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use merfolk::{interfaces::Backend, Call, Reply}; use anyhow::Result; use serde::{Deserialize, Serialize}; use thiserror::Error; use std::{fmt::Debug, sync::Arc}; use tokio::{runtime::Runtime, sync::Mutex}; use log::{debug, error, info, trace}; #[derive(Debug, Error)] pub enum Error { #[error("serializing failed: {0}")] Serialize(#[source] ron::Error), #[error("deserializing failed: {0}")] Deserialize(#[source] ron::Error), #[error("no receiver was degistered by init()")] NoReceiver, #[error("could not create runtime: {0}")] RuntimeCreation(#[from] std::io::Error), #[error("already started")] AlreadyStarted, #[error("not started")] NotStarted, #[error("error while sending: {0}")] SendError(#[source] std::io::Error), #[error("no sender channel still alive")] NoSenderChannel, #[error("from frontend: {0}")] FromFrontend(#[source] anyhow::Error), #[error("{0} must be initialized")] Init(String), } #[derive(derive_builder::Builder)] #[builder(pattern = "owned")] pub struct SerialPort { #[builder(setter(name = "port_setter"), private)] port: Arc<Mutex<Box<dyn serialport::SerialPort>>>, #[allow(clippy::type_complexity)] #[builder(private, default = "None")] receiver: Option<Arc<dyn Fn(Call<String>) -> Result<Reply<String>> + Send + Sync>>, #[builder(private, default = "None")] reply_queue: Option<Arc<Mutex<tokio::sync::mpsc::Receiver<String>>>>, #[builder(private, default = "Runtime::new().map_err(Error::RuntimeCreation).map_err(|e| e.to_string())?")] runtime: Runtime, #[builder(private, default = "None")] handle: Option<tokio::task::JoinHandle<std::convert::Infallible>>, } impl SerialPortBuilder { pub fn port<S: 'static + serialport::SerialPort>(self, value: S) -> Self { self.port_setter(Arc::new(Mutex::new(Box::new(value)))) } } impl SerialPort { pub fn builder() -> SerialPortBuilder { SerialPortBuilder::default() } } #[derive(Serialize, Deserialize)] struct SelfCall { procedure: String, payload: String, } #[derive(Serialize, Deserialize)] struct SelfReply { payload: String, } impl SerialPort { pub fn start(&mut self) -> Result<()> { trace!("start SerialPort Backend"); if self.handle.is_some() { return Err(Error::AlreadyStarted.into()); } let receiver = Arc::clone(self.receiver.as_ref().ok_or(Error::NoReceiver)?); let (tx, rx) = tokio::sync::mpsc::channel::<String>(2); self.reply_queue = Some(Arc::new(Mutex::new(rx))); let port = Arc::clone(&self.port); self.handle = Some(self.runtime.spawn(async move { trace!("spawn listener"); loop { trace!("reading serialport"); let mut read: Vec<u8> = vec![]; let mut port_gate = port.lock().await; loop { let mut buf: Vec<u8> = vec![0; 1024]; match port_gate.read(buf.as_mut_slice()) { Ok(n) => { debug!("{} read {} bytes", port_gate.name().unwrap_or_else(|| "".to_string()), n); read.append(&mut buf[0..n].to_vec()); if n != buf.len() { break; } } Err(ref e) if e.kind() == std::io::ErrorKind::TimedOut => { debug!("{} read timeout", port_gate.name().unwrap_or_else(|| "".to_string())); break; } Err(e) => { error!("{:?}", e); break; } } } if !read.is_empty() { if let Ok(read_string) = String::from_utf8(read) { let read_parts = read_string.split("\r\n"); for part in read_parts { if part.is_empty() { break; } match &part[0..2] { "r:" => { debug!("{} read reply", port_gate.name().unwrap_or_else(|| "".to_string())); match tx.send(part[2..].to_string()).await { Ok(_) => {} Err(e) => { for _ in 0..2 { match port_gate.write(&("r:".to_string() + &Self::serialize(&Err::<SelfReply, _>(e.to_string())).unwrap() + "\r\n").as_bytes()) { Ok(n) => { debug!