esp32-bmc/main/uart_handler.c

#include "uart_handler.h"
#include "config.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include <string.h>

static const char *TAG = TAG_UART;

// Runtime UART configuration
static bmc_uart_config_t current_config;
static bool uart_initialized = false;
static TaskHandle_t uart_rx_task_handle = NULL;
static SemaphoreHandle_t uart_mutex = NULL;

// Callback for WebSocket bridge
static uart_rx_callback_t rx_callback = NULL;
static SemaphoreHandle_t callback_mutex = NULL;

// Ring buffer for received data
#define UART_RING_BUF_SIZE 4096
static uint8_t *ring_buffer = NULL;
static volatile size_t ring_head = 0;
static volatile size_t ring_tail = 0;

// ============================================================================
// Ring Buffer Functions
// ============================================================================

static size_t ring_buffer_available(void) {
	if (ring_head >= ring_tail) {
		return ring_head - ring_tail;
	} else {
		return UART_RING_BUF_SIZE - ring_tail + ring_head;
	}
}

static size_t ring_buffer_read(uint8_t *buf, size_t len) {
	size_t available = ring_buffer_available();
	size_t to_read = (len < available) ? len : available;

	for (size_t i = 0; i < to_read; i++) {
		buf[i] = ring_buffer[ring_tail];
		ring_tail = (ring_tail + 1) % UART_RING_BUF_SIZE;
	}

	return to_read;
}

static size_t ring_buffer_write(const uint8_t *buf, size_t len) {
	size_t written = 0;

	for (size_t i = 0; i < len; i++) {
		size_t next_head = (ring_head + 1) % UART_RING_BUF_SIZE;
		if (next_head == ring_tail) {
			// Buffer full, overwrite oldest data
			ring_tail = (ring_tail + 1) % UART_RING_BUF_SIZE;
		}
		ring_buffer[ring_head] = buf[i];
		ring_head = next_head;
		written++;
	}

	return written;
}

// ============================================================================
// UART Receive Task
// ============================================================================

static void uart_rx_task(void *arg) {
	uint8_t *temp_buf = malloc(256);
	if (!temp_buf) {
		ESP_LOGE(TAG, "Failed to allocate UART RX buffer");
		vTaskDelete(NULL);
		return;
	}

	ESP_LOGI(TAG, "UART RX task started, waiting for data on UART%d", BMC_UART_NUM);

	while (uart_initialized) {
		// Check for data from UART with longer timeout
		int len = uart_read_bytes(BMC_UART_NUM, temp_buf, 256, pdMS_TO_TICKS(100));

		if (len > 0) {
			// Store in ring buffer
			ring_buffer_write(temp_buf, len);

			// Call callback if registered (outside mutex to avoid deadlock)
			uart_rx_callback_t cb = NULL;
			xSemaphoreTake(callback_mutex, pdMS_TO_TICKS(100));
			cb = rx_callback;
			xSemaphoreGive(callback_mutex);

			if (cb) {
				cb(temp_buf, len);
			}
		} else if (len < 0) {
			ESP_LOGW(TAG, "UART read error: %d", len);
		}
	}

	free(temp_buf);
	ESP_LOGI(TAG, "UART RX task stopped");
	vTaskDelete(NULL);
}

// ============================================================================
// Public Functions
// ============================================================================

esp_err_t uart_handler_init(void) {
	if (uart_initialized) {
		ESP_LOGW(TAG, "UART handler already initialized");
		return ESP_OK;
	}

	ESP_LOGI(TAG, "Initializing UART handler");

	// Allocate ring buffer
	ring_buffer = calloc(UART_RING_BUF_SIZE, 1);
	if (!ring_buffer) {
		ESP_LOGE(TAG, "Failed to allocate ring buffer");
		return ESP_ERR_NO_MEM;
	}
	ring_head = 0;
	ring_tail = 0;

	// Create mutex for UART access
	uart_mutex = xSemaphoreCreateMutex();
	if (!uart_mutex) {
		ESP_LOGE(TAG, "Failed to create UART mutex");
		free(ring_buffer);
		return ESP_ERR_NO_MEM;
	}

	// Create mutex for callback
	callback_mutex = xSemaphoreCreateMutex();
	if (!callback_mutex) {
		ESP_LOGE(TAG, "Failed to create callback mutex");
		vSemaphoreDelete(uart_mutex);
		free(ring_buffer);
		return ESP_ERR_NO_MEM;
	}

