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// SPDX-License-Identifier: GPL-3.0-or-later
#pragma once
#include <QApplication>
#include <QCryptographicHash>
#include <QFile>
#include <QJsonArray>
#include <QJsonDocument>
#include <QJsonObject>
#include <QRegularExpression>
#include <QXmlStreamWriter>
#include <stdexcept>
#include "vescinterface.h"
#include "utility.h"
static QString sha256(const QByteArray &data) {
return QCryptographicHash::hash(data, QCryptographicHash::Sha256).toHex();
}
static void require(bool condition, const char *message) {
if (!condition) throw std::runtime_error(message);
}
static QJsonObject exportConfig(ConfigParams *config, const QByteArray &packet,
const QString &xmlName) {
VByteArray roundTrip;
config->serialize(roundTrip);
require(roundTrip == packet.mid(1), "Native configuration round-trip differs from archive");
QJsonArray parameters;
for (const auto &name : config->getParamOrder()) {
const auto p = config->getParamCopy(name);
QJsonObject item{{"name", name}, {"title", p.longName},
{"description", p.description}, {"suffix", p.suffix},
{"transmittable", p.transmittable}, {"editor_scale", p.editorScale}};
switch (p.type) {
case CFG_T_DOUBLE:
item.insert("type", "number"); item.insert("value", p.valDouble);
item.insert("min", p.minDouble); item.insert("max", p.maxDouble);
item.insert("step", p.stepDouble); item.insert("decimals", p.editorDecimalsDouble);
break;
case CFG_T_INT: case CFG_T_BITFIELD:
item.insert("type", p.type == CFG_T_INT ? "integer" : "bitfield");
item.insert("value", p.valInt); item.insert("min", p.minInt);
item.insert("max", p.maxInt); item.insert("step", p.stepInt);
break;
case CFG_T_ENUM:
item.insert("type", "enum"); item.insert("value", p.valInt);
item.insert("options", QJsonArray::fromStringList(p.enumNames)); break;
case CFG_T_BOOL:
item.insert("type", "boolean"); item.insert("value", bool(p.valInt)); break;
case CFG_T_QSTRING:
item.insert("type", "string"); item.insert("value", p.valString);
item.insert("max_length", p.maxLen); break;
default: item.insert("type", "undefined");
}
parameters.append(item);
}
QJsonArray groups;
for (const auto &group : config->getParamGroups()) {
QJsonArray subgroups;
for (const auto &subgroup : config->getParamSubgroups(group)) {
subgroups.append(QJsonObject{{"name", subgroup}, {"parameters",
QJsonArray::fromStringList(config->getParamsFromSubgroup(group, subgroup))}});
}
groups.append(QJsonObject{{"name", group}, {"subgroups", subgroups}});
}
QString xml;
QXmlStreamWriter writer(&xml);
writer.setAutoFormatting(true);
config->getXML(writer, xmlName);
// Validate Tool's own XML load as well as its binary codec. No output file,
// motor configuration write, custom schema, or custom parameter parser.
ConfigParams loaded;
loaded = *config;
QXmlStreamReader reader(xml);
require(loaded.setXML(reader, xmlName), "Native XML round-trip failed");
VByteArray xmlRoundTrip; loaded.serialize(xmlRoundTrip);
const auto differences = config->checkDifference(&loaded);
require(differences.isEmpty(), "Native XML differs beyond upstream comparison tolerance");
return QJsonObject{{"parameters", parameters}, {"groups", groups}, {"xml", xml},
{"packet_sha256", sha256(packet)}, {"round_trip_exact", true},
{"xml_round_trip_exact", xmlRoundTrip == roundTrip},
{"xml_equivalent_by_upstream_comparison", true},
{"signature", double(config->getSignature())}};
}
static QByteArray archivePacket(const QJsonObject &archive, const QString &key, int command) {
auto entry = archive.value("configs").toObject().value(key).toObject();
auto encoded = entry.value("payload").toString().toLatin1();
auto packet = QByteArray::fromBase64(encoded, QByteArray::AbortOnBase64DecodingErrors);
require(entry.value("encoding") == "base64" && !packet.isEmpty() && packet.size() <= 16384,
"Invalid archived configuration encoding");
require(packet.toBase64() == encoded && packet.size() == entry.value("bytes").toInt(),
"Invalid archived configuration length");
require(quint8(packet.at(0)) == command && sha256(packet) == entry.value("sha256").toString(),
"Archived configuration hash or command mismatch");
return packet;
}
plugins/vesc/native/engine_main.cpp
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// SPDX-License-Identifier: GPL-3.0-or-later
// Private per-device JSON process adapter. Every wire operation is upstream.
