Add a custom Gate example

examples/projects/product/custom_gate/.docker/.dockerignore

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+.pio/
+.vscode/
+.gitignore
+README.md

examples/projects/product/custom_gate/.docker/Dockerfile

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+FROM python:3 as builder
+
+LABEL maintainer="Benjamin Christau <benjamin.christau@luos.io>" \
+  app_name="gate_wscom"
+
+ENV PLATFORMIO_CORE_DIR="/home"
+
+WORKDIR /home/app
+
+COPY . .
+
+RUN pip install --upgrade pip setuptools wheel platformio && \
+  rm -rf /root/.cache/pip
+
+RUN platformio run \
+  --environment native \
+  -d ./examples/projects/native/gate_wscom
+
+CMD [ "./examples/projects/native/gate_wscom/.pio/build/native/program"]

examples/projects/product/custom_gate/README.md

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+<a href="https://luos.io"><img src="https://uploads-ssl.webflow.com/601a78a2b5d030260a40b7ad/603e0cc45afbb50963aa85f2_Gif%20noir%20rect.gif" alt="Luos logo" title="Luos" align="right" height="100" /></a>
+
+![](https://github.com/Luos-io/luos_engine/actions/workflows/build.yml/badge.svg)
+[![](https://img.shields.io/github/license/Luos-io/luos_engine)](https://github.com/Luos-io/luos_engine/blob/master/LICENSE)
+
+[![](https://img.shields.io/badge/Luos-Documentation-34A3B4)](https://www.luos.io/docs/)
+[![PlatformIO Registry](https://badges.registry.platformio.org/packages/luos/library/luos_engine.svg)](https://registry.platformio.org/libraries/luos_engine/luos_engine)
+
+[![](https://img.shields.io/discord/902486791658041364?label=Discord&logo=discord&style=social)](http://bit.ly/JoinLuosDiscord)
+[![](https://img.shields.io/badge/LinkedIn-Share-0077B5?style=social&logo=linkedin)](https://www.linkedin.com/sharing/share-offsite/?url=https%3A%2F%2Fgithub.com%2Fluos-io)
+
+# Custom Gate project example :bulb:
+
+This project demonstrate how to make a custom gate with custom Json conversion.
+
+## How to compile the code :computer:
+
+1.  Download and install [Platformio](https://platformio.org/platformio-ide)
+2.  Open this folder into Platformio
+3.  Build (Platformio will do the rest)
+
+## Don't hesitate to read [our documentation](https://www.luos.io/docs/), or to post your questions/issues on the [Luos' Discord](http://bit.ly/JoinLuosDiscord). :books:

