security(deps): remove vulnerable xmas-elf dependency via embuild (#414)
* security(deps): remove vulnerable xmas-elf dependency via embuild * chore(deps): update dependencies and improve ESP-IDF compatibility - Updated `bindgen`, `embassy-sync`, `embedded-svc`, and `embuild` versions in `Cargo.lock`. - Added patch section in `Cargo.toml` to use latest esp-rs crates for better compatibility with ESP-IDF 5.x. - Enhanced README with updated prerequisites and build instructions for Python and Rust tools. - Introduced `rust-toolchain.toml` to pin nightly Rust and added necessary components. - Modified GPIO handling in `main.rs` to improve pin management and added support for 64-bit time_t in ESP-IDF. - Updated `.cargo/config.toml` for new linker and runner configurations. * docs: add detailed setup guide for ESP32 firmware and link in README - Introduced a new `SETUP.md` file with comprehensive step-by-step instructions for building and flashing the ZeroClaw ESP32 firmware. - Updated `README.md` to include a link to the new setup guide for easier access to installation and troubleshooting information. * chore: update .gitignore and refactor main.rs for improved readability - Added .embuild/ to .gitignore to exclude ESP32 build cache. - Refactored code in main.rs for better readability by adjusting the formatting of the handle_request function call. * docs: add newline for better readability in README.md - Added a newline in the protocol section of README.md to enhance clarity and formatting. * chore: configure workspace settings in Cargo.toml - Added workspace configuration to `Cargo.toml` with members and resolver settings for improved project management. --------- Co-authored-by: ehushubhamshaw <eshaw1@wpi.edu> Co-authored-by: Will Sarg <12886992+willsarg@users.noreply.github.com>
This commit is contained in:
ehu shubham shaw
GitHub
parent
55b3c2c00c
commit
d7c1fd7bf8
9 changed files with 288 additions and 97 deletions
9
.gitignore
vendored
9
.gitignore
vendored
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|
@ -10,6 +10,15 @@ docker-compose.override.yml
|
|||
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# Environment files (may contain secrets)
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.env
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||||
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# Python virtual environments
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.venv/
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venv/
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# ESP32 build cache (esp-idf-sys managed)
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.embuild/
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.env.local
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.env.*.local
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|
|
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|
@ -1,3 +1,7 @@
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[workspace]
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members = ["."]
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resolver = "2"
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||||
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[package]
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||||
name = "zeroclaw"
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version = "0.1.0"
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|
|
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|||
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|
@ -2,4 +2,10 @@
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target = "riscv32imc-esp-espidf"
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[target.riscv32imc-esp-espidf]
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linker = "ldproxy"
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runner = "espflash flash --monitor"
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# ESP-IDF 5.x uses 64-bit time_t
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rustflags = ["-C", "default-linker-libraries", "--cfg", "espidf_time64"]
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[unstable]
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build-std = ["std", "panic_abort"]
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106
firmware/zeroclaw-esp32/Cargo.lock
generated
106
firmware/zeroclaw-esp32/Cargo.lock
generated
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@ -58,24 +58,22 @@ checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
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[[package]]
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name = "bindgen"
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version = "0.63.0"
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version = "0.71.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "36d860121800b2a9a94f9b5604b332d5cffb234ce17609ea479d723dbc9d3885"
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||||
checksum = "5f58bf3d7db68cfbac37cfc485a8d711e87e064c3d0fe0435b92f7a407f9d6b3"
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dependencies = [
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"bitflags 1.3.2",
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"bitflags 2.11.0",
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"cexpr",
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"clang-sys",
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"lazy_static",
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"lazycell",
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"itertools",
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"log",
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"peeking_take_while",
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"prettyplease",
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"proc-macro2",
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"quote",
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"regex",
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"rustc-hash",
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"shlex",
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"syn 1.0.109",
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"which",
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"syn 2.0.116",
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]
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[[package]]
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@ -374,14 +372,15 @@ checksum = "dc2d050bdc5c21e0862a89256ed8029ae6c290a93aecefc73084b3002cdebb01"
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[[package]]
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name = "embassy-sync"
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version = "0.5.0"
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version = "0.7.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "dd938f25c0798db4280fcd8026bf4c2f48789aebf8f77b6e5cf8a7693ba114ec"
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checksum = "73974a3edbd0bd286759b3d483540f0ebef705919a5f56f4fc7709066f71689b"
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dependencies = [
