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Merge "uwb_hal: handle data_packet parsing" into main

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This commit is contained in:
Charlie Boutier
2024-03-14 18:35:35 +00:00
committed by Gerrit Code Review
parent b02ff886be bb2f43591e
commit 4e2937b460
1 changed files with 12 additions and 1 deletions
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13
uwb/aidl/default/src/uwb_chip.rs
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@@ -180,6 +180,8 @@ impl IUwbChipAsyncServer for UwbChip {
let mut reader = AsyncFd::new(reader).unwrap();
loop {
const MESSAGE_TYPE_MASK: u8 = 0b11100000;
const DATA_MESSAGE_TYPE: u8 = 0b000;
const UWB_HEADER_SIZE: usize = 4;
let mut buffer = vec![0; UWB_HEADER_SIZE];
@@ -224,7 +226,16 @@ impl IUwbChipAsyncServer for UwbChip {
// Read the remaining header bytes, if truncated.
read_exact(reader.get_mut(), &mut buffer[read_len..]).unwrap();
let length = buffer[3] as usize + UWB_HEADER_SIZE;
let common_header = buffer[0];
let mt = (common_header & MESSAGE_TYPE_MASK) >> 5;
let payload_length = if mt == DATA_MESSAGE_TYPE {
let payload_length_fields: [u8; 2] = buffer[2..=3].try_into().unwrap();
u16::from_le_bytes(payload_length_fields) as usize
} else {
buffer[3] as usize
};
let length = payload_length + UWB_HEADER_SIZE;
buffer.resize(length, 0);
// Read the payload bytes.