theater/picomap
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Zero-copy TX: span_writer packer, static buffers, no vector returns

Browse Source
This commit is contained in:
Ian Gulliver
2026-04-10 22:18:44 +09:00
parent 94895fd2fe
commit e2a5d97dae
10 changed files with 173 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
firmware/include/dispatch.h
View File

@@ -2,10 +2,9 @@
#include <cstdint>
#include <functional>
#include <span>
#include <vector>
#include "wire.h"
using handler_fn = std::vector<std::vector<uint8_t>> (*)(uint32_t message_id, std::span<const uint8_t> payload);
using handler_fn = size_t (*)(uint32_t message_id, std::span<const uint8_t> payload, span_writer &out);
struct handler_entry {
int8_t type_id;
@@ -13,16 +12,16 @@ struct handler_entry {
};
template <typename Req, auto Fn>
std::vector<std::vector<uint8_t>> typed_handler(uint32_t message_id, std::span<const uint8_t> payload) {
size_t typed_handler(uint32_t message_id, std::span<const uint8_t> payload, span_writer &out) {
msgpack::parser p(payload.data(), static_cast<int>(payload.size()));
Req req;
auto tup = req.as_tuple();
auto r = msgpack::unpack(p, tup);
if (!r) {
return {encode_response(message_id, DeviceError{1, "decode request ext_id=" +
std::to_string(Req::ext_id) + ": msgpack error " + std::to_string(static_cast<int>(r.error()))})};
return encode_response_into(out, message_id, DeviceError{1, "decode request ext_id=" +
std::to_string(Req::ext_id) + ": msgpack error " + std::to_string(static_cast<int>(r.error()))});
}
return Fn(message_id, req);
return Fn(message_id, req, out);
}
void dispatch_init();

7
firmware/include/handlers.h
View File

@@ -2,11 +2,10 @@
#include <cstdint>
#include <span>
#include <string_view>
#include <vector>
#include "wire.h"
extern std::string_view firmware_name;
std::vector<std::vector<uint8_t>> handle_picoboot(uint32_t message_id, std::span<const uint8_t> payload);
std::vector<std::vector<uint8_t>> handle_info(uint32_t message_id, std::span<const uint8_t> payload);
std::vector<std::vector<uint8_t>> handle_log(uint32_t message_id, std::span<const uint8_t> payload);
size_t handle_picoboot(uint32_t message_id, std::span<const uint8_t> payload, span_writer &out);
size_t handle_info(uint32_t message_id, std::span<const uint8_t> payload, span_writer &out);
size_t handle_log(uint32_t message_id, std::span<const uint8_t> payload, span_writer &out);

