X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=xbee_user.c;h=17a92afa68952b3a13a69a8837c5ea126594b8fe;hp=0d264b52b4feee2c8e995bad4084420ecee10ded;hb=HEAD;hpb=852fd37145aaaee0ce2117f5c8173f5b86020fd0

diff --git a/xbee_user.c b/xbee_user.c
index 0d264b5..17a92af 100644
--- a/xbee_user.c
+++ b/xbee_user.c
@@ -56,6 +56,8 @@ int xbee_cmdline_input_enabled = 1;
 /* parameters */
 int xbee_raw = 0;
 
+static struct callout xbee_rx_poll_timer;
+
 static void __hexdump(const void *buf, unsigned int len)
 {
 	unsigned int i, out, ofs;
@@ -81,7 +83,7 @@ static void __hexdump(const void *buf, unsigned int len)
 					  LINE_LEN - out,
 					  PSTR("%c"), c);
 		}
-		DEBUG(E_USER_XBEE, "%s");
+		DEBUG(E_USER_XBEE, "%s", line);
 	}
 }
 
@@ -90,6 +92,7 @@ static void hexdump_msg(const char *title, const struct xbee_msg *msg)
 	unsigned i;
 
 	DEBUG(E_USER_XBEE, "dump %s", title);
+
 	for (i = 0; i < msg->iovlen; i++) {
 		DEBUG(E_USER_XBEE, "iovec %d at %p, len=%d", i,
 			msg->iov[i].buf, msg->iov[i].len);
@@ -97,7 +100,7 @@ static void hexdump_msg(const char *title, const struct xbee_msg *msg)
 	}
 }
 
-static void hexdump(const char *title, const void *buf, unsigned int len)
+void hexdump(const char *title, const void *buf, unsigned int len)
 {
 	DEBUG(E_USER_XBEE, "dump %s at [%p], len=%d", title, buf, len);
 	__hexdump(buf, len);
@@ -113,7 +116,7 @@ static int parse_xmit_status(struct xbee_ctx *ctx,
 		return -1;
 	}
 
-	/* see if it matches a xmit query (atcmd_query must be NULL) */
+	/* see if it matches a xmit query (atcmd_query must be \0) */
 	if (ctx->atcmd_query[0] != '\0') {
 		ERROR(E_USER_XBEE, "invalid response 2");
 		return -1;
@@ -134,18 +137,61 @@ static int parse_xmit_status(struct xbee_ctx *ctx,
 	return 0;
 }
 
-static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
+/* Write in a human readable format the content of an atcmd response frame. It
+ * assumes the frame is valid .*/
+void atresp_to_str(char *buf, unsigned buflen, const struct xbee_atresp_hdr *frame,
 	unsigned len)
 {
-	char atcmd_str[3];
-	const struct xbee_atcmd *cmd_pgm;
-	struct xbee_atcmd cmd;
 	union {
 		uint8_t u8;
 		uint16_t u16;
 		uint32_t u32;
 		int16_t s16;
 	} __attribute__((packed)) *result;
+	char atcmd_str[3];
+	const struct xbee_atcmd *cmd_pgm;
+	struct xbee_atcmd cmd;
+
+	/* get AT command from frame */
+	memcpy(atcmd_str, &frame->cmd, 2);
+	atcmd_str[2] = '\0';
+
+
+	/* see if it exists */
+	cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
+	if (cmd_pgm == NULL) {
+		snprintf(buf, buflen, "<%s> (unknown cmd)", atcmd_str);
+		return;
+	}
+	memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
+	len -= sizeof(*frame);
+
+	/* dump frame */
+	result = (void *)frame->data;
+
+	if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
+		snprintf(buf, buflen, "<%s> is 0x%x (%d)", atcmd_str,
+			result->u8, result->u8);
+	else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
+		snprintf(buf, buflen, "<%s> is 0x%x (%d)", atcmd_str,
+			ntohs(result->u16), ntohs(result->u16));
+	else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
+		snprintf(buf, buflen, "<%s> is 0x%"PRIx32" (%"PRIu32")",
+			atcmd_str, ntohl(result->u32), ntohl(result->u32));
+	else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
+		snprintf(buf, buflen, "<%s> is %d",
+			atcmd_str, ntohs(result->s16));
+	else if (len == 0)
+		snprintf(buf, buflen, "<%s> no data", atcmd_str);
+	else
+		snprintf(buf, buflen, "invalid atresp");
+}
+
+static int parse_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
+	unsigned len)
+{
+	char atcmd_str[3];
+	char buf[32];
 
 	if (ctx == NULL) {
 		ERROR(E_USER_XBEE, "no context");
@@ -165,14 +211,6 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 		return -1;
 	}
 
