Initial CDC implementation

components/SerialManager/CMakeLists.txt

@@ -1,4 +1,4 @@
 idf_component_register(SRCS "SerialManager/SerialManager.cpp"
   INCLUDE_DIRS "SerialManager"
-  REQUIRES  esp_driver_uart CommandManager ProjectConfig
+  REQUIRES  esp_driver_uart CommandManager ProjectConfig tinyusb
 )

components/SerialManager/SerialManager/SerialManager.cpp

@@ -1,6 +1,7 @@
 #include "SerialManager.hpp"
 #include "esp_log.h"
 #include "main_globals.hpp"
+#include "tusb.h"
 
 #define BUF_SIZE (1024)
 
@@ -65,10 +66,10 @@ void SerialManager::try_receive()
     // Notify main that a command was received during startup
     notify_startup_command_received();
 
-  const auto result = this->commandManager->executeFromJson(std::string_view(reinterpret_cast<const char *>(this->data)));
+    const auto result = this->commandManager->executeFromJson(std::string_view(reinterpret_cast<const char *>(this->data)));
-  const auto resultMessage = result.getResult();
+    const auto resultMessage = result.getResult();
-  int written = usb_serial_jtag_write_bytes(resultMessage.c_str(), resultMessage.length(), 1000 / 20);
+    int written = usb_serial_jtag_write_bytes(resultMessage.c_str(), resultMessage.length(), 1000 / 20);
-  (void)written; // ignore errors if driver already uninstalled
+    (void)written; // ignore errors if driver already uninstalled
   }
 }
 
@@ -127,6 +128,22 @@ bool SerialManager::should_send_heartbeat()
   return wifiConfigs.empty();
 }
 
+void SerialManager::shutdown()
+{
+  // Stop heartbeats; timer will be deleted by main if needed.
+  // Uninstall the USB Serial JTAG driver to free the internal USB for TinyUSB.
+  // esp_err_t err = usb_serial_jtag_driver_uninstall();
+  // if (err == ESP_OK)
+  // {
+  //   ESP_LOGI("[SERIAL]", "usb_serial_jtag driver uninstalled");
+  // }
+  // else if (err != ESP_ERR_INVALID_STATE)
+  // {
+  //   ESP_LOGW("[SERIAL]", "usb_serial_jtag_driver_uninstall returned %s", esp_err_to_name(err));
+  // }
+}
+
+// we can cancel this task once we're in cdc
 void HandleSerialManagerTask(void *pvParameters)
 {
   auto const serialManager = static_cast<SerialManager *>(pvParameters);
@@ -150,17 +167,71 @@ void HandleSerialManagerTask(void *pvParameters)
   }
 }
 
