93a22ae17f
* support for doubles in radio * fix typos * more docs * more support * fix build * handle serial * fix length * fixing buffer allocation * use same notation * using decrRC
522 lines
17 KiB
C++
522 lines
17 KiB
C++
#include "pxt.h"
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using namespace pxt;
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#define MAX_FIELD_NAME_LENGTH 12
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#define MAX_FIELD_DOUBLE_NAME_LENGTH 8
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#define MAX_PAYLOAD_LENGTH 20
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#define PACKET_PREFIX_LENGTH 9
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#define VALUE_PACKET_NAME_LEN_OFFSET 13
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#define DOUBLE_VALUE_PACKET_NAME_LEN_OFFSET 17
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// Packet Spec:
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// | 0 | 1 ... 4 | 5 ... 8 | 9 ... 28
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// ----------------------------------------------------------------
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// | packet type | system time | serial number | payload
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//
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// Serial number defaults to 0 unless enabled by user
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// payload: number (9 ... 12)
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#define PACKET_TYPE_NUMBER 0
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// payload: number (9 ... 12), name length (13), name (14 ... 26)
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#define PACKET_TYPE_VALUE 1
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// payload: string length (9), string (10 ... 28)
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#define PACKET_TYPE_STRING 2
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// payload: buffer length (9), buffer (10 ... 28)
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#define PACKET_TYPE_BUFFER 3
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// payload: number (9 ... 16)
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#define PACKET_TYPE_DOUBLE 4
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// payload: number (9 ... 16), name length (17), name (18 ... 26)
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#define PACKET_TYPE_DOUBLE_VALUE 5
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//% color=#E3008C weight=96 icon="\uf012"
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namespace radio {
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// -------------------------------------------------------------------------
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// Radio
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// -------------------------------------------------------------------------
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bool radioEnabled = false;
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bool transmitSerialNumber = false;
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PacketBuffer packet;
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uint8_t type;
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uint32_t time;
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uint32_t serial;
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int ivalue;
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double dvalue;
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String msg; // may be NULL before first packet
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Buffer bufMsg; // may be NULL before first packet
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int radioEnable() {
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int r = uBit.radio.enable();
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if (r != MICROBIT_OK) {
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uBit.panic(43);
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return r;
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}
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if (!radioEnabled) {
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uBit.radio.setGroup(pxt::programHash());
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uBit.radio.setTransmitPower(6); // start with high power by default
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radioEnabled = true;
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}
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return r;
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}
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/**
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* Sends an event over radio to neigboring devices
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*/
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//% blockId=radioRaiseEvent block="radio raise event|from source %src=control_event_source_id|with value %value=control_event_value_id"
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//% blockExternalInputs=1
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//% advanced=true
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//% weight=1
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//% help=radio/raise-event
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void raiseEvent(int src, int value) {
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if (radioEnable() != MICROBIT_OK) return;
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uBit.radio.event.eventReceived(MicroBitEvent(src, value, CREATE_ONLY));
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}
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void setPacketPrefix(uint8_t* buf, int type) {
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// prefix: type (0), time (1..4), serial (5..8)
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uint32_t t = system_timer_current_time();
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uint32_t sn = transmitSerialNumber ? microbit_serial_number() : 0;
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buf[0] = (uint8_t) type;
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memcpy(buf + 1, &t, 4);
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memcpy(buf + 5, &sn, 4);
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}
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uint8_t copyStringValue(uint8_t* buf, String data, uint8_t maxLength) {
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uint8_t len = min_(maxLength, data->length);
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// One byte for length of the string
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buf[0] = len;
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if (len > 0) {
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memcpy(buf + 1, data->data, len);
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}
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return len + 1;
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}
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String getStringValue(uint8_t* buf, uint8_t maxLength) {
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// First byte is the string length
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uint8_t len = min_(maxLength, buf[0]);
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return mkString((char*)buf + 1, len);
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}
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uint8_t copyBufferValue(uint8_t* buf, Buffer data, uint8_t maxLength) {
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uint8_t len = min_(maxLength, data->length);
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// One byte for length of the buffer
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buf[0] = len;
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if (len > 0) {
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memcpy(buf + 1, data->data, len);
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}
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return len + 1;
