mirror of
https://github.com/MrUnknownDE/OpenIris-ESPIDF.git
synced 2026-04-20 15:03:44 +02:00
Reformat project using clang-format
This commit is contained in:
Lorow
@@ -2,34 +2,34 @@
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#include "esp_log.h"
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#include "main_globals.hpp"
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SerialManager::SerialManager(std::shared_ptr<CommandManager> commandManager, esp_timer_handle_t *timerHandle)
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SerialManager::SerialManager(std::shared_ptr<CommandManager> commandManager, esp_timer_handle_t* timerHandle)
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: commandManager(commandManager), timerHandle(timerHandle)
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{
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this->data = static_cast<uint8_t *>(malloc(BUF_SIZE));
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this->temp_data = static_cast<uint8_t *>(malloc(256));
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this->data = static_cast<uint8_t*>(malloc(BUF_SIZE));
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this->temp_data = static_cast<uint8_t*>(malloc(256));
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}
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// Function to notify that a command was received during startup
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void SerialManager::notify_startup_command_received()
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{
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setStartupCommandReceived(true);
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setStartupCommandReceived(true);
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// Cancel the startup timer if it's still running
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if (timerHandle != nullptr && *timerHandle != nullptr)
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{
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esp_timer_stop(*timerHandle);
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esp_timer_delete(*timerHandle);
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*timerHandle = nullptr;
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ESP_LOGI("[MAIN]", "Startup timer cancelled, staying in heartbeat mode");
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}
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// Cancel the startup timer if it's still running
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if (timerHandle != nullptr && *timerHandle != nullptr)
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{
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esp_timer_stop(*timerHandle);
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esp_timer_delete(*timerHandle);
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*timerHandle = nullptr;
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ESP_LOGI("[MAIN]", "Startup timer cancelled, staying in heartbeat mode");
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}
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}
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// we can cancel this task once we're in cdc
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void HandleSerialManagerTask(void *pvParameters)
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void HandleSerialManagerTask(void* pvParameters)
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{
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auto const serialManager = static_cast<SerialManager *>(pvParameters);
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while (true)
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{
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serialManager->try_receive();
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}
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auto const serialManager = static_cast<SerialManager*>(pvParameters);
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while (true)
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{
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serialManager->try_receive();
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}
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}
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@@ -3,18 +3,18 @@
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#define SERIALMANAGER_HPP
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#include <stdio.h>
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#include <string>
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#include <memory>
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#include <CommandManager.hpp>
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#include <ProjectConfig.hpp>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "sdkconfig.h"
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#include "esp_log.h"
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#include <memory>
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#include <string>
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#include "driver/gpio.h"
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#include "esp_vfs_dev.h"
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#include "esp_log.h"
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#include "esp_mac.h"
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#include "esp_vfs_dev.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#include "freertos/task.h"
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#include "sdkconfig.h"
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#ifndef BUF_SIZE
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#define BUF_SIZE (1024)
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@@ -27,26 +27,26 @@ extern QueueHandle_t cdcMessageQueue;
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struct cdc_command_packet_t
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{
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uint8_t len;
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uint8_t data[64];
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uint8_t len;
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uint8_t data[64];
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};
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class SerialManager
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{
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public:
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explicit SerialManager(std::shared_ptr<CommandManager> commandManager, esp_timer_handle_t *timerHandle);
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void setup();
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void try_receive();
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void notify_startup_command_received();
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void shutdown();
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public:
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explicit SerialManager(std::shared_ptr<CommandManager> commandManager, esp_timer_handle_t* timerHandle);
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void setup();
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void try_receive();
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void notify_startup_command_received();
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void shutdown();
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private:
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std::shared_ptr<CommandManager> commandManager;
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esp_timer_handle_t *timerHandle;
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uint8_t *data;
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uint8_t *temp_data;
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private:
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std::shared_ptr<CommandManager> commandManager;
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esp_timer_handle_t* timerHandle;
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uint8_t* data;
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uint8_t* temp_data;
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};
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void HandleSerialManagerTask(void *pvParameters);
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void HandleCDCSerialManagerTask(void *pvParameters);
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void HandleSerialManagerTask(void* pvParameters);
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void HandleCDCSerialManagerTask(void* pvParameters);
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#endif
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@@ -1,102 +1,98 @@
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#include "SerialManager.hpp"
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#include "driver/uart.h"
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#include "esp_log.h"
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#include "main_globals.hpp"
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#include "driver/uart.h"
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void SerialManager::setup()
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{
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uart_config_t uart_config = {
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.baud_rate = 115200,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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};
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uart_config_t uart_config = {
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.baud_rate = 115200,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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};
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const auto uart_num = static_cast<uart_port_t>(CONFIG_UART_PORT_NUMBER);
