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"
#include "debug_log.h"

static timer_queue timers;

void dispatch_init() {
    tusb_init();
    net_init();
    dlog("dispatch_init complete");
}

void dispatch_schedule_ms(uint32_t ms, std::function<void()> fn) {
    timers.schedule_ms(ms, std::move(fn));
}

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

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

    net_set_handler([&](std::span<const uint8_t> payload) -> std::vector<std::vector<uint8_t>> {
        auto msg = try_decode(payload.data(), payload.size());
        if (!msg) return {};
        auto it = handler_map.find(msg->type_id);
        if (it == handler_map.end()) return {};
        return it->second(msg->message_id, msg->payload);
    });

    while (true) {
        dlog_if_slow("tud_task", 1000, [&]{ tud_task(); });
        dlog_if_slow("drain", 1000, [&]{ usb.drain(); });
        dlog_if_slow("timers", 1000, [&]{ timers.run(); });
        dlog_if_slow("net_poll", 1000, [&]{ net_poll(); });

        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, msg->payload)) {
                    if (response.size() > usb.tx.free()) {
                        auto err = encode_response(msg->message_id,
                            DeviceError{2, "response too large: " + std::to_string(response.size())});
                        usb.send(err);
                    } else {
                        usb.send(response);
                    }
                }
                if (msg->type_id == RequestPICOBOOT::ext_id) {
                    sleep_ms(100);
                    reset_usb_boot(0, 1);
                }
            }
        }

        // __wfi();
    }
}