powerpods/goTool/uart/frame.go

package uart

import (
	"errors"
	"fmt"
	"io"
	"time"
)

const (
	StartMarker = 0xAA
	StopMarker  = 0xCC
	// Must match main/uart.h MAX_PAYLOAD_SIZE.
	MaxPayload = 1024
	// AA | len_lo | len_hi | payload | xor | CC
	FrameOverhead = 5
)

var (
	ErrInvalidFrame = errors.New("invalid uart frame")
	ErrTimeout      = errors.New("read timeout")
)

// EncodeFrame builds a framed packet: 0xAA len_lo len_hi payload xor(payload) 0xCC.
func EncodeFrame(payload []byte) ([]byte, error) {
	if len(payload) == 0 || len(payload) > MaxPayload {
		return nil, fmt.Errorf("payload length %d out of range 1..%d", len(payload), MaxPayload)
	}

	n := len(payload)
	frame := make([]byte, 0, FrameOverhead+n)
	frame = append(frame, StartMarker, byte(n&0xff), byte((n>>8)&0xff))
	var checksum byte
	for _, b := range payload {
		frame = append(frame, b)
		checksum ^= b
	}
	frame = append(frame, checksum, StopMarker)
	return frame, nil
}

type Parser struct {
	state    int
	len      int
	lenLo    byte
	payload  []byte
	index    int
	checksum byte
}

const (
	stateStart = iota
	stateLenLo
	stateLenHi
	stateData
	stateChecksum
	stateStop
)

func NewParser() *Parser {
	return &Parser{state: stateStart}
}

// Feed ingests one byte. ok is true when a complete frame is ready.
func (p *Parser) Feed(b byte) (payload []byte, ok bool, err error) {
	switch p.state {
	case stateStart:
		if b == StartMarker {
			p.index = 0
			p.checksum = 0
			p.state = stateLenLo
		}
	case stateLenLo:
		p.lenLo = b
		p.state = stateLenHi
	case stateLenHi:
		n := int(p.lenLo) | (int(b) << 8)
		if n == 0 || n > MaxPayload {
			p.state = stateStart
		} else {
			p.len = n
			p.payload = make([]byte, p.len)
			p.index = 0
			p.state = stateData
		}
	case stateData:
		p.payload[p.index] = b
		p.checksum ^= b
		p.index++
		if p.index >= p.len {
			p.state = stateChecksum
		}
	case stateChecksum:
		if b == p.checksum {
			p.state = stateStop
		} else {
			p.state = stateStart
			return nil, false, ErrInvalidFrame
		}
	case stateStop:
		p.state = stateStart
		if b == StopMarker {
			out := make([]byte, len(p.payload))
			copy(out, p.payload)
			return out, true, nil
		}
	}
	return nil, false, nil
}

// ReadFrame reads bytes from r until one full frame is parsed or an error occurs.
// maxWait bounds total wait time; zero means no limit (serial read timeouts retry forever).
func ReadFrame(r io.Reader, buf []byte, maxWait time.Duration) ([]byte, error) {
	if buf == nil {
		buf = make([]byte, 1024)
	}
	parser := NewParser()

	var deadline time.Time
	if maxWait > 0 {
		deadline = time.Now().Add(maxWait)
	}

	for {
		if !deadline.IsZero() && !time.Now().Before(deadline) {
			return nil, ErrTimeout
		}
		n, err := r.Read(buf)
		if n > 0 {
			for i := 0; i < n; i++ {
				payload, ok, perr := parser.Feed(buf[i])
				if perr != nil {
					return nil, perr
				}
				if ok {
					return payload, nil
				}
			}
		}
		if err != nil {
			if err == io.EOF {
				return nil, ErrInvalidFrame
			}
			return nil, err
		}
	}
}