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This commit is contained in:
Nils Schulte 2024-01-12 09:45:29 +01:00
parent 7fd631541b
commit 0afae184f4
12 changed files with 1094 additions and 385 deletions
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9
.clang-format Normal file
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---
Language: Cpp
BasedOnStyle: LLVM
ColumnLimit: 100
IndentWidth: 4
AlignConsecutiveAssignments: true
AllowShortIfStatementsOnASingleLine: true
AllowShortLoopsOnASingleLine: true
...

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.gitignore vendored
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build
.cache

23
CMakeLists.txt
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@ -2,16 +2,15 @@ cmake_minimum_required (VERSION 3.15)
project (simplesync)
set(CMAKE_CXX_FLAGS "-Wall -Wextra -pedantic")
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD 20)
option(BUILD_TESTS "Build all tests." OFF)
option(BUILD_PYLIB "Build python lib." OFF)
add_definitions(-D__LINUX_BUILD)
include_directories(src)
include_directories(include)
set(SRCS src/simplesync.hpp)
# Build the shared library
set(SRCS )#src/simplesync.hpp)
# Build the static library
add_library(simplesync INTERFACE ${SRCS})
@ -58,6 +57,20 @@ install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/simplesync.hpp
export( EXPORT simplesyncTargets
FILE ${CMAKE_CURRENT_BINARY_DIR}/simplesync-targets.cmake)
if (BUILD_PYLIB)
include(FetchContent)
FetchContent_Declare(
pybind11
GIT_REPOSITORY https://github.com/pybind/pybind11
GIT_TAG v2.11.1
)
FetchContent_MakeAvailable(pybind11)
find_package(pybind11 CONFIG)
pybind11_add_module(pysimplesync src/python_module.cpp)
endif()
if (BUILD_TESTS)
include(FetchContent)
FetchContent_Declare(

287
LICENSE.txt Normal file
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EUROPEAN UNION PUBLIC LICENCE v. 1.2
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2
README.md
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@ -1,4 +1,4 @@
## Build
```
mkdir -p build && (cd build && cmake -DBUILD_TESTS=ON -DCMAKE_BUILD_TYPE=Debug .. && cmake --build . ) && build/simplesync_test
mkdir -p build && (cd build && cmake -DBUILD_TESTS=ON -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON .. && cmake --build . ) && build/simplesync_test
```

250
include/nonstd_functional.hpp Normal file
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/*
* SPDX-License-Identifier: MIT
* Copyright (c) 2019 winterscar
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifdef _NONSTD_FUNCTIONAL_HHP
#define _NONSTD_FUNCTIONAL_HHP
#include <Arduino.h>
// extern void * operator new(size_t size, void * ptr);
void* operator new(size_t size, void* ptr) {
return ptr;
}
namespace nonstd {
template <class T>
struct tag {
using type = T;
};
template <class Tag>
using type_t = typename Tag::type;
using size_t = decltype(sizeof(int));
// move
template <class T>
T&& move(T& t) {
return static_cast<T&&>(t);
}
// forward
template <class T>
struct remove_reference : tag<T> {};
template <class T>
struct remove_reference<T&> : tag<T> {};
template <class T>
using remove_reference_t = type_t<remove_reference<T>>;
template <class T>
T&& forward(remove_reference_t<T>& t) {
return static_cast<T&&>(t);
}
template <class T>
T&& forward(remove_reference_t<T>&& t) {
return static_cast<T&&>(t);
}
// decay
template <class T>
struct remove_const : tag<T> {};
template <class T>
struct remove_const<T const> : tag<T> {};
template <class T>
struct remove_volatile : tag<T> {};
template <class T>
struct remove_volatile<T volatile> : tag<T> {};
template <class T>
struct remove_cv : remove_const<type_t<remove_volatile<T>>> {};
template <class T>
struct decay3 : remove_cv<T> {};
template <class R, class... Args>
struct decay3<R(Args...)> : tag<R (*)(Args...)> {};
template <class T>
struct decay2 : decay3<T> {};
template <class T, size_t N>
struct decay2<T[N]> : tag<T*> {};
template <class T>
struct decay : decay2<remove_reference_t<T>> {};
template <class T>
using decay_t = type_t<decay<T>>;
// is_convertible
template <class T>
T declval(); // no implementation
template <class T, T t>
struct integral_constant {
