Merge branch 'eclipse-zenoh:master' into master

eclipse-zenoh · Jan 26, 2023 · 4681f16 · 4681f16
2 parents 820a625 + 8c3bc79
commit 4681f16
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diff --git a/README.md b/README.md
@@ -24,15 +24,15 @@ It is fully compatible with its main [Rust Zenoh implementation](https://github.
 
 Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
 
-|    **(RT)OS**   |        **Transport Layer**       |  **Network Layer**  |             **Data Link Layer**            |
-|:---------------:|:--------------------------------:|:-------------------:|:------------------------------------------:|
-|     **Unix**    | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |           WiFi, Ethernet, Thread           |
-|    **Zephyr**   | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |       WiFi, Ethernet, Thread, Serial       |
-|   **Arduino**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     | WiFi, Ethernet, Bluetooth (Serial profile) |
-|   **ESP-IDF**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |           WiFi, Ethernet, Serial           |
-|    **MbedOS**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |           WiFi, Ethernet, Serial           |
-|    **OpenCR**   | UDP (unicast and multicast), TCP |         IPv4        |                    WiFi                    |
-|  **Emscripten** |             Websocket            |      IPv4, IPv6     |               WiFi, Ethernet               |
+|    **(RT)OS**   |        **Transport Layer**       |  **Network Layer**  |                 **Data Link Layer**                |
+|:---------------:|:--------------------------------:|:-------------------:|:--------------------------------------------------:|
+|     **Unix**    | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |               WiFi, Ethernet, Thread               |
+|    **Zephyr**   | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |           WiFi, Ethernet, Thread, Serial           |
+|   **Arduino**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     | WiFi, Ethernet, Bluetooth (Serial profile), Serial |
+|   **ESP-IDF**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
+|    **MbedOS**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
+|    **OpenCR**   | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
+|  **Emscripten** |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 

diff --git a/include/zenoh-pico/system/platform/arduino/esp32.h b/include/zenoh-pico/system/platform/arduino/esp32.h
@@ -34,6 +34,7 @@ typedef struct timespec z_clock_t;
 typedef struct timeval z_time_t;
 
 typedef struct BluetoothSerial BluetoothSerial;  // Forward declaration to be used in _z_sys_net_socket_t
+typedef struct HardwareSerial HardwareSerial;    // Forward declaration to be used in _z_sys_net_socket_t
 
 typedef struct {
     union {
@@ -43,7 +44,9 @@ typedef struct {
 #if Z_LINK_BLUETOOTH == 1
         BluetoothSerial *_bts;  // As pointer to cross the boundary between C and C++
 #endif
-    _Bool _err;
+#if Z_LINK_SERIAL == 1
+        HardwareSerial *_serial;  // As pointer to cross the boundary between C and C++
+#endif
     };
 } _z_sys_net_socket_t;
 
@@ -52,7 +55,6 @@ typedef struct {
 #if Z_LINK_TCP == 1 || Z_LINK_UDP_MULTICAST == 1 || Z_LINK_UDP_UNICAST == 1
         struct addrinfo *_iptcp;
 #endif
-    _Bool _err;
     };
 } _z_sys_net_endpoint_t;
 

diff --git a/src/system/arduino/esp32/network.cpp b/src/system/arduino/esp32/network.cpp
@@ -13,6 +13,7 @@
 //
 
 #include <BluetoothSerial.h>
+#include <HardwareSerial.h>
 
 extern "C" {
 #include <netdb.h>
@@ -24,7 +25,10 @@ extern "C" {
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/system/link/bt.h"
+#include "zenoh-pico/system/link/serial.h"
 #include "zenoh-pico/system/platform.h"
+#include "zenoh-pico/utils/checksum.h"
+#include "zenoh-pico/utils/encoding.h"
 #include "zenoh-pico/utils/logging.h"
 #include "zenoh-pico/utils/pointers.h"
 
@@ -637,7 +641,220 @@ size_t _z_send_bt(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len
 #endif
 
