Initial commit

platform/linux/ftdi.cpp

@@ -0,0 +1,125 @@
+#include "platform/linux/include/ftdi.h"
+#include "platform/include/ftdi.h"
+#include <iostream>
+#include <stdio.h>
+#include <cstring>
+#include <memory>
+
+using namespace icsneo;
+
+// Instantiate static variables
+neodevice_handle_t FTDI::handleCounter = 1;
+Ftdi::Context FTDI::context;
+std::vector<FTDI::FTDIDevice> FTDI::searchResultDevices;
+
+/* Theory: Ftdi::List::find_all gives us back Ftdi::Context objects, but these can't be passed
+ * back and forth with C nicely. So we wrap the Ftdi::Context objects in FTDIDevice classes which
+ * will give it a nice neodevice_handle_t handle that we can reference it by. These FTDIDevice objects are
+ * stored in searchResultDevices, and then moved into the instantiated FTDI class by the constructor.
+ */
+std::vector<neodevice_t> FTDI::FindByProduct(int product) {
+	constexpr size_t deviceSerialBufferLength = sizeof(device.serial);
+	std::vector<neodevice_t> found;
+
+	auto devlist = std::unique_ptr<Ftdi::List>(Ftdi::List::find_all(context, INTREPID_USB_VENDOR_ID, product));
+	searchResultDevices.clear();
+	for(auto it = devlist->begin(); it != devlist->end(); it++)
+		searchResultDevices.push_back(*it); // The upconversion to FTDIDevice will assign a handle
+
+	for(auto& dev : searchResultDevices) {
+		neodevice_t d;
+		auto& serial = dev.serial();
+		strncpy(d.serial, serial.c_str(), deviceSerialBufferLength - 1);
+		d.serial[deviceSerialBufferLength - 1] = '\0'; // strncpy does not write a null terminator if serial is too long
+		d.handle = dev.handle;
+		found.push_back(d);
+	}
+
+	return found;
+}
+
+bool FTDI::IsHandleValid(neodevice_handle_t handle) {
+	for(auto& dev : searchResultDevices) {
+		if(dev.handle != handle)
+			continue;
+
+		return true;
+	}
+	return false;
+}
+
+bool FTDI::GetDeviceForHandle(neodevice_handle_t handle, FTDIDevice& device) {
+	for(auto& dev : searchResultDevices) {
+		if(dev.handle != handle)
+			continue;
+		
+		device = dev;
+		return true;
+	}
+	return false;
+}
+
+FTDI::FTDI(neodevice_t& forDevice) : device(forDevice) {
+	openable = GetDeviceForHandle(forDevice.handle, ftdiDevice);
+}
+
+bool FTDI::open() {
+	if(isOpen() || !openable)
+		return false;
+
+	if(ftdiDevice.open())
+		return false;
+
+	ftdiDevice.set_usb_read_timeout(100);
+	ftdiDevice.set_usb_write_timeout(1000);
+	ftdiDevice.reset();
+	ftdiDevice.set_baud_rate(500000);
+	ftdiDevice.flush();
+
+	// Create threads
+	closing = false;
+	readThread = std::thread(&FTDI::readTask, this);
+	writeThread = std::thread(&FTDI::writeTask, this);
+
+	return true;
+}
+
+bool FTDI::close() {
+	if(!isOpen())
+		return false;
+
+	closing = true;
+	
+	if(readThread.joinable())
+		readThread.join();
+	
+	if(writeThread.joinable())
+		writeThread.join();
+
+	ftdiDevice.set_dtr(false);
+
+	if(ftdiDevice.close())
+		return false;
+
+	return true;
+}
+
+void FTDI::readTask() {
+	constexpr size_t READ_BUFFER_SIZE = 8;
+	uint8_t readbuf[READ_BUFFER_SIZE];
+	while(!closing) {
+		auto readBytes = ftdiDevice.read(readbuf, READ_BUFFER_SIZE);
+		if(readBytes > 0)
+			readQueue.enqueue_bulk(readbuf, readBytes);
+	}
+}
+
+void FTDI::writeTask() {
+	WriteOperation writeOp;
+	while(!closing) {
+		if(!writeQueue.wait_dequeue_timed(writeOp, std::chrono::milliseconds(100)))
+			continue;
+
+		ftdiDevice.write(writeOp.bytes.data(), (int)writeOp.bytes.size());
+	}
+}

