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libicsneo/device/device.cpp

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#include "icsneo/device/device.h"
#include "icsneo/communication/message/callback/messagecallback.h"
#include "icsneo/api/eventmanager.h"
#include "icsneo/communication/command.h"
#include <string.h>
#include <iostream>
#include <sstream>
#include <chrono>
using namespace icsneo;
static const uint8_t fromBase36Table[256] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 0, 0, 0, 0, 0, 0, 0, 10, 11, 12,
13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 0, 0, 0, 0, 0, 0, 10, 11, 12, 13, 14, 15,
16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35 };
static const char toBase36Table[36] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E',
'F', 'G', 'H', 'I', 'J', 'K', 'L', 'M', 'N', 'O', 'P', 'Q', 'R', 'S', 'T', 'U', 'V', 'W', 'X', 'Y', 'Z' };
static const uint32_t toBase36Powers[7] = { 1, 36, 1296, 46656, 1679616, 60466176, 2176782336 };
#define MIN_BASE36_SERIAL (16796160)
#define MAX_SERIAL (2176782335)
std::string Device::SerialNumToString(uint32_t serial) {
if(serial == 0 || serial > MAX_SERIAL)
return "0";
std::stringstream ss;
if(serial >= MIN_BASE36_SERIAL) {
for (auto i = 5; i >= 0; i--) {
ss << toBase36Table[serial / toBase36Powers[i]];
serial = serial % toBase36Powers[i];
}
} else {
ss << serial;
}
return ss.str();
}
uint32_t Device::SerialStringToNum(const std::string& serial) {
if(Device::SerialStringIsNumeric(serial)) {
try {
return std::stoi(serial);
} catch(...) {
return 0;
}
}
if(serial.length() != 6)
return 0; // Non-numeric serial numbers should be 6 characters
uint32_t ret = 0;
for (auto i = 0; i < 6; i++) {
ret *= 36;
ret += fromBase36Table[(unsigned char)serial[i]];
}
return ret;
}
bool Device::SerialStringIsNumeric(const std::string& serial) {
if(serial.length() == 0)
return false;
if(serial.length() == 1)
return isdigit(serial[0]);
// Check the first two characters, at least one should be a character if we need to do a base36 conversion
return isdigit(serial[0]) && isdigit(serial[1]);
}
Device::~Device() {
if(isMessagePollingEnabled())
disableMessagePolling();
close();
}
uint16_t Device::getTimestampResolution() const {
return com->decoder->timestampResolution;
}
std::string Device::describe() const {
std::stringstream ss;
ss << getProductName() << ' ' << getSerial();
return ss.str();
}
bool Device::enableMessagePolling() {
if(isMessagePollingEnabled()) {// We are already polling
report(APIEvent::Type::DeviceCurrentlyPolling, APIEvent::Severity::Error);
return false;
}
messagePollingCallbackID = com->addMessageCallback(MessageCallback([this](std::shared_ptr<Message> message) {
pollingContainer.enqueue(message);
enforcePollingMessageLimit();
}));
return true;
}
bool Device::disableMessagePolling() {
if(!isMessagePollingEnabled()) {
report(APIEvent::Type::DeviceNotCurrentlyPolling, APIEvent::Severity::Error);
return false; // Not currently polling
}
auto ret = com->removeMessageCallback(messagePollingCallbackID);
getMessages(); // Flush any messages still in the container
messagePollingCallbackID = 0;
return ret;
}
// Returns a pair of {vector, bool}, where the vector contains shared_ptrs to the returned msgs and the bool is whether or not the call was successful.