("{} sent r: {} bytes", port_gate.name().unwrap_or_else(|| "".to_string()), n); break; } Err(ref e) if e.kind() == std::io::ErrorKind::TimedOut => (), Err(e) => log::error!("{:?}", e), } } } } } "c:" => { debug!("{} read call", port_gate.name().unwrap_or_else(|| "".to_string())); let read_unpacked = part[2..].to_string(); let self_reply_string = match Self::deserialize::<SelfCall>(&read_unpacked) { Ok(self_call) => { let reply = receiver(Call { procedure: self_call.procedure, payload: self_call.payload, }); let self_reply = match reply.map(|r| SelfReply { payload: r.payload }) { Ok(ok) => std::result::Result::Ok(ok), Err(err) => std::result::Result::Err(err.to_string()), }; match &Self::serialize(&self_reply) { Ok(ser) => "r:".to_string() + ser + "\r\n", Err(e) => "r:".to_string() + &Self::serialize(&Err::<SelfReply, _>(e.to_string())).unwrap() + "\r\n", } } Err(e) => "r:".to_string() + &Self::serialize(&Err::<SelfReply, _>(e.to_string())).unwrap() + "\r\n", }; for _ in 0..2 { match port_gate.write(&self_reply_string.as_bytes()) { Ok(n) => { debug!("{} sent r: {} bytes", port_gate.name().unwrap_or_else(|| "".to_string()), n); break; } Err(ref e) if e.kind() == std::io::ErrorKind::TimedOut => (), Err(e) => log::error!("{:?}", e), } } } _ => {} } } }; } } })); Ok(()) } pub fn stop(&mut self) -> Result<()> { trace!("stop serialport backend"); match &self.handle { None => Err(Error::NotStarted.into()), Some(handle) => { handle.abort(); Ok(()) } } } } impl Backend for SerialPort { type Intermediate = String; fn register<T>(&mut self, receiver: T) -> Result<()> where T: Fn(Call<Self::Intermediate>) -> Result<Reply<Self::Intermediate>> + Send + Sync + 'static, { trace!("register receiver"); self.receiver = Some(Arc::new(move |call: Call<String>| { trace!("run receiver"); debug!("calling receiver"); receiver(call) })); self.start().ok(); Ok(()) } fn call(&mut self, call: Call<Self::Intermediate>) -> Result<Reply<Self::Intermediate>> { trace!("call backend"); info!("received outgoing call"); if self.reply_queue.is_none() { return Err(Error::NotStarted.into()); } let port = Arc::clone(&self.port); let reply_queue = Arc::clone(&self.reply_queue.as_ref().unwrap()); self.runtime.block_on(async move { let self_call = SelfCall { procedure: call.procedure, payload: call.payload, }; let self_call_string = "c:".to_string() + &Self::serialize(&self_call).unwrap() + "\r\n"; let port_name; let written; { let mut port_gate = port.lock().await; port_name = port_gate.name().unwrap_or_else(|| "".to_string()); written = port_gate.write(&self_call_string.as_bytes()); } match written { Ok(n) => { debug!("{} sent c: {} bytes", port_name, n); let mut queue_lock = reply_queue.lock().await; match queue_lock.recv().await { Some(self_reply_string) => Ok(Reply { payload: Self::deserialize::<Result<SelfReply, String>>(&self_reply_string)? .map_err(|e| Error::FromFrontend(anyhow::anyhow!(e)))? .payload, }), None => Err(Error::NoSenderChannel.into()), } } Err(e) => Err(Error::SendError(e).into()), } }) } fn serialize<T: serde::Serialize>(from: &T) -> Result<String> { trace!("serialize from"); ron::ser::to_string(from).map_err(|e| Error::Serialize(e).into()) } fn deserialize<'b, T>(from: &'b Self::Intermediate) -> Result<T> where T: for<'de> serde::Deserialize<'de>, { trace!("deserialize from"); ron::de::from_str(&from).map_err(|e| Error::Deserialize(e).into()) } } impl Drop for SerialPort { fn drop(&mut self) { if self.handle.is_some() { self.stop().unwrap() } } }