platform/linux/include/dynamiclib.h

@@ -0,0 +1,19 @@
+#ifndef __DYNAMICLIB_H_LINUX_
+#define __DYNAMICLIB_H_LINUX_
+
+#include <dlfcn.h>
+
+// Nothing special is needed to export
+#define DLLExport
+
+// #ifndef ICSNEO_NO_AUTO_DESTRUCT
+// #define ICSNEO_DESTRUCTOR __attribute__((destructor));
+// #else
+#define ICSNEO_DESTRUCTOR
+// #endif
+
+#define icsneoDynamicLibraryLoad() dlopen("/media/paulywog/Windows 10/Users/phollinsky/Code/icsneonext/build/libicsneoc.so", RTLD_LAZY)
+#define icsneoDynamicLibraryGetFunction(handle, func) dlsym(handle, func)
+#define icsneoDynamicLibraryClose(handle) (dlclose(handle) == 0)
+
+#endif

platform/linux/include/ftdi.h

@@ -0,0 +1,51 @@
+#ifndef __FTDI_H_LINUX_
+#define __FTDI_H_LINUX_
+
+#include <vector>
+#include <memory>
+#include <string>
+#include <atomic>
+#include <ftdi.hpp>
+#include "device/include/neodevice.h"
+#include "communication/include/icommunication.h"
+#include "third-party/concurrentqueue/blockingconcurrentqueue.h"
+
+namespace icsneo {
+
+class FTDI : public ICommunication {
+public:
+	static constexpr neodevice_handle_t INVALID_HANDLE = 0x7fffffff; // int32_t max value
+	static std::vector<neodevice_t> FindByProduct(int product);
+	static bool IsHandleValid(neodevice_handle_t handle);
+
+	FTDI(neodevice_t& forDevice);
+	~FTDI() { close(); }
+	bool open();
+	bool close();
+	bool isOpen() { return ftdiDevice.is_open(); }
+
+private:
+	static Ftdi::Context context;
+	static neodevice_handle_t handleCounter;
+	class FTDIDevice : public Ftdi::Context {
+	public:
+		FTDIDevice() {}
+		FTDIDevice(const Ftdi::Context &x) : Ftdi::Context(x) {
+			handle = handleCounter++;
+		}
+		neodevice_handle_t handle = INVALID_HANDLE;
+	};
+	static std::vector<FTDIDevice> searchResultDevices;
+	static bool GetDeviceForHandle(neodevice_handle_t handle, FTDIDevice& device);
+	
+	void readTask();
+	void writeTask();
+	bool openable; // Set to false in the constructor if the object has not been found in searchResultDevices
+
+	neodevice_t& device;
+	FTDIDevice ftdiDevice;
+};
+
+};
+
+#endif

platform/linux/include/stm32.h

@@ -0,0 +1,31 @@
+#ifndef __STM32_LINUX_H_
+#define __STM32_LINUX_H_
+
+#include "communication/include/icommunication.h"
+#include "device/include/neodevice.h"
+#include <chrono>
+#include <stdint.h>
+
+namespace icsneo {
+
+class STM32 : public ICommunication {
+public:
+	STM32(neodevice_t& forDevice) : device(forDevice) {}
+	static std::vector<neodevice_t> FindByProduct(int product);
+
+	bool open();
+	bool isOpen();
+	bool close();
+
+private:
+	neodevice_t& device;
+	int fd = -1;
+	static constexpr neodevice_handle_t HANDLE_OFFSET = 10;
+
+	void readTask();
+	void writeTask();
+};
+
+};
+
+#endif

