test application real-time

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1 parent 41eae2a4
Showing 4 changed files with 64 additions and 337 deletions Show diff stats
RIOT/examples/real_time_app/main.c
RIOT/examples/static_network_app_sock_udp/README.md
RIOT/examples/static_network_app_sock_udp/udp.c
RIOT/sys/net/application_layer/sntp/sntp.c
@@ -100,13 +100,19 @@ char sock_time_server_stack[THREAD_STACKSIZE_MAIN];
 // 
 kernel_pid_t server, client, time_server;
 int ordre = 0;
-uint8_t buf[128];
+int64_t offset = 0;
+int timer_run = 0;
 sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
 sock_udp_t sock; 
 sock_udp_ep_t local_ntp = SOCK_IPV6_EP_ANY;
 sock_udp_t sock_ntp; 
 static ntp_packet_t sntp_packet;
+typedef struct tableau {
+  uint32_t heure_actuelle;
+  char donnees[2];
+}Data;
+
 void *sock_time_server_thread(void *arg)
 {
@@ -125,7 +131,7 @@ void *sock_time_server_thread(void *arg)
           if ((res = sock_udp_recv(&sock_ntp,&sntp_packet, sizeof(sntp_packet), SOCK_NO_TIMEOUT,
                                    &remote)) >= 0) {
               puts("Received a message");
-            printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
+            //printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
              // printf("%c\n",remote.addr.ipv6[15]);
             //xtimer_ticks64_t now = xtimer_now64();
@@ -133,8 +139,8 @@ void *sock_time_server_thread(void *arg)
             sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
             sntp_packet.origin.seconds=sntp_packet.transmit.seconds;
             sntp_packet.transmit.seconds=byteorder_htonl( xtimer_now_usec());
-            printf("heure actuelle : %lu\n",xtimer_now_usec());
-            printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
+            //printf("heure actuelle : %lu\n",xtimer_now_usec());
+            //printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
            //memset(&sntp_packet, 0, sizeof(sntp_packet)); 
             //ntp_packet_set_vn(&sntp_packet);
             //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
@@ -172,8 +178,13 @@ void *pwm_thread(void *arg)
 void *sock_server_thread(void *arg)
 {
     (void) arg;
+    Data buf;
+    int compteur = 5;
+    int deadline;
     local.port = 1234;
- 
+    sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
+    ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "dead:beef::3402");
+    
     if (sock_udp_create(&sock, &local, NULL, 0) < 0) {
           puts("Error creating UDP sock");
           return NULL;
@@ -186,14 +197,42 @@ void *sock_server_thread(void *arg)
           sock_udp_ep_t remote;
           ssize_t res;
-          if ((res = sock_udp_recv(&sock, buf, sizeof(buf), SOCK_NO_TIMEOUT,
+          if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), SOCK_NO_TIMEOUT,
                                    &remote)) >= 0) {
              // puts("Received a message");
 	      //printf("%s\n",buf);
-              if (sock_udp_send(&sock, buf, res, &remote) < 0) {
+              /*if (sock_udp_send(&sock, buf, res, &remote) < 0) {
                   puts("Error sending reply");
-              }
-          if(strcmp((char *)buf,"go")==0)
+              }*/
+	      if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
+		puts("Error in synchronization");
+		return NULL;
+	      }
+	      offset = sntp_get_offset();
+    	      deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
+              printf("tps de transmission : %i\n",deadline);
