pkg/libcsp: add sock_udp [demonstrator]

makefiles/pseudomodules.inc.mk

@@ -319,6 +319,7 @@ PSEUDOMODULES += test_utils_interactive_sync_shell
 # All auto_init modules are pseudomodules
 PSEUDOMODULES += auto_init_%
 NO_PSEUDOMODULES += auto_init_can
+NO_PSEUDOMODULES += auto_init_csp
 NO_PSEUDOMODULES += auto_init_loramac
 NO_PSEUDOMODULES += auto_init_multimedia
 NO_PSEUDOMODULES += auto_init_security

pkg/libcsp/Makefile

@@ -0,0 +1,24 @@
+PKG_NAME=libcsp
+PKG_URL=https://github.com/libcsp/libcsp.git
+PKG_VERSION=f429e14f71d9f1cb5187eb6db29b7fcfa8cc373b
+PKG_LICENSE=MIT
+
+include $(RIOTBASE)/pkg/pkg.mk
+
+CFLAGS += -Wno-unused-parameter
+CFLAGS += -Wno-format
+
+IGNORE_MODULES := libcsp_contrib \
+                  libcsp_drivers_can \
+                  libcsp_shell \
+                  libcsp_shell_server \
+                  libcsp_sock_udp \
+                  #
+
+LIBCSP_MODULES := $(filter-out $(IGNORE_MODULES),$(filter libcsp_%,$(USEMODULE)))
+
+all: $(LIBCSP_MODULES)
+	$(QQ)"$(MAKE)" -C $(PKG_SOURCE_DIR)/src -f $(CURDIR)/$(PKG_NAME).mk
+
+libcsp_%:
+	$(QQ)"$(MAKE)" -C $(PKG_SOURCE_DIR)/src/interfaces -f $(CURDIR)/$(PKG_NAME)_$*.mk

pkg/libcsp/Makefile.dep

@@ -0,0 +1,38 @@
+USEMODULE += libcsp_contrib
+# currently only the can interace is supported
+USEMODULE += libcsp_drivers_can
+USEMODULE += luid
+USEMODULE += l2util
+USEMODULE += random
+
+DEFAULT_MODULE += auto_init_csp
+
+ifneq (,$(filter libcsp_contrib,$(USEMODULE)))
+  USEMODULE += ztimer_msec
+  USEMODULE += ztimer_sec
+  USEMODULE += tsrb
+endif
+
+ifneq (,$(filter libcsp_drivers_can,$(USEMODULE)))
+  USEMODULE += libcsp_interfaces
+  USEMODULE += conn_can
+  USEMODULE += can
+  USEMODULE += can_trx
+  DEFAULT_MODULE += auto_init_can
+  ifneq (,$(filter native,$(CPU)))
+    FEATURES_REQUIRED += periph_can
+  endif
+endif
+
+ifneq (,$(filter shell_commands,$(USEMODULE)))
+  DEFAULT_MODULE += libcsp_shell
+  DEFAULT_MODULE += libcsp_shell_server
+endif
+
+ifneq (,$(filter sock_udp,$(USEMODULE)))
+  USEMODULE += ipv6
+  USEMODULE += ipv6_addr
+  USEMODULE += netif
+  USEMODULE += libcsp_sock_udp
+  USEMODULE += sock_async
+endif

pkg/libcsp/Makefile.include

@@ -0,0 +1,27 @@
+INCLUDES += -I$(PKGDIRBASE)/libcsp/include \
+            -I$(PKGDIRBASE)/libcsp/src \
+            -I$(RIOTBASE)/pkg/libcsp/include
+
+CFLAGS += -DCSP_RIOT=1
+CFLAGS += -DCSP_ENABLE_CSP_PRINT=1
+
+ifneq (,$(filter libcsp_contrib,$(USEMODULE)))
+  DIRS += $(RIOTPKG)/libcsp/contrib
+endif
+
+ifneq (,$(filter libcsp_drivers_can,$(USEMODULE)))
+  DIRS += $(RIOTPKG)/libcsp/drivers/can
+endif
+
+ifneq (,$(filter libcsp_sock_udp,$(USEMODULE)))
+  INCLUDES += -I$(RIOTBASE)/pkg/libcsp/sock
+  DIRS += $(RIOTPKG)/libcsp/sock
+endif
+
+ifneq (,$(filter auto_init_csp,$(USEMODULE)))
+  DIRS += $(RIOTPKG)/libcsp/init
+endif
+
+PSEUDOMODULES += libcsp_shell \
+                 libcsp_shell_server \
+                 #

pkg/libcsp/contrib/Makefile

@@ -0,0 +1,9 @@
+MODULE = libcsp_contrib
+
+SUBMODULES = 1
+
+BASE_MODULE = libcsp
+
+SRC := $(filter-out shell.c,$(wildcard *.c))
+
+include $(RIOTBASE)/Makefile.base