-	/* see if it exists */
-	cmd_pgm = xbee_atcmd_lookup_name(atcmd_str);
-	if (cmd_pgm == NULL) {
-		ERROR(E_USER_XBEE, "unknown response");
-		return -1;
-	}
-	memcpy_P(&cmd, cmd_pgm, sizeof(cmd));
-
 	/* bad status */
 	if (frame->status == 1) {
 		WARNING(E_USER_XBEE, "Status is error");
@@ -192,106 +230,35 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 		return -1;
 	}
 
-	/* callback */
-	if (ctx->func != NULL)
-		ctx->func(frame, len, ctx->arg);
+	atresp_to_str(buf, sizeof(buf), frame, len);
 
-	/* dump frame */
-	result = (void *)frame->data;
-	len -= offsetof(struct xbee_atresp_hdr, data);
-	if (cmd.flags & XBEE_ATCMD_F_PARAM_U8 && len == sizeof(uint8_t))
-		NOTICE(E_USER_XBEE, "<%s> is 0x%x (%d)", atcmd_str,
-			result->u8, result->u8);
-	else if (cmd.flags & XBEE_ATCMD_F_PARAM_U16 && len == sizeof(uint16_t))
-		NOTICE(E_USER_XBEE, "<%s> is 0x%x (%d)", atcmd_str,
-			ntohs(result->u16), ntohs(result->u16));
-	else if (cmd.flags & XBEE_ATCMD_F_PARAM_U32 && len == sizeof(uint32_t))
-		NOTICE(E_USER_XBEE, "<%s> is 0x%"PRIx32" (%"PRIu32")",
-			atcmd_str, ntohl(result->u32), ntohs(result->u32));
-	else if (cmd.flags & XBEE_ATCMD_F_PARAM_S16 && len == sizeof(int16_t))
-		NOTICE(E_USER_XBEE, "<%s> is %d",
-			atcmd_str, ntohs(result->s16));
-	else if (len == 0)
-		NOTICE(E_USER_XBEE, "no data, status ok");
-	else
+	len -= sizeof(*frame);
+	NOTICE(E_USER_XBEE, "status ok, datalen=%d, %s", len, buf);
+
+	if (len != 0)
 		hexdump("atcmd answer", frame->data, len);
 
 	return 0;
 }
 
 
-int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
-{
-	unsigned int datalen;
-	struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
-
-	if (len <  sizeof(*recvframe))
-		return -1;
-
-	datalen = len - sizeof(*recvframe);
-	if (datalen < sizeof(struct rc_proto_hdr))
-		return -1;
-
-	switch (rch->type) {
-#if 0
-		case RC_PROTO_TYPE_CHANNEL: {
-			struct rc_proto_channel *rcc =
-				(struct rc_proto_channel *) recvframe->data;
-			int16_t val;
-			if (datalen != sizeof(struct rc_proto_channel))
-				return -1;
-			val = ntohs(rcc->axis[0]);
-			val >>= 6;
-			val += 512;
-			spi_servo_set(0, val);
-			break;
-		}
-		case RC_PROTO_TYPE_RANGE: {
-			struct rc_proto_range *rcr =
-				(struct rc_proto_range *) recvframe->data;
-
-			if (datalen != sizeof(struct rc_proto_range))
-				return -1;
-
-			if (rcr->power_level >= MAX_POWER_LEVEL)
-				return -1;
-
-			rc_proto_rx_range(rcr->power_level);
-
-			break;
-		}
-#endif
-		case RC_PROTO_HELLO: {
-			struct rc_proto_hello *rch =
-				(struct rc_proto_hello *) recvframe->data;
-
-			NOTICE(E_USER_XBEE, "recv hello len=%d",
-				rch->datalen);
-			/* XXX stats */
-			break;
-		}
-		default:
-			return -1;
-	}
-
-	return 0;
-}
-
-/* socat /dev/ttyUSB0,raw,echo=0,b115200 /dev/ttyACM1,raw,echo=0,b115200 */
+/* Main xbee rx entry point for application. It decodes the xbee frame type and
+ * dispatch to the application layer. Then "len" argument does not include the
+ * xbee_hdr structure (delimiter, len, type, id) and checksum. */
 int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 	     void *frame, unsigned len, void *opaque)
 {
 	struct xbee_ctx *ctx = opaque;
-	int8_t ret = 0;
+	int8_t ret = XBEE_USER_RETCODE_OK;
 
