Bluetooth classic RFCOMM communication support

.vscode/c_cpp_properties.json

@@ -79,6 +79,7 @@
                 "gcc",
                 "MICROPY_MODULE_FROZEN_MPY",
                 "MICROPY_ROM_TEXT_COMPRESSION",
+                "HAVE_UMM_MALLOC=1"
             ],
             "compilerArgs": [
                 "-Wall",
@@ -286,7 +287,8 @@
             ],
             "defines": [
                 "MICROPY_MODULE_FROZEN_MPY",
-                "MICROPY_ROM_TEXT_COMPRESSION"
+                "MICROPY_ROM_TEXT_COMPRESSION",
+                "HAVE_UMM_MALLOC=1"
             ],
             "compilerArgs": [
                 "-mthumb",
@@ -404,7 +406,8 @@
             ],
             "defines": [
                 "MICROPY_MODULE_FROZEN_MPY",
-                "MICROPY_USE_READLINE=1"
+                "MICROPY_USE_READLINE=1",
+                "HAVE_UMM_MALLOC=1",
             ],
             "compilerPath": "/usr/bin/gcc",
             "cStandard": "c11",

.vscode/tasks.json

@@ -75,6 +75,16 @@
                 "reveal": "always"
             },
             "problemMatcher": []
+        },
+        {
+            "label": "build ev3",
+            "type": "shell",
+            "command": "poetry run make ev3",
+            "problemMatcher": [],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            }
         }
     ]
 }

bricks/_common/common.mk

@@ -416,6 +416,16 @@ BTSTACK_BLE_SRC_C += $(addprefix lib/btstack/src/ble/,\
 	sm.c \
 	)
 
+BTSTACK_CLASSIC_SRC_C = $(addprefix lib/btstack/src/classic/,\
+	btstack_link_key_db_memory.c \
+	rfcomm.c \
+	sdp_client.c \
+	sdp_client_rfcomm.c \
+	sdp_server.c \
+	sdp_util.c \
+	spp_server.c \
+	)
+
 BTSTACK_SRC_C += $(addprefix lib/btstack/chipset/cc256x/,\
 	btstack_chipset_cc256x.c \
 	)
@@ -519,7 +529,7 @@ SRC_STM32_USB_DEV += $(addprefix lib/pbio/drv/usb/stm32_usbd/,\
 SRC_UMM_MALLOC = lib/umm_malloc/src/umm_malloc.c
 
 ifeq ($(PB_LIB_UMM_MALLOC),1)
-CFLAGS += -I$(PBTOP)/lib/umm_malloc/src
+CFLAGS += -I$(PBTOP)/lib/umm_malloc/src -DHAVE_UMM_MALLOC=1
 endif
 
 # NXT OS
@@ -579,6 +589,7 @@ ifeq ($(PB_LIB_BTSTACK),1)
 ifneq ($(CI_MODE),1)
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_BLE_SRC_C:.c=.o))
+OBJ += $(addprefix $(BUILD)/, $(BTSTACK_CLASSIC_SRC_C:.c=.o))
 $(BUILD)/lib/btstack/%.o: CFLAGS += -Wno-error
 endif
 endif

bricks/_common/sources.mk

@@ -117,6 +117,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/block_device/block_device_w25qxx_stm32.c \
 	drv/bluetooth/bluetooth.c \
 	drv/bluetooth/bluetooth_btstack.c \
+	drv/bluetooth/rfcomm_btstack.c \
 	drv/bluetooth/bluetooth_btstack_ev3.c \
 	drv/bluetooth/bluetooth_btstack_posix.c \
 	drv/bluetooth/bluetooth_btstack_stm32_hal.c \

bricks/primehub/mpconfigport.h

@@ -41,7 +41,7 @@
 #define PYBRICKS_PY_IODEVICES_UART_DEVICE       (1)
 #define PYBRICKS_PY_IODEVICES_XBOX_CONTROLLER   (1)
 #define PYBRICKS_PY_MEDIA_IMAGE                 (0)
-#define PYBRICKS_PY_MESSAGING                   (1)
+#define PYBRICKS_PY_MESSAGING                   (0)
 #define PYBRICKS_PY_MESSAGING_RFCOMM            (0)
 #define PYBRICKS_PY_NXTDEVICES                  (0)
 #define PYBRICKS_PY_PARAMETERS                  (1)

