feat: 新增 ack 机制

serial_module.c

@@ -1,6 +1,5 @@
 #define PY_SSIZE_T_CLEAN
 #include <Python.h>
-#include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
 #include <unistd.h>
@@ -11,35 +10,39 @@
 #include <pthread.h> // 引入 pthread 库
 
 // 宏定义
-// #define USE_FEC
 #ifdef USE_FEC
 #define FEC_SIZE 32 // 前向纠错冗余数据大小
 #else
 #define FEC_SIZE 0 // 前向纠错冗余数据大小
 #endif
-
 #define FRAME_HEADER 0xAA55                                                         // 帧头
+#define FRAME_TAIL 0x0D7E                                                           // 帧尾
 #define FRAME_SIZE (240)                                                            // 每帧大小
 #define HEADER_SIZE (4)                                                             // 帧头 + 帧序号 + 数据长度
+#define TAIL_SIZE (2)                                                               // 帧尾
 #define CHECKSUM_SIZE (4)                                                           // CRC32 校验和大小（4 字节）
-#define DATA_SIZE (FRAME_SIZE - HEADER_SIZE - CHECKSUM_SIZE - FEC_SIZE) // 数据段大小
+#define DATA_SIZE (FRAME_SIZE - HEADER_SIZE - CHECKSUM_SIZE - FEC_SIZE - TAIL_SIZE) // 数据段大小
 #define RING_BUFFER_SIZE (1024 * 10)                                                // 环形缓冲区大小 - default 10KB
 #define QUEUE_MAX_SIZE 1024                                                         // 队列最大容量
 
 // 全局变量
 static by_serial_t serial_port;
 static by_ringbuf_t ring_buffer;
-static uint8_t send_buffer[FRAME_SIZE];
+static unsigned char send_buffer[FRAME_SIZE];
-static uint8_t frame_counter = 0;
+static unsigned char recv_ack_data_buffer[DATA_SIZE];
-static uint8_t data_len = 0;
+static unsigned char frame_counter = 0;
-
+static unsigned char data_len = 0;
-uint8_t output_data[8192];
+static unsigned char ack_flag = 0;
+unsigned char output_data[8192]; // FIXME 有可能越界
 static int output_len = 0;
+static unsigned char ack_data_dummy[4] = {0x00, 0x00, 0x00, 0x00};
+static unsigned char ack_data[DATA_SIZE - 2] = {0};
+static int ack_data_len = 0;
 
 // 定义队列结构体
 typedef struct
 {
-    uint8_t *data;
+    unsigned char *data;
     int length;
 } FrameData;
 
@@ -48,71 +51,100 @@ static FrameData frame_queue[QUEUE_MAX_SIZE];                   // 存储接收
 static int queue_head = 0;                                      // 队列头指针
 static int queue_tail = 0;                                      // 队列尾指针
 static pthread_mutex_t queue_mutex = PTHREAD_MUTEX_INITIALIZER; // 保护队列的互斥锁
-static bool stop_receiving = false;                             // 控制接收线程停止的标志
+static int stop_receiving = false;                              // 控制接收线程停止的标志
 
 // 前向声明
 void *receive_thread_func(void *arg);
+int generate_response(unsigned char *data, int length, int ack);
 
 // 计算 CRC32 校验和
-uint32_t calculate_crc32(const uint8_t *data, size_t length)
+unsigned long calculate_crc32(const unsigned char *data, size_t length)
 {
     return crc32(0, data, length);
 }
 
 // 解析一帧数据
-int parse_frame(by_ringbuf_t *ringbuf, uint8_t *output_data, int *output_len)
+int parse_frame(by_ringbuf_t *ringbuf, unsigned char *output_data, int *output_len)
 {
-    uint8_t frame[FRAME_SIZE];
+    unsigned char frame[FRAME_SIZE];
+    unsigned char buffer[FRAME_SIZE * 3];
     int available_data = by_ringbuf_available_data(ringbuf);
+    while (by_ringbuf_available_data(ringbuf) < FRAME_SIZE)
+    {
+        int ret = by_serial_read(&serial_port, buffer, FRAME_SIZE);
+        if (ret > 0)
+        {
+            by_ringbuf_append(&ring_buffer, buffer, ret);
+        }
+    }
 
