void csp_ping_noreply(uint8_t node) {
/* Prepare data */
csp_packet_t * packet;
packet = csp_buffer_get(1);
/* Check malloc */
if (packet == NULL)
return;
/* Open connection */
csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PING, 0, 0);
if (conn == NULL) {
csp_buffer_free(packet);
return;
}
packet->data[0] = 0x55;
packet->length = 1;
printf("Ping ignore reply node %u.\r\n", node);
/* Try to send frame */
if (!csp_send(conn, packet, 0))
csp_buffer_free(packet);
csp_close(conn);
}
int csp_ping(uint8_t node, uint32_t timeout, unsigned int size, uint8_t conn_options) {
int i;
uint32_t start, time, status = 0;
/* Counter */
start = csp_get_ms();
/* Open connection */
csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PING, timeout, conn_options);
if (conn == NULL)
return -1;
/* Prepare data */
csp_packet_t * packet;
packet = csp_buffer_get(size);
if (packet == NULL)
goto out;
/* Set data to increasing numbers */
packet->length = size;
for (i = 0; i < size; i++)
packet->data[i] = i;
/* Try to send frame */
if (!csp_send(conn, packet, 0))
goto out;
/* Read incoming frame */
packet = csp_read(conn, timeout);
if (packet == NULL)
goto out;
/* Ensure that the data was actually echoed */
for (i = 0; i < size; i++)
if (packet->data[i] != i)
goto out;
status = 1;
out:
/* Clean up */
if (packet != NULL)
csp_buffer_free(packet);
csp_close(conn);
/* We have a reply */
time = (csp_get_ms() - start);
if (status) {
return time;
} else {
return -1;
}
}
int csp_transaction(uint8_t prio, uint8_t dest, uint8_t port, uint32_t timeout, void * outbuf, int outlen, void * inbuf, int inlen) {
csp_conn_t * conn = csp_connect(prio, dest, port, 0, 0);
if (conn == NULL)
return 0;
int status = csp_transaction_persistent(conn, timeout, outbuf, outlen, inbuf, inlen);
csp_close(conn);
return status;
}
void csp_ps(uint8_t node, uint32_t timeout) {
/* Open connection */
csp_conn_t * conn = csp_connect(CSP_PRIO_NORM, node, CSP_PS, 0, 0);
if (conn == NULL)
return;
/* Prepare data */
csp_packet_t * packet;
packet = csp_buffer_get(95);
/* Check malloc */
if (packet == NULL)
goto out;
packet->data[0] = 0x55;
packet->length = 1;
printf("PS node %u: ", node);
/* Try to send frame */
if (!csp_send(conn, packet, 0))
goto out;
/* Read incoming frame */
packet = csp_read(conn, timeout);
if (packet == NULL) {
printf(" Timeout!\r\n");
goto out;
}
/* We have a reply */
printf("PS Length %u\r\n", packet->length);
printf("%s\r\n", packet->data);
/* Clean up */
out:
if (packet != NULL)
csp_buffer_free(packet);
csp_close(conn);
}
int sendpacket() {
csp_packet_t *packet;
csp_conn_t *conn;
packet = csp_buffer_get(10);
if (packet == NULL) {
printf("failed to get packet in sendpacket()\n");
return CSP_TASK_RETURN;
}
conn = csp_connect(CSP_PRIO_NORM, MY_ADDRESS, MY_PORT, 1000, CSP_O_NONE);
if (conn == NULL) {
printf("Connection failed in sendpacket()\n");
return CSP_TASK_RETURN;
}
char *msg = "42!";
strcpy((char *) packet->data, msg);
packet->length = strlen(msg);
if (!csp_send(conn, packet, 1000)) {
printf("Sending packet from sendpacket() failed\n");
csp_buffer_free(packet);
}
csp_close(conn);
return;
}
unsigned WINAPI task_client(void * parameters) {
csp_packet_t * packet;
csp_conn_t * conn;
while (1) {
/**
* Try ping
*/
Sleep(1000);
int result = csp_ping(MY_ADDRESS, 100, 100, CSP_O_NONE);
printf("Ping result %d [ms]\r\n", result);
Sleep(1000);
/**
* Try data packet to server
*/
/* Get packet buffer for data */
packet = csp_buffer_get(100);
if (packet == NULL) {
/* Could not get buffer element */
printf("Failed to get buffer element\n");
return 0;
}
/* Connect to host HOST, port PORT with regular UDP-like protocol and 1000 ms timeout */
conn = csp_connect(CSP_PRIO_NORM, MY_ADDRESS, MY_PORT, 1000, CSP_O_NONE);
if (conn == NULL) {
/* Connect failed */
printf("Connection failed\n");
/* Remember to free packet buffer */
csp_buffer_free(packet);
return 0;
}
/* Copy dummy data to packet */
char *msg = "Hello World";
strcpy((char *) packet->data, msg);
/* Set packet length */
packet->length = strlen(msg);
/* Send packet */
if (!csp_send(conn, packet, 1000)) {
/* Send failed */
printf("Send failed\n");
csp_buffer_free(packet);
}
/* Close connection */
csp_close(conn);
}
return 0;
}
void csp_client(void *p) {
(void) p;
csp_packet_t * packet;
csp_conn_t * conn;
portBASE_TYPE status;
int signal;
/**
* Try ping
*/
csp_sleep_ms(200);
#ifdef TARGET_LIKE_MSP430
blink(K_LED_RED);
#else
blink(K_LED_ORANGE);
#endif
int result = csp_ping(MY_ADDRESS, 100, 100, CSP_O_NONE);
if (result) {
#ifdef TARGET_LIKE_MSP430
blink(K_LED_RED);
#else
blink(K_LED_ORANGE);
#endif
}
/**
* Try data packet to server
*/
while (1) {
status = xQueueReceive(button_queue, &signal, portMAX_DELAY);
if (status != pdTRUE) {
continue;
}
/* Get packet buffer for data */
packet = csp_buffer_get(100);
if (packet == NULL) {
/* Could not get buffer element */
return;
}
/* Connect to host HOST, port PORT with regular UDP-like protocol and 1000 ms timeout */
blink(K_LED_RED);
conn = csp_connect(CSP_PRIO_NORM, MY_ADDRESS, MY_PORT, 1000, CSP_O_NONE);
if (conn == NULL) {
/* Connect failed */
/* Remember to free packet buffer */
csp_buffer_free(packet);
return;
}
blink(K_LED_RED);
/* Copy dummy data to packet */
char *msg = "Hello World";
strcpy((char *) packet->data, msg);
/* Set packet length */
packet->length = strlen(msg);
/* Send packet */
if (!csp_send(conn, packet, 1000)) {
/* Send failed */
csp_buffer_free(packet);
}
blink(K_LED_RED);
/* Close connection */
csp_close(conn);
}
}
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;
}