#include "config_export.h"
#include <QEventLoop>
#include <QElapsedTimer>
#include <QSocketNotifier>
#include <QSerialPort>
#include <QTimer>
#include <QFileInfo>
#include <cmath>
#include <functional>
#include <fcntl.h>
#include <sys/file.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/sysmacros.h>
#include <termios.h>
#include <unistd.h>
class ExchangeFailure : public std::runtime_error {
public:
QJsonObject diagnostics;
explicit ExchangeFailure(const QJsonObject &value)
: std::runtime_error("Native query timed out or disconnected"), diagnostics(value) {}
};
class Engine {
public:
VescInterface vesc;
Packet *packet;
FW_RX_PARAMS identity;
bool procedureRunning = false;
bool procedureUncertain = false;
QJsonObject procedure;
bool queryRunning = false;
bool allowHardware = false;
QByteArray lastMotor, lastApplication, lastHall;
QTimer outputWatchdog;
Engine() {
outputWatchdog.setSingleShot(true);
QObject::connect(&outputWatchdog, &QTimer::timeout, [&] {
if (allowHardware && vesc.isPortConnected() && !procedureRunning) {
vesc.commands()->setCurrent(0);
try { flush(); } catch (...) {}
}
});
require(Utility::configLoadLatest(&vesc), "Upstream resources missing");
packet = vesc.findChild<Packet *>();
require(packet, "Upstream packet transport missing");
QObject::connect(vesc.commands(), &Commands::fwVersionReceived,
[&](FW_RX_PARAMS value) { identity = value; });
QObject::connect(packet, &Packet::packetReceived, [&](QByteArray &raw) {
if (!raw.isEmpty() && quint8(raw[0]) == COMM_GET_MCCONF) lastMotor = raw;
if (!raw.isEmpty() && quint8(raw[0]) == COMM_GET_APPCONF) lastApplication = raw;
if (!raw.isEmpty() && quint8(raw[0]) == COMM_DETECT_HALL_FOC) lastHall = raw;
});
}
void open(const QString &port) {
require(QRegularExpression("^/dev/ttyACM[0-9]+$").match(port).hasMatch(), "Unsupported USB path");
struct stat st;
require(lstat(port.toLocal8Bit(), &st) == 0 && S_ISCHR(st.st_mode) && major(st.st_rdev) == 166,
"Not a CDC ACM device");
require(vesc.connectSerial(port, 115200), "Native serial connection failed");
auto serial = vesc.findChild<QSerialPort *>();
require(serial && serial->isOpen() && "/dev/" + serial->portName() == port,
"Native serial path mismatch");
require(flock(serial->handle(), LOCK_EX | LOCK_NB) == 0 && ioctl(serial->handle(), TIOCEXCL) == 0,
"Serial port is already owned");
allowHardware = true;
query(COMM_FW_VERSION, 3000);
require(identity.major == 5 && identity.minor == 2 && identity.hwType == HW_TYPE_VESC
&& identity.isTestFw == 0 && identity.customConfigNum == 0,
"Native hardware acceptance currently admits stable FW 5.02 only");
}
QByteArray exchange(int command, int timeoutMs, const std::function<void()> &send) {
require(allowHardware && vesc.isPortConnected(), "Device disconnected");
require(!queryRunning, "A native query is already pending");
queryRunning = true;
struct PendingReset { bool &pending; ~PendingReset() { pending = false; } } reset{queryRunning};
QEventLoop loop;
QTimer timeout; timeout.setSingleShot(true);
QObject observer;
QElapsedTimer elapsed; elapsed.start();
QJsonArray events;
bool emitted = false;
int packetsSent = 0, packetsReceived = 0;
qint64 bytesWritten = 0;
auto serial = vesc.findChild<QSerialPort *>();
auto record = [&](const QString &kind, int code, qint64 bytes) {
if (events.size() == 24) events.removeFirst();
events.append(QJsonObject{{"event", kind}, {"command", code},
{"bytes", double(bytes)}, {"at_ms", elapsed.nsecsElapsed() / 1e6}});
};
