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/* * Copyright (C) 2018 Kubos Corporation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ use byteorder::{LittleEndian, WriteBytesExt}; use crc32::*; use messages::*; use nom; use rust_uart::UartError; use rust_uart::*; use serial; use std::sync::mpsc::{Receiver, RecvTimeoutError, SyncSender, TrySendError}; use std::sync::{Arc, Mutex}; use std::time::Duration; const CHAR_SIZE: serial::CharSize = serial::Bits8; const PARITY: serial::Parity = serial::ParityNone; const STOP_BITS: serial::StopBits = serial::Stop1; const FLOW_CONTROL: serial::FlowControl = serial::FlowNone; const TIMEOUT: Duration = Duration::from_millis(60); /// Continually read messages from the OEM6 device /// /// Messages will either be a response to a previously sent command, /// or a log message. The function will detect the type and then forward /// the message to the appropriate channel receiver. /// /// # Arguments /// /// * rx_conn - UART connection stream to use for communication /// * log_send - SyncSender for forwarding received log messages /// * response_send - SyncSender for forwarding recieved response messages /// /// # Examples /// /// ``` /// use novatel_oem6_api::*; /// use std::thread; /// use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// let bus = "/dev/ttyS5"; /// /// let (log_send, log_recv) = sync_channel(5); /// let (response_send, response_recv) = sync_channel(5); /// /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// /// let rx_conn = oem.conn.clone(); /// /// thread::spawn(move || read_thread(rx_conn, log_send, response_send)); /// # Ok(()) /// # } /// ``` /// pub fn read_thread( rx_conn: Arc<Mutex<Connection>>, log_send: SyncSender<(Header, Vec<u8>)>, response_send: SyncSender<(Header, Vec<u8>)>, ) { let mut log_err = false; let mut response_err = false; loop { { // Give any writes the chance to grab the lock first ::std::thread::sleep(Duration::from_millis(1)); // Take the stream connection mutex // If the lock() call fails, it means that a different thread poisoned // the mutex. We want to maintain our ability to read messages from the // device for as long as possible, so we'll go ahead and just ignore the // poisoned status. Ideally, the master thread will have detected whatever // error caused the problem and will take error handling measures. let conn = rx_conn.lock().unwrap_or_else(|err| err.into_inner()); // Read SYNC bytes let mut message = match conn.read(3, Duration::from_millis(250)) { Ok(v) => v, Err(err) => match err { #[cfg(test)] UartError::GenericError => continue, UartError::IoError { cause: ::std::io::ErrorKind::TimedOut, description: _, } => continue, _ => panic!(err), }, }; if message != SYNC { continue; } // Read the rest of the header let mut hdr = match conn.read(25, TIMEOUT) { Ok(v) => v, Err(err) => match err { UartError::IoError { cause: ::std::io::ErrorKind::TimedOut, description: _, } => continue, _ => panic!(err), }, }; message.append(&mut hdr); let hdr = match Header::parse(&message) { Some(v) => v, None => { continue; } }; // Read body + CRC bytes let mut body = match conn.read((hdr.msg_len + 4) as usize, TIMEOUT) { Ok(v) => v, Err(err) => match err { UartError::IoError { cause: ::std::io::ErrorKind::TimedOut, description: _, } => continue, _ => panic!(err), }, }; message.append(&mut body); let len = message.len(); // Read CRC let crc = nom::le_u32(message.split_off(len - 4).as_slice()) .unwrap() .1; // Verify CRC let calc = calc_crc(&message); if calc != crc { continue; } let body = message.split_off(HDR_LEN.into()); match hdr.msg_type & 0x80 == 0x80 { true => response_send .try_send((hdr, body)) .or_else::<TrySendError<(Header, Vec<u8>)>, _>(|err| match err { // Our buffer is full, but the receiver should still be alive, so let's keep going TrySendError::Full(_) => Ok(()), // The receiver is gone. If both receivers are gone, then there's no point in this // loop still trying TrySendError::Disconnected(_) => { if log_err { panic!