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Add a custom Gate example
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‎examples/projects/product/README.md‎

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‎examples/projects/product/custom_gate/.docker/.dockerignore‎

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.pio/
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.vscode/
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.gitignore
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README.md

‎examples/projects/product/custom_gate/.docker/Dockerfile‎

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FROM python:3 as builder
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LABEL maintainer="Benjamin Christau <[email protected]>" \
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app_name="gate_wscom"
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ENV PLATFORMIO_CORE_DIR="/home"
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WORKDIR /home/app
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COPY . .
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RUN pip install --upgrade pip setuptools wheel platformio && \
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rm -rf /root/.cache/pip
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RUN platformio run \
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--environment native \
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-d ./examples/projects/native/gate_wscom
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CMD [ "./examples/projects/native/gate_wscom/.pio/build/native/program"]

‎examples/projects/product/custom_gate/README.md‎

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<a href="https://luos.io"><img src="https://uploads-ssl.webflow.com/601a78a2b5d030260a40b7ad/603e0cc45afbb50963aa85f2_Gif%20noir%20rect.gif" alt="Luos logo" title="Luos" align="right" height="100" /></a>
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![](https://github.com/Luos-io/luos_engine/actions/workflows/build.yml/badge.svg)
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[![](https://img.shields.io/github/license/Luos-io/luos_engine)](https://github.com/Luos-io/luos_engine/blob/master/LICENSE)
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[![](https://img.shields.io/badge/Luos-Documentation-34A3B4)](https://www.luos.io/docs/)
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[![PlatformIO Registry](https://badges.registry.platformio.org/packages/luos/library/luos_engine.svg)](https://registry.platformio.org/libraries/luos_engine/luos_engine)
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[![](https://img.shields.io/discord/902486791658041364?label=Discord&logo=discord&style=social)](http://bit.ly/JoinLuosDiscord)
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[![](https://img.shields.io/badge/LinkedIn-Share-0077B5?style=social&logo=linkedin)](https://www.linkedin.com/sharing/share-offsite/?url=https%3A%2F%2Fgithub.com%2Fluos-io)
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# Custom Gate project example :bulb:
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This project demonstrate how to make a custom gate with custom Json conversion.
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## How to compile the code :computer:
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1. Download and install [Platformio](https://platformio.org/platformio-ide)
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2. Open this folder into Platformio
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3. Build (Platformio will do the rest)
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## Don't hesitate to read [our documentation](https://www.luos.io/docs/), or to post your questions/issues on the [Luos' Discord](http://bit.ly/JoinLuosDiscord). :books:

