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serval-dna/slip.c
Jeremy Lakeman 2a5ba97b48 Add rhizome test over fakeradio
2013-09-13 14:02:35 +09:30

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/*
Serval Distributed Numbering Architecture (DNA)
Copyright (C) 2012 Paul Gardner-Stephen
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*/
#include "serval.h"
#include "conf.h"
#include "log.h"
#define DEBUG_packet_visualise(M,P,N) logServalPacket(LOG_LEVEL_DEBUG, __WHENCE__, (M), (P), (N))
/* SLIP-style escape characters used for serial packet radio interfaces */
#define SLIP_END 0xc0
#define SLIP_ESC 0xdb
#define SLIP_0a 0x0a
#define SLIP_0d 0x0d
#define SLIP_0f 0x0f
#define SLIP_1b 0x1b
#define SLIP_ESC_END 0xdc
#define SLIP_ESC_ESC 0xdd
#define SLIP_ESC_0a 0x7a
#define SLIP_ESC_0d 0x7d
#define SLIP_ESC_0f 0x7f
#define SLIP_ESC_1b 0x6b
/* interface decoder state bits */
#define DC_VALID 1
#define DC_ESC 2
static int encode_slip(const unsigned char *src, int src_bytes, unsigned char *dst, int dst_len)
{
int i, offset=0;
for (i=0;i<src_bytes;i++){
if (offset+3>dst_len)
return WHY("Dest buffer full");
switch(src[i]) {
case SLIP_END:
dst[offset++]=SLIP_ESC;
dst[offset++]=SLIP_ESC_END;
break;
case SLIP_ESC:
dst[offset++]=SLIP_ESC;
dst[offset++]=SLIP_ESC_ESC;
break;
case SLIP_0a:
dst[offset++]=SLIP_ESC;
dst[offset++]=SLIP_ESC_0a;
break;
case SLIP_0d:
dst[offset++]=SLIP_ESC;
dst[offset++]=SLIP_ESC_0d;
break;
case SLIP_0f:
dst[offset++]=SLIP_ESC;
dst[offset++]=SLIP_ESC_0f;
break;
case SLIP_1b:
dst[offset++]=SLIP_ESC;
dst[offset++]=SLIP_ESC_1b;
break;
default:
dst[offset++]=src[i];
}
}
return offset;
}
int slip_encode(int format,
const unsigned char *src, int src_bytes, unsigned char *dst, int dst_len)
{
switch(format) {
case SLIP_FORMAT_SLIP:
{
int offset=0;
if (offset+2>dst_len)
return WHY("Dest buffer full");
dst[offset++]=SLIP_END;
int ret=encode_slip(src, src_bytes, dst + offset, dst_len - offset);
if (ret<0)
return ret;
offset+=ret;
unsigned char crc[4];
write_uint32(crc, Crc32_ComputeBuf( 0, src, src_bytes));
ret=encode_slip(crc, 4, dst + offset, dst_len - offset);
if (ret<0)
return ret;
offset+=ret;
dst[offset++]=SLIP_END;
return offset;
}
case SLIP_FORMAT_UPPER7:
/*
The purpose of this encoder is to work nicely with the RFD900 radios,
including allowing the reception of RSSI information in the middle of
packets.
RSSI reports look like:
L/R RSSI: 48/0 L/R noise: 62/0 pkts: 0 txe=0 rxe=0 stx=0 srx=0 ecc=0/0 temp=21 dco=0
So we are using 0x80-0xff to hold data, and { and } to frame packets.
*/
if (config.debug.slip)
dump("pre-slipped packet",src,src_bytes);
{
if (src_bytes<1) return 0;
if (src_bytes>0x3fff)
return WHYF("UPPER7 SLIP encoder packets must be <=0x3fff bytes");
if (dst_len<(9+src_bytes+(src_bytes/7)+1))
return WHYF("UPPER7 SLIP encoder requires 9+(8/7)*bytes to encode");
int i,j;
int out_len=0;
// Start of packet marker
dst[out_len++]='{';
// Length of (unencoded) packet
dst[out_len++]=0x80+((src_bytes>>7)&0x7f);
dst[out_len++]=0x80+((src_bytes>>0)&0x7f);
// Add 32-bit CRC
// (putting the CRC at the front allows it to be calculated progressively
// on the receiver side, if we decide to support that)
uint32_t crc=Crc32_ComputeBuf( 0, src, src_bytes);
dst[out_len++]=0x80|((crc>>25)&0x7f);
dst[out_len++]=0x80|((crc>>(25-7))&0x7f);
dst[out_len++]=0x80|((crc>>(25-7-7))&0x7f);
dst[out_len++]=0x80|((crc>>(25-7-7-7))&0x7f);
dst[out_len++]=0x80|((crc>>0)&0x7f);
for(i=0;i<src_bytes;i+=7)
{
// Create 8 bytes of output consisting of 8x7 bits
// Generate vector of 7 bytes to encode
unsigned char v[7];
for(j=0;j<7&&i+j<src_bytes;j++) v[j]=src[i+j];
for(;j<7;j++) v[j]=0;
if (out_len+8>dst_len)
return WHYF("Ran out of space in UPPER7 SLIP encoder (used all %d bytes after encoding %d of %d bytes)",
dst_len,i,src_bytes);
// We could use a nice for loop to do this, but for 8 bytes, let's
// just do it explicitly.