QObject::connect(vesc.commands(), &Commands::dataToSend, &observer, [&](QByteArray &raw) {
const int code = raw.isEmpty() ? -1 : quint8(raw[0]);
if (code == command) emitted = true;
record("command_emitted", code, raw.size());
});
QObject::connect(packet, &Packet::dataToSend, &observer, [&](QByteArray &raw) {
++packetsSent; record("packet_sent", -1, raw.size());
});
if (serial) {
QObject::connect(serial, &QSerialPort::bytesWritten, &observer, [&](qint64 bytes) {
bytesWritten += bytes; record("serial_written", -1, bytes);
});
QObject::connect(serial, &QSerialPort::errorOccurred, &observer, [&](QSerialPort::SerialPortError error) {
if (error != QSerialPort::NoError) record("serial_error", int(error), 0);
});
}
QByteArray answer;
QObject::connect(packet, &Packet::packetReceived, &observer, [&](QByteArray &raw) {
++packetsReceived;
record("packet_received", raw.isEmpty() ? -1 : quint8(raw[0]), raw.size());
if (!raw.isEmpty() && quint8(raw[0]) == command) { answer = raw; loop.quit(); }
});
QObject::connect(&timeout, &QTimer::timeout, &loop, &QEventLoop::quit);
timeout.start(timeoutMs);
send();
if (answer.isEmpty()) loop.exec();
if (answer.isEmpty() || !vesc.isPortConnected()) {
throw ExchangeFailure({{"requested_command", command}, {"timeout_ms", timeoutMs},
{"elapsed_ms", elapsed.nsecsElapsed() / 1e6}, {"request_emitted", emitted},
{"packets_sent", packetsSent}, {"packets_received", packetsReceived},
{"serial_bytes_written", double(bytesWritten)}, {"port_connected", vesc.isPortConnected()},
{"serial_open", serial && serial->isOpen()}, {"serial_error", serial ? int(serial->error()) : -1},
{"serial_bytes_pending", serial ? double(serial->bytesToWrite()) : -1}, {"events", events}});
}
return answer;
}
QByteArray query(int code, int timeoutMs, bool internal = false) {
auto cmd = vesc.commands();
require(internal || !procedureRunning || code == COMM_GET_VALUES || code == COMM_GET_DECODED_PPM,
"Configuration reads are unavailable during native measurement");
std::function<void()> send;
switch (code) {
case COMM_FW_VERSION: send = [=] { cmd->getFwVersion(); }; break;
case COMM_GET_VALUES: send = [=] { cmd->getValues(); }; break;
case COMM_GET_MCCONF: send = [=] { cmd->getMcconf(); }; break;
case COMM_GET_APPCONF: send = [=] { cmd->getAppConf(); }; break;
case COMM_GET_DECODED_PPM: send = [=] { cmd->getDecodedPpm(); }; break;
case COMM_PING_CAN: send = [=] { cmd->pingCan(); }; break;
default: throw std::runtime_error("Native read command is not admitted");
}
auto raw = exchange(code, timeoutMs, send);
if (code == COMM_GET_MCCONF || code == COMM_GET_APPCONF) {
VByteArray serialized;
auto config = code == COMM_GET_MCCONF ? vesc.mcConfig() : vesc.appConfig();
config->serialize(serialized);
require(serialized == raw.mid(1), "Native configuration decode is not byte-exact");
}
return raw;
}
QByteArray configurationPacket(ConfigParams *config, int code) {
VByteArray raw; raw.vbAppendInt8(code); config->serialize(raw); return raw;
}
void calibrate(double loss) {
ConfigParams beforeMotor, beforeApp;
beforeMotor = *vesc.mcConfig(); beforeApp = *vesc.appConfig();
bool received = false, validated = false;
int code = -1000;
QString report, error;
QJsonArray changed;
auto connection = QObject::connect(vesc.commands(), &Commands::detectAllFocReceived,
[&](int result) { received = true; code = result; });
try {
// The actual upstream wizard motor procedure, including its FW 5.02
// power-loss correction. Do not infer a battery profile from Ah/voltage.