static constexpr T value = t;
constexpr integral_constant(){};
constexpr operator T() const { return value; }
constexpr T operator()() const { return value; }
};
template <bool b>
using bool_t = integral_constant<bool, b>;
using true_type = bool_t<true>;
using false_type = bool_t<false>;
template <class...>
struct voider : tag<void> {};
template <class... Ts>
using void_t = type_t<voider<Ts...>>;
namespace details {
template <template <class...> class Z, class, class... Ts>
struct can_apply : false_type {};
template <template <class...> class Z, class... Ts>
struct can_apply<Z, void_t<Z<Ts...>>, Ts...> : true_type {};
} // namespace details
template <template <class...> class Z, class... Ts>
using can_apply = details::can_apply<Z, void, Ts...>;
namespace details {
template <class From, class To>
using try_convert = decltype(To{declval<From>()});
}
template <class From, class To>
struct is_convertible : can_apply<details::try_convert, From, To> {};
template <>
struct is_convertible<void, void> : true_type {};
// enable_if
template <bool, class = void>
struct enable_if {};
template <class T>
struct enable_if<true, T> : tag<T> {};
template <bool b, class T = void>
using enable_if_t = type_t<enable_if<b, T>>;
// res_of
namespace details {
template <class G, class... Args>
using invoke_t = decltype(declval<G>()(declval<Args>()...));
template <class Sig, class = void>
struct res_of {};
template <class G, class... Args>
struct res_of<G(Args...), void_t<invoke_t<G, Args...>>> : tag<invoke_t<G, Args...>> {};
} // namespace details
template <class Sig>
using res_of = details::res_of<Sig>;
template <class Sig>
using res_of_t = type_t<res_of<Sig>>;
// aligned_storage
template <size_t size, size_t align>
struct alignas(align) aligned_storage_t {
char buff[size];
};
// is_same
template <class A, class B>
struct is_same : false_type {};
template <class A>
struct is_same<A, A> : true_type {};
template <class Sig, size_t sz, size_t algn>
struct small_task;
template <class R, class... Args, size_t sz, size_t algn>
struct small_task<R(Args...), sz, algn> {
struct vtable_t {
void (*mover)(void* src, void* dest);
void (*destroyer)(void*);
R (*invoke)(void const* t, Args&&... args);
template <class T>
static vtable_t const* get() {
static const vtable_t table = {
[](void* src, void* dest) { new (dest) T(move(*static_cast<T*>(src))); },
[](void* t) { static_cast<T*>(t)->~T(); },
[](void const* t, Args&&... args) -> R { return (*static_cast<T const*>(t))(forward<Args>(args)...); }};
return &table;
}
};
vtable_t const* table = nullptr;
aligned_storage_t<sz, algn> data;
template <class F, class dF = decay_t<F>, enable_if_t<!is_same<dF, small_task>{}>* = nullptr,
enable_if_t<is_convertible<res_of_t<dF&(Args...)>, R>{}>* = nullptr>
small_task(F&& f) : table(vtable_t::template get<dF>()) {
static_assert(sizeof(dF) <= sz, "object too large");
static_assert(alignof(dF) <= algn, "object too aligned");
new (&data) dF(forward<F>(f));
}
~small_task() {
if (table) table->destroyer(&data);
}
small_task(const small_task& o) : table(o.table) { data = o.data; }
small_task(small_task&& o) : table(o.table) {
if (table) table->mover(&o.data, &data);
}
small_task() {}
small_task& operator=(const small_task& o) {
this->~small_task();
new (this) small_task(move(o));
return *this;
}
small_task& operator=(small_task&& o) {
this->~small_task();
new (this) small_task(move(o));
return *this;
}
explicit operator bool() const { return table; }
R operator()(Args... args) const { return table->invoke(&data, forward<Args>(args)...); }
};
template <class R, class... Args, size_t sz, size_t algn>
inline bool operator==(const small_task<R(Args...), sz, algn>& __f, nullptr_t) {
return !static_cast<bool>(__f);
}
/// @overload
template <class R, class... Args, size_t sz, size_t algn>
inline bool operator==(nullptr_t, const small_task<R(Args...), sz, algn>& __f) {
return !static_cast<bool>(__f);
}
template <class R, class... Args, size_t sz, size_t algn>
inline bool operator!=(const small_task<R(Args...), sz, algn>& __f, nullptr_t) {
return static_cast<bool>(__f);
}
/// @overload
template <class R, class... Args, size_t sz, size_t algn>
