245 lines
9.4 KiB
Rust
245 lines
9.4 KiB
Rust
|
use core::cell::RefCell;
|
||
|
|
use core::convert::TryFrom;
|
||
|
|
use heapless::{consts, Vec};
|
||
|
|
use embedded_nal as nal;
|
||
|
|
use nal::nb;
|
||
|
|
use smoltcp as net;
|
||
|
|
use embedded_hal::{
|
||
|
|
blocking::spi::Transfer,
|
||
|
|
digital::v2::OutputPin
|
||
|
|
};
|
||
|
|
pub use embedded_time as time;
|
||
|
|
use time::duration::*;
|
||
|
|
|
||
|
|
#[derive(Debug)]
|
||
|
|
pub enum NetworkError {
|
||
|
|
NoSocket,
|
||
|
|
ConnectionFailure,
|
||
|
|
ReadFailure,
|
||
|
|
WriteFailure,
|
||
|
|
Unsupported,
|
||
|
|
TimeFault,
|
||
|
|
}
|
||
|
|
|
||
|
|
pub type NetworkInterface<SPI, NSS> = net::iface::EthernetInterface<
|
||
|
|
'static,
|
||
|
|
crate::smoltcp_phy::SmoltcpDevice<
|
||
|
|
crate::SpiEth<SPI, NSS, fn(u32)>
|
||
|
|
>,
|
||
|
|
>;
|
||
|
|
|
||
|
|
pub struct NetworkStack<'a, SPI, NSS, IntClock>
|
||
|
|
where
|
||
|
|
SPI: 'static + Transfer<u8>,
|
||
|
|
NSS: 'static + OutputPin,
|
||
|
|
IntClock: time::Clock<T = u32>,
|
||
|
|
{
|
||
|
|
network_interface: RefCell<NetworkInterface<SPI, NSS>>,
|
||
|
|
sockets: RefCell<net::socket::SocketSet<'a>>,
|
||
|
|
next_port: RefCell<u16>,
|
||
|
|
unused_handles: RefCell<Vec<net::socket::SocketHandle, consts::U16>>,
|
||
|
|
time_ms: RefCell<u32>,
|
||
|
|
last_update_instant: RefCell<Option<time::Instant<IntClock>>>,
|
||
|
|
clock: IntClock
|
||
|
|
}
|
||
|
|
|
||
|
|
impl<'a, SPI, NSS, IntClock> NetworkStack<'a, SPI, NSS, IntClock>
|
||
|
|
where
|
||
|
|
SPI: Transfer<u8>,
|
||
|
|
NSS: OutputPin,
|
||
|
|
IntClock: time::Clock<T = u32>,
|
||
|
|
{
|
||
|
|
pub fn new(interface: NetworkInterface<SPI, NSS>, sockets: net::socket::SocketSet<'a>, clock: IntClock) -> Self {
|
||
|
|
let mut unused_handles: Vec<net::socket::SocketHandle, consts::U16> = Vec::new();
|
||
|
|
for socket in sockets.iter() {
|
||
|
|
unused_handles.push(socket.handle()).unwrap();
|
||
|
|
}
|
||
|
|
NetworkStack {
|
||
|
|
network_interface: RefCell::new(interface),
|
||
|
|
sockets: RefCell::new(sockets),
|
||
|
|
next_port: RefCell::new(49152),
|
||
|
|
unused_handles: RefCell::new(unused_handles),
|
||
|
|
time_ms: RefCell::new(0),
|
||
|
|
last_update_instant: RefCell::new(None),
|
||
|
|
clock,
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Include auto_time_update to allow Instant::now() to not be called
|
||
|
|
// Instant::now() is not safe to call in `init()` context
|
||
|
|
pub fn update(&self, auto_time_update: bool) -> Result<bool, NetworkError> {
|
||
|
|
if auto_time_update {
|
||
|
|
// Check if it is the first time the stack has updated the time itself
|
||
|
|
let now = match *self.last_update_instant.borrow() {
|
||
|
|
// If it is the first time, do not advance time
|
||
|
|
// Simply store the current instant to initiate time updating
|
||
|
|
None => self.clock.try_now().map_err(|_| NetworkError::TimeFault)?,
|
||
|
|
