Revert "remove external libraries from main branch"protocol-modeling

This reverts commit 0558244645611f314f47e0fa427f7323ce253eaf.

1 files changed, 446 insertions, 0 deletions

diff --git a/include/lib/capnp-c/capnp_c.h b/include/lib/capnp-c/capnp_c.h
new file mode 100644
index 0000000..28f171d
--- /dev/null
+++ b/include/lib/capnp-c/capnp_c.h
@@ -0,0 +1,446 @@
+/* vim: set sw=8 ts=8 sts=8 noet: */
+/* capnp_c.h
+ *
+ * Copyright (C) 2013 James McKaskill
+ * Copyright (C) 2014 Steve Dee
+ *
+ * This software may be modified and distributed under the terms
+ * of the MIT license.  See the LICENSE file for details.
+ */
+
+#ifndef CAPNP_C_H
+#define CAPNP_C_H
+
+#include <stdint.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#if defined(unix) && !defined(__APPLE__)
+#include <endian.h>
+#endif
+
+/* ssize_t is a POSIX type, not an ISO C one...
+ * Windows seems to only have SSIZE_T in BaseTsd.h
+ */
+#ifdef _MSC_VER
+typedef intmax_t ssize_t;
+#else
+#include <stddef.h>
+#endif
+
+// AVR does not have ssize_T either
+#ifdef MULTIPASS_ARCH_arduino_nano
+typedef intmax_t ssize_t;
+#endif
+
+// Cross-platform macro ALIGNED_(x) aligns a struct by `x` bytes.
+#ifdef _MSC_VER
+#define ALIGNED_(x) __declspec(align(x))
+#endif
+#ifdef __GNUC__
+#define ALIGNED_(x) __attribute__ ((aligned(x)))
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(__cplusplus) || (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L)
+#define CAPN_INLINE static inline
+#else
+#define CAPN_INLINE static
+#endif
+
+#define CAPN_VERSION 1
+
+/* struct capn is a common structure shared between segments in the same
+ * session/context so that far pointers between segments will be created.
+ *
+ * lookup is used to lookup segments by id when derefencing a far pointer
+ *
+ * create is used to create or lookup an alternate segment that has at least
+ * sz available (ie returned seg->len + sz <= seg->cap)
+ *
+ * create_local is used to create a segment for the copy tree and should be
+ * allocated in the local memory space.
+ *
+ * Allocated segments must be zero initialized.
+ *
+ * create and lookup can be NULL if you don't need multiple segments and don't
+ * want to support copying
+ *
+ * seglist and copylist are linked lists which can be used to free up segments
+ * on cleanup, but should not be modified by the user.
+ *
+ * lookup, create, create_local, and user can be set by the user. Other values
+ * should be zero initialized.
+ */
+struct capn {
+	/* user settable */
+	struct capn_segment *(*lookup)(void* /*user*/, uint32_t /*id */);
+	struct capn_segment *(*create)(void* /*user*/, uint32_t /*id */, int /*sz*/);
+	struct capn_segment *(*create_local)(void* /*user*/, int /*sz*/);
+	void *user;
+	/* zero initialized, user should not modify */
+	uint32_t segnum;
+	struct capn_tree *copy;
+	struct capn_tree *segtree;
+	struct capn_segment *seglist, *lastseg;
+	struct capn_segment *copylist;
+};
+
+/* struct capn_tree is a rb tree header used internally for the segment id
+ * lookup and copy tree */
+struct capn_tree {
+	struct capn_tree *parent, *link[2];
+	unsigned int red : 1;
+};
+
+struct capn_tree *capn_tree_insert(struct capn_tree *root, struct capn_tree *n);
+
+/* struct capn_segment contains the information about a single segment.
+ *
+ * capn points to a struct capn that is shared between segments in the
+ * same session
+ *
+ * id specifies the segment id, used for far pointers
+ *
+ * data specifies the segment data. This should not move after creation.
+ *
+ * len specifies the current segment length. This is 0 for a blank
+ * segment.
+ *
+ * cap specifies the segment capacity.
+ *
+ * When creating new structures len will be incremented until it reaches cap,
+ * at which point a new segment will be requested via capn->create. The
+ * create callback can either create a new segment or expand an existing
+ * one by incrementing cap and returning the expanded segment.
+ *
+ * data, len, and cap must all be 8 byte aligned, hence the ALIGNED_(8) macro
+ * on the struct definition.
