Merge pull request #4 from EmOne/develop

Merge from official

.github/workflows/build-test-python.yml

@@ -27,7 +27,7 @@ jobs:
       - name: Setup packages on Linux
         run: |
           sudo apt-get update
-          sudo apt-get install libzmq3-dev libsocketcan-dev
+          sudo apt-get install libzmq3-dev libsocketcan-dev socat
 
       - name: Setup build system packages on Linux
         run: |
@@ -59,6 +59,14 @@ jobs:
       - name: Run ZMQ Python binding Test
         run: |
           build/examples/zmqproxy &
-          PYTHONPATH=builddir python3 examples/python_bindings_example_server.py &
-          PYTHONPATH=builddir python3 examples/python_bindings_example_client.py -z localhost -s 27 -a 2
+          PYTHONPATH=builddir python3 examples/python_bindings_example_server.py -z localhost -a 3 &
+          PYTHONPATH=builddir python3 examples/python_bindings_example_client.py -z localhost -s 3 -a 2
           pkill zmqproxy
+
+      - name: Run KISS Python binding Test
+        run: |
+          socat -d -d -d pty,raw,echo=0,link=/tmp/pty1 pty,raw,echo=0,link=/tmp/pty2 &
+          sleep 1
+          PYTHONPATH=builddir python3 examples/python_bindings_example_server.py -k /tmp/pty2 -a 1 &
+          PYTHONPATH=builddir python3 examples/python_bindings_example_client.py -k /tmp/pty1 -a 2 -s 1
+          pkill socat

.github/workflows/build-test.yml

@@ -24,7 +24,8 @@ jobs:
         if: ${{ runner.os == 'Linux' }}
         run: |
           sudo apt-get update
-          sudo apt-get install libzmq3-dev libsocketcan-dev socat
+          sudo apt-get install libzmq3-dev libsocketcan-dev socat iproute2
+          sudo apt-get install linux-modules-extra-$(uname -r)
 
       - name: Setup build system packages on Linux
         if: ${{ runner.os == 'Linux' && matrix.buildsystem != 'waf' }}
@@ -81,3 +82,24 @@ jobs:
           ./build/examples/csp_client -z localhost -a 2 -C 1 -T 10 &
           ./build/examples/csp_server -z localhost -a 1 -t
           pkill zmqproxy
+
+      - name: Setup vcan0
+        run: |
+          sudo modprobe vcan
+          sudo ip link add dev vcan0 type vcan
+          sudo ip link set up vcan0
+          echo "Waiting for vcan0 to be up..."
+          while ! ip -br link show vcan0 | grep -q "UP"; do
+            sleep 0.1
+          done
+          echo "vcan0 is up"
+
+      - name: Run CAN Server Test
+        run: |
+          ./build/examples/csp_server -c vcan0 -a 1 -T 10 &
+          ./build/examples/csp_client -c vcan0 -a 2 -C 1 -t
+
+      - name: Run CAN Client Test
+        run: |
+          ./build/examples/csp_client -c vcan0 -a 2 -C 1 -T 10 &
+          ./build/examples/csp_server -c vcan0 -a 1 -t

contrib/zephyr/samples/server-client/main.c

@@ -162,7 +162,7 @@ int main(void) {
 			.stopbits = 1,
 			.paritysetting = 0,
 		};
-		int error = csp_usart_open_and_add_kiss_interface(&conf, CSP_IF_KISS_DEFAULT_NAME,	&default_iface);
+		int error = csp_usart_open_and_add_kiss_interface(&conf, CSP_IF_KISS_DEFAULT_NAME, addr, &default_iface);
 		if (error != CSP_ERR_NONE) {
 			LOG_ERR("failed to add KISS interface [%s], error: %d", kiss_device, error);
 			exit(1);

examples/csp_client.c

@@ -125,12 +125,11 @@ csp_iface_t * add_interface(enum DeviceType device_type, const char * device_nam
             .stopbits = 1,
             .paritysetting = 0,
 		};
-        int error = csp_usart_open_and_add_kiss_interface(&conf, CSP_IF_KISS_DEFAULT_NAME,  &default_iface);
+        int error = csp_usart_open_and_add_kiss_interface(&conf, CSP_IF_KISS_DEFAULT_NAME, client_address, &default_iface);
         if (error != CSP_ERR_NONE) {
             csp_print("failed to add KISS interface [%s], error: %d\n", device_name, error);
             exit(1);
         }
-		default_iface->addr = client_address;
         default_iface->is_default = 1;
     }
 

