[paparazzi-commits] [4757] test in sim

[Pascal Brisset]

Revision: 4757
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4757
Author:   hecto
Date:     2010-03-29 15:45:52 +0000 (Mon, 29 Mar 2010)
Log Message:
-----------
 test in sim

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/modules/gsm/gsm.c

Modified: paparazzi3/trunk/sw/airborne/modules/gsm/gsm.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/gsm/gsm.c      2010-03-29 15:44:46 UTC 
(rev 4756)
+++ paparazzi3/trunk/sw/airborne/modules/gsm/gsm.c      2010-03-29 15:45:52 UTC 
(rev 4757)
@@ -39,6 +39,7 @@
 #include "autopilot.h"
 #include "estimator.h"
 #include "common_nav.h"
+#include "settings.h"
 
 #ifndef GSM_LINK
 #define GSM_LINK Uart3100
@@ -60,18 +61,15 @@
 #define DATA_MAXLEN 128
 
 #define CMTI "+CMTI:"
+#define MAXLEN_CMTI_ANSWER 32
+#define MAXLEN_SMS_CONTENT DATA_MAXLEN
 
 static bool gsm_line_received;
 static bool prompt_received;
-static bool wait_data; /* Waiting for message content after header */
-static bool is_receiving; /* +CMTI has been received, true until contents has 
been parsed */
 static bool waiting_for_reply; /* An AT command has been sent and an answer is 
expected */ 
-static bool init_done;
-static bool waiting_prompt;
-static bool msg_sent;
 
-static char msg_status[16];
-static char msg_date[32];
+// static char msg_status[16];
+// static char msg_date[32];
 
 static char expected_ack[10];
 static char gsm_buf[GSM_MAX_PAYLOAD] __attribute__ ((aligned));
@@ -87,9 +85,13 @@
 #define STATUS_SEND_CNMI      5
 #define STATUS_SEND_CPMS      6
 #define STATUS_RECEPTION_SMS2 7
+#define STATUS_WAITING_DATA   8
+#define STATUS_IDLE           9
+#define STATUS_WAITING_PROMPT 10
+#define STATUS_DELETE_SMS     11
+
 static uint8_t gsm_status = STATUS_NONE;
 
-static uint8_t nb_received_lines = 0;
 static uint8_t index_msg;
 
 static void Send_AT(void);
@@ -103,10 +105,10 @@
 static void gsm_got_prompt(void);
 static void gsm_receive_content(void);
 static void request_for_msg(void);
-static void Extraction(char source[], char char_dbt, int nb_occurence1, int 
decalage1, char char_fin, int nb_occurence2, int decalage2, char destination[]);
 static void Send_CSQ(void);
 static void Send(const char string[]);
 static void parse_msg_header(void);
+static char* indexn(char*, char, uint8_t);
 
 
 
@@ -116,17 +118,16 @@
 void gsm_init(void) {
   gsm_buf_idx = 0;
   gsm_line_received = false;
-  init_done = false;
-  waiting_prompt = false;
-  msg_sent = true;
 
   Send_AT();
+  gsm_status = STATUS_SEND_AT;
 }
 
 
 void gsm_event(void) {
-  if (GSMBuffer())
+  if (GSMBuffer()) {
     ReadGSMBuffer();
+  }
 
