Reset all TCP sockets before MCU reset (#53)

Co-Authored-By: topquark12 <aw@m-labs.hk>
Co-Committed-By: topquark12 <aw@m-labs.hk>
This commit is contained in:
topquark12 2021-01-26 17:45:14 +08:00 committed by sb10q
parent 6b9d61737e
commit 7cb0ed70be
1 changed files with 264 additions and 249 deletions

View File

@ -186,6 +186,7 @@ fn main() -> ! {
net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_config.clone(), |iface| {
Server::<Session>::run(iface, |server| {
leds.r1.off();
let mut should_reset = false;
loop {
let mut new_ipv4_config = None;
@ -202,261 +203,275 @@ fn main() -> ! {
warn!("poll: {:?}", e);
});
// TCP protocol handling
server.for_each(|mut socket, session| {
if ! socket.is_active() {
let _ = socket.listen(TCP_PORT);
session.reset();
} else if socket.may_send() && !socket.may_recv() {
socket.close()
} else if socket.can_send() && socket.can_recv() {
match socket.recv(|buf| session.feed(buf)) {
Ok(SessionInput::Nothing) => {
send_line(&mut socket, b"{}");
}
Ok(SessionInput::Command(command)) => match command {
Command::Quit =>
if ! should_reset {
// TCP protocol handling
server.for_each(|mut socket, session| {
if ! socket.is_active() {
let _ = socket.listen(TCP_PORT);
session.reset();
} else if socket.may_send() && !socket.may_recv() {
socket.close()
} else if socket.can_send() && socket.can_recv() {
match socket.recv(|buf| session.feed(buf)) {
Ok(SessionInput::Nothing) => {
send_line(&mut socket, b"{}");
}
Ok(SessionInput::Command(command)) => match command {
Command::Quit =>
socket.close(),
Command::Reporting(_reporting) => {
// handled by session
send_line(&mut socket, b"{}");
}
Command::Show(ShowCommand::Reporting) => {
let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
}
Command::Show(ShowCommand::Input) => {
match channels.reports_json() {
Ok(buf) => {
send_line(&mut socket, &buf[..]);
}
Err(e) => {
error!("unable to serialize report: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::Pid) => {
match channels.pid_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize pid summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::Pwm) => {
match channels.pwm_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize pwm summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::SteinhartHart) => {
match channels.steinhart_hart_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize steinhart-hart summaries: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::PostFilter) => {
match channels.postfilter_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize postfilter summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::Ipv4) => {
let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
let _ = writeln!(socket, "}}");
}
Command::PwmPid { channel } => {
channels.channel_state(channel).pid_engaged = true;
leds.g3.on();
send_line(&mut socket, b"{}");
}
Command::Pwm { channel, pin, value } => {
match pin {
PwmPin::ISet => {
channels.channel_state(channel).pid_engaged = false;
leds.g3.off();
let current = ElectricCurrent::new::<ampere>(value);
channels.set_i(channel, current);
channels.power_up(channel);
}
PwmPin::MaxV => {
let voltage = ElectricPotential::new::<volt>(value);
channels.set_max_v(channel, voltage);
}
PwmPin::MaxIPos => {
let current = ElectricCurrent::new::<ampere>(value);
channels.set_max_i_pos(channel, current);
}
PwmPin::MaxINeg => {
let current = ElectricCurrent::new::<ampere>(value);
channels.set_max_i_neg(channel, current);
}
}
send_line(&mut socket, b"{}");
}
Command::CenterPoint { channel, center } => {
let i_tec = channels.get_i(channel);
let state = channels.channel_state(channel);
state.center = center;
if !state.pid_engaged {
channels.set_i(channel, i_tec);
}
send_line(&mut socket, b"{}");
}
Command::Pid { channel, parameter, value } => {
let pid = &mut channels.channel_state(channel).pid;
use command_parser::PidParameter::*;
match parameter {
Target =>
pid.target = value,
KP =>
pid.parameters.kp = value as f32,
KI =>
pid.update_ki(value as f32),
KD =>
pid.parameters.kd = value as f32,
OutputMin =>
pid.parameters.output_min = value as f32,
OutputMax =>
pid.parameters.output_max = value as f32,
IntegralMin =>
pid.parameters.integral_min = value as f32,
IntegralMax =>
