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

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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
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26
firmware/lib/dispatch.cpp
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@@ -22,20 +22,21 @@ void dispatch_schedule_ms(uint32_t ms, std::function<void()> 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;
std::unordered_map<int8_t, handler_fn> 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;
static uint8_t tx_buf[1514];
net_set_handler([&](std::span<const uint8_t> payload) -> std::vector<std::vector<uint8_t>> {
net_set_handler([&](std::span<const uint8_t> payload, span_writer &out) -> size_t {
auto msg = try_decode(payload.data(), payload.size());
if (!msg) return {};
if (!msg) return 0;
auto it = handler_map.find(msg->type_id);
if (it == handler_map.end()) return {};
return it->second(msg->message_id, msg->payload);
if (it == handler_map.end()) return 0;
return it->second(msg->message_id, msg->payload, out);
});
while (true) {
@@ -62,13 +63,16 @@ void dispatch_schedule_ms(uint32_t ms, std::function<void()> fn) {
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);
span_writer out(tx_buf, sizeof(tx_buf));
size_t resp_len = it->second(msg->message_id, msg->payload, out);
if (resp_len > 0) {
if (resp_len > usb.tx.free()) {
span_writer err_out(tx_buf, sizeof(tx_buf));
size_t err_len = encode_response_into(err_out, msg->message_id,
DeviceError{2, "response too large: " + std::to_string(resp_len)});
usb.send(std::span<const uint8_t>{tx_buf, err_len});
} else {
usb.send(response);
usb.send(std::span<const uint8_t>{tx_buf, resp_len});
}
}
}