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update a653rs(-linux) #9

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merged 8 commits into from
Jun 24, 2024
Merged

update a653rs(-linux) #9

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5e7e846
chore: update to 24.05
sevenautumns Jun 20, 2024
e674d00
chore: update dependencies
sevenautumns Jun 20, 2024
645b63c
feat: replace non-const reimplementation with a653rs ports
sevenautumns Jun 20, 2024
f410a44
refactor: remove unused trait
sevenautumns Jun 20, 2024
70c2ca9
feat: impl Default for GPIO
sevenautumns Jun 20, 2024
64bc2be
fix: log feature compilation and log level
sevenautumns Jun 24, 2024
4b9b5e7
fix: remove Port enum from crate-public API
dadada Jun 21, 2024
e69fd73
fix: do not use default features of serde_yaml
dadada Jun 21, 2024
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575 changes: 208 additions & 367 deletions Cargo.lock
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10 changes: 5 additions & 5 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,22 +25,22 @@ default-members = [
]

[workspace.dependencies]
a653rs = { version = "0.5", default-features = false }
a653rs = { version = "0.6", default-features = false }
cobs = { version = "0.2.3", default-features = false }
crc16 = { version = "0.4.0", default-features = false }
heapless = { version = "0.8", default-features = false }
log = "0"
once_cell = { version = "1.19", default-features = false }
postcard = { version = "1.0", default-features = false }
serde = { version = "1.0", default-features = false }
serde_yaml = { version = "0.9", default-feaures = false }
serde_yaml = { version = "0.9", default-features = false }
signal-hook.version = "0.3"
uart_xilinx = "0.2"
volatile-register = "0.2"
# These are not on crates.io
a653rs-linux = { git = "https://github.com/florianhartung/a653rs-linux.git", branch = "queuing-ports", default-features = false }
a653rs-postcard = { git = "https://github.com/DLR-FT/a653rs-postcard.git", branch = "main", default-features = false }
a653rs-xng = { git = "https://github.com/DLR-FT/a653rs-xng.git", branch = "main", default-features = false }
a653rs-linux = { version = "0.2", default-features = false }
a653rs-postcard = { version = "0.4", default-features = false }
a653rs-xng = { version = "0.1", default-features = false }
xng-rs-log = { git = "https://github.com/DLR-FT/xng-rs-log.git", branch = "main", default-features = false }

[profile.dev]
Expand Down
6 changes: 3 additions & 3 deletions a653rs-router-linux/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ extern "C" fn entry_point() {
let mut state = router.router::<INPUTS, OUTPUTS, MTU>(cfg).unwrap();
loop {
let res = state.forward::<MTU, _>(&ApexLinuxPartition);
#[cfg(feauture = "log")]
#[cfg(feature = "log")]
{
use a653rs_router::prelude::Error;
use log::{debug, trace};
Expand All @@ -69,7 +69,7 @@ extern "C" fn entry_point() {
Err(e) => debug!("Failed to forward message: {}", e),
}
}
#[cfg(not(feauture = "log"))]
#[cfg(not(feature = "log"))]
let _res = res;
}
}
Expand All @@ -78,7 +78,7 @@ fn main() {
ApexLogger::install_panic_hook();
#[cfg(feature = "log")]
{
ApexLogger::install_logger(log::LevelFilter::Trace).unwrap();
ApexLogger::install_logger(log::LevelFilter::Debug).unwrap();
}
RouterPartition.run()
}
15 changes: 12 additions & 3 deletions a653rs-router/src/config.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
use crate::{prelude::InterfaceConfig, types::VirtualLinkId};
use a653rs::bindings::{
MessageRange, MessageSize, QueuingDiscipline as ApexQueuingDiscipline, StackSize,
use crate::{ports::PortError, prelude::InterfaceConfig, types::VirtualLinkId};
use a653rs::{
bindings::{MessageRange, MessageSize, QueuingDiscipline as ApexQueuingDiscipline, StackSize},
prelude::Name,
};
use core::{ops::Deref, str::FromStr, time::Duration};
use heapless::{LinearMap, String, Vec};
Expand Down Expand Up @@ -40,6 +41,14 @@ impl From<String<20>> for PortName {
}
}

impl TryInto<Name> for PortName {
type Error = PortError;

fn try_into(self) -> Result<Name, Self::Error> {
Name::from_str(&self).map_err(|_e| PortError::Create)
}
}

/// The name of a network interface or socket address.
///
/// Some examples
Expand Down
2 changes: 1 addition & 1 deletion a653rs-router/src/partition.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ where
entry_point: extern "C" fn(),
) -> Result<Self, Error> {
Ok(Self {
resources: RouterResources::<I, P, IFS, PS>::create::<C>(interfaces, ports)?,
resources: RouterResources::<I, P, IFS, PS>::create::<C>(ctx, interfaces, ports)?,
process: RouterProcess::create(ctx, name, stack_size, entry_point)
.map_err(Error::Process)?,
})
Expand Down
242 changes: 9 additions & 233 deletions a653rs-router/src/ports.rs
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Original file line number Diff line number Diff line change
@@ -1,201 +1,12 @@
use a653rs::{bindings::*, prelude::*};
use core::{fmt::Display, marker::PhantomData, str::FromStr, time::Duration};
use core::{fmt::Display, time::Duration};

use crate::{
config::{QueuingInCfg, QueuingOutCfg, SamplingInCfg, SamplingOutCfg},
network::PayloadSize,
prelude::*,
router::{RouterInput, RouterOutput},
};

