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Merged
qzhhhi merged 1 commit into from
Jun 21, 2026
Merged

fix(protocol): Fail invalid routes and simplify GPIO payloads #60

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76 changes: 26 additions & 50 deletions core/src/protocol/deserializer.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -108,9 +108,7 @@ coroutine::LifoTask<bool> Deserializer::process_can_field(FieldId field_id) {
data_view.can_data = std::span<const std::byte>{};
}

callback_.can_deserialized_callback(field_id, data_view);

co_return true;
co_return callback_.can_deserialized_callback(field_id, data_view);
}

coroutine::LifoTask<bool> Deserializer::process_uart_field(FieldId field_id) {
Expand Down Expand Up @@ -147,9 +145,7 @@ coroutine::LifoTask<bool> Deserializer::process_uart_field(FieldId field_id) {
data_view.uart_data = std::span<const std::byte>{};
}

callback_.uart_deserialized_callback(field_id, data_view);

co_return true;
co_return callback_.uart_deserialized_callback(field_id, data_view);
}

coroutine::LifoTask<bool> Deserializer::process_gpio_field(FieldId) {
Expand All @@ -169,16 +165,25 @@ coroutine::LifoTask<bool> Deserializer::process_gpio_field(FieldId) {
}

switch (payload_type) {
case GpioHeader::PayloadEnum::kDigitalWriteLow:
case GpioHeader::PayloadEnum::kDigitalWriteHigh: {
if (timestamped) [[unlikely]]
co_return false;
case GpioHeader::PayloadEnum::kDigitalLow:
case GpioHeader::PayloadEnum::kDigitalHigh: {
data::GpioDigitalDataView data_view{};
data_view.high = payload_type == GpioHeader::PayloadEnum::kDigitalWriteHigh;
callback_.gpio_digital_data_deserialized_callback(channel_index, data_view);
data_view.high = payload_type == GpioHeader::PayloadEnum::kDigitalHigh;
if (timestamped) {
const auto* payload_bytes =
co_await peek_bytes(sizeof(GpioDigitalReadTimestampPayload));
if (!payload_bytes) [[unlikely]]
co_return false;
auto payload = GpioDigitalReadTimestampPayload::CRef{payload_bytes};
data_view.timestamp_quarter_us =
payload.get<GpioDigitalReadTimestampPayload::TimestampQuarterUs>();
consume_peeked();
}
if (!callback_.gpio_digital_data_deserialized_callback(channel_index, data_view))
co_return false;
break;
}
case GpioHeader::PayloadEnum::kAnalogWrite: {
case GpioHeader::PayloadEnum::kAnalog: {
if (timestamped) [[unlikely]]
co_return false;
const auto* payload_bytes = co_await peek_bytes(sizeof(GpioAnalogPayload));
Expand All @@ -190,11 +195,12 @@ coroutine::LifoTask<bool> Deserializer::process_gpio_field(FieldId) {
data_view.value = payload.get<GpioAnalogPayload::Value>();
consume_peeked();

callback_.gpio_analog_data_deserialized_callback(channel_index, data_view);
if (!callback_.gpio_analog_data_deserialized_callback(channel_index, data_view))
co_return false;
break;
}
case GpioHeader::PayloadEnum::kDigitalRead:
case GpioHeader::PayloadEnum::kAnalogRead: {
case GpioHeader::PayloadEnum::kDigitalReadConfig:
case GpioHeader::PayloadEnum::kAnalogReadConfig: {
const auto* payload_bytes = co_await peek_bytes(sizeof(GpioReadConfigPayload));
if (!payload_bytes) [[unlikely]]
co_return false;
Expand All @@ -213,45 +219,15 @@ coroutine::LifoTask<bool> Deserializer::process_gpio_field(FieldId) {
&& data_view.pull != data::GpioPull::kDown)
co_return false;

