update
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shuai.li
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using CartActivator;
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using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading;
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using Newtonsoft.Json;
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using FundamentalLib;
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namespace MedullaAdapter
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{
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// todo: currently use this ladderlogic to act interaction with Medulla.
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// todo: directly integrate into CartActivator.
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// MCU->Medulla is intervally exchanged information.
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public class MCUInterface<T> : LadderLogic<T> where T : DiverCartDefinition
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{
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/// ////////////////////////////// IMPLEMENT THESE ////////////////////////////////////////////
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public static void SetMCUProgram(string mcu_device_url, byte[] program)
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{
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List<byte[]> SplitArrayIntoChunks(byte[] array, int chunkSize)
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{
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List<byte[]> chunks = new List<byte[]>();
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for (int i = 0; i < array.Length; i += chunkSize)
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{
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int currentChunkSize = Math.Min(chunkSize, array.Length - i);
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byte[] chunk = new byte[currentChunkSize];
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Array.Copy(array, i, chunk, 0, currentChunkSize);
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chunks.Add(chunk);
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}
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return chunks;
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}
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//todo: modify this.
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var codeList = SplitArrayIntoChunks(program, 1024);
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int i = 0;
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foreach (var codePack in codeList)
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{
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var downloadCode =
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new DownloadCodePack(program.Length, 1024 * i, codePack.Length, codePack).GetPack();
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Console.WriteLine(string.Join(" ", downloadCode.Select(p => $"{p:X2}")));
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cart.Embedded.SendMessage(downloadCode);
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Console.WriteLine($"send bytes length:{downloadCode.Length}");
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i++;
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Thread.Sleep(50);
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//while (true)
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//{
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// var receive = cart.Embedded.GetMessage();
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// if (receive == null) continue;
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// if (receive[5] == 0x90 && (receive[6] == 0x05 || receive[6]==0x06)) break;
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//}
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}
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var controlPack2 = new ControlPack(0x01).GetPack();
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cart.Embedded.SendMessage(controlPack2);
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Console.WriteLine("下发代码");
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//MCUTestRunner.DebugSetMCUProgram(program, (bs) => NotifyLowerData("default", bs));
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}
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public static void SendUpperData(string mcu_device_url, byte[] data)
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{
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//todo: this is for VM data exchange, contains upperIO/lowerIO modifications.
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var upperPack = new UpperIOPack(data, data.Length).GetPack();
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cart.Embedded.SendMessage(upperPack);
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//MCUTestRunner.DebugSendUpper(data);
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}
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/// ////////////////////////////// INTERFACES ////////////////////////////////////////////
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public static void NotifyPrint(string mcu_device_url, string message)
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{
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Console.WriteLine($"{mcu_device_url}:{message}");
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}
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// whenever a lower io data is uploaded, call this.
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public static void NotifyLowerData(string mcu_device_url, byte[] lowerIOData)
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{
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using var ms = new MemoryStream(lowerIOData);
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using var br = new BinaryReader(ms);
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if (mcu_logics.TryGetValue(mcu_device_url, out var tup))
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{
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Hedingben.ToastText($"recv iter {br.ReadInt32()} lowerIO data from {mcu_device_url}, operation {tup.name}", $"DIVER-{tup.name}");
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while (ms.Position < lowerIOData.Length)
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{
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var cid = br.ReadInt16();
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if (cid < 0 || cid > tup.fields.Length) throw new Exception("invalid Cartfield id!");
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// if it's upperio skip, otherwise write data.
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var typeid = br.ReadByte();
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if (tup.fields[cid].typeid != typeid)
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throw new Exception($"??? typeid not match for {tup.fields[cid].field}({cid}), expected {tup.fields[cid].typeid} got {typeid}");
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object value;
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switch (tup.fields[cid].typeid)
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{
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case 0:
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value = br.ReadBoolean();
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break;
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case 1:
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value = br.ReadByte();
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break;
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case 2:
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value = br.ReadSByte();
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break;
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case 3:
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value = br.ReadChar();
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break;
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case 4:
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value = br.ReadInt16();
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break;
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case 5:
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value = br.ReadUInt16();
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break;
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case 6:
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value = br.ReadInt32();
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break;
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case 7:
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value = br.ReadUInt32();
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break;
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case 8:
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value = br.ReadSingle();
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break;
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default:
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throw new Exception($"Unsupported type ID: {tup.fields[cid].typeid}");
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}
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if (tup.fields[cid].isUpper) continue;
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tup.fields[cid].fi.SetValue(cart, value);
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}
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// ok to send current data.