std::pair<std::vector<std::shared_ptr<Message>>, bool> Device::getMessages() {
std::vector<std::shared_ptr<Message>> ret;
bool retBool = getMessages(ret);
return std::make_pair(ret, retBool);
}
bool Device::getMessages(std::vector<std::shared_ptr<Message>>& container, size_t limit, std::chrono::milliseconds timeout) {
// not open
if(!isOpen()) {
report(APIEvent::Type::DeviceCurrentlyClosed, APIEvent::Severity::Error);
return false;
}
// not online
if(!isOnline()) {
report(APIEvent::Type::DeviceCurrentlyOffline, APIEvent::Severity::Error);
return false;
}
// not currently polling, throw error
if(!isMessagePollingEnabled()) {
report(APIEvent::Type::DeviceNotCurrentlyPolling, APIEvent::Severity::Error);
return false;
}
// A limit of zero indicates no limit
if(limit == 0)
limit = (size_t)-1;
if(limit > (pollingContainer.size_approx() + 4))
limit = (pollingContainer.size_approx() + 4);
if(container.size() < limit)
container.resize(limit);
size_t actuallyRead;
if(timeout != std::chrono::milliseconds(0))
actuallyRead = pollingContainer.wait_dequeue_bulk_timed(container.data(), limit, timeout);
else
actuallyRead = pollingContainer.try_dequeue_bulk(container.data(), limit);
if(container.size() > actuallyRead)
container.resize(actuallyRead);
return true;
}
void Device::enforcePollingMessageLimit() {
while(pollingContainer.size_approx() > pollingMessageLimit) {
std::shared_ptr<Message> throwAway;
pollingContainer.try_dequeue(throwAway);
report(APIEvent::Type::PollingMessageOverflow, APIEvent::Severity::EventWarning);
}
}
bool Device::open() {
if(!com) {
report(APIEvent::Type::Unknown, APIEvent::Severity::Error);
return false;
}
if(!com->open()) {
return false;
}
if(!afterCommunicationOpen()) {
// Very unlikely, at the time of writing this only fails if rawWrite does.
// If you're looking for this error, you're probably looking for if(!serial) below.
report(APIEvent::Type::NoSerialNumber, APIEvent::Severity::Error); // Communication could not be established with the device. Perhaps it is not powered with 12 volts?
com->close();
return false;
}
auto serial = com->getSerialNumberSync();
int i = 0;
while(!serial) {
serial = com->getSerialNumberSync();
if(i++ > 5)
break;
}
if(!serial) {
report(APIEvent::Type::NoSerialNumber, APIEvent::Severity::Error); // Communication could not be established with the device. Perhaps it is not powered with 12 volts?
com->close();
return false;
}
std::string currentSerial = getNeoDevice().serial;
if(currentSerial != serial->deviceSerial) {
report(APIEvent::Type::IncorrectSerialNumber, APIEvent::Severity::Error);
com->close();
return false;
}
if(!settings->disabled) {
// Since we will not fail the open if a settings read fails,
// downgrade any errors to warnings. Otherwise the error will
// go unnoticed in the opening thread's getLastError buffer.
const bool downgrading = EventManager::GetInstance().isDowngradingErrorsOnCurrentThread();
if(!downgrading)
EventManager::GetInstance().downgradeErrorsOnCurrentThread();
settings->refresh();
if(!downgrading)
EventManager::GetInstance().cancelErrorDowngradingOnCurrentThread();
}
MessageFilter filter;
filter.includeInternalInAny = true;
internalHandlerCallbackID = com->addMessageCallback(MessageCallback(filter, [this](std::shared_ptr<Message> message) {
handleInternalMessage(message);
}));
heartbeatThread = std::thread([this]() {
EventManager::GetInstance().downgradeErrorsOnCurrentThread();
MessageFilter filter;
filter.includeInternalInAny = true;
std::atomic<bool> receivedMessage{false};
auto messageReceivedCallbackID = com->addMessageCallback(MessageCallback(filter, [&receivedMessage](std::shared_ptr<Message> message) {
receivedMessage = true;
}));
// Give the device time to get situated
auto i = 150;
while(!stopHeartbeatThread && i != 0) {
std::this_thread::sleep_for(std::chrono::milliseconds(50));
i--;
}
while(!stopHeartbeatThread) {
// Wait for 110ms for a possible heartbeat
std::this_thread::sleep_for(std::chrono::milliseconds(110));
if(!receivedMessage && !heartbeatSuppressed()) {
// No heartbeat received, request a status
com->sendCommand(Command::RequestStatusUpdate);
// The response should come back quickly if the com is quiet
