From 1cbc2ccf13eae07d71ae1e28569a3bbabfe99123 Mon Sep 17 00:00:00 2001
From: DAsamhan <23522019@std.stei.itb.ac.id>
Date: Sat, 22 Jun 2024 18:41:40 +0700
Subject: [PATCH] squash from main
---
.vscode/tasks.json | 34 +++---
debug-app/app/prj.conf | 6 +-
debug-app/app/src/main.cpp | 13 +-
debug-app/boards/overlay.conf | 12 ++
debug-app/drivers/CMakeLists.txt | 4 +-
.../debug-handler/src/debug-handler.cpp | 43 +++++++
debug-python/debug.py | 89 ++++++++++++++
debug-python/helper.py | 6 +
debug-python/socket-run.py | 111 ++++++++++++++++++
scripts/docker_run.sh | 7 +-
scripts/run_debug.sh | 6 +
11 files changed, 303 insertions(+), 28 deletions(-)
create mode 100644 debug-app/boards/overlay.conf
create mode 100644 debug-python/debug.py
create mode 100755 debug-python/helper.py
create mode 100755 debug-python/socket-run.py
create mode 100755 scripts/run_debug.sh
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 3d2eb92..0234c35 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -4,9 +4,9 @@
"version": "2.0.0",
"tasks": [
{
- "label": "Build app posix",
+ "label": "Build app native",
"type": "shell",
- "command": "./scripts/docker_run.sh west build -b native_sim debug-app/app --build-dir .build-debug-app-native",
+ "command": "./scripts/docker_run.sh west build -b native_sim debug-app/app --build-dir .build-debug-app-native -- -DCONF_FILE=\"prj.conf ../boards/overlay.conf\"",
"problemMatcher": [
"$gcc"
],
@@ -48,21 +48,21 @@
"clear": true
}
},
- // {
- // "label": "Run Posix",
- // "type": "shell",
- // "command": " ./scripts/docker_run.sh west build -t run --build-dir .build-debug-app-qemu",
- // "problemMatcher": [
- // "$gcc"
- // ],
- // "group": {
- // "kind": "build",
- // "isDefault": true
- // },
- // "presentation": {
- // "clear": true
- // }
- // },
+ {
+ "label": "Debug native",
+ "type": "shell",
+ "command": "./scripts/docker_run.sh ./scripts/run_debug.sh",
+ "problemMatcher": [
+ "$gcc"
+ ],
+ "group": {
+ "kind": "build",
+ "isDefault": true
+ },
+ "presentation": {
+ "clear": true
+ }
+ },
{
"label": "Clean",
"type": "shell",
diff --git a/debug-app/app/prj.conf b/debug-app/app/prj.conf
index 589d0ce..e55a350 100644
--- a/debug-app/app/prj.conf
+++ b/debug-app/app/prj.conf
@@ -9,10 +9,11 @@ CONFIG_NEWLIB_LIBC=y
# Zephyr
CONFIG_MAIN_STACK_SIZE=2048
-CONFIG_HEAP_MEM_POOL_SIZE=512
+CONFIG_HEAP_MEM_POOL_SIZE=65535
CONFIG_THREAD_NAME=y
CONFIG_ASSERT=y
-CONFIG_NO_OPTIMIZATIONS=n
+CONFIG_DEBUG=n
+CONFIG_BOOT_BANNER=n
# Peripheral
# CONFIG_ADC=y
@@ -61,6 +62,7 @@ CONFIG_NET_L2_ETHERNET=y
# CONFIG_PM_DEVICE=y
# CONFIG_PM_DEVICE_RUNTIME=y
+
# Log
CONFIG_LOG=y
CONFIG_LOG_PROCESS_THREAD=y
diff --git a/debug-app/app/src/main.cpp b/debug-app/app/src/main.cpp
index 0cfd64a..7cf10b0 100644
--- a/debug-app/app/src/main.cpp
+++ b/debug-app/app/src/main.cpp
@@ -2,13 +2,16 @@
#include <zephyr/logging/log.h>
#include <zephyr/zbus/zbus.h>
+#include "utilities.h"
#include "main-handler.h"
#include "debug-handler.h"
#include "driver-hook.h"