inline bool operator!=(nullptr_t, const small_task<R(Args...), sz, algn>& __f) {
return static_cast<bool>(__f);
}
template <class Sig>
using function = small_task<Sig, sizeof(void*) * 4, alignof(void*)>;
} // namespace nonstd
#endif /* _NONSTD_FUNCTIONAL_HHP */

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include/simplesync.hpp Normal file
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#ifndef SIMPLESYNC_HPP
#define SIMPLESYNC_HPP
#include <cstdint>
#include <cstdlib>
#include <cstring>
#include <functional>
#include <iostream>
#include <vector>
#ifdef ARDUINO
#include <Arduino.h>
#ifdef __AVR__
#include "include/nonstd_functional.hpp"
#endif
#endif
namespace simplesync {
enum error_t {
BUFFER_OVERFLOW = (-1),
INVALID_COMMAND = (-2),
ID_INVALID = (-3),
OUT_OF_MEMORY = (-4),
};
inline int cobs_encode(uint8_t *buf_in, unsigned int buf_in_size, uint8_t *buf_out,
unsigned int buf_out_size) {
unsigned int i_out = 1;
unsigned int last0 = 0;
for (unsigned int i_in = 0; i_in < buf_in_size; i_in += 1, i_out += 1) {
if (i_out >= buf_out_size) return OUT_OF_MEMORY;
if ((buf_in[i_in] != 0x00) && ((i_out - last0) < 0xFF)) {
buf_out[i_out] = buf_in[i_in];
} else {
buf_out[last0] = i_out - last0;
last0 = i_out;
}
}
buf_out[last0] = i_out - last0;
buf_out[i_out] = 0x00;
return i_out + 1;
}
inline int cobs_decode(uint8_t *buf_in, unsigned int &buf_in_size_used, uint8_t *buf_out,
unsigned int &buf_out_size_used) {
unsigned int i_out = 0;
unsigned int next0 = 0;
bool skip_next0 = true;
unsigned int i_in;
for (i_in = 0; i_in < buf_in_size_used || buf_in[i_in] == 0x00; i_in += 1) {
if (i_out >= buf_out_size_used) {
buf_out_size_used = i_out;
buf_in_size_used = i_in;
return OUT_OF_MEMORY;
}
if (next0 == i_in) {
if (buf_in[i_in] == 0x00) break;
if (!skip_next0) buf_out[i_out++] = 0x00;
next0 = i_in + buf_in[i_in];
skip_next0 = (next0 - i_in) == 0xFF;
} else {
buf_out[i_out++] = buf_in[i_in];
}
}
buf_out_size_used = i_out;
buf_in_size_used = i_in;
return 0;
}
inline unsigned int encode_zigzag(int input) {
return (input << 1) ^ (input >> (sizeof(int) * 8 - 1));
}
inline unsigned int decode_zigzag(int input) { return (input >> 1) ^ (-(input & 1)); }
inline unsigned int encode_unsigned_varint(unsigned int input, uint8_t *out) {
int offset = 0;
while (input > 0x7F) {
out[offset++] = input & 0x7F;
input >>= 7;
}
out[offset++] = input | 0x80;
return offset;
}
inline unsigned int encode_varint(int input, uint8_t *out) {
return encode_unsigned_varint(encode_zigzag(input), out);
}
inline unsigned int decode_unsigned_varint(uint8_t *input, unsigned int &out) {
int offset = 0;
out = 0;
for (;; offset += 1) {
out |= ((unsigned int)(input[offset] & 0x7F)) << (7 * offset);
if (input[offset] & 0x80) break;
}
return offset + 1;
}
inline unsigned int decode_varint(uint8_t *input, int &out) {
unsigned int out_uint;
int offset = decode_unsigned_varint(input, out_uint);
out = decode_zigzag(out_uint);
return offset;
}
template <typename time_t, typename timedelta_t, unsigned int BUF_SIZE = 256,
unsigned int str_len_max = 32>
class SimpleSync {
public:
class NumberInterface {
public:
time_t last_send;
char *key;
timedelta_t update_interval;
bool send_requested = true;
int value;
NumberInterface(SimpleSync &s, char *key, timedelta_t update_interval)
: key(key), update_interval(update_interval) {
s.number_interfaces.push_back(this);
}
};
class StringInterface {
public:
time_t last_send;
char *key;
timedelta_t update_interval;
bool send_requested = true;
char value[str_len_max + 1];
StringInterface(SimpleSync &s, char *key, timedelta_t update_interval)
: key(key), update_interval(update_interval) {
value[str_len_max] = 0x00;
s.string_interfaces.push_back(this);
}
};
std::vector<NumberInterface *> number_interfaces;
std::vector<StringInterface *> string_interfaces;
std::function<int(uint8_t *, unsigned int)> write_pkg;
std::function<void(NumberInterface *&, char *, int)> number_update;
std::function<void(StringInterface *&, char *, char *)> string_update;
SimpleSync(std::function<int(uint8_t *, unsigned int)> write_pkg,
std::function<void(NumberInterface *&, char *, int)> number_update,
std::function<void(StringInterface *&, char *, char *)> string_update)
