libdivecomputer/src/shearwater_predator.c

/*
 * libdivecomputer
 *
 * Copyright (C) 2012 Jef Driesen
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 * MA 02110-1301 USA
 */

#include <string.h> // memcmp, memcpy
#include <stdlib.h> // malloc, free

#include <libdivecomputer/shearwater_predator.h>

#include "context-private.h"
#include "device-private.h"
#include "serial.h"
#include "array.h"

#define PREDATOR 2
#define PETREL   3

#define SZ_PACKET  254
#define SZ_BLOCK   0x80
#define SZ_MEMORY  0x20080

#define RB_PROFILE_BEGIN 0
#define RB_PROFILE_END   0x1F600

// SLIP special character codes
#define END       0xC0
#define ESC       0xDB
#define ESC_END   0xDC
#define ESC_ESC   0xDD

#define EXITCODE(n) ((n) < 0 ? (n) : 0)

typedef struct shearwater_predator_device_t {
	dc_device_t base;
	serial_t *port;
	unsigned char fingerprint[4];
} shearwater_predator_device_t;

static dc_status_t shearwater_predator_device_set_fingerprint (dc_device_t *abstract, const unsigned char data[], unsigned int size);
static dc_status_t shearwater_predator_device_dump (dc_device_t *abstract, dc_buffer_t *buffer);
static dc_status_t shearwater_predator_device_foreach (dc_device_t *abstract, dc_dive_callback_t callback, void *userdata);
static dc_status_t shearwater_predator_device_close (dc_device_t *abstract);

static const device_backend_t shearwater_predator_device_backend = {
	DC_FAMILY_SHEARWATER_PREDATOR,
	shearwater_predator_device_set_fingerprint, /* set_fingerprint */
	NULL, /* read */
	NULL, /* write */
	shearwater_predator_device_dump, /* dump */
	shearwater_predator_device_foreach, /* foreach */
	shearwater_predator_device_close /* close */
};


static int
device_is_shearwater_predator (dc_device_t *abstract)
{
	if (abstract == NULL)
		return 0;

    return abstract->backend == &shearwater_predator_device_backend;
}


static int
shearwater_predator_slip_write (shearwater_predator_device_t *device, const unsigned char data[], unsigned int size)
{
	int n = 0;
	const unsigned char end[] = {END};
	const unsigned char esc_end[] = {ESC, ESC_END};
	const unsigned char esc_esc[] = {ESC, ESC_ESC};

#if 0
	// Send an initial END character to flush out any data that may have
	// accumulated in the receiver due to line noise.
	n = serial_write (device->port, end, sizeof (end));
	if (n != sizeof (end)) {
		return EXITCODE(n);
	}
#endif

	for (unsigned int i = 0; i < size; ++i) {
		const unsigned char *seq = NULL;
		unsigned int len = 0;
		switch (data[i]) {
		case END:
			// Escape the END character.
			seq = esc_end;
			len = sizeof (esc_end);
			break;
		case ESC:
			// Escape the ESC character.
			seq = esc_esc;
			len = sizeof (esc_esc);
			break;
		default:
			// Normal character.
			seq = data + i;
			len = 1;
			break;
		}

		n = serial_write (device->port, seq, len);
		if (n != len) {
			return EXITCODE(n);
		}
	}

	// Send the END character to indicate the end of the packet.
	n = serial_write (device->port, end, sizeof (end));
	if (n != sizeof (end)) {
		return EXITCODE(n);
	}

	return size;
}


static int
shearwater_predator_slip_read (shearwater_predator_device_t *device, unsigned char data[], unsigned int size)
{
	unsigned int received = 0;

	// Read bytes until a complete packet has been received. If the
	// buffer runs out of space, bytes are dropped. The caller can
	// detect this condition because the return value will be larger
	// than the supplied buffer size.
	while (1) {
		unsigned char c = 0;
		int n = 0;

