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move common serial io code to a module

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closes: #6
closes: #7
This commit is contained in:
Vladan Popovic 2022-07-11 20:13:52 +02:00
parent 1fc1218ba6
commit 6f90f46b68
5 changed files with 243 additions and 153 deletions
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1
Cargo.toml
View file

@ -19,6 +19,7 @@ esp-idf-hal = "0.37.4"
esp-idf-sys = { version = "0.31.5", features = ["binstart", "native"] }
mqtt-protocol = "0.11.2"
nb = "1.0.0"
ublox = "0.4.2"
[build-dependencies]
embuild = "0.29"

39
src/gps.rs
View file

@ -1,8 +1,11 @@
use anyhow;
use std::sync::mpsc::SyncSender;
use std::thread;
use std::time::Duration;
use std::{
sync::mpsc::SyncSender,
thread,
time::Duration,
io::Read,
};
use esp_idf_hal::prelude::*;
use esp_idf_hal::serial;
@ -10,10 +13,11 @@ use esp_idf_hal::serial;
use ublox::*;
use crate::modem::Msg;
use crate::serial::SerialIO;
pub fn main<T: Sync + Send>(
rx: esp_idf_hal::gpio::Gpio32<T>,
tx: esp_idf_hal::gpio::Gpio33<T>,
rx: esp_idf_hal::gpio::Gpio32<T>,
uart: serial::UART2,
sender: SyncSender<Msg>,
) -> Result<(), anyhow::Error> {
@ -23,19 +27,34 @@ pub fn main<T: Sync + Send>(
cts: None,
rts: None,
};
let _serial: serial::Serial<serial::UART2, _, _> = serial::Serial::new(
let serial: serial::Serial<serial::UART2, _, _> = serial::Serial::new(
uart,
serial_pins,
serial::config::Config::default().baudrate(Hertz(9600)),
)?;
let (tx, rx) = serial.split();
let mut serial_io = SerialIO::new(tx, rx);
let mut parser = Parser::default();
let mut it = parser.consume(&raw_packet);
println!("entering GPS sender loop ...");
loop {
let mut local_buf = [0; 100];
println!("reading 100 bytes from serial ...");
let nbytes = serial_io.read(&mut local_buf)?;
println!("READ: {}", local_buf.iter().map(|&b| char::from(b)).collect::<String>());
if nbytes == 0 {
println!("received 0 bytes, exiting ...");
break;
}
let mut it = parser.consume(&local_buf);
loop {
match it.next() {
Some(Ok(packet)) => {
println!("We've received a &PacketRef, we can handle it ... {:?}", packet);
let msg = format!("We've received a &PacketRef, we can handle it ... {:?}", packet);
println!("{}", msg);
sender.send(Msg::Location(msg))?;
}
Some(Err(err)) => {
println!("Received a malformed packet {:?}", err);
@ -46,12 +65,8 @@ pub fn main<T: Sync + Send>(
}
}
}
println!("entering GPS sender loop ...");
for i in 0..20 {
println!("sending GPS message ({}) of 20 ...", i);
let _ = sender.send(Msg::Location("{\"lat\": 20.4322, \"long\": 44.5432}".to_string()))?;
thread::sleep(Duration::from_millis(2000));
}
println!("exiting GPS sender loop :)");
Ok(())
}

36
src/main.rs
View file

@ -1,22 +1,19 @@
mod accel;
mod config;
mod gps;
mod modem;
#[allow(dead_code)]
mod command;
mod gps;
mod modem;
mod serial;
use anyhow;
use std::thread::{self, JoinHandle};
use std::cell::RefCell;
use std::time::Duration;
use std::{
thread::{self, JoinHandle},
time::Duration,
};
use esp_idf_hal::peripherals::Peripherals;
thread_local! {
static TLS: RefCell<u32> = RefCell::new(13);
}
fn main() -> anyhow::Result<()> {
esp_idf_sys::link_patches();
@ -36,24 +33,19 @@ fn main() -> anyhow::Result<()> {
let mut threads: Vec<JoinHandle<anyhow::Result<_>>> = vec![];
println!("Rust main thread: {:?}", thread::current());
// Rx/Tx pins for the GPS modem
let gps_rx = dp.pins.gpio32;
let gps_tx = dp.pins.gpio33;
// UART interface for the GPS modem
let gps_uart = dp.uart2;
TLS.with(|tls| {
println!("Main TLS before change: {}", *tls.borrow());
});
TLS.with(|tls| *tls.borrow_mut() = 42);
TLS.with(|tls| {
println!("Main TLS after change: {}", *tls.borrow());
});
let (gps_sender, receiver) = std::sync::mpsc::sync_channel::<modem::Msg>(1);
let accel_sender = gps_sender.clone();
threads.push(thread::spawn(move || gps::main(gps_sender)));
let _ = gps::main(gps_tx, gps_rx, gps_uart, gps_sender)?;
// threads.push(thread::spawn(move || gps::main(gps_rx, gps_tx, gps_uart, gps_sender)));
thread::sleep(Duration::from_millis(1000));
threads.push(thread::spawn(move || accel::main(accel_sender)));
thread::sleep(Duration::from_millis(1000));

