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fix compatibility with new fibre-cpp

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This commit is contained in:
Samuel Sadok
2021-01-08 11:40:36 +01:00
parent f14a79395b
commit 2caf0d3c0e
11 changed files with 51 additions and 48 deletions
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Firmware/communication/interface_usb.cpp
+20 -21
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@@ -4,8 +4,7 @@
#include <MotorControl/utils.hpp>
#include <fibre/protocol.hpp>
#include <fibre/../../async_stream.hpp>
#include <fibre/async_stream.hpp>
#include <fibre/../../legacy_protocol.hpp>
#include <usbd_cdc.h>
#include <usbd_cdc_if.h>
@@ -25,13 +24,13 @@ class Stm32UsbTxStream : public AsyncStreamSink {
public:
Stm32UsbTxStream(uint8_t endpoint_num) : endpoint_num_(endpoint_num) {}
void start_write(cbufptr_t buffer, TransferHandle* handle, Completer<WriteResult>& completer) final;
void start_write(cbufptr_t buffer, TransferHandle* handle, Callback<void, WriteResult> completer) final;
void cancel_write(TransferHandle transfer_handle) final;
void did_finish();
const uint8_t endpoint_num_;
bool connected_ = false;
Completer<WriteResult>* completer_ = nullptr;
Callback<void, WriteResult> completer_;
const uint8_t* tx_end_ = nullptr;
};
@@ -39,13 +38,13 @@ class Stm32UsbRxStream : public AsyncStreamSource {
public:
Stm32UsbRxStream(uint8_t endpoint_num) : endpoint_num_(endpoint_num) {}
void start_read(bufptr_t buffer, TransferHandle* handle, Completer<ReadResult>& completer) final;
void start_read(bufptr_t buffer, TransferHandle* handle, Callback<void, ReadResult> completer) final;
void cancel_read(TransferHandle transfer_handle) final;
void did_finish();
const uint8_t endpoint_num_;
bool connected_ = false;
Completer<ReadResult>* completer_ = nullptr;
Callback<void, ReadResult> completer_;
uint8_t* rx_end_ = nullptr;
};
@@ -53,13 +52,13 @@ public:
using namespace fibre;
void Stm32UsbTxStream::start_write(cbufptr_t buffer, TransferHandle* handle, Completer<WriteResult>& completer) {
void Stm32UsbTxStream::start_write(cbufptr_t buffer, TransferHandle* handle, Callback<void, WriteResult> completer) {
if (handle) {
*handle = reinterpret_cast<TransferHandle>(this);
}
if (!connected_) {
completer.complete({kStreamClosed, buffer.begin()});
completer.invoke({kStreamClosed, buffer.begin()});
return;
}
@@ -70,16 +69,16 @@ void Stm32UsbTxStream::start_write(cbufptr_t buffer, TransferHandle* handle, Com
// must ensure that all packets are < 64 bytes, otherwise the host will wait
// for more.
if (buffer.size() >= USB_TX_DATA_SIZE) {
completer.complete({kStreamError, buffer.begin()});
completer.invoke({kStreamError, buffer.begin()});
return;
}
if (completer_ || tx_end_) {
completer.complete({kStreamError, buffer.begin()});
completer.invoke({kStreamError, buffer.begin()});
return;
}
completer_ = &completer;
completer_ = completer;
tx_end_ = buffer.end();
if (
@@ -92,7 +91,7 @@ void Stm32UsbTxStream::start_write(cbufptr_t buffer, TransferHandle* handle, Com
#endif
(const_cast<uint8_t*>(buffer.begin()), buffer.size(), endpoint_num_) != USBD_OK) {
tx_end_ = nullptr;
safe_complete(completer_, {kStreamError, buffer.begin()});
completer_.invoke_and_clear({kStreamError, buffer.begin()});
}
}
@@ -103,30 +102,30 @@ void Stm32UsbTxStream::cancel_write(TransferHandle transfer_handle) {
void Stm32UsbTxStream::did_finish() {
const uint8_t* tx_end = tx_end_;
tx_end_ = nullptr;
safe_complete(completer_, {connected_ ? kStreamOk : kStreamClosed, tx_end});
completer_.invoke_and_clear({connected_ ? kStreamOk : kStreamClosed, tx_end});
}
void Stm32UsbRxStream::start_read(bufptr_t buffer, TransferHandle* handle, Completer<ReadResult>& completer) {
void Stm32UsbRxStream::start_read(bufptr_t buffer, TransferHandle* handle, Callback<void, ReadResult> completer) {
if (handle) {
*handle = reinterpret_cast<TransferHandle>(this);
}
if (!connected_) {
completer.complete({kStreamClosed, buffer.begin()});
completer.invoke({kStreamClosed, buffer.begin()});
return;
}
if (completer_ || rx_end_) {
completer.complete({kStreamError, buffer.begin()});
completer.invoke({kStreamError, buffer.begin()});
return;
}
completer_ = &completer;
completer_ = completer;
rx_end_ = buffer.begin(); // the pointer is updated at the end of the transfer
if (USBD_CDC_ReceivePacket(&usb_dev_handle, buffer.begin(), buffer.size(), endpoint_num_) != USBD_OK) {
rx_end_ = nullptr;
safe_complete(completer_, {kStreamError, buffer.begin()});
completer_.invoke_and_clear({kStreamError, buffer.begin()});
return;
}
}
@@ -138,7 +137,7 @@ void Stm32UsbRxStream::cancel_read(TransferHandle transfer_handle) {
void Stm32UsbRxStream::did_finish() {
uint8_t* rx_end = rx_end_;
rx_end_ = nullptr;
safe_complete(completer_, {connected_ ? kStreamOk : kStreamClosed, rx_end});
completer_.invoke_and_clear({connected_ ? kStreamOk : kStreamClosed, rx_end});
}
Stm32UsbTxStream usb_cdc_tx_stream(CDC_IN_EP);
@@ -174,10 +173,10 @@ static void usb_server_thread(void * ctx) {
usb_cdc_rx_stream.connected_ = true;
usb_native_rx_stream.connected_ = true;
fibre_over_usb.start(Completer<LegacyProtocolPacketBased*, StreamStatus>::get_dummy());
fibre_over_usb.start({});
if (odrv.config_.usb_cdc_protocol == ODrive::STREAM_PROTOCOL_TYPE_FIBRE) {
fibre_over_cdc.start(Completer<LegacyProtocolPacketBased*, StreamStatus>::get_dummy());
fibre_over_cdc.start({});
} else if (odrv.config_.usb_cdc_protocol == ODrive::STREAM_PROTOCOL_TYPE_ASCII
|| odrv.config_.usb_cdc_protocol == ODrive::STREAM_PROTOCOL_TYPE_ASCII_AND_STDOUT) {
ascii_over_cdc.start();