mod completion;
mod config;
mod pool;
mod rt;
#[cfg(test)]
mod tests;
pub use completion::ResponseFuture;
pub use config::{ClientConfig, MAX_DEVICES};
use std::sync::atomic::{AtomicBool, Ordering};
use std::sync::{Arc, PoisonError};
use std::thread::JoinHandle;
use tokio::sync::{mpsc, oneshot};
use autd3_cpu_wire::payload::ReadTelemetryPayload;
use zerocopy::FromBytes;
use crate::commands::Pattern;
use crate::commands::operation::{Clear, Distribution, Synchronize};
use crate::datagram::{Datagram, DatagramBuilder, Frame, Mirror, MirrorHandle};
use crate::error::{Error, PayloadError};
use crate::firmware_version::{FirmwareVersion, Version};
use crate::fpga_state::FpgaState;
use crate::geometry::Geometry;
use crate::link::{DcClock, IntoLink, Link};
use crate::mirror::FirmwareState;
use crate::protocol::{Cmd, DeviceErrorCode};
use crate::telemetry::Telemetry;
use crate::value::DcSysTime;
use completion::{CompletionPool, Reply};
use pool::SlotPool;
use rt::CmdMessage;
pub struct Client {
cmd_tx: mpsc::Sender<CmdMessage>,
geometry: Arc<Geometry>,
num_devices: usize,
pool: Arc<SlotPool>,
completions: Arc<CompletionPool>,
join: std::sync::Mutex<Option<JoinHandle<()>>>,
closed: Arc<AtomicBool>,
mirror: MirrorHandle,
dc_clock: Option<DcClock>,
}
impl Client {
pub fn open<'g, T: IntoLink + 'g>(
geometry: &'g Geometry,
link: T,
config: ClientConfig,
) -> impl Future<Output = Result<Self, Error>> + Send + 'g {
Box::pin(async move {
Self::open_impl(geometry, link, config)
.await
.map(|(client, _checker)| client)
})
}
pub fn open_with_checker<'g, T: IntoLink + 'g>(
geometry: &'g Geometry,
link: T,
config: ClientConfig,
) -> impl Future<Output = Result<(Self, <T::Link as Link>::Checker), Error>> + Send + 'g {
Box::pin(Self::open_impl(geometry, link, config))
}
async fn open_impl<T: IntoLink>(
geometry: &Geometry,
link: T,
config: ClientConfig,
) -> Result<(Self, <T::Link as Link>::Checker), Error> {
let config = config.validate()?;
let link = link.into_link(geometry).await?;
let num_devices = link.num_devices();
if num_devices == 0 || num_devices > MAX_DEVICES {
return Err(PayloadError::DeviceCountOutOfRange {
got: num_devices,
max: MAX_DEVICES,
}
.into());
}
if geometry.num_devices() != num_devices {
return Err(PayloadError::GeometryDeviceMismatch {
geometry: geometry.num_devices(),
link: num_devices,
}
.into());
}
let checker = link.state_checker();
let dc_clock = link.dc_clock();
let pool = SlotPool::new(num_devices, config.max_inflight.get());
let completions = CompletionPool::new(config.max_inflight.get());
let (cmd_tx, cmd_rx) = mpsc::channel::<CmdMessage>(1);
let (hs_done_tx, hs_done_rx) = oneshot::channel::<Result<(), String>>();
let closed = Arc::new(AtomicBool::new(false));
let closed_for_rt = Arc::clone(&closed);
let join = std::thread::Builder::new()
.name("autd3-rs-rt".to_owned())
.spawn(move || {
rt::run_rt_thread(link, cmd_rx, config, hs_done_tx, closed_for_rt);
})
.map_err(|e| Error::Link(format!("failed to spawn RT thread: {e}")))?;
match hs_done_rx.await {
Ok(Ok(())) => {
tracing::debug!("RT thread handshake complete");
let client = Self {
cmd_tx,
geometry: Arc::new(geometry.clone()),
num_devices,
pool,
completions,
join: std::sync::Mutex::new(Some(join)),
closed,
mirror: MirrorHandle {
state: Arc::new(std::sync::Mutex::new(Mirror::Desynced)),
enabled: config.validate_state,
},
dc_clock,
};
if let Err(e) = client.clear().await {
let _ = client.close().await;
return Err(e);
}
if let Err(e) = client.synchronize().await {
let _ = client.close().await;
return Err(e);
}
tracing::info!(num_devices, "client opened");
Ok((client, checker))
}
Ok(Err(msg)) => {
let _ = wait_thread(join).await;
Err(Error::Link(msg))
}
Err(_) => {
let _ = wait_thread(join).await;
Err(Error::RtClosed)
}
}
}
#[must_use]