+ *
+ * data, len, cap, and user should all be set by the user. Other values
+ * should be zero initialized.
+ */
+
+struct ALIGNED_(8) capn_segment {
+	struct capn_tree hdr;
+	struct capn_segment *next;
+	struct capn *capn;
+	uint32_t id;
+	/* user settable */
+	char *data;
+	size_t len, cap;
+	void *user;
+};
+
+enum CAPN_TYPE {
+	CAPN_NULL = 0,
+	CAPN_STRUCT = 1,
+	CAPN_LIST = 2,
+	CAPN_PTR_LIST = 3,
+	CAPN_BIT_LIST = 4,
+	CAPN_FAR_POINTER = 5,
+};
+
+struct capn_ptr {
+	unsigned int type : 4;
+	unsigned int has_ptr_tag : 1;
+	unsigned int is_list_member : 1;
+	unsigned int is_composite_list : 1;
+	unsigned int datasz : 19;
+	unsigned int ptrs : 16;
+	int len;
+	char *data;
+	struct capn_segment *seg;
+};
+
+struct capn_text {
+	int len;
+	const char *str;
+	struct capn_segment *seg;
+};
+
+typedef struct capn_ptr capn_ptr;
+typedef struct capn_text capn_text;
+typedef struct {capn_ptr p;} capn_data;
+typedef struct {capn_ptr p;} capn_list1;
+typedef struct {capn_ptr p;} capn_list8;
+typedef struct {capn_ptr p;} capn_list16;
+typedef struct {capn_ptr p;} capn_list32;
+typedef struct {capn_ptr p;} capn_list64;
+
+struct capn_msg {
+	struct capn_segment *seg;
+	uint64_t iface;
+	uint16_t method;
+	capn_ptr args;
+};
+
+/* capn_append_segment appends a segment to a session */
+void capn_append_segment(struct capn*, struct capn_segment*);
+
+capn_ptr capn_root(struct capn *c);
+void capn_resolve(capn_ptr *p);
+
+#define capn_len(list) ((list).p.type == CAPN_FAR_POINTER ? (capn_resolve(&(list).p), (list).p.len) : (list).p.len)
+
+/* capn_getp|setp functions get/set ptrs in list/structs
+ * off is the list index or pointer index in a struct
+ * capn_setp will copy the data, create far pointers, etc if the target
+ * is in a different segment/context.
+ * Both of these will use/return inner pointers for composite lists.
+ */
+capn_ptr capn_getp(capn_ptr p, int off, int resolve);
+int capn_setp(capn_ptr p, int off, capn_ptr tgt);
+
+capn_text capn_get_text(capn_ptr p, int off, capn_text def);
+capn_data capn_get_data(capn_ptr p, int off);
+int capn_set_text(capn_ptr p, int off, capn_text tgt);
+/* there is no set_data -- use capn_new_list8 + capn_setv8 instead
+ * and set data.p = list.p */
+
+/* capn_get* functions get data from a list
+ * The length of the list is given by p->size
+ * off specifies how far into the list to start
+ * sz indicates the number of elements to get
+ * The function returns the number of elements read or -1 on an error.
+ * off must be byte aligned for capn_getv1
+ */
+int capn_get1(capn_list1 p, int off);
+uint8_t capn_get8(capn_list8 p, int off);
+uint16_t capn_get16(capn_list16 p, int off);
+uint32_t capn_get32(capn_list32 p, int off);
+uint64_t capn_get64(capn_list64 p, int off);
+int capn_getv1(capn_list1 p, int off, uint8_t *data, int sz);
+int capn_getv8(capn_list8 p, int off, uint8_t *data, int sz);
+int capn_getv16(capn_list16 p, int off, uint16_t *data, int sz);
+int capn_getv32(capn_list32 p, int off, uint32_t *data, int sz);
+int capn_getv64(capn_list64 p, int off, uint64_t *data, int sz);
+
+/* capn_set* functions set data in a list
+ * off specifies how far into the list to start
+ * sz indicates the number of elements to write
+ * The function returns the number of elemnts written or -1 on an error.