104
firmware/include/msgpack.h
View File

@@ -6,11 +6,11 @@
#include <expected>
#include <iterator>
#include <limits>
#include <memory>
#include <string_view>
#include <tuple>
#include <type_traits>
#include <vector>
#include "span_writer.h"
namespace msgpack {
@@ -163,26 +163,23 @@ inline result<body_info> get_body_info(const uint8_t *p, int size) {
}
class packer {
public:
using buffer = std::vector<std::uint8_t>;
private:
std::shared_ptr<buffer> m_buffer;
span_writer m_buf;
template <typename T> void push_big_endian(T n) {
auto p = reinterpret_cast<std::uint8_t *>(&n) + (sizeof(T) - 1);
for (size_t i = 0; i < sizeof(T); ++i, --p) {
m_buffer->push_back(*p);
m_buf.push_back(*p);
}
}
template <class Range> void push(const Range &r) {
m_buffer->insert(m_buffer->end(), std::begin(r), std::end(r));
m_buf.insert(m_buf.end(), std::begin(r), std::end(r));
}
public:
packer() : m_buffer(std::make_shared<buffer>()) {}
packer(const std::shared_ptr<buffer> &buf) : m_buffer(buf) {}
packer(uint8_t *data, size_t capacity) : m_buf(data, capacity) {}
packer(span_writer buf) : m_buf(buf) {}
packer(const packer &) = delete;
packer &operator=(const packer &) = delete;
@@ -190,12 +187,12 @@ public:
using pack_result = result<std::reference_wrapper<packer>>;
pack_result pack_nil() {
m_buffer->push_back(format::NIL);
m_buf.push_back(format::NIL);
return *this;
}
pack_result pack_bool(bool v) {
m_buffer->push_back(v ? format::TRUE : format::FALSE);
m_buf.push_back(v ? format::TRUE : format::FALSE);
return *this;
}
@@ -203,36 +200,36 @@ public:
pack_result pack_integer(T n) {
if constexpr (std::is_signed_v<T>) {
if (n >= 0 && n <= 0x7F) {
m_buffer->push_back(static_cast<uint8_t>(n));
m_buf.push_back(static_cast<uint8_t>(n));
} else if (n >= -32 && n < 0) {
m_buffer->push_back(static_cast<uint8_t>(n)); // negative fixint
m_buf.push_back(static_cast<uint8_t>(n)); // negative fixint
} else if (n >= std::numeric_limits<int8_t>::min() && n <= std::numeric_limits<int8_t>::max()) {
m_buffer->push_back(format::INT8);
m_buffer->push_back(static_cast<uint8_t>(n));
m_buf.push_back(format::INT8);
m_buf.push_back(static_cast<uint8_t>(n));
} else if (n >= std::numeric_limits<int16_t>::min() && n <= std::numeric_limits<int16_t>::max()) {
m_buffer->push_back(format::INT16);
m_buf.push_back(format::INT16);
push_big_endian(static_cast<int16_t>(n));
} else if (n >= std::numeric_limits<int32_t>::min() && n <= std::numeric_limits<int32_t>::max()) {
m_buffer->push_back(format::INT32);
m_buf.push_back(format::INT32);
push_big_endian(static_cast<int32_t>(n));
} else {
m_buffer->push_back(format::INT64);
m_buf.push_back(format::INT64);
push_big_endian(static_cast<int64_t>(n));
}
} else {
if (n <= 0x7F) {
m_buffer->push_back(static_cast<uint8_t>(n));
m_buf.push_back(static_cast<uint8_t>(n));
} else if (n <= std::numeric_limits<uint8_t>::max()) {
m_buffer->push_back(format::UINT8);
m_buffer->push_back(static_cast<uint8_t>(n));
m_buf.push_back(format::UINT8);
m_buf.push_back(static_cast<uint8_t>(n));
} else if (n <= std::numeric_limits<uint16_t>::max()) {
m_buffer->push_back(format::UINT16);
m_buf.push_back(format::UINT16);
push_big_endian(static_cast<uint16_t>(n));
} else if (n <= std::numeric_limits<uint32_t>::max()) {
m_buffer->push_back(format::UINT32);
m_buf.push_back(format::UINT32);
push_big_endian(static_cast<uint32_t>(n));
} else {
m_buffer->push_back(format::UINT64);
m_buf.push_back(format::UINT64);
push_big_endian(static_cast<uint64_t>(n));
}
}
@@ -240,13 +237,13 @@ public:
}
pack_result pack_float(float n) {
m_buffer->push_back(format::FLOAT32);
m_buf.push_back(format::FLOAT32);
push_big_endian(n);
return *this;
}
pack_result pack_double(double n) {
m_buffer->push_back(format::FLOAT64);
m_buf.push_back(format::FLOAT64);
push_big_endian(n);
return *this;
}
@@ -255,15 +252,15 @@ public:
pack_result pack_str(const Range &r) {
auto sz = static_cast<size_t>(std::distance(std::begin(r), std::end(r)));
if (sz < 32) {
m_buffer->push_back(format::FIXSTR_MIN | static_cast<uint8_t>(sz));
m_buf.push_back(format::FIXSTR_MIN | static_cast<uint8_t>(sz));
} else if (sz <= std::numeric_limits<uint8_t>::max()) {
m_buffer->push_back(format::STR8);
m_buffer->push_back(static_cast<uint8_t>(sz));
m_buf.push_back(format::STR8);
