Add support for transmitting stdout over USB

Adds support for transmitting stdout messages over USB.

Signed-off-by: Nate Karstens <[email protected]>

bricks/_common_stm32/mphalport.c

@@ -9,6 +9,7 @@
 #include <contiki.h>
 
 #include <pbdrv/config.h>
+#include <pbdrv/usb.h>
 #include <pbio/main.h>
 #include <pbsys/bluetooth.h>
 
@@ -128,9 +129,40 @@ int mp_hal_stdin_rx_chr(void) {
 
 // Send string of given length
 void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+    uint32_t size;
+    pbio_error_t err;
+
+    #if PBDRV_CONFIG_USB
+
+    const char *usb_ptr = str;
+    mp_uint_t usb_len = len;
+
+    while (usb_len) {
+        size = usb_len;
+        err = pbdrv_usb_stdout_tx((const uint8_t *)usb_ptr, &size);
+
+        if (err == PBIO_SUCCESS) {
+            usb_ptr += size;
+            usb_len -= size;
+            continue;
+        }
+
+        if (err != PBIO_ERROR_AGAIN) {
+            // Ignoring error for now. This means
+            // stdout lost if USB is disconnected.
+            break;
+        }
+
+        if (usb_len) {
+            MICROPY_EVENT_POLL_HOOK
+        }
+    }
+
+    #endif // PBDRV_CONFIG_USB
+
     while (len) {
-        uint32_t size = len;
-        pbio_error_t err = pbsys_bluetooth_tx((const uint8_t *)str, &size);
+        size = len;
+        err = pbsys_bluetooth_tx((const uint8_t *)str, &size);
 
         if (err == PBIO_SUCCESS) {
             str += size;
@@ -144,12 +176,14 @@ void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
             return;
         }
 
-        MICROPY_EVENT_POLL_HOOK
+        if (len) {
+            MICROPY_EVENT_POLL_HOOK
+        }
     }
 }
 
 void mp_hal_stdout_tx_flush(void) {
-    while (!pbsys_bluetooth_tx_is_idle()) {
+    while (!pbsys_bluetooth_tx_is_idle() && !pbdrv_usb_stdout_tx_is_idle()) {
         MICROPY_EVENT_POLL_HOOK
     }
 }

lib/pbio/drv/usb/usb_stm32.c

@@ -17,6 +17,7 @@
 #include <usbd_desc.h>
 #include <usbd_pybricks.h>
 
+#include <pbdrv/clock.h>
 #include <pbdrv/usb.h>
 #include <pbio/protocol.h>
 #include <pbio/util.h>
@@ -31,9 +32,13 @@ PROCESS(pbdrv_usb_process, "USB");
 static uint8_t usb_in_buf[USBD_PYBRICKS_MAX_PACKET_SIZE];
 static uint8_t usb_response_buf[1 + sizeof(uint32_t)];
 static uint8_t usb_status_buf[1 + 1 + sizeof(uint32_t)];
+static uint8_t usb_stdout_buf[USBD_PYBRICKS_MAX_PACKET_SIZE];
 static volatile uint32_t usb_in_sz;
 static volatile uint32_t usb_response_sz;
 static volatile uint32_t usb_status_sz;
+static volatile uint32_t usb_stdout_sz;
+static volatile clock_time_t usb_response_tx_time;
+static volatile clock_time_t usb_stdout_tx_time;
 static volatile bool transmitting;
 
 static USBD_HandleTypeDef husbd;
@@ -136,6 +141,53 @@ void pbdrv_usb_stm32_handle_vbus_irq(bool active) {
     process_poll(&pbdrv_usb_process);
 }
 