-void SerialManager::shutdown()
+void HandleCDCSerialManagerTask(void *pvParameters)
 {
-  // Stop heartbeats; timer will be deleted by main if needed.
+  auto const commandManager = static_cast<CommandManager *>(pvParameters);
-  // Uninstall the USB Serial JTAG driver to free the internal USB for TinyUSB.
+  static char buffer[BUF_SIZE];
-  esp_err_t err = usb_serial_jtag_driver_uninstall();
+  auto idx = 0;
-  if (err == ESP_OK)
+
+  cdc_command_packet_t packet;
+  while (true)
   {
-    ESP_LOGI("[SERIAL]", "usb_serial_jtag driver uninstalled");
+    if (xQueueReceive(cdcMessageQueue, &packet, portMAX_DELAY) == pdTRUE)
+    {
+      for (auto i = 0; i < packet.len; i++)
+      {
+        buffer[idx++] = packet.data[i];
+        // if we're at the end of the buffer, try to process the command anyway
+        // if we've got a new line, we've finished sending the commands, process them
+        if (idx >= BUF_SIZE || buffer[idx - 1] == '\n' || buffer[idx - 1] == '\r')
+        {
+          buffer[idx - 1] = '\0';
+          const auto result = commandManager->executeFromJson(std::string_view(reinterpret_cast<const char *>(buffer)));
+          const auto resultMessage = result.getResult();
+          tud_cdc_write(resultMessage.c_str(), resultMessage.length());
+          tud_cdc_write_flush();
+          idx = 0;
+        }
+      }
+    }
   }
-  else if (err != ESP_ERR_INVALID_STATE)
+}
+
+// tud_cdc_rx_cb is defined as TU_ATTR_WEAK so we can override it, we will be called back if we get some data
+// but we don't want to do any processing here since we don't want to risk blocking
+// grab the data and send it to a queue, a special task will process it and handle with the command manager
+extern "C" void tud_cdc_rx_cb(uint8_t itf)
+{
+  // we can void the interface number
+  (void)itf;
+  cdc_command_packet_t packet;
+  auto len = tud_cdc_available();
+
+  if (len > 0)
   {
-    ESP_LOGW("[SERIAL]", "usb_serial_jtag_driver_uninstall returned %s", esp_err_to_name(err));
+    auto read = tud_cdc_read(packet.data, sizeof(packet.data));
+    if (read > 0)
+    {
+      // we should be safe here, given that the max buffer size is 64
+      packet.len = static_cast<uint8_t>(read);
+      xQueueSend(cdcMessageQueue, &packet, 1);
+    }
   }
+}
+
+extern "C" void tud_cdc_line_state_cb(uint8_t itf, bool dtr, bool rts)
+{
+  (void)itf;
+  (void)dtr;
+  (void)rts;
+
+  ESP_LOGI("[SERIAL]", "CDC line state changed: DTR=%d, RTS=%d", dtr, rts);
+}
+
+void tud_cdc_line_coding_cb(uint8_t itf, cdc_line_coding_t const *p_line_coding)
+{
+  (void)itf;
+  ESP_LOGI("[SERIAL]", "CDC line coding: %" PRIu32 " bps, %d stop bits, %d parity, %d data bits",
+           p_line_coding->bit_rate, p_line_coding->stop_bits,
+           p_line_coding->parity, p_line_coding->data_bits);
 }

components/SerialManager/SerialManager/SerialManager.hpp

@@ -18,6 +18,17 @@
 #include "esp_vfs_dev.h"
 #include "esp_mac.h"
 
+void tud_cdc_rx_cb(uint8_t itf);
+void tud_cdc_line_state_cb(uint8_t itf, bool dtr, bool rts);
+
+extern QueueHandle_t cdcMessageQueue;
+
+struct cdc_command_packet_t
+{
+  uint8_t len;
+  uint8_t data[64];
+};
+
 class SerialManager
 {
 public:
@@ -38,4 +49,5 @@ private:
 };
 
 void HandleSerialManagerTask(void *pvParameters);
+void HandleCDCSerialManagerTask(void *pvParameters)
 #endif

components/UVCStream/UVCStream/UVCStream.hpp

@@ -17,7 +17,8 @@ extern std::shared_ptr<CameraManager> cameraHandler;
 extern std::shared_ptr<ProjectConfig> deviceConfig;
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
   const char *get_uvc_device_name();

components/usb_device_uvc/tusb/tusb_config.h

@@ -28,17 +28,18 @@
 
 #include "uvc_frame_config.h"
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
-//--------------------------------------------------------------------+
+  //--------------------------------------------------------------------+
-// Board Specific Configuration
+  // Board Specific Configuration
-//--------------------------------------------------------------------+
+  //--------------------------------------------------------------------+
 
 #ifdef CONFIG_TINYUSB_RHPORT_HS
-#   define CFG_TUSB_RHPORT1_MODE    OPT_MODE_DEVICE | OPT_MODE_HIGH_SPEED
+#define CFG_TUSB_RHPORT1_MODE OPT_MODE_DEVICE | OPT_MODE_HIGH_SPEED
 #else
-#   define CFG_TUSB_RHPORT0_MODE    OPT_MODE_DEVICE | OPT_MODE_FULL_SPEED
+#define CFG_TUSB_RHPORT0_MODE OPT_MODE_DEVICE | OPT_MODE_FULL_SPEED
 #endif
 
 //--------------------------------------------------------------------
@@ -55,20 +56,20 @@ extern "C" {
 #endif
 
