USB stdio

bricks/_common/micropython.c

@@ -7,6 +7,7 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <pbdrv/bluetooth.h>
 #include <pbdrv/stack.h>
 
 #include <pbio/button.h>
@@ -19,6 +20,7 @@
 #include <pbsys/storage.h>
 
 #include <pybricks/common.h>
+#include <pybricks/stdio.h>
 #include <pybricks/util_mp/pb_obj_helper.h>
 
 #include "genhdr/mpversion.h"
@@ -105,16 +107,30 @@ static void mp_vfs_map_minimal_new_reader(mp_reader_t *reader, mp_vfs_map_minima
 
 // Prints the exception that ended the program.
 static void print_final_exception(mp_obj_t exc, int ret) {
-    // Handle graceful stop with button.
-    if ((ret & PYEXEC_FORCED_EXIT) &&
-        mp_obj_exception_match(exc, MP_OBJ_FROM_PTR(&mp_type_SystemExit))) {
-        mp_printf(&mp_plat_print, "The program was stopped (%q).\n",
-            ((mp_obj_exception_t *)MP_OBJ_TO_PTR(exc))->base.type->name);
-        return;
-    }
+    nlr_buf_t nlr;
+    nlr.ret_val = NULL;
+
+    if (nlr_push(&nlr) == 0) {
+        // Handle graceful stop with button.
+        if ((ret & PYEXEC_FORCED_EXIT) &&
+            mp_obj_exception_match(exc, MP_OBJ_FROM_PTR(&mp_type_SystemExit))) {
+            mp_printf(&mp_plat_print, "The program was stopped (%q).\n",
+                ((mp_obj_exception_t *)MP_OBJ_TO_PTR(exc))->base.type->name);
+            return;
+        }
 
-    // Print unhandled exception with traceback.
-    mp_obj_print_exception(&mp_plat_print, exc);
+        // REVISIT: flash the light red a few times to indicate an unhandled exception?
+
+        // Print unhandled exception with traceback.
+        mp_obj_print_exception(&mp_plat_print, exc);
+
+        nlr_pop();
+    } else {
+        // If we couldn't print the exception, just return. There is nothing
+        // else we can do.
+
+        // REVISIT: flash the light with a different pattern here?
+    }
 }
 
 #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
@@ -375,6 +391,38 @@ void pbsys_main_run_program(pbsys_main_program_t *program) {
     // Initialize MicroPython.
     mp_init();
 
+    #if MICROPY_PY_SYS_MUTABLE_STDIO
+
+    bool use_bluetooth;
+
+    // If the program was started remotely, use the same transport for stdio.
+    switch (program->start_request_type) {
+        case PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_BLUETOOTH:
+            use_bluetooth = true;
+            break;
+        case PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_USB:
+            use_bluetooth = false;
+            break;
+        default:
+            // Use Bluetooth if available, otherwise USB.
+            // REVISIT: might want to keep track of last used transport and use
+            // that instead.
+            use_bluetooth = pbdrv_bluetooth_is_connected(PBDRV_BLUETOOTH_CONNECTION_PYBRICKS);
+            break;
+    }
+
+    if (use_bluetooth) {
+        MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDIN]) = MP_OBJ_FROM_PTR(&pb_bluetooth_stdio_wrapper_obj);
+        MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDOUT]) = MP_OBJ_FROM_PTR(&pb_bluetooth_stdio_wrapper_obj);
+        MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDERR]) = MP_OBJ_FROM_PTR(&pb_bluetooth_stdio_wrapper_obj);
+    } else {
+        MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDIN]) = MP_OBJ_FROM_PTR(&pb_usb_stdio_wrapper_obj);
+        MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDOUT]) = MP_OBJ_FROM_PTR(&pb_usb_stdio_wrapper_obj);
+        MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDERR]) = MP_OBJ_FROM_PTR(&pb_usb_stdio_wrapper_obj);
+    }
+
+    #endif // MICROPY_PY_SYS_MUTABLE_STDIO
+
     // Runs the requested downloaded or builtin user program.
     switch (program->id) {
 