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using var sends = new MemoryStream();
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using var bw = new BinaryWriter(sends);
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bw.Write(tup.iterations++);
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for (var cid = 0; cid < tup.fields.Length; cid++)
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{
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bw.Write((short)cid);
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bw.Write((byte)tup.fields[cid].typeid);
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var val = tup.fields[cid].fi.GetValue(cart);
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switch (tup.fields[cid].typeid)
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{
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case 0:
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bw.Write((bool)val);
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break;
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case 1:
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bw.Write((byte)val);
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break;
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case 2:
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bw.Write((sbyte)val);
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break;
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case 3:
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bw.Write((char)val);
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break;
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case 4:
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bw.Write((short)val);
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break;
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case 5:
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bw.Write((ushort)val);
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break;
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case 6:
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bw.Write((int)val);
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break;
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case 7:
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bw.Write((uint)val);
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break;
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case 8:
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bw.Write((float)val);
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break;
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}
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}
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SendUpperData(mcu_device_url, sends.ToArray());
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}
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else
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{
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Hedingben.ToastText($"warning: {mcu_device_url} received lowerIOData but not registered","DIVERWarning");
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}
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}
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public static void Start(T c)
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{
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cart = c;
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var logics = typeof(T).Assembly.GetTypes()
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.Where(p => p.GetCustomAttribute<LogicRunOnMCUAttribute>() != null).ToArray();
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foreach (var logic in logics)
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{
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var attr = logic.GetCustomAttribute<LogicRunOnMCUAttribute>();
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Console.WriteLine($"Set logic {logic.Name} to run on MCU-VM @ device {attr.mcu_url}");
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byte[] ReadAllBytes(Stream stream)
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{
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using (var ms = new MemoryStream())
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{
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stream.CopyTo(ms);
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return ms.ToArray();
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}
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}
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var bytes = ReadAllBytes(Assembly.GetExecutingAssembly().GetManifestResourceStream($"{logic.Name}.bin"));
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SetMCUProgram(attr.mcu_url, bytes);
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var json = UTF8Encoding.UTF8.GetString(ReadAllBytes(Assembly.GetExecutingAssembly()
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.GetManifestResourceStream($"{logic.Name}.bin.json")));
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Console.WriteLine(json);
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var fields = JsonConvert.DeserializeObject<PField[]>(json);
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if (mcu_logics.ContainsKey(attr.mcu_url))
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throw new Exception($"Already have logic for {attr.mcu_url}: LadderLogic {logic.Name}");
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mcu_logics[attr.mcu_url] = new LogicInfo() { fields = fields, name = logic.Name };
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foreach (var pField in fields)
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{
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pField.fi = typeof(T).GetField(pField.field);
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if (pField.fi == null)
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throw new Exception($"field {pField.field} doesn't exist in cart object?");
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pField.isUpper = pField.fi.IsDefined(typeof(AsUpperIO));
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// todo: check type.
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}
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}
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}
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/// ///////////////////////////////// DONT CARE /////////////////////////////////////
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private static T cart;
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class PField
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{
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public string field;
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public FieldInfo fi;
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public bool isUpper;
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public int typeid, offset;
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}
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class LogicInfo
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{
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public string name;
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public PField[] fields;
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public int iterations;
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}
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private static Dictionary<string, LogicInfo> mcu_logics = new();
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public override void Operation(int iteration)
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{
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// just send LIO.
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}
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}
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//unsafe class MCUTestRunner
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//{
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// public delegate void NotifyLowerDelegate(byte* changedStates, int length);
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// [DllImport("MCURuntime.dll", CallingConvention = CallingConvention.Cdecl)]
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// public static extern void set_lowerio_cb(NotifyLowerDelegate callback);
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// private static NotifyLowerDelegate DNotifyStateChanged = StateChanged;
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// [DllImport("MCURuntime.dll")]
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// static extern void test(byte* bin, int len);
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// [DllImport("MCURuntime.dll")]
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// static extern void put_upper(byte* bin, int len);
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// private static Action<byte[]> lo_notifier;
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// private static void StateChanged(byte* changedstates, int length)
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// {
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// byte[] byteArray = new byte[length];
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// Marshal.Copy((IntPtr)changedstates, byteArray, 0, length);
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// lo_notifier(byteArray);
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// }
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// public static void DebugSendUpper(byte[] data)
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// {
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// fixed (byte* ptr = data)
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// {
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// put_upper(ptr, data.Length);
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// }
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// }
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// public static void DebugSetMCUProgram(byte[] program, Action<byte[]> notifier)
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// {
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// lo_notifier = notifier;
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// set_lowerio_cb(DNotifyStateChanged);
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// new Thread(() =>
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// {
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// var allb = new byte[10240]; //10K runtime
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// Array.Copy(program, allb, program.Length);
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// fixed (byte* ptr = allb)
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// {
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// test(ptr, 10240);
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// }
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// }).Start();
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// }
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//}
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}
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