+ * off must be byte aligned for capn_setv1
+ */
+int capn_set1(capn_list1 p, int off, int v);
+int capn_set8(capn_list8 p, int off, uint8_t v);
+int capn_set16(capn_list16 p, int off, uint16_t v);
+int capn_set32(capn_list32 p, int off, uint32_t v);
+int capn_set64(capn_list64 p, int off, uint64_t v);
+int capn_setv1(capn_list1 p, int off, const uint8_t *data, int sz);
+int capn_setv8(capn_list8 p, int off, const uint8_t *data, int sz);
+int capn_setv16(capn_list16 p, int off, const uint16_t *data, int sz);
+int capn_setv32(capn_list32 p, int off, const uint32_t *data, int sz);
+int capn_setv64(capn_list64 p, int off, const uint64_t *data, int sz);
+
+/* capn_new_* functions create a new object
+ * datasz is in bytes, ptrs is # of pointers, sz is # of elements in the list
+ * On an error a CAPN_NULL pointer is returned
+ */
+capn_ptr capn_new_string(struct capn_segment *seg, const char *str, ssize_t sz);
+capn_ptr capn_new_struct(struct capn_segment *seg, int datasz, int ptrs);
+capn_ptr capn_new_interface(struct capn_segment *seg, int datasz, int ptrs);
+capn_ptr capn_new_ptr_list(struct capn_segment *seg, int sz);
+capn_ptr capn_new_list(struct capn_segment *seg, int sz, int datasz, int ptrs);
+capn_list1 capn_new_list1(struct capn_segment *seg, int sz);
+capn_list8 capn_new_list8(struct capn_segment *seg, int sz);
+capn_list16 capn_new_list16(struct capn_segment *seg, int sz);
+capn_list32 capn_new_list32(struct capn_segment *seg, int sz);
+capn_list64 capn_new_list64(struct capn_segment *seg, int sz);
+
+/* capn_read|write* functions read/write struct values
+ * off is the offset into the structure in bytes
+ * Rarely should these be called directly, instead use the generated code.
+ * Data must be xored with the default value
+ * These are inlined
+ */
+CAPN_INLINE uint8_t capn_read8(capn_ptr p, int off);
+CAPN_INLINE uint16_t capn_read16(capn_ptr p, int off);
+CAPN_INLINE uint32_t capn_read32(capn_ptr p, int off);
+CAPN_INLINE uint64_t capn_read64(capn_ptr p, int off);
+CAPN_INLINE int capn_write1(capn_ptr p, int off, int val);
+CAPN_INLINE int capn_write8(capn_ptr p, int off, uint8_t val);
+CAPN_INLINE int capn_write16(capn_ptr p, int off, uint16_t val);
+CAPN_INLINE int capn_write32(capn_ptr p, int off, uint32_t val);
+CAPN_INLINE int capn_write64(capn_ptr p, int off, uint64_t val);
+
+/* capn_init_malloc inits the capn struct with a create function which
+ * allocates segments on the heap using malloc
+ *
+ * capn_init_(fp|mem) inits by reading segments in from the file/memory buffer
+ * in serialized form (optionally packed). It will then setup the create
+ * function ala capn_init_malloc so that further segments can be created.
+ *
+ * capn_free frees all the segment headers and data created by the create
+ * function setup by capn_init_*
+ */
+void capn_init_malloc(struct capn *c);
+int capn_init_fp(struct capn *c, FILE *f, int packed);
+int capn_init_mem(struct capn *c, const uint8_t *p, size_t sz, int packed);
+
+/* capn_write_(fp|mem) writes segments to the file/memory buffer in
+ * serialized form and returns the number of bytes written.