bricks/_common/mpconfigport.h

@@ -94,9 +94,10 @@
 #define MICROPY_PY_REVERSE_SPECIAL_METHODS      (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_SYS_EXIT                     (0)
 #define MICROPY_PY_SYS_MODULES                  (0)
-#define MICROPY_PY_SYS_STDFILES                 (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_SYS_STDIO_BUFFER             (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_SYS_STDIO_FLUSH              (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_SYS_STDFILES                 (!PYBRICKS_PY_STDIO && PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_SYS_STDIO_BUFFER             (!PYBRICKS_PY_STDIO && PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_SYS_STDIO_FLUSH              (!PYBRICKS_PY_STDIO && PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_SYS_MUTABLE_STDIO            (PYBRICKS_PY_STDIO)
 #define MICROPY_PY_RANDOM_EXTRA_FUNCS           (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_RANDOM_SEED_INIT_FUNC        ({ extern uint32_t pbdrv_clock_get_us(void); pbdrv_clock_get_us(); })
 #define MICROPY_MODULE_BUILTIN_INIT             (1)

bricks/_common/sources.mk

@@ -24,6 +24,7 @@ CONTIKI_SRC_C = $(addprefix lib/contiki-core/,\
 PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 	common/pb_type_ble.c \
 	common/pb_type_battery.c \
+	common/pb_type_bluetooth_stdio.c \
 	common/pb_type_charger.c \
 	common/pb_type_colorlight_external.c \
 	common/pb_type_colorlight_internal.c \
@@ -39,6 +40,8 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 	common/pb_type_motor.c \
 	common/pb_type_speaker.c \
 	common/pb_type_system.c \
+	common/pb_type_usb.c \
+	common/pb_type_usb_stdio.c \
 	ev3devices/pb_module_ev3devices.c \
 	ev3devices/pb_type_ev3devices_colorsensor.c \
 	ev3devices/pb_type_ev3devices_gyrosensor.c \
@@ -91,6 +94,7 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 	pupdevices/pb_type_pupdevices_tiltsensor.c \
 	pupdevices/pb_type_pupdevices_ultrasonicsensor.c \
 	pybricks.c \
+	stdio.c \
 	robotics/pb_module_robotics.c \
 	robotics/pb_type_car.c \
 	robotics/pb_type_drivebase.c \
@@ -227,7 +231,6 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	sys/command.c \
 	sys/core.c \
 	sys/hmi.c \
-	sys/host.c \
 	sys/light_matrix.c \
 	sys/light.c \
 	sys/main.c \

bricks/_common_stm32/mphalport.c

@@ -11,7 +11,7 @@
 #include <pbdrv/clock.h>
 #include <pbdrv/config.h>
 #include <pbio/main.h>
-#include <pbsys/host.h>
+#include <pbsys/bluetooth.h>
 
 #include "py/runtime.h"
 #include "py/mphal.h"
@@ -43,20 +43,109 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
 uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
     uintptr_t ret = 0;
 
-    if ((poll_flags & MP_STREAM_POLL_RD) && pbsys_host_rx_get_available()) {
+    if ((poll_flags & MP_STREAM_POLL_RD) && pbsys_bluetooth_rx_get_available()) {
         ret |= MP_STREAM_POLL_RD;
     }
 
