simon
a1629fb3db
Use TX=GPIO3 and RX=GPIO2 at 921600 to match the terminal adapter wiring; log received message id and which handler command is triggered. Co-authored-by: Cursor <cursoragent@cursor.com>
115 lines
4.0 KiB
Markdown
115 lines
4.0 KiB
Markdown
# Command handler
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Generic command dispatch for Powerpod. Transports (UART today, ESP-NOW later) enqueue messages on a shared FreeRTOS queue; a dispatcher task invokes registered callbacks by message ID.
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## Architecture
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```
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UART / ESP-NOW → generic_msg_t queue → vCmdDispatcherTask → registered handler
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```
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- **`cmd_handler`** — queue, registration, dispatcher task
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- **`uart`** — framed serial input, converts packets to `generic_msg_t`
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- **`powerpod.c`** — creates the queue, calls `init_cmdHandler()` then `init_uart()`
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Initialize the command handler **before** UART so the dispatcher is running when packets arrive.
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```c
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cmd_queue = xQueueCreate(10, sizeof(generic_msg_t));
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init_cmdHandler(cmd_queue);
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init_uart(cmd_queue);
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```
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## UART frame format
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Packets on **UART1** (921600 baud, **TX=GPIO3**, **RX=GPIO2** — USB adapter on `/dev/ttyUSB0`):
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| Field | Value |
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|-----------|--------------------------------------------|
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| Start | `0xAA` |
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| Length | 1 byte, payload size (1–252), non-zero |
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| Payload | `length` bytes |
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| Checksum | XOR of all payload bytes |
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| Stop | `0xCC` |
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**Payload layout for the command handler:**
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| Offset | Meaning |
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|--------|----------------------------------|
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| 0 | Command ID (`msg_id`, uint8/16) |
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| 1… | Arguments (passed to handler) |
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Example: command `0x01` with arguments `0x02 0x03` → payload `01 02 03`, length = 3.
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The dispatcher strips the first byte; handlers receive only the argument bytes.
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## API
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### `msg_register_handler(uint16_t id, msg_callback_t cb)`
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Register a callback for a command ID. Up to 32 handlers. Re-registering the same ID updates the callback.
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```c
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static void on_ping(const uint8_t *data, size_t len) {
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ESP_LOGI("app", "ping, %u bytes", (unsigned)len);
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}
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msg_register_handler(0x01, on_ping);
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```
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Callback signature:
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```c
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typedef void (*msg_callback_t)(const uint8_t *data, size_t len);
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```
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### `msg_post(uint16_t id, const uint8_t *data, size_t len)`
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Enqueue a command from firmware (e.g. ESP-NOW receive path) without UART. Copies `data` into heap memory; the dispatcher frees it after the handler returns.
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```c
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uint8_t args[] = {0x02, 0x03};
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msg_post(0x01, args, sizeof(args));
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```
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Returns `ESP_OK`, `ESP_ERR_NO_MEM`, `ESP_ERR_TIMEOUT` (queue full), or `ESP_ERR_INVALID_STATE`.
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## Adding a new command
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1. Pick a command ID (first byte of UART payload).
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2. Implement a handler in `powerpod.c` (or a dedicated module).
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3. Call `msg_register_handler()` after `init_cmdHandler()`.
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4. From a host tool, send a framed UART packet with that ID in byte 0.
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## VERSION command (`MessageType.VERSION` = 3)
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Implemented in `cmd_version.c`. Request is a UART frame with payload `03` (command byte only).
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Response frame payload:
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| Byte 0 | Bytes 1… |
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|--------|----------|
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| `0x03` | nanopb-encoded `UartMessage` with `type = VERSION` and `version_response` set |
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`VersionResponse` fields:
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- `version` — `POWERPOD_FW_VERSION` (default `1`, override at compile time)
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- `git_hash` — short git hash from build (`POWERPOD_GIT_HASH`, from `git rev-parse`)
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Register additional proto commands the same way: handler + `uart_send_uart_message()` for replies.
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## ESP-NOW (planned)
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Parse incoming ESP-NOW data in the Wi-Fi layer and call `msg_post()` with the same ID + payload layout as UART (ID separate, arguments in `data`). No changes to `cmd_handler` required.
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## Files
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| File | Role |
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|-----------------|-------------------------------------------|
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| `cmd_handler.h` | Types and public API |
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| `cmd_handler.c` | Queue dispatch, registration, `msg_post` |
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| `uart.c` | Framed UART parser → queue |
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| `powerpod.c` | Queue creation and init order |
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| `cmd_version.c` | VERSION command handler |
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| `uart_proto.c` | Encode/send `UartMessage` over UART |
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