvent::Type::NoErrorFound)
 		.value("TooManyEvents", APIEvent::Type::TooManyEvents)
-		.value("Unknown", APIEvent::Type::Unknown);
+		.value("Unknown", APIEvent::Type::Unknown)
+		.value("FixedPointOverflow", APIEvent::Type::FixedPointOverflow)
+		.value("FixedPointPrecision", APIEvent::Type::FixedPointPrecision);
 	
 	pybind11::enum_<APIEvent::Severity>(apiEvent, "Severity")
 		.value("Any", APIEvent::Severity::Any)

communication/livedata.cpp

@@ -1,4 +1,5 @@
 #include "icsneo/communication/livedata.h"
+#include <cmath>
 namespace icsneo {
 
 namespace LiveDataUtil {
@@ -18,5 +19,61 @@ double liveDataValueToDouble(const LiveDataValue& val) {
 	return val.value * liveDataFixedPointToDouble; 
 } 
 
+bool liveDataDoubleToValue(const double& dFloat, LiveDataValue& value) {
+	union {
+		struct
+		{
+			uint32_t ValueFractionPart;
+			int32_t ValueInt32;
+		} parts;
+		int64_t ValueLarge;
+	} CminiFixedPt;
+	constexpr double CM_FIXED_POINT_TO_DOUBLEVALUE = (1.0 / (double)(1ULL << 32)); // 2^-32
+	constexpr double CM_DOUBLEVALUE_TO_FIXED_POINT = ((double)(1ULL << 32)); // 2^32
+	// Use const for limits (C++98 compatible)
+	const double INT32_MAX_DOUBLE =
+		static_cast<double>(std::numeric_limits<int32_t>::max()) + (1.0 - std::numeric_limits<double>::epsilon());
+	const double INT32_MIN_DOUBLE = static_cast<double>(std::numeric_limits<int32_t>::min());
+	const double MIN_FIXED_POINT_DOUBLE = (double)(1ull * CM_FIXED_POINT_TO_DOUBLEVALUE);
+
+	// This needs to be assigned separately, otherwise, for dFloat >= 2^31,
+	// long double dBigFloat = dFloat * CM_DOUBLEVALUE_TO_FIXED_POINT overflows
+	// long long (value is >= 2^63) and so the assignment ValueLarge = dBigFloat is undefined
+
+	int32_t intPart; //creating temp variable due to static analysis warning about writing and reading to different union members
+	if(dFloat < 0.0)
+		intPart = (int32_t)std::floor(dFloat);
+	else
+		intPart = (int32_t)dFloat;
+
+	//using temp varialbes to avoid static analysis warning about read/write to different union members
+	double frac = dFloat - (double)(intPart);
+	uint32_t fracPart = (uint32_t)std::floor((frac * CM_DOUBLEVALUE_TO_FIXED_POINT) + 0.5);
+
+	//write temp vars back into the union
+	CminiFixedPt.parts.ValueInt32 = intPart;
+	CminiFixedPt.parts.ValueFractionPart = fracPart;
+	value.value = CminiFixedPt.ValueLarge;
+
+	if(dFloat == (double)0.0)
+		return true;
+
+	//check if double can be stored as 32.32
+	// 0x1 0000 0000 0000 0000 * CM_FIXED_POINT_TO_DOUBLEVALUE = 0x1 0000 0000
+	if(dFloat > INT32_MAX_DOUBLE || dFloat < INT32_MIN_DOUBLE) {
+		EventManager::GetInstance().add(APIEvent::Type::FixedPointOverflow, APIEvent::Severity::Error);
+		return false;
+	}
+
+	// Use absolute value for minimum fixed point check
+	double absFloat = (dFloat < 0.0) ? -dFloat : dFloat;
+	if(absFloat < MIN_FIXED_POINT_DOUBLE) {
+		EventManager::GetInstance().add(APIEvent::Type::FixedPointPrecision, APIEvent::Severity::Error);
+		return false;
+	}
+
+	return true;
+}
+
 } // namespace LiveDataUtil
 } // namespace icsneo

communication/message/livedatamessage.cpp

@@ -12,4 +12,14 @@ void LiveDataCommandMessage::appendSignalArg(LiveDataValueType valueType) {
 	arg->valueType = valueType;
 }
 
