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reactor: reserve UART1 for MCU fabric updates #44

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reactor: reserve UART1 for MCU fabric updates #44

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11 changes: 6 additions & 5 deletions services/reactor/fabric_link.go
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ import (

const (
fabricUART = "uart1"
fabricLogPrefix = "[" + fabricUART + "] "
fabricStopWaitTimeout = 500 * time.Millisecond
)

Expand Down Expand Up @@ -47,15 +48,15 @@ func (r *Reactor) startPassiveFabric(ctx context.Context, ev types.SerialSession
rx := shmring.Get(shmring.Handle(ev.RXHandle))
tx := shmring.Get(shmring.Handle(ev.TXHandle))
if rx == nil || tx == nil {
log.Println("[uart1] fabric session missing rings")
log.Println(fabricLogPrefix + "fabric session missing rings")
return
}

tr := fabric.NewShmringTransportWithBuffers(rx, tx, &fabricBuffers)
fabricConn := r.uiConn.NewChildConnection("fabric")
if fabricConn == nil {
_ = tr.Close()
log.Println("[uart1] fabric session missing bus")
log.Println(fabricLogPrefix + "fabric session missing bus")
return
}

Expand All @@ -68,7 +69,7 @@ func (r *Reactor) startPassiveFabric(ctx context.Context, ev types.SerialSession
r.fabricDone = done
r.fabricSessionOpen = true

log.Println("[uart1] fabric session opening node=mcu peer=bigbox-cm5 link=mcu-uart0 transfer=", transferMode)
log.Println(fabricLogPrefix+"fabric session opening node=mcu peer=bigbox-cm5 link=mcu-uart0 transfer=", transferMode)
go func() {
defer close(done)
defer tr.Close()
Expand All @@ -78,7 +79,7 @@ func (r *Reactor) startPassiveFabric(ctx context.Context, ev types.SerialSession
// to the updater-owned stage controller.
fabric.RunWithOptions(fabricCtx, tr, fabricConn, "mcu", "bigbox-cm5", fabric.DefaultLinkConfig(), fabric.RunOptions{Buffers: &fabricBuffers, StageController: stageController})
}()
log.Println("[uart1] fabric session opened node=mcu peer=bigbox-cm5 link=mcu-uart0 transfer=", transferMode)
log.Println(fabricLogPrefix+"fabric session opened node=mcu peer=bigbox-cm5 link=mcu-uart0 transfer=", transferMode)
}

func (r *Reactor) stopFabricLink() {
Expand All @@ -91,6 +92,6 @@ func (r *Reactor) stopFabricLink() {
r.fabricDone = nil
r.fabricSessionOpen = false
if !waitFabricDone(done, fabricStopWaitTimeout) {
log.Println("[uart1] fabric session stop timed out")
log.Println(fabricLogPrefix + "fabric session stop timed out")
}
}
26 changes: 4 additions & 22 deletions services/reactor/reactor.go
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Original file line number Diff line number Diff line change
Expand Up @@ -515,12 +515,8 @@ func (r *Reactor) Run(ctx context.Context) {
stSub := r.uiConn.Subscribe(stTopic)
evSub := r.uiConn.Subscribe(evTopic)

// UART sessions. uart0 remains the original local JSON telemetry stream;
// uart1 is now reserved for the CM5 Fabric link. The logger still writes to
// the USB monitor, but no longer opens a competing uart1 log mirror.
const uartTele = "uart0"
subSessOpenTele := r.uiConn.Subscribe(tSessOpened(uartTele))
subSessClosedTele := r.uiConn.Subscribe(tSessClosed(uartTele))
// UART session for the CM5 Fabric link. The production hardware-update path
// keeps this UART Fabric-only; legacy JSON telemetry is not opened here.
var subSessOpenFabric *bus.Subscription
var subSessClosedFabric *bus.Subscription
if useHardwareFabricUART() {
Expand All @@ -529,13 +525,12 @@ func (r *Reactor) Run(ctx context.Context) {
}

// Kick open requests (fire-and-forget; events carry handles).
r.uiConn.Publish(r.uiConn.NewMessage(tSessOpen(uartTele), nil, false))
if useHardwareFabricUART() {
r.uiConn.Publish(r.uiConn.NewMessage(tSessOpen(fabricUART), nil, false))
}

// Retry back-off guards.
var retryTeleAt, retryFabricAt time.Time
var retryFabricAt time.Time

// Supervisory ticker
ticker := time.NewTicker(TICK)
Expand All @@ -546,26 +541,13 @@ func (r *Reactor) Run(ctx context.Context) {
for {
select {
// ---- UART session opened/closed ----
case m := <-subSessOpenTele.Channel():
if ev, ok := m.Payload.(types.SerialSessionOpened); ok {
r.jsonOut = shmring.Get(shmring.Handle(ev.TXHandle))
log.Println("[uart0] telemetry session opened")
}
case m := <-subscriptionChannel(subSessOpenFabric):
if ev, ok := m.Payload.(types.SerialSessionOpened); ok {
r.startPassiveFabric(ctx, ev)
}
case <-subSessClosedTele.Channel():
r.jsonOut = nil
log.Println("[uart0] telemetry session closed")
// Auto-reopen with back-off
if time.Now().After(retryTeleAt) {
r.uiConn.Publish(r.uiConn.NewMessage(tSessOpen(uartTele), nil, false))
retryTeleAt = time.Now().Add(2 * time.Second)
}
case <-subscriptionChannel(subSessClosedFabric):
r.stopFabricLink()
log.Println("[uart1] fabric session closed")
log.Println(fabricLogPrefix + "fabric session closed")
// Auto-reopen with back-off
if time.Now().After(retryFabricAt) {
r.uiConn.Publish(r.uiConn.NewMessage(tSessOpen(fabricUART), nil, false))
Expand Down