kaptan/firmware/platforms/stm32f7/tests/support/usb_bus.rs

//! Shared packet-level USB hardware fake; runs the real CDC/USB stack.
extern crate std;
use super::UsbMavlink;
use std::{
    collections::VecDeque,
    sync::{Arc, Mutex},
    vec::Vec,
};
use usb_device::{
    UsbDirection, UsbError,
    bus::{PollResult, UsbBus, UsbBusAllocator},
    device::{UsbDeviceBuilder, UsbVidPid},
    endpoint::{EndpointAddress, EndpointType},
};
use usbd_serial::CdcAcmClass;

const RXFLVL: u32 = 1 << 4;
const USBSUSP: u32 = 1 << 11;
const USBRST: u32 = 1 << 12;
const ENUMDNE: u32 = 1 << 13;
const IEPINT: u32 = 1 << 18;
const WKUPINT: u32 = 1 << 31;

struct RxPacket {
    endpoint: usize,
    setup: bool,
    bytes: Vec<u8>,
}

#[derive(Default)]
struct BusState {
    offline: bool,
    fail_poll: bool,
    read_error: Option<UsbError>,
    write_error: Option<UsbError>,
    events: VecDeque<PollResult>,
    input: [Option<Vec<u8>>; 4],
    output: [Option<Vec<u8>>; 4],
    sizes: [[u16; 4]; 2],
    stalled: [[bool; 4]; 2],
    bulk_in: usize,
    bulk_out: usize,
    // Hardware FIFO is distinct from the driver's one-packet endpoint buffer
    // (`output`). RXFLVL stays asserted if that buffer prevents popping the FIFO.
    rx_fifo: VecDeque<RxPacket>,
    setup: u16,
    gintmsk: u32,
    nvic_enabled: bool,
    nvic_pending: bool,
    endpoints_configured: bool,
}
impl BusState {
    fn raw_status(&self) -> u32 {
        self.events.iter().fold(
            if self.rx_fifo.is_empty() { 0 } else { RXFLVL },
            |status, event| {
                status
                    | match event {
                        // synopsys-usb-otg returns Reset only for ENUMDNE.
                        PollResult::Reset => ENUMDNE,
                        PollResult::Suspend => USBSUSP,
                        PollResult::Resume => WKUPINT,
                        PollResult::Data { ep_in_complete, .. } if *ep_in_complete != 0 => IEPINT,
                        _ => 0,
                    }
            },
        )
    }
    fn latch_interrupt(&mut self) {
        self.nvic_pending |= self.raw_status() & self.gintmsk != 0;
    }
}
#[derive(Clone, Default)]
pub(crate) struct Host(Arc<Mutex<BusState>>);
pub(crate) struct PacketBus(Arc<Mutex<BusState>>);
impl super::UsbBusHealth for PacketBus {
    fn is_offline(&self) -> bool {
        self.0.lock().unwrap().offline
    }
    fn disable(&self) {
        let mut state = self.0.lock().unwrap();
        state.offline = true;
        state.nvic_enabled = false;
        state.nvic_pending = false;
    }
}
impl UsbBus for PacketBus {
    fn alloc_ep(
        &mut self,
        direction: UsbDirection,
        address: Option<EndpointAddress>,
        kind: EndpointType,
        size: u16,
        _: u8,
    ) -> Result<EndpointAddress, UsbError> {
        let mut state = self.0.lock().unwrap();
        let sizes = &mut state.sizes[usize::from(direction == UsbDirection::In)];
        let index = match address {
            Some(address) => address.index(),
            None => (1..sizes.len())
                .find(|index| sizes[*index] == 0)
                .ok_or(UsbError::EndpointOverflow)?,
        };
        if index >= sizes.len() || sizes[index] != 0 {
            return Err(UsbError::InvalidEndpoint);
        }
        sizes[index] = size;
        if kind == EndpointType::Bulk {
            match direction {
                UsbDirection::In => state.bulk_in = index,
                UsbDirection::Out => state.bulk_out = index,
            }
        }
        Ok(EndpointAddress::from_parts(index, direction))
    }
    fn enable(&mut self) {
        let mut state = self.0.lock().unwrap();
        state.gintmsk = RXFLVL | USBSUSP | USBRST | ENUMDNE | IEPINT | WKUPINT;
        state.nvic_enabled = true;
    }
    fn reset(&self) {
        let mut state = self.0.lock().unwrap();
        state.input.fill(None);
        // configure_all flushes FIFOs but does not reset the bulk OUT software
        // EndpointBuffer::has_data. Transport cleanup must discard that packet.
        let bulk_out = state.bulk_out;
        let buffered = state.output[bulk_out].take();
        state.output.fill(None);
        state.output[bulk_out] = buffered;
        state.events.clear();
        state.rx_fifo.clear();
        state.setup = 0;
        state.endpoints_configured = true;
    }
    fn set_device_address(&self, _: u8) {}
    fn write(&self, address: EndpointAddress, bytes: &[u8]) -> Result<usize, UsbError> {
        let mut state = self.0.lock().unwrap();
        assert!(!state.offline, "write after terminal USB fault");
        if let Some(error) = state.write_error.take() {
            return Err(error);
        }
        if bytes.len() > usize::from(state.sizes[1][address.index()]) {
            return Err(UsbError::BufferOverflow);
        }
        let packet = &mut state.input[address.index()];
        if packet.is_some() {
            return Err(UsbError::WouldBlock);
        }
        *packet = Some(bytes.to_vec());
        Ok(bytes.len())
    }
    fn read(&self, address: EndpointAddress, bytes: &mut [u8]) -> Result<usize, UsbError> {
        let mut state = self.0.lock().unwrap();
        assert!(!state.offline, "read after terminal USB fault");
        if let Some(error) = state.read_error.take() {
            return Err(error);
        }
        let packet = state.output[address.index()]
            .as_ref()
            .ok_or(UsbError::WouldBlock)?;
        if packet.len() > bytes.len() {
            return Err(UsbError::BufferOverflow);
        }
        let packet = state.output[address.index()].take().unwrap();
        state.setup &= !(1 << address.index());
        bytes[..packet.len()].copy_from_slice(&packet);
        Ok(packet.len())
    }
    fn set_stalled(&self, address: EndpointAddress, stalled: bool) {
        self.0.lock().unwrap().stalled[usize::from(address.is_in())][address.index()] = stalled;
    }
    fn is_stalled(&self, address: EndpointAddress) -> bool {
        self.0.lock().unwrap().stalled[usize::from(address.is_in())][address.index()]
    }
    fn suspend(&self) {}
    fn resume(&self) {}
    fn poll(&self) -> PollResult {
        let mut state = self.0.lock().unwrap();
        assert!(!state.offline, "poll after terminal USB fault");
        if state.fail_poll {
            state.offline = true;
            state.nvic_enabled = false;
            state.nvic_pending = false;
            return PollResult::None;
        }
        // Like synopsys-usb-otg 0.4.0, polling reads raw status, not GINTMSK.
        // Non-RX sources remain serviceable even with a blocked FIFO head.
        let mut ep_in_complete = 0;
        if let Some(event) = state.events.pop_front() {
            match event {
                PollResult::Data {
                    ep_in_complete: complete,
                    ..
                } => ep_in_complete = complete,
                _ => return event,
            }
        }
        if let Some(packet) = state.rx_fifo.front()
            && state.output[packet.endpoint].is_none()
        {
            let packet = state.rx_fifo.pop_front().unwrap();
            if packet.setup {
                state.setup |= 1 << packet.endpoint;
            }
            state.output[packet.endpoint] = Some(packet.bytes);
        }
        let ep_setup = state.setup;
        let ep_out = state
            .output
            .iter()
            .enumerate()
            .fold(0, |mask, (index, packet)| {
                mask | if packet.is_some() { 1 << index } else { 0 }
            })
            & !ep_setup;
        // A still-asserted level can latch before the following gate write.
        state.latch_interrupt();
        if ep_out | ep_in_complete | ep_setup != 0 {
            PollResult::Data {
                ep_out,
                ep_in_complete,
                ep_setup,
            }
        } else {
            PollResult::None
        }
    }
}
impl Host {
    pub(crate) fn fail_poll(&self) {
        self.0.lock().unwrap().fail_poll = true;
    }
    pub(crate) fn fail_read(&self) {
        self.0.lock().unwrap().read_error = Some(UsbError::InvalidState);
    }
    pub(crate) fn fail_write(&self) {
        self.0.lock().unwrap().write_error = Some(UsbError::InvalidState);
    }
    pub(crate) fn enumeration_done(&self) {
        let mut state = self.0.lock().unwrap();
        state.events.push_front(PollResult::Reset);
        state.latch_interrupt();
    }