report = Utility::detectAllFoc(&vesc, false, loss,
beforeMotor.getParamDouble("l_in_current_min"), beforeMotor.getParamDouble("l_in_current_max"),
beforeMotor.getParamDouble("foc_openloop_rpm"), beforeMotor.getParamDouble("foc_sl_erpm"));
require(received, "Native calibration completion was not received");
query(COMM_GET_MCCONF, 3000, true);
query(COMM_GET_APPCONF, 3000, true);
auto mc = vesc.mcConfig(); auto app = vesc.appConfig();
const QStringList admitted = {"l_current_max", "l_current_min", "motor_type", "foc_motor_r",
"foc_motor_l", "foc_motor_flux_linkage", "foc_current_kp", "foc_current_ki", "foc_observer_gain",
"foc_sensor_mode", "m_sensor_port_mode", "foc_encoder_offset", "foc_encoder_ratio", "foc_encoder_inverted",
"foc_hall_table__0", "foc_hall_table__1", "foc_hall_table__2", "foc_hall_table__3",
"foc_hall_table__4", "foc_hall_table__5", "foc_hall_table__6", "foc_hall_table__7"};
for (const auto &key : beforeMotor.checkDifference(mc)) {
require(admitted.contains(key), "Calibration changed a protected motor parameter");
changed.append(key);
}
for (const auto &key : beforeApp.checkDifference(app))
require(key == "send_can_status", "Calibration changed a protected receiver parameter");
// Native FW 5.02 enables CAN status as a side effect. Restore the
// original application exactly; retain existing PPM and CAN identity.
if (!beforeApp.checkDifference(app).isEmpty()) {
*app = beforeApp;
const auto expected = configurationPacket(app, COMM_GET_APPCONF);
require(exchange(COMM_SET_APPCONF, 3000, [&] { vesc.commands()->setAppConf(); }).size() == 1,
"Application write ACK invalid");
require(query(COMM_GET_APPCONF, 3000, true) == expected, "Application restore not byte-exact");
}
if (code < 0) {
// A completed failed detection can leave partial RAM changes.
// Only the known calibration fields passed the guard above.
*mc = beforeMotor;
} else {
for (const auto &key : {"foc_motor_r", "foc_motor_l", "foc_motor_flux_linkage"})
require(std::isfinite(mc->getParamDouble(key)) && mc->getParamDouble(key) > 0,
"Invalid detected motor parameter");
require(mc->getParamDouble("l_current_max") > 0 && mc->getParamDouble("l_current_min") < 0,
"Invalid detected current limits");
// Calibration must not silently increase the owner's existing
// current limits. The separate spin test applies its own 30 A cap.
mc->updateParamDouble("l_current_max", qMin(mc->getParamDouble("l_current_max"), beforeMotor.getParamDouble("l_current_max")));
mc->updateParamDouble("l_current_min", qMax(mc->getParamDouble("l_current_min"), beforeMotor.getParamDouble("l_current_min")));
}
const auto expected = configurationPacket(mc, COMM_GET_MCCONF);
if (expected != lastMotor) {
require(exchange(COMM_SET_MCCONF, 3000, [&] { vesc.commands()->setMcconf(false); }).size() == 1,
"Motor write ACK invalid");
require(query(COMM_GET_MCCONF, 3000, true) == expected, "Motor write not byte-exact");
}
validated = true;
} catch (const std::exception &e) { error = e.what(); }
QObject::disconnect(connection);
QJsonObject parameters;
for (const auto &key : {"l_current_max", "l_current_min", "foc_motor_r", "foc_motor_l", "foc_motor_flux_linkage"})
parameters.insert(key, vesc.mcConfig()->getParamDouble(key));
procedure = {{"kind", "foc"}, {"completed", received}, {"success", received && code >= 0 && validated},
{"validated", validated}, {"code", code}, {"report", report}, {"error", error},
{"sensor_mode", vesc.mcConfig()->getParamEnum("foc_sensor_mode")}, {"parameters", parameters},
{"changed", changed}, {"upstream", "Utility::detectAllFoc"}};
procedureUncertain = !validated;
procedureRunning = false;
}
double number(const QJsonObject &request, const QString &name, double min, double max) {
auto v = request.value(name);
