debugFunctions.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/* Copyright (C) <year>  iCub Facility, Istituto Italiano di Tecnologia
 * Author: Alberto Cardellino
 * email: alberto.cardellino@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */
 
#ifndef __debugfunctions__
#define __debugfunctions__
 
#error it seems that file debugFunctions.h is not used anymore
 
#if 0
// marco.accame: it seems that we dont need it
 
// usual includes
#include "stdint.h"
#include "stdlib.h"
#include "stdio.h"
#include <string>
#include <signal.h>
#include <iostream>
 
// ACE stuff
#include <ace/ACE.h>
#include "ace/SOCK_Dgram.h"
#include "ace/Addr.h"
#include "ace/Thread.h"
 
 
#define _LINUX_UDP_SOCKET_
//#undef _LINUX_UDP_SOCKET_
 
 
#define _DEEP_DEBUG_
 
#if 0
// marco.accame: i remove these as they depend on the number of boards that we have on the specific robot
 
#define eb1_ip "10.0.1.1"
#define eb2_ip "10.0.1.2"
#define eb3_ip "10.0.1.3"
#define eb4_ip "10.0.1.4"
#define eb5_ip "10.0.1.5"
#define eb6_ip "10.0.1.6"
#define eb7_ip "10.0.1.7"
#define eb8_ip "10.0.1.8"
#define eb9_ip "10.0.1.9"
#define eb10_ip "10.0.1.10"
#define eb11_ip "10.0.1.11"
 
#define eb1_addr inet_addr(eb1_ip)
#define eb2_addr inet_addr(eb2_ip)
#define eb3_addr inet_addr(eb3_ip)
#define eb4_addr inet_addr(eb4_ip)
#define eb5_addr inet_addr(eb5_ip)
#define eb6_addr inet_addr(eb6_ip)
#define eb7_addr inet_addr(eb7_ip)
#define eb8_addr inet_addr(eb8_ip)
#define eb9_addr inet_addr(eb9_ip)
#define eb10_addr inet_addr(eb10_ip)
#define eb11_addr inet_addr(eb11_ip)
 
 
 
#define BOARD_NUM                   10
#define SOGLIA                      1700
#define MAX_ACQUISITION             100*1000
 
#endif
 
bool check_received_pkt(ACE_INET_Addr *sender_addr, void * pkt, ACE_UINT16 pkt_size);
bool check_received_pkt(sockaddr *sender_addr, void * pkt, ACE_UINT16 pkt_size);
bool do_real_check(int board, void * pkt, ACE_UINT16 pkt_size);
 
void print_data(void);
 
int gettimeofday(struct timeval *tv, struct timezone *tz);
 
#if defined(_MSC_VER) || defined(_MSC_EXTENSIONS)
#define DELTA_EPOCH_IN_MICROSECS  11644473600000000Ui64
 
struct timezone
{
    int  tz_minuteswest; /* minutes W of Greenwich */
    int  tz_dsttime;     /* type of dst correction */
};
 
#else
#define DELTA_EPOCH_IN_MICROSECS  11644473600000000ULL
#endif
 
static int timeval_subtract(struct timeval *_result, struct timeval *_x, struct timeval *_y)
{
    /* Perform the carry for the later subtraction by updating y. */
 
    if(_x->tv_usec < _y->tv_usec)
    {
        int nsec    = (_y->tv_usec - _x->tv_usec) / 1000000 + 1;
 
        _y->tv_usec -= 1000000 * nsec;
        _y->tv_sec  += nsec;
    }
 
    if(_x->tv_usec - _y->tv_usec > 1000000)
    {
        int nsec    = (_x->tv_usec - _y->tv_usec) / 1000000;
 
        _y->tv_usec += 1000000 * nsec;
        _y->tv_sec  -= nsec;
    }
 
    /* Compute the time remaining to wait. tv_usec is certainly positive. */
 
    _result->tv_sec  = _x->tv_sec  - _y->tv_sec;
    _result->tv_usec = _x->tv_usec - _y->tv_usec;
 
    /* Return 1 if result is negative. */
 
    return _x->tv_sec < _y->tv_sec;
}
 
 
#endif
#endif  // __debugfunctions__