-#include "ble-scanner.h"
#include "device-parser.h"
+
+#if !defined(CONFIG_SOC_POSIX)
+#include "ble-scanner.h"
#include "wifi-controller.h"
-#include "utilities.h"
+#endif
LOG_MODULE_REGISTER(main);
@@ -51,11 +54,13 @@ ZBUS_CHAN_DEFINE(stateChannel, /* Name */
int main()
{
+#if !defined(CONFIG_SOC_POSIX)
WifiController wifiController;
+ BleScanner bleScanner;
+#endif
+ DebugHandler debugHanddler;
MainHandler mainHandler;
DriverHook driverHook;
- DebugHandler debugHanddler;
- BleScanner bleScanner;
DeviceParser deviceParser;
while(true) {
diff --git a/debug-app/boards/overlay.conf b/debug-app/boards/overlay.conf
new file mode 100644
index 0000000..bbf54be
--- /dev/null
+++ b/debug-app/boards/overlay.conf
@@ -0,0 +1,12 @@
+#ble
+CONFIG_BT=n
+CONFIG_BT_OBSERVER=n
+
+#networking
+CONFIG_WIFI=n
+CONFIG_NETWORKING=n
+
+#zephyr
+CONFIG_NO_OPTIMIZATIONS=y
+CONFIG_DEBUG=y
+CONFIG_BOOT_BANNER=y
diff --git a/debug-app/drivers/CMakeLists.txt b/debug-app/drivers/CMakeLists.txt
index 6f943b6..176ae59 100644
--- a/debug-app/drivers/CMakeLists.txt
+++ b/debug-app/drivers/CMakeLists.txt
@@ -1,5 +1,5 @@
-add_subdirectory(ble-scanner)
-add_subdirectory(wifi-controller)
+add_subdirectory_ifndef(CONFIG_SOC_POSIX ble-scanner)
+add_subdirectory_ifndef(CONFIG_SOC_POSIX wifi-controller)
add_subdirectory(ir-driver)
add_subdirectory(servo-driver)
add_subdirectory(led-driver)
\ No newline at end of file
diff --git a/debug-app/module/handler/debug-handler/src/debug-handler.cpp b/debug-app/module/handler/debug-handler/src/debug-handler.cpp
index 39bab71..cecf966 100644
--- a/debug-app/module/handler/debug-handler/src/debug-handler.cpp
+++ b/debug-app/module/handler/debug-handler/src/debug-handler.cpp
@@ -2,7 +2,9 @@
#include <zephyr/logging/log.h>
#include <zephyr/zbus/zbus.h>
+#ifndef CONFIG_SOC_POSIX
#include <zephyr/net/socket.h>
+#endif
#include <stdio.h>
#include <string.h>
@@ -32,6 +34,11 @@ int serv;
int client;
bool isDebugMode = false;
+// Debug Client
+bool isDriverAvailable = false;
+bool isBleAvailable = false;
+DebugMessage_t debugData;
+
ZBUS_LISTENER_DEFINE(debugDriverListener, context->DriverResponseListener);
ZBUS_LISTENER_DEFINE(stateListener, context->StateListener);
ZBUS_LISTENER_DEFINE(bleListener, context->BleListener);
@@ -56,6 +63,7 @@ int DebugHandler::Deinit(){
}
void DebugHandler::DebugThread(DebugHandler *context){
+#ifndef CONFIG_SOC_POSIX
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(PORT);
@@ -118,6 +126,37 @@ void DebugHandler::DebugThread(DebugHandler *context){
isDebugMode = false;
LOG_INF("Connection to %s close", addr_str);
}
+#else
+ while(1){
+ std::vector<uint8_t> driverData;
+ std::vector<uint8_t> bleData;
+ uint8_t bleArray[128];
+ uint8_t driverArray[128];
+ uint16_t bleLen = 0;
+ uint16_t driverLen = 0;
+
+ if(isDriverAvailable){
+ driverData.insert(driverData.end(), &driverArray[0], &driverArray[driverLen]);
+ DriverMessage_t sentMessage = {
+ .number = (DriverNumb_e)0, //temporary
+ .value = driverData
