chore: Touchup on NIL comments

app/CMakeLists.txt

@@ -31,7 +31,7 @@ add_executable(${EXECUTABLE} "")
 # Set compiler/linker options
 target_compile_definitions(${EXECUTABLE} PRIVATE
 	${COMPILER_DEFINES}
-	INCPHUB_LOCAL_NIL_ADDR=1
+	LIBSHUNT_LOCAL_NIL_ADDR=1
 )
 target_compile_options(${EXECUTABLE} PRIVATE
 	-Wall

app/src/CMakeLists.txt

@@ -1,5 +1,5 @@
 add_subdirectory(tasks)
-add_subdirectory(incphub)
+add_subdirectory(libshunt)
 add_subdirectory(nil)
 add_subdirectory(ntl)
 

app/src/incphub/README.md

@@ -1,19 +0,0 @@
-# INCPHUB
-
-## FreeRTOS requirements
-
-- INCLUDE_xTaskGetCurrentTaskHandle set to 1
-- INCLUDE_vTaskSuspend set to 1
-- configUSE_TASK_NOTIFICATIONS set to 1
-- configTASK_NOTIFICATION_ARRAY_ENTRIES set to >= 2 (0 is for stream/message buffers, 1(configurable) is used by incphub)
-- configUSE_MUTEXES set to 1
-
-## Configuration
-
-Set as a macro in compile flags if wishing to override the defaults
-
-- INCPHUB_TASKINDEX_MAILBOX, defaults to 1 (avoid using 0)
-
-## Setup
-
-- incphub_task_preinit MUST be run before any calls to the client, likely even before the scheduler is started

app/src/incphub/include/incphub/incphub.h

@@ -1,29 +0,0 @@
-// incphub.h - Public definitions common to incphub and incphub client
-
-#ifndef INCPHUB_H_
-#define INCPHUB_H_
-
-#include "ntl/ntl.h"
-#include "nil/nil.h"
-
-/// @brief Success
-#define INCPHUB_OK (0)
-/// @brief Unspecified error
-#define INCPHUB_ERR (1)
-/// @brief Invalid argument
-#define INCPHUB_EINVAL (2)
-/// @brief Resource or entry not found
-#define INCPHUB_ENOTFOUND (3)
-/// @brief Resource in use
-#define INCPHUB_EBUSY (4)
-/// @brief Resource temporarily unavailable
-#define INCPHUB_EAGAIN (5)
-/// @brief Could not allocate memory
-#define INCPHUB_ENOMEM (6)
-
-typedef struct {
-	nil_addr_t addr;
-	ntl_port_t port;
-} incphub_addr_t;
-
-#endif

app/src/incphub/include/incphub/incphub_client.h

@@ -1,53 +0,0 @@
-// incphub_client.h - Public interface of incphub client side
-
-#ifndef INCPHUB_CLIENT_H_
-#define INCPHUB_CLIENT_H_
-
-#include <stddef.h>
-
-#include "incphub/incphub.h"
-
-#include "nil/nil.h"
-#include "ntl/ntl.h"
-
-
-
-typedef struct incphub_cli_t incphub_cli_t;
-
-
-
-/// @brief Initializes an incphub client
-/// @param port The port number to assign to the caller
-/// @return INCPHUB_OK on success, an error otherwise
-int incphub_init_client(incphub_cli_t **cli, ntl_port_t port);
-
-/// @brief Attempts to get a free message buffer from the central storage space
-/// @param cli Current client handle
-/// @param buffer_ptr Location to return the buffer
-/// @param length The minimum size, in bytes, of the buffer get
-/// @return INCPHUB_OK on success, an error otherwise
-int incphub_get_msg_buffer(incphub_cli_t *cli, uint8_t **buffer_ptr, size_t length);
-
-/// @brief Releases a buffer previously acquired with incphub_get_msg_buffer
-/// @param cli Current client handle
-/// @param buffer The buffer to release
-/// @return INCPHUB_OK on success, an error otherwise
-int incphub_release_msg_buffer(incphub_cli_t *cli, uint8_t *buffer);
-
-/// @brief Attempts to send a message to the local interface
-/// @param cli Current client handle
-/// @param buffer The message buffer
-/// @param length The message length
-/// @param dst_port The destination NTL port
-/// @return INCPHUB_OK on success, an error otherwise
-int incphub_send_local(incphub_cli_t *cli, uint8_t *buffer, size_t length, ntl_port_t dst_port);
-
-/// @brief Awaits the receival of a message
-/// @param cli Current client handle
-/// @param buffer_ptr Location to return the buffer
-/// @param length_ptr Location to return the length
-/// @param source_ptr Location to return the message sender
-/// @return INCPHUB_OK on success, an error otherwise
-int incphub_await_msg(incphub_cli_t *cli, uint8_t **buffer_ptr, size_t *length_ptr, incphub_addr_t *source_ptr);
-
-#endif

app/src/incphub/include/incphub/incphub_task.h

@@ -1,17 +0,0 @@
-#ifndef INCPHUB_TASK_H_
-#define INCPHUB_TASK_H_
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "FreeRTOSConfig.h"
-
-#define INCPHUB_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
-#define INCPHUB_TASK_PRIORITY (configMAX_PRIORITIES - 1)
-
-extern StackType_t _incphub_task_stack[INCPHUB_TASK_STACK_DEPTH];
-extern StaticTask_t _incphub_task;
-
-void incphub_task_preinit();
-void incphub_task_main(void *params);
-
-#endif

app/src/incphub/src/incphub_client.c

@@ -1,101 +0,0 @@
-#include <stdbool.h>
-
-#include "incphub/incphub_client.h"
-#include "incphub/incphub_task.h"
-#include "incphub/incphub.h"
-#include "incphub_config.h"
-#include "incphub_shared.h"
-
-#include "ntl/ntl.h"
-#include "nil/nil.h"
-
-#include "message_buffer.h"
-
-
-
-int incphub_init_client(incphub_cli_t **cli, ntl_port_t port)
-{
-	return register_client(cli, port, xTaskGetCurrentTaskHandle());
-}
-
-int incphub_get_msg_buffer(incphub_cli_t *cli, uint8_t **buffer_ptr, size_t length)
-{
-	if (cli == NULL)
-		return INCPHUB_EINVAL;
-	if (buffer_ptr == NULL)
-		return INCPHUB_EINVAL;
-
-	// Request extra space for NIL/NTL headers
-	size_t extended_len = sizeof(nil_header_t) + sizeof(ntl_header_t) + length;
-	uint8_t *buf;
-
-	int status = get_msg_buffer(&buf, extended_len);
-	if (status != INCPHUB_OK)
-		return status;
-
-	// Reserve space for NIL/NTL headers
-	buf += sizeof(nil_header_t) + sizeof(ntl_header_t);
-
-	// Return buffer
-	*buffer_ptr = buf;
-
-	return INCPHUB_OK;
-}
-
-int incphub_release_msg_buffer(incphub_cli_t *cli, uint8_t *buffer)
-{
-	if (cli == NULL)
-		return INCPHUB_EINVAL;
-	if (buffer == NULL)
-		return INCPHUB_EINVAL;
-
-	// cli requested for interface consistency only (for now)
-	(void)cli;
-
-	// Unwind buffer pointer
-	uint8_t *unwound = buffer - sizeof(nil_header_t) + sizeof(ntl_header_t);
-
-	// Release correct buffer pointer
-	return release_msg_buffer(buffer);
-}
-
-int incphub_send_local(incphub_cli_t *cli, uint8_t *buffer, size_t length, ntl_port_t dst_port)
-{
-	if (cli == NULL)
-		return INCPHUB_EINVAL;
-	if (buffer == NULL)
-		return INCPHUB_EINVAL;
-	if (dst_port == NTL_PORT_EMPTY)
-		return INCPHUB_EINVAL;
-
-	// Unwind buffer pointer
-	ntl_packet_t *ntl_packet = (ntl_packet_t*)(buffer - sizeof(ntl_header_t));
-	nil_packet_t *nil_packet = (nil_packet_t*)(ntl_packet - sizeof(ntl_header_t));
-	size_t extended_len = sizeof(nil_header_t) + sizeof(ntl_header_t) + length;
-
-	// Populate NTL header
-	ntl_build_header(&ntl_packet->header, dst_port, cli->port, length);
-
-	// Populate NIL header
-	nil_build_header(&nil_packet->header, NIL_ADDR_LOCALHOST, INCPHUB_LOCAL_NIL_ADDR, length + sizeof(ntl_header_t));
-
-	// Pass to ingest
-	return enqueue_message_ingest((uint8_t *)nil_packet, extended_len);
-}
-
-int incphub_await_msg(incphub_cli_t *cli, uint8_t **buffer_ptr, size_t *length_ptr, incphub_addr_t *source_ptr)
-{
-	if (cli == NULL)
-		return INCPHUB_EINVAL;
-	if (buffer_ptr == NULL)
-		return INCPHUB_EINVAL;
-	if (length_ptr == NULL)
-		return INCPHUB_EINVAL;
-	if (source_ptr == NULL)
-		return INCPHUB_EINVAL;
-
-	// cli requested for interface consistency only (for now)
-	(void)cli;
-
-	return await_message_dispatch(buffer_ptr, length_ptr, source_ptr);
-}

