creole interface

creole

@@ -1 +1 @@
-Subproject commit 6d30be57f7c1853eb1fe26e91e0d0aae8811383b
+Subproject commit c18db4be57214903f2b1f6d5a7943eb40f644024

software/src/buf.c

@@ -1,59 +1,31 @@
 #include <zephyr/zephyr.h>
 #include <zephyr/sys/printk.h>
-#include <zephyr/net/socket.h>
 #include "buf.h"
 
-bool
-buf_read_sock(int sock, struct bufptr *bp)
-{
-	if (bp->left < 2)
-		return false;
-
-	ssize_t l = zsock_recv(sock, bp->p, bp->left - 1, 0);
-	if (l < 0)
-		return false;
-
-	bp->left -= l;
-	bp->p += l;
-	*bp->p = 0;
-	return true;
-}
-
-bool
-buf_write_sock(int sock, struct bufptr *bp)
-{
-	while (bp->left) {
-		ssize_t l = zsock_send(sock, bp->p, bp->left, 0);
-		if (l < 0)
-			return false;
-		bp->p += l;
-		bp->left -= l;
-	}
-
-	return true;
-}
-
 int
 buf_writevf(struct bufptr *bp, const char *fmt, va_list va)
 {
-	int w;
-
 	/* vsnprintk() returns the amount of bytes that would
 	 * be stored in the buffer if the buffer was big enough,
 	 * excluding the NUL terminator.
 	 * The function will _always_ write a NUL terminator
 	 * unless bp->left == 0.
 	 */
-	w = vsnprintk(bp->p, bp->left, fmt, va);
+	int w = vsnprintk(bp->p, bp->left, fmt, va);
 
 	if (w < 0)
 		return BUF_WRITE_ERR;
 
+	/* Return the number of bytes that are required to be
+	 * written.
+	 * Do not increment the buffer pointer, the truncated
+	 * data may not be safe.
+	 * Since w is the amount of required bytes minus the NUL
+	 * terminator, w == bp->left is still an out-of-memory
+	 * situation.
+	 */
 	if (w >= bp->left) {
-		size_t oldleft = bp->left;
-		buf->p += bp->left - 1;
-		bp->left = 1;
-		return w - oldleft + 1;
+		return w - bp->left + 1;
 	} else {
 		bp->p += w;
 		bp->left -= w;
@@ -64,10 +36,9 @@ buf_writevf(struct bufptr *bp, const char *fmt, va_list va)
 int
 buf_writef(struct bufptr *bp, const char *fmt, ...)
 {
-	int r;
 	va_list va;
 	va_start(va, fmt);
-	r = buf_writevf(bp, fmt, va);
+	int r = buf_writevf(bp, fmt, va);
 	va_end(va);
 	return r;
 }

software/src/buf.h

@@ -12,28 +12,10 @@ struct bufptr {
 
 enum {
 	BUF_OK = 0,
-	BUF_WRITE_ERR = -1
+	BUF_WRITE_ERR = -1,
+	BUF_SOCK_ERR = -2
 };
 
-/* Read from the socket into the buffer.
- * This function is meant to be called multiple times on the
- * same struct. The controller loads bp->left with the amount
- * of bytes it wishes to read, and continues until bp->left == 0.
- *
- * This function returns false if there was an error reading
- * from the socket.
- * A read of 0 bytes returns true.
- */
-bool buf_read_sock(int sock, struct bufptr *bp);
-
-/* Write from the bufptr into a socket.
- * This function is meant to be called once per prepared bufptr.
- *
- * This function returns false if there was an error on the
- * socket.
- */
-bool buf_write_sock(int sock, struct bufptr *bp);
-
 /* Write a formatted string to bp.
  * This function uses printf(), which means that it deals with
  * writing _C-strings_, not unterminated buffers.

