main.c
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/*
* Copyright (C) 2015 Freie Universität Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup examples
* @{
*
* @file
* @brief Example application for demonstrating the RIOT network stack
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <inttypes.h>
#include <arpa/inet.h>
#include "board.h"
#include "periph_conf.h"
#include "periph/gpio.h"
#include "net/sock/udp.h"
#include "net/gnrc/ipv6.h"
#include "net/af.h"
#include "net/sixlowpan.h"
#include "net/gnrc/pktdump.h"
#include "shell.h"
#include "shell_commands.h"
#include "msg.h"
#include "thread.h"
#include "sched.h"
#include "kernel_types.h"
#include "net/netstats.h"
#include "net/ipv6/addr.h"
#include "periph/timer.h"
#include "net/gnrc/ipv6/netif.h"
#include "net/gnrc/netif.h"
#include "net/gnrc/netapi.h"
#include "net/netopt.h"
#include "net/gnrc/pkt.h"
#include "net/gnrc/pktbuf.h"
#include "net/gnrc/netif/hdr.h"
#include "net/gnrc/sixlowpan/netif.h"
#include "net/fib.h"
#include "net/gnrc/udp.h"
#include "periph/pwm.h"
#include "od.h"
#include "xtimer.h"
#include "tb6612fng.h"
#define MAIN_QUEUE_SIZE (8)
#define MAX_ADDR_LEN (8U)
// addr ipv6 link local node 1: fe80::1210:642c:1432:1702
//uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x12,0x10,0x64,0x2c,0x14,0x32,0x17,0x02};
// addr ipv6 link local node 2: fe80::1210:6432:140f:1732
uint8_t node2[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x12,0x10,0x64,0x32,0x14,0x0f,0x17,0x32};
//addr ipv6 link local node 3: fe80::1210:642d:1439:1736
uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x12,0x10,0x64,0x2d,0x14,0x39,0x17,0x36};
char sock_server_stack[THREAD_STACKSIZE_MAIN];
char sock_client_stack[THREAD_STACKSIZE_MAIN];
extern kernel_pid_t server, client;
extern motor_t left, right;
sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
sock_udp_t sock;
#define SERVER_BUFFER_SIZE (10) /* max size of the buffer where incoming data is stored */
#define MAX_MESSAGE_LENGTH (10)
extern void send_motor(uint32_t msg);
extern int init_motor(motor_t *dev1, motor_t *dev2);
void *sock_client_thread(void *arg)
{
(void) arg;
ssize_t res;
msg_t msg;
uint32_t sbuf[1];
char message[MAX_MESSAGE_LENGTH];
sock_udp_ep_t remote = { .family = AF_INET6 };
remote.port = 1234;
remote.addr.ipv6[0] = 0xba;
remote.addr.ipv6[1] = 0xad;
remote.addr.ipv6[2] = 0xa5;
remote.addr.ipv6[3] = 0x55;
remote.addr.ipv6[14] = 0x17;
remote.addr.ipv6[15] = 0x36;
for (;;)
{
msg_receive(&msg);
//send command from shell
sbuf[0] = msg.content.value;
if (sock_udp_send(&sock,sbuf,sizeof(sbuf), &remote) < 0)
{
puts("Error sending message");
}
if ((res = sock_udp_recv(&sock,message,MAX_MESSAGE_LENGTH,1 * US_PER_SEC,NULL)) < 0)
{
if (res == -ETIMEDOUT)
{
puts("Timedout");
}
else
{
puts("Error receiving message");
}
}
else{
puts("message received by the slave");
}
//xtimer_sleep(1);
}
return NULL;
}
void *sock_server_thread(void *arg)
{
(void) arg;
local.port = 1234;
uint32_t server_msg[1];
if (sock_udp_create(&sock, &local, NULL, 0) < 0)
{
puts("Error creating UDP sock");
return NULL;
}
/* Endless loop waiting for incoming packets */
while (1)
{
sock_udp_ep_t remote;
size_t res;
/* wait for incoming packets */
if ((res = sock_udp_recv(&sock,server_msg, sizeof(server_msg),SOCK_NO_TIMEOUT ,&remote)) < 0)
{
puts("error receiving message");
}
//send ack
if (sock_udp_send(&sock,"yes",sizeof("yes"), &remote) < 0)
{
puts("Error sending reply");
}
//send command to the motor driver
send_motor(server_msg[0]);
}
return NULL;
}
static void init_interface(void)
{
kernel_pid_t ifs[GNRC_NETIF_NUMOF];
ipv6_addr_t addr = IPV6_ADDR_UNSPECIFIED;
ipv6_addr_t tmp_addr= IPV6_ADDR_UNSPECIFIED;
uint8_t hwaddr[MAX_ADDR_LEN];
int res;
gnrc_netif_get(ifs);
//addresses gobales
addr.u8[0] = 0xba;
addr.u8[1] = 0xad;
addr.u8[2] = 0xa5;
addr.u8[3] = 0x55;
res = gnrc_netapi_get(ifs[0], NETOPT_ADDRESS, 0, hwaddr, sizeof(hwaddr));
if (res >= 0) {
addr.u8[14] = *hwaddr;
addr.u8[15] = *(hwaddr+1);
}
memcpy(tmp_addr.u8,addr.u8,IPV6_ADDR_BIT_LEN);
gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
/* model ipv6 addr: baad:a555::Hwaddr */
if((addr.u8[14]==0x17)&&(addr.u8[15]==0x32))
{
tmp_addr.u8[14] = 0x17;
tmp_addr.u8[15] = 0x36;
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node3, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
}
else if((addr.u8[14]==0x17)&&(addr.u8[15]==0x36))
{
tmp_addr.u8[14] = 0x17;
tmp_addr.u8[15] = 0x32;
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
init_motor(&left,&right);
server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
}
else
{
puts("new node?");
}
}
static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
/*shell command for driving the robot */
extern int motor_cmd(int argc, char **argv);
static const shell_command_t shell_commands[] = {
{ "robot", "send robot cmd over UDP to slave", motor_cmd },
{ NULL, NULL, NULL }
};
int main(void)
{
/* we need a message queue for the thread running the shell in order to
* receive potentially fast incoming networking packets */
msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
puts("RIOT network stack example application");
/* init network interfaces */
init_interface();
/* start shell */
puts("All up, running the shell now");
char line_buf[SHELL_DEFAULT_BUFSIZE];
shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
/* should be never reached */
return 0;
}