refactor: enforce layered crates and Rust audit gates
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Horldsence
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#![cfg_attr(test, allow(clippy::unwrap_used, clippy::expect_used))]
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//! DJI DR16 D-BUS 串口接收驱动。
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//!
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//! DR16 使用非标准 100000 baud、8 data bits、even parity、1 stop bit。阻塞串口
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//! I/O 运行在专用线程上，异步侧只消费**最新**样本，避免遥控数据形成积压队列。
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use std::io::{self, Read};
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use std::thread;
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use std::time::{Duration, Instant};
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use dr16_protocol::{Dr16Sample, FrameDecoder};
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use serial::prelude::*;
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use tokio::sync::watch;
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use tracing::{debug, error};
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/// D-BUS UART 波特率。
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pub const BAUD_RATE: usize = 100_000;
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/// 串口读取参数。
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#[derive(Debug, Clone, Copy)]
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pub struct Dr16Options {
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/// 阻塞串口读超时；也用于让读取线程定期观察接收端关闭。
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pub read_timeout: Duration,
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}
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impl Default for Dr16Options {
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fn default() -> Self {
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Self { read_timeout: Duration::from_millis(20) }
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}
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}
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/// 带接收时间的 DR16 样本。
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#[derive(Debug, Clone, Copy, PartialEq, Eq)]
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pub struct StampedSample {
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/// 解码后的遥控输入。
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pub sample: Dr16Sample,
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/// 样本到达用户态读取循环的时刻。
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pub received_at: Instant,
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}
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/// 最新样本发送端。
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#[derive(Debug, Clone)]
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pub struct SampleSender {
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tx: watch::Sender<Option<StampedSample>>,
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}
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impl SampleSender {
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/// 发布一个新样本并返回带时间戳的副本。
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#[must_use]
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pub fn send(&self, sample: Dr16Sample) -> StampedSample {
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let stamped = StampedSample { sample, received_at: Instant::now() };
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self.tx.send_replace(Some(stamped));
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stamped
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}
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/// 当前是否有异步消费者。
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#[must_use]
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pub fn is_closed(&self) -> bool {
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self.tx.is_closed()
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}
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}
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/// 创建一对最新样本发送端和接收流。
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#[must_use]
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pub fn sample_channel() -> (SampleSender, SampleStream) {
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let (tx, rx) = watch::channel(None);
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(SampleSender { tx }, SampleStream { rx })
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}
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/// 最新 DR16 样本流。
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///
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/// 内部使用 `watch`：慢消费者看到的是最新遥控状态，不会执行延迟的旧摇杆位置。
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#[derive(Debug)]
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pub struct SampleStream {
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rx: watch::Receiver<Option<StampedSample>>,
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}
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impl SampleStream {
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/// 等待下一个新样本；读取线程退出且没有样本时返回 `None`。
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pub async fn recv(&mut self) -> Option<StampedSample> {
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loop {
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self.rx.changed().await.ok()?;
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if let Some(sample) = *self.rx.borrow_and_update() {
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return Some(sample);
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}
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}
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}
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/// 读取当前最新样本；尚未收到帧时返回 `None`。
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#[must_use]
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pub fn latest(&self) -> Option<StampedSample> {
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*self.rx.borrow()
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}
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}
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/// 打开 DR16 串口并开始接收。
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///
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/// # Errors
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///
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/// 设备不存在、权限不足、串口不支持 100000 baud 或配置 8E1 失败。
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pub fn open(device: &str) -> io::Result<SampleStream> {
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open_with(device, Dr16Options::default())
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}
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/// 使用指定读取参数打开 DR16 串口。
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///
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/// # Errors
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///
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/// 同 [`open`]。
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pub fn open_with(device: &str, options: Dr16Options) -> io::Result<SampleStream> {
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let mut port = serial::open(device)?;
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port.reconfigure(&|settings| {
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settings.set_baud_rate(serial::BaudOther(BAUD_RATE))?;
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settings.set_char_size(serial::Bits8);
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settings.set_parity(serial::ParityEven);
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settings.set_stop_bits(serial::Stop1);
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settings.set_flow_control(serial::FlowNone);
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Ok(())
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})?;
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port.set_timeout(options.read_timeout)?;
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debug!(device, baud = BAUD_RATE, "DR16 serial opened");
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Ok(spawn_reader(port))
