add send_hello command

diff --git a/commands.c b/commands.c
index 319e1fa..f5676be 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -569,6 +569,81 @@ const parse_inst_t PROGMEM cmd_sendmsg = {
 
 /* ************* */
 
 
 /* ************* */
 

+/* this structure is filled when cmd_send_hello is parsed successfully */
+struct cmd_send_hello_result {
+       fixed_string_t send_hello;
+       uint64_t addr;
+       uint16_t period;
+       uint16_t count;
+       fixed_string_t data;
+};
+
+/* function called when cmd_send_hello is parsed successfully */
+static void cmd_send_hello_parsed(void *parsed_result, void *data)
+{
+       struct cmd_send_hello_result *res = parsed_result;
+       uint16_t now, next, diff;
+       uint8_t flags;
+
+       (void)data;
+
+       IRQ_LOCK(flags);
+       now = global_ms;
+       IRQ_UNLOCK(flags);
+
+       next = now;
+
+       while (!cmdline_keypressed() || res->count == 0) {
+               IRQ_LOCK(flags);
+               now = global_ms;
+               IRQ_UNLOCK(flags);
+
+               diff = now - next;
+               if (diff < res->period)
+                       continue;
+
+               rc_proto_send_hello(res->addr, res->data, strlen(res->data));
+               next += res->period;
+       }
+}
+
+const char PROGMEM str_send_hello[] = "send_hello";
+
+const parse_token_string_t PROGMEM cmd_send_hello_send_hello =
+       TOKEN_STRING_INITIALIZER(struct cmd_send_hello_result, send_hello,
+                                str_send_hello);
+
+const parse_token_num_t PROGMEM cmd_send_hello_addr =
+       TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, addr, UINT64);
+
+const parse_token_num_t PROGMEM cmd_send_hello_period =
+       TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, period, UINT16);
+
+const parse_token_num_t PROGMEM cmd_send_hello_count =
+       TOKEN_NUM_INITIALIZER(struct cmd_send_hello_result, count, UINT16);
+
+const parse_token_string_t PROGMEM cmd_send_hello_data =
+       TOKEN_STRING_INITIALIZER(struct cmd_send_hello_result, data, NULL);
+
+const char PROGMEM help_send_hello[] =
+       "Send hello msg to a node: addr, period_ms, count, str";
+
+const parse_inst_t PROGMEM cmd_send_hello = {
+       .f = cmd_send_hello_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_send_hello,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_send_hello_send_hello,
+               (PGM_P)&cmd_send_hello_addr,
+               (PGM_P)&cmd_send_hello_period,
+               (PGM_P)&cmd_send_hello_count,
+               (PGM_P)&cmd_send_hello_data,
+               NULL,
+       },
+};
+
+/* ************* */
+

 /* this structure is filled when cmd_sendmsg_name is parsed successfully */
 struct cmd_sendmsg_name_result {
        fixed_string_t sendmsg_name;
 /* this structure is filled when cmd_sendmsg_name is parsed successfully */
 struct cmd_sendmsg_name_result {
        fixed_string_t sendmsg_name;


@@ -1809,6 +1884,7 @@ const parse_ctx_t PROGMEM main_ctx[] = {
        &cmd_write_u16,
        &cmd_write_u32,
        &cmd_sendmsg,
        &cmd_write_u16,
        &cmd_write_u32,
        &cmd_sendmsg,

+       &cmd_send_hello,

        &cmd_sendmsg_name,
        &cmd_range,
        &cmd_range_period,
        &cmd_sendmsg_name,
        &cmd_range,
        &cmd_range_period,

diff --git a/rc_proto.c b/rc_proto.c
index fe5c928..b04e18c 100644 (file)
--- a/rc_proto.c
+++ b/rc_proto.c
@@ -25,6 +25,8 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 

+#include <string.h>
+

 #include <aversive.h>
 #include <aversive/queue.h>
 
 #include <aversive.h>
 #include <aversive/queue.h>
 


@@ -76,6 +78,26 @@ void rc_proto_rx_power_probe(int power_level)
        xbeeapp_send_atcmd("DB", NULL, 0, 0, update_power_level, NULL);
 }
 
        xbeeapp_send_atcmd("DB", NULL, 0, 0, update_power_level, NULL);
 }
 

+/* send a hello message */
+// XXX iovec for xbee ?
+int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len)
+{
+       struct {
+               struct rc_proto_echo_req hdr;
+               char buf[XBEE_MAX_FRAME_LEN - sizeof(struct rc_proto_echo_req)];
+       } frame;
+
+       if (data_len > sizeof(frame.buf))
+               return -1;
+
+       frame.hdr.type = RC_PROTO_HELLO;
+       frame.hdr.datalen = data_len;
+       memcpy(frame.buf, data, data_len);
+       return xbeeapp_send_msg(addr, &frame,
+                               data_len + sizeof(struct rc_proto_echo_req), 1);
+}
+
+

 #if 0
 #define N_SERVO 6
 #define SERVO_NBITS 10
 #if 0
 #define N_SERVO 6
 #define SERVO_NBITS 10

diff --git a/rc_proto.h b/rc_proto.h
index 217bb96..a12de34 100644 (file)
--- a/rc_proto.h
+++ b/rc_proto.h
@@ -10,7 +10,7 @@ struct rc_proto_hdr {
 #define RC_PROTO_HELLO 0
 struct rc_proto_hello {
        uint8_t type;
 #define RC_PROTO_HELLO 0
 struct rc_proto_hello {
        uint8_t type;

-       uint8_t datalen;
+       uint8_t datalen; /* len of data excluding header */

        uint8_t data[];
 } __attribute__((packed));
 
        uint8_t data[];
 } __attribute__((packed));
 


@@ -18,7 +18,7 @@ struct rc_proto_hello {
 #define RC_PROTO_ECHO_REQ 1
 struct rc_proto_echo_req {
        uint8_t type;
 #define RC_PROTO_ECHO_REQ 1
 struct rc_proto_echo_req {
        uint8_t type;

-       uint8_t datalen;
+       uint8_t datalen; /* len of data excluding header */

        uint8_t data[];
 } __attribute__((packed));
 
        uint8_t data[];
 } __attribute__((packed));
 


@@ -26,7 +26,7 @@ struct rc_proto_echo_req {
 #define RC_PROTO_ECHO_ANS 2
 struct rc_proto_echo_ans {
        uint8_t type;
 #define RC_PROTO_ECHO_ANS 2
 struct rc_proto_echo_ans {
        uint8_t type;

-       uint8_t datalen;
+       uint8_t datalen; /* len of data excluding header */

        uint8_t data[];
 } __attribute__((packed));
 
        uint8_t data[];
 } __attribute__((packed));
 


@@ -52,6 +52,10 @@ struct rc_proto_ack {
        uint8_t seq;
 } __attribute__((packed));
 
        uint8_t seq;
 } __attribute__((packed));
 

+
+/* send a Hello message to a peer */
+int8_t rc_proto_send_hello(uint64_t addr, void *data, uint8_t data_len);
+

 void rc_proto_rx_range(int power_level);
 
 #endif
 void rc_proto_rx_range(int power_level);
 
 #endif