Diff: telemetry.cpp

Revision:

3:37d2d127bc83

Parent:

2:b7a3ac7bcec8

Child:

4:8e3de1a314e1

--- a/telemetry.cpp	Thu Feb 11 08:10:08 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,313 +0,0 @@
-#include "telemetry.hpp"
-#include "framing.hpp"
-#include "crc16.hpp"
-#include "string.h"
-
-static TM_state * statePtr;
-static TM_transport * transportPtr;
-static uint8_t incomingBuffer[INCOMING_BUFFER_SIZE];
-static uint8_t outgoingBuffer[OUTGOING_BUFFER_SIZE];
-static char topicBuffer[TOPIC_BUFFER_SIZE];
-
-static void (*userCallback)(TM_state * s, TM_msg * m);
-
-uint16_t header(TM_type type);
-uint16_t topic(const char * topic, uint16_t crc);
-uint16_t payload(const void * payload, uint32_t size, uint16_t crc);
-void frame(const char * t, TM_type type, const void * data, uint32_t datasize);
-void send(void * buf, uint32_t size);
-void on_incoming_frame(uint8_t * storage, uint32_t size);
-void on_incoming_error(int32_t errCode);
-void emptyCallback(TM_state * s, TM_msg * m);
-
-void init_telemetry(TM_state* s, TM_transport * t)
-{
-  statePtr = s;
-  transportPtr = t;
-  userCallback = emptyCallback;
-
-  // Setup framing
-  initialize_framing();
-  incoming_storage(incomingBuffer,INCOMING_BUFFER_SIZE);
-  outgoing_storage(outgoingBuffer, OUTGOING_BUFFER_SIZE);
-  set_on_incoming_frame(on_incoming_frame);
-  set_on_incoming_error(on_incoming_error);
-}
-
-uint32_t emplace(TM_msg* m, char * buf, size_t bufSize)
-{
-  if(m->type != TM_string)
-    return 0;
-
-  uint32_t size = m->size;
-
-  if(bufSize - 1 < size)
-    size = bufSize - 1;
-
-  strncpy(buf, (char*)(m->buffer), size);
-  buf[size] = '\0';
-
-  return 1;
-}
-
-uint32_t emplace_u8(TM_msg* m, uint8_t* dst)
-{
-  if(m->type != TM_uint8)
-    return 0;
-
-  memcpy(dst,m->buffer,1);
-  return 1;
-}
-
-uint32_t emplace_u16(TM_msg* m, uint16_t* dst)
-{
-  if(m->type != TM_uint16)
-    return 0;
-
-  memcpy(dst,m->buffer,2);
-  return 1;
-}
-
-uint32_t emplace_u32(TM_msg* m, uint32_t* dst)
-{
-  if(m->type != TM_uint32)
-    return 0;
-
-  memcpy(dst,m->buffer,4);
-  return 1;
-}
-
-uint32_t emplace_i8(TM_msg* m, int8_t* dst)
-{
-  if(m->type != TM_int8)
-    return 0;
-
-  memcpy(dst,m->buffer,1);
-  return 1;
-}
-
-uint32_t emplace_i16(TM_msg* m, int16_t* dst)
-{
-  if(m->type != TM_int16)
-    return 0;
-
-  memcpy(dst,m->buffer,2);
-  return 1;
-}
-
-uint32_t emplace_i32(TM_msg* m, int32_t* dst)
-{
-  if(m->type != TM_int32)
-    return 0;
-
-  memcpy(dst,m->buffer,4);
-  return 1;
-}
-
-uint32_t emplace_f32(TM_msg* m, float* dst)
-{
-  if(m->type != TM_float32)
-    return 0;
-
-  memcpy(dst,m->buffer,4);
-  return 1;
-}
-
-void publish(const char * t, char * msg)
-{
-  frame(t,TM_string,msg,strlen(msg));
-}
-
-void publish_u8(const char * t, uint8_t  msg)
-{
-  void * ptr = (void *)(&msg);
-  frame(t,TM_uint8,ptr,1);
-}
-
-void publish_u16(const char * t, uint16_t msg)
-{
-  void * ptr = (void *)(&msg);
-  frame(t,TM_uint16,ptr,2);
-}
-
-void publish_u32(const char * t, uint32_t msg)
-{
-  void * ptr = (void *)(&msg);
-  frame(t,TM_uint32,ptr,4);
-}
-
-void publish_i8(const char * t, int8_t   msg)
-{
-  void * ptr = (void *)(&msg);
-  frame(t,TM_int8,ptr,1);
-}
-
-void publish_i16(const char * t, int16_t  msg)
-{
-  void * ptr = (void *)(&msg);