+/**
+ * Queues data to be transmitted via USB.
+ * @param data  [in]        The data to be sent.
+ * @param size  [in, out]   The size of @p data in bytes. After return, @p size
+ *                          contains the number of bytes actually written.
+ * @return                  ::PBIO_SUCCESS if @p data was queued, ::PBIO_ERROR_AGAIN
+ *                          if @p data could not be queued at this time (e.g. buffer
+ *                          is full), ::PBIO_ERROR_INVALID_OP if there is not an
+ *                          active USB connection or ::PBIO_ERROR_NOT_SUPPORTED
+ *                          if this platform does not support USB.
+ */
+pbio_error_t pbdrv_usb_stdout_tx(const uint8_t *data, uint32_t *size) {
+    uint8_t *ptr = usb_stdout_buf;
+    uint32_t ptr_len = sizeof(usb_stdout_buf);
+
+    // TODO: return PBIO_ERROR_INVALID_OP if not connected
+
+    if (usb_stdout_sz) {
+        return PBIO_ERROR_AGAIN;
+    }
+
+    *ptr = USBD_PYBRICKS_MSG_EVENT;
+    ptr++;
+    ptr_len--;
+
+    *ptr = PBIO_PYBRICKS_EVENT_WRITE_STDOUT;
+    ptr++;
+    ptr_len--;
+
+    *size = MIN(*size, ptr_len);
+    memcpy(ptr, data, *size);
+
+    usb_stdout_sz = 1 + 1 + *size;
+
+    process_poll(&pbdrv_usb_process);
+
+    return PBIO_SUCCESS;
+}
+
+/**
+ * Indicates if there is stdout data waiting to be transmitted over USB.
+ * @retval  false if stdout data is currently being transmitted.
+ */
+bool pbdrv_usb_stdout_tx_is_idle(void) {
+    return usb_stdout_sz == 0;
+}
+
 /**
   * @brief  Pybricks_Itf_Init
   *         Initializes the Pybricks media low layer
@@ -147,6 +199,7 @@ static USBD_StatusTypeDef Pybricks_Itf_Init(void) {
     usb_in_sz = 0;
     usb_response_sz = 0;
     usb_status_sz = 0;
+    usb_stdout_sz = 0;
     transmitting = false;
 
     return USBD_OK;
@@ -200,6 +253,8 @@ static USBD_StatusTypeDef Pybricks_Itf_TransmitCplt(uint8_t *Buf, uint32_t *Len,
         usb_response_sz = 0;
     } else if (Buf == usb_status_buf) {
         usb_status_sz = 0;
+    } else if (Buf == usb_stdout_buf) {
+        usb_stdout_sz = 0;
     } else {
         ret = USBD_FAIL;
     }
@@ -322,7 +377,8 @@ PROCESS_THREAD(pbdrv_usb_process, ev, data) {
 
         new_status_flags = pbsys_status_get_flags();
 
-        // Transmit. Give priority to status updates.
+        // Transmit. Give priority to status updates, then
+        // cycle between response and stdout buffers.
         if ((new_status_flags != prev_status_flags) || etimer_expired(&timer)) {
 
             usb_status_buf[0] = USBD_PYBRICKS_MSG_EVENT;
@@ -334,10 +390,18 @@ PROCESS_THREAD(pbdrv_usb_process, ev, data) {
             transmitting = true;
             USBD_Pybricks_TransmitPacket(&husbd, usb_status_buf, usb_status_sz);
 
-        } else if (usb_response_sz) {
+        } else if (usb_response_sz &&
+                   (!usb_stdout_sz || (usb_response_tx_time < usb_stdout_tx_time))) {
 
             transmitting = true;
+            usb_response_tx_time = clock_time();
             USBD_Pybricks_TransmitPacket(&husbd, usb_response_buf, usb_response_sz);
+
+        } else if (usb_stdout_sz) {
+
+            transmitting = true;
+            usb_stdout_tx_time = clock_time();
+            USBD_Pybricks_TransmitPacket(&husbd, usb_stdout_buf, usb_stdout_sz);
         }
     }
 

lib/pbio/include/pbdrv/usb.h

@@ -12,6 +12,7 @@
 #include <stdbool.h>
 
 #include <pbdrv/config.h>
+#include <pbio/error.h>
 
 /**
  * Indicates battery charging capabilites that were detected on a USB port.
@@ -43,6 +44,18 @@ pbdrv_usb_bcd_t pbdrv_usb_get_bcd(void);
  */
 bool pbdrv_usb_get_vbus_status(void);
 
+/**
+ * Transmits the given buffer over the USB stdout stream.
+ * @return              The result of the operation.
+ */
+pbio_error_t pbdrv_usb_stdout_tx(const uint8_t *data, uint32_t *size);
+
+/**
+ * Indicates if the USB stdout stream is idle.
+ * @return              true if the USB stdout stream is idle.
+*/
+bool pbdrv_usb_stdout_tx_is_idle(void);
+
 #else // PBDRV_CONFIG_USB
 
 static inline pbdrv_usb_bcd_t pbdrv_usb_get_bcd(void) {
@@ -53,6 +66,14 @@ static inline bool pbdrv_usb_get_vbus_status(void) {
     return false;
 }
 
+static inline pbio_error_t pbdrv_usb_stdout_tx(const uint8_t *data, uint32_t *size) {
+    return PBIO_SUCCESS;
+}
+
+static inline bool pbdrv_usb_stdout_tx_is_idle(void) {
+    return true;
+}
+
 #endif // PBDRV_CONFIG_USB
 
 #endif // _PBDRV_USB_H_