picomap/firmware/lib/dispatch.cpp

#include "dispatch.h"
#include <unordered_map>
#include "pico/stdlib.h"
#include "pico/bootrom.h"
#include "tusb.h"
#include "wire.h"
#include "usb_cdc.h"
#include "timer_queue.h"
#include "net.h"

void dispatch_init() {
    tusb_init();
    net_init();
}

[[noreturn]] void dispatch_run(std::span<const handler_entry> handlers,
                               std::span<const w6300::socket_id> sockets) {
    std::unordered_map<int8_t, std::vector<std::vector<uint8_t>> (*)(uint32_t)> handler_map;
    for (auto& entry : handlers) {
        handler_map[entry.type_id] = entry.handle;
    }

    static usb_cdc usb;
    static timer_queue timers;
    static static_vector<uint8_t, 256> usb_rx_buf;

    for (auto sn : sockets) {
        w6300::set_socket_io_mode(sn, w6300::sock_io_mode::nonblock);
    }

    while (true) {
        tud_task();

        usb.drain();
        timers.run();

        while (tud_cdc_available()) {
            uint8_t byte;
            if (tud_cdc_read(&byte, 1) != 1) break;

            usb_rx_buf.push_back(byte);

            auto msg = try_decode(usb_rx_buf);
            if (!msg) {
                if (usb_rx_buf.full()) usb_rx_buf.clear();
                continue;
            }

            usb_rx_buf.clear();

            auto it = handler_map.find(msg->type_id);
            if (it != handler_map.end()) {
                for (auto& response : it->second(msg->message_id)) {
                    usb.send(response);
                }
                if (msg->type_id == RequestPICOBOOT::ext_id) {
                    sleep_ms(100);
                    reset_usb_boot(0, 1);
                }
            }
        }

        for (auto sn : sockets) {
            static uint8_t udp_rx_buf[512];
            w6300::ip_address src_addr = {};
            w6300::port_num src_port{0};

            auto result = w6300::recvfrom(sn, std::span{udp_rx_buf}, src_addr, src_port);
            if (!result) continue;

            auto msg = try_decode(udp_rx_buf, *result);
            if (!msg) continue;

            auto it = handler_map.find(msg->type_id);
            if (it != handler_map.end()) {
                for (auto& response : it->second(msg->message_id)) {
                    w6300::sendto(sn, std::span<const uint8_t>{response}, src_addr, src_port);
                }
            }
        }

        __wfi();
    }
}