+void LiveDataSetValueMessage::appendSetValue(LiveDataValueType valueType, const LiveDataValue& value) {
+	auto& arg = args.emplace_back(std::make_shared<LiveDataArgument>());
+	arg->objectType = LiveDataObjectType::MISC;
+	arg->objectIndex = 0u;
+	arg->signalIndex = 0u;
+	arg->valueType = valueType;
+
+	values.push_back(std::make_shared<LiveDataValue>(value));
+}
+
 } // namespace icsneo

communication/packet/livedatapacket.cpp

@@ -99,6 +99,33 @@ bool HardwareLiveDataPacket::EncodeFromMessage(LiveDataMessage& message, std::ve
 			clearMsg->cmd = static_cast<uint32_t>(message.cmd);
 			break;
 		}
+		case LiveDataCommand::SET_VALUE: {
+			auto setValMsg = reinterpret_cast<LiveDataSetValueMessage*>(&message);
+			const auto numArgs = setValMsg->args.size();
+			if(numArgs) {
+				payloadSize = static_cast<uint16_t>(sizeof(LiveDataSetValue) + (sizeof(LiveDataSetValueEntry) * (numArgs-1)));
+				bytestream.resize((payloadSize + sizeof(ExtendedCommandHeader)),0);
+				LiveDataSetValue* out = reinterpret_cast<LiveDataSetValue*>(bytestream.data() + sizeof(ExtendedCommandHeader));
+				out->version = icsneo::LiveDataUtil::LiveDataVersion;
+				out->cmd = static_cast<uint32_t>(setValMsg->cmd);
+				if(!setValMsg->handle)
+					setValMsg->handle = LiveDataUtil::getNewHandle();
+				out->handle = setValMsg->handle;
+				out->numSetValues = (uint32_t)numArgs;
+				for(size_t i = 0; i < numArgs; ++i) {
+					out->values[i].arg.objectType = setValMsg->args[i]->objectType;
+					out->values[i].arg.objectIndex = setValMsg->args[i]->objectIndex;
+					out->values[i].arg.signalIndex = setValMsg->args[i]->signalIndex;
+					out->values[i].arg.valueType = setValMsg->args[i]->valueType;
+					out->values[i].value.value = setValMsg->values[i]->value;
+					out->values[i].value.header.length = sizeof(LiveDataValue::value);
+				}
+			} else {
+				report(APIEvent::Type::LiveDataInvalidArgument, APIEvent::Severity::Error);
+				return false;
+			}
+			break;
+		}
 		default: {
 			report(APIEvent::Type::LiveDataInvalidCommand, APIEvent::Severity::Error);
 			return false;

