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authorDimitri Sokolyuk <demon@dim13.org>2017-12-13 00:54:35 +0100
committerDimitri Sokolyuk <demon@dim13.org>2017-12-13 00:54:35 +0100
commit156a9a2271d47934a97ff00f33b8a61c8a49f125 (patch)
tree2f6a7b132dee1ddaae00484a398064f6b0a6603f /elegoo
parent49b9dbaba204e6a69465e422f76debac540e75b7 (diff)
rename back
Diffstat (limited to 'elegoo')
-rw-r--r--elegoo/NOTES.md53
-rw-r--r--elegoo/config.h55
-rw-r--r--elegoo/elegoo.ino125
-rw-r--r--elegoo/elegoo.pb.c77
-rw-r--r--elegoo/elegoo.pb.h119
-rw-r--r--elegoo/libs/0.3.8.zipbin0 -> 345356 bytes
-rw-r--r--elegoo/libs/Timer-1.3.zipbin0 -> 8308 bytes
-rw-r--r--elegoo/pb/pb.h583
-rw-r--r--elegoo/pb/pb_common.c97
-rw-r--r--elegoo/pb/pb_common.h42
-rw-r--r--elegoo/pb/pb_decode.c1458
-rw-r--r--elegoo/pb/pb_decode.h175
-rw-r--r--elegoo/pb/pb_encode.c862
-rw-r--r--elegoo/pb/pb_encode.h170
-rw-r--r--elegoo/pb/pb_stream.cpp48
-rw-r--r--elegoo/pb/pb_stream.h12
16 files changed, 3876 insertions, 0 deletions
diff --git a/elegoo/NOTES.md b/elegoo/NOTES.md
new file mode 100644
index 0000000..99a8dd0
--- /dev/null
+++ b/elegoo/NOTES.md
@@ -0,0 +1,53 @@
+Pinout
+------
+
+Trig = A0 orange
+Echo = A1 red
+
+
+ENA = 10 green left
+IN1 = 9 blue
+IN2 = 8 brown
+
+IN3 = 7 gray right
+IN4 = 6 white
+ENB = 5 black
+
+
+>>>
+ ENA 5 green
+ ENB 6 black
+ IN1 7 blue
+ IN2 8 brown
+ IN3 9 gray
+ IN4 10 white
+<<<
+
+Servo = 3
+
+S1 = 2
+S2 = 4
+S3 = 11
+
+IR = 12
+
+Protocol
+--------
+
+int16: bigEndian
+
+Motor speed: int16, range -255 .. 255 left and right
+
+ <XX> <LL> <LL> <RR> <RR>
+
+Head position: int8 degree, range 0 .. 180
+
+ <XX> <DD>
+
+Distance reading event: uint16, centimeter
+
+ <XX> <DD> <DD>
+
+Sensor change event:
+
+ <XX> <SS>
diff --git a/elegoo/config.h b/elegoo/config.h
new file mode 100644
index 0000000..af497b1
--- /dev/null
+++ b/elegoo/config.h
@@ -0,0 +1,55 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define LED 13
+
+// Settings
+#define dist 20
+#define velo 130
+
+// Pinout motor
+#define ENA 5 // 10 pwm
+#define ENB 6 // 5 pwm
+
+#define IN1 7 // 9
+#define IN2 8 // 8
+#define IN3 9 // 7
+#define IN4 10 // 6
+
+// Pinout sensors
+#define SR 2 // right
+#define SC 4 // center
+#define SL 11 // left
+
+// Servo
+#define SRV 3
+
+// Pinout IR
+#define IR 12
+
+// Pinout Ultrasonic
+#define Echo A1
+#define Trig A0
+
+#define ToCM 58
+#define ToInch 148
+#define TimeOut 100000
+
+#define KeyUp 0x00511DBB
+#define KeyDown 0xA3C8EDDB
+#define KeyLeft 0x52A3D41F
+#define KeyRight 0x20FE4DBB
+#define KeyOk 0xD7E84B1B
+#define Key0 0x1BC0157B
+#define Key1 0xC101E57B
+#define Key2 0x97483BFB
+#define Key3 0xF0C41643
+#define Key4 0x9716BE3F
+#define Key5 0x3D9AE3F7
+#define Key6 0x6182021B
+#define Key7 0x8C22657B
+#define Key8 0x488F3CBB
+#define Key9 0x0449E79F
+#define KeyStar 0x97483BFB
+
+#endif
diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino
new file mode 100644
index 0000000..6d72cd7
--- /dev/null
+++ b/elegoo/elegoo.ino
@@ -0,0 +1,125 @@
+// Dimitri Sokolyuk
+// 01.01.2017
+
+#include <PacketSerial.h>
+#include <Servo.h>
+#include <Timer.h>
+#include <IRremote.h>
+
+#include <pb_encode.h>
+#include <pb_decode.h>
+
+#include "elegoo.pb.h"
+#include "config.h"
+
+PacketSerial serial;
+Servo servo;
+Timer timer;
+IRrecv irrecv(IR);
+decode_results ir;
+
+void motor(int e, int a, int b, int v) {
+ if (v == 0) {
+ digitalWrite(a, LOW);
+ digitalWrite(b, LOW);
+ } else if (v > 0) {
+ digitalWrite(a, LOW);
+ digitalWrite(b, HIGH);
+ } else if (v < 0) {
+ digitalWrite(a, HIGH);
+ digitalWrite(b, LOW);
+ v = -v;
+ }
+ analogWrite(e, v);
+}
+
+#define motorR(v) motor(ENA, IN1, IN2, v)
+#define motorL(v) motor(ENB, IN3, IN4, v)
+
+int readDistance() {
+ digitalWrite(Trig, LOW);
+ delayMicroseconds(2);
+ digitalWrite(Trig, HIGH);
+ delayMicroseconds(18);
+ digitalWrite(Trig, LOW);
+ return pulseIn(Echo, HIGH, TimeOut) / ToCM;
+}
+
+void stop() {
+ motorR(0);
+ motorL(0);
+}
+
+void onPacket(const uint8_t* buf, size_t size) {
+ elegoo_Command cmd = elegoo_Command_init_zero;
+
+ pb_istream_t istream = pb_istream_from_buffer(buf, size);
+ pb_decode_delimited(&istream, elegoo_Command_fields, &cmd);
+
+ motorR(cmd.Speed.R);
+ motorL(cmd.Speed.L);
+ if (cmd.Speed.StopAfter > 0) {
+ timer.after(cmd.Speed.StopAfter, stop);
+ }
+ servo.write(cmd.Look + 90);
+}
+
+void events() {
+ uint8_t buf[64];
+
+ elegoo_Event evt = elegoo_Event_init_zero;
+
+ evt.Head.Distance = readDistance();
+ evt.Head.Direction = servo.read() - 90;
+
+ evt.Sensor.R = digitalRead(SR);
+ evt.Sensor.C = digitalRead(SC);
+ evt.Sensor.L = digitalRead(SL);
+
+ if (irrecv.decode(&ir)) {
+ evt.Remote.Key = ir.value;
+ irrecv.resume();
+ }
+
+ evt.TimeStamp = millis();
+
+ pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf));
+ pb_encode_delimited(&ostream, elegoo_Event_fields, &evt);
+
+ serial.send(buf, ostream.bytes_written);
+}
+
+void loop() {
+ timer.update();
+ serial.update();
+}
+
+void setup() {
+ serial.begin(57600);
+ serial.setPacketHandler(&onPacket);
+
+ pinMode(Echo, INPUT);
+ pinMode(Trig, OUTPUT);
+
+ pinMode(IN1, OUTPUT);
+ pinMode(IN2, OUTPUT);
+ pinMode(IN3, OUTPUT);
+ pinMode(IN4, OUTPUT);
+
+ pinMode(ENA, OUTPUT);
+ pinMode(ENB, OUTPUT);
+ pinMode(LED, OUTPUT);
+
+ pinMode(SR, INPUT);
+ pinMode(SC, INPUT);
+ pinMode(SL, INPUT);
+
+ pinMode(IR, INPUT);
+ irrecv.enableIRIn();
+
+ servo.attach(SRV);
+ servo.write(90);
+
+ timer.every(100, events);
+ timer.oscillate(LED, 500, LOW);
+}
diff --git a/elegoo/elegoo.pb.c b/elegoo/elegoo.pb.c
new file mode 100644
index 0000000..bee2e3d
--- /dev/null
+++ b/elegoo/elegoo.pb.c
@@ -0,0 +1,77 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.3.9 at Wed Dec 13 00:35:27 2017. */
+
+#include "elegoo.pb.h"
+
+/* @@protoc_insertion_point(includes) */
+#if PB_PROTO_HEADER_VERSION != 30
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+
+
+const pb_field_t elegoo_Speed_fields[4] = {
+ PB_FIELD( 1, SINT32 , SINGULAR, STATIC , FIRST, elegoo_Speed, L, L, 0),
+ PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Speed, R, L, 0),
+ PB_FIELD( 3, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Speed, StopAfter, R, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_Command_fields[3] = {
+ PB_FIELD( 1, MESSAGE , SINGULAR, STATIC , FIRST, elegoo_Command, Speed, Speed, &elegoo_Speed_fields),
+ PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, Look, Speed, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_UltraSonic_fields[3] = {
+ PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_UltraSonic, Distance, Distance, 0),
+ PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_UltraSonic, Direction, Distance, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_InfraRed_fields[4] = {
+ PB_FIELD( 1, BOOL , SINGULAR, STATIC , FIRST, elegoo_InfraRed, R, R, 0),
+ PB_FIELD( 2, BOOL , SINGULAR, STATIC , OTHER, elegoo_InfraRed, C, R, 0),
+ PB_FIELD( 3, BOOL , SINGULAR, STATIC , OTHER, elegoo_InfraRed, L, C, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_RemoteControl_fields[2] = {
+ PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_RemoteControl, Key, Key, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_Event_fields[5] = {
+ PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_Event, TimeStamp, TimeStamp, 0),
+ PB_FIELD( 2, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Head, TimeStamp, &elegoo_UltraSonic_fields),
+ PB_FIELD( 3, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Sensor, Head, &elegoo_InfraRed_fields),
+ PB_FIELD( 4, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Remote, Sensor, &elegoo_RemoteControl_fields),
+ PB_LAST_FIELD
+};
+
+
+/* Check that field information fits in pb_field_t */
+#if !defined(PB_FIELD_32BIT)
+/* If you get an error here, it means that you need to define PB_FIELD_32BIT
+ * compile-time option. You can do that in pb.h or on compiler command line.
+ *
+ * The reason you need to do this is that some of your messages contain tag
+ * numbers or field sizes that are larger than what can fit in 8 or 16 bit
+ * field descriptors.
+ */
+PB_STATIC_ASSERT((pb_membersize(elegoo_Command, Speed) < 65536 && pb_membersize(elegoo_Event, Head) < 65536 && pb_membersize(elegoo_Event, Sensor) < 65536 && pb_membersize(elegoo_Event, Remote) < 65536), YOU_MUST_DEFINE_PB_FIELD_32BIT_FOR_MESSAGES_elegoo_Speed_elegoo_Command_elegoo_UltraSonic_elegoo_InfraRed_elegoo_RemoteControl_elegoo_Event)
+#endif
+
+#if !defined(PB_FIELD_16BIT) && !defined(PB_FIELD_32BIT)
+/* If you get an error here, it means that you need to define PB_FIELD_16BIT
+ * compile-time option. You can do that in pb.h or on compiler command line.
+ *
+ * The reason you need to do this is that some of your messages contain tag
+ * numbers or field sizes that are larger than what can fit in the default
+ * 8 bit descriptors.
+ */
+PB_STATIC_ASSERT((pb_membersize(elegoo_Command, Speed) < 256 && pb_membersize(elegoo_Event, Head) < 256 && pb_membersize(elegoo_Event, Sensor) < 256 && pb_membersize(elegoo_Event, Remote) < 256), YOU_MUST_DEFINE_PB_FIELD_16BIT_FOR_MESSAGES_elegoo_Speed_elegoo_Command_elegoo_UltraSonic_elegoo_InfraRed_elegoo_RemoteControl_elegoo_Event)
+#endif
+
+
+/* @@protoc_insertion_point(eof) */
diff --git a/elegoo/elegoo.pb.h b/elegoo/elegoo.pb.h
new file mode 100644
index 0000000..b53e1cc
--- /dev/null
+++ b/elegoo/elegoo.pb.h
@@ -0,0 +1,119 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.3.9 at Wed Dec 13 00:35:27 2017. */
+
+#ifndef PB_ELEGOO_ELEGOO_PB_H_INCLUDED
+#define PB_ELEGOO_ELEGOO_PB_H_INCLUDED
+#include <pb.h>
+
+/* @@protoc_insertion_point(includes) */
+#if PB_PROTO_HEADER_VERSION != 30
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Struct definitions */
+typedef struct _elegoo_InfraRed {
+ bool R;
+ bool C;
+ bool L;
+/* @@protoc_insertion_point(struct:elegoo_InfraRed) */
+} elegoo_InfraRed;
+
+typedef struct _elegoo_RemoteControl {
+ uint32_t Key;
+/* @@protoc_insertion_point(struct:elegoo_RemoteControl) */
+} elegoo_RemoteControl;
+
+typedef struct _elegoo_Speed {
+ int32_t L;
+ int32_t R;
+ uint32_t StopAfter;
+/* @@protoc_insertion_point(struct:elegoo_Speed) */
+} elegoo_Speed;
+
+typedef struct _elegoo_UltraSonic {
+ uint32_t Distance;
+ int32_t Direction;
+/* @@protoc_insertion_point(struct:elegoo_UltraSonic) */
+} elegoo_UltraSonic;
+
+typedef struct _elegoo_Command {
+ elegoo_Speed Speed;
+ int32_t Look;
+/* @@protoc_insertion_point(struct:elegoo_Command) */
+} elegoo_Command;
+
+typedef struct _elegoo_Event {
+ uint32_t TimeStamp;
+ elegoo_UltraSonic Head;
+ elegoo_InfraRed Sensor;
+ elegoo_RemoteControl Remote;
+/* @@protoc_insertion_point(struct:elegoo_Event) */
+} elegoo_Event;
+
+/* Default values for struct fields */
+
+/* Initializer values for message structs */
+#define elegoo_Speed_init_default {0, 0, 0}
+#define elegoo_Command_init_default {elegoo_Speed_init_default, 0}
+#define elegoo_UltraSonic_init_default {0, 0}
+#define elegoo_InfraRed_init_default {0, 0, 0}
+#define elegoo_RemoteControl_init_default {0}
+#define elegoo_Event_init_default {0, elegoo_UltraSonic_init_default, elegoo_InfraRed_init_default, elegoo_RemoteControl_init_default}
+#define elegoo_Speed_init_zero {0, 0, 0}
+#define elegoo_Command_init_zero {elegoo_Speed_init_zero, 0}
+#define elegoo_UltraSonic_init_zero {0, 0}
+#define elegoo_InfraRed_init_zero {0, 0, 0}
+#define elegoo_RemoteControl_init_zero {0}
+#define elegoo_Event_init_zero {0, elegoo_UltraSonic_init_zero, elegoo_InfraRed_init_zero, elegoo_RemoteControl_init_zero}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define elegoo_InfraRed_R_tag 1
+#define elegoo_InfraRed_C_tag 2
+#define elegoo_InfraRed_L_tag 3
+#define elegoo_RemoteControl_Key_tag 1
+#define elegoo_Speed_L_tag 1
+#define elegoo_Speed_R_tag 2
+#define elegoo_Speed_StopAfter_tag 3
+#define elegoo_UltraSonic_Distance_tag 1
+#define elegoo_UltraSonic_Direction_tag 2
+#define elegoo_Command_Speed_tag 1
+#define elegoo_Command_Look_tag 2
+#define elegoo_Event_TimeStamp_tag 1
+#define elegoo_Event_Head_tag 2
+#define elegoo_Event_Sensor_tag 3
+#define elegoo_Event_Remote_tag 4
+
+/* Struct field encoding specification for nanopb */
+extern const pb_field_t elegoo_Speed_fields[4];
+extern const pb_field_t elegoo_Command_fields[3];
+extern const pb_field_t elegoo_UltraSonic_fields[3];
+extern const pb_field_t elegoo_InfraRed_fields[4];
+extern const pb_field_t elegoo_RemoteControl_fields[2];
+extern const pb_field_t elegoo_Event_fields[5];
+
+/* Maximum encoded size of messages (where known) */
+#define elegoo_Speed_size 18
+#define elegoo_Command_size 26
+#define elegoo_UltraSonic_size 12
+#define elegoo_InfraRed_size 6
+#define elegoo_RemoteControl_size 6
+#define elegoo_Event_size 36
+
+/* Message IDs (where set with "msgid" option) */
+#ifdef PB_MSGID
+
+#define ELEGOO_MESSAGES \
+
+
+#endif
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+/* @@protoc_insertion_point(eof) */
+
+#endif
diff --git a/elegoo/libs/0.3.8.zip b/elegoo/libs/0.3.8.zip
new file mode 100644
index 0000000..30a188f
--- /dev/null
+++ b/elegoo/libs/0.3.8.zip
Binary files differ
diff --git a/elegoo/libs/Timer-1.3.zip b/elegoo/libs/Timer-1.3.zip
new file mode 100644
index 0000000..ec94bc1
--- /dev/null
+++ b/elegoo/libs/Timer-1.3.zip
Binary files differ
diff --git a/elegoo/pb/pb.h b/elegoo/pb/pb.h
new file mode 100644
index 0000000..c7e6bc6
--- /dev/null
+++ b/elegoo/pb/pb.h
@@ -0,0 +1,583 @@
+/* Common parts of the nanopb library. Most of these are quite low-level
+ * stuff. For the high-level interface, see pb_encode.h and pb_decode.h.
+ */
+
+#ifndef PB_H_INCLUDED
+#define PB_H_INCLUDED
+
+/*****************************************************************
+ * Nanopb compilation time options. You can change these here by *
+ * uncommenting the lines, or on the compiler command line. *
+ *****************************************************************/
+
+/* Enable support for dynamically allocated fields */
+/* #define PB_ENABLE_MALLOC 1 */
+
+/* Define this if your CPU / compiler combination does not support
+ * unaligned memory access to packed structures. */
+/* #define PB_NO_PACKED_STRUCTS 1 */
+
+/* Increase the number of required fields that are tracked.
+ * A compiler warning will tell if you need this. */
+/* #define PB_MAX_REQUIRED_FIELDS 256 */
+
+/* Add support for tag numbers > 255 and fields larger than 255 bytes. */
+/* #define PB_FIELD_16BIT 1 */
+
+/* Add support for tag numbers > 65536 and fields larger than 65536 bytes. */
+/* #define PB_FIELD_32BIT 1 */
+
+/* Disable support for error messages in order to save some code space. */
+/* #define PB_NO_ERRMSG 1 */
+
+/* Disable support for custom streams (support only memory buffers). */
+/* #define PB_BUFFER_ONLY 1 */
+
+/* Switch back to the old-style callback function signature.
+ * This was the default until nanopb-0.2.1. */
+/* #define PB_OLD_CALLBACK_STYLE */
+
+
+/******************************************************************
+ * You usually don't need to change anything below this line. *
+ * Feel free to look around and use the defined macros, though. *
+ ******************************************************************/
+
+
+/* Version of the nanopb library. Just in case you want to check it in
+ * your own program. */
+#define NANOPB_VERSION nanopb-0.3.9-dev
+
+/* Include all the system headers needed by nanopb. You will need the
+ * definitions of the following:
+ * - strlen, memcpy, memset functions
+ * - [u]int_least8_t, uint_fast8_t, [u]int_least16_t, [u]int32_t, [u]int64_t
+ * - size_t
+ * - bool
+ *
+ * If you don't have the standard header files, you can instead provide
+ * a custom header that defines or includes all this. In that case,
+ * define PB_SYSTEM_HEADER to the path of this file.
+ */
+#ifdef PB_SYSTEM_HEADER
+#include PB_SYSTEM_HEADER
+#else
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+#include <string.h>
+
+#ifdef PB_ENABLE_MALLOC
+#include <stdlib.h>
+#endif
+#endif
+
+/* Macro for defining packed structures (compiler dependent).
+ * This just reduces memory requirements, but is not required.
+ */
+#if defined(PB_NO_PACKED_STRUCTS)
+ /* Disable struct packing */
+# define PB_PACKED_STRUCT_START
+# define PB_PACKED_STRUCT_END
+# define pb_packed
+#elif defined(__GNUC__) || defined(__clang__)
+ /* For GCC and clang */
+# define PB_PACKED_STRUCT_START
+# define PB_PACKED_STRUCT_END
+# define pb_packed __attribute__((packed))
+#elif defined(__ICCARM__) || defined(__CC_ARM)
+ /* For IAR ARM and Keil MDK-ARM compilers */
+# define PB_PACKED_STRUCT_START _Pragma("pack(push, 1)")
+# define PB_PACKED_STRUCT_END _Pragma("pack(pop)")
+# define pb_packed
+#elif defined(_MSC_VER) && (_MSC_VER >= 1500)
+ /* For Microsoft Visual C++ */
+# define PB_PACKED_STRUCT_START __pragma(pack(push, 1))
+# define PB_PACKED_STRUCT_END __pragma(pack(pop))
+# define pb_packed
+#else
+ /* Unknown compiler */
+# define PB_PACKED_STRUCT_START
+# define PB_PACKED_STRUCT_END
+# define pb_packed
+#endif
+
+/* Handly macro for suppressing unreferenced-parameter compiler warnings. */
+#ifndef PB_UNUSED
+#define PB_UNUSED(x) (void)(x)
+#endif
+
+/* Compile-time assertion, used for checking compatible compilation options.
+ * If this does not work properly on your compiler, use
+ * #define PB_NO_STATIC_ASSERT to disable it.
+ *
+ * But before doing that, check carefully the error message / place where it
+ * comes from to see if the error has a real cause. Unfortunately the error
+ * message is not always very clear to read, but you can see the reason better
+ * in the place where the PB_STATIC_ASSERT macro was called.
+ */
+#ifndef PB_NO_STATIC_ASSERT
+#ifndef PB_STATIC_ASSERT
+#define PB_STATIC_ASSERT(COND,MSG) typedef char PB_STATIC_ASSERT_MSG(MSG, __LINE__, __COUNTER__)[(COND)?1:-1];
+#define PB_STATIC_ASSERT_MSG(MSG, LINE, COUNTER) PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER)
+#define PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER) pb_static_assertion_##MSG##LINE##COUNTER
+#endif
+#else
+#define PB_STATIC_ASSERT(COND,MSG)
+#endif
+
+/* Number of required fields to keep track of. */
+#ifndef PB_MAX_REQUIRED_FIELDS
+#define PB_MAX_REQUIRED_FIELDS 64
+#endif
+
+#if PB_MAX_REQUIRED_FIELDS < 64
+#error You should not lower PB_MAX_REQUIRED_FIELDS from the default value (64).
+#endif
+
+/* List of possible field types. These are used in the autogenerated code.
+ * Least-significant 4 bits tell the scalar type
+ * Most-significant 4 bits specify repeated/required/packed etc.
+ */
+
+typedef uint_least8_t pb_type_t;
+
+/**** Field data types ****/
+
+/* Numeric types */
+#define PB_LTYPE_VARINT 0x00 /* int32, int64, enum, bool */
+#define PB_LTYPE_UVARINT 0x01 /* uint32, uint64 */
+#define PB_LTYPE_SVARINT 0x02 /* sint32, sint64 */
+#define PB_LTYPE_FIXED32 0x03 /* fixed32, sfixed32, float */
+#define PB_LTYPE_FIXED64 0x04 /* fixed64, sfixed64, double */
+
+/* Marker for last packable field type. */
+#define PB_LTYPE_LAST_PACKABLE 0x04
+
+/* Byte array with pre-allocated buffer.
+ * data_size is the length of the allocated PB_BYTES_ARRAY structure. */
+#define PB_LTYPE_BYTES 0x05
+
+/* String with pre-allocated buffer.
+ * data_size is the maximum length. */
+#define PB_LTYPE_STRING 0x06
+
+/* Submessage
+ * submsg_fields is pointer to field descriptions */
+#define PB_LTYPE_SUBMESSAGE 0x07
+
+/* Extension pseudo-field
+ * The field contains a pointer to pb_extension_t */
+#define PB_LTYPE_EXTENSION 0x08
+
+/* Byte array with inline, pre-allocated byffer.
+ * data_size is the length of the inline, allocated buffer.
+ * This differs from PB_LTYPE_BYTES by defining the element as
+ * pb_byte_t[data_size] rather than pb_bytes_array_t. */
+#define PB_LTYPE_FIXED_LENGTH_BYTES 0x09
+
+/* Number of declared LTYPES */
+#define PB_LTYPES_COUNT 0x0A
+#define PB_LTYPE_MASK 0x0F
+
+/**** Field repetition rules ****/
+
+#define PB_HTYPE_REQUIRED 0x00
+#define PB_HTYPE_OPTIONAL 0x10
+#define PB_HTYPE_REPEATED 0x20
+#define PB_HTYPE_ONEOF 0x30
+#define PB_HTYPE_MASK 0x30
+
+/**** Field allocation types ****/
+
+#define PB_ATYPE_STATIC 0x00
+#define PB_ATYPE_POINTER 0x80
+#define PB_ATYPE_CALLBACK 0x40
+#define PB_ATYPE_MASK 0xC0
+
+#define PB_ATYPE(x) ((x) & PB_ATYPE_MASK)
+#define PB_HTYPE(x) ((x) & PB_HTYPE_MASK)
+#define PB_LTYPE(x) ((x) & PB_LTYPE_MASK)
+
+/* Data type used for storing sizes of struct fields
+ * and array counts.
+ */
+#if defined(PB_FIELD_32BIT)
+ typedef uint32_t pb_size_t;
+ typedef int32_t pb_ssize_t;
+#elif defined(PB_FIELD_16BIT)
+ typedef uint_least16_t pb_size_t;
+ typedef int_least16_t pb_ssize_t;
+#else
+ typedef uint_least8_t pb_size_t;
+ typedef int_least8_t pb_ssize_t;
+#endif
+#define PB_SIZE_MAX ((pb_size_t)-1)
+
+/* Data type for storing encoded data and other byte streams.
+ * This typedef exists to support platforms where uint8_t does not exist.
+ * You can regard it as equivalent on uint8_t on other platforms.
+ */
+typedef uint_least8_t pb_byte_t;
+
+/* This structure is used in auto-generated constants
+ * to specify struct fields.
+ * You can change field sizes if you need structures
+ * larger than 256 bytes or field tags larger than 256.
+ * The compiler should complain if your .proto has such
+ * structures. Fix that by defining PB_FIELD_16BIT or
+ * PB_FIELD_32BIT.
+ */
+PB_PACKED_STRUCT_START
+typedef struct pb_field_s pb_field_t;
+struct pb_field_s {
+ pb_size_t tag;
+ pb_type_t type;
+ pb_size_t data_offset; /* Offset of field data, relative to previous field. */
+ pb_ssize_t size_offset; /* Offset of array size or has-boolean, relative to data */
+ pb_size_t data_size; /* Data size in bytes for a single item */
+ pb_size_t array_size; /* Maximum number of entries in array */
+
+ /* Field definitions for submessage
+ * OR default value for all other non-array, non-callback types
+ * If null, then field will zeroed. */
+ const void *ptr;
+} pb_packed;
+PB_PACKED_STRUCT_END
+
+/* Make sure that the standard integer types are of the expected sizes.
+ * Otherwise fixed32/fixed64 fields can break.
+ *
+ * If you get errors here, it probably means that your stdint.h is not
+ * correct for your platform.
+ */
+PB_STATIC_ASSERT(sizeof(int64_t) == 2 * sizeof(int32_t), INT64_T_WRONG_SIZE)
+PB_STATIC_ASSERT(sizeof(uint64_t) == 2 * sizeof(uint32_t), UINT64_T_WRONG_SIZE)
+
+/* This structure is used for 'bytes' arrays.
+ * It has the number of bytes in the beginning, and after that an array.
+ * Note that actual structs used will have a different length of bytes array.
+ */
+#define PB_BYTES_ARRAY_T(n) struct { pb_size_t size; pb_byte_t bytes[n]; }
+#define PB_BYTES_ARRAY_T_ALLOCSIZE(n) ((size_t)n + offsetof(pb_bytes_array_t, bytes))
+
+struct pb_bytes_array_s {
+ pb_size_t size;
+ pb_byte_t bytes[1];
+};
+typedef struct pb_bytes_array_s pb_bytes_array_t;
+
+/* This structure is used for giving the callback function.
+ * It is stored in the message structure and filled in by the method that
+ * calls pb_decode.
+ *
+ * The decoding callback will be given a limited-length stream
+ * If the wire type was string, the length is the length of the string.
+ * If the wire type was a varint/fixed32/fixed64, the length is the length
+ * of the actual value.
+ * The function may be called multiple times (especially for repeated types,
+ * but also otherwise if the message happens to contain the field multiple
+ * times.)
+ *
+ * The encoding callback will receive the actual output stream.
+ * It should write all the data in one call, including the field tag and
+ * wire type. It can write multiple fields.
+ *
+ * The callback can be null if you want to skip a field.
+ */
+typedef struct pb_istream_s pb_istream_t;
+typedef struct pb_ostream_s pb_ostream_t;
+typedef struct pb_callback_s pb_callback_t;
+struct pb_callback_s {
+#ifdef PB_OLD_CALLBACK_STYLE
+ /* Deprecated since nanopb-0.2.1 */
+ union {
+ bool (*decode)(pb_istream_t *stream, const pb_field_t *field, void *arg);
+ bool (*encode)(pb_ostream_t *stream, const pb_field_t *field, const void *arg);
+ } funcs;
+#else
+ /* New function signature, which allows modifying arg contents in callback. */
+ union {
+ bool (*decode)(pb_istream_t *stream, const pb_field_t *field, void **arg);
+ bool (*encode)(pb_ostream_t *stream, const pb_field_t *field, void * const *arg);
+ } funcs;
+#endif
+
+ /* Free arg for use by callback */
+ void *arg;
+};
+
+/* Wire types. Library user needs these only in encoder callbacks. */
+typedef enum {
+ PB_WT_VARINT = 0,
+ PB_WT_64BIT = 1,
+ PB_WT_STRING = 2,
+ PB_WT_32BIT = 5
+} pb_wire_type_t;
+
+/* Structure for defining the handling of unknown/extension fields.
+ * Usually the pb_extension_type_t structure is automatically generated,
+ * while the pb_extension_t structure is created by the user. However,
+ * if you want to catch all unknown fields, you can also create a custom
+ * pb_extension_type_t with your own callback.
+ */
+typedef struct pb_extension_type_s pb_extension_type_t;
+typedef struct pb_extension_s pb_extension_t;
+struct pb_extension_type_s {
+ /* Called for each unknown field in the message.
+ * If you handle the field, read off all of its data and return true.
+ * If you do not handle the field, do not read anything and return true.
+ * If you run into an error, return false.
+ * Set to NULL for default handler.
+ */
+ bool (*decode)(pb_istream_t *stream, pb_extension_t *extension,
+ uint32_t tag, pb_wire_type_t wire_type);
+
+ /* Called once after all regular fields have been encoded.
+ * If you have something to write, do so and return true.
+ * If you do not have anything to write, just return true.
+ * If you run into an error, return false.
+ * Set to NULL for default handler.
+ */
+ bool (*encode)(pb_ostream_t *stream, const pb_extension_t *extension);
+
+ /* Free field for use by the callback. */
+ const void *arg;
+};
+
+struct pb_extension_s {
+ /* Type describing the extension field. Usually you'll initialize
+ * this to a pointer to the automatically generated structure. */
+ const pb_extension_type_t *type;
+
+ /* Destination for the decoded data. This must match the datatype
+ * of the extension field. */
+ void *dest;
+
+ /* Pointer to the next extension handler, or NULL.
