impl main func

.vscode/settings.json

@@ -0,0 +1,14 @@
+{
+  "files.associations": {
+    "array": "cpp",
+    "deque": "cpp",
+    "list": "cpp",
+    "string": "cpp",
+    "unordered_map": "cpp",
+    "unordered_set": "cpp",
+    "vector": "cpp",
+    "string_view": "cpp",
+    "initializer_list": "cpp",
+    "ranges": "cpp"
+  }
+}

lib/hardware/hardware_rfid.cpp

@@ -2,7 +2,7 @@
 #include <Arduino.h>
 #include <SPI.h>
 
-//#define DEBUG_RFID
+// #define DEBUG_RFID
 #ifdef DEBUG_RFID
 #define LOG(msg) Serial.println(msg)
 #else

lib/hardware/hardware_serial.cpp

@@ -1,100 +1,151 @@
 #include "hardware_serial.hpp"
+#include <Arduino.h>
+
+// #define DEBUG_PROTO
+#ifdef DEBUG_PROTO
+#define LOG(msg) Serial.println(msg)
+#else
+#define LOG(msg)
+#endif
 
 ProtoSerial::ProtoSerial()
-    : serial(nullptr), initialized(false), currentState(WAITING_FOR_LENGTH),
+    : serial(nullptr), initialized(false), lastError{0}, callback(nullptr),
-      payloadLength(0), messageAvailable(false) {
+      currentState(WAITING_FOR_SYNC_START), payloadLength(0), messageAvailable(false),
+      lastUpdate(0), lastByteTime(0) {
     receivedMessage = INCOMING_MESSAGE_INIT;
 }
 
 ProtoSerial::~ProtoSerial() {
-    if (serial) {
+    // No delete needed; serial is caller-managed
-        delete serial;
-    }
 }
 
-void ProtoSerial::begin(int rxPin, int txPin, long baud) {
+void ProtoSerial::begin(SerialType& serialPort) {
-    if (serial) {
+    serial = &serialPort;
-        delete serial;
-    }
-#ifdef ESP32
-    serial = new HardwareSerial(1); // Use UART 1
-    serial->begin(baud, SERIAL_8N1, rxPin, txPin);
-#elif defined(ESP8266)
-    serial = new SoftwareSerial(rxPin, txPin);
-    serial->begin(baud);
-#endif
     initialized = true;
-    currentState = WAITING_FOR_LENGTH;
+    currentState = WAITING_FOR_SYNC_START;
     payloadLength = 0;
     messageAvailable = false;
+    lastError[0] = '\0';
+    lastUpdate = 0;
+    lastByteTime = 0;
+    snprintf(lastError, sizeof(lastError), "Initialized ProtoSerial");
+    LOG(lastError);
 }
 
 bool ProtoSerial::sendMessage(const OutgoingMessage& message) {
-    if (!initialized || !serial) {
+    if (!initialized || !serial || !serial->availableForWrite()) {
+        snprintf(lastError, sizeof(lastError), "Serial not initialized or not ready");
+        LOG(lastError);
         return false;
     }
 
     uint8_t buffer[OUTGOING_MESSAGE_SIZE];
-
-    // Create a stream that writes to our buffer
     pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
 
     // Encode the message
     if (!pb_encode(&stream, OUTGOING_MESSAGE_FIELDS, &message)) {
-        // Encoding failed
+        snprintf(lastError, sizeof(lastError), "Failed to encode message");
+        LOG(lastError);
         return false;
     }
 
     uint16_t messageLength = stream.bytes_written;
+    if (messageLength > sizeof(buffer)) {
+        snprintf(lastError, sizeof(lastError), "Encoded message too large: %u", messageLength);
+        LOG(lastError);
+        return false;
+    }
 
-    // Send the length first (as two bytes, little-endian)
+    // Send framing: sync start, length, payload, CRC, sync end
+    serial->write(SYNC_START);
     serial->write((uint8_t*)&messageLength, sizeof(messageLength));
-
-    // Send the actual payload
     serial->write(buffer, messageLength);
-
+    uint8_t crc = calculate_crc8(buffer, messageLength);
-    // Ensure data is sent
+    serial->write(crc);
+    serial->write(SYNC_END);
     serial->flush();
 
