b15f/control/src/drv/b15f.cpp

#include "b15f.h"

B15F* B15F::instance = nullptr;
errorhandler_t B15F::errorhandler = nullptr;

B15F::B15F()
{
    init();
}

void B15F::init()
{

    std::string device = exec("bash -c 'ls /dev/ttyUSB*'");
    while(device.find(' ') != std::string::npos || device.find('\n') != std::string::npos || device.find('\t') != std::string::npos)
        device.pop_back();

    if(device.length() == 0)
        abort("Adapter nicht gefunden");

    std::cout << PRE << "Verwende Adapter: " << device << std::endl;



    std::cout << PRE << "Stelle Verbindung mit Adapter her... " << std::flush;
    usart.setBaudrate(BAUDRATE);
    usart.openDevice(device);
    std::cout << "OK" << std::endl;



    std::cout << PRE << "Teste Verbindung... " << std::flush;
    uint8_t tries = 3;
    while(tries--)
    {
        // verwerfe Daten, die µC noch hat
        //discard();

        if(!testConnection())
            continue;

        if(!testIntConv())
            continue;

        break;
    }
    if(tries == 0)
        abort("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
    std::cout << "OK" << std::endl;


    // Gib board info aus
    std::vector<std::string> info = getBoardInfo();
    std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")" << std::endl;
}

void B15F::reconnect()
{
    uint8_t tries = RECONNECT_TRIES;
    while(tries--)
    {
        delay_ms(RECONNECT_TIMEOUT);
        discard();

        if(testConnection())
            return;
    }

    abort("Verbindung kann nicht repariert werden");
}

void B15F::discard(void)
{
    try
    {
        usart.clearOutputBuffer();
        for(uint8_t i = 0; i < 16; i++)
        {
            usart.writeByte(RQ_DISC);	// sende discard Befehl (verwerfe input)
            delay_ms(4);
        }
        usart.clearInputBuffer();
    }
    catch(std::exception& ex)
    {
        abort(ex);
    }
}

bool B15F::testConnection()
{
    // erzeuge zufälliges Byte
    srand(time(NULL));
    uint8_t dummy = rand() % 256;

    usart.writeByte(RQ_TEST);
    usart.writeByte(dummy);

    uint8_t aw = usart.readByte();
    uint8_t mirror = usart.readByte();

    return aw == MSG_OK && mirror == dummy;
}

bool B15F::testIntConv()
{
    srand(time(NULL));
    uint16_t dummy = rand() % (0xFFFF / 3);

    usart.writeByte(RQ_INT);
    usart.writeInt(dummy);

    uint16_t aw = usart.readInt();
    return aw == dummy * 3;
}


std::vector<std::string> B15F::getBoardInfo(void)
{
    std::vector<std::string> info;

    usart.writeByte(RQ_INFO);

    uint8_t n = usart.readByte();
    while(n--)
    {
        uint8_t len = usart.readByte();
        std::string str;

        while(len--)
        {
            str += static_cast<char>(usart.readByte());
        }

        info.push_back(str);
    }

    uint8_t aw = usart.readByte();
    if(aw != MSG_OK)
        abort("Board Info fehlerhalft: code " + std::to_string((int) aw));

    return info;
}

bool B15F::activateSelfTestMode()
{
    usart.writeByte(RQ_ST);

    uint8_t aw = usart.readByte();
    return aw == MSG_OK;
}

bool B15F::digitalWrite0(uint8_t port)
{
    usart.writeByte(RQ_BA0);
    usart.writeByte(port);

    uint8_t aw = usart.readByte();
    delay_us(10);
    return aw == MSG_OK;
}

bool B15F::digitalWrite1(uint8_t port)
{
    usart.writeByte(RQ_BA1);
    usart.writeByte(port);

    uint8_t aw = usart.readByte();
    delay_us(10);
    return aw == MSG_OK;
}

uint8_t B15F::digitalRead0()
{
    usart.clearInputBuffer();
    usart.writeByte(RQ_BE0);
    uint8_t byte = usart.readByte();
    delay_us(10);
    return byte;
}

uint8_t B15F::digitalRead1()
{
    usart.clearInputBuffer();
    usart.writeByte(RQ_BE1);
    uint8_t byte = usart.readByte();
    delay_us(10);
    return byte;
}

uint8_t B15F::readDipSwitch()
{
    usart.clearInputBuffer();
    usart.writeByte(RQ_DSW);
    uint8_t byte = usart.readByte();
    delay_us(10);
    return byte;
}

