Add /n command to select next routine.

Design.md

@@ -76,3 +76,10 @@ The device's on-board control program (aka firmware) consists of a collection of
 Conceptually, the firmware consists of two layers:
 1. The hardware-dependent part, called the Board Support Package (BSP), which implements the _mechanisms_. This is the only module that needs to be changed when porting the application to a different processor.
 2. The hardware-independent application logic, implementing the _policies_.
+
+### About the code
+- All C modules, with the exception of the BSP, are less than 300 lines long.
+- Functions are short, or have low cyclomatic complexity.
+- There are no global variables, preventing unwanted coupling between modules and violation of invariants.
+- Most 'plumbing' is done through dependency injection.
+- Object types are opaque where possible.

firmware/inc/app_event.h

@@ -22,7 +22,7 @@ enum {
     ET_APP_HEARTBEAT, ET_ADC_DATA_AVAILABLE,
     ET_CONTROLLER_CONNECTED, ET_CONTROLLER_DISCONNECTED,
     ET_CONTROLLER_SENT_REQUEST, ET_CONTROLLER_SENT_CHOICE,
-    ET_SEQUENCER_READY, ET_SEQUENCER_PLAY_PAUSE,
+    ET_SEQUENCER_READY, ET_SEQUENCER_PLAY_PAUSE, ET_NEXT_ROUTINE,
     ET_BURST_REQUESTED, ET_BURST_REJECTED, ET_BURST_STARTED, ET_BURST_COMPLETED, ET_BURST_EXPIRED,
 };
 

firmware/inc/datalink.h

@@ -25,7 +25,8 @@ DataLink *DataLink_new();
 // Instance methods.
 bool DataLink_open(DataLink *, void *packet_handler, PacketCallback);
 void DataLink_waitForSync(DataLink *);
-bool DataLink_sendPacket(DataLink *, uint8_t const *, uint16_t);
+bool DataLink_sendDebugPacket(DataLink *, uint8_t const *, uint16_t);
+bool DataLink_sendDatagram(DataLink *, uint8_t const *, uint16_t);
 void DataLink_close(DataLink *);
 void DataLink_delete(DataLink *);
 

firmware/inc/pattern_iter.h

@@ -15,6 +15,15 @@
 
 #include "bsp_app.h"
 
+typedef struct {
+    char const *name;
+    uint8_t const (*pattern)[2];
+    uint16_t nr_of_elcons;
+    uint8_t pace_ms;
+    uint8_t nr_of_steps;
+    uint16_t nr_of_reps;
+} PatternDescr;
+
 typedef struct {
     uint8_t const (*pattern)[2];
     uint16_t nr_of_elcons, elcon_nr;
@@ -30,7 +39,7 @@ typedef struct {
 bool PatternIterator_checkPattern(uint8_t const pattern[][2], uint16_t nr_of_elcons);
 
 // Instance methods.
-void PatternIterator_init(PatternIterator *, uint8_t const pattern[][2], uint16_t nr_of_elcons, uint8_t pace_ms, uint16_t nr_of_reps, uint8_t nr_of_steps);
+void PatternIterator_init(PatternIterator *, PatternDescr const *);
 bool PatternIterator_done(PatternIterator *);
 bool PatternIterator_getNextPulseTrain(PatternIterator *, PulseTrain *);
 

firmware/maolib/inc/net_frame.h

@@ -22,12 +22,13 @@ extern "C" {
 
 // Class methods.
 uint16_t PhysFrame_headerSize(void);
-char const *PhysFrame_typeName(FrameType);
+char const *PhysFrame_frameTypeName(FrameType);
+char const *PhysFrame_serviceTypeName(NetworkServiceType);
 
 // Instance methods.
-PhysFrame *PhysFrame_initHeader(PhysFrame *, FrameType, uint8_t seq);
-PhysFrame *PhysFrame_initHeaderWithAck(PhysFrame *, FrameType, uint8_t seq, uint8_t ack);
-PhysFrame *PhysFrame_init(PhysFrame *, FrameType, uint8_t seq, uint8_t const *, uint16_t nb);
+PhysFrame *PhysFrame_initHeader(PhysFrame *, FrameType, uint8_t seq, NetworkServiceType);
+PhysFrame *PhysFrame_initHeaderWithAck(PhysFrame *, FrameType, uint8_t seq, uint8_t ack, NetworkServiceType);
+PhysFrame *PhysFrame_init(PhysFrame *, FrameType, uint8_t seq, NetworkServiceType, uint8_t const *, uint16_t nb);
 bool PhysFrame_hasValidHeader(PhysFrame const *);
 