 	NOTICE(E_USER_XBEE, "type=0x%x, channel=%d, ctx=%p",
 		type, channel, ctx);
+	__hexdump(frame, len);
 
 	/* if ctx is !NULL, it is an answer to a query */
 	if (ctx != NULL) {
-		/* XXX only delete timeout if answer matched */
 		xbee_unload_timeout(ctx);
-		if (ctx->atcmd_query)
+		if (ctx->atcmd_query[0])
 			NOTICE(E_USER_XBEE, "Received answer to query <%c%c>",
 				ctx->atcmd_query[0], ctx->atcmd_query[1]);
 	}
@@ -318,32 +285,33 @@ int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 			} addr;
 			memcpy(&addr, frame, sizeof(addr));
 			addr.u64 = ntohll(addr.u64);
-			NOTICE(E_USER_XBEE, "from remote address %"PRIx32"%"PRIx32"",
+			NOTICE(E_USER_XBEE,
+				"from remote address %"PRIx32"%"PRIx32"",
 				 addr.u32.high, addr.u32.low);
 
 			/* this answer contains an atcmd answer at offset 10 */
-			if (dump_atcmd(ctx, frame + 10, len - 10) < 0)
-				ret = -1;
+			if (parse_atcmd(ctx, frame + 10, len - 10) < 0)
+				ret = XBEE_USER_RETCODE_BAD_FRAME;
 
 			break;
 		}
 		case XBEE_TYPE_ATRESP: {
-			if (dump_atcmd(ctx, frame, len) < 0)
-				ret = -1;
+			if (parse_atcmd(ctx, frame, len) < 0)
+				ret = XBEE_USER_RETCODE_BAD_FRAME;
 
 			break;
 		}
 
 		case XBEE_TYPE_XMIT_STATUS: {
 			if (parse_xmit_status(ctx, frame, len) < 0)
-				ret = -1;
+				ret = XBEE_USER_RETCODE_BAD_FRAME;
 
 			break;
 		}
 
 		case XBEE_TYPE_RECV: {
-			if (xbee_recv_data(frame, len) < 0)
-				ret = -1;
+			if (rc_proto_rx(frame, len) < 0)
+				ret = XBEE_USER_RETCODE_BAD_FRAME;
 
 			break;
 		}
@@ -357,27 +325,28 @@ int8_t xbeeapp_rx(struct xbee_dev *dev, int channel, int type,
 		case XBEE_TYPE_NODE_ID:
 		default:
 			ERROR(E_USER_XBEE, "Invalid frame");
-			ret = -1;
+			ret = XBEE_USER_RETCODE_BAD_FRAME;
 			break;
 	}
 
-	WARNING(E_USER_XBEE, "undecoded rx frame");
-	hexdump("undecoded rx frame", frame, len);
+	if (ret != XBEE_USER_RETCODE_OK) {
+		WARNING(E_USER_XBEE, "undecoded rx frame");
+	}
 
-	/* restart command line if it was a blocking query */
 	if (ctx != NULL) {
+		/* callback */
+		if (ctx->rx_cb != NULL)
+			ret = ctx->rx_cb(ret, frame, len, ctx->arg);
+
+		/* free channel now, it implicitely frees the context too */
 		xbee_unregister_channel(dev, channel);
-		if (ctx->foreground) {
-			xbee_stdin_enable();
-			rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
-		}
 	}
 
 	return ret;
 }
 
-static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg,
-	int foreground)
+/* called with callout prio == XBEE_PRIO */
+static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg)
 {
 	int ret;
 	int channel;
@@ -395,8 +364,7 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg,
 	ctx = &xbee_ctx[channel];
 	xbee_set_opaque(xbee_dev, channel, ctx);
 
-	NOTICE(E_USER_XBEE, "send frame channel=%d type=0x%x",
-		channel, type);
+	NOTICE(E_USER_XBEE, "send frame channel=%d type=0x%x", channel, type);
 	hexdump_msg("xmit frame", msg);
 
 	/* transmit the frame on this channel */
@@ -410,21 +378,13 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, struct xbee_msg *msg,
 	ctx->channel = channel;
 	xbee_load_timeout(ctx);   /* load a timeout event */
 
-	/* suspend command line until we have answer or timeout */
-	if (foreground) {
-		ctx->foreground = 1;
-		rdline_stop(&xbeeboard.rdl); /* don't display prompt when return */
-		xbee_stdin_disable();  /* unload file descriptor polling */
-	}
-
 	return 0;
 }
 
