json command interface

close #3
This commit is contained in:
Robert Jördens 2019-05-27 18:43:39 +00:00
parent 2746c2fe00
commit 8e4fbaf80e
1 changed files with 67 additions and 9 deletions

View File

@ -19,7 +19,7 @@ use core::fmt::Write;
use cortex_m_rt::{entry, exception}; use cortex_m_rt::{entry, exception};
use stm32h7::stm32h7x3::{self as stm32, Peripherals, CorePeripherals, interrupt}; use stm32h7::stm32h7x3::{self as stm32, Peripherals, CorePeripherals, interrupt};
use cortex_m::interrupt::Mutex; use cortex_m::interrupt::Mutex;
use heapless::{String, consts::*}; use heapless::{String, Vec, consts::*};
use smoltcp as net; use smoltcp as net;
@ -647,6 +647,7 @@ fn main() -> ! {
let mut socket_set_entries: [_; 8] = Default::default(); let mut socket_set_entries: [_; 8] = Default::default();
let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]); let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]);
create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle0); create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle0);
create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle1);
unsafe { eth::enable_interrupt(); } unsafe { eth::enable_interrupt(); }
unsafe { cp.NVIC.set_priority(stm32::Interrupt::ETH, 196); } // mid prio unsafe { cp.NVIC.set_priority(stm32::Interrupt::ETH, 196); } // mid prio
@ -667,7 +668,7 @@ fn main() -> ! {
{ {
let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0); let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
if !(socket.is_open() || socket.is_listening()) { if !(socket.is_open() || socket.is_listening()) {
socket.listen(80).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e)); socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else if last != time && socket.can_send() { } else if last != time && socket.can_send() {
last = time; last = time;
let s = unsafe { Status{ let s = unsafe { Status{
@ -677,11 +678,18 @@ fn main() -> ! {
x1: IIR_STATE[1][0], x1: IIR_STATE[1][0],
y1: IIR_STATE[1][2], y1: IIR_STATE[1][2],
}}; }};
let mut u: String<U128> = to_string(&s).unwrap(); send_response(socket, &s);
u.push('\n').unwrap();
socket.write_str(&u).unwrap();
} }
} }
{
let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
if !(socket.is_open() || socket.is_listening()) {
socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else {
handle_command(socket);
}
}
if !match iface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) { if !match iface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) {
Ok(changed) => changed, Ok(changed) => changed,
Err(net::Error::Unrecognized) => true, Err(net::Error::Unrecognized) => true,
@ -692,13 +700,63 @@ fn main() -> ! {
} }
} }
#[derive(Deserialize,Serialize)]
#[derive(Deserialize)] struct Request {
struct Update { channel: i8,
servo: i8,
iir: IIR, iir: IIR,
} }
#[derive(Serialize)]
struct Response<'a> {
code: i32,
message: &'a str,
}
fn send_response<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
let mut u: String<U128> = to_string(msg).unwrap();
u.push('\n').unwrap();
socket.write_str(&u).unwrap();
}
fn handle_command(socket: &mut net::socket::TcpSocket) {
let mut data: Vec<u8, U256> = Vec::new();
let mut discard: bool = false;
while socket.can_recv() {
if socket.recv(|buf| {
let (len, found) = match buf.iter().position(|&c| c as char == '\n') {
Some(end) => (end + 1, true),
None => (buf.len(), false),
};
if data.len() + len >= data.capacity() {
discard = true;
data.clear();
} else if !discard && len > 0 {
data.extend_from_slice(&buf[..len - 1]).unwrap();
}
(len, found)
}).unwrap() {
let resp = if discard {
discard = false;
Response{ code: 500, message: "command buffer overflow" }
} else {
match from_slice::<Request>(&data) {
Ok(request) => {
cortex_m::interrupt::free(|_| {
unsafe { IIR_CH[request.channel as usize] = request.iir; };
});
Response{ code: 200, message: "ok" }
},
Err(err) => {
warn!("parse error {}", err);
Response{ code: 550, message: "parse error" }
},
}
};
send_response(socket, &resp);
socket.close();
}
}
}
#[derive(Serialize)] #[derive(Serialize)]
struct Status { struct Status {