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preliminary (untested) port of new protocol to python

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This commit is contained in:
Samuel Sadok
2017-10-16 22:14:35 +02:00
parent db411bfa50
commit a8b5cef1d0
4 changed files with 191 additions and 14 deletions
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Firmware/MotorControl/protocol.cpp
+7 -5
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@@ -108,7 +108,7 @@ int StreamToPacketConverter::write_bytes(const uint8_t *buffer, size_t length) {
} else if (header_index_ == 3 && calc_crc8(CRC8_INIT, header_buffer_, 3)) {
header_index_ = 0;
} else if (header_index_ == 3) {
packet_length_ = header_buffer_[1] + 2; // expect 2 more bytes than indicated (CRC16)
packet_length_ = header_buffer_[1];
}
} else if (packet_index_ < sizeof(packet_buffer_)) {
// Process payload byte
@@ -117,7 +117,7 @@ int StreamToPacketConverter::write_bytes(const uint8_t *buffer, size_t length) {
// If both header and packet are fully received, hand it on to the packet processor
if (header_index_ == 3 && packet_index_ == packet_length_) {
result |= output_.write_packet(packet_buffer_, packet_length_ - 2);
result |= output_.write_packet(packet_buffer_, packet_length_);
header_index_ = packet_index_ = packet_length_ = 0;
}
buffer++;
@@ -209,6 +209,8 @@ int BidirectionalPacketBasedChannel::write_packet(const uint8_t* buffer, size_t
uint16_t seq_no = read_le<uint16_t>(&buffer, &length);
if (seq_no & 0x8000) {
if (calc_crc16(crc16, crc16_termination, sizeof(crc16_termination)))
return -1;
// TODO: ack handling
} else {
// TODO: think about some kind of ordering guarantees
@@ -236,14 +238,14 @@ int BidirectionalPacketBasedChannel::write_packet(const uint8_t* buffer, size_t
uint16_t expected_response_length = read_le<uint16_t>(&buffer, &length);
// Let the endpoint do the processing
size_t requested_size = expected_response_length < (sizeof(tx_buf_) - 2) ? expected_response_length : (sizeof(tx_buf_) - 2);
size_t requested_size = expected_response_length < (sizeof(tx_buf_) - 4) ? expected_response_length : (sizeof(tx_buf_) - 4);
size_t remaining_size = requested_size;
endpoint->handle(buffer, length, tx_buf_ + 2, &remaining_size);
endpoint->handle(buffer, length - 2, tx_buf_ + 2, &remaining_size);
// Send response
if (expect_response) {
write_le<uint16_t>(seq_no | 0x8000, tx_buf_);
output_.write_packet(tx_buf_, (requested_size - remaining_size) + 2);
output_.write_packet(tx_buf_, (requested_size - remaining_size) + 4);
}
}