 #ifndef CFG_TUSB_OS
-#define CFG_TUSB_OS           OPT_OS_FREERTOS
+#define CFG_TUSB_OS OPT_OS_FREERTOS
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
 #if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32P4)
-#define CFG_TUSB_OS_INC_PATH    freertos/
+#define CFG_TUSB_OS_INC_PATH freertos/
 #endif
 
 #ifndef CFG_TUSB_DEBUG
-#define CFG_TUSB_DEBUG        0
+#define CFG_TUSB_DEBUG 0
 #endif
 
 // Enable Device stack
-#define CFG_TUD_ENABLED       1
+#define CFG_TUD_ENABLED 1
 
 /* USB DMA on some MCUs can only access a specific SRAM region with restriction on alignment.
  * Tinyusb use follows macros to declare transferring memory so that they can be put
@@ -82,71 +83,54 @@ extern "C" {
 #endif
 
 #ifndef CFG_TUSB_MEM_ALIGN
-#define CFG_TUSB_MEM_ALIGN        __attribute__ ((aligned(4)))
+#define CFG_TUSB_MEM_ALIGN __attribute__((aligned(4)))
 #endif
 
-//--------------------------------------------------------------------
+  //--------------------------------------------------------------------
-// DEVICE CONFIGURATION
+  // DEVICE CONFIGURATION
-//--------------------------------------------------------------------
+  //--------------------------------------------------------------------
 
 #ifndef CFG_TUD_ENDPOINT0_SIZE
-#define CFG_TUD_ENDPOINT0_SIZE    64
+#define CFG_TUD_ENDPOINT0_SIZE 64
 #endif
 
-//------------- CLASS -------------//
+  //------------- CLASS -------------//
 
-// The number of video control interfaces
+#define CFG_TUD_CDC 1
-// The number of video streaming interfaces
+
-#if CONFIG_UVC_SUPPORT_TWO_CAM
+// CDC FIFO size of TX and RX
-#define CFG_TUD_VIDEO  2
+#define CFG_TUD_CDC_RX_BUFSIZE 256
-#define CFG_TUD_VIDEO_STREAMING  2
+#define CFG_TUD_CDC_TX_BUFSIZE 256
-#else
+
-#define CFG_TUD_VIDEO  1
+// CDC Endpoint transfer buffer size, more is faster
-#define CFG_TUD_VIDEO_STREAMING  1
+#define CFG_TUD_CDC_EP_BUFSIZE 64
-#endif
+
+  // The number of video control interfaces
+  // The number of video streaming interfaces
+
+#define CFG_TUD_VIDEO 1
+#define CFG_TUD_VIDEO_STREAMING 1
 
 // video streaming endpoint size
 #ifdef UVC_CAM1_BULK_MODE
 #if CONFIG_TINYUSB_RHPORT_HS
-#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE  512
+#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE 512
 #else
-#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE  64
+#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE 64
 #endif
 #define CFG_TUD_CAM1_VIDEO_STREAMING_BULK 1
 #else
 #define CFG_TUD_CAM1_VIDEO_STREAMING_BULK 0
 #if CONFIG_TINYUSB_RHPORT_HS
-#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE  1023
+#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE 1023
 #else
-#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE  512
+#define CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE 512
 #endif
 #endif
 
 #define CFG_EXAMPLE_VIDEO_DISABLE_MJPEG (!FORMAT_MJPEG)
 