: write_pkg(write_pkg), number_update(number_update), string_update(string_update) {}
int parse_pkg(uint8_t *buf, unsigned int buf_size) {
for (unsigned int parsed = 0; parsed < buf_size;) {
switch (buf[parsed]) {
case 0x00: {
for (auto ni : number_interfaces) ni->send_requested = true;
for (auto ni : string_interfaces) ni->send_requested = true;
} break;
case 0x01: {
char *key = (char *)&buf[parsed + 1];
parsed += 1 + strlen(key) + 1;
int value;
parsed += decode_varint(&buf[parsed], value);
NumberInterface *ni_ptr = nullptr;
for (auto ni : number_interfaces) {
if (strcmp(ni->key, key) == 0) {
ni_ptr = ni;
break;
}
}
if (number_update) {
number_update(ni_ptr, key, value);
}
if (ni_ptr) {
ni_ptr->value = value;
}
} break;
case 0x02: {
char *key = (char *)&buf[parsed + 1];
parsed += 1 + strlen(key) + 1;
char *value = (char *)&buf[parsed];
unsigned int strl = strlen(value) + 1;
parsed += strl;
StringInterface *stri_ptr = nullptr;
for (StringInterface *si : string_interfaces) {
if (strcmp(si->key, key) == 0) {
stri_ptr = si;
break;
}
}
if (string_update) {
string_update(stri_ptr, key, value);
}
if (stri_ptr) {
memcpy(stri_ptr->value, value, str_len_max > strl ? strl : str_len_max);
}
} break;
default:
// Error: Unknown datatype, ignore rest of the packet
return -1;
}
}
return 0;
}
void request_all_interfaces() const {
uint8_t buf[] = {0x00, 0x00};
unsigned int buf_len_used = sizeof(buf);
uint8_t cobs_buf[10];
unsigned int cobs_buf_needed = cobs_encode(buf, buf_len_used, cobs_buf, BUF_SIZE);
write_pkg(cobs_buf, cobs_buf_needed);
}
void update(time_t time) {
uint8_t buf[BUF_SIZE];
unsigned int buf_len_used = 0;
for (auto ni : number_interfaces) {
if (ni->send_requested || ni->last_send > time ||
ni->last_send + ni->update_interval <= time) {
unsigned int strl = strlen(ni->key) + 1;
unsigned int buf_len_needed = 1 + strl + 8 * sizeof(int) / 7;
if (BUF_SIZE < buf_len_needed) continue; // Error: update to large, skip interface
if (BUF_SIZE < buf_len_used + buf_len_needed) {
write_pkg(buf, buf_len_used);
buf_len_used = 0;
}
buf[buf_len_used++] = 0x01;
memcpy((char *)&buf[buf_len_used], ni->key, strl);
buf_len_used += strl;
buf_len_used += encode_varint(ni->value, &buf[buf_len_used]);
ni->last_send = time;
ni->send_requested = false;
}
}
for (auto ni : string_interfaces) {
if (ni->send_requested || ni->last_send > time ||
ni->last_send + ni->update_interval <= time) {
unsigned int strl = strlen(ni->key) + 1;
unsigned int strl_value = strlen(ni->value) + 1;
unsigned int buf_len_needed = 1 + strl + strl_value;
buf_len_needed = buf_len_needed / 0xFF + 3; // COBS overhead
if (BUF_SIZE < buf_len_needed) continue; // Error: update to large, skip interface
if (BUF_SIZE < buf_len_used + buf_len_needed) {
uint8_t cobs_buf[BUF_SIZE];
unsigned int cobs_buf_needed =
cobs_encode(buf, buf_len_used, cobs_buf, BUF_SIZE);
write_pkg(cobs_buf, cobs_buf_needed);
buf_len_used = 0;
}
buf[buf_len_used++] = 0x02;
memcpy((char *)&buf[buf_len_used], ni->key, strl);
buf_len_used += strl;
memcpy((char *)&buf[buf_len_used], ni->value, strl_value);
buf_len_used += strl_value;
ni->last_send = time;
ni->send_requested = false;
}
}
uint8_t cobs_buf[BUF_SIZE];
unsigned int cobs_buf_needed = cobs_encode(buf, buf_len_used, cobs_buf, BUF_SIZE);
write_pkg(cobs_buf, cobs_buf_needed);
}
int parse_stream_buf(uint8_t *buf, unsigned int buf_size) {
int parsed = 0;
for (unsigned int i = 0; i < buf_size; i += 1) {
if (buf[i] == 0x00) {
unsigned int buf_used = buf_size - parsed;
uint8_t packet_buf[BUF_SIZE];
unsigned int packed_buf_used = sizeof(packet_buf);
if (cobs_decode(buf + parsed, buf_used, packet_buf, packed_buf_used) == 0) {
parse_pkg(packet_buf, packed_buf_used);
}
parsed = i + 1;
}
}
return parsed;
}
protected:
uint8_t stream_buf[BUF_SIZE];
unsigned int stream_buf_used = 0;
void handle_stream_buf(unsigned int buf_new_size) {
for (unsigned int i = stream_buf_used - buf_new_size; i < stream_buf_used; i += 1) {
if (stream_buf[i] == 0x00) {
unsigned int stream_buf_pkg_delimiter = i;
uint8_t packet_buf[BUF_SIZE];
unsigned int packed_buf_used = sizeof(packet_buf);
if (cobs_decode(stream_buf, stream_buf_pkg_delimiter, packet_buf,
