400 lines
16 KiB
Python
400 lines
16 KiB
Python
#!/usr/bin/env python3
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"""
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esp32_worker.py — Standalone ESP32 QEMU subprocess worker.
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Runs as a child process of esp32_lib_manager. Loads libqemu-xtensa in its
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own process address space so multiple instances can coexist without DLL state
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conflicts.
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stdin line 1 : JSON config
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{"lib_path": "...", "firmware_b64": "...", "machine": "..."}
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stdin line 2+: JSON commands
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{"cmd": "set_pin", "pin": N, "value": V}
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{"cmd": "set_adc", "channel": N, "millivolts": V}
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{"cmd": "set_adc_raw", "channel": N, "raw": V}
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{"cmd": "uart_send", "uart": N, "data": "<base64>"}
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{"cmd": "set_i2c_response", "addr": N, "response": V}
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{"cmd": "set_spi_response", "response": V}
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{"cmd": "stop"}
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stdout : JSON event lines (one per line, flushed immediately)
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{"type": "system", "event": "booted"}
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{"type": "system", "event": "crash", "reason": "...", ...}
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{"type": "system", "event": "reboot", "count": N}
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{"type": "gpio_change", "pin": N, "state": V}
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{"type": "gpio_dir", "pin": N, "dir": V}
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{"type": "uart_tx", "uart": N, "byte": V}
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{"type": "ledc_update", "channel": N, "duty": V, "duty_pct": F, "gpio": N|-1}
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{"type": "rmt_event", "channel": N, ...}
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{"type": "ws2812_update","channel": N, "pixels": [...]}
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{"type": "i2c_event", "bus": N, "addr": N, "event": N, "response": N}
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{"type": "spi_event", "bus": N, "event": N, "response": N}
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{"type": "error", "message": "..."}
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stderr : debug logs (never part of the JSON protocol)
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"""
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import base64
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import ctypes
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import json
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import os
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import sys
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import tempfile
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import threading
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# ─── stdout helpers ──────────────────────────────────────────────────────────
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_stdout_lock = threading.Lock()
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def _emit(obj: dict) -> None:
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"""Write one JSON event line to stdout (thread-safe, always flushed)."""
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with _stdout_lock:
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sys.stdout.write(json.dumps(obj) + '\n')
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sys.stdout.flush()
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def _log(msg: str) -> None:
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"""Write a debug message to stderr (invisible to parent's stdout reader)."""
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sys.stderr.write(f'[esp32_worker] {msg}\n')
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sys.stderr.flush()
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# ─── GPIO pinmap (identity: slot i → GPIO i-1) ──────────────────────────────
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_GPIO_COUNT = 40
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_PINMAP = (ctypes.c_int16 * (_GPIO_COUNT + 1))(
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_GPIO_COUNT,
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*range(_GPIO_COUNT),
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)
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# ─── ctypes callback types ───────────────────────────────────────────────────
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_WRITE_PIN = ctypes.CFUNCTYPE(None, ctypes.c_int, ctypes.c_int)
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_DIR_PIN = ctypes.CFUNCTYPE(None, ctypes.c_int, ctypes.c_int)
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_I2C_EVENT = ctypes.CFUNCTYPE(ctypes.c_int, ctypes.c_uint8, ctypes.c_uint8, ctypes.c_uint16)
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_SPI_EVENT = ctypes.CFUNCTYPE(ctypes.c_uint8, ctypes.c_uint8, ctypes.c_uint16)
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_UART_TX = ctypes.CFUNCTYPE(None, ctypes.c_uint8, ctypes.c_uint8)
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_RMT_EVENT = ctypes.CFUNCTYPE(None, ctypes.c_uint8, ctypes.c_uint32, ctypes.c_uint32)
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class _CallbacksT(ctypes.Structure):
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_fields_ = [
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('picsimlab_write_pin', _WRITE_PIN),
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('picsimlab_dir_pin', _DIR_PIN),
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('picsimlab_i2c_event', _I2C_EVENT),
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('picsimlab_spi_event', _SPI_EVENT),
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('picsimlab_uart_tx_event', _UART_TX),
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('pinmap', ctypes.c_void_p),
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('picsimlab_rmt_event', _RMT_EVENT),
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]
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# ─── RMT / WS2812 NeoPixel decoder ───────────────────────────────────────────
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_WS2812_HIGH_THRESHOLD = 48 # RMT ticks; high pulse > threshold → bit 1
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def _decode_rmt_item(value: int) -> tuple[int, int, int, int]:
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"""Unpack a 32-bit RMT item → (level0, duration0, level1, duration1)."""
