diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..13c162f --- /dev/null +++ b/.clang-format @@ -0,0 +1,27 @@ +--- +BasedOnStyle: WebKit +AccessModifierOffset: -2 +AlignEscapedNewlines: Left +AlignOperands: Align +AllowShortEnumsOnASingleLine: false +RemoveBracesLLVM: true +AllowShortFunctionsOnASingleLine: Empty +BraceWrapping: + AfterFunction: false +BreakBeforeBraces: Attach +CompactNamespaces: true +ConstructorInitializerAllOnOneLineOrOnePerLine: true +Cpp11BracedListStyle: true +IndentCaseBlocks: true +IndentCaseLabels: true +IndentPPDirectives: BeforeHash +PackConstructorInitializers: Never +SpaceBeforeCpp11BracedList: false +SpaceInEmptyBlock: false +SpacesInContainerLiterals: false +NamespaceIndentation: Inner +AlignConsecutiveMacros: + Enabled: true +InsertTrailingCommas: Wrapped +BinPackArguments: false +BinPackParameters: false \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..d90e867 --- /dev/null +++ b/.gitignore @@ -0,0 +1,4 @@ +build/ +.cache/ +.vscode +.vs \ No newline at end of file diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..05f42b0 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "external/imgui"] + path = external/imgui + url = https://github.com/ocornut/imgui/ diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..d79ea1f --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.20 FATAL_ERROR) + +project(DeckTX LANGUAGES CXX C VERSION 1.0.0) + +# Dependencies +set(BUILD_TESTS OFF) +set(BUILD_SHARED_LIBS OFF) + +# CPM +include(external/CPM.cmake) + +CPMAddPackage("gh:fmtlib/fmt#11.0.1") +CPMAddPackage("gh:libsdl-org/SDL#9406a9d527fc4436ade12ca3ce1e6c2e617e8ead") + +# IMGUI +include(external/imgui.cmake) + +# DeckTX +add_executable(DeckTX src/main.cpp src/crsf/crsf.cpp src/serial/serial.cpp) +target_include_directories(DeckTX PRIVATE src) + +set_property(TARGET DeckTX PROPERTY CXX_STANDARD 23) +target_link_libraries(DeckTX fmt imgui SDL3::SDL3) + +# Install +if(WIN32 AND CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT) + set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" CACHE PATH "Default install path" FORCE) +endif() + +install(TARGETS DeckTX DESTINATION "${CMAKE_INSTALL_PREFIX}") +install(FILES "${PROJECT_SOURCE_DIR}/LICENSE" "${PROJECT_SOURCE_DIR}/README.md" DESTINATION "${CMAKE_INSTALL_PREFIX}") \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..e72bfdd --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS + + How to Apply These Terms to Your New Programs + + If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + + To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..ef32cf9 --- /dev/null +++ b/README.md @@ -0,0 +1,17 @@ +### DeckTX + +#### Description + +A dedicated radio transmitter (TX) is conventionally needed to control drones, but any PC (such as the [Steam Deck](https://store.steampowered.com/steamdeck)) can operate as a TX when connected to a TX module, the component that's responsible for communicating with a drone over radio waves. This is plausible using external TX modules (such as the [BetaFPV SuperG Nano](https://betafpv.com/products/superg-nano-transmitter)) which are sold seperately from the radio transmitter, these often contain a USB port for flashing firmware but can be repurposed for communicating with the module itself. + +[ExpressLRS](https://www.expresslrs.org/) is the open-source firmware that most modern TX modules run, these are the target of the project and any device configuration is entirely limited to these devices. The process for connecting the module to a PC involves changing the TX/RX pins to the USB ones if available alongside disabling the backpack since it uses the USB RX/TX pins by default, which needs to be done via changing these values within the ExpressLRS's firmware directly and flashing it or if the TX module supports WiFi then using the `{DEVICE_IP}/hardware.html` page. All approaches are covered in more detail [here](https://github.com/kaack/elrs-joystick-control/blob/2b8031a285bde361b8e9e5339518a4fddbdd51d0/README.md#connecting-to-the-elrs-transmitter). + +#### Similar Projects + +The core approach is identical to [ELRS Joystick Control](https://github.com/kaack/elrs-joystick-control), the primary difference is that DeckTX is a standalone C++ application that has an integrated UI, any external applications aren't needed to utilize it. On the other hand, ELRS Joystick Control hosts a gRPC server and web-app which needs to be connected to via a browser. Another major difference, is that DeckTX can work directly on a Steam Deck running SteamOS, while ELRS Joystick Control can only work on the Steam Deck when running Windows, at the time of writing. + +It should be noted that both approaches have different tradeoffs, a browser-based UI isn't as lightweight or performant as a native application but has far more flexibility in terms of UI design and certain rich components such as maps to display GPS data can be trivially added, while being far more difficult to do on the UI framework used by DeckTX. + +#### License + +DeckTX is licensed at GPL 3.0 as a whole package, since the vast majority of the ecosystem (ExpressLRS, EdgeTX, etc) uses GPL licenses. Certain files are individually licensed at MIT/MPL 2.0 out of preference for a more open license, this is indicated in the SPDX header. \ No newline at end of file diff --git a/external/CPM.cmake b/external/CPM.cmake new file mode 100644 index 0000000..55b883d --- /dev/null +++ b/external/CPM.cmake @@ -0,0 +1,1225 @@ +# CPM.cmake - CMake's missing package manager +# =========================================== +# See https://github.com/cpm-cmake/CPM.cmake for usage and update instructions. +# +# MIT License +# ----------- +#[[ + Copyright (c) 2019-2023 Lars Melchior and contributors + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. +]] + +cmake_minimum_required(VERSION 3.14 FATAL_ERROR) + +# Initialize logging prefix +if(NOT CPM_INDENT) + set(CPM_INDENT + "CPM:" + CACHE INTERNAL "" + ) +endif() + +if(NOT COMMAND cpm_message) + function(cpm_message) + message(${ARGV}) + endfunction() +endif() + +set(CURRENT_CPM_VERSION 0.40.0) + +get_filename_component(CPM_CURRENT_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}" REALPATH) +if(CPM_DIRECTORY) + if(NOT CPM_DIRECTORY STREQUAL CPM_CURRENT_DIRECTORY) + if(CPM_VERSION VERSION_LESS CURRENT_CPM_VERSION) + message( + AUTHOR_WARNING + "${CPM_INDENT} \ +A dependency is using a more recent CPM version (${CURRENT_CPM_VERSION}) than the current project (${CPM_VERSION}). \ +It is recommended to upgrade CPM to the most recent version. \ +See https://github.com/cpm-cmake/CPM.cmake for more information." + ) + endif() + if(${CMAKE_VERSION} VERSION_LESS "3.17.0") + include(FetchContent) + endif() + return() + endif() + + get_property( + CPM_INITIALIZED GLOBAL "" + PROPERTY CPM_INITIALIZED + SET + ) + if(CPM_INITIALIZED) + return() + endif() +endif() + +if(CURRENT_CPM_VERSION MATCHES "development-version") + message( + WARNING "${CPM_INDENT} Your project is using an unstable development version of CPM.cmake. \ +Please update to a recent release if possible. \ +See https://github.com/cpm-cmake/CPM.cmake for details." + ) +endif() + +set_property(GLOBAL PROPERTY CPM_INITIALIZED true) + +macro(cpm_set_policies) + # the policy allows us to change options without caching + cmake_policy(SET CMP0077 NEW) + set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) + + # the policy allows us to change set(CACHE) without caching + if(POLICY CMP0126) + cmake_policy(SET CMP0126 NEW) + set(CMAKE_POLICY_DEFAULT_CMP0126 NEW) + endif() + + # The policy uses the download time for timestamp, instead of the timestamp in the archive. This + # allows for proper rebuilds when a projects url changes + if(POLICY CMP0135) + cmake_policy(SET CMP0135 NEW) + set(CMAKE_POLICY_DEFAULT_CMP0135 NEW) + endif() + + # treat relative git repository paths as being relative to the parent project's remote + if(POLICY CMP0150) + cmake_policy(SET CMP0150 NEW) + set(CMAKE_POLICY_DEFAULT_CMP0150 NEW) + endif() +endmacro() +cpm_set_policies() + +option(CPM_USE_LOCAL_PACKAGES "Always try to use `find_package` to get dependencies" + $ENV{CPM_USE_LOCAL_PACKAGES} +) +option(CPM_LOCAL_PACKAGES_ONLY "Only use `find_package` to get dependencies" + $ENV{CPM_LOCAL_PACKAGES_ONLY} +) +option(CPM_DOWNLOAD_ALL "Always download dependencies from source" $ENV{CPM_DOWNLOAD_ALL}) +option(CPM_DONT_UPDATE_MODULE_PATH "Don't update the module path to allow using find_package" + $ENV{CPM_DONT_UPDATE_MODULE_PATH} +) +option(CPM_DONT_CREATE_PACKAGE_LOCK "Don't create a package lock file in the binary path" + $ENV{CPM_DONT_CREATE_PACKAGE_LOCK} +) +option(CPM_INCLUDE_ALL_IN_PACKAGE_LOCK + "Add all packages added through CPM.cmake to the package lock" + $ENV{CPM_INCLUDE_ALL_IN_PACKAGE_LOCK} +) +option(CPM_USE_NAMED_CACHE_DIRECTORIES + "Use additional directory of package name in cache on the most nested level." + $ENV{CPM_USE_NAMED_CACHE_DIRECTORIES} +) + +set(CPM_VERSION + ${CURRENT_CPM_VERSION} + CACHE INTERNAL "" +) +set(CPM_DIRECTORY + ${CPM_CURRENT_DIRECTORY} + CACHE INTERNAL "" +) +set(CPM_FILE + ${CMAKE_CURRENT_LIST_FILE} + CACHE INTERNAL "" +) +set(CPM_PACKAGES + "" + CACHE INTERNAL "" +) +set(CPM_DRY_RUN + OFF + CACHE INTERNAL "Don't download or configure dependencies (for testing)" +) + +if(DEFINED ENV{CPM_SOURCE_CACHE}) + set(CPM_SOURCE_CACHE_DEFAULT $ENV{CPM_SOURCE_CACHE}) +else() + set(CPM_SOURCE_CACHE_DEFAULT OFF) +endif() + +set(CPM_SOURCE_CACHE + ${CPM_SOURCE_CACHE_DEFAULT} + CACHE PATH "Directory to download CPM dependencies" +) + +if(NOT CPM_DONT_UPDATE_MODULE_PATH) + set(CPM_MODULE_PATH + "${CMAKE_BINARY_DIR}/CPM_modules" + CACHE INTERNAL "" + ) + # remove old modules + file(REMOVE_RECURSE ${CPM_MODULE_PATH}) + file(MAKE_DIRECTORY ${CPM_MODULE_PATH}) + # locally added CPM modules should override global packages + set(CMAKE_MODULE_PATH "${CPM_MODULE_PATH};${CMAKE_MODULE_PATH}") +endif() + +if(NOT CPM_DONT_CREATE_PACKAGE_LOCK) + set(CPM_PACKAGE_LOCK_FILE + "${CMAKE_BINARY_DIR}/cpm-package-lock.cmake" + CACHE INTERNAL "" + ) + file(WRITE ${CPM_PACKAGE_LOCK_FILE} + "# CPM Package Lock\n# This file should be committed to version control\n\n" + ) +endif() + +include(FetchContent) + +# Try to infer package name from git repository uri (path or url) +function(cpm_package_name_from_git_uri URI RESULT) + if("${URI}" MATCHES "([^/:]+)/?.git/?$") + set(${RESULT} + ${CMAKE_MATCH_1} + PARENT_SCOPE + ) + else() + unset(${RESULT} PARENT_SCOPE) + endif() +endfunction() + +# Try to infer package name and version from a url +function(cpm_package_name_and_ver_from_url url outName outVer) + if(url MATCHES "[/\\?]([a-zA-Z0-9_\\.-]+)\\.(tar|tar\\.gz|tar\\.bz2|zip|ZIP)(\\?|/|$)") + # We matched an archive + set(filename "${CMAKE_MATCH_1}") + + if(filename MATCHES "([a-zA-Z0-9_\\.-]+)[_-]v?(([0-9]+\\.)*[0-9]+[a-zA-Z0-9]*)") + # We matched - (ie foo-1.2.3) + set(${outName} + "${CMAKE_MATCH_1}" + PARENT_SCOPE + ) + set(${outVer} + "${CMAKE_MATCH_2}" + PARENT_SCOPE + ) + elseif(filename MATCHES "(([0-9]+\\.)+[0-9]+[a-zA-Z0-9]*)") + # We couldn't find a name, but we found a version + # + # In many cases (which we don't handle here) the url would look something like + # `irrelevant/ACTUAL_PACKAGE_NAME/irrelevant/1.2.3.zip`. In such a case we can't possibly + # distinguish the package name from the irrelevant bits. Moreover if we try to match the + # package name from the filename, we'd get bogus at best. + unset(${outName} PARENT_SCOPE) + set(${outVer} + "${CMAKE_MATCH_1}" + PARENT_SCOPE + ) + else() + # Boldly assume that the file name is the package name. + # + # Yes, something like `irrelevant/ACTUAL_NAME/irrelevant/download.zip` will ruin our day, but + # such cases should be quite rare. No popular service does this... we think. + set(${outName} + "${filename}" + PARENT_SCOPE + ) + unset(${outVer} PARENT_SCOPE) + endif() + else() + # No ideas yet what to do with non-archives + unset(${outName} PARENT_SCOPE) + unset(${outVer} PARENT_SCOPE) + endif() +endfunction() + +function(cpm_find_package NAME VERSION) + string(REPLACE " " ";" EXTRA_ARGS "${ARGN}") + find_package(${NAME} ${VERSION} ${EXTRA_ARGS} QUIET) + if(${CPM_ARGS_NAME}_FOUND) + if(DEFINED ${CPM_ARGS_NAME}_VERSION) + set(VERSION ${${CPM_ARGS_NAME}_VERSION}) + endif() + cpm_message(STATUS "${CPM_INDENT} Using local package ${CPM_ARGS_NAME}@${VERSION}") + CPMRegisterPackage(${CPM_ARGS_NAME} "${VERSION}") + set(CPM_PACKAGE_FOUND + YES + PARENT_SCOPE + ) + else() + set(CPM_PACKAGE_FOUND + NO + PARENT_SCOPE + ) + endif() +endfunction() + +# Create a custom FindXXX.cmake module for a CPM package This prevents `find_package(NAME)` from +# finding the system library +function(cpm_create_module_file Name) + if(NOT CPM_DONT_UPDATE_MODULE_PATH) + # erase any previous modules + file(WRITE ${CPM_MODULE_PATH}/Find${Name}.cmake + "include(\"${CPM_FILE}\")\n${ARGN}\nset(${Name}_FOUND TRUE)" + ) + endif() +endfunction() + +# Find a package locally or fallback to CPMAddPackage +function(CPMFindPackage) + set(oneValueArgs NAME VERSION GIT_TAG FIND_PACKAGE_ARGUMENTS) + + cmake_parse_arguments(CPM_ARGS "" "${oneValueArgs}" "" ${ARGN}) + + if(NOT DEFINED CPM_ARGS_VERSION) + if(DEFINED CPM_ARGS_GIT_TAG) + cpm_get_version_from_git_tag("${CPM_ARGS_GIT_TAG}" CPM_ARGS_VERSION) + endif() + endif() + + set(downloadPackage ${CPM_DOWNLOAD_ALL}) + if(DEFINED CPM_DOWNLOAD_${CPM_ARGS_NAME}) + set(downloadPackage ${CPM_DOWNLOAD_${CPM_ARGS_NAME}}) + elseif(DEFINED ENV{CPM_DOWNLOAD_${CPM_ARGS_NAME}}) + set(downloadPackage $ENV{CPM_DOWNLOAD_${CPM_ARGS_NAME}}) + endif() + if(downloadPackage) + CPMAddPackage(${ARGN}) + cpm_export_variables(${CPM_ARGS_NAME}) + return() + endif() + + cpm_find_package(${CPM_ARGS_NAME} "${CPM_ARGS_VERSION}" ${CPM_ARGS_FIND_PACKAGE_ARGUMENTS}) + + if(NOT CPM_PACKAGE_FOUND) + CPMAddPackage(${ARGN}) + cpm_export_variables(${CPM_ARGS_NAME}) + endif() + +endfunction() + +# checks if a package has been added before +function(cpm_check_if_package_already_added CPM_ARGS_NAME CPM_ARGS_VERSION) + if("${CPM_ARGS_NAME}" IN_LIST CPM_PACKAGES) + CPMGetPackageVersion(${CPM_ARGS_NAME} CPM_PACKAGE_VERSION) + if("${CPM_PACKAGE_VERSION}" VERSION_LESS "${CPM_ARGS_VERSION}") + message( + WARNING + "${CPM_INDENT} Requires a newer version of ${CPM_ARGS_NAME} (${CPM_ARGS_VERSION}) than currently included (${CPM_PACKAGE_VERSION})." + ) + endif() + cpm_get_fetch_properties(${CPM_ARGS_NAME}) + set(${CPM_ARGS_NAME}_ADDED NO) + set(CPM_PACKAGE_ALREADY_ADDED + YES + PARENT_SCOPE + ) + cpm_export_variables(${CPM_ARGS_NAME}) + else() + set(CPM_PACKAGE_ALREADY_ADDED + NO + PARENT_SCOPE + ) + endif() +endfunction() + +# Parse the argument of CPMAddPackage in case a single one was provided and convert it to a list of +# arguments which can then be parsed idiomatically. For example gh:foo/bar@1.2.3 will be converted +# to: GITHUB_REPOSITORY;foo/bar;VERSION;1.2.3 +function(cpm_parse_add_package_single_arg arg outArgs) + # Look for a scheme + if("${arg}" MATCHES "^([a-zA-Z]+):(.