+	      printf("compteur : %d\n",compteur);
+	      if(deadline<=70000 && compteur >=5)
+	      {
+		ordre = 1;
+		timer_clear(TIMER_DEV(1),0);
+	      }
+	      else if(deadline<=70000 && (ordre == 2 || ordre ==0))
+	      {
+		compteur++;
+	      } 
+	      else
+	      {
+		ordre = 2;
+		compteur = 0;
+		if(timer_run == 0)
+		{
+		  timer_set(TIMER_DEV(1),0,25200);
+		  timer_run = 1;
+		}
+	      }
+		
+          /*if(strcmp((char *)buf,"go")==0)
 	  {
 	      ordre = 1;
 	      timer_set(XTIMER_DEV,0,8400);
@@ -203,15 +242,20 @@ void *sock_server_thread(void *arg)
 	  {
 	      ordre = 0;
 	   }
-          }
+          }*/
+	  memset(&buf,0,sizeof(buf));
       }
+    }
     return NULL;
 }
 void *sock_client_thread(void *arg)
 {
      (void) arg;
-     uint_8t paquet[];
+     Data data;
+     data.donnees[0] = 'g';
+     data.donnees[1] = 'o';
+     //uint8_t paquet[];
      sock_udp_ep_t remote = { .family = AF_INET6 };
      remote.port = 1234;
@@ -225,7 +269,9 @@ void *sock_client_thread(void *arg)
      while (1) {
 //       //ipv6_addr_set_all_nodes_multicast((ipv6_addr_t *)&remote.addr.ipv6,
 //         //                                    IPV6_ADDR_MCAST_SCP_LINK_LOCAL);
-     if (sock_udp_send(NULL, "go", sizeof("go"), &remote) < 0) {
+     data.heure_actuelle = xtimer_now_usec();
+     
+     if (sock_udp_send(NULL, &data, sizeof(data), &remote) < 0) {
                puts("Error sending message");
            }
      xtimer_sleep(1);
@@ -237,23 +283,24 @@ static void arret_urgence(void *arg,int channel)
 {
   //pwm_set(PWM_DEV(0),1,0);
   ordre=0;
+  timer_run = 0;
   printf("Arret d'urgence\n");
 }
-static void degradation(void *arg,int channel)
+/*static void degradation(void *arg,int channel)
 {
    ordre=2;
     //pwm_set(PWM_DEV(0),1,0);
     printf("Ralentissement\n");
     timer_set(TIMER_DEV(1),0,25200);
-}
+}*/
 static void _init_timer(void)
 {
     printf("ok timer\n");
-    timer_init(XTIMER_DEV, CLOCK_CORECLOCK/2 ,&degradation,NULL);
-    timer_set(XTIMER_DEV, 0, 8400);
-    timer_irq_enable(XTIMER_DEV);
+    //timer_init(XTIMER_DEV, CLOCK_CORECLOCK/2 ,&degradation,NULL);
+    //timer_set(XTIMER_DEV, 0, 8400);
+    //timer_irq_enable(XTIMER_DEV);
     timer_init(TIMER_DEV(1), CLOCK_CORECLOCK/2 ,&arret_urgence,NULL);
     timer_irq_enable(TIMER_DEV(1));
 }
@@ -1,142 +0,0 @@
-# gnrc_networking example
-
-This example shows you how to try out the code in two different ways: Either by communicating
-between the RIOT machine and its Linux host, or by communicating between two RIOT instances.
-Note that the former only works with native, i.e. if you run RIOT on your Linux machine.
-
-## Connecting RIOT native and the Linux host
-
-> **Note:** RIOT does not support IPv4, so you need to stick to IPv6 anytime. To
-establish a connection between RIOT and the Linux host, you will need `netcat`
-(with IPv6 support). Ubuntu 14.04 comes with netcat IPv6 support pre-installed.
-On Debian it's available in the package `netcat-openbsd`. Be aware that many
-programs require you to add an option such as -6 to tell them to use IPv6, otherwise they
-will fail. If you're using a _Raspberry Pi_, run `sudo modprobe ipv6` before trying
-this example, because raspbian does not load the IPv6 module automatically.
-On some systems (openSUSE for example), the _firewall_ may interfere, and prevent
-some packets to arrive at the application (they will however show up in Wireshark,
-which can be confusing). So be sure to adjust your firewall rules, or turn it off
-(who needs security anyway).
