70 lines
2.4 KiB
C
70 lines
2.4 KiB
C
#ifndef SERIALQUEUE_H
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#define SERIALQUEUE_H
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#include "list.h" // struct list_head
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#define MAX_CLOCK 0x7fffffffffffffff
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#define MESSAGE_MIN 5
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#define MESSAGE_MAX 64
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#define MESSAGE_HEADER_SIZE 2
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#define MESSAGE_TRAILER_SIZE 3
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#define MESSAGE_POS_LEN 0
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#define MESSAGE_POS_SEQ 1
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#define MESSAGE_TRAILER_CRC 3
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#define MESSAGE_TRAILER_SYNC 1
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#define MESSAGE_PAYLOAD_MAX (MESSAGE_MAX - MESSAGE_MIN)
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#define MESSAGE_SEQ_MASK 0x0f
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#define MESSAGE_DEST 0x10
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#define MESSAGE_SYNC 0x7E
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struct queue_message {
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int len;
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uint8_t msg[MESSAGE_MAX];
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union {
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// Filled when on a command queue
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struct {
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uint64_t min_clock, req_clock;
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};
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// Filled when in sent/receive queues
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struct {
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double sent_time, receive_time;
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};
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};
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struct list_node node;
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};
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struct queue_message *message_alloc_and_encode(uint32_t *data, int len);
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void message_queue_free(struct list_head *root);
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struct pull_queue_message {
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uint8_t msg[MESSAGE_MAX];
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int len;
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double sent_time, receive_time;
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};
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struct serialqueue;
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struct serialqueue *serialqueue_alloc(int serial_fd, int write_only);
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void serialqueue_exit(struct serialqueue *sq);
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void serialqueue_free(struct serialqueue *sq);
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struct command_queue *serialqueue_alloc_commandqueue(void);
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void serialqueue_free_commandqueue(struct command_queue *cq);
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void serialqueue_send_batch(struct serialqueue *sq, struct command_queue *cq
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, struct list_head *msgs);
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void serialqueue_send(struct serialqueue *sq, struct command_queue *cq
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, uint8_t *msg, int len
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, uint64_t min_clock, uint64_t req_clock);
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void serialqueue_encode_and_send(struct serialqueue *sq, struct command_queue *cq
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, uint32_t *data, int len
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, uint64_t min_clock, uint64_t req_clock);
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void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm);
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void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust);
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void serialqueue_set_clock_est(struct serialqueue *sq, double est_clock
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, double last_ack_time, uint64_t last_ack_clock);
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void serialqueue_flush_ready(struct serialqueue *sq);
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void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len);
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int serialqueue_extract_old(struct serialqueue *sq, int sentq
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, struct pull_queue_message *q, int max);
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#endif // serialqueue.h
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