		// Get a single character to process.
		n = serial_read (device->port, &c, 1);
		if (n != 1) {
			return EXITCODE(n);
		}

		switch (c) {
		case END:
			// If it's an END character then we're done.
			// As a minor optimization, empty packets are ignored. This
			// is to avoid bothering the upper layers with all the empty
			// packets generated by the duplicate END characters which
			// are sent to try to detect line noise.
			if (received)
				return received;
			else
				break;
		case ESC:
			// If it's an ESC character, get another character and then
			// figure out what to store in the packet based on that.
			n = serial_read (device->port, &c, 1);
			if (n != 1) {
				return EXITCODE(n);
			}

			// If it's not one of the two escaped characters, then we
			// have a protocol violation. The best bet seems to be to
			// leave the byte alone and just stuff it into the packet.
			switch (c) {
			case ESC_END:
				c = END;
				break;
			case ESC_ESC:
				c = ESC;
				break;
			}
			// Fall-through!
		default:
			if (received < size)
				data[received] = c;
			received++;
		}
	}

	return received;
}


static dc_status_t
shearwater_predator_transfer (shearwater_predator_device_t *device, const unsigned char input[], unsigned int isize, unsigned char output[], unsigned int osize, unsigned int *actual)
{
	dc_device_t *abstract = (dc_device_t *) device;
	unsigned char packet[SZ_PACKET + 4];
	int n = 0;

	if (isize > SZ_PACKET || osize > SZ_PACKET)
		return DC_STATUS_INVALIDARGS;

	// Setup the request packet.
	packet[0] = 0xFF;
	packet[1] = 0x01;
	packet[2] = isize + 1;
	packet[3] = 0x00;
	memcpy (packet + 4, input, isize);

	// Send the request packet.
	n = shearwater_predator_slip_write (device, packet, isize + 4);
	if (n != isize + 4) {
		ERROR (abstract->context, "Failed to send the request packet.");
		if (n < 0)
			return DC_STATUS_IO;
		else
			return DC_STATUS_TIMEOUT;
	}

	// Receive the response packet.
	n = shearwater_predator_slip_read (device, packet, sizeof (packet));
	if (n <= 0 || n > sizeof (packet)) {
		ERROR (abstract->context, "Failed to receive the response packet.");
		if (n < 0)
			return DC_STATUS_IO;
		else if (n > sizeof (packet))
			return DC_STATUS_PROTOCOL;
		else
			return DC_STATUS_TIMEOUT;
	}

	// Validate the packet header.
	if (n < 4 || packet[0] != 0x01 || packet[1] != 0xFF || packet[3] != 0x00) {
		ERROR (abstract->context, "Invalid packet header.");
		return DC_STATUS_PROTOCOL;
	}

	// Validate the packet length.
	unsigned int length = packet[2];
	if (length < 1 || length - 1 + 4 != n || length - 1 > osize) {
		ERROR (abstract->context, "Invalid packet header.");
		return DC_STATUS_PROTOCOL;
	}

	memcpy (output, packet + 4, length - 1);
	*actual = length - 1;

	return DC_STATUS_SUCCESS;
}


dc_status_t
shearwater_predator_device_open (dc_device_t **out, dc_context_t *context, const char *name)
{
	if (out == NULL)
		return DC_STATUS_INVALIDARGS;

	// Allocate memory.
	shearwater_predator_device_t *device = (shearwater_predator_device_t *) malloc (sizeof (shearwater_predator_device_t));
	if (device == NULL) {
		ERROR (context, "Failed to allocate memory.");
		return DC_STATUS_NOMEMORY;
	}

	// Initialize the base class.
	device_init (&device->base, context, &shearwater_predator_device_backend);

	// Set the default values.
	device->port = NULL;
	memset (device->fingerprint, 0, sizeof (device->fingerprint));

	// Open the device.
	int rc = serial_open (&device->port, context, name);
	if (rc == -1) {
		ERROR (context, "Failed to open the serial port.");
		free (device);
		return DC_STATUS_IO;
	}

	// Set the serial communication protocol (115200 8N1).
	rc = serial_configure (device->port, 115200, 8, SERIAL_PARITY_NONE, 1, SERIAL_FLOWCONTROL_NONE);
	if (rc == -1) {
		ERROR (context, "Failed to set the terminal attributes.");
		serial_close (device->port);
		free (device);
		return DC_STATUS_IO;
	}