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level0 = (value >> 31) & 1
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duration0 = (value >> 16) & 0x7FFF
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level1 = (value >> 15) & 1
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duration1 = value & 0x7FFF
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return level0, duration0, level1, duration1
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class _RmtDecoder:
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"""Accumulate RMT items for one channel; flush complete WS2812 frames."""
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def __init__(self, channel: int):
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self.channel = channel
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self._bits: list[int] = []
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self._pixels: list[dict] = []
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@staticmethod
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def _bits_to_byte(bits: list[int], offset: int) -> int:
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val = 0
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for i in range(8):
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val = (val << 1) | bits[offset + i]
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return val
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def feed(self, value: int) -> list[dict] | None:
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"""
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Process one RMT item.
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Returns a list of {r, g, b} pixel dicts on end-of-frame, else None.
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"""
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level0, dur0, _, dur1 = _decode_rmt_item(value)
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# Reset pulse (both durations zero) signals end of frame
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if dur0 == 0 and dur1 == 0:
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pix = list(self._pixels)
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self._pixels.clear()
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self._bits.clear()
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return pix or None
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# Classify the high pulse → bit 1 or bit 0
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if level0 == 1 and dur0 > 0:
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self._bits.append(1 if dur0 > _WS2812_HIGH_THRESHOLD else 0)
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# Every 24 bits → one GRB pixel → convert to RGB
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while len(self._bits) >= 24:
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g = self._bits_to_byte(self._bits, 0)
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r = self._bits_to_byte(self._bits, 8)
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b = self._bits_to_byte(self._bits, 16)
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self._pixels.append({'r': r, 'g': g, 'b': b})
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self._bits = self._bits[24:]
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return None
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# ─── Main ─────────────────────────────────────────────────────────────────────
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def main() -> None: # noqa: C901 (complexity OK for inline worker)
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# ── 1. Read config from stdin ─────────────────────────────────────────────
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raw_cfg = sys.stdin.readline()
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if not raw_cfg.strip():
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_log('No config received on stdin — exiting')
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os._exit(1)
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try:
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cfg = json.loads(raw_cfg)
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except Exception as exc:
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_log(f'Bad config JSON: {exc}')
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os._exit(1)
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lib_path = cfg['lib_path']
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firmware_b64 = cfg['firmware_b64']
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machine = cfg.get('machine', 'esp32-picsimlab')
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# ── 2. Load DLL ───────────────────────────────────────────────────────────
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_MINGW64_BIN = r'C:\msys64\mingw64\bin'
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if os.name == 'nt' and os.path.isdir(_MINGW64_BIN):
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os.add_dll_directory(_MINGW64_BIN)
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try:
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lib = ctypes.CDLL(lib_path)
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except Exception as exc:
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_emit({'type': 'error', 'message': f'Cannot load DLL: {exc}'})
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os._exit(1)
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# ── 3. Write firmware to a temp file ──────────────────────────────────────
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try:
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fw_bytes = base64.b64decode(firmware_b64)
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tmp = tempfile.NamedTemporaryFile(suffix='.bin', delete=False)
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tmp.write(fw_bytes)
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tmp.close()
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firmware_path: str | None = tmp.name
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except Exception as exc:
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_emit({'type': 'error', 'message': f'Firmware decode error: {exc}'})
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os._exit(1)
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rom_dir = os.path.dirname(lib_path).encode()
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args_list = [
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b'qemu',
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b'-M', machine.encode(),
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b'-nographic',
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b'-L', rom_dir,
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b'-drive', f'file={firmware_path},if=mtd,format=raw'.encode(),
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]
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argc = len(args_list)
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argv = (ctypes.c_char_p * argc)(*args_list)
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# ── 4. Shared mutable state ───────────────────────────────────────────────
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_stopped = threading.Event() # set on "stop" command
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_init_done = threading.Event() # set when qemu_init() returns
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_i2c_responses: dict[int, int] = {} # 7-bit addr → response byte
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_spi_response = [0xFF] # MISO byte for SPI transfers
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_rmt_decoders: dict[int, _RmtDecoder] = {}
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_uart0_buf = bytearray() # accumulate UART0 for crash detection
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_reboot_count = [0]
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_crashed = [False]
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_CRASH_STR = b'Cache disabled but cached memory region accessed'
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_REBOOT_STR = b'Rebooting...'
