merge the network code

Cargo.lock

@@ -148,6 +148,16 @@ version = "0.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "857afb5ee9e767c3a73b2ad7212b6deea0c3761a27db1e20ea0ed57ee352cfef"
 
+[[package]]
+name = "lexical-core"
+version = "0.7.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "db65c6da02e61f55dae90a0ae427b2a5f6b3e8db09f58d10efab23af92592616"
+dependencies = [
+ "bitflags",
+ "cfg-if",
+]
+
 [[package]]
 name = "log"
 version = "0.4.8"
@@ -163,12 +173,28 @@ version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fdcec5e97041c7f0f1c5b7d93f12e57293c831c646f4cc7a5db59460c7ea8de6"
 
+[[package]]
+name = "memchr"
+version = "2.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3728d817d99e5ac407411fa471ff9800a778d88a24685968b36824eaf4bee400"
+
 [[package]]
 name = "nb"
 version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc"
 
+[[package]]
+name = "nom"
+version = "5.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b471253da97532da4b61552249c521e01e736071f71c1a4f7ebbfbf0a06aad6"
+dependencies = [
+ "memchr",
+ "version_check",
+]
+
 [[package]]
 name = "panic-abort"
 version = "0.3.2"
@@ -312,7 +338,9 @@ dependencies = [
  "cortex-m-rt",
  "embedded-hal",
  "hash2hwaddr",
+ "lexical-core",
  "log",
+ "nom",
  "panic-abort",
  "panic-semihosting",
  "smoltcp",
@@ -338,6 +366,12 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "876e32dcadfe563a4289e994f7cb391197f362b6315dc45e8ba4aa6f564a4b3c"
 
+[[package]]
+name = "version_check"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "078775d0255232fb988e6fccf26ddc9d1ac274299aaedcedce21c6f72cc533ce"
+
 [[package]]
 name = "void"
 version = "1.0.2"

Cargo.toml

@@ -29,6 +29,8 @@ smoltcp = { version = "0.6.0", default-features = false, features = ["proto-ipv4
 hash2hwaddr = { version = "0.0", optional = true }
 bit_field = "0.10"
 byteorder = { version = "1", default-features = false }
+nom = { version = "5", default-features = false }
+lexical-core = { version = "0.7", default-features = false }
 
 [features]
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]

