Start working on remote control server

sw/.gitignore

@@ -1,5 +1,6 @@
 devicetree/devicetree.dtb
 buildroot_overlay/opt/puzzlefw/bin/puzzlecmd
+buildroot_overlay/opt/puzzlefw/bin/remotectl
 buildroot_overlay/opt/puzzlefw/driver/
 downloads/
 buildroot-2023.02.8/

sw/src/userspace/Makefile

@@ -8,17 +8,19 @@ CFLAGS = -Wall -O2
 CXXFLAGS = -std=c++17 -Wall -Wno-psabi -O2
 
 .PHONY: all
-all: puzzlecmd
+all: puzzlecmd remotectl
 
 puzzlecmd: puzzlecmd.o puzzlefw.o
 	$(CXX) -o $@ $(LDFLAGS) $^
 
-puzzlecmd.o: puzzlecmd.cpp logging.hpp puzzlefw.hpp interrupt_manager.hpp data_server.hpp
+remotectl: remotectl.o puzzlefw.o
-puzzlefw.o: puzzlefw.cpp puzzlefw.hpp
+	$(CXX) -o $@ $(LDFLAGS) $^
 
-testje: testje.c
+puzzlecmd.o: puzzlecmd.cpp logging.hpp puzzlefw.hpp interrupt_manager.hpp data_server.hpp
+remotectl.o: remotectl.cpp logging.hpp puzzlefw.hpp interrupt_manager.hpp data_server.hpp version.hpp
+puzzlefw.o: puzzlefw.cpp puzzlefw.hpp
 
 .PHONY: clean
 clean:
-	$(RM) -f -- puzzlecmd testje *.o
+	$(RM) -f -- puzzlecmd remotectl *.o
 

sw/src/userspace/data_server.hpp

@@ -13,6 +13,7 @@
 #include <stdint.h>
 #include <chrono>
 #include <iomanip>
+#include <sstream>
 #include <stdexcept>
 #include <system_error>
 #include <thread>
@@ -82,11 +83,17 @@ public:
         m_dma_stream.disable_interrupt();
     }
 
+    /** Return the Asio strand that runs all handlers for this object. */
+    asio::strand<asio::io_context::executor_type> get_executor()
+    {
+        return m_strand;
+    }
+
     /**
      * Start the server.
      *
-     * This method must not be called directly while a multi-threaded Asio
+     * If a multi-threaded Asio event loop is running, this method may only
-     * event loop is running. In that case, use "async_start_server()".
+     * be called through the strand returned by "get_executor()".
      */
     void start_server()
     {
@@ -113,7 +120,7 @@ public:
 
         // Asynchronously accept connections.
         m_acceptor.async_accept(
-            [this](auto& ec, auto s){ handle_accept(ec, std::move(s)); });
+            [this](auto ec, auto s){ handle_accept(ec, std::move(s)); });
 
         log(LOG_INFO, "Ready for TCP connections to port %d", m_tcp_port);
     }
@@ -121,8 +128,8 @@ public:
     /**
      * Stop the server and close current connections.
      *
-     * This method must not be called directly while a multi-threaded Asio
+     * If a multi-threaded Asio event loop is running, this method may only
-     * event loop is running. In that case, use "async_stop_server()".
+     * be called through the strand returned by "get_executor()".
      */
     void stop_server()
     {
@@ -144,46 +151,6 @@ public:
         }
     }
 
