--- /dev/null
+/*
+ * Copyright (c) 2007, Technische Universitaet Berlin
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * - Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of the Technische Universitaet Berlin nor the names
+ * of its contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+ * TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+/**
+ * @author Philipp Huppertz <huppertz@tkn.tu-berlin.de>
+ */
+
+#ifndef SERIALCOMM_H
+#define SERIALCOMM_H
+
+#include "basecomm.h"
+#include "sfpacket.h"
+#include "packetbuffer.h"
+#include "sharedinfo.h"
+
+#include <pthread.h>
+#include <termios.h>
+#include <string>
+#include <sstream>
+#include <iostream>
+
+// #define DEBUG_SERIALCOMM
+// #define DEBUG_RAW_SERIALCOMM
+
+#undef DEBUG
+#ifdef DEBUG_SERIALCOMM
+#include <iostream>
+#define DEBUG(message) std::cout << message << std::endl;
+#else
+#define DEBUG(message)
+#endif
+
+
+class SerialComm : public BaseComm
+{
+
+ /** Constants **/
+protected:
+ // max serial MTU
+ static const int maxMTU = (SFPacket::cMaxPacketLength+1)*2;
+ // min serial MTU
+ static const int minMTU = 4;
+ // byte count of serial header
+ static const int serialHeaderBytes = 6;
+ // byte offset of type field
+ static const int typeOffset = 1;
+ // byte offset of sequence number field
+ static const int seqnoOffset = 2;
+ // byte offset of payload field
+ static const int payloadOffset = 3;
+ // timeout for acks in s
+ static const int ackTimeout = 1000 * 1000 * 200;
+ // max. reties for packets from pc to node
+ static const int maxRetries = 25;
+
+ // how many bytes do we attempt to read from the serial line in one go?
+ static const int rawReadBytes = 20;
+
+ /** Member vars */
+protected:
+ /* pthread for serial reading */
+ pthread_t readerThread;
+
+ bool readerThreadRunning;
+
+ /* pthread for serial writing */
+ pthread_t writerThread;
+
+ bool writerThreadRunning;
+
+ // thread safe ack
+ typedef struct
+ {
+ // mutex lock for any of this vars
+ pthread_mutex_t lock;
+ // notempty cond
+ pthread_cond_t received;
+ } ackCondition_t;
+
+ ackCondition_t ack;
+
+ /* raw read buffer */
+ struct rawFifo_t {
+ char queue[maxMTU];
+ int head;
+ int tail;
+ };
+
+ rawFifo_t rawFifo;
+
+ /* reference to read packet buffer */
+ PacketBuffer &readBuffer;
+
+ /* reference to write packet buffer */
+ PacketBuffer &writeBuffer;
+
+ /* number of dropped (read) packets */
+ int droppedReadPacketCount;
+
+ /* number of dropped (write) packets */
+ int droppedWritePacketCount;
+
+ /* number of read packets */
+ int readPacketCount;
+
+ /* number of written packets */
+ int writtenPacketCount;
+
+ /* number of bad packets read from serial line, counts resynchronizations! */
+ int badPacketCount;
+
+ /* sum retry attempts for all packets */
+ int sumRetries;
+
+ /* device port of this sf */
+ std::string device;
+
+ /* baudrate of connected device */
+ int baudrate;
+
+ /* read fd set */
+ fd_set rfds;
+
+ /* write fd set */
+ fd_set wfds;
+
+ /* fd for reading from serial device */
+ int serialReadFD;
+
+ /* fd for writing to serial device */
+ int serialWriteFD;
+
+ /* seqno for serial data packets */
+ int seqno;
+
+ /* indicates that an error occured */
+ bool errorReported;
+
+ /* error message of reportError call */
+ std::ostringstream errorMsg;
+
+ /* for noticing the parent thread of cancelation */
+ sharedControlInfo_t &control;
+
+/** Member functions */
+
+ /* needed to start pthreads */
+ friend void* readSerialThread(void* ob);
+ friend void* writeSerialThread(void* ob);
+
+private:
+ /* do not allow standard constructor */
+ SerialComm();
+
+protected:
+ char nextRaw();
+
+ /* claculates crc byte-wise */
+ inline static uint16_t byteCRC(uint8_t byte, uint16_t crc) {
+ crc = (uint8_t)(crc >> 8) | (crc << 8);
+ crc ^= byte;
+ crc ^= (uint8_t)(crc & 0xff) >> 4;
+ crc ^= crc << 12;
+ crc ^= (crc & 0xff) << 5;
+ return crc;
+ }
+
+ /* HDLC encode (byte stuff) count bytes from buffer from into buffer to.
+ * to must be at least count * 2 bytes large. Returns the number of bytes
+ * written into to.
+ */
+ int hdlcEncode(int count, const char* from, char *to);
+
+ /**
+ * try to read at least count bytes in one go, but may read up to maxCount bytes.
+ */
+ virtual int readFD(int fd, char *buffer, int count, int maxCount);
+
+ /* enables byte escaping. overwrites method from base class.*/
+ virtual int writeFD(int fd, const char *buffer, int count);
+
+ /* reads a packet (blocking) */
+ bool readPacket(SFPacket &pPacket);
+
+ /* writes a packet to serial source */
+ bool writePacket(SFPacket &pPacket);
+
+ /* returns tcflag of requested baudrate */
+ static tcflag_t parseBaudrate(int requested);
+
+ int reportError(const char *msg, int result);
+
+ /* checks for messages from node - producer thread */
+ void readSerial();
+
+ /* write messages to serial / node - consumer thread */
+ void writeSerial();
+
+public:
+ SerialComm(const char* pDevice, int pBaudrate, PacketBuffer &pReadBuffer, PacketBuffer &pWriteBuffer, sharedControlInfo_t& pControl);
+
+ ~SerialComm();
+
+ /* cancels all running threads */
+ void cancel();
+
+ std::string getDevice() const;
+
+ int getBaudRate() const;
+
+ void reportStatus(std::ostream& os);
+
+ /* returns if error occurred */
+ bool isErrorReported() { return errorReported; }
+};
+
+#endif
projects / tinyos-2.x.git / blobdiff