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All > Cpp > C++ (Cpp) udp_socket_send Example


C++ (CPP) UDP_SOCKET_SEND EXAMPLE


INTRODUCTION

The c++ (cpp) udp_socket_send example is extracted from the most popular open
source projects, you can refer to the following example for usage.

Programming language: C++ (Cpp)

Method/Function: udp_socket_send



EXAMPLE#1
FILE: EMB6_CONN_UDP.CPROJECT: ADAMRLUKAITIS/RIOT

static void _output_callback(c_event_t c_event, p_data_t p_data)
{
    _send_cmd_t *send_cmd = (_send_cmd_t *)p_data;

    if ((c_event != EVENT_TYPE_CONN_SEND) || (p_data == NULL)) {
        return;
    }
    if ((send_cmd->res = udp_socket_send(&send_cmd->sock, send_cmd->data, send_cmd->data_len)) < 0) {
        send_cmd->res = -EHOSTUNREACH;
    }
    mutex_unlock(&send_cmd->mutex);
}


EXAMPLE#2
FILE: MAIN.CPROJECT: TOBIASSIMON/PENGUAHRS

int main(void)
{
   i2c_bus_t bus;
   int ret = i2c_bus_open(&bus, "/dev/i2c-3");
   if (ret < 0)
   {
      fatal("could not open i2c bus", ret);
      return EXIT_FAILURE;
   }

   /* ITG: */
   itg3200_dev_t itg;
itg_again:
   ret = itg3200_init(&itg, &bus, ITG3200_DLPF_42HZ);
   if (ret < 0)
   {
      fatal("could not inizialize ITG3200", ret);
      if (ret == -EAGAIN)
      {
         goto itg_again;   
      }
      return EXIT_FAILURE;
   }

   /* BMA: */
   bma180_dev_t bma;
   bma180_init(&bma, &bus, BMA180_RANGE_4G, BMA180_BW_10HZ);

   /* HMC: */
   hmc5883_dev_t hmc;
   hmc5883_init(&hmc, &bus);
   
   /* MS: */
   ms5611_dev_t ms;
   ret = ms5611_init(&ms, &bus, MS5611_OSR4096, MS5611_OSR4096);
   if (ret < 0)
   {
      fatal("could not inizialize MS5611", ret);
      return EXIT_FAILURE;
   }
   pthread_t thread;
   pthread_create(&thread, NULL, ms5611_reader, &ms);

   /* initialize AHRS filter: */
   madgwick_ahrs_t madgwick_ahrs;
   madgwick_ahrs_init(&madgwick_ahrs, STANDARD_BETA);

   interval_t interval;
   interval_init(&interval);
   float init = START_BETA;
   udp_socket_t *socket = udp_socket_create("10.0.0.100", 5005, 0, 0);

   /* kalman filter: */
   kalman_t kalman1, kalman2, kalman3;
   kalman_init(&kalman1, 1.0e-6, 1.0e-2, 0, 0);
   kalman_init(&kalman2, 1.0e-6, 1.0e-2, 0, 0);
   kalman_init(&kalman3, 1.0e-6, 1.0e-2, 0, 0);
   vec3_t global_acc; /* x = N, y = E, z = D */
   int init_done = 0;
   int converged = 0;
   sliding_avg_t *avg[3];
   avg[0] = sliding_avg_create(1000, 0.0);
   avg[1] = sliding_avg_create(1000, 0.0);
   avg[2] = sliding_avg_create(1000, -9.81);
   float alt_rel_last = 0.0;
   int udp_cnt = 0;
   while (1)
   {
      int i;
      float dt = interval_measure(&interval);
      init -= BETA_STEP;
      if (init < FINAL_BETA)
      {
         init = FINAL_BETA;
         init_done = 1;
      }
      madgwick_ahrs.beta = init;
      
      /* sensor data acquisition: */
      itg3200_read_gyro(&itg);
      bma180_read_acc(&bma);
      hmc5883_read(&hmc);
      
      /* state estimates and output: */
      euler_t euler;
      madgwick_ahrs_update(&madgwick_ahrs, itg.gyro.x, itg.gyro.y, itg.gyro.z, bma.raw.x, bma.raw.y, bma.raw.z, hmc.raw.x, hmc.raw.y, hmc.raw.z, 11.0, dt);
      
      quat_t q_body_to_world;
      quat_copy(&q_body_to_world, &madgwick_ahrs.quat);
      quat_rot_vec(&global_acc, &bma.raw, &q_body_to_world);
      for (i = 0; i < 3; i++)
      {
         global_acc.vec[i] -= sliding_avg_calc(avg[i], global_acc.vec[i]);
      }
      if (init_done)
      {
         kalman_in_t kalman_in;
         kalman_in.dt = dt;
         kalman_in.pos = 0;
         kalman_out_t kalman_out;

         kalman_in.acc = global_acc.x;
         kalman_run(&kalman_out, &kalman1, &kalman_in);
         kalman_in.acc = global_acc.y;
         kalman_run(&kalman_out, &kalman2, &kalman_in);
         kalman_in.acc = -global_acc.z;
         pthread_mutex_lock(&mutex);
         kalman_in.pos = alt_rel;
         pthread_mutex_unlock(&mutex);
         kalman_run(&kalman_out, &kalman3, &kalman_in);
         if (!converged)
         {
            if (fabs(kalman_out.pos - alt_rel) < 0.1)
            {
               converged = 1;   
               fprintf(stderr, "init done\n");
            }
         }
         if (converged) // && udp_cnt++ > 10)
         {
            if (udp_cnt++ == 10)
            {
               char buffer[1024];
               udp_cnt = 0;
               int len = sprintf(buffer, "%f %f %f %f %f %f %f", madgwick_ahrs.quat.q0, madgwick_ahrs.quat.q1, madgwick_ahrs.quat.q2, madgwick_ahrs.quat.q3,
                                                                 global_acc.x, global_acc.y, global_acc.z);
               udp_socket_send(socket, buffer, len);
            }
            printf("%f %f %f\n", -global_acc.z, alt_rel, kalman_out.pos);
            fflush(stdout);
         }
      }

      
   }
   return 0;
}




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