pkg/libcsp/contrib/_netif.c

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2022 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @{
+ *
+ * Implements @ref net_netif for @ref net_csp
+ *
+ * @file
+ */
+
+#include <errno.h>
+#include <string.h>
+
+#include "csp/csp_iflist.h"
+#include "csp/csp_interface.h"
+#include "net/netif.h"
+
+int netif_get_name(netif_t *iface, char *name)
+{
+    csp_iface_t *netif = (csp_iface_t *)iface;
+
+    if (strlen(netif->name) > CONFIG_NETIF_NAMELENMAX) {
+        return -ENOBUFS;
+    }
+    strcpy(name, netif->name);
+    return strlen(netif->name);
+}
+
+int16_t netif_get_id(const netif_t *netif)
+{
+    csp_iface_t * iface = csp_iflist_get();
+    int16_t id = 0;
+
+    while ((void*)iface != (void*)netif) {
+        id++;
+        iface = iface->next;
+    }
+    return id;
+}
+
+netif_t *netif_get_by_id(int16_t id)
+{
+    csp_iface_t * iface = csp_iflist_get();
+
+    while (iface && id) {
+        id--;
+        iface = iface->next;
+    }
+    return(netif_t*) iface;
+}
+/** @} */

pkg/libcsp/contrib/csp.c

@@ -0,0 +1,96 @@
+/*
+ * Copyright (C) 2022 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @{
+ * @file
+ * @brief       LibCSP RIOT adaptation
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ */
+
+#include <errno.h>
+
+#include "csp/csp.h"
+#include "csp/csp_id.h"
+#include "csp_conn.h"
+#include "csp_qfifo.h"
+
+#include "csp_riot.h"
+#include "thread.h"
+
+/**
+ * @brief   Priority used for uwb-core event queue
+ */
+#ifndef CSP_ROUTE_PRIO
+#define CSP_ROUTE_PRIO                   (THREAD_PRIORITY_MAIN - 3)
+#endif
+
+/**
+ * @brief   Stacksize
+ */
+#ifndef CSP_ROUTE_STACKSIZE
+#define CSP_ROUTE_STACKSIZE              (THREAD_STACKSIZE_DEFAULT)
+#endif
+
+static char _stack_csp_route[CSP_ROUTE_STACKSIZE];
+
+static void *_csp_route_thread(void *arg)
+{
+    (void)arg;
+    while (1) {
+        csp_route_work();
+    }
+    return NULL;
+}
+
+csp_conf_t csp_conf = {
+    .version = 2,
+    .address = 0,
+    .hostname = RIOT_BOARD,
+    .model = RIOT_VERSION,
+    .revision = "",
+    .conn_dfl_so = CSP_O_NONE,
+    .dedup = CSP_DEDUP_OFF
+};
+
+void libcsp_set_dedup(enum csp_dedup_types type)
+{
+    csp_conf.dedup = type;
+}
+
+enum csp_dedup_types libcsp_get_dedup(void)
+{
+    return csp_conf.dedup;
+}
+
+uint8_t libcsp_get_csp_version(void)
+{
+    return csp_conf.version;
+}
+
+int libcsp_set_csp_version(uint8_t version)
+{
+    if (version == 2 || version == 1) {
+        csp_conf.version = version;
+    }
+    return -EINVAL;
+}
+
+void libcsp_init(void)
+{
+    csp_buffer_init();
+    csp_conn_init();
+    csp_qfifo_init();
+
+    thread_create(_stack_csp_route, sizeof(_stack_csp_route),
+                  CSP_ROUTE_PRIO,
+                  THREAD_CREATE_STACKTEST,
+                  _csp_route_thread, NULL,
+                  "csp_route");
+}

pkg/libcsp/contrib/csp_clock.c

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2022 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+/**
+ * @{
+ * @file
+ * @brief       LibCSP clock implementation
+ *
+ * @author      Pierre Millot <pierre.millot@grenoble-inp.org>
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ */
+
+#include "csp/csp_types.h"
+
+#include "cpu.h"
+#include "ztimer.h"
+
+__attribute__((weak)) void csp_clock_get_time(csp_timestamp_t *time)
+{
+    time->tv_sec = ztimer_now(ZTIMER_SEC);
+    time->tv_nsec = 0;
+}
+
+__attribute__((weak)) int csp_clock_set_time(const csp_timestamp_t *time)
+{
+    (void)time;
+    return CSP_ERR_NOTSUP;
+}

pkg/libcsp/contrib/csp_hooks.c

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2022 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @{
+ * @file
+ * @brief       LibCSP
+ *
+ * @author      Pierre Millot <pierre.millot@grenoble-inp.org>
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ */
+
+#include <csp/csp_hooks.h>
+#include "cpu.h"
+
+__attribute__((weak)) uint32_t csp_memfree_hook(void)
+{
+    return 0;
+}
+
+__attribute__((weak)) unsigned int csp_ps_hook(csp_packet_t *packet)
+{
+    (void)packet;
+    return 0;
+}
+
+__attribute__((weak)) void csp_reboot_hook(void)
+{}
+
+__attribute__((weak)) void csp_shutdown_hook(void)
+{}