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Merge pull request #165 from arkedge/feature/rename-if-list
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Rename & Refactor IF list to CDS handler registry
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@sksat
sksat authored Oct 26, 2023
2 parents a794b40 + 58ae520 commit 778a8a8
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Showing 3 changed files with 148 additions and 67 deletions.
74 changes: 37 additions & 37 deletions component_driver/driver_super.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
// #define CDS_DEBUG // 適切なときにコメントアウトする
// #define CDS_DEBUG_SHOW_REC_DATA // 適切なときにコメントアウトする

static uint8_t CDS_if_rx_buffer_[CDS_IF_RX_BUFFER_SIZE]; //!< IF_RX で受信するときの一次バッファ
static uint8_t CDS_hal_rx_buffer_[CDS_HAL_RX_BUFFER_SIZE]; //!< HAL_rx_handlers で受信するときの一次バッファ

/**
* @brief コマンド送信処理
Expand All @@ -27,7 +27,7 @@ static uint8_t CDS_if_rx_buffer_[CDS_IF_RX_BUFFER_SIZE]; //!< IF_RX で受信
* @param p_super: ComponentDriverSuper 構造体へのポインタ
* @param stream: どの config を使用するか．stream は 0-MAX なので，継承先で ENUM など宣言して使いやすくすればいいと思う．
* @retval CDS_ERR_CODE_OK: 正常終了
* @retval CDS_ERR_CODE_ERR: IF_TX でのエラーあり
* @retval CDS_ERR_CODE_ERR: HAL_tx_handlers でのエラーあり
* @note 受信状況やエラー情報は send_status_ に格納されている
*/
static CDS_ERR_CODE CDS_send_cmd_(ComponentDriverSuper* p_super, uint8_t stream);
Expand All @@ -38,7 +38,7 @@ static CDS_ERR_CODE CDS_send_cmd_(ComponentDriverSuper* p_super, uint8_t stream)
* @param p_super: ComponentDriverSuper 構造体へのポインタ
* @param stream: どの config を使用するか．stream は 0-MAX なので，継承先で ENUM など宣言して使いやすくすればいいと思う．
* @retval CDS_ERR_CODE_OK (0): 正常終了
* @retval 0 以外: IF_TX の戻り値
* @retval 0 以外: HAL_tx_handlers の戻り値
*/
static int CDS_tx_(ComponentDriverSuper* p_super, uint8_t stream);

Expand All @@ -47,7 +47,7 @@ static int CDS_tx_(ComponentDriverSuper* p_super, uint8_t stream);
* @param p_super: ComponentDriverSuper 構造体へのポインタ
* @retval 0: 受信データなし
* @retval 正数: 受信データ長 [Byte]
* @retval 負数: IF_RXのエラー
* @retval 負数: HAL_rx_handlersのエラー
*/
static int CDS_rx_(ComponentDriverSuper* p_super);

Expand Down Expand Up @@ -240,27 +240,27 @@ void CDS_move_forward_frame_head_candidate_of_stream_rec_buffer_(CDS_StreamRecBu
// ###### ComponentDriverSuper基本関数 ######

CDS_ERR_CODE CDS_init(ComponentDriverSuper* p_super,
void* if_config,
void* hal_config,
CDS_StreamRecBuffer* rx_buffer,
CDS_ERR_CODE (*load_init_setting)(ComponentDriverSuper* p_super))
{
CDS_StreamRecBuffer* rx_buffers[CDS_STREAM_MAX];
CDS_nullify_stream_rec_buffers(rx_buffers);
rx_buffers[0] = rx_buffer;
return CDS_init_streams(p_super, if_config, rx_buffers, load_init_setting);
return CDS_init_streams(p_super, hal_config, rx_buffers, load_init_setting);
}


CDS_ERR_CODE CDS_init_streams(ComponentDriverSuper* p_super,
void* if_config,
void* hal_config,
CDS_StreamRecBuffer* rx_buffers[CDS_STREAM_MAX],
CDS_ERR_CODE (*load_init_setting)(ComponentDriverSuper* p_super))
{
uint8_t stream;

if (CDS_reset(p_super) != CDS_ERR_CODE_OK) return CDS_ERR_CODE_ERR;

p_super->if_config = if_config;
p_super->hal_config = hal_config;

// load_init_setting で上書きできるようにここで設定
for (stream = 0; stream < CDS_STREAM_MAX; ++stream)
Expand All @@ -277,8 +277,8 @@ CDS_ERR_CODE CDS_init_streams(ComponentDriverSuper* p_super,
if (CDS_validate_config(p_super) != CDS_ERR_CODE_OK) return CDS_ERR_CODE_ERR;