-/* send an AT command with parameters filled by caller. Disable
- * command line until we get the answer or until a timeout occurs */
-int xbeeapp_send_atcmd(char *atcmd_str, void *param,
-	unsigned param_len, int foreground,
-	int (*func)(void *frame, unsigned len, void *arg), void *arg)
+/* send an AT command with parameters filled by caller. param is the argument
+ * of the atcmd (if any). */
+int xbeeapp_send_atcmd(char *atcmd_str, void *param, unsigned param_len,
+	xbee_user_rx_cb_t *rx_cb, void *arg)
 {
 	struct xbee_ctx ctx;
 	/* struct xbee_atcmd_hdr atcmd_hdr; -> no needed same than atcmd_str */
@@ -435,23 +395,33 @@ int xbeeapp_send_atcmd(char *atcmd_str, void *param,
 	memset(&ctx, 0, sizeof(ctx));
 	ctx.atcmd_query[0] = atcmd_str[0];
 	ctx.atcmd_query[1] = atcmd_str[1];
-	ctx.func = func;
+	ctx.rx_cb = rx_cb;
 	ctx.arg = arg;
 
-	msg.iovlen = 2;
-	msg.iov[0].buf = atcmd_str;
-	msg.iov[0].len = 2;
-	msg.iov[1].buf = param;
-	msg.iov[1].len = param_len;
+	if (param_len == 0) {
+		msg.iovlen = 1;
+		msg.iov[0].buf = atcmd_str;
+		msg.iov[0].len = 2;
+	}
+	else {
+		msg.iovlen = 2;
+		msg.iov[0].buf = atcmd_str;
+		msg.iov[0].len = 2;
+		msg.iov[1].buf = param;
+		msg.iov[1].len = param_len;
+	}
 
 	prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
-	ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg, foreground);
+	if (prio > XBEE_PRIO)
+		ERROR(E_USER_XBEE, "invalid prio = %d\n", prio);
+	ret = xbeeapp_send(&ctx, XBEE_TYPE_ATCMD, &msg);
 	callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 
 	return ret;
 }
 
-int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
+int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg,
+	xbee_user_rx_cb_t *rx_cb, void *arg)
 {
 	struct xbee_ctx ctx;
 	struct xbee_xmit_hdr xmit_hdr;
@@ -465,7 +435,6 @@ int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
 		return -1;
 	}
 
-
 	xmit_hdr.dstaddr = htonll(addr);
 	xmit_hdr.reserved = htons(0xFFFE);
 	xmit_hdr.bcast_radius = 0;
@@ -478,10 +447,13 @@ int xbeeapp_send_msg(uint64_t addr, struct xbee_msg *msg, int foreground)
 		msg2.iov[i+1] = msg->iov[i];
 
 	memset(&ctx, 0, sizeof(ctx));
-	ctx.atcmd_query[0] = '\0';
+	ctx.rx_cb = rx_cb;
+	ctx.arg = arg;
 
 	prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
-	ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2, foreground);
+	if (prio > XBEE_PRIO)
+		ERROR(E_USER_XBEE, "invalid prio = %d\n", prio);
+	ret = xbeeapp_send(&ctx, XBEE_TYPE_XMIT, &msg2);
 	callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 
 	return ret;
@@ -497,13 +469,12 @@ static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
 
 	WARNING(E_USER_XBEE, "Timeout");
 
-	/* restart command line */
-	xbee_stdin_enable();
-	rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
+	/* callback */
+	if (ctx->rx_cb != NULL)
+		ctx->rx_cb(XBEE_USER_RETCODE_TIMEOUT, NULL, 0, ctx->arg);
 
-	/* free event */
+	/* free channel, it implicitely frees the context too */
 	xbee_unregister_channel(xbee_dev, ctx->channel);
-
 	callout_stop(cm, clt);
 }
 
@@ -591,8 +562,8 @@ void xbee_stdin_disable(void)
 
 void xbeeapp_init(void)
 {
-	callout_init(&xbeeboard.xbee_rx_poll_timer, xbee_rx_poll_timer_cb,
+	callout_init(&xbee_rx_poll_timer, xbee_rx_poll_timer_cb,
 		NULL, XBEE_PRIO);
-	callout_schedule(&xbeeboard.intr_cm,
-		&xbeeboard.xbee_rx_poll_timer, XBEE_POLL_TIMER_MS);
+	callout_schedule(&xbeeboard.intr_cm, &xbee_rx_poll_timer,
+		XBEE_POLL_TIMER_MS);
 }