-    /**
-     * Submit a call to "start_server()" to be executed in the strand
-     * of this server instance.
-     *
-     * After starting the server, the specified completion handler will
-     * be submitted for execution.
-     *
-     * This method may safely be called from any thread.
-     */
-    template <typename Handler>
-    void async_start_server(Handler&& handler)
-    {
-        asio::post(
-            m_strand,
-            [this, handler] () mutable {
-                start_server();
-                asio::post(m_strand, handler);
-            });
-    }
-
-    /**
-     * Submit a call to "stop_server()" to be executed in the strand
-     * of this server instance.
-     *
-     * After stopping the server, the specified completion handler will
-     * be submitted for execution.
-     *
-     * This method may safely be called from any thread.
-     */
-    template <typename Handler>
-    void async_stop_server(Handler&& handler)
-    {
-        asio::post(
-            m_strand,
-            [this, handler] () mutable {
-                stop_server();
-                asio::post(m_strand, handler);
-            });
-    }
-
     /**
      * Called when an FPGA interrupt occurs.
      *
@@ -206,7 +173,7 @@ private:
     /**
      * Re-initialize DMA stream and discard stale data from the DMA buffer.
      *
-     * Do not call this while an async_send() operation is in progress.
+     * Do not call this while an async_write() operation is in progress.
      */
     void discard_stale_data()
     {
@@ -228,7 +195,7 @@ private:
     }
 
     /** Accept completion handler. */
-    void handle_accept(const boost::system::error_code& error,
+    void handle_accept(boost::system::error_code error,
                        asio::ip::tcp::socket conn)
     {
         if (error) {
@@ -256,7 +223,7 @@ private:
                 // Retry accept call.
                 if (m_acceptor.is_open()) {
                     m_acceptor.async_accept(
-                        [this](auto& ec, auto s) {
+                        [this](auto ec, auto s) {
                             handle_accept(ec, std::move(s));
                         });
                 }
@@ -281,7 +248,7 @@ private:
         if (m_acceptor.is_open()) {
             // Continue accepting connections.
             m_acceptor.async_accept(
-                [this](auto& ec, auto s){ handle_accept(ec, std::move(s)); });
+                [this](auto ec, auto s){ handle_accept(ec, std::move(s)); });
         }
 
         if (m_connection.is_open()) {
@@ -302,7 +269,7 @@ private:
             // closed remotely (or client writes unexpected data).
             m_connection.async_receive(
                 asio::buffer(m_receive_buf, sizeof(m_receive_buf)),
-                [this](auto& ec, size_t n){ handle_receive(ec, n); });
+                [this](auto ec, size_t n){ handle_receive(ec, n); });
         }
 
         // Clear buffer, then enable DMA stream.
@@ -314,7 +281,7 @@ private:
     }
 
     /** Receive completion handler. */
-    void handle_receive(const boost::system::error_code& error, size_t len)
+    void handle_receive(boost::system::error_code error, size_t len)
     {
         if (m_stale_receive) {
             // This completion refers to an old, already closed connection.
@@ -324,7 +291,7 @@ private:
                 // Initiate async receive for the new connection.
                 m_connection.async_receive(
                     asio::buffer(m_receive_buf, sizeof(m_receive_buf)),
-                    [this](auto& ec, size_t n){ handle_receive(ec, n); });
+                    [this](auto ec, size_t n){ handle_receive(ec, n); });
             }
 
             return;
@@ -359,10 +326,9 @@ private:
     }
 
     /** Send completion handler. */
-    void handle_send(const boost::system::error_code& error, size_t len)
+    void handle_send(boost::system::error_code error, size_t len)
     {
         assert(m_send_in_progress);
-        assert(m_send_size > 0);
 
         m_send_in_progress = false;
 
@@ -394,22 +360,14 @@ private:
             return;
         }
 
-        if (len < m_send_buffer.size()) {
+        // Send operation completed.
-            // Partially completed. Send the rest.
-            m_send_buffer += len;
-            m_send_in_progress = true;
-            m_connection.async_send(
-                m_send_buffer,
-                [this](auto& ec, size_t n){ handle_send(ec, n); });
-        } else {
-            // Fully completed.
         // Release the completed part of the DMA buffer.
-            m_dma_stream.consume_data(m_send_size);
+        assert(len == m_send_buffer.size());
+        m_dma_stream.consume_data(m_send_buffer.size());
 
