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LaunchAppl/Serial: towards reliable data transmission

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This commit is contained in:
Wolfgang Thaller 2018-04-22 11:23:08 +02:00
parent bafd53f2ae
commit c9f125cb22
9 changed files with 570 additions and 14 deletions
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15
LaunchAPPL/Client/Serial.cc
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@ -2,6 +2,7 @@
#include "Launcher.h"
#include "Utilities.h"
#include "Stream.h"
#include "ReliableStream.h"
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
@ -29,6 +30,7 @@ public:
class SerialLauncher : public Launcher
{
SerialStream stream;
ReliableStream rStream;
public:
SerialLauncher(po::variables_map& options);
virtual ~SerialLauncher();
@ -36,7 +38,7 @@ public:
virtual bool Go(int timeout = 0);
private:
void write(const void *p, size_t n) { stream.write(p, n); }
void write(const void *p, size_t n) { rStream.write(p, n); }
ssize_t read(void * p, size_t n);
};
@ -56,7 +58,7 @@ SerialStream::SerialStream(po::variables_map &options)
tios.c_lflag = 0;
tios.c_oflag = 0;
tios.c_cc[VTIME] = 0; /* inter-character timer unused */
tios.c_cc[VMIN] = 1; /* blocking read until 5 chars received */
tios.c_cc[VMIN] = 1; /* blocking read until 1 chars received */
tcsetattr(fd,TCSANOW,&tios);
usleep(500000);
}
@ -98,14 +100,14 @@ void SerialStream::wait()
ssize_t n = ::read(fd, readBuffer, kReadBufferSize);
if(n > 0)
{
onReceive(readBuffer, n);
notifyReceive(readBuffer, n);
}
}
}
SerialLauncher::SerialLauncher(po::variables_map &options)
: Launcher(options), stream(options)
: Launcher(options), stream(options), rStream(stream)
{
}
@ -115,11 +117,12 @@ SerialLauncher::~SerialLauncher()
ssize_t SerialLauncher::read(void *p, size_t n)
{
ssize_t available = stream.read(p, n);
ssize_t available = rStream.read(p, n);
while(!available)
{
rStream.flushWrite();
stream.wait();
available = stream.read(p, n);
available = rStream.read(p, n);
}
return available;
}

6
LaunchAPPL/Common/CMakeLists.txt
View File

@ -1,5 +1,11 @@
add_library(LaunchAPPLCommon
Stream.h
Stream.cc
ReliableStream.h
ReliableStream.cc
CRC32.h
)
target_include_directories(LaunchAPPLCommon PUBLIC .)
add_executable(TestLaunchAPPLCommon Test.cc)
target_link_libraries(TestLaunchAPPLCommon LaunchAPPLCommon)

71
LaunchAPPL/Common/CRC32.h Normal file
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@ -0,0 +1,71 @@
#ifndef CRC32_H_
#define CRC32_H_
#include <stdint.h>
const uint32_t crc_table[256] = {
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419,
0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4,
0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07,
0x90bf1d91, 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de,
0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, 0x136c9856,
0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4,
0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3,
0x45df5c75, 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a,
0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599,
0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190,
0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f,
0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e,
0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed,
0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3,
0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2,
0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a,
0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5,
0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, 0xbe0b1010,
0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17,
0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6,
0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615,
0x73dc1683, 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8,
0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, 0xf00f9344,
0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a,
0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1,
0xa6bc5767, 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c,
0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef,
0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe,
0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31,
0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c,
0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b,
0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1,
0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c,
0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278,
0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7,
0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, 0x40df0b66,
0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605,
0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8,
0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b,
0x2d02ef8d
};
template<class Iterator>
inline uint32_t crc32(uint32_t crc, Iterator p, Iterator q)
{
crc = crc ^ 0xffffffffL;
while (p != q)
{
crc = crc_table[((int)crc ^ (*p++)) & 0xff] ^ (crc >> 8);
}
return crc ^ 0xffffffffL;
}
#endif