 ProtocolVersion PhysFrame_protocolVersion(PhysFrame const *);

firmware/src/controller.c

@@ -11,10 +11,11 @@
  */
 
 #include <stdlib.h>
-#include <string.h>
 
 #include "bsp_dbg.h"
 #include "bsp_app.h"
+#include "app_event.h"
+#include "sequencer.h"
 #include "debug_cli.h"
 
 // This module implements:
@@ -27,15 +28,13 @@ struct _Controller {
     uint8_t event_storage[400];
     StateFunc state;
     DataLink *datalink;
+    Sequencer *sequencer;
 };
 
 
 static void handleHostMessage(Controller *me, uint8_t const *msg, uint16_t nb)
 {
-    char nt_msg[nb + 1];
-    strncpy(nt_msg, (const char *)msg, nb);
-    nt_msg[nb] = '\0';
-    CLI_handleConsoleInput(nt_msg, nb);
+    BSP_logf("%s, len=%hu\n", __func__, nb);
 }
 
 
@@ -51,10 +50,10 @@ static void *stateIdle(Controller *me, AOEvent const *evt)
     switch (AOEvent_type(evt))
     {
         case ET_AO_ENTRY:
-            BSP_logf("%s ENTRY\n", __func__);
+            BSP_logf("Controller_%s ENTRY\n", __func__);
             break;
         case ET_AO_EXIT:
-            BSP_logf("%s EXIT\n", __func__);
+            BSP_logf("Controller_%s EXIT\n", __func__);
             break;
         default:
             BSP_logf("Controller_%s unexpected event: %u\n", __func__, AOEvent_type(evt));
@@ -65,7 +64,7 @@ static void *stateIdle(Controller *me, AOEvent const *evt)
 // Send one event to the state machine.
 static void dispatchEvent(Controller *me, AOEvent const *evt)
 {
-    BSP_logf("%s(%u)\n", __func__, evt);
+    // BSP_logf("%s(%u)\n", __func__, AOEvent_type(evt));
     StateFunc new_state = me->state(me, evt);
     if (new_state != NULL) {                    // Transition.
         StateFunc sf = me->state(me, AOEvent_newExitEvent());
@@ -95,6 +94,7 @@ void Controller_init(Controller *me, DataLink *datalink)
     me->datalink = datalink;
     BSP_logf("%s\n", __func__);
     me->state = &stateIdle;
+    me->state(me, AOEvent_newEntryEvent());
     DataLink_open(me->datalink, me, (PacketCallback)&handleHostMessage);
     DataLink_waitForSync(me->datalink);
 }
@@ -103,12 +103,9 @@ void Controller_init(Controller *me, DataLink *datalink)
 void Controller_start(Controller *me)
 {
     BSP_logf("Starting NeoDK!\n");
-    BSP_logf("Push the button to play or pause! :-)\n");
+    BSP_logf("Push the button to play or pause :-)\n");
     BSP_setPrimaryVoltage_mV(2500);
     BSP_primaryVoltageEnable(true);
-
-    me->state = stateIdle;
-    me->state(me, AOEvent_newEntryEvent());
 }
 
 

firmware/src/datalink.c

@@ -11,12 +11,14 @@
  */
 
 #include <stdlib.h>
+#include <string.h>
 
 #include "bsp_dbg.h"
 #include "bsp_mao.h"
 #include "bsp_app.h"
 #include "circbuffer.h"
 #include "net_frame.h"
+#include "debug_cli.h"                          // Temporary.
 
 // This module implements:
 #include "datalink.h"
@@ -95,15 +97,35 @@ static uint32_t writeFrame(DataLink *me, uint8_t const *frame, uint32_t nb)
 }
 
 
-static void respondWithAckFrame(DataLink *me, uint8_t ack_nr)
+static void respondWithAckFrame(DataLink *me, uint8_t ack_nr, NetworkServiceType nst)
 {
     uint8_t ack_frame[me->header_size];
-    PhysFrame_initHeaderWithAck((PhysFrame *)ack_frame, FT_ACK, 0, ack_nr);
+    PhysFrame_initHeaderWithAck((PhysFrame *)ack_frame, FT_ACK, 0, ack_nr, nst);
     BSP_logf("%s(%hhu) to controller\n", __func__, ack_nr);
     writeFrame(me, ack_frame, sizeof ack_frame);
 }
 