src/command_parser.rs

@@ -0,0 +1,533 @@
+use core::fmt;
+use nom::{
+    IResult,
+    branch::alt,
+    bytes::complete::{is_a, tag, take_while1},
+    character::{is_digit, complete::{char, one_of}},
+    combinator::{complete, map, opt, value},
+    sequence::{preceded, separated_pair},
+    multi::{fold_many0, fold_many1},
+    error::ErrorKind,
+};
+use lexical_core as lexical;
+
+
+#[derive(Clone, Debug, PartialEq)]
+pub enum Error {
+    Parser(ErrorKind),
+    Incomplete,
+    UnexpectedInput(u8),
+    ParseNumber(lexical::Error)
+}
+
+impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
+    fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
+        match e {
+            nom::Err::Incomplete(_) =>
+                Error::Incomplete,
+            nom::Err::Error((_, e)) =>
+                Error::Parser(e),
+            nom::Err::Failure((_, e)) =>
+                Error::Parser(e),
+        }
+    }
+}
+
+impl From<lexical::Error> for Error {
+    fn from(e: lexical::Error) -> Self {
+        Error::ParseNumber(e)
+    }
+}
+
+impl fmt::Display for Error {
+    fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
+        match self {
+            Error::Incomplete =>
+                "incomplete input".fmt(fmt),
+            Error::UnexpectedInput(c) => {
+                "unexpected input: ".fmt(fmt)?;
+                c.fmt(fmt)
+            }
+            Error::Parser(e) => {
+                "parser: ".fmt(fmt)?;
+                (e as &dyn core::fmt::Debug).fmt(fmt)
+            }
+            Error::ParseNumber(e) => {
+                "parsing number: ".fmt(fmt)?;
+                (e as &dyn core::fmt::Debug).fmt(fmt)
+            }
+        }
+    }
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum ShowCommand {
+    Input,
+    Reporting,
+    Pwm,
+    Pid,
+    SteinhartHart,
+    PostFilter,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum PidParameter {
+    Target,
+    KP,
+    KI,
+    KD,
+    OutputMin,
+    OutputMax,
+    IntegralMin,
+    IntegralMax,
+}
+
+/// Steinhart-Hart equation parameter
+#[derive(Debug, Clone, PartialEq)]
+pub enum ShParameter {
+    A,
+    B,
+    C,
+    ParallelR,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub struct PwmConfig {
+    pub width: u16,
+    pub total: u16,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum PwmMode {
+    Manual(PwmConfig),
+    Pid,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum PwmSetup {
+    ISet(PwmMode),
+    MaxIPos(PwmConfig),
+    MaxINeg(PwmConfig),
+    MaxV(PwmConfig),
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum Command {
+    Quit,
+    Show(ShowCommand),
+    Reporting(bool),
+    Pwm {
+        channel: usize,
+        setup: PwmSetup,
+    },
+    Pid {
+        channel: usize,
+        parameter: PidParameter,
+        value: f32,
+    },
+    SteinhartHart {
+        channel: usize,
+        parameter: ShParameter,
+        value: f32,
+    },
+    PostFilter {
+        channel: usize,
+        rate: f32,
+    },
+}
+
+fn end(input: &[u8]) -> IResult<&[u8], ()> {
+    complete(
+        fold_many0(
+            one_of("\r\n\t "),
+            (), |(), _| ()
+        )
+    )(input)
+}
+
+fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
+    fold_many1(char(' '), (), |(), _| ())(input)
+}
+
+fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u16, Error>> {
+    take_while1(is_digit)(input)
+        .map(|(input, digits)| {
+            let result = lexical::parse(digits)
+                .map_err(|e| e.into());
+            (input, result)
+        })
+}
+
+fn float(input: &[u8]) -> IResult<&[u8], Result<f32, Error>> {
+    let (input, sign) = opt(is_a("-"))(input)?;
+    let negative = sign.is_some();
+    let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
+    let result = lexical::parse(digits)
+        .map(|result: f32| if negative { -result } else { result })
+        .map_err(|e| e.into());
+    Ok((input, result))
+}
+
+fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
+    alt((value(false, tag("off")),
+         value(true, tag("on"))
+    ))(input)
+}
+
+fn channel(input: &[u8]) -> IResult<&[u8], usize> {
+    map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
+}
+
+fn report(input: &[u8]) -> IResult<&[u8], Command> {
+    preceded(
+        tag("report"),
+        alt((
+            preceded(
+                whitespace,
+                preceded(
+                    tag("mode"),
+                    alt((
+                        preceded(
+                            whitespace,
+                            // `report mode <on | off>` - Switch repoting mode
+                            map(off_on, Command::Reporting)
+                        ),
+                        // `report mode` - Show current reporting state
+                        value(Command::Show(ShowCommand::Reporting), end)
+                    ))
+                )),
+            // `report` - Report once
+            value(Command::Show(ShowCommand::Input), end)
+        ))
+    )(input)
+}
+
+/// `pwm ... <width> <total>` - Set pwm duty cycle
+fn pwm_config(input: &[u8]) -> IResult<&[u8], Result<PwmConfig, Error>> {
+    let (input, width) = unsigned(input)?;
+    let width = match width {
+        Ok(width) => width,
+        Err(e) => return Ok((input, Err(e.into()))),
+    };
+    let (input, _) = whitespace(input)?;
+    let (input, total) = unsigned(input)?;
+    let total = match total {
+        Ok(total) => total,
+        Err(e) => return Ok((input, Err(e.into()))),
+    };
+    Ok((input, Ok(PwmConfig { width, total })))
+}
+
+fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<PwmSetup, Error>> {
+    alt((
+        map(
+            preceded(
+                tag("max_i_pos"),
+                preceded(
+                    whitespace,
+                    pwm_config
+                )
+            ),
+            |result| result.map(PwmSetup::MaxIPos)
+        ),
+        map(
+            preceded(
+                tag("max_i_neg"),
+                preceded(
+                    whitespace,
+                    pwm_config
+                )
+            ),
+            |result| result.map(PwmSetup::MaxINeg)
+        ),
+        map(
+            preceded(
+                tag("max_v"),
+                preceded(
+                    whitespace,
+                    pwm_config
+                )
+            ),
+            |result| result.map(PwmSetup::MaxV)
+        ),
+        map(pwm_config, |result| result.map(|config| {
+            PwmSetup::ISet(PwmMode::Manual(config))
+        }))
+    ))(input)
+}
+
+/// `pwm <0-1> pid` - Set PWM to be controlled by PID
+fn pwm_pid(input: &[u8]) -> IResult<&[u8], Result<PwmSetup, Error>> {
+    value(Ok(PwmSetup::ISet(PwmMode::Pid)), tag("pid"))(input)
+}
+
+fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pwm")(input)?;
+    alt((
+        preceded(
+            whitespace,
+            map(
+                separated_pair(
+                    channel,
+                    whitespace,
+                    alt((
+                        pwm_pid,
+                        pwm_setup
+                    ))
+                ),