app/src/incphub/src/incphub_config.h

@@ -1,30 +0,0 @@
-// incphub_config.h - Default configurations for incphub
-
-#ifndef INCPHUB_CONFIG_H_
-#define INCPHUB_CONFIG_H_
-
-#ifndef INCPHUB_TASKINDEX_MAILBOX
-/// @brief Index of direct-to-task notification for mailbox to use
-#define INCPHUB_TASKINDEX_MAILBOX 1
-#endif
-
-#ifndef INCPHUB_MAX_CLIENTS
-/// @brief Number of client slots to allocate
-#define INCPHUB_MAX_CLIENTS 16
-#endif
-
-#ifndef INCPHUB_MSG_BUFFER_SIZE
-/// @brief Message buffer size in bytes. Must allow space for NIL and NTL headers
-#define INCPHUB_MSG_BUFFER_SIZE 32
-#endif
-
-#ifndef INCPHUB_MSG_BUFFER_COUNT
-/// @brief Number of message buffers to allocate
-#define INCPHUB_MSG_BUFFER_COUNT 8
-#endif
-
-#ifndef INCPHUB_LOCAL_NIL_ADDR
-#error "Local NIL address must be specified with INCPHUB_LOCAL_NIL_ADDR"
-#endif
-
-#endif

app/src/incphub/src/incphub_shared.c

@@ -1,242 +0,0 @@
-#include "incphub_shared.h"
-
-#include <string.h>
-#include <stdbool.h>
-
-#include "FreeRTOS.h"
-#include "semphr.h"
-#include "task.h"
-
-#include "incphub/incphub.h"
-#include "incphub_config.h"
-
-#include "nil/nil.h"
-
-
-// === Private variables ===
-
-// Global lock
-static SemaphoreHandle_t _incphub_lock;
-static StaticSemaphore_t _incphub_lock_store;
-
-// Clients
-static incphub_cli_t _clients[INCPHUB_MAX_CLIENTS];
-
-// Message buffers
-// INCPHUB_MSG_BUFFER_COUNT buffers of INCPHUB_MSG_BUFFER_SIZE bytes
-static uint8_t _msg_buffers[INCPHUB_MSG_BUFFER_COUNT][INCPHUB_MSG_BUFFER_SIZE];
-static bool _msg_buffer_used[INCPHUB_MSG_BUFFER_COUNT];
-
-
-
-// === Private function declarations ===
-static bool global_lock(TickType_t max_delay);
-static void global_unlock();
-/// @remark Returns NULL if not found
-static incphub_cli_t *find_empty_client();
-/// @remark Returns NULL if not found
-static incphub_cli_t *find_client_with_port(ntl_port_t port);
-/// @remark Returns NULL if not found
-static uint8_t *find_unused_buffer();
-/// @remark Returns -1 if not found
-static int find_index_of_buffer(uint8_t *buffer);
-
-
-
-// === Public functions ===
-int internal_init()
-{
-    _incphub_lock = xSemaphoreCreateMutexStatic(&_incphub_lock_store);
-    memset(_clients, 0, sizeof(_clients));
-    memset(_msg_buffer_used, 0, sizeof(_msg_buffer_used));
-    return INCPHUB_OK;
-}
-
-int register_client(incphub_cli_t **cli_ptr, ntl_port_t port, TaskHandle_t task)
-{
-    if (port == NTL_PORT_EMPTY)
-        return INCPHUB_EINVAL;
-
-    if (cli_ptr == NULL)
-        return INCPHUB_EINVAL;
-
-    // == Enter ==
-    if (!global_lock(portMAX_DELAY))
-        return INCPHUB_EAGAIN;
-
-    // Prevent double binding of ports
-    if (find_client_with_port(port) != NULL)
-    {
-        global_unlock();
-        return INCPHUB_EBUSY;
-    }
-
-    incphub_cli_t *client = find_empty_client();
-    if (client == NULL)
-    {
-        global_unlock();
-        return INCPHUB_EBUSY;
-    }
-
-    // Populate client data
-    client->port = port;
-    client->task = task;
-
-    // Save to passed pointer
-    *cli_ptr = client;
-
-    global_unlock();
-    return INCPHUB_OK;
-}
-
-int get_msg_buffer(uint8_t **buffer_ptr, size_t len)
-{
-    if (buffer_ptr == NULL)
-        return INCPHUB_EINVAL;
-
-    // == Enter ==
-    if (!global_lock(portMAX_DELAY))
-        return INCPHUB_EAGAIN;
-
-    //TODO: Allow buffer to be given by another layer (below NIL/NTL)
-    uint8_t *buf = find_unused_buffer();
-    if (buf == NULL)
-    {
-        global_unlock();
-        return INCPHUB_ENOMEM;
-    }
-
-    // Return buffer
-    *buffer_ptr = buf;
-
-    global_unlock();
-    return INCPHUB_OK;
-}
-
-int release_msg_buffer(uint8_t *buffer)
-{
-    if (buffer == NULL)
-        return INCPHUB_EINVAL;
-
-    // == Enter ==
-    if (!global_lock(portMAX_DELAY))
-        return INCPHUB_EAGAIN;
-
-    int index = find_index_of_buffer(buffer);
-
-    // Handle invalid buffers
-    if (index == -1)
-    {
-        global_unlock();
-        return INCPHUB_EINVAL;
-    }
-
-    // Handle not-in-use buffers
-    if (_msg_buffer_used[index] == false)
-    {
-        global_unlock();
-        return INCPHUB_EINVAL;
-    }
-
-    // Mark buffer as free
-    _msg_buffer_used[index] = false;
-
-    global_unlock();
-    return INCPHUB_OK;
-}
-
-int get_client_with_port(ntl_port_t port, incphub_cli_t **client_ptr)
-{
-    if (port == NTL_PORT_EMPTY)
-        return INCPHUB_EINVAL;
-
-    if (client_ptr == NULL)
-        return INCPHUB_EINVAL;
-
-    // == Enter ==
-    if (!global_lock(portMAX_DELAY))
-        return INCPHUB_EAGAIN;
-
-    // Map port to client
-    incphub_cli_t *client = find_client_with_port(port);
-    if (client == NULL)
-    {
-        global_unlock();
-        return INCPHUB_ENOTFOUND;
-    }
-
-    // Return client
-    *client_ptr = client;
-
-    global_unlock();
-    return INCPHUB_OK;
-}
-
-int enqueue_message_ingest(uint8_t *buffer, size_t length)
-{
-    (void)buffer;
-    (void)length;
-    //TODO: Implement
-    return INCPHUB_ERR;
-}
-
-int dequeue_message_ingest(uint8_t **buffer_ptr, size_t *length_ptr)
-{
-    (void)buffer_ptr;
-    (void)length_ptr;
-    //TODO: Implement
-    return INCPHUB_ERR;
-}
-
-
-
-// === Private function definitions ===
-static bool global_lock(TickType_t max_delay)
-{
-    return xSemaphoreTake(_incphub_lock, max_delay) == pdTRUE;
-}
-
-static void global_unlock()
-{
-    xSemaphoreGive(_incphub_lock);
-}
-
-static incphub_cli_t *find_empty_client()
-{
-    return find_client_with_port(NTL_PORT_EMPTY);
-}
-
-static incphub_cli_t *find_client_with_port(ntl_port_t port)
-{
-    for (int i = 0; i < INCPHUB_MAX_CLIENTS; ++i)
-    {
-        incphub_cli_t *client = &_clients[i];
-
-        if (client->port == port)
-            return client;
-    }
-
-    return NULL;
-}
-
-static uint8_t *find_unused_buffer()
-{
-    for (int i = 0; i < INCPHUB_MSG_BUFFER_COUNT; ++i)
-    {
-        if (!_msg_buffer_used[i])
-            return _msg_buffers[i];
-    }
-
-    return NULL;
-}
-
-static int find_index_of_buffer(uint8_t *buffer)
-{
-    for (int i = 0; i < INCPHUB_MSG_BUFFER_COUNT; ++i)
-    {
-        if (buffer = _msg_buffers[i])
-            return i;
-    }
-
-    return -1;
-}