         // Try to send more data.
         transmit_data(false);
     }
-    }
 
     /**
      * Try to send data from the DMA buffer to the TCP connection.
@@ -447,7 +405,7 @@ private:
                 // If timeout occurs, we will send whatever data is available.
                 m_timer.expires_after(WAIT_TIMEOUT);
                 m_timer.async_wait(
-                    [this](auto& ec){ handle_timer(ec); });
+                    [this](auto ec){ handle_timer(ec); });
 
                 // Done. We will be notified for interrupt or timeout.
                 return;
@@ -467,16 +425,15 @@ private:
         // Initiate async send.
         // Limit the block size so we can release that part of the buffer
         // as soon as it completes.
-        m_send_size = std::min(data_available, SEND_MAX_BLOCK);
+        size_t block_size = std::min(data_available, SEND_MAX_BLOCK);
-        m_send_buffer = asio::buffer(data, m_send_size);
+        m_send_buffer = asio::buffer(data, block_size);
         m_send_in_progress = true;
-        m_connection.async_send(
+        asio::async_write(m_connection, m_send_buffer,
-            m_send_buffer,
+                         [this](auto ec, size_t n){ handle_send(ec, n); });
-            [this](auto& ec, size_t n){ handle_send(ec, n); });
     }
 
     /** Timeout handler. */
-    void handle_timer(const boost::system::error_code& error)
+    void handle_timer(boost::system::error_code error)
     {
         if (error) {
             // Ignore error due to cancellation.
@@ -520,7 +477,6 @@ private:
     bool                    m_stale_receive;
     bool                    m_stale_send;
     bool                    m_send_in_progress;
-    size_t                  m_send_size;
     asio::const_buffer      m_send_buffer;
 };
 
@@ -541,7 +497,7 @@ public:
       , m_interval(interval)
     {
         m_timer.expires_after(m_interval);
-        m_timer.async_wait([this](auto& ec){ handle_timer(ec); });
+        m_timer.async_wait([this](auto ec){ handle_timer(ec); });
     }
 
     // Delete copy constructor and assignment operator.
@@ -567,7 +523,7 @@ public:
 
 private:
     /** Timeout handler. */
-    void handle_timer(const boost::system::error_code& error)
+    void handle_timer(boost::system::error_code error)
     {
         if (error) {
             // Ignore error due to cancellation.
@@ -580,7 +536,7 @@ private:
         }
 
         m_timer.expires_after(m_interval);
-        m_timer.async_wait([this](auto& ec){ handle_timer(ec); });
+        m_timer.async_wait([this](auto ec){ handle_timer(ec); });
 
         check_dma_error();
     }

sw/src/userspace/interrupt_manager.hpp

@@ -74,7 +74,7 @@ public:
 
 private:
     /** Called when an FPGA interrupt occurs. */
-    void handle_wait(const boost::system::error_code& error)
+    void handle_wait(boost::system::error_code error)
     {
         if (error) {
             // Ignore error due to cancellation.
@@ -100,7 +100,7 @@ private:
 
         // Wait for next interrupt.
         m_uio_fd.async_wait(asio::posix::descriptor_base::wait_read,
-                            [this](auto& ec){ handle_wait(ec); });
+                            [this](auto ec){ handle_wait(ec); });
     }
 
     PuzzleFwDevice&                 m_device;

sw/src/userspace/puzzlecmd.cpp

@@ -2,6 +2,8 @@
  *  puzzlecmd.cpp
  *
  *  Command-line program to test PuzzleFW firmware.
+ *
+ *  Joris van Rantwijk 2024
  */
 
 #include <limits.h>
@@ -120,7 +122,7 @@ void run_data_server(puzzlefw::PuzzleFwDevice& device)
     // Catch Ctrl-C for controlled shut down.
     asio::signal_set signals(io, SIGINT);
     signals.async_wait(
-        [&io](auto& ec, int sig) {
+        [&io](auto ec, int sig) {
             log(LOG_INFO, "Got SIGINT, stopping server");
             io.stop();
         });

sw/src/userspace/version.hpp

@@ -0,0 +1,2 @@
+#define PUZZLEFW_SW_MAJOR 0
+#define PUZZLEFW_SW_MINOR 1