funky pointer magic to optimize memory usage

2 files changed, 49 insertions, 66 deletions

diff --git a/robot/sercomm.c b/robot/sercomm.c
index e346cc2..5ac9a87 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -58,39 +58,32 @@ void w2_sercomm_append_msg(w2_s_bin *data) {
 	g_w2_sercomm_index = next_index;
 }
 
-void w2_cmd_ping_rx(w2_s_bin *data) {
-	w2_s_cmd_ping_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
-	memcpy(message, data->data, data->bytes);
-
-	size_t return_size				 = sizeof(w2_s_cmd_ping_tx);
-	w2_s_cmd_ping_tx *return_message = malloc(return_size);
-	return_message->opcode			 = W2_CMD_PING | W2_CMDDIR_TX;
-	return_message->id				 = message->id;
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
 
-	w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message);
+void w2_cmd_ping_rx(w2_s_bin *data) {
+	W2_CAST_BIN(w2_s_cmd_ping_rx, data, req);
 
-	w2_sercomm_append_msg(return_message_bin);
+	W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, res_msg, res_bin);
+	res_msg->opcode			 = W2_CMD_PING | W2_CMDDIR_TX;
+	res_msg->id				 = req->id;
 
-	free(message);
-	free(return_message);
-	free(return_message_bin);
+	w2_sercomm_append_msg(res_bin);
+	free(res_bin);
 }
 
 void w2_cmd_mode_rx(w2_s_bin *data) {
-	w2_s_cmd_mode_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
-	memcpy(message, data->data, data->bytes);
-
-	w2_modes_swap(message->mode);
+	W2_CAST_BIN(w2_s_cmd_mode_rx, data, req);
+	w2_modes_swap(req->mode);
 }
 
 void w2_cmd_sped_rx(w2_s_bin *data) { return; }
 
 void w2_cmd_dirc_rx(w2_s_bin *data) {
-	w2_s_cmd_dirc_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
-	memcpy(message, data->data, data->bytes);
+	W2_CAST_BIN(w2_s_cmd_dirc_rx, data, req);
 
-	g_w2_mode_dirc_motor_l = w2_bin_ntoh16(message->left);
-	g_w2_mode_dirc_motor_r = w2_bin_ntoh16(message->right);
+	g_w2_mode_dirc_motor_l = w2_bin_ntoh16(req->left);
+	g_w2_mode_dirc_motor_r = w2_bin_ntoh16(req->right);
 }
 
 void w2_cmd_cord_rx(w2_s_bin *data) { return; }
@@ -98,10 +91,9 @@ void w2_cmd_cord_rx(w2_s_bin *data) { return; }
 void w2_cmd_bomd_rx(w2_s_bin *data) { return; }
 
 void w2_cmd_sres_rx(w2_s_bin *data) {
-	w2_s_cmd_sres_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
-	memcpy(message, data->data, data->bytes);
+	W2_CAST_BIN(w2_s_cmd_sres_rx, data, req);
 
-	switch (message->type) {
+	switch (req->type) {
 		case W2_CMD_SRES_RX_TYPE_REINITGS: {
 			// TODO: soft-reset
 			break;
@@ -119,51 +111,33 @@ void w2_cmd_sres_rx(w2_s_bin *data) {
 void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
 