lib/pbio/drv/bluetooth/bluetooth.c

@@ -579,6 +579,17 @@ pbio_error_t pbdrv_bluetooth_await_classic_task(pbio_os_state_t *state, void *co
 
     return task->err;
 }
+#else
+
+pbio_error_t pbdrv_bluetooth_start_inquiry_scan(pbdrv_bluetooth_inquiry_result_t *results, uint32_t *results_count, uint32_t *results_count_max, uint32_t duration_ms) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+
+pbio_error_t pbdrv_bluetooth_await_classic_task(pbio_os_state_t *state, void *context) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+
+
 #endif // PBDRV_CONFIG_BLUETOOTH_NUM_CLASSIC_CONNECTIONS
 
 static bool pbdrv_bluetooth_shutting_down;
@@ -729,6 +740,10 @@ pbio_error_t pbdrv_bluetooth_close_user_tasks(pbio_os_state_t *state, pbio_os_ti
 
     PBIO_OS_ASYNC_BEGIN(state);
 
+    #if PBDRV_CONFIG_BLUETOOTH_NUM_CLASSIC_CONNECTIONS
+    pbdrv_bluetooth_rfcomm_disconnect_all();
+    #endif // PBDRV_CONFIG_BLUETOOTH_NUM_CLASSIC_CONNECTIONS
+
     for (peri_index = 0; peri_index < PBDRV_CONFIG_BLUETOOTH_NUM_PERIPHERALS; peri_index++) {
         peri = pbdrv_bluetooth_peripheral_get_by_index(peri_index);
         // Await ongoing peripheral user task, requesting cancellation to

lib/pbio/drv/bluetooth/bluetooth.h

@@ -99,6 +99,17 @@ typedef struct {
 
 pbio_error_t pbdrv_bluetooth_inquiry_scan_func(pbio_os_state_t *state, void *context);
 
+// The following functions are defined in each Bluetooth implementation that
+// supports RFCOMM sockets.
+
+// Cancels all pending connection attempts. Called e.g. when the user interrupts
+// execution to drop into the debug REPL.
+void pbdrv_bluetooth_rfcomm_cancel_connection();
+
+// Disconnects all active RFCOMM connections and cleans up all sockets. Called
+// during user program termination.
+void pbdrv_bluetooth_rfcomm_disconnect_all();
+
 #endif // PBDRV_CONFIG_BLUETOOTH
 
 #endif // _INTERNAL_PBDRV_BLUETOOTH_H_

lib/pbio/drv/bluetooth/bluetooth_btstack.c

@@ -7,6 +7,8 @@
 
 #if PBDRV_CONFIG_BLUETOOTH_BTSTACK
 
+#include <btstack_config.h>
+
 #include <assert.h>
 #include <inttypes.h>
 #include <stdio.h>
@@ -16,9 +18,13 @@
 #include <btstack.h>
 #include <btstack_run_loop.h>
 
+#include <gap.h>
+#include <lwrb/lwrb.h>
+
 #include <pbdrv/bluetooth.h>
 #include <pbdrv/clock.h>
 
+#include <pbio/int_math.h>
 #include <pbio/os.h>
 #include <pbio/protocol.h>
 #include <pbio/version.h>
@@ -46,7 +52,7 @@
 #define PERIPHERAL_TIMEOUT_MS_CONNECT       (5000)
 #define PERIPHERAL_TIMEOUT_MS_PAIRING       (5000)
 
-#define DEBUG 0
+#define DEBUG 2
 
 #if DEBUG
 #include <pbio/debug.h>
@@ -338,12 +344,21 @@ static bool pbdrv_bluetooth_btstack_ble_supported(void) {
     return chipset_info && chipset_info->supports_ble;
 }
 
