/** pbuf_cleanup
* Purge all packets buffers that have timed out
*/
static void pbuf_cleanup(void) {
int i;
pbuf_element_t *buf;
/* Lock packet buffer */
CSP_ENTER_CRITICAL(pbuf_sem);
/* Loop through buffer elements */
for (i = 0; i < PBUF_ELEMENTS; i++) {
buf = &pbuf[i];
if (buf->state == BUF_USED) {
/* Check timeout */
uint32_t now = csp_get_ms();
if (now - buf->last_used > PBUF_TIMEOUT_MS) {
csp_log_info("CAN Buffer element timed out\r\n");
/* Reuse packet buffer */
pbuf_free(buf, NULL);
}
}
}
/* Unlock packet buffer */
CSP_EXIT_CRITICAL(pbuf_sem);
}
int csp_bind(csp_socket_t * socket, uint8_t port) {
if (socket == NULL)
return CSP_ERR_INVAL;
if (port > CSP_ANY) {
csp_log_error("Only ports from 0-%u (and CSP_ANY for default) are available for incoming ports\r\n", CSP_ANY);
return CSP_ERR_INVAL;
}
/* Check if port number is valid */
if (ports[port].state != PORT_CLOSED) {
csp_log_error("Port %d is already in use\r\n", port);
return CSP_ERR_USED;
}
csp_log_info("Binding socket %p to port %u\r\n", socket, port);
/* Save listener */
ports[port].socket = socket;
ports[port].state = PORT_OPEN;
return CSP_ERR_NONE;
}
void csp_service_handler(csp_conn_t * conn, csp_packet_t * packet) {
switch (csp_conn_dport(conn)) {
case CSP_CMP:
/* Pass to CMP handler */
if (csp_cmp_handler(conn, packet) != CSP_ERR_NONE) {
csp_buffer_free(packet);
return;
}
break;
case CSP_PING:
/* A ping means, just echo the packet, so no changes */
csp_log_info("SERVICE: Ping received\r\n");
break;
case CSP_PS: {
csp_sys_tasklist((char *)packet->data);
packet->length = strlen((char *)packet->data);
packet->data[packet->length] = '\0';
packet->length++;
break;
}
case CSP_MEMFREE: {
uint32_t total = csp_sys_memfree();
total = csp_hton32(total);
memcpy(packet->data, &total, sizeof(total));
packet->length = sizeof(total);
break;
}
case CSP_REBOOT: {
uint32_t magic_word;
memcpy(&magic_word, packet->data, sizeof(magic_word));
magic_word = csp_ntoh32(magic_word);
/* If the magic word is invalid, return */
if (magic_word != 0x80078007) {
csp_buffer_free(packet);
return;
}
/* Otherwise Reboot */
csp_sys_reboot();
csp_buffer_free(packet);
return;
}
case CSP_BUF_FREE: {
uint32_t size = csp_buffer_remaining();
size = csp_hton32(size);
memcpy(packet->data, &size, sizeof(size));
packet->length = sizeof(size);
break;
}
case CSP_UPTIME: {
uint32_t time = csp_get_s();
time = csp_hton32(time);
memcpy(packet->data, &time, sizeof(time));
packet->length = sizeof(time);
break;
}
/** @brief Returns route information
* If no data received, sends back number of routes that exist,
* otherwise returns up to nodes_requested, starting at index parameter
* First parameter is index of table to start at, and
* second parameter is number of indeces to return
*/
case CSP_GET_ROUTE: {
//if there is no data, return number of routes that exist
if(packet->length == 0)
{
uint8_t routes_left = csp_num_routes_left(0);
packet->length = sizeof(routes_left);
memcpy(&packet->data[0], &routes_left, sizeof(routes_left));
break;
}
//otherwise, return node information
csp_route_t * route;
uint8_t start_index,i, j, nodes_requested, routes_left;
