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command: Refactor message block generation 

Separate out the buffer management, message encoding, and message
framing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-06-15 13:54:14 -04:00
parent 88f4c38dca
commit 1c3cbe9456
1 changed files with 84 additions and 70 deletions
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72
src/command.c
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@ -104,27 +104,16 @@ error:
shutdown("Command parser error"); shutdown("Command parser error");
} }
static uint8_t in_sendf; // Encode a message
static uint8_t
// Encode a message and transmit it command_encodef(char *buf, uint8_t buf_len
void , const struct command_encoder *ce, va_list args)
_sendf(const struct command_encoder *ce, ...)
{ {
if (readb(&in_sendf)) if (buf_len <= MESSAGE_MIN)
// This sendf call was made from an irq handler while the main // Ack/Nak message
// code was already in sendf - just drop this sendf request. return buf_len;
return;
writeb(&in_sendf, 1);
uint8_t max_size = READP(ce->max_size);
char *buf = console_get_output(max_size + MESSAGE_MIN);
if (!buf)
goto done;
char *p = &buf[MESSAGE_HEADER_SIZE]; char *p = &buf[MESSAGE_HEADER_SIZE];
if (max_size) { char *maxend = &p[buf_len - MESSAGE_MIN];
char *maxend = &p[max_size];
va_list args;
va_start(args, ce);
uint8_t num_params = READP(ce->num_params); uint8_t num_params = READP(ce->num_params);
const uint8_t *param_types = READP(ce->param_types); const uint8_t *param_types = READP(ce->param_types);
*p++ = READP(ce->msg_id); *p++ = READP(ce->msg_id);
@ -174,23 +163,48 @@ _sendf(const struct command_encoder *ce, ...)
goto error; goto error;
} }
} }
va_end(args); return p - buf + MESSAGE_TRAILER_SIZE;
} error:
shutdown("Message encode error");
}
// Send message to serial port // Add header and trailer bytes to a message block
uint8_t msglen = p+MESSAGE_TRAILER_SIZE - buf; static void
command_add_frame(char *buf, uint8_t msglen)
{
buf[MESSAGE_POS_LEN] = msglen; buf[MESSAGE_POS_LEN] = msglen;
buf[MESSAGE_POS_SEQ] = next_sequence; buf[MESSAGE_POS_SEQ] = next_sequence;
uint16_t crc = crc16_ccitt(buf, p-buf); uint16_t crc = crc16_ccitt(buf, msglen - MESSAGE_TRAILER_SIZE);
*p++ = crc>>8; buf[msglen - MESSAGE_TRAILER_CRC + 0] = crc >> 8;
*p++ = crc; buf[msglen - MESSAGE_TRAILER_CRC + 1] = crc;
*p++ = MESSAGE_SYNC; buf[msglen - MESSAGE_TRAILER_SYNC] = MESSAGE_SYNC;
}
static uint8_t in_sendf;
// Encode and transmit a "response" message
void
_sendf(const struct command_encoder *ce, ...)
{
if (readb(&in_sendf))
// This sendf call was made from an irq handler while the main
// code was already in sendf - just drop this sendf request.
return;
writeb(&in_sendf, 1);
uint8_t buf_len = READP(ce->max_size) + MESSAGE_MIN;
char *buf = console_get_output(buf_len);
if (!buf)
goto done;
va_list args;
va_start(args, ce);
uint8_t msglen = command_encodef(buf, buf_len, ce, args);
va_end(args);
command_add_frame(buf, msglen);
console_push_output(msglen); console_push_output(msglen);
done: done:
writeb(&in_sendf, 0); writeb(&in_sendf, 0);
return; return;
error:
shutdown("Message encode error");
} }
void void