erpc/erpc_core.c

#include "erpc_core.h"

#include "crc16.h"

/**
 * 操作系统相关
 */

erpc_sleep erpc_sleep_tick = NULL;

static list_t erpc_hw;
void clean_cache(erpc_hw_cfg_t *hw)
{
  for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++)
  {
    hw->rec_cache->state = ERPC_CMD_NO_ERROR;
  }
  for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++)
  {
    hw->send_cache[i].state = ERPC_CMD_NO_ERROR;
  }
}
/**
 * 注册 hardware 设备
 * 线程不安全
 */
u32 erpc_hw_add(erpc_hw_cfg_t *hw)
{
  list_t *list = &erpc_hw;
  if (list->data == NULL)
  {
    list->data = (void *)hw;
    clean_cache(hw);
    return ERPC_NO_ERROR;
  }
  list_t *list_node = malloc(sizeof(list_t));
  if (list_node == NULL)
  {
    return ERPC_ERR_MALLOC_ERROR;
  }
  list_node->data = (void *)hw;
  u8 hw_ord = hw->ord;
  // 检查hw是否已经存在
  while (list != NULL)
  {
    erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data;
    if (hw_cfg->ord == hw_ord)
    {
      return ERPC_ERR_HW_EXIST;
    }
    list = list->next;
  }
  list_t *result = list_append(&erpc_hw, hw);
  if (result == NULL)
  {
    return ERPC_ERR_MALLOC_ERROR;
  }
  clean_cache(hw);
  return ERPC_NO_ERROR;
}
/**
 * 注册命令列表
 * 线程不安全
 */
u32 erpc_add_cmd_list(erpc_hw_cfg_t *hw, erpc_cmd_list_t *cmd_list)
{
  list_t *list = &hw->cmd_list;
  if (list->data == NULL)
  {
    list->data = (void *)cmd_list;
    return ERPC_NO_ERROR;
  }
  list = list_append(&hw->cmd_list, cmd_list);
  if (list == NULL)
  {
    return ERPC_ERR_MALLOC_ERROR;
  }
  return ERPC_NO_ERROR;
}
/**
 * 移除 hardware 设备
 * 线程不安全
 */
u32 erpc_hw_remove(u8 hw)
{
  list_t *list = &erpc_hw;
  if (list->data == NULL)
  {
    return ERPC_ERR_NOFOND_HW;
  }
  while (list != NULL)
  {
    erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data;
    if (hw_cfg->ord == hw)
    {
      list_delete(&erpc_hw, list);
      free(list);
      return ERPC_NO_ERROR;
    }
    list = list->next;
  }
  return ERPC_ERR_NOFOND_HW;
}
/**
 * 获取 hardware 设备
 */
erpc_hw_cfg_t *erpc_hw_get(u8 hw)
{
  list_t *list = &erpc_hw;
  if (list->data == NULL)
  {
    return NULL;
  }
  while (list != NULL)
  {
    erpc_hw_cfg_t *hw_cfg = (erpc_hw_cfg_t *)list->data;
    if (hw_cfg->ord == hw)
    {
      return hw_cfg;
    }
  }
  return NULL;
}
u32 erpc_send_base(erpc_hw_cfg_t *hw_cfg, u8 dest_id, u16 port, u8 package_type,
                   u8 *data, u16 len)
{
  CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW);
  u8 cache_ord = 255;
  // 查找可用的发送缓存
  for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++)
  {
    if (hw_cfg->send_cache[i].state == ERPC_CMD_NO_ERROR)
    {
      // ERPC_DEBUG("find send cache %d\n", i);
      cache_ord = i;
      break;
    }
  }

  CHECK_IF_ERROR(cache_ord == 255, ERPC_ERR_SEND_CACHE_FULL);
  // 准备数据
  hw_cfg->send_cache[cache_ord].state = ERPC_CMD_DATA_DEAL;
  erpc_cmd_def_t *cmd =
      (erpc_cmd_def_t *)&hw_cfg->send_cache[cache_ord].data[0];
  cmd->head.dest_id = dest_id;
  cmd->head.port = port;
  cmd->head.msg_len = len;
  if (data == NULL)
  {
    cmd->head.msg_len = 0;
    len = 0;
  }
  cmd->head.type = package_type;
  cmd->head.src_id = hw_cfg->local_id;
  if (len > 0 && data != NULL)
  {
    for (int i = 0; i < len; i++)
    {
      cmd->data[i] = data[i];
    }
  }
  // 计算校验和
  cmd_cal_crc16(cmd);

