From: Olivier Matz Date: Mon, 21 Apr 2014 16:37:46 +0000 (+0200) Subject: cmdline: new rc_proto commands X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=13e5a26a5242e90e77786b58b5df15d77b7c340c;p=protos%2Fxbee-avr.git cmdline: new rc_proto commands --- diff --git a/commands.c b/commands.c index 68c0c6b..c6a4189 100644 --- 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 cc6cce4..8c91665 100644 --- 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 2a2a666..82f2fd2 100644 --- 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);