 #if Z_LINK_SERIAL == 1
-#error "Serial not supported yet on Arduino port of Zenoh-Pico"
+/*------------------ Serial sockets ------------------*/
+int8_t _z_open_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin, uint32_t rxpin, uint32_t baudrate) {
+    int8_t ret = _Z_RES_OK;
+
+    uint8_t uart = 255;
+    if (rxpin == 3 && txpin == 1) {
+        uart = 0;
+    } else if (rxpin == 9 && txpin == 10) {
+        uart = 1;
+    } else if (rxpin == 16 && txpin == 17) {
+        uart = 2;
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    if (ret == _Z_RES_OK) {
+        // WARNING: Glitch on the very 1st byte is common when the serial input line is allowed to float.
+        //          To minimize this issue the RxPin is set to INPUT_PULLUP, and set the TxPin is driven to HIGH. This
+        //          will keep the pins high and upon initialization of the serial port using serial.begin() the line
+        //          does not float (drops to low).
+        pinMode(rxpin, INPUT_PULLUP);
+        pinMode(txpin, OUTPUT);
+        digitalWrite(txpin, HIGH);
+
+        sock->_serial = new HardwareSerial(uart);
+        if (sock->_serial != NULL) {
+            sock->_serial->begin(baudrate);
+            sock->_serial->flush();
+        } else {
+            ret = _Z_ERR_GENERIC;
+        }
+    }
+
+    return ret;
+}
+
+int8_t _z_open_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_t baudrate) {
+    int8_t ret = _Z_RES_OK;
+
+    uint8_t uart = 255;
+    uint32_t rxpin = 0;
+    uint32_t txpin = 0;
+    if (strcmp(dev, "UART_0") == 0) {
+        uart = 0;
+        rxpin = 3;
+        txpin = 1;
+    } else if (strcmp(dev, "UART_1") == 0) {
+        uart = 1;
+        rxpin = 9;
+        txpin = 10;
+    } else if (strcmp(dev, "UART_2") == 0) {
+        uart = 2;
+        rxpin = 16;
+        txpin = 17;
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    if (ret == _Z_RES_OK) {
+        // WARNING: Glitch on the very 1st byte is common when the serial input line is allowed to float.
+        //          To minimize this issue the RxPin is set to INPUT_PULLUP, and set the TxPin is driven to HIGH. This
+        //          will keep the pins high and upon initialization of the serial port using serial.begin() the line
+        //          does not float (drops to low).
+        pinMode(rxpin, INPUT_PULLUP);
+        pinMode(txpin, OUTPUT);
+        digitalWrite(txpin, HIGH);
+
+        sock->_serial = new HardwareSerial(uart);
+        if (sock->_serial != NULL) {
+            sock->_serial->begin(baudrate);
+            sock->_serial->flush();
+        } else {
+            ret = _Z_ERR_GENERIC;
+        }
+    }
+
+    return ret;
+}
+
+int8_t _z_listen_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin, uint32_t rxpin, uint32_t baudrate) {
+    int8_t ret = _Z_RES_OK;
+    (void)(sock);
+    (void)(txpin);
+    (void)(rxpin);
+    (void)(baudrate);
+
+    // @TODO: To be implemented
+    ret = _Z_ERR_GENERIC;
+
+    return ret;
+}
+
+int8_t _z_listen_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_t baudrate) {
+    int8_t ret = _Z_RES_OK;
+    (void)(sock);
+    (void)(dev);
+    (void)(baudrate);
+
+    // @TODO: To be implemented
+    ret = _Z_ERR_GENERIC;
+
+    return ret;
+}
+
+void _z_close_serial(_z_sys_net_socket_t *sock) {
+    sock->_serial->end();
+    delete sock->_serial;
+}
+
+size_t _z_read_serial(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
+    int8_t ret = _Z_RES_OK;
+
+    uint8_t *before_cobs = new uint8_t[_Z_SERIAL_MAX_COBS_BUF_SIZE]();
+    size_t rb = 0;
+    for (size_t i = 0; i < _Z_SERIAL_MAX_COBS_BUF_SIZE; i++) {
+        while (sock._serial->available() < 1) {
+            z_sleep_ms(1);  // FIXME: Yield by sleeping.
+        }
+        before_cobs[i] = sock._serial->read();
+        rb = rb + (size_t)1;
+        if (before_cobs[i] == (uint8_t)0x00) {
+            break;
+        }
+    }
+
+    uint8_t *after_cobs = new uint8_t[_Z_SERIAL_MFS_SIZE]();
+    size_t trb = _z_cobs_decode(before_cobs, rb, after_cobs);
+
+    size_t i = 0;
+    uint16_t payload_len = 0;
+    for (i = 0; i < sizeof(payload_len); i++) {
+        payload_len |= (after_cobs[i] << ((uint8_t)i * (uint8_t)8));
+    }
+
+    if (trb == (size_t)(payload_len + (uint16_t)6)) {
+        (void)memcpy(ptr, &after_cobs[i], payload_len);
+        i = i + (size_t)payload_len;
+
+        uint32_t crc = 0;
+        for (uint8_t j = 0; j < sizeof(crc); j++) {
+            crc |= (uint32_t)(after_cobs[i] << (j * (uint8_t)8));
+            i = i + (size_t)1;
+        }
+
+        uint32_t c_crc = _z_crc32(ptr, payload_len);
+        if (c_crc != crc) {
+            ret = _Z_ERR_GENERIC;
+        }
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    delete before_cobs;
+    delete after_cobs;
+
+    rb = payload_len;
+    if (ret != _Z_RES_OK) {
+        rb = SIZE_MAX;
+    }
+
+    return rb;
+}
+
+size_t _z_read_exact_serial(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
+    size_t n = len;
+    size_t rb = 0;
+
+    do {
+        rb = _z_read_serial(sock, ptr, n);
+        if (rb == SIZE_MAX) return rb;
+
+        n -= rb;
+        ptr = ptr + (len - n);
+    } while (n > 0);
+
+    return len;
+}
+
+size_t _z_send_serial(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len) {
+    int8_t ret = _Z_RES_OK;
+
+    uint8_t *before_cobs = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE);
+    size_t i = 0;
+    for (i = 0; i < sizeof(uint16_t); ++i) {
+        before_cobs[i] = (len >> (i * (size_t)8)) & (size_t)0XFF;
+    }
+
+    (void)memcpy(&before_cobs[i], ptr, len);
+    i = i + len;
+
+    uint32_t crc = _z_crc32(ptr, len);
+    for (uint8_t j = 0; j < sizeof(crc); j++) {
+        before_cobs[i] = (crc >> (j * (uint8_t)8)) & (uint32_t)0XFF;
+        i = i + (size_t)1;
+    }
+
+    uint8_t *after_cobs = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
+    ssize_t twb = _z_cobs_encode(before_cobs, i, after_cobs);
+    after_cobs[twb] = 0x00;  // Manually add the COBS delimiter
+    ssize_t wb = sock._serial->write(after_cobs, twb + (ssize_t)1);
+    if (wb != (twb + (ssize_t)1)) {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    z_free(before_cobs);
+    z_free(after_cobs);
+
+    size_t sb = len;
+    if (ret != _Z_RES_OK) {
+        sb = SIZE_MAX;
+    }
+
+    return sb;
+}
 #endif
 
-}  // extern "C"
+}  // extern "C"