cmdline: new rc_proto commands

diff --git a/commands.c b/commands.c
index 68c0c6bf150cfbedbe7d47c3037ced5b22ead467..c6a418995582922e5f840797eb43476d825b1d73 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -629,105 +629,6 @@ 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;
-       struct xbee_neigh *neigh;
-       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 *use_neigh)
-{
-       struct cmd_send_hello_result *res = parsed_result;
-       uint16_t now, next, diff;
-       uint8_t flags;
-       uint64_t addr;
-
-       if (use_neigh)
-               addr = res->neigh->addr;
-       else
-               addr = res->addr;
-
-       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(addr, res->data, strlen(res->data), -1);
-               next += res->period;
-               res->count--;
-       }
-}
-
-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,
-       },
-};
-
-const parse_token_neighbor_t PROGMEM cmd_send_hello_neigh =
-       TOKEN_NEIGHBOR_INITIALIZER(struct cmd_send_hello_result, neigh,
-                                  &xbee_dev);
-
-const parse_inst_t PROGMEM cmd_send_hello_name = {
-       .f = cmd_send_hello_parsed,  /* function to call */
-       .data = (void *)1,      /* 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_neigh,
-               (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;
@@ -1672,6 +1573,244 @@ const parse_inst_t PROGMEM cmd_dump_xbee_stats = {
 