  // 发送数据
  hw_cfg->send_cache[cache_ord].state = ERPC_CMD_WAIT_SEND;
  // 等待数据发送完成
  int wait_time = CMD_TIMEOUT;
  while (wait_time > 0)
  {
    if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_OK)
    {
      break;
    }
    if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_DEST_BUSY)
    {
      return ERPC_ERR_DEST_BUSY;
    }
    if (erpc_sleep_tick != NULL)
    {
      erpc_sleep_tick(1);
    }
    wait_time--;
  }
  u32 ret = ERPC_NO_ERROR;
  do
  {
    if (wait_time == 0)
    {
      printf("send timeout,state:%d\n", hw_cfg->send_cache[cache_ord].state);
      ret = ERPC_ERR_SEND_TIMEOUT;
      break;
    }
    if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_ONCE)
    {
      ret = ERPC_ERR_DEST_NO_RESPONSE;
      break;
    }
    if (hw_cfg->send_cache[cache_ord].state == ERPC_CMD_SEND_REPEAT)
    {
      ret = ERPC_ERR_DEST_NO_RESPONSE;
      break;
    }
  } while (0);
  hw_cfg->send_cache[cache_ord].state = ERPC_CMD_NO_ERROR;
  return ret;
}
u32 erpc_send(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len)
{
  erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
  u32 ret =
      erpc_send_base(hw_cfg, dest_id, port, PACKAGE_TYPE_CMD_REQ, data, len);
  return ret;
}

u32 erpc_wait_resp_package(u8 hw, u8 dest_id, u16 port, u8 *reply_data,
                           u16 *reply_len, u32 time_out)
{
  erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
  CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW);
  while (time_out > 0)
  {
    for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++)
    {
      erpc_data_cache_t *rec_cahce = &hw_cfg->rec_cache[i];
      if (rec_cahce->state != ERPC_CMD_RESP_OK)
      {
        continue;
      }
      erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&rec_cahce->data[0];
      if (cmd->head.port != port)
      {
        continue;
      }
      if (cmd->head.src_id != dest_id)
      {
        continue;
      }
      if (reply_data != NULL)
      {
        // memccpy(reply_data, cmd->data, 0, cmd->head.msg_len);
        memcpy(reply_data, cmd->data, cmd->head.msg_len);
        if (reply_len != NULL)
        {
          *reply_len = cmd->head.msg_len;
        }
      }
      rec_cahce->state = ERPC_CMD_NO_ERROR;
      return ERPC_NO_ERROR;
    }
    if (erpc_sleep_tick != NULL)
    {
      erpc_sleep_tick(1);
    }
    time_out--;
  }
  CHECK_IF_ERROR(time_out == 0, ERPC_ERR_DEST_NO_REPLY);
  return ERPC_NO_ERROR;
}
u32 erpc_send_wait_reply(u8 hw, u8 dest_id, u16 port, u8 *data, u16 len,
                         u8 *reply_data, u16 *reply_len, u32 timeout)
{
  u32 ret = erpc_send(hw, dest_id, port, data, len);
  if (reply_len != NULL)
  {
    *reply_len = 0;
  }
  CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret);
  ret =
      erpc_wait_resp_package(hw, dest_id, port, reply_data, reply_len, timeout);
  CHECK_IF_ERROR(ret != ERPC_NO_ERROR, ret);
  return ERPC_NO_ERROR;
}
u32 erpc_replay(u8 hw, u8 dest_id, u16 port, u8 *data_out, u16 len)
{
  erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
  u32 ret = erpc_send_base(hw_cfg, dest_id, port, PACKAGE_TYPE_CMD_RESP,
                           data_out, len);

  return ret;
}

u32 erpc_send_data(erpc_hw_cfg_t *hw)
{
  for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++)
  {
    if (hw->send_cache[i].state == ERPC_CMD_WAIT_SEND)
    {
      erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&hw->send_cache[i].data[0];
      u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd->head.msg_len;
      hw->send_lock();
      u8 ret = hw->write((u8 *)hw->send_cache[i].data, len);
      hw->send_unlock();
      CHECK_IF_ERROR(ret != 0, ERPC_ERR_HW_SEND_FAIL);
      hw->send_cache[i].state = ERPC_CMD_SEND_ONCE;
    }
  }
  return ERPC_NO_ERROR;
}