pid.parameters.integral_max = value as f32,
}
send_line(&mut socket, b"{}");
}
Command::SteinhartHart { channel, parameter, value } => {
let sh = &mut channels.channel_state(channel).sh;
use command_parser::ShParameter::*;
match parameter {
T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
B => sh.b = value,
R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
}
send_line(&mut socket, b"{}");
}
Command::PostFilter { channel, rate: None } => {
channels.adc.set_postfilter(channel as u8, None).unwrap();
send_line(&mut socket, b"{}");
}
Command::PostFilter { channel, rate: Some(rate) } => {
let filter = ad7172::PostFilter::closest(rate);
match filter {
Some(filter) => {
channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
send_line(&mut socket, b"{}");
}
None => {
error!("unable to choose postfilter for rate {:.3}", rate);
send_line(&mut socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
}
}
}
Command::Load { channel } => {
for c in 0..CHANNELS {
if channel.is_none() || channel == Some(c) {
match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
Ok(Some(config)) => {
config.apply(&mut channels, c);
send_line(&mut socket, b"{}");
}
Ok(None) => {
error!("flash config not found");
send_line(&mut socket, b"{{\"error\": \"flash config not found\"}}");
}
Err(e) => {
error!("unable to load config from flash: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
}
}
Command::Save { channel } => {
for c in 0..CHANNELS {
if channel.is_none() || channel == Some(c) {
let config = ChannelConfig::new(&mut channels, c);
match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
Ok(()) => {
send_line(&mut socket, b"{}");
}
Err(e) => {
error!("unable to save channel {} config to flash: {:?}", c, e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
}
}
Command::Ipv4(config) => {
let _ = store
.write_value("ipv4", &config, [0; 16])
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
new_ipv4_config = Some(config);
send_line(&mut socket, b"{}");
}
Command::Reset => {
for i in 0..CHANNELS {
channels.power_down(i);
}
should_reset = true;
}
Command::Dfu => {
for i in 0..CHANNELS {
channels.power_down(i);
}
unsafe {
dfu::set_dfu_trigger();
}
should_reset = true;
}
}
Ok(SessionInput::Error(e)) => {
error!("session input: {:?}", e);
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
}
Err(_) =>
socket.close(),
Command::Reporting(_reporting) => {
// handled by session
send_line(&mut socket, b"{}");
}
Command::Show(ShowCommand::Reporting) => {
let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
}
Command::Show(ShowCommand::Input) => {
match channels.reports_json() {
Ok(buf) => {
send_line(&mut socket, &buf[..]);
}
Err(e) => {
error!("unable to serialize report: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::Pid) => {
match channels.pid_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize pid summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::Pwm) => {
match channels.pwm_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize pwm summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::SteinhartHart) => {
match channels.steinhart_hart_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize steinhart-hart summaries: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::PostFilter) => {
match channels.postfilter_summaries_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
}
Err(e) => {
error!("unable to serialize postfilter summary: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
Command::Show(ShowCommand::Ipv4) => {
let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
let _ = writeln!(socket, "}}");
}
Command::PwmPid { channel } => {
channels.channel_state(channel).pid_engaged = true;
leds.g3.on();
send_line(&mut socket, b"{}");
}
Command::Pwm { channel, pin, value } => {
match pin {
PwmPin::ISet => {
channels.channel_state(channel).pid_engaged = false;
leds.g3.off();
let current = ElectricCurrent::new::<ampere>(value);
channels.set_i(channel, current);
channels.power_up(channel);
}
PwmPin::MaxV => {
let voltage = ElectricPotential::new::<volt>(value);
channels.set_max_v(channel, voltage);
}
PwmPin::MaxIPos => {
let current = ElectricCurrent::new::<ampere>(value);
channels.set_max_i_pos(channel, current);
}
