Modify bindings and examples to use the updated daemon server

Updated the commands sent by the bindings to the server, updated
examples and fix bugs in the daemon server.

cpp-bindings/pruss.cpp

@@ -5,7 +5,7 @@ using namespace std;
 Socket::Socket()
 {
 	this->fd = -1;
-	this->socketpath = "/tmp/prusocket";
+	this->socketpath = "/tmp/prussd.sock";
 }
 
 bool Socket::conn()
@@ -65,8 +65,8 @@ PRUSS& PRUSS::get()
 PRUSS::PRUSS() : pru0(0), pru1(1)
 {
 	// boot up the PRUSS by probing the remoteproc driver
-	this->sock.sendcmd("disable0");
-	this->sock.sendcmd("disable1");
+	this->sock.sendcmd("DISABLE_0");
+	this->sock.sendcmd("DISABLE_1");
 
 	this->bootUp();
 
@@ -87,7 +87,7 @@ int PRUSS::bootUp()
 {
 	if(this->on)
 		return -EALREADY;
-	int ret = -stoi(this->sock.sendcmd("probe_rproc")); //send command
+	int ret = stoi(this->sock.sendcmd("PROBE_RPROC")); //send command
 	if(!ret) {
 		this->on = true;
 		this->pru0.state = this->pru1.state = STOPPED; //PRU Cores are disabled after bootup
@@ -101,7 +101,7 @@ int PRUSS::shutDown()
 		return -EALREADY;
 	this->pru0.disable();
 	this->pru1.disable();
-	int ret = -stoi(this->sock.sendcmd("unprobe_rproc"));
+	int ret = stoi(this->sock.sendcmd("UNPROBE_RPROC"));
 	if(!ret) {
 		this->on = false;
 		this->pru0.state = this->pru1.state = NONE;
@@ -135,7 +135,7 @@ int PRU::enable()
 		return -ENODEV;
 	if(this->state == RUNNING || this->state == HALTED)
 		return -EALREADY;
-	int ret = -stoi(this->sock.sendcmd("enable"+to_string(this->number)));
+	int ret = stoi(this->sock.sendcmd("ENABLE_"+to_string(this->number)));
 	if(!ret)
 		this->state = RUNNING;
 	return ret;
@@ -147,7 +147,7 @@ int PRU::disable()
 		return -ENODEV;
 	if(this->state == STOPPED)
 		return -EALREADY;
-	int ret = -stoi(this->sock.sendcmd("disable"+to_string(this->number)));
+	int ret = stoi(this->sock.sendcmd("DISABLE_"+to_string(this->number)));
 	if(!ret)
 		this->state = STOPPED;
 	return ret;
@@ -165,7 +165,7 @@ int PRU::pause()
 		return -ENODEV;
 	if(this->state == HALTED)
 		return -EALREADY;
-	int ret = -stoi(this->sock.sendcmd("pause"+to_string(this->number)));
+	int ret = stoi(this->sock.sendcmd("PAUSE_"+to_string(this->number)));
 	if(!ret)
 		this->state = HALTED;
 	return ret;
@@ -177,38 +177,40 @@ int PRU::resume()
 		return -ENODEV;
 	if(this->state == RUNNING)
 		return -EALREADY;
-	int ret = -stoi(this->sock.sendcmd("resume"+to_string(this->number)));
+	int ret = stoi(this->sock.sendcmd("RESUME_"+to_string(this->number)));
 	if(!ret)
 		this->state = RUNNING;
 	return ret;
 }
 
 string PRU::showRegs()
 {
-	return this->sock.sendcmd("showregs" + to_string(this->number));
+	return this->sock.sendcmd("GETREGS_" + to_string(this->number));
 }
 
 int PRU::load(string fw)
 {
 	this->disable();
-	if(system(("cp "+ fw + " /tmp/pru" + to_string(this->number)).c_str())) {
-		return -ENOENT;	
-	}
-	int ret = -stoi(this->sock.sendcmd("load" + to_string(this->number)));
+	char buf[PATH_MAX];
+	realpath(fw.c_str(), buf);
+	std::string fullPath(buf);
+	int ret = stoi(this->sock.sendcmd("LOAD_" + to_string(this->number) + " " + fullPath));
 	this->enable();
 	return ret;
 }
 
 void PRU::setChannel()
 {
-	this->channel = (this->number)?31:30;	
+	this->chanPort = (this->number)?31:30;
+	this->chanName = "rpmsg_pru";
 }
 
-int PRU::setChannel(int channel)
+int PRU::setChannel(int port, string name)
 {
-	if(channel < 0)
+	if(port < 0)
 		return -EINVAL;
-	this->channel = channel;
+	this->chanPort = port;
+	this->chanName = name;
 	return 0;
 }
 
