Choose GPIO to emit signal on in server

src/packet-exchange/src/server.c

@@ -42,7 +42,7 @@ typedef struct thread_param {
   int affinity_cpu;
   uint64_t latency_threshold;
 
-  int emit_signal;
+  int emit_signal_gpio;
   int enable_diff_ts;
   int enable_receive_tracemark;
 
@@ -91,11 +91,8 @@ static uint64_t high_diff_ts = 0;
 static int debug_latencies = 0;
 static int interval_us;
 
-static int gpio86_fd;
-static int gpio84_fd;
-static int gpio86_state;
-static int gpio84_state;
-static int received_reverse_motor = 0;
+static int gpio_fd;
+static int gpio_state;
 
 static char ts_tracemark_buf[64];
 
@@ -110,7 +107,7 @@ static void help(char *argv[]) {
       "       -i USEC            RT thread wake-up interval (default: 10ms)\n"
       "       -r USEC            non-RT main thread refresh interval\n"
       "       -d BUF_LEN         Set the length of tx buffer\n"
-      "       -c                 Receive timestamp and emit signal\n"
+      "       -c GPIO            Receive timestamp and emit signal on given GPIO\n"
       "       -s NS              Common start time reference\n"
       "       -C                 Receive timestamp and print difference with current time\n"
       "       -b CLIENT_IP       Server side RTT\n"
@@ -135,7 +132,6 @@ static void *emit_signal_thread(void *p) {
   int64_t emit_diff, ts_diff;
   int latency_spike = 0;
   int ret;
-  int reverse_motor = 0;
 
   // Set thread CPU affinity
   if (thread_params.affinity_cpu) {
@@ -151,27 +147,13 @@ static void *emit_signal_thread(void *p) {
   for (int i = 0;;i++) {
     pthread_cond_wait(&emit_signal_ts_received, &emit_signal_mutex);
 
-    if(received_reverse_motor) {
-      received_reverse_motor = 0;
-      reverse_motor = 1;
-      continue;
-    }
-
     ret = clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &emit_signal_next, NULL);
     if (ret) {
       fprintf(stderr, "clock_nanosleep returned error: %d, aborting...\n", ret);
       exit(EXIT_FAILURE);
     }
 
-    if(reverse_motor) {
-      gpio84_state = toggle_gpio(gpio84_fd, gpio84_state);
-      reverse_motor = 0;
-    }
-    else {
-      gpio86_state = toggle_gpio(gpio86_fd, gpio86_state);
-      usleep(3);
-      gpio86_state = toggle_gpio(gpio86_fd, gpio86_state);
-    }
+    gpio_state = toggle_gpio(gpio_fd, gpio_state);
 
     clock_gettime(CLOCK_REALTIME, &current);
     
@@ -273,7 +255,7 @@ static void *tsn_thread(void *p) {
       }
 
       // Get signal timestamp
-      if (thread_params.emit_signal) {
+      if (thread_params.emit_signal_gpio) {
         uint64_t emit_signal_t;
 
         if(tsn_task == XDP_TASK)
@@ -281,14 +263,11 @@ static void *tsn_thread(void *p) {
         else
           emit_signal_t = decode(ingress_stats.data);
 
-        if(emit_signal_t < UINT64_C(1576800000000000000) && emit_signal_t != 17)
+        if(emit_signal_t < UINT64_C(1576800000000000000))
           continue;
 
         pthread_mutex_lock(&emit_signal_mutex);
-        if(emit_signal_t == 17)
-          received_reverse_motor = 1;
-        else
-          emit_signal_next = uint_to_ts(emit_signal_t);
+        emit_signal_next = uint_to_ts(emit_signal_t);
         pthread_cond_signal(&emit_signal_ts_received);
         pthread_mutex_unlock(&emit_signal_mutex);
       }
@@ -424,7 +403,7 @@ int main(int argc, char *argv[]) {
   // Default configuration values
   thread_params.interval = 100000 * 1000;
   thread_params.priority = 98;
-  thread_params.emit_signal = 0;
+  thread_params.emit_signal_gpio = 0;
   thread_params.affinity_cpu = 0;
   thread_params.enable_diff_ts = 0;
   thread_params.enable_receive_tracemark = 0;
@@ -473,12 +452,11 @@ int main(int argc, char *argv[]) {
   if (tsn_task == RTT_TASK)
     init_udp_send(&egress_info, 0, 0);
 
-  if (thread_params.emit_signal) {
+  if (thread_params.emit_signal_gpio) {
     pthread_mutex_init(&emit_signal_mutex, NULL);
     pthread_cond_init(&emit_signal_ts_received, NULL);
 
-    gpio86_state = enable_gpio(&gpio86_fd, 86);
-    gpio84_state = enable_gpio(&gpio84_fd, 84);
+    gpio_state = enable_gpio(&gpio_fd, thread_params.emit_signal_gpio);
   }
 
   create_thread(tsn_thread);
@@ -610,7 +588,7 @@ static void process_options(int argc, char *argv[]) {
   int network_if_specified = 0;
 
   for (;;) {
-    int c = getopt(argc, argv, "a:b:cCs:d:f:ghi:p:r:tvxDXT:GMS");
+    int c = getopt(argc, argv, "a:b:c:Cs:d:f:ghi:p:r:tvxDXT:GMS");
 
     if (c == -1) break;
 
@@ -623,7 +601,7 @@ static void process_options(int argc, char *argv[]) {
         strcpy(egress_params.server_ip, optarg);
         break;
       case 'c':
-        thread_params.emit_signal = 1;
+        thread_params.emit_signal_gpio = atoi(optarg);
         break;
       case 'C':
         thread_params.enable_diff_ts = 1;