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516 lines
15 KiB
516 lines
15 KiB
/*
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* Remote Laboratory FPGA Server
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*
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* (c) 2012-2013 Timothy Pearson
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* Raptor Engineering
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* http://www.raptorengineeringinc.com
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*/
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#include <stdio.h> /* perror() */
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#include <stdlib.h> /* atoi() */
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <unistd.h> /* read() */
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <netdb.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <termios.h>
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#include <unistd.h>
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#include <sys/signal.h>
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#include <sys/types.h>
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#include <sys/ioctl.h>
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#include <math.h>
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#include <tqtimer.h>
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#include <tdelocale.h>
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#include "fpga_conn.h"
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#include "bbb-gpmc-init.h"
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#define FLUSH_IN 0
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#define FLUSH_OUT 1
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#define FLUSH_BOTH 2
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#define ABORT_SOCKET(s) s->close(); \
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s->disconnect(); \
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delete s; \
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s = NULL;
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/* exception handling */
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struct exit_exception {
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int c;
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exit_exception(int c):c(c) { }
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};
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/*
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The FPGASocket class provides a socket that is connected with a client.
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For every client that connects to the server, the server creates a new
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instance of this class.
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*/
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FPGASocket::FPGASocket(int sock, TQObject *parent, const char *name) :
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TDEKerberosServerSocket(parent, name), m_criticalSection(0), m_pollInterval(10), enableDebug(false), m_loopTimer(NULL), m_config(static_cast<FPGAServer*>(parent)->m_config) {
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// Read settings
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m_config->setGroup("Tuning");
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m_pollInterval = m_config->readNumEntry("pollInterval", m_pollInterval);
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enableDebug = m_config->readBoolEntry("enableDebug", enableDebug);
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// Initialize timers
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m_kerberosInitTimer = new TQTimer();
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connect(m_kerberosInitTimer, SIGNAL(timeout()), this, SLOT(finishKerberosHandshake()));
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setServiceName("ulab");
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line = 0;
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connect(this, SIGNAL(connectionClosed()), SLOT(connectionClosedHandler()));
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connect(this, SIGNAL(connectionClosed()), parent, SLOT(remoteConnectionClosed()));
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setSocket(sock);
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}
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FPGASocket::~FPGASocket() {
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if (m_kerberosInitTimer) {
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m_kerberosInitTimer->stop();
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delete m_kerberosInitTimer;
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m_kerberosInitTimer = NULL;
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}
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if (m_loopTimer) {
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m_loopTimer->stop();
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delete m_loopTimer;
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m_loopTimer = NULL;
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}
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}
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void FPGASocket::close() {
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if (state() == TQSocket::Connected) {
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TDEKerberosServerSocket::close();
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connectionClosedHandler();
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TQTimer::singleShot(0, parent(), SLOT(remoteConnectionClosed()));
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}
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}
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void FPGASocket::connectionClosedHandler() {
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if (enableDebug) {
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printf("[DEBUG] Connection from %s closed\n\r", m_remoteHost.ascii()); fflush(stdout);
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}
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if (m_interfaceType == "gpmc") {
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// Reset user device
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write_gpmc(0x0c, read_gpmc(0x0c) | 0x03);
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usleep(100);
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write_gpmc(0x0c, read_gpmc(0x0c) & ~0x03);
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}
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if (m_criticalSection > 0) {
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throw exit_exception(-1);
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}
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}
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void FPGASocket::initiateKerberosHandshake() {
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setUsingKerberos(true);
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m_kerberosInitTimer->start(100, TRUE);
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}
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void FPGASocket::finishKerberosHandshake() {
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if (kerberosStatus() == TDEKerberosServerSocket::KerberosInitializing) {
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m_kerberosInitTimer->start(100, TRUE);
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return;
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}
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if (kerberosStatus() == TDEKerberosServerSocket::KerberosInUse) {
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m_config->setGroup("Security");
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TQString masterUser = m_config->readEntry("masteruser");
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TQString masterRealm = m_config->readEntry("masterrealm");
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if (masterRealm == "") {
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masterRealm = "(NULL)";
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}
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if ((m_authenticatedUserName != masterUser) || (m_authenticatedRealmName != masterRealm)) {
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if (enableDebug) {
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printf("[DEBUG] Connection from %s closed due to authentication failure (attempted connection as user %s@%s)\n\r", m_remoteHost.ascii(), m_authenticatedUserName.ascii(), m_authenticatedRealmName.ascii()); fflush(stdout);
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}
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close();
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return;
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}
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m_config->setGroup("FPGA");
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m_interfaceType = m_config->readEntry("interface", "serial");
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if (m_interfaceType == "serial") {
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if (setupSerial() != 0) {
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if (enableDebug) {
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printf("[DEBUG] Connection from %s closed due to serial port initialization failure\n\r", m_remoteHost.ascii()); fflush(stdout);
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}
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close();
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return;
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}
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}
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else if (m_interfaceType == "gpmc") {
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if (setupGPMC() != 0) {
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if (enableDebug) {
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printf("[DEBUG] Connection from %s closed due to GPMC initialization failure\n\r", m_remoteHost.ascii()); fflush(stdout);
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}
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close();
