X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=commands.c;h=b64dfb1cf60580ac04715b1b7b46e7ff331bc363;hp=ffcd918e1024a74750816eef4c02ea6b7fad0d50;hb=0373c0e13f4a81426ee5084c0c1ee148bc6b935a;hpb=608c07083a1bf61df3ef38415242dbf0f333b806 diff --git a/commands.c b/commands.c index ffcd918..b64dfb1 100644 --- a/commands.c +++ b/commands.c @@ -67,7 +67,7 @@ struct monitor_reg *monitor_current; static int range_period_ms = 1000; static int range_powermask = 0x1F; -//static uint8_t range_power = 0; +static uint8_t range_power = 0; static int range_running = 0; static uint64_t range_dstaddr = 0xFFFF; /* broadcast by default */ static struct callout range_event; @@ -83,7 +83,8 @@ static void monitor_cb(struct callout_mgr *cm, if (monitor_current == NULL) monitor_current = LIST_FIRST(&xbee_monitor_list); - xbeeapp_send_atcmd(monitor_current->atcmd, NULL, 0, 0, NULL, NULL); + /* no rx_cb given: the user must check the monitored values in logs */ + xbeeapp_send_atcmd(monitor_current->atcmd, NULL, 0, NULL, NULL); monitor_current = LIST_NEXT(monitor_current, next); callout_reschedule(cm, clt, monitor_period_ms / monitor_count); } @@ -91,12 +92,9 @@ static void monitor_cb(struct callout_mgr *cm, static void range_cb(struct callout_mgr *cm, struct callout *clt, void *dummy) { - (void)cm; - (void)clt; - (void)dummy; -#if 0 + struct rc_proto_power_probe power_probe; + struct xbee_msg msg; uint8_t i, mask; - struct rc_proto_range rangepkt; (void)clt; (void)dummy; @@ -111,20 +109,76 @@ static void range_cb(struct callout_mgr *cm, } range_power = ((range_power + i) & 0x7); - xbeeapp_send_atcmd("PL", &range_power, sizeof(range_power), 0, NULL, NULL); + xbeeapp_send_atcmd("PL", &range_power, sizeof(range_power), NULL, NULL); - rangepkt.type = RC_PROTO_TYPE_RANGE; - rangepkt.power_level = range_power; + power_probe.type = RC_PROTO_POWER_PROBE; + power_probe.power_level = range_power; + + msg.iovlen = 1; + msg.iov[0].buf = &power_probe; + msg.iov[0].len = sizeof(power_probe); - xbeeapp_send_msg(range_dstaddr, &rangepkt, sizeof(rangepkt), 0); + xbeeapp_send_msg(range_dstaddr, &msg, NULL, NULL); if (range_cur_count == 0) { range_running = 0; callout_stop(cm, clt); + return; } callout_reschedule(cm, clt, range_period_ms); -#endif +} + +/* callback invoked when a xbee_send is done */ +static int8_t send_msg_cb(int8_t retcode, void *frame, unsigned len, + void *arg) +{ + struct xbee_recv_hdr *recvframe = frame; + uint8_t *done = arg; + + *done = 1; + if (retcode == XBEE_USER_RETCODE_TIMEOUT) { + printf_P(PSTR("timeout\r\n")); + return retcode; + } + if (retcode == XBEE_USER_RETCODE_BAD_FRAME || + len < sizeof(*recvframe)) { + printf_P(PSTR("invalid frame\r\n")); + return XBEE_USER_RETCODE_BAD_FRAME; + } + + printf_P(PSTR("ok\r\n")); + return XBEE_USER_RETCODE_OK; +} + +/* callback invoked to dump the response to AT command */ +static int8_t dump_xbee_atresp_cb(int8_t retcode, void *frame, unsigned len, + void *arg) +{ + struct xbee_atresp_hdr *recvframe = frame; + char atcmd_str[3]; + char buf[32]; + uint8_t *done = arg; + + *done = 1; + if (retcode == XBEE_USER_RETCODE_TIMEOUT) { + printf_P(PSTR("timeout\r\n")); + return retcode; + } + if (retcode == XBEE_USER_RETCODE_BAD_FRAME || + len < sizeof(*recvframe)) { + printf_P(PSTR("invalid frame\r\n")); + return XBEE_USER_RETCODE_BAD_FRAME; + } + + /* get AT command from frame */ + memcpy(atcmd_str, &recvframe->cmd, 2); + atcmd_str[2] = '\0'; + + len -= sizeof(*recvframe); + atresp_to_str(buf, sizeof(buf), frame); + NOTICE(E_USER_XBEE, "status ok, len=%d, %s", len, buf); + return XBEE_USER_RETCODE_OK; } /* this