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const auto uart_num = static_cast<uart_port_t>(CONFIG_UART_PORT_NUMBER);
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uart_driver_install(uart_num, BUF_SIZE, BUF_SIZE, 0, NULL, 0);
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uart_param_config(uart_num, &uart_config);
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uart_driver_install(uart_num, BUF_SIZE, BUF_SIZE, 0, NULL, 0);
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uart_param_config(uart_num, &uart_config);
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uart_set_pin(uart_num,
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CONFIG_UART_TX_PIN,
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CONFIG_UART_RX_PIN,
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UART_PIN_NO_CHANGE,
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UART_PIN_NO_CHANGE);
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uart_set_pin(uart_num, CONFIG_UART_TX_PIN, CONFIG_UART_RX_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
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gpio_set_pull_mode(static_cast<gpio_num_t>(CONFIG_UART_RX_PIN), GPIO_PULLDOWN_ONLY);
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gpio_set_pull_mode(static_cast<gpio_num_t>(CONFIG_UART_RX_PIN), GPIO_PULLDOWN_ONLY);
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// ----- Startup Flush -----
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uart_flush(uart_num);
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// ----- Startup Flush -----
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uart_flush(uart_num);
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uint8_t dump_buf[256];
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// clean up initial onslaught of logs
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while (uart_read_bytes(uart_num, dump_buf, sizeof(dump_buf), 10 / portTICK_PERIOD_MS) > 0)
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{
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}
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uint8_t dump_buf[256];
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// clean up initial onslaught of logs
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while (uart_read_bytes(uart_num, dump_buf, sizeof(dump_buf), 10 / portTICK_PERIOD_MS) > 0)
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{
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}
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}
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void uart_write_bytes_chunked(uart_port_t uart_num, const void *src, size_t size)
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void uart_write_bytes_chunked(uart_port_t uart_num, const void* src, size_t size)
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{
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while (size > 0)
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{
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auto to_write = size > BUF_SIZE ? BUF_SIZE : size;
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auto written = uart_write_bytes(uart_num, src, to_write);
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src += written;
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size -= written;
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}
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while (size > 0)
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{
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auto to_write = size > BUF_SIZE ? BUF_SIZE : size;
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auto written = uart_write_bytes(uart_num, src, to_write);
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src += written;
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size -= written;
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}
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}
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void SerialManager::try_receive()
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{
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static auto current_position = 0;
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const auto uart_num = static_cast<uart_port_t>(CONFIG_UART_PORT_NUMBER);
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int len = uart_read_bytes(uart_num, this->temp_data, BUF_SIZE, 1000 / 20);
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static auto current_position = 0;
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const auto uart_num = static_cast<uart_port_t>(CONFIG_UART_PORT_NUMBER);
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int len = uart_read_bytes(uart_num, this->temp_data, BUF_SIZE, 1000 / 20);
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// If driver is uninstalled or an error occurs, abort read gracefully
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if (len <= 0)
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{
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return;
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}
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if (len > 0)
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{
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notify_startup_command_received();
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}
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// since we've got something on the serial port
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// we gotta keep reading until we've got the whole message
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// we will submit the command once we get a newline, a return or the buffer is full
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for (auto i = 0; i < len; i++)
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{
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this->data[current_position++] = this->temp_data[i];
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// if we're at the end of the buffer, try to process the command anyway
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// if we've got a new line, we've finished sending the commands, process them
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if (current_position >= BUF_SIZE || this->data[current_position - 1] == '\n' || this->data[current_position - 1] == '\r')
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// If driver is uninstalled or an error occurs, abort read gracefully
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if (len <= 0)
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{
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data[current_position] = '\0';
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current_position = 0;
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const nlohmann::json result = this->commandManager->executeFromJson(std::string_view(reinterpret_cast<const char *>(this->data)));
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const auto resultMessage = result.dump();
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// todo check if this works
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// uart_write_bytes_chunked(uart_num, resultMessage.c_str(), resultMessage.length())s
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uart_write_bytes(uart_num, resultMessage.c_str(), resultMessage.length());
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return;
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}
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if (len > 0)
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{
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notify_startup_command_received();
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}
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// since we've got something on the serial port
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// we gotta keep reading until we've got the whole message
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// we will submit the command once we get a newline, a return or the buffer is full
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for (auto i = 0; i < len; i++)
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{
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this->data[current_position++] = this->temp_data[i];
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// if we're at the end of the buffer, try to process the command anyway
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// if we've got a new line, we've finished sending the commands, process them
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if (current_position >= BUF_SIZE || this->data[current_position - 1] == '\n' || this->data[current_position - 1] == '\r')
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{
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data[current_position] = '\0';
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current_position = 0;
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const nlohmann::json result = this->commandManager->executeFromJson(std::string_view(reinterpret_cast<const char*>(this->data)));
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const auto resultMessage = result.dump();
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// todo check if this works
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// uart_write_bytes_chunked(uart_num, resultMessage.c_str(), resultMessage.length())s
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uart_write_bytes(uart_num, resultMessage.c_str(), resultMessage.length());
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}
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}
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}
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}
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void SerialManager::shutdown()
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{
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// Uninstall the UART driver to free the internal to keep compatibility with JTAG implementation.