 void w2_cmd_sens_rx(w2_s_bin *data) {
-	w2_s_cmd_sens_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
-	memcpy(message, data->data, data->bytes);
-
-	size_t return_size				 = sizeof(w2_s_cmd_sens_tx);
-	w2_s_cmd_sens_tx *return_message = malloc(return_size);
-	return_message->opcode			 = W2_CMD_SENS | W2_CMDDIR_TX;
-	memcpy((uint8_t *)&return_message->io, (uint8_t *)&g_w2_io, sizeof(w2_s_io_all));
-
-	for (int i = 0; i < 5; i++) w2_bin_repl_hton16(&return_message->io.qtr[i].range);
-	w2_bin_repl_hton16(&return_message->io.front_distance.detection);
-	w2_bin_repl_hton16(&return_message->io.side_distance.detection);
-	w2_bin_repl_hton16(&return_message->io.battery.charge_level);
-	w2_bin_repl_hton16((uint16_t *)&return_message->io.motor_left.speed);
-	w2_bin_repl_hton16((uint16_t *)&return_message->io.motor_right.speed);
-
-	w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message);
-
-	w2_sercomm_append_msg(return_message_bin);
-
-	free(message);
-	free(return_message);
-	free(return_message_bin);
+	W2_CREATE_MSG_BIN(w2_s_cmd_sens_tx, res_msg, res_bin);
+	res_msg->opcode			 = W2_CMD_SENS | W2_CMDDIR_TX;
+	memcpy((uint8_t *)&res_msg->io, (uint8_t *)&g_w2_io, sizeof(w2_s_io_all));
+
+	for (int i = 0; i < 5; i++) w2_bin_repl_hton16(&res_msg->io.qtr[i].range);
+	w2_bin_repl_hton16(&res_msg->io.front_distance.detection);
+	w2_bin_repl_hton16(&res_msg->io.side_distance.detection);
+	w2_bin_repl_hton16(&res_msg->io.battery.charge_level);
+	w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_left.speed);
+	w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_right.speed);
+
+	w2_sercomm_append_msg(res_bin);
+	free(res_bin);
 }
 
 void w2_cmd_info_rx(w2_s_bin *data) {
-	w2_s_cmd_info_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
-	memcpy(message, data->data, data->bytes);
-
-	size_t return_size				 = sizeof(w2_s_cmd_info_tx);
-	w2_s_cmd_info_tx *return_message = malloc(return_size);
-	return_message->opcode			 = W2_CMD_INFO | W2_CMDDIR_TX;
-	strncpy((char *)return_message->build_str, W2_BUILD_STR, sizeof(return_message->build_str));
-	return_message->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_ms;
-	return_message->io_ms		= (uint8_t)g_w2_hypervisor_ema_io_ms;
-	return_message->sercomm_ms	= (uint8_t)g_w2_hypervisor_ema_sercomm_ms;
-	return_message->mode_ms		= (uint8_t)g_w2_hypervisor_ema_mode_ms;
-	return_message->uptime_s	= w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3));
-
-	w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message);
-
-	w2_sercomm_append_msg(return_message_bin);
-
-	free(message);
-	free(return_message);
-	free(return_message_bin);
+	W2_CREATE_MSG_BIN(w2_s_cmd_info_tx, res_msg, res_bin);
+	res_msg->opcode			 = W2_CMD_INFO | W2_CMDDIR_TX;
+	strncpy((char *)res_msg->build_str, W2_BUILD_STR, sizeof(res_msg->build_str));
+	res_msg->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_ms;
+	res_msg->io_ms		= (uint8_t)g_w2_hypervisor_ema_io_ms;
+	res_msg->sercomm_ms	= (uint8_t)g_w2_hypervisor_ema_sercomm_ms;
+	res_msg->mode_ms		= (uint8_t)g_w2_hypervisor_ema_mode_ms;
+	res_msg->uptime_s	= w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3));
+
+	w2_sercomm_append_msg(res_bin);
+	free(res_bin);
 }
 
 void w2_cmd_disp_rx(w2_s_bin *data) { return; }
@@ -172,6 +146,8 @@ void w2_cmd_play_rx(w2_s_bin *data) { return; }
 
 void w2_cmd_cled_rx(w2_s_bin *data) { return; }
 
+#pragma GCC diagnostic pop
+
 void w2_cmd_ping_tx(w2_s_bin *data) {}
 void w2_cmd_expt_tx(w2_s_bin *data) {}
 void w2_cmd_mode_tx(w2_s_bin *data) {}
diff --git a/shared/bin.h b/shared/bin.h
index 48485c8..1eaa2a7 100644
--- a/shared/bin.h
+++ b/shared/bin.h
@@ -13,6 +13,13 @@
 
 extern uint8_t g_w2_endianness;
 
+#define W2_CAST_BIN(type, in, out) type *out = (type*) &in->data;
+#define W2_CREATE_MSG_BIN(type, normal, bin) \
+	W2_CREATE_MSG_SIZE_BIN(type, sizeof(type), normal, bin)
+#define W2_CREATE_MSG_SIZE_BIN(type, size, normal, bin) \
+	w2_s_bin* bin = malloc(size); \
+	type* normal = (type*) &bin->data;
+
 typedef struct {
 	uint16_t bytes;
 	uint8_t data[];