diff options
Diffstat (limited to 'lib/support/lib/bobot_baseboard.lua')
| -rw-r--r-- | lib/support/lib/bobot_baseboard.lua | 393 |
1 files changed, 0 insertions, 393 deletions
diff --git a/lib/support/lib/bobot_baseboard.lua b/lib/support/lib/bobot_baseboard.lua deleted file mode 100644 index 757731a..0000000 --- a/lib/support/lib/bobot_baseboard.lua +++ /dev/null @@ -1,393 +0,0 @@ -#!/usr/bin/lua - ---module(..., package.seeall); - -local my_path = debug.getinfo(1, "S").source:match[[^@?(.*[\/])[^\/]-$]] - -local bobot_device = require("bobot_device") -local bobot = require("bobot") - -local NULL_BYTE = string.char(0x00) -local DEFAULT_PACKET_SIZE = 0x04 -local GET_USER_MODULES_SIZE_COMMAND = string.char(0x05) -local GET_USER_MODULE_LINE_COMMAND = string.char(0x06) -local GET_HANDLER_SIZE_COMMAND = string.char(0x0A) -local GET_HANDLER_TYPE_COMMAND = string.char(0x0B) -local GET_LINES_RESPONSE_PACKET_SIZE = 5 -local GET_LINE_RESPONSE_PACKET_SIZE = 12 -local GET_HANDLER_TYPE_PACKET_SIZE = 5 -local GET_HANDLER_RESPONSE_PACKET_SIZE = 5 -- -local ADMIN_HANDLER_SEND_COMMAND = string.char(0x00) -local ADMIN_MODULE_IN_ENDPOINT = 0x01 -local ADMIN_MODULE_OUT_ENDPOINT = 0x81 -local GET_USER_MODULE_LINE_PACKET_SIZE = 0x05 -local CLOSEALL_BASE_BOARD_COMMAND = string.char(0x07) -local CLOSEALL_BASE_BOARD_RESPONSE_PACKET_SIZE = 5 -local TIMEOUT = 250 --ms -local MAX_RETRY = 5 - -local BaseBoard = {} - - ---executes s on the console and returns the output -local function run_shell (s) - local f = io.popen(s) -- runs command - local l = f:read("*a") -- read output of command - f:close() - return l -end - -openable = {} -hotplug = {} - -local function parse_drivers() - local driver_files=run_shell("sh -c 'ls "..my_path.."../drivers/*.lua 2> /dev/null'") - for filename in driver_files:gmatch('drivers%/(%S+)%.lua') do - --print ("Driver openable", filename) - openable[filename] = true - end - driver_files=run_shell("sh -c 'ls "..my_path.."../drivers/hotplug/*.lua 2> /dev/null'") - for filename in driver_files:gmatch('drivers%/hotplug%/(%S+)%.lua') do - --print ("Driver hotplug", filename) - hotplug[filename] = true - end -end -parse_drivers() - -local function load_modules(bb) - local retry = 0 - bb.modules = {} - - local n_modules=bb:get_user_modules_size() - while n_modules == nil and retry < MAX_RETRY do - n_modules=bb:get_user_modules_size() - bobot.debugprint("u4b:the module list size returned a nil value, trying to recover...") - retry = retry+1 - end - if not n_modules then return nil end - retry=0 - bobot.debugprint ("Reading modules:", n_modules) - for i = 1, n_modules do - local modulename=bb:get_user_module_line(i) - while modulename == nil and retry < MAX_RETRY do - bobot.debugprint("u4b:the module returned a nil value, trying to recover...") - modulename=bb:get_handler_type(i) - retry = retry+1 - end - if not modulename then return nil end - if openable[modulename] then - bb.modules[i]=modulename - local d = bobot_device:new({ - module=modulename, - --name=module, - baseboard=bb, - hotplug=false, - in_endpoint=0x01, out_endpoint=0x01, - }) -- in_endpoint=0x01, out_endpoint=0x01}) - bb.devices[d]=true - bb.devices[#bb.devices+1]=d - - bb.modules[modulename]=d - elseif hotplug[modulename] then - bb.modules[i]=modulename - bb.modules[modulename]=true - bb.hotplug = true -- bb has a hotplug module - else - bobot.debugprint("Loading modules: missing driver for",modulename) - end - end - return true -end - -local function load_module_handlers(bb) - local retry = 0 - - local n_module_handlers=bb:get_handler_size() - while n_module_handlers == nil and retry < MAX_RETRY do - n_module_handlers=bb:get_handler_size() - bobot.debugprint("u4b:the module handler list size returned a nil value, trying to recover...") - retry = retry+1 - end - if (not n_module_handlers) or (n_module_handlers > 32) then return nil end - retry=0 - bobot.debugprint ("Reading moduleshandlers:", n_module_handlers) - for i=1, n_module_handlers do - local t_handler = bb:get_handler_type(i) - while(t_handler == nil and retry < MAX_RETRY) do - bobot.debugprint("u4b:the module handler returned a nil value, trying to recover...") - t_handler = bb:get_handler_type(i) - retry = retry+1 - end - if not t_handler then return nil end - if t_handler<255 then - local modulename=bb.modules[t_handler+1] - local moduledev=bb.modules[modulename] - if type(moduledev)=='table' - and not moduledev.handler then - moduledev.handler=i-1 - elseif moduledev==true then - --name=name.."@"..