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const auto uart_num = static_cast<uart_port_t>(CONFIG_UART_PORT_NUMBER);
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esp_err_t err = uart_driver_delete(uart_num);
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if (err == ESP_OK)
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{
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ESP_LOGI("[SERIAL]", "usb_serial_jtag driver uninstalled");
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}
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else if (err != ESP_ERR_INVALID_STATE)
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{
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ESP_LOGW("[SERIAL]", "usb_serial_jtag_driver_uninstall returned %s", esp_err_to_name(err));
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}
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// Uninstall the UART driver to free the internal to keep compatibility with JTAG implementation.
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const auto uart_num = static_cast<uart_port_t>(CONFIG_UART_PORT_NUMBER);
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esp_err_t err = uart_driver_delete(uart_num);
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if (err == ESP_OK)
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{
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ESP_LOGI("[SERIAL]", "usb_serial_jtag driver uninstalled");
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}
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else if (err != ESP_ERR_INVALID_STATE)
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{
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ESP_LOGW("[SERIAL]", "usb_serial_jtag_driver_uninstall returned %s", esp_err_to_name(err));
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}
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}
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@@ -1,114 +1,114 @@
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#include "SerialManager.hpp"
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#include "esp_log.h"
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#include "main_globals.hpp"
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#include "driver/usb_serial_jtag.h"
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#include "esp_log.h"
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#include "esp_vfs_usb_serial_jtag.h"
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#include "main_globals.hpp"
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#include "tusb.h"
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void SerialManager::setup()
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{
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#ifndef CONFIG_USE_UART_FOR_COMMUNICATION
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usb_serial_jtag_driver_config_t usb_serial_jtag_config;
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usb_serial_jtag_config.rx_buffer_size = BUF_SIZE;
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usb_serial_jtag_config.tx_buffer_size = BUF_SIZE;
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usb_serial_jtag_driver_install(&usb_serial_jtag_config);
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usb_serial_jtag_driver_config_t usb_serial_jtag_config;
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usb_serial_jtag_config.rx_buffer_size = BUF_SIZE;
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usb_serial_jtag_config.tx_buffer_size = BUF_SIZE;
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usb_serial_jtag_driver_install(&usb_serial_jtag_config);
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#endif
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}
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void usb_serial_jtag_write_bytes_chunked(const char *data, size_t len, size_t timeout)
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void usb_serial_jtag_write_bytes_chunked(const char* data, size_t len, size_t timeout)
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{
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#ifndef CONFIG_USE_UART_FOR_COMMUNICATION
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while (len > 0)
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{
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auto to_write = len > BUF_SIZE ? BUF_SIZE : len;
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auto written = usb_serial_jtag_write_bytes(data, to_write, timeout);
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data += written;
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len -= written;
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}
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while (len > 0)
|
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{
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auto to_write = len > BUF_SIZE ? BUF_SIZE : len;
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auto written = usb_serial_jtag_write_bytes(data, to_write, timeout);
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data += written;
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len -= written;
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}
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#endif
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}
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void SerialManager::try_receive()
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{
|
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static auto current_position = 0;
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int len = usb_serial_jtag_read_bytes(this->temp_data, 256, 1000 / 20);
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static auto current_position = 0;
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int len = usb_serial_jtag_read_bytes(this->temp_data, 256, 1000 / 20);
|
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|
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// If driver is uninstalled or an error occurs, abort read gracefully
|
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if (len < 0)
|
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{
|
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return;
|
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}
|
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|
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if (len > 0)
|
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{
|
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// Notify main that a command was received during startup
|
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notify_startup_command_received();
|
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}
|
||||
|
||||
// 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')
|
||||
// If driver is uninstalled or an error occurs, abort read gracefully
|
||||
if (len < 0)
|
||||
{
|
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data[current_position] = '\0';
|
||||
current_position = 0;
|
||||
|
||||
const nlohmann::json result = this->commandManager->executeFromJson(std::string_view(reinterpret_cast<const char *>(this->data)));
|
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const auto resultMessage = result.dump();
|
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usb_serial_jtag_write_bytes_chunked(resultMessage.c_str(), resultMessage.length(), 1000 / 20);
|
||||
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));
|
||||
}
|
||||
// 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)
|
||||
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;
|
||||
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)
|
||||
cdc_command_packet_t packet;
|
||||
while (true)
|
||||
{
|
||||
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')
|
||||
if (xQueueReceive(cdcMessageQueue, &packet, portMAX_DELAY) == pdTRUE)
|
||||
{
|
||||
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;
|
||||
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
|
||||
}
|
||||
|
||||
@@ -117,36 +117,35 @@ void HandleCDCSerialManagerTask(void *pvParameters)
|
||||
// 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();
|
||||
// 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)
|
||||
if (len > 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);
|
||||
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;
|
||||
(void)itf;
|
||||
(void)dtr;
|
||||
(void)rts;
|
||||
|
||||
ESP_LOGI("[SERIAL]", "CDC line state changed: DTR=%d, RTS=%d", dtr, 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 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);
|
||||
(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);
|
||||
}
|
||||
Reference in New Issue
Block a user