test working

2 files changed, 489 insertions, 0 deletions

diff --git a/gm_platform/fw/tw_test.c b/gm_platform/fw/tw_test.c
new file mode 100644
index 0000000..60c6c67
--- /dev/null
+++ b/gm_platform/fw/tw_test.c
@@ -0,0 +1,431 @@
+#include <errno.h>
+#include <sys/ioctl.h>
+#include <asm/termbits.h>
+#include <fcntl.h> 
+#include <stdbool.h> 
+#include <stdlib.h> 
+#include <stdio.h> 
+#include <string.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <dirent.h>
+#include <sys/types.h>
+#include <assert.h>
+#include <sys/epoll.h> 
+#include <time.h>
+
+#include <sqlite3.h>
+
+#include <zlib.h>
+
+int set_interface_attribs (int fd, int baudrate) {
+    struct termios2 tio;
+    memset (&tio, 0, sizeof(tio));
+    if (ioctl (fd, TCGETS2, &tio) != 0) {
+        fprintf(stderr, "Could not request termios for given port\n");
+        return -1;
+    }
+
+    /* FIXME set baudrate */
+
+    tio.c_cflag = (tio.c_cflag & ~CSIZE) | CS8; /* 8 bit */
+    /* disable IGNBRK for mismatched speed tests; otherwise receive break as \000 chars */
+    tio.c_iflag &= ~IGNBRK;     /* disable break processing */
+    tio.c_lflag = 0;            /* no signaling chars, no echo, no canonical processing */
+    tio.c_oflag = 0;            /* no remapping, no delays */
+
+    tio.c_iflag &= ~(IXON | IXOFF | IXANY); /* shut off xon/xoff ctrl */
+
+    tio.c_cflag |= (CLOCAL | CREAD);/* ignore modem controls, enable reading */
+    tio.c_cflag &= ~(PARENB | PARODD); /* no parity */
+    tio.c_cflag &= ~CSTOPB;
+    tio.c_cflag &= ~CRTSCTS;
+
+    tio.c_cflag &= ~(CBAUD | CBAUDEX);
+    tio.c_cflag |= BOTHER;
+    tio.c_ospeed = baudrate;
+    tio.c_cflag &= ~((CBAUD | CBAUDEX) << IBSHIFT);
+    tio.c_cflag |= (B0 << IBSHIFT); /* same as output baudrate */
+
+    tio.c_cc[VMIN]  = 0; /* non-blocking mode */
+    tio.c_cc[VTIME] = 10; /* 1000ms seconds read timeout */
+
+    if (ioctl (fd, TCSETS2, &tio)) {
+        fprintf(stderr, "Could not set serial port attributes: Error %d in tcsetattr (\"%s\")\n", errno, strerror(errno));
+        return -1;
+    }
+    return 0;
+}
+
+ssize_t cobs_decode(char *dst, size_t dstlen, char *src, size_t srclen) {
+    size_t p = 1;
+    size_t c = (unsigned char)src[0];
+    if (c == 0)
+        return -5; /* invalid framing. An empty frame would be [...] 00 01 00, not [...] 00 00 */
+
+    while (p < srclen && src[p]) {
+        char val;
+        c--;
+
+        if (c == 0) {
+            c = (unsigned char)src[p];
+            val = 0;
+        } else {
+            val = src[p];
+        }
+
+        if (p > dstlen)
+            return -4; /* Destination buffer too small */
+        dst[p-1] = val;
+        p++;
+    }
+
+    if (p == srclen)
+        return -2; /* Invalid framing. The terminating null byte should always be present in the input buffer. */
+
+    if (c != 1)
+        return -3; /* Invalid framing. The skip counter does not hit the end of the frame. */
+
+    return p-1;
+}
+
+int cobs_encode(char *dst, char *src, size_t srclen) {
+    if (srclen > 254)
+        return -1;
+
+    size_t p = 0;
+    while (p <= srclen) {
+
+        char val;
+        if (p != 0 && src[p-1] != 0) {
+            val = src[p-1];
+
+        } else {
+            size_t q = p;
+            while (q < srclen && src[q] != 0)
+                q++;
+            val = (char)q-p+1;
+        }
+
+
+    *dst++ = val;
+        p++;
+    }
+
+    *dst++ = 0;
+
+    return 0;
+}
+ 
+void print_usage(char *prog) {
+    fprintf(stderr, "Usage: %s [-p /dev/serial/some_port] [-b baudrate] dbfile.sqilte3\n", prog);
+}
+
+void hexdump(const void* data, size_t size) {
+	char ascii[17];
+	size_t i, j;
+	ascii[16] = '\0';
+	for (i = 0; i < size; ++i) {
+		printf("%02X ", ((unsigned char*)data)[i]);
+		if (((unsigned char*)data)[i] >= ' ' && ((unsigned char*)data)[i] <= '~') {
+			ascii[i % 16] = ((unsigned char*)data)[i];