examples/csp_server.c

@@ -470,12 +470,11 @@ csp_iface_t * add_interface(enum DeviceType device_type, const char * device_nam
             .stopbits = 1,
             .paritysetting = 0,
 		};
-        int error = csp_usart_open_and_add_kiss_interface(&conf, CSP_IF_KISS_DEFAULT_NAME,  &default_iface);
+        int error = csp_usart_open_and_add_kiss_interface(&conf, CSP_IF_KISS_DEFAULT_NAME, server_address, &default_iface);
         if (error != CSP_ERR_NONE) {
             csp_print("failed to add KISS interface [%s], error: %d\n", device_name, error);
             exit(1);
         }
-		default_iface->addr = server_address;
         default_iface->is_default = 1;
     }
 

examples/python_bindings_example_client.py

@@ -18,10 +18,11 @@
 import libcsp_py3 as libcsp
 
 
-def getOptions():
+def get_options():
     parser = argparse.ArgumentParser(description="Parses command.")
     parser.add_argument("-a", "--address", type=int, default=10, help="Local CSP address")
     parser.add_argument("-c", "--can", help="Add CAN interface")
+    parser.add_argument("-k", "--kiss", help="Add KISS interface")
     parser.add_argument("-z", "--zmq", help="Add ZMQ interface")
     parser.add_argument("-s", "--server-address", type=int, default=27, help="Server address")
     parser.add_argument("-R", "--routing-table", help="Routing table")
@@ -30,7 +31,7 @@ def getOptions():
 
 if __name__ == "__main__":
 
-    options = getOptions()
+    options = get_options()
 
     #initialize libcsp with params:
         # options.address - CSP address of the system (default=1)
@@ -53,7 +54,11 @@ def getOptions():
         # Format: \<address\>[/mask] \<interface\> [via][, next entry]
         # Examples: "0/0 CAN, 8 KISS, 10 I2C 10", same as "0/0 CAN, 8/5 KISS, 10/5 I2C 10"
         libcsp.rtable_load("0/0 ZMQHUB")
-
+
+    if options.kiss:
+        libcsp.kiss_init(options.kiss, options.address)
+        libcsp.rtable_load("0/0 KISS")
+
     if options.routing_table:
         # same format/use as line above
         libcsp.rtable_load(options.routing_table)

examples/python_bindings_example_server.py

@@ -15,8 +15,17 @@
 import sys
 import threading
 
+import argparse
+
 import libcsp_py3 as libcsp
 
+def get_options():
+    parser = argparse.ArgumentParser(description="Parses command.")
+    parser.add_argument("-a", "--address", type=int, default=10, help="Local CSP address")
+    parser.add_argument("-z", "--zmq", help="Add ZMQ interface")
+    parser.add_argument("-k", "--kiss", help="Add KISS interface")
+    return parser.parse_args()
+
 
 def csp_server():
     # parameters: {options} - bit flag corresponding to socket options (see "include\csp\csp_types.h" lines 167-180)
@@ -58,21 +67,21 @@ def csp_server():
                 # extract the data payload from the packet
                 # see "include\csp\csp_types.h" line 215-239 for packet structure
                 data = bytearray(libcsp.packet_get_data(packet))
-                
+
                 # get length of the data (not the whole packet, just the data length)
                 length = libcsp.packet_get_length(packet)
                 print ("got packet, len=" + str(length) + ", data=" + ''.join('{:02x}'.format(x) for x in data))
-                
+
                 # send back "input data + 1"
                 data[0] = data[0] + 1
-                
+
                 # free up a buffer to hold the reply
                 # parameters: {buffer size (# of 4-byte doublewords)}
                 reply = libcsp.buffer_get(0)
-               
+
                 # store the data into the reply buffer
                 libcsp.packet_set_data(reply, data)
-                
+
                 # Send packet as a reply
                 # uses the info (address/port) from the original packet to reply
                 # parameters:
@@ -92,6 +101,7 @@ def csp_server():
 
 if __name__ == "__main__":
 
+    options = get_options()
     #initialize libcsp with params:
         # 27              - CSP address of the system (default=1)
         # "test_service"  - Host name, returned by CSP identity requests
@@ -100,18 +110,19 @@ def csp_server():
     # See "include\csp\csp.h" - lines 42-80 for more detail
     # See "src\bindings\python\pycsp.c" - lines 128-156 for more detail
     libcsp.init("test_service", "bindings", "1.2.3")
-
-    # init zmqhub with parameters: {address (using 255 means all addresses)} {host name/ip}
-    # subscribe and publish endpoints are created on the default ports using the {host}
-    # subscribe port = 6000, subscribe port = 7000
-    libcsp.zmqhub_init(27, "localhost")
-
-    # params: 
-        # {address}         - dest address/node
-        # {netmask}         - number of bits in netmask
-        # {interface name}  - name of interface
-        # optional{via}     - associated with address
-    libcsp.rtable_set(0, 0, "ZMQHUB")
+
+    if options.zmq:
+        # add ZMQ interface - (address, host)
+        # creates publish and subrcribe endpoints from the host
+        libcsp.zmqhub_init(options.address, options.zmq)
+
+        # Format: \<address\>[/mask] \<interface\> [via][, next entry]
+        # Examples: "0/0 CAN, 8 KISS, 10 I2C 10", same as "0/0 CAN, 8/5 KISS, 10/5 I2C 10"
+        libcsp.rtable_load("0/0 ZMQHUB")
+
+    if options.kiss:
+        libcsp.kiss_init(options.kiss, options.address)
+        libcsp.rtable_load("0/0 KISS")
 
