Use postcard to serialize uart messages

Cargo.lock

@@ -1333,6 +1333,7 @@ dependencies = [
  "atomic-polyfill 1.0.2",
  "cortex-m",
  "cortex-m-rt",
+ "crc-any",
  "critical-section",
  "embassy-executor",
  "embassy-futures",
@@ -1355,6 +1356,7 @@ dependencies = [
  "postcard",
  "ron",
  "rtt-target",
+ "serde",
  "smart-leds",
  "static_cell",
  "tgnt",

Cargo.toml

@@ -10,7 +10,6 @@ tgnt = { git = "https://git.nubo.sh/hulthe/tgnt.git", default-features = false }
 cortex-m = "0.7.6"
 cortex-m-rt = "0.7"
 embedded-hal = "0.2.5"
-#panic-halt = "0.2.0"
 usb-device = "0.2.9"
 usbd-hid = "0.6.1"
 static_cell = "1.0.0"
@@ -36,6 +35,8 @@ heapless = "0.7.16"
 once_cell = { version = "1.17.1", default-features = false }
 atomic-polyfill = "1.0.2"
 critical-section = "1.1.1"
+crc-any = "2.4.3"
+serde = { version = "1.0.163", default-features = false, features = ["derive"] }
 
 #[patch."https://git.nubo.sh/hulthe/tgnt.git"]
 #tgnt = { path = "../tgnt" }

src/keyboard.rs

@@ -12,6 +12,7 @@ use embassy_sync::pubsub::{ImmediatePublisher, PubSubChannel, Subscriber};
 use embassy_time::{Duration, Timer};
 use futures::{select_biased, FutureExt};
 use log::{debug, error, info, warn};
+use serde::{Deserialize, Serialize};
 use static_cell::StaticCell;
 use tgnt::{
     button::{Button, Modifier},
@@ -43,13 +44,13 @@ struct State {
 }
 
 /// A keyboard half.
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Serialize, Deserialize)]
 pub enum Half {
     Left,
     Right,
 }
 
-#[derive(Clone, Debug)]
+#[derive(Clone, Debug, Serialize, Deserialize)]
 pub struct Event {
     /// The keyboard half that triggered the event.
     pub source: Half,
@@ -60,7 +61,7 @@ pub struct Event {
     pub kind: EventKind,
 }
 
-#[derive(Clone, Debug)]
+#[derive(Clone, Debug, Serialize, Deserialize)]
 pub enum EventKind {
     PressKey(Key),
     ReleaseKey(Key),

src/uart.rs

@@ -1,25 +1,24 @@
-use core::mem::{size_of, transmute};
+use crc_any::CRCu16;
-
 use embassy_executor::Spawner;
 use embassy_rp::peripherals::{PIN_0, PIN_1, UART0};
 use embassy_rp::uart::{self, BufferedUart, DataBits, Parity, StopBits};
-use embassy_time::{with_timeout, Duration, TimeoutError};
 use embedded_io::asynch::{Read, Write};
 use futures::{select_biased, FutureExt};
-use log::{error, info};
+use heapless::Vec;
+use serde::{Deserialize, Serialize};
 use static_cell::StaticCell;
 
 use crate::keyboard::{self, Half, KbEvents};
 use crate::Irqs;
 
-#[derive(Clone, Debug)]
+#[derive(Clone, Debug, Serialize, Deserialize)]
 enum Message {
     KeyboardEvent(keyboard::Event),
 }
 
 pub async fn start(tx: PIN_0, rx: PIN_1, uart: UART0, board: Half, events: KbEvents) {
-    static TX_BUF: StaticCell<[u8; 1024]> = StaticCell::new();
+    static TX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
-    static RX_BUF: StaticCell<[u8; 1024]> = StaticCell::new();
+    static RX_BUF: StaticCell<[u8; 256]> = StaticCell::new();
 
     let mut config = uart::Config::default();
     config.baudrate = 115200;
@@ -32,8 +31,8 @@ pub async fn start(tx: PIN_0, rx: PIN_1, uart: UART0, board: Half, events: KbEve
         Irqs,
         tx,
         rx,
-        TX_BUF.init_with(|| [0u8; 1024]),
+        TX_BUF.init_with(|| [0u8; 256]),
-        RX_BUF.init_with(|| [0u8; 1024]),
+        RX_BUF.init_with(|| [0u8; 256]),
         config,
     );
 
