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feat: Bridge.begin waits to be greenlighted by MPU up to timeout #43

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feat: Bridge.begin waits to be greenlighted by MPU up to timeout #43

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36 changes: 35 additions & 1 deletion src/bridge.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,8 @@
#define UPDATE_THREAD_PRIORITY 5

#define DEFAULT_SERIAL_BAUD 115200
#define GREENLIGHT_METHOD "$/start"
#define BEGIN_TIMEOUT_MS 5000

#include <zephyr/kernel.h>
#include <zephyr/sys/atomic.h>
Expand All @@ -32,6 +34,13 @@

void updateEntryPoint(void *, void *, void *);

k_sem cleared_sem;

inline void greenLight() {
Serial.println("Green Light");
//k_sem_give(&cleared_sem);
}

template<typename... Args>
class RpcCall {

Expand Down Expand Up @@ -179,17 +188,24 @@ class BridgeClass {
k_mutex_init(&read_mutex);
k_mutex_init(&write_mutex);
k_mutex_init(&bridge_mutex);
k_sem_init(&cleared_sem, 0, 1); //

if (is_started()) return true;

k_mutex_lock(&bridge_mutex, K_FOREVER);

serial_ptr->begin(baud);
transport = new SerialTransport(*serial_ptr);

client = new RPCClient(*transport);
server = new RPCServer(*transport);

// The service method greenLight is not registered to the MPU, but it is provided for signaling
k_mutex_lock(&bridge_mutex, K_FOREVER);
started = server->bind(GREENLIGHT_METHOD, greenLight);
if (!started) Serial.println("Failed to bind greenlight");

k_mutex_unlock(&bridge_mutex);

upd_stack_area = k_thread_stack_alloc(UPDATE_THREAD_STACK_SIZE, 0);
upd_tid = k_thread_create(&upd_thread_data, upd_stack_area,
UPDATE_THREAD_STACK_SIZE,
Expand All @@ -198,6 +214,17 @@ class BridgeClass {
UPDATE_THREAD_PRIORITY, 0, K_NO_WAIT);
k_thread_name_set(upd_tid, "bridge");

// This should not be mutexed and go before the call to RESET_METHOD
// BEGIN_TIMEOUT_MS ensures compatibility with older versions that do not use signaling
Serial.println("Waiting to be cleared");
if (k_sem_take(&cleared_sem, K_MSEC(BEGIN_TIMEOUT_MS)) != 0) {
Serial.println("Semaphore timeout");
} else {
// wait to be cleared by the other side
Serial.println("Cleared->Resetting");
}

k_mutex_lock(&bridge_mutex, K_FOREVER);
bool res = false;
started = call(RESET_METHOD).result(res) && res;
k_mutex_unlock(&bridge_mutex);
Expand Down Expand Up @@ -236,6 +263,13 @@ class BridgeClass {

k_mutex_unlock(&read_mutex);

Serial.print("Processing: ");
for (size_t i = 0; i < req.size; i++) {
Serial.print(" 0x");
Serial.print(req.buffer[i], HEX);
}
Serial.println("");

server->process_request(req);

// Lock write mutex
Expand Down