if (payload_type == GpioHeader::PayloadEnum::kDigitalRead) {
callback_.gpio_digital_read_config_deserialized_callback(channel_index, data_view);
if (payload_type == GpioHeader::PayloadEnum::kDigitalReadConfig) {
if (!callback_.gpio_digital_read_config_deserialized_callback(channel_index, data_view))
co_return false;
} else {
if (data_view.capture_timestamp || data_view.rising_edge || data_view.falling_edge)
co_return false;
callback_.gpio_analog_read_config_deserialized_callback(channel_index, data_view);
}
break;
}
case GpioHeader::PayloadEnum::kDigitalReadResultLow:
case GpioHeader::PayloadEnum::kDigitalReadResultHigh: {
data::GpioDigitalDataView data_view{};
data_view.high = payload_type == GpioHeader::PayloadEnum::kDigitalReadResultHigh;
if (timestamped) {
const auto* payload_bytes =
co_await peek_bytes(sizeof(GpioDigitalReadTimestampPayload));
if (!payload_bytes) [[unlikely]]
if (!callback_.gpio_analog_read_config_deserialized_callback(channel_index, data_view))
co_return false;
auto payload = GpioDigitalReadTimestampPayload::CRef{payload_bytes};
data_view.timestamp_quarter_us =
payload.get<GpioDigitalReadTimestampPayload::TimestampQuarterUs>();
consume_peeked();
}
callback_.gpio_digital_data_deserialized_callback(channel_index, data_view);
break;
}
case GpioHeader::PayloadEnum::kAnalogReadResult: {
if (timestamped) [[unlikely]]
co_return false;
const auto* payload_bytes = co_await peek_bytes(sizeof(GpioAnalogPayload));
if (!payload_bytes) [[unlikely]]
co_return false;

auto payload = GpioAnalogPayload::CRef{payload_bytes};
data::GpioAnalogDataView data_view{};
data_view.value = payload.get<GpioAnalogPayload::Value>();
consume_peeked();

callback_.gpio_analog_data_deserialized_callback(channel_index, data_view);
break;
}
default: co_return false;
Expand Down
14 changes: 8 additions & 6 deletions core/src/protocol/deserializer.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,20 +24,22 @@ class DeserializeCallback {
DeserializeCallback& operator=(DeserializeCallback&&) = delete;
virtual ~DeserializeCallback() = default;

virtual void can_deserialized_callback(FieldId id, const data::CanDataView& data) = 0;
[[nodiscard]] virtual bool
can_deserialized_callback(FieldId id, const data::CanDataView& data) = 0;

virtual void uart_deserialized_callback(FieldId id, const data::UartDataView& data) = 0;
[[nodiscard]] virtual bool
uart_deserialized_callback(FieldId id, const data::UartDataView& data) = 0;

virtual void gpio_digital_data_deserialized_callback(
[[nodiscard]] virtual bool gpio_digital_data_deserialized_callback(
uint8_t channel_index, const data::GpioDigitalDataView& data) = 0;

virtual void gpio_analog_data_deserialized_callback(
[[nodiscard]] virtual bool gpio_analog_data_deserialized_callback(
uint8_t channel_index, const data::GpioAnalogDataView& data) = 0;

virtual void gpio_digital_read_config_deserialized_callback(
[[nodiscard]] virtual bool gpio_digital_read_config_deserialized_callback(
uint8_t channel_index, const data::GpioReadConfigView& data) = 0;

virtual void gpio_analog_read_config_deserialized_callback(
[[nodiscard]] virtual bool gpio_analog_read_config_deserialized_callback(
uint8_t channel_index, const data::GpioReadConfigView& data) = 0;

virtual void accelerometer_deserialized_callback(const data::AccelerometerDataView& data) = 0;
Expand Down
13 changes: 5 additions & 8 deletions core/src/protocol/protocol.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -93,14 +93,11 @@ struct SessionHeader

struct GpioHeader : utility::Bitfield<2> {
enum class PayloadEnum : uint8_t {
kDigitalWriteLow = 0b0000,
kDigitalWriteHigh = 0b0001,
kAnalogWrite = 0b0010,
kDigitalRead = 0b0100,
kAnalogRead = 0b0110,
kDigitalReadResultLow = 0b1000,
kDigitalReadResultHigh = 0b1001,
kAnalogReadResult = 0b1010,
kDigitalLow = 0b0000,
kDigitalHigh = 0b0001,
kAnalog = 0b0010,
kDigitalReadConfig = 0b0100,
kAnalogReadConfig = 0b0110,
};

using PayloadType = utility::BitfieldMember<4, 4, PayloadEnum>;
Expand Down
110 changes: 25 additions & 85 deletions core/src/protocol/serializer.hpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -120,14 +120,13 @@ class Serializer {
return SerializeResult::kSuccess;
}