+    dumpHex(buffer, messageLength, "Sent");
+    snprintf(lastError, sizeof(lastError), "Sent message, length: %u, CRC: 0x%02X", messageLength, crc);
+    LOG(lastError);
     return true;
 }
 
 void ProtoSerial::update() {
     if (!initialized || !serial) {
+        snprintf(lastError, sizeof(lastError), "Serial not initialized");
+        LOG(lastError);
         return;
     }
 
-    switch (currentState) {
+    // Throttle updates to ~100Hz
-        case WAITING_FOR_LENGTH: {
+    unsigned long now = millis();
-            if (serial->available() >= sizeof(payloadLength)) {
+    if (now - lastUpdate < 10) return;
-                // Read the 2-byte length
+    lastUpdate = now;
-                serial->readBytes((uint8_t*)&payloadLength, sizeof(payloadLength));
 
-                // Protect against absurdly large lengths
+    // Timeout if no data received for 1 second
-                if (payloadLength > sizeof(payloadBuffer) || payloadLength == 0) {
+    if (currentState != WAITING_FOR_SYNC_START && now - lastByteTime > 1000) {
-                    // Invalid length, reset
+        snprintf(lastError, sizeof(lastError), "Receive timeout");
-                    payloadLength = 0;
+        LOG(lastError);
+        currentState = WAITING_FOR_SYNC_START;
+        payloadLength = 0;
+    }
+
+    while (serial->available()) {
+        lastByteTime = now;
+        switch (currentState) {
+            case WAITING_FOR_SYNC_START: {
+                uint8_t byte = serial->read();
+                if (byte == SYNC_START) {
                     currentState = WAITING_FOR_LENGTH;
-                } else {
+                    LOG("Received SYNC_START");
-                    currentState = READING_PAYLOAD;
                 }
+                break;
             }
-            break;
+            case WAITING_FOR_LENGTH: {
-        }
+                if (serial->available() >= sizeof(payloadLength)) {
-
+                    serial->readBytes((uint8_t*)&payloadLength, sizeof(payloadLength));
-        case READING_PAYLOAD: {
+                    if (payloadLength > sizeof(payloadBuffer) || payloadLength == 0) {
-            if (serial->available() >= payloadLength) {
+                        snprintf(lastError, sizeof(lastError), "Invalid payload length: %u", payloadLength);
-                // Read the payload
+                        LOG(lastError);
-                serial->readBytes(payloadBuffer, payloadLength);
+                        currentState = WAITING_FOR_SYNC_START;
-
+                        payloadLength = 0;
-                // Process the message
+                    } else {
-                processReceivedMessage(payloadBuffer, payloadLength);
+                        currentState = READING_PAYLOAD;
-
+                        snprintf(lastError, sizeof(lastError), "Received length: %u", payloadLength);
-                // Reset for the next message
+                        LOG(lastError);
-                currentState = WAITING_FOR_LENGTH;
+                    }
-                payloadLength = 0;
+                }
+                break;
+            }
+            case READING_PAYLOAD: {
+                if (serial->available() >= payloadLength) {
+                    serial->readBytes(payloadBuffer, payloadLength);
+                    currentState = READING_CRC;
+                }
+                break;
+            }
+            case READING_CRC: {
+                if (serial->available() >= 1) {
+                    uint8_t received_crc = serial->read();
+                    uint8_t expected_crc = calculate_crc8(payloadBuffer, payloadLength);
+                    if (received_crc != expected_crc) {
+                        snprintf(lastError, sizeof(lastError), "CRC mismatch: received 0x%02X, expected 0x%02X", received_crc, expected_crc);
+                        LOG(lastError);
+                    } else if (serial->available() >= 1 && serial->read() != SYNC_END) {
+                        snprintf(lastError, sizeof(lastError), "Missing SYNC_END");
+                        LOG(lastError);
+                    } else {
+                        dumpHex(payloadBuffer, payloadLength, "Received");
+                        processReceivedMessage(payloadBuffer, payloadLength);
+                        snprintf(lastError, sizeof(lastError), "Received valid message, length: %u", payloadLength);
+                        LOG(lastError);
+                    }
+                    currentState = WAITING_FOR_SYNC_START;
+                    payloadLength = 0;
+                }
+                break;
             }
-            break;
         }
     }
 }
@@ -110,19 +161,57 @@ const IncomingMessage& ProtoSerial::getMessage() const {
 void ProtoSerial::clearMessage() {
     messageAvailable = false;
     receivedMessage = INCOMING_MESSAGE_INIT;
+    snprintf(lastError, sizeof(lastError), "Message cleared");
+    LOG(lastError);
+}
+
+void ProtoSerial::setCallback(Callback cb) {
+    callback = cb;
+    snprintf(lastError, sizeof(lastError), "Callback set");
+    LOG(lastError);
 }
 