require(v.isDouble() && std::isfinite(v.toDouble()) && v.toDouble() >= min && v.toDouble() <= max,
"Numeric argument is outside operation bounds");
return v.toDouble();
}
void flush() {
auto serial = vesc.findChild<QSerialPort *>();
require(serial && serial->isOpen(), "Serial transport closed");
serial->flush();
if (serial->bytesToWrite() > 0) require(serial->waitForBytesWritten(40), "Serial write not confirmed");
require(serial->bytesToWrite() == 0, "Serial write is incomplete");
}
QJsonObject dispatch(const QJsonObject &request) {
const auto method = request.value("method").toString();
if (method == "engine") return {{"version", "7.00"}, {"commit", "01d5f10901116c311e3fb84d5a1541f663d3ce20"},
{"connected", vesc.isPortConnected()}, {"hardware_enabled", allowHardware},
{"legacy_power_loss_correction", vesc.commands()->getMaxPowerLossBug()}};
require(allowHardware && vesc.isPortConnected(), "Native device is not connected");
if (method == "query") return {{"payload", QString::fromLatin1(query(
int(number(request, "command", 0, 255)), int(number(request, "timeout_ms", 20, 8000))).toBase64())}};
if (method == "procedure_result") return {{"running", procedureRunning}, {"uncertain", procedureUncertain}, {"result", procedure}};
if (method == "lease") {
require(!procedureRunning && !procedureUncertain, "Native procedure owns this controller");
vesc.commands()->disableAppOutput(250, false); flush(); outputWatchdog.start(200); return {};
}
if (method == "release") { vesc.commands()->setCurrent(0); flush(); return {}; }
require(!procedureRunning && !procedureUncertain, "Native procedure owns this controller");
if (method == "current") {
require(outputWatchdog.isActive(), "Output lease expired");
auto current = number(request, "current_a", 0, 30);
require(current <= vesc.mcConfig()->getParamDouble("l_current_max"), "Configured current limit exceeded");
vesc.commands()->setCurrent(current); flush(); return {};
}
if (method == "rpm") { require(outputWatchdog.isActive(), "Output lease expired"); vesc.commands()->setRpm(int(number(request, "erpm", -3000, 3000))); flush(); return {}; }
if (method == "limits") {
auto p = request.value("parameters").toObject();
MCCONF_TEMP conf;
conf.current_min_scale = number(p, "l_current_min_scale", 0, 1);
conf.current_max_scale = number(p, "l_current_max_scale", 0, 1);
// Restore/application may only change current scales. All other
// values must equal the last native read, including battery limits.
auto mc = vesc.mcConfig();
for (const auto &key : {"l_min_erpm", "l_max_erpm", "l_min_duty", "l_max_duty", "l_watt_min", "l_watt_max", "l_in_current_min", "l_in_current_max"})
require(p.value(key).isDouble() && p.value(key).toDouble() == mc->getParamDouble(key), "Only volatile current scales may change");
conf.erpm_or_speed_min = mc->getParamDouble("l_min_erpm");
conf.erpm_or_speed_max = mc->getParamDouble("l_max_erpm");
conf.duty_min = mc->getParamDouble("l_min_duty"); conf.duty_max = mc->getParamDouble("l_max_duty");
conf.watt_min = mc->getParamDouble("l_watt_min"); conf.watt_max = mc->getParamDouble("l_watt_max");
auto ack = exchange(COMM_SET_MCCONF_TEMP, 2000, [&] {
vesc.commands()->setMcconfTemp(conf, false, false, false, false, true);
});
require(ack.size() == 1, "Invalid native limits ACK"); return {};
}
if (method == "configuration") {
auto motor = query(COMM_GET_MCCONF, 2000);
auto application = query(COMM_GET_APPCONF, 2000);
return {{"motor", exportConfig(vesc.mcConfig(), motor, "MCConfiguration")},
{"application", exportConfig(vesc.appConfig(), application, "APPConfiguration")}};
}
if (method == "foc_start") {
const auto loss = number(request, "max_power_loss_w", 10, 150);
require(!lastMotor.isEmpty() && !lastApplication.isEmpty(), "Read configurations before calibration");
for (const auto &key : {"l_in_current_min", "l_in_current_max", "foc_openloop_rpm", "foc_sl_erpm"})