+ * If this extension does not match a field, the next handler is
+ * automatically called. */
+ pb_extension_t *next;
+
+ /* The decoder sets this to true if the extension was found.
+ * Ignored for encoding. */
+ bool found;
+};
+
+/* Memory allocation functions to use. You can define pb_realloc and
+ * pb_free to custom functions if you want. */
+#ifdef PB_ENABLE_MALLOC
+# ifndef pb_realloc
+# define pb_realloc(ptr, size) realloc(ptr, size)
+# endif
+# ifndef pb_free
+# define pb_free(ptr) free(ptr)
+# endif
+#endif
+
+/* This is used to inform about need to regenerate .pb.h/.pb.c files. */
+#define PB_PROTO_HEADER_VERSION 30
+
+/* These macros are used to declare pb_field_t's in the constant array. */
+/* Size of a structure member, in bytes. */
+#define pb_membersize(st, m) (sizeof ((st*)0)->m)
+/* Number of entries in an array. */
+#define pb_arraysize(st, m) (pb_membersize(st, m) / pb_membersize(st, m[0]))
+/* Delta from start of one member to the start of another member. */
+#define pb_delta(st, m1, m2) ((int)offsetof(st, m1) - (int)offsetof(st, m2))
+/* Marks the end of the field list */
+#define PB_LAST_FIELD {0,(pb_type_t) 0,0,0,0,0,0}
+
+/* Macros for filling in the data_offset field */
+/* data_offset for first field in a message */
+#define PB_DATAOFFSET_FIRST(st, m1, m2) (offsetof(st, m1))
+/* data_offset for subsequent fields */
+#define PB_DATAOFFSET_OTHER(st, m1, m2) (offsetof(st, m1) - offsetof(st, m2) - pb_membersize(st, m2))
+/* data offset for subsequent fields inside an union (oneof) */
+#define PB_DATAOFFSET_UNION(st, m1, m2) (PB_SIZE_MAX)
+/* Choose first/other based on m1 == m2 (deprecated, remains for backwards compatibility) */
+#define PB_DATAOFFSET_CHOOSE(st, m1, m2) (int)(offsetof(st, m1) == offsetof(st, m2) \
+ ? PB_DATAOFFSET_FIRST(st, m1, m2) \
+ : PB_DATAOFFSET_OTHER(st, m1, m2))
+
+/* Required fields are the simplest. They just have delta (padding) from
+ * previous field end, and the size of the field. Pointer is used for
+ * submessages and default values.
+ */
+#define PB_REQUIRED_STATIC(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_STATIC | PB_HTYPE_REQUIRED | ltype, \
+ fd, 0, pb_membersize(st, m), 0, ptr}
+
+/* Optional fields add the delta to the has_ variable. */
+#define PB_OPTIONAL_STATIC(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_STATIC | PB_HTYPE_OPTIONAL | ltype, \
+ fd, \
+ pb_delta(st, has_ ## m, m), \
+ pb_membersize(st, m), 0, ptr}
+
+#define PB_SINGULAR_STATIC(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_STATIC | PB_HTYPE_OPTIONAL | ltype, \
+ fd, 0, pb_membersize(st, m), 0, ptr}
+
+/* Repeated fields have a _count field and also the maximum number of entries. */
+#define PB_REPEATED_STATIC(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_STATIC | PB_HTYPE_REPEATED | ltype, \
+ fd, \
+ pb_delta(st, m ## _count, m), \
+ pb_membersize(st, m[0]), \
+ pb_arraysize(st, m), ptr}
+
+/* Allocated fields carry the size of the actual data, not the pointer */
+#define PB_REQUIRED_POINTER(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_POINTER | PB_HTYPE_REQUIRED | ltype, \
+ fd, 0, pb_membersize(st, m[0]), 0, ptr}
+
+/* Optional fields don't need a has_ variable, as information would be redundant */
+#define PB_OPTIONAL_POINTER(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_POINTER | PB_HTYPE_OPTIONAL | ltype, \
+ fd, 0, pb_membersize(st, m[0]), 0, ptr}
+
+/* Same as optional fields*/
+#define PB_SINGULAR_POINTER(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_POINTER | PB_HTYPE_OPTIONAL | ltype, \
+ fd, 0, pb_membersize(st, m[0]), 0, ptr}
+
+/* Repeated fields have a _count field and a pointer to array of pointers */
+#define PB_REPEATED_POINTER(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_POINTER | PB_HTYPE_REPEATED | ltype, \
+ fd, pb_delta(st, m ## _count, m), \
+ pb_membersize(st, m[0]), 0, ptr}
+
+/* Callbacks are much like required fields except with special datatype. */
+#define PB_REQUIRED_CALLBACK(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_CALLBACK | PB_HTYPE_REQUIRED | ltype, \
+ fd, 0, pb_membersize(st, m), 0, ptr}
+
+#define PB_OPTIONAL_CALLBACK(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_CALLBACK | PB_HTYPE_OPTIONAL | ltype, \
+ fd, 0, pb_membersize(st, m), 0, ptr}
+
+#define PB_SINGULAR_CALLBACK(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_CALLBACK | PB_HTYPE_OPTIONAL | ltype, \
+ fd, 0, pb_membersize(st, m), 0, ptr}
+
+#define PB_REPEATED_CALLBACK(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_CALLBACK | PB_HTYPE_REPEATED | ltype, \
+ fd, 0, pb_membersize(st, m), 0, ptr}
+
+/* Optional extensions don't have the has_ field, as that would be redundant.
+ * Furthermore, the combination of OPTIONAL without has_ field is used
+ * for indicating proto3 style fields. Extensions exist in proto2 mode only,
+ * so they should be encoded according to proto2 rules. To avoid the conflict,
+ * extensions are marked as REQUIRED instead.
+ */
+#define PB_OPTEXT_STATIC(tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_STATIC | PB_HTYPE_REQUIRED | ltype, \
+ 0, \
+ 0, \
+ pb_membersize(st, m), 0, ptr}
+
+#define PB_OPTEXT_POINTER(tag, st, m, fd, ltype, ptr) \
+ PB_OPTIONAL_POINTER(tag, st, m, fd, ltype, ptr)
+
+#define PB_OPTEXT_CALLBACK(tag, st, m, fd, ltype, ptr) \
+ PB_OPTIONAL_CALLBACK(tag, st, m, fd, ltype, ptr)
+
+/* The mapping from protobuf types to LTYPEs is done using these macros. */
+#define PB_LTYPE_MAP_BOOL PB_LTYPE_VARINT
+#define PB_LTYPE_MAP_BYTES PB_LTYPE_BYTES
+#define PB_LTYPE_MAP_DOUBLE PB_LTYPE_FIXED64
+#define PB_LTYPE_MAP_ENUM PB_LTYPE_VARINT
+#define PB_LTYPE_MAP_UENUM PB_LTYPE_UVARINT
+#define PB_LTYPE_MAP_FIXED32 PB_LTYPE_FIXED32
+#define PB_LTYPE_MAP_FIXED64 PB_LTYPE_FIXED64
+#define PB_LTYPE_MAP_FLOAT PB_LTYPE_FIXED32
+#define PB_LTYPE_MAP_INT32 PB_LTYPE_VARINT
+#define PB_LTYPE_MAP_INT64 PB_LTYPE_VARINT
+#define PB_LTYPE_MAP_MESSAGE PB_LTYPE_SUBMESSAGE
+#define PB_LTYPE_MAP_SFIXED32 PB_LTYPE_FIXED32
+#define PB_LTYPE_MAP_SFIXED64 PB_LTYPE_FIXED64
+#define PB_LTYPE_MAP_SINT32 PB_LTYPE_SVARINT
+#define PB_LTYPE_MAP_SINT64 PB_LTYPE_SVARINT
+#define PB_LTYPE_MAP_STRING PB_LTYPE_STRING
+#define PB_LTYPE_MAP_UINT32 PB_LTYPE_UVARINT
+#define PB_LTYPE_MAP_UINT64 PB_LTYPE_UVARINT
+#define PB_LTYPE_MAP_EXTENSION PB_LTYPE_EXTENSION
+#define PB_LTYPE_MAP_FIXED_LENGTH_BYTES PB_LTYPE_FIXED_LENGTH_BYTES
+
+/* This is the actual macro used in field descriptions.
+ * It takes these arguments:
+ * - Field tag number
+ * - Field type: BOOL, BYTES, DOUBLE, ENUM, UENUM, FIXED32, FIXED64,
+ * FLOAT, INT32, INT64, MESSAGE, SFIXED32, SFIXED64
+ * SINT32, SINT64, STRING, UINT32, UINT64 or EXTENSION
+ * - Field rules: REQUIRED, OPTIONAL or REPEATED
+ * - Allocation: STATIC, CALLBACK or POINTER
+ * - Placement: FIRST or OTHER, depending on if this is the first field in structure.
+ * - Message name
+ * - Field name
+ * - Previous field name (or field name again for first field)
+ * - Pointer to default value or submsg fields.
+ */
+
+#define PB_FIELD(tag, type, rules, allocation, placement, message, field, prevfield, ptr) \
+ PB_ ## rules ## _ ## allocation(tag, message, field, \
+ PB_DATAOFFSET_ ## placement(message, field, prevfield), \
+ PB_LTYPE_MAP_ ## type, ptr)
+
+/* Field description for oneof fields. This requires taking into account the
+ * union name also, that's why a separate set of macros is needed.
+ */
+#define PB_ONEOF_STATIC(u, tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_STATIC | PB_HTYPE_ONEOF | ltype, \
+ fd, pb_delta(st, which_ ## u, u.m), \
+ pb_membersize(st, u.m), 0, ptr}
+
+#define PB_ONEOF_POINTER(u, tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_POINTER | PB_HTYPE_ONEOF | ltype, \
+ fd, pb_delta(st, which_ ## u, u.m), \
+ pb_membersize(st, u.m[0]), 0, ptr}
+
+#define PB_ONEOF_FIELD(union_name, tag, type, rules, allocation, placement, message, field, prevfield, ptr) \
+ PB_ONEOF_ ## allocation(union_name, tag, message, field, \
+ PB_DATAOFFSET_ ## placement(message, union_name.field, prevfield), \
+ PB_LTYPE_MAP_ ## type, ptr)
+
+#define PB_ANONYMOUS_ONEOF_STATIC(u, tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_STATIC | PB_HTYPE_ONEOF | ltype, \
+ fd, pb_delta(st, which_ ## u, m), \
+ pb_membersize(st, m), 0, ptr}
+
+#define PB_ANONYMOUS_ONEOF_POINTER(u, tag, st, m, fd, ltype, ptr) \
+ {tag, PB_ATYPE_POINTER | PB_HTYPE_ONEOF | ltype, \
+ fd, pb_delta(st, which_ ## u, m), \
+ pb_membersize(st, m[0]), 0, ptr}
+
+#define PB_ANONYMOUS_ONEOF_FIELD(union_name, tag, type, rules, allocation, placement, message, field, prevfield, ptr) \
+ PB_ANONYMOUS_ONEOF_ ## allocation(union_name, tag, message, field, \
+ PB_DATAOFFSET_ ## placement(message, field, prevfield), \
+ PB_LTYPE_MAP_ ## type, ptr)
+
+/* These macros are used for giving out error messages.
+ * They are mostly a debugging aid; the main error information
+ * is the true/false return value from functions.
+ * Some code space can be saved by disabling the error
+ * messages if not used.
+ *
+ * PB_SET_ERROR() sets the error message if none has been set yet.
+ * msg must be a constant string literal.
+ * PB_GET_ERROR() always returns a pointer to a string.
+ * PB_RETURN_ERROR() sets the error and returns false from current
+ * function.
+ */
+#ifdef PB_NO_ERRMSG
+#define PB_SET_ERROR(stream, msg) PB_UNUSED(stream)
+#define PB_GET_ERROR(stream) "(errmsg disabled)"
+#else
+#define PB_SET_ERROR(stream, msg) (stream->errmsg = (stream)->errmsg ? (stream)->errmsg : (msg))
+#define PB_GET_ERROR(stream) ((stream)->errmsg ? (stream)->errmsg : "(none)")
+#endif
+
+#define PB_RETURN_ERROR(stream, msg) return PB_SET_ERROR(stream, msg), false
+
+#endif
diff --git a/elegoo/pb/pb_common.c b/elegoo/pb/pb_common.c
new file mode 100644
index 0000000..4fb7186
--- /dev/null
+++ b/elegoo/pb/pb_common.c
@@ -0,0 +1,97 @@
+/* pb_common.c: Common support functions for pb_encode.c and pb_decode.c.
+ *
+ * 2014 Petteri Aimonen <jpa@kapsi.fi>
+ */
+
+#include "pb_common.h"
+
+bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_field_t *fields, void *dest_struct)
+{
+ iter->start = fields;
+ iter->pos = fields;
+ iter->required_field_index = 0;
+ iter->dest_struct = dest_struct;
+ iter->pData = (char*)dest_struct + iter->pos->data_offset;
+ iter->pSize = (char*)iter->pData + iter->pos->size_offset;
+
+ return (iter->pos->tag != 0);
+}
+
+bool pb_field_iter_next(pb_field_iter_t *iter)
+{
+ const pb_field_t *prev_field = iter->pos;
+
+ if (prev_field->tag == 0)
+ {
+ /* Handle empty message types, where the first field is already the terminator.
+ * In other cases, the iter->pos never points to the terminator. */
+ return false;
+ }
+
+ iter->pos++;
+
+ if (iter->pos->tag == 0)
+ {
+ /* Wrapped back to beginning, reinitialize */
+ (void)pb_field_iter_begin(iter, iter->start, iter->dest_struct);
+ return false;
+ }
+ else
+ {
+ /* Increment the pointers based on previous field size */
+ size_t prev_size = prev_field->data_size;
+
+ if (PB_HTYPE(prev_field->type) == PB_HTYPE_ONEOF &&
+ PB_HTYPE(iter->pos->type) == PB_HTYPE_ONEOF &&
+ iter->pos->data_offset == PB_SIZE_MAX)
+ {
+ /* Don't advance pointers inside unions */
+ return true;
+ }
+ else if (PB_ATYPE(prev_field->type) == PB_ATYPE_STATIC &&
+ PB_HTYPE(prev_field->type) == PB_HTYPE_REPEATED)
+ {
+ /* In static arrays, the data_size tells the size of a single entry and
+ * array_size is the number of entries */
+ prev_size *= prev_field->array_size;
+ }
+ else if (PB_ATYPE(prev_field->type) == PB_ATYPE_POINTER)
+ {
+ /* Pointer fields always have a constant size in the main structure.
+ * The data_size only applies to the dynamically allocated area. */
+ prev_size = sizeof(void*);
+ }
+
+ if (PB_HTYPE(prev_field->type) == PB_HTYPE_REQUIRED)
+ {
+ /* Count the required fields, in order to check their presence in the
+ * decoder. */
+ iter->required_field_index++;
+ }
+
+ iter->pData = (char*)iter->pData + prev_size + iter->pos->data_offset;
+ iter->pSize = (char*)iter->pData + iter->pos->size_offset;
+ return true;
+ }
+}
+
+bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag)
+{
+ const pb_field_t *start = iter->pos;
+
+ do {
+ if (iter->pos->tag == tag &&
+ PB_LTYPE(iter->pos->type) != PB_LTYPE_EXTENSION)
+ {
+ /* Found the wanted field */
+ return true;
+ }
+
+ (void)pb_field_iter_next(iter);
+ } while (iter->pos != start);
+
+ /* Searched all the way back to start, and found nothing. */
+ return false;
+}
+
+
diff --git a/elegoo/pb/pb_common.h b/elegoo/pb/pb_common.h
new file mode 100644
index 0000000..60b3d37
--- /dev/null
+++ b/elegoo/pb/pb_common.h
@@ -0,0 +1,42 @@
+/* pb_common.h: Common support functions for pb_encode.c and pb_decode.c.
+ * These functions are rarely needed by applications directly.
