resolution pb de synchro, nettoyage du code

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1 parent 3accef26
Showing 6 changed files with 36 additions and 102 deletions Show diff stats
RIOT/examples/dynamic_app/main.c
RIOT/examples/real_time_app/main.c
RIOT/sys/net/application_layer/sntp/sntp.c
RIOT/sys/net/gnrc/network_layer/ipv6/gnrc_ipv6.c
RIOT/sys/net/gnrc/routing/rpl/gnrc_rpl_dodag.c
RIOT/sys/net/gnrc/routing/rpl/of0.c
@@ -26,8 +26,8 @@
 #include <arpa/inet.h>
 #include "periph/gpio.h"
-#include "../../boards/stm32f4discovery/include/board.h"
-#include "../../boards/stm32f4discovery/include/periph_conf.h"
+#include "board.h"
+#include "periph_conf.h"
 #include "net/sock/udp.h"
 #include "net/gnrc/ipv6.h"
 #include "net/af.h"
@@ -86,29 +86,10 @@
 #define PWM_FREQ 1000
 #define PWM_RES 1000
-#define DEADLINE 40000
+#define DEADLINE 30000
 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 }
-};
-
-// addr ipv6 link local node 1: fe80::3734:510e:3317:3402
-uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x17,0x34,0x02};
-// addr ipv6 link local node 2: fe80::3634:5110:3473:3762
-uint8_t node2[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x73,0x37,0x62};
-// addr ipv6 link local node 3: fe80::3734:510e:330b:342a
-uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x31,0x33,0x47,0x11,0x37,0x2c,0x34,0x12};
-// addr ipv6 link local node 4: fe80::3734:510b:330b:340a
-uint8_t node4[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0b,0x34,0x0a};
-// addr ipv6 link local node 5: fe80::3734:510b:330a:341e
-uint8_t node5[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0a,0x34,0x1e};
-//static char _stack_server[GNRC_PKTDUMP_STACKSIZE];
-char pwm_stack[THREAD_STACKSIZE_MAIN];
 char sock_server_stack[THREAD_STACKSIZE_MAIN];
 char sock_client_stack[THREAD_STACKSIZE_MAIN];
 char sock_time_server_stack[THREAD_STACKSIZE_MAIN];
@@ -133,16 +114,8 @@ typedef struct tableau {
 /***************** RPL functions *****************/
-int crea_rpl_dodag_root(char *arg1, char *arg2)
+int crea_rpl_dodag_root(uint8_t instance_id, ipv6_addr_t dodag_id)
 {
-  uint8_t instance_id = (uint8_t) atoi(arg1);
-  ipv6_addr_t dodag_id;
-  
-  if (ipv6_addr_from_str(&dodag_id, arg2) == NULL) {
-    puts("error: <dodag_id> must be a valid IPv6 address");
-    return 1;
-  }
-  
   gnrc_rpl_instance_t *inst = NULL;
   inst = gnrc_rpl_root_init(instance_id, &dodag_id, false, false);
   if (inst == NULL) {
@@ -173,20 +146,10 @@ 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("%c\n",remote.addr.ipv6[15]);
-    //xtimer_ticks64_t now = xtimer_now64();
-    // heure actuelle du serveur
-    sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
+      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));
-    //memset(&sntp_packet, 0, sizeof(sntp_packet)); 
-    //ntp_packet_set_vn(&sntp_packet);
-    //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
+    
     if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
       puts("Error sending reply");
     }
@@ -204,6 +167,7 @@ void *sock_server_thread(void *arg)
   int deadline;
   local.port = 1234;
   int interruption_msg = 0;
+  int sync = 0;
   sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
   ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "dead:beef::3402");
@@ -211,11 +175,6 @@ void *sock_server_thread(void *arg)
     puts("Error creating UDP sock");
     return NULL;
   }
-  if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
-    puts("Error in synchronization");
-  }
-  offset = sntp_get_offset();
-  printf("offset : %i\n",(int)offset);
   while (1) {
     sock_udp_ep_t remote;
@@ -225,10 +184,19 @@ void *sock_server_thread(void *arg)
