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|
use anyhow::{anyhow, bail, Context};
use rand::{thread_rng, Rng};
use rf4463::{config::RADIO_CONFIG_CATS, Rf4463};
use rppal::{
gpio::{Gpio, OutputPin},
hal::Delay,
spi::{Bus, Mode, SlaveSelect, Spi},
};
use std::{
sync::Arc,
time::{Duration, Instant},
};
use tokio::sync::{
mpsc::{error::TryRecvError, Receiver, Sender},
Mutex,
};
pub const MAX_PACKET_LEN: usize = 8191;
pub struct RadioManager {
radio: Rf4463<Spi, OutputPin, OutputPin, Delay>,
receive_queue: Sender<(Vec<u8>, f64)>,
transmit_queue: Receiver<Vec<u8>>,
rx_buf: [u8; MAX_PACKET_LEN],
temperature: Arc<Mutex<f32>>,
}
impl RadioManager {
pub fn new(receive_queue: Sender<(Vec<u8>, f64)>, transmit_queue: Receiver<Vec<u8>>) -> anyhow::Result<Self> {
let spi = Spi::new(Bus::Spi0, SlaveSelect::Ss0, 1_000_000, Mode::Mode0)?;
let gpio = Gpio::new()?;
let sdn = gpio.get(22)?.into_output();
let cs = gpio.get(24)?.into_output();
let delay = Delay::new();
let mut radio = Rf4463::new(spi, sdn, cs, delay, &mut RADIO_CONFIG_CATS.clone())
.map_err(|e| anyhow!("{e:?}"))?;
radio.set_channel(20);
let rx_buf = [0; MAX_PACKET_LEN];
let temperature = Arc::new(Mutex::new(radio.get_temp()?));
Ok(Self {
radio,
receive_queue,
transmit_queue,
rx_buf,
temperature,
})
}
pub fn set_channel(&mut self, channel: u8) {
self.radio.set_channel(channel);
}
pub fn temperature_mutex(&self) -> Arc<Mutex<f32>> {
self.temperature.clone()
}
pub async fn process_forever(&mut self) -> anyhow::Result<()> {
loop {
self.tick().await?;
*self.temperature.lock().await = self.radio.get_temp()?;
match self.transmit_queue.try_recv() {
Ok(pkt) => {
self.tx(&pkt).await?;
}
Err(TryRecvError::Empty) => {}
Err(TryRecvError::Disconnected) => {
bail!("TX channel disconnected")
}
}
tokio::time::sleep(Duration::from_millis(25)).await;
}
}
async fn tick(&mut self) -> anyhow::Result<()> {
if self.radio.is_idle() {
self.radio
.start_rx(None, false)
.map_err(|e| anyhow!("{e}"))?;
tokio::time::sleep(Duration::from_millis(25)).await;
}
self.radio
.interrupt(Some(&mut self.rx_buf), None)
.map_err(|e| anyhow!("{e:?}"))?;
if let Some(data) = self
.radio
.finish_rx(&mut self.rx_buf)
.map_err(|e| anyhow!("{e}"))?
{
self.radio
.start_rx(None, false)
.map_err(|e| anyhow!("{e}"))?;
self.receive_queue
.send((data.data().to_vec(), data.rssi()))
.await
.ok()
.context("RX channel died")?;
}
Ok(())
}
async fn tx(&mut self, data: &[u8]) -> anyhow::Result<()> {
// ensures we don't tx over a packet,
// and adds some random delay so that every node
// if offset slightly
self.tx_delay().await?;
self.radio.start_tx(data).map_err(|e| anyhow!("{e:?}"))?;
const TIMEOUT: Duration = Duration::from_secs(10);
let start_time = Instant::now();
while !self.radio.is_idle() {
self.radio
.interrupt(None, Some(data))
.map_err(|e| anyhow!("{e:?}"))?;
if start_time + TIMEOUT < Instant::now() {
bail!("Timeout while transmitting");
}
tokio::time::sleep(Duration::from_millis(25)).await;
}
Ok(())
}
async fn tx_delay(&mut self) -> anyhow::Result<()> {
loop {
let delay_ms = thread_rng().gen_range(0..50);
// since delay_ms < 100 we can safely sleep without calling tick
tokio::time::sleep(Duration::from_millis(delay_ms)).await;
let mut rx = false;
while self.radio.is_busy_rxing()? {
rx = true;
self.tick().await?;
tokio::time::sleep(Duration::from_millis(25)).await;
}
if !rx {
// didn't rx a packet, so we're safe to leave
break Ok(());
}
}
}
}
|