m_buf.push_back(static_cast<uint8_t>(sz));
} else if (sz <= std::numeric_limits<uint16_t>::max()) {
m_buffer->push_back(format::STR16);
m_buf.push_back(format::STR16);
push_big_endian(static_cast<uint16_t>(sz));
} else if (sz <= std::numeric_limits<uint32_t>::max()) {
m_buffer->push_back(format::STR32);
m_buf.push_back(format::STR32);
push_big_endian(static_cast<uint32_t>(sz));
} else {
return std::unexpected(error_code::overflow);
@@ -280,13 +277,13 @@ public:
pack_result pack_bin(const Range &r) {
auto sz = static_cast<size_t>(std::distance(std::begin(r), std::end(r)));
if (sz <= std::numeric_limits<uint8_t>::max()) {
m_buffer->push_back(format::BIN8);
m_buffer->push_back(static_cast<uint8_t>(sz));
m_buf.push_back(format::BIN8);
m_buf.push_back(static_cast<uint8_t>(sz));
} else if (sz <= std::numeric_limits<uint16_t>::max()) {
m_buffer->push_back(format::BIN16);
m_buf.push_back(format::BIN16);
push_big_endian(static_cast<uint16_t>(sz));
} else if (sz <= std::numeric_limits<uint32_t>::max()) {
m_buffer->push_back(format::BIN32);
m_buf.push_back(format::BIN32);
push_big_endian(static_cast<uint32_t>(sz));
} else {
return std::unexpected(error_code::overflow);
@@ -297,12 +294,12 @@ public:
pack_result pack_array(size_t n) {
if (n <= 15) {
m_buffer->push_back(format::FIXARRAY_MIN | static_cast<uint8_t>(n));
m_buf.push_back(format::FIXARRAY_MIN | static_cast<uint8_t>(n));
} else if (n <= std::numeric_limits<uint16_t>::max()) {
m_buffer->push_back(format::ARRAY16);
m_buf.push_back(format::ARRAY16);
push_big_endian(static_cast<uint16_t>(n));
} else if (n <= std::numeric_limits<uint32_t>::max()) {
m_buffer->push_back(format::ARRAY32);
m_buf.push_back(format::ARRAY32);
push_big_endian(static_cast<uint32_t>(n));
} else {
return std::unexpected(error_code::overflow);
@@ -312,12 +309,12 @@ public:
pack_result pack_map(size_t n) {
if (n <= 15) {
m_buffer->push_back(format::FIXMAP_MIN | static_cast<uint8_t>(n));
m_buf.push_back(format::FIXMAP_MIN | static_cast<uint8_t>(n));
} else if (n <= std::numeric_limits<uint16_t>::max()) {
m_buffer->push_back(format::MAP16);
m_buf.push_back(format::MAP16);
push_big_endian(static_cast<uint16_t>(n));
} else if (n <= std::numeric_limits<uint32_t>::max()) {
m_buffer->push_back(format::MAP32);
m_buf.push_back(format::MAP32);
push_big_endian(static_cast<uint32_t>(n));
} else {
return std::unexpected(error_code::overflow);
@@ -330,26 +327,26 @@ public:
auto sz = static_cast<size_t>(std::distance(std::begin(r), std::end(r)));
switch (sz) {
case 1: m_buffer->push_back(format::FIXEXT1); break;
case 2: m_buffer->push_back(format::FIXEXT2); break;
case 4: m_buffer->push_back(format::FIXEXT4); break;
case 8: m_buffer->push_back(format::FIXEXT8); break;
case 16: m_buffer->push_back(format::FIXEXT16); break;
case 1: m_buf.push_back(format::FIXEXT1); break;
case 2: m_buf.push_back(format::FIXEXT2); break;
case 4: m_buf.push_back(format::FIXEXT4); break;
case 8: m_buf.push_back(format::FIXEXT8); break;
case 16: m_buf.push_back(format::FIXEXT16); break;
default:
if (sz <= std::numeric_limits<uint8_t>::max()) {
m_buffer->push_back(format::EXT8);
m_buffer->push_back(static_cast<uint8_t>(sz));
m_buf.push_back(format::EXT8);
m_buf.push_back(static_cast<uint8_t>(sz));
} else if (sz <= std::numeric_limits<uint16_t>::max()) {
m_buffer->push_back(format::EXT16);
m_buf.push_back(format::EXT16);
push_big_endian(static_cast<uint16_t>(sz));
} else if (sz <= std::numeric_limits<uint32_t>::max()) {
m_buffer->push_back(format::EXT32);
m_buf.push_back(format::EXT32);
push_big_endian(static_cast<uint32_t>(sz));
} else {
return std::unexpected(error_code::overflow);
}
}
m_buffer->push_back(static_cast<uint8_t>(type));
m_buf.push_back(static_cast<uint8_t>(type));
push(r);
return *this;
}
@@ -392,7 +389,8 @@ public:
template <typename T>
requires requires(const T &v) { { T::ext_id } -> std::convertible_to<int8_t>; v.as_tuple(); }
pack_result pack(const T &v) {
packer inner;
uint8_t ext_buf[256];
packer inner(ext_buf, sizeof(ext_buf));
auto r = inner.pack(v.as_tuple());
if (!r) return r;
return pack_ext(T::ext_id, inner.get_payload());
@@ -413,7 +411,7 @@ private:
}
public:
const buffer &get_payload() const { return *m_buffer; }
const span_writer &get_payload() const { return m_buf; }
};
class parser {