     return ret;
 }
 
+#if MICROPY_PY_SYS_MUTABLE_STDIO
+
+// When MICROPY_PY_SYS_MUTABLE_STDIO is enabled, the relationship between
+// sys.stdin/stdout/stderr and mp_hal_stdin/stdout is inverted. In this case,
+// calls to mp_hal_stdin/stdout are implemented by calling the currently set
+// sys.stdin/stdout objects.
+
+#include <pybricks/stdio.h>
+#include <pybricks/util_pb/pb_error.h>
+
+// Receive single character
+int mp_hal_stdin_rx_chr(void) {
+    mp_obj_t stdin_obj = MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDIN]);
+
+    const mp_stream_p_t *stream_p = mp_get_stream_raise(stdin_obj, MP_STREAM_OP_READ);
+
+    if (stream_p->is_text) {
+        mp_obj_t buffer_obj;
+        mp_load_method(stdin_obj, MP_QSTR_buffer, &buffer_obj);
+        stream_p = mp_get_stream_raise(buffer_obj, MP_STREAM_OP_READ);
+    }
+
+    if (!stream_p->read) {
+        pb_assert(PBIO_ERROR_NOT_IMPLEMENTED);
+    }
+
+    uint8_t c;
+    int errcode;
+    mp_uint_t out_sz = stream_p->read(MP_OBJ_FROM_PTR(stream_p), &c, sizeof(c), &errcode);
+
+    if (out_sz == MP_STREAM_ERROR) {
+        mp_raise_OSError(errcode);
+    }
+
+    return c;
+}
+
+// Send string of given length
+mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
+    mp_obj_t stdout_obj = MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDOUT]);
+
+    const mp_stream_p_t *stream_p = mp_get_stream_raise(stdout_obj, MP_STREAM_OP_WRITE);
+
+    if (stream_p->is_text) {
+        mp_obj_t buffer_obj;
+        mp_load_method(stdout_obj, MP_QSTR_buffer, &buffer_obj);
+        stream_p = mp_get_stream_raise(buffer_obj, MP_STREAM_OP_WRITE);
+    }
+
+    if (!stream_p->write) {
+        pb_assert(PBIO_ERROR_NOT_IMPLEMENTED);
+    }
+
+    int errcode;
+    mp_uint_t out_sz = stream_p->write(MP_OBJ_FROM_PTR(stream_p), str, len, &errcode);
+    if (out_sz == MP_STREAM_ERROR) {
+        mp_raise_OSError(errcode);
+    }
+
+    return out_sz;
+}
+
+void mp_hal_stdout_tx_flush(void) {
+    mp_obj_t stdout_obj = MP_STATE_VM(sys_mutable[MP_SYS_MUTABLE_STDOUT]);
+
+    const mp_stream_p_t *stream_p = mp_get_stream_raise(stdout_obj, MP_STREAM_OP_IOCTL);
+
+    if (stream_p->is_text) {
+        mp_obj_t buffer_obj;
+        mp_load_method(stdout_obj, MP_QSTR_buffer, &buffer_obj);
+        stream_p = mp_get_stream_raise(buffer_obj, MP_STREAM_OP_IOCTL);
+    }
+
+    if (!stream_p->ioctl) {
+        pb_assert(PBIO_ERROR_NOT_IMPLEMENTED);
+    }
+
+    int errcode;
+    mp_uint_t ret = stream_p->ioctl(MP_OBJ_FROM_PTR(stream_p), MP_STREAM_FLUSH, 0, &errcode);
+    if (ret == MP_STREAM_ERROR) {
+        mp_raise_OSError(errcode);
+    }
+}
+
+#else // MICROPY_PY_SYS_MUTABLE_STDIO
+
+// When there is only Bluetooth, we will use the mp_hal to directly connect
+// stdin/stdout to Bluetooth to keep the code size small.
+
 // Receive single character
 int mp_hal_stdin_rx_chr(void) {
     uint32_t size;
     uint8_t c;
 
     // wait for rx interrupt
-    while (size = 1, pbsys_host_rx(&c, &size) != PBIO_SUCCESS) {
+    while (size = 1, pbsys_bluetooth_rx(&c, &size) != PBIO_SUCCESS) {
         MICROPY_EVENT_POLL_HOOK
     }
 
@@ -65,16 +154,33 @@ int mp_hal_stdin_rx_chr(void) {
 
 // Send string of given length
 mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
-    while (pbsys_host_tx((const uint8_t *)str, len) == PBIO_ERROR_AGAIN) {
+    uint32_t remaining = len;
+
+    while (remaining) {
+        uint32_t size = remaining;
+
+        pbio_error_t err = pbsys_bluetooth_tx((const uint8_t *)str, &size);
+        if (err == PBIO_SUCCESS) {
+            str += size;
+            remaining -= size;
+        }
+
         MICROPY_EVENT_POLL_HOOK
+
+        if (err != PBIO_ERROR_AGAIN) {
+            // Ignoring error for now. This means stdout lost if Bluetooth is
+            // disconnected.
+            break;
+        }
     }
-    // Not raising the error. This means stdout lost if host is not connected.
 
