From 05eb16b89f55b9e9ed0985d19907d79e4d258272 Mon Sep 17 00:00:00 2001 From: Priec Date: Sun, 3 May 2026 12:54:32 +0200 Subject: [PATCH] semestralka na tprais --- tprais_semestralka1/.cargo/config.toml | 17 + tprais_semestralka1/.env_temp | 4 + tprais_semestralka1/.gitignore | 20 + tprais_semestralka1/Cargo.lock | 1996 +++++++++++++++++ tprais_semestralka1/Cargo.toml | 96 + tprais_semestralka1/Makefile | 12 + tprais_semestralka1/build.rs | 73 + .../docs/critical_data_flow_points.mermaid | 37 + .../critical_data_flow_points.mermaid.svg | 1 + .../docs/mpu_data_flow.mermaid | 54 + .../docs/mpu_data_flow.mermaid.svg | 1 + .../docs/overall_system_architecture.mermaid | 42 + .../overall_system_architecture.mermaid.svg | 1 + tprais_semestralka1/expanded.rs | 0 tprais_semestralka1/old_main.rs | 181 ++ tprais_semestralka1/rust-toolchain.toml | 2 + tprais_semestralka1/src/bin/main.rs | 293 +++ tprais_semestralka1/src/lib.rs | 4 + tprais_semestralka1/src/mqtt/client.rs | 442 ++++ tprais_semestralka1/src/mqtt/config.rs | 122 + tprais_semestralka1/src/mqtt/mod.rs | 4 + 21 files changed, 3402 insertions(+) create mode 100644 tprais_semestralka1/.cargo/config.toml create mode 100644 tprais_semestralka1/.env_temp create mode 100644 tprais_semestralka1/.gitignore create mode 100644 tprais_semestralka1/Cargo.lock create mode 100644 tprais_semestralka1/Cargo.toml create mode 100644 tprais_semestralka1/Makefile create mode 100644 tprais_semestralka1/build.rs create mode 100644 tprais_semestralka1/docs/critical_data_flow_points.mermaid create mode 100644 tprais_semestralka1/docs/critical_data_flow_points.mermaid.svg create mode 100644 tprais_semestralka1/docs/mpu_data_flow.mermaid create mode 100644 tprais_semestralka1/docs/mpu_data_flow.mermaid.svg create mode 100644 tprais_semestralka1/docs/overall_system_architecture.mermaid create mode 100644 tprais_semestralka1/docs/overall_system_architecture.mermaid.svg create mode 100644 tprais_semestralka1/expanded.rs create mode 100644 tprais_semestralka1/old_main.rs create mode 100644 tprais_semestralka1/rust-toolchain.toml create mode 100644 tprais_semestralka1/src/bin/main.rs create mode 100644 tprais_semestralka1/src/lib.rs create mode 100644 tprais_semestralka1/src/mqtt/client.rs create mode 100644 tprais_semestralka1/src/mqtt/config.rs create mode 100644 tprais_semestralka1/src/mqtt/mod.rs diff --git a/tprais_semestralka1/.cargo/config.toml b/tprais_semestralka1/.cargo/config.toml new file mode 100644 index 0000000..a8791c1 --- /dev/null +++ b/tprais_semestralka1/.cargo/config.toml @@ -0,0 +1,17 @@ +[target.xtensa-esp32-none-elf] +runner = "espflash flash --monitor --chip esp32" + +[env] +ESP_LOG="info" + +[build] +rustflags = [ + "-C", "link-arg=-nostartfiles", + "-C", "link-arg=-Tdefmt.x", + "-Z", "stack-protector=all", +] + +target = "xtensa-esp32-none-elf" + +[unstable] +build-std = ["alloc", "core"] diff --git a/tprais_semestralka1/.env_temp b/tprais_semestralka1/.env_temp new file mode 100644 index 0000000..cdce368 --- /dev/null +++ b/tprais_semestralka1/.env_temp @@ -0,0 +1,4 @@ +SSID = "nazov_wifi_siete" +PASSWORD = "heslo_od_wifi" +BROKER_IP= "5.196.78.28" +BROKER_PORT= "1883" diff --git a/tprais_semestralka1/.gitignore b/tprais_semestralka1/.gitignore new file mode 100644 index 0000000..ea52893 --- /dev/null +++ b/tprais_semestralka1/.gitignore @@ -0,0 +1,20 @@ +# will have compiled files and executables +debug/ +target/ +.vscode/ +.zed/ +.helix/ +.env + +# These are backup files generated by rustfmt +**/*.rs.bk + +# MSVC Windows builds of rustc generate these, which store debugging information +*.pdb + +# RustRover +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. 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"../../../pages-tui" } +esp-bootloader-esp-idf = { version = "0.2.0", features = ["esp32"] } +esp-hal = { version = "=1.0.0-rc.0", features = [ + "esp32", + "log-04", + "unstable", +] } +log = "0.4.27" + +embassy-net = { version = "0.7.0", features = [ + "dhcpv4", + "proto-ipv6", + "log", + "medium-ethernet", + "tcp", + "udp", +] } +embedded-io = "0.6.1" +embedded-io-async = "0.6.1" +esp-alloc = "0.8.0" +esp-backtrace = { version = "0.17.0", features = [ + "esp32", + "exception-handler", + "panic-handler", + "println", +] } +esp-println = { version = "0.15.0", features = ["esp32", "log-04", "defmt-espflash"] } +# for more networking protocol support see https://crates.io/crates/edge-net +critical-section = "1.2.0" +embassy-executor = { version = "0.7.0", features = [ + "log", + "task-arena-size-20480", +] } +embassy-time = { version = "0.5.0", features = ["log"] } +esp-hal-embassy = { version = "0.9.0", features = ["esp32", "log-04"] } +esp-wifi = { version = "0.15.0", features = [ + "builtin-scheduler", + "esp-alloc", + "esp32", + "log-04", + "smoltcp", + "wifi", +] } +smoltcp = { version = "0.12.0", default-features = false, features = [ + "log", + "medium-ethernet", + "multicast", + "proto-dhcpv4", + "proto-dns", + "proto-ipv4", + "proto-ipv6", + "socket-dns", + "socket-icmp", + "socket-raw", + "socket-tcp", + "socket-udp", +] } +static_cell = "2.1.1" +rust-mqtt = { version = "0.3.0", default-features = false, features = ["no_std"] } +embassy-futures = "0.1.2" +embassy-sync = "0.7.2" +heapless = "0.9.1" +mousefood = { git = "https://github.com/j-g00da/mousefood", branch = "main", default-features = false } +ssd1306 = "0.10.0" +ratatui = { version = "0.30.0", default-features = false, features = ["macros", "all-widgets", "portable-atomic"] } +embedded-hal-bus = "0.3.0" +embedded-hal = "1.0.0" +defmt = "1.0.1" + +[build-dependencies] +dotenvy = "0.15.7" + +[profile.dev] +# Rust debug is too slow. +# For debug builds always builds with some optimization +opt-level = "s" + +[profile.release] +codegen-units = 1 # LLVM can perform better optimizations using a single thread +debug = 2 +debug-assertions = false +incremental = false +lto = 'fat' +opt-level = 's' +overflow-checks = false diff --git a/tprais_semestralka1/Makefile b/tprais_semestralka1/Makefile new file mode 100644 index 0000000..d4b9f29 --- /dev/null +++ b/tprais_semestralka1/Makefile @@ -0,0 +1,12 @@ +.PHONY: all build flash + +all: build flash + +build: + cargo build --release + +flash: + cargo espflash flash --release --monitor + +info: + espflash board-info diff --git a/tprais_semestralka1/build.rs b/tprais_semestralka1/build.rs new file mode 100644 index 0000000..7b470c4 --- /dev/null +++ b/tprais_semestralka1/build.rs @@ -0,0 +1,73 @@ +fn main() { + // Explicitly load .env from the project root, even when called from other dirs + let project_root = std::env::var("CARGO_MANIFEST_DIR").unwrap(); + let dotenv_path = std::path::Path::new(&project_root).join(".env"); + if dotenvy::from_path(dotenv_path.clone()).is_ok() { + println!("cargo:rerun-if-changed={}", dotenv_path.display()); + } + + // Pass WIFI credentials into firmware + if let Ok(ssid) = std::env::var("SSID") { + println!("cargo:rustc-env=SSID={}", ssid); + } + if let Ok(password) = std::env::var("PASSWORD") { + println!("cargo:rustc-env=PASSWORD={}", password); + } + if let Ok(ip) = std::env::var("BROKER_IP") { + println!("cargo:rustc-env=BROKER_IP={}", ip); + } + if let Ok(port) = std::env::var("BROKER_PORT") { + println!("cargo:rustc-env=BROKER_PORT={}", port); + } + + linker_be_nice(); + + println!("cargo:rustc-link-arg=-Tlinkall.x"); +} + +fn linker_be_nice() { + let args: Vec = std::env::args().collect(); + if args.len() > 1 { + let kind = &args[1]; + let what = &args[2]; + + match kind.as_str() { + "undefined-symbol" => match what.as_str() { + "_defmt_timestamp" => { + eprintln!(); + eprintln!("💡 `defmt` not found - make sure `defmt.x` is added as a linker script and you have included `use defmt_rtt as _;`"); + eprintln!(); + } + "_stack_start" => { + eprintln!(); + eprintln!("💡 Is the linker script `linkall.x` missing?"); + eprintln!(); + } + "esp_wifi_preempt_enable" + | "esp_wifi_preempt_yield_task" + | "esp_wifi_preempt_task_create" => { + eprintln!(); + eprintln!("💡 `esp-wifi` has no scheduler enabled. Make sure you have the `builtin-scheduler` feature enabled, or that you provide an external scheduler."); + eprintln!(); + } + "embedded_test_linker_file_not_added_to_rustflags" => { + eprintln!(); + eprintln!("💡 `embedded-test` not found - make sure `embedded-test.x` is added as a linker script for tests"); + eprintln!(); + } + _ => (), + }, + // we don't have anything helpful for "missing-lib" yet + _ => { + std::process::exit(1); + } + } + + std::process::exit(0); + } + + println!( + "cargo:rustc-link-arg=-Wl,--error-handling-script={}", + std::env::current_exe().unwrap().display() + ); +} diff --git a/tprais_semestralka1/docs/critical_data_flow_points.mermaid b/tprais_semestralka1/docs/critical_data_flow_points.mermaid new file mode 100644 index 0000000..1ecc5bf --- /dev/null +++ b/tprais_semestralka1/docs/critical_data_flow_points.mermaid @@ -0,0 +1,37 @@ +graph TD + START[MPU reads @50ms = 20 Hz] --> A{IMU_CHANNEL
try_send} + + A -->|Full| DROP1[❌ DROP: Channel full
16 slots @ 50ms = 800ms buffer] + A -->|OK| B[Main Loop receive] + + B --> C[Drain loop:
Get freshest reading] + C --> D{Time check:
≥3s since last?} + + D -->|No| E[Skip MQTT] + D -->|Yes| F{mqtt_set_imu
try_lock IMU_LATEST} + + F -->|Locked| DROP2[❌ SKIP: Mutex busy] + F -->|OK| G[Store payload] + + E --> H[show_imu] + G --> H + + H --> I{DISPLAY_CHANNEL
try_send} + I -->|Full| DROP3[❌ DROP: Display slow
8 slots @ 100ms = 800ms buffer] + I -->|OK| J[Display renders] + + G --> K[MQTT Task loop] + K --> L{IMU_LATEST
try_lock} + + L -->|Empty/Locked| M[Skip this iteration] + L -->|Has data| N[Send to broker
QoS0 no retain] + + N --> O{TCP send result} + O -->|Fail| RECONNECT[❌ Session dies
Reconnect in 5s] + O -->|OK| P[✅ Data sent] + + style DROP1 fill:#ffcccc + style DROP2 fill:#ffcccc + style DROP3 fill:#ffcccc + style RECONNECT fill:#ffcccc + style P fill:#ccffcc diff --git a/tprais_semestralka1/docs/critical_data_flow_points.mermaid.svg b/tprais_semestralka1/docs/critical_data_flow_points.mermaid.svg new file mode 100644 index 0000000..9453639 --- /dev/null +++ b/tprais_semestralka1/docs/critical_data_flow_points.mermaid.svg @@ -0,0 +1 @@ +