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return;
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}
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}
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else {
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if (enableDebug) {
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printf("[DEBUG] Connection from %s closed due to incorrect interface type specification in configuration file\n\r", m_remoteHost.ascii()); fflush(stdout);
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}
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close();
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return;
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}
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// If enabled, reset user FPGA to known good state
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m_config->setGroup("Programming");
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TQString resetScript = m_config->readEntry("userresetscript");
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if (resetScript != "") {
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system(resetScript.ascii());
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}
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TQDataStream ds(this);
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ds.setPrintableData(true);
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ds << TQString("OK");
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writeEndOfFrame();
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enterCommandLoop();
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return;
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}
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else {
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if (enableDebug) {
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printf("[DEBUG] Connection from %s closed due to Kerberos failure\n\r", m_remoteHost.ascii()); fflush(stdout);
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}
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close();
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return;
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}
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}
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int FPGASocket::setupSerial() {
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struct termios oldtio, newtio;
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m_config->setGroup("FPGA");
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TQString serialDevice = m_config->readEntry("serialdevice", "/dev/ttyS0");
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TQString desiredBaudRate = m_config->readEntry("baudrate", "9600");
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m_fd_tty = ::open(serialDevice.ascii(), O_RDWR | O_NOCTTY | O_NONBLOCK | O_APPEND);
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if (m_fd_tty < 0) {
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printf("[FAIL] Unable to open serial device %s\n\r", serialDevice.ascii()); fflush(stdout);
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return 1;
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}
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tcgetattr(m_fd_tty, &oldtio); // Save current port settings
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long serialBaud;
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if (desiredBaudRate == "1200") {
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serialBaud = B1200;
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}
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else if (desiredBaudRate == "9600") {
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serialBaud = B9600;
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}
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else if (desiredBaudRate == "19200") {
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serialBaud = B19200;
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}
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else if (desiredBaudRate == "115200") {
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serialBaud = B115200;
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}
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else {
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printf("[WARNING] Invalid baudrate %s specified, selecting 9600 instead\n\r", desiredBaudRate.ascii()); fflush(stdout);
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serialBaud = B9600;
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}
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bzero(&newtio, sizeof(newtio));
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newtio.c_cflag = serialBaud | CS8 | CLOCAL | CREAD;
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newtio.c_iflag = IGNPAR;
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newtio.c_oflag = 0;
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// Set input mode (non-canonical, no echo,...)
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newtio.c_lflag = 0;
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newtio.c_cc[VTIME] = 0; // Inter-character timer unused
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newtio.c_cc[VMIN] = 0; // Blocking read unused
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tcflush(m_fd_tty, TCIFLUSH);
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tcsetattr(m_fd_tty, TCSANOW, &newtio);
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return 0;
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}
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int FPGASocket::setupGPMC() {
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int i;
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int ret;
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m_stateTXRequested = false;
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m_stateImageRXRequested = false;
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m_stateImageTXRequested = false;
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ret = setup_gpmc_bbb();
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if (ret == 0) {
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// Verify attached uLab hardware model and version
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unsigned char model = read_gpmc(0x00);
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unsigned char version = read_gpmc(0x01);
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if ((model != 0x42) || (version < 1)) {
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printf("A compatible uLab hardware debug interface was not detected! Please verify your configuration.\n");
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return -1;
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}
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printf("[DEBUG] Detected a compatible uLab hardware debug interface (model number 0x%02x, firmware version 0x%02x)\n", model, version);
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// Reset user device
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write_gpmc(0x0c, read_gpmc(0x0c) | 0x03);
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usleep(100);
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write_gpmc(0x0c, read_gpmc(0x0c) & ~0x03);
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// Clear out DSP and LCD RAM
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unsigned char dsp_ram_bits = read_gpmc(0x0b);
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unsigned int dsp_ram_offset = (1 << dsp_ram_bits);
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unsigned int dsp_ram_size = (1 << dsp_ram_bits);
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for (i=0; i<dsp_ram_size; i++) {
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write_gpmc(dsp_ram_offset + i, 0x00);
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}
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for (i=0; i<32; i++) {
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write_gpmc(0x20 + i, 0x00);
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}
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}
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return 0;
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}
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void FPGASocket::commandLoop() {
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int cc;
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int ret;
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char buffer[1024];
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bool transferred_data;
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m_criticalSection++;
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try {
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transferred_data = false;
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if (state() == TQSocket::Connected) {
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if (m_interfaceType == "serial") {
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cc = read(m_fd_tty, buffer, 1024);
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if (cc > 0) {
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writeBlock(buffer, cc);
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flush();
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transferred_data = true;
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if (enableDebug) {
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printf("[DEBUG] Got %d bytes from the serial port\n\r", cc); fflush(stdout);
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}
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}
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if (canReadData()) {
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cc = readBlock(buffer, 1024);
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if (cc > 0) {
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ret = write(m_fd_tty, buffer, cc);
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// HACK
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// This works around a buffer overflow on FTDI serial devices
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// It may not be sufficient for baudrates less than 115200!
