command: Wait to send ack until after processing commands
Send the ack after processing commands - this gives the host code more information on serial buffer utilization. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -363,7 +363,7 @@ struct serialqueue {
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double last_receive_sent_time;
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double last_receive_sent_time;
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// Retransmit support
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// Retransmit support
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uint64_t send_seq, receive_seq;
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uint64_t send_seq, receive_seq;
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uint64_t ignore_nak_seq, retransmit_seq, rtt_sample_seq;
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uint64_t ignore_nak_seq, last_ack_seq, retransmit_seq, rtt_sample_seq;
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struct list_head sent_queue;
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struct list_head sent_queue;
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double srtt, rttvar, rto;
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double srtt, rttvar, rto;
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// Pending transmission message queues
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// Pending transmission message queues
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@ -509,10 +509,14 @@ handle_message(struct serialqueue *sq, double eventtime, int len)
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if (rseq != sq->receive_seq)
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if (rseq != sq->receive_seq)
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// New sequence number
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// New sequence number
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update_receive_seq(sq, eventtime, rseq);
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update_receive_seq(sq, eventtime, rseq);
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else if (len == MESSAGE_MIN && rseq > sq->ignore_nak_seq
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if (len == MESSAGE_MIN) {
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&& !list_empty(&sq->sent_queue))
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// Ack/nak message
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// Duplicate sequence number in an empty message is a nak
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if (sq->last_ack_seq < rseq)
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sq->last_ack_seq = rseq;
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else if (rseq > sq->ignore_nak_seq && !list_empty(&sq->sent_queue))
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// Duplicate Ack is a Nak - do fast retransmit
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pollreactor_update_timer(&sq->pr, SQPT_RETRANSMIT, PR_NOW);
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pollreactor_update_timer(&sq->pr, SQPT_RETRANSMIT, PR_NOW);
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}
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if (len > MESSAGE_MIN) {
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if (len > MESSAGE_MIN) {
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// Add message to receive queue
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// Add message to receive queue
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@ -257,7 +257,6 @@ command_find_block(uint8_t *buf, uint_fast8_t buf_len, uint_fast8_t *pop_count)
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goto nak;
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goto nak;
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}
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}
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next_sequence = ((msgseq + 1) & MESSAGE_SEQ_MASK) | MESSAGE_DEST;
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next_sequence = ((msgseq + 1) & MESSAGE_SEQ_MASK) | MESSAGE_DEST;
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command_sendf(&encode_acknak);
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return 1;
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return 1;
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need_more_data:
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need_more_data:
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@ -308,13 +307,22 @@ command_dispatch(uint8_t *buf, uint_fast8_t msglen)
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}
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}
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}
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}
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// Send an ack message to the host (notifying that it can send more data)
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void
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command_send_ack(void)
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{
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command_sendf(&encode_acknak);
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}
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// Find a message block and then dispatch all the commands in it
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// Find a message block and then dispatch all the commands in it
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int_fast8_t
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int_fast8_t
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command_find_and_dispatch(uint8_t *buf, uint_fast8_t buf_len
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command_find_and_dispatch(uint8_t *buf, uint_fast8_t buf_len
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, uint_fast8_t *pop_count)
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, uint_fast8_t *pop_count)
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{
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{
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int_fast8_t ret = command_find_block(buf, buf_len, pop_count);
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int_fast8_t ret = command_find_block(buf, buf_len, pop_count);
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if (ret > 0)
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if (ret > 0) {
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command_dispatch(buf, *pop_count);
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command_dispatch(buf, *pop_count);
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command_send_ack();
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}
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return ret;
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return ret;
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}
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}
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@ -72,6 +72,7 @@ void command_sendf(const struct command_encoder *ce, ...);
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int_fast8_t command_find_block(uint8_t *buf, uint_fast8_t buf_len
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int_fast8_t command_find_block(uint8_t *buf, uint_fast8_t buf_len
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, uint_fast8_t *pop_count);
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, uint_fast8_t *pop_count);
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void command_dispatch(uint8_t *buf, uint_fast8_t msglen);
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void command_dispatch(uint8_t *buf, uint_fast8_t msglen);
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void command_send_ack(void);
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int_fast8_t command_find_and_dispatch(uint8_t *buf, uint_fast8_t buf_len
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int_fast8_t command_find_and_dispatch(uint8_t *buf, uint_fast8_t buf_len
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, uint_fast8_t *pop_count);
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, uint_fast8_t *pop_count);
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@ -75,8 +75,11 @@ console_task(void)
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int_fast8_t ret = command_find_block(receive_buf, rpos, &pop_count);
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int_fast8_t ret = command_find_block(receive_buf, rpos, &pop_count);
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if (ret > 0)
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if (ret > 0)
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command_dispatch(receive_buf, pop_count);
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command_dispatch(receive_buf, pop_count);
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if (ret)
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if (ret) {
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console_pop_input(pop_count);
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console_pop_input(pop_count);
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if (ret > 0)
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command_send_ack();
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}
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}
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}
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DECL_TASK(console_task);
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DECL_TASK(console_task);
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@ -148,8 +148,10 @@ check_can_read(void)
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int_fast8_t ret = command_find_block(p, msglen, &pop_count);
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int_fast8_t ret = command_find_block(p, msglen, &pop_count);
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if (!ret)
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if (!ret)
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break;
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break;
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if (ret > 0)
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if (ret > 0) {
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do_dispatch(p, pop_count);
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do_dispatch(p, pop_count);
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command_send_ack();
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}
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p += pop_count;
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p += pop_count;
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len -= pop_count;
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len -= pop_count;
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}
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}
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