mcu-util: pull out messaging module into a crate (#115)

* mcu-util: pull out messaging module into a crate

* rename to orb-mcu-interface

Cargo.toml

@@ -9,6 +9,7 @@ members = [
   "endpoints",
   "header-parsing",
   "hil",
+  "mcu-interface",
   "mcu-util",
   "orb-attest",
   "orb-backend-state",

mcu-interface/Cargo.toml

@@ -0,0 +1,27 @@
+[package]
+name = "orb-mcu-interface"
+version = "0.0.0"
+authors = ["Cyril Fougeray <[email protected]>"]
+description = "Higher-level interface used to communicate with the MCUs"
+publish = false
+
+edition.workspace = true
+license.workspace = true
+repository.workspace = true
+rust-version.workspace = true
+
+[dependencies]
+async-trait = "0.1.77"
+can-rs = { path = "../can", features = ["isotp"] }
+color-eyre.workspace = true
+orb-messages.workspace = true
+prost = "0.12.3"
+tokio.workspace = true
+tokio-serial = "5.4.1"
+tracing.workspace = true
+
+[package.metadata.orb]
+unsupported_targets = [
+  "aarch64-apple-darwin",
+  "x86_64-apple-darwin",
+]

mcu-interface/README.md

@@ -0,0 +1,7 @@
+# orb-mcu-interface
+
+Higher-level interface used to communicate with the MCUs.
+
+## Platform support notes
+
+This binary only works on {aarch64,x86_64}-unknown-linux-gnu, due to `can-rs`.

mcu-util/src/messaging/can/canfd.rs → mcu-interface/src/can/canfd.rs

@@ -10,8 +10,8 @@ use std::sync::{mpsc, Arc};
 use tokio::time::Duration;
 use tracing::debug;
 
-use crate::messaging::Device::{JetsonFromMain, JetsonFromSecurity, Main, Security};
-use crate::messaging::{
+use crate::Device::{JetsonFromMain, JetsonFromSecurity, Main, Security};
+use crate::{
     create_ack, handle_main_mcu_message, handle_sec_mcu_message, Device, McuPayload,
     MessagingInterface,
 };

mcu-util/src/messaging/can/isotp.rs → mcu-interface/src/can/isotp.rs

@@ -13,7 +13,7 @@ use can_rs::isotp::addr::CanIsotpAddr;
 use can_rs::isotp::stream::IsotpStream;
 use can_rs::{Id, CAN_DATA_LEN};
 
-use crate::messaging::{
+use crate::{
     handle_main_mcu_message, handle_sec_mcu_message, McuPayload, MessagingInterface,
 };
 

mcu-util/src/messaging/mod.rs → mcu-interface/src/lib.rs

@@ -9,6 +9,8 @@ use tracing::debug;
 pub mod can;
 pub mod serial;
 
+pub use orb_messages;
+
 #[derive(Clone, Debug)]
 pub enum McuPayload {
     ToMain(orb_messages::mcu_main::jetson_to_mcu::Payload),
@@ -39,7 +41,7 @@ impl From<u8> for Device {
 }
 
 #[async_trait]
-pub(crate) trait MessagingInterface {
+pub trait MessagingInterface {
     async fn send(&mut self, payload: McuPayload) -> Result<CommonAckError>;
 }
 
@@ -55,7 +57,7 @@ fn create_ack(counter: u16) -> u32 {
 
 /// Check that ack contains the process ID
 #[inline]
-pub fn is_ack_for_us(ack_number: u32) -> bool {
+fn is_ack_for_us(ack_number: u32) -> bool {
     ack_number >> 16 == process::id()
 }
 

mcu-util/src/messaging/serial/mod.rs → mcu-interface/src/serial/mod.rs

@@ -1,4 +1,4 @@
-use crate::messaging::{Device, McuPayload, MessagingInterface};
+use crate::{Device, McuPayload, MessagingInterface};
 use async_trait::async_trait;
 use color_eyre::eyre::{eyre, Result};
 use orb_messages::CommonAckError;

mcu-util/Cargo.toml

@@ -11,19 +11,15 @@ repository.workspace = true
 rust-version.workspace = true
 
 [dependencies]
-anyhow = "1.0.79"
 async-trait = "0.1.77"
-can-rs = { path = "../can", features = ["isotp"] }
 clap.workspace = true
-crc32fast = "1.3.2"
 color-eyre.workspace = true
+crc32fast = "1.3.2"
 image = "0.24.8"
-orb-messages.workspace = true
-prost = "0.12.3"
+orb-mcu-interface.path = "../mcu-interface"
 tokio.workspace = true
-tokio-serial = "5.4.1"
-tracing.workspace = true
 tracing-subscriber.workspace = true
+tracing.workspace = true
 
 [package.metadata.orb]
 unsupported_targets = [

mcu-util/src/main.rs

@@ -10,7 +10,6 @@ use std::time::Duration;
 use tracing::{debug, error};
 
 mod logging;
-mod messaging;
 mod orb;
 