+void pbdrv_bluetooth_classic_init(void);
+void pbdrv_bluetooth_btstack_handle_classic_security_packet(uint8_t *packet, uint16_t size);
+
 // currently, this function just handles the Powered Up handset control.
 static void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packet, uint16_t size) {
 
     // Platform-specific platform handler has priority.
     pbdrv_bluetooth_btstack_platform_packet_handler(packet_type, channel, packet, size);
 
+    if (packet_type == HCI_EVENT_PACKET) {
+        // We have a separate handler for classic security packets,
+        // which we don't mix in here for clarity's sake.
+        pbdrv_bluetooth_btstack_handle_classic_security_packet(packet, size);
+    }
+
     switch (hci_event_packet_get_type(packet)) {
         case HCI_EVENT_COMMAND_COMPLETE: {
             const uint8_t *rp = hci_event_command_complete_get_return_parameters(packet);
@@ -1172,6 +1187,18 @@ pbio_error_t pbdrv_bluetooth_stop_observing_func(pbio_os_state_t *state, void *c
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }
 
+void pbdrv_bluetooth_local_address(bdaddr_t addr) {
+    gap_local_bd_addr(addr);
+}
+
+const char *pbdrv_bluetooth_bdaddr_to_str(const bdaddr_t addr) {
+    return bd_addr_to_str(addr);
+}
+
+bool pbdrv_bluetooth_str_to_bdaddr(const char *str, bdaddr_t addr) {
+    return sscanf_bd_addr(str, addr) == 1;
+}
+
 static void pbdrv_bluetooth_inquiry_unpack_scan_event(uint8_t *event_packet, pbdrv_bluetooth_inquiry_result_t *result) {
 
     gap_event_inquiry_result_get_bd_addr(event_packet, result->bdaddr);
@@ -1426,6 +1453,7 @@ void pbdrv_bluetooth_init_hci(void) {
     hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_INFO, true);
     hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_ERROR, true);
     hci_dump_enable_log_level(HCI_DUMP_LOG_LEVEL_DEBUG, true);
+    hci_dump_enable_packet_log(false);
     #endif
 
     static btstack_packet_callback_registration_t hci_event_callback_registration;
@@ -1471,6 +1499,8 @@ void pbdrv_bluetooth_init_hci(void) {
     // GATT Client setup
     gatt_client_init();
 
+    pbdrv_bluetooth_classic_init();
+
     #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_NUM_LE_HOSTS
     // setup ATT server
     att_server_init(profile_data, att_read_callback, NULL);
@@ -1488,7 +1518,7 @@ void pbdrv_bluetooth_init_hci(void) {
     (void)pybricks_configured;
     (void)nordic_spp_packet_handler;
     (void)sm_packet_handler;
-    #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
+    #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_NUM_LE_HOSTS
 
     bluetooth_thread_err = PBIO_ERROR_AGAIN;
     bluetooth_thread_state = 0;

lib/pbio/drv/bluetooth/bluetooth_stm32_bluenrg.c

@@ -1357,4 +1357,8 @@ void pbdrv_bluetooth_init_hci(void) {
     pbio_os_process_start(&pbdrv_bluetooth_spi_process, pbdrv_bluetooth_spi_process_thread, NULL);
 }
 
+void pbdrv_bluetooth_rfcomm_disconnect_all(void) {
+    // RFCOMM not supported on our STM32 platforms.
+}
+
 #endif // PBDRV_CONFIG_BLUETOOTH_STM32_BLUENRG

lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c

@@ -2066,4 +2066,8 @@ void pbdrv_bluetooth_init_hci(void) {
     pbio_os_process_start(&pbdrv_bluetooth_spi_process, pbdrv_bluetooth_spi_process_thread, NULL);
 }
 
+void pbdrv_bluetooth_rfcomm_disconnect_all(void) {
+    // RFCOMM not supported on STM32 platforms currently.
+}
+
 #endif // PBDRV_CONFIG_BLUETOOTH_STM32_CC2640