ajout gestion led arret d'urgence

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1 parent 0ce5a8d8
Showing 5 changed files with 465 additions and 23 deletions Show diff stats
RIOT/examples/real_time_app/main.c
RIOT/examples/test_led/Makefile
RIOT/examples/test_led/README.md
RIOT/examples/test_led/main.c
RIOT/examples/test_led/udp.c
@@ -104,6 +104,7 @@ int ordre = 0;
 int64_t offset = 0;
 int timer_run = 0;
 int tourne = 0;
+int arret = 0;
 sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
 sock_udp_t sock; 
 sock_udp_ep_t local_ntp = SOCK_IPV6_EP_ANY;
@@ -196,8 +197,10 @@ void *sock_server_thread(void *arg)
 	}
 	if(deadline >= DEADLINE && compteur >=5) {
 	  compteur = 0;
-	  if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
-	    puts("Error sending reply");
+	  if(arret == 0) {
+	    if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
+	      puts("Error sending reply");
+	    }
 	  }
 	  if(tourne == 1) 
 	  {
@@ -205,16 +208,17 @@ void *sock_server_thread(void *arg)
 	    pwm_set(PWM_DEV(1),1,960);
 	  }
 	  if(timer_run == 0) {
+	    puts("Degradation");
 	    gpio_clear(LED1_PIN);
 	    gpio_clear(LED2_PIN);
 	    gpio_set(LED0_PIN);
 	    timer_set(TIMER_DEV(1),0,25200);
-	   /* if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
-	      puts("Error in synchronization");
-	      return NULL;
-	    }
-	    offset = sntp_get_offset();
-	    printf("offset : %i\n",(int)offset);*/
+	    /* if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
+	     *	      puts("Error in synchronization");
+	     *	      return NULL;
+	  }
+	  offset = sntp_get_offset();
+	  printf("offset : %i\n",(int)offset);*/
 	    timer_run = 1;
 	  }
 	}
@@ -233,6 +237,7 @@ void *sock_server_thread(void *arg)
 	  if (sock_udp_send(&sock, "n", sizeof("n"), &remote) < 0) {
 	    puts("Error sending reply");
 	  }
+	  arret = 0;
 	  gpio_clear(LED2_PIN);
 	  gpio_clear(LED0_PIN);
 	  gpio_set(LED1_PIN);
@@ -242,6 +247,11 @@ void *sock_server_thread(void *arg)
 	} 
 	printf("compteur : %d\n",compteur);
 	memset(&buf,0,sizeof(buf));
+	if(arret == 1) {
+	  if (sock_udp_send(&sock, "a", sizeof("a"), &remote) < 0) {
+	    puts("Error sending reply");
+	  }
+	}
       }
     }
     else {
@@ -285,15 +295,6 @@ void *sock_client_thread(void *arg)
   remote.addr.ipv6[15] = 0x1e;
  
   while (1) {
-    if(vitesse==2) {
-      gpio_clear(LED0_PIN);
-      gpio_toggle(LED1_PIN);
-    }
-    else {
-      gpio_clear(LED1_PIN);
-      gpio_toggle(LED0_PIN);
-    }
-    
     data.heure_actuelle = xtimer_now_usec();
     if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
       puts("Error sending message");
@@ -307,14 +308,22 @@ void *sock_client_thread(void *arg)
       }
     }
     else {
-      printf("Received message: \"");
-      for (int i = 0; i < res; i++) {
-	printf("%c", buf[i]);
-      }
       if(buf[0] == 'n')
 	vitesse = 2;
+      else if(buf[0] == 'a') {
+	vitesse = 1;
+	gpio_set(LED2_PIN);
+      }
       else vitesse = 1;
-      printf("\"\n");
+    }
+    if(vitesse==2) {
+      gpio_clear(LED0_PIN);
+      gpio_clear(LED2_PIN);
+      gpio_toggle(LED1_PIN);
+    }
+    else {
+      gpio_clear(LED1_PIN);
+      gpio_toggle(LED0_PIN);
     }
     xtimer_sleep(vitesse);
   }
@@ -327,10 +336,11 @@ static void arret_urgence(void *arg,int channel)
   pwm_set(PWM_DEV(1),1,0);
   tourne = 0;
   timer_run = 0;
+  arret = 1;
   gpio_clear(LED0_PIN);
   gpio_clear(LED1_PIN);
   gpio_set(LED2_PIN);
-  printf("Arret d'urgence\n");
+  puts("Arret d'urgence");
 }
  
