eive-obsw/thirdparty/libcsp/examples/kiss.c

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2020-11-19 18:24:03 +01:00
/**
* Build this example on linux with:
* ./waf configure --enable-examples --enable-if-kiss --with-driver-usart=linux --enable-crc32 clean build
*/
#include <stdio.h>
#include <csp/csp.h>
#include <csp/interfaces/csp_if_kiss.h>
#include <csp/drivers/usart.h>
#include <csp/arch/csp_thread.h>
#define PORT 10
#define MY_ADDRESS 1
#define SERVER_TIDX 0
#define CLIENT_TIDX 1
#define USART_HANDLE 0
CSP_DEFINE_TASK(task_server) {
int running = 1;
csp_socket_t *socket = csp_socket(CSP_SO_NONE);
csp_conn_t *conn;
csp_packet_t *packet;
csp_packet_t *response;
response = csp_buffer_get(sizeof(csp_packet_t) + 2);
if( response == NULL ) {
fprintf(stderr, "Could not allocate memory for response packet!\n");
return CSP_TASK_RETURN;
}
response->data[0] = 'O';
response->data[1] = 'K';
response->length = 2;
csp_bind(socket, CSP_ANY);
csp_listen(socket, 5);
printf("Server task started\r\n");
while(running) {
if( (conn = csp_accept(socket, 10000)) == NULL ) {
continue;
}
while( (packet = csp_read(conn, 100)) != NULL ) {
switch( csp_conn_dport(conn) ) {
case PORT:
if( packet->data[0] == 'q' )
running = 0;
csp_buffer_free(packet);
csp_send(conn, response, 1000);
break;
default:
csp_service_handler(conn, packet);
break;
}
}
csp_close(conn);
}
csp_buffer_free(response);
return CSP_TASK_RETURN;
}
CSP_DEFINE_TASK(task_client) {
char outbuf = 'q';
char inbuf[3] = {0};
int pingResult;
for(int i = 50; i <= 200; i+= 50) {
pingResult = csp_ping(MY_ADDRESS, 1000, 100, CSP_O_NONE);
printf("Ping with payload of %d bytes, took %d ms\n", i, pingResult);
csp_sleep_ms(1000);
}
csp_ps(MY_ADDRESS, 1000);
csp_sleep_ms(1000);
csp_memfree(MY_ADDRESS, 1000);
csp_sleep_ms(1000);
csp_buf_free(MY_ADDRESS, 1000);
csp_sleep_ms(1000);
csp_uptime(MY_ADDRESS, 1000);
csp_sleep_ms(1000);
csp_transaction(0, MY_ADDRESS, PORT, 1000, &outbuf, 1, inbuf, 2);
printf("Quit response from server: %s\n", inbuf);
return CSP_TASK_RETURN;
}
int main(int argc, char **argv) {
csp_debug_toggle_level(CSP_PACKET);
csp_debug_toggle_level(CSP_INFO);
csp_buffer_init(10, 300);
csp_init(MY_ADDRESS);
struct usart_conf conf;
#if defined(CSP_WINDOWS)
conf.device = argc != 2 ? "COM4" : argv[1];
conf.baudrate = CBR_9600;
conf.databits = 8;
conf.paritysetting = NOPARITY;
conf.stopbits = ONESTOPBIT;
conf.checkparity = FALSE;
#elif defined(CSP_POSIX)
conf.device = argc != 2 ? "/dev/ttyUSB0" : argv[1];
conf.baudrate = 500000;
#elif defined(CSP_MACOSX)
conf.device = argc != 2 ? "/dev/tty.usbserial-FTSM9EGE" : argv[1];
conf.baudrate = 115200;
#endif
/* Run USART init */
usart_init(&conf);
/* Setup CSP interface */
static csp_iface_t csp_if_kiss;
static csp_kiss_handle_t csp_kiss_driver;
csp_kiss_init(&csp_if_kiss, &csp_kiss_driver, usart_putc, usart_insert, "KISS");
/* Setup callback from USART RX to KISS RS */
void my_usart_rx(uint8_t * buf, int len, void * pxTaskWoken) {
csp_kiss_rx(&csp_if_kiss, buf, len, pxTaskWoken);
}
usart_set_callback(my_usart_rx);
csp_route_set(MY_ADDRESS, &csp_if_kiss, CSP_NODE_MAC);
csp_route_start_task(0, 0);
csp_conn_print_table();
csp_route_print_table();
csp_route_print_interfaces();
csp_thread_handle_t handle_server;
csp_thread_create(task_server, "SERVER", 1000, NULL, 0, &handle_server);
csp_thread_handle_t handle_client;
csp_thread_create(task_client, "CLIENT", 1000, NULL, 0, &handle_client);
/* Wait for program to terminate (ctrl + c) */
while(1) {
csp_sleep_ms(1000000);
}
return 0;
}