int
rtk_intr(void *arg)
{
struct rtk_softc *sc;
struct ifnet *ifp;
uint16_t status;
int handled;
sc = arg;
ifp = &sc->ethercom.ec_if;
if (!device_has_power(sc->sc_dev))
return 0;
/* Disable interrupts. */
CSR_WRITE_2(sc, RTK_IMR, 0x0000);
handled = 0;
for (;;) {
status = CSR_READ_2(sc, RTK_ISR);
if (status == 0xffff)
break; /* Card is gone... */
if (status)
CSR_WRITE_2(sc, RTK_ISR, status);
if ((status & RTK_INTRS) == 0)
break;
handled = 1;
if (status & RTK_ISR_RX_OK)
rtk_rxeof(sc);
if (status & RTK_ISR_RX_ERR)
rtk_rxeof(sc);
if (status & (RTK_ISR_TX_OK|RTK_ISR_TX_ERR))
rtk_txeof(sc);
if (status & RTK_ISR_SYSTEM_ERR) {
rtk_reset(sc);
rtk_init(ifp);
}
}
/* Re-enable interrupts. */
CSR_WRITE_2(sc, RTK_IMR, RTK_INTRS);
if (IFQ_IS_EMPTY(&ifp->if_snd) == 0)
rtk_start(ifp);
rnd_add_uint32(&sc->rnd_source, status);
return handled;
}
// Main
int main(int argc, char **argv)
{
playerc_client_t *client;
rtk_app_t *app;
mainwnd_t *mainwnd;
opt_t *opt;
const char *host;
int port;
int i;
int count;
double rate;
char section[256];
int device_count;
device_t devices[PLAYER_MAX_DEVICES];
device_t *device;
struct timeval tv, tc = {0, 0};
struct timespec st = {0, (1.0/GUI_UPDATE_RATE) * 1e9};
printf("PlayerViewer %s\n", PLAYER_VERSION);
// Initialise rtk lib (after we have read the program options we
// want).
rtk_init(&argc, &argv);
// Register signal handlers
signal(SIGINT, sig_quit);
signal(SIGQUIT, sig_quit);
// Load program options
opt = opt_init(argc, argv, NULL);
if (!opt)
{
print_usage();
return -1;
}
// Pick out some important program options
host = opt_get_string(opt, "", "host", NULL);
if (!host)
host = opt_get_string(opt, "", "h", "localhost");
port = opt_get_int(opt, "", "port", -1);
if (port < 0)
port = opt_get_int(opt, "", "p", 6665);
rate = opt_get_double(opt, "", "rate", 5.0);
if(rate < 0.0)
rate = 0.0;
// Connect to the server
printf("Connecting to [%s:%d]\n", host, port);
client = playerc_client_create(NULL, host, port);
if (playerc_client_connect(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
print_usage();
return -1;
}
if(rate == 0.0)
{
printf("Setting delivery mode to PLAYER_DATAMODE_PUSH\n");
// Change the server's data delivery mode.
if (playerc_client_set_replace_rule(client, -1, -1, -1, -1, 0) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
// Change the server's data delivery mode.
// PLAYERC_DATAMODE_PUSH, PLAYERC_DATAMODE_PULL
if (playerc_client_datamode(client, PLAYERC_DATAMODE_PUSH) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
}
// Get the available devices.
if (playerc_client_get_devlist(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
// Create gui
app = rtk_app_create();
// Create a window for most of the sensor data
mainwnd = mainwnd_create(app, host, port);
if (!mainwnd)
return -1;
// Create a list of available devices, with their gui proxies.
device_count = 0;
for (i = 0; i < client->devinfo_count; i++)
{
device = devices + device_count;
device->addr = client->devinfos[i].addr;
device->drivername = strdup(client->devinfos[i].drivername);
// See if the device should be subscribed immediately.
snprintf(section, sizeof(section), "%s:%d",
interf_to_str(device->addr.interf), device->addr.index);
device->subscribe = opt_get_int(opt, section, "", 0);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
if (device->addr.index == 0)
{
snprintf(section, sizeof(section), "%s",
interf_to_str(device->addr.interf));
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
}
// Allow for --position instead of --position2d
if(device->addr.interf == PLAYER_POSITION2D_CODE)
{
snprintf(section, sizeof(section), "%s:%d",
PLAYER_POSITION2D_STRING, device->addr.index);
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
if (device->addr.index == 0)
{
snprintf(section, sizeof(section), "%s", PLAYER_POSITION2D_STRING);
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
}
}
// Create the GUI proxy for this device.
create_proxy(device, opt, mainwnd, client);
device_count++;
}
// Print the list of available devices.