memcpy(&start_index, &packet->data[0], sizeof(start_index));
memcpy(&nodes_requested, &packet->data[1], sizeof(nodes_requested));
csp_route_info return_info[nodes_requested];
memset(return_info, 0x00, sizeof(return_info));
//don't attempt to read beyond size of routes array
if(start_index >= CSP_ROUTE_COUNT){
csp_buffer_free(packet);
printf("CSP_GET_ROUTE: won't read past array\r\n");
return;
}
i = start_index;
j = 0;
//populated return_info while j index less than number
//of nodes requested and our i index is less than CSP_ROUTE_COUNT
while((j < nodes_requested) && (i < CSP_ROUTE_COUNT)){
route = csp_route_struct(i);
if(route != NULL){
return_info[j].node = i;
strncpy(&return_info[j].name_buffer[0],route->interface->name,
(sizeof(return_info[j].name_buffer)-1));
return_info[j].nexthop_mac_addr = route->nexthop_mac_addr;
if(i != CSP_DEFAULT_ROUTE){
return_info[j].nexthop_mac_addr = route->nexthop_mac_addr
== CSP_NODE_MAC ?(i) : route->nexthop_mac_addr;
}
else return_info[j].nexthop_mac_addr = route->nexthop_mac_addr;
j++;
}
i++;
}
routes_left = csp_num_routes_left(i);
//return data contains number of remaining nodes and node info
packet->length = sizeof(return_info)+sizeof(routes_left);
memcpy(&packet->data[0], &routes_left,sizeof(routes_left));
memcpy(&packet->data[1], return_info, sizeof(return_info));
break;
}
default:
csp_buffer_free(packet);
return;
}
if (!csp_send(conn, packet, 0))
csp_buffer_free(packet);
}
void csp_service_handler(csp_conn_t * conn, csp_packet_t * packet) {
switch (csp_conn_dport(conn)) {
case CSP_CMP:
/* Pass to CMP handler */
if (csp_cmp_handler(conn, packet) != CSP_ERR_NONE) {
csp_buffer_free(packet);
return;
}
break;
case CSP_PING:
/* A ping means, just echo the packet, so no changes */
csp_log_info("SERVICE: Ping received");
break;
case CSP_PS: {
/* Sanity check on request */
if ((packet->length != 1) || (packet->data[0] != 0x55)) {
/* Sanity check failed */
csp_buffer_free(packet);
/* Clear the packet, it has been freed */
packet = NULL;
break;
}
/* Start by allocating just the right amount of memory */
int task_list_size = csp_sys_tasklist_size();
char * pslist = csp_malloc(task_list_size);
/* Check for malloc fail */
if (pslist == NULL) {
/* Send out the data */
strcpy((char *)packet->data, "Not enough memory");
packet->length = strlen((char *)packet->data);
/* Break and let the default handling send packet */
break;
}
/* Retrieve the tasklist */
csp_sys_tasklist(pslist);
int pslen = strnlen(pslist, task_list_size);
/* Split the potentially very long string into packets */
int i = 0;
while(i < pslen) {
/* Allocate packet buffer, if need be */
if (packet == NULL)
packet = csp_buffer_get(CSP_RPS_MTU);
if (packet == NULL)
break;
/* Calculate length, either full MTU or the remainder */
packet->length = (pslen - i > CSP_RPS_MTU) ? CSP_RPS_MTU : (pslen - i);
/* Send out the data */
memcpy(packet->data, &pslist[i], packet->length);
i += packet->length;
if (!csp_send(conn, packet, 0))
csp_buffer_free(packet);
/* Clear the packet reference when sent */
packet = NULL;
}
csp_free(pslist);
break;
}
case CSP_MEMFREE: {
