First draft

.gitignore

@@ -0,0 +1,2 @@
+**.vscode/
+**out/

README.md

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+# INCP2
+
+This is the home of the INCP remastering.
+
+## QOL implemented
+
+- Automatic 'answering' of requests (pings, datareqs, etc.)
+
+## Current problems and things to change
+
+- Subsystem code should not see ASN1 Encode/Decode functions. (Split ASN1 code files, structs and typedefs on one side, functions on other?)
+
+## Improvements to make
+
+- Optional metrics (messages of each type tx/rx, etc.)

doc/examples/OBC+TTC/shared/bus/bus.h

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+#pragma once
+
+#include <stddef.h>
+#include <stdbool.h>
+
+//This shoulb be handled by CSP
+#define ADDRESS_OBC ((int)1)
+#define ADDRESS_TTC ((int)2)
+
+bool bus_send(int destination, void *buf, size_t size);

doc/examples/OBC+TTC/shared/incp/asn1/asn1_wrapper.c

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+#include "asn1_wrapper.h"
+
+err_t incp_decode_header(BitStream *in_bs, IncpMsg *msg)
+{
+	int asn1_err = 0;
+	
+	if (!IncpMsg_Decode(msg, in_bs, &asn1_err))
+		return ERR_ERROR; //TODO: Proper error setting based on asn1_err
+
+	return ERR_SUCCESS;
+}

doc/examples/OBC+TTC/shared/incp/asn1/asn1_wrapper.h

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+// asn1_wrapper.h - Wraps all ASN.1 generated files to conform with the rest of the C interface (return type to err_t
+//					and alike).
+//					Should only be used inside INCP implementation.
+
+#pragma once
+
+#ifndef _INCP_INTERNAL
+#error "asn1_wrapper.h should not be imported outside the implementation of INCP"
+#endif
+
+#include "incp2.h"
+#include "messaging.h"
+#include "out/incp_static.h"
+
+typedef IncpMsg_selection incp_msgt_t;
+
+err_t incp_encode_header(BitStream *bs, IncpMsg *msg);
+err_t incp_decode_header(BitStream *bs, IncpMsg *msg);
+
+err_t incp_encode_datareq(BitStream *bs, U32 id);
+err_t incp_decode_datareq(BitStream *bs, U32 id);
+err_t incp_encode_dataret(BitStream *bs, AnyData *data);
+err_t incp_decode_dataret(BitStream *bs, AnyData *data);

doc/examples/OBC+TTC/shared/incp/asn1/incp_generated.asn

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+INCP-Generated DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+EXPORTS ALL;
+IMPORTS U32 FROM INCP-Types;
+
+TTC-TxTotal ::= SEQUENCE {
+	bytes U32
+}
+
+TTC-RxTotal ::= SEQUENCE {
+	bytes U32
+}
+
+AnyData ::= CHOICE {
+	ttcTxTotal TTC-TxTotal,
+	ttcRxTotal TTC-RxTotal
+}
+
+END

doc/examples/OBC+TTC/shared/incp/asn1/incp_static.asn

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+INCP-Types DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+EXPORTS ALL;
+
+U8 ::=    INTEGER(0..255)
+U16 ::=   INTEGER(0..65535)
+U24 ::=   INTEGER(8388608..16777215)
+U32 ::=   INTEGER(0..4294967295)
+U64 ::=   INTEGER(0..18446744073709551615)
+I8 ::=    INTEGER(-128..127)
+I16 ::=   INTEGER(-32768..32767)
+I24 ::=   INTEGER(-8388608..8388607)
+I32 ::=   INTEGER(-2147483648..2147483647)
+
+END
+
+INCP-Static DEFINITIONS AUTOMATIC TAGS ::= BEGIN
+
+IMPORTS U8, U16, U32 FROM INCP-Types
+		AnyData FROM INCP-Generated;
+
+PingMsg ::= SEQUENCE {
+	payload SEQUENCE (SIZE(32)) OF U8
+}
+
+DataReqMsg ::= SEQUENCE {
+	id U32 -- REVIEW: How to limit range to only accept IDs that are valid
+}
+
+DataRetMsg ::= SEQUENCE {
+	data AnyData
+}
+
+CommandReqMsg ::= SEQUENCE {
+	id U16
+}
+
+CommandRetMsg ::= SEQUENCE {
+	id U16
+}
+
+IncpMsg ::= CHOICE {
+	ping PingMsg,
+	pong PingMsg,
+	dataReq DataReqMsg,
+	dataRet DataRetMsg,
+	commandReq CommandReqMsg,
+	commandRet CommandRetMsg
+}
+
+END

