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Remove buffers reusage to avoid conflicts
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sashacmc committed Dec 11, 2024
1 parent 5bd9b96 commit 0cd15d8
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Showing 12 changed files with 118 additions and 103 deletions.
6 changes: 1 addition & 5 deletions include/zenoh-pico/system/platform/arduino/esp32.h
Original file line number Diff line number Diff line change
Expand Up @@ -47,11 +47,7 @@ typedef struct {
BluetoothSerial *_bts; // As pointer to cross the boundary between C and C++
#endif
#if Z_FEATURE_LINK_SERIAL == 1
struct {
HardwareSerial *_serial; // As pointer to cross the boundary between C and C++
uint8_t *tmp_buf;
uint8_t *raw_buf;
};
HardwareSerial *_serial; // As pointer to cross the boundary between C and C++
#endif
};
} _z_sys_net_socket_t;
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6 changes: 1 addition & 5 deletions include/zenoh-pico/system/platform/espidf.h
Original file line number Diff line number Diff line change
Expand Up @@ -56,11 +56,7 @@ typedef struct {
int _fd;
#endif
#if Z_FEATURE_LINK_SERIAL == 1
struct {
uart_port_t _serial;
uint8_t *tmp_buf;
uint8_t *raw_buf;
};
uart_port_t _serial;
#endif
};
} _z_sys_net_socket_t;
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2 changes: 0 additions & 2 deletions include/zenoh-pico/system/platform/flipper.h
Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,6 @@ typedef struct {
#if Z_FEATURE_LINK_SERIAL == 1
FuriStreamBuffer* _rx_stream;
FuriHalSerialHandle* _serial;
uint8_t* tmp_buf;
uint8_t* raw_buf;
#endif
} _z_sys_net_socket_t;

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6 changes: 1 addition & 5 deletions include/zenoh-pico/system/platform/mbed.h
Original file line number Diff line number Diff line change
Expand Up @@ -51,11 +51,7 @@ typedef struct {
UDPSocket *_udp; // As pointer to cross the boundary between C and C++
#endif
#if Z_FEATURE_LINK_SERIAL == 1
struct {
BufferedSerial *_serial; // As pointer to cross the boundary between C and C++
uint8_t *tmp_buf;
uint8_t *raw_buf;
};
BufferedSerial *_serial; // As pointer to cross the boundary between C and C++
#endif
};
} _z_sys_net_socket_t;
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6 changes: 1 addition & 5 deletions include/zenoh-pico/system/platform/rpi_pico.h
Original file line number Diff line number Diff line change
Expand Up @@ -61,11 +61,7 @@ typedef struct {
int _fd;
#endif
#if Z_FEATURE_LINK_SERIAL == 1
struct {
uart_inst_t *_serial;
uint8_t *tmp_buf;
uint8_t *raw_buf;
};
uart_inst_t *_serial;
#endif
};
} _z_sys_net_socket_t;
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6 changes: 1 addition & 5 deletions include/zenoh-pico/system/platform/zephyr.h
Original file line number Diff line number Diff line change
Expand Up @@ -50,11 +50,7 @@ typedef struct {
int _fd;
#endif
#if Z_FEATURE_LINK_SERIAL == 1
struct {
const struct device *_serial;
uint8_t *tmp_buf;
uint8_t *raw_buf;
};
const struct device *_serial;
#endif
};
} _z_sys_net_socket_t;
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30 changes: 19 additions & 11 deletions src/system/arduino/esp32/network.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -727,9 +727,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_
return _Z_ERR_GENERIC;
}

sock->tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE);
sock->raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);

return _z_connect_serial(*sock);
}

Expand Down Expand Up @@ -761,38 +758,49 @@ z_result_t _z_listen_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint3
void _z_close_serial(_z_sys_net_socket_t *sock) {
sock->_serial->end();
delete sock->_serial;
z_free(sock->tmp_buf);
z_free(sock->raw_buf);
}

size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header, uint8_t *ptr, size_t len) {
uint8_t *raw_buf = z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t rb = 0;
for (size_t i = 0; i < _Z_SERIAL_MAX_COBS_BUF_SIZE; i++) {
while (sock._serial->available() < 1) {
z_sleep_ms(1); // FIXME: Yield by sleeping.
}
sock.raw_buf[i] = sock._serial->read();
raw_buf[i] = sock._serial->read();
rb = rb + (size_t)1;
if (sock.raw_buf[i] == (uint8_t)0x00) {
if (raw_buf[i] == (uint8_t)0x00) {
break;
}
}

