mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
c1aeddbfea
Manage device power, parked services and vehicle-specific Panda wake behavior. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
97 lines
3.4 KiB
C++
97 lines
3.4 KiB
C++
#pragma once
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#include <atomic>
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#include <cstdint>
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#include <mutex>
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#include <memory>
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#include <stdexcept>
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#include <string>
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#include <vector>
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#define TIMEOUT 0
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#define SPI_BUF_SIZE 4096
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class PandaCommsHandle {
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public:
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virtual ~PandaCommsHandle() = default;
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std::string hw_serial;
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std::atomic<bool> connected = true;
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std::atomic<bool> comms_healthy = true;
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virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
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virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
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virtual int bulk_write(unsigned char endpoint, unsigned char *data, int length, unsigned int timeout=TIMEOUT) = 0;
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virtual int bulk_read(unsigned char endpoint, unsigned char *data, int length, unsigned int timeout=TIMEOUT) = 0;
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virtual void cleanup() = 0;
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};
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template <typename SpiFactory, typename UsbFactory>
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std::unique_ptr<PandaCommsHandle> open_panda_handle(const std::string &serial, SpiFactory spi, UsbFactory usb) {
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try {
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return usb(serial);
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} catch (const std::exception &) {
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return spi(serial);
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}
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}
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struct libusb_context;
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struct libusb_device_handle;
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class PandaUsbHandle : public PandaCommsHandle {
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public:
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explicit PandaUsbHandle(std::string serial);
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~PandaUsbHandle() override;
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int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) override;
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int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) override;
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int bulk_write(unsigned char endpoint, unsigned char *data, int length, unsigned int timeout=TIMEOUT) override;
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int bulk_read(unsigned char endpoint, unsigned char *data, int length, unsigned int timeout=TIMEOUT) override;
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void cleanup() override;
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static std::vector<std::string> list();
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private:
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libusb_context *ctx = nullptr;
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libusb_device_handle *dev_handle = nullptr;
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std::recursive_mutex hw_lock;
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bool claimed = false;
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void handle_usb_issue(int err);
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};
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class PandaSpiHandle : public PandaCommsHandle {
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public:
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PandaSpiHandle(std::string serial);
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~PandaSpiHandle();
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int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
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int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
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int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
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void cleanup();
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static std::vector<std::string> list();
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private:
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int spi_fd = -1;
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uint8_t tx_buf[SPI_BUF_SIZE];
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uint8_t rx_buf[SPI_BUF_SIZE];
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inline static std::recursive_mutex hw_lock;
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struct __attribute__((packed)) spi_header {
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uint8_t endpoint;
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uint32_t id;
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uint16_t tx_len;
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uint16_t rx_len;
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};
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struct __attribute__((packed)) spi_resp_header {
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uint8_t status;
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uint32_t id;
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uint16_t len;
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};
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int spi_transfer(uint8_t endpoint, uint32_t id, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, double deadline);
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int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
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int lltransfer(struct spi_ioc_transfer &t);
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spi_header header;
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uint32_t xfer_count = 0;
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};
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