+		} else {
+			ascii[i % 16] = '.';
+		}
+		if ((i+1) % 8 == 0 || i+1 == size) {
+			printf(" ");
+			if ((i+1) % 16 == 0) {
+				printf("|  %s \n", ascii);
+			} else if (i+1 == size) {
+				ascii[(i+1) % 16] = '\0';
+				if ((i+1) % 16 <= 8) {
+					printf(" ");
+				}
+				for (j = (i+1) % 16; j < 16; ++j) {
+					printf("   ");
+				}
+				printf("|  %s \n", ascii);
+			}
+		}
+	}
+}
+
+int main(int argc, char *argv[]) {
+    
+    int opt;
+    int baudrate = 250000;
+    char *endptr = NULL;
+    char *port = NULL;
+    char *dbfile = NULL;
+    while ((opt = getopt(argc, argv, "p:b:")) != -1) {
+        switch (opt) {
+            case 'p':
+                port = optarg;
+                break;
+            case 'b':
+                baudrate = strtol(optarg, &endptr, 10);
+                if (errno == ERANGE || endptr == NULL || *endptr != '\0') {
+                    fprintf(stderr, "Invalid baudrate \"%s\"\n", optarg);
+                    print_usage(argv[0]);
+                }
+                break;
+            default:
+                print_usage(argv[0]);
+                exit(EXIT_FAILURE);
+        }
+    }
+
+    if (port == NULL) {
+        DIR *le_dir = opendir("/dev/serial/by-id");
+        if (le_dir == NULL) {
+            fprintf(stderr, "No serial port given and could not find any in /dev/serial\n");
+            exit(EXIT_FAILURE);
+
+        }
+
+        struct dirent *de;
+        while ((de = readdir(le_dir))) {
+            if (de == NULL) {
+                fprintf(stderr, "No serial port given and could not find any in /dev/serial\n");
+                exit(EXIT_FAILURE);
+            }
+
+            if (!strncmp(de->d_name, ".", sizeof(de->d_name)) ||
+                !strncmp(de->d_name, "..", sizeof(de->d_name)))
+                continue;
+
+            if (port != NULL) {
+                fprintf(stderr, "No serial port given and found multiple candidates in /dev/serial\n");
+                exit(EXIT_FAILURE);
+            }
+
+            const char *prefix = "/dev/serial/by-id/";
+            port = malloc(strlen(prefix) + sizeof(de->d_name) + 1);
+            if (port == NULL) {
+                fprintf(stderr, "Could not allocate memory\n");
+                exit(EXIT_FAILURE);
+            }
+            strcpy(port, prefix);
+            strncat(port, de->d_name, sizeof(de->d_name));
+        }
+        fprintf(stderr, "No port given, defaulting to %s\n", port);
+        closedir(le_dir);
+    }
+
+    if (optind != argc - 1) {
+        fprintf(stderr, "Too few arguments\n");
+        print_usage(argv[0]);
+        exit(EXIT_FAILURE);
+    }
+
+    dbfile = argv[optind];
+    printf("Using database file %s\n", dbfile);
+    fflush(stdout);
+
+    int fd = open(port, O_RDWR|O_NOCTTY|O_SYNC);
+    if (fd < 0) {
+        fprintf(stderr, "Cannot open serial port: %s\n", strerror(errno));
+        exit(EXIT_FAILURE);
+    }
+
+    if (set_interface_attribs (fd, baudrate))
+        exit(EXIT_FAILURE);
+
+    sqlite3 *db;
+    if (sqlite3_open(dbfile, &db) != SQLITE_OK) {
+        fprintf(stderr, "Cannot open database: %s\n", sqlite3_errmsg(db));
+        sqlite3_close(db);
+        exit(EXIT_FAILURE);
+    }
+
+    char *errmsg;
+    if (sqlite3_exec(db,
+                "CREATE TABLE IF NOT EXISTS measurements (rx_time INTEGER, tx_seq INTEGER, rx_seq INTEGER, data BLOB);",
+                NULL, NULL, &errmsg) != SQLITE_OK) {
+        fprintf(stderr, "Error initializing databse: %s\n", errmsg);
+        sqlite3_close(db);
+        exit(EXIT_FAILURE);
+    }
+
+    const char *insert_sql = "INSERT INTO measurements VALUES (?, ?, ?, ?)";
+    sqlite3_stmt *insert_stmt;
+    if (sqlite3_prepare_v2(db, insert_sql, strlen(insert_sql), &insert_stmt, NULL) != SQLITE_OK) {
+        fprintf(stderr, "Error compiling SQL: %s\n", sqlite3_errmsg(db));