 void ProtoSerial::processReceivedMessage(uint8_t* buffer, uint16_t length) {
-    // Reset the message
     receivedMessage = INCOMING_MESSAGE_INIT;
-
-    // Create a stream from the buffer
     pb_istream_t stream = pb_istream_from_buffer(buffer, length);
-
-    // Decode the message
     if (pb_decode(&stream, INCOMING_MESSAGE_FIELDS, &receivedMessage)) {
+        if (receivedMessage.which_payload == 0) {
+            snprintf(lastError, sizeof(lastError), "Invalid message: which_payload not set");
+            LOG(lastError);
+            return;
+        }
         messageAvailable = true;
+        if (callback) {
+            callback(receivedMessage);
+        }
+        snprintf(lastError, sizeof(lastError), "Message decoded successfully");
+        LOG(lastError);
     } else {
-        // Decoding failed, do not set messageAvailable
+        snprintf(lastError, sizeof(lastError), "Failed to decode message");
+        LOG(lastError);
     }
+}
+
+uint8_t ProtoSerial::calculate_crc8(const uint8_t* data, uint16_t len) {
+    uint8_t crc = 0x00;
+    for (uint16_t i = 0; i < len; i++) {
+        crc ^= data[i];
+        for (uint8_t j = 0; j < 8; j++) {
+            if (crc & 0x80) crc = (crc << 1) ^ 0x31; // CRC-8 polynomial
+            else crc <<= 1;
+        }
+    }
+    return crc;
+}
+
+void ProtoSerial::dumpHex(const uint8_t* data, uint16_t len, const char* label) {
+#ifdef DEBUG_PROTO
+    Serial.print(label);
+    Serial.print(": ");
+    for (uint16_t i = 0; i < len; i++) {
+        if (i % 16 == 0) Serial.println();
+        Serial.printf("%02X ", data[i]);
+    }
+    Serial.println();
+#endif
 }

