Deduplicate common messages

build.rs

@@ -22,23 +22,12 @@ fn main() {
     println!("cargo:rerun-if-changed={}", messages_dir.display());
     println!("cargo:rerun-if-changed={}", priv_dir.display());
 
-    let main_proto = messages_dir.join("mcu_messaging_main.proto");
-    let sec_proto = messages_dir.join("mcu_messaging_sec.proto");
-    let sec_priv_proto = priv_dir.join("mcu_messaging_sec_priv.proto");
-
-    // Codegen with protoc.
+    // These protos and any others that are imported by them will get compiled
     if let Err(err) = || -> std::io::Result<()> {
-        prost_build::Config::default()
-            .default_package_filename("mcu_messaging_main")
-            .compile_protos(&[main_proto], &[messages_dir])?;
-
-        prost_build::Config::default()
-            .default_package_filename("mcu_messaging_sec")
-            .compile_protos(&[sec_proto], &[messages_dir, &priv_dir])?;
-
-        prost_build::Config::default()
-            .default_package_filename("mcu_messaging_sec_priv")
-            .compile_protos(&[sec_priv_proto], &[priv_dir])?;
+        prost_build::Config::default().compile_protos(
+            &[messages_dir.join("orb.proto")],
+            &[messages_dir, priv_dir],
+        )?;
 
         Ok(())
     }() {

messages/mcu_messaging_common.proto → messages/common.proto

@@ -1,5 +1,9 @@
 syntax = "proto3";
 
+// Types that are shared by all microcontrollers.
+// To avoid cyclic dependencies, we must avoid importing anything else.
+package orb;
+
 // This reply message is sent to acknowledge successful processing of a
 // JetsonToMcu message
 message Ack

messages/mcu_messaging_main.proto → messages/main.proto

@@ -1,29 +1,8 @@
 syntax = "proto3";
 
-import "mcu_messaging_common.proto";
+package orb.main;
 
-// Any change in version number should be made only if:
-// - at least one new field is mandatory for the message to be correctly
-// interpreted
-// - at least one field has been "renumbered"
-// - at least one field type has changed
-// Do not change version otherwise.
-// ⚠️ Version 0 considered as not stable
-
-//
-enum Version {
-    VERSION_0 = 0;
-}
-
-message McuMessage
-{
-    Version version = 1;
-    oneof message
-    {
-        JetsonToMcu j_message = 2;
-        McuToJetson m_message = 3;
-    }
-}
+import "common.proto";
 
 message JetsonToMcu
 {
@@ -36,8 +15,8 @@ message JetsonToMcu
     oneof payload
     {
         ShutdownWithDelay shutdown = 2;
-        RebootWithDelay reboot = 3;
-        Temperature temperature = 4;
+        orb.RebootWithDelay reboot = 3;
+        orb.Temperature temperature = 4;
         MirrorAngle mirror_angle = 5;
         PerformMirrorHoming do_homing = 6;
         InfraredLEDs infrared_leds = 7;
@@ -47,7 +26,7 @@ message JetsonToMcu
         UserLEDsBrightness user_leds_brightness = 11;
         DistributorLEDsPattern distributor_leds_pattern = 12;
         DistributorLEDsBrightness distributor_leds_brightness = 13;
-        FirmwareUpdateData dfu_block = 14;
+        orb.FirmwareUpdateData dfu_block = 14;
         StartTriggeringIrEyeCamera start_triggering_ir_eye_camera = 16;
         StopTriggeringIrEyeCamera stop_triggering_ir_eye_camera = 17;
         StartTriggeringIrFaceCamera start_triggering_ir_face_camera = 18;
@@ -59,15 +38,15 @@ message JetsonToMcu
         Fps fps = 25;
         LiquidLens liquid_lens = 26;
         VoltageRequest voltage_request = 27;
-        FirmwareImageCheck fw_image_check = 28;
-        FirmwareActivateSecondary fw_image_secondary_activate = 29;
-        Heartbeat heartbeat = 30;
+        orb.FirmwareImageCheck fw_image_check = 28;
+        orb.FirmwareActivateSecondary fw_image_secondary_activate = 29;
+        orb.Heartbeat heartbeat = 30;
         MirrorAngleRelative mirror_angle_relative = 32;
-        ValueGet value_get = 33;
+        orb.ValueGet value_get = 33;
         UserRingLEDsSequence ring_leds_sequence = 34;
         UserCenterLEDsSequence center_leds_sequence = 35;
         DistributorLEDsSequence distributor_leds_sequence = 36;
-        FirmwareConfirmPrimary fw_image_primary_confirm = 37;
+        orb.FirmwareConfirmPrimary fw_image_primary_confirm = 37;
         IREyeCameraFocusSweepValuesPolynomial
             ir_eye_camera_focus_sweep_values_polynomial = 38;
         IREyeCameraFocusSweepLensValues ir_eye_camera_focus_sweep_lens_values =
@@ -79,43 +58,43 @@ message JetsonToMcu
         ConeLEDsSequence cone_leds_sequence = 43;
         ConeLEDsPattern cone_leds_pattern = 44;
         WhiteLEDsBrightness white_leds_brightness = 45;
-        SyncDiagData sync_diag_data = 46;
-        DiagTest diag_test = 47;
+        orb.SyncDiagData sync_diag_data = 46;
+        orb.DiagTest diag_test = 47;
     }
 }
 
