Add "Put" Actuator Data to turn on/off LED

Makefile

@@ -40,4 +40,11 @@ DEVELHELP ?= 1
 # Change this to 0 show compiler invocation lines by default:
 QUIET ?= 1
 
+# Include tinycbor for data representation
+USEPKG += tinycbor
+INCLUDE += $(RIOTPKG)/tinycbor/cbor.h
+
+CFLAGS += -DGNRC_IPV6_NIB_CONF_SLAAC=1
+
+# Include RIOT Base makefile
 include $(RIOTBASE)/Makefile.include

README.md

@@ -38,10 +38,21 @@ The idea of these resources is, to offer similar functionality as the
 
 
 ## Build and Execute
+
+Directory: X/riot-saul-coap/RIOT/examples/gcoap/
+
 Enter shell with board command (Phytec)
 
     SERIAL=... BOARD=pba-d-01-kw2x BUILD_IN_DOCKER=1 make all flash term
 
 To distinguish multiple boards using SERIAL number
 
     make list-ttys 
+
+To test get command 
+
+    coap get <ip address> 5683 <resource>
+
+With DTLS, port number is 5684
+
+

saul_coap.c

@@ -13,7 +13,8 @@
  * @file
  * @brief       CoAP endpoint for the SAUL registry
  *
- * @author      Micha Rosenbaum <[email protected]>
+ * @author      Seojeong Moon <[email protected]>
+   @author Micha Rosenbaum <[email protected]>
  *
  * @}
  */
@@ -24,30 +25,41 @@
 #include "saul_reg.h"
 #include "fmt.h"
 #include "net/gcoap.h"
+#include "cbor.h"
+#include "phydat.h"
+//#include "winch.h"
 
 extern char *make_msg(char *, ...);
 
 static ssize_t _saul_cnt_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 static ssize_t _saul_dev_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 static ssize_t _saul_sensortype_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 static ssize_t _sense_type_responder(coap_pkt_t* pdu, uint8_t *buf, size_t len, uint8_t type);
+static ssize_t _saul_atr_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
+static ssize_t _atr_type_responder(coap_pkt_t* pdu, uint8_t *buf, size_t len, uint8_t type);
+
 /* specific sense type handlers, shortcut via enum in saul.h */
 static ssize_t _sense_temp_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 static ssize_t _sense_hum_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 static ssize_t _sense_servo_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 static ssize_t _sense_press_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 static ssize_t _sense_voltage_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
+/* winch handler */ 
+//static ssize_t _saul_winch_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx);
 
 /* CoAP resources. Must be sorted by path (ASCII order). */
 static const coap_resource_t _resources[] = {
     { "/hum", COAP_GET, _sense_hum_handler, NULL },
     { "/press", COAP_GET, _sense_press_handler, NULL },
     { "/saul/cnt", COAP_GET, _saul_cnt_handler, NULL },
     { "/saul/dev", COAP_POST, _saul_dev_handler, NULL },
+    {"/saul/atr", COAP_PUT, _saul_atr_handler, NULL},
     { "/sensor", COAP_GET, _saul_sensortype_handler, NULL },
     { "/servo", COAP_GET, _sense_servo_handler, NULL },
     { "/temp", COAP_GET, _sense_temp_handler, NULL },
     { "/voltage", COAP_GET, _sense_voltage_handler, NULL },
+    //{ "/winch", COAP_PUT, _saul_winch_handler, NULL},
+
 };
 
 static gcoap_listener_t _listener = {
@@ -159,7 +171,7 @@ static ssize_t _sense_type_responder(coap_pkt_t* pdu, uint8_t *buf, size_t len,
 {
     saul_reg_t *dev = saul_reg_find_type(type);
     phydat_t res;
-    int dim;
+    int dim = 0;
     size_t resp_len;
 