+)$") + string(TOLOWER "${CMAKE_MATCH_1}" scheme) + set(uri "${CMAKE_MATCH_2}") + + # Check for CPM-specific schemes + if(scheme STREQUAL "gh") + set(out "GITHUB_REPOSITORY;${uri}") + set(packageType "git") + elseif(scheme STREQUAL "gl") + set(out "GITLAB_REPOSITORY;${uri}") + set(packageType "git") + elseif(scheme STREQUAL "bb") + set(out "BITBUCKET_REPOSITORY;${uri}") + set(packageType "git") + # A CPM-specific scheme was not found. Looks like this is a generic URL so try to determine + # type + elseif(arg MATCHES ".git/?(@|#|$)") + set(out "GIT_REPOSITORY;${arg}") + set(packageType "git") + else() + # Fall back to a URL + set(out "URL;${arg}") + set(packageType "archive") + + # We could also check for SVN since FetchContent supports it, but SVN is so rare these days. + # We just won't bother with the additional complexity it will induce in this function. SVN is + # done by multi-arg + endif() + else() + if(arg MATCHES ".git/?(@|#|$)") + set(out "GIT_REPOSITORY;${arg}") + set(packageType "git") + else() + # Give up + message(FATAL_ERROR "${CPM_INDENT} Can't determine package type of '${arg}'") + endif() + endif() + + # For all packages we interpret @... as version. Only replace the last occurrence. Thus URIs + # containing '@' can be used + string(REGEX REPLACE "@([^@]+)$" ";VERSION;\\1" out "${out}") + + # Parse the rest according to package type + if(packageType STREQUAL "git") + # For git repos we interpret #... as a tag or branch or commit hash + string(REGEX REPLACE "#([^#]+)$" ";GIT_TAG;\\1" out "${out}") + elseif(packageType STREQUAL "archive") + # For archives we interpret #... as a URL hash. + string(REGEX REPLACE "#([^#]+)$" ";URL_HASH;\\1" out "${out}") + # We don't try to parse the version if it's not provided explicitly. cpm_get_version_from_url + # should do this at a later point + else() + # We should never get here. This is an assertion and hitting it means there's a problem with the + # code above. A packageType was set, but not handled by this if-else. + message(FATAL_ERROR "${CPM_INDENT} Unsupported package type '${packageType}' of '${arg}'") + endif() + + set(${outArgs} + ${out} + PARENT_SCOPE + ) +endfunction() + +# Check that the working directory for a git repo is clean +function(cpm_check_git_working_dir_is_clean repoPath gitTag isClean) + + find_package(Git REQUIRED) + + if(NOT GIT_EXECUTABLE) + # No git executable, assume directory is clean + set(${isClean} + TRUE + PARENT_SCOPE + ) + return() + endif() + + # check for uncommitted changes + execute_process( + COMMAND ${GIT_EXECUTABLE} status --porcelain + RESULT_VARIABLE resultGitStatus + OUTPUT_VARIABLE repoStatus + OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_QUIET + WORKING_DIRECTORY ${repoPath} + ) + if(resultGitStatus) + # not supposed to happen, assume clean anyway + message(WARNING "${CPM_INDENT} Calling git status on folder ${repoPath} failed") + set(${isClean} + TRUE + PARENT_SCOPE + ) + return() + endif() + + if(NOT "${repoStatus}" STREQUAL "") + set(${isClean} + FALSE + PARENT_SCOPE + ) + return() + endif() + + # check for committed changes + execute_process( + COMMAND ${GIT_EXECUTABLE} diff -s --exit-code ${gitTag} + RESULT_VARIABLE resultGitDiff + OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_QUIET + WORKING_DIRECTORY ${repoPath} + ) + + if(${resultGitDiff} EQUAL 0) + set(${isClean} + TRUE + PARENT_SCOPE + ) + else() + set(${isClean} + FALSE + PARENT_SCOPE + ) + endif() + +endfunction() + +# Add PATCH_COMMAND to CPM_ARGS_UNPARSED_ARGUMENTS. This method consumes a list of files in ARGN +# then generates a `PATCH_COMMAND` appropriate for `ExternalProject_Add()`. This command is appended +# to the parent scope's `CPM_ARGS_UNPARSED_ARGUMENTS`. +function(cpm_add_patches) + # Return if no patch files are supplied. + if(NOT ARGN) + return() + endif() + + # Find the patch program. + find_program(PATCH_EXECUTABLE patch) + if(WIN32 AND NOT PATCH_EXECUTABLE) + # The Windows git executable is distributed with patch.exe. Find the path to the executable, if + # it exists, then search `../../usr/bin` for patch.exe. + find_package(Git QUIET) + if(GIT_EXECUTABLE) + get_filename_component(extra_search_path ${GIT_EXECUTABLE} DIRECTORY) + get_filename_component(extra_search_path ${extra_search_path} DIRECTORY) + get_filename_component(extra_search_path ${extra_search_path} DIRECTORY) + find_program(PATCH_EXECUTABLE patch HINTS "${extra_search_path}/usr/bin") + endif() + endif() + if(NOT PATCH_EXECUTABLE) + message(FATAL_ERROR "Couldn't find `patch` executable to use with PATCHES keyword.") + endif() + + # Create a temporary + set(temp_list ${CPM_ARGS_UNPARSED_ARGUMENTS}) + + # Ensure each file exists (or error out) and add it to the list. + set(first_item True) + foreach(PATCH_FILE ${ARGN}) + # Make sure the patch file exists, if we can't find it, try again in the current directory. + if(NOT EXISTS "${PATCH_FILE}") + if(NOT EXISTS "${CMAKE_CURRENT_LIST_DIR}/${PATCH_FILE}") + message(FATAL_ERROR "Couldn't find patch file: '${PATCH_FILE}'") + endif() + set(PATCH_FILE "${CMAKE_CURRENT_LIST_DIR}/${PATCH_FILE}") + endif() + + # Convert to absolute path for use with patch file command. + get_filename_component(PATCH_FILE "${PATCH_FILE}" ABSOLUTE) + + # The first patch entry must be preceded by "PATCH_COMMAND" while the following items are + # preceded by "&&". + if(first_item) + set(first_item False) + list(APPEND temp_list "PATCH_COMMAND") + else() + list(APPEND temp_list "&&") + endif() + # Add the patch command to the list + list(APPEND temp_list "${PATCH_EXECUTABLE}" "-p1" "<" "${PATCH_FILE}") + endforeach() + + # Move temp out into parent scope. + set(CPM_ARGS_UNPARSED_ARGUMENTS + ${temp_list} + PARENT_SCOPE + ) + +endfunction() + +# method to overwrite internal FetchContent properties, to allow using CPM.cmake to overload +# FetchContent calls. As these are internal cmake properties, this method should be used carefully +# and may need modification in future CMake versions. Source: +# https://github.com/Kitware/CMake/blob/dc3d0b5a0a7d26d43d6cfeb511e224533b5d188f/Modules/FetchContent.cmake#L1152 +function(cpm_override_fetchcontent contentName) + cmake_parse_arguments(PARSE_ARGV 1 arg "" "SOURCE_DIR;BINARY_DIR" "") + if(NOT "${arg_UNPARSED_ARGUMENTS}" STREQUAL "") + message(FATAL_ERROR "${CPM_INDENT} Unsupported arguments: ${arg_UNPARSED_ARGUMENTS}") + endif() + + string(TOLOWER ${contentName} contentNameLower) + set(prefix "_FetchContent_${contentNameLower}") + + set(propertyName "${prefix}_sourceDir") + define_property( + GLOBAL + PROPERTY ${propertyName} + BRIEF_DOCS "Internal implementation detail of FetchContent_Populate()" + FULL_DOCS "Details used by FetchContent_Populate() for ${contentName}" + ) + set_property(GLOBAL PROPERTY ${propertyName} "${arg_SOURCE_DIR}") + + set(propertyName "${prefix}_binaryDir") + define_property( + GLOBAL + PROPERTY ${propertyName} + BRIEF_DOCS "Internal implementation detail of FetchContent_Populate()" + FULL_DOCS "Details used by FetchContent_Populate() for ${contentName}" + ) + set_property(GLOBAL PROPERTY ${propertyName} "${arg_BINARY_DIR}") + + set(propertyName "${prefix}_populated") + define_property( + GLOBAL + PROPERTY ${propertyName} + BRIEF_DOCS "Internal implementation detail of FetchContent_Populate()" + FULL_DOCS "Details used by FetchContent_Populate() for ${contentName}" + ) + set_property(GLOBAL PROPERTY ${propertyName} TRUE) +endfunction() + +# Download and add a package from source +function(CPMAddPackage) + cpm_set_policies() + + list(LENGTH ARGN argnLength) + if(argnLength EQUAL 1) + cpm_parse_add_package_single_arg("${ARGN}" ARGN) + + # The shorthand syntax implies EXCLUDE_FROM_ALL and SYSTEM + set(ARGN "${ARGN};EXCLUDE_FROM_ALL;YES;SYSTEM;YES;") + endif() + + set(oneValueArgs + NAME + FORCE + VERSION + GIT_TAG + DOWNLOAD_ONLY + GITHUB_REPOSITORY + GITLAB_REPOSITORY + BITBUCKET_REPOSITORY + GIT_REPOSITORY + SOURCE_DIR + FIND_PACKAGE_ARGUMENTS + NO_CACHE + SYSTEM + GIT_SHALLOW + EXCLUDE_FROM_ALL + SOURCE_SUBDIR + CUSTOM_CACHE_KEY + ) + + set(multiValueArgs URL OPTIONS DOWNLOAD_COMMAND PATCHES) + + cmake_parse_arguments(CPM_ARGS "" "${oneValueArgs}" "${multiValueArgs}" "${ARGN}") + + # Set default values for arguments + + if(NOT DEFINED CPM_ARGS_VERSION) + if(DEFINED CPM_ARGS_GIT_TAG) + cpm_get_version_from_git_tag("${CPM_ARGS_GIT_TAG}" CPM_ARGS_VERSION) + endif() + endif() + + if(CPM_ARGS_DOWNLOAD_ONLY) + set(DOWNLOAD_ONLY ${CPM_ARGS_DOWNLOAD_ONLY}) + else() + set(DOWNLOAD_ONLY NO) + endif() + + if(DEFINED CPM_ARGS_GITHUB_REPOSITORY) + set(CPM_ARGS_GIT_REPOSITORY "https://github.com/${CPM_ARGS_GITHUB_REPOSITORY}.git") + elseif(DEFINED CPM_ARGS_GITLAB_REPOSITORY) + set(CPM_ARGS_GIT_REPOSITORY "https://gitlab.com/${CPM_ARGS_GITLAB_REPOSITORY}.git") + elseif(DEFINED CPM_ARGS_BITBUCKET_REPOSITORY) + set(CPM_ARGS_GIT_REPOSITORY "https://bitbucket.org/${CPM_ARGS_BITBUCKET_REPOSITORY}.git") + endif() + + if(DEFINED CPM_ARGS_GIT_REPOSITORY) + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS GIT_REPOSITORY ${CPM_ARGS_GIT_REPOSITORY}) + if(NOT DEFINED CPM_ARGS_GIT_TAG) + set(CPM_ARGS_GIT_TAG v${CPM_ARGS_VERSION}) + endif() + + # If a name wasn't provided, try to infer it from the git repo + if(NOT DEFINED CPM_ARGS_NAME) + cpm_package_name_from_git_uri(${CPM_ARGS_GIT_REPOSITORY} CPM_ARGS_NAME) + endif() + endif() + + set(CPM_SKIP_FETCH FALSE) + + if(DEFINED CPM_ARGS_GIT_TAG) + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS GIT_TAG ${CPM_ARGS_GIT_TAG}) + # If GIT_SHALLOW is explicitly specified, honor the value. + if(DEFINED CPM_ARGS_GIT_SHALLOW) + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS GIT_SHALLOW ${CPM_ARGS_GIT_SHALLOW}) + endif() + endif() + + if(DEFINED CPM_ARGS_URL) + # If a name or version aren't provided, try to infer them from the URL + list(GET CPM_ARGS_URL 0 firstUrl) + cpm_package_name_and_ver_from_url(${firstUrl} nameFromUrl verFromUrl) + # If we fail to obtain name and version from the first URL, we could try other URLs if any. + # However multiple URLs are expected to be quite rare, so for now we won't bother. + + # If the caller provided their own name and version, they trump the inferred ones. + if(NOT DEFINED CPM_ARGS_NAME) + set(CPM_ARGS_NAME ${nameFromUrl}) + endif() + if(NOT DEFINED CPM_ARGS_VERSION) + set(CPM_ARGS_VERSION ${verFromUrl}) + endif() + + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS URL "${CPM_ARGS_URL}") + endif() + + # Check for required arguments + + if(NOT DEFINED CPM_ARGS_NAME) + message( + FATAL_ERROR + "${CPM_INDENT} 'NAME' was not provided and couldn't be automatically inferred for package added with arguments: '${ARGN}'" + ) + endif() + + # Check if package has been added before + cpm_check_if_package_already_added(${CPM_ARGS_NAME} "${CPM_ARGS_VERSION}") + if(CPM_PACKAGE_ALREADY_ADDED) + cpm_export_variables(${CPM_ARGS_NAME}) + return() + endif() + + # Check for manual overrides + if(NOT CPM_ARGS_FORCE AND NOT "${CPM_${CPM_ARGS_NAME}_SOURCE}" STREQUAL "") + set(PACKAGE_SOURCE ${CPM_${CPM_ARGS_NAME}_SOURCE}) + set(CPM_${CPM_ARGS_NAME}_SOURCE "") + CPMAddPackage( + NAME "${CPM_ARGS_NAME}" + SOURCE_DIR "${PACKAGE_SOURCE}" + EXCLUDE_FROM_ALL "${CPM_ARGS_EXCLUDE_FROM_ALL}" + SYSTEM "${CPM_ARGS_SYSTEM}" + PATCHES "${CPM_ARGS_PATCHES}" + OPTIONS "${CPM_ARGS_OPTIONS}" + SOURCE_SUBDIR "${CPM_ARGS_SOURCE_SUBDIR}" + DOWNLOAD_ONLY "${DOWNLOAD_ONLY}" + FORCE True + ) + cpm_export_variables(${CPM_ARGS_NAME}) + return() + endif() + + # Check for available declaration + if(NOT CPM_ARGS_FORCE AND NOT "${CPM_DECLARATION_${CPM_ARGS_NAME}}" STREQUAL "") + set(declaration ${CPM_DECLARATION_${CPM_ARGS_NAME}}) + set(CPM_DECLARATION_${CPM_ARGS_NAME} "") + CPMAddPackage(${declaration}) + cpm_export_variables(${CPM_ARGS_NAME}) + # checking again to ensure version and option compatibility + cpm_check_if_package_already_added(${CPM_ARGS_NAME} "${CPM_ARGS_VERSION}") + return() + endif() + + if(NOT CPM_ARGS_FORCE) + if(CPM_USE_LOCAL_PACKAGES OR CPM_LOCAL_PACKAGES_ONLY) + cpm_find_package(${CPM_ARGS_NAME} "${CPM_ARGS_VERSION}" ${CPM_ARGS_FIND_PACKAGE_ARGUMENTS}) + + if(CPM_PACKAGE_FOUND) + cpm_export_variables(${CPM_ARGS_NAME}) + return() + endif() + + if(CPM_LOCAL_PACKAGES_ONLY) + message( + SEND_ERROR + "${CPM_INDENT} ${CPM_ARGS_NAME} not found via find_package(${CPM_ARGS_NAME} ${CPM_ARGS_VERSION})" + ) + endif() + endif() + endif() + + CPMRegisterPackage("${CPM_ARGS_NAME}" "${CPM_ARGS_VERSION}") + + if(DEFINED CPM_ARGS_GIT_TAG) + set(PACKAGE_INFO "${CPM_ARGS_GIT_TAG}") + elseif(DEFINED CPM_ARGS_SOURCE_DIR) + set(PACKAGE_INFO "${CPM_ARGS_SOURCE_DIR}") + else() + set(PACKAGE_INFO "${CPM_ARGS_VERSION}") + endif() + + if(DEFINED FETCHCONTENT_BASE_DIR) + # respect user's FETCHCONTENT_BASE_DIR if set + set(CPM_FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR}) + else() + set(CPM_FETCHCONTENT_BASE_DIR ${CMAKE_BINARY_DIR}/_deps) + endif() + + cpm_add_patches(${CPM_ARGS_PATCHES}) + + if(DEFINED CPM_ARGS_DOWNLOAD_COMMAND) + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS DOWNLOAD_COMMAND ${CPM_ARGS_DOWNLOAD_COMMAND}) + elseif(DEFINED CPM_ARGS_SOURCE_DIR) + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS SOURCE_DIR ${CPM_ARGS_SOURCE_DIR}) + if(NOT IS_ABSOLUTE ${CPM_ARGS_SOURCE_DIR}) + # Expand `CPM_ARGS_SOURCE_DIR` relative path. This is important because EXISTS doesn't work + # for relative paths. + get_filename_component( + source_directory ${CPM_ARGS_SOURCE_DIR} REALPATH BASE_DIR ${CMAKE_CURRENT_BINARY_DIR} + ) + else() + set(source_directory ${CPM_ARGS_SOURCE_DIR}) + endif() + if(NOT EXISTS ${source_directory}) + string(TOLOWER ${CPM_ARGS_NAME} lower_case_name) + # remove timestamps so CMake will re-download the dependency + file(REMOVE_RECURSE "${CPM_FETCHCONTENT_BASE_DIR}/${lower_case_name}-subbuild") + endif() + elseif(CPM_SOURCE_CACHE AND NOT CPM_ARGS_NO_CACHE) + string(TOLOWER ${CPM_ARGS_NAME} lower_case_name) + set(origin_parameters ${CPM_ARGS_UNPARSED_ARGUMENTS}) + list(SORT origin_parameters) + if(CPM_ARGS_CUSTOM_CACHE_KEY) + # Application set a custom unique directory name + set(download_directory ${CPM_SOURCE_CACHE}/${lower_case_name}/${CPM_ARGS_CUSTOM_CACHE_KEY}) + elseif(CPM_USE_NAMED_CACHE_DIRECTORIES) + string(SHA1 origin_hash "${origin_parameters};NEW_CACHE_STRUCTURE_TAG") + set(download_directory ${CPM_SOURCE_CACHE}/${lower_case_name}/${origin_hash}/${CPM_ARGS_NAME}) + else() + string(SHA1 origin_hash "${origin_parameters}") + set(download_directory ${CPM_SOURCE_CACHE}/${lower_case_name}/${origin_hash}) + endif() + # Expand `download_directory` relative path. This is important because EXISTS doesn't work for + # relative paths. + get_filename_component(download_directory ${download_directory} ABSOLUTE) + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS SOURCE_DIR ${download_directory}) + + if(CPM_SOURCE_CACHE) + file(LOCK ${download_directory}/../cmake.lock) + endif() + + if(EXISTS ${download_directory}) + if(CPM_SOURCE_CACHE) + file(LOCK ${download_directory}/../cmake.lock RELEASE) + endif() + + cpm_store_fetch_properties( + ${CPM_ARGS_NAME} "${download_directory}" + "${CPM_FETCHCONTENT_BASE_DIR}/${lower_case_name}-build" + ) + cpm_get_fetch_properties("${CPM_ARGS_NAME}") + + if(DEFINED CPM_ARGS_GIT_TAG AND NOT (PATCH_COMMAND IN_LIST CPM_ARGS_UNPARSED_ARGUMENTS)) + # warn if cache has been changed since checkout + cpm_check_git_working_dir_is_clean(${download_directory} ${CPM_ARGS_GIT_TAG} IS_CLEAN) + if(NOT ${IS_CLEAN}) + message( + WARNING "${CPM_INDENT} Cache for ${CPM_ARGS_NAME} (${download_directory}) is dirty" + ) + endif() + endif() + + cpm_add_subdirectory( + "${CPM_ARGS_NAME}" + "${DOWNLOAD_ONLY}" + "${${CPM_ARGS_NAME}_SOURCE_DIR}/${CPM_ARGS_SOURCE_SUBDIR}" + "${${CPM_ARGS_NAME}_BINARY_DIR}" + "${CPM_ARGS_EXCLUDE_FROM_ALL}" + "${CPM_ARGS_SYSTEM}" + "${CPM_ARGS_OPTIONS}" + ) + set(PACKAGE_INFO "${PACKAGE_INFO} at ${download_directory}") + + # As the source dir is already cached/populated, we override the call to FetchContent. + set(CPM_SKIP_FETCH TRUE) + cpm_override_fetchcontent( + "${lower_case_name}" SOURCE_DIR "${${CPM_ARGS_NAME}_SOURCE_DIR}/${CPM_ARGS_SOURCE_SUBDIR}" + BINARY_DIR "${${CPM_ARGS_NAME}_BINARY_DIR}" + ) + + else() + # Enable shallow clone when GIT_TAG is not a commit hash. Our guess may not be accurate, but + # it should guarantee no commit hash get mis-detected. + if(NOT DEFINED CPM_ARGS_GIT_SHALLOW) + cpm_is_git_tag_commit_hash("${CPM_ARGS_GIT_TAG}" IS_HASH) + if(NOT ${IS_HASH}) + list(APPEND CPM_ARGS_UNPARSED_ARGUMENTS GIT_SHALLOW TRUE) + endif() + endif() + + # remove timestamps so CMake will re-download the dependency + file(REMOVE_RECURSE ${CPM_FETCHCONTENT_BASE_DIR}/${lower_case_name}-subbuild) + set(PACKAGE_INFO "${PACKAGE_INFO} to ${download_directory}") + endif() + endif() + + cpm_create_module_file(${CPM_ARGS_NAME} "CPMAddPackage(\"${ARGN}\")") + + if(CPM_PACKAGE_LOCK_ENABLED) + if((CPM_ARGS_VERSION AND NOT CPM_ARGS_SOURCE_DIR) OR CPM_INCLUDE_ALL_IN_PACKAGE_LOCK) + cpm_add_to_package_lock(${CPM_ARGS_NAME} "${ARGN}") + elseif(CPM_ARGS_SOURCE_DIR) + cpm_add_comment_to_package_lock(${CPM_ARGS_NAME} "local directory") + else() + cpm_add_comment_to_package_lock(${CPM_ARGS_NAME} "${ARGN}") + endif() + endif() + + cpm_message( + STATUS "${CPM_INDENT} Adding package ${CPM_ARGS_NAME}@${CPM_ARGS_VERSION} (${PACKAGE_INFO})" + ) + + if(NOT CPM_SKIP_FETCH) + cpm_declare_fetch( + "${CPM_ARGS_NAME}" "${CPM_ARGS_VERSION}" "${PACKAGE_INFO}" "${CPM_ARGS_UNPARSED_ARGUMENTS}" + ) + cpm_fetch_package("${CPM_ARGS_NAME}" populated) + if(CPM_SOURCE_CACHE AND download_directory) + file(LOCK ${download_directory}/../cmake.lock RELEASE) + endif() + if(${populated}) + cpm_add_subdirectory( + "${CPM_ARGS_NAME}" + "${DOWNLOAD_ONLY}" + "${${CPM_ARGS_NAME}_SOURCE_DIR}/${CPM_ARGS_SOURCE_SUBDIR}" + "${${CPM_ARGS_NAME}_BINARY_DIR}" + "${CPM_ARGS_EXCLUDE_FROM_ALL}" + "${CPM_ARGS_SYSTEM}" + "${CPM_ARGS_OPTIONS}" + ) + endif() + cpm_get_fetch_properties("${CPM_ARGS_NAME}") + endif() + + set(${CPM_ARGS_NAME}_ADDED YES) + cpm_export_variables("${CPM_ARGS_NAME}") +endfunction() + +# Fetch a previously declared package +macro(CPMGetPackage Name) + if(DEFINED "CPM_DECLARATION_${Name}") + CPMAddPackage(NAME ${Name}) + else() + message(SEND_ERROR "${CPM_INDENT} Cannot retrieve package ${Name}: no declaration available") + endif() +endmacro() + +# export variables available to the caller to the parent scope expects ${CPM_ARGS_NAME} to be set +macro(cpm_export_variables name) + set(${name}_SOURCE_DIR + "${${name}_SOURCE_DIR}" + PARENT_SCOPE + ) + set(${name}_BINARY_DIR + "${${name}_BINARY_DIR}" + PARENT_SCOPE + ) + set(${name}_ADDED + "${${name}_ADDED}" + PARENT_SCOPE + ) + set(CPM_LAST_PACKAGE_NAME + "${name}" + PARENT_SCOPE + ) +endmacro() + +# declares a package, so that any call to CPMAddPackage for the package name will use these +# arguments instead. Previous declarations will not be overridden. +macro(CPMDeclarePackage Name) + if(NOT DEFINED "CPM_DECLARATION_${Name}") + set("CPM_DECLARATION_${Name}" "${ARGN}") + endif() +endmacro() + +function(cpm_add_to_package_lock Name) + if(NOT CPM_DONT_CREATE_PACKAGE_LOCK) + cpm_prettify_package_arguments(PRETTY_ARGN false ${ARGN}) + file(APPEND ${CPM_PACKAGE_LOCK_FILE} "# ${Name}\nCPMDeclarePackage(${Name}\n${PRETTY_ARGN})\n") + endif() +endfunction() + +function(cpm_add_comment_to_package_lock Name) + if(NOT CPM_DONT_CREATE_PACKAGE_LOCK) + cpm_prettify_package_arguments(PRETTY_ARGN true ${ARGN}) + file(APPEND ${CPM_PACKAGE_LOCK_FILE} + "# ${Name} (unversioned)\n# CPMDeclarePackage(${Name}\n${PRETTY_ARGN}#)\n" + ) + endif() +endfunction() + +# includes the package lock file if it exists and creates a target `cpm-update-package-lock` to +# update it +macro(CPMUsePackageLock file) + if(NOT CPM_DONT_CREATE_PACKAGE_LOCK) + get_filename_component(CPM_ABSOLUTE_PACKAGE_LOCK_PATH ${file} ABSOLUTE) + if(EXISTS ${CPM_ABSOLUTE_PACKAGE_LOCK_PATH}) + include(${CPM_ABSOLUTE_PACKAGE_LOCK_PATH}) + endif() + if(NOT TARGET cpm-update-package-lock) + add_custom_target( + cpm-update-package-lock COMMAND ${CMAKE_COMMAND} -E copy ${CPM_PACKAGE_LOCK_FILE} + ${CPM_ABSOLUTE_PACKAGE_LOCK_PATH} + ) + endif() + set(CPM_PACKAGE_LOCK_ENABLED true) + endif() +endmacro() + +# registers a package that has been added to CPM +function(CPMRegisterPackage PACKAGE VERSION) + list(APPEND CPM_PACKAGES ${PACKAGE}) + set(CPM_PACKAGES + ${CPM_PACKAGES} + CACHE INTERNAL "" + ) + set("CPM_PACKAGE_${PACKAGE}_VERSION" + ${VERSION} + CACHE INTERNAL "" + ) +endfunction() + +# retrieve the current version of the package to ${OUTPUT} +function(CPMGetPackageVersion PACKAGE OUTPUT) + set(${OUTPUT} + "${CPM_PACKAGE_${PACKAGE}_VERSION}" + PARENT_SCOPE + ) +endfunction() + +# declares a package in FetchContent_Declare +function(cpm_declare_fetch PACKAGE VERSION INFO) + if(${CPM_DRY_RUN}) + cpm_message(STATUS "${CPM_INDENT} Package not declared (dry run)") + return() + endif() + + FetchContent_Declare(${PACKAGE} ${ARGN}) +endfunction() + +# returns properties for a package previously defined by cpm_declare_fetch +function(cpm_get_fetch_properties PACKAGE) + if(${CPM_DRY_RUN}) + return() + endif() + + set(${PACKAGE}_SOURCE_DIR + "${CPM_PACKAGE_${PACKAGE}_SOURCE_DIR}" + PARENT_SCOPE + ) + set(${PACKAGE}_BINARY_DIR + "${CPM_PACKAGE_${PACKAGE}_BINARY_DIR}" + PARENT_SCOPE + ) +endfunction() + +function(cpm_store_fetch_properties PACKAGE source_dir binary_dir) + if(${CPM_DRY_RUN}) + return() + endif() + + set(CPM_PACKAGE_${PACKAGE}_SOURCE_DIR + "${source_dir}" + CACHE INTERNAL "" + ) + set(CPM_PACKAGE_${PACKAGE}_BINARY_DIR + "${binary_dir}" + CACHE INTERNAL "" + ) +endfunction() + +# adds a package as a subdirectory if viable, according to provided options +function( + cpm_add_subdirectory + PACKAGE + DOWNLOAD_ONLY + SOURCE_DIR + BINARY_DIR + EXCLUDE + SYSTEM + OPTIONS +) + + if(NOT DOWNLOAD_ONLY AND EXISTS ${SOURCE_DIR}/CMakeLists.txt) + set(addSubdirectoryExtraArgs "") + if(EXCLUDE) + list(APPEND addSubdirectoryExtraArgs EXCLUDE_FROM_ALL) + endif() + if("${SYSTEM}" AND "${CMAKE_VERSION}" VERSION_GREATER_EQUAL "3.25") + # https://cmake.org/cmake/help/latest/prop_dir/SYSTEM.html#prop_dir:SYSTEM + list(APPEND addSubdirectoryExtraArgs SYSTEM) + endif() + if(OPTIONS) + foreach(OPTION ${OPTIONS}) + cpm_parse_option("${OPTION}") + set(${OPTION_KEY} "${OPTION_VALUE}") + endforeach() + endif() + set(CPM_OLD_INDENT "${CPM_INDENT}") + set(CPM_INDENT "${CPM_INDENT} ${PACKAGE}:") + add_subdirectory(${SOURCE_DIR} ${BINARY_DIR} ${addSubdirectoryExtraArgs}) + set(CPM_INDENT "${CPM_OLD_INDENT}") + endif() +endfunction() + +# downloads a previously declared package via FetchContent and exports the variables +# `${PACKAGE}_SOURCE_DIR` and `${PACKAGE}_BINARY_DIR` to the parent scope +function(cpm_fetch_package PACKAGE populated) + set(${populated} + FALSE + PARENT_SCOPE + ) + if(${CPM_DRY_RUN}) + cpm_message(STATUS "${CPM_INDENT} Package ${PACKAGE} not fetched (dry run)") + return() + endif() + + FetchContent_GetProperties(${PACKAGE}) + + string(TOLOWER "${PACKAGE}" lower_case_name) + + if(NOT ${lower_case_name}_POPULATED) + FetchContent_Populate(${PACKAGE}) + set(${populated} + TRUE + PARENT_SCOPE + ) + endif() + + cpm_store_fetch_properties( + ${CPM_ARGS_NAME} ${${lower_case_name}_SOURCE_DIR} ${${lower_case_name}_BINARY_DIR} + ) + + set(${PACKAGE}_SOURCE_DIR + ${${lower_case_name}_SOURCE_DIR} + PARENT_SCOPE + ) + set(${PACKAGE}_BINARY_DIR + ${${lower_case_name}_BINARY_DIR} + PARENT_SCOPE + ) +endfunction() + +# splits a package option +function(cpm_parse_option OPTION) + string(REGEX MATCH "^[^ ]+" OPTION_KEY "${OPTION}") + string(LENGTH "${OPTION}" OPTION_LENGTH) + string(LENGTH "${OPTION_KEY}" OPTION_KEY_LENGTH) + if(OPTION_KEY_LENGTH STREQUAL OPTION_LENGTH) + # no value for key provided, assume user wants to set option to "ON" + set(OPTION_VALUE "ON") + else() + math(EXPR OPTION_KEY_LENGTH "${OPTION_KEY_LENGTH}+1") + string(SUBSTRING "${OPTION}" "${OPTION_KEY_LENGTH}" "-1" OPTION_VALUE) + endif() + set(OPTION_KEY + "${OPTION_KEY}" + PARENT_SCOPE + ) + set(OPTION_VALUE + "${OPTION_VALUE}" + PARENT_SCOPE + ) +endfunction() + +# guesses the package version from a git tag +function(cpm_get_version_from_git_tag GIT_TAG RESULT) + string(LENGTH ${GIT_TAG} length) + if(length EQUAL 40) + # GIT_TAG is probably a git hash + set(${RESULT} + 0 + PARENT_SCOPE + ) + else() + string(REGEX MATCH "v?([0123456789.]*).*" _ ${GIT_TAG}) + set(${RESULT} + ${CMAKE_MATCH_1} + PARENT_SCOPE + ) + endif() +endfunction() + +# guesses if the git tag is a commit hash or an actual tag or a branch name. +function(cpm_is_git_tag_commit_hash GIT_TAG RESULT) + string(LENGTH "${GIT_TAG}" length) + # full hash has 40 characters, and short hash has at least 7 characters. + if(length LESS 7 OR length GREATER 40) + set(${RESULT} + 0 + PARENT_SCOPE + ) + else() + if(${GIT_TAG} MATCHES "^[a-fA-F0-9]+$") + set(${RESULT} + 1 + PARENT_SCOPE + ) + else() + set(${RESULT} + 0 + PARENT_SCOPE + ) + endif() + endif() +endfunction() + +function(cpm_prettify_package_arguments OUT_VAR IS_IN_COMMENT) + set(oneValueArgs + NAME + FORCE + VERSION + GIT_TAG + DOWNLOAD_ONLY + GITHUB_REPOSITORY + GITLAB_REPOSITORY + BITBUCKET_REPOSITORY + GIT_REPOSITORY + SOURCE_DIR + FIND_PACKAGE_ARGUMENTS + NO_CACHE + SYSTEM + GIT_SHALLOW + EXCLUDE_FROM_ALL + SOURCE_SUBDIR + ) + set(multiValueArgs URL OPTIONS DOWNLOAD_COMMAND) + cmake_parse_arguments(CPM_ARGS "" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + foreach(oneArgName ${oneValueArgs}) + if(DEFINED CPM_ARGS_${oneArgName}) + if(${IS_IN_COMMENT}) + string(APPEND PRETTY_OUT_VAR "#") + endif() + if(${oneArgName} STREQUAL "SOURCE_DIR") + string(REPLACE ${CMAKE_SOURCE_DIR} "\${CMAKE_SOURCE_DIR}" CPM_ARGS_${oneArgName} + ${CPM_ARGS_${oneArgName}} + ) + endif() + string(APPEND PRETTY_OUT_VAR " ${oneArgName} ${CPM_ARGS_${oneArgName}}\n") + endif() + endforeach() + foreach(multiArgName ${multiValueArgs}) + if(DEFINED CPM_ARGS_${multiArgName}) + if(${IS_IN_COMMENT}) + string(APPEND PRETTY_OUT_VAR "#") + endif() + string(APPEND PRETTY_OUT_VAR " ${multiArgName}\n") + foreach(singleOption ${CPM_ARGS_${multiArgName}}) + if(${IS_IN_COMMENT}) + string(APPEND PRETTY_OUT_VAR "#") + endif() + string(APPEND PRETTY_OUT_VAR " \"${singleOption}\"\n") + endforeach() + endif() + endforeach() + + if(NOT "${CPM_ARGS_UNPARSED_ARGUMENTS}" STREQUAL "") + if(${IS_IN_COMMENT}) + string(APPEND PRETTY_OUT_VAR "#") + endif() + string(APPEND PRETTY_OUT_VAR " ") + foreach(CPM_ARGS_UNPARSED_ARGUMENT ${CPM_ARGS_UNPARSED_ARGUMENTS}) + string(APPEND PRETTY_OUT_VAR " ${CPM_ARGS_UNPARSED_ARGUMENT}") + endforeach() + string(APPEND PRETTY_OUT_VAR "\n") + endif() + + set(${OUT_VAR} + ${PRETTY_OUT_VAR} + PARENT_SCOPE + ) + +endfunction() diff --git a/external/imgui b/external/imgui new file mode 160000 index 0000000..126569a --- /dev/null +++ b/external/imgui @@ -0,0 +1 @@ +Subproject commit 126569ad5b3a2c5329cc8ee914dd5b2075f4dd50 diff --git a/external/imgui.cmake b/external/imgui.cmake new file mode 100644 index 0000000..e5b0049 --- /dev/null +++ b/external/imgui.cmake @@ -0,0 +1,17 @@ +set(IMGUI_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/imgui) + +add_library(imgui STATIC) + +target_sources(imgui PRIVATE + ${IMGUI_SOURCE_DIR}/imgui.cpp + ${IMGUI_SOURCE_DIR}/imgui_demo.cpp + ${IMGUI_SOURCE_DIR}/imgui_draw.cpp + ${IMGUI_SOURCE_DIR}/imgui_widgets.cpp + ${IMGUI_SOURCE_DIR}/imgui_tables.cpp + ${IMGUI_SOURCE_DIR}/backends/imgui_impl_sdl3.cpp + ${IMGUI_SOURCE_DIR}/backends/imgui_impl_sdlrenderer3.cpp +) + +target_include_directories(imgui PUBLIC ${IMGUI_SOURCE_DIR} PRIVATE ${IMGUI_SOURCE_DIR}/backends) + +target_link_libraries(imgui PUBLIC SDL3::SDL3) \ No newline at end of file diff --git a/src/common/error.h b/src/common/error.h new file mode 100644 index 0000000..e79c9a9 --- /dev/null +++ b/src/common/error.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: MIT + * Copyright © Mark Collins + */ +#pragma once + +#include +#include + +/** + * @brief A runtime error with a formatted message. + */ +struct Exception : std::runtime_error { + template + constexpr explicit Exception(fmt::format_string str, Args&&... args) + : std::runtime_error{fmt::format(str, std::forward(args)...)} {} +}; + +/** + * @brief Checks a condition and terminates with an error message, if it is true. Designed as an alternative to exceptions in noexcept functions. + */ +template +constexpr void TerminateIf(bool condition, fmt::format_string str, Args&&... args) { + if (condition) { + fmt::print(stderr, "Terminating: {}\n", fmt::format(str, std::forward(args)...)); + std::terminate(); + } +} \ No newline at end of file diff --git a/src/common/scope.h b/src/common/scope.h new file mode 100644 index 0000000..90d72b6 --- /dev/null +++ b/src/common/scope.h @@ -0,0 +1,17 @@ +/* SPDX-License-Identifier: MIT + * Copyright © Mark Collins + */ +#pragma once + +template +struct ScopeExit { + T lambda; + ScopeExit(T lambda) + : lambda(lambda) {} + + ~ScopeExit() { + lambda(); + } +}; + +#define SCOPE_EXIT(code) ScopeExit _scopeExit ## __LINE__{[&] { code; }} \ No newline at end of file diff --git a/src/common/static_vector.h b/src/common/static_vector.h new file mode 100644 index 0000000..fac07b7 --- /dev/null +++ b/src/common/static_vector.h @@ -0,0 +1,70 @@ +/* SPDX-License-Identifier: MIT + * Copyright © Mark Collins + */ +#pragma once + +#include +#include + +/** + * @brief A minimal implementation of boost's static_vector. + */ +template +class StaticVector { + private: + std::array buffer{}; + + public: + size_t size{}; + + constexpr StaticVector() = default; + + template + constexpr StaticVector(BeginIt begin, EndIt end) + : size{static_cast(end - begin)} { + if (size > MaxSize) + throw std::out_of_range("StaticVector size exceeds MaxSize"); + std::copy(begin, end, buffer.begin()); + } + + constexpr bool operator==(const StaticVector& other) const { + if (size != other.size) + return false; + return std::equal(buffer.begin(), buffer.begin() + size, other.buffer.begin()); + } + + constexpr bool operator!