int csp_init(unsigned char address) {
int ret;
/* Initialize CSP */
csp_set_address(address);
ret = csp_conn_init();
if (ret != CSP_ERR_NONE)
return ret;
ret = csp_port_init();
if (ret != CSP_ERR_NONE)
return ret;
ret = csp_qfifo_init();
if (ret != CSP_ERR_NONE)
return ret;
/* Loopback */
csp_iflist_add(&csp_if_lo);
/* Register loopback route */
csp_route_set(csp_get_address(), &csp_if_lo, CSP_NODE_MAC);
/* Also register loopback as default, until user redefines default route */
csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_lo, CSP_NODE_MAC);
return CSP_ERR_NONE;
}
int csp_route_table_init(void) {
int prio;
/* Clear routing table */
memset(routes, 0, sizeof(csp_route_t) * CSP_ROUTE_COUNT);
/* Create router fifos for each priority */
for (prio = 0; prio < CSP_ROUTE_FIFOS; prio++) {
if (router_input_fifo[prio] == NULL) {
router_input_fifo[prio] = csp_queue_create(CSP_FIFO_INPUT, sizeof(csp_route_queue_t));
if (!router_input_fifo[prio])
return CSP_ERR_NOMEM;
}
}
#ifdef CSP_USE_QOS
/* Create QoS fifo notification queue */
router_input_event = csp_queue_create(CSP_FIFO_INPUT, sizeof(int));
if (!router_input_event)
return CSP_ERR_NOMEM;
#endif
/* Register loopback route */
csp_route_set(my_address, &csp_if_lo, CSP_NODE_MAC);
/* Also register loopback as default, until user redefines default route */
csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_lo, CSP_NODE_MAC);
return CSP_ERR_NONE;
}
static int do_cmp_route_set(struct csp_cmp_message *cmp) {
csp_iface_t *ifc = csp_route_get_if_by_name(cmp->route_set.interface);
if (ifc == NULL)
return CSP_ERR_INVAL;
if (csp_route_set(cmp->route_set.dest_node, ifc, cmp->route_set.next_hop_mac) != CSP_ERR_NONE)
return CSP_ERR_INVAL;
return CSP_ERR_NONE;
}
int csp_init(unsigned char address) {
int ret;
/* Initialize CSP */
my_address = address;
ret = csp_conn_init();
if (ret != CSP_ERR_NONE)
return ret;
ret = csp_port_init();
if (ret != CSP_ERR_NONE)
return ret;
ret = csp_route_table_init();
if (ret != CSP_ERR_NONE)
return ret;
/* Generate CRC32 table */
#ifdef CSP_USE_CRC32
csp_crc32_gentab();
#endif
/* Register loopback route */
ret = csp_route_set(address, &csp_if_lo, CSP_NODE_MAC);
if (ret != CSP_ERR_NONE)
return ret;
/* Also register loopback as default, until user redefines default route */
ret = csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_lo, CSP_NODE_MAC);
if (ret != CSP_ERR_NONE)
return ret;
return CSP_ERR_NONE;
}
/** csp_init
* Start up the can-space protocol
* @param address The CSP node address
*/
void csp_init(unsigned char address) {
/* Initialize CSP */
my_address = address;
csp_conn_init();
csp_port_init();
csp_route_table_init();
/* Initialize random number generator */
srand(csp_get_ms());
/* Register loopback route */
csp_route_set("LOOP", address, csp_lo_tx, CSP_NODE_MAC);
}
int main(int argc, char *argv[]) {
int me, other, type;
char *message = "Testing CSP";
csp_socket_t *sock = NULL;
csp_conn_t *conn = NULL;
csp_packet_t *packet = NULL;
/* Run as either server or client */
if (argc != 2) {
printf("usage: server <server/client>\r\n");
return -1;
}
/* Set type */
if (strcmp(argv[1], "server") == 0) {
me = 1;
other = 2;
type = TYPE_SERVER;
} else if (strcmp(argv[1], "client") == 0) {
me = 2;
other = 1;
type = TYPE_CLIENT;
} else {
printf("Invalid type. Must be either 'server' or 'client'\r\n");
return -1;
}
/* Init CSP and CSP buffer system */