SerializeResult write_gpio_digital_data(
SerializeResult write_gpio_digital_value(
uint8_t channel_index, const data::GpioDigitalDataView& view) noexcept {
utility::assert_debug(channel_index < (1U << GpioHeader::ChannelIndex::kBitWidth));
LIBRMCS_VERIFY_LIKELY(
!view.timestamp_quarter_us.has_value(), SerializeResult::kInvalidArgument);
const auto payload_type = view.high ? GpioHeader::PayloadEnum::kDigitalWriteHigh
: GpioHeader::PayloadEnum::kDigitalWriteLow;
const std::size_t required = required_gpio_size(FieldId::kGpio, payload_type);
const auto payload_type = view.high ? GpioHeader::PayloadEnum::kDigitalHigh
: GpioHeader::PayloadEnum::kDigitalLow;
const std::size_t required =
required_gpio_size(FieldId::kGpio, payload_type, view.timestamp_quarter_us.has_value());
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

auto dst = buffer_.allocate(required);
Expand All @@ -141,7 +140,14 @@ class Serializer {
cursor += sizeof(GpioHeader);
header.set<GpioHeader::PayloadType>(payload_type);
header.set<GpioHeader::ChannelIndex>(channel_index);
header.set<GpioHeader::Timestamped>(false);
header.set<GpioHeader::Timestamped>(view.timestamp_quarter_us.has_value());

if (view.timestamp_quarter_us) {
auto payload = GpioDigitalReadTimestampPayload::Ref(cursor);
cursor += sizeof(GpioDigitalReadTimestampPayload);
payload.set<GpioDigitalReadTimestampPayload::TimestampQuarterUs>(
*view.timestamp_quarter_us);
}

utility::assert_debug(cursor == dst.data() + dst.size());
return SerializeResult::kSuccess;
Expand All @@ -151,7 +157,7 @@ class Serializer {
uint8_t channel_index, const data::GpioReadConfigView& view) noexcept {
utility::assert_debug(channel_index < (1U << GpioHeader::ChannelIndex::kBitWidth));
const std::size_t required =
required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kDigitalRead);
required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kDigitalReadConfig);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

auto dst = buffer_.allocate(required);
Expand All @@ -163,7 +169,7 @@ class Serializer {

auto header = GpioHeader::Ref(cursor);
cursor += sizeof(GpioHeader);
header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kDigitalRead);
header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kDigitalReadConfig);
header.set<GpioHeader::ChannelIndex>(channel_index);
header.set<GpioHeader::Timestamped>(view.capture_timestamp);

Expand All @@ -179,11 +185,11 @@ class Serializer {
return SerializeResult::kSuccess;
}

SerializeResult write_gpio_analog_data(
SerializeResult write_gpio_analog_value(
uint8_t channel_index, const data::GpioAnalogDataView& view) noexcept {
utility::assert_debug(channel_index < (1U << GpioHeader::ChannelIndex::kBitWidth));
const std::size_t required =
required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalogWrite);
required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalog);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

auto dst = buffer_.allocate(required);
Expand All @@ -195,7 +201,7 @@ class Serializer {

auto header = GpioHeader::Ref(cursor);
cursor += sizeof(GpioHeader);
header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalogWrite);
header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalog);
header.set<GpioHeader::ChannelIndex>(channel_index);
header.set<GpioHeader::Timestamped>(false);

Expand All @@ -215,7 +221,7 @@ class Serializer {
LIBRMCS_VERIFY_LIKELY(!view.capture_timestamp, SerializeResult::kInvalidArgument);

const std::size_t required =
required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalogRead);
required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalogReadConfig);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

auto dst = buffer_.allocate(required);
Expand All @@ -227,7 +233,7 @@ class Serializer {

auto header = GpioHeader::Ref(cursor);
cursor += sizeof(GpioHeader);
header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalogRead);
header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalogReadConfig);
header.set<GpioHeader::ChannelIndex>(channel_index);
header.set<GpioHeader::Timestamped>(false);

Expand All @@ -243,67 +249,6 @@ class Serializer {
return SerializeResult::kSuccess;
}