 /**********************************************************/
 
+/* this structure is filled when cmd_rc_proto_stats is parsed successfully */
+struct cmd_rc_proto_stats_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+};
+
+static void cmd_rc_proto_stats_parsed(void *parsed_result, void *data)
+{
+       struct cmd_rc_proto_stats_result *res = parsed_result;
+       (void)data;
+
+       if (!strcmp(res->arg1, "show"))
+               rc_proto_dump_stats();
+       else /* reset */
+               rc_proto_reset_stats();
+}
+
+const char PROGMEM str_rc_proto_stats_arg0[] = "rc_proto_stats";
+const parse_token_string_t PROGMEM cmd_rc_proto_stats_arg0 =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_stats_result, arg0,
+                                str_rc_proto_stats_arg0);
+const char PROGMEM str_rc_proto_stats_arg1[] = "show#reset";
+const parse_token_string_t PROGMEM cmd_rc_proto_stats_arg1 =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_stats_result, arg1,
+                                str_rc_proto_stats_arg1);
+
+const char PROGMEM help_rc_proto_stats[] = "dump rc_proto stats";
+const parse_inst_t PROGMEM cmd_rc_proto_stats = {
+       .f = cmd_rc_proto_stats_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_rc_proto_stats,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_rc_proto_stats_arg0,
+               (PGM_P)&cmd_rc_proto_stats_arg1,
+               NULL,
+       },
+};
+
+/**********************************************************/
+
+/* this structure is filled when cmd_rc_proto_hello is parsed successfully */
+struct cmd_rc_proto_hello_result {
+       fixed_string_t rc_proto_hello;
+       uint64_t addr;
+       struct xbee_neigh *neigh;
+       uint16_t period;
+       uint16_t count;
+       fixed_string_t data;
+};
+
+/* function called when cmd_rc_proto_hello is parsed successfully */
+static void cmd_rc_proto_hello_parsed(void *parsed_result, void *use_neigh)
+{
+       struct cmd_rc_proto_hello_result *res = parsed_result;
+       uint16_t now, next, diff;
+       uint8_t flags;
+       uint64_t addr;
+
+       if (use_neigh)
+               addr = res->neigh->addr;
+       else
+               addr = res->addr;
+
+       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(addr, res->data, strlen(res->data), -1);
+               next += res->period;
+               res->count--;
+       }
+}
+
+const char PROGMEM str_rc_proto_hello[] = "rc_proto_hello";
+
+const parse_token_string_t PROGMEM cmd_rc_proto_hello_rc_proto_hello =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_hello_result, rc_proto_hello,
+                                str_rc_proto_hello);
+
+const parse_token_num_t PROGMEM cmd_rc_proto_hello_addr =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_hello_result, addr, UINT64);
+
+const parse_token_num_t PROGMEM cmd_rc_proto_hello_period =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_hello_result, period, UINT16);
+
+const parse_token_num_t PROGMEM cmd_rc_proto_hello_count =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_hello_result, count, UINT16);
+
+const parse_token_string_t PROGMEM cmd_rc_proto_hello_data =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_hello_result, data, NULL);
+
+const char PROGMEM help_rc_proto_hello[] =
+       "Send hello msg to a node: addr, period_ms, count, str";
+
+const parse_inst_t PROGMEM cmd_rc_proto_hello = {
+       .f = cmd_rc_proto_hello_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_rc_proto_hello,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_rc_proto_hello_rc_proto_hello,
+               (PGM_P)&cmd_rc_proto_hello_addr,
+               (PGM_P)&cmd_rc_proto_hello_period,
+               (PGM_P)&cmd_rc_proto_hello_count,
+               (PGM_P)&cmd_rc_proto_hello_data,
+               NULL,
+       },
+};
+
+const parse_token_neighbor_t PROGMEM cmd_rc_proto_hello_neigh =
+       TOKEN_NEIGHBOR_INITIALIZER(struct cmd_rc_proto_hello_result, neigh,
+                                  &xbee_dev);
+
+const parse_inst_t PROGMEM cmd_rc_proto_hello_name = {
+       .f = cmd_rc_proto_hello_parsed,  /* function to call */
+       .data = (void *)1,      /* 2nd arg of func */
+       .help_str = help_rc_proto_hello,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_rc_proto_hello_rc_proto_hello,
+               (PGM_P)&cmd_rc_proto_hello_neigh,
+               (PGM_P)&cmd_rc_proto_hello_period,
+               (PGM_P)&cmd_rc_proto_hello_count,
+               (PGM_P)&cmd_rc_proto_hello_data,
+               NULL,
+       },
+};
+
+/**********************************************************/
+
+/* this structure is filled when cmd_rc_proto_echo is parsed successfully */
+struct cmd_rc_proto_echo_result {
+       fixed_string_t rc_proto_echo;
+       uint64_t addr;
+       struct xbee_neigh *neigh;
+       uint16_t period;
+       uint16_t count;
+       fixed_string_t data;
+};
+
+/* function called when cmd_rc_proto_echo is parsed successfully */
+static void cmd_rc_proto_echo_parsed(void *parsed_result, void *use_neigh)
+{
+       struct cmd_rc_proto_echo_result *res = parsed_result;
+       uint16_t now, next, diff;
+       uint8_t flags;
+       uint64_t addr;
+
+       if (use_neigh)
+               addr = res->neigh->addr;
+       else
+               addr = res->addr;
+
+       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_echo_req(addr, res->data, strlen(res->data), -1);
+               next += res->period;
+               res->count--;
+       }
+}
+
+const char PROGMEM str_rc_proto_echo[] = "rc_proto_echo";
+
+const parse_token_string_t PROGMEM cmd_rc_proto_echo_rc_proto_echo =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_echo_result, rc_proto_echo,
+                                str_rc_proto_echo);
+
+const parse_token_num_t PROGMEM cmd_rc_proto_echo_addr =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_echo_result, addr, UINT64);
+
+const parse_token_num_t PROGMEM cmd_rc_proto_echo_period =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_echo_result, period, UINT16);
+
+const parse_token_num_t PROGMEM cmd_rc_proto_echo_count =
+       TOKEN_NUM_INITIALIZER(struct cmd_rc_proto_echo_result, count, UINT16);
+
+const parse_token_string_t PROGMEM cmd_rc_proto_echo_data =
+       TOKEN_STRING_INITIALIZER(struct cmd_rc_proto_echo_result, data, NULL);
+
+const char PROGMEM help_rc_proto_echo[] =
+       "Send echo msg to a node: addr, period_ms, count, str";
+
+const parse_inst_t PROGMEM cmd_rc_proto_echo = {
+       .f = cmd_rc_proto_echo_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_rc_proto_echo,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_rc_proto_echo_rc_proto_echo,
+               (PGM_P)&cmd_rc_proto_echo_addr,
+               (PGM_P)&cmd_rc_proto_echo_period,
+               (PGM_P)&cmd_rc_proto_echo_count,
+               (PGM_P)&cmd_rc_proto_echo_data,
+               NULL,
+       },
+};
+
+const parse_token_neighbor_t PROGMEM cmd_rc_proto_echo_neigh =
+       TOKEN_NEIGHBOR_INITIALIZER(struct cmd_rc_proto_echo_result, neigh,
+                                  &xbee_dev);
+
+const parse_inst_t PROGMEM cmd_rc_proto_echo_name = {
+       .f = cmd_rc_proto_echo_parsed,  /* function to call */
+       .data = (void *)1,      /* 2nd arg of func */
+       .help_str = help_rc_proto_echo,
+       .tokens = {        /* token list, NULL terminated */
+               (PGM_P)&cmd_rc_proto_echo_rc_proto_echo,
+               (PGM_P)&cmd_rc_proto_echo_neigh,
+               (PGM_P)&cmd_rc_proto_echo_period,
+               (PGM_P)&cmd_rc_proto_echo_count,
+               (PGM_P)&cmd_rc_proto_echo_data,
+               NULL,
+       },
+};
+
+/**********************************************************/
+
 /* this structure is filled when cmd_test_eeprom_config is parsed successfully */
 struct cmd_test_eeprom_config_result {
        fixed_string_t arg0;
@@ -1897,8 +2036,6 @@ const parse_ctx_t PROGMEM main_ctx[] = {
        &cmd_write_u16,
        &cmd_write_u32,
        &cmd_sendmsg,
-       &cmd_send_hello,
-       &cmd_send_hello_name,
        &cmd_sendmsg_name,
        &cmd_range,
        &cmd_range_period,
@@ -1918,6 +2055,11 @@ const parse_ctx_t PROGMEM main_ctx[] = {
        &cmd_servo_show,
        &cmd_test_spi,
        &cmd_dump_xbee_stats,
+       &cmd_rc_proto_stats,
+       &cmd_rc_proto_hello,
+       &cmd_rc_proto_hello_name,
+       &cmd_rc_proto_echo,
+       &cmd_rc_proto_echo_name,
        &cmd_test_eeprom_config,
        &cmd_eeprom_del,
        &cmd_eeprom_add,

