X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee.git;a=blobdiff_plain;f=main.c;h=e878a34e57d4305463869f62d48c497e5b093d61;hp=52c0d808535e4a3f98af75a5a1b3f0b59a5df43a;hb=HEAD;hpb=1bbb5063d82e9dc21677eb2a7d1d8f7ef2da3b89

diff --git a/main.c b/main.c
index 52c0d80..e878a34 100644
--- a/main.c
+++ b/main.c
@@ -41,6 +41,7 @@
 #include <time.h>
 #include <netinet/in.h>
 #include <sys/queue.h>
+#include <linux/joystick.h>
 
 #include <getopt.h>
 
@@ -57,6 +58,8 @@
 #include "xbee_buf.h"
 #include "xbee_proto.h"
 #include "xbee.h"
+#include "joystick.h"
+#include "rc_proto.h"
 #include "main.h"
 
 #define TIMEOUT_US 1000000
@@ -75,6 +78,7 @@ struct xbee_dev *xbee_dev;
 
 /* events */
 static struct event stdin_read_event, xbee_read_event;
+static struct event joystick_read_event;
 
 static struct cmdline *xbee_cl;
 
@@ -85,6 +89,8 @@ int xbee_raw = 0;
 int xbee_hexdump = 0;
 int xbee_debug = 0;
 FILE *xbee_logfile;
+static char *joystick_devname = NULL;
+struct joystick_info joyinfo;
 
 void xbeeapp_log(int always_on_stdout, const char *fmt, ...)
 {
@@ -238,6 +244,10 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 	/* dump frame */
 	if (atcmd_frame_status(frame, len) == 0) {
 
+		/* callback */
+		if (ctx->func != NULL)
+			ctx->func(frame, len, ctx->arg);
+
 		if (len == sizeof(struct xbee_atresp_hdr))
 			xbeeapp_log(ctx->foreground, "<%s>: ok\n",
 				    ctx->atcmd_query->name);
@@ -251,6 +261,41 @@ static int dump_atcmd(struct xbee_ctx *ctx, struct xbee_atresp_hdr *frame,
 	return 0;
 }
 
+int xbee_recv_data(struct xbee_recv_hdr *recvframe, unsigned len)
+{
+	int datalen = len - sizeof(*recvframe);
+	struct rc_proto_hdr *rch = (struct rc_proto_hdr *) &recvframe->data;
+
+	if (datalen < sizeof(struct rc_proto_hdr))
+		return -1;
+
+	switch (rch->type) {
+		case RC_PROTO_TYPE_CHANNEL:
+			if (datalen != sizeof(struct rc_proto_channel))
+				return -1;
+			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;
+		}
+		default:
+			return -1;
+	}
+
+	return 0;
+}
+
+
 void xbee_rx(struct xbee_dev *dev, int channel, int type,
 	     void *frame, unsigned len, void *opaque)
 {
@@ -317,19 +362,8 @@ void xbee_rx(struct xbee_dev *dev, int channel, int type,
 		}
 
 		case XBEE_TYPE_RECV: {
-			struct xbee_recv_hdr *recvframe = frame;
-			int recvlen = len - sizeof(*recvframe);
-			int on_stdout = 1;
-
-			/* if we receive a range-test frame, ask for RSSI now */
-			if (recvlen >= strlen("range") &&
-			    !strncmp((char *)recvframe->data,
-				     "range", strlen("range"))) {
-				xbeeapp_send_atcmd("DB", NULL, 0, 0);
-				on_stdout = 0;
-			}
-			hexdump(on_stdout, "rx data", recvframe->data,
-				recvlen);
+			if (xbee_recv_data(frame, len) < 0)
+				do_hexdump = 1;
 			break;
 		}
 
@@ -410,8 +444,10 @@ static int xbeeapp_send(struct xbee_ctx *ctx, int type, void *buf, unsigned len,
 
 /* 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(const char *atcmd_str, void *param, unsigned param_len,
-		       int foreground)
+int xbeeapp_send_atcmd(const char *atcmd_str,
+		       void *param, unsigned param_len, int foreground,
+		       int (*func)(void *frame, unsigned len, void *arg),
+		       void *arg)
 {
 	struct xbee_ctx *ctx;
 	struct xbee_atcmd *cmd;
@@ -436,6 +472,8 @@ int xbeeapp_send_atcmd(const char *atcmd_str, void *param, unsigned param_len,
 	memset(ctx, 0, sizeof(*ctx));
 	ctx->type = ATCMD;
 	ctx->atcmd_query = cmd;
+	ctx->func = func;
+	ctx->arg = arg;
 
 	memcpy(&frame.atcmd.cmd, atcmd_str, 2);
 	memcpy(&frame.buf, param, param_len);
@@ -696,7 +734,7 @@ parse_args(int argc, char **argv)
 
 	argvopt = argv;
 
-	while ((opt = getopt_long(argc, argvopt, "hd:s:",
+	while ((opt = getopt_long(argc, argvopt, "hd:s:j:",
 				  lgopts, &option_index)) != EOF) {
 
 		switch (opt) {
@@ -718,6 +756,10 @@ parse_args(int argc, char **argv)
 			xbee_raw = 1;
 			break;
 
+		case 'j':
+			joystick_devname = optarg;
+			break;
+
 		/* long options */
 		case 0:
 			/* if (!strcmp(lgopts[option_index].name, "option")) */
@@ -764,6 +806,20 @@ int main(int argc, char **argv)
 	if (err < 0)
 		return -1;
 
+	/* init rc_proto */
+	rc_proto_init();
+
+	/* init joystick */
+	if (joystick_devname != NULL) {
+		if (joystick_init(joystick_devname, &joyinfo) < 0) {
+			fprintf(stderr, "error in joystick init\n");
+			return -1;
+		}
+		event_set(&joystick_read_event, joyinfo.fd, EV_READ | EV_PERSIST,
+			  joystick_input, &joyinfo);
+		event_add(&joystick_read_event, NULL);
+	}
+
 	/* open xbee device */
 	xbee_dev = xbee_open(xbee_devname, xbee_baud);
 	if (xbee_dev == NULL)
@@ -796,7 +852,7 @@ int main(int argc, char **argv)
 		if (access(xbeerc_path, R_OK) == 0) {
 
 			xbee_cl = cmdline_file_new(&main_ctx, "xbeerc> ",
-					      "/home/zer0/.xbeerc", 1);
+					      xbeerc_path, 1);
 			if (xbee_cl != NULL) {
 				cmdline_interact(xbee_cl);
 				cmdline_free(xbee_cl);