lib/hardware/hardware_serial.hpp

@@ -1,12 +1,13 @@
 #pragma once
+
 #ifdef ESP32
 #include <HardwareSerial.h>
 typedef HardwareSerial SerialType;
 #define SERIAL_TYPE HardwareSerial
 #elif defined(ESP8266)
-#include <SoftwareSerial.h>
+#include <HardwareSerial.h>
-typedef SoftwareSerial SerialType;
+typedef HardwareSerial SerialType;
-#define SERIAL_TYPE SoftwareSerial
+#define SERIAL_TYPE HardwareSerial
 #else
 #error "Unsupported platform. Only ESP32 and ESP8266 are supported."
 #endif
@@ -28,8 +29,8 @@ typedef hardware_ControlToSensorMessage OutgoingMessage;
 #define OUTGOING_MESSAGE_SIZE hardware_ControlToSensorMessage_size
 #define INCOMING_MESSAGE_FIELDS hardware_SensorToControlMessage_fields
 #define OUTGOING_MESSAGE_FIELDS hardware_ControlToSensorMessage_fields
-#define INCOMING_MESSAGE_INIT hardware_SensorToControlMessage_init_default
+#define INCOMING_MESSAGE_INIT hardware_SensorToControlMessage_init_zero
-#define OUTGOING_MESSAGE_INIT hardware_ControlToSensorMessage_init_default
+#define OUTGOING_MESSAGE_INIT hardware_ControlToSensorMessage_init_zero
 #elif defined(HARDWARE_SERIAL_ROLE_SENSOR)
 typedef hardware_ControlToSensorMessage IncomingMessage;
 typedef hardware_SensorToControlMessage OutgoingMessage;
@@ -37,51 +38,132 @@ typedef hardware_SensorToControlMessage OutgoingMessage;
 #define OUTGOING_MESSAGE_SIZE hardware_SensorToControlMessage_size
 #define INCOMING_MESSAGE_FIELDS hardware_ControlToSensorMessage_fields
 #define OUTGOING_MESSAGE_FIELDS hardware_SensorToControlMessage_fields
-#define INCOMING_MESSAGE_INIT hardware_ControlToSensorMessage_init_default
+#define INCOMING_MESSAGE_INIT hardware_ControlToSensorMessage_init_zero
-#define OUTGOING_MESSAGE_INIT hardware_SensorToControlMessage_init_default
+#define OUTGOING_MESSAGE_INIT hardware_ControlToSensorMessage_init_zero
 #else
 #error "Must define either HARDWARE_SERIAL_ROLE_CONTROL or HARDWARE_SERIAL_ROLE_SENSOR"
 #endif
 
+/**
+ * @class ProtoSerial
+ * @brief Manages serial communication with Protocol Buffers for ESP32/ESP8266.
+ * Supports length-prefixed messages with CRC-8 checksum and sync bytes.
+ * Configured for SENSOR or CONTROL role via HARDWARE_SERIAL_ROLE_* macros.
+ * On ESP8266, uses UART0 (Serial, RX=GPIO3, TX=GPIO1). On ESP32, uses caller-provided UART.
+ */
 class ProtoSerial {
 public:
+    using Callback = void (*)(const IncomingMessage&); ///< Callback for received messages.
+
+    /**
+     * @brief Constructor.
+     */
     ProtoSerial();
+
+    /**
+     * @brief Destructor. No-op (serial is managed by caller).
+     */
     ~ProtoSerial();
 
-    // Initialize with RX and TX pins
+    /**
-    void begin(int rxPin, int txPin, long baud = 9600);
+     * @brief Initializes serial communication with a caller-provided serial port.
+     * @param serialPort Reference to a configured SerialType (e.g., Serial for ESP8266, HardwareSerial for ESP32).
+     */
+    void begin(SerialType& serialPort);
 
-    // Send a message
+    /**
+     * @brief Sends a Protocol Buffers message with sync bytes and CRC-8.
+     * @param message The message to send (OutgoingMessage type).
+     * @return True if sent successfully, false otherwise.
+     */
     bool sendMessage(const OutgoingMessage& message);
 
-    // Check for incoming messages (non-blocking)
+    /**
+     * @brief Checks for incoming messages (non-blocking).
+     */
     void update();
 
-    // Check if a message has been received
+    /**
+     * @brief Checks if a message is available.
+     * @return True if a message is ready to be read.
+     */
     bool hasMessage() const;
 
-    // Get the received message (only valid if hasMessage() returns true)
+    /**
+     * @brief Gets the received message.
+     * @return Reference to the received message (valid only if hasMessage() is true).
+     */
     const IncomingMessage& getMessage() const;
 
-    // Clear the received message
+    /**
+     * @brief Clears the received message.
+     */
     void clearMessage();
 
+    /**
+     * @brief Sets the callback for received messages.
+     * @param cb Callback function to handle incoming messages.
+     */
+    void setCallback(Callback cb);
+
+    /**
+     * @brief Checks if the serial interface is initialized.
+     * @return True if initialized.
+     */
+    bool isInitialized() const { return initialized; }
+
+    /**
+     * @brief Gets the last error message (for debugging).
+     * @return Last error string or empty if none.
+     */
+    const char* getLastError() const { return lastError; }
+
 private:
-    SerialType* serial;
+    SerialType* serial; ///< Serial interface (pointer to caller-provided SerialType).
-    bool initialized;
+    bool initialized; ///< Tracks initialization state.
+    char lastError[64]; ///< Last error message (fixed-size to avoid heap issues).
+    Callback callback; ///< Callback for received messages.
+
+    // Framing constants
+    static const uint8_t SYNC_START = 0xAA; ///< Start byte for message framing.
+    static const uint8_t SYNC_END = 0xBB; ///< End byte for message framing.
 