device/device.cpp

@@ -2235,6 +2235,61 @@ bool Device::clearAllLiveData() {
 	return true;
 }
 
+bool Device::setValueLiveData(std::shared_ptr<LiveDataSetValueMessage> message) {
+	if(!supportsLiveData()) {
+		report(APIEvent::Type::LiveDataNotSupported, APIEvent::Severity::Error);
+		return false;
+	}
+	if(!isOpen()) {
+		report(APIEvent::Type::DeviceCurrentlyClosed, APIEvent::Severity::Error);
+		return false;
+	}
+	if((message->args.size() != message->values.size()) || message->args.empty()) {
+		report(APIEvent::Type::LiveDataInvalidArgument, APIEvent::Severity::Error);
+		return false;
+	}
+
+	std::vector<uint8_t> bytes;
+	if(!com->encoder->encode(*com->packetizer, bytes, message)) {
+		report(APIEvent::Type::LiveDataEncoderError, APIEvent::Severity::Error);
+		return false;
+	}
+
+	std::shared_ptr<Message> response = com->waitForMessageSync(
+		[this, &bytes](){ return com->sendPacket(bytes); },
+		std::make_shared<MessageFilter>(Message::Type::LiveData));
+
+	if(response) {
+		auto statusMsg = std::dynamic_pointer_cast<LiveDataStatusMessage>(response);
+		if(statusMsg && statusMsg->requestedCommand == message->cmd) {
+			switch(statusMsg->status) {
+				case LiveDataStatus::SUCCESS:
+					return true;
+				case LiveDataStatus::ERR_DUPLICATE:
+				case LiveDataStatus::ERR_HANDLE:
+				{
+					report(APIEvent::Type::LiveDataInvalidHandle, APIEvent::Severity::Error);
+					return false;
+				}
+				case LiveDataStatus::ERR_FULL:
+				{
+					report(APIEvent::Type::LiveDataMaxSignalsReached, APIEvent::Severity::Error);
+					return false;
+				}
+				case LiveDataStatus::ERR_UNKNOWN_COMMAND:
+				{
+					report(APIEvent::Type::LiveDataCommandFailed, APIEvent::Severity::Error);
+					return false;
+				}
+				default:
+					break;
+			}
+		}
+	}
+	report(APIEvent::Type::LiveDataNoDeviceResponse, APIEvent::Severity::Error);
+	return false;
+}
+
 bool Device::readVSA(const VSAExtractionSettings& extractionSettings) {
 	if(isOnline()) {
 		goOffline();

examples/cpp/livedata/src/LiveDataExample.cpp

@@ -35,6 +35,8 @@ int main() {
 		msg->appendSignalArg(icsneo::LiveDataValueType::GPS_LATITUDE);
 		msg->appendSignalArg(icsneo::LiveDataValueType::GPS_LONGITUDE);
 		msg->appendSignalArg(icsneo::LiveDataValueType::GPS_ACCURACY);
+		msg->appendSignalArg(icsneo::LiveDataValueType::DAQ_ENABLE);
+		msg->appendSignalArg(icsneo::LiveDataValueType::MANUAL_TRIGGER);
 		msg->cmd = icsneo::LiveDataCommand::SUBSCRIBE;
 		msg->handle = icsneo::LiveDataUtil::getNewHandle();
 		msg->updatePeriod = std::chrono::milliseconds(100);
@@ -77,6 +79,26 @@ int main() {
 		}));
 		// Run handler for three seconds to observe the signal data
 		std::this_thread::sleep_for(std::chrono::seconds(3));
+		double val = 0;
+		for (unsigned int i = 0; i < 10; ++i) {
+			// Set the values of signals we're watching so we can see them change live
+			auto setValMsg = std::make_shared<icsneo::LiveDataSetValueMessage>();
+			setValMsg->cmd = icsneo::LiveDataCommand::SET_VALUE;
+			setValMsg->handle = msg->handle;
+			// Convert the value format
+			icsneo::LiveDataValue ldValueDAQEnable;
+			icsneo::LiveDataValue ldValueManTrig;
+			if (!icsneo::LiveDataUtil::liveDataDoubleToValue(val / 3, ldValueDAQEnable) ||
+				!icsneo::LiveDataUtil::liveDataDoubleToValue(val, ldValueManTrig)) {
+				break;
+			}
+			setValMsg->appendSetValue(icsneo::LiveDataValueType::DAQ_ENABLE, ldValueDAQEnable);
+			setValMsg->appendSetValue(icsneo::LiveDataValueType::MANUAL_TRIGGER, ldValueManTrig);
+			device->setValueLiveData(setValMsg);
+			++val;
+			// Run handler for three seconds to observe the signal data
+			std::this_thread::sleep_for(std::chrono::seconds(3));
+		}
 		// Unsubscribe from the GPS signals and run handler for one more second
 		// Unsubscription only requires a valid in-use handle, in this case from our previous subscription
 		ret = device->unsubscribeLiveData(msg->handle);

include/icsneo/api/event.h

@@ -51,6 +51,8 @@ public:
 		WiVINotSupported = 0x1015,
 		RestrictedEntryFlag = 0x1016,
 		NotSupported = 0x1017,
+		FixedPointOverflow = 0x1018,
+		FixedPointPrecision = 0x1019,
 
 		// Device Events
 		PollingMessageOverflow = 0x2000,

include/icsneo/communication/livedata.h

@@ -19,6 +19,7 @@ enum class LiveDataCommand : uint32_t {
 	UNSUBSCRIBE,
 	RESPONSE,
 	CLEAR_ALL,
+	SET_VALUE,
 };
 
 enum class LiveDataStatus : uint32_t {
@@ -41,10 +42,13 @@ enum class LiveDataValueType : uint32_t {
 	GPS_SPEED,
 	GPS_VALID,
 	GPS_ENABLE = 62,
+	MANUAL_TRIGGER = 108,
+	TIME_SINCE_MSG = 111,
 	GPS_ACCURACY = 120,
 	GPS_BEARING = 121,
 	GPS_TIME = 122,
 	GPS_TIME_VALID = 123,
+	DAQ_ENABLE = 124,
 };
 
 inline std::ostream& operator<<(std::ostream& os, const LiveDataCommand cmd) {
@@ -54,6 +58,7 @@ inline std::ostream& operator<<(std::ostream& os, const LiveDataCommand cmd) {
 		case LiveDataCommand::UNSUBSCRIBE: return os << "Unsubscribe";
 		case LiveDataCommand::RESPONSE: return os << "Response";
 		case LiveDataCommand::CLEAR_ALL: return os << "Clear All";
+		case LiveDataCommand::SET_VALUE: return os << "Set Value";
 	}
 	return os;
 }
@@ -81,6 +86,9 @@ inline std::ostream& operator<<(std::ostream& os, const LiveDataValueType cmd) {
 		case LiveDataValueType::GPS_BEARING: return os << "GPS Bearing";
 		case LiveDataValueType::GPS_TIME: return os << "GPS Time";
 		case LiveDataValueType::GPS_TIME_VALID: return os << "GPS Time Valid";
+		case LiveDataValueType::DAQ_ENABLE: return os << "DAQ Enable";
+		case LiveDataValueType::MANUAL_TRIGGER: return os << "Manual Trigger";
+		case LiveDataValueType::TIME_SINCE_MSG: return os << "Time Since Msg";
 	}
 	return os;
 }
@@ -127,6 +135,17 @@ struct LiveDataSubscribe : public LiveDataHeader {
 	LiveDataArgument args[1];
 };
 
+struct LiveDataSetValueEntry
+{
+	LiveDataArgument arg;
+	LiveDataValue value;
+};
+
+struct LiveDataSetValue : public LiveDataHeader {
+	uint32_t numSetValues;
+	LiveDataSetValueEntry values[1];
+};
+
 struct ExtResponseHeader {
 	ExtendedCommand command;
 	uint16_t length;
@@ -138,6 +157,7 @@ namespace LiveDataUtil
 
 LiveDataHandle getNewHandle();
 double liveDataValueToDouble(const LiveDataValue& val);
+bool liveDataDoubleToValue(const double& dFloat, LiveDataValue& value);
 static constexpr uint32_t LiveDataVersion = 1;
 
 } // namespace LiveDataUtil

include/icsneo/communication/message/livedatamessage.h

@@ -38,6 +38,14 @@ public:
 	LiveDataStatus status;
 };
 
+class LiveDataSetValueMessage : public LiveDataMessage {
+public:
+	LiveDataSetValueMessage() {}
+	std::vector<std::shared_ptr<LiveDataArgument>> args;
+	std::vector<std::shared_ptr<LiveDataValue>> values;
+	void appendSetValue(LiveDataValueType valueType, const LiveDataValue& value);
+};
+
 } // namespace icsneo
 
 #endif // __cplusplus

include/icsneo/device/device.h

@@ -636,6 +636,7 @@ public:
 	bool subscribeLiveData(std::shared_ptr<LiveDataCommandMessage> message);
 	bool unsubscribeLiveData(const LiveDataHandle& handle);
 	bool clearAllLiveData();
+	bool setValueLiveData(std::shared_ptr<LiveDataSetValueMessage> message);
 