+                |(channel, setup)| setup.map(|setup| Command::Pwm { channel, setup })
+            )
+        ),
+        value(Ok(Command::Show(ShowCommand::Pwm)), end)
+    ))(input)
+}
+
+/// `pid <0-1> <parameter> <value>`
+fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, channel) = channel(input)?;
+    let (input, _) = whitespace(input)?;
+    let (input, parameter) =
+        alt((value(PidParameter::Target, tag("target")),
+             value(PidParameter::KP, tag("kp")),
+             value(PidParameter::KI, tag("ki")),
+             value(PidParameter::KD, tag("kd")),
+             value(PidParameter::OutputMin, tag("output_min")),
+             value(PidParameter::OutputMax, tag("output_max")),
+             value(PidParameter::IntegralMin, tag("integral_min")),
+             value(PidParameter::IntegralMax, tag("integral_max"))
+        ))(input)?;
+    let (input, _) = whitespace(input)?;
+    let (input, value) = float(input)?;
+    let result = value
+        .map(|value| Command::Pid { channel, parameter, value });
+    Ok((input, result))
+}
+
+/// `pid` | `pid <pid_parameter>`
+fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pid")(input)?;
+    alt((
+        preceded(
+            whitespace,
+            pid_parameter
+        ),
+        value(Ok(Command::Show(ShowCommand::Pid)), end)
+    ))(input)
+}
+
+/// `s-h <0-1> <parameter> <value>`
+fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, channel) = channel(input)?;
+    let (input, _) = whitespace(input)?;
+    let (input, parameter) =
+        alt((value(ShParameter::A, tag("a")),
+             value(ShParameter::B, tag("b")),
+             value(ShParameter::C, tag("c")),
+             value(ShParameter::ParallelR, tag("parallel_r"))
+        ))(input)?;
+    let (input, _) = whitespace(input)?;
+    let (input, value) = float(input)?;
+    let result = value
+        .map(|value| Command::SteinhartHart { channel, parameter, value });
+    Ok((input, result))
+}
+
+/// `s-h` | `s-h <steinhart_hart_parameter>`
+fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("s-h")(input)?;
+    alt((
+        preceded(
+            whitespace,
+            steinhart_hart_parameter
+        ),
+        value(Ok(Command::Show(ShowCommand::SteinhartHart)), end)
+    ))(input)
+}
+
+fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("postfilter")(input)?;
+    alt((
+        preceded(
+            whitespace,
+            |input| {
+                let (input, channel) = channel(input)?;
+                let (input, _) = whitespace(input)?;
+                let (input, _) = tag("rate")(input)?;
+                let (input, _) = whitespace(input)?;
+                let (input, rate) = float(input)?;
+                let result = rate
+                    .map(|rate| Command::PostFilter {
+                        channel, rate,
+                    });
+                Ok((input, result))
+            }
+        ),
+        value(Ok(Command::Show(ShowCommand::PostFilter)), end)
+    ))(input)
+}
+
+fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    alt((value(Ok(Command::Quit), tag("quit")),
+         map(report, Ok),
+         pwm,
+         pid,
+         steinhart_hart,
+         postfilter,
+    ))(input)
+}
+
+impl Command {
+    pub fn parse(input: &[u8]) -> Result<Self, Error> {
+        match command(input) {
+            Ok((b"", result)) =>
+                result,
+            Ok((input_remain, _)) =>
+                Err(Error::UnexpectedInput(input_remain[0])),
+            Err(e) =>
+                Err(e.into()),
+        }
+    }
+}
+
+#[cfg(test)]
+mod test {
+    use super::*;
+
+    #[test]
+    fn parse_quit() {
+        let command = Command::parse(b"quit");
+        assert_eq!(command, Ok(Command::Quit));
+    }
+
+    #[test]
+    fn parse_report() {
+        let command = Command::parse(b"report");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
+    }
+
+    #[test]
+    fn parse_report_mode() {
+        let command = Command::parse(b"report mode");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
+    }
+
+    #[test]
+    fn parse_report_mode_on() {
+        let command = Command::parse(b"report mode on");
+        assert_eq!(command, Ok(Command::Reporting(true)));
+    }
+
+    #[test]
+    fn parse_report_mode_off() {
+        let command = Command::parse(b"report mode off");
+        assert_eq!(command, Ok(Command::Reporting(false)));
+    }
+
+    #[test]
+    fn parse_pwm_manual() {
+        let command = Command::parse(b"pwm 1 16383 65535");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 1,
+            setup: PwmSetup::ISet(PwmMode::Manual(PwmConfig {
+                width: 16383,
+                total: 65535,
+            })),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_pid() {
+        let command = Command::parse(b"pwm 0 pid");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::ISet(PwmMode::Pid),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_max_i_pos() {
+        let command = Command::parse(b"pwm 0 max_i_pos 7 13");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::MaxIPos(PwmConfig {
+                width: 7,
+                total: 13,
+            }),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_max_i_neg() {
+        let command = Command::parse(b"pwm 0 max_i_neg 128 65535");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::MaxINeg(PwmConfig {
+                width: 128,
+                total: 65535,
+            }),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_max_v() {
+        let command = Command::parse(b"pwm 0 max_v 32768 65535");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::MaxV(PwmConfig {
+                width: 32768,
+                total: 65535,
+            }),
+        }));
+    }
+
+    #[test]
+    fn parse_pid() {
+        let command = Command::parse(b"pid");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Pid)));
+    }
+
+    #[test]
+    fn parse_pid_target() {
+        let command = Command::parse(b"pid 0 target 36.5");
+        assert_eq!(command, Ok(Command::Pid {
+            channel: 0,
+            parameter: PidParameter::Target,
+            value: 36.5,
+        }));
+    }
+
+    #[test]
+    fn parse_pid_integral_max() {
+        let command = Command::parse(b"pid 1 integral_max 2000");
+        assert_eq!(command, Ok(Command::Pid {
+            channel: 1,
+            parameter: PidParameter::IntegralMax,
+            value: 2000.0,
+        }));
+    }
+
+    #[test]
+    fn parse_steinhart_hart() {
+        let command = Command::parse(b"s-h");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
+    }
+
+    #[test]
+    fn parse_steinhart_hart_parallel_r() {
+        let command = Command::parse(b"s-h 1 parallel_r 23.05");
+        assert_eq!(command, Ok(Command::SteinhartHart {
+            channel: 1,
+            parameter: ShParameter::ParallelR,
+            value: 23.05,
+        }));
+    }
+
+    #[test]
+    fn parse_postfilter_rate() {
+        let command = Command::parse(b"postfilter 0 rate 21");
+        assert_eq!(command, Ok(Command::PostFilter {
+            channel: 0,
+            rate: 21.0,
+        }));
+    }
+}