SerializeResult write_gpio_digital_read_result(
uint8_t channel_index, const data::GpioDigitalDataView& view) noexcept {
utility::assert_debug(channel_index < (1U << GpioHeader::ChannelIndex::kBitWidth));
const auto payload_type = view.high ? GpioHeader::PayloadEnum::kDigitalReadResultHigh
: GpioHeader::PayloadEnum::kDigitalReadResultLow;
const std::size_t required =
required_gpio_size(FieldId::kGpio, payload_type, view.timestamp_quarter_us.has_value());
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

auto dst = buffer_.allocate(required);
LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
utility::assert_debug(dst.size() == required);
std::byte* cursor = dst.data();

write_field_header(cursor, FieldId::kGpio);

auto header = GpioHeader::Ref(cursor);
cursor += sizeof(GpioHeader);
header.set<GpioHeader::PayloadType>(payload_type);
header.set<GpioHeader::ChannelIndex>(channel_index);
header.set<GpioHeader::Timestamped>(view.timestamp_quarter_us.has_value());

if (view.timestamp_quarter_us) {
auto payload = GpioDigitalReadTimestampPayload::Ref(cursor);
cursor += sizeof(GpioDigitalReadTimestampPayload);
payload.set<GpioDigitalReadTimestampPayload::TimestampQuarterUs>(
*view.timestamp_quarter_us);
}

utility::assert_debug(cursor == dst.data() + dst.size());
return SerializeResult::kSuccess;
}

SerializeResult write_gpio_analog_read_result(
uint8_t channel_index, const data::GpioAnalogDataView& view) noexcept {
utility::assert_debug(channel_index < (1U << GpioHeader::ChannelIndex::kBitWidth));
const std::size_t required =
required_gpio_size(FieldId::kGpio, GpioHeader::PayloadEnum::kAnalogReadResult);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);

auto dst = buffer_.allocate(required);
LIBRMCS_VERIFY_LIKELY(!dst.empty(), SerializeResult::kBadAlloc);
utility::assert_debug(dst.size() == required);
std::byte* cursor = dst.data();

write_field_header(cursor, FieldId::kGpio);

auto header = GpioHeader::Ref(cursor);
cursor += sizeof(GpioHeader);
header.set<GpioHeader::PayloadType>(GpioHeader::PayloadEnum::kAnalogReadResult);
header.set<GpioHeader::ChannelIndex>(channel_index);
header.set<GpioHeader::Timestamped>(false);

auto payload = GpioAnalogPayload::Ref(cursor);
cursor += sizeof(GpioAnalogPayload);
payload.set<GpioAnalogPayload::Value>(view.value);

utility::assert_debug(cursor == dst.data() + dst.size());
return SerializeResult::kSuccess;
}

SerializeResult write_imu_accelerometer(const data::AccelerometerDataView& view) noexcept {
const std::size_t required = required_imu_size(FieldId::kImu, ImuPayload::kAccelerometer);
LIBRMCS_VERIFY_LIKELY(required, SerializeResult::kInvalidArgument);
Expand Down Expand Up @@ -466,20 +411,15 @@ class Serializer {
const std::size_t gpio_header_bytes = sizeof(GpioHeader);
std::size_t payload_bytes = 0;
switch (payload) {
case GpioHeader::PayloadEnum::kDigitalWriteLow:
case GpioHeader::PayloadEnum::kDigitalWriteHigh: payload_bytes = 0; break;
case GpioHeader::PayloadEnum::kDigitalReadResultLow:
case GpioHeader::PayloadEnum::kDigitalReadResultHigh:
case GpioHeader::PayloadEnum::kDigitalLow:
case GpioHeader::PayloadEnum::kDigitalHigh:
payload_bytes = timestamped ? sizeof(GpioDigitalReadTimestampPayload) : 0;
break;
case GpioHeader::PayloadEnum::kDigitalRead:
case GpioHeader::PayloadEnum::kAnalogRead:
case GpioHeader::PayloadEnum::kDigitalReadConfig:
case GpioHeader::PayloadEnum::kAnalogReadConfig:
payload_bytes = sizeof(GpioReadConfigPayload);
break;
case GpioHeader::PayloadEnum::kAnalogWrite:
case GpioHeader::PayloadEnum::kAnalogReadResult:
payload_bytes = sizeof(GpioAnalogPayload);
break;
case GpioHeader::PayloadEnum::kAnalog: payload_bytes = sizeof(GpioAnalogPayload); break;
default: return 0;
}

Expand Down
2 changes: 1 addition & 1 deletion firmware/c_board/app/src/gpio/gpio.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -211,7 +211,7 @@ class Gpio : private core::utility::Immovable {

auto& serializer = usb::get_serializer();
core::utility::assert_debug(
serializer.write_gpio_digital_read_result(
serializer.write_gpio_digital_value(
channel_index, {.high = high, .timestamp_quarter_us = timestamp_to_publish})
!= core::protocol::Serializer::SerializeResult::kInvalidArgument);
}
Expand Down
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