-
-First, create a tap interface:
-
-    sudo ip tuntap add tap0 mode tap user ${USER}
-    sudo ip link set tap0 up
-
-Now you can start the `gnrc_networking` example by invoking `make term`. This should
-automatically connect to the `tap0` interface. If this doesn't work for any reason,
-run make term with the tap0 interface as the PORT environment variable:
-
-    PORT=tap0 make term
-
-To verify that there is connectivity between RIOT and Linux, go to the RIOT console and run `ifconfig`:
-
-    > ifconfig
-    Iface  7   HWaddr: ce:f5:e1:c5:f7:5a
-               inet6 addr: ff02::1/128  scope: local [multicast]
-               inet6 addr: fe80::ccf5:e1ff:fec5:f75a/64  scope: local
-               inet6 addr: ff02::1:ffc5:f75a/128  scope: local [multicast]
-
-Copy the [link-local address](https://en.wikipedia.org/wiki/Link-local_address)
-of the RIOT node (prefixed with `fe80`) and try to ping it **from the Linux node**:
-
-    ping6 fe80::ccf5:e1ff:fec5:f75a%tap0
-
-Note that the interface on which to send the ping needs to be appended to the IPv6
-address, `%tap0` in the above example. When talking to the RIOT node, you always want
-to send to/receive from the `tap0` interface.
-
-If the pings succeed you can go on to send UDP packets. To do that, first start a
-UDP server on the RIOT node:
-
-    > udp server start 8808
-    Success: started UDP server on port 8808
-
-Now, on the Linux host, you can run netcat to connect with RIOT's UDP server:
-
-    nc -6uv fe80::ccf5:e1ff:fec5:f75a%tap0 8808
-
-The `-6` option is necessary to tell netcat to use IPv6 only, the `-u` option tells
-it to use UDP only, and the `-v` option makes it give more verbose output (this one is optional).
-
-You should now see that UDP messages are received on the RIOT side. Opening a UDP
-server on the Linux side is also possible. To do that, write down the IP address
-of the host (run on Linux):
-
-    ifconfig tap0
-    tap0     Link encap:Ethernet  HWaddr ce:f5:e1:c5:f7:59
-            inet6 addr: fe80::4049:5fff:fe17:b3ae/64 Scope:Link
-            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
-            RX packets:6 errors:0 dropped:0 overruns:0 frame:0
-            TX packets:36 errors:0 dropped:0 overruns:0 carrier:0
-            collisions:0 txqueuelen:0
-            RX bytes:488 (488.0 B)  TX bytes:3517 (3.5 KB)
-
-Then open a UDP server on Linux (the `-l` option makes netcat listen for incoming connections):
-
-    nc -6ul 8808
-
-Now, on the RIOT side, send a UDP packet using:
-
-    udp send fe80::4049:5fff:fe17:b3ae 8808 testmessage
-
-You should see `testmessage` appear in netcat. Instead of using netcat, you can of
-course write your own software, but you may have to bind the socket to a specific
-interface (tap0 in this case). For an example that shows how to do so, see
-[here](https://gist.github.com/backenklee/dad5e80b764b3b3d0d3e).
-
-## Connecting two RIOT instances
-
-When using native (i.e. when you're trying this on your Linux machine), you first
-need to set up two tap devices and a bridge that connects them. This constitutes a
-virtual network that the RIOT instances can use to communicate.
-
-    ./../../dist/tools/tapsetup/tapsetup --create 2
-
-Then, make sure you've compiled the application by calling `make` and start the
-first RIOT instance by invoking `make term`. In the RIOT shell, get to know the
-IP address of this node:
-
-    > ifconfig
-    Iface  7   HWaddr: ce:f5:e1:c5:f7:5a
-               inet6 addr: ff02::1/128  scope: local [multicast]
-               inet6 addr: fe80::ccf5:e1ff:fec5:f75a/64  scope: local
-               inet6 addr: ff02::1:ffc5:f75a/128  scope: local [multicast]
-
-and start a UDP server.
-
-    > udp server start 8808
-
-This node is now ready to receive data on port `8808`.