require(std::isfinite(vesc.mcConfig()->getParamDouble(key)) && std::abs(vesc.mcConfig()->getParamDouble(key)) > 0.001,
"Zero-valued detection inputs require an explicit equipment profile");
procedureRunning = true; procedure = {{"kind", "foc"}};
QTimer::singleShot(0, [this, loss] { calibrate(loss); });
return {{"started", true}, {"interruptible", false}};
}
if (method == "hall_start") {
require(request.value("current_a") == 5, "This Hall profile uses 5 A");
procedureRunning = true; procedure = {}; lastHall.clear();
QTimer::singleShot(0, [&] {
auto measured = Utility::measureHallFocBlocking(&vesc, 5.0);
QJsonArray table;
for (int i = 1; i < measured.size(); ++i) table.append(measured[i]);
const bool completed = measured.size() == 9 && measured.first() != -10;
procedure = {{"kind", "hall"}, {"completed", completed},
{"status", measured.isEmpty() ? -10 : measured.first()}, {"table", table},
{"payload", QString::fromLatin1(lastHall.toBase64())},
{"upstream", "Utility::measureHallFocBlocking"}};
procedureUncertain = !completed;
procedureRunning = false;
});
return {{"started", true}, {"interruptible", false}};
}
throw std::runtime_error("Native operation is not admitted");
}
};
int main(int argc, char **argv) {
qputenv("QT_QPA_PLATFORM", "offscreen");
QApplication application(argc, argv);
QCoreApplication::setOrganizationName("MissionCore");
QCoreApplication::setApplicationName("VescToolEngine");
try {
require(argc == 2, "One exact serial port or --offline argument is required");
Engine engine;
const QString port = QString::fromLocal8Bit(argv[1]);
if (port != "--offline") engine.open(port);
QFile output; output.open(stdout, QIODevice::WriteOnly);
auto write = [&](const QJsonObject &value) {
output.write(QJsonDocument(value).toJson(QJsonDocument::Compact) + '\n'); output.flush();
};
write({{"ready", true}, {"engine", engine.dispatch({{"method", "engine"}})}});
QByteArray buffer;
fcntl(STDIN_FILENO, F_SETFL, fcntl(STDIN_FILENO, F_GETFL) | O_NONBLOCK);
QSocketNotifier input(STDIN_FILENO, QSocketNotifier::Read);
QObject::connect(&input, &QSocketNotifier::activated, [&] {
char chunk[4096]; const auto size = ::read(STDIN_FILENO, chunk, sizeof(chunk));
if (size == 0) { application.quit(); return; }
if (size < 0) return;
buffer.append(chunk, int(size));
if (buffer.size() > 65536) { application.exit(2); return; }
int end;
while ((end = buffer.indexOf('\n')) >= 0) {
auto raw = buffer.left(end); buffer.remove(0, end + 1);
QJsonParseError error;
auto document = QJsonDocument::fromJson(raw, &error);
auto request = document.object();
QJsonObject response{{"id", request.value("id")}};
try {
require(error.error == QJsonParseError::NoError && document.isObject(), "Invalid JSON request");
response.insert("result", engine.dispatch(request)); response.insert("ok", true);
} catch (const ExchangeFailure &e) {
response.insert("ok", false); response.insert("error", e.what());
response.insert("diagnostics", e.diagnostics);
} catch (const std::exception &e) { response.insert("ok", false); response.insert("error", e.what()); }
write(response);
}
});
return application.exec();
} catch (const std::exception &error) {
fprintf(stderr, "Native engine startup failed: %s\n", error.what());
return 1;
}
}
plugins/vesc/native/offline_main.cpp
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// SPDX-License-Identifier: GPL-3.0-or-later
// Mission Core adapter to the unmodified VESC Tool engine. No hardware transport
// is admitted by this executable. Input is one archived snapshot on stdin.
#include "config_export.h"
int main(int argc, char **argv) {
// This application never calls connectSerial/connectTcp/connectBle or starts
// a Qt event loop. Upstream timers therefore cannot reconnect or poll.
