mirror of
https://github.com/servalproject/serval-dna.git
synced 2024-12-22 14:32:25 +00:00
Refactor fakeradio
- completely event driven and non-blocking - modelling of tx & rx serial buffers that will truncate on overfilling - each radio takes turns to send a packet, with approx TDMA overhead
This commit is contained in:
Jeremy Lakeman
parent
9d7e37cc5e
commit
e29564bc6c
385
fakeradio.c
385
fakeradio.c
@ -11,20 +11,23 @@
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#include <string.h>
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#include <unistd.h>
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int radio_packet_size=256;
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int chars_per_ms=1;
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int ber=0;
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long ber=0;
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struct radio_state {
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int fd;
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int state;
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const char *name;
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char commandbuffer[128];
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int cb_len;
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unsigned char txbuffer[1024];
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int txb_len;
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unsigned char rxbuffer[1024];
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int rxb_len;
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long long last_char_ms;
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long long last_tx_ms;
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long long last_rssi_time_ms;
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long long next_rssi_time_ms;
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int rssi_output;
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int tx_rate;
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};
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#define STATE_ONLINE 0
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@ -42,235 +45,271 @@ long long gettime_ms()
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return nowtv.tv_sec * 1000LL + nowtv.tv_usec / 1000;
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}
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int emitChar(int fd,unsigned char c)
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{
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// Introduce bit errors as required
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int i;
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for(i=0;i<8;i++) {
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if (random()<ber) {
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c^=(1<<i);
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printf("Flipped a bit\n");
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}
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}
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while(write(fd,&c,1)<1) {
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printf("Retrying write...errno=%d\n",errno);
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break;
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usleep(10000);
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}
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return 0;
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void log_time(){
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struct timeval tv;
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struct tm tm;
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gettimeofday(&tv, NULL);
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localtime_r(&tv.tv_sec, &tm);
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char buf[50];
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if (strftime(buf, sizeof buf, "%T", &tm) == 0)
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fprintf(stderr, "EMPTYTIME___ ");
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else
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fprintf(stderr, "%s.%03u ", buf, (unsigned int)tv.tv_usec / 1000);
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}
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int emit(int fd,char *s)
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int append_bytes(struct radio_state *s, const char *bytes, int len)
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{
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int off=0,len=strlen(s);
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off=write(fd,&s[off],len-off);
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if (off<0) off=0;
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while(off<len) {
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printf("Retrying write... (%d of %d bytes sent, errno=%d)\n",off,len,errno);
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usleep(10000);
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int w=write(fd,&s[off],len-off);
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if (w>0) off+=w;
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break;
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}
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return 0;
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if (len==-1)
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len = strlen(bytes);
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if (len + s->rxb_len > sizeof(s->rxbuffer))
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return -1;
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bcopy(bytes, &s->rxbuffer[s->rxb_len], len);
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s->rxb_len+=len;
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return len;
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}
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int processCommand(int fd,struct radio_state *s,int out_fd)
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int processCommand(struct radio_state *s)
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{
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if (!s->cb_len) return 0;
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s->commandbuffer[s->cb_len]=0;
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char *cmd=s->commandbuffer;
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log_time();
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fprintf(stderr, "Processing command from %s \"%s\"\n", s->name, cmd);
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if (!strcasecmp(cmd,"ATO")) {
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emit(fd,"OK\r");
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append_bytes(s, "OK\r", -1);
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s->state=STATE_ONLINE;
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return 0;
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}
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if (!strcasecmp(cmd,"AT&T")) {
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emit(fd,"OK\r");
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append_bytes(s, "OK\r", -1);
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s->rssi_output=0;
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return 0;
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}
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if (!strcasecmp(cmd,"AT&T=RSSI")) {
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emit(fd,"OK\r");
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append_bytes(s, "OK\r", -1);
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s->rssi_output=1;
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return 0;
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}
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if (!strcasecmp(cmd,"ATI")) {
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emit(fd,"RFD900a SIMULATOR 1.6\r");
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emit(fd,"OK\r");