u32 erpc_rev_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev)
{
  for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++)
  {
    if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE ||
        hw->send_cache[i].state == ERPC_CMD_SEND_REPEAT)
    {
      erpc_cmd_def_t *cmd_send = (erpc_cmd_def_t *)&hw->send_cache[i].data[0];
      if (cmd_rev->head.port == cmd_send->head.port)
      {
        hw->send_cache[i].state = ERPC_CMD_SEND_OK;
        return ERPC_NO_ERROR;
      }
    }
  }
  return ERPC_NO_ERROR;
}
u32 erpc_rev_resp_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev)
{
  erpc_cmd_def_t cmd_send;
  cmd_send.head.dest_id = cmd_rev->head.src_id;
  cmd_send.head.port = cmd_rev->head.port;
  cmd_send.head.msg_len = 0;
  cmd_send.head.type = PACKAGE_TYPE_CMD_RESP_ACK;
  cmd_send.head.src_id = hw->local_id;
  cmd_cal_crc16(&cmd_send);
  u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd_send.head.msg_len;
  hw->send_lock();
  u8 ret = hw->write((u8 *)&cmd_send, len);
  hw->send_unlock();
  CHECK_IF_ERROR(ret != 0, ERPC_ERR_HW_SEND_FAIL);
  return ERPC_NO_ERROR;
}
// 重发数据包
u32 erpc_rev_repeat_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev)
{
  for (int i = 0; i < MAX_SEND_CMD_CACHE_NUM; i++)
  {
    if (hw->send_cache[i].state == ERPC_CMD_SEND_ONCE ||
        hw->send_cache[i].state == ERPC_CMD_SEND_REPEAT)
    {
      erpc_cmd_def_t *cmd_send = (erpc_cmd_def_t *)&hw->send_cache[i].data[0];
      if (cmd_rev->head.port == cmd_send->head.port)
      {
        u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd_send->head.msg_len;
        hw->send_lock();
        u32 ret = hw->write((u8 *)hw->send_cache[i].data, len);
        hw->send_unlock();
        hw->send_cache[i].state = ERPC_CMD_SEND_REPEAT;
        CHECK_IF_ERROR(ret, ERPC_ERR_HW_SEND_FAIL); //
        return ERPC_NO_ERROR;
      }
    }
  }
  return ERPC_NO_ERROR;
}
u32 erpc_send_ack_package(erpc_hw_cfg_t *hw, erpc_cmd_def_t *cmd_rev)
{
  erpc_cmd_def_t cmd_send;
  cmd_send.head.dest_id = cmd_rev->head.src_id;
  cmd_send.head.port = cmd_rev->head.port;
  cmd_send.head.msg_len = 0;
  cmd_send.head.type = PACKAGE_TYPE_CMD_REQ_ACK;
  cmd_send.head.src_id = hw->local_id;
  cmd_cal_crc16(&cmd_send);
  u32 len = sizeof(erpc_cmd_head_t) + 2 + cmd_send.head.msg_len;
  hw->send_lock();
  u8 ret = hw->write((u8 *)&cmd_send, len);
  hw->send_unlock();
  CHECK_IF_ERROR(ret != 0, ERPC_ERR_HW_SEND_FAIL);
  return ERPC_NO_ERROR;
}

u32 erpc_rev_package(erpc_hw_cfg_t *hw)
{
  for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++)
  {
    if (hw->rec_cache[i].state == ERPC_CMD_WAIT_SERVER_DEAL)
    {
      hw->deal_lock();
      if (hw->rec_cache[i].state == ERPC_CMD_WAIT_SERVER_DEAL)
      {
        hw->rec_cache[i].state = ERPC_CMD_SERVER_DEAL;
      }
      else
      {
        hw->deal_unlock();
        continue;
      }
      hw->deal_unlock();
      // ERPC_DEBUG("find  cmd wait server deal %d\n", i);
      erpc_cmd_def_t *cmd = (erpc_cmd_def_t *)&hw->rec_cache[i].data[0];
      // 检查crc
      u8 crc_result = cmd_check_crc16(cmd);
      // 丢弃错误数据包
      if (crc_result)
      {
        hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
        continue;
      }
      // 丢弃不是本地数据包
      if (cmd->head.dest_id != hw->local_id)
      {
        hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
        continue;
      }
      // 处理数据包
      switch (cmd->head.type)
      {
      case PACKAGE_TYPE_CMD_REQ:
        ERPC_DEBUG("{REQ}\n");
        erpc_send_ack_package(hw, cmd);
        hw->rec_cache[i].state = ERPC_CMD_WAIT_TASK_DEAL;
        break;
      case PACKAGE_TYPE_CMD_REQ_ACK:
        ERPC_DEBUG("{ACK}\n");