doc/examples/OBC+TTC/shared/incp/incp2.h

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+// incp2.h - Defines types common to all INCP interfaces.
+
+#pragma once
+
+typedef enum {
+	ERR_SUCCESS = 0,
+	ERR_ERROR,
+	ERR_NOT_IMPL,
+	ERR_NOT_MINE,
+} err_t;
+

doc/examples/OBC+TTC/shared/incp/messaging.h

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+// messaging.h - Defines structures used during (de)construction of messages.
+
+#pragma once
+
+#include <stdint.h>
+#include <stddef.h>
+
+#include "incp2.h"
+
+typedef int endpoint_t;							//REVIEW: Figure this one out. Where the values come from, where they
+												//		  are defined, etc.
+#define INCP_ENDPOINT_NVAL (~(endpoint_t)0)
+#define INCP_ENDPOINT_TTC ((endpoint_t)1)
+
+#define DEFAULT_MSGBUF_SIZE 64

doc/examples/OBC+TTC/shared/incp/service.c

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+#define _INCP_INTERNAL
+
+#include <string.h>
+
+#include "incp2.h"
+#include "service.h"
+#include "messaging.h"
+#include "asn1/asn1_wrapper.h"
+
+
+
+static err_t handle_incoming(endpoint_t source, BitStream *in_bs);
+
+
+
+void incp_receiver_task(void *args)
+{
+	(void)args; //Stfu
+
+	while (1)
+	{
+		//LATER: Blocking wait for RTOS queue to fetch bus / radio message (go wild on that routing)
+		BitStream in_bs = { 0 };						// <-- Populate from transport
+		endpoint_t source = INCP_ENDPOINT_NVAL;			// <-- Populate from transport
+
+		handle_incoming(source, &in_bs);
+	}
+}
+
+
+
+err_t incp_async_datareq(endpoint_t subsystem, U32 id)
+{
+	err_t err; //Don't init on purpose
+	BitStream out_bs;
+	uint8_t buf[DEFAULT_MSGBUF_SIZE];
+	BitStream_Init(&out_bs, buf, sizeof(buf));
+
+	IncpMsg msg;
+	msg.kind = dataReq_PRESENT;
+	msg.u.dataReq.id = id;
+
+	err = incp_encode_header(&out_bs, &msg);
+	if (err != ERR_SUCCESS) goto _exit;
+
+	err = impl_transmit(subsystem, buf, BitStream_GetLength(&out_bs));
+
+_exit:
+	return err;
+}
+
+err_t incp_async_ping(endpoint_t subsystem, uint8_t *bytes)
+{
+	err_t err; //Don't init on purpose
+	BitStream out_bs;
+	uint8_t buf[DEFAULT_MSGBUF_SIZE];
+	BitStream_Init(&out_bs, buf, sizeof(buf));
+
+	IncpMsg msg;
+	msg.kind = ping_PRESENT;
+	memcpy(&msg.u.ping.payload, bytes != NULL ? bytes : "I am a very fancy ping payload!", 32);
+	
+	err = incp_encode_header(&out_bs, &msg);
+	if (err != ERR_SUCCESS) goto _exit;
+
+	err = impl_transmit(subsystem, buf, BitStream_GetLength(&out_bs));
+
+_exit:
+	return err;
+}
+
+
+
+static inline err_t handle_incoming_ping(endpoint_t source, IncpMsg *in_msg, BitStream *in_bs)
+{
+	(void)in_bs;
+	err_t err; //Don't init on purpose
+	BitStream out_bs;
+	uint8_t buf[DEFAULT_MSGBUF_SIZE];
+	BitStream_Init(&out_bs, buf, sizeof(buf));
+
+	IncpMsg msg = *in_msg;
+	msg.kind = pong_PRESENT;
+
+	err = incp_encode_header(&out_bs, &msg);
+	if (err != ERR_SUCCESS) goto _exit;
+
+	err = impl_transmit(source, buf, BitStream_GetLength(&out_bs)); //"Destroy a Ghast with a fireball"
+
+_exit:
+	return err;
+}
+
+static inline err_t handle_incoming_pong(endpoint_t source, IncpMsg *in_msg, BitStream *in_bs)
+{
+	(void)in_bs;
+	err_t err; //Don't init on purpose
+
+	impl_callback_pong(source, in_msg);
+	err = ERR_SUCCESS;
+
+_exit:
+	return err;
+}
+
+static inline err_t handle_incoming_datareq(endpoint_t source, IncpMsg *in_msg, BitStream *in_bs)
+{
+	err_t err; //Don't init on purpose
+	BitStream out_bs;
+	uint8_t buf[DEFAULT_MSGBUF_SIZE];
+	BitStream_Init(&out_bs, buf, sizeof(buf));
+
+	AnyData data = { 0 };
+	data.kind = in_msg->u.dataReq.id; //REVIEW: Dubious types
+
+	err = impl_populate_dataret(&data);
+	if (err != ERR_SUCCESS) goto _exit;
+
+	err = incp_encode_dataret(&out_bs, &data);
+	if (err != ERR_SUCCESS) goto _exit;
+
+	err = impl_transmit(source, buf, BitStream_GetLength(&out_bs));
+
+_exit:
+	return err;
+}
+
+static inline err_t handle_incoming_dataret(endpoint_t source, IncpMsg *in_msg, BitStream *in_bs)
+{
+	err_t err; //Don't init on purpose
+	AnyData data; //Careful with lifetime of this! Rust my beloved (never tried it)
+
+	err = incp_decode_dataret(in_bs, &data);
+	if (err != ERR_SUCCESS) goto _exit;
+
+	impl_callback_dataret(source, &data);
+	err = ERR_SUCCESS;
+
+_exit:
+	return err;
+}
+
+static err_t handle_incoming(endpoint_t source, BitStream *in_bs)
+{
+	err_t err; //Don't init on purpose
+	IncpMsg msg;
+
+
+	err = incp_decode_header(in_bs, &msg);
+	if (err != ERR_SUCCESS) goto _exit;
+	
+	switch (msg.kind)
+	{
+	case ping_PRESENT:
+		err = handle_incoming_ping(source, &msg, in_bs);
+		break;
+
+	case pong_PRESENT:
+		err = handle_incoming_pong(source, &msg, in_bs);
+		break;
+
+	case dataReq_PRESENT:
+		err = handle_incoming_datareq(source, &msg, in_bs);
+		break;
+
+	case dataRet_PRESENT:
+		err = handle_incoming_dataret(source, &msg, in_bs);
+		break;
+	
+	default:
+		err = ERR_NOT_IMPL;
+		break;
+	}
+
+_exit:
+	return err;
+}