uint32_t total = csp_sys_memfree();
total = csp_hton32(total);
memcpy(packet->data, &total, sizeof(total));
packet->length = sizeof(total);
break;
}
case CSP_REBOOT: {
uint32_t magic_word;
memcpy(&magic_word, packet->data, sizeof(magic_word));
magic_word = csp_ntoh32(magic_word);
/* If the magic word is valid, reboot */
if (magic_word == CSP_REBOOT_MAGIC) {
csp_sys_reboot();
} else if (magic_word == CSP_REBOOT_SHUTDOWN_MAGIC) {
csp_sys_shutdown();
}
csp_buffer_free(packet);
return;
}
case CSP_BUF_FREE: {
uint32_t size = csp_buffer_remaining();
size = csp_hton32(size);
memcpy(packet->data, &size, sizeof(size));
packet->length = sizeof(size);
break;
}
case CSP_UPTIME: {
uint32_t time = csp_get_s();
time = csp_hton32(time);
memcpy(packet->data, &time, sizeof(time));
packet->length = sizeof(time);
break;
}
default:
csp_buffer_free(packet);
return;
}
if (packet != NULL) {
if (!csp_send(conn, packet, 0))
csp_buffer_free(packet);
}
}
void csp_service_handler(csp_conn_t * conn, csp_packet_t * packet) {
switch (csp_conn_dport(conn)) {
case CSP_CMP:
/* Pass to CMP handler */
if (csp_cmp_handler(conn, packet) != CSP_ERR_NONE) {
csp_buffer_free(packet);
return;
}
break;
case CSP_PING:
/* A ping means, just echo the packet, so no changes */
csp_log_info("SERVICE: Ping received\r\n");
break;
case CSP_PS: {
csp_sys_tasklist((char *)packet->data);
packet->length = strlen((char *)packet->data);
packet->data[packet->length] = '\0';
packet->length++;
break;
}
case CSP_MEMFREE: {
uint32_t total = csp_sys_memfree();
total = csp_hton32(total);
memcpy(packet->data, &total, sizeof(total));
packet->length = sizeof(total);
break;
}
case CSP_REBOOT: {
uint32_t magic_word;
memcpy(&magic_word, packet->data, sizeof(magic_word));
magic_word = csp_ntoh32(magic_word);
/* If the magic word is invalid, return */
if (magic_word != 0x80078007) {
csp_buffer_free(packet);
return;
}
/* Otherwise Reboot */
csp_sys_reboot();
csp_buffer_free(packet);
return;
}
case CSP_BUF_FREE: {
uint32_t size = csp_buffer_remaining();
size = csp_hton32(size);
memcpy(packet->data, &size, sizeof(size));
packet->length = sizeof(size);
break;
}
case CSP_UPTIME: {
uint32_t time = csp_get_s();
time = csp_hton32(time);
memcpy(packet->data, &time, sizeof(time));
packet->length = sizeof(time);
break;
}
default:
csp_buffer_free(packet);
return;
}
if (!csp_send(conn, packet, 0))
csp_buffer_free(packet);
}
int csp_can_tx(csp_iface_t * interface, csp_packet_t *packet, uint32_t timeout) {
uint8_t bytes, overhead, avail, dest;
uint8_t frame_buf[8];
/* Get CFP identification number */
int ident = id_get();
if (ident < 0) {
csp_log_warn("Failed to get CFP identification number\r\n");
return CSP_ERR_INVAL;
}
/* Calculate overhead */
overhead = sizeof(csp_id_t) + sizeof(uint16_t);
/* Insert destination node mac address into the CFP destination field */
dest = csp_route_get_nexthop_mac(packet->id.dst);
if (dest == CSP_NODE_MAC)
dest = packet->id.dst;
/* Create CAN identifier */
can_id_t id = 0;
id |= CFP_MAKE_SRC(packet->id.src);
id |= CFP_MAKE_DST(dest);
id |= CFP_MAKE_ID(ident);
id |= CFP_MAKE_TYPE(CFP_BEGIN);