-#if CONFIG_UVC_SUPPORT_TWO_CAM
-#ifdef UVC_CAM2_BULK_MODE
-#if CONFIG_TINYUSB_RHPORT_HS
-#define CFG_TUD_CAM2_VIDEO_STREAMING_EP_BUFSIZE  512
-#else
-#define CFG_TUD_CAM2_VIDEO_STREAMING_EP_BUFSIZE  64
-#endif
-#define CFG_TUD_CAM2_VIDEO_STREAMING_BULK 1
-#else
-#define CFG_TUD_CAM2_VIDEO_STREAMING_BULK 0
-#if CONFIG_TINYUSB_RHPORT_HS
-#define CFG_TUD_CAM2_VIDEO_STREAMING_EP_BUFSIZE  1023
-#else
-#define CFG_TUD_CAM2_VIDEO_STREAMING_EP_BUFSIZE  512
-#endif
-#endif
-#endif
-
-#if CONFIG_UVC_SUPPORT_TWO_CAM
-#define CFG_TUD_VIDEO_STREAMING_EP_BUFSIZE (CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE > CFG_TUD_CAM2_VIDEO_STREAMING_EP_BUFSIZE?CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE:CFG_TUD_CAM2_VIDEO_STREAMING_EP_BUFSIZE)
-#else
 #define CFG_TUD_VIDEO_STREAMING_EP_BUFSIZE CFG_TUD_CAM1_VIDEO_STREAMING_EP_BUFSIZE
-#endif
 
 #ifdef __cplusplus
 }

components/usb_device_uvc/tusb/usb_descriptors.c

@@ -65,14 +65,18 @@ uint8_t const *tud_descriptor_device_cb(void)
 // Configuration Descriptor
 //--------------------------------------------------------------------+
 // String descriptor indices used in interface descriptors
-#define STRID_LANGID        0
+#define STRID_LANGID 0
-#define STRID_MANUFACTURER  1
+#define STRID_MANUFACTURER 1
-#define STRID_PRODUCT       2
+#define STRID_PRODUCT 2
-#define STRID_SERIAL        3
+#define STRID_SERIAL 3
-#define STRID_UVC_CAM1      4
+#define STRID_UVC_CAM1 4
 
+// Endpoint numbers for CDC
+#define EPNUM_CDC_NOTIF   0x81
+#define EPNUM_CDC_OUT     0x02
+#define EPNUM_CDC_IN      0x82
 // Endpoint numbers for UVC video IN endpoints (device -> host)
-#define EPNUM_CAM1_VIDEO_IN 0x81
+#define EPNUM_CAM1_VIDEO_IN 0x83
 
 #if CFG_TUD_CAM1_VIDEO_STREAMING_BULK
 
@@ -113,7 +117,7 @@ uint8_t const *tud_descriptor_device_cb(void)
 #endif // CFG_TUD_CAM1_VIDEO_STREAMING_BULK
 
 // Total length of this configuration
-#define CONFIG_TOTAL_LEN (TUD_CONFIG_DESC_LEN + TUD_CAM1_VIDEO_CAPTURE_DESC_LEN)
+#define CONFIG_TOTAL_LEN (TUD_CONFIG_DESC_LEN + TUD_CDC_DESC_LEN + TUD_CAM1_VIDEO_CAPTURE_DESC_LEN)
 
 // Full-speed configuration descriptor
 static uint8_t const desc_fs_configuration[] = {
@@ -121,6 +125,7 @@ static uint8_t const desc_fs_configuration[] = {
     //                       total_length, attributes, power_mA)
     // attributes: 0 = bus-powered (default). Add TUSB_DESC_CONFIG_ATT_SELF_POWERED or _REMOTE_WAKEUP if needed.
     TUD_CONFIG_DESCRIPTOR(1, ITF_NUM_TOTAL, 0, CONFIG_TOTAL_LEN, 0, 500),
+    TUD_CDC_DESCRIPTOR(ITF_NUM_CDC, 6, EPNUM_CDC_NOTIF, 8, EPNUM_CDC_OUT, EPNUM_CDC_IN, 64),
 // IAD for Video Control
 #if CFG_TUD_CAM1_VIDEO_STREAMING_BULK
 #if CONFIG_UVC_CAM1_MULTI_FRAMESIZE
@@ -235,16 +240,16 @@ uint16_t const *tud_descriptor_string_cb(uint8_t index, uint16_t langid)
         // Note: the 0xEE index string is a Microsoft OS 1.0 Descriptors.
         // https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/microsoft-defined-usb-descriptors
 
