Merge pull request #27 from xrobot-org/dev

Dev

.gitmodules

@@ -43,6 +43,3 @@
 [submodule "lib/magic_enum"]
 	path = lib/magic_enum
 	url = https://github.com/Neargye/magic_enum.git
-[submodule "hw/mcu/esp/ESP32_BleSerial"]
-	path = hw/mcu/esp/ESP32_BleSerial
-	url = https://github.com/avinabmalla/ESP32_BleSerial.git

hw/bsp/MiniPC/drivers/CMakeLists.txt

@@ -6,7 +6,7 @@ add_library(${PROJECT_NAME} STATIC)
 
 target_sources(${PROJECT_NAME} PRIVATE ${${PROJECT_NAME}_SOURCES})
 
-include(${MCU_DIR}/default/CMakeLists.txt)
+include(${MCU_DIR}/linux/driver/CMakeLists.txt)
 
 target_link_libraries(
   ${PROJECT_NAME}

hw/bsp/MiniPC/drivers/bsp.c

@@ -1,5 +1,6 @@
 #include "bsp.h"
 
 #include "bsp_time.h"
+#include "bsp_wifi_client.h"
 
 void bsp_init() { bsp_time_init(); }

hw/bsp/MiniPC/drivers/bsp_dns_client.c

@@ -5,7 +5,8 @@
 
 #include "bsp.h"
 
-int8_t bsp_dns_prase_domain(const char* domain_name, bsp_dns_addr_t* result) {
+bsp_status_t bsp_dns_prase_domain(const char* domain_name,
+                                  bsp_dns_addr_t* result) {
   struct addrinfo hints;
   struct addrinfo* tmp = NULL;
 

hw/bsp/MiniPC/drivers/bsp_dns_client.h

@@ -10,7 +10,8 @@ extern "C" {
 
 typedef char bsp_dns_addr_t[INET_ADDRSTRLEN];
 
-int8_t bsp_dns_prase_domain(const char* domain_name, bsp_dns_addr_t* result);
+bsp_status_t bsp_dns_prase_domain(const char* domain_name,
+                                  bsp_dns_addr_t* result);
 
 #ifdef __cplusplus
 }

hw/bsp/MiniPC/drivers/bsp_gpio.c

@@ -2,13 +2,13 @@
 
 #include <stdlib.h>
 
-inline int8_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
+inline bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
   (void)gpio;
 
   if (value) {
-    if (!system("spd-say -r 100 -p 100 -R 100  滴")) {
-      return BSP_OK;
-    }
+    // if (!system("spd-say -r 100 -p 100 -R 100  滴")) {
+    //   return BSP_OK;
+    // }
   }
 
   return BSP_ERR;

hw/bsp/MiniPC/drivers/bsp_gpio.h

@@ -11,7 +11,7 @@ typedef enum {
   BSP_GPIO_NUM,
 } bsp_gpio_t;
 
-int8_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value);
+bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value);
 
 #ifdef __cplusplus
 }

hw/bsp/MiniPC/drivers/bsp_udp_client.c

@@ -3,15 +3,16 @@
 #include <assert.h>
 #include <hv/hloop.h>
 
-int8_t bsp_udp_client_start(bsp_udp_client_t *udp) {
+bsp_status_t bsp_udp_client_start(bsp_udp_client_t *udp) {
   hio_read(udp->io);
   hloop_run(udp->loop);
   hloop_free(&udp->loop);
 
   return BSP_OK;
 }
 
-int8_t bsp_udp_client_init(bsp_udp_client_t *udp, int port, const char *addr) {
+bsp_status_t bsp_udp_client_init(bsp_udp_client_t *udp, int port,
+                                 const char *addr) {
   udp->loop = hloop_new(0);
   udp->io = hloop_create_udp_client(udp->loop, addr, port);
 
@@ -42,7 +43,7 @@ static void bsp_udp_tx_cb(hio_t *io, const void *buf, int readbytes) {
   }
 }
 
-int8_t bsp_udp_client_register_callback(
+bsp_status_t bsp_udp_client_register_callback(
     bsp_udp_client_t *udp, bsp_udp_client_callback_t type,
     void (*callback)(void *, void *, uint32_t), void *callback_arg) {
   udp->cb[type].fn = callback;
@@ -59,8 +60,8 @@ int8_t bsp_udp_client_register_callback(
   return BSP_OK;
 }
 
