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retries for API maxstream modems

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This commit is contained in:
Pascal Brisset
2006-10-20 07:07:45 +00:00
parent 44a19694fa
commit 3c3106b23a
1 changed files with 43 additions and 7 deletions
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sw/ground_segment/tmtc/link.ml
+43 -7
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@@ -36,7 +36,9 @@ type transport =
| Wavecard
| XBee
type ground_device = { fd : Unix.file_descr; transport : transport ; baud_rate : int}
type ground_device = {
fd : Unix.file_descr; transport : transport ; baud_rate : int
}
type airborne_device =
WavecardDevice of W.addr
@@ -46,7 +48,6 @@ type airborne_device =
let my_id = 0
let ios = int_of_string
let (//) = Filename.concat
let conf = Env.paparazzi_home // "conf"
@@ -277,6 +278,9 @@ end (** Wc module *)
module XB = struct (** XBee module *)
let nb_retries = ref 10
let retry_delay = 200 (* ms *)
let at_init_period = 2000 (* ms *)
let my_addr = ref 0x100
@@ -288,6 +292,7 @@ module XB = struct (** XBee module *)
fprintf o "%s%!" (Xbee.at_set_baud_rate device.baud_rate);
fprintf o "%s%!" Xbee.at_api_enable;
fprintf o "%s%!" Xbee.at_exit;
fprintf o "ATRR14\r%!";
Debug.trace 'x' "end init xbee"
let init = fun device ->
@@ -296,7 +301,19 @@ module XB = struct (** XBee module *)
fprintf o "%s%!" Xbee.at_command_sequence;
ignore (Glib.Timeout.add at_init_period (fun () -> switch_to_api device; false))
let use_message = fun frame_data ->
(* Array of sent packets for retry: (packet, nb of retries) *)
let packets = Array.create 256 ("", -1)
(* Frame id generation > 0 and < 256 *)
let gen_frame_id =
let x = ref 0 in
fun () ->
incr x;
if !x >= 256 then
x := 1;
!x
let use_message = fun device frame_data ->
let frame_data = Serial.string_of_payload frame_data in
Debug.trace 'x' (Debug.xprint frame_data);
match Xbee.api_parse_frame frame_data with
@@ -305,7 +322,20 @@ module XB = struct (** XBee module *)
| Xbee.AT_Command_Response (frame_id, comm, status, value) ->
Debug.trace 'x' (sprintf "getting XBee AT command response: %d %s %d %s" frame_id comm status (Debug.xprint value))
| Xbee.TX_Status (frame_id, status) ->
Debug.trace 'x' (sprintf "getting XBee TX status: %d %d" frame_id status)
Debug.trace 'x' (sprintf "getting XBee TX status: %d %d" frame_id status);
if status = 1 then (* no ack, retry *)
let (packet, nb_prev_retries) = packets.(frame_id) in
if nb_prev_retries < !nb_retries then begin
packets.(frame_id) <- (packet, nb_prev_retries+1);
let o = Unix.out_channel_of_descr device.fd in
ignore (GMain.Timeout.add (10 + Random.int retry_delay)
(fun _ ->
fprintf o "%s%!" packet;
Debug.call 'y' (fun f -> fprintf f "Resending (%d) %s\n" (nb_prev_retries+1) (Debug.xprint packet));
false));
end else
fprintf stderr "FIXME: nb_retries exceeded\n"
| Xbee.RX_Packet_64 (addr64, rssi, options, data) ->
Debug.trace 'x' (sprintf "getting XBee RX64: %Lx %d %d %s" addr64 rssi options (Debug.xprint data));
use_tele_message (Serial.payload_of_string data)
@@ -316,11 +346,16 @@ module XB = struct (** XBee module *)
let send = fun ac_id device rf_data ->
let rf_data = Serial.string_of_payload rf_data in
let frame_data = Xbee.api_tx16 ac_id rf_data in
let frame_id = gen_frame_id () in
let frame_data = Xbee.api_tx16 ~frame_id ac_id rf_data in
let packet = Xbee.Protocol.packet (Serial.payload_of_string frame_data) in
(* Store the packet for further retry *)
packets.(frame_id) <- (packet, 1);
let o = Unix.out_channel_of_descr device.fd in
fprintf o "%s%!" packet;
Debug.call 'y' (fun f -> fprintf f "link sending: (%s) %s\n" (Debug.xprint rf_data) (Debug.xprint packet));
Debug.call 'y' (fun f -> fprintf f "link sending (%d): (%s) %s\n" frame_id (Debug.xprint rf_data) (Debug.xprint packet));
end (** XBee module *)
@@ -496,7 +531,7 @@ let parse_of_transport device = function
fun buf -> Wavecard.parse buf ~ack:(Wc.send_ack device.fd) (Wc.use_message)
| XBee ->
let module XbeeTransport = Serial.Transport (Xbee.Protocol) in
XbeeTransport.parse XB.use_message
XbeeTransport.parse (XB.use_message device)
let _ =
@@ -514,6 +549,7 @@ let _ =
"-d", Arg.Set_string port, (sprintf "<port> Default is %s" !port);
"-rssi", Arg.Set_int rssi_id, (sprintf "<ac_id> Periodically requests rssi level from the distant wavecard");
"-xbee_addr", Arg.Set_int XB.my_addr, (sprintf "<my_addr> (%d)" !XB.my_addr);
"-xbee_retries", Arg.Set_int XB.my_addr, (sprintf "<my_addr> (%d)" !XB.my_addr);
"-transport", Arg.Set_string transport, (sprintf "<transport> Available protocols are modem,pprz,wavecard and xbee. Default is %s" !transport);
"-uplink", Arg.Set uplink, (sprintf "Uses the link as uplink also.");
"-dtr", Arg.Set dtr, "Set serial DTR to false (aerocomm)";