app/src/incphub/src/incphub_shared.h

@@ -1,76 +0,0 @@
-// incphub_sharedl.h - Internal mechanisms shared by incphub and incphub_client
-
-#ifndef INCPHUB_SHARED_H_
-#define INCPHUB_SHARED_H_
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-
-#include "nil/nil.h"
-#include "ntl/ntl.h"
-
-#include "incphub/incphub.h"
-
-
-
-struct incphub_cli_t {
-	/// @remark If set to NTL_PORT_EMPTY denotes an empty client
-	ntl_port_t port;
-	TaskHandle_t task;
-};
-
-// Queue<incphub_msg_t>
-extern QueueHandle_t incphub_ingest_queue;
-
-#ifndef INCPHUB_CLIENT_H_
-typedef struct incphub_cli_t incphub_cli_t;
-#endif
-
-
-
-/// @brief Initializes the internal state of incphub
-/// @return INCPHUB_OK on success, an error otherwise
-int internal_init();
-
-/// @brief Registers a task as an incphub client
-/// @param cli_ptr Location to return client
-/// @param port The port to register to
-/// @param task The task to register as the handler
-/// @return INCPHUB_OK on success, an error otherwise
-int register_client(incphub_cli_t **cli_ptr, ntl_port_t port, TaskHandle_t task);
-
-/// @brief Attempts to get a free message buffer from the central storage space
-/// @param buffer_ptr Location to return the buffer
-/// @param len The minimum size, in bytes, of the buffer get
-/// @return INCPHUB_OK on success, an error otherwise
-int get_msg_buffer(uint8_t **buffer_ptr, size_t len);
-
-/// @brief Releases a buffer previously acquired with get_msg_buffer
-/// @param buffer The buffer to release
-/// @return INCPHUB_OK on success, an error otherwise
-int release_msg_buffer(uint8_t *buffer);
-
-/// @brief Attempts to get the client assigned to the given port
-/// @param port The port to look for
-/// @param client_ptr Location to return the client
-/// @return INCPHUB_OK on success, an error otherwise
-int get_client_with_port(ntl_port_t port, incphub_cli_t **client_ptr);
-
-/// @brief Enqueues a message for ingest by the incphub task
-/// @param buffer The buffer to enqueue
-/// @param length The message length
-/// @return INCPHUB_OK on success, an error otherwise
-int enqueue_message_ingest(uint8_t *buffer, size_t length);
-
-/// @brief Dequeues a message for ingest
-/// @param buffer_ptr Location to return the buffer
-/// @param length_ptr Location to store the message length
-/// @return INCPHUB_OK on success, an error otherwise
-int dequeue_message_ingest(uint8_t **buffer_ptr, size_t *length_ptr);
-
-int do_message_dispatch(incphub_cli_t *cli, uint8_t *buffer, size_t length, incphub_addr_t source);
-
-int await_message_dispatch(uint8_t **buffer_ptr, size_t *length_ptr, incphub_addr_t *source_ptr);
-
-#endif

app/src/incphub/src/incphub_task.c

@@ -1,159 +0,0 @@
-#include "incphub/incphub_task.h"
-
-#include <stdint.h>
-
-#include "FreeRTOS.h"
-#include "queue.h"
-
-#include "incphub/incphub.h"
-#include "incphub_config.h"
-#include "incphub_shared.h"
-
-#include "ntl/ntl.h"
-#include "nil/nil.h"
-
-
-
-// === Static task space ===
-StackType_t _incphub_task_stack[INCPHUB_TASK_STACK_DEPTH];
-StaticTask_t _incphub_task;
-
-
-
-// === Public variables ===
-
-// Queue<nil_packet_t*> Packets awaiting to be accepted by incphub
-QueueHandle_t incphub_ingest_queue;
-
-
-
-// === Private variables ===
-#define INGEST_QUEUE_LENGTH    (16)
-#define INGEST_QUEUE_ITEM_SIZE (sizeof(ntl_packet_t *))
-static uint8_t _ingest_queue_store[INGEST_QUEUE_LENGTH * INGEST_QUEUE_ITEM_SIZE];
-static StaticQueue_t _ingest_queue_static;
-
-
-
-// === Private functions ===
-static nil_packet_t *extract_nil_packet(uint8_t *buffer, size_t length);
-static ntl_packet_t *extract_ntl_packet(nil_packet_t *nil);
-static void handle_nil_packet(nil_packet_t *nil);
-static void handle_ntl_packet(ntl_packet_t *ntl, nil_addr_t src_addr);
-
-
-
-// === Public functions ===
-void incphub_task_preinit()
-{
-    internal_init();
-    incphub_ingest_queue =
-        xQueueCreateStatic(INGEST_QUEUE_LENGTH, INGEST_QUEUE_ITEM_SIZE, _ingest_queue_store, &_ingest_queue_static);
-}
-
-void incphub_task_main(void *params)
-{
-    (void)params;
-
-    while (1)
-    {
-		// Dequeue message
-		uint8_t *buffer;
-		size_t length;
-		dequeue_message_ingest(&buffer, &length);
-
-		// Get NIL packet
-		nil_packet_t *nil = extract_nil_packet(buffer, length);
-		if (nil == NULL)
-		{
-			//TODO: Error
-			continue;
-		}
-
-		// Process or route
-		handle_nil_packet(nil);
-    }
-}
-
-
-
-// === Private functions ===
-static nil_packet_t *extract_nil_packet(uint8_t *buffer, size_t length)
-{
-	// Ensure message is big enough to hold a packet
-	if (length < sizeof(nil_packet_t))
-	{
-		//TODO: Error
-		return NULL;
-	}
-
-	nil_packet_t *nil = (nil_packet_t *)buffer;
-	// Ensure length field is not going to cause buffer overflow
-	if (length < sizeof(nil_packet_t) + nil->header.len )
-	{
-		//TODO: Error
-		return NULL;
-	}
-
-	return nil;
-}
-
-static ntl_packet_t *extract_ntl_packet(nil_packet_t *nil)
-{
-	// Ensure message is big enough to hold a packet
-	if (nil->header.len < sizeof(ntl_packet_t))
-	{
-		//TODO: Error
-		return NULL;
-	}
-
-	ntl_packet_t *ntl = (ntl_packet_t *)nil->payload;
-	// Ensure length field is not going to cause buffer overflow
-	if (nil->header.len < sizeof(ntl_packet_t) + ntl->header.len)
-	{
-		//TODO: Error
-		return NULL;
-	}
-
-	return ntl;
-}
-
-static void handle_nil_packet(nil_packet_t *nil)
-{
-	if (nil->header.dst_addr == INCPHUB_LOCAL_NIL_ADDR)
-	{
-		ntl_packet_t *ntl = extract_ntl_packet(nil);
-		if (ntl == NULL)
-		{
-			//TODO: Error
-			return;
-		}
-
-		handle_ntl_packet(ntl, nil->header.src_addr);
-		return;
-	}
-
-	//TODO: Route to external interface
-	return;
-}
-
-static void handle_ntl_packet(ntl_packet_t *ntl, nil_addr_t src_addr)
-{
-	ntl_port_t port = ntl_get_dst(&ntl->header);
-
-	incphub_cli_t *client;
-	if (get_client_with_port(port, &client) != INCPHUB_OK)
-	{
-		//TODO: Error
-		return;
-	}
-
-	incphub_addr_t sender = { .addr = src_addr, .port = ntl->header.src_port };
-	if (do_message_dispatch(client, ntl->payload, ntl->header.len, sender) != INCPHUB_OK)
-	{
-		//TODO: Error
-		return;
-	}
-
-	return;
-}