@@ -219,22 +221,23 @@ State PRU::getState()
 
 int PRU::sendMsg(string message)
 {
-	return -stoi(this->sock.sendcmd("sendmsg " + to_string(this->channel) + " " + message)); // eg. sendmsg 31 hi!
+	string cmd = "SENDMSG "+this->chanName+" "+to_string(this->chanPort)+" "+message;
+	return stoi(this->sock.sendcmd(cmd)); // eg. sendmsg rpmsg_pru 31 hi!
 }
 
 string PRU::getMsg()
 {
-	return this->sock.sendcmd("getmsg " + to_string(this->channel));
+	return this->sock.sendcmd("GETMSG "+this->chanName+" "+to_string(this->chanPort));
 }
 
 int PRU::waitForEvent()
 {
-	return -stoi(this->sock.sendcmd("eventwait " + to_string(this->channel)));
+	return stoi(this->sock.sendcmd("EVENTWAIT "+this->chanName+" "+to_string(this->chanPort)));
 }
 
-int PRU::waitForEvent(int timeout)
+int PRU::waitForEvent(int time)
 {
-	return -stoi(this->sock.sendcmd("eventwait " + to_string(this->channel) + " " + to_string(timeout)));
+	return stoi(this->sock.sendcmd("EVENTWAIT "+this->chanName+" "+to_string(this->chanPort)+" "+to_string(time)));
 }
 
 

cpp-bindings/pruss.h

@@ -2,6 +2,7 @@
 #define PRUSS_H_
 
 #include <stdlib.h>
+#include <linux/limits.h> // realpath
 #include <string> // string handling
 #include <sys/socket.h> // socket
 #include <sys/un.h> // socket
@@ -36,7 +37,8 @@ class PRU
 {
 	private:
 		int number;
-		int channel;
+		int chanPort;
+		std::string chanName;
 		Socket sock;
 		State state = NONE;	
 		PRU(int);
@@ -51,7 +53,7 @@ class PRU
 		std::string showRegs();
 		int load(std::string);
 		void setChannel();
-		int setChannel(int);
+		int setChannel(int, std::string);
 		State getState();
 		int sendMsg(std::string);
 		std::string getMsg();

examples/pru1_to_pru0_to_arm.cpp

@@ -24,9 +24,8 @@ int main()
 		gettimeofday(&after, NULL);
 		cout << ((after.tv_sec - before.tv_sec)*1000000L + after.tv_sec) - before.tv_sec << "\n";
 	}
-	p0.disable();
 	p1.disable();
-	p.shutDown();
-	
+	p0.disable();
+
 
 }

examples/run.sh

@@ -1,14 +1,15 @@
 #! /bin/bash
 
+DIR=$(cd `dirname $BASH_SOURCE[0]` && pwd -P)
+
 echo "This must be run on the BeagleBone Black itself"
 echo "Tested on kernel 4.9.36-ti-r46. Firmware Code taken from the BeagleScope project"
 echo "https://github.com/ZeekHuge/BeagleScope/tree/port_to_4.4.12-ti-r31%2B/examples/firmware_exmples"
-echo "Press any key to continue"
-read
+
 
 
 echo "-Building Firmware"
-	cd ./firmware_examples/$1/
+	cd "${DIR}/firmware_examples/$1/"
 	make clean
 	make
 

prussd/prussd.py

@@ -68,7 +68,7 @@ def sysfs_write(path, val):
 
 def set_config():
     """Reads the Daemon config file and sets paths accordingly."""
-    if os.path.exists(paths.CONFIG_FILE):
+    if not os.path.exists(paths.CONFIG_FILE):
         return
     try:
         with open(paths.CONFIG_FILE, "r") as fd:
@@ -111,7 +111,7 @@ def load_firmware(number, cmd):
 
     try:
         fname = cmd[1].split("/")[-1]
-        fw_path = paths.FIRMWARE_PATH+fname
+        fw_path = paths.FIRMWARE_PATH+"/"+fname
         if cmd[1] != fw_path:
             shutil.copyfile(os.path.normpath(cmd[1]), os.path.normpath(fw_path))
         return sysfs_write(rproc_sysfs("firmware", number), fname)
@@ -161,7 +161,7 @@ def send_msg(cmd):
     if not os.path.exists(rpmsg_dev):
         return -errno.ENODEV
     try:
-        with open(rpmsg_dev, 'r') as fd:
+        with open(rpmsg_dev, 'w') as fd:
             fd.write(' '.join(cmd[3:])+'\n')
             return 0
     except OSError as err:
@@ -191,7 +191,7 @@ def event_wait(cmd):
                 select.select([fd], [], [])
                 return 0
             else:
-                return 0 if select.select([fd], [], [], timeout) else -errno.ETIME
+                return 0 if select.select([fd], [], [], timeout)[0] else -errno.ETIME
     except OSError as err:
         return -err.errno
 
@@ -208,7 +208,7 @@ def handle(self):
         self.data = self.rfile.readline().strip()
 
         #decode bytes into string and get command args
-        cmd = self.data.decode("utf-8").upper().split()
+        cmd = self.data.decode("utf-8").split()
 
         #dict mapping commands to functions
         cmds = {