	// Set the timeout for receiving data (3000ms).
	if (serial_set_timeout (device->port, 3000) == -1) {
		ERROR (context, "Failed to set the timeout.");
		serial_close (device->port);
		free (device);
		return DC_STATUS_IO;
	}

	// Make sure everything is in a sane state.
	serial_sleep (device->port, 300);
	serial_flush (device->port, SERIAL_QUEUE_BOTH);

	*out = (dc_device_t *) device;

	return DC_STATUS_SUCCESS;
}


static dc_status_t
shearwater_predator_device_close (dc_device_t *abstract)
{
	shearwater_predator_device_t *device = (shearwater_predator_device_t*) abstract;

	// Close the device.
	if (serial_close (device->port) == -1) {
		free (device);
		return DC_STATUS_IO;
	}

	// Free memory.
	free (device);

	return DC_STATUS_SUCCESS;
}


static dc_status_t
shearwater_predator_device_set_fingerprint (dc_device_t *abstract, const unsigned char data[], unsigned int size)
{
	shearwater_predator_device_t *device = (shearwater_predator_device_t *) abstract;

	if (size && size != sizeof (device->fingerprint))
		return DC_STATUS_INVALIDARGS;

	if (size)
		memcpy (device->fingerprint, data, sizeof (device->fingerprint));
	else
		memset (device->fingerprint, 0, sizeof (device->fingerprint));

	return DC_STATUS_SUCCESS;
}


static dc_status_t
shearwater_predator_device_dump (dc_device_t *abstract, dc_buffer_t *buffer)
{
	shearwater_predator_device_t *device = (shearwater_predator_device_t *) abstract;
	dc_status_t rc = DC_STATUS_SUCCESS;
	unsigned int n = 0;

	unsigned char req_init[] = {
		0x35, 0x00, 0x34,
		0xDD, 0x00, 0x00, 0x00,
		0x02, 0x00, 0x80};
	unsigned char req_block[] = {0x36, 0x00};
	unsigned char req_quit[] = {0x37};
	unsigned char response[SZ_PACKET];

	// Erase the current contents of the buffer.
	if (!dc_buffer_clear (buffer) || !dc_buffer_reserve (buffer, SZ_MEMORY)) {
		ERROR (abstract->context, "Insufficient buffer space available.");
		return DC_STATUS_NOMEMORY;
	}

	// Enable progress notifications.
	dc_event_progress_t progress = EVENT_PROGRESS_INITIALIZER;
	progress.maximum = 3 + SZ_MEMORY + 1;
	device_event_emit (abstract, DC_EVENT_PROGRESS, &progress);

	// Transfer the init request.
	rc = shearwater_predator_transfer (device, req_init, sizeof (req_init), response, 3, &n);
	if (rc != DC_STATUS_SUCCESS) {
		return rc;
	}

	// Verify the init response.
	if (n != 3 || response[0] != 0x75 || response[1] != 0x10 || response[2] != 0x82) {
		ERROR (abstract->context, "Unexpected response packet.");
		return DC_STATUS_PROTOCOL;
	}

	// Update and emit a progress event.
	progress.current += 3;
	device_event_emit (abstract, DC_EVENT_PROGRESS, &progress);

	unsigned char block = 1;
	unsigned int nbytes = 0;
	while (nbytes < SZ_MEMORY) {
		// Transfer the block request.
		req_block[1] = block;
		rc = shearwater_predator_transfer (device, req_block, sizeof (req_block), response, sizeof (response), &n);
		if (rc != DC_STATUS_SUCCESS) {
			return rc;
		}

		// Verify the block header.
		if (n < 2 || response[0] != 0x76 || response[1] != block) {
			ERROR (abstract->context, "Unexpected response packet.");
			return DC_STATUS_PROTOCOL;
		}

		// Verify the block length.
		unsigned int length = n - 2;
		if (nbytes + length > SZ_MEMORY) {
			ERROR (abstract->context, "Unexpected packet size.");
			return DC_STATUS_PROTOCOL;
		}

		// Update and emit a progress event.
		progress.current += length;
		device_event_emit (abstract, DC_EVENT_PROGRESS, &progress);

		dc_buffer_append (buffer, response + 2, length);

		nbytes += length;
		block++;
	}

	// Transfer the quit request.
	rc = shearwater_predator_transfer (device, req_quit, sizeof (req_quit), response, 2, &n);
	if (rc != DC_STATUS_SUCCESS) {
		return rc;
	}

