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https://github.com/arduino/Arduino.git
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262 lines
6.3 KiB
C++
262 lines
6.3 KiB
C++
/*
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Copyright (c) 2013 Arduino LLC. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "Bridge.h"
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BridgeClass::BridgeClass(Stream &_stream) : index(0), stream(_stream), started(false) {
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// Empty
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}
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void BridgeClass::begin() {
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if (started)
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return;
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started = true;
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// TODO: A more robust restart
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// Wait for Atheros bootloader to finish startup
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do {
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dropAll();
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delay(1100);
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} while (available()>0);
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// Bridge startup:
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// - If the bridge is not running starts it safely
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print(CTRL_C);
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print(F("\n"));
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delay(500);
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// Wait for OpenWRT message
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// "Press enter to activate console"
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print(F("\ncd /usr/lib/python2.7/bridge\n"));
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delay(100);
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print(F("python -B bridge.py\n"));
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delay(1000);
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dropAll();
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// - If the bridge was already running previous commands
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// are ignored as "invalid packets".
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// Reset the brigde
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uint8_t cmd[] = {'X','X'};
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transfer(cmd, 2);
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}
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uint8_t BridgeClass::runCommand(String &command) {
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// TODO: do it in a more efficient way
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String cmd = "R" + command;
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uint8_t res[1];
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transfer((uint8_t*)cmd.c_str(), cmd.length(), res, 1);
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return res[0];
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}
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bool BridgeClass::commandIsRunning(uint8_t handle) {
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uint8_t cmd[] = {'r', handle};
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uint8_t res[1];
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transfer(cmd, 2, res, 1);
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return (res[0] == 1);
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}
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unsigned int BridgeClass::commandExitValue(uint8_t handle) {
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uint8_t cmd[] = {'W', handle};
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uint8_t res[2];
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transfer(cmd, 2, res, 2);
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return (res[0] << 8) + res[1];
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}
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void BridgeClass::cleanCommand(uint8_t handle) {
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uint8_t cmd[] = {'w', handle};
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transfer(cmd, 2);
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}
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unsigned int BridgeClass::commandOutputAvailable(uint8_t handle) {
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uint8_t cmd[] = {'o', handle};
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uint8_t res[1];
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transfer(cmd, 2, res, 1);
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return res[0];
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}
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unsigned int BridgeClass::readCommandOutput(uint8_t handle,
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uint8_t *buffer, unsigned int size) {
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if (size > 255)
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size = 255;
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uint8_t cmd[] = {'O', handle, size};
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return transfer(cmd, 3, buffer, size);
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}
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void BridgeClass::writeCommandInput(uint8_t handle,
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const uint8_t *buff, unsigned int size) {
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// TODO: do it in a more efficient way
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uint8_t *tmp = new uint8_t[size+2];
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tmp[0] = 'I';
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tmp[1] = handle;
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memcpy(tmp+2, buff, size);
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transfer(tmp, size+2);
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delete[] tmp;
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}
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unsigned int BridgeClass::readMessage(uint8_t *buff, unsigned int size) {
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uint8_t tmp[] = { 'm' };
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return transfer(tmp, 1, buff, size);
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}
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void BridgeClass::writeMessage(const uint8_t *buff, unsigned int size) {
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// TODO: do it in a more efficient way
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uint8_t *tmp = new uint8_t[size+1];
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tmp[0] = 'M';
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memcpy(tmp+1, buff, size);
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transfer(tmp, size+1);
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delete[] tmp;
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}
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unsigned int BridgeClass::messageAvailable() {
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uint8_t tmp[] = { 'n' };
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uint8_t res[2];
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transfer(tmp, 1, res, 2);
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return (res[0] << 8) + res[1];
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}
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void BridgeClass::put(const char *key, const char *value) {
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// TODO: do it in a more efficient way
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String cmd = "D";
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cmd += key;
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cmd += "\xFE";
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cmd += value;
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transfer((uint8_t*)cmd.c_str(), cmd.length());
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}
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unsigned int BridgeClass::get(const char *key, uint8_t *value, unsigned int maxlen) {
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// TODO: do it in a more efficient way
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unsigned int l = strlen(key);
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uint8_t *tmp = new uint8_t[l+1];
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tmp[0] = 'd';
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memcpy(tmp+1, key, strlen(key));
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l = transfer(tmp, l+1, value, maxlen);
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if (l<maxlen)
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value[l] = 0; // Zero-terminate string
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delete[] tmp;
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return l;
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}
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void BridgeClass::crcUpdate(uint8_t c) {
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CRC = CRC ^ c;
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CRC = (CRC >> 8) + (CRC << 8);
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}
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void BridgeClass::crcReset() {
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CRC = 0xAAAA;
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}
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void BridgeClass::crcWrite() {
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write((char)(CRC >> 8));
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write((char)(CRC & 0xFF));
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}
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bool BridgeClass::crcCheck(uint16_t _CRC) {
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return CRC == _CRC;
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}
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uint8_t BridgeClass::transfer(const uint8_t *buff, uint8_t len,
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uint8_t *rxbuff, uint8_t rxlen)
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{
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for ( ; ; delay(100), dropAll() /* Delay for retransmission */) {
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// Send packet
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crcReset();
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write((char)0xFF); // Start of packet (0xFF)
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crcUpdate(0xFF);
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write((char)index); // Message index
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crcUpdate(index);
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write((char)len); // Message length
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crcUpdate(len);
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for (uint8_t i=0; i<len; i++) { // Payload
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write((char)buff[i]);
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crcUpdate(buff[i]);
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}
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crcWrite(); // CRC
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// Wait for ACK in 100ms
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if (timedRead(100) != 0xFF)
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continue;
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crcReset();
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crcUpdate(0xFF);
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// Check packet index
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if (timedRead(5) != index)
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continue;
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crcUpdate(index);
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// Recv len
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uint8_t l = timedRead(5);
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if (l < 0)
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continue;
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crcUpdate(l);
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// Recv data
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for (uint8_t i=0; i<l; i++) {
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int c = timedRead(5);
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if (c < 0)
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continue;
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// Cut received data if rxbuffer is too small
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if (i < rxlen)
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rxbuff[i] = c;
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crcUpdate(c);
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}
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// Check CRC
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int crc_hi = timedRead(5);
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if (crc_hi < 0)
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continue;
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int crc_lo = timedRead(5);
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if (crc_lo < 0)
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continue;
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if (!crcCheck((crc_hi<<8)+crc_lo))
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continue;
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// Increase index
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index++;
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// Return bytes received
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if (l > rxlen)
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return rxlen;
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return l;
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}
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}
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int BridgeClass::timedRead(unsigned int timeout) {
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int c;
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unsigned long _startMillis = millis();
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do {
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c = read();
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if (c >= 0) return c;
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} while(millis() - _startMillis < timeout);
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return -1; // -1 indicates timeout
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}
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void BridgeClass::dropAll() {
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while (available() > 0) {
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read();
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}
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}
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// Bridge instance
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#ifdef __AVR_ATmega32U4__
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// Leonardo variants (where HardwareSerial is Serial1)
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SerialBridgeClass Bridge(Serial1);
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#else
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SerialBridgeClass Bridge(Serial);
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#endif
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