-
-In a second terminal, start a second RIOT instance, this time listening on `tap1`:
-
-    PORT=tap1 make term
-
-In the RIOT shell, you can now send a message to the first RIOT instance:
-
-    > udp send fe80::ccf5:e1ff:fec5:f75 8808 testmessage
-
-*(Make sure to copy the actual
-[link-local address](https://en.wikipedia.org/wiki/Link-local_address) of your first
-RIOT instance into the above command)*
-
-In your first terminal, you should now see output that looks like this.
-
-    > PKTDUMP: data received:
-    ~~ SNIP  0 - size:  11 byte, type: NETTYPE_UNDEF (0)
-    000000 74 65 73 74 6d 65 73 73 61 67 65
-    ~~ SNIP  1 - size:   8 byte, type: NETTYPE_UDP (3)
-       src-port:  8808  dst-port:  8808
-       length: 19  cksum: 0x4d95f
-    ~~ SNIP  2 - size:  40 byte, type: NETTYPE_IPV6 (1)
-    traffic class: 0x00 (ECN: 0x0, DSCP: 0x00)
-    flow label: 0x00000
-    length: 19  next header: 17  hop limit: 64
-    source address: fe80::a08a:84ff:fe68:544f
-    destination address: fe80::60fc:3cff:fe5e:40df
-    ~~ SNIP  3 - size:  20 byte, type: NETTYPE_NETIF (-1)
-    if_pid: 6  rssi: 0  lqi: 0
-    src_l2addr: a2:8a:84:68:54:4f
-    dst_l2addr: 62:fc:3c:5e:40:df
-    ~~ PKT    -  4 snips, total size:  79 byte
@@ -1,174 +0,0 @@
-/*
- * 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       Demonstrating the sending and receiving of UDP data
- *
- * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
- *
- * @}
- */
-
-#include <stdio.h>
-#include <inttypes.h>
-
-#include "net/gnrc.h"
-#include "net/gnrc/ipv6.h"
-#include "net/gnrc/udp.h"
-#include "net/gnrc/pktdump.h"
-#include "timex.h"
-#include "xtimer.h"
-
-//static gnrc_netreg_entry_t server = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
-  //                                                             KERNEL_PID_UNDEF);
-
-
-static void send(char *addr_str, char *port_str, char *data, unsigned int num,
-                 unsigned int delay)
-{
-    uint16_t port;
-    ipv6_addr_t addr;
-
-    /* parse destination address */
-    if (ipv6_addr_from_str(&addr, addr_str) == NULL) {
-        puts("Error: unable to parse destination address");
-        return;
-    }
-    /* parse port */
-    port = (uint16_t)atoi(port_str);
-    if (port == 0) {
-        puts("Error: unable to parse destination port");
-        return;
-    }
-
-    for (unsigned int i = 0; i < num; i++) {
-        gnrc_pktsnip_t *payload, *udp, *ip;
-        unsigned payload_size;
-        /* allocate payload */
-        payload = gnrc_pktbuf_add(NULL, data, strlen(data), GNRC_NETTYPE_UNDEF);
-        if (payload == NULL) {
-            puts("Error: unable to copy data to packet buffer");
-            return;
-        }
-        /* store size for output */
-        payload_size = (unsigned)payload->size;
-        /* allocate UDP header, set source port := destination port */
-        udp = gnrc_udp_hdr_build(payload, port, port);
-        if (udp == NULL) {
-            puts("Error: unable to allocate UDP header");
-            gnrc_pktbuf_release(payload);
-            return;
-        }
-        /* allocate IPv6 header */
-        ip = gnrc_ipv6_hdr_build(udp, NULL, &addr);
-        if (ip == NULL) {
-            puts("Error: unable to allocate IPv6 header");
-            gnrc_pktbuf_release(udp);
-            return;
-        }
-        /* send packet */
-        if (!gnrc_netapi_dispatch_send(GNRC_NETTYPE_UDP, GNRC_NETREG_DEMUX_CTX_ALL, ip)) {
-            puts("Error: unable to locate UDP thread");
-            gnrc_pktbuf_release(ip);
-            return;