packed_buf_used) == 0) {
parse_pkg(packet_buf, packed_buf_used);
}
i += 1;
memmove(stream_buf, stream_buf + i, i);
stream_buf_used -= i;
i = 0;
}
}
}
public:
int handle_stream(uint8_t *buf_new, unsigned int buf_new_size) {
if (buf_new_size + stream_buf_used >= BUF_SIZE) {
/* ERROR: buffer overflow -> discared data */
stream_buf_used = 0;
return BUFFER_OVERFLOW;
}
memcpy(stream_buf + stream_buf_used, buf_new, buf_new_size);
stream_buf_used += buf_new_size;
handle_stream_buf(buf_new_size);
return 0;
}
#ifdef ARDUINO
SimpleSync(Print *ostream, std::function<void(NumberInterface *&, char *, int)> number_update,
std::function<void(StringInterface *&, char *, char *)> string_update)
: write_pkg([ostream](uint8_t *buf, unsigned int buf_size) {
if (ostream) {
ostream->write(buf, buf_size);
return 0;
}
return -1;
}),
number_update(number_update), string_update(string_update) {}
int handle_stream(Stream &in_stream) {
unsigned int buf_new_size = in_stream.available();
if (buf_new_size + stream_buf_used > BUF_SIZE) {
/* ERROR: buffer overflow -> discared data */
stream_buf_used = 0;
return BUFFER_OVERFLOW;
}
in_stream.readBytes(stream_buf + stream_buf_used, buf_new_size);
handle_stream_buf(buf_new_size);
return 0;
}
#endif
};
template <typename time_t, typename timedelta_t, unsigned int buf_len = 256,
unsigned int str_len_max = 32>
class SimpleSyncStatic : public SimpleSync<time_t, timedelta_t, buf_len, str_len_max> {
public:
SimpleSyncStatic(std::function<int(uint8_t *, unsigned int)> write_pkg)
: SimpleSync<time_t, timedelta_t, buf_len, str_len_max>(write_pkg, nullptr, nullptr){};
#ifdef ARDUINO
SimpleSyncStatic(Print *ostream)
: SimpleSync<time_t, timedelta_t, buf_len, str_len_max>(ostream, nullptr, nullptr) {}
#endif
};
} // namespace simplesync
#endif // SIMPLESYNC_HPP

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{
"name": "SimpleSync",
"version": "0.0.1",
"description": "simple messaging protocol",
"repository":
{
"type": "git",
"url": "https://git.nilsschulte.de/nils/simplesync.git"
},
"authors":
[
{
"name": "Nils Schulte",
"email": "git@nilsschulte.de",
"url": "https://nilsschulte.de/",
"maintainer": "true"
}
],
"license": "EUPL-1.2",
"homepage": "https://git.nilsschulte.de/nils/simplesync/",
"build": {
"srcFilter": [
"-<python_module.cpp>",
"-<test>"
]
},
"frameworks": "*",
"platforms": "*"
}

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#include <chrono>
#include <pybind11/pybind11.h>
#include <pybind11/chrono.h>
#include "simplesync.hpp"
namespace py = pybind11;
typedef simplesync::SimpleSync<std::chrono::time_point<std::chrono::steady_clock>,
std::chrono::nanoseconds>
SimpleS;
PYBIND11_MODULE(simplesync, m) {
py::class_<SimpleS>(m, "SimpleSync")
.def(py::init([]() { return std::unique_ptr<SimpleS>(new SimpleS(nullptr,nullptr,nullptr)); }))
.def(update);
}

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src/simplesync.hpp
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#ifndef SIMPLESYNC_HPP
#define SIMPLESYNC_HPP
#include <cstdint>
#include <cstdlib>
#include <cstring>
namespace simplesync {
typedef uint32_t id_t;
enum error_t {
BUFFER_OVERFLOW = (-1),
INVALID_COMMAND = (-2),
ID_INVALID = (-3),
OUT_OF_MEMORY = (-4),
};
enum command_t {
DESCRIBE_IF = 0,
UPDATE_DESCTIPTION = 1,
REQUEST_DATA = 2,
UPDATE_DATA = 3,
};
enum data_type_t {
BOOL = 0,
STATE = 1,
NUMBER = 2,
UNIT = 3,
STRING = 4,
};
inline unsigned int encode_zigzag(int input) {
return (input << 1) ^ (input >> (sizeof(int) * 8 - 1));
}
inline unsigned int decode_zigzag(int input) {
return (input >> 1) ^ (-(input & 1));
}
inline unsigned int encode_unsigned_varint(unsigned int input, uint8_t *out) {
int offset = 0;
while (input > 0x7F) {
out[offset++] = input & 0x7F;
input >>= 7;
}
out[offset++] = input | 0x80;
return offset;
}
inline unsigned int encode_varint(int input, uint8_t *out) {
return encode_unsigned_varint(encode_zigzag(input), out);
}
inline unsigned int decode_unsigned_varint(uint8_t *input, unsigned int &out) {
int offset = 0;
out = 0;
for (;; offset += 1) {
out |= ((unsigned int)(input[offset] & 0x7F)) << (7 * offset);
if (input[offset] & 0x80)
break;
}
return offset + 1;
}
