powerpods/main/host_transport.c

#include "host_transport.h"
#include "cmd_handler.h"
#include "esp_log.h"
#include "uart.h"
#include <stdlib.h>
#include <string.h>

static const char *TAG = "[HOST]";

static host_tx_fn_t s_tx_fn;
static QueueHandle_t s_cmd_queue;
static uart_packet_t s_rx_packet = {.state = STATE_START};
static TickType_t s_last_byte_ticks;
static const TickType_t s_rx_timeout_ticks = pdMS_TO_TICKS(50);

void host_transport_set_tx(host_tx_fn_t tx_fn) { s_tx_fn = tx_fn; }

void host_transport_set_cmd_queue(QueueHandle_t cmd_queue) {
  s_cmd_queue = cmd_queue;
}

QueueHandle_t host_transport_cmd_queue(void) { return s_cmd_queue; }

bool host_enqueue_packet(const uint8_t *payload, uint8_t len) {
  if (s_cmd_queue == NULL || payload == NULL || len == 0) {
    return false;
  }

  generic_msg_t msg = {
      .msg_id = payload[0],
      .len = len > 1 ? (size_t)(len - 1) : 0,
      .payload = NULL,
  };

  if (msg.len > 0) {
    msg.payload = malloc(msg.len);
    if (msg.payload == NULL) {
      ESP_LOGE(TAG, "failed to allocate command payload");
      return false;
    }
    memcpy(msg.payload, &payload[1], msg.len);
  }

  if (xQueueSend(s_cmd_queue, &msg, pdMS_TO_TICKS(500)) != pdPASS) {
    free(msg.payload);
    ESP_LOGW(TAG, "command queue full (cmd 0x%02x)", (unsigned)msg.msg_id);
    return false;
  }
  return true;
}

esp_err_t host_send_framed(const uint8_t *payload, size_t len) {
  if (payload == NULL || len == 0 || len > MAX_PAYLOAD_SIZE) {
    return ESP_ERR_INVALID_ARG;
  }
  if (s_tx_fn == NULL) {
    return ESP_ERR_INVALID_STATE;
  }

  uint8_t checksum = 0;
  for (size_t i = 0; i < len; i++) {
    checksum ^= payload[i];
  }

  uint8_t frame[4 + MAX_PAYLOAD_SIZE];
  size_t pos = 0;
  frame[pos++] = START_MARKER;
  frame[pos++] = (uint8_t)len;
  memcpy(&frame[pos], payload, len);
  pos += len;
  frame[pos++] = checksum;
  frame[pos++] = STOP_MARKER;

  return s_tx_fn(frame, pos);
}

void host_rx_bytes(const uint8_t *data, size_t len) {
  if (data == NULL || len == 0) {
    return;
  }

  TickType_t now = xTaskGetTickCount();
  if (s_rx_packet.state != STATE_START &&
      (now - s_last_byte_ticks) > s_rx_timeout_ticks) {
    s_rx_packet.state = STATE_START;
  }

  for (size_t i = 0; i < len; i++) {
    if (parse_uart_byte(data[i], &s_rx_packet)) {
      ESP_LOGI(TAG, "received message cmd=0x%02x len=%u",
               s_rx_packet.len > 0 ? s_rx_packet.payload[0] : 0,
               (unsigned)s_rx_packet.len);
      host_enqueue_packet(s_rx_packet.payload, s_rx_packet.len);
    }
  }
  s_last_byte_ticks = now;
}