#[derive(Debug)]
pub(crate) enum Port<H: ApexQueuingPortP4 + ApexSamplingPortP4> {
SamplingIn(SamplingIn<H>),
SamplingOut(SamplingOut<H>),
QueuingIn(QueuingIn<H>),
QueuingOut(QueuingOut<H>),
}

#[derive(Debug)]
pub(crate) struct PortData {
id: ApexLongInteger,
msg_size: MessageSize,
}

/// Used for accessing a sampling port destination using the bindings
#[derive(Debug)]
pub(crate) struct SamplingIn<H: ApexSamplingPortP4> {
_h: PhantomData<H>,
inner: PortData,
}

/// Used for accessing a sampling port source using the bindings
#[derive(Debug)]
pub(crate) struct SamplingOut<H: ApexSamplingPortP4> {
_h: PhantomData<H>,
inner: PortData,
}

/// Used for accessing a queuing port source using the bindings
#[derive(Debug)]
pub(crate) struct QueuingOut<H: ApexQueuingPortP4> {
_h: PhantomData<H>,
inner: PortData,
}

/// Used for accessing a queuing port destination using the bindings
#[derive(Debug)]
pub(crate) struct QueuingIn<H: ApexQueuingPortP4> {
_h: PhantomData<H>,
inner: PortData,
}

impl<H: ApexSamplingPortP4> RouterInput for SamplingIn<H> {
fn receive<'a>(&self, buf: &'a mut [u8]) -> Result<&'a [u8], PortError> {
let buf = buf.validate_read(self.inner.msg_size)?;
let (_val, len) = unsafe {
<H as ApexSamplingPortP4>::read_sampling_message(self.inner.id, buf)
.map_err(|_e| PortError::Receive)
}?;
Ok(&buf[..(len as usize)])
}

fn mtu(&self) -> PayloadSize {
self.inner.msg_size as PayloadSize
}
}

impl<H: ApexQueuingPortP4> RouterInput for QueuingIn<H> {
fn receive<'a>(&self, buf: &'a mut [u8]) -> Result<&'a [u8], PortError> {
let buf = buf.validate_read(self.inner.msg_size)?;
let timeout = Duration::from_micros(10).as_nanos() as ApexSystemTime;
let (val, _overflow) = unsafe {
<H as ApexQueuingPortP4>::receive_queuing_message(self.inner.id, timeout, buf)
.map_err(|_e| PortError::Receive)
}?;
Ok(&buf[..val as usize])
}

fn mtu(&self) -> PayloadSize {
self.inner.msg_size as PayloadSize
}
}

impl<H: ApexQueuingPortP4> RouterOutput for QueuingOut<H> {
fn send(&self, buf: &[u8]) -> Result<(), PortError> {
let buf = buf.validate_write(self.inner.msg_size)?;
let timeout = Duration::from_micros(10).as_nanos() as ApexSystemTime;
<H as ApexQueuingPortP4>::send_queuing_message(self.inner.id, buf, timeout)
.map_err(|_e| PortError::Send)
}

fn mtu(&self) -> PayloadSize {
self.inner.msg_size as PayloadSize
}
}

impl<H: ApexSamplingPortP4> RouterOutput for SamplingOut<H> {
fn send(&self, buf: &[u8]) -> Result<(), PortError> {
let buf = buf.validate_write(self.inner.msg_size)?;
<H as ApexSamplingPortP4>::write_sampling_message(self.inner.id, buf)
.map_err(|_e| PortError::Send)
}

fn mtu(&self) -> PayloadSize {
self.inner.msg_size as PayloadSize
}
}

impl<H: ApexSamplingPortP4> SamplingIn<H> {
pub(crate) fn create(name: PortName, value: SamplingInCfg) -> Result<Self, PortError> {
let id = <H as ApexSamplingPortP4>::create_sampling_port(
Name::from_str(&name)
.map_err(|_e| PortError::Create)?
.into(),
value.msg_size,
PortDirection::Destination,
value.refresh_period.as_nanos() as i64,
)
.map_err(|_e| PortError::Create)?;
Ok(Self {
_h: Default::default(),
inner: PortData {
id,
msg_size: value.msg_size,
},
})
}
}

impl<H: ApexSamplingPortP4> SamplingOut<H> {
pub(crate) fn create(name: PortName, value: SamplingOutCfg) -> Result<Self, PortError> {
let id = <H as ApexSamplingPortP4>::create_sampling_port(
Name::from_str(&name)
.map_err(|_e| PortError::Create)?
.into(),
value.msg_size,
PortDirection::Source,
// Use some non-zero duration.
// While refresh_period is ignored for the source
// It may produce an error if set to zero
SystemTime::Normal(Duration::from_nanos(1)).into(),
)
.map_err(|_e| PortError::Create)?;
Ok(Self {
_h: Default::default(),
inner: PortData {
id,
msg_size: value.msg_size,
},
})
}
}

