Add COBS encoder

8 files changed, 439 insertions, 3 deletions

diff --git a/prototype/fw/.gitignore b/prototype/fw/.gitignore
new file mode 100644
index 0000000..bee8a64
--- /dev/null
+++ b/prototype/fw/.gitignore
@@ -0,0 +1 @@
+__pycache__
diff --git a/prototype/fw/Makefile b/prototype/fw/Makefile
index 3fbd029..18e9447 100644
--- a/prototype/fw/Makefile
+++ b/prototype/fw/Makefile
@@ -196,12 +196,19 @@ $(BUILDDIR)/%.o: %.s
 	mkdir -p $(@D)
 	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $<
 
-$(BUILDDIR)/crc32_test: src/crc32_test.c src/crc32.c
-	$(HOSTCC) $(HOST_CFLAGS) -o $@ $^
+$(BUILDDIR)/crc32_test: src/crc32.c test/crc32_test.c
+	$(HOSTCC) $(HOST_CFLAGS) -o $@ -Isrc $^
+
+$(BUILDDIR)/microcobs_test_sg: src/microcobs.c test/microcobs_test_sg.c
+	$(HOSTCC) $(HOST_CFLAGS) -o $@ -Isrc $^
+
+$(BUILDDIR)/microcobs_test: src/microcobs.c test/microcobs_test.c
+	$(HOSTCC) $(HOST_CFLAGS) -o $@ -Isrc $^
 
 .PHONY: run_tests
-run_tests: $(BUILDDIR)/crc32_test
+run_tests: $(BUILDDIR)/crc32_test $(BUILDDIR)/microcobs_test_sg $(BUILDDIR)/microcobs_test
 	$(PYTHON3) -m unittest test.crc32_ref
+	$(PYTHON3) -m unittest test.microcobs
 
 venv:
 	test -d venv || python3 -m venv --system-site-packages venv
@@ -214,6 +221,9 @@ clean:
 	rm -f $(BUILDDIR)/$(BINARY:.elf=.map)
 	rm -f $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.dot)
 	rm -f $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.pdf)
+	rm -f $(BUILDDIR)/crc32_test
+	rm -f $(BUILDDIR)/microcobs_test_sg
+	rm -f $(BUILDDIR)/microcobs_test
 
 mrproper: clean
 	rm -rf build
diff --git a/prototype/fw/src/microcobs.c b/prototype/fw/src/microcobs.c
new file mode 100644
index 0000000..58d5e7b
--- /dev/null
+++ b/prototype/fw/src/microcobs.c
@@ -0,0 +1,99 @@
+
+#include <stdint.h>
+#include "microcobs.h"
+#include <stdio.h>
+
+ssize_t cobs_encode_sg(const struct sg_entry input[], uint8_t *output, size_t output_len)
+{
+	size_t idx_pos = 0;
+	size_t out_pos = 1;
+	size_t sg_idx = 0;
+
+	const struct sg_entry *e = input;
+	fprintf(stderr, "\nsg_entry %016x %zd\n", e->target, e->size);
+	while (e->size >= 0) {
+		if (sg_idx == e->size) {
+			sg_idx = 0;
+			e++;
+			fprintf(stderr, "\nsg_entry %016x %zd\n", e->target, e->size);
+			continue;
+		}
+
+		if (out_pos >= output_len)
+			return -1;
+
+		uint8_t inbyte = e->target[sg_idx];
+		fprintf(stderr, "%02x ", inbyte);
+		sg_idx += 1;
+
+		if (out_pos - idx_pos >= 255) {
+			output[idx_pos] = 255;
+			idx_pos = out_pos;
+			out_pos += 1;
+
+			if (out_pos >= output_len)
+				return -1;
+		}
+
+		if (inbyte) {
+			output[out_pos] = inbyte;
+			out_pos += 1;
+		} else {
+			output[idx_pos] = out_pos - idx_pos;
+			idx_pos = out_pos;
+			out_pos += 1;
+		}
+	}
+
+	if (out_pos >= output_len)
+		return -1;
+	output[idx_pos] = out_pos - idx_pos;
+	output[out_pos] = 0x00;
+	fprintf(stderr, "\n");
+	fprintf(stderr, "Finishing %d %d %d\n", idx_pos, out_pos, out_pos - idx_pos);
+
+	return out_pos + 1;
+}
+
+ssize_t cobs_encode(const uint8_t *input, size_t input_len, uint8_t *output, size_t output_len)
+{
+	size_t idx_pos = 0;
+	size_t out_pos = 1;
+	size_t in_pos = 0;
+
+	while (in_pos < input_len) {
+		if (out_pos >= output_len)
+			return -1;
+
+		uint8_t inbyte = input[in_pos];
+		fprintf(stderr, "%02x ", inbyte);
+		in_pos += 1;
+
+		if (out_pos - idx_pos >= 255) {
+			output[idx_pos] = 255;
+			idx_pos = out_pos;
+			out_pos += 1;
+
+			if (out_pos >= output_len)
+				return -1;
+		}
+
+		if (inbyte) {
+			output[out_pos] = inbyte;
+			out_pos += 1;
+		} else {