dst[out_len++]=0x80| (v[0]>>1);
dst[out_len++]=0x80|((v[0]&0x01)<<6)|(v[1]>>2);
dst[out_len++]=0x80|((v[1]&0x03)<<5)|(v[2]>>3);
dst[out_len++]=0x80|((v[2]&0x07)<<4)|(v[3]>>4);
dst[out_len++]=0x80|((v[3]&0x0f)<<3)|(v[4]>>5);
dst[out_len++]=0x80|((v[4]&0x1f)<<2)|(v[5]>>6);
dst[out_len++]=0x80|((v[5]&0x3f)<<1)|(v[6]>>7);
dst[out_len++]=0x80|((v[6]&0x7f)<<0);
}
// Mark end of packet
dst[out_len++]='}';
// Detect fatal miscalculations on byte counts
if (out_len>dst_len) {
FATALF("overran output buffer in SLIP UPPER7 encapsulation of packet (used %d of %d bytes)",out_len,dst_len);
}
return out_len;
}
default:
return WHYF("Unsupported slip encoding #%d",format);
}
}
unsigned long long last_rssi_time=0;
int last_radio_rssi=-999;
int last_radio_temperature=-999;
int last_radio_rxpackets=0;
int parse_rfd900_rssi(char *s)
{
int lrssi,rrssi,lnoise,rnoise,rxpackets,temp;
// L/R RSSI: 48/0 L/R noise: 62/0 pkts: 0 txe=0 rxe=0 stx=0 srx=0 ecc=0/0 temp=21 dco=0
if (sscanf(s,"L/R RSSI: %d/%d L/R noise: %d/%d pkts: %d txe=%*d rxe=%*d stx=%*d srx=%*d ecc=%*d/%*d temp=%d dco=%*d",
&lrssi,&rrssi,&lnoise,&rnoise,&rxpackets, &temp)==6)
{
int lmargin=(lrssi-lnoise)/1.9;
int rmargin=(rrssi-rnoise)/1.9;
int maxmargin=lmargin; if (rmargin>maxmargin) maxmargin=rmargin;
last_radio_rssi=maxmargin;
last_radio_temperature=temp;
last_radio_rxpackets=rxpackets;
if (gettime_ms()-last_rssi_time>30000) {
INFOF("Link budget = %+ddB, temperature=%dC",maxmargin,temp);
last_rssi_time=gettime_ms();
}
}
return 0;
}
#define UPPER7_STATE_NOTINPACKET 0
#define UPPER7_STATE_L1 1
#define UPPER7_STATE_L2 2
#define UPPER7_STATE_C1 3
#define UPPER7_STATE_C2 4
#define UPPER7_STATE_C3 5
#define UPPER7_STATE_C4 6
#define UPPER7_STATE_C5 7
#define UPPER7_STATE_D0 8
#define UPPER7_STATE_D1 9
#define UPPER7_STATE_D2 10
#define UPPER7_STATE_D3 11
#define UPPER7_STATE_D4 12
#define UPPER7_STATE_D5 13
#define UPPER7_STATE_D6 14
#define UPPER7_STATE_D7 15
int u7d_calls=0;
int upper7_decode(struct slip_decode_state *state,unsigned char byte)
{
IN()
u7d_calls++;
if (config.debug.slipdecode)
snprintf(crash_handler_clue,1024,
"upper7_decode() call #%d: state=%d, byte=0x%02x, rssi_len=%d, dst_offset=%d",
u7d_calls,state->state,byte,state->rssi_len,state->dst_offset);
if (config.debug.slipbytestream)
WHYF("call #%d: state=%d, byte=0x%02x, rssi_len=%d, dst_offset=%d",
u7d_calls,state->state,byte,state->rssi_len,state->dst_offset);
// Parse out inline RSSI reports
if (byte=='{') {
state->state=UPPER7_STATE_L1;
state->packet_length=0;
RETURN(0);
} else if (byte=='}') {
// End of packet marker -- report end of received packet to caller
// for CRC verification etc.