	// Verify the quit response.
	if (n != 2 || response[0] != 0x77 || response[1] != 0x00) {
		ERROR (abstract->context, "Unexpected response packet.");
		return DC_STATUS_PROTOCOL;
	}

	// Update and emit a progress event.
	progress.current += 1;
	device_event_emit (abstract, DC_EVENT_PROGRESS, &progress);

	return DC_STATUS_SUCCESS;
}


static dc_status_t
shearwater_predator_device_foreach (dc_device_t *abstract, dc_dive_callback_t callback, void *userdata)
{
	dc_buffer_t *buffer = dc_buffer_new (SZ_MEMORY);
	if (buffer == NULL)
		return DC_STATUS_NOMEMORY;

	dc_status_t rc = shearwater_predator_device_dump (abstract, buffer);
	if (rc != DC_STATUS_SUCCESS) {
		dc_buffer_free (buffer);
		return rc;
	}

	// Emit a device info event.
	unsigned char *data = dc_buffer_get_data (buffer);
	dc_event_devinfo_t devinfo;
	devinfo.model = data[0x2000D];
	devinfo.firmware = data[0x2000A];
	devinfo.serial = array_uint32_le (data + 0x20002);
	device_event_emit (abstract, DC_EVENT_DEVINFO, &devinfo);

	rc = shearwater_predator_extract_dives (abstract, data, SZ_MEMORY, callback, userdata);

	dc_buffer_free (buffer);

	return rc;
}


static dc_status_t
shearwater_predator_extract_predator (dc_device_t *abstract, const unsigned char data[], unsigned int size, dc_dive_callback_t callback, void *userdata)
{
	shearwater_predator_device_t *device = (shearwater_predator_device_t*) abstract;
	dc_context_t *context = (abstract ? abstract->context : NULL);

	// Locate the most recent dive.
	// The device maintains an internal counter which is incremented for every
	// dive, and the current value at the time of the dive is stored in the
	// dive header. Thus the most recent dive will have the highest value.
	unsigned int maximum = 0;
	unsigned int eop = RB_PROFILE_END;

	// Search the ringbuffer backwards to locate matching header and
	// footer markers. Because the ringbuffer search algorithm starts at
	// some arbitrary position, which does not necessary corresponds
	// with a boundary between two dives, the begin position is adjusted
	// as soon as the first dive has been found. Without this step,
	// dives crossing the ringbuffer wrap point won't be detected when
	// searching backwards from the ringbuffer end offset.
	unsigned int footer = 0;
	unsigned int have_footer = 0;
	unsigned int begin = RB_PROFILE_BEGIN;
	unsigned int offset = RB_PROFILE_END;
	while (offset != begin) {
		// Handle the ringbuffer wrap point.
		if (offset == RB_PROFILE_BEGIN)
			offset = RB_PROFILE_END;

		// Move to the start of the block.
		offset -= SZ_BLOCK;

		if (array_isequal (data + offset, SZ_BLOCK, 0xFF)) {
			// Ignore empty blocks explicitly, because otherwise they are
			// incorrectly recognized as header markers.
		} else if (data[offset + 0] == 0xFF && data[offset + 1] == 0xFF && have_footer) {
			// If the first header marker is found, the begin offset is moved
			// after the corresponding footer marker. This is necessary to be
			// able to detect dives that cross the ringbuffer wrap point.
			if (begin == RB_PROFILE_BEGIN)
				begin = footer + SZ_BLOCK;

			// Get the internal dive number.
			unsigned int current = array_uint16_be (data + offset + 2);
			if (current > maximum) {
				maximum = current;
				eop = footer + SZ_BLOCK;
			}

			// The dive number in the header and footer should be identical.
			if (current != array_uint16_be (data + footer + 2)) {
				ERROR (context, "Unexpected dive number.");
				return DC_STATUS_DATAFORMAT;
			}

			// Reset the footer marker.
			have_footer = 0;
		} else if (data[offset + 0] == 0xFF && data[offset + 1] == 0xFE) {
			// Remember the footer marker.
			footer = offset;
			have_footer = 1;
		}
	}