     # Parameters: {priority} - 0 (critical), 1 (high), 2 (norm), 3 (low) ---- default=2
     # Start the router task - creates routing thread

include/csp/drivers/usart.h

@@ -95,10 +95,11 @@ void csp_usart_unlock(void * driver_data);
  *
  * @param[in] conf UART configuration.
  * @param[in] ifname internface name (will be copied), or use NULL for default name.
+ * @param[in] addr CSP address of the interface.
  * @param[out] return_iface the added interface.
  * @return #CSP_ERR_NONE on success, otherwise an error code.
  */
-int csp_usart_open_and_add_kiss_interface(const csp_usart_conf_t * conf, const char * ifname, csp_iface_t ** return_iface);
+int csp_usart_open_and_add_kiss_interface(const csp_usart_conf_t * conf, const char * ifname, uint16_t addr, csp_iface_t ** return_iface);
 
 #ifdef __cplusplus
 }

src/bindings/python/pycsp.c

@@ -875,13 +875,14 @@ static PyObject * pycsp_kiss_init(PyObject * self, PyObject * args) {
 	char * device;
 	uint32_t baudrate = 500000;
 	uint32_t mtu = 512;
+	uint16_t addr;
 	const char * if_name = CSP_IF_KISS_DEFAULT_NAME;
-	if (!PyArg_ParseTuple(args, "s|IIs", &device, &baudrate, &mtu, &if_name)) {
+	if (!PyArg_ParseTuple(args, "sH|IIs", &device, &addr, &baudrate, &mtu, &if_name)) {
 		return NULL;  // TypeError is thrown
 	}
 
 	csp_usart_conf_t conf = {.device = device, .baudrate = baudrate};
-	int res = csp_usart_open_and_add_kiss_interface(&conf, if_name, NULL);
+	int res = csp_usart_open_and_add_kiss_interface(&conf, if_name, addr, NULL);
 	if (res != CSP_ERR_NONE) {
 		return PyErr_Error("csp_usart_open_and_add_kiss_interface()", res);
 	}

src/csp_qfifo.c

@@ -8,7 +8,7 @@
 
 static csp_static_queue_t qfifo_queue __noinit;
 static csp_queue_handle_t qfifo_queue_handle __noinit;
-char qfifo_queue_buffer[sizeof(csp_qfifo_t) * CSP_QFIFO_LEN] __noinit;
+static char qfifo_queue_buffer[sizeof(csp_qfifo_t) * CSP_QFIFO_LEN] __noinit;
 
 void csp_qfifo_init(void) {
 	qfifo_queue_handle = csp_queue_create_static(CSP_QFIFO_LEN, sizeof(csp_qfifo_t), qfifo_queue_buffer, &qfifo_queue);

src/csp_rdp.h

@@ -10,5 +10,3 @@ int csp_rdp_connect(csp_conn_t * conn);
 int csp_rdp_close(csp_conn_t * conn, uint8_t closed_by);
 int csp_rdp_send(csp_conn_t * conn, csp_packet_t * packet);
 int csp_rdp_check_ack(csp_conn_t * conn);
-
-void csp_rdp_conn_print(csp_conn_t * conn);

src/csp_rdp_queue.c

@@ -5,7 +5,7 @@
 
 static int __csp_rdp_queue_flush(csp_queue_handle_t queue, csp_conn_t * conn) {
 
-	int ret;
+	int ret = CSP_ERR_NONE;
 	int size;
 
 	size = csp_queue_size(queue);
@@ -85,8 +85,8 @@ void csp_rdp_queue_flush(csp_conn_t * conn) {
 		csp_queue_empty(tx_queue);
 		csp_queue_empty(rx_queue);
 	} else {
-		(void)__csp_rdp_queue_flush(conn, tx_queue);
-		(void)__csp_rdp_queue_flush(conn, rx_queue);
+		(void)__csp_rdp_queue_flush(tx_queue, conn);
+		(void)__csp_rdp_queue_flush(rx_queue, conn);
 	}
 }
 