Full

OK

No

Yes

Locked

OK

Full

OK

Empty/Locked

Has data

Fail

OK

MPU reads @50ms = 20 Hz

IMU_CHANNEL
try_send

❌ DROP: Channel full
16 slots @ 50ms = 800ms buffer

Main Loop receive

Drain loop:
Get freshest reading

Time check:
≥3s since last?

Skip MQTT

mqtt_set_imu
try_lock IMU_LATEST

❌ SKIP: Mutex busy

Store payload

show_imu

DISPLAY_CHANNEL
try_send

❌ DROP: Display slow
8 slots @ 100ms = 800ms buffer

Display renders

MQTT Task loop

IMU_LATEST
try_lock

Skip this iteration

Send to broker
QoS0 no retain

TCP send result

❌ Session dies
Reconnect in 5s

✅ Data sent

 \ No newline at end of file diff --git a/tprais_semestralka1/docs/mpu_data_flow.mermaid b/tprais_semestralka1/docs/mpu_data_flow.mermaid new file mode 100644 index 0000000..59f1876 --- /dev/null +++ b/tprais_semestralka1/docs/mpu_data_flow.mermaid @@ -0,0 +1,54 @@ +sequenceDiagram + participant HW as MPU6050 Hardware + participant MPU as MPU Task
(Core 0) + participant CH as IMU_CHANNEL
[16 slots] + participant MAIN as Main Loop
(Core 0) + participant LATEST as IMU_LATEST
(Mutex) + participant MQTT as MQTT Task
(Core 1) + participant DISP as Display API + + Note over MPU: Every 50ms + MPU->>HW: Read sensor (I2C) + HW-->>MPU: Raw data + MPU->>MPU: Convert to ImuReading + MPU->>CH: try_send(reading) + + alt Channel full + CH--xMPU: Drop (log warning) + else Channel has space + CH-->>MPU: OK + end + + Note over MAIN: Continuous loop + MAIN->>CH: receive() [blocking] + CH-->>MAIN: reading + + Note over MAIN: Drain queue + loop While available + MAIN->>CH: try_receive() + CH-->>MAIN: newer reading + end + + MAIN->>DISP: show_imu(reading)
[try_send] + + Note over MAIN: Every 3 seconds + alt Time >= 3s since last + MAIN->>MAIN: Format JSON payload + MAIN->>LATEST: mqtt_set_imu()
[try_lock] + + alt Mutex available + LATEST-->>MAIN: Stored + else Mutex locked + LATEST--xMAIN: Skip + end + end + + Note over MQTT: Continuous loop + MQTT->>LATEST: try_lock() + + alt Data available + LATEST-->>MQTT: payload + MQTT->>MQTT: send_message("esp32/imu") + else No data + LATEST--xMQTT: None + end diff --git a/tprais_semestralka1/docs/mpu_data_flow.mermaid.svg b/tprais_semestralka1/docs/mpu_data_flow.mermaid.svg new file mode 100644 index 0000000..6c95931 --- /dev/null +++ b/tprais_semestralka1/docs/mpu_data_flow.mermaid.svg @@ -0,0 +1 @@ +Display APIMQTT Task(Core 1)IMU_LATEST(Mutex)Main Loop(Core 0)IMU_CHANNEL[16 slots]MPU Task(Core 0)MPU6050 HardwareDisplay APIMQTT Task(Core 1)IMU_LATEST(Mutex)Main Loop(Core 0)IMU_CHANNEL[16 slots]MPU Task(Core 0)MPU6050 HardwareEvery 50msalt[Channel full][Channel has space]Continuous loopDrain queueloop[While available]Every 3 secondsalt[Mutex available][Mutex locked]alt[Time >= 3s since last]Continuous loopalt[Data available][No data]Read sensor (I2C)Raw dataConvert to ImuReadingtry_send(reading)Drop (log warning)OKreceive() [blocking]readingtry_receive()newer readingshow_imu(reading)[try_send]Format JSON payloadmqtt_set_imu()[try_lock]StoredSkiptry_lock()payloadsend_message("esp32/imu")None \ No newline at end of file diff --git a/tprais_semestralka1/docs/overall_system_architecture.mermaid b/tprais_semestralka1/docs/overall_system_architecture.mermaid new file mode 100644 index 0000000..799b3ce --- /dev/null +++ b/tprais_semestralka1/docs/overall_system_architecture.mermaid @@ -0,0 +1,42 @@ +graph TB + subgraph "Core 0 - Application" + MPU[MPU Task
50ms sampling] + DISPLAY[Display Task
100ms refresh] + MAIN[Main Loop] + BUTTONS[Button Task] + end + + subgraph "Core 1 - Network" + WIFI[WiFi Connection Task] + NETWORK[Network Stack Runner] + MQTT[MQTT Task] + end + + subgraph "Shared Channels" + IMU_CH[(IMU_CHANNEL
size: 16)] + DISP_CH[(DISPLAY_CHANNEL
size: 8)] + CMD_CH[(CMD_CHAN
size: 8)] + EVT_CH[(EVT_CHAN
size: 8)] + IMU_LATEST[(IMU_LATEST
Mutex)] + end + + subgraph "Hardware" + MPU_HW[MPU6050
I2C 0x68] + OLED[SSD1306
I2C] + BROKER[MQTT Broker] + end + + MPU_HW -->|I2C Read| MPU + MPU -->|send| IMU_CH + IMU_CH -->|receive| MAIN + MAIN -->|try_send| DISP_CH + MAIN -->|mqtt_set_imu| IMU_LATEST + DISP_CH -->|receive| DISPLAY + DISPLAY -->|I2C Write| OLED + IMU_LATEST -->|try_lock| MQTT + MQTT <-->|TCP/IP| BROKER + BUTTONS -->|push_key| DISP_CH + + style IMU_CH fill:#ff9999 + style DISP_CH fill:#99ccff + style IMU_LATEST fill:#ffcc99 diff --git a/tprais_semestralka1/docs/overall_system_architecture.mermaid.svg b/tprais_semestralka1/docs/overall_system_architecture.mermaid.svg new file mode 100644 index 0000000..08a3328 --- /dev/null +++ b/tprais_semestralka1/docs/overall_system_architecture.mermaid.svg @@ -0,0 +1 @@ +

