add sx127x nanopb send method

components/sx127x_driver/CMakeLists.txt

@@ -1,7 +1,9 @@
 set(COMPONENT_SRCS
     "sx127x_driver.c"
-    "sx127x_registers.c")
+    "sx127x_registers.c"
+    "sx127x_pb.c")
 set(COMPONENT_ADD_INCLUDEDIRS ".")
+set(COMPONENT_REQUIRES "nanopb")
 
 register_component()
 

components/sx127x_driver/Kconfig.projbuild

@@ -38,4 +38,8 @@ config SX127X_SPI_DMA_CHAN
 		There are two DMA channels that can be used by the ESP32 SPI driver. One
 		which is not in use must be picked (1 or 2). Set to 0 to disable SPI DMA.
 
+config SX127X_USE_NANOPB
+	bool "Use nanopb"
+	default true
+
 endmenu

components/sx127x_driver/sx127x_driver.c

@@ -7,11 +7,6 @@
 
 const char *SX127X_TAG = "sx127x";
 
-typedef struct sx127x_packet {
-  char * data;
-  size_t data_len;
-} sx127x_packet_t;
-
 sx127x_config_t sx127x_config_default() {
   sx127x_config_t config = SX127X_CONFIG_DEFAULT;
   return config;

components/sx127x_driver/sx127x_driver.h

@@ -100,3 +100,5 @@ esp_err_t sx127x_recv_packet(sx127x_hndl hndl, sx127x_rx_packet_t *packet_out,
 QueueHandle_t sx127x_get_recv_queue(sx127x_hndl hndl);
 
 void sx127x_packet_rx_free(sx127x_rx_packet_t *packet);
+
+#include "sx127x_pb.h"

components/sx127x_driver/sx127x_internal.h

@@ -69,6 +69,11 @@ typedef enum sx127x_task_state {
   SX127X_TASK_STOPPING = 2,
 } sx127x_task_state_t;
 
+typedef struct sx127x_packet {
+  char * data;
+  size_t data_len;
+} sx127x_packet_t;
+
 typedef struct sx127x {
   sx127x_config_t     config;
   spi_device_handle_t device_handle;

components/sx127x_driver/sx127x_pb.c

@@ -0,0 +1,36 @@
+#include "sx127x_pb.h"
+#include "sx127x_internal.h"
+
+#include "sdkconfig.h"
+
+#include <pb_encode.h>
+
+#ifdef CONFIG_SX127X_USE_NANOPB
+
+esp_err_t sx127x_send_packet_pb(sx127x_hndl hndl, const pb_field_t fields[],
+                                void *src_struct, TickType_t ticks_to_wait) {
+  SX127X_CHECK(atomic_load(&hndl->task_state) == SX127X_TASK_RUNNING,
+               "task not running", ESP_ERR_INVALID_STATE);
+
+  size_t data_len;
+  bool pb_ret = pb_get_encoded_size(&data_len, fields, src_struct);
+  SX127X_CHECK(pb_ret == true, "pb_get_encoded_size fail", ESP_ERR_INVALID_ARG);
+  SX127X_CHECK(data_len < SX127_MAX_PACKET_LEN, "packet len too long: %d",
+               ESP_ERR_INVALID_ARG, data_len);
+
+  pb_byte_t *data = heap_caps_malloc(
+      data_len, MALLOC_CAP_8BIT | MALLOC_CAP_32BIT | MALLOC_CAP_DMA);
+  SX127X_CHECK(data != NULL, "malloc error", ESP_ERR_NO_MEM);
+  pb_ostream_t ostream = pb_ostream_from_buffer(data, data_len);
+  pb_encode(&ostream, fields, src_struct);
+  ESP_LOGV(SX127X_TAG, "encoded pb message %d bytes", data_len);
+
+  sx127x_packet_t packet;
+  packet.data_len = data_len;
+  packet.data     = (char *)data;
+  BaseType_t pdRet = xQueueSend(hndl->tx_packet_queue, &packet, ticks_to_wait);
+  SX127X_CHECK(pdRet == pdTRUE, "tx queue full", ESP_ERR_TIMEOUT);
+  return ESP_OK;
+}
+
+#endif

components/sx127x_driver/sx127x_pb.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "sdkconfig.h"
+
+#ifdef CONFIG_SX127X_USE_NANOPB
+
+#include "sx127x_driver.h"
+
+#include <pb_common.h>
+
+esp_err_t sx127x_send_packet_pb(sx127x_hndl hndl, const pb_field_t fields[],
+                                void *src_struct, TickType_t ticks_to_wait);
+
+#endif

main/messages.proto

@@ -1,5 +1,7 @@
 syntax = "proto3";
 