   if (gsm_line_received) {
     gsm_got_line();
@@ -141,17 +142,22 @@
 // A line of length gsm_buf_len is available in the gsm_buf buffer
 static void gsm_got_line(void)
 {
-  if (wait_data) { // Currently receiving a SMS
+  if (gsm_status == STATUS_WAITING_DATA) { // Currently receiving a SMS
     gsm_receive_content();
-  } else if ((strncmp(CMTI, gsm_buf, strlen(CMTI)) == 0)
-            && (!is_receiving)) { /* A SMS is available */
-
+    Suppr_SMS(index_msg);
+    gsm_status = STATUS_DELETE_SMS;
+  } else if (gsm_status == STATUS_IDLE 
+            && strncmp(CMTI, gsm_buf, strlen(CMTI)) == 0) {
+    /* A SMS is available */
+    /***/printf("CMTI: %s\n", gsm_buf);
     /* Extracting the index of the message */
-    char first_comma = index(gsm_buf, ',');
+    char * first_comma = indexn(gsm_buf, ',',MAXLEN_CMTI_ANSWER);
+    /***/printf("CMTI: com=%d\n", first_comma - gsm_buf);
     if (first_comma) {
       index_msg = atoi(first_comma+1);
-      is_receiving = true;
+    /***/printf("CMTI: index=%d\n", index_msg);
       request_for_msg();
+      gsm_status = STATUS_REQUESTING_MESSAGE;
     }
   } else if (waiting_for_reply) { // Other cases
     // Do we get what we were expecting
@@ -163,33 +169,41 @@
       switch(gsm_status) {
       case STATUS_CSQ :                        
        gsm_send_report_continue();
+       gsm_status = STATUS_WAITING_PROMPT;
        break;
        
       case STATUS_REQUESTING_MESSAGE:
        parse_msg_header();
-       wait_data = true;
+       gsm_status = STATUS_WAITING_DATA;
        break;
       
       case STATUS_SEND_AT :
        gsm_answer = false;
        Send_CMGF();
+       gsm_status = STATUS_SEND_CMGF;
        break;
       
       case STATUS_SEND_CMGF :
        gsm_answer = false;
        Send_CNMI();
+       gsm_status = STATUS_SEND_CNMI;
        break;
       
       case STATUS_SEND_CNMI :
        gsm_answer = false;
        Send_CPMS();
+       gsm_status = STATUS_SEND_CPMS;
        break;
       
       case STATUS_SEND_CPMS :
        gsm_answer = false;
-       init_done = true;
+       gsm_status = STATUS_IDLE;
        break;
       
+      case STATUS_DELETE_SMS :
+       gsm_status = STATUS_IDLE;
+       break;
+      
       default:                         
        break;
       }
@@ -204,11 +218,10 @@
 // Receiving a SMS, first step: asking for a given message
 static void request_for_msg(void)
 {
-  char demande_lecture_SMS[10];
+  char demande_lecture_SMS[16];
   
   strcpy(expected_ack, "+CMGR");
   sprintf(demande_lecture_SMS, "AT+CMGR=%d", index_msg);
-  gsm_status = STATUS_REQUESTING_MESSAGE;
   waiting_for_reply = true;
   Send(demande_lecture_SMS);
 }
@@ -221,38 +234,34 @@
  */
 static void gsm_receive_content(void)
 {
-  char instruction[15], index_block[2];
-               
-  wait_data = false;
-
   // ?????? sprintf(data_to_send, "%d %s %s %s %s", index_msg, flag, 
expediteur, dateheure, data_recue);
   // ?????? Send(data_to_send);
   
   // Checking the number of the sender
-  if (strncmp((char*)GCS_NUMBER, origin, strlen(GCS_NUMBER)) == 0) {
+  if (true || strncmp((char*)GCS_NUMBER, origin, strlen(GCS_NUMBER)) == 0) {
     // Decoding the message ...
 
     // Search for the instruction
     switch (gsm_buf[0]) {
-    case 'B' :
+    case 'B' : {
       uint8_t block_index = atoi(gsm_buf+1);
       if (block_index > 0) /* Warning: no way to go to the first block */
        nav_goto_block(block_index);
       break;
-      
-    case 'S' :
+    }
+    case 'S' : {
       uint8_t var_index = atoi(gsm_buf+1);
       if (var_index > 0) {
-       float value = atof(index(gsm_buf, ' ')+1);
+       float value = atof(indexn(gsm_buf, ' ',MAXLEN_SMS_CONTENT)+1);
        DlSetting(var_index, value);
       }
+    }
 
     default:
+      // Report an error ???
+      break;
     }
   }
-  Suppr_SMS(index_msg);
-  
-  is_receiving = false;
 }
 
 
@@ -263,29 +272,22 @@
        
   sprintf(demande_suppression, "AT+CMGD=%d", index_);
   strcpy(expected_ack, "OK");
+  waiting_for_reply = true;
   Send(demande_suppression);
 }
 
 
-// Sending a SMS, first step: send the number and wait for the prompt
-static void Send_Msg(void)
-{
-  waiting_prompt = true;
-  
-  Send("AT+CMGS=\"+33617802096\"\0");
-}
-
 // We just have received a prompt ">" (we are sending a SMS)
 static void gsm_got_prompt(void)
 {
-  if (waiting_prompt) { // We were waiting for a prompt
+  if (gsm_status == STATUS_WAITING_PROMPT) { // We were waiting for a prompt
     char string[strlen(data_to_send) +3];
     
     sprintf(string, "%s%c", data_to_send, CTRLZ);
     Send(string);
   }
   
-  waiting_prompt = false;
+  gsm_status = STATUS_IDLE;
 }
 
 /** Message header in gsm_bug
@@ -296,10 +298,10 @@
   /** Extraction(buffer2, '"', 1, 1, '"', 1, 0, msg_status); */
        
   /* Extraction de l'expediteur*/
-  Extraction(buffer2, '"', 2, 1, '"', 1, 0, origin);
+  // Extraction(buffer2, '"', 2, 1, '"', 1, 0, origin);
        
   /* Extraction de date heure*/
-  Extraction(buffer2, '"', 4, 1, '"', 1, 0, msg_date);
+  // Extraction(buffer2, '"', 4, 1, '"', 1, 0, msg_date);
        
   //pb d'ecriture du flag => solution de fortune (pb si flag != rec unread)
   //??????? strncpy(flag, flag, 10);
@@ -310,11 +312,11 @@
 // Periodic message, first step (called every 60s)
 void gsm_send_report()
 {
-  if(init_done && msg_sent) {
-    msg_sent = false;
-    
+  /***/printf("send_report: %d\n", gsm_status);
+  if(gsm_status == STATUS_IDLE) {
     // Checking the network coverage
     Send_CSQ();
+    gsm_status = STATUS_CSQ;
   } 
 }
 
@@ -322,22 +324,19 @@
 // Sending a message, second step; we have asked for network quality
 void gsm_send_report_continue(void)
 {
-  char qualite_signal_GSM[5];
-  
-  //We got "+CSQ:" (and we expect "ok" on the second line ???)
-  Extraction(gsm_buf, ':', 1, 2, '\r', 1, 0, qualite_signal_GSM);
-  
-  qualite_signal_GSM[4] = '\0';          
+  //We got "+CSQ: <rssi>,<ber>" <rssi> and <ber> on 2 digits (cf 3.5.4.4.4)
+  // and we expect "OK" on the second line
+  uint8_t rssi = atoi(gsm_buf + strlen("+CSQ: "));
        
   // Donnee GPS :ne sont pas envoyes gps_mode, gps_itow, gps_utm_zone, 
gps_nb_ovrn
   // Donnees batterie (seuls vsupply et estimator_flight_time sont envoyes)
   // concatenation de toutes les infos en un seul message à transmettre
-  sprintf(data_to_send, "%ld %ld %d %ld %d %d %d %d %s", gps_utm_east, 
gps_utm_north, gps_course, gps_alt, gps_gspeed, gps_climb, vsupply, 
estimator_flight_time, qualite_signal_GSM);
-  
-  // Envoi du SMS
-  Send_Msg();
-  
-  msg_sent = true;
+  sprintf(data_to_send, "%d %d %d %d %d %d %d %d %d", gps_utm_east, 
gps_utm_north, gps_course, gps_alt, gps_gspeed, gps_climb, vsupply, 
estimator_flight_time, rssi);
+
+  // send the number and wait for the prompt
+  char buf[32];
+  sprintf(buf, "AT+CMGS=\"%s\"", GCS_NUMBER);
+  Send(buf);
 }
 
