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Zero-copy decode: span-based Envelope and DecodedMessage, defer usb_rx_buf clear

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This commit is contained in:
Ian Gulliver
2026-04-10 23:08:51 +09:00
parent 76c519c17a
commit 7264611f99
3 changed files with 12 additions and 7 deletions
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7
firmware/include/msgpack.h
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@@ -773,6 +773,13 @@ inline result<parser> unpack(const parser &p, std::vector<uint8_t> &out) {
return p.next(); return p.next();
} }
inline result<parser> unpack(const parser &p, std::span<const uint8_t> &out) {
auto v = p.get_binary_view();
if (!v) return std::unexpected(v.error());
out = std::span<const uint8_t>(reinterpret_cast<const uint8_t*>(v->data()), v->size());
return p.next();
}
template <typename T> template <typename T>
requires (!std::is_same_v<T, uint8_t>) requires (!std::is_same_v<T, uint8_t>)
result<parser> unpack(const parser &p, std::vector<T> &out) { result<parser> unpack(const parser &p, std::vector<T> &out) {

7
firmware/include/wire.h
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@@ -13,7 +13,7 @@ struct Envelope {
static constexpr int8_t ext_id = 0; static constexpr int8_t ext_id = 0;
uint32_t message_id; uint32_t message_id;
uint32_t checksum; uint32_t checksum;
std::vector<uint8_t> payload; std::span<const uint8_t> payload;
auto as_tuple() const { return std::tie(message_id, checksum, payload); } auto as_tuple() const { return std::tie(message_id, checksum, payload); }
auto as_tuple() { return std::tie(message_id, checksum, payload); } auto as_tuple() { return std::tie(message_id, checksum, payload); }
}; };
@@ -94,7 +94,7 @@ static constexpr uint8_t hash_key[8] = {};
struct DecodedMessage { struct DecodedMessage {
uint32_t message_id; uint32_t message_id;
int8_t type_id; int8_t type_id;
std::vector<uint8_t> payload; std::span<const uint8_t> payload;
}; };
static constexpr size_t ext16_header_len = 4; static constexpr size_t ext16_header_len = 4;
@@ -151,8 +151,7 @@ inline msgpack::result<DecodedMessage> try_decode(const uint8_t *data, size_t le
auto& [type_id, ext_data] = *ext; auto& [type_id, ext_data] = *ext;
return DecodedMessage{env.message_id, type_id, return DecodedMessage{env.message_id, type_id,
std::vector<uint8_t>(reinterpret_cast<const uint8_t*>(ext_data.data()), std::span<const uint8_t>(reinterpret_cast<const uint8_t*>(ext_data.data()), ext_data.size())};
reinterpret_cast<const uint8_t*>(ext_data.data()) + ext_data.size())};
} }
template <size_t N> template <size_t N>

5
firmware/lib/dispatch.cpp
View File

@@ -59,12 +59,11 @@ void dispatch_schedule_ms(uint32_t ms, std::function<void()> fn) {
continue; continue;
} }
usb_rx_buf.clear();
auto it = handler_map.find(msg->type_id); auto it = handler_map.find(msg->type_id);
if (it == handler_map.end()) continue; if (it == handler_map.end()) { usb_rx_buf.clear(); continue; }
span_writer out(tx_buf); span_writer out(tx_buf);
auto resp = it->second(msg->message_id, msg->payload, out); auto resp = it->second(msg->message_id, msg->payload, out);
usb_rx_buf.clear();
if (!resp || *resp == 0) continue; if (!resp || *resp == 0) continue;
size_t resp_len = *resp; size_t resp_len = *resp;
if (resp_len <= usb.tx.free()) { if (resp_len <= usb.tx.free()) {