=(const StaticVector& other) const { + return !(*this == other); + } + + constexpr T* data() { + return buffer.data(); + } + + constexpr void resize(size_t newSize) { + if (newSize > MaxSize) + throw std::out_of_range("StaticVector size exceeds MaxSize"); + size = newSize; + } + + constexpr T* data_resize(size_t newSize) { + resize(newSize); + return data(); + } + + constexpr T* begin() { + return buffer.data(); + } + + constexpr T* end() { + return buffer.data() + size; + } + + constexpr T& operator[](size_t index) { + return buffer[index]; + } + + constexpr T& at(size_t index) { + return buffer.at(index); + } +}; diff --git a/src/common/thread_name.h b/src/common/thread_name.h new file mode 100644 index 0000000..337c24e --- /dev/null +++ b/src/common/thread_name.h @@ -0,0 +1,28 @@ +/* SPDX-License-Identifier: MIT + * Copyright © Mark Collins + */ +#pragma once + +#include + +#ifdef _WIN32 + #include + #include +#elif defined(__linux__) + #include +#endif + +/** + * @brief Set the name of the calling thread. + * @note This may silently fail in some cases, e.g. the name is too long. + */ +inline void SetThreadName(const std::string& name) { +#ifdef _WIN32 + + std::wstring wName{name.begin(), name.end()}; + SetThreadDescription(GetCurrentThread(), wName.c_str()); + +#elif defined(__linux__) + pthread_setname_np(pthread_self(), name.c_str()); +#endif +} \ No newline at end of file diff --git a/src/common/types.h b/src/common/types.h new file mode 100644 index 0000000..89a767a --- /dev/null +++ b/src/common/types.h @@ -0,0 +1,16 @@ +/* SPDX-License-Identifier: MIT + * Copyright © Mark Collins + */ +#pragma once + +#include +#include + +using u64 = uint64_t; //!< Unsigned 64-bit integer +using u32 = uint32_t; //!< Unsigned 32-bit integer +using u16 = uint16_t; //!< Unsigned 16-bit integer +using u8 = uint8_t; //!< Unsigned 8-bit integer +using i64 = int64_t; //!< Signed 64-bit integer +using i32 = int32_t; //!< Signed 32-bit integer +using i16 = int16_t; //!< Signed 16-bit integer +using i8 = int8_t; //!< Signed 8-bit integer \ No newline at end of file diff --git a/src/crsf/crc.h b/src/crsf/crc.h new file mode 100644 index 0000000..2772fb2 --- /dev/null +++ b/src/crsf/crc.h @@ -0,0 +1,42 @@ +/* SPDX-License-Identifier: GPL-3.0-only + * Copyright © ExpressLRS Developers + * Copyright © Mark Collins + * Heavily derivative of ExpressLRS, see https://github.com/ExpressLRS/ExpressLRS/tree/f3cc5e66796c93b5eaa90a3d1d519f0d0fa0e4ea/src/lib/CRC + */ + +#pragma once + +#include +#include + +namespace crsf { +/* + * @brief A CRC8 implementation using a lookup table computed at compile time. + */ +class PolynomialCrc { + private: + std::array table; //!< A lookup table containing the mapping for every byte value. + + public: + consteval PolynomialCrc(u8 polynomial) { + constexpr u8 BitsInByte{8}; + + for (size_t i{}; i < table.size(); i++) { + size_t crc{i}; + for (size_t j{}; j < BitsInByte; j++) + crc = (crc << 1) ^ ((crc & (1 << (BitsInByte - 1))) ? polynomial : 0); + table[i] = crc & UINT8_MAX; + } + } + + constexpr u8 Calculate(u8 data) const { + return table[data]; + } + + constexpr u8 Calculate(const u8* data, uint16_t length, u8 crc = 0) const { + while (length--) + crc = table[crc ^ *data++]; + return crc; + } +}; +} \ No newline at end of file diff --git a/src/crsf/crsf.cpp b/src/crsf/crsf.cpp new file mode 100644 index 0000000..c704a63 --- /dev/null +++ b/src/crsf/crsf.cpp @@ -0,0 +1,164 @@ +/* SPDX-License-Identifier: MPL-2.0 + * Copyright © Mark Collins + */ +#include "protocol.h" +#include +#include + +#include "crsf.h" + +namespace crsf { +bool Interface::IsActive() { + return serial.IsOpen(); +} + +void Interface::ResetDevice() { + if (!serial.IsOpen()) + return; + + serial.SetDTR(false); + serial.SetRTS(false); + serial.WriteByte(0); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + serial.SetDTR(true); + serial.SetRTS(true); + serial.WriteByte(0); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); +} + +void Interface::SendFrame(const FrameV& frame) { + auto data{[&]() -> FrameData { + return std::visit([&](auto&& frame) { + return frame.GetData(); + }, + frame); + }()}; + + // Note: Any frames need to be sent twice to ensure they are received. + serial.Write(data); + serial.Write(data); +} + +std::optional Interface::ReceiveFrame(std::chrono::time_point timeout) { + FrameData frame{}; + bool readAddress{false}; //!< Whether the address has been read while looking for the sync byte. + + while (true) { + auto optionalByte{serial.ReadByte(timeout)}; + if (!optionalByte) + return std::nullopt; + + u8 byte{*optionalByte}; + if (byte == SyncByte) { + break; + } else if (static_cast
(byte) == Address::CrsfTransmitter + || static_cast
(byte) == Address::RadioTransmitter) { + readAddress = true; + frame[0] = byte; + break; + } else { + if (byte >= 0x20 && byte <= 0x7E) + fmt::print("Dropping: '{}'\n", static_cast(byte)); + else + fmt::print("Dropping: 0x{:02X}\n", static_cast(byte)); + } + } + + Header* header{reinterpret_cast(frame.data_resize(sizeof(Header)))}; + serial.Read(std::span(frame.data() + readAddress, sizeof(Header) - readAddress)); + + if (header->frameSize + FrameSizeNotCountedBytes > FrameSizeMax) + throw Exception("Frame size too large: 0x{:X}", header->frameSize); + else if (header->frameSize < FrameTypeSize + FrameCrcSize) + throw Exception("Frame size too small: 0x{:X}", header->frameSize); + + frame.resize(header->frameSize + FrameSizeNotCountedBytes); + serial.Read(std::span(frame.data() + sizeof(Header), header->frameSize - FrameTypeSize)); + + u8 crc{CrsfCrc.Calculate(frame.data() + FrameSizeNotCountedBytes, header->frameSize - FrameCrcSize)}; + u8 frameCrc{frame[FrameSizeNotCountedBytes + header->frameSize - FrameCrcSize]}; + if (crc != frameCrc) + throw Exception("CRC mismatch: expected 0x{:02X}, got 0x{:02X}", crc, frameCrc); + + if (frame == oldFrame) + return ReceiveFrame(timeout); + else + oldFrame = frame; + + return GetFrame(std::span(frame.data(), header->frameSize + FrameSizeNotCountedBytes), header->type); +} + +Interface::Interface(std::string port, size_t baud) + : serial(port, baud) {} + +Device::Device(Address address, const std::string& name, DeviceMetadata metadata) + : address{address} + , name{name} + , metadata{metadata} { + for (u8 index{1}; index <= metadata.fieldCount; index++) + parameters.emplace_back(Parameter{index}); +} + +void Device::Update(const std::string& pName, DeviceMetadata pMetadata) { + if (name != pName || metadata != pMetadata) { + name = pName; + metadata = pMetadata; + + parameters.clear(); + for (u8 index{1}; index <= metadata.fieldCount; index++) + parameters.emplace_back(Parameter{index}); + + parameterWrites.clear(); + syncData.reset(); + } +} + +Parameter* Device::FindParameter(u8 fieldIndex) { + auto it{std::find_if(parameters.begin(), parameters.end(), [&](const Parameter& parameter) { return parameter.fieldIndex == fieldIndex; })}; + if (it == parameters.end()) + return nullptr; + return &*it; +} + +void Device::WriteParameter(u8 fieldIndex, ParameterWriteFrame::WriteValue value) { + Parameter* parameter{FindParameter(fieldIndex)}; + if (!parameter || !parameter->complete) + return; + + parameterWrites.emplace_back(ParameterWriteFrame{fieldIndex, value, address}); + + if (parameter->type == ParameterType::Command) { + parameter->activeCommand = true; + parameter->Reset(); + return; + } + + // We need to reset siblings along with the parent, when a parameter is written to since their values might be interdependent. + // Any children, or siblings that are subfolders or commands will not be reset since they are not expected to have interdependent values. + u8 parentIndex{parameter->parentIndex}; + for (Parameter& parameter : parameters) + if (parameter.fieldIndex == fieldIndex || (parameter.parentIndex == parentIndex && parameter.type != ParameterType::Folder && parameter.type != ParameterType::Command)) + parameter.Reset(); +} + +std::optional Device::TryGetTxFrame() { + if (!parameterWrites.empty()) { + FrameV frame{parameterWrites.front()}; + parameterWrites.pop_front(); + return frame; + } + + for (Parameter& parameter : parameters) { + constexpr auto ParameterResendTimeout{std::chrono::milliseconds(100)}; + if (!parameter.complete) { + if (parameter.requestedChunk && (std::chrono::steady_clock::now() - parameter.requestTime) < ParameterResendTimeout) + continue; + parameter.requestedChunk = true; + parameter.requestTime = std::chrono::steady_clock::now(); + return ParameterReadFrame{parameter.fieldIndex, parameter.chunkIndex, address}; + } + } + + return std::nullopt; +} +} \ No newline at end of file diff --git a/src/crsf/crsf.h b/src/crsf/crsf.h new file mode 100644 index 0000000..6eb69dc --- /dev/null +++ b/src/crsf/crsf.h @@ -0,0 +1,76 @@ +/* SPDX-License-Identifier: MPL-2.0 + * Copyright © Mark Collins + */ +#pragma once + +#include + +#include "frame.h" +#include "parameter.h" +#include "protocol.h" + +#include + +namespace crsf { +class Interface { + private: + SerialPort serial; + FrameData oldFrame{}; //!< A copy of the previous frame, used to prevent duplicate frames from being processed. + + public: + Interface(std::string port, size_t baud); + + /** + * @return Whether the interface is active, i.e. the serial port is open. This should be checked after exceptions. + */ + bool IsActive(); + + /** + * @brief Attempts to reset the device by asserting the DTR and RTS lines. + */ + void ResetDevice(); + + /** + * @brief Sends a frame over the CRSF interface. + */ + void SendFrame(const FrameV& frame); + + /** + * @brief Receives a frame from the CRSF interface. + * @param timeout The time to wait for a frame before returning an empty optional. + * @return The received frame, or an empty optional if no frame was received. + */ + std::optional ReceiveFrame(std::chrono::time_point timeout); +}; + +struct Device { + Address address; + std::string name; + DeviceMetadata metadata; + std::vector parameters; + std::list parameterWrites; + std::optional syncData; + + Device(Address address, const std::string& name, DeviceMetadata metadata); + + /** + * @brief Updates the device metadata, resetting all state if there are changes. + */ + void Update(const std::string& name, DeviceMetadata metadata); + + /** + * @brief Finds a parameter by its field index, returning nullptr if it does not exist. + */ + Parameter* FindParameter(u8 fieldIndex); + + /** + * @brief Writes a parameter value to the device, resetting dependent parameters. + */ + void WriteParameter(u8 fieldIndex, ParameterWriteFrame::WriteValue value); + + /** + * @brief Attempts to get a queued frame to transmit over the CRSF interface. + */ + std::optional TryGetTxFrame(); +}; +} // namespace crsf \ No newline at end of file diff --git a/src/crsf/frame.h b/src/crsf/frame.h new file mode 100644 index 0000000..f6562e9 --- /dev/null +++ b/src/crsf/frame.h @@ -0,0 +1,321 @@ +/* SPDX-License-Identifier: MPL-2.0 + * Copyright © Mark Collins + */ +#pragma once + +#include +#include +#include +#include + +#include +#include + +#include "protocol.h" + +namespace crsf { +constexpr Address DefaultOriginAddress{Address::RadioTransmitter}; //!< Default origin address is the radio transmitter, since this is designed to emulate it. +constexpr Address DefaultDeviceAddress{Address::CrsfTransmitter}; //!< Default device address is the CRSF TX, since the radio is going to be attached to it. + +using FrameData = StaticVector; + +/** + * @brief The base class for all CRSF frames. + * @note Any frame that needs to be recieved must have a constructor that takes a std::span as an argument. + * @note Any frame that needs to be sent must implement the WritePayload virtual method. + */ +struct Frame { + Address deviceAddress; + FrameType type; + + constexpr Frame(FrameType type, Address deviceAddress = DefaultDeviceAddress) + : deviceAddress{deviceAddress} + , type{type} {} + + constexpr Frame(std::span data) + : deviceAddress{data[0]} + , type{static_cast(data[2])} {} + + FrameData GetData() const { + FrameData data{}; + size_t payloadSize{WritePayload(std::span(data.data() + HeaderSize, PayloadSizeMax))}, + frameSize{FrameTypeSize + payloadSize + FrameCrcSize}; + data.size = FrameSizeNotCountedBytes + frameSize; + + *reinterpret_cast(data.data()) = Header{ + .deviceAddress = deviceAddress, + .frameSize = static_cast(frameSize), + .type = type, + }; + data[data.size - 1] = CrsfCrc.Calculate(data.data() + FrameSizeNotCountedBytes, FrameTypeSize + payloadSize); + + return data; + } + + virtual size_t WritePayload(std::span payload) const { + throw Exception("WritePayload not implemented for frame type: 0x{:X}", static_cast(type)); + } +}; + +struct BatterySensorFrame : public Frame { + static constexpr FrameType Type{FrameType::BatterySensor}; + + BatterySensorData battery; + + constexpr BatterySensorFrame(BatterySensorData battery, Address deviceAddress = DefaultDeviceAddress) + : Frame(Type, deviceAddress) + , battery{battery} {} + + inline BatterySensorFrame(std::span data) + : Frame(data) + , battery{*(reinterpret_cast(data.data() + HeaderSize))} {} + + virtual size_t WritePayload(std::span payload) const override { + *reinterpret_cast(payload.data()) = battery; + return sizeof(BatterySensorData); + } +}; + +struct LinkStatisticsFrame : public Frame { + static constexpr FrameType Type{FrameType::LinkStatistics}; + + LinkStatisticsData statistics; + + constexpr LinkStatisticsFrame(LinkStatisticsData statistics, Address deviceAddress = DefaultDeviceAddress) + : Frame(Type, deviceAddress) + , statistics{statistics} {} + + inline LinkStatisticsFrame(std::span data) + : Frame(data) + , statistics{*(reinterpret_cast(data.data() + HeaderSize))} {} + + virtual size_t WritePayload(std::span payload) const override { + *reinterpret_cast(payload.data()) = statistics; + return sizeof(LinkStatisticsData); + } +}; + +struct RcChannelsFrame : public Frame { + static