platform/linux/stm32.cpp

@@ -0,0 +1,283 @@
+#include "platform/include/stm32.h"
+#include <dirent.h>
+#include <cstring>
+#include <iostream>
+#include <sstream>
+#include <fstream>
+#include <map>
+#include <algorithm>
+#include <termios.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <errno.h>
+
+using namespace icsneo;
+
+class Directory {
+public:
+	class Listing {
+	public:
+		Listing(std::string newName, uint8_t newType) : name(newName), type(newType) {}
+		const std::string& getName() const { return name; }
+		uint8_t getType() const { return type; }
+	private:
+		std::string name;
+		uint8_t type;
+	};
+	Directory(std::string directory) {
+		dir = opendir(directory.c_str());
+	}
+	~Directory() {
+		if(openedSuccessfully())
+			closedir(dir);
+		dir = nullptr;
+	}
+	bool openedSuccessfully() { return dir != nullptr; }
+	std::vector<Listing> ls() {
+		std::vector<Listing> results;
+		struct dirent* entry;
+		while((entry = readdir(dir)) != nullptr) {
+			std::string name = entry->d_name;
+			if(name != "." && name != "..") // Ignore parent and self
+				results.emplace_back(name, entry->d_type);
+		}
+		return results;
+	}
+private:
+	DIR* dir;
+};
+
+class USBSerialGetter {
+public:
+	USBSerialGetter(std::string usbid) {
+		std::stringstream ss;
+		auto colonpos = usbid.find(":");
+		if(colonpos == std::string::npos) {
+			succeeded = false;
+			return;
+		}
+
+		ss << "/sys/bus/usb/devices/" << usbid.substr(0, colonpos) << "/serial";
+		try {
+			std::ifstream reader(ss.str());
+			std::getline(reader, serial);
+		} catch(...) {
+			succeeded = false;
+			return;
+		}
+
+		succeeded = true;
+	}
+	bool success() const { return succeeded; }
+	const std::string& getSerial() const { return serial; }
+private:
+	bool succeeded;
+	std::string serial;
+};
+
+std::vector<neodevice_t> STM32::FindByProduct(int product) {
+	std::vector<neodevice_t> found;
+
+	Directory directory("/sys/bus/usb/drivers/cdc_acm"); // Query the STM32 driver
+	if(!directory.openedSuccessfully())
+		return found;
+
+	std::vector<std::string> foundusbs;
+	for(auto& entry : directory.ls()) {
+		/* This directory will have directories (links) for all devices using the cdc_acm driver (as STM32 devices do)
+		 * There will also be other files and directories providing information about the driver in here. We want to ignore them.
+		 * Devices will be named like "7-2:1.0" where 7 is the enumeration for the USB controller, 2 is the device enumeration on
+		 * that specific controller (will change if the device is unplugged and replugged), 1 is the device itself and 0 is 
+		 * enumeration for different services provided by the device. We're looking for the service that provides TTY.
+		 * For now we find the directories with a digit for the first character, these are likely to be our USB devices.
+		 */
+		if(isdigit(entry.getName()[0]) && entry.getType() == DT_LNK)
+			foundusbs.emplace_back(entry.getName());
+	}
+
+	// Pair the USB and TTY if found
+	std::map<std::string, std::string> foundttys;
+	for(auto& usb : foundusbs) {
+		std::stringstream ss;
+		ss << "/sys/bus/usb/drivers/cdc_acm/" << usb << "/tty";
+		Directory devicedir(ss.str());
+		if(!devicedir.openedSuccessfully()) // The tty directory doesn't exist, because this is not the tty service we want
+			continue;
+
+		auto listing = devicedir.ls();
+		if(listing.size() != 1) // We either got no serial ports or multiple, either way no good
+			continue;
+
+		foundttys.insert(std::make_pair(usb, listing[0].getName()));
+	}
+
+	// We're going to remove from the map if this is not the product we're looking for
+	for(auto iter = foundttys.begin(); iter != foundttys.end(); ) {
+		const auto& dev = *iter;
+		const std::string matchString = "PRODUCT=";
+		std::stringstream ss;
+		ss << "/sys/class/tty/" << dev.second << "/device/uevent"; // Read the uevent file, which contains should have a line like "PRODUCT=93c/1101/100"
+		std::ifstream fs(ss.str());
+		std::string productLine;
+		size_t pos = std::string::npos;
+		do {
+			std::getline(fs, productLine, '\n');
+		} while(((pos = productLine.find(matchString)) == std::string::npos) && !fs.eof());
+
+		if(pos != 0) { // We did not find a product line... weird
+			iter = foundttys.erase(iter); // Remove the element, this also moves iter forward for us
+			continue;
+		}
+
+		size_t firstSlashPos = productLine.find('/', matchString.length());