+        sqlite3_close(db);
+        exit(EXIT_FAILURE);
+    }
+
+    char buf [1024];
+    int in_sync = 0, wpos = 0;
+    struct __attribute__((__packed__)) {
+        uint32_t crc;
+        uint8_t pid;
+        uint8_t _pad;
+        uint16_t seq;
+        uint16_t data[32];
+    } packet;
+    struct __attribute__((__packed__)) {
+        uint8_t type;
+        uint8_t pid;
+    } wpacket;
+    char wbuf[4];
+
+    int epollfd = epoll_create1(0);
+    if (epollfd < 0)
+        goto epoll_err;
+
+    #define MAX_EVENTS 10
+    struct epoll_event ev, events[MAX_EVENTS];
+    ev.events = EPOLLIN;
+    ev.data.fd = fd;
+    if (epoll_ctl(epollfd, EPOLL_CTL_ADD, fd, &ev) < 0)
+        goto epoll_err;
+
+    int current_seq = -1;
+    wpacket.type = 1;
+    wpacket.pid = 0;
+    cobs_encode(wbuf, (char *)&wpacket, sizeof(wpacket));
+    write(fd, wbuf, sizeof(wbuf));
+    uint64_t local_seq = 0;
+    while (23) {
+        int nfds = epoll_wait(epollfd, events, MAX_EVENTS, -1);
+        if (nfds == -1)
+            goto epoll_err;
+
+        if (nfds == 0)
+            continue;
+
+        ssize_t n = read(fd, buf+wpos, sizeof(buf)-wpos);
+        if (n<0) {
+            if (errno == EAGAIN || errno == EINTR)
+                continue;
+
+            fprintf(stderr, "Error reading from port: %s\n", strerror(errno));
+            goto loop_err;
+        }
+        printf("--- debug: read n=%d bytes at wpos=%d\n", n, wpos);
+        fflush(stdout);
+        wpos += n;
+
+        while (23) {
+            void *first_nul = memchr(buf, 0, wpos) ;
+
+            if (!in_sync) {
+                if (first_nul) {
+                    ssize_t first_nul_offx = first_nul - (void*)buf;
+                    ssize_t remaining = wpos - first_nul_offx;
+                    memmove(buf, first_nul+1, remaining-1);
+                    wpos = remaining-1;
+                    in_sync = 1;
+                    continue;
+
+                } else {
+                    wpos = 0;
+                    break;
+                }
+            }
+
+            if (!first_nul)
+                break;
+
+            int rc = cobs_decode((char *)&packet, sizeof(packet), buf, wpos);
+            if (rc < 0) {
+                printf("Framing error: rc=%d\n", rc);
+                goto it_err;
+            }
+            
+            /* Use zlib to calculate CRC32. The STM32 code calculates the CRC byte-wise, so we emulate this here. */
+            uint32_t our_crc = 0;
+            if (rc > 0) {
+                uint8_t buf[4] = {0};
+                for (int i=4; i<rc; i++) {
+                    buf[3] = ((uint8_t *)&packet)[i];
+                    our_crc = crc32(our_crc, buf, sizeof(buf));
+                }
+            }
+
+            /* Check CRC */
+            if (our_crc != packet.crc) {
+                printf("CRC mismatch: seq=%d packet=%08x computed=%08x\n", packet.pid, packet.crc, our_crc);
+                goto it_err;
+            }
+
+            /* Check device sequence number */
+            int last_seq = current_seq;
+            int predicted_seq = (last_seq+1) % 0xffff;
+            current_seq = packet.seq;
+            if (last_seq >= 0 && packet.seq != predicted_seq) {
+                printf("SEQ mismatch: packet=%d computed=%d\n", packet.seq, predicted_seq);
+                goto it_err;
+            }
+
+            /* Write to database */
+            struct timespec ts;
+            if (clock_gettime(CLOCK_REALTIME, &ts)) {
+                fprintf(stderr, "Error getting current wall-clock time: %s\n", strerror(errno));
+                goto loop_err;
+            }
+            uint64_t timestamp = ts.tv_sec*1000 + ts.tv_nsec/1000000;
+
+            if (sqlite3_bind_int(insert_stmt, 1, timestamp) != SQLITE_OK)
+                goto write_err;
+            