src/main.rs

@@ -33,13 +33,28 @@ mod ad5680;
 mod net;
 mod server;
 use server::Server;
+mod session;
+use session::{CHANNELS, Session, SessionOutput};
+mod command_parser;
+use command_parser::{Command, ShowCommand, PwmSetup, PwmMode};
 mod timer;
 
-/// Interval at which to sample the ADC input and broadcast to all
+
-/// clients.
+#[derive(Clone, Copy, Debug)]
-///
+struct ChannelState {
-/// This should be a multiple of the `TIMER_RATE`.
+    adc_data: Option<i32>,
-const OUTPUT_INTERVAL: u32 = 1000;
+    adc_time: Instant,
+}
+
+impl Default for ChannelState {
+    fn default() -> Self {
+        ChannelState {
+            adc_data: None,
+            adc_time: Instant::from_secs(0),
+        }
+    }
+}
+
 
 #[cfg(not(feature = "semihosting"))]
 const WATCHDOG_INTERVAL: u32 = 100;
@@ -49,15 +64,16 @@ const WATCHDOG_INTERVAL: u32 = 10_000;
 #[cfg(not(feature = "generate-hwaddr"))]
 const NET_HWADDR: [u8; 6] = [0x02, 0x00, 0xDE, 0xAD, 0xBE, 0xEF];
 
+const TCP_PORT: u16 = 23;
+
 
 const HSE: MegaHertz = MegaHertz(8);
 
-
 /// Initialization and main loop
 #[entry]
 fn main() -> ! {
     init_log();
-    info!("Thermostat firmware");
+    info!("tecpak");
 
     let mut cp = CorePeripherals::take().unwrap();
     cp.SCB.enable_icache();
@@ -102,10 +118,10 @@ fn main() -> ! {
     };
     info!("Net hwaddr: {}", hwaddr);
 
-    info!("Net startup");
+    let mut channel_states = [ChannelState::default(); CHANNELS];
+
     net::run(dp.ETHERNET_MAC, dp.ETHERNET_DMA, hwaddr, |iface| {
-        Server::run(iface, |server| {
+        Server::<Session>::run(iface, |server| {
-            let mut last_output = 0_u32;
             loop {
                 let now = timer::now().0;
                 let instant = Instant::from_millis(i64::from(now));
@@ -115,17 +131,224 @@ fn main() -> ! {
                         warn!("poll: {:?}", e);
                     });
 
