mqtt: added mqtt to scpi conv

Cargo.toml

@@ -15,8 +15,9 @@ smoltcp = { version = "0.6.0", default-features = false, features = [ "ethernet"
 nb = "1.0.0"
 
 embedded-nal = "0.1.0"
-minimq = "0.1.0"
+minimq = { git = "https://github.com/quartiq/minimq.git", branch = "master" }
 heapless = "0.5.5"
+arrayvec = { version = "0.5.1", default-features = false, features = ["array-sizes-33-128", "array-sizes-129-255"] }
 
 # Logging and Panicking
 panic-itm = "0.4.1"

examples/ethernet.rs

@@ -54,8 +54,7 @@ use firmware::{
         ClockSourceCommand,
         ClockDivisionCommand,
     },
-    Urukul,
-    scpi_root, recursive_scpi_tree
+    Urukul, scpi_root, recursive_scpi_tree, scpi_tree
 };
 use scpi::prelude::*;
 use scpi::ieee488::commands::*;
@@ -267,34 +266,8 @@ fn main() -> ! {
             .ip_addrs(&mut ip_addrs[..])
             .finalize();
 
-    // SCPI configs
-    let tree = scpi_root!(
-        ["EXAMple"] => {
-            "HELLO" => {
-                "WORLD" => HelloWorldCommand
-            }
-        },
-        "CHANNEL0" => {
-            "SWitch" => Channel0SwitchCommand,
-            "Attenuation" => Channel0AttenuationCommand
-        },
-        "CHANNEL1" => {
-            "SWitch" => Channel1SwitchCommand,
-            "Attenuation" => Channel1AttenuationCommand
-        },
-        "CHANNEL2" => {
-            "SWitch" => Channel2SwitchCommand,
-            "Attenuation" => Channel2AttenuationCommand
-        },
-        "CHANNEL3" => {
-            "SWitch" => Channel3SwitchCommand,
-            "Attenuation" => Channel3AttenuationCommand
-        },
-        "CLOCK" => {
-            "SOURCE" => ClockSourceCommand,
-            "DIVision" => ClockDivisionCommand
-        }
-    );
+    // SCPI configs: migrated to scpi.rs, not meant to be touched
+    let tree = scpi_tree!();
 
     // Device was declared in prior
     let mut errors = ArrayErrorQueue::<[Error; 10]>::new();

examples/mqtt_client.rs

@@ -23,12 +23,50 @@ use rtic::cyccnt::{Instant, U32Ext};
 
 use minimq::{
     embedded_nal::{IpAddr, Ipv4Addr, TcpStack, SocketAddr, Mode},
-    MqttClient, QoS,
+    MqttClient, QoS
 };
 
 use firmware::nal_tcp_client::{NetworkStack, NetStorage, NetworkInterface};
-use firmware::{Urukul};
-use firmware::cpld::{CPLD};
+use firmware::{
+	cpld::{
+		CPLD,
+    },
+    scpi::{
+        HelloWorldCommand,
+        Channel0SwitchCommand,
+        Channel1SwitchCommand,
+        Channel2SwitchCommand,
+        Channel3SwitchCommand,
+        Channel0AttenuationCommand,
+        Channel1AttenuationCommand,
+        Channel2AttenuationCommand,
+        Channel3AttenuationCommand,
+        ClockSourceCommand,
+        ClockDivisionCommand,
+    },
+    Urukul, scpi_root, recursive_scpi_tree, scpi_tree
+};
+use firmware::translation::MqttScpiTranslator;
+
+use scpi::prelude::*;
+use scpi::ieee488::commands::*;
+use scpi::scpi::commands::*;
+use scpi::{
+    ieee488_cls,
+    ieee488_ese,
+    ieee488_esr,
+    ieee488_idn,
+    ieee488_opc,
+    ieee488_rst,
+    ieee488_sre,
+    ieee488_stb,
+    ieee488_tst,
+    ieee488_wai,
+    scpi_crate_version,
+    scpi_status,
+    scpi_system,
+};
+use scpi::Context;
 
 #[path = "util/logger.rs"]
 mod logger;
@@ -169,7 +207,7 @@ fn main() -> ! {
     let cpld = CPLD::new(spi, (cs0, cs1, cs2), io_update);
     let parts = cpld.split();
 
-    let urukul = Urukul::new(
+    let mut urukul = Urukul::new(
         parts.spi1, parts.spi2, parts.spi3, parts.spi4, parts.spi5, parts.spi6, parts.spi7,
         [25_000_000, 25_000_000, 25_000_000, 25_000_000]
     );
@@ -177,6 +215,17 @@ fn main() -> ! {
     cp.SCB.invalidate_icache();
     cp.SCB.enable_icache();
 
