quad: use FIFOs for the virtual quad UART

quad/Makefile

@@ -6,7 +6,7 @@ WS = $(CURDIR)/xsdk_workspace
 
 BOOT = $(OUTDIR)/BOOT.bin
 
-.PHONY: all libs zybo boot test clean deep-clean
+.PHONY: all libs zybo boot run-virt-quad test clean deep-clean
 
 all: libs bins
 
@@ -31,6 +31,9 @@ gen_diagram:
 
 boot: $(BOOT)
 
+run-virt-quad:
+	$(MAKE) -C src/virt_quad run
+
 test:
 	$(MAKE) -C src/queue test
 	$(MAKE) -C src/computation_graph test
@@ -47,7 +50,6 @@ deep-clean:
 	$(MAKE) -C src/graph_blocks clean
 	$(MAKE) -C src/commands clean
 	$(MAKE) -C src/quad_app clean
-	bash scripts/xsdk/clean_xsdk_workspace.sh
 
 $(OUTDIR):
 	mkdir $(OUTDIR)

quad/executable.mk

@@ -23,7 +23,7 @@ CLEANUP = $(TARGET) $(OBJDIR)
 default: $(TARGET)
 
 run: $(TARGET)
-	$(EXEDIR)/$(NAME)
+	cd $(EXEDIR) && ./$(NAME)
 
 clean:
 	rm -rf $(CLEANUP)

quad/scripts/tests/test_unix_uart.py

+#!/usr/bin/env python
+
+import sys
+import time
+import os
+
+import threading
+
+path = os.path.dirname(__file__) + '/../../bin/virt-quad-fifos/'
+
+def create_msg():
+    msg = bytes()
+    msg += b'\xBE'
+
+    msg += b'\x01'
+    msg += b'\x00'
+
+    msg += b'\x00'
+    msg += b'\x00'
+
+    msg += b'\x00'
+    msg += b'\x00'
+
+    print msg
+
+    checksum = 0
+    for b in msg:
+        checksum ^= b
+    msg += checksum.to_bytes(1, 'little')
+    return msg
+
+def listen():
+    with open(path + 'uart-tx', 'r') as fifo:
+        while True:
+            c = fifo.read()
+            if c:
+                print c
+
+def do_test():
+    # Start a listener
+    t = threading.Thread(target=listen)
+    t.daemon = True
+    t.start()
+
+    fifo = open(path + 'uart-rx', 'w')
+    fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
+    fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
+    fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
+
+if __name__ == '__main__':
+    for i in range(1):
+        print("Test ", i)
+        do_test()
+        time.sleep(1)

quad/src/quad_app/callbacks.c

@@ -36,8 +36,11 @@ int cb_debug(struct modular_structs *structs, struct metadata *meta, unsigned ch
   * counts the number of packet logs.
   */
 int cb_packetlog(struct modular_structs* structs, struct metadata *meta, u8 *data, u16 length) {
+	char buf[64];
 	n_msg_received += 1;
 	total_payload_received += length;
+	int len = sprintf(buf, "Packets received: %d", n_msg_received);
+	send_data(&structs->hardware_struct.uart, PACKETLOG_ID, 0, buf, len);
 	return 0;
 }
 

quad/src/virt_quad/hw_impl_unix_pwm_output.c

@@ -29,7 +29,7 @@ int unix_pwm_output_write(struct PWMOutputDriver *self,
   int fifo = open(output_pwms[channel], O_WRONLY | O_NONBLOCK);
   if (fifo >= 0) {
     sprintf(buff, "%d\0", pulse_width_us);
-    int bytes_read = write(fifo, buff, strlen(buff));
+    write(fifo, buff, strlen(buff));
   }
   close(fifo);
   return 0;

quad/src/virt_quad/hw_impl_unix_uart.c

 #include "hw_impl_unix.h"
-#include <sys/types.h>       
-#include <sys/socket.h>
 #include <stdio.h>
-#include <sys/un.h>
-#include <sys/ioctl.h>
-#include <err.h>
-#include <netinet/in.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <fcntl.h>
 
-#define DEFAULT_SOCKET "../../groundStation/virtquad.socket"
-#define SOCKET_ENV "VIRT_QUAD_SOCKET"
-
-static int backendSocket;
-static int client;
+static char *fifo_name_rx;
+static char *fifo_full_name_rx;
+static char *fifo_full_name_tx;
+static int fifo_rx;
 
 int unix_uart_reset(struct UARTDriver *self) {
-	char * backend_socket_path = DEFAULT_SOCKET;
-	if (getenv(SOCKET_ENV)) {
-		backend_socket_path = getenv(SOCKET_ENV);
-	}
-
-	/* Unlink if it exists */
-	unlink(backend_socket_path);
-	printf("using socket '%s'\n", backend_socket_path);
-
-	/* Create socket */
-	backendSocket = socket(AF_UNIX, SOCK_STREAM | SOCK_NONBLOCK, 0);
+  fifo_name_rx = "uart-rx";
+  fifo_full_name_rx = VIRT_QUAD_FIFOS_DIR "/uart-rx";
+  fifo_full_name_tx = VIRT_QUAD_FIFOS_DIR "/uart-tx";
 
+  char fifoname[64];
+  mkdir(VIRT_QUAD_FIFOS_DIR, 0777);
 
-	/* Create sockaddr and bind */
-	struct sockaddr_un sa;
-	sa.sun_family = AF_UNIX;
-	strncpy(sa.sun_path, backend_socket_path, strlen(backend_socket_path));
-	sa.sun_path[strlen(backend_socket_path)+1] = '\0';
-	if (bind(backendSocket, (struct sockaddr *) &sa, sizeof(sa))) {
-		err(-1, "bind");
-	}
+  unlink(fifo_full_name_rx);
+  mkfifo(fifo_full_name_rx, 0666);
+  fifo_rx = open(fifo_full_name_rx, O_RDONLY | O_NONBLOCK);
 
-	/* Listen */
-	if (listen(backendSocket, 1)) {
-		err(-1, "listen");
-	}
+  unlink(fifo_full_name_tx);
+  mkfifo(fifo_full_name_tx, 0666);
 
-	printf("Waiting for backend to connect\n");
-
-	while (1) {
-		client = accept(backendSocket, NULL, NULL);
-		if (client > 0)
-			break;
-	}
-	printf("backend connection found on socket %d.\n", client);
   return 0;
 }
 
 int unix_uart_write(struct UARTDriver *self, unsigned char c) {
-	send(client, &c, 1, MSG_DONTWAIT);
-	return 0;
+  int fifo = open(fifo_full_name_tx, O_WRONLY | O_NONBLOCK);
+  if (fifo >= 0) {
+    write(fifo, &c, 1);
+  }
+  close(fifo);
+  return 0;
 }
 
 int unix_uart_read(struct UARTDriver *self, unsigned char *c) {
-	int bytes_available;
-	ioctl(client,FIONREAD,&bytes_available);
-	
-	if (bytes_available > 0) {
-		int bytes = recv(client, c, 1, 0);
-		return 0;
-	} else {
-		return 1;
-	}
-}
\ No newline at end of file
+  int err = read(fifo_rx, c, 1);
+  return err <= 0;
+}