 
+static void handleIncomingDataFrame(DataLink *me, PhysFrame const *frame)
+{
+    uint8_t rx_seq_nr = PhysFrame_seqNr(frame);
+    uint16_t payload_size = PhysFrame_payloadSize(frame);
+    BSP_logf("Got packet, seq_nr=%hhu, payload_size=%hu\n", rx_seq_nr, payload_size);
+    NetworkServiceType nst = PhysFrame_serviceType(frame);
+    respondWithAckFrame(me, rx_seq_nr, nst);
+
+    uint8_t const *payload = PhysFrame_payload(frame);
+    if (nst == NST_DEBUG) {
+        char zt_msg[payload_size + 1];
+        strncpy(zt_msg, (const char *)payload, payload_size);
+        zt_msg[payload_size] = '\0';
+        CLI_handleConsoleInput(zt_msg, payload_size);
+    } else {
+        me->packet_callback(me->packet_handler, payload, payload_size);
+    }
+}
+
+
 static void handleIncomingFrame(DataLink *me, PhysFrame const *frame)
 {
     if (! PhysFrame_isIntact(frame)) {
@@ -115,35 +137,33 @@ static void handleIncomingFrame(DataLink *me, PhysFrame const *frame)
     if (frame_type == FT_ACK) {
         uint8_t ack_nr = PhysFrame_ackNr(frame);
         BSP_logf("Got ACK for frame %hhu\n", ack_nr);
-        me->tx_seq_nr = (ack_nr + 1) & 0xf;
+        me->tx_seq_nr = (ack_nr + 1) & 0x7;
         return;
     }
 
     uint8_t rx_seq_nr = PhysFrame_seqNr(frame);
     if (frame_type == FT_SYNC) {
         BSP_logf("Got SYNC frame, seq_nr=%hhu\n", rx_seq_nr);
-        respondWithAckFrame(me, rx_seq_nr);
+        respondWithAckFrame(me, rx_seq_nr, PhysFrame_serviceType(frame));
         return;
     }
 
     uint16_t payload_size = PhysFrame_payloadSize(frame);
     if (frame_type == FT_DATA) {
-        BSP_logf("Got packet, seq_nr=%hhu, payload_size=%hu\n", rx_seq_nr, payload_size);
-        respondWithAckFrame(me, rx_seq_nr);
-        me->packet_callback(me->packet_handler, PhysFrame_payload(frame), payload_size);
-        return;
+        handleIncomingDataFrame(me, frame);
+    } else {
+        BSP_logf("Got %s frame, seq_nr=%hhu, payload_size=%hu\n",
+                    PhysFrame_frameTypeName(frame_type), rx_seq_nr, payload_size);
     }
-
-    BSP_logf("Got %s frame, seq_nr=%hhu, payload_size=%hu\n",
-                PhysFrame_typeName(frame_type), rx_seq_nr, payload_size);
 }
 
 
 static void rxCallback(DataLink *me, uint32_t ch)
 {
     if (! me->synced) {
         if (ch == '\n') {                       // Dweeb's poll character.
-            respondWithAckFrame(me, 0x7);
+            respondWithAckFrame(me, 0x7, NST_DATAGRAM);
+            me->synced = true;
         } else if (assembleIncomingFrame(me, (uint8_t)ch) == FT_SYNC) {
             // BSP_logf("Byte %2hu is 0x%02x\n", me->rx_nb, ch);
             handleIncomingFrame(me, (PhysFrame const *)me->rx_frame_buffer);
@@ -181,6 +201,15 @@ static void txErrorCallback(DataLink *me, uint32_t tx_error)
     BSP_logf("%s(%u)\n", __func__, tx_error);
 }
 
+
+static bool sendPacket(DataLink *me, NetworkServiceType nst, uint8_t const *packet, uint16_t nb)
+{
+    uint8_t frame_store[me->header_size + nb];
+    PhysFrame_init((PhysFrame *)frame_store, FT_DATA, me->tx_seq_nr, NST_DEBUG, packet, nb);
+    // BSP_logf("Writing frame with size %hu to buffer\n", sizeof frame_store);
+    return writeFrame(me, frame_store, sizeof frame_store) == sizeof frame_store;
+}
+
 /*
  * Below are the functions implementing this module's interface.
  */
@@ -228,12 +257,15 @@ void DataLink_waitForSync(DataLink *me)
 }
 