     gcoap_resp_init(pdu, buf, len, COAP_CODE_CONTENT);
@@ -234,3 +246,162 @@ void saul_coap_init(void)
 {
     gcoap_register_listener(&_listener);
 }
+
+static ssize_t _saul_atr_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx)
+{
+    uint8_t type;
+
+    (void)ctx;
+
+   //payload length has to be bigger - edit according to expected size
+    if (pdu->payload_len <= 5) {
+        char req_payl[6] = { 0 };
+        memcpy(req_payl, (char *)pdu->payload, pdu->payload_len);
+        type = atoi(req_payl);
+    }
+    else {
+        return gcoap_response(pdu, buf, len, COAP_CODE_BAD_REQUEST);
+    }
+
+    return _atr_type_responder(pdu, buf, len, type);
+}
+
+static ssize_t _atr_type_responder(coap_pkt_t* pdu, uint8_t *buf, size_t len, uint8_t type)
+{
+    saul_reg_t *dev = saul_reg_find_type(type);
+    phydat_t res;
+    int dim = 0;
+    size_t resp_len;
+    gcoap_resp_init(pdu, buf, len, COAP_CODE_CONTENT);
+    coap_opt_add_format(pdu, COAP_FORMAT_TEXT);
+    resp_len = coap_opt_finish(pdu, COAP_OPT_FINISH_PAYLOAD);
+
+    if (dev == NULL) {
+        char *err = "device not found";
+        if (pdu->payload_len >= strlen(err)) {
+            memcpy(pdu->payload, err, strlen(err));
+            resp_len += gcoap_response(pdu, buf, len, COAP_CODE_404);
+            return resp_len;
+        }
+        else {
+            phydat_dump(&res, type);//phydat.h
+            dim = saul_reg_write(dev, &res); 
+        }
+    }
+    if (dim <= 0) {
+        char *err = "no values found";
+        if (pdu->payload_len >= strlen(err)) {
+            memcpy(pdu->payload, err, strlen(err));
+            resp_len += gcoap_response(pdu, buf, len, COAP_CODE_404);
+            return resp_len;
+        }
+        else {
+            return gcoap_response(pdu, buf, len, COAP_CODE_404);
+        }
+    }
+    /* write the response buffer with the request device value */
+    resp_len += fmt_u16_dec((char *)pdu->payload, res.val[0]);
+    return resp_len;
+}
+
+
+CborError export_cbor_to_phydat(CborParser *parser, uint8_t *cbor_buf, size_t buf_len, phydat_t data, int dim)
+{
+    //CborParser parser;
+    CborValue value, r;
+    bool resultbool;
+    CborError err = CborNoError;
+
+    //initialize Cbor parser
+    err = cbor_parser_init(cbor_buf, buf_len, 0, parser, &value);
+    if (err != CborNoError) {
+        return err;
+    }
+
+    //check if map exists
+    if(!cbor_value_is_map(&value) || cbor_value_is_null(&value)){
+        return 0;
+    }
+
+    //enter container if map exists
+    //CborError cbor_value_enter_container  (   const CborValue *   it,CborValue *     recursed )
+    err = cbor_value_enter_container(&value, &r) ;
+       if (err != CborNoError) {
+        return err;
+    }
+
+    //check for values
+    if(!cbor_value_is_text_string(&r)){
+        return 0;
+    }
+
+    cbor_value_text_string_equals(&r, "values", &resultbool);
+
+    if(!resultbool){
+        return 0;
+    }
+    cbor_value_advance(&r);
+
+    if(!cbor_value_is_array(&r)){
+        return 0;
+    }
+        /***************************************** check ******************************/
+    for (uint8_t i = 0; i < dim; i++) {
+	int16_t *p;
+	p = data.val;
+	int temp = *p++;
+        err = cbor_value_get_int_checked(&r, &temp);
+        if (err != CborNoError) {
+            return err;
+        }
+    }
+
+    //check for unit
+
+    if(!cbor_value_is_text_string(&r)){
+        return 0;
+    }
+
+    cbor_value_text_string_equals(&r, "unit", &resultbool);
+
+    if(!resultbool){
+        return 0;
+    }
+    cbor_value_advance(&r);
+    if(!cbor_value_is_array(&r)){
+        return 0;
+    }
+
+/*   uint8_t unit;  */
+    int unit = data.unit;
+    err = cbor_value_get_int_checked(&r, &unit);
+    if (err != CborNoError) {
+         return err;
+    }
+
+    //check for scale
+
+    if(!cbor_value_is_text_string(&r)){
+        return 0;
+    }
+
+    cbor_value_text_string_equals(&r, "scale", &resultbool);
+
+    if(!resultbool){
+        return 0;
+    }
+    cbor_value_advance(&r);
+    if(!cbor_value_is_array(&r)){
+        return 0;
+    }
+
+	// int8_t scale;  
+    int scale = data.scale;
+    err = cbor_value_get_int_checked(&r, &scale);
+    if (err != CborNoError) {
+         return err;
+    }
+
+    return CborNoError;
+}
+

