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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,15 +1,39 @@ | ||
| #pragma once | ||
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| #include "vlcb/common/can.h" | ||
| #include "vlcb/platform/time.h" | ||
| #include <stdint.h> | ||
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| typedef enum { | ||
| VLCB_MEDIUM_CAN, | ||
| } VlcbNetMedium; | ||
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| typedef enum { | ||
| VLCB_NET_WIRE_CAN_STATE_UNINITIALIZED = 0, | ||
| VLCB_NET_WIRE_CAN_STATE_ENUMERATING, | ||
| VLCB_NET_WIRE_CAN_STATE_INITIALIZED, | ||
| VLCB_NET_WIRE_CAN_STATE_RESPONDING, | ||
| } VlcbNetWireCanState; | ||
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| typedef union { | ||
| VlcbCanId can_id; | ||
| } VlcbNetHwAddr; | ||
| VlcbCanId can; | ||
| } VlcbNetWireAddr; | ||
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| typedef struct { | ||
| union { | ||
| struct { | ||
| clock_t lastTimestamp; | ||
| VlcbNetWireCanState state; | ||
| uint8_t occupiedIdCache[16]; | ||
| } can; | ||
| } meta; | ||
| VlcbNetWireAddr addr; | ||
| } VlcbNetWireEndpoint; | ||
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| typedef VlcbNetWireEndpoint *const VlcbNetWireEndpointHandle; | ||
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| bool vlcb_net_IsWireEndpointValid(VlcbNetWireEndpointHandle endpoint); | ||
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| bool vlcb_net_IsHwAddrValid(VlcbNetMedium medium, VlcbNetHwAddr addr); | ||
| bool vlcb_net_IsWireAddrValid(VlcbNetMedium medium, VlcbNetWireAddr addr); | ||
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| VlcbNetHwAddr vlcb_net_NewCanIdHwAddr(VlcbCanId id); | ||
| VlcbNetWireAddr vlcb_net_NewCanWireAddr(VlcbCanId id); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| #include "vlcb/common/can.h" | ||
| #include "vlcb/net/adapter.h" | ||
| #include "vlcb/net/addr.h" | ||
| #include "vlcb/net/iface.h" | ||
| #include "vlcb/platform/interface.h" | ||
| #include "vlcb/platform/time.h" | ||
| #include <stdint.h> | ||
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| typedef struct { | ||
| enum { CAN_PKT_INGEST } type; | ||
| union { | ||
| struct { | ||
| const VlcbNetAdptPkt *const pkt; | ||
| } ingest; | ||
| } data; | ||
| } CanSvcEvent; | ||
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| static inline VlcbCanId ResolveFreeId(const uint8_t (*const idCache)[16]) { | ||
| for (uint8_t i = 0; i < 16; i++) { | ||
| for (uint8_t j = 0; j < 8 && (i * 8 + j) < 128; j++) { | ||
| if (!(*idCache[i] & ((uint8_t)(1 << j)))) { | ||
| return i * 8 + j; | ||
| } // TODO: fix these two fnctions | ||
| } | ||
| } | ||
| return VLCB_CAN_ID_EMPTY; | ||
| } | ||
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| static inline void ToggleUsedId(uint8_t (*const idCache)[16], VlcbCanId id) {} | ||
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| inline void CanSvcEventConsume(VlcbNetWireEndpointHandle endpoint, | ||
| CanSvcEvent event) { | ||
| switch (event.type) { | ||
| case CAN_PKT_INGEST: | ||
| if (endpoint->meta.can.state == VLCB_NET_WIRE_CAN_STATE_INITIALIZED) { | ||
| if (endpoint->addr.can == event.data.ingest.pkt->srcAddr.can) { | ||
| // handle collisions | ||
| endpoint->meta.can.state = VLCB_NET_WIRE_CAN_STATE_UNINITIALIZED; | ||
| endpoint->addr.can = VLCB_CAN_ID_EMPTY; | ||
| } else if (event.data.ingest.pkt->meta.can.is_rtr) { | ||
| // handle response to enumeration of other nodes | ||
| endpoint->meta.can.state = VLCB_NET_WIRE_CAN_STATE_RESPONDING; | ||
| } | ||
| } else if (endpoint->meta.can.state == | ||
| VLCB_NET_WIRE_CAN_STATE_ENUMERATING) { | ||
| // handle enumeration | ||
| ToggleUsedId(&endpoint->meta.can.occupiedIdCache, | ||
| event.data.ingest.pkt->srcAddr.can); | ||
| } | ||
| break; | ||
| } | ||
| } | ||
|
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| inline void CanSvcProcess(VlcbNetIface *const iface, | ||
| VlcbNetWireEndpointHandle endpoint, clock_t now) { | ||
| VlcbNetAdptPkt pkt; | ||
| VlcbNetAdptErr err; | ||
| switch (endpoint->meta.can.state) { | ||
| case VLCB_NET_WIRE_CAN_STATE_UNINITIALIZED:; | ||
| pkt = (VlcbNetAdptPkt){ | ||
| .medium = VLCB_MEDIUM_CAN, | ||
| .srcAddr = {.can = VLCB_CAN_ID_EMPTY}, | ||
| .payloadLen = 0, | ||
| .meta = {.can = {.prio = VLCB_CAN_PRIO_SELF_ENUM, .is_rtr = true}}}; | ||
| err = _INTERFACE_PTR_CALL(iface->adpt, SendPkt, &pkt); | ||
| if (err != VLCB_NET_ADPT_ERR_OK) { | ||
| if (err == VLCB_NET_ADPT_ERR_WOULD_BLOCK) { | ||
| break; | ||
| } | ||
| // TODO: log error | ||
| } | ||
| endpoint->meta.can.state = VLCB_NET_WIRE_CAN_STATE_ENUMERATING; | ||
| endpoint->meta.can.lastTimestamp = now; | ||
| break; | ||
| case VLCB_NET_WIRE_CAN_STATE_ENUMERATING: | ||
| if (vlcb_platform_time_DiffInMs(endpoint->meta.can.lastTimestamp, now) > | ||
| 100) { | ||
| endpoint->meta.can.state = VLCB_NET_WIRE_CAN_STATE_INITIALIZED; | ||
| VlcbCanId newId = ResolveFreeId(&endpoint->meta.can.occupiedIdCache); | ||
| ToggleUsedId(&endpoint->meta.can.occupiedIdCache, newId); | ||
| endpoint->addr.can = newId; | ||
| } | ||
| break; | ||
| case VLCB_NET_WIRE_CAN_STATE_RESPONDING:; | ||
| pkt = (VlcbNetAdptPkt){ | ||
| .medium = VLCB_MEDIUM_CAN, | ||
| .srcAddr = endpoint->addr, | ||
| .payloadLen = 0, | ||
| .meta = {.can = {.prio = VLCB_CAN_PRIO_SELF_ENUM, .is_rtr = true}}}; | ||
| err = _INTERFACE_PTR_CALL(iface->adpt, SendPkt, &pkt); | ||
| if (err != VLCB_NET_ADPT_ERR_OK) { | ||
| if (err == VLCB_NET_ADPT_ERR_WOULD_BLOCK) { | ||
| break; | ||
| } | ||
| // TODO: log error | ||
| } | ||
| endpoint->meta.can.state = VLCB_NET_WIRE_CAN_STATE_INITIALIZED; | ||
| break; | ||
| default: | ||
| break; | ||
| } | ||
| } |
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