PwmPin::MaxINeg => {
let current = ElectricCurrent::new::<ampere>(value);
channels.set_max_i_neg(channel, current);
}
}
send_line(&mut socket, b"{}");
}
Command::CenterPoint { channel, center } => {
let i_tec = channels.get_i(channel);
let state = channels.channel_state(channel);
state.center = center;
if !state.pid_engaged {
channels.set_i(channel, i_tec);
}
send_line(&mut socket, b"{}");
}
Command::Pid { channel, parameter, value } => {
let pid = &mut channels.channel_state(channel).pid;
use command_parser::PidParameter::*;
match parameter {
Target =>
pid.target = value,
KP =>
pid.parameters.kp = value as f32,
KI =>
pid.update_ki(value as f32),
KD =>
pid.parameters.kd = value as f32,
OutputMin =>
pid.parameters.output_min = value as f32,
OutputMax =>
pid.parameters.output_max = value as f32,
IntegralMin =>
pid.parameters.integral_min = value as f32,
IntegralMax =>
pid.parameters.integral_max = value as f32,
}
send_line(&mut socket, b"{}");
}
Command::SteinhartHart { channel, parameter, value } => {
let sh = &mut channels.channel_state(channel).sh;
use command_parser::ShParameter::*;
match parameter {
T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
B => sh.b = value,
R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
}
send_line(&mut socket, b"{}");
}
Command::PostFilter { channel, rate: None } => {
channels.adc.set_postfilter(channel as u8, None).unwrap();
send_line(&mut socket, b"{}");
}
Command::PostFilter { channel, rate: Some(rate) } => {
let filter = ad7172::PostFilter::closest(rate);
match filter {
Some(filter) => {
channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
send_line(&mut socket, b"{}");
}
None => {
error!("unable to choose postfilter for rate {:.3}", rate);
send_line(&mut socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
}
}
}
Command::Load { channel } => {
for c in 0..CHANNELS {
if channel.is_none() || channel == Some(c) {
match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
Ok(Some(config)) => {
config.apply(&mut channels, c);
send_line(&mut socket, b"{}");
}
Ok(None) => {
error!("flash config not found");
send_line(&mut socket, b"{{\"error\": \"flash config not found\"}}");
}
Err(e) => {
error!("unable to load config from flash: {:?}", e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
}
}
Command::Save { channel } => {
for c in 0..CHANNELS {
if channel.is_none() || channel == Some(c) {
let config = ChannelConfig::new(&mut channels, c);
match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
Ok(()) => {
send_line(&mut socket, b"{}");
}
Err(e) => {
error!("unable to save channel {} config to flash: {:?}", c, e);
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
}
}
}
}
}
Command::Ipv4(config) => {
let _ = store
.write_value("ipv4", &config, [0; 16])
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
new_ipv4_config = Some(config);
send_line(&mut socket, b"{}");
}
Command::Reset => {
for i in 0..CHANNELS {
channels.power_down(i);
}
SCB::sys_reset();
}
Command::Dfu => {
for i in 0..CHANNELS {
channels.power_down(i);
}
unsafe {
dfu::set_dfu_trigger();
}
SCB::sys_reset();
}
}
Ok(SessionInput::Error(e)) => {
error!("session input: {:?}", e);
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
}
Err(_) =>
socket.close(),
}
} else if socket.can_send() {
if let Some(channel) = session.is_report_pending() {
match channels.reports_json() {
Ok(buf) => {
send_line(&mut socket, &buf[..]);
session.mark_report_sent(channel);
}
Err(e) => {
error!("unable to serialize report: {:?}", e);
} else if socket.can_send() {
if let Some(channel) = session.is_report_pending() {
match channels.reports_json() {
Ok(buf) => {
send_line(&mut socket, &buf[..]);
session.mark_report_sent(channel);
}
Err(e) => {
error!("unable to serialize report: {:?}", e);
}
}
}
}
}
});
});
} else {
// Should reset, close all TCP sockets.
let mut any_socket_alive = false;
server.for_each(|mut socket, _| {
if socket.is_active() {
socket.abort();
any_socket_alive = true;
}
});
// Must let loop run for one more cycle to poll server for RST to be sent,
// this makes sure system does not reset right after socket.abort() is called.
if !any_socket_alive {
SCB::sys_reset();
}
}
// Apply new IPv4 address/gateway
new_ipv4_config.take()