    pub(crate) fn event(&self, event: PollResult) {
        let mut state = self.0.lock().unwrap();
        state.events.push_back(event);
        state.latch_interrupt();
    }
    #[allow(dead_code)]
    pub(crate) fn events_empty(&self) -> bool {
        self.0.lock().unwrap().events.is_empty()
    }
    fn control(&self, link: &mut UsbMavlink<'_, PacketBus>, request: [u8; 8]) {
        self.queue_control(request);
        link.poll();
        assert_eq!(self.take_input(0), Some(Vec::new()));
        link.poll();
    }
    pub(crate) fn queue_control(&self, request: [u8; 8]) {
        let mut state = self.0.lock().unwrap();
        // EP0 shares the hardware FIFO. Never inject SETUP past a blocked bulk head.
        state.rx_fifo.push_back(RxPacket {
            endpoint: 0,
            setup: true,
            bytes: request.to_vec(),
        });
        state.latch_interrupt();
    }
    pub(crate) fn configure(&self, link: &mut UsbMavlink<'_, PacketBus>, configured: bool) {
        self.control(link, [0, 9, u8::from(configured), 0, 0, 0, 0, 0]);
    }
    pub(crate) fn dtr(&self, link: &mut UsbMavlink<'_, PacketBus>, open: bool) {
        self.control(link, [0x21, 0x22, u8::from(open), 0, 0, 0, 0, 0]);
    }
    pub(crate) fn write_packet(&self, bytes: &[u8]) {
        assert!(
            self.try_write_packet(bytes),
            "host must retry when the RX FIFO is full"
        );
    }
    pub(crate) fn try_write_packet(&self, bytes: &[u8]) -> bool {
        assert!(bytes.len() <= 64);
        let mut state = self.0.lock().unwrap();
        // Driver allocation: two 16-word OUT buffers + 30 words. Model packet
        // data and one receive status word, not cycle-level USB handshakes.
        let occupied: usize = state
            .rx_fifo
            .iter()
            .map(|packet| packet.bytes.len().div_ceil(4) + 1)
            .sum();
        if occupied + bytes.len().div_ceil(4) + 1 > 62 {
            return false;
        }
        let endpoint = state.bulk_out;
        state.rx_fifo.push_back(RxPacket {
            endpoint,
            setup: false,
            bytes: bytes.to_vec(),
        });
        state.latch_interrupt();
        true
    }
    fn take_input(&self, endpoint: usize) -> Option<Vec<u8>> {
        let mut state = self.0.lock().unwrap();
        let packet = state.input[endpoint].take()?;
        state.events.push_back(PollResult::Data {
            ep_out: 0,
            ep_in_complete: 1 << endpoint,
            ep_setup: 0,
        });
        state.latch_interrupt();
        Some(packet)
    }