-                let now = timer::now().0;
+                // ADC input
-                if now - last_output >= OUTPUT_INTERVAL {
+                adc.data_ready().unwrap().map(|channel| {
-                    // let adc_value = adc_input.read();
-                    writeln!(server, "t={},pa3={}\r", now, 0.0 /*adc_value*/).unwrap();
-                    last_output = now;
-                }
-
-                if let Some(channel) = adc.data_ready().unwrap() {
                     let data = adc.read_data().unwrap();
-                    info!("ADC {}: {:08X}", channel, data);
+
+                    let state = &mut channel_states[usize::from(channel)];
+                    state.adc_data = Some(data);
+                    state.adc_time = instant;
+                    server.for_each(|_, session| session.set_report_pending(channel.into()));
+                });
+
+                // TCP protocol handling
+                server.for_each(|mut socket, session| {
+                    if ! socket.is_open() {
+                        let _ = socket.listen(TCP_PORT);
+                        session.reset();
+                    } else if socket.can_send() && socket.can_recv() && socket.send_capacity() - socket.send_queue() > 128 {
+                        match socket.recv(|buf| session.feed(buf)) {
+                            Ok(SessionOutput::Nothing) => {}
+                            Ok(SessionOutput::Command(command)) => match command {
+                                Command::Quit =>
+                                    socket.close(),
+                                Command::Reporting(reporting) => {
+                                    let _ = writeln!(socket, "report={}", if reporting { "on" } else { "off" });
                                 }
+                                Command::Show(ShowCommand::Reporting) => {
+                                    let _ = writeln!(socket, "report={}", if session.reporting() { "on" } else { "off" });
+                                }
+                                Command::Show(ShowCommand::Input) => {
+                                    for (channel, state) in channel_states.iter().enumerate() {
+                                        if let Some(adc_data) = state.adc_data {
+                                            let _ = writeln!(
+                                                socket, "t={} raw{}=0x{:06X}",
+                                                state.adc_time, channel, adc_data
+                                            );
+                                            // TODO: show pwm status et al
+                                        }
+                                    }
+                                }
+                                Command::Show(ShowCommand::Pid) => {
+                                    // for (channel, state) in states.iter().enumerate() {
+                                    //     let _ = writeln!(socket, "PID settings for channel {}", channel);
+                                    //     let pid = &state.pid;
+                                    //     let _ = writeln!(socket, "- target={:.4}", pid.get_target());
+                                    //     let p = pid.get_parameters();
+                                    //     macro_rules! out {
+                                    //         ($p: tt) => {
+                                    //             let _ = writeln!(socket, "- {}={:.4}", stringify!($p), p.$p);
+                                    //         };
+                                    //     }
+                                    //     out!(kp);
+                                    //     out!(ki);
+                                    //     out!(kd);
+                                    //     out!(output_min);
+                                    //     out!(output_max);
+                                    //     out!(integral_min);
+                                    //     out!(integral_max);
+                                    //     let _ = writeln!(socket, "");
+                                    // }
+                                }
+                                Command::Show(ShowCommand::Pwm) => {
+                                    // for (channel, state) in states.iter().enumerate() {
+                                    //     let _ = writeln!(
+                                    //         socket, "channel {}: PID={}",
+                                    //         channel,
+                                    //         if state.pid_enabled { "engaged" } else { "disengaged" }
+                                    //     );
+                                    //     for pin in TecPin::VALID_VALUES {
+                                    //         let (width, total) = match channel {
+                                    //             0 => tec0.get(*pin),
+                                    //             1 => tec1.get(*pin),
+                                    //             _ => unreachable!(),
+                                    //         };
+                                    //         let _ = writeln!(socket, "- {}={}/{}", pin, width, total);
+                                    //     }
+                                    //     let _ = writeln!(socket, "");
+                                    // }
+                                }
+                                Command::Show(ShowCommand::SteinhartHart) => {
+                                    // for (channel, state) in states.iter().enumerate() {
+                                    //     let _ = writeln!(
+                                    //         socket, "channel {}: Steinhart-Hart equation parameters",
+                                    //         channel,
+                                    //     );
+                                    //     let _ = writeln!(socket, "- a={}", state.sh.a);
+                                    //     let _ = writeln!(socket, "- b={}", state.sh.b);
+                                    //     let _ = writeln!(socket, "- c={}", state.sh.c);
+                                    //     let _ = writeln!(socket, "- parallel_r={}", state.sh.parallel_r);
+                                    //     let _ = writeln!(socket, "");
+                                    // }
+                                }
+                                Command::Show(ShowCommand::PostFilter) => {
+                                    // for (channel, _) in states.iter().enumerate() {
+                                    //     match adc.get_postfilter(channel as u8).unwrap() {
+                                    //         Some(filter) => {
+                                    //             let _ = writeln!(
+                                    //                 socket, "channel {}: postfilter={:.2} SPS",
+                                    //                 channel, filter.output_rate().unwrap()
+                                    //             );
+                                    //         }
+                                    //         None => {
+                                    //             let _ = writeln!(
+                                    //                 socket, "channel {}: no postfilter",
+                                    //                 channel
+                                    //             );
+                                    //         }
+                                    //     }
+                                    // }
+                                }
+                                Command::Pwm { channel, setup: PwmSetup::ISet(PwmMode::Pid) } => {
+                                    // states[channel].pid_enabled = true;
+                                    // let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel
+                                    // );
+                                }
+                                Command::Pwm { channel, setup: PwmSetup::ISet(PwmMode::Manual(config))} => {
+                                    // states[channel].pid_enabled = false;
+                                    // let PwmConfig { width, total } = config;
+                                    // match channel {
+                                    //     0 => tec0.set(TecPin::ISet, width, total),
+                                    //     1 => tec1.set(TecPin::ISet, width, total),
+                                    //     _ => unreachable!(),
+                                    // }
+                                    // let _ = writeln!(
+                                    //     socket, "channel {}: PWM duty cycle manually set to {}/{}",
+                                    //     channel, config.width, config.total
+                                    // );
+                                }
+                                Command::Pwm { channel, setup } => {
+                                    // let (pin, config) = match setup {
+                                    //     PwmSetup::ISet(_) =>
+                                    //     // Handled above
+                                    //         unreachable!(),
+                                    //     PwmSetup::MaxIPos(config) =>
+                                    //         (TecPin::MaxIPos, config),
+                                    //     PwmSetup::MaxINeg(config) =>
+                                    //         (TecPin::MaxINeg, config),
+                                    //     PwmSetup::MaxV(config) =>
+                                    //         (TecPin::MaxV, config),
+                                    // };
+                                    // let PwmConfig { width, total } = config;
+                                    // match channel {
+                                    //     0 => tec0.set(pin, width, total),
+                                    //     1 => tec1.set(pin, width, total),
+                                    //     _ => unreachable!(),
+                                    // }
+                                    // let _ = writeln!(
+                                    //     socket, "channel {}: PWM {} reconfigured to {}/{}",
+                                    //     channel, pin, width, total
+                                    // );
+                                }
+                                Command::Pid { channel, parameter, value } => {
+                                    // let pid = &mut states[channel].pid;
+                                    // use command_parser::PidParameter::*;
+                                    // match parameter {
+                                    //     Target =>
+                                    //         pid.set_target(value),
+                                    //     KP =>
+                                    //         pid.update_parameters(|parameters| parameters.kp = value),
+                                    //     KI =>
+                                    //         pid.update_parameters(|parameters| parameters.ki = value),
+                                    //     KD =>
+                                    //         pid.update_parameters(|parameters| parameters.kd = value),
+                                    //     OutputMin =>
+                                    //         pid.update_parameters(|parameters| parameters.output_min = value),
+                                    //     OutputMax =>
+                                    //         pid.update_parameters(|parameters| parameters.output_max = value),
+                                    //     IntegralMin =>
+                                    //         pid.update_parameters(|parameters| parameters.integral_min = value),
+                                    //     IntegralMax =>
+                                    //         pid.update_parameters(|parameters| parameters.integral_max = value),
+                                    // }
+                                    // pid.reset();
+                                    // let _ = writeln!(socket, "PID parameter updated");
+                                }
+                                Command::SteinhartHart { channel, parameter, value } => {
+                                    // let sh = &mut states[channel].sh;
+                                    // use command_parser::ShParameter::*;
+                                    // match parameter {
+                                    //     A => sh.a = value,
+                                    //     B => sh.b = value,
+                                    //     C => sh.c = value,
+                                    //     ParallelR => sh.parallel_r = value,
+                                    // }
+                                    // let _ = writeln!(socket, "Steinhart-Hart equation parameter updated");
+                                }
+                                Command::PostFilter { channel, rate } => {
+                                    // let filter = ad7172::PostFilter::closest(rate);
+                                    // match filter {
+                                    //     Some(filter) => {
+                                    //         adc.set_postfilter(channel as u8, Some(filter)).unwrap();
+                                    //         let _ = writeln!(
+                                    //             socket, "channel {}: postfilter set to {:.2} SPS",
+                                    //             channel, filter.output_rate().unwrap()
+                                    //         );
+                                    //     }
+                                    //     None => {
+                                    //         let _ = writeln!(socket, "Unable to choose postfilter");
+                                    //     }
+                                    // }
+                                }
+                            }
+                            Ok(SessionOutput::Error(e)) => {
+                                let _ = writeln!(socket, "Command error: {:?}", e);
+                            }
+                            Err(_) =>
+                                socket.close(),
+                        }
+                    } else if socket.can_send() && socket.send_capacity() - socket.send_queue() > 256 {
+                        while let Some(channel) = session.is_report_pending() {
+                            let state = &mut channel_states[usize::from(channel)];
+                            let _ = writeln!(
+                                socket, "t={} raw{}=0x{:04X}",
+                                state.adc_time, channel, state.adc_data.unwrap_or(0)
+                            ).map(|_| {
+                                session.mark_report_sent(channel);
+                            });
+                        }
+                    }
+                });
 