inline unsigned int decode_varint(uint8_t *input, int &out) {
unsigned int out_uint;
int offset = decode_unsigned_varint(input, out_uint);
out = decode_zigzag(out_uint);
return offset;
}
class SimpleSync;
class Interface {
public:
bool sync_requested = false;
bool description_requested = false;
protected:
friend class SimpleSync;
Interface *next = nullptr;
char *name;
bool allocated_name = false;
id_t idx;
data_type_t data_type;
Interface(const char *name, data_type_t data_type, SimpleSync &sync);
int describe(uint8_t *buf, unsigned int buf_size) {
int offset = 0;
offset += encode_unsigned_varint(idx, buf + offset);
offset += encode_unsigned_varint(data_type, buf + offset);
unsigned int name_len = strlen(name);
offset += encode_unsigned_varint(name_len, buf + offset);
if (offset + name_len >= buf_size)
return BUFFER_OVERFLOW;
memcpy(buf + offset, name, name_len);
offset += name_len;
return offset;
};
int parse_description(uint8_t *buf) {
int offset = 0;
offset += decode_unsigned_varint(buf + offset, idx);
unsigned int data_type_int;
offset += decode_unsigned_varint(buf + offset, data_type_int);
data_type = data_type_t(data_type_int);
unsigned int name_len;
offset += decode_unsigned_varint(buf + offset, name_len);
name = (char *)realloc((void *)name, name_len);
if (name == nullptr)
return OUT_OF_MEMORY;
allocated_name = true;
memcpy(name, buf + offset, name_len);
offset += name_len;
return offset;
};
virtual ~Interface() { free(name); };
public:
// static int parse_command_type(uint8_t* buf, command_t& command, unsigned
// int& data_length) {
// command = command_t(buf[0]);
// int command_size = 1;
// switch (command_t(buf[0])) {
// case (STATE):
// case (STRING):
// case (INTERFACE):
// command_size += sizeof(uint32_t);
// memcpy(&data_length, &buf[1], sizeof(uint32_t)); // FIXME():
// handle endianess break;
// case (REQUEST_IF):
// data_length = 0;
// break;
// case (BOOLEAN):
// data_length = 1;
// break;
// case (NUMBER32):
// data_length = 4;
// break;
// case (NUMBER64):
// data_length = 8;
// break;
// }
// return command_size;
// switch (command) {
// case(DESCRIBE_IF):
// break;
// case(UPDATE_DATA):
// break;
// case(REQUEST_DATA):
// break;
// }
// }
virtual int update(uint8_t *buf) = 0;
virtual int write_update(uint8_t *buf, unsigned int buf_size) = 0;
};
class NumberPointerInterface : public Interface {
int *pointer = nullptr;
public:
NumberPointerInterface(const char *name, int *pointer, SimpleSync &sync)
: Interface(name, data_type_t::NUMBER, sync), pointer(pointer){};
virtual int update(uint8_t *buf) { return decode_varint(buf, *pointer); };
virtual int write_update(uint8_t *buf, unsigned int buf_size) {
if (buf_size < sizeof(int) * 8 / 7)
return BUFFER_OVERFLOW;
return encode_varint(*pointer, buf);
};
};
inline int parse_command(uint8_t *buf, command_t &command) {
command = command_t(buf[0]);
return 1;
}
inline int write_command(uint8_t *buf, command_t command) {
buf[0] = (uint8_t)command;
return 1;
}
class SimpleSync {
friend class Interface;
Interface *first = nullptr;
public:
unsigned int num_interfaces() {
unsigned int ret = 0;
for (Interface *c = first; c != nullptr; c = c->next)
ret += 1;
return ret;
}
int request_interface_descriptions(uint8_t *buf) {
buf[0] = command_t::DESCRIBE_IF;
buf[1] = 0;
return 2;
}
int update(uint8_t *buf_in, unsigned int buf_size) {
int offset = 0;
command_t command;
offset += parse_command(&buf_in[offset], command);
id_t if_id;
offset += decode_unsigned_varint(&buf_in[offset], if_id);
if ((unsigned int)offset >= buf_size)
return BUFFER_OVERFLOW;
if (if_id == 0) {
if (command == command_t::DESCRIBE_IF) {
for (Interface *current = first; current->next != nullptr;
current = current->next) {
current->description_requested = true;
}
} else if (command == command_t::REQUEST_DATA) {
for (Interface *current = first; current->next != nullptr;
current = current->next) {
current->sync_requested = true;
}
} else if (command == command_t::UPDATE_DATA) {
return ID_INVALID;
} else {
return INVALID_COMMAND;
}
}
if (command == command_t::DESCRIBE_IF) {
for (Interface *current = first; current->next != nullptr;
current = current->next) {
if (if_id == current->idx) {