-        }
-        /* access to `payload` was implicitly given up with the send operation above
-         * => use temporary variable for output */
-        printf("Success: send %u byte to [%s]:%u\n", payload_size, addr_str,
-               port);
-        xtimer_usleep(delay);
-    }
-}
-
-static void start_server(char *port_str)
-{
-//     uint16_t port;
-// 
-//     /* check if server is already running */
-//     if (server.target.pid != KERNEL_PID_UNDEF) {
-//         printf("Error: server already running on port %" PRIu32 "\n",
-//                server.demux_ctx);
-//         return;
-//     }
-//     /* parse port */
-//     port = (uint16_t)atoi(port_str);
-//     if (port == 0) {
-//         puts("Error: invalid port specified");
-//         return;
-//     }
-//     /* start server (which means registering pktdump for the chosen port) */
-//     server.target.pid = gnrc_pktdump_pid;
-//     server.demux_ctx = (uint32_t)port;
-//     gnrc_netreg_register(GNRC_NETTYPE_UDP, &server);
-//     printf("Success: started UDP server on port %" PRIu16 "\n", port);
-}
-
-static void stop_server(void)
-{
-//     /* check if server is running at all */
-//     if (server.target.pid == KERNEL_PID_UNDEF) {
-//         printf("Error: server was not running\n");
-//         return;
-//     }
-//     /* stop server */
-//     gnrc_netreg_unregister(GNRC_NETTYPE_UDP, &server);
-//     server.target.pid = KERNEL_PID_UNDEF;
-//     puts("Success: stopped UDP server");
-}
-
-int udp_cmd(int argc, char **argv)
-{
-    if (argc < 2) {
-        printf("usage: %s [send|server]\n", argv[0]);
-        return 1;
-    }
-
-    if (strcmp(argv[1], "send") == 0) {
-        uint32_t num = 1;
-        uint32_t delay = 1000000;
-        if (argc < 5) {
-            printf("usage: %s send <addr> <port> <data> [<num> [<delay in us>]]\n",
-                   argv[0]);
-            return 1;
-        }
-        if (argc > 5) {
-            num = (uint32_t)atoi(argv[5]);
-        }
-        if (argc > 6) {
-            delay = (uint32_t)atoi(argv[6]);
-        }
-        send(argv[2], argv[3], argv[4], num, delay);
-    }
-    else if (strcmp(argv[1], "server") == 0) {
-        if (argc < 3) {
-            printf("usage: %s server [start|stop]\n", argv[0]);
-            return 1;
-        }
-        if (strcmp(argv[2], "start") == 0) {
-            if (argc < 4) {
-                printf("usage %s server start <port>\n", argv[0]);
-                return 1;
-            }
-            start_server(argv[3]);
-        }
-        else if (strcmp(argv[2], "stop") == 0) {
-            stop_server();
-        }
-        else {
-            puts("error: invalid command");
-        }
-    }
-    else {
-        puts("error: invalid command");
-    }
-    return 0;
-}
@@ -68,8 +68,6 @@ int sntp_sync(sock_udp_ep_t *server, uint32_t timeout)
         DEBUG("Error receiving message\n");
         sock_udp_close(&_sntp_sock);
         mutex_unlock(&_sntp_mutex);
-        printf("result : %d\n",result);
-        
         return result;
     }
     //xtimer_ticks64_t now = xtimer_now64();
@@ -78,8 +76,6 @@ int sntp_sync(sock_udp_ep_t *server, uint32_t timeout)
    /* _sntp_offset = (byteorder_ntohl(_sntp_packet.transmit.seconds) * SEC_IN_USEC) +
                    ((byteorder_ntohl(_sntp_packet.transmit.fraction) * 232)
                    / 1000000) - xtimer_now_usec();*/
-    printf("TT: %lu\n", byteorder_ntohl(_sntp_packet.transmit.seconds));
-    printf("heure actuelle : %lu\n",xtimer_now_usec());
     mutex_unlock(&_sntp_mutex);
     return 0;
 }