impl<H: ApexQueuingPortP4> QueuingIn<H> {
pub(crate) fn create(name: PortName, value: QueuingInCfg) -> Result<Self, PortError> {
let id = <H as ApexQueuingPortP4>::create_queuing_port(
Name::from_str(&name)
.map_err(|_e| PortError::Create)?
.into(),
value.msg_size,
value.msg_count,
PortDirection::Destination,
value.discipline.into(),
)
.map_err(|_e| PortError::Create)?;
Ok(Self {
_h: Default::default(),
inner: PortData {
id,
msg_size: value.msg_size,
},
})
}
}

impl<H: ApexQueuingPortP4> QueuingOut<H> {
pub(crate) fn create(name: PortName, value: QueuingOutCfg) -> Result<Self, PortError> {
let id = <H as ApexQueuingPortP4>::create_queuing_port(
Name::from_str(&name)
.map_err(|_e| PortError::Create)?
.into(),
value.msg_size,
value.msg_count,
PortDirection::Source,
value.discipline.into(),
)
.map_err(|_e| PortError::Create)?;
Ok(Self {
_h: Default::default(),
inner: PortData {
id,
msg_size: value.msg_size,
},
})
}
}

impl<const M: MessageSize, S: ApexSamplingPortP4> RouterInput for SamplingPortDestination<M, S> {
impl<S: ApexSamplingPortP4> RouterInput for SamplingPortDestination<S> {
fn receive<'a>(&self, buf: &'a mut [u8]) -> Result<&'a [u8], PortError> {
router_bench!(begin_apex_receive, self.id() as u16);
let res = self.receive(buf);
Expand All @@ -205,11 +16,11 @@ impl<const M: MessageSize, S: ApexSamplingPortP4> RouterInput for SamplingPortDe
}

fn mtu(&self) -> PayloadSize {
M as PayloadSize
self.size() as PayloadSize
}
}

impl<const M: MessageSize, S: ApexSamplingPortP4> RouterOutput for SamplingPortSource<M, S> {
impl<S: ApexSamplingPortP4> RouterOutput for SamplingPortSource<S> {
fn send(&self, buf: &[u8]) -> Result<(), PortError> {
router_bench!(begin_apex_send, self.id() as u16);
let res = self.send(buf);
Expand All @@ -219,13 +30,11 @@ impl<const M: MessageSize, S: ApexSamplingPortP4> RouterOutput for SamplingPortS
}

fn mtu(&self) -> PayloadSize {
M as PayloadSize
self.size() as PayloadSize
}
}

impl<const M: MessageSize, const R: MessageRange, Q: ApexQueuingPortP4> RouterInput
for QueuingPortReceiver<M, R, Q>
{
impl<Q: ApexQueuingPortP4> RouterInput for QueuingPortReceiver<Q> {
fn receive<'a>(&self, buf: &'a mut [u8]) -> Result<&'a [u8], PortError> {
let timeout = SystemTime::Normal(Duration::from_micros(10));
router_bench!(begin_apex_send, self.id() as u16);
Expand All @@ -236,13 +45,11 @@ impl<const M: MessageSize, const R: MessageRange, Q: ApexQueuingPortP4> RouterIn
}

fn mtu(&self) -> PayloadSize {
M as PayloadSize
self.size()
}
}

impl<const M: MessageSize, const R: MessageRange, Q: ApexQueuingPortP4> RouterOutput
for QueuingPortSender<M, R, Q>
{
impl<Q: ApexQueuingPortP4> RouterOutput for QueuingPortSender<Q> {
fn send(&self, buf: &[u8]) -> Result<(), PortError> {
let timeout = SystemTime::Normal(Duration::from_micros(10));
router_bench!(begin_apex_send, self.id() as u16);
Expand All @@ -253,38 +60,7 @@ impl<const M: MessageSize, const R: MessageRange, Q: ApexQueuingPortP4> RouterOu
}

fn mtu(&self) -> PayloadSize {
M as PayloadSize
}
}

trait BufferExt {
fn validate_read(&mut self, size: MessageSize) -> Result<&mut Self, PortError>;

/// Validate a buffer to be at most as long as the given usize.
/// If not returns [Self] with the length of the passed buffer
fn validate_write(&self, size: MessageSize) -> Result<&Self, PortError>;
}

impl BufferExt for [ApexByte] {
fn validate_read(&mut self, size: MessageSize) -> Result<&mut Self, PortError> {
if usize::try_from(size)
.map(|ss| self.len() < ss)
.unwrap_or(true)
{
return Err(PortError::Receive);
}
Ok(self)
}

fn validate_write(&self, size: MessageSize) -> Result<&Self, PortError> {
if usize::try_from(size)
.map(|ss| self.len() > ss)
.unwrap_or(false)
|| self.is_empty()
{
return Err(PortError::Send);
}
Ok(self)
self.size()
}
}

Expand Down
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