@@ -47,42 +46,103 @@ async fn uart_task(uart: BufferedUart<'static, UART0>, this_half: Half, mut even
     let (mut rx, mut tx) = uart.split();
     let (mut events_rx, mut events_tx) = events.split();
 
+    const HEADER_LEN: usize = 4;
+
     let rx_task = async {
+        let mut buf: heapless::Vec<u8, 1024> = Vec::new();
         loop {
-            let mut buf = [0u8; size_of::<Message>()];
+            if let &[len, random, crc1, crc2, ref rest @ ..] = buf.as_slice() {
-            // TODO: this timout thing seems sketchy
+                let crc = u16::from_le_bytes([crc1, crc2]);
-            match with_timeout(Duration::from_millis(5), rx.read_exact(&mut buf)).await {
+                let mut calculated_crc = CRCu16::crc16();
-                Ok(Ok(_)) => {}
+                calculated_crc.digest(&[len, random]);
-                Ok(Err(e)) => {
+                let calculated_crc = calculated_crc.get_crc();
-                    error!("uart error: {:?}", e);
+
+                if calculated_crc != crc {
+                    log::error!("invalid uart package crc: {:x?}", &buf[..HEADER_LEN]);
+                    buf.remove(0); // pop the first byte and hope we find a good packet header
                     continue;
                 }
-                Err(TimeoutError) => continue,
-            };
 
-            let message: Message = unsafe { transmute(buf) }; // crimes :)
+                log::debug!("got uart header {:x?}", &buf[..HEADER_LEN]);
-            match &message {
+
-                Message::KeyboardEvent(event) => events_tx.send(event.clone()),
+                let len = usize::from(len);
+                if rest.len() >= len {
+                    let r = postcard::from_bytes(&rest[..len]);
+
+                    // drop packet from buffer
+                    buf.rotate_left(len + HEADER_LEN);
+                    buf.truncate(buf.len() - len - HEADER_LEN);
+
+                    let message: Message = match r {
+                        Ok(v) => v,
+                        Err(e) => {
+                            log::error!("failed to deserialize message: {e}");
+                            continue;
+                        }
+                    };
+
+                    match &message {
+                        Message::KeyboardEvent(event) => events_tx.send(event.clone()),
+                    }
+
+                    log::info!("got msg: {:?}", message);
+                }
+            }
+
+            let mut chunk = [0u8; 128];
+            let n = match rx.read(&mut chunk).await {
+                Ok(n) => n,
+                Err(e) => {
+                    log::error!("uart error: {:?}", e);
+                    continue;
+                }
+            };
+            if buf.extend_from_slice(&chunk[..n]).is_err() {
+                log::error!("uart buffer full");
+                buf.clear();
             }
-            info!("got msg: {:?}", message);
         }
     };
 
     let tx_task = async {
+        let mut buf = [0u8; 256 + HEADER_LEN];
+        let mut counter = 1;
         loop {
             // forward messages to the other keyboard half
             let event = events_rx.recv().await;
             if event.source != this_half {
                 continue; // do not forward messages from the other half back to it
             }
+
             let message = Message::KeyboardEvent(event);
-            let message: [u8; size_of::<Message>()] = unsafe { transmute(message) }; // crimes :)
+            let (header, body) = buf.split_at_mut(HEADER_LEN);
-            tx.write_all(&message).await.ok();
+            let serialized = match postcard::to_slice(&message, body) {
+                Ok(s) => s,
+                Err(e) => {
+                    log::error!("failed to serialize uart message: {e}");
+                    continue;
+                }
+            };
+
+            // add a "random" value to feed the crc
+            let random = counter;
+            counter += 1;
+
+            let len = serialized.len() as u8;
+
+            let mut crc = CRCu16::crc16();
+            crc.digest(&[len, random]);
+            let [crc1, crc2] = crc.get_crc().to_le_bytes();
+
+            header.copy_from_slice(&[len, random, crc1, crc2]);
+
+            let package = &buf[..HEADER_LEN + usize::from(len)];
+            tx.write_all(package).await.ok();
         }
     };
 
     select_biased! {
-        _ = tx_task.fuse() => error!("uart tx_task exited"),
+        _ = tx_task.fuse() => log::error!("uart tx_task exited"),
-        _ = rx_task.fuse() => error!("eart rx_task exited"),
+        _ = rx_task.fuse() => log::error!("eart rx_task exited"),
     }
 }