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Experimental support for I2C over SSH (based off CAN PR structure) #118

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8 changes: 4 additions & 4 deletions .cargo/config.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,17 +13,17 @@ build-esp32c61 = "build --release --target riscv32imac-unknown-none-elf -p ssh-s
build-esp32c6 = "build --release --target riscv32imac-unknown-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32c6-devkitc"
build-esp32c6-generic = "build --release --target riscv32imac-unknown-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32c6-generic"
build-esp32s2 = "build --profile esp32s2 --target xtensa-esp32s2-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32-s2-saola -Z build-std=core,alloc"
build-esp32s3-touch-lcd-43 = "build --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can -Z build-std=core,alloc"
build-esp32s3-touch-lcd-43 = "build --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can,i2c -Z build-std=core,alloc"
# Bench variant: CAN in no-acknowledge mode (exactly one frame per write with no ACKing node attached)
build-esp32s3-touch-lcd-43-noack = "build --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can-no-ack -Z build-std=core,alloc"
build-esp32s3-touch-lcd-43-noack = "build --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can-no-ack,i2c -Z build-std=core,alloc"

run-esp32c5 = "run --release --target riscv32imac-unknown-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32c5-devkitc"
run-esp32c61 = "run --release --target riscv32imac-unknown-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32c61-devkitc"
run-esp32c6 = "run --release --target riscv32imac-unknown-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32c6-devkitc"
run-esp32c6-generic = "run --release --target riscv32imac-unknown-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32c6-generic"
run-esp32s2 = "run --profile esp32s2 --target xtensa-esp32s2-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-esp32-s2-saola"
run-esp32s3-touch-lcd-43 = "run --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can -Z build-std=core,alloc"
run-esp32s3-touch-lcd-43-noack = "run --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can-no-ack -Z build-std=core,alloc"
run-esp32s3-touch-lcd-43 = "run --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can,i2c -Z build-std=core,alloc"
run-esp32s3-touch-lcd-43-noack = "run --release --target xtensa-esp32s3-none-elf -p ssh-stamp-esp32 --bin ssh-stamp-esp32 --no-default-features --features board-waveshare-esp32-s3-touch-lcd-43,can-no-ack,i2c -Z build-std=core,alloc"

# IC-only targets (no BSP entry yet) build the library only — the binary hits
# the `compile_error!("No board feature selected.")` guard until a board module
Expand Down
2 changes: 1 addition & 1 deletion .github/workflows/build.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ jobs:
{ soc: "esp32", board: "esp32", target: "xtensa-esp32-none-elf", toolchain: "esp", buildstd: "-Z build-std=core,alloc", binlib: "--lib" },
{ soc: "esp32s2", board: "board-esp32-s2-saola", target: "xtensa-esp32s2-none-elf", toolchain: "esp", buildstd: "-Z build-std=core,alloc", binlib: "--bin ssh-stamp-esp32" },
{ soc: "esp32s3", board: "esp32s3", target: "xtensa-esp32s3-none-elf", toolchain: "esp", buildstd: "-Z build-std=core,alloc", binlib: "--lib" },
{ soc: "esp32s3", board: "board-waveshare-esp32-s3-touch-lcd-43,can", target: "xtensa-esp32s3-none-elf", toolchain: "esp", buildstd: "-Z build-std=core,alloc", binlib: "--bin ssh-stamp-esp32" },
{ soc: "esp32s3", board: "board-waveshare-esp32-s3-touch-lcd-43,can,i2c", target: "xtensa-esp32s3-none-elf", toolchain: "esp", buildstd: "-Z build-std=core,alloc", binlib: "--bin ssh-stamp-esp32" },
]
steps:
- name: Cache
Expand Down
3 changes: 3 additions & 0 deletions Cargo.toml
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Expand Up @@ -168,3 +168,6 @@ sftp-ota = []

# Enables CAN bus tunnelling over SSH via the "can" subsystem
can = ["dep:embedded-can"]

# Enables I2C master tunnelling over SSH via the "i2c" subsystem
i2c = []
18 changes: 4 additions & 14 deletions src/app.rs
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Expand Up @@ -19,13 +19,11 @@ use heapless::String;
use log::{debug, error, info, warn};
use ssh_key::HashAlg;
use ssh_stamp_hal::{BandMode, WifiApConfigStatic};
#[cfg(feature = "can")]
use sunset::ChanHandle;
use sunset::SignKey;
use sunset_async::SunsetMutex;

use crate::config::SSHStampConfig;
use crate::handle::{self, SessionType};
use crate::handle::{self, SessionQueues, SessionType};
use crate::platform::PlatformServices;
use crate::serial::BufferedSerial;
use crate::serve;
Expand Down Expand Up @@ -135,17 +133,9 @@ where
let ssh_server = serve::ssh_wait_for_initialisation(&mut inbuf, &mut outbuf);