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if (cc > 128) {
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usleep(100000);
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}
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while ((ret < 0) && (errno == EAGAIN)) {
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usleep(1000);
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ret = write(m_fd_tty, buffer, cc);
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}
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if (ret < 0) {
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// ERROR
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printf("[ERROR] Failed to transmit data to serial port (%s, code %d)! Continuing, but data was likely lost\n\r", strerror(errno), errno); fflush(stdout);
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}
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ioctl(m_fd_tty, TCFLSH, FLUSH_OUT);
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transferred_data = true;
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if (enableDebug) {
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printf("[DEBUG] Got %d bytes from the network interface\n\r", cc); fflush(stdout);
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}
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}
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}
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}
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else if (m_interfaceType == "gpmc") {
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if (m_stateImageTXRequested) {
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if (read_gpmc(0x0a) & 0x02) {
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m_stateImageTXRequested = false;
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// Transmit image back to client
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unsigned char dsp_ram_bits = read_gpmc(0x0b);
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unsigned int dsp_ram_size = (1 << dsp_ram_bits);
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unsigned int dsp_ram_offset = (1 << dsp_ram_bits);
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TQByteArray dataToSend(dsp_ram_size);
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memcpy_from_gpmc(dataToSend.data(), dsp_ram_offset, dsp_ram_size);
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int offset = 0;
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while (offset <= dsp_ram_size) {
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writeBlock(dataToSend.data()+offset, 1024);
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writeBufferedData();
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offset = offset + 1024;
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}
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}
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}
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else if (m_stateTXRequested) {
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m_stateTXRequested = false;
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char data[42];
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// Read state data from memory map and assemble a reply
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memcpy_from_gpmc(data+0, 0x20, 0x20); // LCD display
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data[32] = 1; // Input mode (locked to Remote)
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data[33] = read_gpmc(0x0b); // Number of address bits of DSP RAM
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data[34] = read_gpmc(0x02); // 4-bit LEDs
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data[35] = read_gpmc(0x03); // 8-bit LEDs
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data[36] = read_gpmc(0x04); // 16-bit LEDs (upper byte)
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data[37] = read_gpmc(0x05); // 16-bit LEDs (lower byte)
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memcpy_from_gpmc(data+38, 0x06, 0x04); // 7-segment LED display
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writeBlock(data, 42);
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writeBufferedData();
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}
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if (canReadData()) {
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int read_offset = 0;
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cc = readBlock(buffer, 1024);
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if (cc > 0) {
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if (m_stateImageRXRequested) {
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unsigned char dsp_ram_bits = read_gpmc(0x0b);
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unsigned int dsp_ram_offset = (1 << dsp_ram_bits);
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unsigned int dsp_ram_size = (1 << dsp_ram_bits);
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memcpy_to_gpmc(buffer, (dsp_ram_offset + m_stateImageRXCounter), cc);
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m_stateImageRXCounter = m_stateImageRXCounter + cc;
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if (m_stateImageRXCounter >= dsp_ram_size) {
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m_stateImageRXRequested = false;
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m_stateImageTXRequested = true;
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// Start user processing
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write_gpmc(0x0a, read_gpmc(0x0a) | 0x01);
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}
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}
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else {
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// Parse and write state data to the memory map
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while (read_offset < cc) {
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if (buffer[read_offset+0] == 'M') {
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// Receive image data and store in FPGA memory
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m_stateImageRXRequested = true;
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m_stateImageTXRequested = false;
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m_stateImageRXCounter = 0;
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read_offset = read_offset + 2;
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}
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else if (buffer[read_offset+0] == 'L') {
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m_stateTXRequested = true;
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read_offset = read_offset + 2;