     // Receive state machine
     enum RxState {
-        WAITING_FOR_LENGTH,
+        WAITING_FOR_SYNC_START, ///< Waiting for start byte (0xAA).
-        READING_PAYLOAD
+        WAITING_FOR_LENGTH, ///< Waiting for 2-byte length.
+        READING_PAYLOAD, ///< Reading payload bytes.
+        READING_CRC ///< Reading CRC-8 byte.
     };
-    RxState currentState;
+    RxState currentState; ///< Current state of receive state machine.
-    uint16_t payloadLength;
+    uint16_t payloadLength; ///< Length of incoming payload.
-    uint8_t payloadBuffer[64]; // Max message size + some buffer
+    uint8_t payloadBuffer[INCOMING_MESSAGE_SIZE + 10]; ///< Buffer for payload (plus overhead).
-    IncomingMessage receivedMessage;
+    IncomingMessage receivedMessage; ///< Decoded incoming message.
-    bool messageAvailable;
+    bool messageAvailable; ///< True if a message is ready.
+    unsigned long lastUpdate; ///< Timestamp of last update (for throttling).
+    unsigned long lastByteTime; ///< Timestamp of last byte received (for timeout).
 
     // Helper methods
+    /**
+     * @brief Processes a received payload and decodes it.
+     * @param buffer Payload buffer.
+     * @param length Payload length.
+     */
     void processReceivedMessage(uint8_t* buffer, uint16_t length);
-};
 
+    /**
+     * @brief Calculates CRC-8 for a buffer.
+     * @param data Buffer to compute CRC over.
+     * @param len Length of buffer.
+     * @return CRC-8 value.
+     */
+    uint8_t calculate_crc8(const uint8_t* data, uint16_t len);
+
+    /**
+     * @brief Logs a hex dump of a buffer (debug only).
+     * @param data Buffer to dump.
+     * @param len Length of buffer.
+     * @param label Label for the dump.
+     */
+    void dumpHex(const uint8_t* data, uint16_t len, const char* label);
+};

src/main.cpp

@@ -1,6 +1,7 @@
 #include <Arduino.h>
 #include <hardware_led.hpp>
 #include <hardware_rfid.hpp>
+#include <hardware_serial.hpp>
 #include "hardware.pb.h"
 
 // Demo for HardwareLed
@@ -9,14 +10,24 @@ HardwareLed<2> led; // Assuming NeoPixel on pin 2 (D2 on ESP8266)
 // Demo for HardwareRfid
 HardwareRfid rfid(4, 5); // SS=D2 (GPIO4), RST=D1 (GPIO5)
 
+// Demo for HardwareSerial
+ProtoSerial serial;
+
 hardware_LedConfig configs[4];
 unsigned long lastChange = 0;
 int currentConfig = 0;
 
 void onRfidTag(const hardware_SensorToControlMessage& msg) {
-    Serial.println("Callback onRfidTag triggered");
+    serial.sendMessage(msg);
-    Serial.print("RFID Tag detected: 0x");
+    // Serial.println("Callback onRfidTag triggered");
-    Serial.println(msg.payload.rfid_reading.card_id, HEX);
+    // Serial.print("RFID Tag detected: 0x");
+    // Serial.println(msg.payload.rfid_reading.card_id, HEX);
+}
+
+void onSerialMessage(const IncomingMessage& msg) {
+    if (msg.which_payload == hardware_ControlToSensorMessage_led_config_tag) {
+        led.set(msg.payload.led_config);
+    }
 }
 
 void setup() {
@@ -24,54 +35,54 @@ void setup() {
   led.begin();
   rfid.begin();
   rfid.setCallback(onRfidTag);
+  serial.begin(Serial);
+  serial.setCallback(onSerialMessage);
 
