/* * SPDX-License-Identifier: MIT * * Copyright (C) 2022-2024 OpenMV, LLC. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * OpenMV Protocol Channels. */ #include "py/mphal.h" #include "py/nlr.h" #include "py/gc.h" #include "py/ringbuf.h" #include "py/runtime.h" #include "shared/runtime/interrupt_char.h" #include "shared/runtime/pyexec.h" #include "omv_common.h" #include "omv_protocol.h" #include "omv_boardconfig.h" #ifndef OMV_PROTOCOL_STDIO_BUFFER_SIZE #define OMV_PROTOCOL_STDIO_BUFFER_SIZE (512) #endif typedef struct { vstr_t vstrbuf; bool script_running; ringbuf_t ringbuf; uint8_t rawbuf[OMV_PROTOCOL_STDIO_BUFFER_SIZE]; } stdio_channel_context_t; static stdio_channel_context_t stdio_channel_ctx; static int stdin_channel_init(const omv_protocol_channel_t *channel) { stdio_channel_context_t *ctx = channel->priv; ctx->script_running = false; vstr_init(&ctx->vstrbuf, 2048); return 0; } static int stdout_channel_init(const omv_protocol_channel_t *channel) { stdio_channel_context_t *ctx = channel->priv; // Initialize ring buffer once to keep output from previous runs. if (ctx->ringbuf.buf == NULL) { ctx->ringbuf = (ringbuf_t) { ctx->rawbuf, sizeof(ctx->rawbuf), 0, 0 }; } return 0; } void stdio_channel_pyexec_hook(bool running) { stdio_channel_ctx.script_running = running; omv_protocol_send_event(OMV_PROTOCOL_CHANNEL_ID_STDIN, running, false); } static bool stdin_channel_poll(const omv_protocol_channel_t *channel) { stdio_channel_context_t *ctx = channel->priv; return ctx->script_running; } static bool stdout_channel_poll(const omv_protocol_channel_t *channel) { stdio_channel_context_t *ctx = channel->priv; return ringbuf_avail(&ctx->ringbuf); } static size_t stdio_channel_size(const omv_protocol_channel_t *channel) { stdio_channel_context_t *ctx = channel->priv; return ringbuf_avail(&ctx->ringbuf); } static int stdio_channel_read(const omv_protocol_channel_t *channel, uint32_t offset, size_t size, void *data) { stdio_channel_context_t *ctx = channel->priv; size = OMV_MIN(size, ringbuf_avail(&ctx->ringbuf)); return !ringbuf_get_bytes(&ctx->ringbuf, data, size) ? size : -1; } static int stdio_channel_write(const omv_protocol_channel_t *channel, uint32_t offset, size_t size, const void *data) { stdio_channel_context_t *ctx = channel->priv; if (offset == 0) { vstr_reset(&ctx->vstrbuf); } nlr_buf_t nlr; if (!gc_is_locked() && nlr_push(&nlr) == 0) { char *buf = vstr_add_len(&ctx->vstrbuf, size); memcpy(buf, data, size); nlr_pop(); return size; } return -1; } static bool stdin_channel_exec(const omv_protocol_channel_t *channel) { stdio_channel_context_t *ctx = channel->priv; if (!vstr_len(&ctx->vstrbuf)) { return false; } nlr_buf_t nlr; if (nlr_push(&nlr) == 0) { // Execute the script. pyexec_vstr(&ctx->vstrbuf, true); nlr_pop(); } else { mp_obj_print_exception(&mp_plat_print, (mp_obj_t) nlr.ret_val); } vstr_reset(&ctx->vstrbuf); return true; } static int stdio_channel_ioctl(const omv_protocol_channel_t *channel, uint32_t cmd, size_t len, void *arg) { stdio_channel_context_t *ctx = channel->priv; switch (cmd) { case OMV_CHANNEL_IOCTL_STDIN_STOP: if (mp_interrupt_char != -1) { mp_sched_vm_abort(); mp_sched_keyboard_interrupt(); } break; case OMV_CHANNEL_IOCTL_STDIN_EXEC: if (!vstr_len(&ctx->vstrbuf)) { return -1; } if (mp_interrupt_char != -1) { mp_sched_vm_abort(); mp_sched_keyboard_interrupt(); } break; case OMV_CHANNEL_IOCTL_STDIN_RESET: vstr_reset(&ctx->vstrbuf); break; default: return -1; } return 0; } // Wrap MicroPython stdio functions to intercept REPL. extern uintptr_t __real_mp_hal_stdio_poll(uintptr_t poll_flags); uintptr_t __wrap_mp_hal_stdio_poll(uintptr_t poll_flags) { if (!omv_protocol_is_active()) { return __real_mp_hal_stdio_poll(poll_flags); } return 0; } extern mp_uint_t __real_mp_hal_stdout_tx_strn(const char *str, mp_uint_t len); mp_uint_t __wrap_mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) { if (!omv_protocol_is_active()) { return __real_mp_hal_stdout_tx_strn(str, len); } const omv_protocol_channel_t *channel = omv_protocol_find_channel(OMV_PROTOCOL_CHANNEL_ID_STDOUT); stdio_channel_context_t *ctx = channel->priv; // On overflow, reset the ring buffer, if this string fits // entirely in the buffer, to recover from broken strings. for (int i = 0; i < len; i++) { if (ringbuf_put(&ctx->ringbuf, str[i]) == -1 && len <= ctx->ringbuf.size) { ctx->ringbuf.iget = 0; ctx->ringbuf.iput = 0; ringbuf_put(&ctx->ringbuf, str[i]); } } return len; } const omv_protocol_channel_t omv_stdin_channel = { .priv = &stdio_channel_ctx, .id = OMV_PROTOCOL_CHANNEL_ID_STDIN, .flags = OMV_PROTOCOL_CHANNEL_FLAG_WRITE | OMV_PROTOCOL_CHANNEL_FLAG_EXEC, .name = "stdin", .init = stdin_channel_init, .poll = stdin_channel_poll, .write = stdio_channel_write, .ioctl = stdio_channel_ioctl, .exec = stdin_channel_exec }; const omv_protocol_channel_t omv_stdout_channel = { .priv = &stdio_channel_ctx, .id = OMV_PROTOCOL_CHANNEL_ID_STDOUT, .flags = OMV_PROTOCOL_CHANNEL_FLAG_READ, .name = "stdout", .init = stdout_channel_init, .poll = stdout_channel_poll, .size = stdio_channel_size, .read = stdio_channel_read, };