("Both message receivers have disconnected") } response_err = true; Ok(()) } }) .unwrap(), false => log_send .try_send((hdr, body)) .or_else::<TrySendError<(Header, Vec<u8>)>, _>(|err| match err { TrySendError::Full(_) => Ok(()), TrySendError::Disconnected(_) => { if response_err { panic!("Both message receivers have disconnected") } log_err = true; Ok(()) } }) .unwrap(), }; } } } /// Structure for OEM6 device instance #[derive(Clone)] pub struct OEM6 { /// Device connection structure pub conn: Arc<Mutex<Connection>>, /// Channel for receiving log messages pub log_recv: Arc<Mutex<Receiver<(Header, Vec<u8>)>>>, /// Channel for receiveing response messages pub response_recv: Arc<Mutex<Receiver<(Header, Vec<u8>)>>>, } impl OEM6 { /// Constructor for OEM6 structure /// /// # Arguments /// /// * bus - Serial bus to use for communication /// * baud_rate - Communication data rate /// * log_recv - Receiver for log messages sent by read thread /// * response_recv - Receiver for response messages sent by read thread /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// use novatel_oem6_api::*; /// use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// let bus = "/dev/ttyS5"; /// /// let (log_send, log_recv) = sync_channel(5); /// let (response_send, response_recv) = sync_channel(5); /// /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// # Ok(()) /// # } /// ``` /// /// [`OEMError`]: enum.OEMError.html pub fn new( bus: &str, baud_rate: serial::BaudRate, log_recv: Receiver<(Header, Vec<u8>)>, response_recv: Receiver<(Header, Vec<u8>)>, ) -> OEMResult<OEM6> { let settings = serial::PortSettings { baud_rate, char_size: CHAR_SIZE, parity: PARITY, stop_bits: STOP_BITS, flow_control: FLOW_CONTROL, }; let conn = Arc::new(Mutex::new(Connection::from_path(bus, settings, TIMEOUT)?)); Ok(OEM6 { conn, log_recv: Arc::new(Mutex::new(log_recv)), response_recv: Arc::new(Mutex::new(response_recv)), }) } /// Request the system version information /// /// Note: A subsequent [`get_log()`] call is required to fetch the information /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// let rx_conn = oem.conn.clone(); /// thread::spawn(move || read_thread(rx_conn, log_send, response_send)); /// /// oem.request_version()?; /// /// // Read the next log message, which should have the reply /// let entry = oem.get_log()?; /// /// match entry { /// Log::Version(log) => { /// println!("Version Info ({}):\n", log.num_components); /// for component in log.components.iter() { /// println!( /// "Type: {} Model: {} SN: {}", /// component.comp_type, component.model, component.serial_num /// ); /// println!(" HW Version: {}", component.hw_version); /// println!(" SW Version: {}", component.sw_version); /// println!(" Boot Version: {}", component.boot_version); /// println!( /// " Compiled: {} {}", /// component.compile_date, component.compile_time /// ); /// println!(""); /// } /// } /// _ => {}, /// } /// # Ok(()) /// # } /// ``` /// /// [`get_log()`]: method.get_log.html /// [`OEMError`]: enum.OEMError.html pub fn request_version(&self) -> OEMResult<()> { let request = LogCmd::new( Port::COM1 as u32, MessageID::Version as u16, LogTrigger::Once, 0.0, 0.0, false, ); self.send_message(request) .and_then(|_| self.get_response(MessageID::Log)) } /// Request BestXYZ position log/s from the device /// /// Note: Subsequent [`get_log()`] calls are required to fetch the information /// /// # Arguments /// /// * interval - Frequency, in seconds, at which the OEM6 should emit position log messages /// * offset - Offset, in seconds, of the message emit frequency /// * hold - Whether the [`unlog_all`] command should be able to apply to this log. A value /// of `true` will prevent [`unlog_all`] from applying to this log. /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// let rx_conn = oem.conn.clone(); /// thread::spawn(move || read_thread(rx_conn, log_send, response_send)); /// /// oem.request_position(1.0, 0.0, false)?; /// /// // Continually read the position log messages /// loop { /// // Read the next log message, which should have the reply /// let entry = oem.get_log()?; /// /// match entry { /// Log::BestXYZ(log) => { /// println!("Best XYZ Data:"); /// println!