std::this_thread::sleep_for(std::chrono::milliseconds(10));
// Check if we got a message, and if not, if settings are being applied
if(!receivedMessage && !heartbeatSuppressed()) {
if(!stopHeartbeatThread && !isDisconnected())
report(APIEvent::Type::DeviceDisconnected, APIEvent::Severity::Error);
break;
}
}
receivedMessage = false;
}
com->removeMessageCallback(messageReceivedCallbackID);
});
forEachExtension([](const std::shared_ptr<DeviceExtension>& ext) { ext->onDeviceOpen(); return true; });
return true;
}
bool Device::close() {
if(!com) {
report(APIEvent::Type::Unknown, APIEvent::Severity::Error);
return false;
}
stopHeartbeatThread = true;
if(isOnline())
goOffline();
if(internalHandlerCallbackID)
com->removeMessageCallback(internalHandlerCallbackID);
internalHandlerCallbackID = 0;
if(heartbeatThread.joinable())
heartbeatThread.join();
stopHeartbeatThread = false;
forEachExtension([](const std::shared_ptr<DeviceExtension>& ext) { ext->onDeviceClose(); return true; });
return com->close();
}
bool Device::goOnline() {
if(!com->sendCommand(Command::EnableNetworkCommunication, true))
return false;
auto startTime = std::chrono::system_clock::now();
ledState = LEDState::Online;
updateLEDState();
MessageFilter filter(Network::NetID::Reset_Status);
filter.includeInternalInAny = true;
// Wait until communication is enabled or 5 seconds, whichever comes first
while((std::chrono::system_clock::now() - startTime) < std::chrono::seconds(5)) {
if(latestResetStatus && latestResetStatus->comEnabled)
break;
bool failOut = false;
com->waitForMessageSync([this, &failOut]() {
if(!com->sendCommand(Command::RequestStatusUpdate)) {
failOut = true;
return false;
}
return true;
}, filter, std::chrono::milliseconds(100));
if(failOut)
return false;
}
online = true;
forEachExtension([](const std::shared_ptr<DeviceExtension>& ext) { ext->onGoOnline(); return true; });
return true;
}
bool Device::goOffline() {
forEachExtension([](const std::shared_ptr<DeviceExtension>& ext) { ext->onGoOffline(); return true; });
if(isDisconnected()) {
online = false;
return true;
}
if(!com->sendCommand(Command::EnableNetworkCommunication, false))
return false;
auto startTime = std::chrono::system_clock::now();
ledState = (latestResetStatus && latestResetStatus->cmRunning) ? LEDState::CoreMiniRunning : LEDState::Offline;
updateLEDState();
MessageFilter filter(Network::NetID::Reset_Status);
filter.includeInternalInAny = true;
// Wait until communication is disabled or 5 seconds, whichever comes first
while((std::chrono::system_clock::now() - startTime) < std::chrono::seconds(5)) {
if(latestResetStatus && !latestResetStatus->comEnabled)
break;
if(!com->sendCommand(Command::RequestStatusUpdate))
return false;
com->waitForMessageSync(filter, std::chrono::milliseconds(100));
}
online = false;
return true;
}
bool Device::transmit(std::shared_ptr<Message> message) {
// not open
if(!isOpen()) {
report(APIEvent::Type::DeviceCurrentlyClosed, APIEvent::Severity::Error);
return false;
}
// not online
if(!isOnline()) {
report(APIEvent::Type::DeviceCurrentlyOffline, APIEvent::Severity::Error);
return false;
}
if(!isSupportedTXNetwork(message->network)) {
report(APIEvent::Type::UnsupportedTXNetwork, APIEvent::Severity::Error);
return false;
}
bool extensionHookedTransmit = false;
bool transmitStatusFromExtension = false;
forEachExtension([&](const std::shared_ptr<DeviceExtension>& ext) {
if(!ext->transmitHook(message, transmitStatusFromExtension))
extensionHookedTransmit = true;
return !extensionHookedTransmit; // false breaks out of the loop early
});
if(extensionHookedTransmit)
return transmitStatusFromExtension;
std::vector<uint8_t> packet;
if(!com->encoder->encode(*com->packetizer, packet, message))
return false;
return com->sendPacket(packet);
}
bool Device::transmit(std::vector<std::shared_ptr<Message>> messages) {
for(auto& message : messages) {
if(!transmit(message))
return false;
}
return true;
}
void Device::setWriteBlocks(bool blocks) {
com->setWriteBlocks(blocks);
}
size_t Device::getNetworkCountByType(Network::Type type) const {
size_t count = 0;
for(const auto& net : getSupportedRXNetworks())
if(net.getType() == type)
count++;
return count;
}
// Indexed starting at one
Network Device::getNetworkByNumber(Network::Type type, size_t index) const {
size_t count = 0;
for(const auto& net : getSupportedRXNetworks()) {
if(net.getType() == type) {
count++;
if(count == index)
return net;
}
}
return Network::NetID::Invalid;
}
optional<bool> Device::getDigitalIO(IO type, size_t number /* = 1 */) {
if(number == 0) { // Start counting from 1
report(APIEvent::Type::ParameterOutOfRange, APIEvent::Severity::Error);
return false;
}
std::lock_guard<std::mutex> lk(ioMutex);
switch(type) {
case IO::EthernetActivation:
if(getEthernetActivationLineCount() < number)
break; // ParameterOutOfRange
assert(number == 1); // If you implement a device with more, you'll need to modify the accessor
if(!ethActivationStatus.has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return ethActivationStatus;
case IO::USBHostPower:
if(getUSBHostPowerCount() < number)
break; // ParameterOutOfRange
assert(number == 1); // If you implement a device with more, you'll need to modify the accessor
if(!usbHostPowerStatus.has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return usbHostPowerStatus;
case IO::BackupPowerEnabled:
if(!getBackupPowerSupported())
break; // ParameterOutOfRange
assert(number == 1); // If you implement a device with more, you'll need to modify the accessor
if(!backupPowerEnabled.has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return backupPowerEnabled;
case IO::BackupPowerGood:
if(!getBackupPowerSupported())
break; // ParameterOutOfRange
assert(number == 1); // If you implement a device with more, you'll need to modify the accessor
if(!backupPowerGood.has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return backupPowerGood;
case IO::Misc: {
bool found = false;
for(const auto& misc : getMiscIO()) {
if(misc.number == number) {
found = misc.supportsDigitalIn;
break;
}
}
if(!found)
break; // ParameterOutOfRange
if(number > miscDigital.size())
break; // ParameterOutOfRange
if(!miscDigital[number - 1].has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return miscDigital[number - 1];
}
case IO::EMisc: {
bool found = false;
for(const auto& misc : getEMiscIO()) {
if(misc.number == number) {
found = misc.supportsDigitalIn;
break;
}
}
if(!found)
break; // ParameterOutOfRange
if(number > miscDigital.size())
break; // ParameterOutOfRange
// If there is ever a device with overlapping misc IOs and emisc IOs,
// you will need to make a new member variable for the emisc IOs.
if(!miscDigital[number - 1].has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return miscDigital[number - 1];
}
};
report(APIEvent::Type::ParameterOutOfRange, APIEvent::Severity::Error);
return nullopt;
}
bool Device::setDigitalIO(IO type, size_t number, bool value) {
if(number == 0) { // Start counting from 1
report(APIEvent::Type::ParameterOutOfRange, APIEvent::Severity::Error);
return false;
}
std::lock_guard<std::mutex> lk(ioMutex);
switch(type) {
case IO::EthernetActivation:
if(getEthernetActivationLineCount() < number)
break; // ParameterOutOfRange
assert(number == 1); // If you implement a device with more, you'll need to modify the accessor
ethActivationStatus = value;
return com->sendCommand(Command::MiscControl, {
uint8_t(1), uint8_t(value ? 1 : 0), // enetActivateSet, enetActivateValue
uint8_t(0), uint8_t(0), // usbHostPowerSet, usbHostPowerValue
uint8_t(0), uint8_t(0) // backupPowerSet, backupPowerValue
});
case IO::USBHostPower:
if(getUSBHostPowerCount() < number)
break; // ParameterOutOfRange
assert(number == 1); // If you implement a device with more, you'll need to modify the accessor
usbHostPowerStatus = value;
return com->sendCommand(Command::MiscControl, {
uint8_t(0), uint8_t(0), // enetActivateSet, enetActivateValue
uint8_t(1), uint8_t(value ? 1 : 0), // usbHostPowerSet, usbHostPowerValue
uint8_t(0), uint8_t(0) // backupPowerSet, backupPowerValue
});
case IO::BackupPowerEnabled:
if(!getBackupPowerSupported())
break; // ParameterOutOfRange
assert(number == 1); // If you implement a device with more, you'll need to modify the accessor
backupPowerEnabled = value;
return com->sendCommand(Command::MiscControl, {
uint8_t(0), uint8_t(0), // enetActivateSet, enetActivateValue
