linux_serial_minimal driver improvements

src/drivers/linux_serial_minimal.c

@@ -186,7 +186,7 @@ static void setup_termios(struct termios* tty, __po_hi_device_id id)
 #define PACKET_ESCAPE_BYTE '\x1B'
 
 // process packet data generated by PolyORB to send it using UART
-static int encode_packet(uint8_t* data, const int data_length, const uint8_t* msg_content, const int msg_length)
+static uint32_t encode_packet(uint8_t* data, const uint32_t data_length, const uint8_t* msg_content, const uint32_t msg_length)
 {
     if(msg_length <= 8)
     {
@@ -206,7 +206,7 @@ static int encode_packet(uint8_t* data, const int data_length, const uint8_t* ms
         return 0;
     }
 
-    int length = 0;
+    uint32_t length = 0;
 
     data[length++] = PACKET_START_BYTE;
 
@@ -354,21 +354,28 @@ enum PACKET_DECODER_STATE
     ESCAPE_STARTED
 };
 
+__po_hi_msg_t     __po_hi_c_driver_serial_linux_poller_msg;
+
 static uint8_t packet_decoder_buffer[PACKET_DECODER_BUFFER_SIZE];
 static int packet_decoder_index = 0;
 static enum PACKET_DECODER_STATE packet_decoder_state;
 
 static void process_packet(uint8_t* data, int size)
 {
+    uint32_t port = 7;
+    uint32_t length = size;
+
     __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Processing packet\n");
-    __po_hi_c_driver_linux_serial_minimal_request.port = (__po_hi_local_port_t) 7;
-    __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Copying data (%d bytes)\n", size);
-    memcpy(&__po_hi_c_driver_linux_serial_minimal_request.vars, data, size);
-    uint8_t* request_size_pointer = ((uint8_t*)&__po_hi_c_driver_linux_serial_minimal_request.vars) + size;
-    __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Copying size (%d bytes)\n", size);
-    memcpy(request_size_pointer, &size, 4);
-
-    __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Packet deliver\n", size);
+    __po_hi_msg_reallocate(&__po_hi_c_driver_serial_linux_poller_msg);
+    memcpy(__po_hi_c_driver_serial_linux_poller_msg.content, &port, 4);
+    memcpy(__po_hi_c_driver_serial_linux_poller_msg.content + 4, data, size);
+    memcpy(__po_hi_c_driver_serial_linux_poller_msg.content + (__PO_HI_MESSAGES_MAX_SIZE - 8), &length, 4);
+    __po_hi_c_driver_serial_linux_poller_msg.length = __PO_HI_MESSAGES_MAX_SIZE;
+
+    __po_hi_unmarshall_request(&__po_hi_c_driver_linux_serial_minimal_request,
+                               &__po_hi_c_driver_serial_linux_poller_msg);
+
+    __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Deliver to port %u\n", __po_hi_c_driver_linux_serial_minimal_request.port);
     __po_hi_main_deliver(&__po_hi_c_driver_linux_serial_minimal_request);
 }
 
@@ -471,16 +478,16 @@ int  __po_hi_c_driver_linux_serial_minimal_sender (__po_hi_task_id task_id, __po
 
    __po_hi_marshall_request (request, &__po_hi_c_driver_linux_serial_minimal_sender_msg);
 
-   int msg_length = __po_hi_msg_length(&__po_hi_c_driver_linux_serial_minimal_sender_msg);
+   uint32_t msg_length = (uint32_t) __po_hi_msg_length(&__po_hi_c_driver_linux_serial_minimal_sender_msg);
    uint8_t* msg_content = (uint8_t*) malloc(msg_length);
    __po_hi_msg_get_data(msg_content,
                         &__po_hi_c_driver_linux_serial_minimal_sender_msg,
                         0,
                         msg_length);
 
-   int data_length = msg_length * 2 + 2;
+   uint32_t data_length = msg_length * 2 + 2;
    uint8_t* data = (uint8_t*)malloc(data_length);
-   int length = encode_packet(data, data_length, msg_content, msg_length);
+   uint32_t length = encode_packet(data, data_length, msg_content, msg_length);
 
    if(length > 0)
    {
@@ -489,7 +496,7 @@ int  __po_hi_c_driver_linux_serial_minimal_sender (__po_hi_task_id task_id, __po
        {
            __PO_HI_DEBUG_DEBUG (" [LINUX SERIAL] write %d bytes in loop to device\n", length);
 
-           for (n = 0 ; n < length ; n++)
+           for (n = 0 ; n < (int)length ; n++)
            {
                write (po_hi_c_driver_serial_fd_write, &(data[n]), 1);
                usleep (po_hi_c_driver_serial_sending_wait);
@@ -515,18 +522,18 @@ int  __po_hi_c_driver_linux_serial_minimal_sender (__po_hi_task_id task_id, __po
            {
                __PO_HI_DEBUG_CRITICAL (" [LINUX SERIAL] failed !\n");
            }
-           else if((0 <= n)&(n < length))
+           else if((0 <= n)&(n < (int)length))
            {
                __PO_HI_DEBUG_CRITICAL (" [LINUX SERIAL] Unable write - write returned %d !\n", n);
            }
            else
            {
-               __PO_HI_DEBUG_DEBUG (" [LINUX SERIAL] OK !\n");
+               __PO_HI_DEBUG_CRITICAL (" [LINUX SERIAL] OK !\n");
            }
 
        }
 
-       __PO_HI_DEBUG_DEBUG  ("[LINUX SERIAL] write() returns %d, message sent: 0x", n);
+       __PO_HI_DEBUG_DEBUG  ("[LINUX SERIAL] write() returns %d, message sent: 0x\n", n);
    }
 
    __po_hi_mutex_unlock (&__po_hi_c_driver_linux_serial_minimal_send_mutex);