|
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"cfg-if",
|
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"critical-section",
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"embedded-io-async",
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"futures-util",
|
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"futures-core",
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"futures-sink",
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"heapless",
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]
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@ -446,16 +445,15 @@ dependencies = [
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[[package]]
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name = "embedded-svc"
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version = "0.27.1"
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version = "0.28.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ac6f87e7654f28018340aa55f933803017aefabaa5417820a3b2f808033c7bbc"
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checksum = "a7770e30ab55cfbf954c00019522490d6ce26a3334bede05a732ba61010e98e0"
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dependencies = [
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"defmt 0.3.100",
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"embedded-io",
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"embedded-io-async",
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"enumset",
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"heapless",
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"no-std-net",
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"num_enum",
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"serde",
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"strum 0.25.0",
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@ -463,9 +461,9 @@ dependencies = [
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[[package]]
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name = "embuild"
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version = "0.31.4"
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version = "0.33.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4caa4f198bb9152a55c0103efb83fa4edfcbb8625f4c9e94ae8ec8e23827c563"
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checksum = "e188ad2bbe82afa841ea4a29880651e53ab86815db036b2cb9f8de3ac32dad75"
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dependencies = [
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"anyhow",
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"bindgen",
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@ -475,6 +473,7 @@ dependencies = [
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"globwalk",
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"home",
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"log",
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"regex",
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"remove_dir_all",
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"serde",
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"serde_json",
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@ -533,9 +532,8 @@ dependencies = [
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|||
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[[package]]
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name = "esp-idf-hal"
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version = "0.43.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f7adf3fb19a9ca016cbea1ab8a7b852ac69df8fcde4923c23d3b155efbc42a74"
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version = "0.45.2"
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||||
source = "git+https://github.com/esp-rs/esp-idf-hal#bc48639bd626c72afc1e25e5d497b5c639161d30"
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dependencies = [
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||||
"atomic-waker",
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"embassy-sync",
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@ -552,14 +550,12 @@ dependencies = [
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|||
"heapless",
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"log",
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"nb 1.1.0",
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"num_enum",
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]
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[[package]]
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name = "esp-idf-svc"
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version = "0.48.1"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "2180642ca122a7fec1ec417a9b1a77aa66aaa067fdf1daae683dd8caba84f26b"
|
||||
version = "0.51.0"
|
||||
source = "git+https://github.com/esp-rs/esp-idf-svc#dee202f146c7681e54eabbf118a216fc0195d203"
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dependencies = [
|
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"embassy-futures",
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"embedded-hal-async",
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|
|
@ -567,6 +563,7 @@ dependencies = [
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"embuild",
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"enumset",
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"esp-idf-hal",
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"futures-io",
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"heapless",
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"log",
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"num_enum",
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@ -575,14 +572,13 @@ dependencies = [
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|||
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[[package]]
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name = "esp-idf-sys"
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||||
version = "0.34.1"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2e148f97c04ed3e9181a08bcdc9560a515aad939b0ba7f50a0022e294665e0af"
|
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version = "0.36.1"
|
||||
source = "git+https://github.com/esp-rs/esp-idf-sys#64667a38fb8004e1fc3b032488af6857ca3cd849"
|
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dependencies = [
|
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"anyhow",
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"bindgen",
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"build-time",
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"cargo_metadata",
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"cmake",
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"const_format",
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"embuild",
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"envy",
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|
@ -649,21 +645,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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|||