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append_bytes(s, "RFD900a SIMULATOR 1.6\rOK\r", -1);
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return 0;
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}
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emit(fd,"ERROR\r");
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append_bytes(s, "ERROR\r", -1);
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return 1;
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}
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int dump(char *name,unsigned char *addr,int len)
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int dump(char *name, unsigned char *addr, int len)
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{
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int i,j;
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if (name)
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fprintf(stderr,"Dump of %s\n",name);
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for(i=0;i<len;i+=16)
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{
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for(i=0;i<len;i+=16){
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fprintf(stderr," %04x :",i);
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for(j=0;j<16&&(i+j)<len;j++) fprintf(stderr," %02x",addr[i+j]);
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for(;j<16;j++) fprintf(stderr," ");
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for(j=0;j<16&&(i+j)<len;j++)
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fprintf(stderr," %02x",addr[i+j]);
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for(;j<16;j++)
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fprintf(stderr," ");
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for(j=0;j<16&&(i+j)<len;j++) fprintf(stderr,"%c",addr[i+j]>=' '&&addr[i+j]<0x7f?addr[i+j]:'.');
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fprintf(stderr," ");
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for(j=0;j<16&&(i+j)<len;j++)
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fprintf(stderr,"%c",addr[i+j]>=' '&&addr[i+j]<0x7f?addr[i+j]:'.');
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fprintf(stderr,"\n");
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}
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return 0;
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}
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int print_report=0;
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int updateState(int fd,struct radio_state *s,int out_fd)
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int read_bytes(struct radio_state *s)
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{
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unsigned char buff[256];
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int i;
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int bytes=read(s->fd,buff,sizeof(buff));
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if (bytes<=0)
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return bytes;
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log_time();
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fprintf(stderr, "Read from %s\n", s->name);
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dump(NULL,buff,bytes);
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s->last_char_ms = gettime_ms();
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print_report=0;
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// process incoming bytes
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for (i=0;i<bytes;i++){
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// Read bytes from stdin
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int bytes=read(fd,&s->txbuffer[s->txb_len],sizeof(s->txbuffer)-s->txb_len);
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if (bytes>0) { s->txb_len+=bytes; print_report=1; }
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// Switch to command mode if required
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if (bytes<1&&s->state==STATE_PLUSPLUSPLUS&&
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(gettime_ms()-s->last_char_ms)>=1000) {
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s->state=STATE_COMMAND;
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print_report=1;
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emit(fd,"OK\r\n");
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} else
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if (bytes>0)
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s->last_char_ms=gettime_ms();
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if (bytes>0) {
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fprintf(stderr,"#%d Received %d bytes: ",fd,bytes);
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dump("received bytes",&s->txbuffer[s->txb_len-bytes],bytes);
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}
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// work out how many bytes we can dispatch
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long long tx_count_allowed=(gettime_ms()-s->last_tx_ms)*chars_per_ms;
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// now go through the TX buffer and dispatch them
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// (or change state as appropriate)
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for(i=0;i<tx_count_allowed;i++) {
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if (s->txb_len<1) break;
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switch(s->state) {
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case STATE_ONLINE:
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if (s->txbuffer[0]!='+') {
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s->state=STATE_ONLINE;
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emitChar(out_fd,s->txbuffer[0]);
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} else { s->state=STATE_PLUS; i--; }
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break;
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case STATE_PLUS:
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if (s->txbuffer[0]!='+') {
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s->state=STATE_ONLINE;
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emit(out_fd,"+"); i+=1;
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emitChar(out_fd,s->txbuffer[0]);
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} else { s->state=STATE_PLUSPLUS; i--; }
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break;
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case STATE_PLUSPLUS:
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if (s->txbuffer[0]!='+') {
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s->state=STATE_ONLINE;
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emit(out_fd,"++"); i+=2;
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emitChar(out_fd,s->txbuffer[0]);
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} else { s->state=STATE_PLUSPLUSPLUS; i--; }
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break;
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case STATE_PLUSPLUSPLUS:
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if (s->txbuffer[0]!='+') {
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s->state=STATE_ONLINE;
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emit(out_fd,"+++"); i+=3;
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} else {
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// more than 3 pluses, so start outputting the
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// extras
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emit(out_fd,"+"); i+=1;
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s->state=STATE_PLUSPLUSPLUS; i--;
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}
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break;
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case STATE_COMMAND:
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{
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emitChar(out_fd,s->txbuffer[0]);
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if (s->txbuffer[0]=='\r'||s->txbuffer[0]=='\n') {