345
LaunchAPPL/Common/ReliableStream.cc Normal file
View File

@ -0,0 +1,345 @@
#include "ReliableStream.h"
#include <iterator>
#include "CRC32.h"
using std::begin;
using std::end;
const uint8_t magic1[4] = { 0xDE, 0xAD, 0xBE, 0xEF };
const uint8_t magic2[4] = { 0xFA, 0xCE, 0xCA, 0xFE };
const uint32_t magic1_32 = 0xDEADBEEF;
const uint32_t magic2_32 = 0xFACECAFE;
enum thing : uint8_t
{
kDataPacket = 0,
kEndOfPacket,
kEscapedMagic1,
kEscapedMagic2,
kAck,
kNack
};
inline uint32_t readLong(uint8_t* p)
{
uint32_t x;
x = *p++;
x = (x << 8) | *p++;
x = (x << 8) | *p++;
x = (x << 8) | *p++;
return x;
}
ReliableStream::ReliableStream(Stream& stream)
: stream(stream)
{
incomingPacket.reserve(packetSize + 4);
}
ReliableStream::~ReliableStream()
{
}
void ReliableStream::sendPacket()
{
}
void ReliableStream::ack()
{
uint8_t packet[] = {
magic1[0], magic1[1], magic1[2], magic1[3],
kAck, (uint8_t)~kAck, (uint8_t)receivedInputPacket, (uint8_t)~receivedInputPacket
};
stream.write(packet, 8);
printf("ack sent\n");
}
void ReliableStream::nack()
{
uint8_t packet[] = {
magic1[0], magic1[1], magic1[2], magic1[3],
kNack, (uint8_t)~kNack, (uint8_t)receivedInputPacket, (uint8_t)~receivedInputPacket
};
stream.write(packet, 8);
printf("nack sent\n");
}
void ReliableStream::gotNack(uint8_t id)
{
printf("got ack\n");
}
void ReliableStream::gotAck(uint8_t id)
{
printf("got nack\n");
}
void ReliableStream::processIncoming()
{
printf("Received packet %d - %d bytes\n", receivedInputPacket, (int)incomingPacket.size());
if(incomingPacket.size() < 4)
{
nack();
incomingPacket.clear();
return;
}
uint32_t expectedCRC = crc32(0, incomingPacket.begin(), incomingPacket.end() - 4);
uint32_t receivedCRC = readLong(&incomingPacket[incomingPacket.size()-4]);
if(receivedCRC != expectedCRC)
{
printf("CRC mismatch %x != %x\n", receivedCRC, expectedCRC);
nack();
incomingPacket.clear();
return;
}
receivedInputPacket++;
printf("Verified packet %d - %d bytes\n", receivedInputPacket, (int)incomingPacket.size());
ack();
notifyReceive(incomingPacket.data(), incomingPacket.size() - 4);
incomingPacket.clear();
}
void ReliableStream::write(const void* p0, size_t n)
{
const uint8_t* p = (const uint8_t*)p0;
++sentOutputPacket;
std::vector<uint8_t> packet = {
magic1[0], magic1[1], magic1[2], magic1[3],
kDataPacket, (uint8_t)~kDataPacket, (uint8_t)sentOutputPacket, (uint8_t)~sentOutputPacket
};
int match = 0, match2 = 0;
int i;
int consumed = 0;
for(i = 0; i < n; i++)
{
if(p[i] == magic1[match++])
{
if(match == 4)
{
packet.push_back(magic2[0]);
packet.push_back(magic2[1]);
packet.push_back(magic2[2]);
packet.push_back(magic2[3]);
packet.push_back(kEscapedMagic1);
match = 0;
consumed = i+1;
}
}
else
match = 0;
if(match == 0)
while(consumed <= i)
packet.push_back(p[consumed++]);
if(p[i] == magic2[match2++])
{
if(match2 == 4)
{
match2 = 0;
packet.push_back(kEscapedMagic2);
}
}
else
{