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}
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Buffer getBufferValue(uint8_t* buf, uint8_t maxLength) {
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// First byte is the buffer length
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uint8_t len = min_(maxLength, buf[0]);
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// skip first byte
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return mkBuffer(buf + 1, len);
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}
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void writePacketAsJSON(uint8_t tp, int iv, double dv, int s, int t, String m, Buffer b) {
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// Convert the packet to JSON and send over serial
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uBit.serial.send("{");
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uBit.serial.send("\"t\":");
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uBit.serial.send(t);
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uBit.serial.send(",\"s\":");
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uBit.serial.send(s);
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if ((tp == PACKET_TYPE_STRING || tp == PACKET_TYPE_VALUE) && NULL != m) {
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uBit.serial.send(",\"n\":\"");
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uBit.serial.send((uint8_t*)m->data, m->length);
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uBit.serial.send("\"");
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}
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if (tp == PACKET_TYPE_BUFFER && NULL != b) {
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uBit.serial.send(",\"b\":\"");
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// TODO: proper base64 encoding
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uBit.serial.send(b->data, b->length);
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uBit.serial.send("\"");
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}
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if (tp == PACKET_TYPE_NUMBER || tp == PACKET_TYPE_VALUE) {
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uBit.serial.send(",\"v\":");
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uBit.serial.send(iv);
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} else if (tp == PACKET_TYPE_DOUBLE || tp == PACKET_TYPE_DOUBLE_VALUE) {
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uBit.serial.send(",\"v\":");
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TNumber td = fromDouble(dv);
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String sd = numops::toString(td);
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uBit.serial.send((uint8_t*)sd->data, sd->length);
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decrRC(sd);
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}
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uBit.serial.send("}\r\n");
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}
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/**
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* Takes a packet from the micro:bit radio queue.
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* @param writeToSerial if true, write the received packet to serial without updating the global packet;
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if false, update the global packet instead
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*/
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void receivePacket(bool writeToSerial) {
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PacketBuffer p = uBit.radio.datagram.recv();
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uint8_t* buf = p.getBytes();
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uint8_t tp;
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int t;
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int s;
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int iv = 0;
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double dv = 0;
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String m = NULL;
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Buffer b = NULL;
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memcpy(&tp, buf, 1);
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memcpy(&t, buf + 1, 4);
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memcpy(&s, buf + 5, 4);
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switch(tp) {
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case PACKET_TYPE_STRING:
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m = getStringValue(buf + PACKET_PREFIX_LENGTH, MAX_PAYLOAD_LENGTH - 1);
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break;
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case PACKET_TYPE_BUFFER:
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b = getBufferValue(buf + PACKET_PREFIX_LENGTH, MAX_PAYLOAD_LENGTH - 1);
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break;
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case PACKET_TYPE_DOUBLE:
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case PACKET_TYPE_DOUBLE_VALUE:
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memcpy(&dv, buf + PACKET_PREFIX_LENGTH, sizeof(double));
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if (tp == PACKET_TYPE_DOUBLE_VALUE) {
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m = getStringValue(buf + DOUBLE_VALUE_PACKET_NAME_LEN_OFFSET, MAX_FIELD_DOUBLE_NAME_LENGTH);
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}
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break;
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case PACKET_TYPE_NUMBER:
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case PACKET_TYPE_VALUE:
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memcpy(&iv, buf + PACKET_PREFIX_LENGTH, sizeof(int));
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if (tp == PACKET_TYPE_VALUE) {
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m = getStringValue(buf + VALUE_PACKET_NAME_LEN_OFFSET, MAX_FIELD_NAME_LENGTH);
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}
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break;
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default: // unknown packet
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return;
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}
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if (NULL == m)
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m = mkString("", 0);
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if (NULL == b)
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b = mkBuffer(NULL, 0);
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if (!writeToSerial) {
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// Refresh global packet
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packet = p;
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type = tp;
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time = t;
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serial = s;
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ivalue = iv;
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dvalue = dv;
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decrRC(msg);
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decrRC(bufMsg);
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msg = m;
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bufMsg = b;
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}
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else {
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writePacketAsJSON(tp, iv, dv, s, t, m, b);
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decrRC(m);
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decrRC(b);
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}
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}
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/**
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* Broadcasts a number over radio to any connected micro:bit in the group.