checksum = "7e3450815272ef58cec6d564423f6e755e25379b217b0bc688e295ba24df6b1d"
|
||||
|
||||
[[package]]
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||||
name = "futures-task"
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||||
name = "futures-io"
|
||||
version = "0.3.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "037711b3d59c33004d3856fbdc83b99d4ff37a24768fa1be9ce3538a1cde4393"
|
||||
checksum = "cecba35d7ad927e23624b22ad55235f2239cfa44fd10428eecbeba6d6a717718"
|
||||
|
||||
[[package]]
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||||
name = "futures-util"
|
||||
name = "futures-sink"
|
||||
version = "0.3.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
|
||||
dependencies = [
|
||||
"futures-core",
|
||||
"futures-task",
|
||||
"pin-project-lite",
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||||
]
|
||||
checksum = "c39754e157331b013978ec91992bde1ac089843443c49cbc7f46150b0fad0893"
|
||||
|
||||
[[package]]
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||||
name = "getrandom"
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|
@ -827,6 +818,15 @@ dependencies = [
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"serde_core",
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||||
]
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||||
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||||
[[package]]
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||||
name = "itertools"
|
||||
version = "0.13.0"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
|
||||
dependencies = [
|
||||
"either",
|
||||
]
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[[package]]
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name = "itoa"
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version = "1.0.17"
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@ -843,18 +843,6 @@ dependencies = [
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"wasm-bindgen",
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||||
]
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[[package]]
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||||
name = "lazy_static"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
|
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||||
[[package]]
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||||
name = "lazycell"
|
||||
version = "1.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
|
||||
|
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[[package]]
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||||
name = "leb128fmt"
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version = "0.1.0"
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@ -945,12 +933,6 @@ dependencies = [
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|||
"libc",
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]
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[[package]]
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name = "no-std-net"
|
||||
version = "0.5.0"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1bcece43b12349917e096cddfa66107277f123e6c96a5aea78711dc601a47152"
|
||||
|
||||
[[package]]
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||||
name = "nom"
|
||||
version = "7.1.3"
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||||
|
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@ -1007,18 +989,6 @@ version = "1.21.3"
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|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
|
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|
||||
[[package]]
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||||
name = "peeking_take_while"
|
||||
version = "0.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
|
||||
|
||||
[[package]]
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||||
name = "pin-project-lite"
|
||||
version = "0.2.16"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
|
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|
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[[package]]
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name = "prettyplease"
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version = "0.2.37"
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@ -1138,9 +1108,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "rustc-hash"
|
||||
version = "1.1.0"
|
||||
version = "2.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
|
||||
checksum = "357703d41365b4b27c590e3ed91eabb1b663f07c4c084095e60cbed4362dff0d"
|
||||
|
||||
[[package]]
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||||
name = "rustix"
|
||||
|
|
|
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|
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@ -14,15 +14,21 @@ edition = "2021"
|
|||
license = "MIT"
|
||||
description = "ZeroClaw ESP32 peripheral firmware — GPIO over JSON serial"
|
||||
|
||||
[patch.crates-io]
|
||||
# Use latest esp-rs crates to fix u8/i8 char pointer compatibility with ESP-IDF 5.x
|
||||
esp-idf-sys = { git = "https://github.com/esp-rs/esp-idf-sys" }
|
||||
esp-idf-hal = { git = "https://github.com/esp-rs/esp-idf-hal" }
|
||||
esp-idf-svc = { git = "https://github.com/esp-rs/esp-idf-svc" }
|
||||
|
||||
[dependencies]
|
||||
esp-idf-svc = "0.48"
|
||||
esp-idf-svc = { git = "https://github.com/esp-rs/esp-idf-svc" }
|
||||
log = "0.4"
|
||||
anyhow = "1.0"
|
||||
serde = { version = "1.0", features = ["derive"] }
|
||||
serde_json = "1.0"
|
||||
|
||||
[build-dependencies]
|
||||
embuild = "0.31"
|
||||
embuild = { version = "0.33", features = ["espidf"] }
|
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|
||||
[profile.release]
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opt-level = "s"
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|
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@ -2,8 +2,11 @@
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|
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Peripheral firmware for ESP32 — speaks the same JSON-over-serial protocol as the STM32 firmware. Flash this to your ESP32, then configure ZeroClaw on the host to connect via serial.
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|
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**New to this?** See [SETUP.md](SETUP.md) for step-by-step commands and troubleshooting.
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|
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## Protocol
|
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|
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|
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- **Request** (host → ESP32): `{"id":"1","cmd":"gpio_write","args":{"pin":13,"value":1}}\n`
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- **Response** (ESP32 → host): `{"id":"1","ok":true,"result":"done"}\n`
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@ -11,19 +14,44 @@ Commands: `gpio_read`, `gpio_write`.
|
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|
||||
## Prerequisites
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||||
|
||||
1. **ESP toolchain** (espup):
|
||||
1. **RISC-V ESP-IDF** (ESP32-C2/C3): Uses nightly Rust with `build-std`.