printf("Available devices: %s:%d\n", host, port);
for (i = 0; i < device_count; i++)
{
device = devices + i;
snprintf(section, sizeof(section), "%s:%d",
interf_to_str(device->addr.interf), device->addr.index);
printf("%-16s %-40s", section, device->drivername);
if (device->proxy)
{
if (device->subscribe)
printf("subscribed");
else
printf("ready");
}
else
printf("unsupported");
printf("\n");
}
// Print out a list of unused options.
opt_warn_unused(opt);
// Start the gui; dont run in a separate thread and dont let it do
// its own updates.
rtk_app_main_init(app);
// start out timer if in pull mode
if(rate > 0.0)
gettimeofday(&tv, NULL);
while (!quit)
{
// Let gui process messages
rtk_app_main_loop(app);
if(rate == 0.0) // if we're in push mode
{
// see if there's data
count = playerc_client_peek(client, 50);
if (count < 0)
{
PRINT_ERR1("%s", playerc_error_str());
break;
}
if (count > 0)
{
/*proxy = */playerc_client_read_nonblock(client);
}
}
else // we're in pull mode
{
// we only want to request new data at the target rate
gettimeofday(&tc, NULL);
if(((tc.tv_sec - tv.tv_sec) + (tc.tv_usec - tv.tv_usec)/1e6) > 1.0/rate)
{
tv = tc;
// this requests a round of data from the server to be read
playerc_client_requestdata(client);
playerc_client_read_nonblock(client);
}
else
{
// sleep for the minimum time we can, so we don't use up too much
// processor
nanosleep(&st, NULL);
}
}
// Update the devices
for (i = 0; i < device_count; i++)
{
device = devices + i;
if(device->proxy)
(*(device->fnupdate)) (device->proxy);
}
// Update the main window
if (mainwnd_update(mainwnd) != 0)
break;
}
// Stop the gui
rtk_app_main_term(app);
// Destroy devices
for (i = 0; i < device_count; i++)
{
device = devices + i;
if (device->proxy)
(*(device->fndestroy)) (device->proxy);
free(device->drivername);
}
// Disconnect from server
if (playerc_client_disconnect(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
playerc_client_destroy(client);
// For some reason, either of the following calls makes the program
// segfault on exit. I haven't figured out why, so I'm commenting them out. - BPG
// Destroy the windows
//mainwnd_destroy(mainwnd);
// Destroy the gui
//rtk_app_destroy(app);
opt_term(opt);
return 0;
}
/*
* A frame has been uploaded: pass the resulting mbuf chain up to
* the higher level protocols.
*
* You know there's something wrong with a PCI bus-master chip design.
*
* The receive operation is badly documented in the datasheet, so I'll
* attempt to document it here. The driver provides a buffer area and
* places its base address in the RX buffer start address register.
* The chip then begins copying frames into the RX buffer. Each frame
* is preceded by a 32-bit RX status word which specifies the length
* of the frame and certain other status bits. Each frame (starting with
* the status word) is also 32-bit aligned. The frame length is in the
* first 16 bits of the status word; the lower 15 bits correspond with
* the 'rx status register' mentioned in the datasheet.
*
* Note: to make the Alpha happy, the frame payload needs to be aligned
* on a 32-bit boundary. To achieve this, we copy the data to mbuf
* shifted forward 2 bytes.
*/
static void
rtk_rxeof(struct rtk_softc *sc)
{
struct mbuf *m;
struct ifnet *ifp;
uint8_t *rxbufpos, *dst;
u_int total_len, wrap;
uint32_t rxstat;
uint16_t cur_rx, new_rx;
uint16_t limit;
uint16_t rx_bytes, max_bytes;
ifp = &sc->ethercom.ec_if;
cur_rx = (CSR_READ_2(sc, RTK_CURRXADDR) + 16) % RTK_RXBUFLEN;
/* Do not try to read past this point. */
limit = CSR_READ_2(sc, RTK_CURRXBUF) % RTK_RXBUFLEN;
if (limit < cur_rx)
max_bytes = (RTK_RXBUFLEN - cur_rx) + limit;
else
max_bytes = limit - cur_rx;
rx_bytes = 0;
while ((CSR_READ_1(sc, RTK_COMMAND) & RTK_CMD_EMPTY_RXBUF) == 0) {
rxbufpos = sc->rtk_rx_buf + cur_rx;
bus_dmamap_sync(sc->sc_dmat, sc->recv_dmamap, cur_rx,
RTK_RXSTAT_LEN, BUS_DMASYNC_POSTREAD);
rxstat = le32toh(*(uint32_t *)rxbufpos);
bus_dmamap_sync(sc->sc_dmat, sc->recv_dmamap, cur_rx,
RTK_RXSTAT_LEN, BUS_DMASYNC_PREREAD);
/*
* Here's a totally undocumented fact for you. When the
* RealTek chip is in the process of copying a packet into
* RAM for you, the length will be 0xfff0. If you spot a
* packet header with this value, you need to stop. The
* datasheet makes absolutely no mention of this and
* RealTek should be shot for this.
