2 The client code for the devices is compiled from one codebase. For a device to
3 be eligible for
\glspl{mTask
}, it must be able to compile the shared codebase
4 and implement (part of) the device specific interface. The shared codebase only
5 uses standard
\gls{C
} and no special libraries or tricks are used. Therefore
6 the code is compilable for almost any device or system. Note that it is not
7 needed to implement a full interface. The full interface --- excluding the
8 device specific settings --- is listed in Appendix~
\ref{app:device-interface
}.
9 The interface works in a similar fashion as the
\gls{EDSL
}. Devices do not have
10 to implement all functionality, this is analogous to the fact that views do not
11 have to implement all type classes in the
\gls{EDSL
}. When the device connects
12 for the first time with a server the specifications of what is implemented is
15 At the time of writing the following device families are supported and can run
18 \item \texttt{POSIX
} compatible systems
20 This includes systems running
\emph{Linux
} and
\emph{MacOS
}.
21 \item \texttt{STM32
} family microcontrollers supported by
\texttt{ChibiOS
}.
23 This is tested in particular on the
\texttt{STM32f7x
} series
\gls{ARM
}
25 \item Microcontrollers programmable by the
\gls{Arduino
} \gls{IDE
}.\\
27 This does not only include
\gls{Arduino
} compatible boards but also
28 other boards capable of running
\gls{Arduino
} code. The code
29 has been found working on the
\texttt{ESP8266
} powered
\emph{NodeMCU
}.
30 It is tested on devices as small as the regular
\gls{Arduino
}
31 \emph{UNO
} board that only boasts a meager
\emph{2K
} of
\emph{RAM
}.
34 \section{Specification
}
35 Devices are stored in a record type and all devices in the system are stored in
36 a
\gls{SDS
} containing all devices. From the macro settings in the interface
37 file a profile is created for the device that describes the specification. When
38 a connection between the server and a client is established the server will
39 send a request for specification. The client will serialize his specification
40 and send it to the server so that the server knows what the client is capable
41 of. The exact specification is listed in Listing~
\ref{lst:devicespec
}
43 \begin{lstlisting
}[language=Clean,label=
{lst:devicespec
},
44 caption=
{Device specification for
\glspl{mTask
}}]
53 \section{Device Storage
}
54 All devices available in the system are stored in a big
\gls{SDS
} that contains
55 a list of
\CI{MTaskDevice
}s. The exact specification is listed in
56 Listing~
\ref{lst:mtaskdevice
} with the accompanying classes and types.
58 The
\CI{deviceResource
} component of the record must implement the
59 \CI{MTaskDuplex
} interface that provides a function that launches a task used
60 for synchronizing the channels. The
\CI{deviceTask
} stores the
\gls{Task
}-id
61 for this
\gls{Task
} when active so that it can be checked upon. This top-level
62 task has the duty to
report set the
\CI{deviceError
} field whenever an error
63 occurs. All communication goes via these channels. If the system wants to send
64 a message to the device it just puts it in the channels. Messages sent from the
65 client to the server are also placed in there. In the case of the
\gls{TCP
}
66 device type the
\gls{Task
} is just a simple wrapper around the existing
67 \CI{tcpconnect
} function in
\gls{iTasks
}. In case of the serial device type
68 it uses the newly developed serial port library of
\gls{Clean
}\footnote{\url{%
69 https://gitlab.science.ru.nl/mlubbers/CleanSerial
}}.
71 Besides all the communication information the record also keeps track of the
72 \glspl{Task
} currently on the device and the according
\glspl{SDS
}. Finally it
73 stores the specification of the device that is received when connecting.
74 All of this is listed in Listing~
\ref{lst:mtaskdevice
}.
76 \begin{lstlisting
}[language=Clean,caption=
{Device type
},label=
{lst:mtaskdevice
}]
77 :: Channels :== (
[MTaskMSGRecv
],
[MTaskMSGSend
], Bool)
79 = TCPDevice TCPSettings
80 | SerialDevice TTYSettings
82 { deviceTask :: Maybe TaskId
83 , deviceError :: Maybe String
84 , deviceChannels :: String
85 , deviceName :: String
86 , deviceTasks ::
[MTaskTask
]
87 , deviceData :: MTaskResource
88 , deviceSpec :: Maybe MTaskDeviceSpec
89 , deviceShares ::
[MTaskShare
]
92 channels :: MTaskDevice -> Shared Channels
94 class MTaskDuplex a where
95 synFun :: a (Shared Channels) -> Task ()
98 \section{Communication
}
99 \todo{Connectie, hoe gaat dat in zijn werk
}