 
@@ -346,7 +345,6 @@
 static void Send_AT(void)
 {
   strcpy(expected_ack, "OK");
-  gsm_status = STATUS_SEND_AT;
   waiting_for_reply = true;
  
   Send("AT");
@@ -355,15 +353,13 @@
 static void Send_CMGF(void)
 { 
   strcpy(expected_ack, "OK");
-  gsm_status = STATUS_SEND_CMGF;
   waiting_for_reply = true;
   Send("AT+CMGF=1");
 }
 
 static void Send_CSQ(void)
 { 
-  strcpy(expected_ack, "OK");
-  gsm_status = STATUS_CSQ;
+  strcpy(expected_ack, "+CSQ:");
   waiting_for_reply = true;
   Send("AT+CSQ");
 }
@@ -371,7 +367,6 @@
 static void Send_CNMI(void)
 { 
   strcpy(expected_ack, "OK");
-  gsm_status = STATUS_SEND_CNMI;
   waiting_for_reply = true;
   Send("AT+CNMI=1,1,0,0,0");
 }
@@ -379,37 +374,16 @@
 static void Send_CPMS(void)
 { 
   strcpy(expected_ack, "+CPMS:");
-  gsm_status = STATUS_SEND_CPMS;
   waiting_for_reply = true;
   Send("AT+CPMS=\"SM\"");
 }
 
 
-static uint8_t indexn(const char* string, char c, int nb_occ)
-{
-  uint8_t nb_trouve = 0, i = 0;
-       
-  while(string[i] && nb_trouve < nb_occ) {
-    if(string[i] == c) {
-      nb_trouve++;
-    }
-    i++;
-  }
-    
-  if (nb_trouve == nb_occ)
-    return i-1;
-  else
-    return -1;
-}
-
-
-
 static void gsm_parse(uint8_t c) {
+  /***  fprintf(stderr, "gsm_parse:%c\n", c); ***/
   switch(c) {
-  case '\n':
-    /* ignore */
-    break;
-  case '\r':
+  case GSM_CR:
+    gsm_buf[gsm_buf_idx] = '\0';
     gsm_line_received = true;
     gsm_buf_len = gsm_buf_idx;
     gsm_buf_idx=0;
@@ -433,31 +407,16 @@
   int i = 0;
 
   while(string[i])
-    GSMTransmit(string[i]);
-  GSMTransmit('\r');
+    GSMTransmit(string[i++]);
+  GSMTransmit(GSM_CR);
 }
 
-static void Extraction(char source[], char char_dbt, int nb_occurence1, int 
decalage1, char char_fin, int nb_occurence2, int decalage2, char destination[])
-{
-  int indice_debut, indice_fin, i, rch1, rch2;
-  
-  rch1 = indexn(source, char_dbt, nb_occurence1);
-  
-  if(rch1 == -1)
-    strncpy(destination, "0", 1);
-  else {
-    indice_debut = rch1 + decalage1;
-    for(i=0; i<strlen(source); i++)
-      source[i] = source[i+indice_debut];
-    
-    rch2 = indexn(source, char_fin, nb_occurence2);
-    
-    if(rch2 == -1)
-      strncpy(destination, "0", 1);
-    else {
-      indice_fin = rch2 + decalage2;
-      strncpy(destination, source, indice_fin);
-      destination[indice_fin] = '\0';
-    }
+/* Returns a pointer to the first occurrence of the character c in the firtn
+   n chars of string s. Return NULL if not found */
+static char* indexn(char* s, char c, uint8_t n) {
+  while(n && (*s != c)) {
+    n--;
+    s++;
   }
+  return (n ? s : NULL);
 }