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/*
* MulticastResponder.cpp
*
* Created on: 12 Jul 2022
* Author: David
*/
#include "MulticastResponder.h"
#if SUPPORT_MULTICAST_DISCOVERY
#include <Platform/RepRap.h>
#include <Platform/Platform.h>
#include <Hardware/ExceptionHandlers.h>
#include "fgmc_header.h"
#include "fgmc_protocol.h"
extern "C" {
#include "LwipEthernet/Lwip/src/include/lwip/udp.h"
#include "LwipEthernet/Lwip/src/include/lwip/igmp.h"
extern netif gs_net_if;
}
extern Mutex lwipMutex;
static constexpr ip_addr_t ourGroupIpAddr = IPADDR4_INIT_BYTES(239, 255, 2, 3);
static udp_pcb *ourPcb = nullptr;
static pbuf * volatile receivedPbuf = nullptr;
static pbuf *pbufToFree = nullptr;
static volatile uint32_t receivedIpAddr;
static volatile uint16_t receivedPort;
static uint16_t lastMessageReceivedPort;
static unsigned int messagesProcessed = 0;
static unsigned int responsesSent = 0;
static FGMCProtocol *fgmcHandler = nullptr;
static uint32_t ticksToReboot = 0;
static uint32_t whenRebootScheduled;
static bool active = false;
// Receive callback function
extern "C" void rcvFunc(void *arg, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, u16_t port) noexcept
{
if (active && receivedPbuf == nullptr)
{
receivedIpAddr = addr->addr;
receivedPort = port;
receivedPbuf = p; // store this one last
}
else
{
pbuf_free(p);
}
}
void MulticastResponder::Init() noexcept
{
// Nothing needed here yet
}
// Do some work, returning true if we did anything significant
void MulticastResponder::Spin() noexcept
{
if (ticksToReboot != 0)
{
if (millis() - whenRebootScheduled > ticksToReboot)
{
reprap.EmergencyStop(); // this disables heaters and drives - Duet WiFi pre-production boards need drives disabled here
SoftwareReset(SoftwareResetReason::user); // doesn't return
}
}
else
{
pbuf *rxPbuf = receivedPbuf;
if (rxPbuf != nullptr)
{
lastMessageReceivedPort = receivedPort;
#if 0
debugPrintf("Rx UDP: addr %u.%u.%u.%u port %u data",
(unsigned int)(receivedIpAddr & 0xFF), (unsigned int)((receivedIpAddr >> 8) & 0xFF), (unsigned int)((receivedIpAddr >> 16) & 0xFF), (unsigned int)((receivedIpAddr >> 24) & 0xFF), lastMessageReceivedPort);
for (size_t i = 0; i < rxPbuf->len; ++i)
{
debugPrintf(" %02x", ((const uint8_t*)(rxPbuf->payload))[i]);
}
debugPrintf("\n");
#endif
receivedPbuf = nullptr;
pbufToFree = rxPbuf;
fgmcHandler->handleStream(0, (const uint8_t *)rxPbuf->payload, rxPbuf->len);
++messagesProcessed;
// If processing the message didn't free the pbuf, free it now
if (pbufToFree != nullptr)
{
MutexLocker lock(lwipMutex);
pbuf_free(pbufToFree);
pbufToFree = nullptr;
}
}
}
}
void MulticastResponder::Diagnostics(MessageType mtype) noexcept
{
reprap.GetPlatform().MessageF(mtype, "=== Multicast handler ===\nResponder is %s, messages received %u, responses %u\n",
(active) ? "active" : "inactive", messagesProcessed, responsesSent);
}
void MulticastResponder::Start(TcpPort port) noexcept
{
if (fgmcHandler == nullptr)
{
fgmcHandler = new FGMCProtocol;
fgmcHandler->init();
}
if (ourPcb == nullptr)
{
MutexLocker lock(lwipMutex);
ourPcb = udp_new_ip_type(IPADDR_TYPE_ANY);
if (ourPcb == nullptr)
{
lock.Release();
reprap.GetPlatform().Message(ErrorMessage, "unable to allocate a pcb\n");
}
else
{
udp_set_multicast_ttl(ourPcb, 255);
if (igmp_joingroup_netif(&gs_net_if, ip_2_ip4(&ourGroupIpAddr)) != ERR_OK) // without this call, multicast packets to this IP address get discarded
{
lock.Release();
reprap.GetPlatform().Message(ErrorMessage, "igmp_joingroup failed\n");
}
else if (udp_bind(ourPcb, &ourGroupIpAddr, port) != ERR_OK)
{
lock.Release();
reprap.GetPlatform().Message(ErrorMessage, "udp_bind call failed\n");
}
else
{
udp_recv(ourPcb, rcvFunc, nullptr);
}
}
}
active = true;
messagesProcessed = responsesSent = 0;
}
void MulticastResponder::Stop() noexcept
{
if (ourPcb != nullptr)
{
MutexLocker lock(lwipMutex);
udp_remove(ourPcb);
ourPcb = nullptr;
}
active = false;
}
void MulticastResponder::SendResponse(uint8_t *data, size_t length) noexcept
{
#if 0
debugPrintf("Tx UDP: port %u data", lastMessageReceivedPort);
for (size_t i = 0; i < length; ++i)
{
debugPrintf(" %02x", data[i]);
}
debugPrintf("\n");
#endif
MutexLocker lock(lwipMutex);
// Release the pbuf that the message arrived in
if (pbufToFree != nullptr)
{
pbuf_free(pbufToFree);
pbufToFree = nullptr;
}
pbuf * const pb = pbuf_alloc(PBUF_TRANSPORT, length, PBUF_RAM);
if (pb != nullptr)
{
if (pbuf_take(pb, data, length) == ERR_OK)
{
const err_t err = udp_sendto(ourPcb, pb, &ourGroupIpAddr, lastMessageReceivedPort);
if (err == ERR_OK)
{
++responsesSent;
}
else
{
if (reprap.Debug(moduleNetwork))
{
debugPrintf("UDP send failed, err=%u\n", err);
}
}
}
else
{
if (reprap.Debug(moduleNetwork))
{
debugPrintf("pbuf_take returned error, length %u\n", length);
}
}
pbuf_free(pb);
}
else if (reprap.Debug(moduleNetwork))
{
debugPrintf("pbuf_alloc failed,length=%u\n", length);
}
}
// Schedule a reboot. We delay a little while to allow the response to be transmitted first.
void MulticastResponder::ScheduleReboot() noexcept
{
whenRebootScheduled = millis();
ticksToReboot = 1000;
}
#endif
// End
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