+ */
+
+#ifndef PB_COMMON_H_INCLUDED
+#define PB_COMMON_H_INCLUDED
+
+#include "pb.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Iterator for pb_field_t list */
+struct pb_field_iter_s {
+ const pb_field_t *start; /* Start of the pb_field_t array */
+ const pb_field_t *pos; /* Current position of the iterator */
+ unsigned required_field_index; /* Zero-based index that counts only the required fields */
+ void *dest_struct; /* Pointer to start of the structure */
+ void *pData; /* Pointer to current field value */
+ void *pSize; /* Pointer to count/has field */
+};
+typedef struct pb_field_iter_s pb_field_iter_t;
+
+/* Initialize the field iterator structure to beginning.
+ * Returns false if the message type is empty. */
+bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_field_t *fields, void *dest_struct);
+
+/* Advance the iterator to the next field.
+ * Returns false when the iterator wraps back to the first field. */
+bool pb_field_iter_next(pb_field_iter_t *iter);
+
+/* Advance the iterator until it points at a field with the given tag.
+ * Returns false if no such field exists. */
+bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif
+
diff --git a/elegoo/pb/pb_decode.c b/elegoo/pb/pb_decode.c
new file mode 100644
index 0000000..dc344dc
--- /dev/null
+++ b/elegoo/pb/pb_decode.c
@@ -0,0 +1,1458 @@
+/* pb_decode.c -- decode a protobuf using minimal resources
+ *
+ * 2011 Petteri Aimonen <jpa@kapsi.fi>
+ */
+
+/* Use the GCC warn_unused_result attribute to check that all return values
+ * are propagated correctly. On other compilers and gcc before 3.4.0 just
+ * ignore the annotation.
+ */
+#if !defined(__GNUC__) || ( __GNUC__ < 3) || (__GNUC__ == 3 && __GNUC_MINOR__ < 4)
+ #define checkreturn
+#else
+ #define checkreturn __attribute__((warn_unused_result))
+#endif
+
+#include "pb.h"
+#include "pb_decode.h"
+#include "pb_common.h"
+
+/**************************************
+ * Declarations internal to this file *
+ **************************************/
+
+typedef bool (*pb_decoder_t)(pb_istream_t *stream, const pb_field_t *field, void *dest) checkreturn;
+
+static bool checkreturn buf_read(pb_istream_t *stream, pb_byte_t *buf, size_t count);
+static bool checkreturn read_raw_value(pb_istream_t *stream, pb_wire_type_t wire_type, pb_byte_t *buf, size_t *size);
+static bool checkreturn decode_static_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *iter);
+static bool checkreturn decode_callback_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *iter);
+static bool checkreturn decode_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *iter);
+static void iter_from_extension(pb_field_iter_t *iter, pb_extension_t *extension);
+static bool checkreturn default_extension_decoder(pb_istream_t *stream, pb_extension_t *extension, uint32_t tag, pb_wire_type_t wire_type);
+static bool checkreturn decode_extension(pb_istream_t *stream, uint32_t tag, pb_wire_type_t wire_type, pb_field_iter_t *iter);
+static bool checkreturn find_extension_field(pb_field_iter_t *iter);
+static void pb_field_set_to_default(pb_field_iter_t *iter);
+static void pb_message_set_to_defaults(const pb_field_t fields[], void *dest_struct);
+static bool checkreturn pb_dec_varint(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *dest, bool *eof);
+static bool checkreturn pb_dec_uvarint(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_dec_svarint(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_dec_fixed32(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_dec_fixed64(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_dec_bytes(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_dec_string(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_dec_submessage(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_dec_fixed_length_bytes(pb_istream_t *stream, const pb_field_t *field, void *dest);
+static bool checkreturn pb_skip_varint(pb_istream_t *stream);
+static bool checkreturn pb_skip_string(pb_istream_t *stream);
+
+#ifdef PB_ENABLE_MALLOC
+static bool checkreturn allocate_field(pb_istream_t *stream, void *pData, size_t data_size, size_t array_size);
+static bool checkreturn pb_release_union_field(pb_istream_t *stream, pb_field_iter_t *iter);
+static void pb_release_single_field(const pb_field_iter_t *iter);
+#endif
+
+#ifdef PB_WITHOUT_64BIT
+#define pb_int64_t int32_t
+#define pb_uint64_t uint32_t
+#else
+#define pb_int64_t int64_t
+#define pb_uint64_t uint64_t
+#endif
+
+/* --- Function pointers to field decoders ---
+ * Order in the array must match pb_action_t LTYPE numbering.
+ */
+static const pb_decoder_t PB_DECODERS[PB_LTYPES_COUNT] = {
+ &pb_dec_varint,
+ &pb_dec_uvarint,
+ &pb_dec_svarint,
+ &pb_dec_fixed32,
+ &pb_dec_fixed64,
+
+ &pb_dec_bytes,
+ &pb_dec_string,
+ &pb_dec_submessage,
+ NULL, /* extensions */
+ &pb_dec_fixed_length_bytes
+};
+
+/*******************************
+ * pb_istream_t implementation *
+ *******************************/
+
+static bool checkreturn buf_read(pb_istream_t *stream, pb_byte_t *buf, size_t count)
+{
+ size_t i;
+ const pb_byte_t *source = (const pb_byte_t*)stream->state;
+ stream->state = (pb_byte_t*)stream->state + count;
+
+ if (buf != NULL)
+ {
+ for (i = 0; i < count; i++)
+ buf[i] = source[i];
+ }
+
+ return true;
+}
+
+bool checkreturn pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count)
+{
+#ifndef PB_BUFFER_ONLY
+ if (buf == NULL && stream->callback != buf_read)
+ {
+ /* Skip input bytes */
+ pb_byte_t tmp[16];
+ while (count > 16)
+ {
+ if (!pb_read(stream, tmp, 16))
+ return false;
+
+ count -= 16;
+ }
+
+ return pb_read(stream, tmp, count);
+ }
+#endif
+
+ if (stream->bytes_left < count)
+ PB_RETURN_ERROR(stream, "end-of-stream");
+
+#ifndef PB_BUFFER_ONLY
+ if (!stream->callback(stream, buf, count))
+ PB_RETURN_ERROR(stream, "io error");
+#else
+ if (!buf_read(stream, buf, count))
+ return false;
+#endif
+
+ stream->bytes_left -= count;
+ return true;
+}
+
+/* Read a single byte from input stream. buf may not be NULL.
+ * This is an optimization for the varint decoding. */
+static bool checkreturn pb_readbyte(pb_istream_t *stream, pb_byte_t *buf)
+{
+ if (stream->bytes_left == 0)
+ PB_RETURN_ERROR(stream, "end-of-stream");
+
+#ifndef PB_BUFFER_ONLY
+ if (!stream->callback(stream, buf, 1))
+ PB_RETURN_ERROR(stream, "io error");
+#else
+ *buf = *(const pb_byte_t*)stream->state;
+ stream->state = (pb_byte_t*)stream->state + 1;
+#endif
+
+ stream->bytes_left--;
+
+ return true;
+}
+
+pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t bufsize)
+{
+ pb_istream_t stream;
+ /* Cast away the const from buf without a compiler error. We are
+ * careful to use it only in a const manner in the callbacks.
+ */
+ union {
+ void *state;
+ const void *c_state;
+ } state;
+#ifdef PB_BUFFER_ONLY
+ stream.callback = NULL;
+#else
+ stream.callback = &buf_read;
+#endif
+ state.c_state = buf;
+ stream.state = state.state;
+ stream.bytes_left = bufsize;
+#ifndef PB_NO_ERRMSG
+ stream.errmsg = NULL;
+#endif
+ return stream;
+}
+
+/********************
+ * Helper functions *
+ ********************/
+
+static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *dest, bool *eof)
+{
+ pb_byte_t byte;
+ uint32_t result;
+
+ if (!pb_readbyte(stream, &byte))
+ {
+ if (stream->bytes_left == 0)
+ {
+ if (eof)
+ {
+ *eof = true;
+ }
+ }
+
+ return false;
+ }
+
+ if ((byte & 0x80) == 0)
+ {
+ /* Quick case, 1 byte value */
+ result = byte;
+ }
+ else
+ {
+ /* Multibyte case */
+ uint_fast8_t bitpos = 7;
+ result = byte & 0x7F;
+
+ do
+ {
+ if (!pb_readbyte(stream, &byte))
+ return false;
+
+ if (bitpos >= 32)
+ {
+ /* Note: The varint could have trailing 0x80 bytes, or 0xFF for negative. */
+ uint8_t sign_extension = (bitpos < 63) ? 0xFF : 0x01;
+
+ if ((byte & 0x7F) != 0x00 && ((result >> 31) == 0 || byte != sign_extension))
+ {
+ PB_RETURN_ERROR(stream, "varint overflow");
+ }
+ }
+ else
+ {
+ result |= (uint32_t)(byte & 0x7F) << bitpos;
+ }
+ bitpos = (uint_fast8_t)(bitpos + 7);
+ } while (byte & 0x80);
+
+ if (bitpos == 35 && (byte & 0x70) != 0)
+ {
+ /* The last byte was at bitpos=28, so only bottom 4 bits fit. */
+ PB_RETURN_ERROR(stream, "varint overflow");
+ }
+ }
+
+ *dest = result;
+ return true;
+}
+
+bool checkreturn pb_decode_varint32(pb_istream_t *stream, uint32_t *dest)
+{
+ return pb_decode_varint32_eof(stream, dest, NULL);
+}
+
+#ifndef PB_WITHOUT_64BIT
+bool checkreturn pb_decode_varint(pb_istream_t *stream, uint64_t *dest)
+{
+ pb_byte_t byte;
+ uint_fast8_t bitpos = 0;
+ uint64_t result = 0;
+
+ do
+ {
+ if (bitpos >= 64)
+ PB_RETURN_ERROR(stream, "varint overflow");
+
+ if (!pb_readbyte(stream, &byte))
+ return false;
+
+ result |= (uint64_t)(byte & 0x7F) << bitpos;
+ bitpos = (uint_fast8_t)(bitpos + 7);
+ } while (byte & 0x80);
+
+ *dest = result;
+ return true;
+}
+#endif
+
+bool checkreturn pb_skip_varint(pb_istream_t *stream)
+{
+ pb_byte_t byte;
+ do
+ {
+ if (!pb_read(stream, &byte, 1))
+ return false;
+ } while (byte & 0x80);
+ return true;
+}
+
+bool checkreturn pb_skip_string(pb_istream_t *stream)
+{
+ uint32_t length;
+ if (!pb_decode_varint32(stream, &length))
+ return false;
+
+ return pb_read(stream, NULL, length);
+}
+
+bool checkreturn pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof)
+{
+ uint32_t temp;
+ *eof = false;
+ *wire_type = (pb_wire_type_t) 0;
+ *tag = 0;
+
+ if (!pb_decode_varint32_eof(stream, &temp, eof))
+ {
+ return false;
+ }
+
+ if (temp == 0)
+ {
+ *eof = true; /* Special feature: allow 0-terminated messages. */
+ return false;
+ }
+
+ *tag = temp >> 3;
+ *wire_type = (pb_wire_type_t)(temp & 7);
+ return true;
+}
+
+bool checkreturn pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type)
+{
+ switch (wire_type)
+ {
+ case PB_WT_VARINT: return pb_skip_varint(stream);
+ case PB_WT_64BIT: return pb_read(stream, NULL, 8);
+ case PB_WT_STRING: return pb_skip_string(stream);
+ case PB_WT_32BIT: return pb_read(stream, NULL, 4);
+ default: PB_RETURN_ERROR(stream, "invalid wire_type");
+ }
+}
+
+/* Read a raw value to buffer, for the purpose of passing it to callback as
+ * a substream. Size is maximum size on call, and actual size on return.
+ */
+static bool checkreturn read_raw_value(pb_istream_t *stream, pb_wire_type_t wire_type, pb_byte_t *buf, size_t *size)
+{
+ size_t max_size = *size;
+ switch (wire_type)
+ {
+ case PB_WT_VARINT:
+ *size = 0;
+ do
+ {
+ (*size)++;
+ if (*size > max_size) return false;
+ if (!pb_read(stream, buf, 1)) return false;
+ } while (*buf++ & 0x80);
+ return true;
+
+ case PB_WT_64BIT:
+ *size = 8;
+ return pb_read(stream, buf, 8);
+
+ case PB_WT_32BIT:
+ *size = 4;
+ return pb_read(stream, buf, 4);
+
+ default: PB_RETURN_ERROR(stream, "invalid wire_type");
+ }
+}
+
+/* Decode string length from stream and return a substream with limited length.
+ * Remember to close the substream using pb_close_string_substream().
+ */
+bool checkreturn pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream)
+{
+ uint32_t size;
+ if (!pb_decode_varint32(stream, &size))
+ return false;
+
+ *substream = *stream;
+ if (substream->bytes_left < size)
+ PB_RETURN_ERROR(stream, "parent stream too short");
+
+ substream->bytes_left = size;
+ stream->bytes_left -= size;
+ return true;
+}
+
+bool checkreturn pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream)
+{
+ if (substream->bytes_left) {
+ if (!pb_read(substream, NULL, substream->bytes_left))
+ return false;
+ }
+
+ stream->state = substream->state;
+
+#ifndef PB_NO_ERRMSG
+ stream->errmsg = substream->errmsg;
+#endif
+ return true;
+}
+
+/*************************
+ * Decode a single field *
+ *************************/
+
+static bool checkreturn decode_static_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *iter)
+{
+ pb_type_t type;
+ pb_decoder_t func;
+
+ type = iter->pos->type;
+ func = PB_DECODERS[PB_LTYPE(type)];
+
+ switch (PB_HTYPE(type))
+ {
+ case PB_HTYPE_REQUIRED:
+ return func(stream, iter->pos, iter->pData);
+
+ case PB_HTYPE_OPTIONAL:
+ if (iter->pSize != iter->pData)
+ *(bool*)iter->pSize = true;
+ return func(stream, iter->pos, iter->pData);
+
+ case PB_HTYPE_REPEATED:
+ if (wire_type == PB_WT_STRING
+ && PB_LTYPE(type) <= PB_LTYPE_LAST_PACKABLE)
+ {
+ /* Packed array */
+ bool status = true;
+ pb_size_t *size = (pb_size_t*)iter->pSize;
+ pb_istream_t substream;
+ if (!pb_make_string_substream(stream, &substream))
+ return false;
+
+ while (substream.bytes_left > 0 && *size < iter->pos->array_size)
+ {
+ void *pItem = (char*)iter->pData + iter->pos->data_size * (*size);
+ if (!func(&substream, iter->pos, pItem))
+ {
+ status = false;
+ break;
+ }
+ (*size)++;
+ }
+
+ if (substream.bytes_left != 0)
+ PB_RETURN_ERROR(stream, "array overflow");
+ if (!pb_close_string_substream(stream, &substream))
+ return false;
+
+ return status;
+ }
+ else
+ {
+ /* Repeated field */
+ pb_size_t *size = (pb_size_t*)iter->pSize;
+ void *pItem = (char*)iter->pData + iter->pos->data_size * (*size);
+ if (*size >= iter->pos->array_size)
+ PB_RETURN_ERROR(stream, "array overflow");
+
+ (*size)++;
+ return func(stream, iter->pos, pItem);
+ }
+
+ case PB_HTYPE_ONEOF:
+ *(pb_size_t*)iter->pSize = iter->pos->tag;
+ if (PB_LTYPE(type) == PB_LTYPE_SUBMESSAGE)
+ {
+ /* We memset to zero so that any callbacks are set to NULL.
+ * Then set any default values. */
+ memset(iter->pData, 0, iter->pos->data_size);
+ pb_message_set_to_defaults((const pb_field_t*)iter->pos->ptr, iter->pData);
+ }
+ return func(stream, iter->pos, iter->pData);
+
+ default:
+ PB_RETURN_ERROR(stream, "invalid field type");
+ }
+}
+
+#ifdef PB_ENABLE_MALLOC
+/* Allocate storage for the field and store the pointer at iter->pData.
+ * array_size is the number of entries to reserve in an array.
+ * Zero size is not allowed, use pb_free() for releasing.
