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