+ */
+/* TODO */
+/*int capn_write_fp(struct capn *c, FILE *f, int packed);*/
+int capn_write_fd(struct capn *c, ssize_t (*write_fd)(int fd, const void *p, size_t count), int fd, int packed);
+int capn_write_mem(struct capn *c, uint8_t *p, size_t sz, int packed);
+
+void capn_free(struct capn *c);
+void capn_reset_copy(struct capn *c);
+
+/* Inline functions */
+
+
+CAPN_INLINE uint8_t capn_flip8(uint8_t v) {
+	return v;
+}
+CAPN_INLINE uint16_t capn_flip16(uint16_t v) {
+#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
+	return v;
+#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
+      defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
+	return __builtin_bswap16(v);
+#else
+	union { uint16_t u; uint8_t v[2]; } s;
+	s.v[0] = (uint8_t)v;
+	s.v[1] = (uint8_t)(v>>8);
+	return s.u;
+#endif
+}
+CAPN_INLINE uint32_t capn_flip32(uint32_t v) {
+#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
+	return v;
+#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
+      defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
+	return __builtin_bswap32(v);
+#else
+	union { uint32_t u; uint8_t v[4]; } s;
+	s.v[0] = (uint8_t)v;
+	s.v[1] = (uint8_t)(v>>8);
+	s.v[2] = (uint8_t)(v>>16);
+	s.v[3] = (uint8_t)(v>>24);
+	return s.u;
+#endif
+}
+CAPN_INLINE uint64_t capn_flip64(uint64_t v) {
+#if defined(__BYTE_ORDER) && (__BYTE_ORDER == __LITTLE_ENDIAN)
+	return v;
+#elif defined(__BYTE_ORDER) && (__BYTE_ORDER == __BIG_ENDIAN) && \
+      defined(__GNUC__) && __GNUC__ >= 4 && __GNUC_MINOR__ >= 8
+	return __builtin_bswap64(v);
+#else
+	union { uint64_t u; uint8_t v[8]; } s;
+	s.v[0] = (uint8_t)v;
+	s.v[1] = (uint8_t)(v>>8);
+	s.v[2] = (uint8_t)(v>>16);
+	s.v[3] = (uint8_t)(v>>24);
+	s.v[4] = (uint8_t)(v>>32);
+	s.v[5] = (uint8_t)(v>>40);
+	s.v[6] = (uint8_t)(v>>48);
+	s.v[7] = (uint8_t)(v>>56);
+	return s.u;
+#endif
+}
+
+CAPN_INLINE int capn_write1(capn_ptr p, int off, int val) {
+	if (off >= p.datasz*8) {
+		return -1;
+	} else if (val) {
+		uint8_t tmp = (uint8_t)(1 << (off & 7));
+		((uint8_t*) p.data)[off >> 3] |= tmp;
+		return 0;
+	} else {
+		uint8_t tmp = (uint8_t)(~(1 << (off & 7)));
+		((uint8_t*) p.data)[off >> 3] &= tmp;
+		return 0;
+	}
+}
+
+CAPN_INLINE uint8_t capn_read8(capn_ptr p, int off) {
+	return off+1 <= p.datasz ? capn_flip8(*(uint8_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write8(capn_ptr p, int off, uint8_t val) {
+	if (off+1 <= p.datasz) {
+		*(uint8_t*) (p.data+off) = capn_flip8(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+CAPN_INLINE uint16_t capn_read16(capn_ptr p, int off) {
+	return off+2 <= p.datasz ? capn_flip16(*(uint16_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write16(capn_ptr p, int off, uint16_t val) {
+	if (off+2 <= p.datasz) {
+		*(uint16_t*) (p.data+off) = capn_flip16(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+CAPN_INLINE uint32_t capn_read32(capn_ptr p, int off) {
+	return off+4 <= p.datasz ? capn_flip32(*(uint32_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write32(capn_ptr p, int off, uint32_t val) {
+	if (off+4 <= p.datasz) {
+		*(uint32_t*) (p.data+off) = capn_flip32(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+CAPN_INLINE uint64_t capn_read64(capn_ptr p, int off) {
+	return off+8 <= p.datasz ? capn_flip64(*(uint64_t*) (p.data+off)) : 0;
+}
+CAPN_INLINE int capn_write64(capn_ptr p, int off, uint64_t val) {
+	if (off+8 <= p.datasz) {
+		*(uint64_t*) (p.data+off) = capn_flip64(val);
+		return 0;
+	} else {
+		return -1;
+	}
+}
+
+union capn_conv_f32 {
+	uint32_t u;
+	float f;
+};
+
+union capn_conv_f64 {
+	uint64_t u;
+	double f;
+};
+
+CAPN_INLINE float capn_to_f32(uint32_t v) {
+	union capn_conv_f32 u;
+	u.u = v;
+	return u.f;
+}
+CAPN_INLINE double capn_to_f64(uint64_t v) {
+	union capn_conv_f64 u;
+	u.u = v;
+	return u.f;
+}
+CAPN_INLINE uint32_t capn_from_f32(float v) {
+	union capn_conv_f32 u;
+	u.f = v;
+	return u.u;
+}
+CAPN_INLINE uint64_t capn_from_f64(double v) {
+	union capn_conv_f64 u;
+	u.f = v;
+	return u.u;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif