Report errors to Home Assistant

.github/workflows/clang.yml

@@ -131,7 +131,7 @@ jobs:
 
       - name: Summary
         env:
-          clang-threshold: 2
+          clang-threshold: 1
         run: |
           echo "Status: ${{ steps.tidy.outputs.checks-failed }} checks failed, threshold for success is ${{ env.clang-threshold }}."
           echo "Clang report:"

README.md

@@ -196,19 +196,19 @@ Home Assistant with MQTT is recommended for the best experience, but the desk al
 
 #### Diagnostics
 
-| Name           | Description                              | Requirement |
-| -------------- | ---------------------------------------- | ----------- |
-| Button down    | Simulate a physical down-button press    | `PIN_TPDN`  |
-| Button up      | Simulate a physical up-button press      | `PIN_TPUP`  |
-| Calibrate      | Recalibrate the leg encoder sensors      |             |
-| Firmware AVR   | AVR firmware version                     |             |
-| Firmware ESP32 | ESP32 firmware version                   |             |
-| Offset         | Current leg offset                       |             |
-| Position       | Average encoder position                 |             |
-| Power supply   | Input voltage of the desk’s power supply | `PIN_ADC`   |
-| Serial RX      | Last UART message received               |             |
-| Serial TX      | Last UART message sent                   |             |
-| Temperature    | Internal temperature of the ESP32        |             |
-| Wi-Fi signal   | ESP32 Wi-Fi RSSI                         |             |
+| Name         | Description                              | Requirement |
+| ------------ | ---------------------------------------- | ----------- |
+| Button down  | Simulate a physical down-button press    | `PIN_TPDN`  |
+| Button up    | Simulate a physical up-button press      | `PIN_TPUP`  |
+| Calibrate    | Recalibrate the leg encoder sensors      |             |
+| Errors       | Currently detected communication errors  |             |
+| Firmware     | ESP32 firmware version                   |             |
+| Offset       | Current leg offset                       |             |
+| Position     | Average encoder position                 |             |
+| Power supply | Input voltage of the desk’s power supply | `PIN_ADC`   |
+| Serial RX    | Last UART message received               |             |
+| Serial TX    | Last UART message sent                   |             |
+| Temperature  | Internal temperature of the ESP32        |             |
+| Wi-Fi signal | ESP32 Wi-Fi RSSI                         |             |
 
 To avoid cluttering the Home Assistant interface, only a handful of entities are enabled by default.

include/avr/ConsoleHandler.h

@@ -29,16 +29,14 @@ class ConsoleHandler
     {
         BUTTON_DOWN = 1U,
         BUTTON_UP,
-        ENCODER8,
-        ENCODER9,
-        INITIALIZE,
+        CONSOLE,
+        INITIALIZATION,
+        LIN,
         NODE8,
         NODE9,
         POSITION,
         PRESET_HIGH,
         PRESET_LOW,
-        STATE8,
-        STATE9,
     };
 
     /**

include/avr/ControllerService.h

@@ -46,6 +46,8 @@ class ControllerService
     static ControllerService &getInstance();
 
 private:
+    bool error8{false};
+    bool error9{false};
     bool pending{false};
 
     unsigned char state8{0U};
@@ -66,7 +68,7 @@ class ControllerService
     /**
      * Handles leg movement commands and encoder communication.
      */
-    LegHandler lin{};
+    LegHandler leg{};
 
     State state{State::IDLE};
 

include/avr/LegHandler.h

@@ -24,39 +24,34 @@ class LegHandler
     static constexpr unsigned char linDiagnosticResponseId{0x3DU};
     static constexpr unsigned char linSyncByte{0x55U};
 
-    void serialBreak();
+    void requestDiscardResponse();
+
+    void sendResponse(unsigned char pid);
 
-    [[nodiscard]] unsigned char calcParity(unsigned char identifier);
+    void serialBreak();
 
-    [[nodiscard]] int readWithTimeout(unsigned int &remainingTime);
+    [[nodiscard]] int read(unsigned int &remainingTime);
 