+		if(firstSlashPos == std::string::npos) {
+			iter = foundttys.erase(iter);
+			continue;
+		}
+		size_t pidpos = firstSlashPos + 1;
+
+		std::string vidstr = productLine.substr(matchString.length(), firstSlashPos - matchString.length());
+		std::string pidstr = productLine.substr(pidpos, productLine.find('/', pidpos) - pidpos); // In hex like "1101" or "93c"
+
+		uint16_t vid, pid;
+		try {
+			vid = (uint16_t)std::stoul(vidstr, nullptr, 16);
+			pid = (uint16_t)std::stoul(pidstr, nullptr, 16);
+		} catch(...) {
+			iter = foundttys.erase(iter); // We could not parse the numbers
+			continue;
+		}
+
+		if(vid != INTREPID_USB_VENDOR_ID || pid != product) {
+			iter = foundttys.erase(iter); // Not the right VID or PID, remove
+			continue;
+		}
+		iter++; // If the loop ends without erasing the iter from the map, the item is good
+	}
+
+	// At this point, foundttys contains the the devices we want
+	
+	// Get the serial number, create the neodevice_t
+	for(auto& dev : foundttys) {
+		neodevice_t device;
+
+		USBSerialGetter getter(dev.first);
+		if(!getter.success())
+			continue; // Failure, could not get serial number
+
+		// In ttyACM0, we want the i to be the first character of the number
+		size_t i;
+		for(i = 0; i < dev.second.length(); i++) {
+			if(isdigit(dev.second[i]))
+				break;
+		}
+		// Now we try to parse the number so we have a handle for later
+		try {
+			device.handle = (neodevice_handle_t)std::stoul(dev.second.substr(i));
+			/* The TTY numbering starts at zero, but we want to keep zero for an undefined
+			 * handle, so add a constant, and we'll subtract that constant in the open function.
+			 */
+			device.handle += HANDLE_OFFSET;
+		} catch(...) {
+			continue; // Somehow this failed, have to toss the device
+		}
+		
+		device.serial[getter.getSerial().copy(device.serial, sizeof(device.serial)-1)] = '\0';
+
+		found.push_back(device); // Finally, add device to search results
+	}
+
+	return found;
+}
+
+bool STM32::open() {
+	std::stringstream ss;
+	ss << "/dev/ttyACM" << (int)(device.handle - HANDLE_OFFSET);
+	fd = ::open(ss.str().c_str(), O_RDWR | O_NOCTTY | O_SYNC);
+	if(!isOpen()) {
+		std::cout << "Open of " << ss.str().c_str() << " failed with " << strerror(errno) << ' ';
+		return false;
+	}
+
+	struct termios tty;
+
+	if(tcgetattr(fd, &tty) < 0) {
+		close();
+		return false;
+	}
+
+	cfsetspeed(&tty, B500000); // Set speed to 500kbaud
+
+	tty.c_cflag |= (CLOCAL | CREAD); // Ignore modem controls
+	tty.c_cflag &= ~CSIZE;
+	tty.c_cflag |= CS8; // 8-bit characters
+	tty.c_cflag &= ~PARENB; // No parity bit
+	tty.c_cflag &= ~CSTOPB; // One stop bit
+	tty.c_cflag &= ~CRTSCTS; // No hardware flow control
+
+	// Non-canonical mode
+	tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
+	tty.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+	tty.c_oflag &= ~OPOST;
+
+	// Fetch bytes as they become available
+	// See http://man7.org/linux/man-pages/man3/termios.3.html
+	tty.c_cc[VMIN] = 0;
+	tty.c_cc[VTIME] = 1; // 100ms timeout (1 decisecond, what?)
+
+	if(tcsetattr(fd, TCSAFLUSH, &tty) != 0) { // Flushes input and output buffers as well as setting settings
+		close();
+		return false;
+	}
+
+	// Create threads
+	readThread = std::thread(&STM32::readTask, this);
+	writeThread = std::thread(&STM32::writeTask, this);
+	
+	return true;
+}
+
+bool STM32::isOpen() {
+	return fd >= 0; // Negative fd indicates error or not opened yet
+}
+
+bool STM32::close() {
+	if(!isOpen())
+		return false;
+
+	closing = true;
+
+	if(readThread.joinable())
+		readThread.join();
+	
+	if(writeThread.joinable())
+		writeThread.join();
+
+	int ret = ::close(fd);
+	fd = -1;
+	
+	return ret == 0;
+}
+
+void STM32::readTask() {
+	constexpr size_t READ_BUFFER_SIZE = 8;
+	uint8_t readbuf[READ_BUFFER_SIZE];
+	while(!closing) {
+		auto bytesRead = ::read(fd, readbuf, READ_BUFFER_SIZE);
+		if(bytesRead > 0)
+			readQueue.enqueue_bulk(readbuf, bytesRead);
+	}
+}
+
+void STM32::writeTask() {
+	WriteOperation writeOp;
+	while(!closing) {
+		if(!writeQueue.wait_dequeue_timed(writeOp, std::chrono::milliseconds(100)))
+			continue;
+
+		const auto writeSize = writeOp.bytes.size();
+		int actualWritten = ::write(fd, writeOp.bytes.data(), writeSize);
+		if(actualWritten != writeSize)
+			std::cout << "Failure to write " << writeSize << " bytes, wrote " << actualWritten << std::endl;
+	}
+}