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Piからのリクエスト1byteをechoするように #18

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Piからのリクエスト1byteをechoするように #18

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fe853d9
Echo back header
H1rono Aug 24, 2024
39a562d
Update README
H1rono Aug 24, 2024
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15 changes: 10 additions & 5 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,8 @@ sequenceDiagram
participant RPi as Raspberry Pi
participant N as Nucleo
RPi ->>+ N: Request sensors' data `0x01`
N ->>- RPi: Return data
N ->> RPi: Return data
N ->>- RPi: Echo back header `0x01`
```

```mermaid
Expand All @@ -18,31 +19,35 @@ sequenceDiagram
participant N as Nucleo
RPi ->>+ N: Notify sending power data `0x00`
RPi ->> N: Send power data
N -->>- RPi: Receive data
N -->> RPi: Receive data
N ->>- RPi: Echo back header `0x00`
```

```mermaid
sequenceDiagram
participant RPi as Raspberry Pi
participant N as Nucleo
RPi ->>+ N: Request nucleo's status `0x02`
N ->>- RPi: Return data
N ->> RPi: Return data
N ->>- RPi: Echo back header `0x02`
```

```mermaid
sequenceDiagram
participant RPi as Raspberry Pi
participant N as Nucleo
RPi ->>+ N: Request (re)starting `0xFE`
N -->>- RPi: Trigger (re)start
N -->> RPi: Trigger (re)start
N ->>- RPi: Echo back header `0xFE`
```

```mermaid
sequenceDiagram
participant RPi as Raspberry Pi
participant N as Nucleo
RPi ->>+ N: Request suspending `0xFF`
N -->>- RPi: Abort immediately
N -->> RPi: Abort immediately
N ->>- RPi: Echo back header `0xFF`
```

## Data contents
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34 changes: 23 additions & 11 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,14 +27,12 @@ int main() {
inputs.read();

events::EventQueue equeue(EQUEUE_BUFFER_SIZE, equeue_buffer);
auto initialize_event = equeue.event(mbed::callback([&output, &equeue]() {

auto trigger_initialize = [&output, &equeue]() {
if (output.state() != State::INITIALIZING) {
output.initialize_with_equeue(equeue);
}
}));
auto suspend_event = equeue.event(mbed::callback([&output]() {
output.suspend();
}));
};

auto write_order_event = equeue.event(mbed::callback([&pc, &pc_mutex, &output]() {
std::lock_guard<rtos::Mutex> _guard(pc_mutex);
Expand All @@ -55,30 +53,44 @@ int main() {
| (pulsewidth_us_msb << 8);
}
output.set_powers(pulsewidths_us);
pc.write("\x00", 1);
}));
auto read_order_event = equeue.event(mbed::callback([&pc, &pc_mutex, &inputs]() {
std::lock_guard<rtos::Mutex> _guard(pc_mutex);
std::array<uint8_t, 8> buffer = inputs.get().packet_data();
pc.write(buffer.data(), 8);
pc.write("\x01", 1);
}));
auto read_state_order_event
= equeue.event(mbed::callback([&pc, &pc_mutex, &output]() {
std::lock_guard<rtos::Mutex> _guard(pc_mutex);
uint8_t state_val = static_cast<uint8_t>(output.state());
pc.write(&state_val, 1);
pc.write("\x02", 1);
}));
auto initialize_order_event
= equeue.event(mbed::callback([&pc, &pc_mutex, &trigger_initialize]() {
std::lock_guard<rtos::Mutex> _guard(pc_mutex);
trigger_initialize();
pc.write("\xFE", 1);
}));
auto suspend_order_event = equeue.event(mbed::callback([&pc, &pc_mutex, &output]() {
std::lock_guard<rtos::Mutex> _guard(pc_mutex);
output.suspend();
pc.write("\xFF", 1);
}));

const auto process_order = [&write_order_event,
&read_order_event,
&read_state_order_event,
&initialize_event,
&suspend_event](std::uint8_t header) {
&initialize_order_event,
&suspend_order_event](std::uint8_t header) {
switch (header) {
case 0: write_order_event.call(); break;
case 1: read_order_event.call(); break;
case 2: read_state_order_event.call(); break;
case 0xFE: initialize_event.call(); break;
case 0xFF: suspend_event.call(); break;
case 0xFE: initialize_order_event.call(); break;
case 0xFF: suspend_order_event.call(); break;
default:
// unexpected
return;
Expand All @@ -103,11 +115,11 @@ int main() {
inputs.read();
});

equeue.call_every(1s, [&received_order, &suspend_event]() {
equeue.call_every(1s, [&received_order, &output]() {
const bool received = received_order.load(std::memory_order_acquire);
received_order.store(false, std::memory_order_release);
if (!received) {
suspend_event.call();
output.suspend();
}
});

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