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*/
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//% help=radio/send-number
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//% weight=60
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//% blockId=radio_datagram_send block="radio send number %value" blockGap=8
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void sendNumber(TNumber value) {
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if (radioEnable() != MICROBIT_OK) return;
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int iv = toInt(value);
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double dv = toDouble(value);
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if (iv == dv) {
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uint8_t length = PACKET_PREFIX_LENGTH + sizeof(int);
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uint8_t buf[length];
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memset(buf, 0, length);
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setPacketPrefix(buf, PACKET_TYPE_NUMBER);
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memcpy(buf + PACKET_PREFIX_LENGTH, &iv, sizeof(int));
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uBit.radio.datagram.send(buf, length);
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} else {
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uint8_t length = PACKET_PREFIX_LENGTH + sizeof(double);
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uint8_t buf[length];
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memset(buf, 0, length);
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setPacketPrefix(buf, PACKET_TYPE_DOUBLE);
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memcpy(buf + PACKET_PREFIX_LENGTH, &dv, sizeof(double));
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uBit.radio.datagram.send(buf, length);
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}
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}
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/**
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* Broadcasts a name / value pair along with the device serial number
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* and running time to any connected micro:bit in the group.
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* @param name the field name (max 12 characters), eg: "name"
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* @param value the numberic value
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*/
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//% help=radio/send-value
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//% weight=59
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//% blockId=radio_datagram_send_value block="radio send|value %name|= %value" blockGap=8
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void sendValue(String name, TNumber value) {
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if (radioEnable() != MICROBIT_OK) return;
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uint8_t buf[32];
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memset(buf, 0, 32);
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int iv = toInt(value);
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double dv = toDouble(value);
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if (iv == dv) {
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setPacketPrefix(buf, PACKET_TYPE_VALUE);
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memcpy(buf + PACKET_PREFIX_LENGTH, &iv, sizeof(int));
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int stringLen = copyStringValue(buf + VALUE_PACKET_NAME_LEN_OFFSET, name, MAX_FIELD_DOUBLE_NAME_LENGTH);
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uBit.radio.datagram.send(buf, VALUE_PACKET_NAME_LEN_OFFSET + stringLen);
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} else {
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setPacketPrefix(buf, PACKET_TYPE_DOUBLE_VALUE);
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memcpy(buf + PACKET_PREFIX_LENGTH, &dv, sizeof(double));
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int stringLen = copyStringValue(buf + DOUBLE_VALUE_PACKET_NAME_LEN_OFFSET, name, MAX_FIELD_NAME_LENGTH);
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uBit.radio.datagram.send(buf, DOUBLE_VALUE_PACKET_NAME_LEN_OFFSET + stringLen);
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}
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}
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/**
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* Broadcasts a string along with the device serial number
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* and running time to any connected micro:bit in the group.