(i-1) - local d = bobot_device:new({ - handler=i-1, - module=modulename, - --name=name, - baseboard=bb, - hotplug=(hotplug[modulename]), - in_endpoint=0x01, out_endpoint=0x01, - }) -- in_endpoint=0x01, out_endpoint=0x01}) - if d then - bb.devices[d]=true - bb.devices[#bb.devices+1]=d - end - else - bobot.debugprint ("No opened device!") - end - end - end - return true -end - - -function BaseBoard:refresh() - self.devices = {} - - if not load_modules(self) then - return nil,"failure reading modules" - end - - if not load_module_handlers(self) then - return nil,"failure reading module handlers" - end - return true -end - ---Instantiates BaseBoard object. ---Loads list of modules installed on baseboard -function BaseBoard:new(bb) - --parameters sanity check - assert(type(bb)=="table") - assert(type(bb.comms)=="table") - - --OO boilerplate - setmetatable(bb, self) - self.__index = self - - bb:refresh() - ---bobot.debugprint ('----------------') - --bb:force_close_all() ---bobot.debugprint ('================') - return bb -end - ---Closes all modules opened on baseboard -function BaseBoard:close() - --state sanity check - assert(type(self.devices)=="table") - - for _,d in ipairs(self.devices) do - if type(d.handler)=="number" then - bobot.debugprint ("closing", d.name, d.handler) - d:close() - end - end - - --TODO actually close the baseboard -end - ---returns number of modules present on baseboard -function BaseBoard:get_user_modules_size() - --state sanity check - assert(type(self.comms)=="table") - - local comms=self.comms - - -- In case of get_user_modules_size command is atended by admin module in handler 0 and send operation is 000 - - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE - local admin_packet = GET_USER_MODULES_SIZE_COMMAND - local get_user_modules_size_packet = handler_packet .. admin_packet - - local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_user_modules_size_packet, TIMEOUT) - if write_res then - local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_LINES_RESPONSE_PACKET_SIZE, TIMEOUT) - if not data then - bobot.debugprint("u4b:get_user_modules_size:comunication with I/O board read error", err) - return 0 - else - local user_modules_size = string.byte(data, 5) - return user_modules_size - end - else - bobot.debugprint("u4b:get_user_modules_size:comunication with I/O board write error", write_res) - return 0 - end -end - ---returns thename of a given (by a 1-based index)module -function BaseBoard:get_user_module_line(index) - --state & parameter sanity check - assert(type(index)=="number") - assert(index>0) - assert(type(self.comms)=="table") - - - local comms=self.comms - - -- In case of get_user_module_line command is atended by admin module in handler 0 and send operation is 000 - local get_user_module_line_packet_length = string.char(GET_USER_MODULE_LINE_PACKET_SIZE) - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. get_user_module_line_packet_length .. NULL_BYTE - local admin_packet = GET_USER_MODULE_LINE_COMMAND .. string.char(index-1) - local get_user_module_line_packet = handler_packet .. admin_packet - - local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_user_module_line_packet, TIMEOUT) - if write_res then - local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_LINE_RESPONSE_PACKET_SIZE, TIMEOUT) - if not data then - bobot.debugprint("u4b:get_user_modules_line:comunication with I/O board read error", err) - return - end - --the name is between a header and a null - local end_mark = string.find(data, "\000", GET_USER_MODULE_LINE_PACKET_SIZE, true) - if not end_mark then - bobot.debugprint ("u4b:get_user_module_line:Error parsing module name") - return - end - local module_name = string.sub(data, GET_USER_MODULE_LINE_PACKET_SIZE, end_mark-1) - return module_name - else - bobot.debugprint("u4b:get_user_module_line:comunication with I/O board write error", write_res) - end -end - -function BaseBoard:get_handler_size() ------ NEW LISTI ------ - --state sanity check - assert(type(self.comms)=="table") - - local comms=self.comms - - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE - local admin_packet = GET_HANDLER_SIZE_COMMAND - local get_handler_size_packet = handler_packet .. admin_packet - - local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_handler_size_packet, TIMEOUT) - if write_res then - local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_HANDLER_RESPONSE_PACKET_SIZE, TIMEOUT) - if not data then - bobot.debugprint("u4b:get_handler_size:comunication with I/O board read error", err) - return 0 - else - local handler_size = string.byte(data, 