                 // Update watchdog
                 wd.feed();

src/net.rs

@@ -43,7 +43,7 @@ pub fn run<F>(
     eth_dev.enable_interrupt();
 
     // IP stack
-    let local_addr = IpAddress::v4(192, 168, 69, 3);
+    let local_addr = IpAddress::v4(192, 168, 1, 26);
     let mut ip_addrs = [IpCidr::new(local_addr, 24)];
     let mut neighbor_storage = [None; 16];
     let neighbor_cache = NeighborCache::new(&mut neighbor_storage[..]);

src/server.rs

@@ -2,12 +2,16 @@ use core::fmt;
 use core::mem::MaybeUninit;
 use smoltcp::{
     iface::EthernetInterface,
-    socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer},
+    socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
     time::Instant,
 };
 
 
-const TCP_PORT: u16 = 23;
+pub struct SocketState<S> {
+    handle: SocketHandle,
+    state: S,
+}
+
 /// Number of server sockets and therefore concurrent client
 /// sessions. Many data structures in `Server::run()` correspond to
 /// this const.
@@ -16,6 +20,24 @@ const SOCKET_COUNT: usize = 8;
 const TCP_RX_BUFFER_SIZE: usize = 2048;
 const TCP_TX_BUFFER_SIZE: usize = 2048;
 