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# LEDC channel → GPIO pin (populated from GPIO out_sel sync events)
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# ESP32 signal indices: 72-79 = LEDC HS ch 0-7, 80-87 = LEDC LS ch 0-7
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_ledc_gpio_map: dict[int, int] = {}
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# ── 5. ctypes callbacks (called from QEMU thread) ─────────────────────────
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def _on_pin_change(slot: int, value: int) -> None:
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if _stopped.is_set():
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return
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gpio = int(_PINMAP[slot]) if 1 <= slot <= _GPIO_COUNT else slot
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_emit({'type': 'gpio_change', 'pin': gpio, 'state': value})
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def _on_dir_change(slot: int, direction: int) -> None:
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if _stopped.is_set():
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return
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# slot == -1 means a sync event from GPIO/LEDC/IOMUX peripheral
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if slot == -1:
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marker = direction & 0xF000
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if marker == 0x2000: # GPIO_FUNCX_OUT_SEL_CFG change
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gpio_pin = direction & 0xFF
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signal = (direction >> 8) & 0xFF
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# Signal 72-79 = LEDC HS ch 0-7; 80-87 = LEDC LS ch 0-7
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if 72 <= signal <= 87:
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ledc_ch = signal - 72 # ch 0-15
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_ledc_gpio_map[ledc_ch] = gpio_pin
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return
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gpio = int(_PINMAP[slot]) if 1 <= slot <= _GPIO_COUNT else slot
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_emit({'type': 'gpio_dir', 'pin': gpio, 'dir': direction})
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def _on_uart_tx(uart_id: int, byte_val: int) -> None:
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if _stopped.is_set():
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return
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_emit({'type': 'uart_tx', 'uart': uart_id, 'byte': byte_val})
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# Crash / reboot detection on UART0 only
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if uart_id == 0:
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_uart0_buf.append(byte_val)
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if byte_val == ord('\n') or len(_uart0_buf) >= 512:
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chunk = bytes(_uart0_buf)
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_uart0_buf.clear()
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if _CRASH_STR in chunk and not _crashed[0]:
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_crashed[0] = True
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_emit({'type': 'system', 'event': 'crash',
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'reason': 'cache_error', 'reboot': _reboot_count[0]})
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if _REBOOT_STR in chunk:
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_crashed[0] = False
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_reboot_count[0] += 1
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_emit({'type': 'system', 'event': 'reboot',
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'count': _reboot_count[0]})
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def _on_rmt_event(channel: int, config0: int, value: int) -> None:
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if _stopped.is_set():
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return
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level0, dur0, level1, dur1 = _decode_rmt_item(value)
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_emit({'type': 'rmt_event', 'channel': channel, 'config0': config0,
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'value': value, 'level0': level0, 'dur0': dur0,
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'level1': level1, 'dur1': dur1})
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if channel not in _rmt_decoders:
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_rmt_decoders[channel] = _RmtDecoder(channel)
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pixels = _rmt_decoders[channel].feed(value)
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if pixels:
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_emit({'type': 'ws2812_update', 'channel': channel, 'pixels': pixels})
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def _on_i2c_event(bus_id: int, addr: int, event: int) -> int:
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"""Synchronous — must return immediately; called from QEMU thread."""
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resp = _i2c_responses.get(addr, 0)
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if not _stopped.is_set():
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_emit({'type': 'i2c_event', 'bus': bus_id, 'addr': addr,
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'event': event, 'response': resp})
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return resp
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def _on_spi_event(bus_id: int, event: int) -> int:
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"""Synchronous — must return immediately; called from QEMU thread."""
