comms.cpp

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#include "um6/comms.h"

#include <arpa/inet.h>
#include <boost/algorithm/string/predicate.hpp>
#include <boost/foreach.hpp>
#include <string>

#include "ros/console.h"
#include "serial/serial.h"
#include "um6/registers.h"

namespace um6
{

const uint8_t Comms::PACKET_HAS_DATA = 1 << 7;
const uint8_t Comms::PACKET_IS_BATCH = 1 << 6;
const uint8_t Comms::PACKET_BATCH_LENGTH_MASK = 0x0F;
const uint8_t Comms::PACKET_BATCH_LENGTH_OFFSET = 2;

int16_t Comms::receive(Registers* registers = NULL)
{
  // Search the serial stream for a start-of-packet sequence.
  try
  {
    size_t available = serial_->available();
    if (available > 255)
    {
      ROS_WARN_STREAM("Serial read buffer is " << available << ", now flushing in an attempt to catch up.");
      serial_->flushInput();
    }

    // Optimistically assume that the next five bytes on the wire are a packet header.
    uint8_t header_bytes[5];
    serial_->read(header_bytes, 5);

    uint8_t type, address;
    if (memcmp(header_bytes, "snp", 3) == 0)
    {
      // Optimism win.
      type = header_bytes[3];
      address = header_bytes[4];
    }
    else
    {
      // Optimism fail. Search the serial stream for a header.
      std::string snp;
      serial_->readline(snp, 96, "snp");
      if (!boost::algorithm::ends_with(snp, "snp")) throw SerialTimeout();
      if (snp.length() > 3)
      {
        ROS_WARN_STREAM_COND(!first_spin_,
                             "Discarded " << 5 + snp.length() - 3 << " junk byte(s) preceeding packet.");
      }
      if (serial_->read(&type, 1) != 1) throw SerialTimeout();
      if (serial_->read(&address, 1) != 1) throw SerialTimeout();
    }

    first_spin_ = false;

    uint16_t checksum_calculated = 's' + 'n' + 'p' + type + address;
    std::string data;
    if (type & PACKET_HAS_DATA)
    {
      uint8_t data_length = 1;
      if (type & PACKET_IS_BATCH)
      {
        data_length = (type >> PACKET_BATCH_LENGTH_OFFSET) & PACKET_BATCH_LENGTH_MASK;
        ROS_DEBUG("Received packet %02x with batched (%d) data.", address, data_length);
      }
      else
      {
        ROS_DEBUG("Received packet %02x with non-batched data.", address);
      }

      // Read data bytes initially into a buffer so that we can compute the checksum.
      if (serial_->read(data, data_length * 4) != data_length * 4) throw SerialTimeout();
      BOOST_FOREACH(uint8_t ch, data)
      {
        checksum_calculated += ch;
      }
    }
    else
    {
      ROS_DEBUG("Received packet %02x without data.", address);
    }

    // Compare computed checksum with transmitted value.
    uint16_t checksum_transmitted;
    if (serial_->read(reinterpret_cast<uint8_t*>(&checksum_transmitted), 2) != 2)
    {
      throw SerialTimeout();
    }
    checksum_transmitted = ntohs(checksum_transmitted);
    if (checksum_transmitted != checksum_calculated)
    {
      throw BadChecksum();
    }

    // Copy data from checksum buffer into registers, if specified.
    // Note that byte-order correction (as necessary) happens at access-time.
    if ((data.length() > 0) && registers)
    {
      registers->write_raw(address, data);
    }

    // Successful packet read, return address byte.
    return address;
  }
  catch(const SerialTimeout& e)
  {
    ROS_WARN("Timed out waiting for packet from device.");
  }
  catch(const BadChecksum& e)
  {
    ROS_WARN("Discarding packet due to bad checksum.");
  }
  return -1;
}

std::string Comms::checksum(const std::string& s)
{
  uint16_t checksum = 0;
  BOOST_FOREACH(uint8_t ch, s)
  {
    checksum += ch;
  }
  checksum = htons(checksum);
  ROS_DEBUG("Computed checksum on string of length %zd as %04x.", s.length(), checksum);
  std::string out(2, 0);
  memcpy(&out[0], &checksum, 2);
  return out;
}

std::string Comms::message(uint8_t address, std::string data)
{
  uint8_t type = 0;
  if (data.length() > 0)
  {
    type |= PACKET_HAS_DATA;
  }
  if (data.length() > 4)
  {
    type |= PACKET_IS_BATCH;
    type |= (data.length() / 4) << PACKET_BATCH_LENGTH_OFFSET;
  }

  std::stringstream ss(std::stringstream::out | std::stringstream::binary);
  ss << "snp" << type << address << data;
  std::string output = ss.str();
  std::string c = checksum(output);
  ss << c;
  output = ss.str();
  ROS_DEBUG("Generated message %02x of overall length %zd.", address, output.length());
  return output;
}

void Comms::send(const Accessor_& r) const
{
  uint8_t address = r.index;
  std::string data(reinterpret_cast<char*>(r.raw()), r.length * 4);
  serial_->write(message(r.index, data));
}

bool Comms::sendWaitAck(const Accessor_& r)
{
  const uint8_t tries = 5;
  for (uint8_t t = 0; t < tries; t++)
  {
    send(r);
    const uint8_t listens = 20;
    for (uint8_t i = 0; i < listens; i++)
    {
      int16_t received = receive();
      if (received == r.index)
      {
        ROS_DEBUG("Message %02x ack received.", received);
        return true;
      }
      else if (received == -1)
      {
        ROS_DEBUG("Serial read timed out waiting for ack. Attempting to retransmit.");
        break;
      }
    }
  }
  return false;
}
}  // namespace um6