Hardware

Shared Channels

Core 1 - Network

Core 0 - Application

I2C Read

send

receive

try_send

mqtt_set_imu

receive

I2C Write

try_lock

TCP/IP

push_key

MPU Task
50ms sampling

Display Task
100ms refresh

Main Loop

Button Task

WiFi Connection Task

Network Stack Runner

MQTT Task

IMU_CHANNEL
size: 16

DISPLAY_CHANNEL
size: 8

CMD_CHAN
size: 8

EVT_CHAN
size: 8

IMU_LATEST
Mutex

MPU6050
I2C 0x68

SSD1306
I2C

MQTT Broker

 \ No newline at end of file diff --git a/tprais_semestralka1/expanded.rs b/tprais_semestralka1/expanded.rs new file mode 100644 index 0000000..e69de29 diff --git a/tprais_semestralka1/old_main.rs b/tprais_semestralka1/old_main.rs new file mode 100644 index 0000000..7e4b2df --- /dev/null +++ b/tprais_semestralka1/old_main.rs @@ -0,0 +1,181 @@ +// src/bin/main.rs + +#![no_std] +#![no_main] +#![deny( + clippy::mem_forget, + reason = "mem::forget is generally not safe to do with esp_hal types" +)] + +use embassy_executor::Spawner; +use embassy_futures::select::{select, Either}; +use embassy_net::{Runner, StackResources}; +use embassy_time::{Duration, Timer}; +use esp_alloc as _; +use esp_backtrace as _; +use esp_hal::{clock::CpuClock, rng::Rng, timer::timg::TimerGroup}; +use esp_wifi::{ + init, + wifi::{ClientConfiguration, Configuration, WifiController, WifiDevice, WifiEvent, WifiState}, + EspWifiController, +}; +use log::info; +use rust_mqtt::packet::v5::publish_packet::QualityOfService; +use projekt_final::mqtt::client::{ + mqtt_events, mqtt_publish, mqtt_subscribe, mqtt_task, IncomingMsg, +}; +use defmt_rtt as _; + +extern crate alloc; + +esp_bootloader_esp_idf::esp_app_desc!(); + +macro_rules! mk_static { + ($t:ty,$val:expr) => {{ + static STATIC_CELL: static_cell::StaticCell<$t> = static_cell::StaticCell::new(); + #[deny(unused_attributes)] + let x = STATIC_CELL.uninit().write(($val)); + x + }}; +} + +const SSID: &str = env!("SSID"); +const PASSWORD: &str = env!("PASSWORD"); + +#[esp_hal_embassy::main] +async fn main(spawner: Spawner) -> ! { + esp_println::logger::init_logger_from_env(); + let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max()); + let peripherals = esp_hal::init(config); + + esp_alloc::heap_allocator!(size: 72 * 1024); + + let timg0 = TimerGroup::new(peripherals.TIMG0); + let mut rng = Rng::new(peripherals.RNG); + + let esp_wifi_ctrl = &*mk_static!( + EspWifiController<'static>, + init(timg0.timer0, rng.clone()).unwrap() + ); + + let (controller, interfaces) = + esp_wifi::wifi::new(&esp_wifi_ctrl, peripherals.WIFI).unwrap(); + + let wifi_interface = interfaces.sta; + + let timg1 = TimerGroup::new(peripherals.TIMG1); + esp_hal_embassy::init(timg1.timer0); + + let config = embassy_net::Config::dhcpv4(Default::default()); + + let seed = (rng.random() as u64) << 32 | rng.random() as u64; + + // Init network stack + let (stack, runner) = embassy_net::new( + wifi_interface, + config, + mk_static!(StackResources<3>, StackResources::<3>::new()), + seed, + ); + + spawner.spawn(connection(controller)).ok(); + spawner.spawn(net_task(runner)).ok(); + + // Wait for link up + loop { + if stack.is_link_up() { + break; + } + Timer::after(Duration::from_millis(500)).await; + } + + info!("Waiting to get IP address..."); + loop { + if let Some(config) = stack.config_v4() { + info!("Got IP: {}", config.address); + break; + } + Timer::after(Duration::from_millis(500)).await; + } + + spawner.spawn(mqtt_task(stack)).expect("failed to spawn MQTT task"); + info!("MQTT task started"); + + mqtt_publish("esp32/topic", b"hello from ESP32 (init)", QualityOfService::QoS1, false).await; + info!("Sent initial MQTT message"); + + mqtt_subscribe("esp32/topic").await; + + // Get a receiver for incoming MQTT messages + let mqtt_rx = mqtt_events(); + + loop { + // Drive both: either process an MQTT message or publish periodically + match select(mqtt_rx.receive(), Timer::after(Duration::from_secs(5))).await + { + // Received inbound MQTT message (from broker) + Either::First(msg) => { + handle_incoming(msg); + } + // Time-based example publish + Either::Second(_) => { + // mqtt_publish( + // "esp32/topic", + // b"hello from main", + // QualityOfService::QoS1, + // false, + // ) + // .await; + } + } + } +} + +fn handle_incoming(msg: IncomingMsg) { + if let Ok(txt) = core::str::from_utf8(&msg.payload) { + info!("MAIN RX [{}]: {}", msg.topic.as_str(), txt); + info!("Received MQTT message -> topic: '{}', payload: '{}'", msg.topic.as_str(), txt); + } else { + info!("MAIN RX [{}]: {:?}", msg.topic.as_str(), msg.payload); + } +} + +#[embassy_executor::task] +async fn connection(mut controller: WifiController<'static>) { + info!("start connection task"); + info!("Device capabilities: {:?}", controller.capabilities()); + loop { + match esp_wifi::wifi::wifi_state() { + WifiState::StaConnected => { + controller.wait_for_event(WifiEvent::StaDisconnected).await; + Timer::after(Duration::from_millis(5000)).await + } + _ => {} + } + if !matches!(controller.is_started(), Ok(true)) { + let client_config = Configuration::Client(ClientConfiguration { + ssid: SSID.into(), + password: PASSWORD.into(), + ..Default::default() + }); + controller.set_configuration(&client_config).unwrap(); + info!("Starting wifi"); + controller.start_async().await.unwrap(); + info!("Wifi started!"); + } + info!("About to connect..."); + + match controller.connect_async().await { + Ok(_) => info!("Wifi connected!"), + Err(e) => { + info!("Failed to connect to wifi: {e:?