       printf("tps de transmission : %i\n",deadline);
       if(buf.donnees[0] == 'g' && buf.donnees[1] == 'o') {
+	if(sync == 0)
+	{
+	  while(sntp_sync(&server, 5000000) < 0) {
+	    puts("Erreur dans la synchronisation - Nouvelle tentative :");
+	  }
+	  offset = sntp_get_offset();
+	  sync = 1;
+	  printf("offset : %i\n",(int)offset);
+	}
 	if(interruption_msg == 1) {
-	  if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
-	    puts("Error in synchronization");
-	    return NULL;
+	  puts("reprise de la communication - tentative de synchronisation :");
+	  while(sntp_sync(&server, 5000000) < 0) {
+	    puts("Erreur dans la synchronisation - Nouvelle tentative :");
 	  }
 	  offset = sntp_get_offset();
 	  printf("offset : %i\n",(int)offset);
@@ -252,12 +220,6 @@ void *sock_server_thread(void *arg)
 	    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);*/
 	    timer_run = 1;
 	  }
 	}
@@ -323,7 +285,7 @@ void *sock_client_thread(void *arg)
   ssize_t res;
   data.donnees[0] = 'g';
   data.donnees[1] = 'o';
-  //uint8_t paquet[];
+  
   sock_udp_ep_t remote = { .family = AF_INET6 };
   remote.port = 1234;
@@ -333,7 +295,7 @@ void *sock_client_thread(void *arg)
   remote.addr.ipv6[3] = 0xef;
   remote.addr.ipv6[14] = 0x34;
   remote.addr.ipv6[15] = 0x1e;
-  //     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
+  
   while (1) {
     data.heure_actuelle = xtimer_now_usec();
     if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
@@ -428,7 +390,7 @@ static void _init_interface(void)
   gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
   /* model ipv6 addr: dead:beef::Hwaddr */
   if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
-    crea_rpl_dodag_root("1", "dead:beef::3402");
+    crea_rpl_dodag_root(1, addr);
     client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST | THREAD_CREATE_WOUT_YIELD,sock_client_thread,NULL,"sock_client_thread");
     time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),6,THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
   }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
@@ -439,13 +401,17 @@ static void _init_interface(void)
   }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
     _init_timer();
     _init_pwm();
-    xtimer_sleep(10);
+    xtimer_sleep(2);
     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 const shell_command_t shell_commands[] = {
+  { NULL, NULL, NULL }
+};
+
 int main(void)
 {
@@ -457,8 +423,8 @@ int main(void)
   /* start shell */
   puts("All up, running the shell now");
   char line_buf[SHELL_DEFAULT_BUFSIZE];
-  shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
+  shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
   /* should be never reached */
   return 0;
 }
@@ -25,8 +25,8 @@
 #include <inttypes.h>
 #include <arpa/inet.h>
-#include "../../boards/stm32f4discovery/include/board.h"
-#include "../../boards/stm32f4discovery/include/periph_conf.h"
+#include "board.h"
+#include "periph_conf.h"
 #include "periph/gpio.h"
 #include "net/sock/udp.h"
 #include "net/gnrc/ipv6.h"
@@ -89,16 +89,10 @@ uint8_t node2[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0
 //addr ipv6 link local node 3: fe80::3634:5110:3471:3766
 uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0a,0x34,0x1e};
-//static char _stack_server[GNRC_PKTDUMP_STACKSIZE];
-char pwm_stack[THREAD_STACKSIZE_MAIN];
 char sock_server_stack[THREAD_STACKSIZE_MAIN];
 char sock_client_stack[THREAD_STACKSIZE_MAIN];
 char sock_time_server_stack[THREAD_STACKSIZE_MAIN];
-// static gnrc_netreg_entry_t server = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