// If it was updated before, advance time and update last_update_instant
|
||
|
|
Some(instant) => {
|
||
|
|
// Calculate elapsed time
|
||
|
|
let now = self.clock.try_now().map_err(|_| NetworkError::TimeFault)?;
|
||
|
|
let duration = now.checked_duration_since(&instant).ok_or(NetworkError::TimeFault)?;
|
||
|
|
let duration_ms = time::duration::Milliseconds::<u32>::try_from(duration).map_err(|_| NetworkError::TimeFault)?;
|
||
|
|
// Adjust duration into ms (note: decimal point truncated)
|
||
|
|
self.advance_time(*duration_ms.integer());
|
||
|
|
now
|
||
|
|
}
|
||
|
|
};
|
||
|
|
self.last_update_instant.replace(Some(now));
|
||
|
|
}
|
||
|
|
match self.network_interface.borrow_mut().poll(
|
||
|
|
&mut self.sockets.borrow_mut(),
|
||
|
|
net::time::Instant::from_millis(*self.time_ms.borrow() as i64),
|
||
|
|
) {
|
||
|
|
Ok(changed) => Ok(!changed),
|
||
|
|
Err(_e) => {
|
||
|
|
Ok(true)
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
pub fn advance_time(&self, duration: u32) {
|
||
|
|
let time = self.time_ms.try_borrow().unwrap().wrapping_add(duration);
|
||
|
|
self.time_ms.replace(time);
|
||
|
|
}
|
||
|
|
|
||
|
|
fn get_ephemeral_port(&self) -> u16 {
|
||
|
|
// Get the next ephemeral port
|
||
|
|
let current_port = self.next_port.borrow().clone();
|
||
|
|
let (next, wrap) = self.next_port.borrow().overflowing_add(1);
|
||
|
|
*self.next_port.borrow_mut() = if wrap { 49152 } else { next };
|
||
|
|
return current_port;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
impl<'a, SPI, NSS, IntClock> nal::TcpStack for NetworkStack<'a, SPI, NSS, IntClock>
|
||
|
|
where
|
||
|
|
SPI: Transfer<u8>,
|
||
|
|
NSS: OutputPin,
|
||
|
|
IntClock: time::Clock<T = u32>,
|
||
|
|
{
|
||
|
|
type TcpSocket = net::socket::SocketHandle;
|
||
|
|
type Error = NetworkError;
|
||
|
|
fn open(&self, _mode: nal::Mode) -> Result<Self::TcpSocket, Self::Error> {
|
||
|
|
match self.unused_handles.borrow_mut().pop() {
|
||
|
|
Some(handle) => {
|
||
|
|
// Abort any active connections on the handle.
|
||
|
|
let mut sockets = self.sockets.borrow_mut();
|
||
|
|
let internal_socket: &mut net::socket::TcpSocket = &mut *sockets.get(handle);
|
||
|
|
internal_socket.abort();
|
||
|
|
Ok(handle)
|
||
|
|
}
|
||
|
|
None => Err(NetworkError::NoSocket),
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Ideally connect is only to be performed in `init()` of `main.rs`
|
||
|
|
// Calling `Instant::now()` of `rtic::cyccnt` would face correctness issue during `init()`
|
||
|
|
fn connect(
|
||
|
|
&self,
|
||
|
|
socket: Self::TcpSocket,
|
||
|
|
remote: nal::SocketAddr,
|
||
|
|
) -> Result<Self::TcpSocket, Self::Error> {
|
||
|
|
let address = {
|
||
|
|
let mut sockets = self.sockets.borrow_mut();
|
||
|
|
let internal_socket: &mut net::socket::TcpSocket = &mut *sockets.get(socket);
|
||
|
|
// If we're already in the process of connecting, ignore the request silently.