|
||||
|
||||
**Python**: ESP-IDF requires Python 3.10–3.13 (not 3.14). If you have Python 3.14:
|
||||
```sh
|
||||
brew install python@3.12
|
||||
```
|
||||
|
||||
**virtualenv** (needed by ESP-IDF tools; PEP 668 workaround on macOS):
|
||||
```sh
|
||||
/opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
|
||||
```
|
||||
|
||||
**Rust tools**:
|
||||
```sh
|
||||
cargo install espflash ldproxy
|
||||
```
|
||||
|
||||
The project's `rust-toolchain.toml` pins nightly + rust-src. `esp-idf-sys` downloads ESP-IDF automatically on first build. Use Python 3.12 for the build:
|
||||
```sh
|
||||
export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
|
||||
```
|
||||
|
||||
2. **Xtensa targets** (ESP32, ESP32-S2, ESP32-S3): Use espup instead:
|
||||
```sh
|
||||
cargo install espup espflash
|
||||
espup install
|
||||
source ~/export-esp.sh # or ~/export-esp.fish for Fish
|
||||
source ~/export-esp.sh
|
||||
```
|
||||
|
||||
2. **Target**: ESP32-C3 (RISC-V) by default. Edit `.cargo/config.toml` for other targets (e.g. `xtensa-esp32-espidf` for original ESP32).
|
||||
Then edit `.cargo/config.toml` to change the target (e.g. `xtensa-esp32-espidf`).
|
||||
|
||||
## Build & Flash
|
||||
|
||||
```sh
|
||||
cd firmware/zeroclaw-esp32
|
||||
# Use Python 3.12 (required if you have 3.14)
|
||||
export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
|
||||
# Optional: pin MCU (esp32c3 or esp32c2)
|
||||
export MCU=esp32c3
|
||||
cargo build --release
|
||||
espflash flash target/riscv32imc-esp-espidf/release/zeroclaw-esp32 --monitor
|
||||
```
|
||||
|
|
|
|||
156
firmware/zeroclaw-esp32/SETUP.md
Normal file
156
firmware/zeroclaw-esp32/SETUP.md
Normal file
|
|
@ -0,0 +1,156 @@
|
|||
# ESP32 Firmware Setup Guide
|
||||
|
||||
Step-by-step setup for building the ZeroClaw ESP32 firmware. Follow this if you run into issues.
|
||||
|
||||
## Quick Start (copy-paste)
|
||||
|
||||
```sh
|
||||
# 1. Install Python 3.12 (ESP-IDF needs 3.10–3.13, not 3.14)
|
||||
brew install python@3.12
|
||||
|
||||
# 2. Install virtualenv (PEP 668 workaround on macOS)
|
||||
/opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
|
||||
|
||||
# 3. Install Rust tools
|
||||
cargo install espflash ldproxy
|
||||
|
||||
# 4. Build
|
||||
cd firmware/zeroclaw-esp32
|
||||
export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
|
||||
cargo build --release
|
||||
|
||||
# 5. Flash (connect ESP32 via USB)
|
||||
espflash flash target/riscv32imc-esp-espidf/release/zeroclaw-esp32 --monitor
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Detailed Steps
|
||||
|
||||
### 1. Python
|
||||
|
||||
ESP-IDF requires Python 3.10–3.13. **Python 3.14 is not supported.**
|
||||
|
||||
```sh
|
||||
brew install python@3.12
|
||||
```
|
||||
|
||||
### 2. virtualenv
|
||||
|
||||
ESP-IDF tools need `virtualenv`. On macOS with Homebrew Python, PEP 668 blocks `pip install`; use:
|
||||
|
||||
```sh
|
||||
/opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
|
||||
```
|
||||
|
||||
### 3. Rust Tools
|
||||
|
||||
```sh
|
||||
cargo install espflash ldproxy
|
||||
```
|
||||
|
||||
- **espflash**: flash and monitor
|
||||
- **ldproxy**: linker for ESP-IDF builds
|
||||
|
||||
### 4. Use Python 3.12 for Builds
|
||||
|
||||
Before every build (or add to `~/.zshrc`):
|
||||
|
||||
```sh
|
||||
export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
|
||||
```
|
||||
|
||||
### 5. Build
|
||||
|
||||
```sh
|
||||
cd firmware/zeroclaw-esp32
|
||||
cargo build --release
|
||||
```
|
||||
|
||||
First build downloads and compiles ESP-IDF (~5–15 min).