-  frame(t,TM_int16,ptr,2);
-}
-
-void publish_i32(const char * t, int32_t  msg)
-{
-  void * ptr = (void *)(&msg);
-  frame(t,TM_int32,ptr,4);
-}
-
-void publish_f32(const char * t, float    msg)
-{
-  void * ptr = (void *)(&msg);
-  frame(t,TM_float32,ptr,4);
-}
-
-void subscribe(void (*callback)(TM_state* s, TM_msg* m))
-{
-  userCallback = callback;
-}
-
-void update_telemetry(float elapsedTime)
-{
-  uint32_t amount = transportPtr->readable();
-  for(uint32_t i = 0 ; i < amount ; i++)
-  {
-    uint8_t c;
-    transportPtr->read(&c,1);
-    feed(c);
-  }
-}
-
-uint16_t header(TM_type type)
-{
-  // header data
-  uint16_t h = type;
-  uint8_t * ptr = (uint8_t*)(&h);
-
-  // add data to frame
-  append2(h);
-
-  // compute crc and return it
-  return crc16(ptr, 2);
-}
-
-uint16_t topic(const char * t, uint16_t crc)
-{
-  const uint8_t * ptr = (uint8_t*)t;
-  for(uint32_t i = 0 ; i < strlen(t) ; i++)
-  {
-    // TODO : Replace with Huffman compression
-    append(ptr[i]);
-    crc = crc16_recursive(ptr[i], crc);
-  }
-  // Add NULL character
-  append(0);
-  return crc16_recursive(0,crc);
-}
-
-uint16_t payload(const void * p, uint32_t size, uint16_t crc)
-{
-  const uint8_t * ptr = (uint8_t*)p;
-  for(uint32_t i = 0 ; i < size ; i++)
-  {
-    append(ptr[i]);
-    crc = crc16_recursive(ptr[i], crc);
-  }
-  return crc;
-}
-
-void frame(const char * t, TM_type type, const void * data, uint32_t datasize)
-{
-  // start new frame
-  begin();
-
-  // header
-  uint16_t crc = header(type);
-
-  // topic
-  crc = topic(t, crc);
-
-  // payload
-  crc = payload(data, datasize, crc);
-
-  // crc
-  append2(crc);
-
-  // complete frame
-  uint32_t bytesAmount = end();
-
-  // send data
-  send(outgoingBuffer, bytesAmount);
-}
-
-void send(void * buf, uint32_t size)
-{
-  if(transportPtr->writeable() && size > 0)
-  {
-    transportPtr->write(outgoingBuffer, size);
-  }
-}
-
-void on_incoming_frame(uint8_t * storage, uint32_t size)
-{
-  if(size < 2)
-    return;
-  // Read header
-  uint16_t head;
-  uint8_t * ptr;
-  ptr = (uint8_t*)(&head);
-  memcpy(ptr,storage,2);
-
-  // Read topic
-  uint32_t cursor = 2;
-  uint32_t topicSize = 0;
-  while(cursor < size)
-  {
-    if(storage[cursor] == 0)
-      break;
-    topicSize++;
-    cursor++;
-  }
-
-  if(topicSize == 0)
-    return;
-
-  // payload = total - header - topic - /0 - crc
-  int32_t payloadSize = size - 2 - topicSize - 1 - 2;
-
-  if(payloadSize <= 0)
-    return;
-
-  // Check crc
-  uint16_t expected_crc = crc16(storage, size-2);
-  uint16_t rcv_crc;
-  ptr = (uint8_t*)(&rcv_crc);
-  memcpy(ptr,storage+size-2,2);
-
-  if(expected_crc != rcv_crc)
-    return;
-
-  // Store topic
-  char * t = (char*)(storage);
-  strcpy(topicBuffer, t + 2);
-
-  // ptr to beginning of payload
-  ptr = (uint8_t*)(storage) + (uint32_t)(2 + topicSize + 1);
-
-  TM_msg packet;
-  packet.topic = topicBuffer;
-  packet.type = (TM_type)head;
-  packet.buffer = (void *)(ptr);
-  packet.size = (uint32_t)payloadSize;
-
-  // Call callback
-  userCallback(statePtr,&packet);
-}
-
-void on_incoming_error(int32_t errCode)
-{
-  // TODO : Error management
-}
-
-void emptyCallback(TM_state * s, TM_msg * m)
-{
-  // Called only if the user forgot to subscribe a callback
-}