+			output[idx_pos] = out_pos - idx_pos;
+			idx_pos = out_pos;
+			out_pos += 1;
+		}
+	}
+
+	if (out_pos >= output_len)
+		return -1;
+	output[idx_pos] = out_pos - idx_pos;
+	output[out_pos] = 0x00;
+	fprintf(stderr, "\n");
+	fprintf(stderr, "Finishing %d %d %d\n", idx_pos, out_pos, out_pos - idx_pos);
+
+	return out_pos + 1;
+}
diff --git a/prototype/fw/src/microcobs.h b/prototype/fw/src/microcobs.h
new file mode 100644
index 0000000..774a27b
--- /dev/null
+++ b/prototype/fw/src/microcobs.h
@@ -0,0 +1,15 @@
+#ifndef __MICROCOBS_H__
+#define __MICROCOBS_H__
+
+#include <stdint.h>
+#include <unistd.h>
+
+struct sg_entry {
+	uint8_t *target;
+	ssize_t size;
+};
+
+ssize_t cobs_encode_sg(const struct sg_entry input[], uint8_t *output, size_t output_len);
+ssize_t cobs_encode(const uint8_t *input, size_t input_len, uint8_t *output, size_t output_len);
+
+#endif /* __MICROCOBS_H__ */
diff --git a/prototype/fw/src/crc32_test.c b/prototype/fw/test/crc32_test.c
index e23bb37..e23bb37 100644
--- a/prototype/fw/src/crc32_test.c
+++ b/prototype/fw/test/crc32_test.c
diff --git a/prototype/fw/test/microcobs.py b/prototype/fw/test/microcobs.py
new file mode 100644
index 0000000..1d09efd
--- /dev/null
+++ b/prototype/fw/test/microcobs.py
@@ -0,0 +1,145 @@
+
+import itertools
+import unittest
+import os
+import subprocess
+import binascii
+import random
+import tempfile
+
+from cobs import cobs
+
+INTERESTING = bytes([1, 2, 3, 0, 1, 2, 3, 0, 0, 1, 2, 3, 0, 0, 0, 1, 2, 3] + list(range(256)))
+class MicrocobsScatterGatherTest(unittest.TestCase):
+    def do_test(self, data_sglist):
+        data_sglist = list(data_sglist)
+        ref = cobs.encode(b''.join(data_sglist))
+        input = b'\n'.join(binascii.hexlify(x) for x in data_sglist)
+
+        debug_file = tempfile.NamedTemporaryFile(prefix='microcobs_test_', delete=False)
+        debug_file.write(input)
+
+        try:
+            test = subprocess.check_output(os.getenv('MICROCOBS_SG_TEST_BINARY', 'build/microcobs_test_sg'),
+                    input=input, stderr=subprocess.DEVNULL)
+            test = binascii.unhexlify(test.strip())
+
+            self.assertEqual(test[-1], 0, 'Missing terminating null byte')
+            self.assertEqual(ref, test[:-1], f'Mismatched output for input {debug_file.name}')
+
+            debug_file.close()
+            os.remove(debug_file.name)
+        except Exception as e:
+            raise SystemError(f'Test error for input {debug_file.name}') from e
+
+
+    def test_empty_chunks(self):
+        for i in range(256):
+            self.do_test([b''] * i)
+
+
+    def test_interspersed_empty_chunks(self):
+        testdata = INTERESTING
+        for i in range(len(testdata) + 1):
+            self.do_test([testdata[:i], b'', testdata[i:]])
+
+    def test_interspersed_double_empty_chunks(self):
+        testdata = INTERESTING
+        for i in range(len(testdata) + 1):
+            self.do_test([testdata[:i], b'', b'', testdata[i:]])
+
+    def test_one_byte_chunks(self):
+        testdata = INTERESTING
+        self.do_test(itertools.chain.from_iterable(zip([bytes([x]) for x in testdata], [b''] * len(testdata))))
+
+    def test_one_byte(self):
+        for i in range(256):
+            self.do_test([bytes([i])])
+
+    def test_lengths(self):
+        for i in range(260):
+            self.do_test([bytes([0xff] * i)])
+
+    def test_null_then_lengths(self):
+        for i in range(256):
+            self.do_test([bytes([0] + [0xff] * i)])
+
+    def test_lengths_then_null(self):
+        for i in range(256):