+    // TODO 有无必要
     // 检查是否有足够的数据解析一帧
-    if (available_data < HEADER_SIZE + CHECKSUM_SIZE + FEC_SIZE)
+    if (available_data < FRAME_SIZE)
     {
         return -1; // 数据不足，无法解析
     }
-
     // 查找帧头
-    uint16_t header = FRAME_HEADER;
+    unsigned short header = FRAME_HEADER;
-    int header_pos = by_ringbuf_find(ringbuf, (uint8_t *)&header, 2);
+    unsigned short tail = FRAME_TAIL;
+    int header_pos = by_ringbuf_find(ringbuf, (unsigned char *)&header, 2);
     if (header_pos < 0)
     {
         return -1; // 没有找到帧头
     }
-
     // 弹出帧头之前的数据
     by_ringbuf_pop(ringbuf, frame, header_pos);
-
     // 检查是否有足够的数据解析一帧
     if (by_ringbuf_available_data(ringbuf) < FRAME_SIZE)
     {
         return -1; // 数据不足，无法解析
     }
-
     // 读取帧数据
-    by_ringbuf_pop(ringbuf, frame, FRAME_SIZE);
+    by_ringbuf_pop(ringbuf, frame, HEADER_SIZE);
-
+    int tail_pos = by_ringbuf_find(ringbuf, (unsigned char *)&tail, 2);
+    if (tail_pos < FRAME_SIZE - HEADER_SIZE - TAIL_SIZE - 1)
+    {
+        printf(" fail, next frame header pos: %d\n", header_pos);
+        return -2; // 下一帧帧头小于 FRAME_SIZE，丢弃该帧
+    }
+    else
+    {
+        by_ringbuf_pop(ringbuf, frame + HEADER_SIZE, tail_pos + TAIL_SIZE);
+    }
     // 解析帧序号、有效数据长度、数据段和 CRC32
-    uint8_t seq = frame[2];
+    unsigned char seq = frame[2];
-    uint8_t valid_data_len = frame[2 + 1];
+    unsigned char valid_data_len = frame[2 + 1];
-    uint8_t *data_segment = &frame[2 + 1 + 1];
+    unsigned char *data_segment = &frame[2 + 1 + 1];
-    uint32_t received_crc = *(uint32_t *)&frame[2 + 1 + 1 + DATA_SIZE];
+    unsigned int received_crc = *(unsigned long *)&frame[HEADER_SIZE + DATA_SIZE];
-
     // 计算 CRC32 校验
-    uint32_t calculated_crc = calculate_crc32(frame, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
+    unsigned int calculated_crc = calculate_crc32(frame, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
     if (received_crc != calculated_crc)
     {
         printf("CRC mismatch! Expected: %08X, Received: %08X\n", calculated_crc, received_crc);
-        return -1; // CRC 校验失败，丢弃该帧
+        return -2; // CRC 校验失败，丢弃该帧，严重错误
+    }
+
+    if (0xFF == seq)
+    {
+        // printf("Received ACK frame!\r\n");
+        *output_len = 0;
+        if (0x1926 == *(unsigned short *)(data_segment))
+        {
+            memcpy(recv_ack_data_buffer, data_segment + 2, valid_data_len - 2);
+            ack_data_len = valid_data_len - 2;
+            printf("Received ACK frame!\r\n");
+            return 2;
+        }
+
+        memset(recv_ack_data_buffer, 0, DATA_SIZE);
+        return 3;
     }
 
     // 将有效数据拼接到输出缓冲区
     memcpy(&output_data[*output_len], data_segment, valid_data_len);
     *output_len += valid_data_len;
-
     printf("output len: %d\n", *output_len);
-
     printf("Received frame: seq=%d, len=%d\r\n", seq, valid_data_len);
-
     // 判断是否为最后一帧
     if (valid_data_len < DATA_SIZE)
     {
@@ -125,24 +157,34 @@ int parse_frame(by_ringbuf_t *ringbuf, uint8_t *output_data, int *output_len)
 // 接收线程函数
 void *receive_thread_func(void *arg)
 {
-
     while (!stop_receiving)
     {
-
-        // 从串口读取数据到环形缓冲区
-        uint8_t buffer[FRAME_SIZE];
-        int ret = by_serial_read(&serial_port, buffer, FRAME_SIZE);
-        if (ret > 0)
-        {
-            by_ringbuf_append(&ring_buffer, buffer, ret);
-        }
-
-        // 尝试解析环形缓冲区中的数据
         while (1)
         {
             int parse_result = parse_frame(&ring_buffer, output_data, &output_len);
             if (parse_result == 1)
             {
+                int ack_data_len_t = 0;
+
+                if (ack_data_len > DATA_SIZE - 2)
+                {
+                    ack_data_len_t = DATA_SIZE - 2;
+                }
+                else
+                {
+                    ack_data_len_t = ack_data_len;
+                }
+
+                if (ack_data[0] == 0x00)
+                {
+                    generate_response(ack_data_dummy, sizeof(ack_data_dummy), 1);
+                }
+                else
+                {
+                    generate_response(ack_data, ack_data_len_t, 1);
+                    // generate_response(ack_data_dummy, sizeof(ack_data_dummy), 1);
+                }
+
                 // 将解析后的数据放入队列
                 pthread_mutex_lock(&queue_mutex);
                 if ((queue_tail + 1) % QUEUE_MAX_SIZE != queue_head)
@@ -166,17 +208,82 @@ void *receive_thread_func(void *arg)
                 printf("Parsed data length: %d\n", output_len);
                 break; // 数据不足或解析失败，退出循环
             }
-            else if (parse_result == -1)
+            else if (parse_result == -2)
             {
-                break; // 数据不足或解析失败，退出循环
+                // TODO 此处不能回应 NAK，必须等数据发完
+                output_len = 0;
+                break; // 严重错误，丢弃包
+            }
+            else if (parse_result == 2)
+            {
+                ack_flag = 1;
+                printf("Received ACK frame!\r\n");
+                break;
+            }
+            else if (parse_result == 3)
+            {
+                ack_flag = 2;
+                printf("Received NACK frame!\r\n");
+                break;
             }
         }
-
         usleep(1000); // 避免占用过多 CPU
     }
     return NULL;
 }
 
+int generate_response(unsigned char *data, int length, int ack)
+{
+    // 响应帧结构（与普通帧相似，帧号为 0xFF，数据段前 2 个字节为 ACK 标志，负载数据必须小于普通帧满数据大小，以确保被识别成孤立帧）
+
+    unsigned char send_buffer[FRAME_SIZE];
+    memset(send_buffer, 0, FRAME_SIZE);
+
+    // 构造帧头
+    unsigned short header = FRAME_HEADER;
+    memcpy(send_buffer, &header, 2);
+    // 构造帧序号和数据长度
+    // memcpy(send_buffer + 2, 0xFF, 1);
+    *(send_buffer + 2) = 0xFF;
+
+    length += 2; // 包含 ACK 标志长度
+    if (length > DATA_SIZE)
+    {
+        return -1; // 数据超长
+    }
+
+    memcpy(send_buffer + 3, &length, 1);
+
+    // magic number for ack
+    unsigned short ack_flag = 0x1926;
+    if (ack)
+    {
+        memcpy(send_buffer + HEADER_SIZE, &ack_flag, 2);
+    }
+    else
+    {
+        memset(send_buffer + HEADER_SIZE, 0, 2);
+    }
+
+    // 拷贝该帧对应数据段
+    memcpy(send_buffer + HEADER_SIZE + 2, data, length - 2);
+
+    // 计算 CRC32 校验和
+    unsigned long crc = calculate_crc32(send_buffer, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
+    memcpy(send_buffer + HEADER_SIZE + DATA_SIZE + FEC_SIZE, &crc, CHECKSUM_SIZE);
+
+    unsigned short tail = FRAME_TAIL;
+    memcpy(send_buffer + HEADER_SIZE + DATA_SIZE + FEC_SIZE + CHECKSUM_SIZE, &tail, TAIL_SIZE);
+
+    // 发送响应帧
+    if (by_serial_write(&serial_port, send_buffer, FRAME_SIZE) != 0)
+    {
+        return -2; // 发送失败
+    }
+
+    return 0;
+}
+
 // 初始化串口
 static PyObject *serial_init(PyObject *self, PyObject *args)
 {
@@ -185,20 +292,17 @@ static PyObject *serial_init(PyObject *self, PyObject *args)
     {
         return NULL;
     }
-
     if (by_serial_init(&serial_port, dev_name) != 0)
     {
         PyErr_SetString(PyExc_IOError, "Failed to initialize serial port");
         return NULL;
     }
-
     // 初始化环形缓冲区
     if (by_ringbuf_init(&ring_buffer, RING_BUFFER_SIZE) != 0)
     {
         PyErr_SetString(PyExc_IOError, "Failed to initialize ring buffer");
         return NULL;
     }
-
     // 启动接收线程
     pthread_t receive_thread;
     stop_receiving = false;
@@ -207,8 +311,7 @@ static PyObject *serial_init(PyObject *self, PyObject *args)
         PyErr_SetString(PyExc_RuntimeError, "Failed to start receive thread");
         return NULL;
     }
-
+    Py_RETURN_TRUE;
-    Py_RETURN_NONE;
 }
 
