squash from main

.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",

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

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) {

debug-app/boards/overlay.conf

+#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

debug-app/drivers/CMakeLists.txt

-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

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

debug-python/debug.py

+#!/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

debug-python/helper.py

+#!/usr/bin/env python
+
+import rpyc
+
+c = rpyc.connect("localhost", 18080)
+c.root.socketStart()
\ No newline at end of file

debug-python/socket-run.py

+#!/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

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 $DOCKER_IMAGE "$@"

scripts/run_debug.sh

+#!/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