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resp = _spi_response[0]
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if not _stopped.is_set():
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_emit({'type': 'spi_event', 'bus': bus_id, 'event': event, 'response': resp})
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return resp
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# Keep callback struct alive (prevent GC from freeing ctypes closures)
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_cbs_ref = _CallbacksT(
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picsimlab_write_pin = _WRITE_PIN(_on_pin_change),
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picsimlab_dir_pin = _DIR_PIN(_on_dir_change),
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picsimlab_i2c_event = _I2C_EVENT(_on_i2c_event),
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picsimlab_spi_event = _SPI_EVENT(_on_spi_event),
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picsimlab_uart_tx_event = _UART_TX(_on_uart_tx),
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pinmap = ctypes.cast(_PINMAP, ctypes.c_void_p).value,
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picsimlab_rmt_event = _RMT_EVENT(_on_rmt_event),
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)
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lib.qemu_picsimlab_register_callbacks(ctypes.byref(_cbs_ref))
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# ── 6. QEMU thread ────────────────────────────────────────────────────────
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def _qemu_thread() -> None:
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try:
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lib.qemu_init(argc, argv, None)
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except Exception as exc:
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_emit({'type': 'error', 'message': f'qemu_init failed: {exc}'})
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finally:
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_init_done.set()
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lib.qemu_main_loop()
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qemu_t = threading.Thread(target=_qemu_thread, daemon=True, name=f'qemu-{machine}')
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qemu_t.start()
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if not _init_done.wait(timeout=30.0):
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_emit({'type': 'error', 'message': 'qemu_init timed out after 30 s'})
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os._exit(1)
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_emit({'type': 'system', 'event': 'booted'})
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_log(f'QEMU started: machine={machine} firmware={firmware_path}')
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# ── 7. LEDC polling thread (100 ms interval) ──────────────────────────────
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def _ledc_poll_thread() -> None:
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lib.qemu_picsimlab_get_internals.restype = ctypes.c_void_p
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while not _stopped.wait(0.1):
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try:
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ptr = lib.qemu_picsimlab_get_internals(0)
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if ptr is None:
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continue
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arr = (ctypes.c_uint32 * 16).from_address(ptr)
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for ch in range(16):
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duty = int(arr[ch])
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if duty > 0:
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gpio = _ledc_gpio_map.get(ch, -1)
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_emit({'type': 'ledc_update', 'channel': ch,
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'duty': duty,
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'duty_pct': round(duty / 8192 * 100, 1),
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'gpio': gpio})
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except Exception:
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pass
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threading.Thread(target=_ledc_poll_thread, daemon=True, name='ledc-poll').start()
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# ── 8. Command loop (main thread reads stdin) ─────────────────────────────
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for raw_line in sys.stdin:
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raw_line = raw_line.strip()
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if not raw_line:
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continue
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try:
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cmd = json.loads(raw_line)
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except Exception:
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continue
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c = cmd.get('cmd', '')
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if c == 'set_pin':
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# Identity pinmap: slot = gpio_num + 1
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lib.qemu_picsimlab_set_pin(int(cmd['pin']) + 1, int(cmd['value']))
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elif c == 'set_adc':
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raw_v = int(int(cmd['millivolts']) * 4095 / 3300)
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lib.qemu_picsimlab_set_apin(int(cmd['channel']), max(0, min(4095, raw_v)))
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elif c == 'set_adc_raw':
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lib.qemu_picsimlab_set_apin(int(cmd['channel']),
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max(0, min(4095, int(cmd['raw']))))
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elif c == 'uart_send':
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data = base64.b64decode(cmd['data'])
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buf = (ctypes.c_uint8 * len(data))(*data)
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lib.qemu_picsimlab_uart_receive(int(cmd.get('uart', 0)), buf, len(data))
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elif c == 'set_i2c_response':
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_i2c_responses[int(cmd['addr'])] = int(cmd['response']) & 0xFF
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elif c == 'set_spi_response':
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_spi_response[0] = int(cmd['response']) & 0xFF
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elif c == 'stop':
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_stopped.set()
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# Signal QEMU to shut down. The assertion that fires on Windows
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# ("Bail out!") is non-fatal — glib just logs it and continues.
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try:
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lib.qemu_cleanup()
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except Exception:
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pass
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qemu_t.join(timeout=5.0)
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# Clean up temp firmware file
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if firmware_path:
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try:
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os.unlink(firmware_path)
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except OSError:
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pass
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os._exit(0)
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if __name__ == '__main__':
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main()
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