match2 = 0;
}
}
uint32_t crc = crc32(0, p, p + n);
printf("sending crc: %x\n", crc);
if(crc == magic1_32 || crc == magic2_32)
{
packet.push_back(magic2[0]);
packet.push_back(magic2[1]);
packet.push_back(magic2[2]);
packet.push_back(magic2[3]);
packet.push_back(crc == magic1_32 ? kEscapedMagic1 : kEscapedMagic2);
}
else
{
packet.push_back(crc >> 24);
packet.push_back(crc >> 16);
packet.push_back(crc >> 8);
packet.push_back(crc);
}
packet.push_back(magic2[0]);
packet.push_back(magic2[1]);
packet.push_back(magic2[2]);
packet.push_back(magic2[3]);
packet.push_back(kEndOfPacket);
stream.write(packet.data(), packet.size());
}
void ReliableStream::flushWrite()
{
}
size_t ReliableStream::onReceive(const uint8_t* p, size_t n)
{
printf("data available (%d) - state %d\n", (int)n, (int)state);
switch(state)
{
case State::waiting:
if( (n > 0 && p[0] != magic1[0])
|| (n > 1 && p[1] != magic1[1])
|| (n > 2 && p[2] != magic1[2])
|| (n > 3 && p[3] != magic1[3]) )
{
state = State::skipping;
nack();
gotNack(ackedOutputPacket);
return n > 4 ? 4 : n;
}
if(n < 6)
return 0;
if(p[5] != (uint8_t)~p[4])
{
state = State::skipping;
nack();
gotNack(ackedOutputPacket);
return 6;
}
switch(p[4])
{
case kAck:
if(n < 8)
return 0;
if(p[6] != (uint8_t)~p[7])
{
state = State::skipping;
nack();
gotNack(ackedOutputPacket);
return 8;
}
gotAck(p[6]);
return 8;
case kNack:
if(n < 8)
return 0;
if(p[6] != (uint8_t)~p[7])
{
state = State::skipping;
nack();
gotNack(ackedOutputPacket);
return 8;
}
gotNack(p[6]);
return 8;
case kDataPacket:
if(n < 8)
return 0;
if(p[6] != (uint8_t)~p[7])
{
state = State::skipping;
nack();
gotNack(ackedOutputPacket);
return 8;
}
if(p[6] != ((receivedInputPacket + 1) & 0xFF))
{
nack();
state = State::skipping;
return 8;
}
state = State::receiving;
return 8;
default:
state = State::skipping;
nack();
gotNack(ackedOutputPacket);
return 8;
}
break;
case State::skipping:
{
int match = 0;
int i;
for(i = 0; i < n; i++)
{
if(p[i] == magic1[match++])
{
if(match == 4)
{
state = State::waiting;
return i-3;
}
}
else
match = 0;
}
return i - match;
}
break;
case State::receiving:
{
int match = 0, match2 = 0;
int i;
int consumed = 0;
for(i = 0; i < n; i++)
{
if(p[i] == magic1[match++])
{
if(match == 4)
{
state = State::waiting;
nack();
return i-3;
}
}
else
match = 0;
if(match2 == 4)
{
match2 = 0;
consumed = i+1;
switch(p[i])
{
case kEscapedMagic1:
incomingPacket.insert(incomingPacket.end(), begin(magic1), end(magic1));
break;
case kEscapedMagic2:
incomingPacket.insert(incomingPacket.end(), begin(magic2), end(magic2));
break;
case kEndOfPacket:
processIncoming();
state = State::waiting;
return i + 1;
default:
state = State::waiting;
nack();
return i + 1;
}
}
else if(p[i] == magic2[match2++])
;
else
{
match2 = 0;
}
if(match == 0 && match2 == 0)
while(consumed <= i)
incomingPacket.push_back(p[consumed++]);
}
return i - std::max(match, match2);
}
break;
}
}