 
-bool DataLink_sendPacket(DataLink *me, uint8_t const *packet, uint16_t nb)
+bool DataLink_sendDebugPacket(DataLink *me, uint8_t const *packet, uint16_t nb)
 {
-    uint8_t frame_store[me->header_size + nb];
-    PhysFrame_init((PhysFrame *)frame_store, FT_DATA, me->tx_seq_nr, packet, nb);
-    // BSP_logf("Writing frame with size %hu to buffer\n", sizeof frame_store);
-    return writeFrame(me, frame_store, sizeof frame_store) == sizeof frame_store;
+    return sendPacket(me, NST_DEBUG, packet, nb);
+}
+
+
+bool DataLink_sendDatagram(DataLink *me, uint8_t const *datagram, uint16_t nb)
+{
+    return sendPacket(me, NST_DATAGRAM, datagram, nb);
 }
 
 

firmware/src/debug_cli.c

@@ -50,7 +50,7 @@ static void interpretCommand(CmndInterp *me, char ch)
     switch (ch)
     {
         case '?':
-            CLI_logf("Commands: /? /a /b /d /l /q /u /v /0 /1../9\n");
+            CLI_logf("Commands: /? /a /b /d /l /n /q /u /v /0 /1../9\n");
             break;
         case '0':
             BSP_primaryVoltageEnable(false);
@@ -73,6 +73,9 @@ static void interpretCommand(CmndInterp *me, char ch)
         case 'l':
             BSP_toggleTheLED();
             break;
+        case 'n':
+            EventQueue_postEvent(me->delegate_queue, ET_NEXT_ROUTINE, NULL, 0);
+            break;
         case 'q': {                             // Quit.
             int sig = 2;                        // Simulate Ctrl-C.
             EventQueue_postEvent(me->delegate_queue, ET_POSIX_SIGNAL, (uint8_t const *)&sig, sizeof sig);
@@ -82,7 +85,7 @@ static void interpretCommand(CmndInterp *me, char ch)
             BSP_changePrimaryVoltage_mV(+200);
             break;
         case 'v':
-            CLI_logf("Firmware V0.24-beta\n");
+            CLI_logf("Firmware V0.25-beta\n");
             break;
         default:
             CLI_logf("Unknown command '/%c'\n", ch);
@@ -112,7 +115,7 @@ static void vLogToUser(CmndInterp *me, char const *fmt, va_list args)
 {
     char msg[80];
     int nbw = vsnprintf(msg, sizeof msg, fmt, args);
-    if (nbw > 0) DataLink_sendPacket(me->datalink, (uint8_t const *)msg, nbw + 1);
+    if (nbw > 0) DataLink_sendDebugPacket(me->datalink, (uint8_t const *)msg, nbw + 1);
 }
 
 /*
@@ -140,7 +143,7 @@ int CLI_logf(char const *fmt, ...)
 void CLI_handleConsoleInput(char const *cmnd, uint16_t nb)
 {
     if (nb == 2 && cmnd[0] == '/') interpretCommand(&my, cmnd[1]);
-    else CLI_logf("%s('%s')", __func__, cmnd);
+    else BSP_logf("%s('%s')\n", __func__, cmnd);
 }
 
 

firmware/src/neodk_main.c

@@ -84,6 +84,9 @@ static void dispatchEvent(Boss *me, AOEvent const *evt)
         case ET_BUTTON_RELEASED:
             // Ignore for now.
             break;
+        case ET_NEXT_ROUTINE:
+            EventQueue_repostEvent((EventQueue *)me->sequencer, evt);
+            break;
         default:
             BSP_logf("%s(%hu)?\n", __func__, evt_type);
     }

firmware/src/pattern_iter.c

@@ -61,19 +61,19 @@ bool PatternIterator_checkPattern(uint8_t const pattern[][2], uint16_t nr_of_elc
 }
 
 
-void PatternIterator_init(PatternIterator *me, uint8_t const pattern[][2],
-                          uint16_t nr_of_elcons, uint8_t pace_ms, uint16_t nr_of_reps, uint8_t nr_of_steps)
+void PatternIterator_init(PatternIterator *me, PatternDescr const *pd)
 {
-    me->pattern = pattern;
-    me->nr_of_elcons = nr_of_elcons;
+    me->pattern = pd->pattern;
+    me->nr_of_elcons = pd->nr_of_elcons;
+    me->pace_ms = pd->pace_ms;
+    me->nr_of_reps = pd->nr_of_reps;
+    me->nr_of_steps = pd->nr_of_steps;          // Length of a transition.
+
+    me->pulse_width_micros = 80;
     me->elcon_nr = 0;
-    me->nr_of_steps = nr_of_steps;              // Length of a transition.
     M_ASSERT(me->nr_of_steps != 0);
     me->step_nr = 0;
     me->segment_nr = 0;                         // 0 or 1.
-    me->pulse_width_micros = 80;
-    me->pace_ms = pace_ms;
-    me->nr_of_reps = nr_of_reps;
 }