-  // Static config
+  // // Static config
-  configs[0] = {0};
+  // configs[0] = {0};
-  configs[0].brightness = 128;
+  // configs[0].brightness = 128;
-  configs[0].duration_ms = 0;
+  // configs[0].duration_ms = 0;
-  configs[0].which_animation_params = 3;
+  // configs[0].which_animation_params = 3;
-  configs[0].animation_params.static_params.color = 0x00FF00; // Green
+  // configs[0].animation_params.static_params.color = 0x00FF00; // Green
 
-  // Pulse config
+  // // Pulse config
-  configs[1] = {0};
+  // configs[1] = {0};
-  configs[1].brightness = 128;
+  // configs[1].brightness = 128;
-  configs[1].duration_ms = 0;
+  // configs[1].duration_ms = 0;
-  configs[1].which_animation_params = 4;
+  // configs[1].which_animation_params = 4;
-  configs[1].animation_params.pulse_params.color = 0xFF0000; // Red
+  // configs[1].animation_params.pulse_params.color = 0xFF0000; // Red
-  configs[1].animation_params.pulse_params.speed_ms = 500;
+  // configs[1].animation_params.pulse_params.speed_ms = 500;
 
-  // Fade config
+  // // Fade config
-  configs[2] = {0};
+  // configs[2] = {0};
-  configs[2].brightness = 128;
+  // configs[2].brightness = 128;
-  configs[2].duration_ms = 0;
+  // configs[2].duration_ms = 0;
-  configs[2].which_animation_params = 5;
+  // configs[2].which_animation_params = 5;
-  configs[2].animation_params.fade_params.colors_count = 3;
+  // configs[2].animation_params.fade_params.colors_count = 3;
-  configs[2].animation_params.fade_params.colors[0] = 0xFF0000; // Red
+  // configs[2].animation_params.fade_params.colors[0] = 0xFF0000; // Red
-  configs[2].animation_params.fade_params.colors[1] = 0x00FF00; // Green
+  // configs[2].animation_params.fade_params.colors[1] = 0x00FF00; // Green
-  configs[2].animation_params.fade_params.colors[2] = 0x0000FF; // Blue
+  // configs[2].animation_params.fade_params.colors[2] = 0x0000FF; // Blue
-  configs[2].animation_params.fade_params.speed_ms = 1000;
+  // configs[2].animation_params.fade_params.speed_ms = 1000;
 
-  // Flicker config
+  // // Flicker config
-  configs[3] = {0};
+  // configs[3] = {0};
-  configs[3].brightness = 128;
+  // configs[3].brightness = 128;
-  configs[3].duration_ms = 0;
+  // configs[3].duration_ms = 0;
-  configs[3].which_animation_params = 6;
+  // configs[3].which_animation_params = 6;
-  configs[3].animation_params.flicker_params.color = 0xFFFFFF; // White
+  // configs[3].animation_params.flicker_params.color = 0xFFFFFF; // White
-  configs[3].animation_params.flicker_params.intensity = 50;
+  // configs[3].animation_params.flicker_params.intensity = 50;
 
-  led.set(configs[0]);
+  // led.set(configs[0]);
-  Serial.println("Starting with static green");
 }
 
 void loop() {
   led.update();
   rfid.update();
+  serial.update();
 
-  if (millis() - lastChange >= 10000) {
+  // if (millis() - lastChange >= 10000) {
-    lastChange = millis();
+  //   lastChange = millis();
-    currentConfig = (currentConfig + 1) % 4;
+  //   currentConfig = (currentConfig + 1) % 4;
-    led.set(configs[currentConfig]);
+  //   led.set(configs[currentConfig]);
-    Serial.print("Switched to config ");
+  // }
-    Serial.println(currentConfig);
-  }
 }