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// end of command
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processCommand(fd,s,out_fd);
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// either append to a command buffer
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if (s->state==STATE_COMMAND){
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if (buff[i]=='\r'||buff[i]=='\n'){
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// and process the commend on EOL
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processCommand(s);
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s->cb_len=0;
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} else {
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if (s->cb_len<127) {
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s->commandbuffer[s->cb_len++]=s->txbuffer[0];
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}
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}
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}
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}
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// Remove processed character
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if (s->txb_len>0) {
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bcopy(&s->txbuffer[1],&s->txbuffer[0],s->txb_len);
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s->txb_len--;
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}
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}else if (s->cb_len<127)
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s->commandbuffer[s->cb_len++]=buff[i];
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continue;
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}
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// Remember the current time for TX throttling
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s->last_tx_ms=gettime_ms();
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// Output radio link status if requested
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if (s->rssi_output&&(gettime_ms()-s->last_rssi_time_ms)>=1000) {
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emit(fd,"L/R RSSI: 200/190 L/R noise: 80/70 pkts: 10 txe=0 rxe=0 stx=0 srx=0 ecc=0/0 temp=42 dco=0\r\n");
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s->last_rssi_time_ms=gettime_ms();
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// or watch for "+++"
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if (buff[i]=='+'){
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// consume 3 +'s
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if (s->state < STATE_PLUSPLUSPLUS){
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s->state++;
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}else if(s->txb_len<sizeof(s->txbuffer)){
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s->txbuffer[s->txb_len++]=buff[i];
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}
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continue;
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}
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if (print_report) {
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s->commandbuffer[s->cb_len]=0;
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fprintf(stderr,"Radio #%d state: %d rssi_output=%d cbuf='%s', txb_len=%d\n",
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fd,s->state,s->rssi_output,s->commandbuffer,s->txb_len);
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// regenerate any +'s we consumed
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while(s->state > STATE_ONLINE){
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if(s->txb_len<sizeof(s->txbuffer))
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s->txbuffer[s->txb_len++]='+';
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s->state--;
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}
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return 0;
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// or append to the transmit buffer if there's room
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if(s->txb_len<sizeof(s->txbuffer))
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s->txbuffer[s->txb_len++]=buff[i];
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}
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return bytes;
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}
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int write_bytes(struct radio_state *s)
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{
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int wrote = write(s->fd, s->rxbuffer, s->rxb_len);
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if (wrote>0){
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log_time();
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fprintf(stderr, "Wrote to %s\n", s->name);
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dump(NULL, s->rxbuffer, wrote);
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if (wrote < s->rxb_len)
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bcopy(&s->rxbuffer[wrote], s->rxbuffer, s->rxb_len - wrote);
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s->rxb_len -= wrote;
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}
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return wrote;
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}
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int transmitter=0;
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long long next_transmit_time=0;
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int transfer_bytes(struct radio_state *radios)
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{
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// if there's data to transmit, copy a radio packet from one device to the other
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int receiver = transmitter^1;
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struct radio_state *r = &radios[receiver];
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struct radio_state *t = &radios[transmitter];
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int bytes=t->txb_len;
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// TODO detect MAVLINK frame header
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// respond to heartbeats?
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// only transmit if we have read the entire mavlink packet
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if (bytes > radio_packet_size)
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bytes = radio_packet_size;
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if (bytes>0){
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log_time();
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fprintf(stderr, "Transferring %d byte packet from %s to %s\n", bytes, t->name, r->name);
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}
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int i, j;
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for (i=0;i<bytes && r->rxb_len<sizeof(r->rxbuffer);i++){
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char byte = t->txbuffer[i];
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// introduce bit errors
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for(j=0;j<8;j++) {
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if (random()<ber) {
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byte^=(1<<j);
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fprintf(stderr,"Flipped a bit\n");
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}
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}
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r->rxbuffer[r->rxb_len++]=byte;
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}
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if (bytes>0 && bytes < t->txb_len)
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bcopy(&t->txbuffer[bytes], t->txbuffer, t->txb_len - bytes);
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t->txb_len-=bytes;
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// swap who's turn it is to transmit
