diff options
Diffstat (limited to 'xbee/xbee_io.c')
| -rw-r--r-- | xbee/xbee_io.c | 268 |
1 files changed, 268 insertions, 0 deletions
diff --git a/xbee/xbee_io.c b/xbee/xbee_io.c new file mode 100644 index 0000000..d3fe323 --- /dev/null +++ b/xbee/xbee_io.c @@ -0,0 +1,268 @@ +/* + * xbee_io.c + * xbee_test + * + * Created by Tymm on 11/20/08. + * Copyright 2008 __MyCompanyName__. All rights reserved. + * + */ + +#include <unistd.h> +#include <string.h> +#include <stdint.h> +#include <sys/select.h> +#include <pthread.h> + +#ifdef PD +#include "m_pd.h" +#include "max2pd.h" +#else +#include "ext.h" +#endif /* PD */ + +#include "xbee.h" +#include "xbee_io.h" + + +#ifndef MIN +# define MIN(a,b) ((a)<(b)?(a):(b)) +#endif + + +void xbee_io_read(xbee_t *xbee) +{ + int r; + char data[128]; + xbee_io_context_t *ctx = xbee_user_context(*xbee); + int xbee_fd = ctx->fd; + + + r = read(xbee_fd, data, sizeof(data)); + if (r <= 0) { + return; + } + + xbee_in(xbee, data, r); +} + + +void xbee_io_write(xbee_t *xbee) +{ + int r; + int max_bytes_to_write; + xbee_io_context_t *ctx = xbee_user_context(*xbee); + int xbee_fd = ctx->fd; + int tmp_start = ctx->out_buffer_start; + + + if (tmp_start != ctx->out_buffer_end) { + max_bytes_to_write = (ctx->out_buffer_end + XBEE_IO_BUFSIZ - ctx->out_buffer_start) % XBEE_IO_BUFSIZ; + + //for (r = 0; r < MIN(max_bytes_to_write, XBEE_IO_BUFSIZ - tmp_start); r++) { + // post("%02x", (unsigned char)ctx->out_buffer[tmp_start + r]); + //} + + r = write(xbee_fd, (char *)(ctx->out_buffer + tmp_start), MIN(max_bytes_to_write, XBEE_IO_BUFSIZ - tmp_start)); + + if (r < 0) { + return; + } + + tmp_start += r; + tmp_start %= XBEE_IO_BUFSIZ; + + ctx->out_buffer_start = tmp_start; + + if (tmp_start == 0) { + max_bytes_to_write -= r; + + r = write(xbee_fd, (char *)(ctx->out_buffer), max_bytes_to_write); + + if (r < 0) { + return; + } + + tmp_start += r; + tmp_start %= XBEE_IO_BUFSIZ; + } + + ctx->out_buffer_start = tmp_start; + } +} + + +int xbee_put_data(xbee_io_context_t *ctx, char *data, int len) +{ + int byte_count = 0; + int max_bytes; + int tmp_end = ctx->out_buffer_end; + + + max_bytes = MIN((ctx->out_buffer_start + XBEE_IO_BUFSIZ - tmp_end - 1) % XBEE_IO_BUFSIZ, len); + byte_count = MIN(max_bytes, XBEE_IO_BUFSIZ - tmp_end); + + memcpy((char *)(ctx->out_buffer + tmp_end), data, byte_count); + + if (byte_count != max_bytes) { + memcpy((char *)(ctx->out_buffer), data + byte_count, max_bytes - byte_count); + } + + tmp_end += max_bytes; + tmp_end %= XBEE_IO_BUFSIZ; + ctx->out_buffer_end = tmp_end; + + return max_bytes; +} + + +void *xbee_io_loop(void *param) +{ + int xbee_fd; + fd_set r_fds, w_fds; + int nfds = 0; + struct timeval timeout; + struct timeval timeout_orig = { .tv_sec = 1, .tv_usec = 0 }; + xbee_t *xbee = param; + xbee_io_context_t *ctx = xbee_user_context(*xbee); + int notif_fd; + int maxfd; + + + xbee_fd = ctx->fd; + notif_fd = ctx->pipe_fds[0]; + + FD_ZERO(&r_fds); + FD_ZERO(&w_fds); + + while(1) { + if (ctx->io_done) { + break; + } + + nfds = 0; + + FD_SET(notif_fd, &r_fds); + maxfd = notif_fd; + + FD_SET(xbee_fd, &r_fds); + if (xbee_fd > maxfd) + maxfd = xbee_fd; + + FD_CLR(xbee_fd, &w_fds); + if (ctx->out_buffer_start != ctx->out_buffer_end) { + FD_SET(xbee_fd, &w_fds); + } + + // For Linux compat + timeout = timeout_orig; + + nfds = select(maxfd + 1, &r_fds, &w_fds, NULL, &timeout); + + if (nfds >= 1) { + if (FD_ISSET(notif_fd, &r_fds)) { + // We've been notified that there's data to be read, or need to exit + char blah; + read(notif_fd, &blah, 1); + } + + if (FD_ISSET(xbee_fd, &r_fds)) { + xbee_io_read(xbee); + } + + if (FD_ISSET(xbee_fd, &w_fds)) { + xbee_io_write(xbee); + } + } + } + + ctx->io_running = 0; + + return NULL; +} + + +int xbee_kill_io_thread(xbee_t *xbee) +{ + xbee_io_context_t *ctx; + void *val; + + + ctx = xbee_user_context(*xbee); + + if (ctx != NULL) { + if (ctx->io_running) { + ctx->io_done = 1; + + write(ctx->pipe_fds[1], "!", 1); + + if (pthread_join(ctx->io_thread, &val) < 0) { + return -1; + } + + post("xbee_test: xbee io thread stopped."); + } + } + + return 0; +} + + +int xbee_new_io_thread(xbee_t *xbee) +{ + xbee_io_context_t *ctx = xbee_user_context(*xbee); + int r; + + + if (!ctx->io_running) { + ctx->io_running = 1; + + r = pthread_create(&ctx->io_thread, NULL, &xbee_io_loop, (void *)xbee); + if (r < 0) { + ctx->io_running = 0; + return -1; + } + + post("xbee_test: xbee io thread started."); + } + + return 0; +} + + +int xbee_out(xbee_t *xbee, xbee_pkt_t *pkt, uint8_t len) +{ + xbee_io_context_t *ctx = xbee_user_context(*xbee); + int r; + + + r = xbee_put_data(ctx, (void *)pkt, len); + xbee_free_pkt_mem(pkt); + + return r; +} + + +int xbee_recv_pkt(xbee_t *xbee, xbee_pkt_t *pkt, uint8_t len) +{ + //int i; + + + //for (i = 0; i < len; i++) { + // post("GOT %02x", ((unsigned char *)pkt)[i]); + //} + + xbee_free_pkt_mem(pkt); + return 0; +} + + +void *xbee_alloc_pkt_mem(uint8_t direction, uint8_t len) +{ + return sysmem_newptr(128); +} + + +void xbee_free_pkt_mem(xbee_pkt_t *pkt) +{ + sysmem_freeptr(pkt); +} |