openmv/protocol/omv_protocol_channel_stdio.c
iabdalkader cc879d15b4 protocol: Introduce OMV protocol V2.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-09-21 20:26:49 +02:00

220 lines
6.8 KiB
C

/*
* 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,
};