app/src/libshunt/CMakeLists.txt

@@ -1,7 +1,7 @@
 target_sources(${EXECUTABLE} PRIVATE
-	src/incphub_client.c
+	src/shunt_client.c
-	src/incphub_task.c
+	src/shunt_task.c
-	src/incphub_shared.c
+	src/shunt_shared.c
 )
 
 target_include_directories(${EXECUTABLE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)

app/src/libshunt/README.md

@@ -0,0 +1,37 @@
+# LibShunt
+
+Shunts messages, like trains
+
+## FreeRTOS requirements
+
+- INCLUDE_xTaskGetCurrentTaskHandle set to 1
+- INCLUDE_vTaskSuspend set to 1
+- configUSE_TASK_NOTIFICATIONS set to 1
+- configTASK_NOTIFICATION_ARRAY_ENTRIES set to >= 2 (0 is for stream/message buffers, 1(configurable) is used by libshunt)
+- configUSE_MUTEXES set to 1
+
+## Configuration
+
+Set as a macro in compile flags if wishing to override the defaults
+
+- LIBSHUNT_TASKINDEX_MAILBOX, defaults to 1 (avoid using 0)
+
+## Setup
+
+- libshunt_task_preinit MUST be run before any calls to the client, likely even before the scheduler is started
+
+## IPC flow
+
+Ingest (accepting of messages into libshunt) is done via queue (many to one)
+
+Dispatch (internal routing to local task) is done via direct-to-task notifications (see LIBSHUNT_TASKINDEX_MAILBOX) by passing the message buffer pointer
+
+## Buffer ownership
+
+Buffers are allocated with shunt_get_msg_buffer, at which point they belong to the requesting task.
+
+When passed to libshunt_send_XXX functions, they become owned by libshunt
+
+When dispatched internally, the receiving task becomes the owner and must invoke shunt_release_msg_buffer when done
+
+When routed externally, after calling the transmitter function, libshunt releases the buffer

app/src/libshunt/include/libshunt/libshunt.h

@@ -0,0 +1,31 @@
+// libshunt.h - Public definitions common to all libshunt components
+
+#ifndef LIBSHUNT_H_
+#define LIBSHUNT_H_
+
+#include "ntl/ntl.h"
+#include "nil/nil.h"
+
+/// @brief Success
+#define LIBSHUNT_OK (0)
+/// @brief Unspecified error
+#define LIBSHUNT_ERR (1)
+/// @brief Invalid argument
+#define LIBSHUNT_EINVAL (2)
+/// @brief Resource or entry not found
+#define LIBSHUNT_ENOTFOUND (3)
+/// @brief Resource in use
+#define LIBSHUNT_EBUSY (4)
+/// @brief Resource temporarily unavailable
+#define LIBSHUNT_EAGAIN (5)
+/// @brief Could not allocate memory
+#define LIBSHUNT_ENOMEM (6)
+/// @brief Packet failed integrity checks
+#define LIBSHUNT_BAD_PACKET (7)
+
+typedef struct {
+	nil_addr_t addr;
+	ntl_port_t port;
+} shunt_addr_t;
+
+#endif

app/src/libshunt/include/libshunt/shunt_client.h

@@ -0,0 +1,57 @@
+// shunt_client.h - Public interface of libshunt client side
+
+#ifndef LIBSHUNT_CLIENT_H_
+#define LIBSHUNT_CLIENT_H_
+
+#include <stddef.h>
+
+#include "FreeRTOS.h"
+
+#include "libshunt/libshunt.h"
+
+#include "nil/nil.h"
+#include "ntl/ntl.h"
+
+
+
+typedef struct shunt_cli_t shunt_cli_t;
+
+
+
+/// @brief Initializes an libshunt client
+/// @param port The port number to assign to the caller
+/// @return LIBSHUNT_OK on success, an error otherwise
+int shunt_init_client(shunt_cli_t **cli, ntl_port_t port);
+
+/// @brief Attempts to get a free message buffer from the central storage space
+/// @param cli Current client handle
+/// @param buffer_ptr Location to return the buffer
+/// @param length The minimum size, in bytes, of the buffer get
+/// @return LIBSHUNT_OK on success, an error otherwise
+int shunt_get_msg_buffer(shunt_cli_t *cli, uint8_t **buffer_ptr, size_t length);
+
+/// @brief Releases a buffer received from shunt_await_msg
+/// @param cli Current client handle
+/// @param buffer The buffer to release
+/// @return LIBSHUNT_OK on success, an error otherwise
+int shunt_release_msg_buffer(shunt_cli_t *cli, uint8_t *buffer);
+
+/// @brief Attempts to send a message
+/// @param cli Current client handle
+/// @param buffer The message buffer (gets consumed)
+/// @param length The message length
+/// @param dst_addr The destination address
+/// @param max_delay The maximum time to wait for a resources, in ticks
+/// @return LIBSHUNT_OK on success, an error otherwise
+int shunt_send_msg(shunt_cli_t *cli, uint8_t *buffer, size_t length, shunt_addr_t dst, TickType_t max_delay);
+
+/// @brief Awaits the receival of a message
+/// @param cli Current client handle
+/// @param buffer_ptr Location to return the buffer
+/// @param length_ptr Location to return the length
+/// @param source_ptr Location to return the message sender
+/// @param max_delay The maximum time to wait for a message, in ticks
+/// @return LIBSHUNT_OK on success, an error otherwise
+int shunt_await_msg(shunt_cli_t *cli, uint8_t **buffer_ptr, size_t *length_ptr, shunt_addr_t *source_ptr, TickType_t max_delay);
+
+#endif

app/src/libshunt/include/libshunt/shunt_task.h

@@ -0,0 +1,19 @@
+// shunt_task.h - Public interface to launch the libshunt FreeRTOS task
+
+#ifndef LIBSHUNT_TASK_H_
+#define LIBSHUNT_TASK_H_
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "FreeRTOSConfig.h"
+
+#define LIBSHUNT_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
+#define LIBSHUNT_TASK_PRIORITY (configMAX_PRIORITIES - 1)
+
+extern StackType_t _libshunt_task_stack[LIBSHUNT_TASK_STACK_DEPTH];
+extern StaticTask_t _libshunt_task;
+
+void libshunt_task_preinit();
+void libshunt_task_main(void *params);
+
+#endif

