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thirdparty/libcsp/examples/simple.c
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thirdparty/libcsp/examples/simple.c
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/*
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Cubesat Space Protocol - A small network-layer protocol designed for Cubesats
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Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com)
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Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk)
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <csp/csp.h>
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/* Using un-exported header file.
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* This is allowed since we are still in libcsp */
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#include <csp/arch/csp_thread.h>
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/** Example defines */
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#define MY_ADDRESS 1 // Address of local CSP node
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#define MY_PORT 10 // Port to send test traffic to
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CSP_DEFINE_TASK(task_server) {
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/* Create socket without any socket options */
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csp_socket_t *sock = csp_socket(CSP_SO_NONE);
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/* Bind all ports to socket */
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csp_bind(sock, CSP_ANY);
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/* Create 10 connections backlog queue */
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csp_listen(sock, 10);
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/* Pointer to current connection and packet */
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csp_conn_t *conn;
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csp_packet_t *packet;
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/* Process incoming connections */
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while (1) {
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/* Wait for connection, 10000 ms timeout */
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if ((conn = csp_accept(sock, 10000)) == NULL)
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continue;
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/* Read packets. Timout is 100 ms */
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while ((packet = csp_read(conn, 100)) != NULL) {
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switch (csp_conn_dport(conn)) {
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case MY_PORT:
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/* Process packet here */
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printf("Packet received on MY_PORT: %s\r\n", (char *) packet->data);
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csp_buffer_free(packet);
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break;
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default:
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/* Let the service handler reply pings, buffer use, etc. */
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csp_service_handler(conn, packet);
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break;
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}
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}
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/* Close current connection, and handle next */
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csp_close(conn);
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}
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return CSP_TASK_RETURN;
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}
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CSP_DEFINE_TASK(task_client) {
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csp_packet_t * packet;
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csp_conn_t * conn;
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while (1) {
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/**
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* Try ping
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*/
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csp_sleep_ms(1000);
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int result = csp_ping(MY_ADDRESS, 100, 100, CSP_O_NONE);
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printf("Ping result %d [ms]\r\n", result);
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csp_sleep_ms(1000);
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/**
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* Try data packet to server
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*/
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/* Get packet buffer for data */
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packet = csp_buffer_get(100);
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if (packet == NULL) {
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/* Could not get buffer element */
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printf("Failed to get buffer element\n");
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return CSP_TASK_RETURN;
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}
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/* Connect to host HOST, port PORT with regular UDP-like protocol and 1000 ms timeout */
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conn = csp_connect(CSP_PRIO_NORM, MY_ADDRESS, MY_PORT, 1000, CSP_O_NONE);
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if (conn == NULL) {
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/* Connect failed */
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printf("Connection failed\n");
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/* Remember to free packet buffer */
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csp_buffer_free(packet);
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return CSP_TASK_RETURN;
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}
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/* Copy dummy data to packet */
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const char *msg = "Hello World";
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strcpy((char *) packet->data, msg);
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/* Set packet length */
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packet->length = strlen(msg);
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/* Send packet */
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if (!csp_send(conn, packet, 1000)) {
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/* Send failed */
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printf("Send failed\n");
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csp_buffer_free(packet);
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}
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/* Close connection */
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csp_close(conn);
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}
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return CSP_TASK_RETURN;
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}
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int main(int argc, char * argv[]) {
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/**
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* Initialise CSP,
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* No physical interfaces are initialised in this example,
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* so only the loopback interface is registered.
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*/
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/* Init buffer system with 10 packets of maximum 300 bytes each */
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printf("Initialising CSP\r\n");
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csp_buffer_init(5, 300);
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/* Init CSP with address MY_ADDRESS */
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csp_init(MY_ADDRESS);
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/* Start router task with 500 word stack, OS task priority 1 */
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csp_route_start_task(500, 1);
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/* Enable debug output from CSP */
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if ((argc > 1) && (strcmp(argv[1], "-v") == 0)) {
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printf("Debug enabed\r\n");
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csp_debug_toggle_level(3);
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csp_debug_toggle_level(4);
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printf("Conn table\r\n");
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csp_conn_print_table();
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printf("Route table\r\n");
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csp_route_print_table();
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printf("Interfaces\r\n");
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csp_route_print_interfaces();
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}
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/**
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* Initialise example threads, using pthreads.
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*/
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/* Server */
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printf("Starting Server task\r\n");
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csp_thread_handle_t handle_server;
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csp_thread_create(task_server, "SERVER", 1000, NULL, 0, &handle_server);
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/* Client */
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printf("Starting Client task\r\n");
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csp_thread_handle_t handle_client;
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csp_thread_create(task_client, "SERVER", 1000, NULL, 0, &handle_client);
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/* Wait for execution to end (ctrl+c) */
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while(1) {
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csp_sleep_ms(100000);
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}
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return 0;
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}
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