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}
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else if (buffer[read_offset+0] == 'I') {
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write_gpmc(0x02, buffer[read_offset+2]);
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read_offset = read_offset + 4;
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}
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else if (buffer[read_offset+0] == 'B') {
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write_gpmc(0x03, buffer[read_offset+2]);
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read_offset = read_offset + 4;
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}
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else if (buffer[read_offset+0] == 'C') {
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write_gpmc(0x04, buffer[read_offset+2]);
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write_gpmc(0x05, buffer[read_offset+4]);
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read_offset = read_offset + 6;
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}
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else if (buffer[read_offset+0] == 'R') {
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write_gpmc(0x0c, read_gpmc(0x0c) | 0x01);
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usleep(100);
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write_gpmc(0x0c, read_gpmc(0x0c) & ~0x01);
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read_offset = read_offset + 2;
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}
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else {
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printf("[WARNING] Received invalid command '%c' from client! Dazed and confused, but continuing...\n", buffer[read_offset+0]);
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read_offset = read_offset + 2;
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}
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}
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if (m_stateImageTXRequested) {
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m_stateImageTXRequested = false;
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}
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}
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transferred_data = true;
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if (enableDebug) {
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printf("[DEBUG] Got %d bytes from the network interface\n\r", cc); fflush(stdout);
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}
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}
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}
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}
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}
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m_criticalSection--;
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if (transferred_data) {
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if (m_loopTimer) m_loopTimer->start(0, TRUE);
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}
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else {
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if (m_loopTimer) m_loopTimer->start(m_pollInterval, TRUE);
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}
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return;
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}
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catch (...) {
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m_criticalSection--;
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return;
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}
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}
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int FPGASocket::enterCommandLoop() {
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if (!m_loopTimer) {
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m_loopTimer = new TQTimer();
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connect(m_loopTimer, SIGNAL(timeout()), this, SLOT(commandLoop()));
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}
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if (m_loopTimer) m_loopTimer->start(0, TRUE);
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return 0;
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}
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/*
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The FPGAServer class handles new connections to the server. For every
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client that connects, it creates a new FPGASocket -- that instance is now
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responsible for the communication with that client.
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*/
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FPGAServer::FPGAServer(TQObject* parent, int port, KSimpleConfig* config) :
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TQServerSocket( port, 1, parent ), m_config(config), m_numberOfConnections(0) {
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if ( !ok() ) {
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printf("[ERROR] Failed to bind to port %d\n\r", port);
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exit(1);
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}
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// If enabled, setup control FPGA
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m_config->setGroup("Programming");
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TQString setupControlFPGAScript = m_config->readEntry("controlstartupscript");
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if (setupControlFPGAScript != "") {
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printf("[INFO] Setting up control FPGA\n\r"); fflush(stdout);
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system(setupControlFPGAScript.ascii());
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}
|
|
|
|
printf("[INFO] Server started on port %d\n\r", port); fflush(stdout);
|
|
}
|
|
|
|
FPGAServer::~FPGAServer() {
|
|
//
|
|
}
|
|
|
|
void FPGAServer::newConnection(int socket) {
|
|
FPGASocket *s = new FPGASocket(socket, this);
|
|
s->m_remoteHost = s->peerAddress().toString();
|
|
printf("[DEBUG] New connection from %s\n\r", s->m_remoteHost.ascii()); fflush(stdout);
|
|
if (m_numberOfConnections > 0) {
|
|
printf("[DEBUG] Connection from %s closed due to multiple access attempt\n\r", s->m_remoteHost.ascii()); fflush(stdout);
|
|
ABORT_SOCKET(s)
|
|
return;
|
|
}
|
|
connect(s, SIGNAL(connectionClosed()), s, SLOT(deleteLater()));
|
|
s->initiateKerberosHandshake();
|
|
emit newConnect(s);
|
|
}
|
|
|
|
void FPGAServer::remoteConnectionClosed() {
|
|
m_numberOfConnections--;
|
|
}
|