src/csp_yaml.c

@@ -70,7 +70,7 @@ static void csp_yaml_end_if(struct data_s * data, unsigned int * dfl_addr) {
 			.stopbits = 1,
 			.paritysetting = 0,
 		};
-		int error = csp_usart_open_and_add_kiss_interface(&conf, data->name, &iface);
+		int error = csp_usart_open_and_add_kiss_interface(&conf, data->name, addr, &iface);
 		if (error != CSP_ERR_NONE) {
 			return;
 		}
@@ -206,7 +206,7 @@ void csp_yaml_init(char * filename, unsigned int * dfl_addr) {
 	csp_print("  Reading config from %s\n", filename);
 	FILE * file = fopen(filename, "rb");
 	if (file == NULL) {
-		printf("  ERROR: failed to find CSP config file\n");
+		csp_print("  ERROR: failed to find CSP config file\n");
 		return;
 	}
 

src/drivers/CMakeLists.txt

@@ -15,6 +15,7 @@ endif()
 
 if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
   target_sources(csp PRIVATE usart/usart_linux.c)
+  target_sources(csp PRIVATE eth/eth_linux.c)
 elseif(CMAKE_SYSTEM_NAME STREQUAL "Zephyr")
   target_sources(csp PRIVATE usart/usart_zephyr.c)
 endif()

src/drivers/can/can_socketcan.c

@@ -48,7 +48,7 @@ static void * socketcan_rx_thread(void * arg) {
 		timeout.tv_sec = 10;
 		int n = select(ctx->socket + 1, &input, NULL, NULL, &timeout);
 		if (n == -1) {
-			printf("CAN read error\n");
+			csp_print("CAN read error\n");
 			continue;
 		} else if (n == 0) {
 			//printf("CAN idle\n");

src/drivers/eth/eth_linux.c

@@ -98,7 +98,7 @@ int csp_eth_init(const char * device, const char * ifname, int mtu, unsigned int
     /* Open RAW socket to send on */
     if ((ctx->sockfd = socket(AF_PACKET, SOCK_RAW, htobe16(CSP_ETH_TYPE_CSP))) == -1) {
         perror("socket");
-        printf("Use command 'setcap cap_net_raw+ep ./csh'\n");
+        csp_print("Use command 'setcap cap_net_raw+ep ./csh'\n");
         return CSP_ERR_INVAL;
     }
 

src/drivers/usart/usart_kiss.c

@@ -30,7 +30,7 @@ static void kiss_driver_rx(void * user_data, uint8_t * data, size_t data_size, v
 	csp_kiss_rx(&ctx->iface, data, data_size, pxTaskWoken);
 }
 
-int csp_usart_open_and_add_kiss_interface(const csp_usart_conf_t * conf, const char * ifname, csp_iface_t ** return_iface) {
+int csp_usart_open_and_add_kiss_interface(const csp_usart_conf_t * conf, const char * ifname, uint16_t addr, csp_iface_t ** return_iface) {
 
 	if (ifname == NULL) {
 		ifname = CSP_IF_KISS_DEFAULT_NAME;
@@ -43,6 +43,7 @@ int csp_usart_open_and_add_kiss_interface(const csp_usart_conf_t * conf, const c
 
 	strncpy(ctx->name, ifname, sizeof(ctx->name) - 1);
 	ctx->iface.name = ctx->name;
+	ctx->iface.addr = addr;
 	ctx->iface.driver_data = ctx;
 	ctx->iface.interface_data = &ctx->ifdata;
 	ctx->ifdata.tx_func = kiss_driver_tx;

src/interfaces/CMakeLists.txt

@@ -5,6 +5,8 @@ target_sources(csp PRIVATE
   csp_if_tun.c
   csp_if_can.c
   csp_if_can_pbuf.c
+  csp_if_eth.c
+  csp_if_eth_pbuf.c
   )
 
 if(LIBZMQ_FOUND)

src/interfaces/csp_if_eth_pbuf.c

@@ -100,15 +100,15 @@ void csp_if_eth_pbuf_list_cleanup(csp_packet_t ** plist) {
 void csp_if_eth_pbuf_print(const char * descr, csp_packet_t * packet) {
 
     if (packet) {
-        printf("%s %p id:%u Age:%lu,%lu,%lu flen:%u\n",
+        csp_print("%s %p id:%u Age:%lu,%lu,%lu flen:%u\n",
                descr, (void *)packet,
                (unsigned)packet->cfpid,
                (unsigned long)csp_get_ms(),
                (unsigned long)packet->last_used,
                (unsigned long)(csp_get_ms() - packet->last_used),
                (unsigned)packet->frame_length);
     } else {
-        printf("Packet is null\n");
+        csp_print("Packet is null\n");
     }
 
 }

src/interfaces/csp_if_kiss.c

@@ -101,6 +101,7 @@ void csp_kiss_rx(csp_iface_t * iface, const uint8_t * buf, size_t len, void * px
 				/* If no more memory, skip frame */
 				if (ifdata->rx_packet == NULL) {
 					ifdata->rx_mode = KISS_MODE_SKIP_FRAME;
+					iface->drop++;
 					break;
 				}