return _z_serial_msg_deserialize(sock.raw_buf, rb, ptr, len, header, sock.tmp_buf, _Z_SERIAL_MFS_SIZE);
uint8_t *tmp_buf = z_malloc(_Z_SERIAL_MFS_SIZE);
size_t ret = _z_serial_msg_deserialize(raw_buf, rb, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

z_free(raw_buf);
z_free(tmp_buf);

return ret;
}

size_t _z_send_serial_internal(const _z_sys_net_socket_t sock, uint8_t header, const uint8_t *ptr, size_t len) {
size_t ret = _z_serial_msg_serialize(sock.raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, sock.tmp_buf,
_Z_SERIAL_MFS_SIZE);
uint8_t *tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE);
uint8_t *raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t ret =
_z_serial_msg_serialize(raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

if (ret == SIZE_MAX) {
return ret;
}

ssize_t wb = sock._serial->write(sock.raw_buf, ret);
ssize_t wb = sock._serial->write(raw_buf, ret);
if (wb != (ssize_t)ret) {
ret = SIZE_MAX;
}

z_free(raw_buf);
z_free(tmp_buf);

return len;
}
#endif
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28 changes: 18 additions & 10 deletions src/system/espidf/network.c
Original file line number Diff line number Diff line change
Expand Up @@ -601,8 +601,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_
QueueHandle_t uart_queue;
uart_driver_install(sock->_serial, uart_buffer_size, 0, 100, &uart_queue, 0);
uart_flush_input(sock->_serial);
sock->tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE);
sock->raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);

return _z_connect_serial(*sock);
}
Expand Down Expand Up @@ -636,22 +634,21 @@ void _z_close_serial(_z_sys_net_socket_t *sock) {
uart_wait_tx_done(sock->_serial, 1000);
uart_flush(sock->_serial);
uart_driver_delete(sock->_serial);
z_free(sock->tmp_buf);
z_free(sock->raw_buf);
}

size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header, uint8_t *ptr, size_t len) {
uint8_t *raw_buf = z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t rb = 0;
while (rb < _Z_SERIAL_MAX_COBS_BUF_SIZE) {
int r = uart_read_bytes(sock._serial, &sock.raw_buf[rb], 1, 1000);
int r = uart_read_bytes(sock._serial, &raw_buf[rb], 1, 1000);
if (r == 0) {
_Z_DEBUG("Timeout reading from serial");
if (rb == 0) {
return SIZE_MAX;
}
} else if (r == 1) {
rb = rb + (size_t)1;
if (sock.raw_buf[rb - 1] == (uint8_t)0x00) {
if (raw_buf[rb - 1] == (uint8_t)0x00) {
break;
}
} else {
Expand All @@ -660,22 +657,33 @@ size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header,
}
}

return _z_serial_msg_deserialize(sock.raw_buf, rb, ptr, len, header, sock.tmp_buf, _Z_SERIAL_MFS_SIZE);
uint8_t *tmp_buf = z_malloc(_Z_SERIAL_MFS_SIZE);
size_t ret = _z_serial_msg_deserialize(raw_buf, rb, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

z_free(raw_buf);
z_free(tmp_buf);

return ret;
}

size_t _z_send_serial_internal(const _z_sys_net_socket_t sock, uint8_t header, const uint8_t *ptr, size_t len) {
size_t ret = _z_serial_msg_serialize(sock.raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, sock.tmp_buf,
_Z_SERIAL_MFS_SIZE);
uint8_t *tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE);
uint8_t *raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t ret =
_z_serial_msg_serialize(raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

if (ret == SIZE_MAX) {
return ret;
}

ssize_t wb = uart_write_bytes(sock._serial, sock.raw_buf, ret);
ssize_t wb = uart_write_bytes(sock._serial, raw_buf, ret);
if (wb != (ssize_t)ret) {
ret = SIZE_MAX;
}

z_free(raw_buf);
z_free(tmp_buf);

return len;
}
#endif
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31 changes: 19 additions & 12 deletions src/system/flipper/network.c
Original file line number Diff line number Diff line change
Expand Up @@ -78,9 +78,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t* sock, char* dev, uint32_