 message McuToJetson
 {
     oneof payload
     {
-        Ack ack = 1;
+        orb.Ack ack = 1;
         PowerButton power_button = 2;
         BatteryVoltage battery_voltage = 3;
         BatteryCapacity battery_capacity = 4;
         GNSSData gnss = 5;
-        Versions versions = 6;
-        Temperature temperature = 7;
+        orb.Versions versions = 6;
+        orb.Temperature temperature = 7;
         FanStatus fan_status = 8;
         IMUData imu_data = 9;
         Voltage voltage = 10;
-        Log log = 11;
+        orb.Log log = 11;
         MotorRange motor_range = 12;
-        FatalError fatal_error = 13;
+        orb.FatalError fatal_error = 13;
         BatteryIsCharging battery_is_charging = 14;
         BatteryDiagnosticCommon battery_diag_common = 15;
         ToF_1D tof_1d = 16;
         GNSSDataPartial gnss_partial = 17;
         AmbientLight front_als = 18;
-        Hardware hardware = 19;
-        HardwareDiagnostic hardware_diag = 20;
+        orb.Hardware hardware = 19;
+        orb.HardwareDiagnostic hardware_diag = 20;
         BatteryResetReason battery_reset_reason = 21;
         BatteryDiagnosticSafety battery_diag_safety = 22;
         BatteryDiagnosticPermanentFail battery_diag_permanent_fail = 23;
         BatteryInfoHwFw battery_info_hw_fw = 24;
         BatteryInfoMaxValues battery_info_max_values = 25;
         BatteryInfoSocAndStatistics battery_info_soc_and_statistics = 26;
         ConePresent cone_present = 27;
-        MemfaultEvent memfault_event = 28;
+        orb.MemfaultEvent memfault_event = 28;
         BatteryStateOfHealth battery_state_of_health = 29;
         ShutdownScheduled shutdown = 30;
     }
@@ -741,7 +720,7 @@ message BatteryInfoHwFw
         BATTERY_HW_VERSION_UNDETECTED = 255;
     }
     HardwareVersion hw_version = 2;
-    FirmwareVersion fw_version = 3;
+    orb.FirmwareVersion fw_version = 3;
 }
 
 message BatteryInfoMaxValues

messages/orb.proto

@@ -0,0 +1,34 @@
+syntax = "proto3";
+
+// This file is the root of the entire package heirarchy.
+package orb;
+
+import "main.proto";
+import "sec.proto";
+import "common.proto";
+
+// Any change in version number should be made only if:
+// - at least one new field is mandatory for the message to be correctly
+// interpreted
+// - at least one field has been "renumbered"
+// - at least one field type has changed
+// Do not change version otherwise.
+// ⚠️ Version 0 considered as not stable
+
+//
+enum Version {
+    VERSION_0 = 0;
+}
+
+message McuMessage
+{
+    Version version = 1;
+    oneof message
+    {
+        main.JetsonToMcu j_message = 2;
+        main.McuToJetson m_message = 3;
+        sec.JetsonToSec jetson_to_sec_message = 4;
+        sec.SecToJetson sec_to_jetson_message = 5;
+    }
+}
+

messages/private_stub/mcu_messaging_sec_priv.proto → messages/private_stub/sec_priv.proto

@@ -1,5 +1,6 @@
 syntax = "proto3";
-package private;
+
+package orb.sec.private;
 
 // incomplete, private definitions
 // to be overwritten by actual definitions

messages/sec.proto

@@ -0,0 +1,63 @@
+syntax = "proto3";
+
+package orb.sec;
+
+import "common.proto";
+import "sec_priv.proto";
+
+enum Version {
+    VERSION_0 = 0;
+}
+
+message JetsonToSec
+{
+    uint32 ack_number = 1; // monotonically incrementing number. We will
+                           // acknowledge all messages
+    oneof payload
+    {
+        orb.RebootWithDelay reboot = 3;
+        orb.FirmwareUpdateData dfu_block = 4;
+        orb.Heartbeat heartbeat = 5;
+        SERequest se_request = 6;
+        orb.FirmwareImageCheck fw_image_check = 20;
+        orb.FirmwareActivateSecondary fw_image_secondary_activate = 21;
+        orb.ValueGet value_get = 22;
+        orb.FirmwareConfirmPrimary fw_image_primary_confirm = 23;
+        orb.SyncDiagData sync_diag_data = 24;
+        orb.DiagTest diag_test = 25;
+    }
+}
+
+message SecToJetson
+{
+    reserved 6; // used in previous versions
+
+    oneof payload
+    {
+        orb.Ack ack = 1;
+        orb.Versions versions = 2;
+        orb.Log log = 3;
+        sec.private.SEResponse se_response = 4;
+        sec.private.Tamper tampered = 5;
+        orb.BatteryStatus battery_status = 7;
+        orb.FatalError fatal_error = 8;
+        sec.private.TamperRaw tamper_raw = 9;
+        sec.private.TamperStates tamper_states = 10;
+        orb.Temperature temperature = 11;
+        orb.MemfaultEvent memfault_event = 12;
+        orb.HardwareDiagnostic hardware_diag = 13;
+    }
+}
+
+message SERequest
+{
+    enum RequestType {
+        READ_WRITE = 0;
+        CLEAR_READ_BUFFER = 1;
+        POWER_OFF = 2;
+    };
+    uint32 id = 1;
+    bytes data = 2;
+    uint32 rx_length = 3;
+    RequestType request_type = 4;
+}

src/generated.rs

@@ -0,0 +1,2 @@
+
+