-    return len;
+    return len - remaining;
 }
 
 void mp_hal_stdout_tx_flush(void) {
-    while (!pbsys_host_tx_is_idle()) {
+    while (!pbsys_bluetooth_tx_is_idle()) {
         MICROPY_EVENT_POLL_HOOK
     }
 }
+
+#endif // MICROPY_PY_SYS_MUTABLE_STDIO

bricks/cityhub/mpconfigport.h

@@ -26,6 +26,7 @@
 #define PYBRICKS_PY_COMMON_MOTORS               (1)
 #define PYBRICKS_PY_COMMON_SPEAKER              (0)
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
+#define PYBRICKS_PY_COMMON_USB                  (0)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
 #define PYBRICKS_PY_HUBS                        (1)
@@ -42,6 +43,7 @@
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
+#define PYBRICKS_PY_STDIO                       (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 #define PYBRICKS_PY_TOOLS_HUB_MENU              (0)
 #define PYBRICKS_PY_TOOLS_APP_DATA              (1)

bricks/essentialhub/mpconfigport.h

@@ -27,6 +27,7 @@
 #define PYBRICKS_PY_COMMON_MOTORS               (1)
 #define PYBRICKS_PY_COMMON_SPEAKER              (0)
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
+#define PYBRICKS_PY_COMMON_USB                  (1)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
 #define PYBRICKS_PY_HUBS                        (1)
@@ -43,6 +44,7 @@
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (1)
+#define PYBRICKS_PY_STDIO                       (1)
 #define PYBRICKS_PY_TOOLS                       (1)
 #define PYBRICKS_PY_TOOLS_HUB_MENU              (0)
 #define PYBRICKS_PY_TOOLS_APP_DATA              (1)

bricks/ev3/mpconfigport.h

@@ -25,6 +25,7 @@
 #define PYBRICKS_PY_COMMON_MOTORS               (1)
 #define PYBRICKS_PY_COMMON_SPEAKER              (1)
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
+#define PYBRICKS_PY_COMMON_USB                  (0)
 #define PYBRICKS_PY_EV3DEVICES                  (1)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
 #define PYBRICKS_PY_HUBS                        (1)
@@ -41,6 +42,7 @@
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
+#define PYBRICKS_PY_STDIO                       (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 #define PYBRICKS_PY_TOOLS_HUB_MENU              (0)
 #define PYBRICKS_PY_TOOLS_APP_DATA              (1)

bricks/movehub/mpconfigport.h

@@ -25,6 +25,7 @@
 #define PYBRICKS_PY_COMMON_MOTOR_MODEL          (0)
 #define PYBRICKS_PY_COMMON_MOTORS               (1)
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
+#define PYBRICKS_PY_COMMON_USB                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (0)
 #define PYBRICKS_PY_HUBS                        (1)
 #define PYBRICKS_PY_IODEVICES                   (0)
@@ -39,6 +40,7 @@
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
+#define PYBRICKS_PY_STDIO                       (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 #define PYBRICKS_PY_TOOLS_HUB_MENU              (0)
 #define PYBRICKS_PY_TOOLS_APP_DATA              (0)

bricks/nxt/mpconfigport.h

@@ -28,6 +28,7 @@
 #define PYBRICKS_PY_COMMON_MOTORS               (1)
 #define PYBRICKS_PY_COMMON_SPEAKER              (1)
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
+#define PYBRICKS_PY_COMMON_USB                  (0)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (0)
 #define PYBRICKS_PY_HUBS                        (1)
@@ -41,6 +42,7 @@
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (0)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (0)
+#define PYBRICKS_PY_STDIO                       (0)
 #define PYBRICKS_PY_TOOLS                       (1)
 #define PYBRICKS_PY_TOOLS_HUB_MENU              (0)
 #define PYBRICKS_PY_TOOLS_APP_DATA              (0)

bricks/primehub/mpconfigport.h

@@ -28,6 +28,7 @@
 #define PYBRICKS_PY_COMMON_MOTORS               (1)
 #define PYBRICKS_PY_COMMON_SPEAKER              (1)
 #define PYBRICKS_PY_COMMON_SYSTEM               (1)
+#define PYBRICKS_PY_COMMON_USB                  (1)
 #define PYBRICKS_PY_EV3DEVICES                  (0)
 #define PYBRICKS_PY_EXPERIMENTAL                (1)
 #define PYBRICKS_PY_HUBS                        (1)
@@ -44,6 +45,7 @@
 #define PYBRICKS_PY_ROBOTICS                    (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO     (1)
 #define PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE    (1)
+#define PYBRICKS_PY_STDIO                       (1)
 #define PYBRICKS_PY_TOOLS                       (1)
 #define PYBRICKS_PY_TOOLS_HUB_MENU              (1)
 #define PYBRICKS_PY_TOOLS_APP_DATA              (1)