-    if (!(index < sizeof(string_desc_arr) / sizeof(string_desc_arr[0])))
+        if (!(index < sizeof(string_desc_arr) / sizeof(string_desc_arr[0])))
         {
             return NULL;
         }
 
         const char *str = string_desc_arr[index];
-    // Allow dynamic overrides for specific indices
+        // Allow dynamic overrides for specific indices
-    if (index == STRID_SERIAL)
+        if (index == STRID_SERIAL)
             str = get_serial_number();
-    if (index == STRID_UVC_CAM1)
+        if (index == STRID_UVC_CAM1)
             str = get_uvc_device_name();
         if (str == NULL)
             str = string_desc_arr[index];

components/usb_device_uvc/tusb/usb_descriptors.h

@@ -36,13 +36,13 @@
 #define UVC_ENTITY_CAP_OUTPUT_TERMINAL 0x02
 
 enum {
+#if (CFG_TUD_CDC)
+  ITF_NUM_CDC,
+  ITF_NUM_CDC_DATA,
+#endif
 #if (CFG_TUD_VIDEO)
     ITF_NUM_VIDEO_CONTROL,
     ITF_NUM_VIDEO_STREAMING,
-#if CONFIG_UVC_SUPPORT_TWO_CAM
-    ITF_NUM_VIDEO_CONTROL_2,
-    ITF_NUM_VIDEO_STREAMING_2,
-#endif
 #endif
     ITF_NUM_TOTAL
 };

main/openiris_main.cpp

@@ -32,6 +32,7 @@
 esp_timer_handle_t timerHandle;
 QueueHandle_t eventQueue = xQueueCreate(10, sizeof(SystemEvent));
 QueueHandle_t ledStateQueue = xQueueCreate(10, sizeof(uint32_t));
+QueueHandle_t cdcMessageQueue = xQueueCreate(3, sizeof(cdc_command_packet_t));
 
 auto *stateManager = new StateManager(eventQueue, ledStateQueue);
 auto dependencyRegistry = std::make_shared<DependencyRegistry>();
@@ -84,6 +85,11 @@ void disable_serial_manager_task(TaskHandle_t serialManagerHandle)
 // 3. Device attempts WiFi connection while maintaining setup interfaces
 // 4. Device reports connection status via serial
 // 5. User explicitly starts streaming after verifying connectivity
+
+// todo this is getting yeeted lmao
+// new flow once more - auto - start the setup mode, we're gonna wait for a decision of what to do, maybe try and detect if we're connected to usb
+// uvc mode - start the uvc stream right away, kill webserver and wifi
+// wifi mode - start the wifi stream right away
 void start_video_streaming(void *arg)
 {
     // Get the stored device mode
@@ -120,7 +126,7 @@ void start_video_streaming(void *arg)
         ESP_LOGI("[MAIN]", "UVC streaming started");
         return; // UVC path complete, do not fall through to WiFi
 #else
-    ESP_LOGE("[MAIN]", "UVC mode selected but the board likely does not support it.");
+        ESP_LOGE("[MAIN]", "UVC mode selected but the board likely does not support it.");
         ESP_LOGI("[MAIN]", "Falling back to WiFi mode if credentials available");
         deviceMode = StreamingMode::WIFI;
 #endif
@@ -324,6 +330,14 @@ extern "C" void app_main(void)
         1, // we only rely on the serial manager during provisioning, we can run it slower
         &serialManagerHandle);
 
+    xTaskCreate(
+        HandleCDCSerialManagerTask,
+        "HandleCDCSerialManagerTask",
+        1024 * 6,
+        commandManager.get(),
+        1,
+        nullptr);
+
     wifiManager->Begin();
     mdnsManager.start();
     restAPI->begin();
@@ -355,5 +369,6 @@ extern "C" void app_main(void)
     ESP_ERROR_CHECK(esp_timer_start_once(timerHandle, CONFIG_GENERAL_UVC_DELAY * 1000000));
     ESP_LOGI("[MAIN]", "Started 20-second startup timer");
     ESP_LOGI("[MAIN]", "Send any command within 20 seconds to enter heartbeat mode");
+    // todo make this a tasks context that stores all the handles
     setSerialManagerHandle(&serialManagerHandle);
 }