current->description_requested = true;
break;
}
}
} else if (command == command_t::REQUEST_DATA) {
for (Interface *current = first; current->next != nullptr;
current = current->next) {
if (if_id == current->idx) {
current->sync_requested = true;
break;
}
}
} else if (command == command_t::UPDATE_DATA) {
for (Interface *current = first;; current = current->next) {
if (current == nullptr)
return ID_INVALID;
if (if_id == current->idx) {
int data_offset = current->update(&buf_in[offset]);
if (data_offset < 0) {
return BUFFER_OVERFLOW;
}
offset += data_offset;
return offset;
}
}
} else if (command == command_t::UPDATE_DESCTIPTION) {
for (Interface *current = first;; current = current->next) {
if (current == nullptr) {
// FIXME new description
return ID_INVALID;
}
if (if_id == current->idx) {
int data_offset = current->parse_description(&buf_in[offset]);
if (data_offset < 0) {
return BUFFER_OVERFLOW;
}
offset += data_offset;
return offset;
}
}
}
return offset;
}
int generate_message(uint8_t *buf, unsigned int buf_size) {
if (first == nullptr)
return 0;
int offset = 0;
int new_offset = 0;
for (Interface *current = first; current != nullptr;
current = current->next) {
id_t if_id = current->idx;
if (current->description_requested) {
offset += write_command(buf + offset, UPDATE_DESCTIPTION);
offset += encode_unsigned_varint(if_id, buf + offset);
new_offset = current->describe(buf + offset, buf_size - offset);
} else if (current->sync_requested) {
offset += write_command(buf + offset, UPDATE_DATA);
offset += encode_unsigned_varint(if_id, buf + offset);
new_offset = current->write_update(buf + offset, buf_size - offset);
}
if (new_offset > 0) {
offset += new_offset;
if (current->description_requested) {
current->description_requested = false;
} else if (current->sync_requested) {
current->sync_requested = false;
}
return offset;
} else {
offset = 0;
}
}
return 0;
}
};
inline Interface::Interface(const char *name, const data_type_t data_type,
SimpleSync &sync)
: name(nullptr), data_type(data_type) {
unsigned int name_len = strlen(name);
this->name = (char *)realloc((void *)this->name, name_len);
memcpy(this->name, name, name_len);
idx = sync.num_interfaces() + 16;
if (sync.first == nullptr) {
sync.first = this;
return;
}
Interface *last = sync.first;
for (; last->next != nullptr; last = last->next)
;
last->next = this;
}
} // namespace simplesync
#endif // SIMPLESYNC_HPP

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inline int cobs_encode(uint8_t *buf_in, unsigned int buf_in_size, uint8_t *buf_out,
unsigned int buf_out_size) {
unsigned int i_out = 1;
unsigned int last0 = 0;
for (unsigned int i_in = 0; i_in < buf_in_size; i_in += 1, i_out += 1) {
if (i_out >= buf_out_size) return OUT_OF_MEMORY;
if ((buf_in[i_in] != 0x00) && ((i_out - last0) < 0xFF)) {
buf_out[i_out] = buf_in[i_in];
} else {
buf_out[last0] = i_out - last0;
last0 = i_out;
}
}
buf_out[last0] = i_out - last0;
buf_out[i_out] = 0x00;
return i_out + 1;
}
inline int cobs_decode(uint8_t *buf_in, unsigned int buf_in_size, uint8_t *buf_out,
unsigned int buf_out_size) {
unsigned int i_out = 0;
unsigned int next0 = 0;
bool skip_next0 = true;
for (unsigned int i_in = 0; i_in < buf_in_size || buf_in[i_in] == 0x00; i_in += 1) {
if (i_out >= buf_out_size) return OUT_OF_MEMORY;
if (next0 == i_in) {
if (!skip_next0) buf_out[i_out++] = 0x00;
next0 = buf_in[i_in];
skip_next0 = (next0 - i_in) == 0xFF;
} else
buf_out[i_out++] = buf_in[i_in];
}
return i_out-1;
}
inline unsigned int encode_zigzag(int input) {
return (input << 1) ^ (input >> (sizeof(int) * 8 - 1));
}
inline unsigned int decode_zigzag(int input) { return (input >> 1) ^ (-(input & 1)); }
inline unsigned int encode_unsigned_varint(unsigned int input, uint8_t *out) {
int offset = 0;
while (input > 0x7F) {
out[offset++] = input & 0x7F;
input >>= 7;
}
out[offset++] = input | 0x80;
return offset;
}
inline unsigned int encode_varint(int input, uint8_t *out) {
return encode_unsigned_varint(encode_zigzag(input), out);
}
inline unsigned int decode_unsigned_varint(uint8_t *input, unsigned int &out) {
int offset = 0;
out = 0;
for (;; offset += 1) {
out |= ((unsigned int)(input[offset] & 0x7F)) << (7 * offset);