}"); + Timer::after(Duration::from_millis(5000)).await + } + } + } +} + +#[embassy_executor::task] +async fn net_task(mut runner: Runner<'static, WifiDevice<'static>>) { + runner.run().await +} diff --git a/tprais_semestralka1/rust-toolchain.toml b/tprais_semestralka1/rust-toolchain.toml new file mode 100644 index 0000000..a2f5ab5 --- /dev/null +++ b/tprais_semestralka1/rust-toolchain.toml @@ -0,0 +1,2 @@ +[toolchain] +channel = "esp" diff --git a/tprais_semestralka1/src/bin/main.rs b/tprais_semestralka1/src/bin/main.rs new file mode 100644 index 0000000..7c9f8a5 --- /dev/null +++ b/tprais_semestralka1/src/bin/main.rs @@ -0,0 +1,293 @@ +// src/bin/main.rs + +#![no_std] +#![no_main] +#![deny( + clippy::mem_forget, + reason = "mem::forget is generally not safe to do with esp_hal types" +)] +// TODO WARNING core 1 should be logic, core 0 wifi, its flipped now + +use embassy_executor::Spawner; +use embassy_futures::select::{select, Either, select3, Either3}; +use embassy_net::{Runner, StackResources}; +use embassy_sync::signal::Signal; +use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; +use embassy_time::{Duration, Timer, Instant}; +use projekt_final::bus::I2cInner; +use projekt_final::mqtt::client; + +use esp_alloc as _; +use esp_backtrace as _; + +use esp_hal::{ + gpio::InputConfig, + clock::CpuClock, + gpio::{Input, Pull}, + i2c::master::{Config as I2cConfig, I2c}, + rng::Rng, + system::{CpuControl, Stack}, + timer::timg::TimerGroup, +}; +use esp_wifi::{ + wifi::{ClientConfiguration, Configuration, WifiController, WifiDevice, WifiEvent, WifiState}, + EspWifiController, +}; + +use pages_tui::input::Key; +use log::info; +use rust_mqtt::packet::v5::publish_packet::QualityOfService; +use static_cell::StaticCell; +use core::cell::RefCell; +use heapless::String; +use core::fmt::Write; + +use projekt_final::{ + bus, + display, + mpu, + mqtt::client::{mqtt_events, mqtt_try_publish, mqtt_publish, mqtt_subscribe, mqtt_task, IncomingMsg}, +}; + +extern crate alloc; +use alloc::format; + +static I2C_BUS: StaticCell> = StaticCell::new(); +static APP_CORE_STACK: StaticCell> = StaticCell::new(); +static EXECUTOR_CORE1: StaticCell = StaticCell::new(); +static NETWORK_READY: Signal = Signal::new(); + +macro_rules! mk_static { + ($t:ty,$val:expr) => {{ + static STATIC_CELL: static_cell::StaticCell<$t> = static_cell::StaticCell::new(); + #[deny(unused_attributes)] + let x = STATIC_CELL.uninit().write(($val)); + x + }}; +} + +const SSID: &str = env!("SSID"); +const PASSWORD: &str = env!("PASSWORD"); +const MQTT_PUBLISH_DIVIDER: u32 = 10; + +esp_bootloader_esp_idf::esp_app_desc!(); + +#[esp_hal_embassy::main] +async fn main(spawner: Spawner) -> ! { + esp_println::logger::init_logger_from_env(); + info!("==============================="); + info!(" ESP32 IoT Firmware Starting"); + info!("==============================="); + + let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max()); + let peripherals = esp_hal::init(config); + esp_alloc::heap_allocator!(size: 72 * 1024); + + info!("Initializing I2C bus..."); + let i2c = I2c::new(peripherals.I2C0, I2cConfig::default()) + .expect("Failed to create I2C instance") + .with_sda(peripherals.GPIO21) + .with_scl(peripherals.GPIO22) + .into_async(); + + let i2c_bus = I2C_BUS.init(RefCell::new(i2c)); + let display_i2c = bus::new_device(i2c_bus); + let mpu_i2c = bus::new_device(i2c_bus); + + info!("Initializing WiFi..."); + let timg0 = TimerGroup::new(peripherals.TIMG0); + let mut rng = Rng::new(peripherals.RNG); + + let esp_wifi_ctrl = mk_static!( + EspWifiController<'static>, + esp_wifi::init(timg0.timer0, rng.clone()).unwrap() + ); + + let (controller, interfaces) = + esp_wifi::wifi::new(esp_wifi_ctrl, peripherals.WIFI).unwrap(); + + let wifi_interface = interfaces.sta; + let timg1 = TimerGroup::new(peripherals.TIMG1); + esp_hal_embassy::init([timg1.timer0, timg1.timer1]); + + let seed = (rng.random() as u64) << 32 | rng.random() as u64; + + // Start core 1 for WiFi and MQTT (network stack created there) + let mut cpu_control = CpuControl::new(peripherals.CPU_CTRL); + let _guard = cpu_control.start_app_core( + APP_CORE_STACK.init(Stack::new()), + move || { + let executor = EXECUTOR_CORE1.init(esp_hal_embassy::Executor::new()); + executor.run(|spawner| { + spawner.spawn(core1_network_task(spawner, controller, wifi_interface, seed)).ok(); + }); + } + ).unwrap(); + + // Wait for network to be ready (signaled from core 1) + NETWORK_READY.wait().await; + info!("Network ready, starting core 0 tasks"); + + let config = InputConfig::default().with_pull(Pull::Down); + let button_select = Input::new(peripherals.GPIO32, config); + let button_next = Input::new(peripherals.GPIO35, config); + spawner.spawn(button_detection_task(button_select, button_next)).unwrap(); + + // Core 0: display and MPU tasks + spawner.spawn(display::task::display_task(display_i2c)).expect("spawn display_task"); + spawner.spawn(mpu::task::mpu_task(mpu_i2c)).expect("spawn mpu_task"); + + display::api::set_status("Booting...").await; + mqtt_subscribe("esp32/read").await; + mqtt_publish("esp32/imu", b"online", QualityOfService::QoS1, false).await; + + display::api::set_status("Running").await; + display::api::set_mqtt_status(true, 0).await; + + let mqtt_rx = mqtt_events(); + let imu_rx = mpu::api::events(); + let mut imu_reading_count: u32 = 0; + let mut mqtt_msg_count: u32 = 0; + let mut mqtt_publish_drops: u32 = 0; + let mut last_mqtt_publish = Instant::now(); + let mqtt_publish_interval = Duration::from_secs(3); + + loop { + match select3( + mqtt_rx.receive(), + imu_rx.receive(), + Timer::after(Duration::from_secs(5)), + ).await { + Either3::First(msg) => { + mqtt_msg_count += 1; + handle_mqtt_message(msg).await; + display::api::set_mqtt_status(true, mqtt_msg_count).await; + } + Either3::Second(mut reading) => { + // Drain zabezpečuje, že 'reading' je najčerstvejšia možná hodnota + let mut drained = 0; + while let Ok(next) = imu_rx.try_receive() { + reading = next; + drained += 1; + } + + imu_reading_count += 1; + display::api::show_imu(reading); + + // 3. Nahraďte pôvodnú podmienku týmto časovým zámkom + if last_mqtt_publish.elapsed() >= mqtt_publish_interval { + let payload = client::encode_imu_json(&reading); + client::mqtt_set_imu_payload(payload); + last_mqtt_publish = Instant::now(); + } + } + Either3::Third(_) => { + crate::mpu::api::IMU_CHANNEL.clear(); + info!("IMU heartbeat: force-cleared queue, {} readings total, {} mqtt drops", + imu_reading_count, mqtt_publish_drops); + } + } + } +} + +// Runs on core 1 - creates and owns the network stack +#[embassy_executor::task] +async fn core1_network_task( + spawner: Spawner, + controller: WifiController<'static>, + wifi_interface: WifiDevice<'static>, + seed: u64, +) { + spawner.spawn(connection_task(controller)).ok(); + + let net_config = embassy_net::Config::dhcpv4(Default::default()); + let (stack, runner) = embassy_net::new( + wifi_interface, + net_config, + mk_static!