+ };
+ zbus_chan_pub(&driverResponseChannel, &sentMessage, K_MSEC(200));
+ isDriverAvailable = false;
+ }
+
+ if(isBleAvailable){
+ bleData.insert(bleData.end(), &bleArray[0], &bleArray[bleLen]);
+ BleData_t sentMessage = {
+ .address = std::string(""), //temporary
+ .data = bleData
+ };
+ zbus_chan_pub(&bleScanChannel, &sentMessage, K_MSEC(200));
+ isBleAvailable = false;
+ }
+ k_msleep(100);
+ }
+#endif
}
void DebugHandler::DriverResponseListener(const struct zbus_channel *chan){
@@ -165,6 +204,7 @@ void DebugHandler::BleListener(const struct zbus_channel *chan){
}
int DebugHandler::SendPacket(uint8_t *buf, uint16_t size){
+#ifndef CONFIG_SOC_POSIX
int sentlength, recvLength;
recvLength = size;
do {
@@ -177,4 +217,7 @@ int DebugHandler::SendPacket(uint8_t *buf, uint16_t size){
recvLength-= sentlength;
} while (recvLength);
return recvLength;
+#else
+ return 0;
+#endif
}
\ No newline at end of file
diff --git a/debug-python/debug.py b/debug-python/debug.py
new file mode 100644
index 0000000..dd8649b
--- /dev/null
+++ b/debug-python/debug.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python
+
+import socket
+import select
+import gdb
+import rpyc
+
+
+TCP_IP = '192.168.8.149'
+TCP_PORT = 12345
+BUFFER_SIZE = 1024
+MESSAGE = b'ABC'
+received = 0
+
+c = rpyc.connect("localhost", 18080)
+
+def GetState():
+ return c.root.getState()
+
+def GetBle():
+ return c.root.getBle()
+
+def GetDriver():
+ return c.root.getDriver()
+
+class StateBp(gdb.Breakpoint):
+ def __init__(self):
+ gdb.Breakpoint.__init__(self, "main-handler.cpp:69")
+
+ def stop(self):
+ # SocketStart()
+ state = GetState()
+ if state >= 0:
+ print('set var currentState = ' + str(state))
+ gdb.execute('set var currentState = ' + str(state))
+ return False
+
+class DriverBp(gdb.Breakpoint):
+ def __init__(self):
+ gdb.Breakpoint.__init__(self, "debug-handler.cpp:136")
+
+ def stop(self):
+ bleData = GetBle()
+ driverData = GetDriver()
+ if len(bleData) > 0:
+ gdb.execute('set var bleLen = ' + str(len(bleData)))
+ gdb.execute('set var isBleAvailable = true')
+ # gdb.execute('print bleLen')
+ # gdb.execute('print isBleAvailable')
+ print(bleData)
+ for i, data in enumerate(bleData):
+ gdb.execute('set var bleArray[' +str(i) + '] =' + str(data))
+ # gdb.execute('print bleArray')
+
+ if len(driverData) > 0:
+ gdb.execute('set var driverLen = ' + str(len(driverData)))
+ gdb.execute('set var isDriverAvailable = true')
+ for i, data in enumerate(driverData):
+ gdb.execute('set var driverArray[' +str(i) + '] =' + str(data))
+
+ return False
+
+def SocketStart():
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ s.connect((TCP_IP, TCP_PORT))
+ s.setblocking(False)
+ s.send(MESSAGE)
+
+ inputs = [s]
+ outputs = [s]
+ while inputs:
+ readable,writable,exceptional = select.select(inputs,outputs,inputs,1)
+ data = []
+
+ for s in readable:
+ data = s.recv(1024)
+ # logging.info(f'Non Blocking - data: {len(data)}')
+ # logging.info(f'Non Blocking - closing...')