let chan_pipe = Channel::<NoopRawMutex, SessionType, 1>::new();
#[cfg(feature = "can")]
let can_queue = Channel::<NoopRawMutex, ChanHandle, 1>::new();
#[cfg(feature = "can")]
let connection =
serve::connection_loop(&ssh_server, &chan_pipe, config, platform, &can_queue);
#[cfg(not(feature = "can"))]
let connection = serve::connection_loop(&ssh_server, &chan_pipe, config, platform);
#[cfg(feature = "can")]
let bridge = handle::ssh_client(uart, &ssh_server, &chan_pipe, platform, &can_queue);
#[cfg(not(feature = "can"))]
let bridge = handle::ssh_client(uart, &ssh_server, &chan_pipe, platform);
let queues = SessionQueues::new();
let connection = serve::connection_loop(&ssh_server, &chan_pipe, config, platform, &queues);
let bridge = handle::ssh_client(uart, &ssh_server, &chan_pipe, platform, &queues);

let (mut rsock, mut wsock) = tcp_socket.split();
let server = ssh_server.run(&mut rsock, &mut wsock);
Expand Down
153 changes: 115 additions & 38 deletions src/handle.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,16 @@ use crate::serial::{BufferedSerial, serial_bridge};

#[cfg(feature = "can")]
use crate::can::can_bridge;
#[cfg(feature = "i2c")]
use crate::i2c::i2c_bridge;

#[cfg(feature = "can")]
#[cfg(all(
any(feature = "can", feature = "i2c"),
not(all(feature = "can", feature = "i2c"))
))]
use embassy_futures::select::{Either, select};
#[cfg(all(feature = "can", feature = "i2c"))]
use embassy_futures::select::{Either3, select3};
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
use embassy_sync::channel::Channel;

Expand Down Expand Up @@ -155,22 +162,50 @@ pub enum SessionType {
Sftp(ChanHandle),
}

/// Hand-off channels from the connection loop to the per-subsystem bridge
/// futures in [`ssh_client`]. One slot per optional bridge subsystem;
/// empty when no bridge feature is enabled.
pub struct SessionQueues {
#[cfg(feature = "can")]
pub can: Channel<NoopRawMutex, ChanHandle, 1>,
#[cfg(feature = "i2c")]
pub i2c: Channel<NoopRawMutex, ChanHandle, 1>,
}

impl SessionQueues {
#[must_use]
pub fn new() -> Self {
SessionQueues {
#[cfg(feature = "can")]
can: Channel::new(),
#[cfg(feature = "i2c")]
i2c: Channel::new(),
}
}
}

impl Default for SessionQueues {
fn default() -> Self {
Self::new()
}
}

pub struct EventContext<'a> {
pub session: &'a mut Option<ChanHandle>,
pub auth_checked: &'a mut bool,
pub config_changed: &'a mut bool,
pub needs_reset: &'a mut bool,
/// Hands accepted `can` subsystem channels to the CAN bridge, which
/// runs concurrently with the shell (UART) session.
#[cfg(feature = "can")]
pub can_queue: &'a Channel<NoopRawMutex, ChanHandle, 1>,
/// Set once a CAN session is dispatched on this connection. SFTP (OTA)
/// needs the connection's full bandwidth, so it is refused afterwards.
#[cfg(all(feature = "sftp-ota", feature = "can"))]
pub can_dispatched: &'a mut bool,
/// Hands accepted bridge subsystem channels (CAN, I2C) to their
/// bridges, which run concurrently with the shell (UART) session.
pub queues: &'a SessionQueues,
/// Set once a bridge session is dispatched on this connection. SFTP
/// (OTA) needs the connection's full bandwidth, so it is refused
/// afterwards.
#[cfg(all(feature = "sftp-ota", any(feature = "can", feature = "i2c")))]
pub bridge_dispatched: &'a mut bool,
}