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*/
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//% help=radio/send-string
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//% weight=58
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//% blockId=radio_datagram_send_string block="radio send string %msg"
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//% msg.shadowOptions.toString=true
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void sendString(String msg) {
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if (radioEnable() != MICROBIT_OK || NULL == msg) return;
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uint8_t buf[32];
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memset(buf, 0, 32);
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setPacketPrefix(buf, PACKET_TYPE_STRING);
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int stringLen = copyStringValue(buf + PACKET_PREFIX_LENGTH, msg, MAX_PAYLOAD_LENGTH - 1);
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uBit.radio.datagram.send(buf, PACKET_PREFIX_LENGTH + stringLen);
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}
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/**
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* Broadcasts a buffer (up to 19 bytes long) along with the device serial number
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* and running time to any connected micro:bit in the group.
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*/
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//% help=radio/send-buffer
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//% weight=57
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//% advanced=true
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void sendBuffer(Buffer msg) {
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if (radioEnable() != MICROBIT_OK || NULL == msg) return;
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uint8_t buf[32];
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memset(buf, 0, 32);
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setPacketPrefix(buf, PACKET_TYPE_BUFFER);
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int bufLen = copyBufferValue(buf + PACKET_PREFIX_LENGTH, msg, MAX_PAYLOAD_LENGTH - 1);
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uBit.radio.datagram.send(buf, PACKET_PREFIX_LENGTH + bufLen);
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}
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/**
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* Reads the next packet from the radio queue and and writes it to serial
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* as JSON.
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*/
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//% help=radio/write-value-to-serial
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//% weight=3
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//% blockId=radio_write_value_serial block="radio write value to serial"
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//% deprecated=true
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void writeValueToSerial() {
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if (radioEnable() != MICROBIT_OK) return;
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receivePacket(true);
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}
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/**
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* Writes the last received packet to serial as JSON. This should be called
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* within an ``onDataPacketReceived`` callback.
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*/
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//% help=radio/write-received-packet-to-serial
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//% weight=3
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//% blockId=radio_write_packet_serial block="radio write received packet to serial"
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//% advanced=true
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void writeReceivedPacketToSerial() {
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if (radioEnable() != MICROBIT_OK) return;
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writePacketAsJSON(type, ivalue, dvalue, (int) serial, (int) time, msg, bufMsg);
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}
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TNumber readNumber() {
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if (type == PACKET_TYPE_NUMBER || type == PACKET_TYPE_VALUE)
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return fromInt(ivalue);
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else if (type == PACKET_TYPE_DOUBLE || type == PACKET_TYPE_DOUBLE_VALUE)
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return fromDouble(dvalue);
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else
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return fromInt(0);
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}
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/**
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* Reads the next packet from the radio queue and returns the packet's number
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* payload or 0 if the packet did not contain a number.
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*/
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//% help=radio/receive-number
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//% weight=46
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//% blockId=radio_datagram_receive block="radio receive number" blockGap=8
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//% deprecated=true
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TNumber receiveNumber()
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{
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if (radioEnable() != MICROBIT_OK) return 0;
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receivePacket(false);
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return readNumber();
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}
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/**
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* Registers code to run when a packet is received over radio.
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*/
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//% help=radio/on-data-received
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//% weight=50
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//% blockId=radio_datagram_received_event block="radio on data received" blockGap=8
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//% deprecated=true
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void onDataReceived(Action body) {
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if (radioEnable() != MICROBIT_OK) return;
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registerWithDal(MICROBIT_ID_RADIO, MICROBIT_RADIO_EVT_DATAGRAM, body);
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// make sure the receive buffer has a free spot
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receivePacket(false);
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}
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/**
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* Reads the next packet from the radio queue and returns the packet's string
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* payload or the empty string if the packet did not contain a string.
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*/
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//% blockId=radio_datagram_receive_string block="radio receive string" blockGap=8
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//% weight=44
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//% help=radio/receive-string
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//% deprecated=true
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String receiveString() {
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if (radioEnable() != MICROBIT_OK) return mkString("", 0);
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receivePacket(false);
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return msg;
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}
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/**
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* Gets the received signal strength indicator (RSSI) from the last packet taken
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* from the radio queue (via ``receiveNumber``, ``receiveString``, etc). Not supported in simulator.
