change NodeAddr to NodeNumber for more consistent API

modules/common/CMakeLists.txt

@@ -1,7 +1,6 @@
 set(SOURCES)
 add_subdirectory(src/can)
 add_subdirectory(src/node)
-add_subdirectory(src/opcode)
 
 add_library(vlcb_common ${CMAKE_CURRENT_LIST_DIR})
 target_sources(vlcb_common PRIVATE ${SOURCES})
@@ -14,4 +13,4 @@ install(TARGETS vlcb_common
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
 )
-install(DIRECTORY inc/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY inc/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

modules/common/inc/vlcb/common/node.h

@@ -5,10 +5,12 @@
 /**
  * VLCB node address (11 bit wide)
  */
-typedef uint16_t VlcbNodeAddr;
+typedef uint16_t VlcbNodeNumber;
 
 #define VLCB_NODE_ADDR_UNINITIALIZED (VlcbNodeAddr)0
 
-VlcbNodeAddr vlcb_defs_NewNodeAddrFromBytesUnchecked(uint8_t hi, uint8_t lo);
-int vlcb_defs_NewNodeAddr(uint16_t val, VlcbNodeAddr *const addr);
-int vlcb_defs_NewNodeAddrFromBytes(uint8_t hi, uint8_t lo, VlcbNodeAddr *const addr);
+VlcbNodeNumber vlcb_defs_NewNodeNumberFromBytesUnchecked(uint8_t hi,
+                                                         uint8_t lo);
+int vlcb_defs_NewNodeNumber(uint16_t val, VlcbNodeNumber *const addr);
+int vlcb_defs_NewNodeNumberFromBytes(uint8_t hi, uint8_t lo,
+                                     VlcbNodeNumber *const addr);

modules/common/src/node/CMakeLists.txt

@@ -1,8 +1,8 @@
 set(
         SOURCES
         ${SOURCES}
-        ${CMAKE_CURRENT_LIST_DIR}/node_new_addr.c
-        ${CMAKE_CURRENT_LIST_DIR}/node_new_addr_from_bytes.c
-        ${CMAKE_CURRENT_LIST_DIR}/node_new_addr_unchecked.c
+        ${CMAKE_CURRENT_LIST_DIR}/node_new_number.c
+        ${CMAKE_CURRENT_LIST_DIR}/node_new_number_from_bytes.c
+        ${CMAKE_CURRENT_LIST_DIR}/node_new_number_unchecked.c
         PARENT_SCOPE
-)
+)

modules/common/src/node/node_new_number.c

@@ -0,0 +1,28 @@
+#include "vlcb/common/node.h"
+
+#include <assert.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+bool IsNodeNumberValid(const VlcbNodeNumber addr) { return addr > 0; }
+
+int vlcb_defs_NewNodeNumber(const uint16_t val, VlcbNodeNumber *const addr) {
+  assert(addr != NULL);
+  const VlcbNodeNumber _addr = val;
+  if (IsNodeNumberValid(_addr)) {
+    *addr = _addr;
+    return 0;
+  }
+  return 1;
+}
+
+int vlcb_defs_NewNodeNumberFromBytes(const uint8_t hi, const uint8_t lo,
+                                     VlcbNodeNumber *const addr) {
+  const VlcbNodeNumber _addr =
+      vlcb_defs_NewNodeNumberFromBytesUnchecked(hi, lo);
+  if (IsNodeNumberValid(_addr)) {
+    *addr = _addr;
+    return 0;
+  }
+  return 1;
+}

modules/common/src/node/node_new_number_from_bytes.c

@@ -0,0 +1,9 @@
+#include "vlcb/common/node.h"
+
+#include <stdint.h>
+
+int vlcb_defs_NewNodeNumberFromBytes(const uint8_t hi, const uint8_t lo,
+                                     VlcbNodeNumber *const addr) {
+  const uint16_t _addr = vlcb_defs_NewNodeNumberFromBytesUnchecked(hi, lo);
+  return vlcb_defs_NewNodeNumber(_addr, addr);
+}

modules/common/src/node/node_new_number_unchecked.c

@@ -0,0 +1,7 @@
+#include "vlcb/common/node.h"
+
+VlcbNodeNumber vlcb_defs_NewNodeNumberFromBytesUnchecked(const uint8_t hi,
+                                                         const uint8_t lo) {
+  const VlcbNodeNumber addr = (hi << 8) | lo;
+  return addr;
+}

modules/module/inc/vlcb/module.h

@@ -50,10 +50,12 @@ typedef struct {
   VlcbModuleOpFlags operationFlags;
   VlcbModulePersistedState state;
   VlcbNetHwAddr hwAddr;
-  VlcbNodeAddr nodeAddr;
+  VlcbNodeNumber nodeAddr;
 } VlcbModuleConfig;
 
 typedef struct {
+  clock_t lastHeartbeat;
+  uint8_t heartbeatCount;
   VlcbNetIface *const iface;
   VlcbNetSocketDatagram *const socket;
   VlcbModuleUi ui;

modules/module/inc/vlcb/module/state.h

@@ -1,7 +1,9 @@
 #pragma once
 
 #include "vlcb/common/node.h"
+#include "vlcb/platform/time.h"
 #include <stdint.h>
+#include <time.h>
 
 typedef uint8_t VlcbModuleState;
 enum VlcbModuleState {
@@ -12,7 +14,8 @@ enum VlcbModuleState {
 
 typedef struct {
   VlcbModuleState prevState;
-  VlcbNodeAddr nodeAddr;
+  VlcbNodeNumber nodeAddr;
+  clock_t startedAt;
 } VlcbModuleStateMachineSetupData;
 
 typedef union {

modules/module/src/module.c

@@ -1,11 +1,126 @@
 #include "module.h"
 