software/src/creole_interface.c

@@ -1,8 +1,10 @@
 #include <sys_clock.h>
+#include <sys/util.h>
 #include "control_loop_cmds.h"
 #include "creole.h"
 #include "creole_upsilon.h"
 #include "pin_io.h"
+#include "creole.h"
 
 static inline uint32_t
 sign_extend(uint32_t in, unsigned len)
@@ -67,7 +69,7 @@ creole_word
 upsilon_usec(creole_word usec)
 {
 	k_sleep(K_USEC(usec));
-	return 0;
+	return 1;
 }
 
 creole_word
@@ -82,7 +84,7 @@ upsilon_control_loop_read(creole_word *high_reg,
 	*low_reg = cl_word_out[1];
 	*cl_start_cmd = 0;
 
-	return 0;
+	return 1;
 }
 
 creole_word
@@ -97,32 +99,85 @@ upsilon_control_loop_write(creole_word high_val,
 	while (!*cl_finish_cmd);
 	*cl_start_cmd = 0;
 
-	return 0;
+	return 1;
 }
 
+static size_t
+load_into_array(const struct creole_reader *start, creole_word *buf, size_t buflen)
+{
+	size_t i = 0;
+	struct creole_word w;
+	struct creole_reader r = start;
+
+	while (creole_decode(&r, &w) && i < buflen) {
+		buf[i++] = w.word;
+	}
+
+	return i;
+}
+
+#define MAX_WL_SIZE 4096
 creole_word
 upsilon_load_waveform(struct creole_env *env, creole_word slot,
                       creole_word db)
 {
-	/* TODO */
+	creole_word buf[MAX_WL_SIZE];
+	size_t len = load_into_array(env->dats[db], buf, ARRAY_SIZE(buf));
+
+	if (len != MAX_WL_SIZE)
 		return 0;
+
+	*wf_start_addr[slot] = &buf;
+	*wf_refresh_start[slot] = 1;
+	while (!*wf_refresh_finished[slot]);
+	*wf_refresh_start[slot] = 0;
+
+	return 1;
 }
 creole_word
-upsilon_exec_waveform(creole_word slot, creole_word dac)
+upsilon_arm_waveform(creole_word slot, creole_word hof, creole_word wait)
 {
-	/* TODO */
-	return 0;
+	*wf_halt_on_finished[slot] = hof;
+	*wf_time_to_wait[slot] = wait;
+	*wf_arm[slot] = 1;
+
+	if (wait) {
+		while (!*wf_finished[slot]);
+		*wf_arm[slot] = 0;
 	}
+
+	return 1;
+}
+
 creole_word
-upsilon_sendval(creole_word num)
+upsilon_disarm_waveform(creole_word slot)
 {
-	/* TODO */
-	return 0;
+	*wf_arm[slot] = 0;
+	return 1;
+}
+
+creole_word
+upsilon_sendval(struct creole_env *env, creole_word num)
+{
+	char buf[32];
+	struct bufptr bp = {buf, sizeof(buf)};
+
+	return sock_printf(env->fd, &bp, "%u", num) == BUF_OK;
 }
 
 creole_word
 upsilon_senddat(struct creole_env *env, creole_word db)
 {
-	/* TODO */
+	char buf[128];
+	struct bufptr bp = {buf, 0};
+	struct creole_word w;
+	struct creole_reader r = start;
+
+	while (creole_decode(&r, &w) && bp.left < buflen) {
+		if (w.word > 0xFF)
 			return 0;
+		buf[bp.left++] = w.word;
+	}
+
+	return sock_write_buf(env->fd, &bp);
 }

software/src/sock.c

@@ -4,6 +4,7 @@
 #include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>
 #include "sock.h"
+#include "buf.h"
 
 LOG_MODULE_REGISTER(sock);
 
@@ -47,6 +48,9 @@ server_accept_client(int server)
 	struct sockaddr_in addr;
 	socklen_t len = sizeof(addr);
 
+	/* Accept clients in a loop. This is halting so other threads will
+	 * be able to process clients.
+	 */
 	do {
 		client = zsock_accept(server, (struct sockaddr *)&addr, &len);
 		if (client < 0)
@@ -59,34 +63,71 @@ server_accept_client(int server)
 	return client;
 }
 