qputenv("QT_QPA_PLATFORM", "offscreen");
QApplication app(argc, argv);
QCoreApplication::setOrganizationName("MissionCore");
QCoreApplication::setApplicationName("VescToolOfflineAdapter");
QJsonObject result{{"schema", "missioncore.vesc.native-offline/v1"},
{"upstream_commit", "01d5f10901116c311e3fb84d5a1541f663d3ce20"},
{"upstream_version", QString::number(VT_VERSION, 'f', 2)},
{"hardware_access", false}};
try {
require(argc == 1, "No command-line transport or operation arguments are accepted");
QFile input; require(input.open(stdin, QIODevice::ReadOnly), "Cannot read input");
const auto raw = input.read(1024 * 1024 + 1);
require(!raw.isEmpty() && raw.size() <= 1024 * 1024, "Archive input is empty or too large");
QJsonParseError parse;
auto document = QJsonDocument::fromJson(raw, &parse);
require(parse.error == QJsonParseError::NoError && document.isObject(), "Invalid archive JSON");
const auto archive = document.object();
const auto identity = archive.value("identity").toObject();
FW_RX_PARAMS fw;
fw.major = identity.value("major").toInt(-1);
fw.minor = identity.value("minor").toInt(-1);
fw.hw = identity.value("hardware").toString();
fw.isTestFw = identity.value("test_firmware").toInt(-1);
fw.customConfigNum = identity.value("custom_configs").toInt(-1);
const auto uuid = identity.value("uuid").toString();
require(QRegularExpression("^[0-9a-fA-F]{24}$").match(uuid).hasMatch(), "Invalid archived UUID");
fw.uuid = QByteArray::fromHex(uuid.toLatin1());
require(fw.major == 5 && fw.minor == 2 && fw.isTestFw == 0 && fw.customConfigNum == 0
&& identity.value("hardware_type").toInt(-1) == 0,
"Offline acceptance currently admits stable firmware 5.02 only");
VescInterface vesc;
require(Utility::configLoadLatest(&vesc), "Bundled upstream configuration resources missing");
auto *commands = vesc.commands();
// Replay the archived identity through the real firmware negotiation
// signal. The real engine selects bundled schemas and compatibility.
commands->fwVersionReceived(fw);
require(!vesc.isPortConnected(), "Offline adapter unexpectedly connected");
require(vesc.mcConfig()->getSerializeOrder().size() > 0, "Native schema not selected");
bool failed = false;
QObject::connect(commands, &Commands::deserializeConfigFailed,
[&](bool, bool) { failed = true; });
auto motor = archivePacket(archive, "motor", COMM_GET_MCCONF);
auto application = archivePacket(archive, "application", COMM_GET_APPCONF);
// FW 5.02 has fixed-size configurations. Obtain their size through the
// public native serializer; do not reproduce the private schema walker.
VByteArray motorShape, applicationShape;
vesc.mcConfig()->serialize(motorShape);
vesc.appConfig()->serialize(applicationShape);
require(motor.size() == motorShape.size() + 1 && application.size() == applicationShape.size() + 1,
"Archive length differs from the native firmware schema");
commands->processPacket(motor);
commands->processPacket(application);
require(!failed, "Upstream rejected archived configuration");
result.insert("motor", exportConfig(vesc.mcConfig(), motor, "MCConfiguration"));
result.insert("application", exportConfig(vesc.appConfig(), application, "APPConfiguration"));
// A disconnected serializer-only probe demonstrates that FW-specific
// detect corrections execute upstream. This byte array goes nowhere.
QByteArray encodedDetect;
QObject::connect(commands, &Commands::dataToSend, [&](QByteArray &data) {
if (!data.isEmpty() && quint8(data.at(0)) == COMM_DETECT_APPLY_ALL_FOC) encodedDetect = data;
});
commands->detectAllFoc(false, 100.0, 0.0, 0.0, 0.0, 0.0);
require(!encodedDetect.isEmpty() && !vesc.isPortConnected(), "Offline serialization failed");
result.insert("compatibility", QJsonObject{
{"legacy_power_loss_correction", commands->getMaxPowerLossBug()},
{"offline_detect_example_base64", QString::fromLatin1(encodedDetect.toBase64())},
{"example_requested_power_loss_w", 100.0}, {"transmitted_to_hardware", false}});
QJsonArray rpmExamples;
QObject::connect(commands, &Commands::dataToSend, [&](QByteArray &data) {
if (!data.isEmpty() && quint8(data.at(0)) == COMM_SET_RPM)
rpmExamples.append(QString::fromLatin1(data.toBase64()));
});
commands->setRpm(3000);
commands->setRpm(-3000);
require(rpmExamples.size() == 2 && !vesc.isPortConnected(), "Offline signed RPM serialization failed");
result.insert("offline_signed_rpm_examples_base64", rpmExamples);
result.insert("archive_sha256", sha256(raw));
result.insert("ok", true);
} catch (const std::exception &error) {
result = QJsonObject{{"schema", "missioncore.vesc.native-offline/v1"},
{"ok", false}, {"hardware_access", false}, {"error", error.what()}};
}
QFile output; output.open(stdout, QIODevice::WriteOnly);
output.write(QJsonDocument(result).toJson(QJsonDocument::Compact) + '\n');
return result.value("ok").toBool() ? 0 : 1;
}