constexpr FrameType Type{FrameType::RcChannelsPacked}; + + RcChannelsData channels; + + constexpr RcChannelsFrame(RcChannelsData channels, Address deviceAddress = DefaultDeviceAddress) + : Frame(Type, deviceAddress) + , channels{channels} {} + + RcChannelsFrame(std::span data) + : Frame(data) + , channels{*(reinterpret_cast(data.data() + HeaderSize))} {} + + virtual size_t WritePayload(std::span payload) const override { + *reinterpret_cast(payload.data()) = channels; + return sizeof(RcChannelsData); + } +}; + +struct ExtFrame : public Frame { + Address destinationAddress; + Address originAddress; + + constexpr ExtFrame(FrameType type, Address destinationAddress, Address originAddress = DefaultOriginAddress, Address deviceAddress = DefaultDeviceAddress) + : Frame(type, deviceAddress) + , destinationAddress{destinationAddress} + , originAddress{originAddress} {} + + ExtFrame(std::span data) + : Frame(data) + , destinationAddress{data[3]} + , originAddress{data[4]} {} + + virtual size_t WritePayload(std::span payload) const override { + auto address{reinterpret_cast(payload.data())}; + *address = destinationAddress; + *(address + 1) = originAddress; + return sizeof(Address) * 2; + } +}; + +struct PingFrame : public ExtFrame { + static constexpr FrameType Type{FrameType::DevicePing}; + + constexpr PingFrame(Address destinationAddress, Address originAddress = DefaultOriginAddress, Address deviceAddress = DefaultDeviceAddress) + : ExtFrame(Type, destinationAddress, originAddress, deviceAddress) {} + + PingFrame(std::span data) + : ExtFrame(data) {} +}; + +#pragma pack(push, 1) +struct DeviceMetadata { + u32 serialNo; + u32 hardwareVersion; + u32 softwareVersion; + u8 fieldCount; + u8 parameterVersion; + + constexpr bool operator==(const DeviceMetadata& other) const { + return serialNo == other.serialNo && hardwareVersion == other.hardwareVersion && softwareVersion == other.softwareVersion && fieldCount == other.fieldCount && parameterVersion == other.parameterVersion; + } +}; +static_assert(sizeof(DeviceMetadata) == 14); +#pragma pack(pop) + +struct DeviceInfoFrame : public ExtFrame { + static constexpr FrameType Type{FrameType::DeviceInfo}; + + std::string deviceName; + DeviceMetadata deviceMetadata; + + constexpr DeviceInfoFrame(std::string deviceName, u32 serialNo, u32 hardwareVersion, u32 softwareVersion, u8 fieldCount, u8 parameterVersion, Address destinationAddress, Address originAddress = DefaultOriginAddress, Address deviceAddress = DefaultDeviceAddress) + : ExtFrame(Type, destinationAddress, originAddress, deviceAddress) + , deviceName{deviceName} + , deviceMetadata{serialNo, hardwareVersion, softwareVersion, fieldCount, parameterVersion} {} + + DeviceInfoFrame(std::span data) + : ExtFrame(data) + , deviceName{reinterpret_cast(data.data() + ExtSize)} + , deviceMetadata{*(reinterpret_cast(data.data() + ExtSize + deviceName.size() + 1))} {} + + virtual size_t WritePayload(std::span payload) const override { + size_t offset{ExtFrame::WritePayload(payload)}; + + std::copy(deviceName.begin(), deviceName.end(), payload.begin() + offset); + payload[deviceName.size()] = '\0'; + offset += deviceName.size() + 1; + + std::memcpy(payload.data() + offset, &deviceMetadata, sizeof(DeviceMetadata)); + offset += sizeof(DeviceMetadata); + + return offset; + } +}; + +struct ParameterSettingsEntryFrame : public ExtFrame { + static constexpr FrameType Type{FrameType::ParameterSettingsEntry}; + + static constexpr size_t FieldDataSizeMax{PayloadSizeMax - (HeaderSize + ExtSize + 2)}; + + u8 fieldIndex; + u8 chunksRemaining; + StaticVector data; + + ParameterSettingsEntryFrame(std::span data) + : ExtFrame(data) + , fieldIndex{data[ExtSize]} + , chunksRemaining{data[ExtSize + 1]} + , data{data.begin() + ExtSize + 2, data.end() - FrameCrcSize} {} +}; + +struct ParameterReadFrame : public ExtFrame { + static constexpr FrameType Type{FrameType::ParameterRead}; + + u8 fieldIndex; + u8 chunkIndex; + + constexpr ParameterReadFrame(u8 fieldIndex, u8 chunkIndex, Address destinationAddress, Address originAddress = DefaultOriginAddress, Address deviceAddress = DefaultDeviceAddress) + : ExtFrame(Type, destinationAddress, originAddress, deviceAddress) + , fieldIndex{fieldIndex} + , chunkIndex{chunkIndex} {} + + ParameterReadFrame(std::span data) + : ExtFrame(data) + , fieldIndex{data[ExtSize]} + , chunkIndex{data[ExtSize + 1]} {} + + virtual size_t WritePayload(std::span payload) const override { + size_t offset{ExtFrame::WritePayload(payload)}; + + payload[offset] = fieldIndex; + payload[offset + 1] = chunkIndex; + + return offset + 2; + } +}; + +struct ParameterWriteFrame : public ExtFrame { + static constexpr FrameType Type{FrameType::ParameterWrite}; + using WriteValue = u8; + + u8 fieldIndex; + u8 value; + + constexpr ParameterWriteFrame(u8 fieldIndex, u8 value, Address destinationAddress, Address originAddress = DefaultOriginAddress, Address deviceAddress = DefaultDeviceAddress) + : ExtFrame(Type, destinationAddress, originAddress, deviceAddress) + , fieldIndex{fieldIndex} + , value{value} {} + + ParameterWriteFrame(std::span data) + : ExtFrame(data) + , fieldIndex{data[ExtSize]} + , value{data[ExtSize + 1]} {} + + virtual size_t WritePayload(std::span payload) const override { + size_t offset{ExtFrame::WritePayload(payload)}; + + payload[offset] = fieldIndex; + payload[offset + 1] = value; + + return offset + 2; + } +}; + +struct OpenTxSyncData { + i32 packetRate; + i32 packetOffset; +}; + +struct RadioIdFrame : public ExtFrame { + static constexpr FrameType Type{FrameType::RadioId}; + + OpenTxSyncData sync; + + constexpr RadioIdFrame(OpenTxSyncData sync, Address destinationAddress, Address originAddress = DefaultOriginAddress, Address deviceAddress = DefaultDeviceAddress) + : ExtFrame(Type, destinationAddress, originAddress, deviceAddress) + , sync{sync} {} + + RadioIdFrame(std::span data) + : ExtFrame(data) { + FrameType extendedType{data[ExtSize]}; + if (extendedType != FrameType::OpenTxSync) + throw Exception("Unknown extended type: 0x{:X}", static_cast(extendedType)); + + auto syncData{reinterpret_cast(data.data() + ExtSize + 1)}; + sync = { + .packetRate = std::byteswap(syncData->packetRate), + .packetOffset = std::byteswap(syncData->packetOffset), + }; + } + + virtual size_t WritePayload(std::span payload) const override { + size_t offset{ExtFrame::WritePayload(payload)}; + + payload[offset] = static_cast(FrameType::OpenTxSync); + *reinterpret_cast(payload.data() + offset + 1) = { + .packetRate = std::byteswap(sync.packetRate), + .packetOffset = std::byteswap(sync.packetOffset), + }; + + return offset + 1 + sizeof(OpenTxSyncData); + } +}; + +using FrameV = std::variant; + +constexpr FrameV GetFrame(std::span data, FrameType type) { + return [&](std::index_sequence) -> FrameV { + std::optional result{}; + auto TryGetFrame{[&](auto index) -> bool { + using T = std::variant_alternative_t; + if (T::Type == type) { + result = T(data); + return true; + } + return false; + }}; + if (!(TryGetFrame(std::integral_constant{}) || ...)) + throw Exception("Unknown frame type: 0x{:X}", static_cast(type)); + return *result; + }(std::make_index_sequence>{}); +} +} // namespace crsf \ No newline at end of file diff --git a/src/crsf/parameter.h b/src/crsf/parameter.h new file mode 100644 index 0000000..c342141 --- /dev/null +++ b/src/crsf/parameter.h @@ -0,0 +1,238 @@ +/* SPDX-License-Identifier: MPL-2.0 + * Copyright © Mark Collins + */ +#pragma once + +#include +#include +#include +#include +#include + +#include + +#include "protocol.h" + +namespace crsf { +template +struct IntegerParameter { + T value; + T min; + T max; + std::string units; + + constexpr IntegerParameter(std::span data) { + auto ptr{data.data()}; + + value = *reinterpret_cast(ptr); + ptr += sizeof(T); + min = *reinterpret_cast(ptr); + ptr += sizeof(T); + max = *reinterpret_cast(ptr); + ptr += sizeof(T); + + units = std::string(reinterpret_cast(ptr)); + } +}; + +struct FloatParameter { + float value; + float min; + float max; + u8 precision; + u32 step; + std::string units; + + FloatParameter(std::span data) { + auto ptr{data.data()}; + + value = *reinterpret_cast(ptr); + ptr += sizeof(float); + min = *reinterpret_cast(ptr); + ptr += sizeof(float); + max = *reinterpret_cast(ptr); + ptr += sizeof(float); + + precision = *ptr++; + step = *reinterpret_cast(ptr); + ptr += sizeof(u32); + + units = std::string(reinterpret_cast(ptr)); + } +}; + +struct TextSelectionParameter { + u8 selectedIndex; + u8 minIndex; + u8 maxIndex; + u8 defaultIndex; + std::vector options; + std::string units; + + TextSelectionParameter(std::span data) { + auto ptr{data.data()}; + std::string_view optionsString{reinterpret_cast(ptr)}; + for (size_t start{}, end{}; end != std::string_view::npos; start = end + 1) { + end = optionsString.find(';', start); + options.emplace_back(optionsString.substr(start, end - start)); + } + ptr += optionsString.size() + 1; + + constexpr char LuaSymbolArrowUp{'\xc0'}; + constexpr char LuaSymbolArrowDown{'\xc1'}; + + for (std::string& option : options) { + for (size_t i{}; i < option.size(); i++) { + if (option[i] == LuaSymbolArrowUp) { + option.replace(i, 1, "↑"); + i++; + } else if (option[i] == LuaSymbolArrowDown) { + option.replace(i, 1, "↓"); + i++; + } + } + } + + selectedIndex = *ptr++; + minIndex = *ptr++; + maxIndex = *ptr++; + defaultIndex = *ptr++; + + units = std::string(reinterpret_cast(ptr)); + } +}; + +struct FolderParameter { + std::string displayName; + + constexpr FolderParameter(std::span data) { + if (!data.empty()) + displayName = std::string(reinterpret_cast(data.data())); + } +}; + +struct InfoParameter { + std::string display; + + constexpr InfoParameter(std::span data) { + display = std::string(reinterpret_cast(data.data())); + } +}; + +struct CommandParameter { + CommandStep step; + std::string status; + + constexpr CommandParameter(std::span data) { + step = static_cast(data[0]); + status = std::string(reinterpret_cast(data.data() + 1)); + } +}; + +using ParameterValue = std::variant, IntegerParameter, IntegerParameter, IntegerParameter, IntegerParameter, IntegerParameter, FloatParameter, TextSelectionParameter, FolderParameter, InfoParameter, CommandParameter>; + +constexpr ParameterValue GetParameterValue(std::span data, ParameterType type) { + switch (type) { + case ParameterType::Uint8: + return IntegerParameter(data); + case ParameterType::Int8: + return IntegerParameter(data); + case ParameterType::Uint16: + return IntegerParameter(data); + case ParameterType::Int16: + return IntegerParameter(data); + case ParameterType::Uint32: + return IntegerParameter(data); + case ParameterType::Int32: + return IntegerParameter(data); + case ParameterType::Float: + return FloatParameter(data); + case ParameterType::TextSelection: + return TextSelectionParameter(data); + case ParameterType::Folder: + return FolderParameter(data); + case ParameterType::Info: + return InfoParameter(data); + case ParameterType::Command: + return CommandParameter(data); + default: + throw Exception("Unknown parameter type: {}", static_cast(type)); + } +} + +/** + * @brief An abstraction over a CRSF parameter, processing every chunk of data until the parameter is complete. + */ +struct Parameter { + u8 fieldIndex{}; + u8 parentIndex{}; + u8 chunkIndex{}; + i16 lastChunksRemaining{-1}; + bool complete{}; + bool requestedChunk{}; + bool activeCommand{}; + std::chrono::time_point requestTime{}; + std::chrono::time_point updateTime{}; + + std::string name{}; + ParameterType type{}; + std::vector rawData; + ParameterValue value{}; + +#pragma pack(push, 1) + struct FirstChunkData { + u8 parentIndex; + ParameterType type; + }; + static_assert(sizeof(FirstChunkData) == 2); +#pragma pack(pop) + + constexpr Parameter(u8 fieldIndex) + : fieldIndex{fieldIndex} {} + + constexpr void ProcessChunk(std::span chunk, u8 chunksRemaining) { + if (lastChunksRemaining > 0 && chunksRemaining != lastChunksRemaining - 1) { + fmt::print("Chunk order mismatch: expected {}, got {}\n", lastChunksRemaining - 1, chunksRemaining); + return; + } + lastChunksRemaining = chunksRemaining; + + rawData.insert(rawData.end(), chunk.begin(), chunk.end()); + chunkIndex++; + requestedChunk = false; + + if (chunksRemaining == 0) { + auto ptr{rawData.data()}; + + FirstChunkData* firstChunkData{reinterpret_cast(ptr)}; + parentIndex = firstChunkData->parentIndex; + type = firstChunkData->type; + ptr += sizeof(FirstChunkData); + + name = std::string(reinterpret_cast(ptr)); + ptr += name.size() + 1; + value = GetParameterValue(std::span(ptr, rawData.size() - (ptr - rawData.data())), type); + + complete = true; + rawData.clear(); + updateTime = std::chrono::steady_clock::now(); + + if (activeCommand) { + CommandParameter& command{std::get(value)}; + if (command.step == CommandStep::Idle) + activeCommand = false; + } + } + } + + constexpr void Reset() { + chunkIndex = 0; + lastChunksRemaining = -1; + requestedChunk = false; + rawData.clear(); + complete = false; + if (!activeCommand) + value = std::monostate{}; + } +}; +} \ No newline at end of file diff --git a/src/crsf/protocol.h b/src/crsf/protocol.h new file mode 100644 index 0000000..6ab8124 --- /dev/null +++ b/src/crsf/protocol.h @@ -0,0 +1,469 @@ +/* SPDX-License-Identifier: GPL-3.0-only + * Copyright © ExpressLRS Developers + * Copyright © Mark Collins + * Heavily derivative of ExpressLRS, see https://github.com/ExpressLRS/ExpressLRS/tree/f3cc5e66796c93b5eaa90a3d1d519f0d0fa0e4ea/src/lib/CrsfProtocol + */ + +#pragma once + +#include "crc.h" +#include + +namespace crsf { +constexpr u8 CrcPolynomial{0xd5}; +constexpr PolynomialCrc CrsfCrc{CrcPolynomial}; + +constexpr u8 SyncByte{0xC8}; + +constexpr size_t FrameSizeNotCountedBytes{2}; +constexpr size_t PayloadSizeMax{62}; +constexpr size_t FrameTypeSize{1}, FrameCrcSize{1}; +constexpr size_t FrameSizeMax{FrameSizeNotCountedBytes + PayloadSizeMax + FrameCrcSize}; + +enum class FrameType : u8 { + Gps = 0x02, + Vario = 0x07, + BatterySensor = 0x08, + BaroAltitude = 0x09, + LinkStatistics = 0x14, + OpenTxSync = 0x10, + RadioId = 0x3A, + RcChannelsPacked = 0x16, + Attitude = 0x1E, + FlightMode = 0x21, + // Extended Header Frames, range: 0x28 to 0x96 + DevicePing = 0x28, + DeviceInfo = 0x29, + ParameterSettingsEntry = 0x2B, + ParameterRead = 0x2C, + ParameterWrite = 0x2D, + ElrsStatus = 0x2E, // ELRS good/bad packet count and status flags + Command = 0x32, + // KISS frames + KissRequest = 0x78, + KissResponse = 0x79, + // MSP commands + MspRequest = 0x7A, // Response request using msp sequence as command + MspResponse = 0x7B, // Reply with 58 byte chunked binary + MspWrite = 0x7C, // Write with 8 byte chunked binary (OpenTX outbound telemetry buffer limit) + // Ardupilot frames + ArdupilotResp = 0x80, +}; + +enum class CommandType : u8 { + Rx = 0x10 +}; + +enum class SubCommandType : u8 { + RxBind = 0x01, + ModelSelectId = 0x05 +}; + +enum class Address : u8 { + Broadcast = 0x00, + Usb = 0x10, + TbsCorePnpPro = 0x80, + Reserved1 = 0x8A, + CurrentSensor = 0xC0, + Gps = 0xC2, + TbsBlackbox = 0xC4, + FlightController = 0xC8, + Reserved2 = 0xCA, + RaceTag = 0xCC, + RadioTransmitter = 0xEA, + CrsfReceiver = 0xEC, + CrsfTransmitter = 0xEE, + ElrsLua = 0xEF +}; + +#pragma pack(push, 1) +struct Header { + Address deviceAddress; + u8 frameSize; //!