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feat(i2c): Add c_board I2C2 transport support #47

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32 changes: 32 additions & 0 deletions core/include/librmcs/data/datas.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@ enum class DataId : uint8_t {
kUart3 = 14,

kImu = 15,

kI2c0 = 16,
};

struct CanDataView {
Expand Down Expand Up @@ -79,6 +81,28 @@ struct GyroscopeDataView {
int16_t z;
};

struct I2cDataView {
uint8_t slave_address;
std::span<const std::byte> payload;
bool has_register = false;
uint8_t reg_address = 0;
};

struct I2cReadConfigView {
uint8_t slave_address;
uint16_t read_length = 0;
bool has_register = false;
uint8_t reg_address = 0;
};

struct I2cErrorView {
uint8_t slave_address;
uint16_t data_length = 0;
bool has_register = false;
uint8_t reg_address = 0;
bool is_read = false;
};

class DataCallback {
public:
DataCallback() = default;
Expand All @@ -100,6 +124,14 @@ class DataCallback {
virtual void accelerometer_receive_callback(const AccelerometerDataView& data) = 0;

virtual void gyroscope_receive_callback(const GyroscopeDataView& data) = 0;

virtual bool i2c_receive_callback(DataId id, const I2cDataView& data) = 0;

virtual void i2c_error_callback(DataId id, const I2cErrorView& data) = 0;

void i2c_error_from_slave_address(DataId id, uint8_t slave_address) {
i2c_error_callback(id, I2cErrorView{.slave_address = slave_address});
}
};

} // namespace librmcs::data
12 changes: 12 additions & 0 deletions core/include/librmcs/protocol/i2c.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
#pragma once

#include <cstddef>
#include <cstdint>

namespace librmcs::protocol {

inline constexpr std::size_t kI2cDataLengthBits = 9;
inline constexpr std::uint16_t kI2cMaxDataLength =
static_cast<std::uint16_t>((1U << kI2cDataLengthBits) - 1U);

} // namespace librmcs::protocol
106 changes: 106 additions & 0 deletions core/src/protocol/deserializer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ coroutine::LifoTask<void> Deserializer::process_stream() {
case FieldId::kUart3: success = co_await process_uart_field(id); break;
case FieldId::kGpio: success = co_await process_gpio_field(id); break;
case FieldId::kImu: success = co_await process_imu_field(id); break;
case FieldId::kI2c0: success = co_await process_i2c_field(id); break;
default: break;
}
if (!success)
Expand Down Expand Up @@ -289,4 +290,109 @@ coroutine::LifoTask<bool> Deserializer::process_imu_field(FieldId) {
co_return true;
}

coroutine::LifoTask<bool> Deserializer::process_i2c_field(FieldId field_id) {
I2cHeader::PayloadEnum payload_type;
uint8_t slave_address = 0;
uint16_t data_length = 0;
bool has_register = false;
bool error_flag = false;
{
const auto* header_bytes = co_await peek_bytes(sizeof(I2cHeader));
if (!header_bytes) [[unlikely]]
co_return false;

auto header = I2cHeader::CRef{header_bytes};
payload_type = header.get<I2cHeader::PayloadType>();
has_register = header.get<I2cHeader::HasRegister>();
error_flag = header.get<I2cHeader::ErrorFlag>();
slave_address = header.get<I2cHeader::SlaveAddress>();
data_length = header.get<I2cHeader::DataLength>();
consume_peeked();
}

if (slave_address > 0x7F) [[unlikely]]
co_return false;

switch (payload_type) {
case I2cHeader::PayloadEnum::kWrite:
case I2cHeader::PayloadEnum::kReadResult: {
if (error_flag) [[unlikely]]
co_return false;
if (payload_type == I2cHeader::PayloadEnum::kWrite && data_length == 0) [[unlikely]]
co_return false;

data::I2cDataView data_view{};
data_view.slave_address = slave_address;
data_view.has_register = has_register;

if (has_register) {
const auto* register_bytes = co_await peek_bytes(1);
if (!register_bytes) [[unlikely]]
co_return false;
data_view.reg_address = std::to_integer<uint8_t>(register_bytes[0]);
consume_peeked();
}

if (data_length) {
const auto* payload_bytes = co_await peek_bytes(data_length);
if (!payload_bytes) [[unlikely]]
co_return false;
data_view.payload = std::span<const std::byte>{payload_bytes, data_length};
consume_peeked();
} else {
data_view.payload = std::span<const std::byte>{};
}

if (payload_type == I2cHeader::PayloadEnum::kWrite) {
callback_.i2c_write_deserialized_callback(field_id, data_view);
} else {
callback_.i2c_read_result_deserialized_callback(field_id, data_view);
}
break;
}
case I2cHeader::PayloadEnum::kReadRequest: {
if (error_flag) [[unlikely]]
co_return false;
if (data_length == 0) [[unlikely]]
co_return false;

data::I2cReadConfigView data_view{};
data_view.slave_address = slave_address;
data_view.read_length = data_length;
data_view.has_register = has_register;

