simon
43a85ce697
Centralize command dispatch over a FreeRTOS queue so UART and future ESP-NOW transports can register handlers; implement the protobuf VERSION command with framed nanopb responses including build git hash. Co-authored-by: Cursor <cursoragent@cursor.com>
81 lines
1.9 KiB
C
81 lines
1.9 KiB
C
#include "cmd_handler.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/idf_additions.h"
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#include <stdlib.h>
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#include <string.h>
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#define MAX_HANDLERS 32
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static const char *TAG = "[CMDH]";
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static QueueHandle_t cmd_queue;
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static msg_binding_t handlers[MAX_HANDLERS];
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static int handler_count;
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void init_cmdHandler(QueueHandle_t queue) {
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cmd_queue = queue;
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xTaskCreate(vCmdDispatcherTask, "cmd_dispatch", 4096, NULL, 5, NULL);
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}
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esp_err_t msg_register_handler(uint16_t id, msg_callback_t cb) {
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if (cb == NULL) {
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return ESP_ERR_INVALID_ARG;
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}
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for (int i = 0; i < handler_count; i++) {
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if (handlers[i].msg_id == id) {
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handlers[i].callback = cb;
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return ESP_OK;
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}
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}
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if (handler_count >= MAX_HANDLERS) {
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return ESP_ERR_NO_MEM;
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}
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handlers[handler_count].msg_id = id;
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handlers[handler_count].callback = cb;
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handler_count++;
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return ESP_OK;
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}
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esp_err_t msg_post(uint16_t id, const uint8_t *data, size_t len) {
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if (cmd_queue == NULL) {
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return ESP_ERR_INVALID_STATE;
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}
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generic_msg_t msg = {.msg_id = id, .len = len, .payload = NULL};
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if (len > 0) {
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msg.payload = malloc(len);
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if (msg.payload == NULL) {
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return ESP_ERR_NO_MEM;
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}
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memcpy(msg.payload, data, len);
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}
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if (xQueueSend(cmd_queue, &msg, pdMS_TO_TICKS(100)) != pdPASS) {
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free(msg.payload);
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return ESP_ERR_TIMEOUT;
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}
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return ESP_OK;
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}
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void vCmdDispatcherTask(void *param) {
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generic_msg_t msg;
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while (1) {
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if (xQueueReceive(cmd_queue, &msg, portMAX_DELAY) == pdPASS) {
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bool handled = false;
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for (int i = 0; i < handler_count; i++) {
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if (handlers[i].msg_id == msg.msg_id) {
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handlers[i].callback(msg.payload, msg.len);
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handled = true;
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break;
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}
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}
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if (!handled) {
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ESP_LOGW(TAG, "no handler for msg_id 0x%04x (%u bytes)", msg.msg_id,
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(unsigned)msg.len);
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}
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free(msg.payload);
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}
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}
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}
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