some refactoring. Also compute crc over payload AND header

gen_c/gen_messages.py

@@ -62,11 +62,11 @@ typedef struct {msg_struct} {{
 {struct_fields_str}
 }} {msg_type};
 
-void {NS_PREFIX_LOWER}{m.name_lower}_msg_encode(uint8_t src_id, uint8_t dst_id, const {msg_type} *msg, {GENERIC_MSG_TYPE} *packet) {{
+static inline void {NS_PREFIX_LOWER}msg_{m.name_lower}_encode(uint8_t src_id, uint8_t dst_id, const {msg_type} *msg, {GENERIC_MSG_TYPE} *packet) {{
   packet->id = {MSG_ID_PREFIX}{m.name};
   packet->src_id = src_id;
   packet->dst_id = dst_id;
-  packet->length = {MSG_ID_PREFIX}{m.id}_LEN + HYDROLINK_NON_PAYLOAD_LEN;
+  packet->payload_length = {MSG_ID_PREFIX}{m.id}_LEN + HYDROLINK_NON_PAYLOAD_LEN;
 {encode_payload_str} 
 }}
                 """)
@@ -77,6 +77,6 @@ static inline {field.type} {msg_name}_get_{field.name}(const {GENERIC_MSG_TYPE}
   return HYDROLINK_RETURN_{field.type}(packet, {field.wire_offset});
 }}""")
         f.write(f"""
-static inline void {NS_PREFIX_LOWER}msg{m.name_lower}_decode(const {GENERIC_MSG_TYPE} *packet, {msg_type} *{m.name_lower}) {{
+static inline void {NS_PREFIX_LOWER}msg_{m.name_lower}_decode(const {GENERIC_MSG_TYPE} *packet, {msg_type} *{m.name_lower}) {{
 {decode_payload_str(m)}
 }}""")

gen_c/hydrolink_gen_c.py

@@ -13,10 +13,11 @@ def generate_main_header(msgs, dir):
     with open(os.path.join(dir, "hydrolink.h"), "w") as f:
         f.write(f"""#pragma once
 #include "protocol.h"
+#include "hydrolink_enums.h"
 {"\n".join(f"#include \"{GENERIC_MSG_NAME}_{msg.name_lower}.h\"" for msg in msgs)}
 """)
 
-def generate_protocol(xml, dir):
+def generate_protocol(xml, msgs, dir):
     put_defines = []
     for typename in TYPE_LENGTHS:
         length = TYPE_LENGTHS[typename]
@@ -41,6 +42,44 @@ def generate_protocol(xml, dir):
 #define HYDROLINK_MAX_PAYLOAD_LEN {xml.largest_payload}
 #define HYDROLINK_MAX_MSG_LEN (HYDROLINK_MAX_PAYLOAD_LEN + HYDROLINK_NON_PAYLOAD_LEN)
 
+typedef struct {{
+  uint8_t msg_id;
+  uint8_t crc_extra;
+}} hydrolink_crc_extra_t;
+
+#define HYDROLINK_MSG_CRCS {{{", ".join(f"{{{msg.id}, {msg.crc_extra}}}" for msg in msgs)}}}
+
+/**
+* @brief Get the crc_extra byte corresponding to msg_id
+*
+* @param msg_id the message's id
+* @param crc[out] the crc_extra byte as output of this function
+* @return Return 1 if successfull, 0 otherwise.
+**/
+static inline uint8_t hydrolink_get_crc_extra(uint8_t msg_id, uint8_t *crc) {{
+  static const hydrolink_crc_extra_t crcs[] = HYDROLINK_MSG_CRCS;
+  uint8_t left = 0;
+  uint8_t right = sizeof(crcs) / sizeof(crcs[0]) - 1;
+  while (left < right) {{
+    uint8_t center = (left+right+1) / 2;
+    if (msg_id < crcs[center].msg_id) {{
+      right = center - 1;
+      continue;
+    }}
+    if (msg_id > crcs[center].msg_id) {{
+      left = center;
+      continue;
+    }}
+    left = center;
+    break;
+  }}
+  if (crcs[left].msg_id != msg_id) {{
+    return 0;
+  }}
+  *crc = crcs[left].crc_extra;
+  return 1;
+}}
+
 struct {GENERIC_MSG_STRUCT};
 
 typedef struct {GENERIC_MSG_STRUCT} {GENERIC_MSG_TYPE};
@@ -59,19 +98,19 @@ struct {GENERIC_MSG_STRUCT} {{
 