+ */
+static bool checkreturn allocate_field(pb_istream_t *stream, void *pData, size_t data_size, size_t array_size)
+{
+ void *ptr = *(void**)pData;
+
+ if (data_size == 0 || array_size == 0)
+ PB_RETURN_ERROR(stream, "invalid size");
+
+ /* Check for multiplication overflows.
+ * This code avoids the costly division if the sizes are small enough.
+ * Multiplication is safe as long as only half of bits are set
+ * in either multiplicand.
+ */
+ {
+ const size_t check_limit = (size_t)1 << (sizeof(size_t) * 4);
+ if (data_size >= check_limit || array_size >= check_limit)
+ {
+ const size_t size_max = (size_t)-1;
+ if (size_max / array_size < data_size)
+ {
+ PB_RETURN_ERROR(stream, "size too large");
+ }
+ }
+ }
+
+ /* Allocate new or expand previous allocation */
+ /* Note: on failure the old pointer will remain in the structure,
+ * the message must be freed by caller also on error return. */
+ ptr = pb_realloc(ptr, array_size * data_size);
+ if (ptr == NULL)
+ PB_RETURN_ERROR(stream, "realloc failed");
+
+ *(void**)pData = ptr;
+ return true;
+}
+
+/* Clear a newly allocated item in case it contains a pointer, or is a submessage. */
+static void initialize_pointer_field(void *pItem, pb_field_iter_t *iter)
+{
+ if (PB_LTYPE(iter->pos->type) == PB_LTYPE_STRING ||
+ PB_LTYPE(iter->pos->type) == PB_LTYPE_BYTES)
+ {
+ *(void**)pItem = NULL;
+ }
+ else if (PB_LTYPE(iter->pos->type) == PB_LTYPE_SUBMESSAGE)
+ {
+ /* We memset to zero so that any callbacks are set to NULL.
+ * Then set any default values. */
+ memset(pItem, 0, iter->pos->data_size);
+ pb_message_set_to_defaults((const pb_field_t *) iter->pos->ptr, pItem);
+ }
+}
+#endif
+
+static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *iter)
+{
+#ifndef PB_ENABLE_MALLOC
+ PB_UNUSED(wire_type);
+ PB_UNUSED(iter);
+ PB_RETURN_ERROR(stream, "no malloc support");
+#else
+ pb_type_t type;
+ pb_decoder_t func;
+
+ type = iter->pos->type;
+ func = PB_DECODERS[PB_LTYPE(type)];
+
+ switch (PB_HTYPE(type))
+ {
+ case PB_HTYPE_REQUIRED:
+ case PB_HTYPE_OPTIONAL:
+ case PB_HTYPE_ONEOF:
+ if (PB_LTYPE(type) == PB_LTYPE_SUBMESSAGE &&
+ *(void**)iter->pData != NULL)
+ {
+ /* Duplicate field, have to release the old allocation first. */
+ pb_release_single_field(iter);
+ }
+
+ if (PB_HTYPE(type) == PB_HTYPE_ONEOF)
+ {
+ *(pb_size_t*)iter->pSize = iter->pos->tag;
+ }
+
+ if (PB_LTYPE(type) == PB_LTYPE_STRING ||
+ PB_LTYPE(type) == PB_LTYPE_BYTES)
+ {
+ return func(stream, iter->pos, iter->pData);
+ }
+ else
+ {
+ if (!allocate_field(stream, iter->pData, iter->pos->data_size, 1))
+ return false;
+
+ initialize_pointer_field(*(void**)iter->pData, iter);
+ return func(stream, iter->pos, *(void**)iter->pData);
+ }
+
+ case PB_HTYPE_REPEATED:
+ if (wire_type == PB_WT_STRING
+ && PB_LTYPE(type) <= PB_LTYPE_LAST_PACKABLE)
+ {
+ /* Packed array, multiple items come in at once. */
+ bool status = true;
+ pb_size_t *size = (pb_size_t*)iter->pSize;
+ size_t allocated_size = *size;
+ void *pItem;
+ pb_istream_t substream;
+
+ if (!pb_make_string_substream(stream, &substream))
+ return false;
+
+ while (substream.bytes_left)
+ {
+ if ((size_t)*size + 1 > allocated_size)
+ {
+ /* Allocate more storage. This tries to guess the
+ * number of remaining entries. Round the division
+ * upwards. */
+ allocated_size += (substream.bytes_left - 1) / iter->pos->data_size + 1;
+
+ if (!allocate_field(&substream, iter->pData, iter->pos->data_size, allocated_size))
+ {
+ status = false;
+ break;
+ }
+ }
+
+ /* Decode the array entry */
+ pItem = *(char**)iter->pData + iter->pos->data_size * (*size);
+ initialize_pointer_field(pItem, iter);
+ if (!func(&substream, iter->pos, pItem))
+ {
+ status = false;
+ break;
+ }
+
+ if (*size == PB_SIZE_MAX)
+ {
+#ifndef PB_NO_ERRMSG
+ stream->errmsg = "too many array entries";
+#endif
+ status = false;
+ break;
+ }
+
+ (*size)++;
+ }
+ if (!pb_close_string_substream(stream, &substream))
+ return false;
+
+ return status;
+ }
+ else
+ {
+ /* Normal repeated field, i.e. only one item at a time. */
+ pb_size_t *size = (pb_size_t*)iter->pSize;
+ void *pItem;
+
+ if (*size == PB_SIZE_MAX)
+ PB_RETURN_ERROR(stream, "too many array entries");
+
+ (*size)++;
+ if (!allocate_field(stream, iter->pData, iter->pos->data_size, *size))
+ return false;
+
+ pItem = *(char**)iter->pData + iter->pos->data_size * (*size - 1);
+ initialize_pointer_field(pItem, iter);
+ return func(stream, iter->pos, pItem);
+ }
+
+ default:
+ PB_RETURN_ERROR(stream, "invalid field type");
+ }
+#endif
+}
+
+static bool checkreturn decode_callback_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *iter)
+{
+ pb_callback_t *pCallback = (pb_callback_t*)iter->pData;
+
+#ifdef PB_OLD_CALLBACK_STYLE
+ void *arg = pCallback->arg;
+#else
+ void **arg = &(pCallback->arg);
+#endif
+
+ if (pCallback == NULL || pCallback->funcs.decode == NULL)
+ return pb_skip_field(stream, wire_type);
+
+ if (wire_type == PB_WT_STRING)
+ {
+ pb_istream_t substream;
+
+ if (!pb_make_string_substream(stream, &substream))
+ return false;
+
+ do
+ {
+ if (!pCallback->funcs.decode(&substream, iter->pos, arg))
+ PB_RETURN_ERROR(stream, "callback failed");
+ } while (substream.bytes_left);
+
+ if (!pb_close_string_substream(stream, &substream))
+ return false;
+
+ return true;
+ }
+ else
+ {
+ /* Copy the single scalar value to stack.
+ * This is required so that we can limit the stream length,
+ * which in turn allows to use same callback for packed and
+ * not-packed fields. */
+ pb_istream_t substream;
+ pb_byte_t buffer[10];
+ size_t size = sizeof(buffer);
+
+ if (!read_raw_value(stream, wire_type, buffer, &size))
+ return false;
+ substream = pb_istream_from_buffer(buffer, size);
+
+ return pCallback->funcs.decode(&substream, iter->pos, arg);
+ }
+}
+
+static bool checkreturn decode_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *iter)
+{
+#ifdef PB_ENABLE_MALLOC
+ /* When decoding an oneof field, check if there is old data that must be
+ * released first. */
+ if (PB_HTYPE(iter->pos->type) == PB_HTYPE_ONEOF)
+ {
+ if (!pb_release_union_field(stream, iter))
+ return false;
+ }
+#endif
+
+ switch (PB_ATYPE(iter->pos->type))
+ {
+ case PB_ATYPE_STATIC:
+ return decode_static_field(stream, wire_type, iter);
+
+ case PB_ATYPE_POINTER:
+ return decode_pointer_field(stream, wire_type, iter);
+
+ case PB_ATYPE_CALLBACK:
+ return decode_callback_field(stream, wire_type, iter);
+
+ default:
+ PB_RETURN_ERROR(stream, "invalid field type");
+ }
+}
+
+static void iter_from_extension(pb_field_iter_t *iter, pb_extension_t *extension)
+{
+ /* Fake a field iterator for the extension field.
+ * It is not actually safe to advance this iterator, but decode_field
+ * will not even try to. */
+ const pb_field_t *field = (const pb_field_t*)extension->type->arg;
+ (void)pb_field_iter_begin(iter, field, extension->dest);
+ iter->pData = extension->dest;
+ iter->pSize = &extension->found;
+
+ if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+ {
+ /* For pointer extensions, the pointer is stored directly
+ * in the extension structure. This avoids having an extra
+ * indirection. */
+ iter->pData = &extension->dest;
+ }
+}
+
+/* Default handler for extension fields. Expects a pb_field_t structure
+ * in extension->type->arg. */
+static bool checkreturn default_extension_decoder(pb_istream_t *stream,
+ pb_extension_t *extension, uint32_t tag, pb_wire_type_t wire_type)
+{
+ const pb_field_t *field = (const pb_field_t*)extension->type->arg;
+ pb_field_iter_t iter;
+
+ if (field->tag != tag)
+ return true;
+
+ iter_from_extension(&iter, extension);
+ extension->found = true;
+ return decode_field(stream, wire_type, &iter);
+}
+
+/* Try to decode an unknown field as an extension field. Tries each extension
+ * decoder in turn, until one of them handles the field or loop ends. */
+static bool checkreturn decode_extension(pb_istream_t *stream,
+ uint32_t tag, pb_wire_type_t wire_type, pb_field_iter_t *iter)
+{
+ pb_extension_t *extension = *(pb_extension_t* const *)iter->pData;
+ size_t pos = stream->bytes_left;
+
+ while (extension != NULL && pos == stream->bytes_left)
+ {
+ bool status;
+ if (extension->type->decode)
+ status = extension->type->decode(stream, extension, tag, wire_type);
+ else
+ status = default_extension_decoder(stream, extension, tag, wire_type);
+
+ if (!status)
+ return false;
+
+ extension = extension->next;
+ }
+
+ return true;
+}
+
+/* Step through the iterator until an extension field is found or until all
+ * entries have been checked. There can be only one extension field per
+ * message. Returns false if no extension field is found. */
+static bool checkreturn find_extension_field(pb_field_iter_t *iter)
+{
+ const pb_field_t *start = iter->pos;
+
+ do {
+ if (PB_LTYPE(iter->pos->type) == PB_LTYPE_EXTENSION)
+ return true;
+ (void)pb_field_iter_next(iter);
+ } while (iter->pos != start);
+
+ return false;
+}
+
+/* Initialize message fields to default values, recursively */
+static void pb_field_set_to_default(pb_field_iter_t *iter)
+{
+ pb_type_t type;
+ type = iter->pos->type;
+
+ if (PB_LTYPE(type) == PB_LTYPE_EXTENSION)
+ {
+ pb_extension_t *ext = *(pb_extension_t* const *)iter->pData;
+ while (ext != NULL)
+ {
+ pb_field_iter_t ext_iter;
+ ext->found = false;
+ iter_from_extension(&ext_iter, ext);
+ pb_field_set_to_default(&ext_iter);
+ ext = ext->next;
+ }
+ }
+ else if (PB_ATYPE(type) == PB_ATYPE_STATIC)
+ {
+ bool init_data = true;
+ if (PB_HTYPE(type) == PB_HTYPE_OPTIONAL && iter->pSize != iter->pData)
+ {
+ /* Set has_field to false. Still initialize the optional field
+ * itself also. */
+ *(bool*)iter->pSize = false;
+ }
+ else if (PB_HTYPE(type) == PB_HTYPE_REPEATED ||
+ PB_HTYPE(type) == PB_HTYPE_ONEOF)
+ {
+ /* REPEATED: Set array count to 0, no need to initialize contents.
+ ONEOF: Set which_field to 0. */
+ *(pb_size_t*)iter->pSize = 0;
+ init_data = false;
+ }
+
+ if (init_data)
+ {
+ if (PB_LTYPE(iter->pos->type) == PB_LTYPE_SUBMESSAGE)
+ {
+ /* Initialize submessage to defaults */
+ pb_message_set_to_defaults((const pb_field_t *) iter->pos->ptr, iter->pData);
+ }
+ else if (iter->pos->ptr != NULL)
+ {
+ /* Initialize to default value */
+ memcpy(iter->pData, iter->pos->ptr, iter->pos->data_size);
+ }
+ else
+ {
+ /* Initialize to zeros */
+ memset(iter->pData, 0, iter->pos->data_size);
+ }
+ }
+ }
+ else if (PB_ATYPE(type) == PB_ATYPE_POINTER)
+ {
+ /* Initialize the pointer to NULL. */
+ *(void**)iter->pData = NULL;
+
+ /* Initialize array count to 0. */
+ if (PB_HTYPE(type) == PB_HTYPE_REPEATED ||
+ PB_HTYPE(type) == PB_HTYPE_ONEOF)
+ {
+ *(pb_size_t*)iter->pSize = 0;
+ }
+ }
+ else if (PB_ATYPE(type) == PB_ATYPE_CALLBACK)
+ {
+ /* Don't overwrite callback */
+ }
+}
+
+static void pb_message_set_to_defaults(const pb_field_t fields[], void *dest_struct)
+{
+ pb_field_iter_t iter;
+
+ if (!pb_field_iter_begin(&iter, fields, dest_struct))
+ return; /* Empty message type */
+
+ do
+ {
+ pb_field_set_to_default(&iter);
+ } while (pb_field_iter_next(&iter));
+}
+
+/*********************
+ * Decode all fields *
+ *********************/
+
+bool checkreturn pb_decode_noinit(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)
+{
+ uint32_t fields_seen[(PB_MAX_REQUIRED_FIELDS + 31) / 32] = {0, 0};
+ const uint32_t allbits = ~(uint32_t)0;
+ uint32_t extension_range_start = 0;
+ pb_field_iter_t iter;
+
+ /* Return value ignored, as empty message types will be correctly handled by
+ * pb_field_iter_find() anyway. */
+ (void)pb_field_iter_begin(&iter, fields, dest_struct);
+
+ while (stream->bytes_left)
+ {
+ uint32_t tag;
+ pb_wire_type_t wire_type;
+ bool eof;
+
+ if (!pb_decode_tag(stream, &wire_type, &tag, &eof))
+ {
+ if (eof)
+ break;
+ else
+ return false;
+ }
+
+ if (!pb_field_iter_find(&iter, tag))
+ {
+ /* No match found, check if it matches an extension. */
+ if (tag >= extension_range_start)
+ {
+ if (!find_extension_field(&iter))
+ extension_range_start = (uint32_t)-1;
+ else
+ extension_range_start = iter.pos->tag;
+
+ if (tag >= extension_range_start)
+ {
+ size_t pos = stream->bytes_left;
+
+ if (!decode_extension(stream, tag, wire_type, &iter))
+ return false;
+
+ if (pos != stream->bytes_left)
+ {
+ /* The field was handled */
+ continue;
+ }
+ }
+ }
+
+ /* No match found, skip data */
+ if (!pb_skip_field(stream, wire_type))
+ return false;
+ continue;
+ }
+
+ if (PB_HTYPE(iter.pos->type) == PB_HTYPE_REQUIRED
+ && iter.required_field_index < PB_MAX_REQUIRED_FIELDS)
+ {
+ uint32_t tmp = ((uint32_t)1 << (iter.required_field_index & 31));
+ fields_seen[iter.required_field_index >> 5] |= tmp;
+ }
+
+ if (!decode_field(stream, wire_type, &iter))
+ return false;
+ }
+
+ /* Check that all required fields were present. */
+ {
+ /* First figure out the number of required fields by
+ * seeking to the end of the field array. Usually we
+ * are already close to end after decoding.