    pub(crate) fn set_rx_interrupt_enabled(&self, enabled: bool) {
        let mut state = self.0.lock().unwrap();
        state.gintmsk = if enabled {
            state.gintmsk | RXFLVL
        } else {
            state.gintmsk & !RXFLVL
        };
        // Masking never acknowledges pending status. Rearm sees the current level.
        state.latch_interrupt();
    }

    #[allow(dead_code)] // Also shared with transport-only tests without a scheduler.
    pub(crate) fn rx_interrupt_enabled(&self) -> bool {
        self.0.lock().unwrap().gintmsk & RXFLVL != 0
    }

    #[allow(dead_code)]
    pub(crate) fn nvic_enabled(&self) -> bool {
        self.0.lock().unwrap().nvic_enabled
    }

    #[allow(dead_code)]
    pub(crate) fn interrupt_status(&self) -> (u32, u32) {
        let state = self.0.lock().unwrap();
        (state.raw_status(), state.gintmsk)
    }

    #[allow(dead_code)]
    pub(crate) fn enter_irq(&self) -> bool {
        let mut state = self.0.lock().unwrap();
        state.latch_interrupt();
        if !state.nvic_enabled || !state.nvic_pending {
            return false;
        }
        state.nvic_pending = false; // Exception entry, not an enable/disable side effect.
        true
    }

    #[allow(dead_code)]
    pub(crate) fn receive_backlog(&self) -> (usize, bool) {
        let state = self.0.lock().unwrap();
        (state.rx_fifo.len(), state.output[state.bulk_out].is_some())
    }

    /// Host ACK without polling device software. The device must service TX completion.
    pub(crate) fn take_packet(&self) -> Option<Vec<u8>> {
        let state = self.0.lock().unwrap();
        if !state.endpoints_configured {
            return None;
        }
        let endpoint = state.bulk_in;
        drop(state);
        self.take_input(endpoint)
    }
    pub(crate) fn collect_packets(&self, link: &mut UsbMavlink<'_, PacketBus>) -> Vec<Vec<u8>> {
        let mut packets = Vec::new();
        for _ in 0..16 {
            let Some(packet) = self.take_packet() else {
                return packets;
            };
            packets.push(packet);
            link.poll();
        }
        panic!("transmission did not finish");
    }
}
pub(crate) fn with_link(test: impl FnOnce(&Host, &mut UsbMavlink<'_, PacketBus>)) {
    let host = Host::default();
    let allocator = UsbBusAllocator::new(PacketBus(host.0.clone()));
    let class = CdcAcmClass::new(&allocator, 64);
    let device = UsbDeviceBuilder::new(&allocator, UsbVidPid(0x1209, 1))
        .max_packet_size_0(64)
        .unwrap()
        .build();
    let mut link = UsbMavlink::new(device, class);
    host.enumeration_done();
    link.poll();
    host.configure(&mut link, true);
    host.dtr(&mut link, true);
    link.with_rx_interrupt_gate(
        |link| assert!(link.is_open()),
        |enabled| host.set_rx_interrupt_enabled(enabled),
    );
    // Finish initialization's latched exceptions before scheduling test traffic.
    while host.enter_irq() {
        link.with_rx_interrupt_gate(
            |link| link.poll(),
            |enabled| host.set_rx_interrupt_enabled(enabled),
        );
    }
    test(&host, &mut link);
}