 {put_defines_str}
 
-inline void byte_swap_2(char *dst, const char *src) {{
+static inline void byte_swap_2(char *dst, const char *src) {{
   dst[0] = src[1];
   dst[1] = src[0];
 }}
 
-inline void byte_swap_4(char *dst, const char *src) {{
+static inline void byte_swap_4(char *dst, const char *src) {{
   dst[0] = src[3];
   dst[1] = src[2];
   dst[2] = src[1];
   dst[3] = src[0];
 }}
 
-inline void byte_swap_8(char *dst, const char *src) {{
+static inline void byte_swap_8(char *dst, const char *src) {{
   dst[0] = src[7];
   dst[1] = src[6];
   dst[2] = src[5];
@@ -100,9 +139,9 @@ static inline TYPE HYDROLINK_RETURN_## TYPE(const {GENERIC_MSG_TYPE} *msg, uint8
 HYDROLINK_MSG_RETURN_TYPE({typename}, {length})
 """)
         f.write("""
-inline void crc_xmodem_init(uint16_t *crc) { *crc = 0; }
+static inline void crc_xmodem_init(uint16_t *crc) { *crc = 0; }
 
-inline void crc_xmodem_accumulate(uint8_t data, uint16_t *crc) {
+static inline void crc_xmodem_accumulate(uint8_t data, uint16_t *crc) {
   *crc = *crc ^ ((uint16_t)data << 8);
   for (uint8_t j = 0; j < 8; j++) {
     if (*crc & 0x8000) {
@@ -113,7 +152,7 @@ inline void crc_xmodem_accumulate(uint8_t data, uint16_t *crc) {
   }
 }
 
-inline uint16_t crc_xmodem_calculate(const uint8_t *data, uint8_t length) {
+static inline uint16_t crc_xmodem_calculate(const uint8_t *data, uint8_t length) {
   uint16_t crc;
   crc_xmodem_init(&crc);
   for (uint8_t i = 0; i < length; i++) {
@@ -121,15 +160,29 @@ inline uint16_t crc_xmodem_calculate(const uint8_t *data, uint8_t length) {
   }
   return crc;
 }
-""")
+
-        f.write(f"""
+static inline uint16_t hydrolink_calculate_crc(const uint8_t *payload, uint8_t length, uint8_t crc_extra) {
-void hydrolink_fill_header_and_crc({GENERIC_MSG_TYPE} *msg, uint8_t msg_id, uint8_t payload_length, uint8_t dst_id, uint8_t src_id, uint8_t crc_extra) {{
-  msg->id = msg_id;
-  msg->payload_length = payload_length;
-  msg->dst_id = dst_id;
-  msg->src_id = src_id;
   uint16_t crc;
   crc_xmodem_init(&crc);
+  for(int i = 0; i < length; ++i) {
+    crc_xmodem_accumulate(payload[i], &crc);
+  }
+  crc_xmodem_accumulate(crc_extra, &crc);
+  return crc;
+}
+""")
+        f.write(f"""
+static inline void hydrolink_fill_header_and_crc({GENERIC_MSG_TYPE} *msg, uint8_t msg_id, uint8_t payload_length, uint8_t dst_id, uint8_t src_id, uint8_t crc_extra) {{
+  uint16_t crc;
+  crc_xmodem_init(&crc);
+  msg->id = msg_id;
+  crc_xmodem_accumulate(msg->id, &crc);
+  msg->payload_length = payload_length;
+  crc_xmodem_accumulate(msg->payload_length, &crc);
+  msg->dst_id = dst_id;
+  crc_xmodem_accumulate(msg->dst_id, &crc);
+  msg->src_id = src_id;
+  crc_xmodem_accumulate(msg->src_id, &crc);
   for(int i = 0; i < msg->payload_length; ++i) {{
     crc_xmodem_accumulate(msg->payload[i], &crc);
   }}
@@ -137,7 +190,7 @@ void hydrolink_fill_header_and_crc({GENERIC_MSG_TYPE} *msg, uint8_t msg_id, uint
   msg->crc = crc;
 }}
 
