Initial rework to mpsc channels

Start of breaking the connection between channels and the router. This allows profiles to be a lot more flexible in their execution domain and order. It also breaks a lot of borrowing limitations being impossed. Future work will expose traits so any type of mpsc channel can be used. For initial implemenation thingbuf will be used.
cujomalainey · May 18, 2024 · 8e1e7ce · 8e1e7ce
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Showing 6 changed files with 88 additions and 85 deletions.
diff --git a/ant/src/channel.rs b/ant/src/channel.rs
@@ -33,3 +33,10 @@ pub trait Channel {
     /// Assign channel from associated router or manually if not using a router
     fn set_channel(&mut self, channel: ChannelAssignment);
 }
+
+// TODO add a send and get response
+//
+// Logically since this is single threaded, if we send and recieve in the same call, all
+// messages that may come inbetween send and recieve have no consequence on the code flow. The
+// only challenge will be handling ownership since we will likely be holding the sender in a
+// mutable state and if they recieve another message it will be a problem
diff --git a/ant/src/messages/config.rs b/ant/src/messages/config.rs
@@ -708,7 +708,7 @@ impl ConfigureAdvancedBurstData {
 }
 
 /// Represents a Configure Advanced Burst message (0x78)
-#[derive(Clone, Debug, Default, PartialEq)]
+#[derive(Clone, Copy, Debug, Default, PartialEq)]
 pub struct ConfigureAdvancedBurst {
     /// Required Fields
     pub data: ConfigureAdvancedBurstData,
@@ -830,7 +830,7 @@ impl ConfigureAdvancedBurst {
 
 /// Represents a Configure Event Filter message (0x79)
 #[allow(clippy::too_many_arguments)]
-#[derive(PackedStruct, AntTx, new, Clone, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "3")]
 pub struct ConfigureEventFilter {
     #[new(default)]
@@ -872,7 +872,7 @@ pub struct ConfigureEventFilter {
 }
 
 /// Represents a Configure Selective Data Updates message (0x7A)
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "2")]
 pub struct ConfigureSelectiveDataUpdates {
     /// Channel to be configured
@@ -886,7 +886,7 @@ pub struct ConfigureSelectiveDataUpdates {
 // TODO test
 
 /// Represents a Set Selective Data Update Mask message (0x7B)
-#[derive(PackedStruct, AntTx, new, Clone, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "9")]
 pub struct SetSelectiveDataUpdateMask {
     /// Mask to updated
@@ -914,7 +914,7 @@ pub enum EncryptionMode {
 }
 
 /// Represents a Enable Single Channel Encryption message (0x7D)
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "4")]
 pub struct EnableSingleChannelEncryption {
     /// Channel to be configured
@@ -932,7 +932,7 @@ pub struct EnableSingleChannelEncryption {
     pub decimation_rate: u8,
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "17")]
 pub struct SetEncryptionKey {
     /// Per version 5.1 of the spec this field has a range of 0
@@ -946,7 +946,7 @@ pub struct SetEncryptionKey {
 // The spec defines this as a single variable message but variable types are
 // basically impossible with the packed_stuct lib so it is easier to just
 // implement 3 message types to handle all the cases.
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "5")]
 pub struct SetEncryptionInfoEncryptionId {
     // 0 for encryption id
@@ -957,7 +957,7 @@ pub struct SetEncryptionInfoEncryptionId {
     pub encryption_id: EncryptionId,
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "20")]
 pub struct SetEncryptionInfoUserInformationString {
     // 1 for User Information String
@@ -971,7 +971,7 @@ pub struct SetEncryptionInfoUserInformationString {
     pub user_information_string: UserInformationString,
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "17")]
 pub struct SetEncryptionInfoRandomSeed {
     // 2 for Random Number Seed
@@ -988,7 +988,7 @@ pub struct SetEncryptionInfoRandomSeed {
     pub random_seed: [u8; 16],
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "2")]
 pub struct ChannelSearchSharing {
     #[packed_field(bytes = "0")]
@@ -997,7 +997,7 @@ pub struct ChannelSearchSharing {
     pub search_sharing_cycles: u8,
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "3")]
 pub struct LoadEncryptionKeyFromNvm {
     #[new(default)]
@@ -1011,7 +1011,7 @@ pub struct LoadEncryptionKeyFromNvm {
     volatile_key_index: ReservedZeroes<packed_bits::Bits<8>>,
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "18")]
 pub struct StoreEncryptionKeyInNvm {
     #[new(default)]

diff --git a/ant/src/messages/control.rs b/ant/src/messages/control.rs
@@ -11,15 +11,15 @@ use ant_derive::AntTx;
 use derive_new::new;
 use packed_struct::prelude::*;
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "1")]
 pub struct ResetSystem {
     #[new(default)]
     #[packed_field(bytes = "0")]
     filler: ReservedZeroes<packed_bits::Bits<8>>,
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "1")]
 pub struct OpenChannel {
     #[packed_field(bytes = "0")]

diff --git a/ant/src/messages/mod.rs b/ant/src/messages/mod.rs
@@ -78,6 +78,7 @@ pub enum RxMessage {
     // #define EXTENDED_BURST_DATA                 0x5F
 }
 
+#[derive(Clone, Debug)]
 pub enum TxMessage {
     UnAssignChannel(UnAssignChannel),
     AssignChannel(AssignChannel),
@@ -133,6 +134,13 @@ pub enum TxMessage {
     CwTest(CwTest),
 }
 
+// Hack to allow channels to recycle memory, not for actual use
+impl Default for TxMessage {
+    fn default() -> TxMessage {
+        TxMessage::UnAssignChannel(UnAssignChannel { channel_number: 0 })
+    }
+}
+
 impl TransmitableMessage for TxMessage {
     fn serialize_message(&self, buf: &mut [u8]) -> Result<usize, PackingError> {
         match self {
@@ -378,6 +386,27 @@ pub struct AntMessage {
     pub checksum: u8,
 }
 
+// Hack to allow memory channels to recycle, not intended for actual use
+impl Default for AntMessage {
+    fn default() -> AntMessage {
+        AntMessage {
+            header: RxMessageHeader {
+                sync: RxSyncByte::Read,
+                msg_length: 0,
+                msg_id: RxMessageId::StartUpMessage,
+            },
+            message: RxMessage::StartUpMessage(StartUpMessage {
+                hardware_reset_line: false,
+                watch_dog_reset: false,
+                command_reset: false,
+                synchronous_reset: false,
+                suspend_reset: false,
+            }),
+            checksum: 0,
+        }
+    }
+}
+
 /// Trait for any TX message type
 pub trait TransmitableMessage {
     fn serialize_message(&self, buf: &mut [u8]) -> Result<usize, PackingError>;

diff --git a/ant/src/messages/test_mode.rs b/ant/src/messages/test_mode.rs
@@ -3,15 +3,15 @@ use ant_derive::AntTx;
 use derive_new::new;
 use packed_struct::prelude::*;
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "1")]
 pub struct CwInit {
     #[new(default)]
     #[packed_field(bytes = "0")]
     filler: ReservedZeroes<packed_bits::Bits<8>>,
 }
 
-#[derive(PackedStruct, AntTx, new, Debug, Default, PartialEq)]
+#[derive(PackedStruct, AntTx, new, Clone, Copy, Debug, Default, PartialEq)]
 #[packed_struct(bit_numbering = "msb0", endian = "lsb", size_bytes = "3")]
 pub struct CwTest {
     #[new(default)]