examples/projects/product/custom_gate/node_config.h

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+
+
+/******************************************************************************
+ * @file node_config.h
+ * @brief This file allow you to use standard preprocessor definitions to
+ *        configure your project, Luos and Luos HAL libraries
+ *
+ *   # Introduction
+ *     This file is for the luos user. You may here configure your project and
+ *     define your custom Luos service and custom Luos command for your product
+ *
+ *     Luos libraries offer a minimal standard configuration to optimize
+ *     memory usage. In some case you have to modify standard value to fit
+ *     with your need concerning among of data transiting through the network
+ *     or network speed for example
+ *
+ *     Luos libraries can be use with a lot a MCU family. Luos compagny give you
+ *     a default configuration, for specific MCU family, in robus_hal_config.h.
+ *     This configuration can be modify here to fit with you design by
+ *     preprocessor definitions of MCU Hardware needs
+ *
+ *   # Usage
+ *      This file should be place a the root folder of your project and include
+ *      where build flag preprocessor definitions are define in your IDE
+ *      -include node_config.h
+ *
+ * @author Luos
+ * @version 0.0.0
+ ******************************************************************************/
+#ifndef _NODE_CONFIG_H_
+#define _NODE_CONFIG_H_
+
+/*******************************************************************************
+ * PROJECT DEFINITION
+ *******************************************************************************/
+
+/*******************************************************************************
+ * LUOS LIBRARY DEFINITION
+ *******************************************************************************
+ *    Define                | Default Value              | Description
+ *    :---------------------|------------------------------------------------------
+ *    MAX_LOCAL_SERVICE_NUMBER    |              5             | Service number in the node
+ *    MAX_NODE_NUMBER       |              20            | Node number in the device
+ *    MAX_SERVICE_NUMBER    |              20            | Service number in the device
+ *    MSG_BUFFER_SIZE       | 3*SIZE_MSG_MAX (405 Bytes) | Size in byte of the Luos buffer TX and RX
+ *    MAX_MSG_NB            |   2*MAX_LOCAL_SERVICE_NUMBER   | Message number in Luos buffer
+ *    NBR_PORT              |              2             | PTP Branch number Max 8
+ *    NBR_RETRY             |              10            | Send Retry number in case of NACK or collision
+ ******************************************************************************/
+#define MAX_LOCAL_SERVICE_NUMBER 2
+#define MAX_LOCAL_PROFILE_NUMBER 1
+#define MAX_MSG_NB               200
+#define MSG_BUFFER_SIZE          8192
+
+/*******************************************************************************
+ * LUOS HAL LIBRARY DEFINITION
+*******************************************************************************
+ *    Define                  | Description
+ *    :-----------------------|-----------------------------------------------
+ *    MCUFREQ                 | Put your the MCU frequency (value in Hz)
+ *    TIMERDIV                | Timer divider clock (see your clock configuration)
+ *    USE_CRC_HW              | define to 0 if there is no Module CRC in your MCU
+ *    USE_TX_IT               | define to 1 to not use DMA transfers for Luos Tx
+ *
+ *    PORT_CLOCK_ENABLE       | Enable clock for port
+ *    PTPx                    | A,B,C,D etc. PTP Branch Pin/Port/IRQ
+ *    TX_LOCK_DETECT          | Disable by default use if not busy flag in USART Pin/Port/IRQ
+ *    RX_EN                   | Rx enable for driver RS485 always on Pin/Port
+ *    TX_EN                   | Tx enable for driver RS485 Pin/Port
+ *    COM_TX                  | Tx USART Com Pin/Port/Alternate
+ *    COM_RX                  | Rx USART Com Pin/Port/Alternate
+ *    PINOUT_IRQHANDLER       | Callback function for Pin IRQ handler
+
+ *    ROBUS_COM_CLOCK_ENABLE   | Enable clock for USART
+ *    ROBUS_COM                | USART number
+ *    ROBUS_COM_IRQ            | USART IRQ number
+ *    ROBUS_COM_IRQHANDLER     | Callback function for USART IRQ handler
+
+ *    ROBUS_DMA_CLOCK_ENABLE   | Enable clock for DMA
+ *    ROBUS_DMA                | DMA number
+ *    ROBUS_DMA_CHANNEL        | DMA channel (depending on MCU DMA may need special config)
+
+ *    ROBUS_TIMER_CLOCK_ENABLE | Enable clock for Timer
+ *    ROBUS_TIMER              | Timer number
+ *    ROBUS_TIMER_IRQ          | Timer IRQ number
+ *    ROBUS_TIMER_IRQHANDLER   | Callback function for Timer IRQ handler
+******************************************************************************/
+
+/*******************************************************************************
+ * FLASH CONFIGURATION FOR APP WITH BOOTLOADER
+ ********************************************************************************
+ *    Define                | Default Value              | Description
+ *    :---------------------|------------------------------------------------------
+ *    BOOT_START_ADDRESS    | FLASH_BASE = 0x8000000     | Start address of Bootloader in flash
+ *    SHARED_MEMORY_ADDRESS | 0x0800C000                 | Start address of shared memory to save boot flag
+ *    APP_START_ADDRESS     | 0x0800C800                 | Start address of application with bootloader
+ *    APP_END_ADDRESS       | FLASH_BANK1_END=0x0801FFFF | End address of application with bootloader
+ ******************************************************************************/
+
+/*******************************************************************************
+ * GATE SERIAL COM DEFINITION
+ *******************************************************************************
+ *    Define                    | Default Value              | Description
+ *    :-------------------------|------------------------------------------------------
+ *    GATE_BUFF_SIZE            |             1024           | Json receive buffer size
+ *    PIPE_RX_BUFFER_SIZE       |             1024           | Receive pipe buffer size
+ *    PIPE_TX_BUFFER_SIZE       |             2048           | Transmit pipe buffer size
+ *    INIT_TIME                 |              150           | Wait init time before first detection
+ ******************************************************************************/
+#define GATE_BUFF_SIZE        65000
+#define PIPE_RX_BUFFER_SIZE   65000
+#define PIPE_TX_BUFFER_SIZE   65000
+#define SERIAL_RX_BUFFER_SIZE 65000
+#define INIT_TIME             150
+#define GATE_REFRESH_TIME_S   0.05f
+#define SERIAL_PORT           "/dev/cu.usbmodem1202" // "/dev/cu.usbserial-D308N897"
+
+#endif /* _NODE_CONFIG_H_ */

examples/projects/product/custom_gate/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+[platformio]
+default_envs = native_serial
+
+[env:native_serial]
+lib_ldf_mode =off
+lib_extra_dirs =
+    $PROJECT_DIR/../../../../tool_services/
+    $PROJECT_DIR/../../../../../
+    $PROJECT_DIR/../../../../network/
+platform = native
+lib_deps = 
+    luos_engine@^3.1.0
+    serial_network
+    Pipe
+    Gate
+build_unflags = -Os
+build_flags =
+    -I inc
+    -I ../
+    -include node_config.h
+    -O1
+    -lpthread
+    -lm
+    -D LUOSHAL=NATIVE
+    -D GATEFORMAT=TinyJSON
+    -D PIPEMODE=WS
+    -D PIPEHAL=native
+    -D PIPE_WS_SERVER_ADDR=\"ws://localhost:9342\" ; Watch out you need to escape the " using \
+build_type = debug

