Keep the colleague's microbu-esp32c5 tree in this repository
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
This commit is contained in:
Ashin Walpola
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#include "autotalks.hpp"
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#include <vanetza/access/g5_link_layer.hpp>
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#include <vanetza/common/serialization_buffer.hpp>
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#include <vanetza/access/ethertype.hpp>
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#include <pthread.h>
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#include <iostream>
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#include <atlk/sdk.h>
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#include <atlk/v2x.h>
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#include <atlk/v2x_service.h>
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#include <atlk/ddm_service.h>
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#include <atlk/wdm.h>
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#include <atlk/dsm.h>
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#include <atlk/wdm_service.h>
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#include <atlk/log_service.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <extern/ref_sys.h>
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#include <extern/target_type.h>
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#include <extern/time_sync.h>
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#ifdef __cplusplus
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}
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#endif
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#include "autotalks_link.hpp"
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// Update this if needed
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#define SECTON_NET_NAME "enx0002ccf00006"
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namespace vanetza
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{
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namespace autotalks
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{
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v2x_socket_t* v2x_socket_ptr;
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bool endRxThread = false;
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static pthread_t v2x_rx_thread;
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static uint8_t v2x_rx_buffer[2048];
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static void* v2x_rx_thread_entry(void * arg);
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int autotalks_device_init(void)
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{
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atlk_rc_t rc;
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const char* arg[] = {NULL, SECTON_NET_NAME};
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/** Reference system initialization */
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#if defined(CRATON_2)
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rc = ref_sys_init_ex(1, (char**) arg);
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#elif defined(SECTON)
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rc = ref_sys_init_ex(2, (char**) arg);
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#else
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#error Wrong configuration selected.
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#endif
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// TODO //
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// TODO: Take initialization from Autotalks basic example's main function //
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// TODO //
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#error "Autotalks device initialization code is missing"
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v2x_socket_t *v2x_if[IF_INDEX_MAX];
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// Assign the socket to the global parameter
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v2x_socket_ptr = v2x_if[0];
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return EXIT_SUCCESS;
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}
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int autotalks_device_deinit(void)
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{
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endRxThread = true;
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if (v2x_socket_ptr)
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v2x_socket_delete(v2x_socket_ptr);
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atlk_rc_t ret;
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ret = time_sync_deinit();
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if (atlk_error(ret))
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fprintf(stderr, "Fail of time_sync_deinit(). Error: %s\n", atlk_rc_to_str(ret));
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ret = ref_sys_deinit();
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if (atlk_error(ret))
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fprintf(stderr, "Fail of ref_sys_deinit(). Error: %s\n", atlk_rc_to_str(ret));
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return EXIT_SUCCESS;
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}
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atlk_rc_t autotalks_send(const void *data_ptr, size_t data_size,
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const v2x_send_params_t *params_ptr, const atlk_wait_t *wait_ptr)
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{
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atlk_rc_t ret = 0;
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if (v2x_socket_ptr == NULL)
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fprintf(stderr, "Invalid socket.\n");
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else if (v2x_socket_ptr != NULL)
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ret = v2x_send(v2x_socket_ptr, data_ptr, data_size, params_ptr, wait_ptr);
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// Check the return value
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if (atlk_error(ret)) {
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fprintf(stderr, "v2x_send failed: %d\n", ret);
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}
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return ret;
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}
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atlk_rc_t autotalks_receive(void *data_ptr, size_t *data_size_ptr,
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v2x_receive_params_t *params_ptr, const atlk_wait_t *wait_ptr)
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{
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return v2x_receive(v2x_socket_ptr, data_ptr, data_size_ptr, params_ptr, wait_ptr);
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}
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vanetza::MacAddress num_to_mac(eui48_t addr)
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{
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return vanetza::MacAddress({addr.octets[0], addr.octets[1], addr.octets[2], addr.octets[3], addr.octets[4], addr.octets[5]});
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}
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eui48_t mac_to_num(vanetza::MacAddress addr)
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{
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eui48_t ret;
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ret.octets[0] = addr.octets[0];
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ret.octets[1] = addr.octets[1];
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ret.octets[2] = addr.octets[2];
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ret.octets[3] = addr.octets[3];
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ret.octets[4] = addr.octets[4];
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ret.octets[5] = addr.octets[5];
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return ret;
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}
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void insert_autotalks_header_transmit(const vanetza::access::DataRequest& request, std::unique_ptr<vanetza::ChunkPacket>& packet, uint8_t* pData, uint16_t length)
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{
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// There cannot be an assignment as three dots (...) are gcc extension that does not work in g++
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// => initialize the structure manually
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//v2x_send_params_t send_params = V2X_SEND_PARAMS_INIT;
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v2x_send_params_t send_params;