-int8_t bsp_udp_client_transmit(bsp_udp_client_t *udp, const uint8_t *data,
-                               uint32_t size) {
+bsp_status_t bsp_udp_client_transmit(bsp_udp_client_t *udp, const uint8_t *data,
+                                     uint32_t size) {
   hio_write(udp->io, data, size);
   return BSP_OK;
 }

hw/bsp/MiniPC/drivers/bsp_udp_client.h

@@ -25,16 +25,17 @@ typedef struct {
   udp_callback_t cb[BSP_UDP_CLIENT_CB_NUM];
 } bsp_udp_client_t;
 
-int8_t bsp_udp_client_init(bsp_udp_client_t* udp, int port, const char* addr);
+bsp_status_t bsp_udp_client_init(bsp_udp_client_t* udp, int port,
+                                 const char* addr);
 
-int8_t bsp_udp_client_start(bsp_udp_client_t* udp);
+bsp_status_t bsp_udp_client_start(bsp_udp_client_t* udp);
 
-int8_t bsp_udp_client_register_callback(
+bsp_status_t bsp_udp_client_register_callback(
     bsp_udp_client_t* udp, bsp_udp_client_callback_t type,
     void (*callback)(void*, void*, uint32_t), void* callback_arg);
 
-int8_t bsp_udp_client_transmit(bsp_udp_client_t* udp, const uint8_t* data,
-                               uint32_t size);
+bsp_status_t bsp_udp_client_transmit(bsp_udp_client_t* udp, const uint8_t* data,
+                                     uint32_t size);
 
 #ifdef __cplusplus
 }

hw/bsp/MiniPC/drivers/bsp_udp_server.c

@@ -3,15 +3,15 @@
 #include <assert.h>
 #include <hv/hloop.h>
 
-int8_t bsp_udp_server_start(bsp_udp_server_t *udp) {
+bsp_status_t bsp_udp_server_start(bsp_udp_server_t *udp) {
   hio_read(udp->io);
   hloop_run(udp->loop);
   hloop_free(&udp->loop);
 
   return BSP_OK;
 }
 
-int8_t bsp_udp_server_init(bsp_udp_server_t *udp, int port) {
+bsp_status_t bsp_udp_server_init(bsp_udp_server_t *udp, int port) {
   udp->loop = hloop_new(0);
   udp->io = hloop_create_udp_server(udp->loop, "0.0.0.0", port);
 
@@ -42,7 +42,7 @@ static void bsp_udp_tx_cb(hio_t *io, const void *buf, int readbytes) {
   }
 }
 
-int8_t bsp_udp_server_register_callback(
+bsp_status_t bsp_udp_server_register_callback(
     bsp_udp_server_t *udp, bsp_udp_server_callback_t type,
     void (*callback)(void *, void *, uint32_t), void *callback_arg) {
   udp->cb[type].fn = callback;
@@ -59,8 +59,8 @@ int8_t bsp_udp_server_register_callback(
   return BSP_OK;
 }
 
-int8_t bsp_udp_server_transmit(bsp_udp_server_t *udp, const uint8_t *data,
-                               uint32_t size) {
+bsp_status_t bsp_udp_server_transmit(bsp_udp_server_t *udp, const uint8_t *data,
+                                     uint32_t size) {
   hio_write(udp->io, data, size);
   return BSP_OK;
 }

hw/bsp/MiniPC/drivers/bsp_udp_server.h

@@ -25,16 +25,16 @@ typedef struct {
   udp_callback_t cb[BSP_UDP_SERVER_CB_NUM];
 } bsp_udp_server_t;
 
-int8_t bsp_udp_server_init(bsp_udp_server_t* udp, int port);
+bsp_status_t bsp_udp_server_init(bsp_udp_server_t* udp, int port);
 
-int8_t bsp_udp_server_start(bsp_udp_server_t* udp);
+bsp_status_t bsp_udp_server_start(bsp_udp_server_t* udp);
 
-int8_t bsp_udp_server_register_callback(
+bsp_status_t bsp_udp_server_register_callback(
     bsp_udp_server_t* udp, bsp_udp_server_callback_t type,
     void (*callback)(void*, void*, uint32_t), void* callback_arg);
 