(StackResources<3>, StackResources::<3>::new()), + seed, + ); + + spawner.spawn(net_task(runner)).ok(); + + // Wait for network + loop { + if stack.is_link_up() { break; } + Timer::after(Duration::from_millis(500)).await; + } + loop { + if let Some(config) = stack.config_v4() { + info!("Got IP: {}", config.address); + break; + } + Timer::after(Duration::from_millis(500)).await; + } + + // Signal core 0 that network is ready + NETWORK_READY.signal(()); + + spawner.spawn(mqtt_task(stack)).ok(); +} + +async fn handle_mqtt_message(msg: IncomingMsg) { + if let Ok(txt) = core::str::from_utf8(&msg.payload) { + match txt { + "clear" => { display::api::clear().await; } + "status" => { mqtt_publish("esp32/status", b"running", QualityOfService::QoS1, false).await; } + _ => { display::api::add_chat_message(txt).await; } + } + } +} + +#[embassy_executor::task] +async fn connection_task(mut controller: WifiController<'static>) { + loop { + if esp_wifi::wifi::wifi_state() == WifiState::StaConnected { + controller.wait_for_event(WifiEvent::StaDisconnected).await; + Timer::after(Duration::from_millis(5000)).await; + } + if !matches!(controller.is_started(), Ok(true)) { + let client_config = Configuration::Client(ClientConfiguration { + ssid: SSID.into(), + password: PASSWORD.into(), + ..Default::default() + }); + controller.set_configuration(&client_config).unwrap(); + info!("Wi-Fi starting..."); + controller.start_async().await.unwrap(); + } + match controller.connect_async().await { + Ok(_) => info!("Wifi connected!"), + Err(e) => { + info!("Failed to connect to wifi: {e:#?}"); + Timer::after(Duration::from_millis(5000)).await + } + } + } +} + +#[embassy_executor::task] +async fn net_task(mut runner: Runner<'static, WifiDevice<'static>>) { + runner.run().await +} + +#[embassy_executor::task] +async fn button_detection_task(mut select_btn: Input<'static>, mut next_btn: Input<'static>) { + loop { + match select( + select_btn.wait_for_rising_edge(), + next_btn.wait_for_rising_edge(), + ).await { + Either::First(_) => { + info!("Detection: GPIO 32 (Select) triggered!"); + display::api::push_key(Key::enter()).await; + } + Either::Second(_) => { + info!("Detection: GPIO 35 (Next) triggered!"); + display::api::push_key(Key::tab()).await + } + } + // Debounce: prevent mechanical bouncing from double-triggering + embassy_time::Timer::after(embassy_time::Duration::from_millis(200)).await; + } +} diff --git a/tprais_semestralka1/src/lib.rs b/tprais_semestralka1/src/lib.rs new file mode 100644 index 0000000..0087e1d --- /dev/null +++ b/tprais_semestralka1/src/lib.rs @@ -0,0 +1,4 @@ +#![no_std] +extern crate alloc; + +pub mod mqtt; diff --git a/tprais_semestralka1/src/mqtt/client.rs b/tprais_semestralka1/src/mqtt/client.rs new file mode 100644 index 0000000..a7d2f8b --- /dev/null +++ b/tprais_semestralka1/src/mqtt/client.rs @@ -0,0 +1,442 @@ +// src/mqtt/client.rs + +use embassy_net::{tcp::TcpSocket, Stack}; +use embassy_time::{Duration, Timer, Instant}; +use embassy_futures::select::{select, Either}; +use rust_mqtt::client::client::MqttClient; +use rust_mqtt::client::client_config::{ClientConfig, MqttVersion}; +use rust_mqtt::packet::v5::publish_packet::QualityOfService; +use rust_mqtt::packet::v5::reason_codes::ReasonCode; +use rust_mqtt::utils::rng_generator::CountingRng; + +use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex; +use embassy_sync::mutex::Mutex; +use embassy_sync::channel::{Channel, Receiver}; +use embassy_sync::signal::Signal; +use heapless::{String, Vec}; +use static_cell::ConstStaticCell; +use core::fmt::Write; +use log::{info, warn}; + +use crate::mqtt::config::mqtt_broker_endpoint; +use crate::contracts::ImuReading; + +const RECONNECT_DELAY_SECS: u64 = 5; +const KEEPALIVE_SECS: u64 = 60; +const PING_PERIOD: Duration = Duration::from_secs(KEEPALIVE_SECS / 2); +const SOCKET_POLL_TIMEOUT: Duration = Duration::from_secs(1); +const PING_TIMEOUT: Duration = Duration::from_secs(5); +// Must be > PING_PERIOD, ideally > KEEPALIVE +const NO_SUCCESS_TIMEOUT: Duration = Duration::from_secs(120); +const NO_IMU_SIG_WARN: Duration = Duration::from_secs(10); +const SUBS_MAX: usize = 8; + +// Limits for static buffers +pub const TOPIC_MAX: usize = 128; +pub const PAYLOAD_MAX: usize = 512; +const COMMAND_QUEUE: usize = 8; +const EVENT_QUEUE: usize = 8; + +// TCP socket buffers (for embassy-net TcpSocket) +static TCP_RX_BUFFER: ConstStaticCell<[u8; 2048]> = ConstStaticCell::new([0; 2048]); +static TCP_TX_BUFFER: ConstStaticCell<[u8; 2048]> = ConstStaticCell::new([0; 2048]); + +// MQTT client buffers (separate from the TcpSocket buffers) +static MQTT_TX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0; 1024]); +static MQTT_RX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0; 1024]); + +// Tie TcpSocket lifetime to session +type Client<'a, 'net> = MqttClient<'a, TcpSocket<'net>, 8, CountingRng>; + +#[derive(Clone)] +pub struct IncomingMsg { + pub topic: String, + pub payload: Vec, +} + +#[derive(Clone)] +struct PublishMsg { + topic: String, + payload: Vec, + qos: QualityOfService, + retain: bool, +} + +#[derive(Clone)] +enum Command { + Publish(PublishMsg), + Subscribe(String), +} + +// Command/info channels +static CMD_CHAN: Channel = Channel::new(); +static EVT_CHAN: Channel = Channel::new(); + +/// Latest-value + wake-up semantics for IMU publish payload (single consumer: MQTT task) +static IMU_SIG: Signal> = Signal::new(); + +static SUBS: Mutex, SUBS_MAX>> = + Mutex::new(Vec::new()); + +/// Public API + +pub async fn mqtt_publish(topic: &str, payload: &[u8], qos: QualityOfService, retain: bool) { + CMD_CHAN + .send(Command::Publish(PublishMsg { + topic: truncate_str::(topic), + payload: truncate_payload(payload), + qos, + retain, + })) + .await; +} + +pub fn mqtt_try_publish(topic: &str, payload: &[u8], qos: QualityOfService, retain: bool) -> bool { + CMD_CHAN + .try_send(Command::Publish(PublishMsg { + topic: truncate_str::(topic), + payload: truncate_payload(payload), + qos, + retain, + })) + .is_ok() +} + +pub fn mqtt_set_imu(reading: ImuReading) { + // Encode JSON into a bounded buffer (no alloc::format!) + let payload = encode_imu_json(&reading); + IMU_SIG.signal(payload); +} + +pub fn mqtt_set_imu_payload(payload: Vec) { + IMU_SIG.signal(payload); +} + +pub fn encode_imu_json(reading: &ImuReading) -> Vec { + let mut s: String<256> = String::new(); + let _ = write!