 /// Utility args

mcu-util/src/orb/dfu.rs

@@ -1,6 +1,6 @@
 use color_eyre::eyre::{eyre, Result};
-use orb_messages::mcu_main as main_messaging;
-use orb_messages::mcu_sec as sec_messaging;
+use orb_mcu_interface::orb_messages::mcu_main as main_messaging;
+use orb_mcu_interface::orb_messages::mcu_sec as sec_messaging;
 use std::cmp::min;
 use std::fs::File;
 use std::io;

mcu-util/src/orb/main_board.rs

@@ -1,16 +1,17 @@
 use async_trait::async_trait;
 use color_eyre::eyre::{eyre, Context, Result};
-use orb_messages::{mcu_main as main_messaging, CommonAckError};
 use std::ops::Sub;
 use std::sync::mpsc;
 use std::time::Duration;
 use tokio::time;
 use tracing::{debug, info, warn};
 
-use crate::messaging::can::canfd::CanRawMessaging;
-use crate::messaging::can::isotp::{CanIsoTpMessaging, IsoTpNodeIdentifier};
-use crate::messaging::serial::SerialMessaging;
-use crate::messaging::{Device, McuPayload, MessagingInterface};
+use orb_mcu_interface::can::canfd::CanRawMessaging;
+use orb_mcu_interface::can::isotp::{CanIsoTpMessaging, IsoTpNodeIdentifier};
+use orb_mcu_interface::orb_messages::{mcu_main as main_messaging, CommonAckError};
+use orb_mcu_interface::serial::SerialMessaging;
+use orb_mcu_interface::{Device, McuPayload, MessagingInterface};
+
 use crate::orb::dfu::BlockIterator;
 use crate::orb::revision::OrbRevision;
 use crate::orb::{dfu, BatteryStatus};
@@ -94,7 +95,7 @@ impl Board for MainBoard {
         let delay = delay.unwrap_or(REBOOT_DELAY);
         self.isotp_iface
             .send(McuPayload::ToMain(
-                orb_messages::mcu_main::jetson_to_mcu::Payload::Reboot(
+                main_messaging::jetson_to_mcu::Payload::Reboot(
                     main_messaging::RebootWithDelay { delay },
                 ),
             ))

mcu-util/src/orb/mod.rs

@@ -3,8 +3,9 @@ use std::time::Duration;
 
 use async_trait::async_trait;
 use color_eyre::eyre::Result;
-use orb_messages::mcu_main as main_messaging;
-use orb_messages::mcu_sec as sec_messaging;
+
+use orb_mcu_interface::orb_messages::mcu_main as main_messaging;
+use orb_mcu_interface::orb_messages::mcu_sec as sec_messaging;
 
 use crate::orb::main_board::MainBoard;
 use crate::orb::revision::OrbRevision;

mcu-util/src/orb/revision.rs

@@ -1,4 +1,4 @@
-use orb_messages::mcu_main as main_messaging;
+use orb_mcu_interface::orb_messages::mcu_main as main_messaging;
 use std::fmt::{Display, Formatter};
 
 #[derive(Clone, Debug, Default)]
@@ -7,16 +7,15 @@ pub struct OrbRevision(pub main_messaging::Hardware);
 impl Display for OrbRevision {
     fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
         if self.0.version
-            < orb_messages::mcu_main::hardware::OrbVersion::HwVersionDiamondPoc1 as i32
+            < main_messaging::hardware::OrbVersion::HwVersionDiamondPoc1 as i32
         {
             write!(f, "EVT{:?}", self.0.version)
         } else {
             write!(
                 f,
                 "Diamond_POC{:?}",
                 self.0.version
-                    - orb_messages::mcu_main::hardware::OrbVersion::HwVersionDiamondPoc1
-                        as i32
+                    - main_messaging::hardware::OrbVersion::HwVersionDiamondPoc1 as i32
                     + 1
             )
         }

mcu-util/src/orb/security_board.rs

@@ -1,16 +1,18 @@
 use async_trait::async_trait;
 use color_eyre::eyre::{eyre, Context, Result};
-use orb_messages::mcu_sec::battery_status::BatteryState;
-use orb_messages::{mcu_sec as security_messaging, CommonAckError};
 use std::ops::Sub;
 use std::sync::mpsc;
 use std::time::Duration;
 use tokio::time;
 use tracing::{debug, info, warn};
 
-use crate::messaging::can::canfd::CanRawMessaging;
-use crate::messaging::can::isotp::{CanIsoTpMessaging, IsoTpNodeIdentifier};
-use crate::messaging::{Device, McuPayload, MessagingInterface};
+use orb_mcu_interface::can::canfd::CanRawMessaging;
+use orb_mcu_interface::can::isotp::{CanIsoTpMessaging, IsoTpNodeIdentifier};
+use orb_mcu_interface::orb_messages;
+use orb_mcu_interface::{Device, McuPayload, MessagingInterface};
+use orb_messages::mcu_sec::battery_status::BatteryState;
+use orb_messages::{mcu_sec as security_messaging, CommonAckError};
+
 use crate::orb::dfu::BlockIterator;
 use crate::orb::{dfu, BatteryStatus};
 use crate::orb::{Board, OrbInfo};