4
firmware/include/net.h
View File

@@ -3,14 +3,14 @@
#include <cstdint>
#include <functional>
#include <span>
#include <vector>
#include "span_writer.h"
struct net_state {
std::array<uint8_t, 6> mac;
std::array<uint8_t, 4> ip;
};
using net_handler = std::function<std::vector<std::vector<uint8_t>>(std::span<const uint8_t> payload)>;
using net_handler = std::function<size_t(std::span<const uint8_t> payload, span_writer &out)>;
bool net_init();
const net_state& net_get_state();

35
firmware/include/span_writer.h Normal file
View File

@@ -0,0 +1,35 @@
#pragma once
#include <cstddef>
#include <cstdint>
#include <cstring>
class span_writer {
uint8_t *m_data;
size_t m_capacity;
size_t m_size = 0;
public:
span_writer(uint8_t *data, size_t capacity) : m_data(data), m_capacity(capacity) {}
void push_back(uint8_t v) {
if (m_size < m_capacity) m_data[m_size++] = v;
}
template <class It>
void insert(uint8_t *, It first, It last) {
while (first != last && m_size < m_capacity)
m_data[m_size++] = *first++;
}
size_t size() const { return m_size; }
size_t capacity() const { return m_capacity; }
bool full() const { return m_size >= m_capacity; }
uint8_t *data() { return m_data; }
const uint8_t *data() const { return m_data; }
uint8_t *begin() { return m_data; }
uint8_t *end() { return m_data + m_size; }
const uint8_t *begin() const { return m_data; }
const uint8_t *end() const { return m_data + m_size; }
};

32
firmware/include/wire.h
View File

@@ -1,6 +1,7 @@
#pragma once
#include <array>
#include <cstdint>
#include <span>
#include <string>
#include <tuple>
#include <vector>
@@ -96,18 +97,27 @@ struct DecodedMessage {
std::vector<uint8_t> payload;
};
inline std::vector<uint8_t> pack_envelope(uint32_t message_id, const std::vector<uint8_t> &payload) {
uint32_t checksum = halfsiphash::hash32(payload.data(), payload.size(), hash_key);
msgpack::packer p;
p.pack(Envelope{message_id, checksum, payload});
return p.get_payload();
inline size_t pack_envelope_into(span_writer &out, uint32_t message_id, const uint8_t *payload, size_t payload_len) {
uint32_t checksum = halfsiphash::hash32(payload, payload_len, hash_key);
uint8_t env_buf[512];
span_writer env_body(env_buf, sizeof(env_buf));
msgpack::packer env_p(env_body);
env_p.pack_array(3);
env_p.pack(message_id);
env_p.pack(checksum);
env_p.pack_bin(std::span<const uint8_t>{payload, payload_len});
msgpack::packer outer(out);
outer.pack_ext(Envelope::ext_id, env_body);
return out.size();
}
template <typename T>
inline std::vector<uint8_t> encode_response(uint32_t message_id, const T &msg) {
msgpack::packer inner;
inline size_t encode_response_into(span_writer &out, uint32_t message_id, const T &msg) {
uint8_t inner_buf[256];
msgpack::packer inner(inner_buf, sizeof(inner_buf));
inner.pack(msg);
return pack_envelope(message_id, inner.get_payload());
auto &pl = inner.get_payload();
return pack_envelope_into(out, message_id, pl.data(), pl.size());
}
inline msgpack::result<DecodedMessage> try_decode(const uint8_t *data, size_t len) {
@@ -154,8 +164,6 @@ inline msgpack::result<T> decode_response(const uint8_t *data, size_t len) {
return out;
}
inline std::vector<uint8_t> encode_request(uint32_t message_id, const auto &msg) {
msgpack::packer inner;
inner.pack(msg);
return pack_envelope(message_id, inner.get_payload());
inline size_t encode_request_into(span_writer &out, uint32_t message_id, const auto &msg) {
return encode_response_into(out, message_id, msg);
}