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send_params.source_address = EUI48_ZERO_INIT;
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send_params.dest_address = EUI48_BCAST_INIT;
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send_params.user_priority = USER_PRIORITY_NA;
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send_params.channel_id = V2X_CHANNEL_ID_INIT;
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send_params.datarate = DATARATE_NA;
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send_params.power_dbm8 = POWER_DBM8_NA;
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send_params.transmit_diversity_power_dbm8 = POWER_DBM8_NA;
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send_params.expiry_time_ms = V2X_EXPIRY_TIME_MS_NA;
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for (uint8_t i = 0; i < RF_INDEX_MAX; i++)
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send_params.comp_data[i] = COMPENSATOR_DATA_INIT;
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vanetza::access::G5LinkLayer link_layer;
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vanetza::access::ieee802::dot11::QosDataHeader& mac_header = link_layer.mac_header;
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mac_header.destination = request.destination_addr;
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mac_header.source = request.source_addr;
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mac_header.qos_control.user_priority(request.access_category);
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send_params.dest_address = mac_to_num(request.destination_addr);
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send_params.source_address = mac_to_num(request.source_addr);
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//mac_header.qos_control.user_priority(request.access_category);
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//send_params.user_priority = mac_header.qos_control.raw; TODO later
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/* Set TX power to -10 dB */
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send_params.power_dbm8 = -80;
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/* Set user priority */
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send_params.user_priority = 0;
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/* Set default data rate */
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send_params.datarate = DATARATE_DEFAULT_VALUE;
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vanetza::ByteBuffer link_layer_buffer;
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vanetza::serialize_into_buffer(link_layer, link_layer_buffer);
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vanetza::ByteBuffer buffer;
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packet->layer(vanetza::OsiLayer::Physical).convert(buffer);
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autotalks_send(pData, length, &send_params, NULL);
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}
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boost::optional<vanetza::EthernetHeader> strip_autotalks_rx_header(vanetza::CohesivePacket& packet, v2x_receive_params_t rx_params)
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{
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vanetza::access::G5LinkLayer link_layer;
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vanetza::ByteBuffer link_layer_buffer;
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link_layer.mac_header.destination = num_to_mac(rx_params.dest_address);
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link_layer.mac_header.source = num_to_mac(rx_params.source_address);
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link_layer.llc_snap_header.protocol_id = vanetza::access::ethertype::GeoNetworking;
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vanetza::serialize_into_buffer(link_layer, link_layer_buffer);
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assert(link_layer_buffer.size() == vanetza::access::G5LinkLayer::length_bytes);
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const vanetza::ByteBuffer& data_buffer = packet.buffer();
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vanetza::ByteBuffer final;
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for (auto i : link_layer_buffer)
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final.push_back(i);
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for (auto i : data_buffer)
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final.push_back(i);
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vanetza::CohesivePacket finalPkt(final, vanetza::OsiLayer::Physical);
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finalPkt.set_boundary(vanetza::OsiLayer::Physical, 0);
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finalPkt.set_boundary(vanetza::OsiLayer::Link, vanetza::access::G5LinkLayer::length_bytes);
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finalPkt.set_boundary(vanetza::OsiLayer::Network, packet.size());
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packet.set_boundary(vanetza::OsiLayer::Physical, 0);
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packet.set_boundary(vanetza::OsiLayer::Link, vanetza::access::G5LinkLayer::length_bytes);
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packet = finalPkt;
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vanetza::EthernetHeader eth;
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eth.destination = num_to_mac(rx_params.dest_address);
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eth.source = num_to_mac(rx_params.source_address);
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eth.type = vanetza::access::ethertype::GeoNetworking; // This is set in the Autotalks API initialization
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return eth;
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}
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static void* v2x_rx_thread_entry(void * arg)
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{
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AutotalksLink* link = (AutotalksLink*) arg;
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atlk_rc_t rc;
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(void) arg;
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v2x_receive_params_t rx_params;
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size_t rx_buffer_size;
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while (!endRxThread) {
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rx_buffer_size = sizeof(v2x_rx_buffer);
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atlk_wait_t wait = {ATLK_WAIT_TYPE_INTERVAL, 100000};
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rc = autotalks_receive(v2x_rx_buffer, &rx_buffer_size, &rx_params, &wait);
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if (rc == ATLK_E_TIMEOUT)
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continue;
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else if (atlk_error(rc)) {
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std::cerr << "Receive failed: " << rc << ", " << atlk_rc_to_str(rc) << ", RX thread ends." << std::endl;
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break;
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}
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else {
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std::cout << "Autotalks receive successful" << std::endl;
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if (nullptr != link)
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link->data_received(v2x_rx_buffer, rx_buffer_size, rx_params);
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}
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usleep(1000);
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}
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return NULL;
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}
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void init_rx(AutotalksLink* link_layer)
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{
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// Create new thread as Autotalks API does not have asynchronous callbacks
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int rv = pthread_create(&v2x_rx_thread, NULL, v2x_rx_thread_entry, link_layer);
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if (0 != rv) {
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fprintf(stderr, "pthread_create failed with %s\n", strerror(rv));
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}
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printf("pthread_create success!\n");
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}
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} // namespace autotalks
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} // namespace vanetza
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Block a user