add serial parser from robotrun to project

1 files changed, 65 insertions, 0 deletions

diff --git a/shared/bin.h b/shared/bin.h
new file mode 100644
index 0000000..35d2bc4
--- /dev/null
+++ b/shared/bin.h
@@ -0,0 +1,65 @@
+#pragma once
+
+/** @file bin.h */
+
+/**
+ * helper file for binary data
+ *
+ * - fix endianness with functions inspired by UNIX arpa/inet.h
+ * - convert uint16_t and uint32_t to cd_s_bin
+ */
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern uint8_t g_cd_endianness;
+
+/** cast `in.data` to `type out` */
+#define CD_CAST_BIN(type, in, out) type *out = (type *)&in->data;
+#define CD_CREATE_MSG_BIN(type, normal, bin) CD_CREATE_MSG_SIZE_BIN(type, sizeof(type), normal, bin)
+/** @brief  */
+#define CD_CREATE_MSG_SIZE_BIN(type, size, normal, bin)                                            \
+	cd_s_bin *bin = malloc(sizeof(cd_s_bin) + size);                                               \
+	bin->bytes	  = size;                                                                          \
+	type *normal  = (type *)&bin->data;
+
+/** @brief hold binary data with fixed size */
+typedef struct {
+	uint16_t bytes; /** @brief data size */
+	uint8_t data[]; /** @brief data */
+} cd_s_bin;
+
+/** @brief allocate new cd_s_bin struct and fill with `*data` for `bytes` bytes */
+cd_s_bin *cd_bin_s_alloc(uint16_t bytes, uint8_t *data);
+/** @brief concatenate 2 cd_s_bin structs, deallocates `a` and `b` */
+cd_s_bin *cd_bin_s_cat(cd_s_bin *a, cd_s_bin *b);
+
+cd_s_bin *cd_bin_from_uint8_t(uint8_t data);
+cd_s_bin *cd_bin_from_uint16_t(uint16_t data);
+cd_s_bin *cd_bin_from_uint32_t(uint32_t data);
+
+/** @brief convert 32-bit value from host endian to network (big-endian) */
+uint32_t cd_bin_hton32(uint32_t h32);
+/** @brief convert 16-bit value from host endian to network (big-endian) */
+uint16_t cd_bin_hton16(uint16_t h16);
+/** @brief convert 32-bit value from network (big-endian) to host endian */
+uint32_t cd_bin_ntoh32(uint32_t n32);
+/** @brief convert 16-bit value from network (big-endian) to host endian */
+uint16_t cd_bin_ntoh16(uint16_t n16);
+
+/** @brief replace 32-bit value from host endian to network (big-endian) */
+void cd_bin_repl_hton32(uint32_t *h32);
+/** @brief replace 16-bit value from host endian to network (big-endian) */
+void cd_bin_repl_hton16(uint16_t *h16);
+/** @brief replace 32-bit value from network (big-endian) to host endian */
+void cd_bin_repl_ntoh32(uint32_t *n32);
+/** @brief replace 16-bit value from network (big-endian) to host endian */
+void cd_bin_repl_ntoh16(uint16_t *n16);
+
+#ifdef __cplusplus
+}
+#endif
+