doc/examples/OBC+TTC/shared/incp/service.h

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+// serivce.h - Defines INCP service interface and functions to implement per subsystem.
+
+#pragma once
+
+#include "incp2.h"
+#include "messaging.h"
+#include "asn1/out/incp_generated.h"
+
+
+
+// ==========================
+// === RTOS SETUP RELATED ===
+// ==========================
+
+/// @brief [DO NOT CALL] Entry point for the receiver task of the INCP service.
+/// @param args Not used
+/// @remark Do not call directly, instead, pass it to the RTOS during task creation.
+void incp_receiver_task(void *args);
+
+
+
+// ========================
+// === INCP SERVICE API ===
+// ========================
+
+/// @brief Sends a datareq message of a given ID to a given subsystem.
+/// @param subsystem The subsystem to target.
+/// @param id The ID of the variable/report to request.
+/// @return ERR_SUCCESS if successfully transmitted, an adequate error otherwise.
+err_t incp_async_datareq(endpoint_t subsystem, U32 id);
+
+/// @brief Sends a ping message to a given subsystem.
+/// @param subsystem The subsystem to target.
+/// @param bytes The data to populate the ping with. Must NULL or contain 32 readable bytes.
+/// @return ERR_SUCCESS if successfully transmitted, an adequate error otherwise.
+err_t incp_async_ping(endpoint_t subsystem, uint8_t *bytes);
+
+
+
+// ==================================
+// === TO IMPLEMENT PER SUBSYSTEM ===
+// ==================================
+
+/// @brief Implement this function to send (through whatever means, that's a you problem) the given buffer to a given
+///        destination. 
+/// @param destination Where to send the buffer.
+/// @param buf The buffer to send.
+/// @param size The length of the data in the buffer.
+/// @return ERR_SUCCESS if successful, an adequate error otherwise.
+/// @remark Do not __attribute__((weak)) to force linker error.
+err_t impl_transmit(endpoint_t destination, void *buf, size_t size);
+
+/// @brief Implement this function to populate msg_buf with the requested variables.
+/// @param data The destination to write to. Includes the variable/report id, which should not be changed.
+/// @return ERR_SUCCESS if successful, an adequate error otherwise.
+/// @remark Do not __attribute__((weak)) to force linker error.
+err_t impl_populate_dataret(AnyData *data);
+
+
+
+// === Callbacks ===
+
+/// @brief Implement this function as the callback handler to a dataret message. Can (but shoudln't) be empty.
+/// @param source The subsystem that send the message.
+/// @param data The buffer that holds the data. (See remarks)
+/// @remark Do not copy this value by reference, it's validity is only ensured during the execution of this function.
+/// @remark Do not __attribute__((weak)) to force linker error if undefined.
+void impl_callback_dataret(endpoint_t source, AnyData *data);
+
+/// @brief Implement this function as the callback handler to a pong message. Can (but shoudln't) be empty.
+/// @param source The subsystem that send the message.
+/// @param pong The received pong. (See remarks)
+/// @remark Do not copy this value by reference, it's validity is only ensured during the execution of this function.
+/// @remark Do not __attribute__((weak)) to force linker error if undefined.
+void impl_callback_pong(endpoint_t source, PingMsg *pong);

doc/examples/OBC+TTC/subsystems/OBC/main.c

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+#include <assert.h>
+
+#include "../../shared/incp/service.h"
+#include "../../shared/incp/asn1/out/incp_generated.h"
+#include "../../shared/bus/bus.h"
+
+
+
+//In this example, OBC will only ping and then request a variable from TTC
+
+
+
+int main()
+{
+	incp_async_ping(INCP_ENDPOINT_TTC, NULL);
+	incp_async_datareq(INCP_ENDPOINT_TTC, ttcRxTotal_PRESENT);
+
+	for (;;);
+	return 1;
+}
+
+
+
+// === SUBSYSTEM SPECIFIC INCP IMPLEMENTATIONS ===
+err_t impl_transmit(endpoint_t destination, void *buf, size_t size)
+{
+	bus_send(destination, buf, size);
+}
+
+err_t impl_populate_dataret(AnyData *data)
+{
+	//LATER: Populate or deny
+}
+
+void impl_callback_dataret(endpoint_t source, AnyData *data)
+{
+	//LATER: Do whatever
+}
+
+void impl_callback_pong(endpoint_t source, PingMsg *pong)
+{
+	//LATER: Do whatever
+}

doc/examples/OBC+TTC/subsystems/TTC/main.c

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+#include "../../shared/incp/service.h"
+#include "../../shared/incp/asn1/out/incp_generated.h"
+#include "../../shared/bus/bus.h"
+
+
+
+//In this example, TTC will be passive and will only reply to datareqs and pings
+
+
+
+int main()
+{
+	for (;;);
+	return 1;
+}
+
+
+
+// === SUBSYSTEM SPECIFIC INCP IMPLEMENTATIONS ===
+err_t impl_transmit(endpoint_t destination, void *buf, size_t size)
+{
+	bus_send(destination, buf, size);
+}
+
+err_t impl_populate_dataret(AnyData *data)
+{
+	switch (data->kind)
+	{
+	case ttcRxTotal_PRESENT:
+		data->u.ttcRxTotal.bytes = 69; //LATER: Proper data
+		return ERR_SUCCESS;
+
+	case ttcTxTotal_PRESENT:
+		data->u.ttcTxTotal.bytes = 420; //LATER: Proper data
+		return ERR_SUCCESS;
+
+	default:
+		return ERR_NOT_MINE;
+	}
+}
+
+void impl_callback_dataret(endpoint_t source, AnyData *data)
+{
+	//LATER: Do whatever
+}
+
+void impl_callback_pong(endpoint_t source, PingMsg *pong)
+{
+	//LATER: Do whatever
+}