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command: Support 2-byte message ids
Allow command ids, response ids, and output ids to be either 1 or 2 bytes long. This increases the total number of message types from 128 to 16384. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
36b8831c7e
commit
589bd64ce0
4 changed files with 90 additions and 49 deletions
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@ -251,8 +251,9 @@ class HandleCommandGeneration:
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def __init__(self):
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self.commands = {}
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self.encoders = []
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self.msg_to_id = dict(msgproto.DefaultMessages)
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self.messages_by_name = { m.split()[0]: m for m in self.msg_to_id }
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self.msg_to_encid = dict(msgproto.DefaultMessages)
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self.encid_to_msgid = {}
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self.messages_by_name = { m.split()[0]: m for m in self.msg_to_encid }
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self.all_param_types = {}
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self.ctr_dispatch = {
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'DECL_COMMAND_FLAGS': self.decl_command,
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@ -280,37 +281,47 @@ class HandleCommandGeneration:
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def decl_output(self, req):
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msg = req.split(None, 1)[1]
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self.encoders.append((None, msg))
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def convert_encoded_msgid(self, encoded_msgid):
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if encoded_msgid >= 0x80:
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data = [(encoded_msgid >> 7) | 0x80, encoded_msgid & 0x7f]
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else:
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data = [encoded_msgid]
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return msgproto.PT_int32().parse(data, 0)[0]
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def create_message_ids(self):
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# Create unique ids for each message type
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msgid = max(self.msg_to_id.values())
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encoded_msgid = max(self.msg_to_encid.values())
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mlist = list(self.commands.keys()) + [m for n, m in self.encoders]
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for msgname in mlist:
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msg = self.messages_by_name.get(msgname, msgname)
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if msg not in self.msg_to_id:
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msgid += 1
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self.msg_to_id[msg] = msgid
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if msgid >= 128:
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# The mcu currently assumes all message ids encode to one byte
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if msg not in self.msg_to_encid:
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encoded_msgid += 1
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self.msg_to_encid[msg] = encoded_msgid
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if encoded_msgid >= 1<<14:
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# The mcu currently assumes all message ids encode to 1 or 2 bytes
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error("Too many message ids")
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self.encid_to_msgid = {
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encoded_msgid: self.convert_encoded_msgid(encoded_msgid)
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for encoded_msgid in self.msg_to_encid.values()
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}
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def update_data_dictionary(self, data):
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# Handle message ids over 96 (they are decoded as negative numbers)
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msg_to_tag = {msg: msgid if msgid < 96 else msgid - 128
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for msg, msgid in self.msg_to_id.items()}
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command_tags = [msg_to_tag[msg]
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# Convert ids to standard form (use both positive and negative numbers)
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msg_to_msgid = {msg: self.encid_to_msgid[encoded_msgid]
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for msg, encoded_msgid in self.msg_to_encid.items()}
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command_ids = [msg_to_msgid[msg]
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for msgname, msg in self.messages_by_name.items()
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if msgname in self.commands]
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response_ids = [msg_to_msgid[msg]
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for msgname, msg in self.messages_by_name.items()
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if msgname in self.commands]
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response_tags = [msg_to_tag[msg]
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for msgname, msg in self.messages_by_name.items()
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if msgname not in self.commands]
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data['commands'] = { msg: msgtag for msg, msgtag in msg_to_tag.items()
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if msgtag in command_tags }
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data['responses'] = { msg: msgtag for msg, msgtag in msg_to_tag.items()
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if msgtag in response_tags }
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output = {msg: msgtag for msg, msgtag in msg_to_tag.items()
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if msgtag not in command_tags and msgtag not in response_tags}
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if msgname not in self.commands]
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data['commands'] = { msg: msgid for msg, msgid in msg_to_msgid.items()
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if msgid in command_ids }
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data['responses'] = { msg: msgid for msg, msgid in msg_to_msgid.items()
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if msgid in response_ids }
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output = {msg: msgid for msg, msgid in msg_to_msgid.items()
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if msgid not in command_ids and msgid not in response_ids}
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if output:
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data['output'] = output
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def build_parser(self, msgid, msgformat, msgtype):
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def build_parser(self, encoded_msgid, msgformat, msgtype):
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if msgtype == "output":
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param_types = msgproto.lookup_output_params(msgformat)
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comment = "Output: " + msgformat