+public:
     /**
-     * Calculates the complemented checksum for a sequence of bytes.
-     * @param data Bytes to include in the checksum.
-     * @param sum Initial checksum sum.
-     * @return The complemented checksum.
+     * Builds a LIN protected identifier from a frame identifier.
+     *
+     * @param identifier Frame identifier; only the lower six bits are used.
+     * @return The identifier with its parity bits in the upper two bits.
      */
-    template <unsigned int N> [[nodiscard]] unsigned char calcChecksum(const unsigned char (&data)[N], unsigned int sum)
-    {
-        for (const unsigned char byte : data)
-        {
-            sum += byte;
-        }
-        while ((sum >> 8U) != 0U)
-        {
-            sum = (sum & 0xFFU) + (sum >> 8U);
-        }
-        return static_cast<unsigned char>(~sum);
-    }
-
-    template <unsigned int N> bool sendRequest(const unsigned char (&packet)[N])
+    [[nodiscard]] static constexpr unsigned char getPid(unsigned char identifier)
     {
-        send(linDiagnosticRequestId, packet);
-        unsigned char response[N]{};
-        return request(linDiagnosticResponseId, response);
+        identifier &= 0x3FU;
+        const unsigned int parity0{
+            static_cast<unsigned int>(identifier & 1U) ^ (static_cast<unsigned int>(identifier >> 1U) & 1U) ^
+            (static_cast<unsigned int>(identifier >> 2U) & 1U) ^ (static_cast<unsigned int>(identifier >> 4U) & 1U)};
+        const unsigned int parity1{
+            ~((static_cast<unsigned int>(identifier >> 1U) & 1U) ^ (static_cast<unsigned int>(identifier >> 3U) & 1U) ^
+              (static_cast<unsigned int>(identifier >> 4U) & 1U) ^ (static_cast<unsigned int>(identifier >> 5U) & 1U)) &
+            1U};
+        return static_cast<unsigned char>(identifier | ((parity0 | (parity1 << 1U)) << 6U));
     }
 
-public:
     enum class Command : unsigned char
     {
         FINISH = 0x84U,
@@ -69,9 +64,9 @@ class LegHandler
         IDLE = 0xFCU,
     };
 
-    [[nodiscard]] bool begin();
+    [[nodiscard]] unsigned char begin();
 
-    void send(unsigned char identifier);
+    [[nodiscard]] unsigned char getLeg(unsigned char pid, unsigned char (&node)[3U]);
 
     /**
      * Sends a desk command with a target encoder position.
@@ -82,69 +77,100 @@ class LegHandler
     void sendCommand(Command command, unsigned int position);
 
     /**
-     * Sends a LIN frame containing the specified payload.
-     *
-     * @param identifier LIN frame identifier.
-     * @param data Payload bytes to transmit.
+     * Calculates the complemented checksum for a sequence of bytes.
+     * @param data Bytes to include in the checksum.
+     * @param sum Initial checksum sum.
+     * @return The complemented checksum.
      */
-    template <unsigned int N> void send(unsigned char identifier, const unsigned char (&data)[N])
+    template <unsigned int N>
+    [[nodiscard]] unsigned char getChecksum(const unsigned char (&data)[N], unsigned int sum = 0U)
     {
-        static_assert(N <= 8U);
-        const unsigned char addressByte{static_cast<unsigned char>((identifier & 0x3FU) | calcParity(identifier))};
-        serialBreak();
-        Serial.write(linSyncByte);
-        Serial.write(addressByte);
-        Serial.write(data, N);
-        Serial.write(calcChecksum(data, identifier == linDiagnosticRequestId ? 0U : addressByte));
-        Serial.flush();
+        for (const unsigned char byte : data)
+        {
+            sum += byte;
+        }
+        while ((sum >> 8U) != 0U)
+        {
+            sum = (sum & 0xFFU) + (sum >> 8U);
+        }
+        return static_cast<unsigned char>(~sum);
     }
 