-uint8_t hydrolink_serialize_message({GENERIC_MSG_TYPE} *msg, uint8_t *buffer) {{
+static inline uint8_t hydrolink_serialize_message({GENERIC_MSG_TYPE} *msg, uint8_t *buffer) {{
   buffer[0] = msg->id;
   buffer[1] = msg->payload_length;
   buffer[2] = msg->dst_id;
@@ -151,7 +204,7 @@ uint8_t hydrolink_serialize_message({GENERIC_MSG_TYPE} *msg, uint8_t *buffer) {{
   return HYDROLINK_NON_PAYLOAD_LEN + msg->payload_length;
 }}
 
-uint8_t hydrolink_deserialize_header({GENERIC_MSG_TYPE} *msg, uint8_t *buffer, uint8_t buffer_length) {{
+static inline uint8_t hydrolink_deserialize_header({GENERIC_MSG_TYPE} *msg, uint8_t *buffer, uint8_t buffer_length) {{
   if (buffer_length < HYDROLINK_NON_PAYLOAD_LEN) {{
     return 0;
   }}
@@ -176,8 +229,9 @@ def generate(xmls, out_dir):
     msgs = []
     for x in xmls:
         msgs.extend(x.messages)
+    sorted(msgs, key=lambda msg: msg.id)
     for msg in msgs:
         generate_message_h(os.path.join(out_dir), msg)
     generate_main_header(msgs, out_dir)
-    generate_protocol(xmls[0], out_dir)
+    generate_protocol(xmls[0], msgs, out_dir)
     generate_enums_h(out_dir, xmls[0].enums)

gen_python/hydrolink_gen_python.py

@@ -45,7 +45,41 @@ def generate_hydrolink(out_dir, msgs):
 from .hydrolink_msg import HydrolinkHeader, HydrolinkMessage, CrcXmodem
 from .hydrolink_msg_ids import {", ".join(f"HYDROLINK_MSG_ID_{msg.name}" for msg in msgs)}
 {"\n".join(f"from .hydrolink_{msg.name_lower}_message import Hydrolink{to_camel_case(msg.name)}Message" for msg in msgs)}
-import hydrolink_enums as ENUMS
+from . import hydrolink_enums as ENUMS
+
+
+def cobs_decode(data):
+    output = []
+    index = 1
+    offset = data[0] - 1
+    while index < len(data):
+        if offset == 0:
+            output.append(0)
+            offset = data[index]
+        else:
+            output.append(data[index])
+        index = index + 1
+        offset = offset - 1
+    return bytearray(output)
+
+
+def cobs_encode(data):
+    output = [0 for i in range(len(data) + 2)]
+    dst_index = 1
+    zero_offset = 1
+    for src_byte in data:
+        if src_byte == 0:
+            output[dst_index - zero_offset] = zero_offset
+            zero_offset = 1
+        else:
+            output[dst_index] = src_byte
+            zero_offset += 1
+        dst_index += 1
+
+    output[dst_index - zero_offset] = zero_offset
+    output[dst_index] = 0
+
+    return output
 
 
 MSG_ID_TO_CLASS_MAP = {{

gen_python/hydrolink_msg.py

@@ -161,11 +161,9 @@ class HydrolinkMessage:
         self._header.payload_length = len(self._payload)
         self._msg_buffer = self._header.pack() + self._payload
         crc = CrcXmodem()
-        print(f"Computing crc over {[int(x) for x in self._msg_buffer]}")
         crc.accumulate(self._msg_buffer)
         crc.accumulate(struct.pack("B", crc_extra))
         self._crc = crc.crc
-        print(f"Computed crc: {self._crc}")
         self._msg_buffer += struct.pack("!H", self._crc)
         return self._msg_buffer
 

hydrolink_def.xml

@@ -4,7 +4,7 @@
             <entry name="SWITCH">
                 <description>Command for getting/setting the state of a switch</description>
             </entry>
-            <entry name="CMD_ID_PWM">
+            <entry name="PWM">
                 <description>Command for getting/setting the value of a PWM channel</description>
             </entry>
         </enum>
@@ -37,7 +37,7 @@
             <field type="uint8" name="cmd_id" enum="CMD_ID"></field>
             <field type="uint8" name="index"></field>
         </message>
-        <message id="3" name="GET_RESPONSE">
+        <message id="5" name="GET_RESPONSE">
             <field type="uint8" name="cmd_id" enum="CMD_ID"></field>
             <field type="uint8" name="result" enum="CMD_RESULT"></field>
             <field type="int32" name="value"></field>