Add master to single slave transport

serial_link/protocol/transport.c

@@ -79,6 +79,9 @@ void transport_recv_frame(uint8_t from, uint8_t* data, uint16_t size) {
         start = obj->buffer + LOCAL_OBJECT_SIZE(obj->object_size);
         start += (from - 1) * REMOTE_OBJECT_SIZE(obj->object_size);
     }
+    else {
+        start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);
+    }
     triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
     void* ptr = triple_buffer_begin_write_internal(obj->object_size, tb);
     memcpy(ptr, data, size -1);
@@ -101,5 +104,19 @@ void update_transport(void) {
                 router_send_frame(dest, ptr, obj->object_size + 1);
             }
         }
+        else {
+            uint8_t* start = obj->buffer;
+            int j;
+            for (j=0;j<NUM_SLAVES;j++) {
+                triple_buffer_object_t* tb = (triple_buffer_object_t*)start;
+                uint8_t* ptr = (uint8_t*)triple_buffer_read_internal(obj->object_size + LOCAL_OBJECT_EXTRA, tb);
+                if (ptr) {
+                    ptr[obj->object_size] = i;
+                    uint8_t dest = j + 1;
+                    router_send_frame(dest, ptr, obj->object_size + 1);
+                }
+                start += LOCAL_OBJECT_SIZE(obj->object_size);
+            }
+        }
     }
 }

serial_link/protocol/transport.h

@@ -94,9 +94,25 @@ typedef struct { \
         } \
     }; \
     type* begin_write_##name(uint8_t slave) { \
+        remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
+        uint8_t* start = obj->buffer;\
+        start += slave * LOCAL_OBJECT_SIZE(obj->object_size); \
+        triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
+        return (type*)triple_buffer_begin_write_internal(sizeof(type) + LOCAL_OBJECT_EXTRA, tb); \
     }\
     void end_write_##name(uint8_t slave) { \
+        remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
+        uint8_t* start = obj->buffer;\
+        start += slave * LOCAL_OBJECT_SIZE(obj->object_size); \
+        triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
+        triple_buffer_end_write_internal(tb); \
         signal_data_written(); \
+    }\
+    type* read_##name() { \
+        remote_object_t* obj = (remote_object_t*)&remote_object_##name; \
+        uint8_t* start = obj->buffer + NUM_SLAVES * LOCAL_OBJECT_SIZE(obj->object_size);\
+        triple_buffer_object_t* tb = (triple_buffer_object_t*)start; \
+        return triple_buffer_read_internal(obj->object_size, tb); \
     }
 
 #define SLAVE_TO_MASTER_OBJECT(name, type) \

serial_link/tests/transport_tests.c

@@ -108,3 +108,18 @@ Ensure(Transport, writes_from_slave_to_master) {
     assert_that(obj2, is_not_equal_to(NULL));
     assert_that(obj2->test, is_equal_to(7));
 }
+
+Ensure(Transport, writes_from_master_to_single_slave) {
+    update_transport();
+    test_object1_t* obj = begin_write_master_to_single_slave(3);
+    obj->test = 7;
+    expect(signal_data_written);
+    end_write_master_to_single_slave(3);
+    expect(router_send_frame,
+            when(destination, is_equal_to(4)));
+    update_transport();
+    transport_recv_frame(0, sent_data, sent_data_size);
+    test_object1_t* obj2 = read_master_to_single_slave();
+    assert_that(obj2, is_not_equal_to(NULL));
+    assert_that(obj2->test, is_equal_to(7));
+}