|
||
|
|
if internal_socket.is_open() {
|
||
|
|
return Ok(socket);
|
||
|
|
}
|
||
|
|
match remote.ip() {
|
||
|
|
nal::IpAddr::V4(addr) => {
|
||
|
|
let address =
|
||
|
|
net::wire::Ipv4Address::from_bytes(&addr.octets()[..]);
|
||
|
|
internal_socket
|
||
|
|
.connect((address, remote.port()), self.get_ephemeral_port())
|
||
|
|
.map_err(|_| NetworkError::ConnectionFailure)?;
|
||
|
|
net::wire::IpAddress::Ipv4(address)
|
||
|
|
}
|
||
|
|
nal::IpAddr::V6(addr) => {
|
||
|
|
let address = net::wire::Ipv6Address::from_parts(&addr.segments()[..]);
|
||
|
|
internal_socket.connect((address, remote.port()), self.get_ephemeral_port())
|
||
|
|
.map_err(|_| NetworkError::ConnectionFailure)?;
|
||
|
|
net::wire::IpAddress::Ipv6(address)
|
||
|
|
}
|
||
|
|
}
|
||
|
|
};
|
||
|
|
// Blocking connect
|
||
|
|
loop {
|
||
|
|
match self.is_connected(&socket) {
|
||
|
|
Ok(true) => break,
|
||
|
|
_ => {
|
||
|
|
let mut sockets = self.sockets.borrow_mut();
|
||
|
|
let internal_socket: &mut net::socket::TcpSocket = &mut *sockets.get(socket);
|
||
|
|
// If the connect got ACK->RST, it will end up in Closed TCP state
|
||
|
|
// Perform reconnection in this case
|
||
|
|
if internal_socket.state() == net::socket::TcpState::Closed {
|
||
|
|
internal_socket.close();
|
||
|
|
internal_socket
|
||
|
|
.connect((address, remote.port()), self.get_ephemeral_port())
|
||
|
|
.map_err(|_| NetworkError::ConnectionFailure)?;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// Avoid using Instant::now() and Advance time manually
|
||
|
|
self.update(false)?;
|
||
|
|
{
|
||
|
|
self.advance_time(1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
Ok(socket)
|
||
|
|
}
|
||
|
|
|
||
|
|
fn is_connected(&self, socket: &Self::TcpSocket) -> Result<bool, Self::Error> {
|
||
|
|
let mut sockets = self.sockets.borrow_mut();
|
||
|
|
let socket: &mut net::socket::TcpSocket = &mut *sockets.get(*socket);
|
||
|
|
Ok(socket.may_send() && socket.may_recv())
|
||
|
|
}
|
||
|
|
|
||
|
|
fn write(&self, socket: &mut Self::TcpSocket, buffer: &[u8]) -> nb::Result<usize, Self::Error> {
|
||
|
|
let mut non_queued_bytes = &buffer[..];
|
||
|
|
while non_queued_bytes.len() != 0 {
|
||
|
|
let result = {
|
||
|
|
let mut sockets = self.sockets.borrow_mut();
|
||
|
|
let socket: &mut net::socket::TcpSocket = &mut *sockets.get(*socket);
|
||
|
|
let result = socket.send_slice(non_queued_bytes);
|
||
|
|
result
|
||
|
|
};
|
||
|
|
match result {
|
||
|
|
Ok(num_bytes) => {
|
||
|
|
// In case the buffer is filled up, push bytes into ethernet driver
|
||
|
|
if num_bytes != non_queued_bytes.len() {
|
||
|
|
self.update(true)?;
|
||
|
|
}
|
||
|
|
// Process the unwritten bytes again, if any
|
||
|
|
non_queued_bytes = &non_queued_bytes[num_bytes..]
|
||
|
|
}
|
||
|
|
Err(_) => return Err(nb::Error::Other(NetworkError::WriteFailure)),
|
||
|
|
}
|
||
|
|
}
|
||
|
|
Ok(buffer.len())
|
||
|
|
}
|
||
|
|
|
||
|
|
fn read(
|
||
|
|
&self,
|
||
|
|
socket: &mut Self::TcpSocket,
|
||
|
|
buffer: &mut [u8],
|
||
|
|
) -> nb::Result<usize, Self::Error> {
|
||
|
|
// Enqueue received bytes into the TCP socket buffer
|
||
|
|
self.update(true)?;
|
||
|
|
let mut sockets = self.sockets.borrow_mut();
|
||
|
|
let socket: &mut net::socket::TcpSocket = &mut *sockets.get(*socket);
|
||
|
|
let result = socket.recv_slice(buffer);
|
||
|
|
match result {
|
||
|
|
Ok(num_bytes) => Ok(num_bytes),
|
||
|
|
Err(_) => Err(nb::Error::Other(NetworkError::ReadFailure)),
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
fn close(&self, socket: Self::TcpSocket) -> Result<(), Self::Error> {
|
||
|
|
let mut sockets = self.sockets.borrow_mut();
|
||
|
|
let internal_socket: &mut net::socket::TcpSocket = &mut *sockets.get(socket);
|
||
|
|
internal_socket.close();
|
||
|
|
self.unused_handles.borrow_mut().push(socket).unwrap();
|
||
|
|
Ok(())
|
||
|
|
}
|
||
|
|
}
|