+            if (sqlite3_bind_int(insert_stmt, 2, packet.seq) != SQLITE_OK)
+                goto write_err;
+
+            if (sqlite3_bind_int(insert_stmt, 3, local_seq) != SQLITE_OK)
+                goto write_err;
+
+            if (sqlite3_bind_blob(insert_stmt, 4, packet.data, sizeof(packet.data), SQLITE_STATIC) != SQLITE_OK)
+                goto write_err;
+
+            while ((rc = sqlite3_step(insert_stmt)) == SQLITE_BUSY)
+                ;
+            if (rc != SQLITE_DONE)
+                goto write_err;
+
+            if (sqlite3_reset(insert_stmt) != SQLITE_OK)
+                goto write_err;
+
+            if (sqlite3_clear_bindings(insert_stmt) != SQLITE_OK)
+                goto write_err;
+
+            local_seq++;
+
+            printf("OK: seq=%d crc=%08x\n", current_seq, packet.crc);
+
+it_err:
+            /* FIXME don't send acks in case of error */
+            /* send ACK reply */
+            wpacket.type = 2;
+            wpacket.pid = packet.pid;
+            cobs_encode(wbuf, (char *)&wpacket, sizeof(wpacket));
+            write(fd, wbuf, sizeof(wbuf));
+
+            /* Fixup buffer for next iteration */
+            ssize_t first_nul_offx = first_nul - (void*)buf;
+            ssize_t remaining = wpos - first_nul_offx;
+            printf("--- debug: first_nul=%p (idx=%d) wpos=%d remaining=%d\n", first_nul, first_nul_offx, wpos, remaining);
+            hexdump(buf, 80);
+            printf(" ---memmove(buf=%p, first_nul+1=%p, remaining-1=%d);-->\n", buf, first_nul+1, remaining-1);
+            memmove(buf, first_nul+1, remaining-1);
+            hexdump(buf, 80);
+            fflush(stdout);
+            wpos = remaining-1;
+        }
+    }
+
+    return 0;
+
+write_err:
+    fprintf(stderr, "Error writing to database: %s\n", sqlite3_errmsg(db));
+    sqlite3_close(db);
+    return EXIT_FAILURE;
+
+epoll_err:
+    fprintf(stderr, "epoll error: %s\n", strerror(errno));
+
+loop_err:
+    sqlite3_close(db);
+    return EXIT_FAILURE;
+}
diff --git a/gm_platform/fw/tw_test.py b/gm_platform/fw/tw_test.py
new file mode 100644
index 0000000..0380f95
--- /dev/null
+++ b/gm_platform/fw/tw_test.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+
+from time import time
+from binascii import hexlify
+import enum
+import struct
+import zlib
+import sys
+
+import serial
+from cobs import cobs
+
+
+class CtrlPacketTypes(enum.Enum):
+    RESET = 1
+    ACK = 2
+    RETRANSMIT = 3
+
+def unpack_head(fmt, data):
+    split = struct.calcsize(fmt)
+    return *struct.unpack(fmt, data[:split]), data[split:]
+
+def ctrl_packet(ptype, pid=0):
+    return cobs.encode(struct.pack('BB', ptype.value, pid)) + b'\0'
+
+ctrl_reset = lambda: ctrl_packet(CtrlPacketTypes.RESET)
+ctrl_ack = lambda pid: ctrl_packet(CtrlPacketTypes.ACK, pid)
+ctrl_retransmit = lambda pid: ctrl_packet(CtrlPacketTypes.RETRANSMIT, pid)
+
+
+ser = serial.Serial('/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0', 250000, timeout=1.0)
+ser.write(b'foobar'*32)
+sys.exit(0)
+
+log = []
+ser.flushInput()
+ser.write(ctrl_reset())
+ser.flushOutput()
+for _ in range(100):
+    #ser.write(cobs.encode(b'\x01\xff') + b'\0')
+    data = ser.read_until(b'\0')
+    if not data or data[-1] != 0x00:
+        #print(f'{time():>7.3f} Timeout: resetting')
+        #ser.write(cobs.encode(b'\x01\xff') + b'\0') # reset
+        continue
+
+    crc32, payload = unpack_head('I', cobs.decode(data[:-1]))
+    pid, seq, data = unpack_head('xBH', payload)
+    ser.write(ctrl_ack(pid))
+    ser.flushOutput()
+
+    # Calculate byte-wise CRC32
+    #our_crc = zlib.crc32(bytes(b for x in payload for b in (0, 0, 0, x)))
+    our_crc = 0
+    #log.append((time(), seq, crc32, our_crc, pid, data))
+
+for time, seq, crc32, our_crc, pid, data in log:
+    print(f'{time:>7.3f} {seq:05d} {crc32:08x} {our_crc:08x} {pid} {hexlify(data).decode()}')