if (has_register) {
const auto* register_bytes = co_await peek_bytes(1);
if (!register_bytes) [[unlikely]]
co_return false;
data_view.reg_address = std::to_integer<uint8_t>(register_bytes[0]);
consume_peeked();
}

callback_.i2c_read_config_deserialized_callback(field_id, data_view);
break;
}
case I2cHeader::PayloadEnum::kError: {
data::I2cErrorView data_view{};
data_view.slave_address = slave_address;
data_view.data_length = data_length;
data_view.has_register = has_register;
data_view.is_read = error_flag;

if (has_register) {
const auto* register_bytes = co_await peek_bytes(1);
if (!register_bytes) [[unlikely]]
co_return false;
data_view.reg_address = std::to_integer<uint8_t>(register_bytes[0]);
consume_peeked();
}
callback_.i2c_error_deserialized_callback(field_id, data_view);
break;
}
default: co_return false;
}

co_return true;
}

} // namespace librmcs::core::protocol
12 changes: 12 additions & 0 deletions core/src/protocol/deserializer.hpp
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Expand Up @@ -41,6 +41,16 @@ class DeserializeCallback {

virtual void gyroscope_deserialized_callback(const data::GyroscopeDataView& data) = 0;

virtual void i2c_write_deserialized_callback(FieldId id, const data::I2cDataView& data) = 0;

virtual void
i2c_read_config_deserialized_callback(FieldId id, const data::I2cReadConfigView& data) = 0;

virtual void
i2c_read_result_deserialized_callback(FieldId id, const data::I2cDataView& data) = 0;

virtual void i2c_error_deserialized_callback(FieldId id, const data::I2cErrorView& data) = 0;
Comment on lines +44 to +52
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@coderabbitai coderabbitai Bot Apr 19, 2026

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⚠️ Potential issue | 🔴 Critical

🧩 Analysis chain

🏁 Script executed:

#!/bin/bash
# 检查两个 Vendor 类是否 override 了新加的 4 个 i2c_*_deserialized_callback 方法。
fd -a 'vendor.hpp' firmware | while read -r f; do
  echo "=== $f ==="
  rg -n 'i2c_(write|read_config|read_result|error)_deserialized_callback' "$f" || echo "  (未实现)"
done

Repository: Alliance-Algorithm/librmcs

Length of output: 410

🏁 Script executed:

#!/bin/bash
# 检查 rmcs_board vendor.hpp 的内容和继承关系
echo "=== rmcs_board vendor.hpp 内容 ==="
cat -n firmware/rmcs_board/app/src/usb/vendor.hpp | head -100

echo -e "\n=== rmcs_board Vendor 类定义 ==="
rg -A 5 'class Vendor' firmware/rmcs_board/app/src/usb/vendor.hpp

echo -e "\n=== c_board 四个 callback 实现的内容（示例） ==="
rg -A 8 'i2c_write_deserialized_callback' firmware/c_board/app/src/usb/vendor.hpp | head -20

Repository: Alliance-Algorithm/librmcs

Length of output: 4810

🏁 Script executed:

#!/bin/bash
# 检查是否存在其他继承 DeserializeCallback 的类
echo "=== 所有继承 DeserializeCallback 的类 ==="
rg 'class \w+.*:\s*.*DeserializeCallback' firmware --type hpp --type cpp

Repository: Alliance-Algorithm/librmcs

Length of output: 150

🏁 Script executed:

#!/bin/bash
# 读取 rmcs_board vendor.hpp 的全部内容，确认是否有 i2c 回调实现
wc -l firmware/rmcs_board/app/src/usb/vendor.hpp
echo "=== 完整文件内容 ==="
cat -n firmware/rmcs_board/app/src/usb/vendor.hpp

echo -e "\n=== 检查是否含有 i2c_write_deserialized_callback ==="
grep -n 'i2c_write_deserialized_callback' firmware/rmcs_board/app/src/usb/vendor.hpp || echo "未找到"

Repository: Alliance-Algorithm/librmcs

Length of output: 6532

🏁 Script executed:

#!/bin/bash
# 正确的方式：用 --type-list 查看支持的类型，或直接用 rg 的默认设置
echo "=== 所有继承 DeserializeCallback 的类 ==="
rg 'class \w+.*:\s*.*DeserializeCallback' firmware

Repository: Alliance-Algorithm/librmcs

Length of output: 105

🏁 Script executed:

#!/bin/bash
# 查看 DeserializeCallback 中新增的 i2c 方法签名
echo "=== DeserializeCallback 中的 i2c 方法 ==="
rg -A 2 'i2c_(write|read_config|read_result|error)_deserialized_callback' core/src/protocol/deserializer.hpp

# 检查 rmcs_board 是否有 I2C 支持
echo -e "\n=== rmcs_board 是否有 I2C 支持 ==="
find firmware/rmcs_board -name '*i2c*' -type f 2>/dev/null || echo "(未找到 I2C 文件)"

Repository: Alliance-Algorithm/librmcs

Length of output: 604

🏁 Script executed:

#!/bin/bash
# 检查 c_board vendor.hpp 中 i2c 回调的完整实现
echo "=== c_board i2c_write_deserialized_callback 完整实现 ==="
rg -A 6 'i2c_write_deserialized_callback' firmware/c_board/app/src/usb/vendor.hpp

echo -e "\n=== c_board i2c_read_result_deserialized_callback 完整实现 ==="
rg -A 6 'i2c_read_result_deserialized_callback' firmware/c_board/app/src/usb/vendor.hpp

echo -e "\n=== c_board i2c_error_deserialized_callback 完整实现 ==="
rg -A 6 'i2c_error_deserialized_callback' firmware/c_board/app/src/usb/vendor.hpp

Repository: Alliance-Algorithm/librmcs

Length of output: 1048

firmware/rmcs_board/app/src/usb/vendor.hpp 中缺少四个 I2C 回调实现，导致构建失败。

Vendor 类继承自 DeserializeCallback（私有继承），必须实现所有纯虚方法。firmware/c_board/app/src/usb/vendor.hpp 中的实现已齐全（downlink 写操作路由到 i2c0，读结果和错误帧作为仅上行数据类型被忽略）。但 firmware/rmcs_board/app/src/usb/vendor.hpp 缺失下述四个 override：

  • i2c_write_deserialized_callback
  • i2c_read_config_deserialized_callback
  • i2c_read_result_deserialized_callback
  • i2c_error_deserialized_callback

rmcs_board 没有 I2C 硬件，这些方法应为 no-op（可参考 rmcs_board 现有的 GPIO 或加速度计回调实现），以便解除编译阻塞。

🧰 Tools
🪛 GitHub Actions: Lint

[error] 44-52: Pure virtual functions in DeserializeCallback: i2c_write_deserialized_callback, i2c_read_config_deserialized_callback, i2c_read_result_deserialized_callback, i2c_error_deserialized_callback (unimplemented by Vendor).

🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@core/src/protocol/deserializer.hpp` around lines 44 - 52, Add no-op overrides
for the four missing I2C callbacks in the Vendor class so it fulfills the
DeserializeCallback interface: implement i2c_write_deserialized_callback(FieldId
id, const data::I2cDataView& data) override,
i2c_read_config_deserialized_callback(FieldId id, const data::I2cReadConfigView&
data) override, i2c_read_result_deserialized_callback(FieldId id, const
data::I2cDataView& data) override, and i2c_error_deserialized_callback(FieldId
id, const data::I2cErrorView& data) override in
firmware/rmcs_board/app/src/usb/vendor.hpp; each should have an empty body
(no-op), similar to existing rmcs_board GPIO/accelerometer callbacks, to satisfy
the pure-virtual methods in DeserializeCallback and unblock compilation.


virtual void error_callback() = 0;
};

Expand Down Expand Up @@ -115,6 +125,8 @@ class Deserializer : private coroutine::InlineLifoContext<1024> {

coroutine::LifoTask<bool> process_imu_field(FieldId field_id);

coroutine::LifoTask<bool> process_i2c_field(FieldId field_id);

// Await until at least `size` contiguous bytes are available at the current read position.
// Returns a pointer to a contiguous region of at least `size` bytes.
// (from input buffer or pending cache)
Expand Down
25 changes: 25 additions & 0 deletions core/src/protocol/protocol.hpp
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Original file line number Diff line number Diff line change
@@ -1,8 +1,10 @@
#pragma once

#include <cstddef>
#include <cstdint>

#include "core/include/librmcs/data/datas.hpp"
#include "core/include/librmcs/protocol/i2c.hpp"
#include "core/src/utility/bitfield.hpp"

namespace librmcs::core::protocol {
Expand Down Expand Up @@ -130,4 +132,27 @@ struct ImuGyroscopePayload : utility::Bitfield<6> {
using Z = utility::BitfieldMember<32, 16, int16_t>;
};

struct I2cHeader : utility::Bitfield<3> {
enum class PayloadEnum : uint8_t {
kWrite = 0,
kReadRequest = 1,
kReadResult = 2,
kError = 3,
};

using PayloadType = utility::BitfieldMember<4, 2, PayloadEnum>;
using HasRegister = utility::BitfieldMember<6, 1>;
using ErrorFlag = utility::BitfieldMember<7, 1>;
using SlaveAddress = utility::BitfieldMember<8, 7>;
using DataLength = utility::BitfieldMember<15, 9>;

static constexpr std::size_t kSlaveAddressBits = SlaveAddress::kBitWidth;
static constexpr std::size_t kDataLengthBits = DataLength::kBitWidth;
static constexpr std::uint16_t kMaxDataLength = librmcs::protocol::kI2cMaxDataLength;

static_assert(kSlaveAddressBits == 7);
static_assert(kDataLengthBits == librmcs::protocol::kI2cDataLengthBits);
static_assert(kMaxDataLength == ((1U << kDataLengthBits) - 1U));
};

} // namespace librmcs::core::protocol
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