 static void _init_timer(void)
@@ -0,0 +1,64 @@
+# name of your application
+APPLICATION = gnrc_networking
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= native
+
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../..
+
+BOARD_INSUFFICIENT_MEMORY := airfy-beacon chronos msb-430 msb-430h nrf51dongle \
+                          nrf6310 nucleo-f103 nucleo-f334 pca10000 pca10005 spark-core \
+                          stm32f0discovery telosb weio wsn430-v1_3b wsn430-v1_4 \
+                          yunjia-nrf51822 z1 nucleo-f072 nucleo-f030 nucleo-f070 \
+                          microbit calliope-mini
+DISABLE_MODULE += net_gnrc_sixlowpan_iphc
+# Include packages that pull up and auto-init the link layer.
+# NOTE: 6LoWPAN will be included if IEEE802.15.4 devices are present
+USEMODULE += gnrc_netdev_default
+USEMODULE += auto_init_gnrc_netif
+# Specify the mandatory networking modules for IPv6 and UDP
+USEMODULE += gnrc_ipv6_router_default
+USEMODULE += gnrc_udp
+# Add a routing protocol
+USEMODULE += gnrc_rpl
+USEMODULE += auto_init_gnrc_rpl
+# This application dumps received packets to STDIO using the pktdump module
+USEMODULE += gnrc_pktdump
+# Additional networking modules that can be dropped if not needed
+USEMODULE += gnrc_icmpv6_echo
+# Add also the shell, some shell commands
+USEMODULE += shell
+USEMODULE += shell_commands
+USEMODULE += ps
+USEMODULE += netstats_l2
+USEMODULE += netstats_ipv6
+USEMODULE += netstats_rpl
+USEMODULE += at86rf231
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+CFLAGS += -DDEVELHELP
+
+# Comment this out to join RPL DODAGs even if DIOs do not contain
+# DODAG Configuration Options (see the doc for more info)
+# CFLAGS += -DGNRC_RPL_DODAG_CONF_OPTIONAL_ON_JOIN
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+include $(RIOTBASE)/Makefile.include
+
+# Set a custom channel if needed
+ifneq (,$(filter cc110x,$(USEMODULE)))          # radio is cc110x sub-GHz
+  DEFAULT_CHANNEL ?= 0
+  CFLAGS += -DCC110X_DEFAULT_CHANNEL=$(DEFAULT_CHANNEL)
+else
+  ifneq (,$(filter at86rf212b,$(USEMODULE)))    # radio is IEEE 802.15.4 sub-GHz
+    DEFAULT_CHANNEL ?= 5
+    FLAGS += -DIEEE802154_DEFAULT_SUBGHZ_CHANNEL=$(DEFAULT_CHANNEL)
+  else                                          # radio is IEEE 802.15.4 2.4 GHz
+    DEFAULT_CHANNEL ?= 26
+    CFLAGS += -DIEEE802154_DEFAULT_CHANNEL=$(DEFAULT_CHANNEL)
+  endif
+endif
@@ -0,0 +1,142 @@
+# 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
@@ -0,0 +1,52 @@
+/*
+ * 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 <stdio.h>
+
+#include "shell.h"
+#include "msg.h"
+#include "board.h"
+#include "periph/gpio.h"
+
+#define MAIN_QUEUE_SIZE     (8)
+static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
+
+extern int udp_cmd(int argc, char **argv);
+
+static const shell_command_t shell_commands[] = {
+    { "udp", "send data over UDP and listen on UDP ports", udp_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");
+    gpio_set(LED0_PIN);
+    /* 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;
+}
@@ -0,0 +1,174 @@
+/*
+ * 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;
+}