+ if(len(data) >0):
+ if(data[0]==0):
+ global received
+ received = data[3]
+ print(received)
+ break
+
+ s.close()
+
+bp1 = StateBp()
+bp2 = DriverBp()
\ No newline at end of file
diff --git a/debug-python/helper.py b/debug-python/helper.py
new file mode 100755
index 0000000..6bef84c
--- /dev/null
+++ b/debug-python/helper.py
@@ -0,0 +1,6 @@
+#!/usr/bin/env python
+
+import rpyc
+
+c = rpyc.connect("localhost", 18080)
+c.root.socketStart()
\ No newline at end of file
diff --git a/debug-python/socket-run.py b/debug-python/socket-run.py
new file mode 100755
index 0000000..def87e5
--- /dev/null
+++ b/debug-python/socket-run.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+
+import socket
+import select
+import rpyc
+from rpyc.utils.server import ThreadedServer
+
+TCP_IP = '192.168.8.149'
+TCP_PORT = 12345
+BUFFER_SIZE = 1024
+MESSAGE = b'ABC'
+received = 0
+
+stateData = []
+bleData = []
+driverData = []
+
+class DebugService(rpyc.Service):
+ def on_connect(self,conn):
+ print("connected")
+ # SocketStart()
+
+ def on_disconnect(self,conn):
+ pass
+
+ def parser(self, packet):
+ FLAG_BYTE = 0
+ LENGTH_MSB = 1
+ LENGTH_LSB = 2
+ PAYLOAD_BYTE = 3
+
+ STATE_DATA = 0
+ BLE_DATA = 1
+ DRIVER_DATA = 2
+
+ dataType = FLAG_BYTE
+ dataLength = 0
+ dataFlag = 0
+
+ index = 0
+ while index < len(packet):
+ dataLength = ((packet[index + 1] << 8) + packet[index + 2])
+ if(packet[index] == STATE_DATA):
+ stateData.append(packet[index+3])
+ elif(packet[index] == BLE_DATA):
+ bleData.append(packet[index+3 : index + 3 + dataLength])
+ elif(packet[index] == DRIVER_DATA):
+ driverData.append(packet[index+3 : index + 3 + dataLength])
+ index += (3+dataLength)
+
+
+ def exposed_socketStart(self):
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ s.connect((TCP_IP, TCP_PORT))
+ s.setblocking(False)
+ s.send(MESSAGE)
+
+ inputs = [s]
+ outputs = [s]
+ while inputs:
+ readable,writable,exceptional = select.select(inputs,outputs,inputs,1)
+ data = []
+
+ for s in readable:
+ data = s.recv(1024)
+ self.parser(data)
+
+ def exposed_getState(self):
+ if len(stateData) > 0:
+ return stateData.pop(0)
+ else:
+ return -1
+
+ def exposed_getDriver(self):
+ if len(driverData) > 0:
+ return driverData.pop(0)
+ else :
+ return []
+
+ def exposed_getBle(self):
+ if len(bleData) > 0:
+ return bleData.pop(0)
+ else :
+ return []
+
+
+def SocketStart():
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ s.connect((TCP_IP, TCP_PORT))
+ s.setblocking(False)
+ s.send(MESSAGE)
+
+ inputs = [s]
+ outputs = [s]
+ while inputs:
+ readable,writable,exceptional = select.select(inputs,outputs,inputs,1)
+ data = []
+
+ for s in readable:
+ data = s.recv(1024)
+ # logging.info(f'Non Blocking - data: {len(data)}')
+ # logging.info(f'Non Blocking - closing...')
+ if(len(data) >0):
+ if(data[0]==0):
+ print(data)
+ global received
+ received = data[3]
+
+ts = ThreadedServer(DebugService,port=18080)
+print('Service started on port 18080')
+ts.start()
\ No newline at end of file
diff --git a/scripts/docker_run.sh b/scripts/docker_run.sh
index fc9ef5d..2c2761c 100755
--- a/scripts/docker_run.sh
+++ b/scripts/docker_run.sh
@@ -8,10 +8,11 @@ DOCKER_ARGS="--privileged \
--rm=true \
--user="$(id --user):$(id --group)" \
-e ZEPHYR_SDK_INSTALL_DIR=/opt/toolchains/zephyr-sdk-0.16.4 \
--e CCACHE_DIR=$(pwd)/.ccache \
+-e CCACHE_DIR=$(pwd)/.ccache
-v $(pwd):$(pwd) \
-v /dev/bus/usb:/dev/bus/usb \
--w $(pwd)"
-DOCKER_IMAGE=zephyrprojectrtos/ci:v0.26.6
+-w $(pwd) \
+-it"
+DOCKER_IMAGE=zephyrprojectrtos/ci:v0.26.6-t
docker run $DOCKER_ARGS $DOCKER_IMAGE "$@"
diff --git a/scripts/run_debug.sh b/scripts/run_debug.sh
new file mode 100755
index 0000000..56787a0
--- /dev/null
+++ b/scripts/run_debug.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+python debug-python/socket-run.py&
+python debug-python/helper.py&
+
+gdb --command debug-python/debug.py .build-debug-app-native/zephyr/zephyr.exe
\ No newline at end of file
--
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