+package uas.ugv;
+
 enum UGV_State {
   IDLE = 0;
   AQUIRING = 1;

main/ugv_comms.c

@@ -2,10 +2,14 @@
 #include "ugv_config.h"
 
 #include <esp_log.h>
+#include <pb_decode.h>
+#include <pb_encode.h>
+
+#include "messages.pb.h"
 
 static const char *TAG = "ugv_comms";
 
-static void ugv_comms_task(void *arg);
+static void     ugv_comms_task(void *arg);
 static uint16_t packet_num;
 
 void ugv_comms_init() {
@@ -40,15 +44,22 @@ void ugv_comms_init() {
 
   packet_num = 0;
 
-  xTaskCreate(ugv_comms_task, "ugv_comms", 2 * 1024, NULL, 2, &ugv_comms_task_hndl);
+  xTaskCreate(ugv_comms_task, "ugv_comms", 2 * 1024, NULL, 2,
+              &ugv_comms_task_hndl);
 }
 
 void ugv_comms_task(void *params) {
-  char         tx_buf[20];
-  const size_t tx_buf_len   = (sizeof(tx_buf) / sizeof(tx_buf[0]));
-  TickType_t   send_period  = pdMS_TO_TICKS(2000);
-  TickType_t   current_time = xTaskGetTickCount();
-  TickType_t   next_send    = current_time + send_period;
+  TickType_t send_period  = pdMS_TO_TICKS(2000);
+  TickType_t current_time = xTaskGetTickCount();
+  TickType_t next_send    = current_time + send_period;
+
+  uas_ugv_UGV_Message ugv_message = uas_ugv_UGV_Message_init_default;
+  ugv_message.which_ugv_message   = uas_ugv_UGV_Message_status_tag;
+  ugv_message.ugv_message.status.location.fix_quality = 0;
+  ugv_message.ugv_message.status.location.latitude    = 43.65;
+  ugv_message.ugv_message.status.location.longitude   = -116.20;
+  ugv_message.ugv_message.status.location.altitude    = 2730;
+  ugv_message.ugv_message.status.state                = uas_ugv_UGV_State_IDLE;
   while (true) {
     TickType_t delay_ticks = next_send - current_time;
     vTaskDelay(delay_ticks);
@@ -56,19 +67,14 @@ void ugv_comms_task(void *params) {
     if (current_time < next_send) {
       continue;
     }
-    int written_bytes =
-        snprintf(tx_buf, tx_buf_len, "hello world %d", packet_num);
-    if (written_bytes < 0) {
-      ESP_LOGE(TAG, "snprintf error: %d", written_bytes);
-      continue;
-    }
     packet_num++;
-    esp_err_t ret = sx127x_send_packet(lora, tx_buf, written_bytes,
-                                       0);  // 0 means error if queue full
+    esp_err_t ret =
+        sx127x_send_packet_pb(lora, uas_ugv_UGV_Message_fields, &ugv_message,
+                              0);  // 0 means error if queue full
     if (ret != ESP_OK) {
       ESP_LOGE(TAG, "error sending packet: %d", ret);
     } else {
-      ESP_LOGI(TAG, "lora wrote %d bytes", written_bytes);
+      ESP_LOGI(TAG, "lora wrote UGV_Message packet");
     }
 
     current_time = xTaskGetTickCount();

main/ugv_main.c

@@ -9,9 +9,6 @@
 #include "u8g2_esp32_hal.h"
 #include "ugv_comms.h"
 #include "ugv_config.h"
-#include "messages.pb.h"
-
-#include <pb_decode.h>
 
 static const char *TAG = "ugv_main";