diff --git a/rc_proto.c b/rc_proto.c
index cc6cce430a65c43e97a182996a973205be2fb67c..8c9166517ffc0a548250b79156604a086e10f599 100644 (file)
--- a/rc_proto.c
+++ b/rc_proto.c
@@ -59,7 +59,7 @@
 /* time before switching into bypass mode when no servo command received */
 #define AUTO_BYPASS_TIME_MS 500
 
-/* rc_proto statistics */
+/* rc_proto statistics, accessed with sched_prio=XBEE_PRIO */
 struct rc_proto_stats_data {
        uint32_t hello_rx;
        uint32_t hello_tx;
@@ -776,6 +776,15 @@ void rc_proto_dump_stats(void)
        printf_P(PSTR("  stats_tx: %"PRIu32"\r\n"), peer_stats.stats_tx);
 }
 
+void rc_proto_reset_stats(void)
+{
+       uint8_t prio;
+
+       prio = callout_mgr_set_prio(&xbeeboard.intr_cm, XBEE_PRIO);
+       memset(&stats, 0, sizeof(stats));
+       callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
+}
+
 void rc_proto_dump_servos(void)
 {
        uint8_t i;

diff --git a/rc_proto.h b/rc_proto.h
index 2a2a6669d9410044e826b11205356f9a3ab93da4..82f2fd2eabe8d317f6862b586230f607c12cc3e2 100644 (file)
--- a/rc_proto.h
+++ b/rc_proto.h
@@ -94,9 +94,12 @@ int8_t rc_proto_send_echo_req(uint64_t addr, void *data, uint8_t data_len,
 /* reception of a xbee message */
 int rc_proto_rx(struct xbee_recv_hdr *recvframe, unsigned len);
 
-/* dmp statistics related to rc_proto */
+/* dump statistics related to rc_proto */
 void rc_proto_dump_stats(void);
 
+/* reset statistics related to rc_proto */
+void rc_proto_reset_stats(void);
+
 /* set the peer xbee address */
 void rc_proto_set_dstaddr(uint64_t addr);