159
src/modem.rs
View file

@ -1,15 +1,18 @@
use crate::command::Command;
use crate::serial::SerialIO;
use anyhow;
use std::thread;
use std::error::Error;
use std::time::{Duration, Instant};
use std::sync::mpsc::Receiver;
use std::{
error::Error,
io::{Read, Write},
thread,
time::{Duration, Instant},
sync::mpsc::Receiver,
};
use esp_idf_hal::prelude::*;
use esp_idf_hal::serial::{self, Rx, Tx};
use embedded_hal::serial::{Read, Write};
use embedded_hal::digital::v2::OutputPin;
use mqtt::packet::{ConnectPacket, PublishPacket, QoSWithPacketIdentifier};
@ -20,8 +23,7 @@ const MAX_TCP_MANUAL_REPLY_SIZE: usize = 300;
pub type Result<T> = std::result::Result<T, ModemError>;
pub struct Modem<UART: serial::Uart> {
rx: RxIter<UART>,
tx: Tx<UART>,
serial: SerialIO<UART>,
}
#[derive(Debug)]
@ -41,74 +43,10 @@ impl std::fmt::Display for ModemError {
}
}
pub struct RxIter<UART: serial::Uart> {
inner: Rx<UART>,
timeout: Duration,
}
impl<UART: serial::Uart> RxIter<UART> {
fn reset(&mut self, timeout: Duration) -> &mut Self {
self.timeout = timeout;
self
}
fn clear(&mut self) -> () {
println!("clearing serial rx");
self.reset(Duration::from_millis(500)).for_each(drop);
}
/// Reads a whole line (that ends with \\n) within the given `timeout` passed on input.
fn read_line(&mut self, timeout: Duration) -> Result<String> {
let mut line: String = self.reset(timeout)
.map(|b| char::from(b))
.take_while(|c| *c != '\n')
.collect();
// \r must come right before \n on read; take_while excludes the matched element.
if line.ends_with('\r') {
line.push('\n');
Ok(line)
}
else if self.timeout.as_millis() == 0 {
Err(ModemError::TimeoutError)
}
else {
Err(ModemError::ReadError)
}
}
}
impl<UART: serial::Uart> Iterator for RxIter<UART> {
type Item = u8;
/// `nb` returns Ok(byte), or one of Err(WouldBlock) and Err(Other) which isn't of anyone's
/// interest, so the retry mechanism is triggered on _any_ error every 200ms until a byte is
/// received, or the timeout is reached.
fn next(&mut self) -> Option<Self::Item> {
let start = Instant::now();
loop {
match self.inner.read() {
Ok(b) => {
self.timeout = self.timeout.saturating_sub(start.elapsed());
break Some(b)
},
Err(_) => {
if start.elapsed() > self.timeout {
self.timeout = Duration::ZERO;
break None
}
thread::sleep(Duration::from_millis(200));
}
}
}
}
}
impl<UART: serial::Uart> Modem<UART> {
pub fn new(tx: Tx<UART>, rx: Rx<UART>) -> Self {
Self {
rx: RxIter { inner: rx, timeout: Duration::from_millis(0) },
tx,
serial: SerialIO::new(tx, rx),
}
}
@ -158,7 +96,7 @@ impl<UART: serial::Uart> Modem<UART> {
loop {
let timeout = timeout.saturating_sub(start.elapsed());
let line = self.rx.read_line(timeout)?;
let line = self.serial.read_line(timeout).map_err(|_| ModemError::ReadError)?;
print!("Read {} bytes from serial: {}", line.len(), line);
response.push_str(&line);
if line.contains("ERROR") || line.contains(&match_text) {
@ -169,36 +107,31 @@ impl<UART: serial::Uart> Modem<UART> {
}
}
#[inline(always)]
fn send_bytes(&mut self, payload: &[u8], eos: Option<u8>) -> Result<()> {
//self.rx.clear();
for b in payload.iter() {
nb::block!(self.tx.write(*b))
.map_err(|_| ModemError::CommandError(format!("error writing {} to serial", b)))?;
}
eos.map(|b| nb::block!(self.tx.write(b)));
Ok(())
}
fn send_command(&mut self, cmd: Command) -> Result<String> {
println!("-----------------------------------------------------------");
println!("Sending {} ...", cmd.text);
let _ = self.send_bytes(cmd.text.as_bytes(), Some('\r' as u8))?;
let _ = self.serial
.send_bytes(cmd.text.as_bytes(), Some('\r' as u8))
.map_err(|_| ModemError::SendDataError)?;
self.read_response(cmd.contains, cmd.timeout)
}