45
LaunchAPPL/Common/ReliableStream.h Normal file
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@ -0,0 +1,45 @@
#ifndef RELIABLESTREAM_H_
#define RELIABLESTREAM_H_
#include "Stream.h"
class ReliableStream : public Stream, public StreamListener
{
Stream& stream;
static const int packetSize = 256;
int receivedInputPacket = 0;
int sentOutputPacket = 0;
int ackedOutputPacket = 0;
void sendPacket();
void nack();
void ack();
void gotNack(uint8_t id);
void gotAck(uint8_t id);
void processIncoming();
enum class State
{
waiting,
skipping,
receiving
};
State state = State::waiting;
std::vector<uint8_t> incomingPacket;
public:
ReliableStream(Stream& stream);
virtual ~ReliableStream();
virtual void write(const void* p, size_t n) override;
virtual void flushWrite() override;
virtual size_t onReceive(const uint8_t* p, size_t n) override;
};
#endif

2
LaunchAPPL/Common/Stream.cc
View File

@ -9,7 +9,7 @@ Stream::~Stream()
{
}
void Stream::onReceive(const uint8_t* p, size_t n)
void Stream::notifyReceive(const uint8_t* p, size_t n)
{
if(buffer_.empty())
{

10
LaunchAPPL/Common/Stream.h
View File

@ -1,3 +1,6 @@
#ifndef STREAM_H_
#define STREAM_H_
#include <stdint.h>
#include <stddef.h>
#include <vector>
@ -10,7 +13,7 @@ public:
class Stream
{
StreamListener *listener_;
StreamListener *listener_ = nullptr;
std::vector<uint8_t> buffer_;
public:
Stream();
@ -19,8 +22,11 @@ public:
void setListener(StreamListener *l) { listener_ = l; }
virtual void write(const void* p, size_t n) = 0;
virtual void flushWrite() {}
long read(void *p, size_t n);
protected:
void onReceive(const uint8_t* p, size_t n);
void notifyReceive(const uint8_t* p, size_t n);
};
#endif

79
LaunchAPPL/Common/Test.cc Normal file
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@ -0,0 +1,79 @@
#include "ReliableStream.h"
#include <iostream>
#include <vector>
#include <string>
#include <stdint.h>
class Forwarder : public Stream
{
public:
Forwarder *other;
std::vector<std::vector<uint8_t>> packets;
virtual void write(const void* p, size_t n)
{
other->enqueueReceive(p,n);
}
void enqueueReceive(const void* p, size_t n)
{
packets.emplace_back((const uint8_t*)p, ((const uint8_t*)p)+n);
}
void idle()
{
std::vector<std::vector<uint8_t>> packets2;
packets2.swap(packets);
for(auto& p : packets2)
notifyReceive(p.data(), p.size());
}
};
class DumpToConsole : public StreamListener
{
public:
std::string prefix;
DumpToConsole(std::string prefix) : prefix(prefix) {}
size_t onReceive(const uint8_t* p, size_t n)
{
std::cout << prefix;
for(int i = 0; i < n; i++)
{
if(p[i] >= 128 || p[i] < 32)
std::cout << "\\x" << std::hex << (unsigned)p[i];
else
std::cout << p[i];
}
std::cout << std::endl;
return n;
}
};
int main()
{
Forwarder fwd1, fwd2;
fwd1.other = &fwd2;
fwd2.other = &fwd1;
ReliableStream rel1(fwd1), rel2(fwd2);
fwd1.setListener(&rel1);
fwd2.setListener(&rel2);
DumpToConsole dump1("one:");
DumpToConsole dump2("two:");
rel1.setListener(&dump1);
rel2.setListener(&dump2);
rel1.write("Hello, world.", 13);
rel1.flushWrite();
for(int i = 0; i < 100; i++)
{
fwd1.idle();
fwd2.idle();
}
return 0;
}

11
LaunchAPPL/Server/main.cc
View File

@ -6,6 +6,7 @@
#include <string.h>
#include <Stream.h>
#include <ReliableStream.h>
#include <Processes.h>
class MacSerialStream : public Stream
@ -73,10 +74,9 @@ void MacSerialStream::idle()
{
long count = 0;
SerGetBuf(inRefNum, &count);
if(count)
printf("sergetbuf -> %ld\n", count);
while(count > 0)
{
printf("something received.\n");
long count1 = count > kReadBufferSize ? kReadBufferSize : count;
ParamBlockRec pb;
memset(&pb, 0, sizeof(pb));
@ -88,8 +88,7 @@ void MacSerialStream::idle()
return;
count -= count1;
printf("onReceive: %ld\n", count1);
onReceive((uint8_t*)readBuffer, count1);
notifyReceive((uint8_t*)readBuffer, count1);
Delay(20,nullptr);
}
}
@ -196,8 +195,10 @@ int main()
{
MacSerialStream stream;
ReliableStream rStream(stream);
stream.setListener(&rStream);
Listener listener;
stream.setListener(&listener);
rStream.setListener(&listener);
while(!Button())
{