structure is filled when cmd_help is parsed successfully */ @@ -324,9 +378,6 @@ const parse_inst_t PROGMEM cmd_neigh_list = { }, }; - - - /* ************* */ /* this structure is filled when cmd_read is parsed successfully */ @@ -342,12 +393,14 @@ static void cmd_read_parsed(void *parsed_result, struct cmd_read_result *res = parsed_result; struct xbee_atcmd copy; char cmd[3]; + volatile uint8_t done = 0; (void)data; memcpy_P(©, res->cmd, sizeof(copy)); memcpy_P(&cmd, copy.name, 2); cmd[2] = '\0'; - xbeeapp_send_atcmd(cmd, NULL, 0, 1, NULL, NULL); + xbeeapp_send_atcmd(cmd, NULL, 0, dump_xbee_atresp_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_read_read[] = "read"; @@ -394,6 +447,7 @@ static void cmd_write_parsed(void *parsed_result, void *data) char cmd[3]; int len; void *param; + volatile uint8_t done = 0; (void)data; memcpy_P(©, res->cmd, sizeof(copy)); @@ -422,7 +476,8 @@ static void cmd_write_parsed(void *parsed_result, void *data) } memcpy_P(&cmd, copy.name, 2); cmd[2] = '\0'; - xbeeapp_send_atcmd(cmd, param, len, 1, NULL, NULL); + xbeeapp_send_atcmd(cmd, param, len, dump_xbee_atresp_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_write_none[] = "write"; @@ -534,6 +589,7 @@ static void cmd_sendmsg_parsed(void *parsed_result, void *data) { struct cmd_sendmsg_result *res = parsed_result; struct xbee_msg msg; + volatile uint8_t done = 0; (void)data; @@ -541,7 +597,8 @@ static void cmd_sendmsg_parsed(void *parsed_result, void *data) msg.iov[0].buf = res->data; msg.iov[0].len = strlen(res->data); - xbeeapp_send_msg(res->addr, &msg, 1); + xbeeapp_send_msg(res->addr, &msg, send_msg_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_sendmsg[] = "sendmsg"; @@ -683,6 +740,7 @@ static void cmd_sendmsg_name_parsed(void *parsed_result, void *data) { struct cmd_sendmsg_name_result *res = parsed_result; struct xbee_msg msg; + volatile uint8_t done = 0; (void)data; @@ -690,7 +748,8 @@ static void cmd_sendmsg_name_parsed(void *parsed_result, void *data) msg.iov[0].buf = res->data; msg.iov[0].len = strlen(res->data); - xbeeapp_send_msg(res->neigh->addr, &msg, 1); + xbeeapp_send_msg(res->neigh->addr, &msg, send_msg_cb, (void *)&done); + while (done == 0); } const parse_token_string_t PROGMEM cmd_sendmsg_name_sendmsg_name = @@ -753,18 +812,18 @@ static void cmd_range_parsed(void *parsed_result, void *data) return; } range_cur_count = range_count; - callout_init(&range_event, range_cb, NULL, 0); - callout_schedule(&xbeeboard.mainloop_cm, - &range_event, 0); /* immediate */ + callout_init(&range_event, range_cb, NULL, LOW_PRIO); range_running = 1; + callout_schedule(&xbeeboard.intr_cm, + &range_event, 0); /* immediate */ } else if (!strcmp(res->action, "end")) { if (range_running == 0) { printf_P(PSTR("not running\r\n")); return; } + callout_stop(&xbeeboard.intr_cm, &range_event); range_running = 0; - callout_stop(&xbeeboard.mainloop_cm, &range_event); } } @@ -1003,11 +1062,11 @@ static void cmd_monitor_parsed(void *parsed_result, void *data) printf_P(PSTR("no regs to be monitored\r\n")); return; } - callout_init(&monitor_event, monitor_cb, NULL, 0); - callout_schedule(&xbeeboard.mainloop_cm, - &monitor_event, 0); /* immediate */ + callout_init(&monitor_event, monitor_cb, NULL, 1); monitor_running = 1; monitor_current = LIST_FIRST(&xbee_monitor_list); + callout_schedule(&xbeeboard.intr_cm, + &monitor_event, 0); /* immediate */ printf_P(PSTR("monitor cb: %S %s\r\n"), monitor_current->desc, monitor_current->atcmd); @@ -1018,8 +1077,8 @@ static void cmd_monitor_parsed(void *parsed_result, void *data) printf_P(PSTR("not