// IF の初期化
// 一旦シンプルに IF_init のエラーコードは無視する（実機でここでエラー出る場合はコードがおかしいので．必要があれば将来実装．）
if ( (*IF_init[p_super->interface])(p_super->if_config) != 0 ) return CDS_ERR_CODE_ERR;
// 一旦シンプルに HAL_init_handlers のエラーコードは無視する（実機でここでエラー出る場合はコードがおかしいので．必要があれば将来実装．）
if ( (*HAL_init_handlers[p_super->hal_handler_id])(p_super->hal_config) != 0 ) return CDS_ERR_CODE_ERR;

return CDS_ERR_CODE_OK;
}
Expand All @@ -288,14 +288,14 @@ CDS_ERR_CODE CDS_reset(ComponentDriverSuper* p_super)
{
uint8_t stream;

p_super->interface = IF_LIST_MAX; // FIXME: (*IF_init[p_super->interface])(p_super->if_config) の様な使い方をするのでセグフォが起こる可能性があり
p_super->if_config = NULL; // FIXME: NULL ポインタはこの関数が Reset 単体で使われるとマズい
p_super->hal_handler_id = HAL_HANDLER_ID_MAX; // FIXME: (*HAL_init_handlers[p_super->hal_handler_id])(p_super->hal_config) の様な使い方をするのでセグフォが起こる可能性があり
p_super->hal_config = NULL; // FIXME: NULL ポインタはこの関数が Reset 単体で使われるとマズい

p_super->config.settings.rx_buffer_size_in_if_rx_ = CDS_IF_RX_BUFFER_SIZE;
p_super->config.settings.hal_rx_buffer_size_ = CDS_HAL_RX_BUFFER_SIZE;
p_super->config.settings.should_monitor_for_rx_disruption_ = 0;
p_super->config.settings.time_threshold_for_rx_disruption_ = 60 * 1000; // この値はよく考えること

p_super->config.info.rec_status_.ret_from_if_rx = 0;
p_super->config.info.rec_status_.ret_from_hal_rx = 0;
p_super->config.info.rec_status_.rx_disruption_status = CDS_RX_DISRUPTION_STATUS_OK;

p_super->config.info.rx_count_ = 0;
Expand All @@ -320,10 +320,10 @@ CDS_ERR_CODE CDS_validate_config(ComponentDriverSuper* p_super)
{
uint8_t stream;

if (p_super->interface < 0 || p_super->interface >= IF_LIST_MAX) return CDS_ERR_CODE_ERR;
if (p_super->if_config == NULL) return CDS_ERR_CODE_ERR;
if (p_super->hal_handler_id < 0 || p_super->hal_handler_id >= HAL_HANDLER_ID_MAX) return CDS_ERR_CODE_ERR;
if (p_super->hal_config == NULL) return CDS_ERR_CODE_ERR;

if (p_super->config.settings.rx_buffer_size_in_if_rx_ > CDS_IF_RX_BUFFER_SIZE) return CDS_ERR_CODE_ERR;
if (p_super->config.settings.hal_rx_buffer_size_ > CDS_HAL_RX_BUFFER_SIZE) return CDS_ERR_CODE_ERR;

for (stream = 0; stream < CDS_STREAM_MAX; ++stream)
{
Expand All @@ -344,9 +344,9 @@ CDS_ERR_CODE CDS_clear_rx_buffer(ComponentDriverSuper* p_super)
}

// FIXME: すべての ComponentDriver の初期化で呼ばれ，無駄
memset(CDS_if_rx_buffer_,
memset(CDS_hal_rx_buffer_,
0x00,
sizeof(CDS_if_rx_buffer_));
sizeof(CDS_hal_rx_buffer_));

return CDS_ERR_CODE_OK;
}
Expand All @@ -363,7 +363,7 @@ CDS_ERR_CODE CDS_receive(ComponentDriverSuper* p_super)
// 各 ComponentDriver で物理的に接続されている wire は１本なので，それをここで受信する．
// 後段の stream では，その受信したビット列に対して，複数のフレーム種類に対して，フレーム探索，確定処理を走らす．
ret_rx = CDS_rx_(p_super);
p_super->config.info.rec_status_.ret_from_if_rx = ret_rx;
p_super->config.info.rec_status_.ret_from_hal_rx = ret_rx;

if (ret_rx > 0)
{
Expand Down Expand Up @@ -552,9 +552,9 @@ static CDS_ERR_CODE CDS_send_cmd_(ComponentDriverSuper* p_super, uint8_t stream)
}
}

p_stream_config->info.send_status_.ret_from_if_tx = CDS_tx_(p_super, stream);
p_stream_config->info.send_status_.ret_from_hal_tx = CDS_tx_(p_super, stream);

if (p_stream_config->info.send_status_.ret_from_if_tx != 0)
if (p_stream_config->info.send_status_.ret_from_hal_tx != 0)
{
p_stream_config->info.send_status_.status_code = CDS_STREAM_SEND_STATUS_TX_ERR;
return CDS_ERR_CODE_ERR;
Expand All @@ -577,7 +577,7 @@ static int CDS_tx_(ComponentDriverSuper* p_super, uint8_t stream)
Printf("DS: tx_\n");
#endif

ret = (*IF_TX[p_super->interface])(p_super->if_config,
ret = (*HAL_tx_handlers[p_super->hal_handler_id])(p_super->hal_config,
p_stream_config->settings.tx_frame_,
(int)p_stream_config->settings.tx_frame_size_);