examples/projects/product/custom_gate/src/custom_json_conversion.c

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+#include "custom-json.h"
+#include "product_config.h"
+#include <stdio.h>
+
+// This function are called by the gate conversion functions in case of an unknown type.
+// This functions allow you to easily add and manage your custom type and commands.
+
+// This function is called by the gate to convert a service type into a string.
+// This is typically used in the end of detection to create a Json representing the device routing table.
+// The name of the type will be used by pyluos to create the right object.
+const char *Convert_CustomStringFromType(luos_type_t type)
+{
+    if (type == POINT_2D)
+    {
+        return "point_2D";
+    }
+    return NULL;
+}
+
+// This function is called by the gate to convert a piece of Json into a message.
+// This is typically used when a Json is received by the gate with an unknown property.
+// You can use it to compose your own message out of the Json data and send it to the right service.
+void Convert_CustomJsonToMsg(service_t *service, uint16_t target_id, char *property, const json_t *jobj, char *json_str)
+{
+    msg_t msg;
+    msg.header.target_mode = IDACK;
+    msg.header.target      = target_id;
+    // Target linear position 2D
+    if (property && !strcmp(property, "linear_pos_2D"))
+    {
+        // Check the size of the array. If we have more than one data, this mean that this data is a binary size of a trajectory. If we have 2 data, this is an unique point.
+        json_t const *item = json_getChild(jobj);
+        if (json_getSibling(item) != NULL)
+        {
+            // We only have one point in this data
+            pos_2d_t pos;
+            pos.x = (uint16_t)json_getInteger(item);
+            item  = json_getSibling(item);
+            pos.y = (uint16_t)json_getInteger(item);
+            // Create the message
+            msg.header.cmd  = LINEAR_POSITION_2D;
+            msg.header.size = sizeof(pos_2d_t);
+            memcpy(msg.data, &pos, sizeof(pos_2d_t));
+            // Send the message
+            Luos_SendMsg(service, &msg);
+        }
+        else
+        {
+            int i = 0;
+            // This is a binary
+            int size = (int)json_getInteger(item);
+            // Find the first \r of the current json_str
+            for (i = 0; i < GATE_BUFF_SIZE; i++)
+            {
+                if (json_str[i] == '\n')
+                {
+                    i++;
+                    break;
+                }
+            }
+            if (i < GATE_BUFF_SIZE - 1)
+            {
+                // Create the message
+                msg.header.cmd = LINEAR_POSITION_2D;
+                Luos_SendData(service, &msg, &json_str[i], (unsigned int)size);
+            }
+        }
+        return;
+    }
+    if (property && !strcmp(property, "buffer_mode"))
+    {
+        msg.data[0]     = (char)json_getInteger(jobj);
+        msg.header.cmd  = BUFFER_MODE;
+        msg.header.size = sizeof(char);
+        Luos_SendMsg(service, &msg);
+        return;
+    }
+}
+
+// This function is called by the gate to convert a message into a piece of Json.
+// This is typically used when a message is received by the gate with an unknown command.
+// You can use it to compose your own piece of Json out of the message data.
+void Convert_CustomMsgToJson(msg_t *msg, char *data)
+{
+    if (msg->header.cmd == LINEAR_POSITION_2D)
+    {
+        // This is our custom message, so we can convert it to JSON
+        // In this case we will don't need it but I did the code for the sake of the example.
+        if (msg->header.size == sizeof(pos_2d_t))
+        {
+            // Size ok, now fill the struct from msg data
+            pos_2d_t pos;
+            memcpy(&pos, msg->data, msg->header.size);
+            // create the Json content
+            sprintf(data, "\"linear_pos_2D\":[%2d,%2d],", pos.x, pos.y);
+        }
+    }
+}

examples/projects/product/custom_gate/src/main.c

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+#include "luos_engine.h"
+#include "serial_network.h"
+#include "pipe.h"
+#include "gate.h"
+#include <pthread.h>
+
+#ifndef WIN32
+    #include <execinfo.h>
+    #include <signal.h>
+    #include <stdio.h>
+    #include <stdlib.h>
+    #include <unistd.h>
+#endif
+
+void *Gate_Pipe_LoopThread(void *vargp)
+{
+    while (1)
+    {
+        Pipe_Loop();
+        Gate_Loop();
+    }
+    return NULL;
+}
+#ifndef _WIN32
+void handler(int sig)
+{
+    void *array[10];
+    size_t size;
+
+    // get void*'s for all entries on the stack
+    size = backtrace(array, 10);
+
+    // print out all the frames to stderr
+    fprintf(stderr, "Error: signal %d:\n", sig);
+    backtrace_symbols_fd(array, size, STDERR_FILENO);
+    exit(1);
+}
+#endif
+
+int main(void)
+{
+#ifndef _WIN32
+    signal(SIGSEGV, handler); // install our handler
+#endif
+    Luos_Init();
+    Serial_Init();
+    Pipe_Init();
+    Gate_Init();
+    // Create a thread to convert messages into Json and steam them using Websocket
+    // pthread_t thread_id;
+    // pthread_create(&thread_id, NULL, Gate_Pipe_LoopThread, NULL);
+    while (1)
+    {
+        Luos_Loop();
+        Serial_Loop();
+        Pipe_Loop();
+        Gate_Loop();
+    }
+}