fn tcp_send_data(&mut self, buf: &[u8]) -> Result<String> {
let _ = self.send_bytes("AT+CIPSEND".as_bytes(), Some('\r' as u8))?;
let send_request: String = self.rx.reset(Duration::from_millis(3000))
let _ = self.serial
.write("AT+CIPSEND\r".as_bytes())
.map_err(|_| ModemError::SendDataError)?;
let send_prompt: String = self.serial.rx.reset(Duration::from_millis(3000))
.map(char::from)
.take_while(|c| *c != '>').collect();
if send_request != "\r\n" {
println!("{:?}", send_request.as_bytes());
if send_prompt != "\r\n" {
println!("{:?}", send_prompt.as_bytes());
return Err(ModemError::SendDataError);
}
self.send_bytes(buf, Some(26))?; // 26_u8 = Ctrl+z - to end sending data
self.serial
.send_bytes(buf, Some(26)) // 26_u8 = Ctrl+z - to end sending data
.map_err(|_| ModemError::SendDataError)?;
self.read_response(Some("SEND OK".to_string()), Duration::from_millis(3000))
}
@ -321,7 +254,7 @@ impl<UART: serial::Uart> Modem<UART> {
let _ = self.send_command(Command::http_set_content("application/json"));
let _ = self.send_command(Command::http_set_ssl(true));
let _ = self.send_command(Command::http_post_len(content.len(), 100000));
let _ = self.send_bytes(content, Some(26));
let _ = self.serial.send_bytes(content, Some(26));
let _ = self.send_command(Command::http_post());
self.send_command(Command::http_read_response())
}
@ -362,16 +295,20 @@ impl<UART: serial::Uart> Modem<UART> {
fn file_write(&mut self, buf: &[u8], path: &str, append: bool, input_time_sec: usize) -> Result<()> {
let cmd = Command::fs_file_write(path, append, buf.len(), input_time_sec);
let _ = self.send_bytes(cmd.text.as_bytes(), Some('\r' as u8))?;
let send_request: String = self.rx.reset(Duration::from_millis(3000))
let _ = self.serial
.send_bytes(cmd.text.as_bytes(), Some('\r' as u8))
.map_err(|_| ModemError::SendDataError)?;
let send_prompt: String = self.serial.rx.reset(Duration::from_millis(3000))
.map(char::from)
.take_while(|c| *c != '>').collect();
if send_request == "" {
if send_prompt == "" {
return Err(ModemError::SendDataError);
}
self.send_bytes(buf, None)?;
self.serial
.send_bytes(buf, None)
.map_err(|_| ModemError::SendDataError)?;
let _ = self.read_response(Some("OK".to_string()), Duration::from_millis(3000));
Ok(())
@ -451,9 +388,27 @@ impl<UART: serial::Uart> Modem<UART> {
}
}
impl<UART: serial::Uart> std::io::Read for Modem<UART> {
fn read(&mut self, buf: &mut [u8]) -> std::io::Result<usize> {
self.tcp_receive(buf).map_err(|_| std::io::Error::from(std::io::ErrorKind::ConnectionAborted))
}
}
impl<UART: serial::Uart> std::io::Write for Modem<UART> {
fn write(&mut self, buf: &[u8]) -> std::io::Result<usize> {
self.tcp_send(buf)
.map_err(|_| std::io::Error::from(std::io::ErrorKind::ConnectionAborted))?;
Ok(buf.len())
}
fn flush(&mut self) -> std::io::Result<()> {
Ok(())
}
}
pub enum Msg {
Location(String),
// Movement(String),
Movement(String),
}
pub fn main<T: Sync + Send>(
@ -472,8 +427,6 @@ pub fn main<T: Sync + Send>(
rts: None,
};
// Create the serial and panic with a message ... if we can't create the serial port, then we
// can't communicate with the sim800l module, hence we don't run anymore.
let serial: serial::Serial<serial::UART1, _, _> = serial::Serial::new(
uart,
serial_pins,
@ -522,13 +475,6 @@ pub fn main<T: Sync + Send>(
};
if is_connected {
//println!("connecting to server!");
//if !mdm.tcp_is_ssl_enabled()? {
// let _ = mdm.tcp_ssl_enable()?;
//}
//if mdm.tcp_is_ssl_enabled()? {
// let _ = mdm.tcp_ssl_disable()?;
//}
let device_id = "c36a72df-5bd6-4f9b-995d-059433bc3267";
let _ = mdm.tcp_set_quick_mode(false);
@ -543,7 +489,6 @@ pub fn main<T: Sync + Send>(
let _ = mdm.mqtt_publish(device_id, &msg)?;
}
let _ = mdm.tcp_close_connection()?;
}

