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static char* nm_main_to_string(NM_State state)
{
switch(state & NM_MAIN_MASK) {
case NM_MAIN_OFF:
return "Off";
case NM_MAIN_ON:
return "Ready";
case NM_MAIN_LOGIN:
return "Login";
case NM_MAIN_LIMPHOME:
return "Limp home";
default:
return "Unknown?";
}
}
static char* nm_sleep_to_string(NM_State state)
{
switch(state & NM_SLEEP_MASK) {
case NM_SLEEP_CANCEL:
return "No";
case NM_SLEEP_REQUEST:
return "Request";
case NM_SLEEP_ACK:
return "Acknowledged";
default:
return "Unknown?";
}
}
static void nm_dump_all(struct NM_Main *nm)
{
unsigned id;
printf("\n");
printf(" Node | next | Main | Sleep\n");
printf("----------------------------------------\n");
for (id = 0; id < nm->max_nodes; id++) {
struct NM_Node *node = &nm->nodes[id];
if (node->state & NM_MAIN_MASK) {
printf(" %02x %02x %9s %s\n",
id,
node->next,
nm_main_to_string(node->state),
nm_sleep_to_string(node->state));
}
}
printf("\n");
}
static void can_tx(int socket, struct can_frame *frame)
{
ssize_t ret;
ret = write(socket, frame, sizeof(*frame));
if (ret != sizeof(*frame)) {
perror("write to CAN socket");
exit(1);
}
}
static int nm_is_rx_frame_valid(struct NM_Main *nm, struct can_frame *frame)
{
if (frame->can_dlc < 2) {
printf("Skipping short frame from CAN ID %03x\n", frame->can_id);
return 0;
}
if ((frame->can_id & ~(nm->max_nodes - 1)) != nm->can_base) {
printf("Skipping non-NM from CAN ID %03x\n", frame->can_id);
return 0;
}
return 1;
}
static void nm_set_timer_now(struct NM_Main *nm)
{
nm->tv.tv_sec = 0;
nm->tv.tv_usec = 0;
nm->timer_reason = NM_TIMER_NOW;
}
static void nm_set_timer_normal(struct NM_Main *nm)
{
nm->tv.tv_sec = 0;
nm->tv.tv_usec = NM_USECS_NORMAL_TURN;
nm->timer_reason = NM_TIMER_NORMAL;
}
static void nm_set_timer_awol(struct NM_Main *nm)
{
nm->tv.tv_sec = 0;
nm->tv.tv_usec = NM_USECS_NODE_AWOL;
nm->timer_reason = NM_TIMER_AWOL;
}
/*
static void nm_set_timer_limphome(struct NM_Main *nm)
{
nm->tv.tv_sec = 0;
nm->tv.tv_usec = NM_USECS_LIMPHOME;
nm->timer_reason = NM_TIMER_LIMPHOME;
}
*/
static void nm_reset(struct NM_Main *nm)
{
unsigned id;
for (id = 0; id < nm->max_nodes; id++) {
nm->nodes[id].next = 0xff;
nm->nodes[id].state = NM_MAIN_OFF;
}
nm->nodes[nm->my_id].next = nm->my_id;
nm->nodes[nm->my_id].state = NM_MAIN_LOGIN;
nm_set_timer_normal(nm);
}
static struct NM_Main* nm_alloc(unsigned node_bits, NM_ID my_id, canid_t can_base)
{
struct NM_Main *nm;
if (node_bits < 1 || node_bits > 6) {
return NULL;
}
nm = malloc(sizeof(*nm));
if (!nm) {
return NULL;
}
nm->max_nodes = 1 << node_bits;
nm->nodes = malloc(nm->max_nodes * sizeof(*nm->nodes));
if (!nm->nodes) {
free(nm);
return NULL;
}
nm->my_id = my_id;
nm->can_base = can_base;
nm_reset(nm);
return nm;
}
static void nm_free(struct NM_Main *nm)
{
free(nm->nodes);
free(nm);
}
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