( + &mut s, + "{{\"ax\":{:.2},\"ay\":{:.2},\"az\":{:.2},\"gx\":{:.1},\"gy\":{:.1},\"gz\":{:.1},\"t\":{:.1},\"ts\":{}}}", + reading.accel_g[0], reading.accel_g[1], reading.accel_g[2], + reading.gyro_dps[0], reading.gyro_dps[1], reading.gyro_dps[2], + reading.temp_c, + reading.timestamp_ms + ); + let mut v: Vec = Vec::new(); + let _ = v.extend_from_slice(s.as_bytes()); + v +} + +pub async fn mqtt_subscribe(topic: &str) { + let t = truncate_str::(topic); + { + let mut subs = SUBS.lock().await; + let exists = subs.iter().any(|s| s.as_str() == t.as_str()); + if !exists { + let _ = subs.push(t.clone()); + } + } + CMD_CHAN.send(Command::Subscribe(t)).await; +} + +pub fn mqtt_events( +) -> Receiver<'static, CriticalSectionRawMutex, IncomingMsg, EVENT_QUEUE> { + EVT_CHAN.receiver() +} + +/// Internals + +fn truncate_str(s: &str) -> String { + let mut h = String::new(); + if N == 0 { + return h; + } + if s.len() <= N { + let _ = h.push_str(s); + return h; + } + + let mut cut = N; + while cut > 0 && !s.is_char_boundary(cut) { + cut -= 1; + } + let _ = h.push_str(&s[..cut]); + h +} + +fn truncate_payload(data: &[u8]) -> Vec { + let mut v = Vec::new(); + let _ = v.extend_from_slice(&data[..data.len().min(PAYLOAD_MAX)]); + v +} + +async fn handle_command(client: &mut Client<'_, '_>, cmd: Command) -> Result<(), ReasonCode> { + match cmd { + Command::Publish(msg) => { + client + .send_message(msg.topic.as_str(), &msg.payload, msg.qos, msg.retain) + .await + } + Command::Subscribe(topic) => { + let res = client.subscribe_to_topic(topic.as_str()).await; + if res.is_ok() { + info!("Subscribed to '{}'", topic); + } + res + } + } +} + +async fn handle_incoming(result: Result<(&str, &[u8]), ReasonCode>) -> Result<(), ReasonCode> { + let (topic, payload) = result?; + let msg = IncomingMsg { + topic: truncate_str::(topic), + payload: truncate_payload(payload), + }; + if EVT_CHAN.try_send(msg).is_err() { + warn!("MQTT EVT queue full, dropping incoming message"); + } + Ok(()) +} + +async fn run_one_session( + stack: Stack<'static>, + tcp_rx: &mut [u8], + tcp_tx: &mut [u8], + mqtt_tx: &mut [u8], + mqtt_rx: &mut [u8], +) -> Result<(), ()> { + let mut socket = TcpSocket::new(stack, tcp_rx, tcp_tx); + socket.set_timeout(Some(SOCKET_POLL_TIMEOUT * 10)); + match socket.connect(mqtt_broker_endpoint()).await { + Ok(_) => info!("Connected TCP to MQTT broker"), + Err(e) => { + info!("TCP connect failed: {:#?}", e); + return Err(()); + } + } + + let mut cfg: ClientConfig<8, CountingRng> = + ClientConfig::new(MqttVersion::MQTTv5, CountingRng(0)); + cfg.keep_alive = KEEPALIVE_SECS as u16; + cfg.add_client_id("esp32-client"); + + let mut client = + MqttClient::new(socket, mqtt_tx, mqtt_tx.len(), mqtt_rx, mqtt_rx.len(), cfg); + + match client.connect_to_broker().await { + Ok(_) => info!("MQTT CONNACK received"), + Err(reason) => { + info!("MQTT connect failed: {:?}", reason); + return Err(()); + } + } + + // Re-subscribe after every (re)connect + let mut subs_snapshot: Vec, SUBS_MAX> = Vec::new(); + { + let subs = SUBS.lock().await; + for t in subs.iter() { + let _ = subs_snapshot.push(t.clone()); + } + } + for t in subs_snapshot.iter() { + match client.subscribe_to_topic(t.as_str()).await { + Ok(_) => info!("Subscribed to '{}'", t), + Err(e) => { + warn!("MQTT resubscribe failed: {:?}", e); + return Err(()); + } + } + } + + let mut next_ping_at = Instant::now() + PING_PERIOD; + let cmd_rx = CMD_CHAN.receiver(); + + // Only restart the session after N consecutive IMU publish failures + let mut imu_tx_fail_streak: u8 = 0; + let mut hb_at = Instant::now() + Duration::from_secs(10); + let mut tx_ok: u32 = 0; + let mut tx_err: u32 = 0; + let mut rx_ok: u32 = 0; + let mut ping_ok: u32 = 0; + let mut last_ok = Instant::now(); // last successful MQTT I/O (tx/rx/ping) + let mut last_imu_sig = Instant::now(); // last time we received IMU_SIG in MQTT task + + loop { + let now = Instant::now(); + + if now - last_ok > NO_SUCCESS_TIMEOUT { + warn!( + "MQTT no successful I/O for {:?} -> restart session", + now - last_ok + ); + return Err(()); + } + + if now - last_imu_sig > NO_IMU_SIG_WARN { + // This is diagnostic: if core0 claims it's sending, but this prints, you have cross-core signaling loss. + warn!( + "MQTT hasn't received IMU_SIG for {:?} (core0->core1 sync likely broken)", + now - last_imu_sig + ); + // Rate-limit the warning + last_imu_sig = now; + } + + let ping_in = if next_ping_at > now { next_ping_at - now } else { Duration::from_secs(0) }; + + // Timebox receive_message() even if lower layers misbehave. + let recv_fut = async { + match select(client.receive_message(), Timer::after(SOCKET_POLL_TIMEOUT)).await { + Either::First(res) => Some(res), + Either::Second(_) => None, + } + }; + + // 4-way select using nested selects to avoid relying on select4() + match select( + select(cmd_rx.receive(), IMU_SIG.wait()), + select(recv_fut, Timer::after(ping_in)), + ) + .await + { + // Command received + Either::First(Either::First(cmd)) => { + handle_command(&mut client, cmd).await.map_err(|_| ())?; + next_ping_at = Instant::now() + PING_PERIOD; + last_ok = Instant::now(); + + // Drain any additional queued commands quickly + while let Ok(cmd) = CMD_CHAN.try_receive() { + handle_command(&mut client, cmd).await.map_err(|_| ())?; + last_ok = Instant::now(); + next_ping_at = Instant::now() + PING_PERIOD; + } + } + + // IMU update signaled (latest value semantics) + Either::First(Either::Second(payload)) => { + last_imu_sig = Instant::now(); + // Enable temporarily for diagnostics: + // info!