-int
-sock_vprintf(int sock, char *buf, int buflen, char *fmt, va_list va)
+bool
+sock_read_buf(int sock, struct bufptr *bp)
 {
-	int w = vsnprintk(buf, buflen, fmt, va);
-	if (w < 0)
-		return b;
-	else if (w <= buflen)
-		return w - buflen;
+	if (bp->left < 2)
+		return false;
 
-	ssize_t left = w;
-	char *p = buf;
-	while (left > 0) {
-		ssize_t i = zsock_send(sock, p, left, 0);
-		if (i < 0)
-			return 0;
-		p += i;
-		left -= i;
+	ssize_t l = zsock_recv(sock, bp->p, bp->left - 1, 0);
+	if (l < 0)
+		return false;
+
+	bp->left -= l;
+	bp->p += l;
+	if (bp->left == 0) {
+		LOG_ERR("internal out of bounds error in %s", __func__);
+		k_fatal_halt(K_ERR_KERNEL_PANIC);
 	}
 
-	return w;
+	*bp->p = 0;
+	return true;
+}
+
+bool
+sock_write_buf(int sock, struct bufptr *bp)
+{
+	/* Since send may not send all data in the buffer at once,
+	 * loop until it sends all data (or fails).
+	 */
+	while (bp->left) {
+		ssize_t l = zsock_send(sock, bp->p, bp->left, 0);
+		if (l < 0)
+			return false;
+		bp->p += l;
+		bp->left -= l;
+	}
+
+	return true;
 }
 
 int
-sock_printf(int sock, char *buf, int buflen, char *fmt, ...)
+sock_vprintf(int sock, struct bufptr *bp, const char *fmt, va_list va)
+{
+	int r = buf_writevf(bp, fmt, va);
+	struct bufptr store_bp = *bp;
+	if (r != BUF_OK)
+		return r;
+
+	/* The difference between the initial and final values of
+	 * `left` is the amount of bytes written to the buffer.
+	 * Set left to this difference so that the only thing sent
+	 * is the bytes written by buf_writevf.
+	 */
+	store_bp.left -= bp->left;
+	if (!sock_write_buf(sock, &store_bp)) {
+		return BUF_SOCK_ERR;
+	} else {
+		return BUF_OK;
+	}
+}
+
+int
+sock_printf(int sock, struct bufptr *bp, const char *fmt, ...)
 {
 	va_list va;
 	va_start(va, fmt);
-	int r = sock_vprintf(sock, buf, buflen, fmt, va);
+	bool b = sock_vprintf(sock, bp, fmt, va);
 	va_end(va);
-	return r;
+	return b;
 }

software/src/sock.h

@@ -1,7 +1,28 @@
 #pragma once
+#include <stdarg.h>
+#include "buf.h"
 
-/* Initialize server to listen on the port passed as an argument. */
+/* Initialize server to listen on the port passed as an argument.
+ */
 int server_init_sock(int port);
 
-/* Accept a client and allocate a file descriptor for the client. */
+/* Accept a client and allocate a file descriptor for the client.
+ */
 int server_accept_client(int server);
+
+/* Read data into buffer. Returns false if error occurs. This is
+ * raw binary (no NUL termination).
+ */
+bool sock_read_buf(int sock, struct bufptr *bp);
+
+/* Write raw buffer data into socket. This data is raw binary and
+ * does not have to be NUL terminated.
+ */
+bool sock_write_buf(int sock, struct bufptr *bp);
+
+/* Write formatted string into socket. The user must provide a
+ * buffer into which the formatted string is written. These return
+ * with a buf.h error, or BUF_OK when successful.
+ */
+int sock_vprintf(int sock, struct bufptr *bp, const char *fmt, va_list va);
+int sock_printf(int sock, struct bufptr *bp, const char *fmt, ...);