bool B15F::analogWrite0(uint16_t value)
{
    usart.writeByte(RQ_AA0);
    usart.writeInt(value);

    uint8_t aw = usart.readByte();
    delay_us(10);
    return aw == MSG_OK;
}

bool B15F::analogWrite1(uint16_t value)
{
    usart.writeByte(RQ_AA1);
    usart.writeInt(value);

    uint8_t aw = usart.readByte();
    delay_us(10);
    return aw == MSG_OK;
}

uint16_t B15F::analogRead(uint8_t channel)
{
    usart.clearInputBuffer();
    if(channel > 7)
        abort("Bad ADC channel: " + std::to_string(channel));

    uint8_t rq[] =
    {
        RQ_ADC,
        channel
    };

    int n_sent = usart.write_timeout(&rq[0], 0, sizeof(rq), 1000);
    if(n_sent != sizeof(rq))
        abort("Sent failed");

    uint16_t adc = usart.readInt();

    if(adc > 1023)
        abort("Bad ADC data detected (1)");
    return adc;
}

void B15F::analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t* buffer_b, uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count)
{
    // check pointers
    buffer_a += offset_a;
    buffer_b += offset_b;


    usart.clearInputBuffer();
    usart.writeByte(RQ_ADC_DAC_STROKE);
    usart.writeByte(channel_a);
    usart.writeByte(channel_b);
    usart.writeInt(start);
    usart.writeInt(static_cast<uint16_t>(delta));
    usart.writeInt(count);

    for(uint16_t i = 0; i < count; i++)
    {
        if(buffer_a)
        {
            buffer_a[i] = usart.readInt();

            if(buffer_a[i] > 1023) // check for broken usart connection
                abort("Bad ADC data detected (2)");
        }
        else
        {
            usart.readInt();
        }

        if(buffer_b)
        {
            buffer_b[i] = usart.readInt();

            if(buffer_b[i] > 1023) // check for broken usart connection
                abort("Bad ADC data detected (3)");
        }
        else
        {
            usart.readInt();
        }
    }

    uint8_t aw = usart.readByte();
    if(aw != MSG_OK)
        abort("Sequenz unterbrochen");

    delay_us(10);
}

uint8_t B15F::pwmSetFrequency(uint32_t freq)
{
    usart.clearInputBuffer();

    uint8_t rq[] =
    {
        RQ_PWM_SET_FREQ,
        static_cast<uint8_t>((freq >>  0) & 0xFF),
        static_cast<uint8_t>((freq >>  8) & 0xFF),
        static_cast<uint8_t>((freq >> 16) & 0xFF),
        static_cast<uint8_t>((freq >> 24) & 0xFF)
    };

    int n_sent = usart.write_timeout(&rq[0], 0, sizeof(rq), 1000);
    if(n_sent != sizeof(rq))
        abort("Sent failed");

    uint8_t byte = usart.readByte();
    delay_us(10);
    return byte;
}

bool B15F::pwmSetValue(uint8_t value)
{
    usart.clearInputBuffer();

    uint8_t rq[] =
    {
        RQ_PWM_SET_VALUE,
        value
    };

    int n_sent = usart.write_timeout(&rq[0], 0, sizeof(rq), 1000);
    if(n_sent != sizeof(rq))
        abort("Sent failed");

    uint8_t aw = usart.readByte();
    delay_us(10);
    return aw == MSG_OK;
}

void B15F::delay_ms(uint16_t ms)
{
    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
}

void B15F::delay_us(uint16_t us)
{
    std::this_thread::sleep_for(std::chrono::microseconds(us));
}

B15F& B15F::getInstance(void)
{
    if(!instance)
        instance = new B15F();

    return *instance;
}

// https://stackoverflow.com/a/478960
std::string B15F::exec(std::string cmd)
{
    std::array<char, 128> buffer;
    std::string result;
    std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(cmd.c_str(), "r"), pclose);
    if (!pipe)
    {
        throw std::runtime_error("popen() failed!");
    }
    while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr)
    {
        result += buffer.data();
    }
    return result;
}

void B15F::abort(std::string msg)
{
    DriverException ex(msg);
    abort(ex);
}
void B15F::abort(std::exception& ex)
{
    if(errorhandler)
        errorhandler(ex);
    else
    {
        std::cerr << "NOTICE: B15F::errorhandler not set" << std::endl;
        std::cout << ex.what() << std::endl;
        throw DriverException(ex.what());
    }
}

void B15F::setAbortHandler(errorhandler_t func)
{
    errorhandler = func;
}