uint8_t(0), uint8_t(value ? 1 : 0), // usbHostPowerSet, usbHostPowerValue (set to work around firmware bug)
uint8_t(1), uint8_t(value ? 1 : 0) // backupPowerSet, backupPowerValue
});
case IO::BackupPowerGood:
break; // Read-only, return ParameterOutOfRange
case IO::Misc:
case IO::EMisc:
break; // Read-only for the moment, return ParameterOutOfRange
};
report(APIEvent::Type::ParameterOutOfRange, APIEvent::Severity::Error);
return false;
}
optional<double> Device::getAnalogIO(IO type, size_t number /* = 1 */) {
if(number == 0) { // Start counting from 1
report(APIEvent::Type::ParameterOutOfRange, APIEvent::Severity::Error);
return false;
}
std::lock_guard<std::mutex> lk(ioMutex);
switch(type) {
case IO::EthernetActivation:
case IO::USBHostPower:
case IO::BackupPowerEnabled:
case IO::BackupPowerGood:
break;
case IO::Misc: {
bool found = false;
for(const auto& misc : getMiscIO()) {
if(misc.number == number) {
found = misc.supportsAnalogIn;
break;
}
}
if(!found)
break; // ParameterOutOfRange
if(number > miscAnalog.size())
break; // ParameterOutOfRange
if(!miscAnalog[number - 1].has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return miscAnalog[number - 1];
}
case IO::EMisc: {
bool found = false;
for(const auto& misc : getEMiscIO()) {
if(misc.number == number) {
found = misc.supportsAnalogIn;
break;
}
}
if(!found)
break; // ParameterOutOfRange
if(number > miscAnalog.size())
break; // ParameterOutOfRange
// If there is ever a device with overlapping misc IOs and emisc IOs,
// you will need to make a new member variable for the emisc IOs.
if(!miscAnalog[number - 1].has_value())
report(APIEvent::Type::ValueNotYetPresent, APIEvent::Severity::Error);
return miscAnalog[number - 1];
}
};
report(APIEvent::Type::ParameterOutOfRange, APIEvent::Severity::Error);
return nullopt;
}
Lifetime Device::suppressDisconnects() {
heartbeatSuppressedByUser++;
return Lifetime([this] { heartbeatSuppressedByUser--; });
}
void Device::addExtension(std::shared_ptr<DeviceExtension>&& extension) {
std::lock_guard<std::mutex> lk(extensionsLock);
extensions.push_back(extension);
}
void Device::forEachExtension(std::function<bool(const std::shared_ptr<DeviceExtension>&)> fn) {
std::vector<std::shared_ptr<DeviceExtension>> extensionsCopy;
{
std::lock_guard<std::mutex> lk(extensionsLock);
extensionsCopy = extensions;
}
for(const auto& ext : extensionsCopy) {
if(!fn(ext))
break;
}
}
void Device::handleInternalMessage(std::shared_ptr<Message> message) {
switch(message->network.getNetID()) {
case Network::NetID::Reset_Status:
latestResetStatus = std::dynamic_pointer_cast<ResetStatusMessage>(message);
break;
case Network::NetID::Device: {
auto canmsg = std::dynamic_pointer_cast<CANMessage>(message);
if(canmsg)
handleNeoVIMessage(std::move(canmsg));
break;
}
case Network::NetID::DeviceStatus:
// Device Status format is unique per device, so the devices need to decode it themselves
handleDeviceStatus(message);
break;
default:
break; //std::cout << "HandleInternalMessage got a message from " << message->network << " and it was unhandled!" << std::endl;
}
forEachExtension([&](const std::shared_ptr<DeviceExtension>& ext) {
ext->handleMessage(message);
return true; // false breaks out early
});
}
void Device::handleNeoVIMessage(std::shared_ptr<CANMessage> message) {
switch(message->arbid) {
case 0x103: { // Report Message (neoVI FIRE 2)
if(message->data.size() < 34) {
report(APIEvent::Type::PacketDecodingError, APIEvent::Severity::EventWarning);
return;
}
uint16_t emisc[2];
memcpy(emisc, message->data.data() + 24, sizeof(emisc));
std::lock_guard<std::mutex> lk(ioMutex);
miscAnalog[0] = (message->data[24] | (uint16_t(message->data[25]) << 8)) * 0.01015511; // In volts now
miscAnalog[1] = (message->data[26] | (uint16_t(message->data[27]) << 8)) * 0.01015511;
miscDigital[0] = message->data[28] & 0x01;
miscDigital[1] = message->data[29] & 0x01;
miscDigital[4] = message->data[30] & 0x01;
miscDigital[5] = message->data[31] & 0x01;
}
}
}
void Device::updateLEDState() {
std::vector<uint8_t> args {(uint8_t) ledState};
com->sendCommand(Command::UpdateLEDState, args);
}
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