-int8_t bsp_udp_server_transmit(bsp_udp_server_t* udp, const uint8_t* data,
-                               uint32_t size);
+bsp_status_t bsp_udp_server_transmit(bsp_udp_server_t* udp, const uint8_t* data,
+                                     uint32_t size);
 
 #ifdef __cplusplus
 }

hw/bsp/MiniPC/drivers/bsp_wifi_client.c

@@ -5,37 +5,37 @@
 #include <unistd.h>
 
 #include "bsp.h"
+#include "bsp_def.h"
+#include "bsp_linux_base.h"
 
 static char cmd_buff[100];
 
 void bsp_wifi_client_init() {}
 
-int8_t bsp_wifi_connect(const char *name, const char *password) {
-  (void)name;
-  (void)password;
+bsp_status_t bsp_wifi_connect(const char *name, const char *password) {
   (void)snprintf(cmd_buff, sizeof(cmd_buff), "nmcli con delete %s", name);
   (void)system(cmd_buff);
   (void)snprintf(cmd_buff, sizeof(cmd_buff),
-                 "nmcli dev wifi connect %s password \"%s\"", name, password);
-  int ans = system(cmd_buff);
-
-  if (-1 == ans) {
+                 "nmcli dev wifi connect %s password \"%s\" name %s", name,
+                 password, name);
+  if (bsp_shell_success(system(cmd_buff))) {
+    return BSP_OK;
+  } else {
     return BSP_ERR;
+  }
+}
+
+bsp_status_t bsp_wifi_delete(const char *name) {
+  (void)snprintf(cmd_buff, sizeof(cmd_buff), "nmcli con del %s", name);
+  if (bsp_shell_success(system(cmd_buff))) {
+    return BSP_OK;
   } else {
-    if (WIFEXITED(ans)) {
-      if (0 == WEXITSTATUS(ans)) {
-        return BSP_OK;
-      } else {
-        return BSP_ERR;
-      }
-    } else {
-      return BSP_ERR;
-    }
+    return BSP_ERR;
   }
 }
 
 bool bsp_wifi_connected() {
-  int ret = open("/sys/class/net/wlan0/operstate", O_RDONLY);
+  int ret = open("/sys/class/net/wlp0s20f3/operstate", O_RDONLY);
 
   char status[3] = "wl\0";
   (void)read(ret, status, 2);

hw/bsp/MiniPC/drivers/bsp_wifi_client.h

@@ -4,11 +4,13 @@
 extern "C" {
 #endif
 
-#include "bsp.h"
+#include "bsp_def.h"
 
 void bsp_wifi_client_init();
 
-int8_t bsp_wifi_connect(const char* name, const char* password);
+bsp_status_t bsp_wifi_connect(const char* name, const char* password);
+
+bsp_status_t bsp_wifi_delete(const char* name);
 
 bool bsp_wifi_connected();
 

hw/bsp/Webots/drivers/CMakeLists.txt

@@ -6,7 +6,7 @@ add_library(${PROJECT_NAME} STATIC)
 
 target_sources(${PROJECT_NAME} PRIVATE ${${PROJECT_NAME}_SOURCES})
 
-include(${MCU_DIR}/default/CMakeLists.txt)
+include(${MCU_DIR}/linux/driver/CMakeLists.txt)
 
 target_link_directories(
   ${PROJECT_NAME}

hw/bsp/Webots/drivers/bsp_gpio.c

@@ -6,7 +6,7 @@
 
 static WbDeviceTag led = 0;
 
-inline int8_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
+inline bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
   (void)gpio;
 
   if (!led) {

hw/bsp/Webots/drivers/bsp_gpio.h

@@ -11,7 +11,7 @@ typedef enum {
   BSP_GPIO_NUM,
 } bsp_gpio_t;
 
-int8_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value);
+bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value);
 
 #ifdef __cplusplus
 }

hw/bsp/c-mini/drivers/bsp_can.c

@@ -255,10 +255,10 @@ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
   can_rx_cb_fn(BSP_CAN_2);
 }
 
