Merge pull request #76 from cogip/67-sys-uartpb-use-a-unique-id-to-id…

…entify-each-protobuf-message sys: uartpb: use a unique ID to identify each Protobuf message
cogip · Jul 29, 2022 · b07dff0 · b07dff0
2 parents bf45d8e + 4bac8d2
commit b07dff0
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Showing 33 changed files with 342 additions and 544 deletions.
diff --git a/Makefile.include b/Makefile.include
@@ -22,6 +22,9 @@ FEATURES_REQUIRED += cpp
 # Required modules
 USEMODULE += cpp11-compat
 
+# Required packages
+USEPKG += etl
+
 define remote-flash-recipe
 	scp $(BINFILE) $(REMOTE_USER)@$(REMOTE_TARGET):/tmp/fw.bin
 	$(GDB) -nx -batch -ex "target extended-remote $(REMOTE_TARGET):3333" -ex "monitor reset halt" -ex "monitor flash write_image erase /tmp/fw.bin 0x08000000" -ex "monitor reset run"
@@ -77,6 +80,7 @@ tmp_cxxexflags := $(CXXEXFLAGS)
 CXXEXFLAGS = $(filter-out -std=%, $(tmp_cxxexflags))
 CXXEXFLAGS += -std=c++17
 CXXEXFLAGS += -Wno-pedantic
+CXXEXFLAGS += -Wno-cast-align
 
 .PHONY: world
 world: all

diff --git a/applications/app_test/PB_GameInputMessage.proto b/applications/app_test/PB_GameInputMessage.proto
diff --git a/applications/app_test/PB_GameOutputMessage.proto b/applications/app_test/PB_GameOutputMessage.proto
diff --git a/applications/app_test/PB_Score.proto b/applications/app_test/PB_Score.proto
@@ -0,0 +1,5 @@
+syntax = "proto3";
+
+message PB_Score {
+    int32 value = 1;
+}
diff --git a/applications/app_test/app_samples.cpp b/applications/app_test/app_samples.cpp
@@ -1,7 +1,6 @@
 // Firmware includes
 #include "platform.hpp"
 #include "trigonometry.h"
-#include "uartpb_config.hpp"
 
 #include "app_camp.hpp"
 #include "app_samples.hpp"
@@ -16,9 +15,11 @@ namespace cogip {
 
 namespace app {
 
-static PB_OutputMessage _output_message;
 static DetectedSamples _detected_samples;
 
+constexpr cogip::uartpb::uuid_t sample_request_uuid = 3781855956;
+constexpr cogip::uartpb::uuid_t sample_response_uuid = 1538397045;
+
 static std::map<CampColor, SamplesMap *> _samples;
 
 typedef struct {
@@ -57,6 +58,8 @@ void app_samples_init()
         return;
     }
 
+    pf_get_uartpb()->register_message_handler(sample_response_uuid, app_samples_process);
+
     event_queue_init_detached(&_sample_queue);
     _sample_event.super.list_node.next = nullptr;
 
@@ -170,9 +173,7 @@ const DetectedSamples & app_samples_detect(void)
 {
     event_queue_claim(&_sample_queue);
     cogip::uartpb::UartProtobuf *uartpb = pf_get_uartpb();
-    _output_message.clear();
-    _output_message.set_req_samples(true);
-    uartpb->send_message(_output_message);
+    uartpb->send_message(sample_request_uuid);
     sample_event_t *event = (sample_event_t *)event_wait(&_sample_queue);
 
     auto & samples = event->pb_message.get_samples();
@@ -203,9 +204,14 @@ const DetectedSamples & app_samples_detect(void)
     return _detected_samples;
 }
 
