1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
use crate::rfm69::{DCFree, Mode, PacketConfig, Rfm69, SyncConfig};
use crate::sleep;
use crate::IntoPacketSender;
use crate::{ConfigMessage, Error};
use crate::{NetworkPacketSender, PacketSender};
use reed_solomon::Encoder;
use std::sync::mpsc::{sync_channel, SyncSender};
use std::thread::{Builder as ThreadBuilder, JoinHandle};
use std::time::{Duration, Instant};
pub struct Rfm69PS {
rfm_thread: JoinHandle<Result<Rfm69, (Error, Rfm69)>>,
conf_sender: SyncSender<ConfigMessage<[u8; 4], u8>>,
encoder: Encoder,
verbose: u8,
}
impl Rfm69PS {
pub fn terminate(self) -> Result<Rfm69, (Error, Option<Rfm69>)> {
self.conf_sender.send(ConfigMessage::Terminate).ok();
self.rfm_thread
.join()
.map_err(|_| {
(
Error::Unrecoverable("The sender thread panicked!".to_string()),
None,
)
})?
.map_err(|e| (e.0, Some(e.1)))
}
fn configure(&self, conf_msg: ConfigMessage<[u8; 4], u8>) -> Result<(), Error> {
self.conf_sender
.send(conf_msg)
.map_err(|_| Error::Unrecoverable("Packet sender thread is disconnected.".to_string()))
}
pub fn alive(&mut self) -> Result<(), Error> {
self.configure(ConfigMessage::Alive)
}
pub fn set_verbose(&mut self, verbose: u8) -> Result<(), Error> {
self.configure(ConfigMessage::Verbose(verbose))?;
self.verbose = verbose;
Ok(())
}
}
impl PacketSender for Rfm69PS {
fn send_packet(&mut self, msg: &[u8], start_time: u32) -> Result<(), Error> {
assert!(msg.len() <= self.mtu());
let now = Instant::now();
let msglen = msg.len() + 16 + 4 + 1;
let mut vec = Vec::with_capacity(msglen + 1);
vec.push(msglen as u8);
vec.push(0);
vec.extend_from_slice(&start_time.to_be_bytes());
vec.extend_from_slice(msg);
let encoded = self.encoder.encode(&vec[1..]);
vec.extend_from_slice(encoded.ecc());
let vec = ConfigMessage::SendMessage(vec, now);
self.conf_sender
.send(vec)
.map_err(|_| Error::Unrecoverable("Sending thread is disconnected!".to_string()))
}
#[inline]
fn mtu(&self) -> usize {
233
}
}
impl NetworkPacketSender<&[u8]> for Rfm69PS {
fn set_network(&mut self, netaddr: &[u8]) -> Result<(), Error> {
assert!(netaddr.len() <= 4);
let mut msg = [0; 4];
msg[..netaddr.len()].copy_from_slice(&netaddr[..netaddr.len()]);
self.configure(ConfigMessage::SetNetwork(msg))
}
}
impl IntoPacketSender for Rfm69 {
type Send = Rfm69PS;
fn into_packet_sender(mut self, msg_buf: usize) -> Result<Self::Send, Error> {
self.set_mode_internal(Mode::Standby)?;
let (conf_sender, conf_recv) = sync_channel(msg_buf);
let encoder = Encoder::new(16);
let builder = ThreadBuilder::new().name("rfm69_sender".to_string());
let rfm_thread = builder
.spawn(move || {
let mut verbose = 0;
let mut init_dev = || {
let pc = PacketConfig::default()
.set_variable(true)
.set_crc(false)
.set_dc(DCFree::Whitening);
self.set_config(pc)?;
let sc = *SyncConfig::default()
.set_sync_word(&[0x56, 0xa9, 0x0b, 0x9a])
.set_len(4);
self.set_sync(sc)?;
self.get_mode_ready()?
.check_and_wait(Duration::from_millis(10))?;
self.set_mode(Mode::Tx)
};
if let Err(e) = init_dev() {
return Err((
Error::Init(format!("Reader configuration failed: {:?}", e)),
self,
));
}
let mut last_msg_settle = Instant::now();
loop {
if let Ok(v) = conf_recv.recv() {
match v {
ConfigMessage::SendMessage(mut msg, start) => {
let time = ((msg[2] as u32) << 24)
+ ((msg[3] as u32) << 16)
+ ((msg[4] as u32) << 8)
+ msg[5] as u32;
sleep(last_msg_settle.saturating_duration_since(Instant::now()));
let diff = Instant::now().duration_since(start).as_micros() as u32;
if verbose >= 3 {
eprintln!("rfm69_sender thread: channel delay {} ms", diff);
}
let time = time.wrapping_add(diff).to_be_bytes();
msg[2..6].copy_from_slice(&time);
#[cfg(debug_assertions)]
eprintln!("testing debug");
if cfg!(debug_assertions) && verbose >= 4 {
eprintln!("rfm69_sender thread: sending {:2x?}", msg);
}
if let Err(e) = self.send(&msg) {
let err = Error::Unrecoverable(format!(
"Receive error: error occured when sending message!: {:?}",
e
));
if verbose >= 2 {
eprintln!("Terminating sender thread: {:?}", err);
}
return Err((err, self));
}
last_msg_settle = Instant::now()
+ Duration::from_secs_f64(1.0 * 8.0 / self.bitrate() as f64);
}
ConfigMessage::Terminate => return Ok(self),
ConfigMessage::Alive => (),
ConfigMessage::Verbose(v) => {
verbose = v;
self.set_verbose(v >= 2)
}
_ => unreachable!(),
}
} else {
let err = Error::Unrecoverable(
"Sender thread: Message channel is disconnected!".to_string(),
);
if verbose >= 2 {
eprintln!("Terminating sender thread: {:?}", err);
}
return Err((err, self));
}
}
})
.unwrap();
Ok(Rfm69PS {
conf_sender,
rfm_thread,
encoder,
verbose: 0,
})
}
}