-int8_t bsp_can_register_callback(bsp_can_t can, bsp_can_callback_t type,
-                                 void (*callback)(bsp_can_t can, uint32_t id,
-                                                  uint8_t *data, void *arg),
-                                 void *callback_arg) {
+bsp_status_t bsp_can_register_callback(
+    bsp_can_t can, bsp_can_callback_t type,
+    void (*callback)(bsp_can_t can, uint32_t id, uint8_t *data, void *arg),
+    void *callback_arg) {
   assert_param(callback);
   assert_param(type != BSP_CAN_CB_NUM);
 
@@ -267,8 +267,8 @@ int8_t bsp_can_register_callback(bsp_can_t can, bsp_can_callback_t type,
   return BSP_OK;
 }
 
-int8_t bsp_ext_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
-                                uint32_t id, uint8_t *data) {
+bsp_status_t bsp_ext_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
+                                      uint32_t id, uint8_t *data) {
   tx_ext_buff[can - BSP_CAN_BASE_NUM].id = id;
   tx_ext_buff[can - BSP_CAN_BASE_NUM].type = format;
   memcpy(tx_ext_buff[can - BSP_CAN_BASE_NUM].data, data, 8);
@@ -283,8 +283,8 @@ int8_t bsp_ext_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
              : BSP_ERR;
 }
 
-int8_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format, uint32_t id,
-                            uint8_t *data) {
+bsp_status_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
+                                  uint32_t id, uint8_t *data) {
   if (can >= BSP_CAN_BASE_NUM) {
     return bsp_ext_can_trans_packet(can, format, id, data);
   }

hw/bsp/c-mini/drivers/bsp_can.h

@@ -30,13 +30,13 @@ typedef enum {
 } bsp_can_format_t;
 
 void bsp_can_init(void);
-int8_t bsp_can_register_callback(bsp_can_t can, bsp_can_callback_t type,
-                                 void (*callback)(bsp_can_t can, uint32_t id,
-                                                  uint8_t *data, void *arg),
-                                 void *callback_arg);
-int8_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format, uint32_t id,
-                            uint8_t *data);
-int8_t bsp_cantouart_get_msg(bsp_can_t can, uint8_t *data);
+bsp_status_t bsp_can_register_callback(
+    bsp_can_t can, bsp_can_callback_t type,
+    void (*callback)(bsp_can_t can, uint32_t id, uint8_t *data, void *arg),
+    void *callback_arg);
+bsp_status_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
+                                  uint32_t id, uint8_t *data);
+bsp_status_t bsp_cantouart_get_msg(bsp_can_t can, uint8_t *data);
 #ifdef __cplusplus
 }
 #endif

hw/bsp/c-mini/drivers/bsp_gpio.c

@@ -28,8 +28,9 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
   }
 }
 
-int8_t bsp_gpio_register_callback(bsp_gpio_t gpio, void (*callback)(void *),
-                                  void *callback_arg) {
+bsp_status_t bsp_gpio_register_callback(bsp_gpio_t gpio,
+                                        void (*callback)(void *),
+                                        void *callback_arg) {
   assert_param(callback);
 
   uint16_t pin = bsp_gpio_map[gpio].pin;
@@ -44,7 +45,7 @@ int8_t bsp_gpio_register_callback(bsp_gpio_t gpio, void (*callback)(void *),
   return BSP_ERR;
 }
 
-int8_t bsp_gpio_enable_irq(bsp_gpio_t gpio) {
+bsp_status_t bsp_gpio_enable_irq(bsp_gpio_t gpio) {
   uint16_t pin = bsp_gpio_map[gpio].pin;
 
   switch (pin) {
@@ -67,7 +68,7 @@ int8_t bsp_gpio_enable_irq(bsp_gpio_t gpio) {
   return BSP_OK;
 }
 
-int8_t bsp_gpio_disable_irq(bsp_gpio_t gpio) {
+bsp_status_t bsp_gpio_disable_irq(bsp_gpio_t gpio) {
   uint16_t pin = bsp_gpio_map[gpio].pin;
 
   switch (pin) {
@@ -90,7 +91,7 @@ int8_t bsp_gpio_disable_irq(bsp_gpio_t gpio) {
   return BSP_OK;
 }
 
-inline int8_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
+inline bsp_status_t bsp_gpio_write_pin(bsp_gpio_t gpio, bool value) {
   HAL_GPIO_WritePin(bsp_gpio_map[gpio].gpio, bsp_gpio_map[gpio].pin, value);
   return BSP_OK;
 }