*/
total_len = rxstat >> 16;
if (total_len == RTK_RXSTAT_UNFINISHED)
break;
if ((rxstat & RTK_RXSTAT_RXOK) == 0 ||
total_len < ETHER_MIN_LEN ||
total_len > (MCLBYTES - RTK_ETHER_ALIGN)) {
ifp->if_ierrors++;
/*
* submitted by:[netbsd-pcmcia:00484]
* Takahiro Kambe <*****@*****.**>
* obtain from:
* FreeBSD if_rl.c rev 1.24->1.25
*
*/
#if 0
if (rxstat & (RTK_RXSTAT_BADSYM|RTK_RXSTAT_RUNT|
RTK_RXSTAT_GIANT|RTK_RXSTAT_CRCERR|
RTK_RXSTAT_ALIGNERR)) {
CSR_WRITE_2(sc, RTK_COMMAND, RTK_CMD_TX_ENB);
CSR_WRITE_2(sc, RTK_COMMAND,
RTK_CMD_TX_ENB|RTK_CMD_RX_ENB);
CSR_WRITE_4(sc, RTK_RXCFG, RTK_RXCFG_CONFIG);
CSR_WRITE_4(sc, RTK_RXADDR,
sc->recv_dmamap->dm_segs[0].ds_addr);
cur_rx = 0;
}
break;
#else
rtk_init(ifp);
return;
#endif
}
/* No errors; receive the packet. */
rx_bytes += total_len + RTK_RXSTAT_LEN;
/*
* Avoid trying to read more bytes than we know
* the chip has prepared for us.
*/
if (rx_bytes > max_bytes)
break;
/*
* Skip the status word, wrapping around to the beginning
* of the Rx area, if necessary.
*/
cur_rx = (cur_rx + RTK_RXSTAT_LEN) % RTK_RXBUFLEN;
rxbufpos = sc->rtk_rx_buf + cur_rx;
/*
* Compute the number of bytes at which the packet
* will wrap to the beginning of the ring buffer.
*/
wrap = RTK_RXBUFLEN - cur_rx;
/*
* Compute where the next pending packet is.
*/
if (total_len > wrap)
new_rx = total_len - wrap;
else
new_rx = cur_rx + total_len;
/* Round up to 32-bit boundary. */
new_rx = roundup2(new_rx, sizeof(uint32_t)) % RTK_RXBUFLEN;
/*
* The RealTek chip includes the CRC with every
* incoming packet; trim it off here.
*/
total_len -= ETHER_CRC_LEN;
/*
* Now allocate an mbuf (and possibly a cluster) to hold
* the packet. Note we offset the packet 2 bytes so that
* data after the Ethernet header will be 4-byte aligned.
*/
MGETHDR(m, M_DONTWAIT, MT_DATA);
if (m == NULL) {
printf("%s: unable to allocate Rx mbuf\n",
device_xname(sc->sc_dev));
ifp->if_ierrors++;
goto next_packet;
}
if (total_len > (MHLEN - RTK_ETHER_ALIGN)) {
MCLGET(m, M_DONTWAIT);
if ((m->m_flags & M_EXT) == 0) {
printf("%s: unable to allocate Rx cluster\n",
device_xname(sc->sc_dev));
ifp->if_ierrors++;
m_freem(m);
m = NULL;
goto next_packet;
}
}
m->m_data += RTK_ETHER_ALIGN; /* for alignment */
m->m_pkthdr.rcvif = ifp;
m->m_pkthdr.len = m->m_len = total_len;
dst = mtod(m, void *);
/*
* If the packet wraps, copy up to the wrapping point.
*/
if (total_len > wrap) {
bus_dmamap_sync(sc->sc_dmat, sc->recv_dmamap,
cur_rx, wrap, BUS_DMASYNC_POSTREAD);
memcpy(dst, rxbufpos, wrap);
bus_dmamap_sync(sc->sc_dmat, sc->recv_dmamap,
cur_rx, wrap, BUS_DMASYNC_PREREAD);
cur_rx = 0;
rxbufpos = sc->rtk_rx_buf;
total_len -= wrap;
dst += wrap;
}
/*
* ...and now the rest.
*/
bus_dmamap_sync(sc->sc_dmat, sc->recv_dmamap,
cur_rx, total_len, BUS_DMASYNC_POSTREAD);
memcpy(dst, rxbufpos, total_len);
bus_dmamap_sync(sc->sc_dmat, sc->recv_dmamap,
cur_rx, total_len, BUS_DMASYNC_PREREAD);
next_packet:
CSR_WRITE_2(sc, RTK_CURRXADDR, (new_rx - 16) % RTK_RXBUFLEN);
cur_rx = new_rx;
if (m == NULL)
continue;
ifp->if_ipackets++;
bpf_mtap(ifp, m);
/* pass it on. */
(*ifp->if_input)(ifp, m);
}
}