‎examples/projects/product/custom_gate/node_config.h‎

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/******************************************************************************
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* @file node_config.h
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* @brief This file allow you to use standard preprocessor definitions to
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* configure your project, Luos and Luos HAL libraries
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*
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* # Introduction
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* This file is for the luos user. You may here configure your project and
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* define your custom Luos service and custom Luos command for your product
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*
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* Luos libraries offer a minimal standard configuration to optimize
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* memory usage. In some case you have to modify standard value to fit
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* with your need concerning among of data transiting through the network
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* or network speed for example
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*
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* Luos libraries can be use with a lot a MCU family. Luos compagny give you
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* a default configuration, for specific MCU family, in robus_hal_config.h.
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* This configuration can be modify here to fit with you design by
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* preprocessor definitions of MCU Hardware needs
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*
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* # Usage
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* This file should be place a the root folder of your project and include
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* where build flag preprocessor definitions are define in your IDE
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* -include node_config.h
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*
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* @author Luos
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* @version 0.0.0
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******************************************************************************/
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#ifndef _NODE_CONFIG_H_
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#define _NODE_CONFIG_H_
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/*******************************************************************************
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* PROJECT DEFINITION
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*******************************************************************************/
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/*******************************************************************************
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* LUOS LIBRARY DEFINITION
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*******************************************************************************
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* Define | Default Value | Description
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* :---------------------|------------------------------------------------------
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* MAX_LOCAL_SERVICE_NUMBER | 5 | Service number in the node
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* MAX_NODE_NUMBER | 20 | Node number in the device
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* MAX_SERVICE_NUMBER | 20 | Service number in the device
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* MSG_BUFFER_SIZE | 3*SIZE_MSG_MAX (405 Bytes) | Size in byte of the Luos buffer TX and RX
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* MAX_MSG_NB | 2*MAX_LOCAL_SERVICE_NUMBER | Message number in Luos buffer
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* NBR_PORT | 2 | PTP Branch number Max 8
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* NBR_RETRY | 10 | Send Retry number in case of NACK or collision
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******************************************************************************/
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#define MAX_LOCAL_SERVICE_NUMBER 2
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#define MAX_LOCAL_PROFILE_NUMBER 1
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#define MAX_MSG_NB 200
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#define MSG_BUFFER_SIZE 8192
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/*******************************************************************************
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* LUOS HAL LIBRARY DEFINITION
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*******************************************************************************
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* Define | Description
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* :-----------------------|-----------------------------------------------
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* MCUFREQ | Put your the MCU frequency (value in Hz)
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* TIMERDIV | Timer divider clock (see your clock configuration)
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* USE_CRC_HW | define to 0 if there is no Module CRC in your MCU
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* USE_TX_IT | define to 1 to not use DMA transfers for Luos Tx
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*
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* PORT_CLOCK_ENABLE | Enable clock for port
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* PTPx | A,B,C,D etc. PTP Branch Pin/Port/IRQ
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* TX_LOCK_DETECT | Disable by default use if not busy flag in USART Pin/Port/IRQ
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* RX_EN | Rx enable for driver RS485 always on Pin/Port
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* TX_EN | Tx enable for driver RS485 Pin/Port
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* COM_TX | Tx USART Com Pin/Port/Alternate
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* COM_RX | Rx USART Com Pin/Port/Alternate
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* PINOUT_IRQHANDLER | Callback function for Pin IRQ handler
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* ROBUS_COM_CLOCK_ENABLE | Enable clock for USART
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* ROBUS_COM | USART number
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* ROBUS_COM_IRQ | USART IRQ number
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* ROBUS_COM_IRQHANDLER | Callback function for USART IRQ handler
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* ROBUS_DMA_CLOCK_ENABLE | Enable clock for DMA
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* ROBUS_DMA | DMA number
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* ROBUS_DMA_CHANNEL | DMA channel (depending on MCU DMA may need special config)
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* ROBUS_TIMER_CLOCK_ENABLE | Enable clock for Timer
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* ROBUS_TIMER | Timer number
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* ROBUS_TIMER_IRQ | Timer IRQ number
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* ROBUS_TIMER_IRQHANDLER | Callback function for Timer IRQ handler
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******************************************************************************/
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/*******************************************************************************
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* FLASH CONFIGURATION FOR APP WITH BOOTLOADER
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********************************************************************************
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* Define | Default Value | Description
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* :---------------------|------------------------------------------------------
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* BOOT_START_ADDRESS | FLASH_BASE = 0x8000000 | Start address of Bootloader in flash
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* SHARED_MEMORY_ADDRESS | 0x0800C000 | Start address of shared memory to save boot flag
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* APP_START_ADDRESS | 0x0800C800 | Start address of application with bootloader
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* APP_END_ADDRESS | FLASH_BANK1_END=0x0801FFFF | End address of application with bootloader
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******************************************************************************/
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/*******************************************************************************
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* GATE SERIAL COM DEFINITION
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*******************************************************************************
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* Define | Default Value | Description
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* :-------------------------|------------------------------------------------------
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* GATE_BUFF_SIZE | 1024 | Json receive buffer size
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* PIPE_RX_BUFFER_SIZE | 1024 | Receive pipe buffer size
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* PIPE_TX_BUFFER_SIZE | 2048 | Transmit pipe buffer size
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* INIT_TIME | 150 | Wait init time before first detection
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******************************************************************************/
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#define GATE_BUFF_SIZE 65000
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#define PIPE_RX_BUFFER_SIZE 65000
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#define PIPE_TX_BUFFER_SIZE 65000
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#define SERIAL_RX_BUFFER_SIZE 65000
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#define INIT_TIME 150
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#define GATE_REFRESH_TIME_S 0.05f
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#define SERIAL_PORT "/dev/cu.usbmodem1202" // "/dev/cu.usbserial-D308N897"
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#endif /* _NODE_CONFIG_H_ */

‎examples/projects/product/custom_gate/platformio.ini‎

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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[platformio]
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default_envs = native_serial
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[env:native_serial]
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lib_ldf_mode =off
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lib_extra_dirs =
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$PROJECT_DIR/../../../../tool_services/
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$PROJECT_DIR/../../../../../
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$PROJECT_DIR/../../../../network/
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platform = native
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lib_deps =
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luos_engine@^3.1.0
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serial_network
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Pipe
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Gate
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build_unflags = -Os
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build_flags =
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-I inc
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-I ../
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-include node_config.h
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-O1
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-lpthread
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-lm
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-D LUOSHAL=NATIVE
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-D GATEFORMAT=TinyJSON
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-D PIPEMODE=WS
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-D PIPEHAL=native
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-D PIPE_WS_SERVER_ADDR=\"ws://localhost:9342\" ; Watch out you need to escape the " using \
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build_type = debug

