/* * 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 * * @} */ #include #include #include #include #include #include #include #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[] = { { "motor", "send cmd motor 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; }