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@ -327,17 +338,21 @@ class HandleCommandGeneration:
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params = 'command_parameters%d' % (paramid,)
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out = """
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// %s
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.msg_id=%d,
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.encoded_msgid=%d, // msgid=%d
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.num_params=%d,
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.param_types = %s,
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""" % (comment, msgid, len(types), params)
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""" % (comment, encoded_msgid, self.encid_to_msgid[encoded_msgid],
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len(types), params)
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if msgtype == 'response':
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num_args = (len(types) + types.count('PT_progmem_buffer')
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+ types.count('PT_buffer'))
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out += " .num_args=%d," % (num_args,)
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else:
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msgid_size = 1
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if encoded_msgid >= 0x80:
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msgid_size = 2
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max_size = min(msgproto.MESSAGE_MAX,
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(msgproto.MESSAGE_MIN + 1
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(msgproto.MESSAGE_MIN + msgid_size
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+ sum([t.max_length for t in param_types])))
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out += " .max_size=%d," % (max_size,)
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return out
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@ -347,22 +362,23 @@ class HandleCommandGeneration:
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encoder_code = []
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did_output = {}
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for msgname, msg in self.encoders:
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msgid = self.msg_to_id[msg]
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if msgid in did_output:
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encoded_msgid = self.msg_to_encid[msg]
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if encoded_msgid in did_output:
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continue
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did_output[msgid] = True
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did_output[encoded_msgid] = True
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code = (' if (__builtin_strcmp(str, "%s") == 0)\n'
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' return &command_encoder_%s;\n' % (msg, msgid))
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' return &command_encoder_%s;\n'
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% (msg, encoded_msgid))
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if msgname is None:
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parsercode = self.build_parser(msgid, msg, 'output')
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parsercode = self.build_parser(encoded_msgid, msg, 'output')
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output_code.append(code)
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else:
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parsercode = self.build_parser(msgid, msg, 'command')
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parsercode = self.build_parser(encoded_msgid, msg, 'command')
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encoder_code.append(code)
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encoder_defs.append(
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"const struct command_encoder command_encoder_%s PROGMEM = {"
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" %s\n};\n" % (
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msgid, parsercode))
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encoded_msgid, parsercode))
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fmt = """
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%s
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@ -384,21 +400,21 @@ ctr_lookup_output(const char *str)
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"".join(encoder_code).strip(),
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"".join(output_code).strip())
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def generate_commands_code(self):
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cmd_by_id = {
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self.msg_to_id[self.messages_by_name.get(msgname, msgname)]: cmd
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cmd_by_encid = {
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self.msg_to_encid[self.messages_by_name.get(msgname, msgname)]: cmd
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for msgname, cmd in self.commands.items()
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}
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max_cmd_msgid = max(cmd_by_id.keys())
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max_cmd_encid = max(cmd_by_encid.keys())
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index = []
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externs = {}
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for msgid in range(max_cmd_msgid+1):
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if msgid not in cmd_by_id:
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for encoded_msgid in range(max_cmd_encid+1):
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if encoded_msgid not in cmd_by_encid:
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index.append(" {\n},")
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continue
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funcname, flags, msgname = cmd_by_id[msgid]
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funcname, flags, msgname = cmd_by_encid[encoded_msgid]
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msg = self.messages_by_name[msgname]
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externs[funcname] = 1
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parsercode = self.build_parser(msgid, msg, 'response')
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parsercode = self.build_parser(encoded_msgid, msg, 'response')
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index.append(" {%s\n .flags=%s,\n .func=%s\n}," % (
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parsercode, flags, funcname))
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index = "".join(index).strip()
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@ -411,7 +427,7 @@ const struct command_parser command_index[] PROGMEM = {
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%s
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};
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const uint8_t command_index_size PROGMEM = ARRAY_SIZE(command_index);
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const uint16_t command_index_size PROGMEM = ARRAY_SIZE(command_index);
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"""
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return fmt % (externs, index)
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def generate_param_code(self):
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