+            self.do_test([bytes([0xff] * i + [0])])
+
+    def test_two_byte(self):
+        for i in range(4):
+            for j in range(4):
+                self.do_test([bytes([i, j])])
+                self.do_test([bytes([i]), bytes([j])])
+
+    def test_long(self):
+        for i in range(5):
+            self.do_test([b'A' * (100 + 256*i)])
+            self.do_test([b'A' * 100] * 256*i)
+
+    def test_random(self):
+        for i in range(1000):
+            testdata = os.urandom(random.randint(0, 600))
+
+            chunks = [testdata]
+            for i in range(random.randint(0, len(testdata) // 5)):
+                idx = random.randint(0, len(chunks)-1)
+                chunk = chunks[idx]
+                bidx = random.randint(0, len(chunk))
+                chunks = chunks[:idx] + [chunk[:bidx], chunk[bidx:]] + chunks[idx+1:]
+
+            self.do_test(chunks)
+
+class MicrocobsTest(unittest.TestCase):
+    def do_test(self, data):
+        ref = cobs.encode(data)
+        input = binascii.hexlify(data)
+
+        debug_file = tempfile.NamedTemporaryFile(prefix='microcobs_test_', delete=False)
+        debug_file.write(input)
+
+        try:
+            test = subprocess.check_output(os.getenv('MICROCOBS_TEST_BINARY', 'build/microcobs_test'),
+                    input=input, stderr=subprocess.DEVNULL)
+            test = binascii.unhexlify(test.strip())
+
+            self.assertEqual(test[-1], 0, 'Missing terminating null byte')
+            self.assertEqual(ref, test[:-1], f'Mismatched output for input {debug_file.name}')
+
+            debug_file.close()
+            os.remove(debug_file.name)
+        except Exception as e:
+            raise SystemError(f'Test error for input {debug_file.name}') from e
+
+
+    def test_one_byte(self):
+        for i in range(256):
+            self.do_test(bytes([i]))
+
+    def test_lengths(self):
+        for i in range(260):
+            self.do_test(bytes([0xff] * i))
+
+    def test_null_then_lengths(self):
+        for i in range(256):
+            self.do_test(bytes([0] + [0xff] * i))
+
+    def test_lengths_then_null(self):
+        for i in range(256):
+            self.do_test(bytes([0xff] * i + [0]))
+
+    def test_two_byte(self):
+        for i in range(4):
+            for j in range(4):
+                self.do_test(bytes([i, j]))
+
+    def test_long(self):
+        for i in range(5):
+            self.do_test(b'A' * (100 + 256*i))
+
+    def test_random(self):
+        for i in range(10000):
+            self.do_test(os.urandom(random.randint(0, 600)))
+
diff --git a/prototype/fw/test/microcobs_test.c b/prototype/fw/test/microcobs_test.c
new file mode 100644
index 0000000..74ee803
--- /dev/null
+++ b/prototype/fw/test/microcobs_test.c
@@ -0,0 +1,72 @@
+
+#include <stdint.h>
+#include <stdio.h>
+#include <malloc.h>
+#include <string.h>
+
+#include "microcobs.h"
+
+static int parse_hex(char c) {
+	if ('0' <= c && c <= '9')
+		return c - '0';
+	if ('a' <= c && c <= 'f')
+		return c - 'a' + 0xa;
+	if ('A' <= c && c <= 'F')
+		return c - 'A' + 0xA;
+	return -1;
+}
+
+int main(void) {
+	char buf[2];
+
+	size_t buf_size = 1024;
+	uint8_t *data_buf = malloc(buf_size);
+	if (!data_buf)
+		return -99;
+	size_t total_bytes = 0;
+	
+	do {
+		ssize_t nread = fread(buf, 1, 2, stdin);
+		if (nread < 2) {
+			fprintf(stderr, "bk %d\n", nread);
+			break;
+		}
+		fprintf(stderr, "read: %d\n", nread);
+
+		int a = parse_hex(buf[0]), b = parse_hex(buf[1]);
+		if (a < 0 || b < 0)
+			fprintf(stderr, "Error: even number of hex digits expected\n");
