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canio: Split RemoteTransmissionRequest to its own class

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It reuses most of canio.Message's implementation, and structure
This commit is contained in:
Jeff Epler 2020-09-24 15:25:06 -05:00
parent 48bda589b8
commit 8d45be1cd9
6 changed files with 102 additions and 66 deletions
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6
shared-bindings/canio/CAN.c
View File

@ -265,7 +265,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(canio_can_restart_obj, canio_can_restart);
//|
//| An empty filter list causes all messages to be accepted.
//|
//| Timeout dictates how long readinto, read and next() will block."""
//| Timeout dictates how long receive() and next() will block."""
//| ...
//|
STATIC mp_obj_t canio_can_listen(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
@ -334,8 +334,8 @@ STATIC mp_obj_t canio_can_send(mp_obj_t self_in, mp_obj_t message_in) {
canio_can_obj_t *self = MP_OBJ_TO_PTR(self_in);
common_hal_canio_can_check_for_deinit(self);
mp_obj_type_t *message_type = mp_obj_get_type(message_in);
if (message_type != &canio_message_type) {
mp_raise_TypeError_varg(translate("expected '%q' but got '%q'"), MP_QSTR_Message, message_type->name);
if (message_type != &canio_message_type && message_type != &canio_remote_transmission_request_type) {
mp_raise_TypeError_varg(translate("expected '%q' or '%q' but got '%q'"), MP_QSTR_Message, MP_QSTR_RemoteTransmissionRequest, message_type->name);
}
canio_message_obj_t *message = message_in;

6
shared-bindings/canio/Listener.c
View File

@ -50,9 +50,13 @@ STATIC mp_obj_t canio_listener_receive(mp_obj_t self_in) {
common_hal_canio_listener_check_for_deinit(self);
canio_message_obj_t *message = m_new_obj(canio_message_obj_t);
message->base.type = &canio_message_type;
if (common_hal_canio_listener_receiveinto(self, message)) {
if (message->rtr) {
message->base.type = &canio_remote_transmission_request_type;
} else {
message->base.type = &canio_message_type;
}
return message;
} else {
m_free(message); // message did not escape into vm

138
shared-bindings/canio/Message.c
View File

@ -31,28 +31,22 @@
#include "py/runtime.h"
//| class Message:
//| def __init__(self, id: int=0, data: Optional[bytes] = None, *, size: Optional[int] = None, rtr: bool = False, extended: bool = False):
//| """Construct a Message to use with a CAN bus. Provide arguments to create a message to send. Otherwise, use Listener.readinto() to read a message.
//| def __init__(self, id: int, data: bytes, *, extended: bool = False):
//| """Construct a Message to send on a CAN bus.
//|
//| :param int id: The numeric ID of the message
//| :param bytes data: The content of the message
//| :param int size: The amount of data requested, for an rtr
//| :param bool rtr: True if the message represents an rtr (Remote Transmission Request)
//| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier
//|
//| In CAN, messages can have a size from 0 to 8 bytes.
//|
//| For a non-rtr message, specify ``data``. For an rtr-message, specify either ``data`` (a dummy buffer of the requested size) or ``size``.
//| In CAN, messages can have a length from 0 to 8 bytes.
//| """
//| ...
//|
STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_id, ARG_data, ARG_size, ARG_rtr, ARG_extended, NUM_ARGS };
enum { ARG_id, ARG_data, ARG_extended, NUM_ARGS };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_id, MP_ARG_INT, {.u_obj = 0} },
{ MP_QSTR_data, MP_ARG_OBJ, {.u_obj = 0} },
{ MP_QSTR_size, MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_rtr, MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_id, MP_ARG_INT | MP_ARG_REQUIRED },
{ MP_QSTR_data, MP_ARG_OBJ | MP_ARG_REQUIRED },
{ MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
@ -60,26 +54,8 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args,
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
bool rtr = args[ARG_rtr].u_bool;
bool extended = args[ARG_extended].u_bool;
size_t size = (size_t)args[ARG_size].u_int;
bool specified_size = (size != (size_t)-1);
bool specified_data = (args[ARG_data].u_obj != NULL);
if (specified_size && specified_data) {
mp_raise_TypeError(translate("specify size or data, but not both"));
}
mp_buffer_info_t data;
if (specified_data) {
mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ);
} else if (specified_size) {
data.buf = 0;
data.len = size;
} else {
data.buf = 0;
data.len = 0;
}
mp_get_buffer_raise(args[ARG_data].u_obj, &data, MP_BUFFER_READ);
if (data.len > 8) {
mp_raise_ValueError(translate("Messages limited to 8 bytes"));
@ -87,7 +63,7 @@ STATIC mp_obj_t canio_message_make_new(const mp_obj_type_t *type, size_t n_args,
canio_message_obj_t *self = m_new_obj(canio_message_obj_t);
self->base.type = &canio_message_type;
common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, rtr, extended);
common_hal_canio_message_construct(self, args[ARG_id].u_int, data.buf, data.len, args[ARG_extended].u_bool);
return self;
}
@ -115,13 +91,11 @@ STATIC const mp_obj_property_t canio_message_id_obj = {
};
//| data: bytes
//| """The content of the message, or dummy content in the case of an rtr.
//|
//| Assigning to data also clears the rtr flag, if it was set."""
//| """The content of the message"""
//|
STATIC mp_obj_t canio_message_data_get(const mp_obj_t self_in) {
canio_message_obj_t *self = self_in;
return mp_obj_new_bytes((const byte*)common_hal_canio_message_get_data(self), common_hal_canio_message_get_size(self));
return mp_obj_new_bytes((const byte*)common_hal_canio_message_get_data(self), common_hal_canio_message_get_length(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(canio_message_data_get_obj, canio_message_data_get);
@ -147,7 +121,7 @@ STATIC const mp_obj_property_t canio_message_data_obj = {
//| extended: bool
//| """True if the message represents a remote transmission request (RTR)"""
//| """True if the message's id is an extended id"""
//|
STATIC mp_obj_t canio_message_extended_get(const mp_obj_t self_in) {
canio_message_obj_t *self = self_in;
@ -170,36 +144,80 @@ STATIC const mp_obj_property_t canio_message_extended_obj = {
(mp_obj_t)&mp_const_none_obj},
};
//| rtr: bool
//| """True if the message represents a remote transmission request (RTR). Setting rtr to true zeros out data"""
//| class RemoteTransmissionRequest:
//| def __init__(self, id: int, length: int, *, extended: bool = False):
//| """Construct a Message to send on a CAN bus.
//|
STATIC mp_obj_t canio_message_rtr_get(const mp_obj_t self_in) {
canio_message_obj_t *self = self_in;
return mp_obj_new_bool(common_hal_canio_message_get_rtr(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(canio_message_rtr_get_obj, canio_message_rtr_get);
//| :param int id: The numeric ID of the requested message
//| :param int length: The length of the requested message
//| :param bool extended: True if the message has an extended identifier, False if it has a standard identifier
//|
//| In CAN, messages can have a length from 0 to 8 bytes.
//| """
//| ...
//|
STATIC mp_obj_t canio_remote_transmission_request_make_new(const mp_obj_type_t *type, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_id, ARG_length, ARG_extended, NUM_ARGS };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_id, MP_ARG_INT | MP_ARG_REQUIRED },
{ MP_QSTR_length, MP_ARG_INT | MP_ARG_REQUIRED },
{ MP_QSTR_extended, MP_ARG_BOOL, {.u_bool = false} },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
MP_STATIC_ASSERT( MP_ARRAY_SIZE(allowed_args) == NUM_ARGS );
STATIC mp_obj_t canio_message_rtr_set(const mp_obj_t self_in, const mp_obj_t rtr) {
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
int length = args[ARG_length].u_int;
if (length < 0 || length > 8) {
mp_raise_ValueError(translate("Messages limited to 8 bytes"));
}
canio_message_obj_t *self = m_new_obj(canio_message_obj_t);
self->base.type = &canio_remote_transmission_request_type;
common_hal_canio_message_construct(self, args[ARG_id].u_int, NULL, length, args[ARG_extended].u_bool);
return self;
}
//| extended: bool
//| """True if the message's id is an extended id"""
//|
//| id: int
//| """The numeric ID of the message"""
//|
//| length: int
//| """The length of the requested message."""
//|
STATIC mp_obj_t canio_remote_transmission_request_length_get(const mp_obj_t self_in) {
canio_message_obj_t *self = self_in;
common_hal_canio_message_set_rtr(self, mp_obj_is_true(rtr));
return MP_OBJ_NEW_SMALL_INT(common_hal_canio_message_get_length(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(canio_remote_transmission_request_length_get_obj, canio_remote_transmission_request_length_get);
STATIC mp_obj_t canio_remote_transmission_request_length_set(const mp_obj_t self_in, const mp_obj_t length_in) {
canio_message_obj_t *self = self_in;
int length = mp_obj_get_int(length_in);
if (length < 0 || length > 8) {
mp_raise_ValueError(translate("Messages limited to 8 bytes"));
}
common_hal_canio_remote_transmission_request_set_length(self, length);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_2(canio_message_rtr_set_obj, canio_message_rtr_set);
MP_DEFINE_CONST_FUN_OBJ_2(canio_remote_transmission_request_length_set_obj, canio_remote_transmission_request_length_set);
STATIC const mp_obj_property_t canio_message_rtr_obj = {
STATIC const mp_obj_property_t canio_remote_transmission_request_length_obj = {
.base.type = &mp_type_property,
.proxy = {(mp_obj_t)&canio_message_rtr_get_obj,
(mp_obj_t)&canio_message_rtr_set_obj,
.proxy = {(mp_obj_t)&canio_remote_transmission_request_length_get_obj,
(mp_obj_t)&canio_remote_transmission_request_length_set_obj,
(mp_obj_t)&mp_const_none_obj},
};
STATIC const mp_rom_map_elem_t canio_message_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_message_id_obj) },
{ MP_ROM_QSTR(MP_QSTR_data), MP_ROM_PTR(&canio_message_data_obj) },
{ MP_ROM_QSTR(MP_QSTR_rtr), MP_ROM_PTR(&canio_message_rtr_obj) },
{ MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_message_extended_obj) },
};
STATIC MP_DEFINE_CONST_DICT(canio_message_locals_dict, canio_message_locals_dict_table);
@ -210,3 +228,17 @@ const mp_obj_type_t canio_message_type = {
.make_new = canio_message_make_new,
.locals_dict = (mp_obj_t)&canio_message_locals_dict,
};
STATIC const mp_rom_map_elem_t canio_remote_transmission_request_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&canio_message_id_obj) },
{ MP_ROM_QSTR(MP_QSTR_length), MP_ROM_PTR(&canio_remote_transmission_request_length_obj) },
{ MP_ROM_QSTR(MP_QSTR_extended), MP_ROM_PTR(&canio_message_extended_obj) },
};
STATIC MP_DEFINE_CONST_DICT(canio_remote_transmission_request_locals_dict, canio_remote_transmission_request_locals_dict_table);
const mp_obj_type_t canio_remote_transmission_request_type = {
{ &mp_type_type },
.name = MP_QSTR_RemoteTransmissionRequest,
.make_new = canio_remote_transmission_request_make_new,
.locals_dict = (mp_obj_t)&canio_remote_transmission_request_locals_dict,
};

7
shared-bindings/canio/Message.h
View File

@ -30,8 +30,9 @@
#include "shared-module/canio/Message.h"
extern const mp_obj_type_t canio_message_type;
extern const mp_obj_type_t canio_remote_transmission_request_type;
void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended);
void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool extended);
const void *common_hal_canio_message_get_data(const canio_message_obj_t *self);
void common_hal_canio_message_set_data(canio_message_obj_t *self, const void *data, size_t size);
bool common_hal_canio_message_get_extended(const canio_message_obj_t *self);
@ -40,5 +41,5 @@ int common_hal_canio_message_get_id(const canio_message_obj_t *self);
void common_hal_canio_message_set_id(canio_message_obj_t *self, int id);
bool common_hal_canio_message_get_rtr(const canio_message_obj_t *self);
void common_hal_canio_message_set_rtr(canio_message_obj_t *self, bool rtr);
size_t common_hal_canio_message_get_size(const canio_message_obj_t *self);
void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size);
size_t common_hal_canio_message_get_length(const canio_message_obj_t *self);
void common_hal_canio_remote_transmission_request_set_length(canio_message_obj_t *self, size_t length);

1
shared-bindings/canio/__init__.c
View File

@ -113,6 +113,7 @@ STATIC const mp_rom_map_elem_t canio_module_globals_table[] = {
{ MP_ROM_QSTR(MP_QSTR_Listener), MP_ROM_PTR(&canio_listener_type) },
{ MP_ROM_QSTR(MP_QSTR_Match), MP_ROM_PTR(&canio_match_type) },
{ MP_ROM_QSTR(MP_QSTR_Message), MP_ROM_PTR(&canio_message_type) },
{ MP_ROM_QSTR(MP_QSTR_RemoteTransmissionRequest), MP_ROM_PTR(&canio_remote_transmission_request_type) },
{ MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR__canio) },
};

10
shared-module/canio/Message.c
View File

@ -28,16 +28,14 @@
#include <string.h>
void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool rtr, bool extended)
void common_hal_canio_message_construct(canio_message_obj_t *self, int id, void *data, size_t size, bool extended)
{
self->id = id;
self->size = size;
self->rtr = rtr;
self->rtr = !data;
self->extended = extended;
if (data) {
memcpy(self->data, data, size);
} else {
memset(self->data, 0, size);
}
}
@ -65,12 +63,12 @@ const void common_hal_canio_message_set_data(canio_message_obj_t *self, const vo
}
size_t common_hal_canio_message_get_size(const canio_message_obj_t *self)
size_t common_hal_canio_message_get_length(const canio_message_obj_t *self)
{
return self->size;
}
void common_hal_canio_message_set_size(canio_message_obj_t *self, size_t size)
void common_hal_canio_remote_transmission_request_set_length(canio_message_obj_t *self, size_t size)
{
memset(self->data, 0, size);
self->size = size;