if (input[offset] & 0x80) break;
}
return offset + 1;
}
inline unsigned int decode_varint(uint8_t *input, int &out) {
unsigned int out_uint;
int offset = decode_unsigned_varint(input, out_uint);
out = decode_zigzag(out_uint);
return offset;
}

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#include <cstdint>
#include <cstring>
#include <gtest/gtest.h>
#include "simplesync.hpp"
TEST(simplesync_test, varint) {
uint8_t buf[1024];
for (int i = -999999; i < 999999; i += 29) {
int offset = simplesync::encode_varint(i, buf);
ASSERT_LE(1, offset);
for (int o = 0; o < offset - 1; o += 1)
EXPECT_FALSE(buf[o] & 0x80)
<< "offset:" << offset << " " << (uint32_t)(buf[o] & 0x7F);
EXPECT_TRUE(buf[offset - 1] & 0x80)
<< "offset:" << offset << " " << (uint32_t)(buf[offset - 1] & 0x7F);
int out;
offset = simplesync::decode_varint(buf, out);
ASSERT_LE(1, offset);
ASSERT_EQ(out, i);
}
uint8_t buf[1024];
for (int i = -999999; i < 999999; i += 29) {
int offset = simplesync::encode_varint(i, buf);
ASSERT_LE(1, offset);
for (int o = 0; o < offset - 1; o += 1)
EXPECT_FALSE(buf[o] & 0x80) << "offset:" << offset << " " << (uint32_t)(buf[o] & 0x7F);
EXPECT_TRUE(buf[offset - 1] & 0x80)
<< "offset:" << offset << " " << (uint32_t)(buf[offset - 1] & 0x7F);
int out;
offset = simplesync::decode_varint(buf, out);
ASSERT_LE(1, offset);
ASSERT_EQ(out, i);
}
}
TEST(simplesync_test, encode_decode) {
TEST(simplesync_test, cobs_encode) {
uint8_t buf_raw[] = {0x11, 0x22, 0x00, 0x33};
uint8_t buf_coded[] = {0x03, 0x11, 0x22, 0x02, 0x33, 0x00};
uint8_t buf[1024];
unsigned int buf_size = sizeof(buf);
uint8_t buf[sizeof(buf_coded) + 1];
unsigned int buf_used = simplesync::cobs_encode(buf_raw, sizeof(buf_raw), buf, sizeof(buf));
ASSERT_EQ(buf_used, sizeof(buf_coded));
ASSERT_EQ(0, memcmp(buf_coded, buf, sizeof(buf_coded)));
simplesync::SimpleSync s;
int number = 42;
simplesync::NumberPointerInterface number_if("n1", &number, s);
ASSERT_EQ(s.num_interfaces(), 1);
number_if.sync_requested = true;
int buf_used = s.generate_message(buf, buf_size);
ASSERT_LE(1, buf_used);
number = 0;
int buf_parsed = s.update(buf, buf_used);
ASSERT_LE(0, buf_parsed);
ASSERT_EQ(buf_parsed, buf_used);
ASSERT_EQ(number, 42);
unsigned int buf_out_used = sizeof(buf);
unsigned int buf_in_used = sizeof(buf_coded);
int error = simplesync::cobs_decode(buf_coded, buf_in_used, buf, buf_out_used);
ASSERT_EQ(error, 0);
ASSERT_EQ(buf_used, sizeof(buf_coded));
ASSERT_EQ(buf_out_used, sizeof(buf_raw));
ASSERT_EQ(0, memcmp(buf_raw, buf, sizeof(buf_raw)));
}
/*#include <BSONPP.h>
uint8_t stream_buf[1024];
unsigned int buf_size = sizeof(stream_buf);
unsigned int buf_used = 0;
TEST(simplesync_test, encode_decode) {
buf_used = 0;
typedef simplesync::SimpleSyncStatic<int, int, 999> S;
S s([](uint8_t *buf, unsigned int buf_size) {
memcpy(stream_buf + buf_used, buf, buf_size);
buf_used += buf_size;
return 0;
});
const char* test_str_key = "stringKey";
const char* test_str_value = "Just a medium length string";
// This is the buffer to be used by the library.
uint8_t buffer[256];
BSONPP doc(buffer, sizeof(buffer));
doc.append(test_str_key, "Just a medium length string");
doc.append("num", 10234234);
S::NumberInterface n1(s, (char *)"n1", 0);
S::StringInterface s1(s, (char *)"s1", 0);
S::NumberInterface n2(s, (char *)"n2", 2);
// To read BSON from a buffer pass in the buffer, length and false. By default
// when passed a buffer it clears the buffer and initialises a new BSON
// object. Set false to avoid that.
BSONPP parsed(buffer, sizeof(buffer), false);
n1.value = 4;
strcpy(s1.value, "hallo");
n2.value = 2;
char *val;
ASSERT_EQ(BSONPP_SUCCESS, parsed.get(test_str_key, &val));
EXPECT_STREQ(val, test_str_value);
// ASSERT_TRUE(strcmp(decoded.str, "Hello") == 0);
}*/
for (int time = 0; time < 5; time += 1) {
buf_used = 0;
s.update(time);
s.update(time);
unsigned int parsed = 0;
for (unsigned int i = 1; i <= buf_used; i += 1)
parsed += s.parse_stream_buf(stream_buf + parsed, i - parsed);
ASSERT_EQ(parsed, buf_used);
}
ASSERT_EQ(n1.value, 4);
ASSERT_EQ(n2.value, 2);
ASSERT_STREQ(s1.value,"hallo");
}
int main(int argc, char **argv) {
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}