eive-obsw/libcsp/examples/csp_if_fifo.c
2020-12-20 13:31:44 +01:00

166 lines
4.7 KiB
C

/*
Cubesat Space Protocol - A small network-layer protocol designed for Cubesats
Copyright (C) 2012 GomSpace ApS (http://www.gomspace.com)
Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk)
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <pthread.h>
#include <stdint.h>
#include <csp/csp.h>
#include <csp/csp_interface.h>
#define TYPE_SERVER 1
#define TYPE_CLIENT 2
#define PORT 10
#define BUF_SIZE 250
pthread_t rx_thread;
int rx_channel, tx_channel;
int csp_fifo_tx(csp_iface_t *ifc, csp_packet_t *packet, uint32_t timeout);
csp_iface_t csp_if_fifo = {
.name = "fifo",
.nexthop = csp_fifo_tx,
.mtu = BUF_SIZE,
};
int csp_fifo_tx(csp_iface_t *ifc, csp_packet_t *packet, uint32_t timeout) {
/* Write packet to fifo */
if (write(tx_channel, &packet->length, packet->length + sizeof(uint32_t) + sizeof(uint16_t)) < 0)
printf("Failed to write frame\r\n");
csp_buffer_free(packet);
return CSP_ERR_NONE;
}
void * fifo_rx(void * parameters) {
csp_packet_t *buf = csp_buffer_get(BUF_SIZE);
/* Wait for packet on fifo */
while (read(rx_channel, &buf->length, BUF_SIZE) > 0) {
csp_qfifo_write(buf, &csp_if_fifo, NULL);
buf = csp_buffer_get(BUF_SIZE);
}
return NULL;
}
int main(int argc, char **argv) {
int me, other, type;
const char *message = "Testing CSP";
const char *rx_channel_name;
const char *tx_channel_name;
csp_socket_t *sock;
csp_conn_t *conn;
csp_packet_t *packet;
/* Run as either server or client */
if (argc != 2) {
printf("usage: %s <server/client>\r\n", argv[0]);
return -1;
}
/* Set type */
if (strcmp(argv[1], "server") == 0) {
me = 1;
other = 2;
tx_channel_name = "server_to_client";
rx_channel_name = "client_to_server";
type = TYPE_SERVER;
} else if (strcmp(argv[1], "client") == 0) {
me = 2;
other = 1;
tx_channel_name = "client_to_server";
rx_channel_name = "server_to_client";
type = TYPE_CLIENT;
} else {
printf("Invalid type. Must be either 'server' or 'client'\r\n");
return -1;
}
/* Init CSP and CSP buffer system */
if (csp_init(me) != CSP_ERR_NONE || csp_buffer_init(10, 300) != CSP_ERR_NONE) {
printf("Failed to init CSP\r\n");
return -1;
}
tx_channel = open(tx_channel_name, O_RDWR);
if (tx_channel < 0) {
printf("Failed to open TX channel\r\n");
return -1;
}
rx_channel = open(rx_channel_name, O_RDWR);
if (rx_channel < 0) {
printf("Failed to open RX channel\r\n");
return -1;
}
/* Start fifo RX task */
pthread_create(&rx_thread, NULL, fifo_rx, NULL);
/* Set default route and start router */
csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC);
csp_route_start_task(0, 0);
/* Create socket and listen for incoming connections */
if (type == TYPE_SERVER) {
sock = csp_socket(CSP_SO_NONE);
csp_bind(sock, PORT);
csp_listen(sock, 5);
}
/* Super loop */
while (1) {
if (type == TYPE_SERVER) {
/* Process incoming packet */
conn = csp_accept(sock, 1000);
if (conn) {
packet = csp_read(conn, 0);
if (packet)
printf("Received: %s\r\n", packet->data);
csp_buffer_free(packet);
csp_close(conn);
}
} else {
/* Send a new packet */
packet = csp_buffer_get(strlen(message));
if (packet) {
strcpy((char *) packet->data, message);
packet->length = strlen(message);
conn = csp_connect(CSP_PRIO_NORM, other, PORT, 1000, CSP_O_NONE);
printf("Sending: %s\r\n", message);
if (!conn || !csp_send(conn, packet, 1000))
return -1;
csp_close(conn);
}
sleep(1);
}
}
close(rx_channel);
close(tx_channel);
return 0;
}