     /**
-     * Receives a LIN response for the specified identifier.
+     * Requests a LIN response and reads its payload and checksum.
      *
-     * @param identifier LIN frame identifier to request.
+     * @param pid Protected identifier to transmit in the response header.
      * @param data Buffer to populate with the received payload.
-     * @return `true` if a complete response with a valid checksum is received, `false` on timeout or checksum
-     * failure.
+     * @return The received checksum byte, or `-1` if the response is incomplete.
      */
-    template <unsigned int N> [[nodiscard]] bool request(unsigned char identifier, unsigned char (&data)[N])
+    template <unsigned int N> int receiveResponse(unsigned char pid, unsigned char (&data)[N])
     {
         static_assert(N <= 8U);
-        const unsigned char idByte{static_cast<unsigned char>((identifier & 0x3FU) | calcParity(identifier))};
         serialBreak();
         Serial.write(linSyncByte);
-        Serial.write(idByte);
+        Serial.write(pid);
         Serial.flush();
         int receivedByte{};
         unsigned int remainingTime{static_cast<unsigned int>(LinFrame::frameBits * 1'000'000UL / baudRate)};
         do // NOLINT(cppcoreguidelines-avoid-do-while)
         {
-            receivedByte = readWithTimeout(remainingTime);
+            receivedByte = read(remainingTime);
         } while (receivedByte != -1 && receivedByte != static_cast<int>(linSyncByte));
         if (receivedByte == -1)
         {
-            return false;
+            return -1;
         }
         do // NOLINT(cppcoreguidelines-avoid-do-while)
         {
-            receivedByte = readWithTimeout(remainingTime);
-        } while (receivedByte != -1 && receivedByte != idByte);
+            receivedByte = read(remainingTime);
+        } while (receivedByte != -1 && receivedByte != pid);
         if (receivedByte == -1)
         {
-            return false;
+            return -1;
         }
         for (unsigned char &dataByte : data)
         {
-            receivedByte = readWithTimeout(remainingTime);
+            receivedByte = read(remainingTime);
             if (receivedByte == -1)
             {
-                return false;
+                return -1;
             }
             dataByte = static_cast<unsigned char>(receivedByte);
         }
-        receivedByte = readWithTimeout(remainingTime);
-        return receivedByte != -1 &&
-               calcChecksum(data, identifier == linDiagnosticResponseId ? 0U : idByte) == receivedByte;
+        return read(remainingTime);
+    }
+
+    /**
+     * Sends a LIN diagnostic request with a classic checksum.
+     *
+     * @param data Diagnostic payload to transmit.
+     */
+    template <unsigned int N> void sendDiagnosticRequest(const unsigned char (&data)[N])
+    {
+        static_assert(N <= 8U);
+        serialBreak();
+        Serial.write(linSyncByte);
+        Serial.write(getPid(linDiagnosticRequestId));
+        Serial.write(data, N);
+        Serial.write(getChecksum(data));
+        Serial.flush();
+    }
+
+    /**
+     * Sends a LIN response with an enhanced checksum.
+     *
+     * @param pid Protected identifier to transmit.
+     * @param data Response payload to transmit.
+     */
+    template <unsigned int N> void sendResponse(unsigned char pid, const unsigned char (&data)[N])
+    {
+        static_assert(N <= 8U);
+        serialBreak();
+        Serial.write(linSyncByte);
+        Serial.write(pid);
+        Serial.write(data, N);
+        Serial.write(getChecksum(data, pid));
+        Serial.flush();
     }
 };
 

include/esp/ConsoleHandler.h

@@ -2,6 +2,7 @@
 
 #ifdef ARDUINO_ARCH_ESP32
 
+#include <ArduinoJson.h> // NOLINT(misc-include-cleaner)
 #include <HardwareSerial.h>
 #include <span>
 #include <string>
@@ -22,23 +23,23 @@ class ConsoleHandler
     {
         BUTTON_DOWN = 1U,
         BUTTON_UP,
-        ENCODER8,
-        ENCODER9,
-        INITIALIZE,
+        CONSOLE,
+        INITIALIZATION,
+        LIN,
         NODE8,
         NODE9,
         POSITION,
         PRESET_HIGH,
         PRESET_LOW,
-        STATE8,
-        STATE9,
     };
 
     /**
      * Initializes console handling.
      */
     void begin();
 
+    void getErrors(JsonArray &errors);
+
     /**
      * Processes available console input.
      */
@@ -49,11 +50,16 @@ class ConsoleHandler
      */
     void forward();
 
+    void reset();
+
     void send(Command command);
 
     void send(Command command, uint16_t value);
 
 private:
+    uint8_t errorLin{0U};
+    uint8_t errorTx{0U};
+
     size_t bytesRx{0U};
     size_t bytesTx{0U};
     size_t lengthRx{0U};
@@ -72,12 +78,16 @@ class ConsoleHandler
      */
     State stateRx{};
 
-    static inline hardwareSerial_error_t lastError{hardwareSerial_error_t::UART_NO_ERROR};
+    static inline hardwareSerial_error_t errorRx{hardwareSerial_error_t::UART_NO_ERROR};
 
     /**
      * Parses a received console payload.
      */
-    void parse() const;
+    void parse();
+
+    void setErrorLin(uint8_t flags);
+
+    void setErrorTx(uint8_t flags);
 
     void write(std::span<const uint8_t> payload);