uartpb: add a unique id for each Protobuf message definition

Using a unique id for each Protobuf message allows libraries/applications
defining these messages to register a callback function associated
with each id.
This way, uartpb is not dependent of applications anymore, which had to
declare a Protobuf message gathering all known Protobuf messages.

This unique id will be sent first, followed by encoded Protobuf message.
The unique id can also be sent alone if the message does not required
any content (like a reset or trigger message).

This commit also updates all modules and applications affected by this
refactoring.

Fixes #67

Signed-off-by: Eric Courtois <eric.courtois@gmail.com>

applications/app_test/PB_Score.proto

@@ -0,0 +1,5 @@
+syntax = "proto3";
+
+message PB_Score {
+    int32 value = 1;
+}

applications/app_test/app_samples.cpp

@@ -1,7 +1,6 @@
 // Firmware includes
 #include "platform.hpp"
 #include "trigonometry.h"
-#include "uartpb_config.hpp"
 
 #include "app_camp.hpp"
 #include "app_samples.hpp"
@@ -16,9 +15,11 @@ namespace cogip {
 
 namespace app {
 
-static PB_OutputMessage _output_message;
 static DetectedSamples _detected_samples;
 
+constexpr cogip::uartpb::uuid_t sample_request_uuid = 3781855956;
+constexpr cogip::uartpb::uuid_t sample_response_uuid = 1538397045;
+
 static std::map<CampColor, SamplesMap *> _samples;
 
 typedef struct {
@@ -57,6 +58,8 @@ void app_samples_init()
         return;
     }
 
+    pf_get_uartpb()->register_message_handler(sample_response_uuid, app_samples_process);
+
     event_queue_init_detached(&_sample_queue);
     _sample_event.super.list_node.next = nullptr;
 
@@ -170,9 +173,7 @@ const DetectedSamples & app_samples_detect(void)
 {
     event_queue_claim(&_sample_queue);
     cogip::uartpb::UartProtobuf *uartpb = pf_get_uartpb();
-    _output_message.clear();
-    _output_message.set_req_samples(true);
-    uartpb->send_message(_output_message);
+    uartpb->send_message(sample_request_uuid);
     sample_event_t *event = (sample_event_t *)event_wait(&_sample_queue);
 
     auto & samples = event->pb_message.get_samples();
@@ -203,9 +204,14 @@ const DetectedSamples & app_samples_detect(void)
     return _detected_samples;
 }
 
-void app_samples_process(const PB_Samples<APP_SAMPLES_MAX_DETECTED> &samples)
+void app_samples_process(cogip::uartpb::ReadBuffer *buffer)
 {
-    _sample_event.pb_message = samples;
+    EmbeddedProto::Error error = _sample_event.pb_message.deserialize(*buffer);
+    if (error != EmbeddedProto::Error::NO_ERRORS) {
+        std::cout << "Samples: Protobuf deserialization error: " << static_cast<int>(error) << std::endl;
+        return;
+    }
+
     event_post(&_sample_queue, (event_t *)&_sample_event);
 }
 

applications/app_test/include/app.hpp

@@ -8,7 +8,6 @@
 #include "app_obstacles.hpp"
 #include "app_samples.hpp"
 #include "app_shell.hpp"
-#include "app_uartpb.hpp"
 
 /*
  * Machine parameters

applications/app_test/include/app_samples.hpp

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "obstacles/Circle.hpp"
+#include "uartpb/ReadBuffer.hpp"
 
 #include "PB_Samples.hpp"
 
@@ -117,7 +118,7 @@ void app_samples_init();
 
 const DetectedSamples & app_samples_detect(void);
 
-void app_samples_process(const PB_Samples<APP_SAMPLES_MAX_DETECTED> &samples);
+void app_samples_process(cogip::uartpb::ReadBuffer *buffer);
 
 }; // namespace app
 

applications/cup2022/app_samples.cpp

@@ -1,7 +1,6 @@
 // Firmware includes
 #include "platform.hpp"
 #include "trigonometry.h"
-#include "uartpb_config.hpp"
 
 #include "app_camp.hpp"
 #include "app_samples.hpp"
@@ -16,9 +15,11 @@ namespace cogip {
 
 namespace app {
 
-static PB_OutputMessage _output_message;
 static DetectedSamples _detected_samples;
 
+constexpr cogip::uartpb::uuid_t sample_request_uuid = 3781855956;
+constexpr cogip::uartpb::uuid_t sample_response_uuid = 1538397045;
+
 static std::map<CampColor, SamplesMap *> _samples;
 
 typedef struct {
@@ -57,6 +58,8 @@ void app_samples_init()
         return;
     }
 
+    pf_get_uartpb()->register_message_handler(sample_response_uuid, app_samples_process);
+
     event_queue_init_detached(&_sample_queue);
     _sample_event.super.list_node.next = nullptr;
 
@@ -170,9 +173,7 @@ const DetectedSamples & app_samples_detect(void)
 {
     event_queue_claim(&_sample_queue);
     cogip::uartpb::UartProtobuf *uartpb = pf_get_uartpb();
-    _output_message.clear();
-    _output_message.set_req_samples(true);
-    uartpb->send_message(_output_message);
+    uartpb->send_message(sample_request_uuid);
     sample_event_t *event = (sample_event_t *)event_wait(&_sample_queue);
 
     auto & samples = event->pb_message.get_samples();
@@ -203,9 +204,14 @@ const DetectedSamples & app_samples_detect(void)
     return _detected_samples;
 }
 
-void app_samples_process(const PB_Samples<APP_SAMPLES_MAX_DETECTED> &samples)
+void app_samples_process(cogip::uartpb::ReadBuffer *buffer)
 {
-    _sample_event.pb_message = samples;
+    EmbeddedProto::Error error = _sample_event.pb_message.deserialize(*buffer);
+    if (error != EmbeddedProto::Error::NO_ERRORS) {
+        std::cout << "Samples: Protobuf deserialization error: " << static_cast<int>(error) << std::endl;
+        return;
+    }
+
     event_post(&_sample_queue, (event_t *)&_sample_event);
 }
 

applications/cup2022/include/app.hpp

@@ -8,7 +8,6 @@
 #include "app_obstacles.hpp"
 #include "app_samples.hpp"
 #include "app_shell.hpp"
-#include "app_uartpb.hpp"
 
 /*
  * Machine parameters