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AP_Periph: added targetted tunnel message for CAN serial passthru
this allows for remote control of serial devices over DroneCAN
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,211 @@ | ||
| /* | ||
| This program is free software: you can redistribute it and/or modify | ||
| it under the terms of the GNU General Public License as published by | ||
| the Free Software Foundation, either version 3 of the License, or | ||
| (at your option) any later version. | ||
| This program is distributed in the hope that it will be useful, | ||
| but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| GNU General Public License for more details. | ||
| You should have received a copy of the GNU General Public License | ||
| along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
| /* | ||
| handle tunnelling of serial data over DroneCAN | ||
| */ | ||
|
|
||
| #include <AP_HAL/AP_HAL_Boards.h> | ||
| #include "AP_Periph.h" | ||
|
|
||
| #if AP_UART_MONITOR_ENABLED | ||
|
|
||
| #include <dronecan_msgs.h> | ||
|
|
||
| extern const AP_HAL::HAL &hal; | ||
|
|
||
| #define TUNNEL_LOCK_KEY 0xf2e460e4U | ||
|
|
||
| #ifndef TUNNEL_DEBUG | ||
| #define TUNNEL_DEBUG 0 | ||
| #endif | ||
|
|
||
| #if TUNNEL_DEBUG | ||
| # define debug(fmt, args...) can_printf(fmt "\n", ##args) | ||
| #else | ||
| # define debug(fmt, args...) | ||
| #endif | ||
|
|
||
| /* | ||
| get the default port to tunnel if the client requests port -1 | ||
| */ | ||
| int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const | ||
| { | ||
| int8_t uart_num = -1; | ||
| #ifdef HAL_PERIPH_ENABLE_GPS | ||
| if (uart_num == -1) { | ||
| uart_num = g.gps_port; | ||
| } | ||
| #endif | ||
| #ifdef HAL_PERIPH_ENABLE_RANGEFINDER | ||
| if (uart_num == -1) { | ||
| uart_num = g.rangefinder_port; | ||
| } | ||
| #endif | ||
| #ifdef HAL_PERIPH_ENABLE_ADSB | ||
| if (uart_num == -1) { | ||
| uart_num = g.adsb_port; | ||
| } | ||
| #endif | ||
| #if HAL_PROXIMITY_ENABLED | ||
| if (uart_num == -1) { | ||
| uart_num = g.proximity_port; | ||
| } | ||
| #endif | ||
| return uart_num; | ||
| } | ||
|
|
||
| /* | ||
| handle tunnel data | ||
| */ | ||
| void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* ins, CanardRxTransfer* transfer) | ||
| { | ||
| uavcan_tunnel_Targetted pkt; | ||
| if (uavcan_tunnel_Targetted_decode(transfer, &pkt)) { | ||
| return; | ||
| } | ||
| if (pkt.target_node != canardGetLocalNodeID(ins)) { | ||
| return; | ||
| } | ||
| if (uart_monitor.buffer == nullptr) { | ||
| uart_monitor.buffer = new ByteBuffer(1024); | ||
| if (uart_monitor.buffer == nullptr) { | ||
| return; | ||
| } | ||
| } | ||
| int8_t uart_num = pkt.serial_id; | ||
| if (uart_num == -1) { | ||
| uart_num = get_default_tunnel_serial_port(); | ||
| } | ||
| if (uart_num < 0) { | ||
| return; | ||
| } | ||
| auto *uart = hal.serial(uart_num); | ||
| if (uart == nullptr) { | ||
| return; | ||
| } | ||
| if (uart_monitor.uart_num != uart_num && uart_monitor.uart != nullptr) { | ||
| // remove monitor from previous uart | ||
| hal.serial(uart_monitor.uart_num)->set_monitor_read_buffer(nullptr); | ||
| } | ||
| uart_monitor.uart_num = uart_num; | ||
| if (uart != uart_monitor.uart) { | ||
| // change of uart or expired, clear old data | ||
| uart_monitor.buffer->clear(); | ||
| uart_monitor.uart = uart; | ||
| uart_monitor.baudrate = 0; | ||
| } | ||
| if (uart_monitor.uart == nullptr) { | ||
| return; | ||
| } | ||
| /* | ||