|
||||
|
||||
### 6. Flash
|
||||
|
||||
```sh
|
||||
espflash flash target/riscv32imc-esp-espidf/release/zeroclaw-esp32 --monitor
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
### "No space left on device"
|
||||
|
||||
Free disk space. Common targets:
|
||||
|
||||
```sh
|
||||
# Cargo cache (often 5–20 GB)
|
||||
rm -rf ~/.cargo/registry/cache ~/.cargo/registry/src
|
||||
|
||||
# Unused Rust toolchains
|
||||
rustup toolchain list
|
||||
rustup toolchain uninstall <name>
|
||||
|
||||
# iOS Simulator runtimes (~35 GB)
|
||||
xcrun simctl delete unavailable
|
||||
|
||||
# Temp files
|
||||
rm -rf /var/folders/*/T/cargo-install*
|
||||
```
|
||||
|
||||
### "can't find crate for `core`" / "riscv32imc-esp-espidf target may not be installed"
|
||||
|
||||
This project uses **nightly Rust with build-std**, not espup. Ensure:
|
||||
|
||||
- `rust-toolchain.toml` exists (pins nightly + rust-src)
|
||||
- You are **not** sourcing `~/export-esp.sh` (that's for Xtensa targets)
|
||||
- Run `cargo build` from `firmware/zeroclaw-esp32`
|
||||
|
||||
### "externally-managed-environment" / "No module named 'virtualenv'"
|
||||
|
||||
Install virtualenv with the PEP 668 workaround:
|
||||
|
||||
```sh
|
||||
/opt/homebrew/opt/python@3.12/bin/python3.12 -m pip install virtualenv --break-system-packages
|
||||
```
|
||||
|
||||
### "expected `i64`, found `i32`" (time_t mismatch)
|
||||
|
||||
Already fixed in `.cargo/config.toml` with `espidf_time64` for ESP-IDF 5.x. If you use ESP-IDF 4.4, switch to `espidf_time32`.
|
||||
|
||||
### "expected `*const u8`, found `*const i8`" (esp-idf-svc)
|
||||
|
||||
Already fixed via `[patch.crates-io]` in `Cargo.toml` using esp-rs crates from git. Do not remove the patch.
|
||||
|
||||
### 10,000+ files in `git status`
|
||||
|
||||
The `.embuild/` directory (ESP-IDF cache) has ~100k+ files. It is in `.gitignore`. If you see them, ensure `.gitignore` contains:
|
||||
|
||||
```
|
||||
.embuild/
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Optional: Auto-load Python 3.12
|
||||
|
||||
Add to `~/.zshrc`:
|
||||
|
||||
```sh
|
||||
# ESP32 firmware build
|
||||
export PATH="/opt/homebrew/opt/python@3.12/libexec/bin:$PATH"
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Xtensa Targets (ESP32, ESP32-S2, ESP32-S3)
|
||||
|
||||
For non–RISC-V chips, use espup instead:
|
||||
|
||||
```sh
|
||||
cargo install espup espflash
|
||||
espup install
|
||||
source ~/export-esp.sh
|
||||
```
|
||||
|
||||
Then edit `.cargo/config.toml` to use `xtensa-esp32-espidf` (or the correct target).
|
||||
3
firmware/zeroclaw-esp32/rust-toolchain.toml
Normal file
3
firmware/zeroclaw-esp32/rust-toolchain.toml
Normal file
|
|
@ -0,0 +1,3 @@
|
|||
[toolchain]
|
||||
channel = "nightly"
|
||||
components = ["rust-src"]
|
||||
|
|
@ -6,8 +6,9 @@
|
|||
//! Protocol: same as STM32 — see docs/hardware-peripherals-design.md
|
||||
|
||||
use esp_idf_svc::hal::gpio::PinDriver;
|
||||
use esp_idf_svc::hal::prelude::*;
|
||||
use esp_idf_svc::hal::uart::*;
|
||||
use esp_idf_svc::hal::peripherals::Peripherals;
|
||||
use esp_idf_svc::hal::uart::{UartConfig, UartDriver};
|
||||
use esp_idf_svc::hal::units::Hertz;
|
||||
use log::info;
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
|
|
@ -36,9 +37,13 @@ fn main() -> anyhow::Result<()> {
|
|||
let peripherals = Peripherals::take()?;
|
||||
let pins = peripherals.pins;
|
||||
|
||||
// Create GPIO output drivers first (they take ownership of pins)
|
||||
let mut gpio2 = PinDriver::output(pins.gpio2)?;
|
||||