	// Allocate memory for the profiles.
	unsigned char *buffer = (unsigned char *) malloc (RB_PROFILE_END - RB_PROFILE_BEGIN);
	if (buffer == NULL) {
		return DC_STATUS_NOMEMORY;
	}

	// Linearize the ringbuffer.
	memcpy (buffer + 0, data + eop, RB_PROFILE_END - eop);
	memcpy (buffer + RB_PROFILE_END - eop, data + RB_PROFILE_BEGIN, eop - RB_PROFILE_BEGIN);

	// Find the dives again in the linear buffer.
	footer = 0;
	have_footer = 0;
	offset = RB_PROFILE_END;
	while (offset != RB_PROFILE_BEGIN) {
		// Move to the start of the block.
		offset -= SZ_BLOCK;

		if (array_isequal (buffer + offset, SZ_BLOCK, 0xFF)) {
			break;
		} else if (buffer[offset + 0] == 0xFF && buffer[offset + 1] == 0xFF && have_footer) {
			// Check the fingerprint data.
			if (device && memcmp (buffer + offset + 12, device->fingerprint, sizeof (device->fingerprint)) == 0)
				break;

			if (callback && !callback (buffer + offset, footer + SZ_BLOCK - offset, buffer + offset + 12, sizeof (device->fingerprint), userdata))
				break;

			have_footer = 0;
		} else if (buffer[offset + 0] == 0xFF && buffer[offset + 1] == 0xFE) {
			footer = offset;
			have_footer = 1;
		}
	}

	free (buffer);

	return DC_STATUS_SUCCESS;
}


static dc_status_t
shearwater_predator_extract_petrel (dc_device_t *abstract, const unsigned char data[], unsigned int size, dc_dive_callback_t callback, void *userdata)
{
	shearwater_predator_device_t *device = (shearwater_predator_device_t*) abstract;
	dc_context_t *context = (abstract ? abstract->context : NULL);

	// Search the ringbuffer to locate matching header and footer
	// markers. Because the Petrel does reorder the internal ringbuffer
	// before sending the data, the most recent dive is always the first
	// one. Therefore, there is no need to search for it, as we have to
	// do for the Predator.
	unsigned int header = 0;
	unsigned int have_header = 0;
	unsigned int offset = RB_PROFILE_BEGIN;
	while (offset != RB_PROFILE_END) {
		if (array_isequal (data + offset, SZ_BLOCK, 0xFF)) {
			// Ignore empty blocks explicitly, because otherwise they are
			// incorrectly recognized as header markers.
			break;
		} else if (data[offset + 0] == 0xFF && data[offset + 1] == 0xFF) {
			// Remember the header marker.
			header = offset;
			have_header = 1;
		} else if (data[offset + 0] == 0xFF && data[offset + 1] == 0xFE && have_header) {
			// The dive number in the header and footer should be identical.
			if (memcmp (data + header + 2, data + offset + 2, 2) != 0) {
				ERROR (context, "Unexpected dive number.");
				return DC_STATUS_DATAFORMAT;
			}

			// Check the fingerprint data.
			if (device && memcmp (data + header + 12, device->fingerprint, sizeof (device->fingerprint)) == 0)
				break;

			if (callback && !callback (data + header, offset + SZ_BLOCK - header, data + header + 12, sizeof (device->fingerprint), userdata))
				break;

			// Reset the header marker.
			have_header = 0;
		}

		offset += SZ_BLOCK;
	}

	return DC_STATUS_SUCCESS;
}


dc_status_t
shearwater_predator_extract_dives (dc_device_t *abstract, const unsigned char data[], unsigned int size, dc_dive_callback_t callback, void *userdata)
{
	if (abstract && !device_is_shearwater_predator (abstract))
		return DC_STATUS_INVALIDARGS;

	if (size < SZ_MEMORY)
		return DC_STATUS_DATAFORMAT;

	unsigned int model = data[0x2000D];

	if (model == PETREL) {
		return shearwater_predator_extract_petrel (abstract, data, size, callback, userdata);
	} else {
		return shearwater_predator_extract_predator (abstract, data, size, callback, userdata);
	}
}