+ */
+ unsigned req_field_count;
+ pb_type_t last_type;
+ unsigned i;
+ do {
+ req_field_count = iter.required_field_index;
+ last_type = iter.pos->type;
+ } while (pb_field_iter_next(&iter));
+
+ /* Fixup if last field was also required. */
+ if (PB_HTYPE(last_type) == PB_HTYPE_REQUIRED && iter.pos->tag != 0)
+ req_field_count++;
+
+ if (req_field_count > PB_MAX_REQUIRED_FIELDS)
+ req_field_count = PB_MAX_REQUIRED_FIELDS;
+
+ if (req_field_count > 0)
+ {
+ /* Check the whole words */
+ for (i = 0; i < (req_field_count >> 5); i++)
+ {
+ if (fields_seen[i] != allbits)
+ PB_RETURN_ERROR(stream, "missing required field");
+ }
+
+ /* Check the remaining bits (if any) */
+ if ((req_field_count & 31) != 0)
+ {
+ if (fields_seen[req_field_count >> 5] !=
+ (allbits >> (32 - (req_field_count & 31))))
+ {
+ PB_RETURN_ERROR(stream, "missing required field");
+ }
+ }
+ }
+ }
+
+ return true;
+}
+
+bool checkreturn pb_decode(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)
+{
+ bool status;
+ pb_message_set_to_defaults(fields, dest_struct);
+ status = pb_decode_noinit(stream, fields, dest_struct);
+
+#ifdef PB_ENABLE_MALLOC
+ if (!status)
+ pb_release(fields, dest_struct);
+#endif
+
+ return status;
+}
+
+bool pb_decode_delimited_noinit(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)
+{
+ pb_istream_t substream;
+ bool status;
+
+ if (!pb_make_string_substream(stream, &substream))
+ return false;
+
+ status = pb_decode_noinit(&substream, fields, dest_struct);
+
+ if (!pb_close_string_substream(stream, &substream))
+ return false;
+ return status;
+}
+
+bool pb_decode_delimited(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)
+{
+ pb_istream_t substream;
+ bool status;
+
+ if (!pb_make_string_substream(stream, &substream))
+ return false;
+
+ status = pb_decode(&substream, fields, dest_struct);
+
+ if (!pb_close_string_substream(stream, &substream))
+ return false;
+ return status;
+}
+
+bool pb_decode_nullterminated(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct)
+{
+ /* This behaviour will be separated in nanopb-0.4.0, see issue #278. */
+ return pb_decode(stream, fields, dest_struct);
+}
+
+#ifdef PB_ENABLE_MALLOC
+/* Given an oneof field, if there has already been a field inside this oneof,
+ * release it before overwriting with a different one. */
+static bool pb_release_union_field(pb_istream_t *stream, pb_field_iter_t *iter)
+{
+ pb_size_t old_tag = *(pb_size_t*)iter->pSize; /* Previous which_ value */
+ pb_size_t new_tag = iter->pos->tag; /* New which_ value */
+
+ if (old_tag == 0)
+ return true; /* Ok, no old data in union */
+
+ if (old_tag == new_tag)
+ return true; /* Ok, old data is of same type => merge */
+
+ /* Release old data. The find can fail if the message struct contains
+ * invalid data. */
+ if (!pb_field_iter_find(iter, old_tag))
+ PB_RETURN_ERROR(stream, "invalid union tag");
+
+ pb_release_single_field(iter);
+
+ /* Restore iterator to where it should be.
+ * This shouldn't fail unless the pb_field_t structure is corrupted. */
+ if (!pb_field_iter_find(iter, new_tag))
+ PB_RETURN_ERROR(stream, "iterator error");
+
+ return true;
+}
+
+static void pb_release_single_field(const pb_field_iter_t *iter)
+{
+ pb_type_t type;
+ type = iter->pos->type;
+
+ if (PB_HTYPE(type) == PB_HTYPE_ONEOF)
+ {
+ if (*(pb_size_t*)iter->pSize != iter->pos->tag)
+ return; /* This is not the current field in the union */
+ }
+
+ /* Release anything contained inside an extension or submsg.
+ * This has to be done even if the submsg itself is statically
+ * allocated. */
+ if (PB_LTYPE(type) == PB_LTYPE_EXTENSION)
+ {
+ /* Release fields from all extensions in the linked list */
+ pb_extension_t *ext = *(pb_extension_t**)iter->pData;
+ while (ext != NULL)
+ {
+ pb_field_iter_t ext_iter;
+ iter_from_extension(&ext_iter, ext);
+ pb_release_single_field(&ext_iter);
+ ext = ext->next;
+ }
+ }
+ else if (PB_LTYPE(type) == PB_LTYPE_SUBMESSAGE)
+ {
+ /* Release fields in submessage or submsg array */
+ void *pItem = iter->pData;
+ pb_size_t count = 1;
+
+ if (PB_ATYPE(type) == PB_ATYPE_POINTER)
+ {
+ pItem = *(void**)iter->pData;
+ }
+
+ if (PB_HTYPE(type) == PB_HTYPE_REPEATED)
+ {
+ count = *(pb_size_t*)iter->pSize;
+
+ if (PB_ATYPE(type) == PB_ATYPE_STATIC && count > iter->pos->array_size)
+ {
+ /* Protect against corrupted _count fields */
+ count = iter->pos->array_size;
+ }
+ }
+
+ if (pItem)
+ {
+ while (count--)
+ {
+ pb_release((const pb_field_t*)iter->pos->ptr, pItem);
+ pItem = (char*)pItem + iter->pos->data_size;
+ }
+ }
+ }
+
+ if (PB_ATYPE(type) == PB_ATYPE_POINTER)
+ {
+ if (PB_HTYPE(type) == PB_HTYPE_REPEATED &&
+ (PB_LTYPE(type) == PB_LTYPE_STRING ||
+ PB_LTYPE(type) == PB_LTYPE_BYTES))
+ {
+ /* Release entries in repeated string or bytes array */
+ void **pItem = *(void***)iter->pData;
+ pb_size_t count = *(pb_size_t*)iter->pSize;
+ while (count--)
+ {
+ pb_free(*pItem);
+ *pItem++ = NULL;
+ }
+ }
+
+ if (PB_HTYPE(type) == PB_HTYPE_REPEATED)
+ {
+ /* We are going to release the array, so set the size to 0 */
+ *(pb_size_t*)iter->pSize = 0;
+ }
+
+ /* Release main item */
+ pb_free(*(void**)iter->pData);
+ *(void**)iter->pData = NULL;
+ }
+}
+
+void pb_release(const pb_field_t fields[], void *dest_struct)
+{
+ pb_field_iter_t iter;
+
+ if (!dest_struct)
+ return; /* Ignore NULL pointers, similar to free() */
+
+ if (!pb_field_iter_begin(&iter, fields, dest_struct))
+ return; /* Empty message type */
+
+ do
+ {
+ pb_release_single_field(&iter);
+ } while (pb_field_iter_next(&iter));
+}
+#endif
+
+/* Field decoders */
+
+bool pb_decode_svarint(pb_istream_t *stream, pb_int64_t *dest)
+{
+ pb_uint64_t value;
+ if (!pb_decode_varint(stream, &value))
+ return false;
+
+ if (value & 1)
+ *dest = (pb_int64_t)(~(value >> 1));
+ else
+ *dest = (pb_int64_t)(value >> 1);
+
+ return true;
+}
+
+bool pb_decode_fixed32(pb_istream_t *stream, void *dest)
+{
+ pb_byte_t bytes[4];
+
+ if (!pb_read(stream, bytes, 4))
+ return false;
+
+ *(uint32_t*)dest = ((uint32_t)bytes[0] << 0) |
+ ((uint32_t)bytes[1] << 8) |
+ ((uint32_t)bytes[2] << 16) |
+ ((uint32_t)bytes[3] << 24);
+ return true;
+}
+
+#ifndef PB_WITHOUT_64BIT
+bool pb_decode_fixed64(pb_istream_t *stream, void *dest)
+{
+ pb_byte_t bytes[8];
+
+ if (!pb_read(stream, bytes, 8))
+ return false;
+
+ *(uint64_t*)dest = ((uint64_t)bytes[0] << 0) |
+ ((uint64_t)bytes[1] << 8) |
+ ((uint64_t)bytes[2] << 16) |
+ ((uint64_t)bytes[3] << 24) |
+ ((uint64_t)bytes[4] << 32) |
+ ((uint64_t)bytes[5] << 40) |
+ ((uint64_t)bytes[6] << 48) |
+ ((uint64_t)bytes[7] << 56);
+
+ return true;
+}
+#endif
+
+static bool checkreturn pb_dec_varint(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ pb_uint64_t value;
+ pb_int64_t svalue;
+ pb_int64_t clamped;
+ if (!pb_decode_varint(stream, &value))
+ return false;
+
+ /* See issue 97: Google's C++ protobuf allows negative varint values to
+ * be cast as int32_t, instead of the int64_t that should be used when
+ * encoding. Previous nanopb versions had a bug in encoding. In order to
+ * not break decoding of such messages, we cast <=32 bit fields to
+ * int32_t first to get the sign correct.
+ */
+ if (field->data_size == sizeof(pb_int64_t))
+ svalue = (pb_int64_t)value;
+ else
+ svalue = (int32_t)value;
+
+ /* Cast to the proper field size, while checking for overflows */
+ if (field->data_size == sizeof(pb_int64_t))
+ clamped = *(pb_int64_t*)dest = svalue;
+ else if (field->data_size == sizeof(int32_t))
+ clamped = *(int32_t*)dest = (int32_t)svalue;
+ else if (field->data_size == sizeof(int_least16_t))
+ clamped = *(int_least16_t*)dest = (int_least16_t)svalue;
+ else if (field->data_size == sizeof(int_least8_t))
+ clamped = *(int_least8_t*)dest = (int_least8_t)svalue;
+ else
+ PB_RETURN_ERROR(stream, "invalid data_size");
+
+ if (clamped != svalue)
+ PB_RETURN_ERROR(stream, "integer too large");
+
+ return true;
+}
+
+static bool checkreturn pb_dec_uvarint(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ pb_uint64_t value, clamped;
+ if (!pb_decode_varint(stream, &value))
+ return false;
+
+ /* Cast to the proper field size, while checking for overflows */
+ if (field->data_size == sizeof(pb_uint64_t))
+ clamped = *(pb_uint64_t*)dest = value;
+ else if (field->data_size == sizeof(uint32_t))
+ clamped = *(uint32_t*)dest = (uint32_t)value;
+ else if (field->data_size == sizeof(uint_least16_t))
+ clamped = *(uint_least16_t*)dest = (uint_least16_t)value;
+ else if (field->data_size == sizeof(uint_least8_t))
+ clamped = *(uint_least8_t*)dest = (uint_least8_t)value;
+ else
+ PB_RETURN_ERROR(stream, "invalid data_size");
+
+ if (clamped != value)
+ PB_RETURN_ERROR(stream, "integer too large");
+
+ return true;
+}
+
+static bool checkreturn pb_dec_svarint(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ pb_int64_t value, clamped;
+ if (!pb_decode_svarint(stream, &value))
+ return false;
+
+ /* Cast to the proper field size, while checking for overflows */
+ if (field->data_size == sizeof(pb_int64_t))
+ clamped = *(pb_int64_t*)dest = value;
+ else if (field->data_size == sizeof(int32_t))
+ clamped = *(int32_t*)dest = (int32_t)value;
+ else if (field->data_size == sizeof(int_least16_t))
+ clamped = *(int_least16_t*)dest = (int_least16_t)value;
+ else if (field->data_size == sizeof(int_least8_t))
+ clamped = *(int_least8_t*)dest = (int_least8_t)value;
+ else
+ PB_RETURN_ERROR(stream, "invalid data_size");
+
+ if (clamped != value)
+ PB_RETURN_ERROR(stream, "integer too large");
+
+ return true;
+}
+
+static bool checkreturn pb_dec_fixed32(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ PB_UNUSED(field);
+ return pb_decode_fixed32(stream, dest);
+}
+
+static bool checkreturn pb_dec_fixed64(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ PB_UNUSED(field);
+#ifndef PB_WITHOUT_64BIT
+ return pb_decode_fixed64(stream, dest);
+#else
+ PB_UNUSED(dest);
+ PB_RETURN_ERROR(stream, "no 64bit support");
+#endif
+}
+
+static bool checkreturn pb_dec_bytes(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ uint32_t size;
+ size_t alloc_size;
+ pb_bytes_array_t *bdest;
+
+ if (!pb_decode_varint32(stream, &size))
+ return false;
+
+ if (size > PB_SIZE_MAX)
+ PB_RETURN_ERROR(stream, "bytes overflow");
+
+ alloc_size = PB_BYTES_ARRAY_T_ALLOCSIZE(size);
+ if (size > alloc_size)
+ PB_RETURN_ERROR(stream, "size too large");
+
+ if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+ {
+#ifndef PB_ENABLE_MALLOC
+ PB_RETURN_ERROR(stream, "no malloc support");
+#else
+ if (!allocate_field(stream, dest, alloc_size, 1))
+ return false;
+ bdest = *(pb_bytes_array_t**)dest;
+#endif
+ }
+ else
+ {
+ if (alloc_size > field->data_size)
+ PB_RETURN_ERROR(stream, "bytes overflow");
+ bdest = (pb_bytes_array_t*)dest;
+ }
+
+ bdest->size = (pb_size_t)size;
+ return pb_read(stream, bdest->bytes, size);
+}
+
+static bool checkreturn pb_dec_string(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ uint32_t size;
+ size_t alloc_size;
+ bool status;
+ if (!pb_decode_varint32(stream, &size))
+ return false;
+
+ /* Space for null terminator */
+ alloc_size = size + 1;
+
+ if (alloc_size < size)
+ PB_RETURN_ERROR(stream, "size too large");
+
+ if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+ {
+#ifndef PB_ENABLE_MALLOC
+ PB_RETURN_ERROR(stream, "no malloc support");
+#else
+ if (!allocate_field(stream, dest, alloc_size, 1))
+ return false;
+ dest = *(void**)dest;
+#endif
+ }
+ else
+ {
+ if (alloc_size > field->data_size)
+ PB_RETURN_ERROR(stream, "string overflow");
+ }
+
+ status = pb_read(stream, (pb_byte_t*)dest, size);
+ *((pb_byte_t*)dest + size) = 0;
+ return status;
+}
+
+static bool checkreturn pb_dec_submessage(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ bool status;
+ pb_istream_t substream;
+ const pb_field_t* submsg_fields = (const pb_field_t*)field->ptr;
+
+ if (!pb_make_string_substream(stream, &substream))
+ return false;
+
+ if (field->ptr == NULL)
+ PB_RETURN_ERROR(stream, "invalid field descriptor");
+
+ /* New array entries need to be initialized, while required and optional
+ * submessages have already been initialized in the top-level pb_decode. */
+ if (PB_HTYPE(field->type) == PB_HTYPE_REPEATED)
+ status = pb_decode(&substream, submsg_fields, dest);
+ else
+ status = pb_decode_noinit(&substream, submsg_fields, dest);
+
+ if (!pb_close_string_substream(stream, &substream))
+ return false;
+ return status;
+}
+
+static bool checkreturn pb_dec_fixed_length_bytes(pb_istream_t *stream, const pb_field_t *field, void *dest)
+{
+ uint32_t size;
+
+ if (!pb_decode_varint32(stream, &size))
+ return false;
+
+ if (size > PB_SIZE_MAX)
+ PB_RETURN_ERROR(stream, "bytes overflow");
+
+ if (size == 0)
+ {
+ /* As a special case, treat empty bytes string as all zeros for fixed_length_bytes. */
+ memset(dest, 0, field->data_size);
+ return true;
+ }
+
+ if (size != field->data_size)
+ PB_RETURN_ERROR(stream, "incorrect fixed length bytes size");
+
+ return pb_read(stream, (pb_byte_t*)dest, field->data_size);
+}
diff --git a/elegoo/pb/pb_decode.h b/elegoo/pb/pb_decode.h
new file mode 100644
index 0000000..398b24a
--- /dev/null
+++ b/elegoo/pb/pb_decode.h
@@ -0,0 +1,175 @@
+/* pb_decode.h: Functions to decode protocol buffers. Depends on pb_decode.c.
+ * The main function is pb_decode. You also need an input stream, and the
+ * field descriptions created by nanopb_generator.py.