+    // Define SCPI tree
+    let tree = scpi_tree!();
+
+    // Device was declared in prior
+    let mut errors = ArrayErrorQueue::<[Error; 10]>::new();
+    let mut context = Context::new(&mut urukul, &mut errors, tree);
+
+    //Response bytebuffer
+    let mut buf = ArrayVecFormatter::<[u8; 256]>::new();
+    // SCPI configs END
+
     // Time unit in ms
     let mut time: u32 = 0;
 
@@ -190,13 +239,19 @@ fn main() -> ! {
     add_socket!(sockets, rx_storage, tx_storage);
 
     let tcp_stack = NetworkStack::new(&mut net_interface, sockets);
+
+    // Case dealt: Ethernet connection break down, neither side has timeout
+    // Limitation: Timeout inequality will cause TCP socket state to desync
+    //              Probably fixed in latest smoltcp commit
     let mut client = MqttClient::<consts::U256, _>::new(
         IpAddr::V4(Ipv4Addr::new(192, 168, 1, 125)),
-        "nucleo",
+        "Nucleo",
         tcp_stack,
     )
     .unwrap();
+
     let mut tick = false;
+    let mut has_subscribed = false;
 
     loop {
         // Update time accumulator in ms
@@ -207,15 +262,27 @@ fn main() -> ! {
             next_ms += 400_000.cycles();
         }
 
-        // Poll if necessary
+        // eth Poll if necessary
+        // Do not poll if eth link is down
         if tick && client.network_stack.update_delay(time) == 0 && eth_mac.phy_poll_link() {
             client.network_stack.update(time);
         }
 
         let connection = client
             .poll(|_client, topic, message, _properties| match topic {
-                _ => info!("On '{:?}', received: {:?}", topic, message),
+                topic => {
+                    info!("On '{:?}', received: {:?}", topic, message);
+                    context.run_with_mqtt(topic.as_bytes(), &mut buf);
+                },
             }).is_ok();
+        
+        if connection && !has_subscribed && tick {
+            match client.subscribe("Urukul/Control", &[]) {
+                Ok(()) => has_subscribed = true,
+                Err(minimq::Error::NotReady) => {},
+                e => warn!("{:?}", e),
+            };
+        }
 
         if connection && tick && (time % 3000) == 0 {
             info!("Feedback from print publish: {:?}", client

src/lib.rs

@@ -37,6 +37,8 @@ use crate::dds::DDS;
 
 pub mod scpi;
 
+pub mod translation;
+
 pub mod nal_tcp_client;
 
 /*

src/scpi.rs

@@ -110,6 +110,43 @@ macro_rules! scpi_root {
     };
 }
 
+#[macro_export]
+macro_rules! scpi_tree {
+    () => {
+        scpi_root!(
+            ["Control"] => {
+                ["Urukul"] => {
+                    "CHANNEL0" => {
+                        "SWitch" => Channel0SwitchCommand,
+                        "Attenuation" => Channel0AttenuationCommand
+                    },
+                    "CHANNEL1" => {
+                        "SWitch" => Channel1SwitchCommand,
+                        "Attenuation" => Channel1AttenuationCommand
+                    },
+                    "CHANNEL2" => {
+                        "SWitch" => Channel2SwitchCommand,
+                        "Attenuation" => Channel2AttenuationCommand
+                    },
+                    "CHANNEL3" => {
+                        "SWitch" => Channel3SwitchCommand,
+                        "Attenuation" => Channel3AttenuationCommand
+                    },
+                    "CLOCK" => {
+                        "SOURCE" => ClockSourceCommand,
+                        "DIVision" => ClockDivisionCommand
+                    }
+                }
+            },
+            ["EXAMple"] => {
+                "HELLO" => {
+                    "WORLD" => HelloWorldCommand
+                }
+            }
+        );
+    };
+}
+
 pub struct HelloWorldCommand {}
 impl<T: Device> Command<T> for HelloWorldCommand {
     qonly!();

src/translation.rs

@@ -0,0 +1,28 @@
+use scpi::prelude::*;
+use scpi::Context;
+use scpi::error::Result;
+
+use arrayvec::{ArrayVec};
+
+pub trait MqttScpiTranslator {
+    fn run_with_mqtt<FMT: Formatter>(&mut self, s: &[u8], response: &mut FMT) -> Result<()>;
+}
+
+impl<'a, T: Device> MqttScpiTranslator for Context<'a, T> {
+    fn run_with_mqtt<FMT>(&mut self, s: &[u8], response: &mut FMT) -> Result<()>
+    where
+        FMT: Formatter,
+    {
+        let mut array_vec = ArrayVec::<[u8; 1024]>::new();
+        for i in s.into_iter() {
+            if *i == b'/' {
+                array_vec.try_push(b'/')
+                            .map_err(|_| ErrorCode::OutOfMemory)?;
+            } else {
+                array_vec.try_push(*i)
+                            .map_err(|_| ErrorCode::OutOfMemory)?;
+            }
+        }
+        self.run(array_vec.as_slice(), response)
+    }
+}