	// Set default configuration
	current_config.port = BMC_UART_NUM;
	current_config.baud_rate = BMC_UART_BAUD_RATE;
	current_config.data_bits = UART_DATA_8_BITS;
	current_config.parity = UART_PARITY_DISABLE;
	current_config.stop_bits = UART_STOP_BITS_1;
	current_config.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;

	// Configure UART
	uart_config_t uart_cfg = {
	    .baud_rate = current_config.baud_rate,
	    .data_bits = current_config.data_bits,
	    .parity = current_config.parity,
	    .stop_bits = current_config.stop_bits,
	    .flow_ctrl = current_config.flow_ctrl,
	};

	esp_err_t ret = uart_param_config(BMC_UART_NUM, &uart_cfg);
	if (ret != ESP_OK) {
		ESP_LOGE(TAG, "Failed to configure UART: %s", esp_err_to_name(ret));
		goto cleanup;
	}

	// Set UART pins
	ret = uart_set_pin(BMC_UART_NUM, BMC_UART_TX_GPIO, BMC_UART_RX_GPIO, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
	if (ret != ESP_OK) {
		ESP_LOGE(TAG, "Failed to set UART pins: %s", esp_err_to_name(ret));
		goto cleanup;
	}

	// Install UART driver
	ret = uart_driver_install(BMC_UART_NUM, BMC_UART_BUF_SIZE * 2, 0, 0, NULL, 0);
	if (ret != ESP_OK) {
		ESP_LOGE(TAG, "Failed to install UART driver: %s", esp_err_to_name(ret));
		goto cleanup;
	}

	uart_initialized = true;

	// Start receive task
	BaseType_t task_ret =
	    xTaskCreate(uart_rx_task, "uart_rx", BMC_UART_TASK_STACK, NULL, BMC_UART_TASK_PRIO, &uart_rx_task_handle);

	if (task_ret != pdPASS) {
		ESP_LOGE(TAG, "Failed to create UART RX task");
		uart_driver_delete(BMC_UART_NUM);
		uart_initialized = false;
		ret = ESP_FAIL;
		goto cleanup;
	}

	ESP_LOGI(TAG, "UART initialized: port=%d, baud=%d, tx=%d, rx=%d", BMC_UART_NUM, current_config.baud_rate,
	         BMC_UART_TX_GPIO, BMC_UART_RX_GPIO);

	return ESP_OK;

cleanup:
	vSemaphoreDelete(callback_mutex);
	vSemaphoreDelete(uart_mutex);
	free(ring_buffer);
	return ret;
}

esp_err_t uart_handler_deinit(void) {
	if (!uart_initialized) {
		return ESP_OK;
	}

	ESP_LOGI(TAG, "Deinitializing UART handler");

	uart_initialized = false;

	// Wait for task to finish
	if (uart_rx_task_handle) {
		vTaskDelay(pdMS_TO_TICKS(100));
		uart_rx_task_handle = NULL;
	}

	// Delete UART driver
	uart_driver_delete(BMC_UART_NUM);

	// Clean up resources
	if (callback_mutex) {
		vSemaphoreDelete(callback_mutex);
		callback_mutex = NULL;
	}
	if (uart_mutex) {
		vSemaphoreDelete(uart_mutex);
		uart_mutex = NULL;
	}
	if (ring_buffer) {
		free(ring_buffer);
		ring_buffer = NULL;
	}

	rx_callback = NULL;

	ESP_LOGI(TAG, "UART handler deinitialized");
	return ESP_OK;
}

esp_err_t uart_get_config(bmc_uart_config_t *config) {
	if (!uart_initialized) {
		return ESP_ERR_INVALID_STATE;
	}

	if (config) {
		memcpy(config, &current_config, sizeof(bmc_uart_config_t));
	}

	return ESP_OK;
}

esp_err_t uart_set_config(const bmc_uart_config_t *config) {
	if (!uart_initialized || !config) {
		return ESP_ERR_INVALID_STATE;
	}

	xSemaphoreTake(uart_mutex, portMAX_DELAY);