+/// Contains a number of server sockets that get all sent the same
+/// data (through `fmt::Write`).
+pub struct Server<'a, 'b, S> {
+    net: EthernetInterface<'a, 'a, 'a, &'a mut stm32_eth::Eth<'static, 'static>>,
+    sockets: SocketSet<'b, 'b, 'b>,
+    states: [SocketState<S>; SOCKET_COUNT],
+}
+
+impl<'a, 'b, S: Default> Server<'a, 'b, S> {
+    /// Run a server with stack-allocated sockets
+    pub fn run<F>(net: EthernetInterface<'a, 'a, 'a, &'a mut stm32_eth::Eth<'static, 'static>>, f: F)
+    where
+        F: FnOnce(&mut Server<'a, '_, S>),
+    {
+        let mut sockets_storage: [_; SOCKET_COUNT] = Default::default();
+        let mut sockets = SocketSet::new(&mut sockets_storage[..]);
+        let mut states: [SocketState<S>; SOCKET_COUNT] = unsafe { MaybeUninit::uninit().assume_init() };
+
         macro_rules! create_socket {
             ($set:ident, $rx_storage:ident, $tx_storage:ident, $target:expr) => {
                 let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
@@ -26,35 +48,21 @@ macro_rules! create_socket {
                 $target = $set.add(tcp_socket);
             }
         }
+        create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, states[0].handle);
+        create_socket!(sockets, tcp_rx_storage1, tcp_tx_storage1, states[1].handle);
+        create_socket!(sockets, tcp_rx_storage2, tcp_tx_storage2, states[2].handle);
+        create_socket!(sockets, tcp_rx_storage3, tcp_tx_storage3, states[3].handle);
+        create_socket!(sockets, tcp_rx_storage4, tcp_tx_storage4, states[4].handle);
+        create_socket!(sockets, tcp_rx_storage5, tcp_tx_storage5, states[5].handle);
+        create_socket!(sockets, tcp_rx_storage6, tcp_tx_storage6, states[6].handle);
+        create_socket!(sockets, tcp_rx_storage7, tcp_tx_storage7, states[7].handle);
 
-/// Contains a number of server sockets that get all sent the same
+        for state in &mut states {
-/// data (through `fmt::Write`).
+            state.state = S::default();
-pub struct Server<'a, 'b> {
-    net: EthernetInterface<'a, 'a, 'a, &'a mut stm32_eth::Eth<'static, 'static>>,
-    sockets: SocketSet<'b, 'b, 'b>,
-    handles: [SocketHandle; SOCKET_COUNT],
         }
 
-impl<'a, 'b> Server<'a, 'b> {
-    /// Run a server with stack-allocated sockets
-    pub fn run<F>(net: EthernetInterface<'a, 'a, 'a, &'a mut stm32_eth::Eth<'static, 'static>>, f: F)
-    where
-        F: FnOnce(&mut Server<'a, '_>),
-    {
-        let mut sockets_storage: [_; SOCKET_COUNT] = Default::default();
-        let mut sockets = SocketSet::new(&mut sockets_storage[..]);
-        let mut handles: [SocketHandle; SOCKET_COUNT] = unsafe { MaybeUninit::uninit().assume_init() };
-        create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, handles[0]);
-        create_socket!(sockets, tcp_rx_storage1, tcp_tx_storage1, handles[1]);
-        create_socket!(sockets, tcp_rx_storage2, tcp_tx_storage2, handles[2]);
-        create_socket!(sockets, tcp_rx_storage3, tcp_tx_storage3, handles[3]);
-        create_socket!(sockets, tcp_rx_storage4, tcp_tx_storage4, handles[4]);
-        create_socket!(sockets, tcp_rx_storage5, tcp_tx_storage5, handles[5]);
-        create_socket!(sockets, tcp_rx_storage6, tcp_tx_storage6, handles[6]);
-        create_socket!(sockets, tcp_rx_storage7, tcp_tx_storage7, handles[7]);
-
         let mut server = Server {
-            handles,
+            states,
             sockets,
             net,
         };
@@ -63,46 +71,21 @@ impl<'a, 'b> Server<'a, 'b> {
 
     /// Poll the interface and the sockets
     pub fn poll(&mut self, now: Instant) -> Result<(), smoltcp::Error> {
-        // Poll smoltcp EthernetInterface
+        // Poll smoltcp EthernetInterface,
-        let mut poll_error = None;
+        // pass only unexpected smoltcp errors to the caller
-        let activity = self.net.poll(&mut self.sockets, now)
+        match self.net.poll(&mut self.sockets, now) {
-            .unwrap_or_else(|e| {
+            Ok(_) => Ok(()),
-                poll_error = Some(e);
+            Err(smoltcp::Error::Malformed) => Ok(()),
-                true
+            Err(smoltcp::Error::Unrecognized) => Ok(()),
-            });
+            Err(e) => Err(e),
-
-        if activity {
-            // Listen on all sockets
-            for handle in &self.handles {
-                let mut socket = self.sockets.get::<TcpSocket>(*handle);
-                if ! socket.is_open() {
-                    let _ = socket.listen(TCP_PORT);
-                }
-            }
-        }
-
-        // Pass some smoltcp errors to the caller
-        match poll_error {
-            None => Ok(()),
-            Some(smoltcp::Error::Malformed) => Ok(()),
-            Some(smoltcp::Error::Unrecognized) => Ok(()),
-            Some(e) => Err(e),
-        }
-    }
-}
-
-/// Reusing the `fmt::Write` trait just for `write!()` convenience
-impl<'a, 's> fmt::Write for Server<'a, 's> {
-    /// Write to all connected clients
-    fn write_str(&mut self, slice: &str) -> fmt::Result {
-        for handle in &self.handles {
-            let mut socket = self.sockets.get::<TcpSocket>(*handle);
-            if socket.can_send() {
-                // Ignore errors, proceed with next client
-                let _ = socket.write_str(slice);
         }
     }
 