let mut gpio13 = PinDriver::output(pins.gpio13)?;
|
||||
|
||||
// UART0: TX=21, RX=20 (ESP32) — ESP32-C3 may use different pins; adjust for your board
|
||||
let config = UartConfig::new().baudrate(Hertz(115_200));
|
||||
let mut uart = UartDriver::new(
|
||||
let uart = UartDriver::new(
|
||||
peripherals.uart0,
|
||||
pins.gpio21,
|
||||
pins.gpio20,
|
||||
|
|
@ -60,7 +65,8 @@ fn main() -> anyhow::Result<()> {
|
|||
if b == b'\n' {
|
||||
if !line.is_empty() {
|
||||
if let Ok(line_str) = std::str::from_utf8(&line) {
|
||||
if let Ok(resp) = handle_request(line_str, &peripherals) {
|
||||
if let Ok(resp) = handle_request(line_str, &mut gpio2, &mut gpio13)
|
||||
{
|
||||
let out = serde_json::to_string(&resp).unwrap_or_default();
|
||||
let _ = uart.write(format!("{}\n", out).as_bytes());
|
||||
}
|
||||
|
|
@ -80,10 +86,15 @@ fn main() -> anyhow::Result<()> {
|
|||
}
|
||||
}
|
||||
|
||||
fn handle_request(
|
||||
fn handle_request<G2, G13>(
|
||||
line: &str,
|
||||
peripherals: &esp_idf_svc::hal::peripherals::Peripherals,
|
||||
) -> anyhow::Result<Response> {
|
||||
gpio2: &mut PinDriver<'_, G2>,
|
||||
gpio13: &mut PinDriver<'_, G13>,
|
||||
) -> anyhow::Result<Response>
|
||||
where
|
||||
G2: esp_idf_svc::hal::gpio::OutputMode,
|
||||
G13: esp_idf_svc::hal::gpio::OutputMode,
|
||||
{
|
||||
let req: Request = serde_json::from_str(line.trim())?;
|
||||
let id = req.id.clone();
|
||||
|
||||
|
|
@ -98,13 +109,13 @@ fn handle_request(
|
|||
}
|
||||
"gpio_read" => {
|
||||
let pin_num = req.args.get("pin").and_then(|v| v.as_u64()).unwrap_or(0) as i32;
|
||||
let value = gpio_read(peripherals, pin_num)?;
|
||||
let value = gpio_read(pin_num)?;
|
||||
Ok(value.to_string())
|
||||
}
|
||||
"gpio_write" => {
|
||||
let pin_num = req.args.get("pin").and_then(|v| v.as_u64()).unwrap_or(0) as i32;
|
||||
let value = req.args.get("value").and_then(|v| v.as_u64()).unwrap_or(0);
|
||||
gpio_write(peripherals, pin_num, value)?;
|
||||
gpio_write(gpio2, gpio13, pin_num, value)?;
|
||||
Ok("done".into())
|
||||
}
|
||||
_ => Err(anyhow::anyhow!("Unknown command: {}", req.cmd)),
|
||||
|
|
@ -126,28 +137,26 @@ fn handle_request(
|
|||
}
|
||||
}
|
||||
|
||||
fn gpio_read(_peripherals: &esp_idf_svc::hal::peripherals::Peripherals, _pin: i32) -> anyhow::Result<u8> {
|
||||
fn gpio_read(_pin: i32) -> anyhow::Result<u8> {
|
||||
// TODO: implement input pin read — requires storing InputPin drivers per pin
|
||||
Ok(0)
|
||||
}
|
||||
|
||||
fn gpio_write(
|
||||
peripherals: &esp_idf_svc::hal::peripherals::Peripherals,
|
||||
fn gpio_write<G2, G13>(
|
||||
gpio2: &mut PinDriver<'_, G2>,
|
||||
gpio13: &mut PinDriver<'_, G13>,
|
||||
pin: i32,
|
||||
value: u64,
|
||||
) -> anyhow::Result<()> {
|
||||
let pins = peripherals.pins;
|
||||
let level = value != 0;
|
||||
) -> anyhow::Result<()>
|
||||
where
|
||||
G2: esp_idf_svc::hal::gpio::OutputMode,
|
||||
G13: esp_idf_svc::hal::gpio::OutputMode,
|
||||
{
|
||||
let level = esp_idf_svc::hal::gpio::Level::from(value != 0);
|
||||
|
||||
match pin {
|
||||
2 => {
|
||||
let mut out = PinDriver::output(pins.gpio2)?;
|
||||
out.set_level(esp_idf_svc::hal::gpio::Level::from(level))?;
|
||||
}
|
||||
13 => {
|
||||
let mut out = PinDriver::output(pins.gpio13)?;
|
||||
out.set_level(esp_idf_svc::hal::gpio::Level::from(level))?;
|
||||
}
|
||||
2 => gpio2.set_level(level)?,
|
||||
13 => gpio13.set_level(level)?,
|
||||
_ => anyhow::bail!("Pin {} not configured (add to gpio_write)", pin),
|
||||
}
|
||||
Ok(())
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue