Linux用户空间代码，用于在Linux板和运行contiki udp发送方示例代码的每个节点之间进行通信 [英] Linux userspace code to communicate between Linux board and each node running contiki udp sender example code

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本文介绍了Linux用户空间代码，用于在Linux板和运行contiki udp发送方示例代码的每个节点之间进行通信的处理方法，对大家解决问题具有一定的参考价值，需要的朋友们下面随着小编来一起学习吧！

问题描述

我正在使用Contiki创建一个物联网产品，其中涉及多个基于STM32L152的节点和一个Linux板.我有一个嵌入式Linux板(基于iMX6)，该板从节点接收数据，使用蜂窝网络发送到Internet和10个感知不同环境参数的节点并交付给Linux板. Linux板具有运行边界/边缘路由器代码的协处理器，该协处理器的UART2线已连接到Linux板.我使用Contiki工具tunslip6创建tun0接口，可以对每个节点执行ping操作. 为了使问题更易于理解，我将解释我的硬件设置和执行的步骤.

I am using Contiki to create an IoT product involving multiple STM32L152 based nodes and a Linux board. I have one embedded Linux board (based on iMX6) that receives data from nodes, sends to the internet using cellular and 10 nodes that sense the different environmental parameter and deliver to Linux board. Linux board has a coprocessor that running border/edge router code, UART2 lines of that coprocessor is connected to Linux board. I use Contiki tool tunslip6 to create tun0 interface, I am able to ping each node. To make the question more understandable, I will explain the hardware setup and step that I performed.

  1. 我正在STM32L152RE-NUCLEO板上运行UDP发送器示例代码(STM32CubeExpansion_SUBG1_V3.0.0/Projects/Multi/Applications/Contiki/Udp-sender)，该板上装有x-nucleo-ids01a5(SPSGRF-915模块)在顶部.

  1. I am running UDP sender example code (STM32CubeExpansion_SUBG1_V3.0.0/Projects/Multi/Applications/Contiki/Udp-sender) on STM32L152RE-NUCLEO board that has x-nucleo-ids01a5 (SPSGRF-915 module) board sitting on top.

在第二个类似的硬件设置上，我正在运行边界路由器"示例代码. USB电缆已连接到我的Linux机器上.

On second similar hardware setup, I am running Border-router example code. USB cable is attached to my Linux box.

完成此操作后； sudo ./tunslip6 –s /dev/ttyACM0 aaaa::1/64，我可以看到网页上的所有邻居节点，也可以ping6每个节点. 我想在Linux上编写应用程序代码，以接收和发送数据到每个节点，这时我陷入了困境.

after doing this; sudo ./tunslip6 –s /dev/ttyACM0 aaaa::1/64, I am able to see all neighbor node on the webpage, I am able to ping6 each node too. I want to write application code on Linux to receive and send data to each node, I am stuck at this point.

sudo ./tunslip6 -s /dev/ttyACM0 aaaa::1/64
********SLIP started on ``/dev/ttyACM0''
opened tun device ``/dev/tun0''
ifconfig tun0 inet `hostname` mtu 1500 up
ifconfig tun0 add aaaa::1/64
ifconfig tun0 add fe80::0:0:0:1/64
ifconfig tun0

tun0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00- 
00-00-00-00-00  
          inet addr:127.0.1.1  P-t-P:127.0.1.1  Mask:255.255.255.255
          inet6 addr: fe80::1/64 Scope:Link
          inet6 addr: aaaa::1/64 Scope:Global
          inet6 addr: fe80::8fad:d1a:c8d0:b76f/64 Scope:Link
          UP POINTOPOINT RUNNING NOARP MULTICAST  MTU:1500  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:500 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

*** Address:aaaa::1 => aaaa:0000:0000:0000
Got configuration message of type P
Setting prefix aaaa::
Server IPv6 addresses:
 aaaa::900:f4ff:c3a:f3c5
 fe80::900:f4ff:c3a:f3c5

ifconfig
tun0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          inet addr:127.0.1.1  P-t-P:127.0.1.1  Mask:255.255.255.255
          inet6 addr: fe80::1/64 Scope:Link
          inet6 addr: aaaa::1/64 Scope:Global
          inet6 addr: fe80::8fad:d1a:c8d0:b76f/64 Scope:Link
          UP POINTOPOINT RUNNING NOARP MULTICAST  MTU:1500  Metric:1
          RX packets:37 errors:0 dropped:0 overruns:0 frame:0
          TX packets:67 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:500 
          RX bytes:3422 (3.4 KB)  TX bytes:5653 (5.6 KB)

ip addr show tun0
3: tun0: <POINTOPOINT,MULTICAST,NOARP,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UNKNOWN group default qlen 500
    link/none 
    inet 127.0.1.1/32 scope host tun0
       valid_lft forever preferred_lft forever
    inet6 aaaa::1/64 scope global 
       valid_lft forever preferred_lft forever
    inet6 fe80::1/64 scope link 
       valid_lft forever preferred_lft forever
    inet6 fe80::8fad:d1a:c8d0:b76f/64 scope link flags 800 
       valid_lft forever preferred_lft forever

sudo ip -6 route
aaaa::/64 dev tun0  proto kernel  metric 256  pref medium
fe80::/64 dev tun0  proto kernel  metric 256  pref medium

这是我在网页上看到的，我有一个邻居节点我可以ping通这个.

This is what I am seeing on the webpage, I have one neighbor node I am able to ping this.

ping6 aaaa::fdff:d2fa:2d05
PING aaaa::fdff:d2fa:2d05(aaaa::fdff:d2fa:2d05) 56 data bytes
64 bytes from aaaa::fdff:d2fa:2d05: icmp_seq=1 ttl=63 time=130 ms
64 bytes from aaaa::fdff:d2fa:2d05: icmp_seq=2 ttl=63 time=131 ms
64 bytes from aaaa::fdff:d2fa:2d05: icmp_seq=3 ttl=63 time=130 ms
64 bytes from aaaa::fdff:d2fa:2d05: icmp_seq=4 ttl=63 time=130 ms
64 bytes from aaaa::fdff:d2fa:2d05: icmp_seq=6 ttl=63 time=130 ms
64 bytes from aaaa::fdff:d2fa:2d05: icmp_seq=7 ttl=63 time=130 ms
64 bytes from aaaa::fdff:d2fa:2d05: icmp_seq=8 ttl=63 time=131 ms
^C
--- aaaa::fdff:d2fa:2d05 ping statistics ---
8 packets transmitted, 7 received, 12% packet loss, time 7040ms
rtt min/avg/max/mdev = 130.681/131.068/131.863/0.555 ms

我不是网络和套接字编程方面的专家，我编写了一些在Internet上找到并尝试过的代码.我尝试过这样的事情

I am not an expert in networking and socket programming, I wrote some code that I found on the internet and tried. I tried something like this;

import socket
UDP_IP = "aaaa::fdff:d2fa:2d05"  
UDP_PORT = 1234
print "UDP target IP:", UDP_IP
print "UDP target port:", UDP_PORT
sock = socket.socket(socket.AF_INET6, socket.SOCK_DGRAM) # UDP
sock.connect((UDP_IP, UDP_PORT))
while True:
   data = sock.recv(1024)
   print 'Received', repr(data)

问题:在Linux用户空间中，我的同事想编写一个可以读写每个节点的应用程序代码(在本例中为aaaa::fdff:d2fa:2d05)，我们如何实现呢?在微控制器板上，我可以使用两个节点进行读写，但不能在Linux空间中进行读写.请帮助我，如何从Linux用户空间读取数据并将其写入每个节点?如果可能，请分享一些示例代码.谢谢！

Question: In Linux userspace, my colleague wants to write an application code that can read and write each node (in this case aaaa::fdff:d2fa:2d05), how can we achieve that? On microcontroller board I am able to read and write with two nodes, but not in Linux space. Please help me, how can I read and write data from Linux userspace to each node? If possible please share some example code. Thanks!

更新-我尝试使用不同的Contiki示例contiki/examples/ipv6/rpl-udp/udp-client.c在Linux主机和节点之间进行通信，并获得了成功，我能够从节点接收数据.我的python代码是;

Update - I tried to communicate between Linux host and node with the different Contiki example, contiki/examples/ipv6/rpl-udp/udp-client.c and had success, I was able to receive data from node. My python code is;

import socket, struct

UDP_LOCAL_IP = 'aaaa::1'
UDP_LOCAL_PORT = 5678


UDP_REMOTE_IP = 'fe80::fdff:d2fa:2d05'
UDP_REMOTE_PORT = 8765


try:
    socket_rx = socket.socket(socket.AF_INET6, socket.SOCK_DGRAM)
    socket_rx.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    socket_rx.bind((UDP_LOCAL_IP, UDP_LOCAL_PORT))
except Exception:
    print "ERROR: Server Port Binding Failed"

print 'UDP server ready: %s'% UDP_LOCAL_PORT
print

while True:
    data, addr = socket_rx.recvfrom(1024)
    print "address : ", addr
    print "received message: ", data
    print "\n"
    socket_rx.sendto("Hello from serevr\n", (UDP_REMOTE_IP, UDP_REMOTE_PORT))

上面的python代码正在运行.

推荐答案

根据

The border router has a hard-coded IPv6 address, according to https://anrg.usc.edu/contiki/index.php/RPL_Border_Router this address is fe80:0000:0000:0000:0212:7401:0001:0101 ( possibly run ip addr show tun0 -> your edit shows that the assigned address is fe80:0000:0000:0000:8fad:d1a:c8d0:b76f ). To this address you bind the socket of your application, have no code for this in python. Because you use tunslip you can possibly also bind to localhost with accurate port and ipv4 protocol

对于测试，您可以使用netcat将UDP数据包直接发送到节点( http: //www.tutorialspoint.com/unix_commands/nc.htm )

For testing you can use netcat to send UDP packets directly to the nodes ( http://www.tutorialspoint.com/unix_commands/nc.htm )

要摆脱错误(注释)，您必须应用inet_pton来转换IPv6地址(

To get rid of the error ( comment ) you have to apply inet_pton for converting the IPv6 address ( http://man7.org/linux/man-pages/man3/inet_pton.3.html )

是可以转换为python的有效C代码.是使用Raven USB棒作为边界路由器编写的(搜索 Contiki Jackdaw ，未使用 tunslip )

in the following is working C code that you can translate to python. was written for using a Raven USB stick as border router ( search for Contiki Jackdaw, no tunslip used )

#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <net/if.h>

 int fd = 0;   //socket file descriptor
 struct sockaddr_in6 server;


/* ipv6 address to in6_addr structure */

const char *ip6str = "fe80::8fad:d1a:c8d0:b76f";
struct in6_addr ravenipv6;

if (inet_pton(AF_INET6, ip6str, &ravenipv6) == 1) // successful
{
   printf("%s \n", "ipv6 address ...");
}


/* Create an empty IPv6 socket interface specification */
memset(&server, 0, sizeof(server));


server.sin6_family = AF_INET6;
server.sin6_flowinfo = 0;
server.sin6_port = htons(1234);  // port
server.sin6_addr = ravenipv6;  <- here the address converted with inet_ptons is inserted
server.sin6_scope_id = if_nametoindex("tun0");  // if your border router is on tun0

/*create socket*/
if ((fd = socket(AF_INET6, SOCK_DGRAM, IPPROTO_UDP)) == -1)
  {
    printf("%s \n", "failed to create socket");
  }

 /*bind to socket*/

if(bind(fd, (struct sockaddr_in6*)&server, sizeof(server)) == -1)

{
    printf("%s \n", "no binding ! ");
}

这篇关于Linux用户空间代码，用于在Linux板和运行contiki udp发送方示例代码的每个节点之间进行通信的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！

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