running\r\n")); return; } + callout_stop(&xbeeboard.intr_cm, &monitor_event); monitor_running = 0; - callout_stop(&xbeeboard.mainloop_cm, &monitor_event); } } @@ -1182,7 +1241,7 @@ static void cmd_monitor_del_parsed(void *parsed_result, void *data) monitor_count --; if (monitor_count == 0) { printf_P(PSTR("Disable monitoring, no more event\r\n")); - callout_stop(&xbeeboard.mainloop_cm, &monitor_event); + callout_stop(&xbeeboard.intr_cm, &monitor_event); monitor_running = 0; return; } @@ -1225,9 +1284,12 @@ struct cmd_ping_result { /* function called when cmd_ping is parsed successfully */ static void cmd_ping_parsed(void *parsed_result, void *data) { + volatile uint8_t done = 0; + (void)parsed_result; (void)data; - xbeeapp_send_atcmd("VL", NULL, 0, 1, NULL, NULL); + xbeeapp_send_atcmd("VL", NULL, 0, dump_xbee_atresp_cb, (void *)&done); + while (done == 0); } const char PROGMEM str_ping[] = "ping"; @@ -1288,94 +1350,6 @@ const parse_inst_t PROGMEM cmd_raw = { }, }; -/* ************* */ - -/* this structure is filled when cmd_dump is parsed successfully */ -struct cmd_dump_result { - fixed_string_t dump; - fixed_string_t onoff; -}; - -/* function called when cmd_dump is parsed successfully */ -static void cmd_dump_parsed(void *parsed_result, void *data) -{ - struct cmd_dump_result *res = parsed_result; - - (void)data; - if (!strcmp(res->onoff, "on")) - xbee_hexdump = 1; - else - xbee_hexdump = 0; -} - -const char PROGMEM str_dump[] = "dump"; -const char PROGMEM str_dump_onoff[] = "on#off"; - -const parse_token_string_t PROGMEM cmd_dump_dump = - TOKEN_STRING_INITIALIZER(struct cmd_dump_result, dump, - str_dump); - -const parse_token_string_t PROGMEM cmd_dump_onoff = - TOKEN_STRING_INITIALIZER(struct cmd_dump_result, onoff, - str_dump_onoff); - -const char PROGMEM help_dump[] = "enable/disable hexdump of received packets"; - -const parse_inst_t PROGMEM cmd_dump = { - .f = cmd_dump_parsed, /* function to call */ - .data = NULL, /* 2nd arg of func */ - .help_str = help_dump, - .tokens = { /* token list, NULL terminated */ - (PGM_P)&cmd_dump_dump, - (PGM_P)&cmd_dump_onoff, - NULL, - }, -}; - -/* ************* */ - -/* this structure is filled when cmd_debug is parsed successfully */ -struct cmd_debug_result { - fixed_string_t debug; - fixed_string_t onoff; -}; - -/* function called when cmd_debug is parsed successfully */ -static void cmd_debug_parsed(void *parsed_result, void *data) -{ - struct cmd_debug_result *res = parsed_result; - - (void)data; - if (!strcmp(res->onoff, "on")) - xbee_debug = 1; - else - xbee_debug = 0; -} - -const char PROGMEM str_debug[] = "debug"; -const char PROGMEM str_debug_onoff[] = "on#off"; - -const parse_token_string_t PROGMEM cmd_debug_debug = - TOKEN_STRING_INITIALIZER(struct cmd_debug_result, debug, - str_debug); - -const parse_token_string_t PROGMEM cmd_debug_onoff = - TOKEN_STRING_INITIALIZER(struct cmd_debug_result, onoff, - str_debug_onoff); - -const char PROGMEM help_debug[] = "enable/disable additionnal debug"; - -const parse_inst_t PROGMEM cmd_debug = { - .f = cmd_debug_parsed, /* function to call */ - .data = NULL, /* 2nd arg of func */ - .help_str = help_debug, - .tokens = { /* token list, NULL terminated */ - (PGM_P)&cmd_debug_debug, - (PGM_P)&cmd_debug_onoff, - NULL, - }, -}; - /**********************************************************/ /* this structure is filled when cmd_baudrate is parsed successfully */ @@ -1937,8 +1911,6 @@ const parse_ctx_t PROGMEM main_ctx[] = { &cmd_monitor_del, &cmd_ping, &cmd_raw, - &cmd_dump, - &cmd_debug, &cmd_baudrate, &cmd_beep, &cmd_servo_set,