pub fn num_devices(&self) -> usize {
self.num_devices
}
#[must_use]
pub fn dc_offset_ns(&self) -> i64 {
self.dc_clock
.as_ref()
.and_then(DcClock::offset_ns)
.unwrap_or(0)
}
#[must_use]
pub fn bus_time_now(&self) -> DcSysTime {
DcSysTime::now().with_dc_offset(self.dc_offset_ns())
}
#[must_use]
pub fn datagram_builder<'a>(&self) -> DatagramBuilder<'a> {
DatagramBuilder::with_mirror(
Arc::clone(&self.geometry),
self.mirror.clone(),
self.dc_clock.clone().into(),
)
}
fn mark_desynced(&self) {
self.mirror.desync();
}
fn mirror_for_response(&self) -> Option<MirrorHandle> {
self.mirror.enabled.then(|| self.mirror.clone())
}
async fn clear(&self) -> Result<(), Error> {
let datagrams = self.datagram_builder().push(Clear).build()?;
for frame in &datagrams {
self.send_checked(frame).await?;
}
self.mirror.set(Mirror::Synced(vec![
FirmwareState::boot_default();
self.num_devices
]));
Ok(())
}
async fn send_datagrams(&self, datagrams: &[Datagram]) -> Result<ResponseFuture, Error> {
if datagrams.len() != self.num_devices {
self.mark_desynced();
return Err(PayloadError::DatagramCountMismatch {
expected: self.num_devices,
got: datagrams.len(),
}
.into());
}
tracing::trace!(cmd = ?datagrams[0].cmd, "sending per-device frame");
let mut slot = self.pool.acquire().await;
slot.reset(Distribution::PerDevice);
for (device, datagram) in datagrams.iter().enumerate() {
slot.payload_mut(device).copy_from_slice(&datagram.payload);
slot.set_cmd(device, datagram.cmd);
}
self.dispatch(slot, Reply::Ack).await
}
async fn send_broadcast(&self, datagram: &Datagram) -> Result<ResponseFuture, Error> {
tracing::trace!(cmd = ?datagram.cmd, "sending broadcast frame");
let mut slot = self.pool.acquire().await;
slot.reset(Distribution::Broadcast);
slot.payload_mut(0).copy_from_slice(&datagram.payload);
slot.set_cmd(0, datagram.cmd);
self.dispatch(slot, Reply::Ack).await
}
async fn send_broadcast_exclusive(&self, datagram: &Datagram) -> Result<ResponseFuture, Error> {
tracing::trace!(cmd = ?datagram.cmd, "sending exclusive broadcast frame");
let mut slot = self.pool.acquire().await;
slot.reset(Distribution::Broadcast);
slot.payload_mut(0).copy_from_slice(&datagram.payload);
slot.set_cmd(0, datagram.cmd);
self.dispatch(slot, Reply::Value).await
}
pub async fn send(&self, frame: Frame<'_>) -> Result<ResponseFuture, Error> {
match frame.distribution() {
Distribution::Broadcast => self.send_broadcast(&frame.datagrams()[0]).await,
Distribution::PerDevice => self.send_datagrams(frame.datagrams()).await,
}
}
pub async fn send_checked(&self, frame: Frame<'_>) -> Result<(), Error> {
self.send(frame).await?.await?.check()
}
async fn dispatch(&self, slot: pool::Slot, reply: Reply) -> Result<ResponseFuture, Error> {
let (response_tx, response_rx) =
self.completions.channel(self.mirror_for_response(), reply);
if self
.cmd_tx
.send(CmdMessage {
frame: slot,
response_tx,
exclusive: reply.exclusive(),
})
.await
.is_err()
{
tracing::warn!("RT thread is closed; frame dropped");
self.mark_desynced();
return Err(Error::RtClosed);
}
Ok(response_rx)
}
async fn synchronize(&self) -> Result<(), Error> {
let datagrams = self.datagram_builder().push(Synchronize).build()?;
for frame in &datagrams {
self.send_checked(frame).await?;
}
Ok(())
}
pub async fn stop(&self) -> Result<(), Error> {
tracing::debug!("sending stop");
let buf = self.geometry.pattern_buffer();
let datagrams = self.datagram_builder().push(Pattern::new(&buf)).build()?;
for frame in &datagrams {
self.send_checked(frame).await?;
}
Ok(())
}
async fn read_broadcast(&self, cmd: Cmd) -> Result<Vec<u8>, Error> {
self.read_broadcast_with(&Datagram::no_payload(cmd)).await
}
async fn read_broadcast_with(&self, datagram: &Datagram) -> Result<Vec<u8>, Error> {
Ok(self
.send_broadcast_exclusive(datagram)
.await?