app/src/libshunt/src/shunt_client.c

@@ -0,0 +1,129 @@
+#include <stdbool.h>
+
+#include "libshunt/shunt_client.h"
+#include "libshunt/shunt_task.h"
+#include "libshunt/libshunt.h"
+#include "shunt_config.h"
+#include "shunt_shared.h"
+
+#include "ntl/ntl.h"
+#include "nil/nil.h"
+
+#include "message_buffer.h"
+
+
+
+int shunt_init_client(shunt_cli_t **cli, ntl_port_t port)
+{
+	return register_client(cli, port, xTaskGetCurrentTaskHandle());
+}
+
+int shunt_get_msg_buffer(shunt_cli_t *cli, uint8_t **buffer_ptr, size_t length)
+{
+	if (cli == NULL)
+		return LIBSHUNT_EINVAL;
+	if (buffer_ptr == NULL)
+		return LIBSHUNT_EINVAL;
+
+	// Request extra space for NIL/NTL headers
+	size_t extended_len = sizeof(nil_header_t) + sizeof(ntl_header_t) + length;
+	uint8_t *buf;
+
+	int status = get_msg_buffer(&buf, extended_len);
+	if (status != LIBSHUNT_OK)
+		return status;
+
+	// Reserve space for NIL/NTL headers
+	buf += sizeof(nil_header_t) + sizeof(ntl_header_t);
+
+	// Return buffer
+	*buffer_ptr = buf;
+
+	return LIBSHUNT_OK;
+}
+
+int shunt_release_msg_buffer(shunt_cli_t *cli, uint8_t *buffer)
+{
+	if (cli == NULL)
+		return LIBSHUNT_EINVAL;
+	if (buffer == NULL)
+		return LIBSHUNT_EINVAL;
+
+	// cli requested for interface consistency only (for now)
+	(void)cli;
+
+	// Unwind buffer pointer
+	uint8_t *unwound = buffer - sizeof(nil_header_t) + sizeof(ntl_header_t);
+
+	// Release correct buffer pointer
+	return release_msg_buffer(unwound);
+}
+
+int shunt_send_msg(shunt_cli_t *cli, uint8_t *buffer, size_t length, shunt_addr_t dst, TickType_t max_delay)
+{
+	if (cli == NULL)
+		return LIBSHUNT_EINVAL;
+	if (buffer == NULL)
+		return LIBSHUNT_EINVAL;
+	if (dst.port == NTL_PORT_EMPTY)
+		return LIBSHUNT_EINVAL;
+
+	// Unwind buffer pointer
+	ntl_packet_t *ntl_packet = (ntl_packet_t*)((uint8_t*)buffer - sizeof(ntl_header_t));
+	nil_packet_t *nil_packet = (nil_packet_t*)((uint8_t*)ntl_packet - sizeof(ntl_header_t));
+
+	// Populate NTL header
+	ntl_build_header(&ntl_packet->header, dst.port, cli->port, length);
+
+	// Populate NIL header
+	nil_build_header(&nil_packet->header, dst.addr, LIBSHUNT_LOCAL_NIL_ADDR, length + sizeof(ntl_header_t));
+
+	// Pass to ingest
+	return enqueue_message_ingest((uint8_t *)nil_packet, max_delay);
+}
+
+int shunt_await_msg(shunt_cli_t *cli, uint8_t **buffer_ptr, size_t *length_ptr, shunt_addr_t *source_ptr, TickType_t max_delay)
+{
+	if (cli == NULL)
+		return LIBSHUNT_EINVAL;
+	if (buffer_ptr == NULL)
+		return LIBSHUNT_EINVAL;
+	if (length_ptr == NULL)
+		return LIBSHUNT_EINVAL;
+	if (source_ptr == NULL)
+		return LIBSHUNT_EINVAL;
+
+	// cli requested for interface consistency only (for now)
+	(void)cli;
+
+	uint8_t *buffer;
+	int err = await_message_dispatch(&buffer, max_delay);
+	if (err != LIBSHUNT_OK)
+	{
+		return err;
+	}
+
+	// Extract header information
+    nil_packet_t *nil = extract_nil_packet(buffer, LIBSHUNT_MSG_BUFFER_SIZE);
+    if (nil == NULL)
+    {
+        return LIBSHUNT_BAD_PACKET;
+    }
+    ntl_packet_t *ntl = extract_ntl_packet(nil);
+    if (nil == NULL)
+    {
+        return LIBSHUNT_BAD_PACKET;
+    }
+
+    // Build source spec
+    shunt_addr_t source = { 0 };
+    source.addr = nil->header.src_addr;
+    source.port = ntl->header.src_port;
+
+    // Return values
+    *buffer_ptr = ntl->payload;
+    *length_ptr = ntl->header.len;
+    *source_ptr = source;
+
+	return LIBSHUNT_OK;
+}

app/src/libshunt/src/shunt_config.h

@@ -0,0 +1,30 @@
+// shunt_config.h - Default configurations for libshunt
+
+#ifndef LIBSHUNT_CONFIG_H_
+#define LIBSHUNT_CONFIG_H_
+
+#ifndef LIBSHUNT_TASKINDEX_MAILBOX
+/// @brief Index of direct-to-task notification for mailbox to use
+#define LIBSHUNT_TASKINDEX_MAILBOX 1
+#endif
+
+#ifndef LIBSHUNT_MAX_CLIENTS
+/// @brief Number of client slots to allocate
+#define LIBSHUNT_MAX_CLIENTS 8
+#endif
+
+#ifndef LIBSHUNT_MSG_BUFFER_SIZE
+/// @brief Message buffer size in bytes. Must allow space for NIL and NTL headers
+#define LIBSHUNT_MSG_BUFFER_SIZE 32
+#endif
+
+#ifndef LIBSHUNT_MSG_BUFFER_COUNT
+/// @brief Number of message buffers to allocate
+#define LIBSHUNT_MSG_BUFFER_COUNT 8
+#endif
+
+#ifndef LIBSHUNT_LOCAL_NIL_ADDR
+#error "Local NIL address must be specified with LIBSHUNT_LOCAL_NIL_ADDR"
+#endif
+
+#endif