 #include <assert.h>
+#include <time.h>
 
+#include "state_machine.h"
+#include "vlcb/common/vlcb_defs.h"
+#include "vlcb/module.h"
+#include "vlcb/module/state.h"
 #include "vlcb/net/packet/datagram.h"
 #include "vlcb/platform/interface.h"
+#include "vlcb/platform/time.h"
 
-#include "state_machine.h"
+#ifndef VLCB_MODULE_HEARTBEAT_MS
+#define VLCB_MODULE_HEARTBEAT_MS 5000
+#endif /* ifndef VLCB_MODULE_HEARTBEAT_MS */
+
+static inline void HandleHeartbeat(VlcbModule *const self, const clock_t now) {
+  if (self->sm.state == VLCB_MODULE_STATE_NORMAL &&
+      self->config.operationFlags & VLCB_MODULE_FLAGS_HEARTBEAT &&
+      (self->lastHeartbeat == 0 ||
+       vlcb_platform_time_DiffInMs(self->lastHeartbeat, now) >=
+           VLCB_MODULE_HEARTBEAT_MS)) {
+    // TODO: send the packet
+    self->lastHeartbeat = now;
+    self->heartbeatCount++;
+  }
+}
+
+static inline void HandleMnsMessages(VlcbModule *const self,
+                                     const VlcbPacketDatagram *const packet) {
+  switch (packet->opc) {
+  case VLCB_OPC_QUERY_NODE_PARAMETERS:
+    // 10 - RQNP message - request for node parameters -- does not contain a NN
+    // or EN, so only respond if we are in transition to Normal
+    handleRequestNodeParameters();
+    break;
+
+  case VLCB_OPC_QUERY_NODE_PARAMETER_BY_INDEX:
+    // 73 - RQNPN message -- request parameter by index number
+    // index 0 = number of params available followed by each parameter as a
+    // seperate PARAN respond with PARAN
+    handleRequestNodeParameter(msg, nn);
+    break;
+
+  case VLCB_OPC_SET_NODE_NUMBER:
+    // 42 - received SNN - set node number
+    handleSetNodeNumber(msg, nn);
+    break;
+
+  case VLCB_OPC_REQUEST_NEW_NODE_NUMBER:
+    // 50 - Another module has entered setup.
+    // If we are in setup, abort (MNS Spec 3.2.1)
+
+    if (instantMode == MODE_SETUP) {
+      instantMode = module_config->currentMode;
+      controller->indicateMode(module_config->currentMode);
+    }
+    break;
+
+  case VLCB_OPC_QUERY_NODE_INFO:
+    // 0D - this is probably a config recreate -- respond with PNN if we have a
+    // node number DEBUG_SERIAL << F("> QNN received, my node number = ") <<
+    // module_config->nodeNum << endl;
+
+    if (module_config->nodeNum > 0) {
+      // DEBUG_SERIAL << ("> responding with PNN message") << endl;
+      controller->sendMessageWithNN(OPC_PNN, controller->getParam(PAR_MANU),
+                                    controller->getParam(PAR_MTYP),
+                                    controller->getParam(PAR_FLAGS));
+    }
+    break;
+
+  case VLCB_OPC_QUERY_MODULE_NAME:
+    // 11 - request for node module name, excluding "CAN" prefix
+    // sent during module transition, so no node number check
+    // DEBUG_SERIAL << F("> RQMN received") << endl;
+
+    // only respond if in transition to Normal, i.e. Setup mode, or in learn
+    // mode.
+
+    if (instantMode == MODE_SETUP ||
+        (controller->getParam(PAR_FLAGS) & PF_LRN)) {
+      // respond with NAME
+      VlcbMessage response;
+      response.len = 8;
+      response.data[0] = OPC_NAME;
+      memcpy(response.data + 1, controller->getModuleName(), 7);
+      controller->sendMessage(&response);
+    }
+    break;
+
+  case OPC_RQSD:
+    // 78 - Request Service Definitions.
+    handleRequestServiceDefinitions(msg, nn);
+    break;
+
+  case OPC_RDGN:
+    // 87 - Request Diagnostic Data
+    handleRequestDiagnostics(msg, nn);
+    break;
+
+  case OPC_MODE:
+    // 76 - Set Operating Mode
+    handleModeMessage(msg, nn);
+    break;
+
+  case OPC_NNRSM:
+    // 4F - reset to manufacturer's defaults
+    if (nn == module_config->nodeNum) {
+      controller->sendMessageWithNN(OPC_NNREL); // release node number first
+      module_config->resetModule();
+    }
+    break;
+
+  case OPC_NNRST:
+    // 5E - software reset
+    if (nn == module_config->nodeNum) {
+      module_config->reboot();
+    }
+    break;
+  }
+}
 
 VlcbModule vlcb_module_New(VlcbNetIface *const iface,
                            VlcbNetSocketDatagram *const socket,
@@ -31,7 +146,7 @@ VlcbModule vlcb_module_New(VlcbNetIface *const iface,
 void vlcb_module_Init(VlcbModule *const module, const clock_t now) {
   assert(module != NULL);
   // todo: load config from persistent storage
-  state_Dispatch(module, (ModuleStateEvent){.sig = MSE_INIT});
+  state_Dispatch(module, (ModuleStateEvent){.sig = MSE_INIT}, now);
   _INTERFACE_CALL(module->ui, Poll, now);
 }
 
@@ -57,5 +172,7 @@ void vlcb_module_Poll(VlcbModule *const module, const clock_t now) {
     }
   }
 
+  HandleHeartbeat(module, now);
+
   _INTERFACE_CALL(module->ui, Poll, now);
 }