.await?
.data()
.to_vec())
}
pub async fn read_firmware_version(&self) -> Result<Vec<FirmwareVersion>, Error> {
const UNKNOWN_CMD: u8 = DeviceErrorCode::UnknownCmd as u8;
let cpu_major = self.read_broadcast(Cmd::ReadCpuFwVersionMajor).await?;
let cpu_minor = self.read_broadcast(Cmd::ReadCpuFwVersionMinor).await?;
let cpu_patch = self.read_broadcast(Cmd::ReadCpuFwVersionPatch).await?;
let err_before = self.read_broadcast(Cmd::ReadErrorDetail).await?;
let fpga_major = self.read_broadcast(Cmd::ReadFpgaFwVersionMajor).await?;
let fpga_minor = self.read_broadcast(Cmd::ReadFpgaFwVersionMinor).await?;
let fpga_patch = self.read_broadcast(Cmd::ReadFpgaFwVersionPatch).await?;
let fpga_functions = self.read_broadcast(Cmd::ReadFpgaFunctions).await?;
let err_after = self.read_broadcast(Cmd::ReadErrorDetail).await?;
Ok((0..cpu_major.len())
.map(|i| {
let (fpga, function_bits) = if err_after[i] == UNKNOWN_CMD {
if err_before[i] == UNKNOWN_CMD {
tracing::warn!(
device = i,
"FPGA firmware version is unknown: {} was already latched before the query, so it cannot be attributed to it",
DeviceErrorCode::UnknownCmd.describe()
);
} else {
tracing::warn!(
device = i,
"FPGA firmware version is unknown: {}",
DeviceErrorCode::UnknownCmd.describe()
);
}
(Version::UNKNOWN, 0)
} else {
(
Version {
major: fpga_major[i],
minor: fpga_minor[i],
patch: fpga_patch[i],
},
fpga_functions[i],
)
};
FirmwareVersion {
cpu: Version {
major: cpu_major[i],
minor: cpu_minor[i],
patch: cpu_patch[i],
},
fpga,
function_bits,
}
})
.collect())
}
pub async fn read_error_detail(&self) -> Result<Vec<u8>, Error> {
self.read_broadcast(Cmd::ReadErrorDetail).await
}
pub async fn read_fpga_state(&self) -> Result<Vec<FpgaState>, Error> {
Ok(self
.read_broadcast(Cmd::ReadFpgaState)
.await?
.into_iter()
.map(FpgaState)
.collect())
}
pub async fn read_telemetry(&self, counter: Telemetry) -> Result<Vec<u8>, Error> {
let mut datagram = Datagram::no_payload(Cmd::ReadTelemetry);
let (p, _) = ReadTelemetryPayload::mut_from_prefix(&mut datagram.payload).unwrap();
p.counter_id = counter.as_u8();
self.read_broadcast_with(&datagram).await
}
pub async fn close(&self) -> Result<(), Error> {
tracing::debug!("closing client");
self.closed.store(true, Ordering::Release);
let join = self
.join
.lock()
.unwrap_or_else(PoisonError::into_inner)
.take();
if let Some(join) = join {
wait_thread(join).await
} else {
Ok(())
}
}
}
impl Drop for Client {
fn drop(&mut self) {
self.closed.store(true, Ordering::Release);
let join = self
.join
.lock()
.unwrap_or_else(PoisonError::into_inner)
.take();
if let Some(join) = join {
let _ = join.join();
}
}
}
async fn wait_thread(join: JoinHandle<()>) -> Result<(), Error> {
tokio::task::spawn_blocking(move || join.join())
.await
.map_err(|e| Error::Link(format!("RT thread join failed: {e}")))?
.map_err(|_| Error::Link("RT thread panicked".to_owned()))
}