< Size of the frame, for all bytes after the frameSize byte, including the CRC. + FrameType type; +}; + +constexpr size_t HeaderSize{sizeof(Header)}; + +struct ExtHeader { + Address deviceAddr; + u8 frameSize; + FrameType type; + Address destinationAddress; + Address originAddress; +}; + +constexpr size_t ExtSize{sizeof(ExtHeader)}; + +enum class ParameterType : u8 { + Uint8 = 0, + Int8 = 1, + Uint16 = 2, + Int16 = 3, + Uint32 = 4, + Int32 = 5, + Uint64 = 6, + Int64 = 7, + Float = 8, + TextSelection = 9, + String = 10, + Folder = 11, + Info = 12, + Command = 13, + Vtx = 15, + OutOfRange = 127, +}; + +constexpr u8 ParameterHidden{0x80}; +constexpr u8 ParameterElrsHidden{0x40}; +constexpr u8 ParameterTypeMask{static_cast(~(ParameterHidden | ParameterElrsHidden))}; + +enum class CommandStep : u8 { + Idle = 0, + Click = 1, + Executing = 2, + AskConfirm = 3, + Confirmed = 4, + Cancel = 5, + Query = 6, +}; + +constexpr const char* CommandStepToString(CommandStep step) { + switch (step) { + case CommandStep::Idle: + return "Idle"; + case CommandStep::Click: + return "Clicked"; + case CommandStep::Executing: + return "Executing"; + case CommandStep::AskConfirm: + return "Needs Confirmation"; + case CommandStep::Confirmed: + return "Confirmed"; + case CommandStep::Cancel: + return "Cancel"; + case CommandStep::Query: + return "Query"; + default: + return "Unknown"; + } +} + +struct RcChannelsData { + static constexpr size_t ChannelCount{16}; + static constexpr size_t BitsPerChannel{11}; + static constexpr size_t PackedSize{((BitsPerChannel * ChannelCount) + 7) / 8}; + static constexpr u16 BitMask{(1 << BitsPerChannel) - 1}; + + std::array data; + + constexpr bool operator==(const RcChannelsData& other) const { + return data == other.data; + } + + constexpr bool operator!=(const RcChannelsData& other) const { + return data != other.data; + } + + constexpr u16 get(u8 i) const { + size_t byteIndex{(i * BitsPerChannel) / 8}; + size_t bitOffset{(i * BitsPerChannel) % 8}; + u16 value{static_cast((data[byteIndex] >> bitOffset) | (data[byteIndex + 1] << (8 - bitOffset)))}; + if (bitOffset > 5) + value |= (data[byteIndex + 2] << (16 - bitOffset)); + return value & BitMask; + } + + constexpr void set(u8 i, u16 val) { + size_t byteIndex{(i * BitsPerChannel) / 8}; + size_t bitOffset{(i * BitsPerChannel) % 8}; + data[byteIndex] = (data[byteIndex] & ~(BitMask << bitOffset)) | ((val << bitOffset) & 0xFF); + data[byteIndex + 1] = (data[byteIndex + 1] & ~(BitMask >> (8 - bitOffset))) | ((val >> (8 - bitOffset)) & 0xFF); + if (bitOffset > 5) + data[byteIndex + 2] = (data[byteIndex + 2] & (0xFF << (16 - bitOffset))) | ((val >> (16 - bitOffset)) & 0xFF); + } +}; + +struct DeviceInformationData { + u32 serialNo; + u32 hardwareVersion; + u32 softwareVersion; + u8 ParametersCount; //!< Number of parameters in the device, these can be queried using ParameterRead frames. + u8 ParametersVersion; + // A null-terminated string containing the device name follows. +}; + +namespace msp { + constexpr size_t RequestPayloadSize{8}; + constexpr size_t ResponsePayloadSize{58}; + constexpr size_t MaxPayloadSize{(RequestPayloadSize > ResponsePayloadSize ? RequestPayloadSize : ResponsePayloadSize)}; + + struct VtxConfigPacket { + u8 vtxType; + u8 band; + u8 channel; + u8 power; + u8 pitmode; + u16 freq; + u8 deviceIsReady; + u8 lowPowerDisarm; + u16 pitModeFreq; + u8 vtxTableAvailable; + u8 bands; + u8 channels; + u8 powerLevels; + }; + + struct VtxPowerLevelPacket { + u8 powerLevel; + u16 powerValue; + u8 powerLabelLength; + u8 label[3]; + }; + + struct VtxBandPacket { + u8 band; + u8 bandNameLength; + u8 bandName[8]; + u8 bandLetter; + u8 isFactoryBand; + u8 channels; + u16 channel[8]; + }; +} + +struct BatterySensorData { + u16 voltage; // mv * 100, big endian. + u16 current; // ma * 100, big endian. + u32 capacityRemainingPacked; // First 24 bits capacity in mah, last 8 bits remaining capacity in %, little endian. + + /* + * @return Battery voltage in volts. + */ + constexpr float Voltage() const { + return std::byteswap(voltage) / 10.0f; + } + + /* + * @return Current draw in amps. + */ + constexpr float Current() const { + return std::byteswap(current) / 100.0f; + } + + /* + * @return Battery capacity in mAh. + */ + constexpr float Capacity() const { + return (capacityRemainingPacked & 0xFFFFFF) / 1000.0f; + } + + /* + * @return Remaining battery capacity in %. + */ + constexpr u8 RemainingCapacity() const { + return capacityRemainingPacked >> 24; + } +}; + +struct BaroVarioData { + u16 altitude; //!< Altitude in decimeters + 10000dm, or Altitude in meters if high bit is set, big endian. + i16 verticalSpeed; //!< Vertical speed in cm/s, big endian. + + /* + * @return Altitude in meters. + */ + constexpr float Altitude() const { + u16 alt{std::byteswap(altitude)}; + if (alt & 0x8000) + return static_cast(alt & 0x7FFF); + return static_cast(alt - 10000) / 10.0f; + } + + /* + * @return Vertical speed in m/s. + */ + constexpr i16 VerticalSpeed() const { + return std::byteswap(verticalSpeed); + } +}; + +struct VarioData { + i16 verticalSpeed; //!< Vertical speed in cm/s, big endian. + + /* + * @return Vertical speed in m/s. + */ + constexpr float VerticalSpeed() const { + return std::byteswap(verticalSpeed) / 100.0f; + } +}; + +struct GpsData { + i32 latitude; //!< Degree / 10`000`000. + i32 longitude; //!< Degree / 10`000`000. + u16 groundSpeed; //!< km/h / 10. + u16 gpsHeading; //!< Degree / 100. + u16 altitude; //!< Meters, ­1000m offset. + u8 satellitesInUse; + + /* + * @return Latitude in degrees. + */ + constexpr double Latitude() const { + return static_cast(latitude) / 10000000.0f; + } + + /* + * @return Longitude in degrees. + */ + constexpr double Longitude() const { + return static_cast(longitude) / 10000000.0f; + } + + /* + * @return Ground speed in km/h. + */ + constexpr float GroundSpeed() const { + return static_cast(groundSpeed) / 10.0f; + } + + /* + * @return GPS heading in degrees. + */ + constexpr float GpsHeading() const { + return static_cast(gpsHeading) / 100.0f; + } + + /* + * @return Altitude in meters, relative to the ground. + */ + constexpr float Altitude() const { + return static_cast(altitude) + 1000.0f; + } +}; + +struct AttitudeData { + i16 pitch; //!< Radians * 10000. + i16 roll; //!< Radians * 10000. + i16 yaw; //!< Radians * 10000. + + /* + * @return Pitch in radians. + */ + constexpr float Pitch() const { + return std::byteswap(pitch) / 10000.0f; + } + + /* + * @return Roll in radians. + */ + constexpr float Roll() const { + return std::byteswap(roll) / 10000.0f; + } + + /* + * @return Yaw in radians. + */ + constexpr float Yaw() const { + return std::byteswap(yaw) / 10000.0f; + } +}; + +struct FlightModeData { + std::array flightMode; +}; + +struct LinkStatisticsData { + static constexpr float MaxRssi{300.f}; //!< An arbitrary maximum RSSI value, this is inverted. + static constexpr float MaxSnrDb{100.f}; //!< Maximum SNR in dB, this value is centered around 0 going in positive and negative directions. + + u8 uplinkRssi1Inverse; + u8 uplinkRssi2Inverse; + u8 uplinkLinkQuality; //!< The link quality in %. + i8 uplinkSnr; + u8 activeAntenna; //!< 0 = Antenna 1, 1 = Antenna 2. + u8 rfModeIndex; + u8 uplinkTxPowerIndex; + u8 downlinkRssiInverse; + u8 downlinkLinkQuality; + i8 downlinkSnr; + + constexpr float UplinkRssi1() { + return static_cast(uplinkRssi1Inverse) * -1.0f; + } + + constexpr float UplinkRssi1Norm() { + return (MaxRssi + UplinkRssi1()) / MaxRssi; + } + + constexpr float UplinkRssi2() { + return static_cast(uplinkRssi2Inverse) * -1.0f; + } + + constexpr float UplinkRssi2Norm() { + return (MaxRssi + UplinkRssi2()) / MaxRssi; + } + + constexpr float UplinkLinkQualityNorm() { + return static_cast(uplinkLinkQuality) / 100.0f; + } + + constexpr float UplinkSnrNorm() { + return (static_cast(uplinkSnr) + MaxSnrDb) / (MaxSnrDb * 2); + } + + constexpr float DownlinkRssi() { + return static_cast(downlinkRssiInverse) * -1.0f; + } + + constexpr float DownlinkRssiNorm() { + return (MaxRssi + DownlinkRssi()) / MaxRssi; + } + + constexpr float DownlinkLinkQualityNorm() { + return static_cast(downlinkLinkQuality) / 100.0f; + } + + constexpr float DownlinkSnrNorm() { + return (static_cast(downlinkSnr) + MaxSnrDb) / (MaxSnrDb * 2); + } + + constexpr const char* RfMode() { + constexpr std::array ExpressLrsRfModes{ + "LORA 4Hz", + "LORA 25Hz", + "LORA 50Hz", + "LORA 100Hz", + "LORA 100Hz 8CH", + "LORA 150Hz", + "LORA 200Hz", + "LORA 250Hz", + "LORA 333Hz 8CH", + "LORA 500Hz", + "DVDA 250Hz (FLRC)", + "DVDA 500Hz (FLRC)", + "FLRC 500Hz", + "FLRC 1000Hz", + "DVDA 50Hz", + "LORA 200Hz 8CH", + "FSK 2G4 DVDA 500Hz", + "FSK 2G4 1000Hz", + "FSK 900 1000Hz", + "FSK 900 1000Hz 8CH"}; + if (rfModeIndex > ExpressLrsRfModes.size()) + return "Unknown"; + return ExpressLrsRfModes[rfModeIndex]; + } + + constexpr int UplinkTxPower() { + constexpr std::array TxPowers{0, 10, 25, 100, 500, 1000, 2000, 250, 50}; + if (uplinkTxPowerIndex > TxPowers.size()) + return -1; + return TxPowers[uplinkTxPowerIndex]; + } +}; + +#pragma pack(pop) + +} // namespace crsf::protocol diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..a0a471b --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,605 @@ +/* SPDX-License-Identifier: MPL-2.0 + * Copyright © Mark Collins + */ +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "common/scope.h" +#include "common/thread_name.h" + +#include "crsf/crsf.h" +#include "crsf/parameter.h" +#include "serial/serial.h" + +class ElrsManager { + private: + crsf::Interface crsfInterface; + + std::mutex stateMutex; + std::condition_variable stateCV; + + std::vector devices; + std::jthread rxThread, txThread; + bool earlyPing{}; //!< Send a ping frame early, this is used when a packet with an unrecognized device is found. + size_t pingsSinceLastRx{}; //!< Number of pings sent since the last received packet. + + std::optional linkStatistics{}; + std::optional channelFrame{}; + std::optional batteryData{}; + + SDL_Joystick* joystick{}; + struct ButtonState { + bool pressed{}; //!< Whether the button is currently pressed, this is necessary to track releases for toggling. + bool toggled{}; //!< Turns true when the button is pressed and false when it is pressed again. + }; + std::vector buttonStates; + bool showJoystickData{}; //!< Whether to show the joystick input data. + + crsf::Device* FindDevice(crsf::Address address) { + auto it{std::find_if(devices.begin(), devices.end(), [&](const crsf::Device& device) { return device.address == address; })}; + if (it == devices.end()) + return nullptr; + return &*it; + } + + void RxThread(std::stop_token stopToken) { + SetThreadName("ELRS RX"); + while (!stopToken.stop_requested()) { + try { + std::optional frameV{crsfInterface.ReceiveFrame(std::chrono::steady_clock::now() + std::chrono::seconds{1})}; + // Note: Timeouts are important so that stop tokens are checked frequently. + if (!frameV) + continue; + + std::scoped_lock lock{stateMutex}; + std::visit([&](auto&& frame) { + using T = std::decay_t; + + if constexpr (std::is_same_v) { + batteryData = frame.battery; + } else if constexpr (std::is_same_v) { + linkStatistics = frame.statistics; + } else if constexpr (std::is_same_v) { + fmt::print("Ping frame\n"); + } else if constexpr (std::is_same_v) { + crsf::Device* device{FindDevice(frame.originAddress)}; + if (device) { + device->Update(frame.deviceName, frame.deviceMetadata); + fmt::print("Updated device: {}\n", device->name); + } else { + device = &devices.emplace_back(frame.originAddress, frame.deviceName, frame.deviceMetadata); + fmt::print("Added device: {}\n", device->name); + } + } else if constexpr (std::is_same_v) { + auto device{FindDevice(frame.originAddress)}; + if (!device) { + earlyPing = true; + fmt::print("Device not found: 0x{:X}\n", static_cast(frame.originAddress)); + return; + } + + crsf::Parameter* parameter{device->FindParameter(frame.fieldIndex)}; + if (parameter) { + if (parameter->complete) + return; + parameter->ProcessChunk(frame.data, frame.chunksRemaining); + } else { + fmt::print("Parameter not found: {}\n", frame.fieldIndex); + return; + } + } else if constexpr (std::is_same_v) { + auto device{FindDevice(frame.originAddress)}; + if (!device) { + earlyPing = true; + fmt::print("Device not found: 0x{:X}\n", static_cast(frame.originAddress)); + return; + } + + device->syncData = frame.sync; + } else { + throw Exception("Unknown frame type: 0x{:X}", static_cast(frame.type)); + } + }, + *frameV); + + pingsSinceLastRx = 0; + stateCV.notify_all(); + } catch (std::exception& e) { + fmt::print("RX Error: {}\n", e.what()); + if (!crsfInterface.IsActive()) { + fmt::print("Serial port is inactive, stopping RX thread\n"); + requestStop = true; + return; + } + } + } + } + + void TxThread(std::stop_token stopToken) { + SetThreadName("ELRS TX"); + + std::chrono::time_point wakeTime{std::chrono::steady_clock::now()}, pingTime{wakeTime}; + constexpr std::chrono::milliseconds WakeInterval{100}, PingInterval{5000}; + + bool recurringException{}; + while (!stopToken.stop_requested()) { + std::unique_lock lock{stateMutex}; + stateCV.wait_until(lock, wakeTime > pingTime ? wakeTime : pingTime); + + try { + if (pingsSinceLastRx >= 2) { + fmt::print("No packets received after two pings, resetting device\n"); + crsfInterface.ResetDevice(); + pingsSinceLastRx = 0; + earlyPing = true; + } + + if (channelFrame) { + crsfInterface.SendFrame(*channelFrame); + channelFrame.reset(); + } + + bool sentFrame{}; + for (crsf::Device& device : devices) { + auto frame{device.TryGetTxFrame()}; + + if (frame) { + crsfInterface.SendFrame(*frame); + sentFrame = true; + } + } + + if (earlyPing || std::chrono::steady_clock::now() >= pingTime) { + crsf::PingFrame ping{crsf::Address::Broadcast, crsf::Address::ElrsLua}; + crsfInterface.SendFrame(ping); + fmt::print("Sent ping frame\n"); + + earlyPing = false; + pingsSinceLastRx++; + pingTime = std::chrono::steady_clock::now() + PingInterval; + } + + wakeTime = std::chrono::steady_clock::now() + WakeInterval; + } catch (std::exception& e) { + fmt::print("TX Error: {}\n", e.what()); + if (!crsfInterface.IsActive()) { + fmt::print("Serial port is inactive, stopping TX thread\n"); + requestStop = true; + return; + } + if (recurringException) { + fmt::print("Recurring exception, trying to reset the device\n"); + crsfInterface.ResetDevice(); + } + recurringException = true; + } + } + } + + public: + bool requestStop{}; //!