-void app_samples_process(const PB_Samples<APP_SAMPLES_MAX_DETECTED> &samples)
+void app_samples_process(cogip::uartpb::ReadBuffer *buffer)
 {
-    _sample_event.pb_message = samples;
+    EmbeddedProto::Error error = _sample_event.pb_message.deserialize(*buffer);
+    if (error != EmbeddedProto::Error::NO_ERRORS) {
+        std::cout << "Samples: Protobuf deserialization error: " << static_cast<int>(error) << std::endl;
+        return;
+    }
+
     event_post(&_sample_queue, (event_t *)&_sample_event);
 }
 

diff --git a/applications/app_test/app_uartpb.cpp b/applications/app_test/app_uartpb.cpp
diff --git a/applications/app_test/include/app.hpp b/applications/app_test/include/app.hpp
@@ -8,7 +8,6 @@
 #include "app_obstacles.hpp"
 #include "app_samples.hpp"
 #include "app_shell.hpp"
-#include "app_uartpb.hpp"
 
 /*
  * Machine parameters

diff --git a/applications/app_test/include/app_samples.hpp b/applications/app_test/include/app_samples.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "obstacles/Circle.hpp"
+#include "uartpb/ReadBuffer.hpp"
 
 #include "PB_Samples.hpp"
 
@@ -117,7 +118,7 @@ void app_samples_init();
 
 const DetectedSamples & app_samples_detect(void);
 
-void app_samples_process(const PB_Samples<APP_SAMPLES_MAX_DETECTED> &samples);
+void app_samples_process(cogip::uartpb::ReadBuffer *buffer);
 
 }; // namespace app
 

diff --git a/applications/app_test/include/app_uartpb.hpp b/applications/app_test/include/app_uartpb.hpp
diff --git a/applications/app_test/include/uartpb_config.hpp b/applications/app_test/include/uartpb_config.hpp
diff --git a/applications/cup2022/PB_GameInputMessage.proto b/applications/cup2022/PB_GameInputMessage.proto
diff --git a/applications/cup2022/PB_GameOutputMessage.proto b/applications/cup2022/PB_GameOutputMessage.proto
diff --git a/applications/cup2022/app_samples.cpp b/applications/cup2022/app_samples.cpp
@@ -1,7 +1,6 @@
 // Firmware includes
 #include "platform.hpp"
 #include "trigonometry.h"
-#include "uartpb_config.hpp"
 
 #include "app_camp.hpp"
 #include "app_samples.hpp"
@@ -16,9 +15,11 @@ namespace cogip {
 
 namespace app {
 
-static PB_OutputMessage _output_message;
 static DetectedSamples _detected_samples;
 
+constexpr cogip::uartpb::uuid_t sample_request_uuid = 3781855956;
+constexpr cogip::uartpb::uuid_t sample_response_uuid = 1538397045;
+
 static std::map<CampColor, SamplesMap *> _samples;
 
 typedef struct {
@@ -57,6 +58,8 @@ void app_samples_init()
         return;
     }
 
+    pf_get_uartpb()->register_message_handler(sample_response_uuid, app_samples_process);
+
     event_queue_init_detached(&_sample_queue);
     _sample_event.super.list_node.next = nullptr;
 
@@ -170,9 +173,7 @@ const DetectedSamples & app_samples_detect(void)
 {
     event_queue_claim(&_sample_queue);
     cogip::uartpb::UartProtobuf *uartpb = pf_get_uartpb();
-    _output_message.clear();
-    _output_message.set_req_samples(true);
-    uartpb->send_message(_output_message);
+    uartpb->send_message(sample_request_uuid);
     sample_event_t *event = (sample_event_t *)event_wait(&_sample_queue);
 
     auto & samples = event->pb_message.get_samples();
@@ -203,9 +204,14 @@ const DetectedSamples & app_samples_detect(void)
     return _detected_samples;
 }
 
-void app_samples_process(const PB_Samples<APP_SAMPLES_MAX_DETECTED> &samples)
+void app_samples_process(cogip::uartpb::ReadBuffer *buffer)
 {
-    _sample_event.pb_message = samples;
+    EmbeddedProto::Error error = _sample_event.pb_message.deserialize(*buffer);
+    if (error != EmbeddedProto::Error::NO_ERRORS) {
+        std::cout << "Samples: Protobuf deserialization error: " << static_cast<int>(error) << std::endl;
+        return;
+    }
+
     event_post(&_sample_queue, (event_t *)&_sample_event);
 }