if (csp_init(me) != CSP_ERR_NONE || csp_buffer_init(10, 300) != CSP_ERR_NONE) {
printf("Failed to init CSP\r\n");
return -1;
}
if( type == TYPE_SERVER ) {
_beginthreadex(NULL, 0, pipe_listener, NULL, 0, 0);
} else {
pipe = CreateFile(
pipeName,
GENERIC_READ | GENERIC_WRITE,
0,
NULL,
OPEN_EXISTING,
0,
NULL);
if( pipe == INVALID_HANDLE_VALUE ) {
printError();
return -1;
}
}
/* Set default route and start router */
csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC);
csp_route_start_task(0, 0);
/* Create socket and listen for incoming connections */
if (type == TYPE_SERVER) {
sock = csp_socket(CSP_SO_NONE);
csp_bind(sock, PORT);
csp_listen(sock, 5);
}
/* Super loop */
while (1) {
if (type == TYPE_SERVER) {
/* Process incoming packet */
conn = csp_accept(sock, 1000);
if (conn) {
packet = csp_read(conn, 0);
if (packet)
printf("Received: %s\r\n", packet->data);
csp_buffer_free(packet);
csp_close(conn);
}
} else {
/* Send a new packet */
packet = csp_buffer_get(strlen(message));
if (packet) {
strcpy((char *) packet->data, message);
packet->length = strlen(message);
conn = csp_connect(CSP_PRIO_NORM, other, PORT, 1000, CSP_O_NONE);
printf("Sending: %s\r\n", message);
if (!conn || !csp_send(conn, packet, 1000))
return -1;
csp_close(conn);
Sleep(1000);
}
}
}
return 0;
}
int main(int argc, char **argv) {
int me, other, type;
char *message = "Testing CSP", *rx_channel_name, *tx_channel_name;
csp_socket_t *sock;
csp_conn_t *conn;
csp_packet_t *packet;
/* Run as either server or client */
if (argc != 2) {
printf("usage: %s <server/client>\r\n", argv[0]);
return -1;
}
/* Set type */
if (strcmp(argv[1], "server") == 0) {
me = 1;
other = 2;
tx_channel_name = "server_to_client";
rx_channel_name = "client_to_server";
type = TYPE_SERVER;
} else if (strcmp(argv[1], "client") == 0) {
me = 2;
other = 1;
tx_channel_name = "client_to_server";
rx_channel_name = "server_to_client";
type = TYPE_CLIENT;
} else {
printf("Invalid type. Must be either 'server' or 'client'\r\n");
return -1;
}
/* Init CSP and CSP buffer system */
if (csp_init(me) != CSP_ERR_NONE || csp_buffer_init(10, 300) != CSP_ERR_NONE) {
printf("Failed to init CSP\r\n");
return -1;
}
tx_channel = open(tx_channel_name, O_RDWR);
if (tx_channel < 0) {
printf("Failed to open TX channel\r\n");
return -1;
}
rx_channel = open(rx_channel_name, O_RDWR);
if (rx_channel < 0) {
printf("Failed to open RX channel\r\n");
return -1;
}
/* Start fifo RX task */
pthread_create(&rx_thread, NULL, fifo_rx, NULL);
/* Set default route and start router */
csp_route_set(CSP_DEFAULT_ROUTE, &csp_if_fifo, CSP_NODE_MAC);
csp_route_start_task(0, 0);
/* Create socket and listen for incoming connections */
if (type == TYPE_SERVER) {
sock = csp_socket(CSP_SO_NONE);
csp_bind(sock, PORT);
csp_listen(sock, 5);
}
/* Super loop */
while (1) {
if (type == TYPE_SERVER) {
/* Process incoming packet */
conn = csp_accept(sock, 1000);
if (conn) {
packet = csp_read(conn, 0);
if (packet)
printf("Received: %s\r\n", packet->data);
csp_buffer_free(packet);
csp_close(conn);
}
} else {
/* Send a new packet */
packet = csp_buffer_get(strlen(message));
if (packet) {
strcpy((char *) packet->data, message);
packet->length = strlen(message);
conn = csp_connect(CSP_PRIO_NORM, other, PORT, 1000, CSP_O_NONE);
printf("Sending: %s\r\n", message);
if (!conn || !csp_send(conn, packet, 1000))
return -1;
csp_close(conn);
}
sleep(1);
}
}
close(rx_channel);
close(tx_channel);
return 0;
}