	// Apply new configuration
	uart_config_t uart_cfg = {
	    .baud_rate = config->baud_rate,
	    .data_bits = config->data_bits,
	    .parity = config->parity,
	    .stop_bits = config->stop_bits,
	    .flow_ctrl = config->flow_ctrl,
	};

	esp_err_t ret = uart_param_config(BMC_UART_NUM, &uart_cfg);
	if (ret == ESP_OK) {
		memcpy(&current_config, config, sizeof(bmc_uart_config_t));
		ESP_LOGI(TAG, "UART configuration updated: baud=%d", config->baud_rate);
	}

	xSemaphoreGive(uart_mutex);
	return ret;
}

int uart_read_data(uint8_t *buf, size_t len, uint32_t timeout_ms) {
	if (!uart_initialized || !buf || len == 0) {
		return -1;
	}

	xSemaphoreTake(uart_mutex, pdMS_TO_TICKS(timeout_ms));
	size_t available = ring_buffer_available();

	if (available == 0) {
		xSemaphoreGive(uart_mutex);
		return 0;
	}

	size_t to_read = (len < available) ? len : available;
	size_t read = ring_buffer_read(buf, to_read);
	xSemaphoreGive(uart_mutex);

	return read;
}

int uart_write_data(const uint8_t *buf, size_t len) {
	if (!uart_initialized || !buf || len == 0) {
		return -1;
	}

	xSemaphoreTake(uart_mutex, portMAX_DELAY);
	int written = uart_write_bytes(BMC_UART_NUM, buf, len);
	xSemaphoreGive(uart_mutex);

	if (written < 0) {
		ESP_LOGE(TAG, "Failed to write to UART");
		return -1;
	}

	ESP_LOGD(TAG, "Wrote %d bytes to UART", written);
	return written;
}

int uart_data_available(void) {
	if (!uart_initialized) {
		return -1;
	}

	return ring_buffer_available();
}

esp_err_t uart_flush_buffers(void) {
	if (!uart_initialized) {
		return ESP_ERR_INVALID_STATE;
	}

	xSemaphoreTake(uart_mutex, portMAX_DELAY);

	// Flush hardware buffers
	uart_flush_input(BMC_UART_NUM);

	// Clear ring buffer
	ring_head = 0;
	ring_tail = 0;

	xSemaphoreGive(uart_mutex);

	ESP_LOGI(TAG, "UART buffers flushed");
	return ESP_OK;
}

esp_err_t uart_set_baud_rate(int baud_rate) {
	if (!uart_initialized) {
		return ESP_ERR_INVALID_STATE;
	}

	xSemaphoreTake(uart_mutex, portMAX_DELAY);

	esp_err_t ret = uart_set_baudrate(BMC_UART_NUM, baud_rate);
	if (ret == ESP_OK) {
		current_config.baud_rate = baud_rate;
		ESP_LOGI(TAG, "UART baud rate changed to %d", baud_rate);
	} else {
		ESP_LOGE(TAG, "Failed to set baud rate: %s", esp_err_to_name(ret));
	}

	xSemaphoreGive(uart_mutex);
	return ret;
}

int uart_get_baud_rate(void) {
	return current_config.baud_rate;
}

// ============================================================================
// WebSocket Bridge Functions
// ============================================================================

esp_err_t uart_register_rx_callback(uart_rx_callback_t callback) {
	if (!uart_initialized) {
		ESP_LOGW(TAG, "UART not initialized, cannot register callback");
		return ESP_ERR_INVALID_STATE;
	}

	if (!callback_mutex) {
		ESP_LOGE(TAG, "callback_mutex is NULL!");
		return ESP_ERR_INVALID_STATE;
	}

	xSemaphoreTake(callback_mutex, portMAX_DELAY);
	rx_callback = callback;
	xSemaphoreGive(callback_mutex);

	ESP_LOGI(TAG, "UART RX callback registered successfully, rx_callback=%p", rx_callback);
	return ESP_OK;
}

esp_err_t uart_unregister_rx_callback(void) {
	if (!uart_initialized) {
		return ESP_ERR_INVALID_STATE;
	}

	xSemaphoreTake(callback_mutex, portMAX_DELAY);
	rx_callback = NULL;
	xSemaphoreGive(callback_mutex);

	ESP_LOGI(TAG, "UART RX callback unregistered");
	return ESP_OK;
}