5) - return handler_size - end - else - bobot.debugprint("u4b:get_handler_type:comunication with I/O board write error", write_res) - end -end -function BaseBoard:get_handler_type(index) ------ NEW LISTI ------ - --state & parameter sanity check - assert(type(index)=="number") - assert(index>0) - assert(type(self.comms)=="table") - - local comms=self.comms - - -- In case of get_handler_type command is atended by admin module in handler 0 and send operation is 000 - local get_handler_type_packet_length = string.char(GET_HANDLER_TYPE_PACKET_SIZE) --GET_USER_MODULE_LINE_PACKET_SIZE - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. get_handler_type_packet_length .. NULL_BYTE - local admin_packet = GET_HANDLER_TYPE_COMMAND .. string.char(index-1) - local get_handler_type_packet = handler_packet .. admin_packet - - local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, get_handler_type_packet, TIMEOUT) - if write_res then - local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, GET_HANDLER_RESPONSE_PACKET_SIZE, TIMEOUT) - if not data then - bobot.debugprint("u4b:get_handler_type:comunication with I/O board read error", err) - return 0 - else - local handler_type = string.byte(data, 5) - return handler_type - end - else - bobot.debugprint("u4b:get_handler_type:comunication with I/O board write error", write_res) - end -end - --- resets the baseboard, after this operation the baseboard will claim reenumeration to the operative system --- this function is deprecated by force_close_all -function BaseBoard:close_all() - for _,d in ipairs(self.devices) do - --bobot.debugprint ("===", d.name,d.handler) - if d.handler then d:close() end - end -end - --- switch the baseboard to the bootloader program implementend as a usb4all command to the admin module -function BaseBoard:switch_to_bootloader() - --state & parameter sanity check - assert(type(self.comms)=="table") - - local comms=self.comms - -- In case of reset_base_board command is atended by admin module in handler 0 and send operation is 000 - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE - local admin_packet = string.char(0x09) --SWITCH_TO_BOOT_BASE_BOARD_COMMAND - local boot_base_board_packet = handler_packet .. admin_packet - - local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, boot_base_board_packet, TIMEOUT) - --from this moment the board is reseted, so there is nothing more to do -end - -function BaseBoard:reset() - --state & parameter sanity check - assert(type(self.comms)=="table") - - local comms=self.comms - -- In case of reset_base_board command is atended by admin module in handler 0 and send operation is 000 - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE - local admin_packet = string.char(0xFF) --RESET_BASE_BOARD_COMMAND - local reset_base_board_packet = handler_packet .. admin_packet - - local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, reset_base_board_packet, TIMEOUT) - if write_res then - -- no tego que leer respuesta porque se reseteo - --libusb.close(libusb_handler) - --self.libusb_handler=nil - --for d_name,d in pairs(self.devices) do - --bobot.debugprint ("===", d.name,d.handler) - -- d.handler=nil - --end - else - bobot.debugprint("u4b:reset:comunication with I/O board write error", write_res) - end -end - -function BaseBoard:force_close_all() - --state & parameter sanity check - assert(type(self.comms)=="table") - - local comms=self.comms - -- In case of reset_base_board command is atended by admin module in handler 0 and send operation is 000 - local handler_packet = ADMIN_HANDLER_SEND_COMMAND .. string.char(DEFAULT_PACKET_SIZE) .. NULL_BYTE - local admin_packet = CLOSEALL_BASE_BOARD_COMMAND - local reset_base_board_packet = handler_packet .. admin_packet - ---bobot.debugprint ('%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%') - local write_res = comms.send(ADMIN_MODULE_IN_ENDPOINT, reset_base_board_packet, TIMEOUT) ---bobot.debugprint ('%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%') - if write_res then - local data, err = comms.read(ADMIN_MODULE_OUT_ENDPOINT, CLOSEALL_BASE_BOARD_RESPONSE_PACKET_SIZE, TIMEOUT) - if err then - bobot.debugprint("u4b:force_close_all:comunication with I/O board read error",err) - else - --bobot.debugprint("u4b:force_close_all:libusb read",string.byte(data,1,string.len(data))) - end - for _,d in ipairs(self.devices) do - --bobot.debugprint ("===", d.name,d.handler) - d.handler=nil - end - else - bobot.debugprint("u4b:force_close_all:comunication with I/O board write error", write_res) - end -end - -return BaseBoard |