Handlers return multiple responses, dispatch polls sockets for UDP commands

firmware/firmware.cpp

@@ -33,5 +33,6 @@ int main() {
     w6300::open_socket(sn, w6300::protocol::udp6, w6300::port_num{PICOMAP_DISCOVERY_PORT},
                        w6300::sock_flag::multi_enable);
 
-    dispatch_run(handlers);
+    w6300::socket_id sockets[] = {sn};
+    dispatch_run(handlers, sockets);
 }

firmware/include/dispatch.h

@@ -1,12 +1,14 @@
 #pragma once
 #include <cstdint>
 #include <span>
-#include "usb_cdc.h"
+#include <vector>
+#include "w6300.h"
 
 struct handler_entry {
     int8_t type_id;
-    void (*handle)(usb_cdc&, uint32_t);
+    std::vector<std::vector<uint8_t>> (*handle)(uint32_t message_id);
 };
 
 void dispatch_init();
-[[noreturn]] void dispatch_run(std::span<const handler_entry> handlers);
+[[noreturn]] void dispatch_run(std::span<const handler_entry> handlers,
+                               std::span<const w6300::socket_id> sockets = {});

firmware/include/handlers.h

@@ -1,9 +1,10 @@
 #pragma once
+#include <cstdint>
 #include <string_view>
+#include <vector>
 #include "wire.h"
-#include "usb_cdc.h"
 
 extern std::string_view firmware_name;
 
-void handle_picoboot(usb_cdc& usb, uint32_t message_id);
+std::vector<std::vector<uint8_t>> handle_picoboot(uint32_t message_id);
-void handle_info(usb_cdc& usb, uint32_t message_id);
+std::vector<std::vector<uint8_t>> handle_info(uint32_t message_id);

firmware/lib/dispatch.cpp

@@ -1,8 +1,10 @@
 #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"
 
@@ -11,15 +13,20 @@ void dispatch_init() {
     net_init();
 }
 
-[[noreturn]] void dispatch_run(std::span<const handler_entry> handlers) {
+[[noreturn]] void dispatch_run(std::span<const handler_entry> handlers,
-    std::unordered_map<int8_t, void (*)(usb_cdc&, uint32_t)> handler_map;
+                               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> rx_buf;
+    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();
@@ -31,19 +38,44 @@ void dispatch_init() {
             uint8_t byte;
             if (tud_cdc_read(&byte, 1) != 1) break;
 
-            rx_buf.push_back(byte);
+            usb_rx_buf.push_back(byte);
 
-            auto msg = try_decode(rx_buf);
+            auto msg = try_decode(usb_rx_buf);
             if (!msg) {
-                if (rx_buf.full()) rx_buf.clear();
+                if (usb_rx_buf.full()) usb_rx_buf.clear();
                 continue;
             }
 
-            rx_buf.clear();
+            usb_rx_buf.clear();
 
             auto it = handler_map.find(msg->type_id);
             if (it != handler_map.end()) {
-                it->second(usb, msg->message_id);
+                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);
+                }
             }
         }
 

firmware/lib/handlers.cpp

@@ -1,16 +1,12 @@
 #include "handlers.h"
-#include "pico/stdlib.h"
-#include "pico/bootrom.h"
 #include "pico/unique_id.h"
 #include "w6300.h"
 
-void handle_picoboot(usb_cdc& usb, uint32_t message_id) {
+std::vector<std::vector<uint8_t>> handle_picoboot(uint32_t message_id) {
-    usb.send(encode_response(message_id, ResponsePICOBOOT{}));
+    return {encode_response(message_id, ResponsePICOBOOT{})};
-    sleep_ms(100);
-    reset_usb_boot(0, 1);
 }
 
-void handle_info(usb_cdc& usb, uint32_t message_id) {
+std::vector<std::vector<uint8_t>> handle_info(uint32_t message_id) {
     ResponseInfo resp;
     pico_unique_board_id_t uid;
     pico_get_unique_board_id(&uid);
@@ -19,5 +15,5 @@ void handle_info(usb_cdc& usb, uint32_t message_id) {
     resp.mac = ninfo.mac;
     resp.link_local = ninfo.lla;
     resp.firmware_name = firmware_name;
-    usb.send(encode_response(message_id, resp));
+    return {encode_response(message_id, resp)};
 }