(" Position: {:?}", log.position); /// println!(" Velocity: {:?}", log.velocity); /// } /// _ => {}, /// } /// } /// # Ok(()) /// # } /// ``` /// /// [`get_log()`]: method.get_log.html /// [`unlog_all`]: method.unlog_all.html /// [`OEMError`]: enum.OEMError.html pub fn request_position(&self, interval: f64, offset: f64, hold: bool) -> OEMResult<()> { let trigger = if interval == 0.0 { LogTrigger::Once } else { LogTrigger::OnTime }; let request = LogCmd::new( Port::COM1 as u32, MessageID::BestXYZ as u16, trigger, interval, offset, hold, ); self.send_message(request) .and_then(|_| self.get_response(MessageID::Log)) } /// Request that the device send error messages as they occur /// /// # Arguments /// /// * hold - Whether the [`unlog_all`] command should be able to apply to this log. A value /// of `true` will prevent [`unlog_all`] from applying to this log. /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// /// oem.request_errors(false)?; /// # Ok(()) /// # } /// ``` /// /// [`unlog_all`]: method.unlog_all.html /// [`OEMError`]: enum.OEMError.html pub fn request_errors(&self, hold: bool) -> OEMResult<()> { let request = LogCmd::new( Port::COM1 as u32, MessageID::RxStatusEvent as u16, LogTrigger::OnChanged, 0.0, 0.0, hold, ); self.send_message(request) .and_then(|_| self.get_response(MessageID::Log)) } /// Request that automatic logging for a particular log type be stopped /// /// # Arguments /// /// * id - Message ID which should no longer be logged /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// /// oem.request_unlog(MessageID::BestXYZ)?; /// # Ok(()) /// # } /// ``` /// /// [`OEMError`]: enum.OEMError.html pub fn request_unlog(&self, id: MessageID) -> OEMResult<()> { let request = UnlogCmd::new(Port::COM1 as u32, id as u16); self.send_message(request) .and_then(|_| self.get_response(MessageID::Unlog)) } /// Request that all automatic logging be stopped /// /// # Arguments /// /// * clear_holds - Specifies whether log messages which were set with the `hold` option /// should also be unlogged /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// /// // Request position information every second and prevent unlogging with unlog_all() /// oem.request_position(1.0, 0.0, true)?; /// /// // Unlog everything. Previous request for position information will remain intact /// oem.request_unlog_all(false)?; /// # Ok(()) /// # } /// ``` /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// /// // Request position information every second and prevent unlogging with unlog_all() /// oem.request_position(1.0, 0.0, true)?; /// /// // Unlog everything. This will override the position request's `hold=true` value and /// // also unlog that request /// oem.request_unlog_all(true)?; /// # Ok(()) /// # } /// ``` /// /// [`OEMError`]: enum.OEMError.html pub fn request_unlog_all(&self, clear_holds: bool) -> OEMResult<()> { let request = UnlogAllCmd::new(Port::COM1 as u32, clear_holds); self.send_message(request) .and_then(|_| self.get_response(MessageID::UnlogAll)) } /// Directly send a message without formatting or checksum calculation /// /// Note: The message will not be verified by checking for a command response /// /// # Arguments /// /// * msg - Message to send /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// /// let packet: [u8; 6] = [0, 1, 2, 3, 4, 5]; /// oem.passthrough(&packet)?; /// # Ok(()) /// # } /// ``` /// /// /// [`OEMError`]: enum.OEMError.html pub fn passthrough(&self, msg: &[u8]) -> OEMResult<()> { // If the mutex has been poisoned by the read thread, // go ahead and attempt the write anyways, to try to // preserve functionality, but inform the caller afterwards match self.conn.lock() { Ok(conn) => conn.write(msg).map_err(|err| err.into()), Err(conn) => conn.into_inner() .write(msg) .map_err(|err| err.into()) .and(Err(OEMError::ThreadCommError)), } } fn send_message<T: Message>(&self, msg: T) -> OEMResult<()> { let mut raw = msg.serialize(); // Get the calculated CRC let crc = calc_crc(&raw); raw.write_u32::<LittleEndian>(crc).unwrap(); // If the mutex has been poisoned by the read thread, // go