winch.txt

@@ -0,0 +1,78 @@
+
+
+static int set(const void *dev, phydat_t *data)
+{
+   const winch_saul_driver *w = (const 			_saul_driver *) dev;
+   winch_set();
+   return 1;
+}
+
+const saul_driver_t winch_saul_driver = {
+   .read = saul_notsup,
+   .write = set,
+   .type = SAUL_ACT_SERVO
+};
+
+static ssize_t _saul_winch_handler(coap_pkt_t* pdu, uint8_t *buf, size_t len, void *ctx)
+{
+    uint8_t type;
+
+    (void)ctx;
+
+   //change payload size - according to expected parameters etc.
+    if (pdu->payload_len <= 5) {
+        char req_payl[6] = { 0 };
+        memcpy(req_payl, (char *)pdu->payload, pdu->payload_len);
+        type = atoi(req_payl);
+    }
+    else {
+        return gcoap_response(pdu, buf, len, COAP_CODE_BAD_REQUEST);
+    }
+
+    return _servo_type_responder(pdu, buf, len, type);
+}
+
+static ssize_t _winch_type_responder(coap_pkt_t* pdu, uint8_t *buf, size_t len, uint8_t type)
+{
+    saul_reg_t *dev = saul_reg_find_type(type);
+    phydat_t res;
+    phydat_t data;
+    int dim;
+    size_t resp_len;
+    gcoap_resp_init(pdu, buf, len, COAP_CODE_CONTENT);
+   /* option of text and cbor format*/
+    coap_opt_add_format(pdu, COAP_FORMAT_TEXT);
+    //coap_opt_add_format(pdu, COAP_FORMAT_CBOR);
+    resp_len = coap_opt_finish(pdu, COAP_OPT_FINISH_PAYLOAD);
+
+    if (dev == NULL) {
+        char *err = "device not found";
+        if (pdu->payload_len >= strlen(err)) {
+            memcpy(pdu->payload, err, strlen(err));
+            resp_len += gcoap_response(pdu, buf, len, COAP_CODE_404);
+            return resp_len;
+        }
+        else {
+            //parse!***
+            //parse whatever to phydat
+            //CborError export_cbor_to_phydat(CborParser *parser, uint8_t *cbor_buf, size_t buf_len, phydat_t data, int dim)  
+             //functions to set phydat_t data to winch actuator: winch_set(dev, &data);
+            //functions to execute : winch_control (winch_t *winch, int l_ges)
+             return gcoap_response(pdu, buf, len, COAP_CODE_404);
+        }
+    }
+    if (dim <= 0) {
+        char *err = "no values found";
+        if (pdu->payload_len >= strlen(err)) {
+            memcpy(pdu->payload, err, strlen(err));
+            resp_len += gcoap_response(pdu, buf, len, COAP_CODE_404);
+            return resp_len;
+        }
+        else {
+            return gcoap_response(pdu, buf, len, COAP_CODE_404);
+        }
+    }
+    /* write the response buffer with the request device value */
+    resp_len += fmt_u16_dec((char *)pdu->payload, res.val[0]);
+    return resp_len;
+}