 	// VSA Read functions
 

include/icsneo/device/idevicesettings.h

@@ -668,6 +668,37 @@ typedef struct
 } Fire3LinuxSettings;
 #define FIRE3LINUXSETTINGS_SIZE 8
 static_assert(sizeof(Fire3LinuxSettings) == FIRE3LINUXSETTINGS_SIZE, "Fire3LinuxSettings is the wrong size!");
+
+
+/* Define number of CMP streams per device*/
+#define CMP_STREAMS_FIRE3 (10)
+#define CMP_STREAMS_FIRE3FR (10)
+#define CMP_STREAMS_RED2 (10)
+#define CMP_STREAMS_A2B (3)
+#define CMP_STREAMS_GIGASTAR (10)
+
+/* CMP Network Enables */
+typedef struct
+{
+	uint8_t bStreamEnabled : 1;
+	uint8_t EthModule : 2;
+	uint8_t bControlEnabled : 1;
+	uint8_t spare : 4;
+	uint8_t streamId;
+	uint8_t dstMac[6];
+	uint64_t network_enables_1;
+	uint64_t network_enables_2;
+} CMP_NETWORK_DATA;
+
+/* Global CMP Data */
+typedef struct
+{
+	uint8_t cmp_enabled : 1;
+	uint8_t sparebits : 7;
+	uint8_t spare;
+	uint16_t cmp_device_id;
+} CMP_GLOBAL_DATA;
+
 #pragma pack(pop)
 
 #ifdef __cplusplus

include/icsneo/device/tree/neovired2/neovired2settings.h

@@ -79,7 +79,15 @@ typedef struct {
 	uint16_t digitalIoThresholdEnable;
 	uint16_t misc_io_initial_ddr;
 	uint16_t misc_io_initial_latch;
-	ETHERNET_SETTINGS2 ethernet2;
+	ETHERNET_SETTINGS2 ethernet2_1;
+	ETHERNET_SETTINGS ethernet_2;
+	ETHERNET_SETTINGS2 ethernet2_2;
+	Fire3LinuxSettings os_settings;
+	RAD_GPTP_SETTINGS gPTP;
+	uint16_t iso_tester_pullup_enable;
+	CMP_GLOBAL_DATA cmp_global_data;
+	CMP_NETWORK_DATA cmp_stream_data[CMP_STREAMS_RED2];
+	uint32_t networkTimeSync;
 } neovired2_settings_t;
 
 typedef struct {

platform/servd.cpp

@@ -1,5 +1,7 @@
 #include "icsneo/platform/servd.h"
 
+#include <string_view>
+
 using namespace icsneo;
 
 #define SERVD_VERSION 1
@@ -12,9 +14,9 @@ bool Servd::Enabled() {
 	return enabled ? enabled[0] == '1' : false;
 }
 
-std::vector<std::string_view> split(const std::string_view& str, char delim = ' ')
+std::vector<std::string> split(const std::string_view& str, char delim = ' ')
 {
-	std::vector<std::string_view> ret;
+	std::vector<std::string> ret;
 	size_t tail = 0;
 	size_t head = 0;
 	while (head < str.size()) {
@@ -114,8 +116,8 @@ bool Servd::open() {
 		return false;
 	}
 	aliveThread = std::thread(&Servd::alive, this);
-	readThread = std::thread(&Servd::read, this, Address{tokens[2].data(), (uint16_t)std::stol(tokens[3].data())});
+	readThread = std::thread(&Servd::read, this, Address{tokens[2].c_str(), (uint16_t)std::stol(tokens[3].c_str())});
-	writeThread = std::thread(&Servd::write, this, Address{tokens[0].data(), (uint16_t)std::stol(tokens[1].data())});
+	writeThread = std::thread(&Servd::write, this, Address{tokens[0].c_str(), (uint16_t)std::stol(tokens[1].c_str())});
 	opened = true;
 	return true;
 }
@@ -140,6 +142,7 @@ bool Servd::close() {
 		messageSocket.sendto(request.data(), request.size(), SERVD_ADDRESS);
 	}
 	opened = false;
+	setIsClosing(false);
 	return true;
 }