Initial refactors to support esp32 boards

components/SerialManager/SerialManager/SerialManager_esp32s3.cpp

@@ -0,0 +1,152 @@
+#include "SerialManager.hpp"
+#include "esp_log.h"
+#include "main_globals.hpp"
+#include "driver/usb_serial_jtag.h"
+#include "esp_vfs_usb_serial_jtag.h"
+
+#include "tusb.h"
+
+void SerialManager::setup()
+{
+#ifndef CONFIG_USE_UART_FOR_COMMUNICATION
+  usb_serial_jtag_driver_config_t usb_serial_jtag_config;
+  usb_serial_jtag_config.rx_buffer_size = BUF_SIZE;
+  usb_serial_jtag_config.tx_buffer_size = BUF_SIZE;
+  usb_serial_jtag_driver_install(&usb_serial_jtag_config);
+#endif
+}
+
+usb_serial_jtag_write_bytes_chunked(const char *data, size_t len, size_t timeout)
+{
+#ifndef CONFIG_USE_UART_FOR_COMMUNICATION
+  while (len > 0)
+  {
+    auto to_write = len > BUF_SIZE ? BUF_SIZE : len;
+    auto written = usb_serial_jtag_write_bytes(data, to_write, timeout);
+    data += written;
+    len -= written;
+  }
+#endif
+}
+
+void SerialManager::try_receive()
+{
+  static auto current_position = 0;
+  int len = usb_serial_jtag_read_bytes(this->temp_data, 256, 1000 / 20);
+
+  // If driver is uninstalled or an error occurs, abort read gracefully
+  if (len < 0)
+  {
+    return;
+  }
+
+  if (len > 0)
+  {
+    // Notify main that a command was received during startup
+    notify_startup_command_received();
+  }
+
+  // since we've got something on the serial port
+  // we gotta keep reading until we've got the whole message
+  // we will submit the command once we get a newline, a return or the buffer is full
+  for (auto i = 0; i < len; i++)
+  {
+    this->data[current_position++] = this->temp_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 (current_position >= BUF_SIZE || this->data[current_position - 1] == '\n' || this->data[current_position - 1] == '\r')
+    {
+      data[current_position] = '\0';
+      current_position = 0;
+
+      const nlohmann::json result = this->commandManager->executeFromJson(std::string_view(reinterpret_cast<const char *>(this->data)));
+      const auto resultMessage = result.dump();
+      usb_serial_jtag_write_bytes_chunked(resultMessage.c_str(), resultMessage.length(), 1000 / 20);
+    }
+  }
+}
+
+void SerialManager::shutdown()
+{
+  // 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));
+  }
+}
+
+void HandleCDCSerialManagerTask(void *pvParameters)
+{
+#ifndef CONFIG_USE_UART_FOR_COMMUNICATION
+  auto const commandManager = static_cast<CommandManager *>(pvParameters);
+  static char buffer[BUF_SIZE];
+  auto idx = 0;
+
+  cdc_command_packet_t packet;
+  while (true)
+  {
+    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 nlohmann::json result = commandManager->executeFromJson(std::string_view(reinterpret_cast<const char *>(buffer)));
+          const auto resultMessage = result.dump();
+          tud_cdc_write(resultMessage.c_str(), resultMessage.length());
+          tud_cdc_write_flush();
+          idx = 0;
+        }
+      }
+    }
+  }
+#endif
+}
+
+// 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)
+  {
+    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);
+}