‎examples/projects/product/custom_gate/src/custom_json_conversion.c‎

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#include "custom-json.h"
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#include "product_config.h"
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#include <stdio.h>
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// This function are called by the gate conversion functions in case of an unknown type.
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// This functions allow you to easily add and manage your custom type and commands.
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// This function is called by the gate to convert a service type into a string.
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// This is typically used in the end of detection to create a Json representing the device routing table.
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// The name of the type will be used by pyluos to create the right object.
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const char *Convert_CustomStringFromType(luos_type_t type)
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{
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if (type == POINT_2D)
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{
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return "point_2D";
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}
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return NULL;
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}
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// This function is called by the gate to convert a piece of Json into a message.
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// This is typically used when a Json is received by the gate with an unknown property.
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// You can use it to compose your own message out of the Json data and send it to the right service.
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void Convert_CustomJsonToMsg(service_t *service, uint16_t target_id, char *property, const json_t *jobj, char *json_str)
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{
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msg_t msg;
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msg.header.target_mode = IDACK;
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msg.header.target = target_id;
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// Target linear position 2D
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if (property && !strcmp(property, "linear_pos_2D"))
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{
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// Check the size of the array. If we have more than one data, this mean that this data is a binary size of a trajectory. If we have 2 data, this is an unique point.
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json_t const *item = json_getChild(jobj);
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if (json_getSibling(item) != NULL)
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{
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// We only have one point in this data
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pos_2d_t pos;
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pos.x = (uint16_t)json_getInteger(item);
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item = json_getSibling(item);
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pos.y = (uint16_t)json_getInteger(item);
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// Create the message
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msg.header.cmd = LINEAR_POSITION_2D;
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msg.header.size = sizeof(pos_2d_t);
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memcpy(msg.data, &pos, sizeof(pos_2d_t));
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// Send the message
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Luos_SendMsg(service, &msg);
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}
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else
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{
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int i = 0;
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// This is a binary
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int size = (int)json_getInteger(item);
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// Find the first \r of the current json_str
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for (i = 0; i < GATE_BUFF_SIZE; i++)
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{
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if (json_str[i] == '\n')
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{
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i++;
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break;
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}
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}
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if (i < GATE_BUFF_SIZE - 1)
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{
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// Create the message
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msg.header.cmd = LINEAR_POSITION_2D;
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Luos_SendData(service, &msg, &json_str[i], (unsigned int)size);
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}
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}
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return;
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}
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if (property && !strcmp(property, "buffer_mode"))
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{
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msg.data[0] = (char)json_getInteger(jobj);
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msg.header.cmd = BUFFER_MODE;
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msg.header.size = sizeof(char);
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Luos_SendMsg(service, &msg);
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return;
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}
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}
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// This function is called by the gate to convert a message into a piece of Json.
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// This is typically used when a message is received by the gate with an unknown command.
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// You can use it to compose your own piece of Json out of the message data.
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void Convert_CustomMsgToJson(msg_t *msg, char *data)
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{
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if (msg->header.cmd == LINEAR_POSITION_2D)
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{
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// This is our custom message, so we can convert it to JSON
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// In this case we will don't need it but I did the code for the sake of the example.
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if (msg->header.size == sizeof(pos_2d_t))
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{
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// Size ok, now fill the struct from msg data
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pos_2d_t pos;
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memcpy(&pos, msg->data, msg->header.size);
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// create the Json content
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sprintf(data, "\"linear_pos_2D\":[%2d,%2d],", pos.x, pos.y);
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}
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}
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}

‎examples/projects/product/custom_gate/src/main.c‎

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#include "luos_engine.h"
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#include "serial_network.h"
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#include "pipe.h"
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#include "gate.h"
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#include <pthread.h>
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#ifndef WIN32
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#include <execinfo.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#endif
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void *Gate_Pipe_LoopThread(void *vargp)
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{
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while (1)
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{
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Pipe_Loop();
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Gate_Loop();
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}
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return NULL;
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}
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#ifndef _WIN32
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void handler(int sig)
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{
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void *array[10];
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size_t size;
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// get void*'s for all entries on the stack
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size = backtrace(array, 10);
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// print out all the frames to stderr
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fprintf(stderr, "Error: signal %d:\n", sig);
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backtrace_symbols_fd(array, size, STDERR_FILENO);
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exit(1);
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}
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#endif
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int main(void)
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{
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#ifndef _WIN32
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signal(SIGSEGV, handler); // install our handler
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#endif
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Luos_Init();
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Serial_Init();
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Pipe_Init();
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Gate_Init();
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// Create a thread to convert messages into Json and steam them using Websocket
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// pthread_t thread_id;
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// pthread_create(&thread_id, NULL, Gate_Pipe_LoopThread, NULL);
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while (1)
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{
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Luos_Loop();
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Serial_Loop();
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Pipe_Loop();
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Gate_Loop();
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}
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}

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