id |= CFP_MAKE_REMAIN((packet->length + overhead - 1) / 8);
/* Get packet buffer */
pbuf_element_t *buf = pbuf_new(id, NULL);
if (buf == NULL) {
csp_log_warn("Failed to get packet buffer for CAN\r\n");
return CSP_ERR_NOMEM;
}
/* Set packet */
buf->packet = packet;
/* Calculate first frame data bytes */
avail = 8 - overhead;
bytes = (packet->length <= avail) ? packet->length : avail;
/* Copy CSP headers and data */
uint32_t csp_id_be = csp_hton32(packet->id.ext);
uint16_t csp_length_be = csp_hton16(packet->length);
memcpy(frame_buf, &csp_id_be, sizeof(csp_id_be));
memcpy(frame_buf + sizeof(csp_id_be), &csp_length_be, sizeof(csp_length_be));
memcpy(frame_buf + overhead, packet->data, bytes);
/* Increment tx counter */
buf->tx_count += bytes;
/* Take semaphore so driver can post it later */
csp_bin_sem_wait(&buf->tx_sem, 0);
/* Send frame */
if (can_send(id, frame_buf, overhead + bytes, NULL) != 0) {
csp_log_info("Failed to send CAN frame in csp_tx_can\r\n");
return CSP_ERR_DRIVER;
}
/* Non blocking mode */
if (timeout == 0)
return CSP_ERR_NONE;
/* Blocking mode */
if (csp_bin_sem_wait(&buf->tx_sem, timeout) != CSP_SEMAPHORE_OK) {
csp_bin_sem_post(&buf->tx_sem);
return CSP_ERR_TIMEDOUT;
} else {
csp_bin_sem_post(&buf->tx_sem);
return CSP_ERR_NONE;
}
}
int csp_tx_callback(can_id_t canid, can_error_t error, CSP_BASE_TYPE *task_woken) {
int bytes;
uint8_t dest;
/* Match buffer element */
pbuf_element_t *buf = pbuf_find(canid, CFP_ID_CONN_MASK, task_woken);
if (buf == NULL) {
csp_log_info("Failed to match buffer element in tx callback\r\n");
csp_if_can.tx_error++;
return CSP_ERR_INVAL;
}
if (buf->packet == NULL) {
csp_log_warn("Buffer packet was NULL\r\n");
csp_if_can.tx_error++;
pbuf_free(buf, task_woken);
return CSP_ERR_INVAL;
}
/* Free packet buffer if send failed */
if (error != CAN_NO_ERROR) {
csp_log_warn("Error in transmit callback\r\n");
csp_if_can.tx_error++;
pbuf_free(buf, task_woken);
return CSP_ERR_DRIVER;
}
/* Send next frame if not complete */
if (buf->tx_count < buf->packet->length) {
/* Calculate frame data bytes */
bytes = (buf->packet->length - buf->tx_count >= 8) ? 8 : buf->packet->length - buf->tx_count;
/* Insert destination node mac address into the CFP destination field */
dest = csp_route_get_nexthop_mac(buf->packet->id.dst);
if (dest == CSP_NODE_MAC)
dest = buf->packet->id.dst;
/* Prepare identifier */
can_id_t id = 0;
id |= CFP_MAKE_SRC(buf->packet->id.src);
id |= CFP_MAKE_DST(dest);
id |= CFP_MAKE_ID(CFP_ID(canid));
id |= CFP_MAKE_TYPE(CFP_MORE);
id |= CFP_MAKE_REMAIN((buf->packet->length - buf->tx_count - bytes + 7) / 8);
/* Increment tx counter */
buf->tx_count += bytes;
/* Send frame */
if (can_send(id, buf->packet->data + buf->tx_count - bytes, bytes, task_woken) != 0) {
csp_log_info("Failed to send CAN frame in Tx callback\r\n");
csp_if_can.tx_error++;
pbuf_free(buf, task_woken);
return CSP_ERR_DRIVER;
}
} else {
/* Free packet buffer */
pbuf_free(buf, task_woken);
/* Post semaphore if blocking mode is enabled */
if (task_woken != NULL) {
csp_bin_sem_post_isr(&buf->tx_sem, task_woken);
} else {
csp_bin_sem_post(&buf->tx_sem);
}
}
return CSP_ERR_NONE;
}