state->state=UPPER7_STATE_NOTINPACKET; RETURN(1);
} else if (byte>=' '&&byte<=0x7f) {
if (state->rssi_len<0) state->rssi_len=0;
if (state->rssi_len<RSSI_TEXT_SIZE)
state->rssi_text[state->rssi_len++]=byte;
RETURN(0);
} else if (byte=='\r'||byte=='\n') {
if (state->rssi_len>=RSSI_TEXT_SIZE) state->rssi_len=RSSI_TEXT_SIZE-1;
if (state->rssi_len<0) state->rssi_len=0;
state->rssi_text[state->rssi_len]=0;
parse_rfd900_rssi(state->rssi_text);
state->rssi_len=0;
}
// Non-data bytes (none currently used, but we need to catch them before
// moving onto processing data bytes)
if (byte<0x80) {
RETURN(0);
}
// Data bytes and packet fields
byte&=0x7f;
if (state->packet_length>=OVERLAY_INTERFACE_RX_BUFFER_SIZE
||(state->dst_offset+7)>=OVERLAY_INTERFACE_RX_BUFFER_SIZE
||state->dst_offset<0)
{
WARNF("state=%p, state->dst_offset=%d, ->packet_length=%d, ->state=%d. State reset.",
state,state->dst_offset,state->packet_length,state->state);
state->state=UPPER7_STATE_NOTINPACKET;
state->dst_offset=0;
state->packet_length=0;
RETURN(0);
}
switch(state->state) {
case UPPER7_STATE_NOTINPACKET: RETURN(0);
case UPPER7_STATE_L1: state->packet_length=byte<<7; state->state++; RETURN(0);
case UPPER7_STATE_L2: state->packet_length|=byte;
// Make sure packet length can fit in RX buffer, including that we might
// need upto 7 bytes extra temporary space due to blocking
if ((state->packet_length+7)<OVERLAY_INTERFACE_RX_BUFFER_SIZE) {
state->state++;
state->dst_offset=0;
} else {
if (config.debug.packetradio)
DEBUGF("Ignoring jumbo packet of %d bytes",state->packet_length);
state->state=UPPER7_STATE_NOTINPACKET;
}
RETURN(0);
case UPPER7_STATE_C1: state->crc=byte<<25; state->state++; RETURN(0);
case UPPER7_STATE_C2: state->crc|=byte<<(25-7); state->state++; RETURN(0);
case UPPER7_STATE_C3: state->crc|=byte<<(25-7-7); state->state++; RETURN(0);
case UPPER7_STATE_C4: state->crc|=byte<<(25-7-7-7); state->state++; RETURN(0);
case UPPER7_STATE_C5: state->crc|=byte<<0; state->state++; RETURN(0);
case UPPER7_STATE_D0:
if (state->packet_length>=OVERLAY_INTERFACE_RX_BUFFER_SIZE
||(state->dst_offset+7)>=OVERLAY_INTERFACE_RX_BUFFER_SIZE
||state->dst_offset<0)
{
WARNF("state->dst_offset=%d, ->packet_length=%d, ->state=%d. State reset (again).",
state->dst_offset,state->packet_length,state->state);
state->state=UPPER7_STATE_NOTINPACKET;
state->dst_offset=0;
state->packet_length=0;
RETURN(0);
}
state->dst[state->dst_offset]=byte<<1;
state->state++;
RETURN(0);
case UPPER7_STATE_D1:
state->dst[state->dst_offset+0]|=(byte>>6)&0x01;
state->dst[state->dst_offset+1]=(byte<<2);
state->state++;
RETURN(0);
case UPPER7_STATE_D2:
state->dst[state->dst_offset+1]|=(byte>>5)&0x03;
state->dst[state->dst_offset+2]=(byte<<3);
state->state++;
RETURN(0);
case UPPER7_STATE_D3:
state->dst[state->dst_offset+2]|=(byte>>4)&0x07;
state->dst[state->dst_offset+3]=(byte<<4);
state->state++;
RETURN(0);
case UPPER7_STATE_D4:
state->dst[state->dst_offset+3]|=(byte>>3)&0x0f;
state->dst[state->dst_offset+4]=(byte<<5);
state->state++;
RETURN(0);
case UPPER7_STATE_D5:
state->dst[state->dst_offset+4]|=(byte>>2)&0x1f;
state->dst[state->dst_offset+5]=(byte<<6);
state->state++;
RETURN(0);
case UPPER7_STATE_D6:
state->dst[state->dst_offset+5]|=(byte>>1)&0x3f;
state->dst[state->dst_offset+6]=(byte<<7);
state->state++;
RETURN(0);
case UPPER7_STATE_D7:
state->dst[state->dst_offset+6]|=(byte>>0)&0x7f;
state->dst_offset+=7;
state->state=UPPER7_STATE_D0;
RETURN(0);
default:
state->state=UPPER7_STATE_NOTINPACKET;
RETURN(0);
}
OUT();
}
/* state->src and state->src_size contain the freshly read bytes
we must accumulate any partial state between calls.