+ */
+
+#ifndef PB_DECODE_H_INCLUDED
+#define PB_DECODE_H_INCLUDED
+
+#include "pb.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Structure for defining custom input streams. You will need to provide
+ * a callback function to read the bytes from your storage, which can be
+ * for example a file or a network socket.
+ *
+ * The callback must conform to these rules:
+ *
+ * 1) Return false on IO errors. This will cause decoding to abort.
+ * 2) You can use state to store your own data (e.g. buffer pointer),
+ * and rely on pb_read to verify that no-body reads past bytes_left.
+ * 3) Your callback may be used with substreams, in which case bytes_left
+ * is different than from the main stream. Don't use bytes_left to compute
+ * any pointers.
+ */
+struct pb_istream_s
+{
+#ifdef PB_BUFFER_ONLY
+ /* Callback pointer is not used in buffer-only configuration.
+ * Having an int pointer here allows binary compatibility but
+ * gives an error if someone tries to assign callback function.
+ */
+ int *callback;
+#else
+ bool (*callback)(pb_istream_t *stream, pb_byte_t *buf, size_t count);
+#endif
+
+ void *state; /* Free field for use by callback implementation */
+ size_t bytes_left;
+
+#ifndef PB_NO_ERRMSG
+ const char *errmsg;
+#endif
+};
+
+/***************************
+ * Main decoding functions *
+ ***************************/
+
+/* Decode a single protocol buffers message from input stream into a C structure.
+ * Returns true on success, false on any failure.
+ * The actual struct pointed to by dest must match the description in fields.
+ * Callback fields of the destination structure must be initialized by caller.
+ * All other fields will be initialized by this function.
+ *
+ * Example usage:
+ * MyMessage msg = {};
+ * uint8_t buffer[64];
+ * pb_istream_t stream;
+ *
+ * // ... read some data into buffer ...
+ *
+ * stream = pb_istream_from_buffer(buffer, count);
+ * pb_decode(&stream, MyMessage_fields, &msg);
+ */
+bool pb_decode(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct);
+
+/* Same as pb_decode, except does not initialize the destination structure
+ * to default values. This is slightly faster if you need no default values
+ * and just do memset(struct, 0, sizeof(struct)) yourself.
+ *
+ * This can also be used for 'merging' two messages, i.e. update only the
+ * fields that exist in the new message.
+ *
+ * Note: If this function returns with an error, it will not release any
+ * dynamically allocated fields. You will need to call pb_release() yourself.
+ */
+bool pb_decode_noinit(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct);
+
+/* Same as pb_decode, except expects the stream to start with the message size
+ * encoded as varint. Corresponds to parseDelimitedFrom() in Google's
+ * protobuf API.
+ */
+bool pb_decode_delimited(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct);
+
+/* Same as pb_decode_delimited, except that it does not initialize the destination structure.
+ * See pb_decode_noinit
+ */
+bool pb_decode_delimited_noinit(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct);
+
+/* Same as pb_decode, except allows the message to be terminated with a null byte.
+ * NOTE: Until nanopb-0.4.0, pb_decode() also allows null-termination. This behaviour
+ * is not supported in most other protobuf implementations, so pb_decode_delimited()
+ * is a better option for compatibility.
+ */
+bool pb_decode_nullterminated(pb_istream_t *stream, const pb_field_t fields[], void *dest_struct);
+
+#ifdef PB_ENABLE_MALLOC
+/* Release any allocated pointer fields. If you use dynamic allocation, you should
+ * call this for any successfully decoded message when you are done with it. If
+ * pb_decode() returns with an error, the message is already released.
+ */
+void pb_release(const pb_field_t fields[], void *dest_struct);
+#endif
+
+
+/**************************************
+ * Functions for manipulating streams *
+ **************************************/
+
+/* Create an input stream for reading from a memory buffer.
+ *
+ * Alternatively, you can use a custom stream that reads directly from e.g.
+ * a file or a network socket.
+ */
+pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t bufsize);
+
+/* Function to read from a pb_istream_t. You can use this if you need to
+ * read some custom header data, or to read data in field callbacks.
+ */
+bool pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count);
+
+
+/************************************************
+ * Helper functions for writing field callbacks *
+ ************************************************/
+
+/* Decode the tag for the next field in the stream. Gives the wire type and
+ * field tag. At end of the message, returns false and sets eof to true. */
+bool pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof);
+
+/* Skip the field payload data, given the wire type. */
+bool pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type);
+
+/* Decode an integer in the varint format. This works for bool, enum, int32,
+ * int64, uint32 and uint64 field types. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_decode_varint(pb_istream_t *stream, uint64_t *dest);
+#else
+#define pb_decode_varint pb_decode_varint32
+#endif
+
+/* Decode an integer in the varint format. This works for bool, enum, int32,
+ * and uint32 field types. */
+bool pb_decode_varint32(pb_istream_t *stream, uint32_t *dest);
+
+/* Decode an integer in the zig-zagged svarint format. This works for sint32
+ * and sint64. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_decode_svarint(pb_istream_t *stream, int64_t *dest);
+#else
+bool pb_decode_svarint(pb_istream_t *stream, int32_t *dest);
+#endif
+
+/* Decode a fixed32, sfixed32 or float value. You need to pass a pointer to
+ * a 4-byte wide C variable. */
+bool pb_decode_fixed32(pb_istream_t *stream, void *dest);
+
+#ifndef PB_WITHOUT_64BIT
+/* Decode a fixed64, sfixed64 or double value. You need to pass a pointer to
+ * a 8-byte wide C variable. */
+bool pb_decode_fixed64(pb_istream_t *stream, void *dest);
+#endif
+
+/* Make a limited-length substream for reading a PB_WT_STRING field. */
+bool pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream);
+bool pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif
diff --git a/elegoo/pb/pb_encode.c b/elegoo/pb/pb_encode.c
new file mode 100644
index 0000000..b67b79b
--- /dev/null
+++ b/elegoo/pb/pb_encode.c
@@ -0,0 +1,862 @@
+/* pb_encode.c -- encode a protobuf using minimal resources
+ *
+ * 2011 Petteri Aimonen <jpa@kapsi.fi>
+ */
+
+#include "pb.h"
+#include "pb_encode.h"
+#include "pb_common.h"
+
+/* Use the GCC warn_unused_result attribute to check that all return values
+ * are propagated correctly. On other compilers and gcc before 3.4.0 just
+ * ignore the annotation.
+ */
+#if !defined(__GNUC__) || ( __GNUC__ < 3) || (__GNUC__ == 3 && __GNUC_MINOR__ < 4)
+ #define checkreturn
+#else
+ #define checkreturn __attribute__((warn_unused_result))
+#endif
+
+/**************************************
+ * Declarations internal to this file *
+ **************************************/
+typedef bool (*pb_encoder_t)(pb_ostream_t *stream, const pb_field_t *field, const void *src) checkreturn;
+
+static bool checkreturn buf_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
+static bool checkreturn encode_array(pb_ostream_t *stream, const pb_field_t *field, const void *pData, size_t count, pb_encoder_t func);
+static bool checkreturn encode_field(pb_ostream_t *stream, const pb_field_t *field, const void *pData);
+static bool checkreturn default_extension_encoder(pb_ostream_t *stream, const pb_extension_t *extension);
+static bool checkreturn encode_extension_field(pb_ostream_t *stream, const pb_field_t *field, const void *pData);
+static void *pb_const_cast(const void *p);
+static bool checkreturn pb_enc_varint(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_uvarint(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_svarint(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_fixed32(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_fixed64(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_bytes(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_string(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_submessage(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+static bool checkreturn pb_enc_fixed_length_bytes(pb_ostream_t *stream, const pb_field_t *field, const void *src);
+
+#ifdef PB_WITHOUT_64BIT
+#define pb_int64_t int32_t
+#define pb_uint64_t uint32_t
+
+static bool checkreturn pb_encode_negative_varint(pb_ostream_t *stream, pb_uint64_t value);
+#else
+#define pb_int64_t int64_t
+#define pb_uint64_t uint64_t
+#endif
+
+/* --- Function pointers to field encoders ---
+ * Order in the array must match pb_action_t LTYPE numbering.
+ */
+static const pb_encoder_t PB_ENCODERS[PB_LTYPES_COUNT] = {
+ &pb_enc_varint,
+ &pb_enc_uvarint,
+ &pb_enc_svarint,
+ &pb_enc_fixed32,
+ &pb_enc_fixed64,
+
+ &pb_enc_bytes,
+ &pb_enc_string,
+ &pb_enc_submessage,
+ NULL, /* extensions */
+ &pb_enc_fixed_length_bytes
+};
+
+/*******************************
+ * pb_ostream_t implementation *
+ *******************************/
+
+static bool checkreturn buf_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count)
+{
+ size_t i;
+ pb_byte_t *dest = (pb_byte_t*)stream->state;
+ stream->state = dest + count;
+
+ for (i = 0; i < count; i++)
+ dest[i] = buf[i];
+
+ return true;
+}
+
+pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize)
+{
+ pb_ostream_t stream;
+#ifdef PB_BUFFER_ONLY
+ stream.callback = (void*)1; /* Just a marker value */
+#else
+ stream.callback = &buf_write;
+#endif
+ stream.state = buf;
+ stream.max_size = bufsize;
+ stream.bytes_written = 0;
+#ifndef PB_NO_ERRMSG
+ stream.errmsg = NULL;
+#endif
+ return stream;
+}
+
+bool checkreturn pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count)
+{
+ if (stream->callback != NULL)
+ {
+ if (stream->bytes_written + count > stream->max_size)
+ PB_RETURN_ERROR(stream, "stream full");
+
+#ifdef PB_BUFFER_ONLY
+ if (!buf_write(stream, buf, count))
+ PB_RETURN_ERROR(stream, "io error");
+#else
+ if (!stream->callback(stream, buf, count))
+ PB_RETURN_ERROR(stream, "io error");
+#endif
+ }
+
+ stream->bytes_written += count;
+ return true;
+}
+
+/*************************
+ * Encode a single field *
+ *************************/
+
+/* Encode a static array. Handles the size calculations and possible packing. */
+static bool checkreturn encode_array(pb_ostream_t *stream, const pb_field_t *field,
+ const void *pData, size_t count, pb_encoder_t func)
+{
+ size_t i;
+ const void *p;
+ size_t size;
+
+ if (count == 0)
+ return true;
+
+ if (PB_ATYPE(field->type) != PB_ATYPE_POINTER && count > field->array_size)
+ PB_RETURN_ERROR(stream, "array max size exceeded");
+
+ /* We always pack arrays if the datatype allows it. */
+ if (PB_LTYPE(field->type) <= PB_LTYPE_LAST_PACKABLE)
+ {
+ if (!pb_encode_tag(stream, PB_WT_STRING, field->tag))
+ return false;
+
+ /* Determine the total size of packed array. */
+ if (PB_LTYPE(field->type) == PB_LTYPE_FIXED32)
+ {
+ size = 4 * count;
+ }
+ else if (PB_LTYPE(field->type) == PB_LTYPE_FIXED64)
+ {
+ size = 8 * count;
+ }
+ else
+ {
+ pb_ostream_t sizestream = PB_OSTREAM_SIZING;
+ p = pData;
+ for (i = 0; i < count; i++)
+ {
+ if (!func(&sizestream, field, p))
+ return false;
+ p = (const char*)p + field->data_size;
+ }
+ size = sizestream.bytes_written;
+ }
+
+ if (!pb_encode_varint(stream, (pb_uint64_t)size))
+ return false;
+
+ if (stream->callback == NULL)
+ return pb_write(stream, NULL, size); /* Just sizing.. */
+
+ /* Write the data */
+ p = pData;
+ for (i = 0; i < count; i++)
+ {
+ if (!func(stream, field, p))
+ return false;
+ p = (const char*)p + field->data_size;
+ }
+ }
+ else
+ {
+ p = pData;
+ for (i = 0; i < count; i++)
+ {
+ if (!pb_encode_tag_for_field(stream, field))
+ return false;
+
+ /* Normally the data is stored directly in the array entries, but
+ * for pointer-type string and bytes fields, the array entries are
+ * actually pointers themselves also. So we have to dereference once
+ * more to get to the actual data. */
+ if (PB_ATYPE(field->type) == PB_ATYPE_POINTER &&
+ (PB_LTYPE(field->type) == PB_LTYPE_STRING ||
+ PB_LTYPE(field->type) == PB_LTYPE_BYTES))
+ {
+ if (!func(stream, field, *(const void* const*)p))
+ return false;
+ }
+ else
+ {
+ if (!func(stream, field, p))
+ return false;
+ }
+ p = (const char*)p + field->data_size;
+ }
+ }
+
+ return true;
+}
+
+/* In proto3, all fields are optional and are only encoded if their value is "non-zero".
+ * This function implements the check for the zero value. */
+static bool pb_check_proto3_default_value(const pb_field_t *field, const void *pData)
+{
+ pb_type_t type = field->type;
+ const void *pSize = (const char*)pData + field->size_offset;
+
+ if (PB_HTYPE(type) == PB_HTYPE_REQUIRED)
+ {
+ /* Required proto2 fields inside proto3 submessage, pretty rare case */
+ return false;
+ }
+ else if (PB_HTYPE(type) == PB_HTYPE_REPEATED)
+ {
+ /* Repeated fields inside proto3 submessage: present if count != 0 */
+ return *(const pb_size_t*)pSize == 0;
+ }
+ else if (PB_HTYPE(type) == PB_HTYPE_ONEOF)
+ {
+ /* Oneof fields */
+ return *(const pb_size_t*)pSize == 0;
+ }
+ else if (PB_HTYPE(type) == PB_HTYPE_OPTIONAL && field->size_offset)
+ {
+ /* Proto2 optional fields inside proto3 submessage */
+ return *(const bool*)pSize == false;
+ }
+
+ /* Rest is proto3 singular fields */
+
+ if (PB_ATYPE(type) == PB_ATYPE_STATIC)
+ {
+ if (PB_LTYPE(type) == PB_LTYPE_BYTES)
+ {
+ const pb_bytes_array_t *bytes = (const pb_bytes_array_t*)pData;
+ return bytes->size == 0;
+ }
+ else if (PB_LTYPE(type) == PB_LTYPE_STRING)
+ {
+ return *(const char*)pData == '\0';
+ }
+ else if (PB_LTYPE(type) == PB_LTYPE_FIXED_LENGTH_BYTES)
+ {
+ /* Fixed length bytes is only empty if its length is fixed
+ * as 0. Which would be pretty strange, but we can check
+ * it anyway. */
+ return field->data_size == 0;
+ }
+ else if (PB_LTYPE(type) == PB_LTYPE_SUBMESSAGE)
+ {
+ /* Check all fields in the submessage to find if any of them
+ * are non-zero. The comparison cannot be done byte-per-byte
+ * because the C struct may contain padding bytes that must
+ * be skipped.
+ */
+ pb_field_iter_t iter;
+ if (pb_field_iter_begin(&iter, (const pb_field_t*)field->ptr, pb_const_cast(pData)))
+ {
+ do
+ {
+ if (!pb_check_proto3_default_value(iter.pos, iter.pData))
+ {
+ return false;
+ }
+ } while (pb_field_iter_next(&iter));
+ }
+ return true;
+ }
+ }
+
+ {
+ /* Catch-all branch that does byte-per-byte comparison for zero value.
+ *
+ * This is for all pointer fields, and for static PB_LTYPE_VARINT,
+ * UVARINT, SVARINT, FIXED32, FIXED64, EXTENSION fields, and also
+ * callback fields. These all have integer or pointer value which
+ * can be compared with 0.