 // 发送数据
@@ -220,16 +323,13 @@ static PyObject *serial_send(PyObject *self, PyObject *args)
     {
         return NULL;
     }
-
     size_t offset = 0;
     while (offset < length)
     {
         memset(send_buffer, 0, FRAME_SIZE);
-
         // 构造帧头
-        uint16_t header = FRAME_HEADER;
+        unsigned short header = FRAME_HEADER;
         memcpy(send_buffer, &header, 2);
-
         // 构造帧序号和数据长度
         memcpy(send_buffer + 2, &frame_counter, 1);
         if (length - offset > DATA_SIZE)
@@ -241,30 +341,45 @@ static PyObject *serial_send(PyObject *self, PyObject *args)
             data_len = length - offset;
         }
         memcpy(send_buffer + 3, &data_len, 1);
-
         // 拷贝该帧对应数据段
         memcpy(send_buffer + HEADER_SIZE, data + offset, data_len);
-
         printf("Received frame: seq=%d, len=%d\r\n", frame_counter, data_len);
-
         // 计算 CRC32 校验和
-        uint32_t crc = calculate_crc32(send_buffer, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
+        unsigned long crc = calculate_crc32(send_buffer, HEADER_SIZE + DATA_SIZE + FEC_SIZE);
         memcpy(send_buffer + HEADER_SIZE + DATA_SIZE + FEC_SIZE, &crc, CHECKSUM_SIZE);
-
+        unsigned short tail = FRAME_TAIL;
+        memcpy(send_buffer + HEADER_SIZE + DATA_SIZE + FEC_SIZE + CHECKSUM_SIZE, &tail, TAIL_SIZE);
         // 发送帧
         if (by_serial_write(&serial_port, (const char *)send_buffer, FRAME_SIZE) != 0)
         {
             PyErr_SetString(PyExc_IOError, "Failed to send data over serial port");
             return NULL;
         }
-
         offset += DATA_SIZE;
         frame_counter++;
         usleep(80000);
     }
 
+    unsigned short ack_timeout = 10;
+    // 等待 ACK 响应
+    while (!ack_flag)
+    {
+        usleep(100000);
+        if (ack_timeout-- == 0)
+        {
+            ack_flag = 0;
             frame_counter = 0;
-    Py_RETURN_NONE;
+            printf("ACK timeout\r\n");
+            Py_RETURN_FALSE;
+        }
+    }
+    ack_flag = 0;
+    frame_counter = 0;
+    // Py_RETURN_TRUE;
+    // 返回 ACK 响应
+    PyObject *result = Py_BuildValue("y#", recv_ack_data_buffer, ack_data_len);
+    ack_data_len = 0;
+    return result;
 }
 
 // 接收数据
@@ -277,30 +392,77 @@ static PyObject *serial_receive(PyObject *self, PyObject *args)
         PyErr_SetString(PyExc_IOError, "No data available in the queue");
         return NULL;
     }
-
     // 获取队列中最早的数据包
     FrameData frame = frame_queue[queue_head];
     queue_head = (queue_head + 1) % QUEUE_MAX_SIZE;
     pthread_mutex_unlock(&queue_mutex);
-
     // 返回解析后的数据
     PyObject *result = Py_BuildValue("y#", frame.data, frame.length);
     free(frame.data); // 释放内存
     return result;
 }
 
+static PyObject *serial_set_ack_data(PyObject *self, PyObject *args)
+{
+    const char *input_data;  // 用于存储输入的二进制数据
+    Py_ssize_t input_length; // 用于存储输入数据的长度
+
+    // 解析参数，期望接收到一个 bytes 对象
+    if (!PyArg_ParseTuple(args, "y#", &input_data, &input_length))
+    {
+        PyErr_SetString(PyExc_TypeError, "Expected a bytes object");
+        return NULL;
+    }
+
+    // 检查输入数据是否为空
+    if (input_length == 0)
+    {
+        PyErr_SetString(PyExc_ValueError, "Input data cannot be empty");
+        return NULL;
+    }
+
+    // 检查输入数据是否为空
+    if (input_length > (DATA_SIZE - 2))
+    {
+        PyErr_SetString(PyExc_ValueError, "Input data is too long");
+        return NULL;
+    }
+
+    // // 创建一个缓冲区用于存储处理后的数据
+    // char *processed_data = (char *)malloc(input_length);
+    // if (processed_data == NULL) {
+    //     PyErr_SetString(PyExc_MemoryError, "Failed to allocate memory");
+    //     return NULL;
+    // }
+
+    // // 将处理后的数据封装为 Python 的 bytes 对象
+    // PyObject *result = PyBytes_FromStringAndSize(processed_data, input_length);
+
+    // // 释放分配的内存
+    // free(processed_data);
+
+    // // 返回结果
+    // return result;
+
+    memcpy(ack_data, input_data, input_length);
+    ack_data_len = input_length;
+
+    Py_RETURN_NONE;
+}
+
 // 模块方法表
 static PyMethodDef SerialMethods[] = {
     {"init", serial_init, METH_VARARGS, "Initialize serial port"},
     {"send", serial_send, METH_VARARGS, "Send data over serial port"},
     {"receive", serial_receive, METH_VARARGS, "Receive data from serial port"},
+    {"set_ack_data", serial_set_ack_data, METH_VARARGS, "Set ACK data"},
     {NULL, NULL, 0, NULL}};
 
 // 模块定义
 static struct PyModuleDef serialmodule = {
     PyModuleDef_HEAD_INIT,
     "serial_module",
-    NULL,
+    "A module to transfer serializable data over serial port",
     -1,
     SerialMethods};