*/
int slip_decode(struct slip_decode_state *state)
{
switch(state->encapsulator) {
case SLIP_FORMAT_MAVLINK:
{
for(;state->src_offset<state->src_size;state->src_offset++) {
// flag complete reception of a packet
if (mavlink_decode(state,state->src[state->src_offset])==1) {
// We have to increment src_offset manually here, because returning
// prevents the post-increment in the for loop from triggering
state->src_offset++;
if (config.debug.mavlink_payloads||config.debug.interactive_io) {
DEBUG_packet_visualise("Received packet",state->dst,state->packet_length);
}
if (config.debug.interactive_io) {
fprintf(stderr,"Press ENTER to continue..."); fflush(stderr);
char buffer[80];
if (!fgets(buffer,80,stdin))
FATAL_perror("calling fgets");
}
return 1;
}
}
}
return 0;
break;
case SLIP_FORMAT_SLIP:
{
/*
Examine received bytes for end of packet marker.
The challenge is that we need to make sure that the packet encapsulation
is self-synchronising in the event that a data error occurs (including
failure to receive an arbitrary number of bytes).
*/
while(state->src_offset < state->src_size){
// clear the valid bit flag if we hit the end of the destination buffer
if (state->dst_offset>=sizeof(state->dst))
state->state&=~DC_VALID;
if (state->state&DC_ESC){
// clear escape bit
state->state&=~DC_ESC;
switch(state->src[state->src_offset]) {
case SLIP_ESC_END: // escaped END byte
state->dst[state->dst_offset++]=SLIP_END;
break;
case SLIP_ESC_ESC: // escaped escape character
state->dst[state->dst_offset++]=SLIP_ESC;
break;
case SLIP_ESC_0a:
state->dst[state->dst_offset++]=SLIP_0a;
break;
case SLIP_ESC_0d:
state->dst[state->dst_offset++]=SLIP_0d;
break;
case SLIP_ESC_0f:
state->dst[state->dst_offset++]=SLIP_0f;
break;
case SLIP_ESC_1b:
state->dst[state->dst_offset++]=SLIP_1b;
break;
default: /* Unknown escape character. This is an error. */
if (config.debug.packetradio)
WARNF("Packet radio stream contained illegal escaped byte 0x%02x -- resetting parser.",state->src[state->src_offset]);
state->dst_offset=0;
// skip everything until the next SLIP_END
state->state=0;
}
}else{
// non-escape character
switch(state->src[state->src_offset]) {
case SLIP_ESC:
// set escape bit
state->state|=DC_ESC;
break;
case SLIP_END:
if (state->dst_offset>4){
uint32_t src_crc = read_uint32(state->dst + state->dst_offset -4);
uint32_t crc=Crc32_ComputeBuf( 0, state->dst, state->dst_offset -4);
if (src_crc != crc){
DEBUGF("Dropping frame due to CRC failure (%08x vs %08x)", src_crc, crc);
dump("frame", state->dst, state->dst_offset);
state->dst_offset=0;
state->state=0;
break;
}
// return once we've successfully parsed a valid packet that isn't empty
state->packet_length=state->dst_offset -4;
return 1;
}
// set the valid flag to begin parsing the next packet
state->state=DC_VALID;
break;
default:
if (state->state&DC_VALID)
state->dst[state->dst_offset++]=state->src[state->src_offset];
}
}
state->src_offset++;
}
return 0;
}
case SLIP_FORMAT_UPPER7:
{
if (config.debug.slip) {
if (state->rssi_len<0) state->rssi_len=0;
if (state->rssi_len>=RSSI_TEXT_SIZE) state->rssi_len=RSSI_TEXT_SIZE-1;
state->rssi_text[state->rssi_len]=0;
DEBUGF("RX state=%d, rssi_len=%d, rssi_text='%s',src=%p, src_size=%d",
state->state,state->rssi_len,state->rssi_text,
state->src,state->src_size);
}
while(state->src_offset<state->src_size) {
if (upper7_decode(state,state->src[state->src_offset++])==1) {
if (config.debug.slip) {
dump("de-slipped packet",state->dst,state->packet_length);
}
// Check that CRC matches
uint32_t crc=Crc32_ComputeBuf( 0, state->dst, state->packet_length);
if (crc!=state->crc) {
if (config.debug.packetradio||config.debug.rejecteddata)
DEBUGF("Rejected packet of %d bytes due to CRC mis-match (%08x vs %08x)",
state->packet_length,crc,state->crc);
if (config.debug.rejecteddata) {
dump("bad packet",state->dst,state->packet_length);
}
} else {
if (config.debug.packetradio)
DEBUGF("Accepted packet of %d bytes (CRC ok)",state->packet_length);
return 1;
}
}
}
}
return 0;
default:
return WHYF("Unknown SLIP encapsulation format #%d",state->encapsulator);
}
}
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