| allow for locked state to change at any time, so users can | ||
| switch between locked and unlocked while connected | ||
| */ | ||
| uart_monitor.locked = (pkt.options & UAVCAN_TUNNEL_TARGETTED_OPTION_LOCK_PORT) != 0; | ||
| if (uart_monitor.locked) { | ||
| uart_monitor.uart->lock_port(TUNNEL_LOCK_KEY, TUNNEL_LOCK_KEY); | ||
| } else { | ||
| uart_monitor.uart->lock_port(0,0); | ||
| } | ||
| uart_monitor.node_id = transfer->source_node_id; | ||
| uart_monitor.protocol = pkt.protocol.protocol; | ||
| if (pkt.baudrate != uart_monitor.baudrate) { | ||
| if (uart_monitor.locked && pkt.baudrate != 0) { | ||
| uart_monitor.uart->begin_locked(pkt.baudrate, 0, 0, TUNNEL_LOCK_KEY); | ||
| debug("begin_locked %u", unsigned(pkt.baudrate)); | ||
| } | ||
| uart_monitor.baudrate = pkt.baudrate; | ||
| } | ||
| uart_monitor.uart->set_monitor_read_buffer(uart_monitor.buffer); | ||
| uart_monitor.last_request_ms = AP_HAL::millis(); | ||
|
|
||
| // write to device | ||
| if (pkt.buffer.len > 0) { | ||
| if (uart_monitor.locked) { | ||
| debug("write_locked %u", unsigned(pkt.buffer.len)); | ||
| uart_monitor.uart->write_locked(pkt.buffer.data, pkt.buffer.len, TUNNEL_LOCK_KEY); | ||
| } else { | ||
| uart_monitor.uart->write(pkt.buffer.data, pkt.buffer.len); | ||
| } | ||
| } else { | ||
| debug("locked keepalive"); | ||
| } | ||
| } | ||
|
|
||
| /* | ||
| send tunnelled serial data | ||
| */ | ||
| void AP_Periph_FW::send_serial_monitor_data() | ||
| { | ||
| if (uart_monitor.uart == nullptr || | ||
| uart_monitor.node_id == 0 || | ||
| uart_monitor.buffer == nullptr) { | ||
| return; | ||
| } | ||
| const uint32_t last_req_ms = uart_monitor.last_request_ms; | ||
| const uint32_t now_ms = AP_HAL::millis(); | ||
| if (now_ms - last_req_ms >= 3000) { | ||
| // stop sending and unlock, but don't release the buffer | ||
| if (uart_monitor.locked) { | ||
| debug("unlock"); | ||
| uart_monitor.uart->lock_port(0, 0); | ||
| } | ||
| uart_monitor.uart = nullptr; | ||
| return; | ||
| } | ||
| if (uart_monitor.locked) { | ||
| /* | ||
| when the port is locked nobody is reading the uart so the | ||
| monitor doesn't fill. We read here to ensure it fills | ||
| */ | ||
| uint8_t buf[120]; | ||
| for (uint8_t i=0; i<8; i++) { | ||
| if (uart_monitor.uart->read_locked(buf, sizeof(buf), TUNNEL_LOCK_KEY) <= 0) { | ||
| break; | ||
| } | ||
| } | ||
| } | ||
| uint8_t sends = 8; | ||
| while (uart_monitor.buffer->available() > 0 && sends-- > 0) { | ||
| uint32_t n; | ||
| const uint8_t *buf = uart_monitor.buffer->readptr(n); | ||
| if (n == 0) { | ||
| return; | ||
| } | ||
| // broadcast data as tunnel packets, can be used for uCenter debug and device fw update | ||
| uavcan_tunnel_Targetted pkt {}; | ||
| n = MIN(n, sizeof(pkt.buffer.data)); | ||
| pkt.target_node = uart_monitor.node_id; | ||
| pkt.protocol.protocol = uart_monitor.protocol; | ||
| pkt.buffer.len = n; | ||
| pkt.baudrate = uart_monitor.baudrate; | ||
| memcpy(pkt.buffer.data, buf, n); | ||
|
|
||
| uint8_t buffer[UAVCAN_TUNNEL_TARGETTED_MAX_SIZE] {}; | ||
| const uint16_t total_size = uavcan_tunnel_Targetted_encode(&pkt, buffer, !canfdout()); | ||
|
|
||
| debug("read %u", unsigned(n)); | ||
|
|
||
| if (!canard_broadcast(UAVCAN_TUNNEL_TARGETTED_SIGNATURE, | ||
| UAVCAN_TUNNEL_TARGETTED_ID, | ||
| CANARD_TRANSFER_PRIORITY_MEDIUM, | ||
| &buffer[0], | ||
| total_size)) { | ||
| break; | ||
| } | ||
| uart_monitor.buffer->advance(n); | ||
| } | ||
| } | ||
| #endif // AP_UART_MONITOR_ENABLED |
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