app/src/libshunt/src/shunt_shared.c

@@ -0,0 +1,311 @@
+#include "shunt_shared.h"
+
+#include <string.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "task.h"
+
+#include "libshunt/libshunt.h"
+#include "shunt_config.h"
+
+#include "nil/nil.h"
+
+
+
+#if UINTPTR_MAX > UINT32_MAX
+#error "Pointers of 32-bits or less are required for libshunt mailbox to function correctly."
+#endif
+
+
+
+// === Private variables ===
+
+// Global lock
+static SemaphoreHandle_t _libshunt_lock;
+static StaticSemaphore_t _libshunt_lock_store;
+
+// Clients
+static shunt_cli_t _clients[LIBSHUNT_MAX_CLIENTS];
+
+// Message buffers
+// LIBSHUNT_MSG_BUFFER_COUNT buffers of LIBSHUNT_MSG_BUFFER_SIZE bytes
+static uint8_t _msg_buffers[LIBSHUNT_MSG_BUFFER_COUNT][LIBSHUNT_MSG_BUFFER_SIZE];
+static bool _msg_buffer_used[LIBSHUNT_MSG_BUFFER_COUNT];
+
+
+
+// === Private function declarations ===
+static bool global_lock(TickType_t max_delay);
+static void global_unlock();
+/// @remark Returns NULL if not found
+static shunt_cli_t *find_empty_client();
+/// @remark Returns NULL if not found
+static shunt_cli_t *find_client_with_port(ntl_port_t port);
+/// @remark Returns NULL if not found
+static uint8_t *find_unused_buffer();
+/// @remark Returns -1 if not found
+static int find_index_of_buffer(uint8_t *buffer);
+
+
+
+// === Public functions ===
+int internal_init()
+{
+    _libshunt_lock = xSemaphoreCreateMutexStatic(&_libshunt_lock_store);
+    memset(_clients, 0, sizeof(_clients));
+    memset(_msg_buffer_used, 0, sizeof(_msg_buffer_used));
+    return LIBSHUNT_OK;
+}
+
+int register_client(shunt_cli_t **cli_ptr, ntl_port_t port, TaskHandle_t task)
+{
+    if (port == NTL_PORT_EMPTY)
+        return LIBSHUNT_EINVAL;
+    if (cli_ptr == NULL)
+        return LIBSHUNT_EINVAL;
+
+    // == Enter ==
+    if (!global_lock(portMAX_DELAY))
+        return LIBSHUNT_EAGAIN;
+
+    // Prevent double binding of ports
+    if (find_client_with_port(port) != NULL)
+    {
+        global_unlock();
+        return LIBSHUNT_EBUSY;
+    }
+
+    shunt_cli_t *client = find_empty_client();
+    if (client == NULL)
+    {
+        global_unlock();
+        return LIBSHUNT_EBUSY;
+    }
+
+    // Populate client data
+    client->port = port;
+    client->task = task;
+
+    // Save to passed pointer
+    *cli_ptr = client;
+
+    global_unlock();
+    return LIBSHUNT_OK;
+}
+
+int get_msg_buffer(uint8_t **buffer_ptr, size_t len)
+{
+    if (buffer_ptr == NULL)
+        return LIBSHUNT_EINVAL;
+    if (len > LIBSHUNT_MSG_BUFFER_SIZE)
+        return LIBSHUNT_ENOMEM;
+
+    // == Enter ==
+    if (!global_lock(portMAX_DELAY))
+        return LIBSHUNT_EAGAIN;
+
+    //TODO: Allow buffer to be given by another layer (below NIL/NTL)
+    uint8_t *buf = find_unused_buffer();
+    if (buf == NULL)
+    {
+        global_unlock();
+        return LIBSHUNT_ENOMEM;
+    }
+
+    // Return buffer
+    *buffer_ptr = buf;
+
+    global_unlock();
+    return LIBSHUNT_OK;
+}
+
+int release_msg_buffer(uint8_t *buffer)
+{
+    if (buffer == NULL)
+        return LIBSHUNT_EINVAL;
+
+    // == Enter ==
+    if (!global_lock(portMAX_DELAY))
+        return LIBSHUNT_EAGAIN;
+
+    int index = find_index_of_buffer(buffer);
+
+    // Handle invalid buffers
+    if (index == -1)
+    {
+        global_unlock();
+        return LIBSHUNT_EINVAL;
+    }
+
+    // Handle not-in-use buffers
+    if (_msg_buffer_used[index] == false)
+    {
+        global_unlock();
+        return LIBSHUNT_EINVAL;
+    }
+
+    // Mark buffer as free
+    _msg_buffer_used[index] = false;
+
+    global_unlock();
+    return LIBSHUNT_OK;
+}
+
+int get_client_with_port(ntl_port_t port, shunt_cli_t **client_ptr)
+{
+    if (port == NTL_PORT_EMPTY)
+        return LIBSHUNT_EINVAL;
+    if (client_ptr == NULL)
+        return LIBSHUNT_EINVAL;
+
+    // == Enter ==
+    if (!global_lock(portMAX_DELAY))
+        return LIBSHUNT_EAGAIN;
+
+    // Map port to client
+    shunt_cli_t *client = find_client_with_port(port);
+    if (client == NULL)
+    {
+        global_unlock();
+        return LIBSHUNT_ENOTFOUND;
+    }
+
+    // Return client
+    *client_ptr = client;
+
+    global_unlock();
+    return LIBSHUNT_OK;
+}
+
+int enqueue_message_ingest(uint8_t *buffer, TickType_t max_delay)
+{
+    //NOTE: Does not need global lock
+
+    if (buffer == NULL)
+        return LIBSHUNT_EINVAL;
+
+    // Try to queue message
+    if (xQueueSendToBack(libshunt_ingest_queue, &buffer, max_delay) != pdPASS)
+    {
+        return LIBSHUNT_EAGAIN;
+    }
+
+    return LIBSHUNT_OK;
+}
+
+int dequeue_message_ingest(uint8_t **buffer_ptr, TickType_t max_delay)
+{
+    //NOTE: Does not need global lock
+
+    if (buffer_ptr == NULL)
+        return LIBSHUNT_EINVAL;
+
+    uint8_t *buffer;
+
+    // Try to dequeue message
+    if (xQueueReceive(libshunt_ingest_queue, &buffer, max_delay) == pdFALSE)
+    {
+        return LIBSHUNT_EAGAIN;
+    }
+
+    // Return buffer
+    *buffer_ptr = buffer;
+
+    return LIBSHUNT_OK;
+}
+
+int do_message_dispatch(shunt_cli_t *cli, uint8_t *buffer)
+{
+    //NOTE: Does not need global lock
+
+    if (cli == NULL)
+        return LIBSHUNT_EINVAL;
+    if (buffer == NULL)
+        return LIBSHUNT_EINVAL;
+
+    // Try to notify
+    if (xTaskNotifyIndexed(cli->task, LIBSHUNT_TASKINDEX_MAILBOX, (uint32_t)buffer, eSetValueWithoutOverwrite) == pdFALSE)
+    {
+        // Failed because previous message has not yet been processed
+        return LIBSHUNT_EAGAIN;
+    }
+
+    return LIBSHUNT_OK;
+}
+
+int await_message_dispatch(uint8_t **buffer_ptr, TickType_t max_delay)
+{
+    //NOTE: Does not need global lock
+
+    if (buffer_ptr == NULL)
+        return LIBSHUNT_EINVAL;
+
+    // Get raw msg buffer
+    uint8_t *buffer;
+    if (xTaskNotifyWaitIndexed(LIBSHUNT_TASKINDEX_MAILBOX, 0, 0, (uint32_t*)&buffer, max_delay) == pdFALSE)
+    {
+        // Nothing pending
+        return LIBSHUNT_EAGAIN;
+    }
+
+    // Return buffer
+    *buffer_ptr = buffer;
+
+    return LIBSHUNT_OK;
+}
+
+
+
+// === Private function definitions ===
+static bool global_lock(TickType_t max_delay)
+{
+    return xSemaphoreTake(_libshunt_lock, max_delay) == pdTRUE;
+}
+
+static void global_unlock()
+{
+    xSemaphoreGive(_libshunt_lock);
+}
+
+static shunt_cli_t *find_empty_client()
+{
+    return find_client_with_port(NTL_PORT_EMPTY);
+}
+
+static shunt_cli_t *find_client_with_port(ntl_port_t port)
+{
+    for (int i = 0; i < LIBSHUNT_MAX_CLIENTS; ++i)
+    {
+        shunt_cli_t *client = &_clients[i];
+
+        if (client->port == port)
+            return client;
+    }
+
+    return NULL;
+}
+
+static uint8_t *find_unused_buffer()
+{
+    for (int i = 0; i < LIBSHUNT_MSG_BUFFER_COUNT; ++i)
+    {
+        if (!_msg_buffer_used[i])
+            return _msg_buffers[i];
+    }
+
+    return NULL;
+}
+
+static int find_index_of_buffer(uint8_t *buffer)
+{
+    for (int i = 0; i < LIBSHUNT_MSG_BUFFER_COUNT; ++i)
+    {
+        if (buffer == _msg_buffers[i])
+            return i;
+    }
+
+    return -1;
+}

app/src/libshunt/src/shunt_shared.h

@@ -0,0 +1,129 @@
+// shunt_sharedl.h - Internal mechanisms shared by libshunt components
+
+#ifndef LIBSHUNT_SHARED_H_
+#define LIBSHUNT_SHARED_H_
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+#include "nil/nil.h"
+#include "ntl/ntl.h"
+
+#include "libshunt/libshunt.h"
+
+
+
+struct shunt_cli_t {
+	/// @remark If set to NTL_PORT_EMPTY denotes an empty client
+	ntl_port_t port;
+	TaskHandle_t task;
+};
+
+// Queue<uint8_t*> (queue of buffers)
+extern QueueHandle_t libshunt_ingest_queue;
+
+#ifndef LIBSHUNT_CLIENT_H_
+typedef struct shunt_cli_t shunt_cli_t;
+#endif
+
+
+
+/// @brief Initializes the internal state of libshunt
+/// @return LIBSHUNT_OK on success, an error otherwise
+int internal_init();
+
+/// @brief Registers a task as an libshunt client
+/// @param cli_ptr Location to return client
+/// @param port The port to register to
+/// @param task The task to register as the handler
+/// @return LIBSHUNT_OK on success, an error otherwise
+int register_client(shunt_cli_t **cli_ptr, ntl_port_t port, TaskHandle_t task);
+
+/// @brief Attempts to get a free message buffer from the central storage space
+/// @param buffer_ptr Location to return the buffer
+/// @param len The minimum size, in bytes, of the buffer get
+/// @return LIBSHUNT_OK on success, an error otherwise
+int get_msg_buffer(uint8_t **buffer_ptr, size_t len);
+
+/// @brief Releases a buffer previously acquired with get_msg_buffer
+/// @param buffer The buffer to release
+/// @return LIBSHUNT_OK on success, an error otherwise
+int release_msg_buffer(uint8_t *buffer);
+
+/// @brief Attempts to get the client assigned to the given port
+/// @param port The port to look for
+/// @param client_ptr Location to return the client
+/// @return LIBSHUNT_OK on success, an error otherwise
+int get_client_with_port(ntl_port_t port, shunt_cli_t **client_ptr);
+
+/// @brief Enqueues a message for ingest by the libshunt task
+/// @param buffer The buffer to enqueue
+/// @param max_delay The maximum time to wait for resources, in ticks
+/// @return LIBSHUNT_OK on success, an error otherwise
+int enqueue_message_ingest(uint8_t *buffer, TickType_t max_delay);
+
+/// @brief Dequeues a message for ingest
+/// @param buffer_ptr Location to return the buffer
+/// @param max_delay The maximum time to wait for a message, in ticks
+/// @return LIBSHUNT_OK on success, an error otherwise
+int dequeue_message_ingest(uint8_t **buffer_ptr, TickType_t max_delay);
+
+/// @brief Sends a message for dispatch to the corresponding client
+/// @param cli The client to send the message to
+/// @param buffer The message buffer to send
+/// @return LIBSHUNT_OK on success, an error otherwise
+int do_message_dispatch(shunt_cli_t *cli, uint8_t *buffer);
+
+/// @brief Blocks until a message is received for dispatch, or until a given timeout
+/// @param buffer_ptr Location to return the message buffer
+/// @param max_delay The maximum time to wait for a message, in ticks
+/// @return LIBSHUNT_OK on success, an error otherwise
+/// @remark Buffers obatined from this function must be release with release_msg_buffer once no longer in use
+int await_message_dispatch(uint8_t **buffer_ptr, TickType_t max_delay);
+
+/// @brief Extracts a NIL packet from a buffer
+/// @param buffer The byte buffer to read from
+/// @param length The maximum length to read from
+/// @return Pointer to the NIL packet in the buffer or NULL if the packet is invalid
+static inline nil_packet_t *extract_nil_packet(uint8_t *buffer, size_t length)
+{
+	// Ensure message is big enough to hold a packet
+	if (length < sizeof(nil_packet_t))
+	{
+		return NULL;
+	}
+
+	nil_packet_t *nil = (nil_packet_t *)buffer;
+	// Ensure length field is not going to cause buffer overflow
+	if (length < sizeof(nil_packet_t) + nil->header.len )
+	{
+		return NULL;
+	}
+
+	return nil;
+}
+
+/// @brief Extracts an NTL packet from a buffer
+/// @param buffer The byte buffer to read from
+/// @param length The maximum length to read from
+/// @return Pointer to the NTL packet in the buffer or NULL if the packet is invalid
+static inline ntl_packet_t *extract_ntl_packet(nil_packet_t *nil)
+{
+	// Ensure message is big enough to hold a packet
+	if (nil->header.len < sizeof(ntl_packet_t))
+	{
+		return NULL;
+	}
+
+	ntl_packet_t *ntl = (ntl_packet_t *)nil->payload;
+	// Ensure length field is not going to cause buffer overflow
+	if (nil->header.len < sizeof(ntl_packet_t) + ntl->header.len)
+	{
+		return NULL;
+	}
+
+	return ntl;
+}
+
+#endif

app/src/libshunt/src/shunt_task.c

@@ -0,0 +1,129 @@
+#include "libshunt/shunt_task.h"
+
+#include <stdint.h>
+
+#include "FreeRTOS.h"
+#include "queue.h"
+
+#include "libshunt/libshunt.h"
+#include "shunt_config.h"
+#include "shunt_shared.h"
+
+#include "ntl/ntl.h"
+#include "nil/nil.h"
+
+
+
+// === Static task space ===
+StackType_t _libshunt_task_stack[LIBSHUNT_TASK_STACK_DEPTH];
+StaticTask_t _libshunt_task;
+
+
+
+// === Public variables ===
+
+// Queue<nil_packet_t*> Packets awaiting to be accepted by libshunt
+QueueHandle_t libshunt_ingest_queue;
+
+
+
+// === Private variables ===
+#define INGEST_QUEUE_LENGTH    (16)
+#define INGEST_QUEUE_ITEM_SIZE (sizeof(uint8_t*))
+static uint8_t _ingest_queue_store[INGEST_QUEUE_LENGTH * INGEST_QUEUE_ITEM_SIZE];
+static StaticQueue_t _ingest_queue_static;
+
+
+
+// === Private functions ===
+static int handle_nil_packet(nil_packet_t *nil);
+static int handle_ntl_packet(nil_packet_t *nil, ntl_packet_t *ntl);
+
+
+
+// === Public functions ===
+void libshunt_task_preinit()
+{
+    internal_init();
+    libshunt_ingest_queue =
+        xQueueCreateStatic(INGEST_QUEUE_LENGTH, INGEST_QUEUE_ITEM_SIZE, _ingest_queue_store, &_ingest_queue_static);
+}
+
+void libshunt_task_main(void *params)
+{
+    (void)params;
+	int err;
+
+    while (1)
+    {
+		// Dequeue message
+		uint8_t *buffer;
+		err = dequeue_message_ingest(&buffer, portMAX_DELAY);
+
+		// Get NIL packet
+		nil_packet_t *nil = extract_nil_packet(buffer, LIBSHUNT_MSG_BUFFER_SIZE);
+		if (nil == NULL)
+		{
+			//TODO: Error
+			continue;
+		}
+
+		// Process or route
+		err = handle_nil_packet(nil);
+		if (err == LIBSHUNT_EAGAIN)
+		{
+			// Failed but only temporarily
+			// Could be target task not ready
+			// Attempt requeue to allow retries
+			enqueue_message_ingest(buffer, 0);
+
+			// If failed to requeue (no space), discard message
+			// This avoids clogging the system due to a single unresponsive task
+			continue;
+		}
+		else if (err != LIBSHUNT_OK)
+		{
+			// Failed for some other reason
+			// Do not retry
+			continue;
+		}
+    }
+}
+
+
+
+// === Private functions ===
+static int handle_nil_packet(nil_packet_t *nil)
+{
+	if (nil->header.dst_addr == LIBSHUNT_LOCAL_NIL_ADDR
+		|| nil->header.dst_addr == NIL_ADDR_LOCALHOST)
+	{
+		ntl_packet_t *ntl = extract_ntl_packet(nil);
+		if (ntl == NULL)
+		{
+			//TODO: Error
+			return LIBSHUNT_BAD_PACKET;
+		}
+
+		return handle_ntl_packet(nil, ntl);
+	}
+
+	//TODO: Route to external interface
+	return LIBSHUNT_ERR;
+}
+
+static int handle_ntl_packet(nil_packet_t *nil, ntl_packet_t *ntl)
+{
+	int err;
+	ntl_port_t port = ntl_get_dst(&ntl->header);
+
+	shunt_cli_t *client;
+	err = get_client_with_port(port, &client);
+	if (err != LIBSHUNT_OK)
+	{
+		//TODO: Error
+		return err;
+	}
+
+	return do_message_dispatch(client, (uint8_t*)nil);
+}

app/src/main.c

@@ -4,16 +4,20 @@
 #include "task.h"
 
 #include "tasks/heartbeat_task.h"
-#include "incphub/incphub_task.h"
+#include "tasks/sensor_task.h"
+#include "tasks/requester_task.h"
+#include "libshunt/shunt_task.h"
 
 int my_main()
 {
 	// Init
-	incphub_task_preinit();
+	libshunt_task_preinit();
 
 	// Create tasks
 	xTaskCreateStatic(heartbeat_task_main, "heartbeat", HEARTBEAT_TASK_STACK_DEPTH, NULL, HEARTBEAT_TASK_PRIORITY, _heartbeat_task_stack, &_heartbeat_task);
-	xTaskCreateStatic(incphub_task_main, "incphub", INCPHUB_TASK_STACK_DEPTH, NULL, INCPHUB_TASK_PRIORITY, _incphub_task_stack, &_incphub_task);
+	xTaskCreateStatic(sensor_task_main, "sensor", SENSOR_TASK_STACK_DEPTH, NULL, SENSOR_TASK_PRIORITY, _sensor_task_stack, &_sensor_task);
+	xTaskCreateStatic(requester_task_main, "requester", REQUESTER_TASK_STACK_DEPTH, NULL, REQUESTER_TASK_PRIORITY, _requester_task_stack, &_requester_task);
+	xTaskCreateStatic(libshunt_task_main, "shunt", LIBSHUNT_TASK_STACK_DEPTH, NULL, LIBSHUNT_TASK_PRIORITY, _libshunt_task_stack, &_libshunt_task);
 
 	// Run
 	vTaskStartScheduler();

app/src/nil/include/nil/nil.h

@@ -12,7 +12,7 @@ typedef uint32_t ntl_chk_t;
 
 
 
-// === Special Port Values ===
+// === Special Address Values ===
 
 #define NIL_ADDR_LOCALHOST ((nil_addr_t)0)
 

app/src/tasks/CMakeLists.txt

@@ -1,4 +1,6 @@
 target_sources(${EXECUTABLE} PRIVATE
 	tasks.c
 	heartbeat_task.c
+	sensor_task.c
+	requester_task.c
 )

app/src/tasks/heartbeat_task.h

@@ -1,5 +1,5 @@
-#ifndef _HEARTBEAT_TASK_H_
+#ifndef HEARTBEAT_TASK_H_
-#define _HEARTBEAT_TASK_H_
+#define HEARTBEAT_TASK_H_
 
 #include "FreeRTOS.h"
 #include "task.h"

app/src/tasks/requester_task.c

@@ -0,0 +1,73 @@
+#include "requester_task.h"
+
+#include <stdio.h>
+#include <string.h>
+
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_uart.h"
+#include "usart.h"
+
+#include "libshunt/shunt_client.h"
+
+
+
+StackType_t _requester_task_stack[REQUESTER_TASK_STACK_DEPTH];
+StaticTask_t _requester_task;
+
+
+#define RANDOM_COUNT 4
+uint32_t random_values[RANDOM_COUNT] = { 411, 69, 420, 0xdeadbeef };
+
+void requester_task_main(void *params)
+{
+	(void)params;
+
+	TickType_t last_wake = xTaskGetTickCount();
+	int random_index = 0;
+
+	uint8_t *buffer;
+	size_t length;
+	shunt_addr_t source;
+
+	// Init libshunt client
+	shunt_cli_t *cli;
+	shunt_init_client(&cli, 70);
+
+	while (1)
+	{
+		// Avoid spamming the sensor task
+		xTaskDelayUntil(&last_wake, 50);
+
+		// Generate request
+		uint32_t request = random_values[random_index++];
+		random_index %= RANDOM_COUNT;
+
+		// Get buffer
+		shunt_get_msg_buffer(cli, &buffer, sizeof(uint32_t));
+
+		// Populate buffer
+		*(uint32_t*)buffer = request;
+
+		// Send to sendor task
+		shunt_addr_t destination = { .addr = NIL_ADDR_LOCALHOST, .port = 69 };
+		shunt_send_msg(cli, buffer, sizeof(uint32_t), destination, portMAX_DELAY);
+
+		// Await reply (assumes no other task will send to this one)
+		shunt_await_msg(cli, &buffer, &length, &source, portMAX_DELAY);
+
+		// Ignore messages of different size
+		if (length != sizeof(uint32_t))
+			continue;
+
+		// Read reply message
+		uint32_t num = *(uint32_t*)buffer;
+
+		// Release buffer
+		shunt_release_msg_buffer(cli, buffer);
+
+		// Profit (send to UART to ensure it worked)
+		char strbuf[32];
+		snprintf(strbuf, sizeof(strbuf), "%lu\r\n", num);
+		HAL_UART_Transmit(&huart2, (uint8_t*)strbuf, strlen(strbuf), 9999);
+	}
+}

app/src/tasks/requester_task.h

@@ -0,0 +1,16 @@
+#ifndef REQUSTER_TASK_H_
+#define REQUSTER_TASK_H_
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "FreeRTOSConfig.h"
+
+#define REQUESTER_TASK_STACK_DEPTH 256
+#define REQUESTER_TASK_PRIORITY (configMAX_PRIORITIES - 1)
+
+extern StackType_t _requester_task_stack[REQUESTER_TASK_STACK_DEPTH];
+extern StaticTask_t _requester_task;
+
+void requester_task_main(void *params);
+
+#endif

app/src/tasks/sensor_task.c

@@ -0,0 +1,55 @@
+#include "sensor_task.h"
+
+#include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_gpio.h"
+#include "gpio.h"
+
+#include "libshunt/shunt_client.h"
+
+
+
+StackType_t _sensor_task_stack[SENSOR_TASK_STACK_DEPTH];
+StaticTask_t _sensor_task;
+
+
+
+void sensor_task_main(void *params)
+{
+	(void)params;
+
+	uint8_t *buffer;
+	size_t length;
+	shunt_addr_t source;
+
+	// Init libshunt client
+	shunt_cli_t *cli;
+	shunt_init_client(&cli, 69);
+
+	while (1)
+	{
+		// Get a message (assume it is a uint32_t)
+		shunt_await_msg(cli, &buffer, &length, &source, portMAX_DELAY);
+
+		// Ignore messages of different size
+		if (length != sizeof(uint32_t))
+			continue;
+
+		// Read incoming message
+		uint32_t num = *(uint32_t*)buffer;
+
+		// Release buffer once read
+		shunt_release_msg_buffer(cli, buffer);
+
+		// Process message
+		num++;
+
+		// Request buffer for reply
+		shunt_get_msg_buffer(cli, &buffer, sizeof(uint32_t));
+
+		// Prepare reply message
+		*(uint32_t*)buffer = num;
+
+		// Send reply
+		shunt_send_msg(cli, buffer, sizeof(uint32_t), source, portMAX_DELAY);
+	}
+}

app/src/tasks/sensor_task.h

@@ -0,0 +1,16 @@
+#ifndef SENSOR_TASK_H_
+#define SENSOR_TASK_H_
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "FreeRTOSConfig.h"
+
+#define SENSOR_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
+#define SENSOR_TASK_PRIORITY (configMAX_PRIORITIES - 1)
+
+extern StackType_t _sensor_task_stack[SENSOR_TASK_STACK_DEPTH];
+extern StaticTask_t _sensor_task;
+
+void sensor_task_main(void *params);
+
+#endif