-        Ok(())
+    /// Iterate over all sockets managed by this server
+    pub fn for_each<F: FnMut(SocketRef<TcpSocket>, &mut S)>(&mut self, mut callback: F) {
+        for state in &mut self.states {
+            let socket = self.sockets.get::<TcpSocket>(state.handle);
+            callback(socket, &mut state.state);
+        }
     }
 }

src/session.rs

@@ -0,0 +1,151 @@
+use core::ops::Deref;
+use super::command_parser::{Command, Error as ParserError};
+
+const MAX_LINE_LEN: usize = 64;
+
+struct LineReader {
+    buf: [u8; MAX_LINE_LEN],
+    pos: usize,
+}
+
+impl LineReader {
+    pub fn new() -> Self {
+        LineReader {
+            buf: [0; MAX_LINE_LEN],
+            pos: 0,
+        }
+    }
+
+    pub fn feed(&mut self, c: u8) -> Option<LineResult> {
+        if c == 13 || c == 10 {
+            // Enter
+            if self.pos > 0 {
+                let len = self.pos;
+                self.pos = 0;
+                Some(LineResult {
+                    buf: self.buf.clone(),
+                    len,
+                })
+            } else {
+                None
+            }
+        } else if self.pos < self.buf.len() {
+            // Add input
+            self.buf[self.pos] = c;
+            self.pos += 1;
+            None
+        } else {
+            // Buffer is full, ignore
+            None
+        }
+    }
+}
+
+pub struct LineResult {
+    buf: [u8; MAX_LINE_LEN],
+    len: usize,
+}
+
+impl Deref for LineResult {
+    type Target = [u8];
+    fn deref(&self) -> &Self::Target {
+        &self.buf[..self.len]
+    }
+}
+
+pub enum SessionOutput {
+    Nothing,
+    Command(Command),
+    Error(ParserError),
+}
+
+impl From<Result<Command, ParserError>> for SessionOutput {
+    fn from(input: Result<Command, ParserError>) -> Self {
+        input.map(SessionOutput::Command)
+            .unwrap_or_else(SessionOutput::Error)
+    }
+}
+
+pub const CHANNELS: usize = 2;
+
+pub struct Session {
+    reader: LineReader,
+    reporting: bool,
+    report_pending: [bool; CHANNELS],
+}
+
+impl Default for Session {
+    fn default() -> Self {
+        Session::new()
+    }
+}
+
+impl Session {
+    pub fn new() -> Self {
+        Session {
+            reader: LineReader::new(),
+            reporting: false,
+            report_pending: [false; CHANNELS],
+        }
+    }
+
+    pub fn reset(&mut self) {
+        self.reader = LineReader::new();
+        self.reporting = false;
+        self.report_pending = [false; CHANNELS];
+    }
+
+    pub fn is_dirty(&self) -> bool {
+        self.reader.pos > 0
+    }
+
+    pub fn reporting(&self) -> bool {
+        self.reporting
+    }
+
+    pub fn set_report_pending(&mut self, channel: usize) {
+        if self.reporting {
+            self.report_pending[channel] = true;
+        }
+    }
+
+    pub fn is_report_pending(&self) -> Option<usize> {
+        if ! self.reporting {
+            None
+        } else {
+            self.report_pending.iter()
+                .enumerate()
+                .fold(None, |result, (channel, report_pending)| {
+                    result.or_else(|| {
+                        if *report_pending { Some(channel) } else { None }
+                    })
+                })
+        }
+    }
+
+    pub fn mark_report_sent(&mut self, channel: usize) {
+        self.report_pending[channel] = false;
+    }
+
+    pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionOutput) {
+        let mut buf_bytes = 0;
+        for (i, b) in buf.iter().enumerate() {
+            buf_bytes = i + 1;
+            let line = self.reader.feed(*b);
+            match line {
+                Some(line) => {
+                    let command = Command::parse(&line);
+                    match command {
+                        Ok(Command::Reporting(reporting)) => {
+                            self.reporting = reporting;
+                        }
+                        _ => {}
+                    }
+                    return (buf_bytes, command.into());
+                }
+                None => {}
+            }
+        }
+        (buf_bytes, SessionOutput::Nothing)
+    }
+}