< If any of the threads have requested a stop, this happens when they can no longer continue due to an error or the serial port being closed. + + ElrsManager(std::string portName, size_t baudRate) + : crsfInterface{portName, baudRate} + , rxThread{std::bind_front(&ElrsManager::RxThread, this)} + , txThread{std::bind_front(&ElrsManager::TxThread, this)} {} + + bool HasJoystick() { + if (joystick) { + if (SDL_JoystickConnected(joystick)) + return true; + SDL_CloseJoystick(joystick); + joystick = nullptr; + } + + if (SDL_HasJoystick()) { + int joystickCount{}; + auto joysticks{SDL_GetJoysticks(&joystickCount)}; + if (joystickCount > 0) { + joystick = SDL_OpenJoystick(joysticks[0]); + if (joystick != nullptr) { + fmt::print("Opened joystick: {}\n", SDL_GetJoystickName(joystick)); + buttonStates.resize(SDL_GetNumJoystickButtons(joystick)); + return true; + } else { + fmt::print("Failed to open joystick: {}\n", SDL_GetError()); + } + } + } + + return false; + } + + void Draw() { + std::scoped_lock lock{stateMutex}; + + try { + bool wrotePackets{}; + + if (linkStatistics) { + ImGui::Text("Link Statistics:"); + ImGui::Indent(); + + ImGui::Text("RF Mode: %s", linkStatistics->RfMode()); + ImGui::Text("Diversity active antenna: %d", linkStatistics->activeAntenna); + + // Uplink + ImGui::Text("Uplink TX Power: %d mW", linkStatistics->UplinkTxPower()); + ImGui::ProgressBar(linkStatistics->UplinkRssi1Norm(), ImVec2(0.0f, 0.0f), fmt::format("Uplink RSSI Ant. 1: {} dBm", linkStatistics->UplinkRssi1()).c_str()); + ImGui::ProgressBar(linkStatistics->UplinkRssi2Norm(), ImVec2(0.0f, 0.0f), fmt::format("Uplink RSSI Ant. 1: {} dBm", linkStatistics->UplinkRssi2()).c_str()); + ImGui::ProgressBar(linkStatistics->UplinkLinkQualityNorm(), ImVec2(0.0f, 0.0f), fmt::format("Uplink Package success rate: {}%", linkStatistics->uplinkLinkQuality).c_str()); + ImGui::ProgressBar(linkStatistics->UplinkSnrNorm(), ImVec2(0.0f, 0.0f), fmt::format("Uplink SNR: {} dB", linkStatistics->uplinkSnr).c_str()); + + // Downlink + ImGui::ProgressBar(linkStatistics->DownlinkRssiNorm(), ImVec2(0.0f, 0.0f), fmt::format("Downlink RSSI: {} dBm", linkStatistics->DownlinkRssi()).c_str()); + ImGui::ProgressBar(linkStatistics->DownlinkLinkQualityNorm(), ImVec2(0.0f, 0.0f), fmt::format("Downlink package success rate: {}%", linkStatistics->downlinkLinkQuality).c_str()); + ImGui::ProgressBar(linkStatistics->DownlinkSnrNorm(), ImVec2(0.0f, 0.0f), fmt::format("Downlink SNR: {} dB", linkStatistics->downlinkSnr).c_str()); + + ImGui::Unindent(); + + for (crsf::Device& device : devices) { + if (device.syncData) { + ImGui::Text("Device: %s (Address: 0x%02hhX)", device.name.c_str(), static_cast(device.address)); + ImGui::Indent(); + ImGui::Text("Packet Rate: %d", device.syncData->packetRate); + ImGui::Text("Packet Offset: %d", device.syncData->packetOffset); + ImGui::Unindent(); + } + } + + ImGui::Separator(); + } + + { + ImGui::Text("RC Channels:"); + ImGui::Indent(); + + if (HasJoystick()) { + SDL_LockJoysticks(); + + for (int i{}; i < SDL_GetNumJoystickButtons(joystick); i++) { + bool pressed{static_cast(SDL_GetJoystickButton(joystick, i))}; + ButtonState& buttonState{buttonStates[i]}; + if (pressed && !buttonState.pressed) { + buttonState.pressed = true; + buttonState.toggled = !buttonState.toggled; + } else if (!pressed && buttonState.pressed) { + buttonState.pressed = false; + } + } + + constexpr u16 CrsfChannelMin{172 + 5}, CrsfChannelMid{992}, CrsfChannelMax{1811 - 5}, CrsfChannelDiff{CrsfChannelMax - CrsfChannelMin}; + constexpr u16 JoystickDeadzone{2000}; + + auto getAxisValue{[&](int axis, bool invert = false) -> u16 { + i16 inputValue{SDL_GetJoystickAxis(joystick, axis)}; + if (invert) { + if (inputValue == INT16_MIN) + inputValue = INT16_MAX; + else + inputValue *= -1; + } + if (abs(inputValue) < JoystickDeadzone) + return CrsfChannelMid; + + // Shift the input value from -32768 to 32767 (signed 16-bit) to 0 to 65535 (unsigned 16-bit) + u32 unsignedValue{static_cast(inputValue) + (INT16_MAX + 1)}; + + // Scale the shifted value to the CRSF range + u32 crsfValue{((unsignedValue * CrsfChannelDiff) / UINT16_MAX) + CrsfChannelMin}; + + return static_cast(crsfValue); + }}; + + /* getCombinedTriggerValue, combines anegative axis and the positive axis them into a single axis which is: + * * Centered when both are at their minimum. + * * At the maximum value, if the positive axis is at its max. + * * At the minimum value, if the negative axis is at its max. + */ + auto getCombinedTriggerValue{[&](int negativeAxis, int positiveAxis, bool invert = false) -> u16 { + i16 negativeInputValue{SDL_GetJoystickAxis(joystick, negativeAxis)}; + if (abs(negativeInputValue) < JoystickDeadzone) + negativeInputValue = 0; + u32 negativeUnsignedValue{static_cast(negativeInputValue) + (INT16_MAX + 1)}; + + i16 positiveInputValue{SDL_GetJoystickAxis(joystick, positiveAxis)}; + if (abs(positiveInputValue) < JoystickDeadzone) + positiveInputValue = 0; + u32 positiveUnsignedValue{static_cast(positiveInputValue) + (INT16_MAX + 1)}; + + // Shift the input value from -32768 to 32767 (signed 16-bit) to 0 to 65535 (unsigned 16-bit) + u32 unsignedValue{INT16_MAX}; + unsignedValue += positiveUnsignedValue / 2; + unsignedValue -= negativeUnsignedValue / 2; + + // Scale the shifted value to the CRSF range + u32 crsfValue{((unsignedValue * CrsfChannelDiff) / UINT16_MAX) + CrsfChannelMin}; + + return static_cast(crsfValue); + }}; + + auto getButtonToggle{[&](int button) -> u16 { + return buttonStates[button].toggled ? CrsfChannelMid : CrsfChannelMin; + }}; + + crsf::RcChannelsData crsfChannels{}; + crsfChannels.set(0, getAxisValue(SDL_GAMEPAD_AXIS_RIGHTX)); + crsfChannels.set(1, getAxisValue(SDL_GAMEPAD_AXIS_RIGHTY, true)); + crsfChannels.set(2, getCombinedTriggerValue(SDL_GAMEPAD_AXIS_LEFT_TRIGGER, SDL_GAMEPAD_AXIS_RIGHT_TRIGGER)); + crsfChannels.set(3, getAxisValue(SDL_GAMEPAD_AXIS_LEFTX)); + // CRSF Aux 1 value is ignored for some reason. + crsfChannels.set(5, getButtonToggle(SDL_GAMEPAD_BUTTON_START)); + crsfChannels.set(6, getButtonToggle(SDL_GAMEPAD_BUTTON_LEFT_STICK)); + + constexpr std::array channelLabels{"Roll", "Pitch", "Throttle", "Yaw", "Aux 1", "Aux 2", "Aux 3"}; + for (int i{}; i < channelLabels.size(); i++) { + float scaledValue{static_cast(crsfChannels.get(i) - CrsfChannelMin) / CrsfChannelDiff}; + ImGui::ProgressBar(scaledValue, ImVec2(0.0f, 0.0f), channelLabels[i]); + } + + if (!channelFrame || channelFrame->channels != crsfChannels) { + channelFrame = crsf::RcChannelsFrame(crsfChannels, crsf::Address::FlightController); + wrotePackets = true; + } + + ImGui::Checkbox("Show Joystick Input", &showJoystickData); + if (showJoystickData) { + ImGui::Text("Name: %s", SDL_GetJoystickName(joystick)); + for (int i{}; i < SDL_GetNumJoystickAxes(joystick); i++) { + ImGui::Text("Axis %d:", i); + ImGui::Indent(); + i16 signedValue{SDL_GetJoystickAxis(joystick, i)}; + u32 unsignedValue{static_cast(i32{signedValue} - (std::numeric_limits::min)())}; + float value{static_cast(unsignedValue) / (std::numeric_limits::max)()}; + ImGui::ProgressBar(value, ImVec2(-100, 0), fmt::format("Axis {}", i).c_str()); + ImGui::Unindent(); + } + + for (int i{}; i < SDL_GetNumJoystickButtons(joystick); i++) { + ButtonState& buttonState{buttonStates[i]}; + ImGui::Text("Button %d:", i); + ImGui::Indent(); + ImGui::Checkbox("Pressed", &buttonState.pressed); + ImGui::Checkbox("Toggled", &buttonState.toggled); + ImGui::Unindent(); + } + } + + SDL_UnlockJoysticks(); + } else { + ImGui::Text("No joystick connected"); + } + + ImGui::Unindent(); + ImGui::Separator(); + } + + if (batteryData) { + ImGui::Text("Battery:"); + ImGui::Indent(); + ImGui::Text("Voltage: %.2f V", batteryData->Voltage()); + ImGui::Text("Current: %.2f A", batteryData->Current()); + ImGui::Text("Capacity: %.2f Ah", batteryData->Capacity()); + ImGui::Text("Remaining Capacity: %d%%", batteryData->RemainingCapacity()); + ImGui::Unindent(); + ImGui::Separator(); + } + + for (crsf::Device& device : devices) { + ImGui::Text("Device: %s (Address: 0x%02hhX, Serial No: 0x%08X)", device.name.c_str(), static_cast(device.address), device.metadata.serialNo); + ImGui::Indent(); + ImGui::Text("HW Version: 0x%02X, SW Version: 0x%02X", device.metadata.hardwareVersion, device.metadata.softwareVersion); + ImGui::Text("Parameters: (v0x%02X - %d)", device.metadata.parameterVersion, device.metadata.fieldCount); + + ImGui::Indent(); + for (crsf::Parameter& parameter : device.parameters) { + if (parameter.complete || parameter.activeCommand) { + std::visit([&](auto value) { + if constexpr (std::is_same_v> || std::is_same_v> || std::is_same_v> || std::is_same_v>) { + i64 integerValue{static_cast(value.value)}; + i64 step{1}; + if (ImGui::InputScalar(parameter.name.data(), ImGuiDataType_U64, &integerValue, &step)) { + if (integerValue < value.min) + integerValue = value.min; + else if (integerValue > value.max) + integerValue = value.max; + value.value = static_cast(integerValue); + fmt::print("Set '{}' to {}\n", parameter.name, value.value); + device.WriteParameter(parameter.fieldIndex, value.value); + wrotePackets = true; + } + } else if constexpr (std::is_same_v) { + std::string format{"%." + std::to_string(value.precision) + "f"}; + if (ImGui::InputFloat(parameter.name.data(), &value.value, value.step, value.step * 10, format.c_str())) { + if (value.value < value.min) + value.value = value.min; + else if (value.value > value.max) + value.value = value.max; + fmt::print("Set '{}' to {}\n", parameter.name, value.value); + device.WriteParameter(parameter.fieldIndex, value.value); + wrotePackets = true; + } + } else if constexpr (std::is_same_v) { + ImGui::Text("%s", parameter.name.data()); + if (ImGui::BeginCombo(fmt::format("##PARAM{}-{}", parameter.fieldIndex, device.name).c_str(), std::string{value.options[value.selectedIndex]}.c_str())) { + for (u8 i{0}; i < value.options.size(); ++i) { + bool selected{i == value.selectedIndex}; + if (ImGui::Selectable(fmt::format("{}{}", value.options[i], i == value.defaultIndex ? " (Default)" : "").c_str(), selected)) { + value.selectedIndex = i; + fmt::print("Selected '{}' ({}) in field #{} ({})\n", value.options[i], i, parameter.fieldIndex, parameter.name); + device.WriteParameter(parameter.fieldIndex, static_cast(i)); + wrotePackets = true; + } + if (selected) + ImGui::SetItemDefaultFocus(); + } + ImGui::EndCombo(); + } + } else if constexpr (std::is_same_v) { + ImGui::Unindent(); + ImGui::Text("%s", value.displayName.empty() ? parameter.name.data() : value.displayName.data()); + ImGui::Indent(); + } else if constexpr (std::is_same_v) { + ImGui::Text("%s: %s", parameter.name.data(), value.display.data()); + } else if constexpr (std::is_same_v) { + if (ImGui::Button(parameter.name.data())) { + device.WriteParameter(parameter.fieldIndex, static_cast(crsf::CommandStep::Click)); + wrotePackets = true; + } else if (parameter.complete && parameter.activeCommand && parameter.updateTime + std::chrono::seconds{1} < std::chrono::steady_clock::now()) { + device.WriteParameter(parameter.fieldIndex, static_cast(crsf::CommandStep::Query)); + wrotePackets = true; + } + if (value.step != crsf::CommandStep::Idle) { + ImGui::SameLine(); + ImGui::Text("%s", crsf::CommandStepToString(value.step)); + } + } else { + ImGui::Text("Unhandled '%s' type: %d", parameter.name.data(), static_cast(parameter.type)); + } + }, + parameter.value); + } else { + ImGui::Text("Parameter #%d", parameter.fieldIndex); + } + } + ImGui::Unindent(); + + ImGui::Unindent(); + ImGui::Separator(); + } + + if (wrotePackets) + stateCV.notify_all(); + } catch (std::exception& e) { + fmt::print("Error: {}\n", e.what()); + ImGui::Text("Error: %s", e.what()); + } + } +}; + +int main(int argv, char** args) { + /* SDL */ + SDL_SetHint(SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS, "1"); + + if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_GAMEPAD) != 0) + throw Exception("SDL initialization failed: {}", SDL_GetError()); + + SDL_Window* window{SDL_CreateWindow("DeckTX", 1280, 720, SDL_WINDOW_VULKAN | SDL_WINDOW_HIGH_PIXEL_DENSITY)}; + if (window == nullptr) + throw Exception("SDL window creation failed: {}", SDL_GetError()); + + /* SDL Renderer */ + SDL_Renderer* renderer{SDL_CreateRenderer(window, nullptr)}; + if (renderer == nullptr) + throw Exception("SDL renderer creation failed: {}", SDL_GetError()); + SDL_SetRenderVSync(renderer, 1); + + SDL_SetWindowPosition(window, SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED); + SDL_SetWindowResizable(window, SDL_TRUE); + SDL_ShowWindow(window); + + /* IMGUI */ + IMGUI_CHECKVERSION(); + ImGui::CreateContext(); + ImGuiIO& io{ImGui::GetIO()}; + io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard; + io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad; + io.IniFilename = nullptr; + + ImGui::StyleColorsDark(); + + ImGui_ImplSDL3_InitForSDLRenderer(window, renderer); + ImGui_ImplSDLRenderer3_Init(renderer); + + /* Main Loop */ + std::optional selectedPort{}; + u32 baudRate{1200000}; + std::string error{}; + std::optional manager; + + bool running{true}; + while (running) { + SDL_Event event; + while (SDL_PollEvent(&event)) { + ImGui_ImplSDL3_ProcessEvent(&event); + + if (event.type == SDL_EVENT_QUIT) + running = false; + } + + ImGui_ImplSDLRenderer3_NewFrame(); + ImGui_ImplSDL3_NewFrame(); + ImGui::NewFrame(); + + const ImGuiViewport* viewport{ImGui::GetMainViewport()}; + ImGui::SetNextWindowPos(viewport->WorkPos); + ImGui::SetNextWindowSize(viewport->WorkSize); + + { + ImGui::Begin("DeckTX", nullptr, ImGuiWindowFlags_NoDecoration | ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoBackground | ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoCollapse); + SCOPE_EXIT(ImGui::End()); + + if (manager) { + manager->Draw(); + if (ImGui::Button("Disconnect") || manager->requestStop) + manager.reset(); + } else { + std::vector ports{ListSerialPorts()}; + if (!selectedPort && !ports.empty()) + selectedPort = ports.front(); + + if (ImGui::BeginCombo("Serial Port", selectedPort ? selectedPort->friendlyName.c_str() : "")) { + for (const SerialPortInfo& it : ports) { + bool selected{selectedPort->devicePath == it.devicePath}; + if (ImGui::Selectable(it.friendlyName.c_str(), selected)) + selectedPort = it; + if (selected) + ImGui::SetItemDefaultFocus(); + } + ImGui::EndCombo(); + } + + ImGui::InputScalar("Baud Rate", ImGuiDataType_U32, &baudRate); + + if (ImGui::Button("Connect")) { + if (selectedPort) { + ImGui::Text("Connecting to port: %s", selectedPort->friendlyName.c_str()); + fmt::print("Connecting to port: {}\n", selectedPort->friendlyName); + + try { + manager.emplace(selectedPort->devicePath, baudRate); + } catch (std::exception& e) { + error = e.what(); + manager.reset(); + } + } + } + + if (!error.empty()) + ImGui::Text("Error: %s", error.c_str()); + } + } + + ImGui::Render(); + SDL_SetRenderDrawColor(renderer, 0, 0, 0, 255); + SDL_RenderClear(renderer); + ImGui_ImplSDLRenderer3_RenderDrawData(ImGui::GetDrawData(), renderer); + + SDL_RenderPresent(renderer); + } + + SDL_DestroyWindow(window); + + SDL_Quit(); + + return 0; +} \ No newline at end of file diff --git a/src/serial/serial.cpp b/src/serial/serial.cpp new file mode 100644 index 0000000..4ed0203 --- /dev/null +++ b/src/serial/serial.cpp @@ -0,0 +1,443 @@ +/* SPDX-License-Identifier: MIT + * Copyright © Craig Lilley + * Copyright © Yan Naing Aye + * Copyright © Mark Collins + * Heavily derivative of wjwwood/serial, see https://github.com/wjwwood/serial/tree/69e0372cf0d3796e84ce9a09aff1d74496f68720/src/impl/list_ports + * Heavily derivative of yan9a/serial, see https://github.com/yan9a/serial/blob/7346457660b192a38660f53e0ea11565719682f4/ceSerial.h + */ + +#include "serial.h" + +#if SERIAL_WIN + #include + #include + + #include + #include +#elif SERIAL_LINUX + #include + #include + #include + + #include + #include + #include + #include + #include + #include +#else + #error "Unsupported platform" +#endif + +#include +#include + +std::vector ListSerialPorts() { + std::vector ports; + +#if SERIAL_WIN + + HDEVINFO deviceInfoSet{SetupDiGetClassDevs((const GUID*)&GUID_DEVCLASS_PORTS, NULL, NULL, DIGCF_PRESENT)}; + if (deviceInfoSet == INVALID_HANDLE_VALUE) + return ports; + SCOPE_EXIT(SetupDiDestroyDeviceInfoList(deviceInfoSet)); + + SP_DEVINFO_DATA deviceInfoData{.cbSize = sizeof(SP_DEVINFO_DATA)}; + + for (DWORD deviceInfoSetIndex{}; SetupDiEnumDeviceInfo(deviceInfoSet, deviceInfoSetIndex, &deviceInfoData); deviceInfoSetIndex++) { + // Get device path. + std::string devicePath; + { + HKEY hkey{SetupDiOpenDevRegKey( + deviceInfoSet, + &deviceInfoData, + DICS_FLAG_GLOBAL, + 0, + DIREG_DEV, + KEY_READ)}; + SCOPE_EXIT(RegCloseKey(hkey)); + + DWORD devicePathLength{}; + LONG returnCode{RegQueryValueExA( + hkey, + _T("PortName"), + NULL, + NULL, + NULL, + &devicePathLength)}; + + if (returnCode != EXIT_SUCCESS || devicePathLength == 0) + continue; + + devicePath.resize(devicePathLength - 1); // String length includes null terminator. + + returnCode = RegQueryValueExA( + hkey, + _T("PortName"), + NULL, + NULL, + (LPBYTE)devicePath.data(), + &devicePathLength); + + if (returnCode != EXIT_SUCCESS) + continue; + } + + // Ignore parallel ports. + if (devicePath.find("LPT") != std::string::npos) + continue; + + // Get friendly name and hardware ID. + auto getDeviceRegistryString = [&](DWORD property) -> std::string { + DWORD length{}; + SetupDiGetDeviceRegistryProperty( + deviceInfoSet, + &deviceInfoData, + property, + NULL, + NULL, + 0, + &length); + + if (length == 0) + return {}; + + std::string value; + value.resize(length); + + SetupDiGetDeviceRegistryProperty( + deviceInfoSet, + &deviceInfoData, + property, + NULL, + (PBYTE)value.data(), + length, + &length); + + return value; + }; + + ports.emplace_back(SerialPortInfo{ + devicePath, + getDeviceRegistryString(SPDRP_FRIENDLYNAME), + getDeviceRegistryString(SPDRP_HARDWAREID), + }); + } + +#elif SERIAL_LINUX + + const std::string sysClassTTY{"/sys/class/tty/"}; + const std::regex ttyPattern{"^ttyS|^ttyUSB|^ttyACM"}; + + for (const auto& entry : std::filesystem::directory_iterator(sysClassTTY)) { + std::string portName{entry.path().filename().string()}; + if (!std::regex_search(portName, ttyPattern)) + continue; + + std::string devicePath{"/dev/" + portName}; + std::string friendlyName; + std::string hardwareID; + + std::ifstream ueventFile(entry.path() / "device" / "uevent"); + if (ueventFile) { + std::string line; + while (std::getline(ueventFile, line)) { + if (line.find("PRODUCT=") != std::string::npos) + hardwareID = line.substr(line.find('=') + 1); + if (line.find("DRIVER=") != std::string::npos) + friendlyName = line.substr(line.find('=') + 1); + } + } + + ports.emplace_back(SerialPortInfo{ + devicePath, + friendlyName.empty() ? portName : friendlyName, + hardwareID, + }); + } + +#endif + + return ports; +} + +#if SERIAL_WIN +constexpr COMMTIMEOUTS DefaultTimeouts{ + .ReadIntervalTimeout = 0, + .ReadTotalTimeoutMultiplier = 0, + .ReadTotalTimeoutConstant = 0, + .WriteTotalTimeoutMultiplier = 0, + .WriteTotalTimeoutConstant = 0, +}; +#endif + +SerialPort::SerialPort(std::string devicePath, size_t baudRate) { +#if SERIAL_WIN + + handle = CreateFile( + _T(devicePath.c_str()), + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, + NULL); + + if (handle == INVALID_HANDLE_VALUE) + throw Exception("Failed to open serial port ({}): {}", devicePath, GetLastError()); + + DCB dcbSerialParams{.DCBlength = sizeof(dcbSerialParams)}; + + if (!GetCommState(handle, &dcbSerialParams)) + throw Exception("Failed to get serial port state ({}): {}", devicePath, GetLastError()); + + dcbSerialParams.BaudRate = baudRate; + dcbSerialParams.ByteSize = 8; + dcbSerialParams.Parity = NOPARITY; + dcbSerialParams.StopBits = ONESTOPBIT; + + dcbSerialParams.fOutxCtsFlow = false; + dcbSerialParams.fOutxDsrFlow = false; + dcbSerialParams.fOutX = false; + dcbSerialParams.fDtrControl = DTR_CONTROL_DISABLE; + dcbSerialParams.fRtsControl = RTS_CONTROL_DISABLE; + + if (!SetCommState(handle, &dcbSerialParams)) + throw Exception("Failed to set serial port state ({}): {}", devicePath, GetLastError()); + + if (!SetCommTimeouts(handle, const_cast(&DefaultTimeouts))) + throw Exception("Failed to set serial port timeouts ({}): {}", devicePath, GetLastError()); + +#elif SERIAL_LINUX + + fd = open(devicePath.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); + if (fd == -1) + throw Exception("Failed to open serial port ({}): {}", devicePath, strerror(errno)); + + struct termios tty {}; + if (tcgetattr(fd, &tty) != 0) + throw Exception("Failed to get serial port state ({}): {}", devicePath, strerror(errno)); + + cfsetospeed(&tty, baudRate); + cfsetispeed(&tty, baudRate); + + tty.c_cflag &= ~PARENB; + tty.c_cflag &= ~CSTOPB; + tty.c_cflag &= ~CSIZE; + tty.c_cflag |= CS8; + + tty.c_cflag &= ~CRTSCTS; + tty.c_cflag |= CREAD | CLOCAL; + + tty.c_iflag &= ~(IXON | IXOFF | IXANY); + tty.c_iflag &= ~(ICANON | ECHO | ECHOE | ISIG); + + tty.c_oflag &= ~OPOST; + + tty.c_cc[VMIN] = 0; + tty.c_cc[VTIME] = 10; + + if (tcsetattr(fd, TCSANOW, &tty) != 0) + throw Exception("Failed to set serial port state ({}): {}", devicePath, strerror(errno)); + +#endif +} + +SerialPort::~SerialPort() { +#if SERIAL_WIN + + if (handle != INVALID_HANDLE_VALUE) + CloseHandle(handle); + +#elif SERIAL_LINUX + + if (fd != -1) + close(fd); + +#endif +} + +bool SerialPort::IsOpen() { +#if SERIAL_WIN + + DWORD errors{}; + COMSTAT comStat{}; + if (!ClearCommError(handle, &errors, &comStat) || (errors & (CE_OVERRUN | CE_RXOVER | CE_RXPARITY | CE_FRAME | CE_BREAK))) + return false; + + return true; + +#elif SERIAL_LINUX + + return fcntl(fd, F_GETFD) != -1 || errno != EBADF; + +#endif +} + +#if SERIAL_WIN +struct RaiiHandle { + ~RaiiHandle() { + if (handle != INVALID_HANDLE_VALUE) + CloseHandle(handle); + } + + HANDLE handle{INVALID_HANDLE_VALUE}; +}; + +static thread_local RaiiHandle OverlapEvent{}; + +static HANDLE GetOverlapEvent() { + if (OverlapEvent.handle == INVALID_HANDLE_VALUE) { + OverlapEvent.handle = CreateEvent(NULL, TRUE, FALSE, NULL); + if (!OverlapEvent.handle) + throw Exception("Failed to create overlapped event: {}", GetLastError()); + } + return OverlapEvent.handle; +} + +size_t ReadSerialFile(HANDLE handle, void* buffer, size_t size, std::chrono::time_point timeout = {}) { + if (timeout != std::chrono::time_point{} && std::chrono::steady_clock::now() >= timeout) + return 0; + + OVERLAPPED overlapped{ + .hEvent = GetOverlapEvent(), + }; + + if (!ReadFile(handle, buffer, size, nullptr, &overlapped)) { + if (GetLastError() != ERROR_IO_PENDING) + throw Exception("Failed to read from serial port: {}", GetLastError()); + } + + size_t timeoutDword{INFINITE}; + if (timeout != std::chrono::time_point{}) { + auto timeoutMs{std::chrono::duration_cast(timeout - std::chrono::steady_clock::now()).count()}; + timeoutDword = timeoutMs <= 0 ? 0 : static_cast(timeoutMs); + } + + bool cancelled{}; + if (WaitForSingleObject(overlapped.hEvent, timeoutDword) != WAIT_OBJECT_0) { + if (!CancelIoEx(handle, &overlapped)) + throw Exception("Failed to cancel I/O: {}", GetLastError()); + cancelled = true; + } + + DWORD bytesRead{}; + if (!GetOverlappedResult(handle, &overlapped, &bytesRead, TRUE)) { + if (cancelled) + return 0; + throw Exception("Failed to get overlapped result: {}", GetLastError()); + } + + return bytesRead; +} + +constexpr DWORD MaxTimeout{std::chrono::duration_cast(std::chrono::hours(1)).count()}; +#endif + +std::optional SerialPort::ReadByte(std::chrono::time_point timeout) { + if (std::chrono::steady_clock::now() >= timeout) + return std::nullopt; + + u8 byte{}; +#if SERIAL_WIN + + size_t bytesRead{ReadSerialFile(handle, &byte, 1, timeout)}; + if (bytesRead == 0) + return std::nullopt; + +#elif SERIAL_LINUX + + fd_set readfds; + FD_ZERO(&readfds); + FD_SET(fd, &readfds); + + struct timeval tv { + .tv_sec = std::chrono::duration_cast(timeout - std::chrono::steady_clock::now()).count(), + .tv_usec = std::chrono::duration_cast(timeout - std::chrono::steady_clock::now()).count() % 1000000, + }; + + if (select(fd + 1, &readfds, NULL, NULL, &tv) == -1) + throw Exception("Failed to wait for serial port: {}", strerror(errno)); + + if (!FD_ISSET(fd, &readfds)) + return std::nullopt; + + if (read(fd, &byte, 1) != 1) + throw Exception("Failed to read from serial port: {}", strerror(errno)); + +#endif + + return byte; +} + +void SerialPort::Read(std::span buffer) { +#if SERIAL_WIN + + size_t bytesRead{ReadSerialFile(handle, buffer.data(), buffer.size())}; + if (bytesRead != buffer.size()) + throw Exception("Failed to read from serial port: expected {}, got {}", buffer.size(), bytesRead); + +#elif SERIAL_LINUX + + if (read(fd, buffer.data(), buffer.size()) != buffer.size()) + throw Exception("Failed to read from serial port: {}", strerror(errno)); + +#endif +} + +void SerialPort::Write(std::span buffer) { +#if SERIAL_WIN + + OVERLAPPED overlapped{ + .hEvent = GetOverlapEvent(), + }; + + if (!WriteFile(handle, buffer.data(), buffer.size(), nullptr, &overlapped)) { + if (GetLastError() != ERROR_IO_PENDING) + throw Exception("Failed to write to serial port: {}", GetLastError()); + } + + DWORD bytesWritten{}; + if (!GetOverlappedResult(handle, &overlapped, &bytesWritten, TRUE)) + throw Exception("Failed to get overlapped result: {}", GetLastError()); + + if (bytesWritten != buffer.size()) + throw Exception("Failed to write to serial port: expected {}, got {}", buffer.size(), bytesWritten); + +#elif SERIAL_LINUX + + if (write(fd, buffer.data(), buffer.size()) != buffer.size()) + throw Exception("Failed to write to serial port: {}", strerror(errno)); + +#endif +} + +void SerialPort::SetDTR(bool state) { +#if SERIAL_WIN + + if (!EscapeCommFunction(handle, state ? SETDTR : CLRDTR)) + throw Exception("Failed to set DTR: {}", GetLastError()); + +#elif SERIAL_LINUX + + int status{state ? TIOCM_DTR : 0}; + if (ioctl(fd, TIOCMSET, &status) == -1) + throw Exception("Failed to set DTR: {}", strerror(errno)); + +#endif +} + +void SerialPort::SetRTS(bool state) { +#if SERIAL_WIN + + if (!EscapeCommFunction(handle, state ? SETRTS : CLRRTS)) + throw Exception("Failed to set RTS: {}", GetLastError()); + +#elif SERIAL_LINUX + + int status{state ? TIOCM_RTS : 0}; + if (ioctl(fd, TIOCMSET, &status) == -1) + throw Exception("Failed to set RTS: {}", strerror(errno)); + +#endif +} \ No newline at end of file diff --git a/src/serial/serial.h b/src/serial/serial.h new file mode 100644 index 0000000..52e6d42 --- /dev/null +++ b/src/serial/serial.h @@ -0,0 +1,92 @@ +/* SPDX-License-Identifier: MIT + * Copyright © Mark Collins + */ +#pragma once + +#include +#include +#include +#include + +#if defined(_WIN32) + #include + + #define SERIAL_WIN 1 +#elif defined(__linux__) + #define SERIAL_LINUX 1 +#else + #error "Unsupported platform" +#endif + +#include + +struct SerialPortInfo { + std::string devicePath; //!< The platform specific device path, e.g. "/dev/ttyUSB0" or "COM1". + std::string friendlyName; //!< Human readable name of the serial device, if available. + std::string hardwareId; //!< The hardware ID of the device, this might be a VID/PID of the device or other hardware identifiers. +}; + +/** + * @brief List all serial ports currently available on the system. + */ +std::vector ListSerialPorts(); + +/** + * @brief An abstraction over an active serial port, with methods for reading and writing to it. + */ +class SerialPort { + private: + #if SERIAL_WIN + HANDLE handle{INVALID_HANDLE_VALUE}; + #elif SERIAL_LINUX + int fd{-1}; + #endif + + public: + /** + * @brief Open a serial port. + * @param devicePath The platform specific device path, e.g. "/dev/ttyUSB0" or "COM1". + * @param baudRate The baud rate to use for the serial port. + * @note The serial port is always opened with 8 data bits, no parity, and 1 stop bit. + */ + SerialPort(std::string devicePath, size_t baudRate); + + ~SerialPort(); + + /** + * @return If the serial port is currently open, connection status may be disrupted due to external factors (such as unplugging the device) so this should be checked after exceptions. + */ + bool IsOpen(); + + /** + * @brief Read a single byte from the serial port. + * @param timeout The time to wait for a byte before returning an empty optional. + * @return The byte read, or an empty optional if no byte was read. + */ + std::optional ReadByte(std::chrono::time_point timeout = std::chrono::steady_clock::now() + std::chrono::seconds(1)); + + /** + * @brief Read a buffer of bytes from the serial port. + * @note This will block until the buffer is filled, early returns are only possible via exceptions. + */ + void Read(std::span buffer); + + template + void Read(std::span buffer) { + Read(std::span(reinterpret_cast(buffer.data()), buffer.size() * sizeof(T))); + } + + /** + * @brief Write a buffer of bytes to the serial port. + * @note This will block until the buffer is written, early returns are only possible via exceptions. + */ + void Write(std::span buffer); + + void WriteByte(u8 byte) { + Write(std::span(&byte, sizeof(byte))); + } + + void SetDTR(bool state); + + void SetRTS(bool state); +}; \ No newline at end of file