("IMU_SIG received in MQTT task (len={})", payload.len()); + + // Timebox the publish so we don't hang forever inside send_message().await + let send_res = match select( + client.send_message("esp32/imu", &payload, QualityOfService::QoS0, false), + Timer::after(Duration::from_secs(5)), + ) + .await + { + Either::First(res) => res, + Either::Second(_) => Err(ReasonCode::NetworkError), + }; + + match send_res { + Ok(_) => { + next_ping_at = Instant::now() + PING_PERIOD; + imu_tx_fail_streak = 0; + last_ok = Instant::now(); + + tx_ok = tx_ok.wrapping_add(1); + if (tx_ok % 10) == 0 { + info!( + "MQTT alive: tx_ok={} tx_err={} rx_ok={} streak={}", + tx_ok, tx_err, rx_ok, imu_tx_fail_streak + ); + } + } + Err(e) => { + tx_err = tx_err.wrapping_add(1); + imu_tx_fail_streak = imu_tx_fail_streak.saturating_add(1); + warn!("MQTT IMU TX fail {}/5: {:?}", imu_tx_fail_streak, e); + + if imu_tx_fail_streak >= 5 { + warn!("MQTT IMU TX fail 5x -> restart session"); + return Err(()); + } + } + } + } + + // Incoming message (or None on timeout) + Either::Second(Either::First(opt)) => { + if let Some(res) = opt { + match res { + Ok((topic, payload)) => { + rx_ok = rx_ok.wrapping_add(1); + let _ = handle_incoming(Ok((topic, payload))).await; + + last_ok = Instant::now(); + imu_tx_fail_streak = 0; + next_ping_at = Instant::now() + PING_PERIOD; + } + Err(ReasonCode::NetworkError) => { + // idle tick + } + Err(e) => { + warn!("MQTT receive error (fatal): {:?}", e); + return Err(()); + } + } + } + } + + // Ping timer fired + Either::Second(Either::Second(_)) => { + if Instant::now() >= hb_at { + info!( + "MQTT hb tx_ok={} tx_err={} rx_ok={} ping_ok={} streak={}", + tx_ok, tx_err, rx_ok, ping_ok, imu_tx_fail_streak + ); + hb_at = Instant::now() + Duration::from_secs(10); + } + + let ping_res = match select(client.send_ping(), Timer::after(PING_TIMEOUT)).await { + Either::First(res) => res, + Either::Second(_) => Err(ReasonCode::NetworkError), + }; + + match ping_res { + Ok(_) => { + ping_ok = ping_ok.wrapping_add(1); + imu_tx_fail_streak = 0; + last_ok = Instant::now(); + next_ping_at = Instant::now() + PING_PERIOD; + } + Err(e) => { + warn!("MQTT ping failed/timeout: {:?}", e); + return Err(()); + } + } + } + } + } +} + +#[embassy_executor::task] +pub async fn mqtt_task(stack: Stack<'static>) { + info!("MQTT task starting..."); + + let tcp_rx = TCP_RX_BUFFER.take(); + let tcp_tx = TCP_TX_BUFFER.take(); + let mqtt_tx = MQTT_TX_BUF.take(); + let mqtt_rx = MQTT_RX_BUF.take(); + + loop { + let _ = run_one_session( + stack, + &mut tcp_rx[..], + &mut tcp_tx[..], + &mut mqtt_tx[..], + &mut mqtt_rx[..], + ) + .await; + + info!( + "Reconnecting in {}s after session end/failure", + RECONNECT_DELAY_SECS + ); + Timer::after(Duration::from_secs(RECONNECT_DELAY_SECS)).await; + } +} diff --git a/tprais_semestralka1/src/mqtt/config.rs b/tprais_semestralka1/src/mqtt/config.rs new file mode 100644 index 0000000..c20d357 --- /dev/null +++ b/tprais_semestralka1/src/mqtt/config.rs @@ -0,0 +1,122 @@ +// src/mqtt/config.rs +#![allow(dead_code)] + +use embassy_net::{IpAddress, Ipv4Address, Ipv6Address}; + +// Compile-time values injected by build.rs +const BROKER_IP: &str = env!("BROKER_IP"); +const BROKER_PORT: &str = env!("BROKER_PORT"); + +pub fn mqtt_broker_endpoint() -> (IpAddress, u16) { + (parse_ip(BROKER_IP), parse_port(BROKER_PORT)) +} + +fn parse_port(s: &str) -> u16 { + let p: u16 = s + .parse() + .unwrap_or_else(|_| panic!("BROKER_PORT must be a valid u16 (1..=65535)")); + assert!(p != 0, "BROKER_PORT cannot be 0"); + p +} + +fn parse_ip(s: &str) -> IpAddress { + if s.contains(':') { + IpAddress::Ipv6(parse_ipv6(s)) + } else { + IpAddress::Ipv4(parse_ipv4(s)) + } +} + +fn parse_ipv4(s: &str) -> Ipv4Address { + let mut it = s.split('.'); + let a = parse_octet(it.next(), 1); + let b = parse_octet(it.next(), 2); + let c = parse_octet(it.next(), 3); + let d = parse_octet(it.next(), 4); + assert!(it.next().is_none(), "Too many IPv4 octets"); + Ipv4Address::new(a, b, c, d) +} + +fn parse_octet(part: Option<&str>, idx: usize) -> u8 { + let p = part.unwrap_or_else(|| panic!("IPv4 missing octet {}", idx)); + let v: u16 = p + .parse() + .unwrap_or_else(|_| panic!("Invalid IPv4 octet {}: {}", idx, p)); + assert!(v <= 255, "IPv4 octet {} out of range: {}", idx, v); + v as u8 +} + +// Minimal IPv6 parser with '::' compression. Does not handle IPv4-embedded IPv6. +fn parse_ipv6(s: &str) -> Ipv6Address { + assert!( + !s.contains('.'), + "IPv4-embedded IPv6 like ::ffff:192.0.2.1 not supported; \ + use pure hex IPv6" + ); + + let has_double = s.contains("::"); + let (left_s, right_s) = if has_double { + let mut sp = s.splitn(2, "::"); + (sp.next().unwrap_or(""), sp.next().unwrap_or("")) + } else { + (s, "") + }; + + let mut left = [0u16; 8]; + let mut right = [0u16; 8]; + let mut ll = 0usize; + let mut rl = 0usize; + + if !left_s.is_empty() { + for part in left_s.split(':') { + left[ll] = parse_group(part); + ll += 1; + assert!(ll <= 8, "Too many IPv6 groups on the left"); + } + } + + if !right_s.is_empty() { + for part in right_s.split(':') { + right[rl] = parse_group(part); + rl += 1; + assert!(rl <= 8, "Too many IPv6 groups on the right"); + } + } + + let zeros = if has_double { + assert!(ll + rl < 8, "Invalid IPv6 '::' usage"); + 8 - (ll + rl) + } else { + assert!(ll == 8, "IPv6 must have 8 groups without '::'"); + 0 + }; + + let mut g = [0u16; 8]; + let mut idx = 0usize; + + for i in 0..ll { + g[idx] = left[i]; + idx += 1; + } + for _ in 0..zeros { + g[idx] = 0; + idx += 1; + } + for i in 0..rl { + g[idx] = right[i]; + idx += 1; + } + assert!(idx == 8, "IPv6 did not resolve to 8 groups"); + + Ipv6Address::new(g[0], g[1], g[2], g[3], g[4], g[5], g[6], g[7]) +} + +fn parse_group(part: &str) -> u16 { + assert!( + !part.is_empty(), + "Empty IPv6 group (use '::' instead for compression)" + ); + assert!(part.len() <= 4, "IPv6 group too long: {}", part); + u16::from_str_radix(part, 16) + .unwrap_or_else(|_| panic!("Invalid IPv6 hex group: {}", part)) +} diff --git a/tprais_semestralka1/src/mqtt/mod.rs b/tprais_semestralka1/src/mqtt/mod.rs new file mode 100644 index 0000000..ef0bd6d --- /dev/null +++ b/tprais_semestralka1/src/mqtt/mod.rs @@ -0,0 +1,4 @@ +// src/mqtt/mod.rs + +pub mod client; +pub mod config;