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* namespace=radio
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*/
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//% help=radio/received-signal-strength
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//% weight=40
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//% blockId=radio_datagram_rssi block="radio received signal strength"
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//% deprecated=true
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int receivedSignalStrength() {
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if (radioEnable() != MICROBIT_OK) return 0;
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return packet.getRSSI();
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}
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/**
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* Sets the group id for radio communications. A micro:bit can only listen to one group ID at any time.
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* @param id the group id between ``0`` and ``255``, eg: 1
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*/
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//% help=radio/set-group
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//% weight=10 blockGap=8
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//% blockId=radio_set_group block="radio set group %ID"
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//% id.min=0 id.max=255
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void setGroup(int id) {
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if (radioEnable() != MICROBIT_OK) return;
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uBit.radio.setGroup(id);
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}
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/**
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* Change the output power level of the transmitter to the given value.
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* @param power a value in the range 0..7, where 0 is the lowest power and 7 is the highest. eg: 7
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*/
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//% help=radio/set-transmit-power
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//% weight=9 blockGap=8
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//% blockId=radio_set_transmit_power block="radio set transmit power %power"
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//% power.min=0 power.max=7
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//% advanced=true
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void setTransmitPower(int power) {
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if (radioEnable() != MICROBIT_OK) return;
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uBit.radio.setTransmitPower(power);
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}
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/**
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* Set the radio to transmit the serial number in each message.
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* @param transmit value indicating if the serial number is transmitted, eg: true
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*/
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//% help=radio/set-transmit-serial-number
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//% weight=8 blockGap=8
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//% blockId=radio_set_transmit_serial_number block="radio set transmit serial number %transmit"
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//% advanced=true
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void setTransmitSerialNumber(bool transmit) {
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if (radioEnable() != MICROBIT_OK) return;
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transmitSerialNumber = transmit;
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}
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/**
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* Returns the number payload from the last packet taken from the radio queue
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* (via ``receiveNumber``, ``receiveString``, etc) or 0 if that packet did not
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* contain a number.
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*/
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//% help=radio/received-number
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TNumber receivedNumber() {
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if (radioEnable() != MICROBIT_OK) return 0;
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return readNumber();
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}
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/**
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* Returns the serial number of the sender micro:bit from the last packet taken
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* from the radio queue (via ``receiveNumber``, ``receiveString``, etc) or 0 if
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* that packet did not send a serial number.
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*/
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//% help=radio/received-serial
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uint32_t receivedSerial() {
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if (radioEnable() != MICROBIT_OK) return 0;
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return serial;
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}
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/**
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* Returns the string payload from the last packet taken from the radio queue
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* (via ``receiveNumber``, ``receiveString``, etc) or the empty string if that
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* packet did not contain a string.
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*/
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//% help=radio/received-string
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String receivedString() {
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if (radioEnable() != MICROBIT_OK || NULL == msg) return mkString("", 0);
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incrRC(msg);
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return msg;
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|
}
|
|
|
|
/**
|
|
* Returns the buffer payload from the last packet taken from the radio queue
|
|
* (via ``receiveNumber``, ``receiveString``, etc) or the empty string if that
|
|
* packet did not contain a string.
|
|
*/
|
|
//% help=radio/received-buffer
|
|
Buffer receivedBuffer() {
|
|
if (radioEnable() != MICROBIT_OK || NULL == bufMsg) return mkBuffer(NULL, 0);
|
|
incrRC(bufMsg);
|
|
return bufMsg;
|
|
}
|
|
|
|
/**
|
|
* Returns the system time of the sender micro:bit at the moment when it sent the
|
|
* last packet taken from the radio queue (via ``receiveNumber``,
|
|
* ``receiveString``, etc).
|
|
*/
|
|
//% help=radio/received-time
|
|
uint32_t receivedTime() {
|
|
if (radioEnable() != MICROBIT_OK) return 0;
|
|
return time;
|
|
}
|
|
}
|