137
src/serial.rs Normal file
View file

@ -0,0 +1,137 @@
use std::error::Error;
use std::io;
use std::thread;
use std::time::{Duration, Instant};
use embedded_hal::serial::{Read, Write};
use esp_idf_hal::serial::{self, Rx, Tx};
#[derive(Debug)]
pub enum SerialError {
ReadError,
WriteError(String),
TimeoutError,
}
impl Error for SerialError {}
impl std::fmt::Display for SerialError {
fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
write!(f, "{:?}", self)
}
}
pub type Result<T> = std::result::Result<T, SerialError>;
pub struct RxIter<UART: serial::Uart> {
inner: Rx<UART>,
timeout: Duration,
}
impl<UART: serial::Uart> RxIter<UART> {
pub fn reset(&mut self, timeout: Duration) -> &mut Self {
self.timeout = timeout;
self
}
fn clear(&mut self) -> () {
println!("clearing serial rx");
self.reset(Duration::from_millis(500)).for_each(drop);
}
}
impl<UART: serial::Uart> Iterator for RxIter<UART> {
type Item = u8;
/// `nb` returns Ok(byte), or one of Err(WouldBlock) and Err(Other) which isn't of anyone's
/// interest, so the retry mechanism is triggered on _any_ error every 200ms until a byte is
/// received, or the timeout is reached.
fn next(&mut self) -> Option<Self::Item> {
let start = Instant::now();
loop {
match self.inner.read() {
Ok(b) => {
self.timeout = self.timeout.saturating_sub(start.elapsed());
break Some(b)
},
Err(_) => {
if start.elapsed() > self.timeout {
self.timeout = Duration::ZERO;
break None
}
thread::sleep(Duration::from_millis(200));
}
}
}
}
}
pub struct SerialIO<UART: serial::Uart> {
pub rx: RxIter<UART>,
pub tx: Tx<UART>,
}
impl<UART: serial::Uart> SerialIO<UART> {
pub fn new(tx: Tx<UART>, rx: Rx<UART>) -> Self {
Self {
rx: RxIter { inner: rx, timeout: Duration::from_millis(0) },
tx,
}
}
pub fn send_bytes(&mut self, payload: &[u8], eos: Option<u8>) -> Result<usize> {
//self.rx.clear();
for b in payload.iter() {
nb::block!(self.tx.write(*b))
.map_err(|err| SerialError::WriteError(format!("Error writing '{}' to serial, Original error {}", b, err)))?;
}
eos.map(|b| nb::block!(self.tx.write(b)));
Ok(payload.len() + if eos.is_none() { 0 } else { 1 })
}
/// Reads a whole line (that ends with \\n) within the given `timeout` passed on input.
pub fn read_line(&mut self, timeout: Duration) -> Result<String> {
let mut line: String = self.rx.reset(timeout)
.map(|b| char::from(b))
.take_while(|c| *c != '\n')
.collect();
// \r must come right before \n on read; take_while excludes the matched element.
if line.ends_with('\r') {
line.push('\n');
Ok(line)
}
else if self.rx.timeout.as_millis() == 0 {
Err(SerialError::TimeoutError)
}
else {
Err(SerialError::ReadError)
}
}
}
impl<UART: serial::Uart> io::Read for SerialIO<UART> {
fn read(&mut self, buf: &mut [u8]) -> io::Result<usize> {
let buf_size = buf.len();
let count = self.rx.reset(Duration::from_millis(1000))
.enumerate()
.map(|(i, b)| {
buf[i] = b;
i
})
.take_while(|i| i < &buf_size)
.count();
Ok(count)
}
}
impl<UART: serial::Uart> io::Write for SerialIO<UART> {
fn write(&mut self, buf: &[u8]) -> io::Result<usize> {
self.send_bytes(buf, None)
.map_err(|_| io::Error::from(io::ErrorKind::Other))
}
fn flush(&mut self) -> io::Result<()> {
self.tx.flush()
.map_err(|err| io::Error::from(io::ErrorKind::Other))
}
}