        erpc_rev_ack_package(hw, cmd);
        hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
        break;

      case PACKAGE_TYPE_CMD_REPEAT:
        erpc_rev_repeat_package(hw, cmd);
        hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
        break;
      case PACKAGE_TYPE_CMD_RESP:
        ERPC_DEBUG("{RESP}\n");
        erpc_rev_resp_package(hw, cmd);
        hw->rec_cache[i].state = ERPC_CMD_RESP_OK;
        break;
      case PACKAGE_TYPE_CMD_RESP_ACK:
        ERPC_DEBUG("{RESP_ACK}\n");
        erpc_rev_ack_package(hw, cmd);
        hw->rec_cache[i].state = ERPC_CMD_NO_ERROR;
        break;
      default:

        break;
      }
    }
  }
  return ERPC_NO_ERROR;
}
void erpc_rev_package_core()
{
  list_t *list = &erpc_hw;
  if (list->data == NULL)
  {
    return;
  }
  while (list != NULL)
  {
    erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data;
    erpc_rev_package(hw);
    list = list->next;
  }
}
u32 erpc_set_rev_cahce(u8 hw, u8 *data, u16 len)
{
  erpc_hw_cfg_t *hw_cfg = erpc_hw_get(hw);
  CHECK_IF_ERROR(hw_cfg == NULL, ERPC_ERR_NOFOND_HW);
  for (int i = 0; i < MAX_REC_CMD_CACHE_NUM; i++)
  {
    if (hw_cfg->rec_cache[i].state == ERPC_CMD_NO_ERROR)
    {
      // ERPC_DEBUG("set rev cache %d\r\n", i);
      memcpy(hw_cfg->rec_cache[i].data, data, len);
      hw_cfg->rec_cache[i].state = ERPC_CMD_WAIT_SERVER_DEAL;
      return ERPC_NO_ERROR;
    }
  }
  return ERPC_ERR_REC_CACHE_FULL;
}
void erpc_send_deal_core()
{
  list_t *list = &erpc_hw;
  if (list->data == NULL)
  {
    return;
  }
  while (list != NULL)
  {
    erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data;
    erpc_send_data(hw);
  }
  if (erpc_sleep_tick != NULL)
  {
    erpc_sleep_tick(1);
  }
}

void erpc_rev_deal_core()
{
  list_t *list = &erpc_hw;
  if (list->data == NULL)
  {
    return;
  }
  while (list != NULL)
  {
    erpc_hw_cfg_t *hw = (erpc_hw_cfg_t *)list->data;
    { // 遍历接收缓存
      for (int j = 0; j < MAX_REC_CMD_CACHE_NUM; j++)
      {
        { // 发现等待处理的数据包
          if (hw->rec_cache[j].state != ERPC_CMD_WAIT_TASK_DEAL)
          {
            continue;
          }
        }
        { // 多线程下，抢占处理权限
          hw->deal_lock();
          if (hw->rec_cache[j].state == ERPC_CMD_WAIT_TASK_DEAL)
          {
            // 获取指令的处理权限
            hw->rec_cache[j].state = ERPC_CMD_WAIT_TASK_DEAL_FINISH;
          }
          else
          {
            // 已经有线程抢先执行了
            hw->deal_unlock();
            continue;
          }
          hw->deal_unlock();
        }
        { // 处理指令
          // 搜索指令列表
          list_t *cmd_list = &hw->cmd_list;
          // 链表是空的
          if (cmd_list->data == NULL)
          {
            continue;
          }
          // 获取指令指针
          erpc_cmd_def_t *cmd_def = (erpc_cmd_def_t *)hw->rec_cache[j].data;
          while (cmd_list != NULL)
          { // 搜索指令列表
            erpc_cmd_list_t *cmd_obj = (erpc_cmd_list_t *)cmd_list->data;
            if (cmd_obj->cmd == cmd_def->head.port)
            {
              if (cmd_obj->handle != NULL)
              {
                // 指令调用
                cmd_obj->handle(hw->ord, cmd_def->head.src_id,
                                cmd_def->head.dest_id, cmd_def->head.port,
                                cmd_def->data, cmd_def->head.msg_len);
              }

              break;
            }
            cmd_list = cmd_list->next;
          }
        }
        // 处理完成 丢弃缓存 , 无论是否执行指令，都需要把数据包丢弃
        hw->rec_cache[j].state = ERPC_CMD_NO_ERROR;
      }
    }
    list = list->next;
  }
  if (erpc_sleep_tick != NULL)
  {
    erpc_sleep_tick(1);
  }
}