ahead and attempt the write anyways, to try to // preserve functionality, but inform the caller afterwards match self.conn.lock() { Ok(conn) => conn.write(raw.as_slice()).map_err(|err| err.into()), Err(conn) => conn.into_inner() .write(raw.as_slice()) .map_err(|err| err.into()) .and(Err(OEMError::ThreadCommError)), } } fn get_response(&self, id: MessageID) -> OEMResult<()> { let (hdr, body) = self.response_recv .lock() .map_err(|_| OEMError::MutexError)? .recv_timeout(Duration::from_millis(500)) .map_err(|_| OEMError::NoResponse)?; // Make sure we got specifically a response message if hdr.msg_type & 0x80 != 0x80 { return Err(OEMError::NoResponse); } let resp = match Response::new(body) { Some(v) => v, None => { return Err(OEMError::NoResponse); } }; if hdr.msg_id != id { return Err(OEMError::ResponseMismatch); } if resp.resp_id != ResponseID::Ok { return Err(OEMError::CommandError { id: resp.resp_id, description: resp.resp_string.clone(), }); } Ok(()) } /// Fetch a log message from the OEM6 read thread /// /// # Errors /// /// If this function encounters any errors, an [`OEMError`] variant will be returned. /// /// # Examples /// /// ``` /// # use novatel_oem6_api::*; /// # use std::thread; /// # use std::sync::mpsc::sync_channel; /// /// # fn func() -> OEMResult<()> { /// # let bus = "/dev/ttyS5"; /// # let (log_send, log_recv) = sync_channel(5); /// # let (response_send, response_recv) = sync_channel(5); /// let oem = OEM6::new(bus, BaudRate::Baud9600, log_recv, response_recv).unwrap(); /// let rx_conn = oem.conn.clone(); /// thread::spawn(move || read_thread(rx_conn, log_send, response_send)); /// /// let entry = oem.get_log()?; /// /// match entry { /// Log::Version(log) => println!("Received version information: {:?}", log), /// Log::BestXYZ(log) => println!("Received position information: {:?}", log), /// Log::RxStatusEvent(log) => println!("Received system event: {:?}", log), /// _ => println!("Received unknown log type"), /// } /// # Ok(()) /// # } /// ``` /// /// [`OEMError`]: enum.OEMError.html pub fn get_log(&self) -> OEMResult<Log> { loop { let (hdr, body) = match self.log_recv .lock() .map_err(|_| OEMError::MutexError)? .recv_timeout(Duration::from_secs(5)) { Ok(v) => v, Err(RecvTimeoutError::Timeout) => continue, Err(RecvTimeoutError::Disconnected) => return Err(OEMError::ThreadCommError), }; // Make sure it's not a response message if hdr.msg_type & 0x80 == 0x80 { continue; } match Log::new( hdr.msg_id, hdr.recv_status, hdr.time_status, hdr.week, hdr.ms, body, ) { Some(v) => return Ok(v), None => { continue; } }; } } } /// Common Error for OEM Actions #[derive(Fail, Debug, Clone, PartialEq)] pub enum OEMError { /// Catch-all error #[fail(display = "Generic Error")] GenericError, /// An issue occurred while attempted to obtain a mutex lock #[fail(display = "Mutex Error")] MutexError, /// A response message was received, but the ID doesn't match the command that was sent #[fail(display = "Response ID Mismatch")] ResponseMismatch, /// A command was sent, but we were unable to get the response #[fail(display = "Failed to get command response")] NoResponse, /// The thread reading messages from the device is no longer working #[fail(display = "Failed to communicate with read thread")] ThreadCommError, /// A response was recieved and indicates an error with the previously sent command #[fail(display = "Command Error({:?}): {}", id, description)] CommandError { /// The underlying error id: ResponseID, /// Description of error encountered description: String, }, /// Received a valid message, but the message ID doesn't match any known message type #[fail(display = "Unknown Message Received: {:X}", id)] UnknownMessage { /// ID of message received id: u16, }, /// An error was thrown by the serial communication driver #[fail(display = "UART Error")] UartError { /// The underlying error #[fail(cause)] cause: UartError, }, } impl From<UartError> for OEMError { fn from(error: UartError) -> Self { OEMError::UartError { cause: error } } } /// Custom error type for OEM6 operations. pub type OEMResult<T> = Result<T, OEMError>;