Fixup protocol reset problem

2 files changed, 53 insertions, 53 deletions

diff --git a/gm_platform/fw/serial.c b/gm_platform/fw/serial.c
index 25b86fc..2c80674 100644
--- a/gm_platform/fw/serial.c
+++ b/gm_platform/fw/serial.c
@@ -50,7 +50,7 @@ void usart_dma_reset() {
     usart_tx_buf.wr_idx = 0;

     usart_tx_buf.xfr_next = 0;

     usart_tx_buf.wraparound = false;

-    usart_tx_buf.ack = false;

+    usart_tx_buf.ack = true;

 

     for (size_t i=0; i<ARRAY_LEN(usart_tx_buf.packet_end); i++)

         usart_tx_buf.packet_end[i] = -1;

diff --git a/gm_platform/fw/tw_test.py b/gm_platform/fw/tw_test.py
index a05a44b..cde59f0 100644
--- a/gm_platform/fw/tw_test.py
+++ b/gm_platform/fw/tw_test.py
@@ -74,56 +74,56 @@ if __name__ == '__main__':
     while True:
         #ser.write(cobs.encode(b'\x01\xff') + b'\0')
         data = ser.read_until(b'\0')
-        if not data or data[-1] != 0x00:
-            #print(f'{time():>7.3f} Timeout: resetting')
-            #ser.write(cobs.encode(b'\x01\xff') + b'\0') # reset
-            continue
-
-        try:
-            if len(data) <= 1: # delimiting zero for retransmission
-                cur.execute('INSERT INTO errors(run_id, rx_ts, type) VALUES (?, ?, "retransmission")',
-                        (run_id, int(time()*1000)))
-                continue
-            crc32, payload = unpack_head('I', cobs.decode(data[:-1]))
-            pid, seq, data = unpack_head('xBH', payload)
-            ts = time()
-
-            # Calculate byte-wise CRC32
-            our_crc = zlib.crc32(bytes(b for x in payload for b in (0, 0, 0, x)))
-            #log.append((time(), seq, crc32, our_crc, pid, data))
-            print(f'{ts:>7.3f} {seq:05d} {crc32:08x} {our_crc:08x} {pid} {hexlify(data).decode()}', end='')
-
-            error = False
-            suppress_ack = False
-            if crc32 != our_crc:
-                print(' CRC ERROR', end='')
-                suppress_ack = True
-                error = True
-
-            if last_pid is not None and pid != (last_pid+1)%8:
-                print(' PID ERROR', end='')
-                error = True
-            else:
-                last_pid = pid
-
-            if not suppress_ack:
-                ser.write(ctrl_ack(pid))
-                ser.flushOutput()
-
-            if not error:
-                cur.execute('INSERT INTO measurements VALUES (?, ?, ?, ?)', (run_id, int(ts*1000), seq, data))
-            else:
-                cur.execute('INSERT INTO errors VALUES (?, ?, "pid", ?, ?, ?, ?, ?, ?)',
-                        (run_id, int(ts*1000), seq, pid, (last_pid+1)%8, crc32, our_crc, data))
-
-            print()
-            lines_written += 1
-            if lines_written == 80:
-                lines_written = 0
-                print('\033[2J\033[H', end='')
-                db.commit()
-
-        except Exception as e:
-            print(e, len(data))
-            ser.write(ctrl_ack(0)) # FIXME delet this
+        for data in data.split(b'\0')[:-1]: # data always ends on \0 due to read_until, so split off the trailing empty bytes()
+            try:
+                if not data:
+                    #print(f'{time():>7.3f} Timeout: resetting')
+                    #ser.write(cobs.encode(b'\x01\xff') + b'\0') # reset
+                    ser.write(ctrl_ack(0)) # FIXME delet this
+                    cur.execute('INSERT INTO errors(run_id, rx_ts, type) VALUES (?, ?, "retransmission")',
+                            (run_id, int(time()*1000)))
+                    continue
+
+                crc32, payload = unpack_head('I', cobs.decode(data))
+                pid, seq, data = unpack_head('xBH', payload)
+                ts = time()
+
+                # Calculate byte-wise CRC32
+                our_crc = zlib.crc32(bytes(b for x in payload for b in (0, 0, 0, x)))
+                #log.append((time(), seq, crc32, our_crc, pid, data))
+                print(f'{ts:>7.3f} {seq:05d} {crc32:08x} {our_crc:08x} {pid} {hexlify(data).decode()}', end='')
+
+                error = False
+                suppress_ack = False
+                if crc32 != our_crc:
+                    print(' CRC ERROR', end='')
+                    suppress_ack = True
+                    error = True
+
+                if last_pid is not None and pid != (last_pid+1)%8:
+                    print(' PID ERROR', end='')
+                    error = True
+                else:
+                    last_pid = pid
+
+                if not suppress_ack:
+                    ser.write(ctrl_ack(pid))
+                    ser.flushOutput()
+
+                if not suppress_ack:
+                    cur.execute('INSERT INTO measurements VALUES (?, ?, ?, ?)', (run_id, int(ts*1000), seq, data))
+                if error:
+                    cur.execute('INSERT INTO errors VALUES (?, ?, "pid", ?, ?, ?, ?, ?, ?)',
+                            (run_id, int(ts*1000), seq, pid, (last_pid+1)%8, crc32, our_crc, data))
+
+                print()
+                lines_written += 1
+                if lines_written == 80:
+                    lines_written = 0
+                    print('\033[2J\033[H', end='')
+                    db.commit()
+
+            except Exception as e:
+                print(e, len(data))
+                ser.write(ctrl_ack(0)) # FIXME delet this