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transmitter = receiver;
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// set the wait time for the next transmission
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next_transmit_time = gettime_ms() + (bytes+10)/chars_per_ms;
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return bytes;
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}
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int main(int argc,char **argv)
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{
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if (argv[1]) {
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chars_per_ms=atoi(argv[1]);
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chars_per_ms=atol(argv[1]);
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if (argv[2])
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ber=atoi(argv[2]);
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ber=atol(argv[2]);
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}
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struct radio_state left_state,right_state;
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bzero(&left_state,sizeof left_state);
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bzero(&right_state,sizeof right_state);
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// set actual throughput to match real RFD900 radios running at 128kbit with golay encoding
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// (assumes 70% efficiency for TDMA)
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left_state.tx_rate=128000/2*0.7;
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right_state.tx_rate=128000/2*0.7;
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int left=posix_openpt(O_RDWR|O_NOCTTY);
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grantpt(left); unlockpt(left);
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int right=posix_openpt(O_RDWR|O_NOCTTY);
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grantpt(right); unlockpt(right);
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fprintf(stdout,"%s\n",ptsname(left));
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fprintf(stdout,"%s\n",ptsname(right));
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fflush(stdout);
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fcntl(left,F_SETFL,fcntl(left, F_GETFL, NULL)|O_NONBLOCK);
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fcntl(right,F_SETFL,fcntl(right, F_GETFL, NULL)|O_NONBLOCK);
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fprintf(stderr, "Sending %d bytes per ms\n", chars_per_ms);
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fprintf(stderr, "Introducing %f%% bit errors\n", (ber * 100.0) / 0xFFFFFFFF);
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struct pollfd fds[2];
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int i;
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struct radio_state radios[2];
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fds[0].fd=left;
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fds[0].events=POLLIN;
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fds[1].fd=right;
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fds[1].events=POLLIN;
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bzero(&radios,sizeof radios);
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int i;
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for (i=0;i<2;i++){
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radios[i].fd=posix_openpt(O_RDWR|O_NOCTTY);
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grantpt(radios[i].fd);
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unlockpt(radios[i].fd);
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fcntl(radios[i].fd,F_SETFL,fcntl(radios[i].fd, F_GETFL, NULL)|O_NONBLOCK);
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fprintf(stdout,"%s\n",ptsname(radios[i].fd));
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fds[i].fd = radios[i].fd;
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}
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radios[0].name="left";
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radios[1].name="right";
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fflush(stdout);
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while(1) {
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poll(fds,2,10);
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updateState(left,&left_state,right);
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updateState(right,&right_state,left);
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for(i=0;i<2;i++) {
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fds[i].revents=0;
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if (fds[i].revents&~POLLIN)
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printf("revents %x\n", fds[i].revents);
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// what events do we need to poll for? how long can we block?
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long long now = gettime_ms();
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long long next_event = now+10000;
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for (i=0;i<2;i++){
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// always watch for incoming data, though we will throw it away if we run out of buffer space
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fds[i].events = POLLIN;
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// if we have data to write data, watch for POLLOUT too.
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if (radios[i].rxb_len)
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fds[i].events |= POLLOUT;
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if (radios[i].rssi_output && next_event > radios[i].next_rssi_time_ms)
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next_event = radios[i].next_rssi_time_ms;
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if (radios[i].state==STATE_PLUSPLUSPLUS && next_event > radios[i].last_char_ms+1000)
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next_event = radios[i].last_char_ms+1000;
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if (radios[i].txb_len && next_event > next_transmit_time)
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next_event = next_transmit_time;
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}
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int delay = next_event - now;
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if (delay<0)
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delay=0;
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poll(fds,2,delay);
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for (i=0;i<2;i++){
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|
||||
if (fds[i].revents & POLLIN)
|
||||
read_bytes(&radios[i]);
|
||||
|
||||
if (fds[i].revents & POLLOUT)
|
||||
write_bytes(&radios[i]);
|
||||
|
||||
now = gettime_ms();
|
||||
if (radios[i].rssi_output && now >= radios[i].next_rssi_time_ms){
|
||||
if (append_bytes(&radios[i], "L/R RSSI: 200/190 L/R noise: 80/70 pkts: 10 txe=0 rxe=0 stx=0 srx=0 ecc=0/0 temp=42 dco=0\r\n", -1)>0)
|
||||
radios[i].next_rssi_time_ms=now+1000;
|
||||
}
|
||||
|
||||
if (radios[i].state==STATE_PLUSPLUSPLUS && now >= radios[i].last_char_ms+1000){
|
||||
fprintf(stderr, "Detected +++ from %s\n",radios[i].name);
|
||||
if (append_bytes(&radios[i], "OK\r\n", -1)>0)
|
||||
radios[i].state=STATE_COMMAND;
|
||||
}
|
||||
}
|
||||
|
||||
if (now >= next_transmit_time)
|
||||
transfer_bytes(radios);
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
@ -218,7 +218,7 @@ setup_simulate_extender() {
|
||||
setup_servald
|
||||
assert_no_servald_processes
|
||||
foreach_instance +A +B create_single_identity
|
||||
$servald_build_root/fakeradio > "$SERVALD_VAR/radioout" 2> "$SERVALD_VAR/radioerr" &
|
||||
$servald_build_root/fakeradio 1 10000000 > "$SERVALD_VAR/radioout" 2> "$SERVALD_VAR/radioerr" &
|
||||
FAKERADIO_PID=$!
|
||||
sleep 1
|
||||
local END1=`head "$SERVALD_VAR/radioout" -n 1`
|
||||
|
||||
Loading…
Reference in New Issue
Block a user