+
+		int byte = a<<4 | b;
+
+		if (total_bytes >= buf_size) {
+			buf_size += 1024;
+			data_buf = realloc(data_buf, buf_size);
+			if (!data_buf)
+				return -99;
+		}
+
+		data_buf[total_bytes] = byte;
+		total_bytes += 1;
+	} while(23);
+
+	/* Terminate list */
+	fprintf(stderr, "Got %d bytes\n", total_bytes);
+
+	 /* Reserve extra bytes for long input lines. Arbitrary length support means this cobs implemenetation is no longer
+	  * fixed overhead of 1 byte, but instead variable overhead of worst-case O(1 + n/254) for input length n. */
+	size_t output_size = total_bytes*2 + 100;
+	uint8_t *output_buf = malloc(output_size);
+
+	ssize_t rv = cobs_encode(data_buf, total_bytes, output_buf, output_size);
+	if (rv > 0) {
+		for (size_t i=0; i<rv; i++) {
+			printf("%02x", output_buf[i]);
+		}
+	} else {
+		printf("NONZERO RETURN VALUE: %d\n", rv);
+	}
+	printf("\n");
+
+	return 0;
+}
diff --git a/prototype/fw/test/microcobs_test_sg.c b/prototype/fw/test/microcobs_test_sg.c
new file mode 100644
index 0000000..592dfc5
--- /dev/null
+++ b/prototype/fw/test/microcobs_test_sg.c
@@ -0,0 +1,94 @@
+
+#include <stdint.h>
+#include <stdio.h>
+#include <malloc.h>
+#include <string.h>
+
+#include "microcobs.h"
+
+static int parse_hex(char c) {
+	if ('0' <= c && c <= '9')
+		return c - '0';
+	if ('a' <= c && c <= 'f')
+		return c - 'a' + 0xa;
+	if ('A' <= c && c <= 'F')
+		return c - 'A' + 0xA;
+	return -1;
+}
+
+int main(void) {
+	char buf[2];
+	
+	size_t sgl_len = 100;
+	struct sg_entry *sgl = calloc(sgl_len, sizeof(struct sg_entry));
+
+	size_t sg_i = 0;
+	size_t sgi_size = 1024;
+	size_t total_bytes = 0;
+	
+	do {
+		ssize_t nread = fread(buf, 1, 1, stdin);
+		if (nread == 0)
+			break;
+		fprintf(stderr, "read: %d\n", nread);
+
+		if (buf[0] == '\n') {
+			fprintf(stderr, "Found newline for chunk %d\n", sg_i);
+			sg_i += 1;
+			sgi_size = 1024;
+			if (sg_i+1 >= sgl_len) { /* always keep last entry free for termination */
+				size_t old_sgl_len = sgl_len;
+				sgl_len += 50;
+				sgl = reallocarray(sgl, sgl_len, sizeof(struct sg_entry));
+				if (!sgl)
+					return -99;
+				memset(sgl+old_sgl_len, 0, (sgl_len - old_sgl_len) * sizeof(struct sg_entry));
+			}
+			continue;
+		}
+
+		nread = fread(buf + 1, 1, 1, stdin);
+		if (nread == 0)
+			break;
+		fprintf(stderr, "read: %d\n", nread);
+
+		int a = parse_hex(buf[0]), b = parse_hex(buf[1]);
+		if (a < 0 || b < 0)
+			fprintf(stderr, "Error: even number of hex digits expected\n");
+
+		int byte = a<<4 | b;
+		if (sgl[sg_i].target == 0) {
+			sgl[sg_i].target = malloc(sgi_size);
+		} else if (sgl[sg_i].size == sgi_size) {
+			sgi_size += 1024;
+			sgl[sg_i].target = realloc(sgl[sg_i].target, sgi_size);
+			if (!sgl[sg_i].target)
+				return -99;
+		}
+		sgl[sg_i].target[sgl[sg_i].size] = byte;
+		sgl[sg_i].size += 1;
+		total_bytes += 1;
+	} while(23);
+
+	/* Terminate list */
+	sg_i += 1;
+	sgl[sg_i].size = -1;
+	fprintf(stderr, "Got %d chunks\n", sg_i);
+
+	 /* Reserve extra bytes for long input lines. Arbitrary length support means this cobs implemenetation is no longer
+	  * fixed overhead of 1 byte, but instead variable overhead of worst-case O(1 + n/254) for input length n. */
+	size_t output_size = total_bytes + 10000;
+	uint8_t *output_buf = malloc(output_size);
+
+	ssize_t rv = cobs_encode_sg(sgl, output_buf, output_size);
+	if (rv > 0) {
+		for (size_t i=0; i<rv; i++) {
+			printf("%02x", output_buf[i]);
+		}
+	} else {
+		printf("NONZERO RETURN VALUE: %d\n", rv);
+	}
+	printf("\n");
+
+	return 0;
+}