/// Handles SSH session subsystem requests (e.g., SFTP, CAN).
/// Handles SSH session subsystem requests (e.g., SFTP, CAN, I2C).
///
/// # Errors
///
Expand All @@ -190,13 +225,13 @@ pub fn session_subsystem(
#[cfg(feature = "sftp-ota")]
{
// SFTP (OTA) is exclusive: it needs the connection's full
// bandwidth, so refuse it once a CAN session is active.
#[cfg(feature = "can")]
let can_active = *ctx.can_dispatched;
#[cfg(not(feature = "can"))]
let can_active = false;
if can_active {
warn!("SFTP subsystem refused: a CAN session is active on this connection");
// bandwidth, so refuse it once a bridge session is active.
#[cfg(any(feature = "can", feature = "i2c"))]
let bridge_active = *ctx.bridge_dispatched;
#[cfg(not(any(feature = "can", feature = "i2c")))]
let bridge_active = false;
if bridge_active {
warn!("SFTP subsystem refused: a bridge session is active on this connection");
a.fail()?;
} else if let Some(ch) = ctx.session.take() {
debug_assert_eq!(ch.num(), a.channel());
Expand Down Expand Up @@ -224,12 +259,12 @@ pub fn session_subsystem(
// auth_checked is deliberately left untouched so the same
// (already authenticated) connection can still request a
// shell session and bridge UART concurrently with CAN.
if let Err(e) = ctx.can_queue.try_send(ch) {
if let Err(e) = ctx.queues.can.try_send(ch) {
log::error!("Could not send the CAN channel: {e:?}");
}
#[cfg(feature = "sftp-ota")]
{
*ctx.can_dispatched = true;
*ctx.bridge_dispatched = true;
}
} else {
a.fail()?;
Expand All @@ -239,6 +274,29 @@ pub fn session_subsystem(
warn!("CAN subsystem requested but not supported in this build");
a.fail()?;
}
} else if a.command()?.to_lowercase().as_str() == "i2c" {
#[cfg(feature = "i2c")]
if let Some(ch) = ctx.session.take() {
debug_assert_eq!(ch.num(), a.channel());
a.succeed()?;
debug!("We got I2C subsystem");
// As with CAN, auth_checked is left untouched so shell and
// other bridge sessions can still be requested afterwards.
if let Err(e) = ctx.queues.i2c.try_send(ch) {
log::error!("Could not send the I2C channel: {e:?}");
}
#[cfg(feature = "sftp-ota")]
{
*ctx.bridge_dispatched = true;
}
} else {
a.fail()?;
}
#[cfg(not(feature = "i2c"))]
{
warn!("I2C subsystem requested but not supported in this build");
a.fail()?;
}
} else {
a.fail()?;
}
Expand Down Expand Up @@ -749,10 +807,10 @@ pub fn defunct() -> Result<(), sunset::Error> {
/// Handles an SSH client connection, bridging UART and SSH.
///
#[cfg_attr(
feature = "can",
doc = "A `can` subsystem channel is bridged concurrently with the shell",
doc = "(UART) session on the same connection. The whole connection is",
doc = "torn down when either bridge finishes.",
any(feature = "can", feature = "i2c"),
doc = "Bridge subsystem channels (CAN, I2C) are bridged concurrently",
doc = "with the shell (UART) session on the same connection. The whole",
doc = "connection is torn down when any bridge finishes.",
doc = ""
)]
/// # Errors
Expand All @@ -762,11 +820,12 @@ pub async fn ssh_client<'a, 'b, U, P>(
ssh_server: &'b SSHServer<'a>,
chan_pipe: &'b Channel<NoopRawMutex, SessionType, 1>,
#[cfg_attr(
not(any(feature = "sftp-ota", feature = "can")),
not(any(feature = "sftp-ota", feature = "can", feature = "i2c")),
allow(unused_variables)
)]
platform: &'b P,
#[cfg(feature = "can")] can_queue: &'b Channel<NoopRawMutex, ChanHandle, 1>,
#[cfg_attr(not(any(feature = "can", feature = "i2c")), allow(unused_variables))]
queues: &'b SessionQueues,
) -> Result<(), sunset::Error>
where
U: BufferedSerial,
Expand Down Expand Up @@ -796,20 +855,38 @@ where
};

#[cfg(feature = "can")]
let result = {
let can_session = async {
let ch = can_queue.receive().await;
info!("Handling CAN session");
let chan_io: ChanInOut<'_> = ssh_server.stdio(ch).await?;
let (stdin, stdout) = chan_io.split();
info!("Starting CAN bridge");
can_bridge(stdin, stdout, platform.can()).await
};
match select(session, can_session).await {
Either::First(r) | Either::Second(r) => r,
}
let can_session = async {
let ch = queues.can.receive().await;
info!("Handling CAN session");
let chan_io: ChanInOut<'_> = ssh_server.stdio(ch).await?;
let (stdin, stdout) = chan_io.split();
info!("Starting CAN bridge");
can_bridge(stdin, stdout, platform.can()).await
};

#[cfg(feature = "i2c")]
let i2c_session = async {
let ch = queues.i2c.receive().await;
info!("Handling I2C session");
let chan_io: ChanInOut<'_> = ssh_server.stdio(ch).await?;
let (stdin, stdout) = chan_io.split();
info!("Starting I2C bridge");
i2c_bridge(stdin, stdout, platform.i2c()).await
};

#[cfg(all(feature = "can", feature = "i2c"))]
let result = match select3(session, can_session, i2c_session).await {
Either3::First(r) | Either3::Second(r) | Either3::Third(r) => r,
};
#[cfg(all(feature = "can", not(feature = "i2c")))]
let result = match select(session, can_session).await {
Either::First(r) | Either::Second(r) => r,
};
#[cfg(all(feature = "i2c", not(feature = "can")))]
let result = match select(session, i2c_session).await {
Either::First(r) | Either::Second(r) => r,
};
#[cfg(not(feature = "can"))]
#[cfg(not(any(feature = "can", feature = "i2c")))]
let result = session.await;
result
}
Expand Down
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