Expand Down Expand Up @@ -607,9 +607,9 @@ static int CDS_rx_(ComponentDriverSuper* p_super)
}
if (flag == 0) return 0;

rec_data_len = (*IF_RX[p_super->interface])(p_super->if_config,
CDS_if_rx_buffer_,
p_super->config.settings.rx_buffer_size_in_if_rx_);
rec_data_len = (*HAL_rx_handlers[p_super->hal_handler_id])(p_super->hal_config,
CDS_hal_rx_buffer_,
p_super->config.settings.hal_rx_buffer_size_);

#ifdef CDS_DEBUG
Printf("DS: rx_\n");
Expand All @@ -621,7 +621,7 @@ static int CDS_rx_(ComponentDriverSuper* p_super)
Printf("DS: Receive data size is %d bytes, as follow:\n", rec_data_len);
for (i = 0; i < rec_data_len; i++)
{
Printf("%02x ", CDS_if_rx_buffer_[i]);
Printf("%02x ", CDS_hal_rx_buffer_[i]);
if (i % 4 == 3) Printf(" ");
}
Printf("\n");
Expand Down Expand Up @@ -671,13 +671,13 @@ static void CDS_analyze_rx_buffer_prepare_buffer_(CDS_StreamConfig* p_stream_con

// 新規受信分をバッファへ
buffer->pos_of_last_rec = buffer->size; // 最終更新地点を更新
ret = CDS_push_to_stream_rec_buffer_(buffer, CDS_if_rx_buffer_, rec_data_len);
ret = CDS_push_to_stream_rec_buffer_(buffer, CDS_hal_rx_buffer_, rec_data_len);
if (ret != CDS_ERR_CODE_OK)
{
// バッファがあふれるので，一旦古いバッファのクリア
// TODO: この仕様は検討してもよいかも？（ユーザー選択にするとか）
CDS_clear_stream_rec_buffer_(buffer);
CDS_push_to_stream_rec_buffer_(buffer, CDS_if_rx_buffer_, rec_data_len);
CDS_push_to_stream_rec_buffer_(buffer, CDS_hal_rx_buffer_, rec_data_len);
p_stream_config->info.rec_status_.count_of_carry_over_failures++;
}
}
Expand Down Expand Up @@ -1205,7 +1205,7 @@ static CDS_ERR_CODE CDS_reset_stream_config_(CDS_StreamConfig* p_stream_config)

// CDS_StreamSendStatus の初期化
p->info.send_status_.status_code = CDS_STREAM_SEND_STATUS_DISABLE;
p->info.send_status_.ret_from_if_tx = 0;
p->info.send_status_.ret_from_hal_tx = 0;

// CDS_StreamRecStatus の初期化
p->info.rec_status_.status_code = CDS_STREAM_REC_STATUS_DISABLE;
Expand Down Expand Up @@ -1289,7 +1289,7 @@ static CDS_ERR_CODE CDS_validate_stream_config_(const ComponentDriverSuper* p_su

if (p->settings.rx_buffer_ == NULL) return CDS_ERR_CODE_ERR;
if (p->settings.rx_buffer_->buffer == NULL) return CDS_ERR_CODE_ERR;
if (p->settings.rx_buffer_->capacity < p_super->config.settings.rx_buffer_size_in_if_rx_) return CDS_ERR_CODE_ERR;
if (p->settings.rx_buffer_->capacity < p_super->config.settings.hal_rx_buffer_size_) return CDS_ERR_CODE_ERR;
if (p->settings.rx_buffer_->capacity < p->settings.rx_frame_size_) return CDS_ERR_CODE_ERR;
if (p->settings.rx_buffer_->capacity < p->settings.rx_header_size_ + p->settings.rx_footer_size_) return CDS_ERR_CODE_ERR;

Expand All @@ -1315,16 +1315,16 @@ static CDS_ERR_CODE CDS_data_analyzer_dummy_(CDS_StreamConfig* p_stream_config,


// ###### CDS_Config Getter/Setter of Settings ######
uint16_t CDSC_get_rx_buffer_size_in_if_rx(const ComponentDriverSuper* p_super)
uint16_t CDSC_get_hal_rx_buffer_size(const ComponentDriverSuper* p_super)
{
return (uint16_t)p_super->config.settings.rx_buffer_size_in_if_rx_;
return (uint16_t)p_super->config.settings.hal_rx_buffer_size_;
}

CDS_ERR_CODE CDSC_set_rx_buffer_size_in_if_rx(ComponentDriverSuper* p_super,
const uint16_t rx_buffer_size_in_if_rx)
CDS_ERR_CODE CDSC_set_hal_rx_buffer_size(ComponentDriverSuper* p_super,
const uint16_t hal_rx_buffer_size)
{
if (rx_buffer_size_in_if_rx > CDS_IF_RX_BUFFER_SIZE) return CDS_ERR_CODE_ERR;
p_super->config.settings.rx_buffer_size_in_if_rx_ = rx_buffer_size_in_if_rx;
if (hal_rx_buffer_size > CDS_HAL_RX_BUFFER_SIZE) return CDS_ERR_CODE_ERR;
p_super->config.settings.hal_rx_buffer_size_ = hal_rx_buffer_size;
return CDS_ERR_CODE_OK;
}

Expand Down
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