-//                                                                KERNEL_PID_UNDEF);
-// 
-// kernel_pid_t gnrc_server_pid = KERNEL_PID_UNDEF;
-// 
+
 kernel_pid_t server, client, time_server;
 int ordre = 0;
 int64_t offset = 0;
@@ -133,20 +127,10 @@ 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("%c\n",remote.addr.ipv6[15]);
-      //xtimer_ticks64_t now = xtimer_now64();
-      // heure actuelle du serveur
       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));
-    //memset(&sntp_packet, 0, sizeof(sntp_packet)); 
-    //ntp_packet_set_vn(&sntp_packet);
-    //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
+    
     if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
       puts("Error sending reply");
     }
@@ -213,12 +197,6 @@ void *sock_server_thread(void *arg)
 	    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);*/
 	    timer_run = 1;
 	  }
 	}
@@ -426,10 +404,7 @@ static void _init_interface(void)
 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 }
 };
@@ -63,7 +63,7 @@ int sntp_sync(sock_udp_ep_t *server, uint32_t timeout)
     if ((result = (int)sock_udp_recv(&_sntp_sock,
                                      &_sntp_packet,
                                      sizeof(_sntp_packet),
-                                     SOCK_NO_TIMEOUT,
+                                     timeout,
                                      NULL)) < 0) {
         DEBUG("Error receiving message\n");
         sock_udp_close(&_sntp_sock);
@@ -16,6 +16,8 @@
 #include <inttypes.h>
 #include <stdbool.h>
+#include "board.h"
+#include "periph_conf.h"
 #include "byteorder.h"
 #include "cpu_conf.h"
 #include "kernel_types.h"
@@ -923,7 +925,7 @@ static void _receive(gnrc_pktsnip_t *pkt)
             gnrc_pktsnip_t *reversed_pkt = NULL, *ptr = pkt;
             DEBUG("ipv6: forward packet to next hop\n");
-	   // printf ("transmission\n");
+	    LED1_TOGGLE;
             /* pkt might not be writable yet, if header was given above */
             ipv6 = gnrc_pktbuf_start_write(ipv6);
             if (ipv6 == NULL) {
@@ -309,7 +309,6 @@ static gnrc_rpl_parent_t *_gnrc_rpl_find_preferred_parent(gnrc_rpl_dodag_t *doda
     gnrc_rpl_parent_t *elt, *tmp;
     if (dodag->parents == NULL) {
-        puts("NULL 1");
         return NULL;
     }
@@ -318,7 +317,6 @@ static gnrc_rpl_parent_t *_gnrc_rpl_find_preferred_parent(gnrc_rpl_dodag_t *doda
     }
     if (new_best->rank == GNRC_RPL_INFINITE_RANK) {
-        puts("NULL 2");
         return NULL;
     }
@@ -54,10 +54,8 @@ uint16_t calc_rank(gnrc_rpl_parent_t *parent, uint16_t base_rank)
 {
     if (base_rank == 0) {
         if (parent == NULL) {
-            puts("pas parent");
             return GNRC_RPL_INFINITE_RANK;
         }
-        //puts("if1");
         base_rank = parent->rank;
     }
@@ -65,26 +63,21 @@ uint16_t calc_rank(gnrc_rpl_parent_t *parent, uint16_t base_rank)
     uint16_t add;
     if (parent != NULL) {
-         //puts("if2");
-        //add = parent->dodag->instance->min_hop_rank_inc;
         /*******************************************************************/
         //ADDED BY PFE7 2017    
         add = 256 - (parent->mc.rssi + parent->mc.lqi)/10;
         parent->dodag->instance->min_hop_rank_inc=add;
-        //printf("add= %u\n",add);
         //\ADDED BY PFE7 2017
         /*******************************************************************/
     }
     else {
-         puts("else1");
         add = GNRC_RPL_DEFAULT_MIN_HOP_RANK_INCREASE;
     }
     if ((base_rank + add) < base_rank) {
-        puts("b_r + add < br");
         return GNRC_RPL_INFINITE_RANK;
     }
     return base_rank + add;