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}
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/// 在专用线程上泵送任意字节 reader，返回最新样本流。
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#[must_use]
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pub fn spawn_reader<R>(reader: R) -> SampleStream
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where
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R: Read + Send + 'static,
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{
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let (tx, stream) = sample_channel();
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let thread = thread::Builder::new().name("dr16-reader".into()).spawn(move || {
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pump_reader(reader, &tx);
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});
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if let Err(error) = thread {
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error!(%error, "failed to start DR16 reader thread");
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}
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stream
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}
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fn pump_reader<R: Read>(mut reader: R, tx: &SampleSender) {
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let mut decoder = FrameDecoder::new();
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let mut buffer = [0u8; 64];
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loop {
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match reader.read(&mut buffer) {
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Ok(0) => {
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debug!("DR16 reader reached end of input");
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return;
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}
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Ok(count) => {
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for sample in decoder.push(&buffer[..count]) {
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let _ = tx.send(sample);
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}
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}
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Err(error) if is_transient(&error) => {
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// 读超时内没有任何字节，已经超过正常 D-BUS 帧间隔；清掉半帧，避免错位。
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decoder.clear();
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if tx.is_closed() {
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debug!("DR16 sample consumer closed");
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return;
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}
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}
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Err(error) => {
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error!(%error, "DR16 serial read failed");
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return;
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}
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}
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if tx.is_closed() {
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debug!("DR16 sample consumer closed");
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return;
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}
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}
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}
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fn is_transient(error: &io::Error) -> bool {
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matches!(
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error.kind(),
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io::ErrorKind::TimedOut | io::ErrorKind::WouldBlock | io::ErrorKind::Interrupted
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)
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}
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#[cfg(test)]
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mod tests {
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use std::cmp;
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use dr16_protocol::{FRAME_LEN, SwitchPosition};
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use super::*;
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struct ChunkReader {
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chunks: Vec<Vec<u8>>,
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index: usize,
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}
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impl Read for ChunkReader {
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fn read(&mut self, output: &mut [u8]) -> io::Result<usize> {
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let Some(chunk) = self.chunks.get(self.index) else {
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return Ok(0);
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};
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self.index += 1;
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let count = cmp::min(output.len(), chunk.len());
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output[..count].copy_from_slice(&chunk[..count]);
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Ok(count)
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}
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}
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fn frame() -> [u8; FRAME_LEN] {
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let mut frame = [0u8; FRAME_LEN];
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frame[1] = 0x04;
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frame[2] = 0x20;
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frame[4] = 0x01;
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frame[5] = 0x78;
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frame
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}
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#[tokio::test]
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async fn generic_reader_publishes_decoded_latest_sample() {
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let raw = frame();
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let reader = ChunkReader {
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chunks: vec![raw[..5].to_vec(), raw[5..13].to_vec(), raw[13..].to_vec()],
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index: 0,
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};
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let mut stream = spawn_reader(reader);
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let stamped = stream.recv().await.unwrap();
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assert_eq!(stamped.sample.s1, SwitchPosition::Up);
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assert_eq!(stamped.sample.s2, SwitchPosition::Mid);
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assert_eq!(stream.latest(), Some(stamped));
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}
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#[tokio::test]
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async fn closed_reader_reports_end_of_stream() {
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let reader = ChunkReader { chunks: Vec::new(), index: 0 };
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let mut stream = spawn_reader(reader);
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assert_eq!(stream.recv().await, None);
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}
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#[test]
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fn transient_read_errors_are_not_fatal() {
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assert!(is_transient(&io::Error::from(io::ErrorKind::TimedOut)));
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assert!(is_transient(&io::Error::from(io::ErrorKind::WouldBlock)));
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assert!(!is_transient(&io::Error::from(io::ErrorKind::BrokenPipe)));
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}
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}
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