Frame callback implementation & tests

c/include/libsbp/sbp.h

@@ -23,39 +23,89 @@ extern "C" {
  * \{ */
 
 /** Return value indicating success. */
-#define SBP_OK              0
+#define SBP_OK                    0
 /** Return value indicating message decoded and callback executed by sbp_process. */
-#define SBP_OK_CALLBACK_EXECUTED 1
+#define SBP_OK_CALLBACK_EXECUTED  1
 /** Return value indicating message decoded with no associated callback in sbp_process. */
 #define SBP_OK_CALLBACK_UNDEFINED 2
 /** Return value indicating an error with the callback (function defined). */
-#define SBP_CALLBACK_ERROR -1
+#define SBP_CALLBACK_ERROR       -1
 /** Return value indicating a CRC error. */
-#define SBP_CRC_ERROR      -2
+#define SBP_CRC_ERROR            -2
 /** Return value indicating an error occured whilst sending an SBP message. */
-#define SBP_SEND_ERROR     -3
+#define SBP_SEND_ERROR           -3
 /** Return value indicating an error occured because an argument was NULL. */
-#define SBP_NULL_ERROR     -4
+#define SBP_NULL_ERROR           -4
 /** Return value indicating an error occured in the write() operation. */
-#define SBP_WRITE_ERROR     -5
+#define SBP_WRITE_ERROR          -5
 /** Return value indicating an error occured in the read() operation. */
-#define SBP_READ_ERROR     -6
+#define SBP_READ_ERROR           -6
 
 /** Default sender ID. Intended for messages sent from the host to the device. */
 #define SBP_SENDER_ID 0x42
+/** Header length in bytes. */
+#define SBP_HEADER_LEN 6
+/** CRC length in bytes. */
+#define SBP_CRC_LEN 2
+/** Max payload length in bytes. */
+#define SBP_MAX_PAYLOAD_LEN (UINT8_MAX)
+/** Max frame length in bytes. */
+#define SBP_MAX_FRAME_LEN (SBP_HEADER_LEN + SBP_MAX_PAYLOAD_LEN + SBP_CRC_LEN)
 
-/** SBP callback function prototype definition. */
+/** Frame offset for the preamble. */
+#define SBP_FRAME_OFFSET_PREAMBLE (0u)
+/** Frame offset for the preamble. */
+#define SBP_FRAME_OFFSET_MSGTYPE (SBP_FRAME_OFFSET_PREAMBLE + sizeof(u8))
+/** Frame offset for the preamble. */
+#define SBP_FRAME_OFFSET_SENDERID (SBP_FRAME_OFFSET_MSGTYPE + sizeof(u16))
+/** Frame offset for the preamble. */
+#define SBP_FRAME_OFFSET_MSGLEN (SBP_FRAME_OFFSET_SENDERID + sizeof(u16))
+/** Frame offset for the preamble. */
+#define SBP_FRAME_OFFSET_MSG (SBP_FRAME_OFFSET_MSGLEN + sizeof(u8))
+/** Frame offset for the CRC is a function of msg length. */
+#define SBP_FRAME_OFFSET_CRC(msg_len) (SBP_FRAME_OFFSET_MSG + msg_len)
+#define SBP_FRAME_CALC_LEN(msg_len) (SBP_HEADER_LEN + msg_len + SBP_CRC_LEN)
+
+/** Get message payload pointer from frame */
+#define SBP_FRAME_MSG_PAYLOAD(frame_ptr) (&(frame_ptr[SBP_FRAME_OFFSET_MSG]))
+
+/** SBP_MSG_ID to use to register frame callback for ALL messages. */
+#define SBP_MSG_ALL 0
+
+/** SBP callback function prototype definitions. */
 typedef void (*sbp_msg_callback_t)(u16 sender_id, u8 len, u8 msg[], void *context);
+typedef void (*sbp_frame_callback_t)(u16 sender_id, u16 msg_type,
+                                     u8 payload_len, u8 payload[],
+                                     u16 frame_len, u8 frame[], void *context);
+
+/** SBP callback type enum:
+ * SBP_PAYLOAD_CALLBACK are the original callbacks in libsbp without framing args
+ * SBP_FRAME_CALLBACK are raw frame callbacks that include framing data as args.
+ * This enum is stored on each sbp_msg_callback_node struct to identify how
+ * to cast the callback function pointer stored within.
+ */
+enum sbp_cb_type {
+  SBP_PAYLOAD_CALLBACK = 0,
+  SBP_FRAME_CALLBACK = 1,
+  SBP_CALLBACK_TYPE_COUNT = 2,
+};
+
+#define SBP_CALLBACK_FLAG(cb_type) (1u << (cb_type))
+#define SBP_CALLBACK_ALL_MASK \
+  ((SBP_CALLBACK_FLAG(SBP_CALLBACK_TYPE_COUNT)) - 1)
 