_Z_DEBUG("Serial port opened: %s (%li)", dev, baudrate);

sock->tmp_buf = (uint8_t*)z_malloc(_Z_SERIAL_MFS_SIZE);
sock->raw_buf = (uint8_t*)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);

return _z_connect_serial(*sock);
}

Expand Down Expand Up @@ -116,42 +113,52 @@ void _z_close_serial(_z_sys_net_socket_t* sock) {

sock->_serial = 0;
sock->_rx_stream = 0;

z_free(sock->tmp_buf);
z_free(sock->raw_buf);
}
_Z_DEBUG("Serial port closed");
}

size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t* header, uint8_t* ptr, size_t len) {
uint8_t* raw_buf = z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t rb = 0;
for (size_t i = 0; i < _Z_SERIAL_MAX_COBS_BUF_SIZE; i++) {
size_t len = 0;
len = furi_stream_buffer_receive(sock._rx_stream, &sock.raw_buf[i], 1, FLIPPER_SERIAL_TIMEOUT_MS);
len = furi_stream_buffer_receive(sock._rx_stream, &raw_buf[i], 1, FLIPPER_SERIAL_TIMEOUT_MS);
if (!len) {
return SIZE_MAX;
}
rb++;

if (sock.raw_buf[i] == (uint8_t)0x00) {
if (raw_buf[i] == (uint8_t)0x00) {
break;
}
}

return _z_serial_msg_deserialize(sock.raw_buf, rb, ptr, len, header, sock.tmp_buf, _Z_SERIAL_MFS_SIZE);
uint8_t* tmp_buf = z_malloc(_Z_SERIAL_MFS_SIZE);
size_t ret = _z_serial_msg_deserialize(raw_buf, rb, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

z_free(raw_buf);
z_free(tmp_buf);

return ret;
}

size_t _z_send_serial_internal(const _z_sys_net_socket_t sock, uint8_t header, const uint8_t* ptr, size_t len) {
size_t ret = _z_serial_msg_serialize(sock.raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, sock.tmp_buf,
_Z_SERIAL_MFS_SIZE);
uint8_t* tmp_buf = (uint8_t*)z_malloc(_Z_SERIAL_MFS_SIZE);
uint8_t* raw_buf = (uint8_t*)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t ret =
_z_serial_msg_serialize(raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

if (ret == SIZE_MAX) {
return ret;
}

furi_hal_serial_tx(sock._serial, sock.raw_buf, ret);
furi_hal_serial_tx(sock._serial, raw_buf, ret);
furi_hal_serial_tx_wait_complete(sock._serial);


z_free(raw_buf);
z_free(tmp_buf);

return len;
}
#endif
Expand Down
31 changes: 18 additions & 13 deletions src/system/mbed/network.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -332,9 +332,6 @@ z_result_t _z_open_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin, u
ret = _Z_ERR_GENERIC;
}

sock->tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE);
sock->raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);

return _z_connect_serial(*sock);
}

Expand Down Expand Up @@ -373,38 +370,46 @@ z_result_t _z_listen_serial_from_dev(_z_sys_net_socket_t *sock, char *device, ui
return ret;
}

void _z_close_serial(_z_sys_net_socket_t *sock) {
delete sock->_serial;
z_free(sock->tmp_buf);
z_free(sock->raw_buf);
}
void _z_close_serial(_z_sys_net_socket_t *sock) { delete sock->_serial; }

size_t _z_read_serial(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
uint8_t *raw_buf = z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t rb = 0;
for (size_t i = 0; i < _Z_SERIAL_MAX_COBS_BUF_SIZE; i++) {
sock._serial->read(&sock.raw_buf[i], 1);
sock._serial->read(&raw_buf[i], 1);
rb++;
if (before_cobs[i] == (uint8_t)0x00) {
break;
}
}

return _z_serial_msg_deserialize(sock.raw_buf, rb, ptr, len, header, sock.tmp_buf, _Z_SERIAL_MFS_SIZE);
uint8_t *tmp_buf = z_malloc(_Z_SERIAL_MFS_SIZE);
size_t ret = _z_serial_msg_deserialize(raw_buf, rb, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

z_free(raw_buf);
z_free(tmp_buf);

return ret;
}

size_t _z_send_serial_internal(const _z_sys_net_socket_t sock, uint8_t header, const uint8_t *ptr, size_t len) {
size_t ret = _z_serial_msg_serialize(sock.raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, sock.tmp_buf,
_Z_SERIAL_MFS_SIZE);
uint8_t *tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE);
uint8_t *raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
size_t ret =
_z_serial_msg_serialize(raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE);

if (ret == SIZE_MAX) {
return ret;
}

ssize_t wb = sock._serial->write(after_cobs, sock.raw_buf, ret);
ssize_t wb = sock._serial->write(after_cobs, raw_buf, ret);
if (wb != (ssize_t)ret) {
ret = SIZE_MAX;
}

z_free(raw_buf);
z_free(tmp_buf);

return len;
}
#endif
Expand Down
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