+typedef enum sbp_cb_type sbp_cb_type;
 /** SBP callback node.
  * Forms a linked list of callbacks.
- * \note Must be statically allocated for use with sbp_register_callback().
+ * \note Must be statically allocated for use with sbp_register_callback()
+ *       and sbp_register_frame_callback().
  */
 typedef struct sbp_msg_callbacks_node {
   u16 msg_type;                        /**< Message ID associated with callback. */
-  sbp_msg_callback_t cb;               /**< Pointer to callback function. */
+  void* cb;                            /**< Pointer to callback function. */
   void *context;                       /**< Pointer to a context */
   struct sbp_msg_callbacks_node *next; /**< Pointer to next node in list. */
+  sbp_cb_type cb_type;                 /**< Enum that holds the type of callback. */
 } sbp_msg_callbacks_node_t;
 
 /** State structure for processing SBP messages. */
@@ -72,8 +122,9 @@ typedef struct {
   u16 sender_id;
   u16 crc;
   u8 msg_len;
+  u16 frame_len;
   u8 n_read;
-  u8 msg_buff[256];
+  u8 frame_buff[SBP_MAX_FRAME_LEN];
   void* io_context;
   sbp_msg_callbacks_node_t* sbp_msg_callbacks_head;
 } sbp_state_t;
@@ -82,13 +133,20 @@ typedef struct {
 
 s8 sbp_register_callback(sbp_state_t* s, u16 msg_type, sbp_msg_callback_t cb, void* context,
                          sbp_msg_callbacks_node_t *node);
+s8 sbp_register_frame_callback(sbp_state_t* s, u16 msg_type,
+                               sbp_frame_callback_t cb, void* context,
+                               sbp_msg_callbacks_node_t *node);
+s8 sbp_register_all_msg_callback(sbp_state_t *s, sbp_frame_callback_t cb,
+                                 void *context, sbp_msg_callbacks_node_t *node);
 s8 sbp_remove_callback(sbp_state_t *s, sbp_msg_callbacks_node_t *node);
 void sbp_clear_callbacks(sbp_state_t* s);
 void sbp_state_init(sbp_state_t *s);
 void sbp_state_set_io_context(sbp_state_t *s, void* context);
 s8 sbp_process(sbp_state_t *s, s32 (*read)(u8 *buff, u32 n, void* context));
 s8 sbp_process_payload(sbp_state_t *s, u16 sender_id, u16 msg_type, u8 msg_len,
     u8 payload[]);
+s8 sbp_process_frame(sbp_state_t *s, u16 sender_id, u16 msg_type,
+                     u8 payload_len, u8 payload[], u16 frame_len, u8 frame[], u8 cb_mask);
 s8 sbp_send_message(sbp_state_t *s, u16 msg_type, u16 sender_id, u8 len, u8 *payload,
                     s32 (*write)(u8 *buff, u32 n, void* context));