+ */
+ pb_size_t i;
+ const char *p = (const char*)pData;
+ for (i = 0; i < field->data_size; i++)
+ {
+ if (p[i] != 0)
+ {
+ return false;
+ }
+ }
+
+ return true;
+ }
+}
+
+/* Encode a field with static or pointer allocation, i.e. one whose data
+ * is available to the encoder directly. */
+static bool checkreturn encode_basic_field(pb_ostream_t *stream,
+ const pb_field_t *field, const void *pData)
+{
+ pb_encoder_t func;
+ bool implicit_has;
+ const void *pSize = &implicit_has;
+
+ func = PB_ENCODERS[PB_LTYPE(field->type)];
+
+ if (field->size_offset)
+ {
+ /* Static optional, repeated or oneof field */
+ pSize = (const char*)pData + field->size_offset;
+ }
+ else if (PB_HTYPE(field->type) == PB_HTYPE_OPTIONAL)
+ {
+ /* Proto3 style field, optional but without explicit has_ field. */
+ implicit_has = !pb_check_proto3_default_value(field, pData);
+ }
+ else
+ {
+ /* Required field, always present */
+ implicit_has = true;
+ }
+
+ if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+ {
+ /* pData is a pointer to the field, which contains pointer to
+ * the data. If the 2nd pointer is NULL, it is interpreted as if
+ * the has_field was false.
+ */
+ pData = *(const void* const*)pData;
+ implicit_has = (pData != NULL);
+ }
+
+ switch (PB_HTYPE(field->type))
+ {
+ case PB_HTYPE_REQUIRED:
+ if (!pData)
+ PB_RETURN_ERROR(stream, "missing required field");
+ if (!pb_encode_tag_for_field(stream, field))
+ return false;
+ if (!func(stream, field, pData))
+ return false;
+ break;
+
+ case PB_HTYPE_OPTIONAL:
+ if (*(const bool*)pSize)
+ {
+ if (!pb_encode_tag_for_field(stream, field))
+ return false;
+
+ if (!func(stream, field, pData))
+ return false;
+ }
+ break;
+
+ case PB_HTYPE_REPEATED:
+ if (!encode_array(stream, field, pData, *(const pb_size_t*)pSize, func))
+ return false;
+ break;
+
+ case PB_HTYPE_ONEOF:
+ if (*(const pb_size_t*)pSize == field->tag)
+ {
+ if (!pb_encode_tag_for_field(stream, field))
+ return false;
+
+ if (!func(stream, field, pData))
+ return false;
+ }
+ break;
+
+ default:
+ PB_RETURN_ERROR(stream, "invalid field type");
+ }
+
+ return true;
+}
+
+/* Encode a field with callback semantics. This means that a user function is
+ * called to provide and encode the actual data. */
+static bool checkreturn encode_callback_field(pb_ostream_t *stream,
+ const pb_field_t *field, const void *pData)
+{
+ const pb_callback_t *callback = (const pb_callback_t*)pData;
+
+#ifdef PB_OLD_CALLBACK_STYLE
+ const void *arg = callback->arg;
+#else
+ void * const *arg = &(callback->arg);
+#endif
+
+ if (callback->funcs.encode != NULL)
+ {
+ if (!callback->funcs.encode(stream, field, arg))
+ PB_RETURN_ERROR(stream, "callback error");
+ }
+ return true;
+}
+
+/* Encode a single field of any callback or static type. */
+static bool checkreturn encode_field(pb_ostream_t *stream,
+ const pb_field_t *field, const void *pData)
+{
+ switch (PB_ATYPE(field->type))
+ {
+ case PB_ATYPE_STATIC:
+ case PB_ATYPE_POINTER:
+ return encode_basic_field(stream, field, pData);
+
+ case PB_ATYPE_CALLBACK:
+ return encode_callback_field(stream, field, pData);
+
+ default:
+ PB_RETURN_ERROR(stream, "invalid field type");
+ }
+}
+
+/* Default handler for extension fields. Expects to have a pb_field_t
+ * pointer in the extension->type->arg field. */
+static bool checkreturn default_extension_encoder(pb_ostream_t *stream,
+ const pb_extension_t *extension)
+{
+ const pb_field_t *field = (const pb_field_t*)extension->type->arg;
+
+ if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+ {
+ /* For pointer extensions, the pointer is stored directly
+ * in the extension structure. This avoids having an extra
+ * indirection. */
+ return encode_field(stream, field, &extension->dest);
+ }
+ else
+ {
+ return encode_field(stream, field, extension->dest);
+ }
+}
+
+/* Walk through all the registered extensions and give them a chance
+ * to encode themselves. */
+static bool checkreturn encode_extension_field(pb_ostream_t *stream,
+ const pb_field_t *field, const void *pData)
+{
+ const pb_extension_t *extension = *(const pb_extension_t* const *)pData;
+ PB_UNUSED(field);
+
+ while (extension)
+ {
+ bool status;
+ if (extension->type->encode)
+ status = extension->type->encode(stream, extension);
+ else
+ status = default_extension_encoder(stream, extension);
+
+ if (!status)
+ return false;
+
+ extension = extension->next;
+ }
+
+ return true;
+}
+
+/*********************
+ * Encode all fields *
+ *********************/
+
+static void *pb_const_cast(const void *p)
+{
+ /* Note: this casts away const, in order to use the common field iterator
+ * logic for both encoding and decoding. */
+ union {
+ void *p1;
+ const void *p2;
+ } t;
+ t.p2 = p;
+ return t.p1;
+}
+
+bool checkreturn pb_encode(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)
+{
+ pb_field_iter_t iter;
+ if (!pb_field_iter_begin(&iter, fields, pb_const_cast(src_struct)))
+ return true; /* Empty message type */
+
+ do {
+ if (PB_LTYPE(iter.pos->type) == PB_LTYPE_EXTENSION)
+ {
+ /* Special case for the extension field placeholder */
+ if (!encode_extension_field(stream, iter.pos, iter.pData))
+ return false;
+ }
+ else
+ {
+ /* Regular field */
+ if (!encode_field(stream, iter.pos, iter.pData))
+ return false;
+ }
+ } while (pb_field_iter_next(&iter));
+
+ return true;
+}
+
+bool pb_encode_delimited(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)
+{
+ return pb_encode_submessage(stream, fields, src_struct);
+}
+
+bool pb_encode_nullterminated(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)
+{
+ const pb_byte_t zero = 0;
+
+ if (!pb_encode(stream, fields, src_struct))
+ return false;
+
+ return pb_write(stream, &zero, 1);
+}
+
+bool pb_get_encoded_size(size_t *size, const pb_field_t fields[], const void *src_struct)
+{
+ pb_ostream_t stream = PB_OSTREAM_SIZING;
+
+ if (!pb_encode(&stream, fields, src_struct))
+ return false;
+
+ *size = stream.bytes_written;
+ return true;
+}
+
+/********************
+ * Helper functions *
+ ********************/
+
+#ifdef PB_WITHOUT_64BIT
+bool checkreturn pb_encode_negative_varint(pb_ostream_t *stream, pb_uint64_t value)
+{
+ pb_byte_t buffer[10];
+ size_t i = 0;
+ size_t compensation = 32;/* we need to compensate 32 bits all set to 1 */
+
+ while (value)
+ {
+ buffer[i] = (pb_byte_t)((value & 0x7F) | 0x80);
+ value >>= 7;
+ if (compensation)
+ {
+ /* re-set all the compensation bits we can or need */
+ size_t bits = compensation > 7 ? 7 : compensation;
+ value ^= (pb_uint64_t)((0xFFu >> (8 - bits)) << 25); /* set the number of bits needed on the lowest of the most significant 7 bits */
+ compensation -= bits;
+ }
+ i++;
+ }
+ buffer[i - 1] &= 0x7F; /* Unset top bit on last byte */
+
+ return pb_write(stream, buffer, i);
+}
+#endif
+
+bool checkreturn pb_encode_varint(pb_ostream_t *stream, pb_uint64_t value)
+{
+ pb_byte_t buffer[10];
+ size_t i = 0;
+
+ if (value <= 0x7F)
+ {
+ pb_byte_t v = (pb_byte_t)value;
+ return pb_write(stream, &v, 1);
+ }
+
+ while (value)
+ {
+ buffer[i] = (pb_byte_t)((value & 0x7F) | 0x80);
+ value >>= 7;
+ i++;
+ }
+ buffer[i-1] &= 0x7F; /* Unset top bit on last byte */
+
+ return pb_write(stream, buffer, i);
+}
+
+bool checkreturn pb_encode_svarint(pb_ostream_t *stream, pb_int64_t value)
+{
+ pb_uint64_t zigzagged;
+ if (value < 0)
+ zigzagged = ~((pb_uint64_t)value << 1);
+ else
+ zigzagged = (pb_uint64_t)value << 1;
+
+ return pb_encode_varint(stream, zigzagged);
+}
+
+bool checkreturn pb_encode_fixed32(pb_ostream_t *stream, const void *value)
+{
+ uint32_t val = *(const uint32_t*)value;
+ pb_byte_t bytes[4];
+ bytes[0] = (pb_byte_t)(val & 0xFF);
+ bytes[1] = (pb_byte_t)((val >> 8) & 0xFF);
+ bytes[2] = (pb_byte_t)((val >> 16) & 0xFF);
+ bytes[3] = (pb_byte_t)((val >> 24) & 0xFF);
+ return pb_write(stream, bytes, 4);
+}
+
+#ifndef PB_WITHOUT_64BIT
+bool checkreturn pb_encode_fixed64(pb_ostream_t *stream, const void *value)
+{
+ uint64_t val = *(const uint64_t*)value;
+ pb_byte_t bytes[8];
+ bytes[0] = (pb_byte_t)(val & 0xFF);
+ bytes[1] = (pb_byte_t)((val >> 8) & 0xFF);
+ bytes[2] = (pb_byte_t)((val >> 16) & 0xFF);
+ bytes[3] = (pb_byte_t)((val >> 24) & 0xFF);
+ bytes[4] = (pb_byte_t)((val >> 32) & 0xFF);
+ bytes[5] = (pb_byte_t)((val >> 40) & 0xFF);
+ bytes[6] = (pb_byte_t)((val >> 48) & 0xFF);
+ bytes[7] = (pb_byte_t)((val >> 56) & 0xFF);
+ return pb_write(stream, bytes, 8);
+}
+#endif
+
+bool checkreturn pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number)
+{
+ pb_uint64_t tag = ((pb_uint64_t)field_number << 3) | wiretype;
+ return pb_encode_varint(stream, tag);
+}
+
+bool checkreturn pb_encode_tag_for_field(pb_ostream_t *stream, const pb_field_t *field)
+{
+ pb_wire_type_t wiretype;
+ switch (PB_LTYPE(field->type))
+ {
+ case PB_LTYPE_VARINT:
+ case PB_LTYPE_UVARINT:
+ case PB_LTYPE_SVARINT:
+ wiretype = PB_WT_VARINT;
+ break;
+
+ case PB_LTYPE_FIXED32:
+ wiretype = PB_WT_32BIT;
+ break;
+
+ case PB_LTYPE_FIXED64:
+ wiretype = PB_WT_64BIT;
+ break;
+
+ case PB_LTYPE_BYTES:
+ case PB_LTYPE_STRING:
+ case PB_LTYPE_SUBMESSAGE:
+ case PB_LTYPE_FIXED_LENGTH_BYTES:
+ wiretype = PB_WT_STRING;
+ break;
+
+ default:
+ PB_RETURN_ERROR(stream, "invalid field type");
+ }
+
+ return pb_encode_tag(stream, wiretype, field->tag);
+}
+
+bool checkreturn pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size)
+{
+ if (!pb_encode_varint(stream, (pb_uint64_t)size))
+ return false;
+
+ return pb_write(stream, buffer, size);
+}
+
+bool checkreturn pb_encode_submessage(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct)
+{
+ /* First calculate the message size using a non-writing substream. */
+ pb_ostream_t substream = PB_OSTREAM_SIZING;
+ size_t size;
+ bool status;
+
+ if (!pb_encode(&substream, fields, src_struct))
+ {
+#ifndef PB_NO_ERRMSG
+ stream->errmsg = substream.errmsg;
+#endif
+ return false;
+ }
+
+ size = substream.bytes_written;
+
+ if (!pb_encode_varint(stream, (pb_uint64_t)size))
+ return false;
+
+ if (stream->callback == NULL)
+ return pb_write(stream, NULL, size); /* Just sizing */
+
+ if (stream->bytes_written + size > stream->max_size)
+ PB_RETURN_ERROR(stream, "stream full");
+
+ /* Use a substream to verify that a callback doesn't write more than
+ * what it did the first time. */
+ substream.callback = stream->callback;
+ substream.state = stream->state;
+ substream.max_size = size;
+ substream.bytes_written = 0;
+#ifndef PB_NO_ERRMSG
+ substream.errmsg = NULL;
+#endif
+
+ status = pb_encode(&substream, fields, src_struct);
+
+ stream->bytes_written += substream.bytes_written;
+ stream->state = substream.state;
+#ifndef PB_NO_ERRMSG
+ stream->errmsg = substream.errmsg;
+#endif
+
+ if (substream.bytes_written != size)
+ PB_RETURN_ERROR(stream, "submsg size changed");
+
+ return status;
+}
+
+/* Field encoders */
+
+static bool checkreturn pb_enc_varint(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ pb_int64_t value = 0;
+
+ if (field->data_size == sizeof(int_least8_t))
+ value = *(const int_least8_t*)src;
+ else if (field->data_size == sizeof(int_least16_t))
+ value = *(const int_least16_t*)src;
+ else if (field->data_size == sizeof(int32_t))
+ value = *(const int32_t*)src;
+ else if (field->data_size == sizeof(pb_int64_t))
+ value = *(const pb_int64_t*)src;
+ else
+ PB_RETURN_ERROR(stream, "invalid data_size");
+
+#ifdef PB_WITHOUT_64BIT
+ if (value < 0)
+ return pb_encode_negative_varint(stream, (pb_uint64_t)value);
+ else
+#endif
+ return pb_encode_varint(stream, (pb_uint64_t)value);
+}
+
+static bool checkreturn pb_enc_uvarint(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ pb_uint64_t value = 0;
+
+ if (field->data_size == sizeof(uint_least8_t))
+ value = *(const uint_least8_t*)src;
+ else if (field->data_size == sizeof(uint_least16_t))
+ value = *(const uint_least16_t*)src;
+ else if (field->data_size == sizeof(uint32_t))
+ value = *(const uint32_t*)src;
+ else if (field->data_size == sizeof(pb_uint64_t))
+ value = *(const pb_uint64_t*)src;
+ else
+ PB_RETURN_ERROR(stream, "invalid data_size");
+
+ return pb_encode_varint(stream, value);
+}
+
+static bool checkreturn pb_enc_svarint(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ pb_int64_t value = 0;
+
+ if (field->data_size == sizeof(int_least8_t))
+ value = *(const int_least8_t*)src;
+ else if (field->data_size == sizeof(int_least16_t))
+ value = *(const int_least16_t*)src;
+ else if (field->data_size == sizeof(int32_t))
+ value = *(const int32_t*)src;
+ else if (field->data_size == sizeof(pb_int64_t))
+ value = *(const pb_int64_t*)src;
+ else
+ PB_RETURN_ERROR(stream, "invalid data_size");
+
+ return pb_encode_svarint(stream, value);
+}
+
+static bool checkreturn pb_enc_fixed64(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ PB_UNUSED(field);
+#ifndef PB_WITHOUT_64BIT
+ return pb_encode_fixed64(stream, src);
+#else
+ PB_UNUSED(src);
+ PB_RETURN_ERROR(stream, "no 64bit support");
+#endif
+}
+
+static bool checkreturn pb_enc_fixed32(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ PB_UNUSED(field);
+ return pb_encode_fixed32(stream, src);
+}
+
+static bool checkreturn pb_enc_bytes(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ const pb_bytes_array_t *bytes = NULL;
+
+ bytes = (const pb_bytes_array_t*)src;
+
+ if (src == NULL)
+ {
+ /* Treat null pointer as an empty bytes field */
+ return pb_encode_string(stream, NULL, 0);
+ }
+
+ if (PB_ATYPE(field->type) == PB_ATYPE_STATIC &&
+ PB_BYTES_ARRAY_T_ALLOCSIZE(bytes->size) > field->data_size)
+ {
+ PB_RETURN_ERROR(stream, "bytes size exceeded");
+ }
+
+ return pb_encode_string(stream, bytes->bytes, bytes->size);
+}
+
+static bool checkreturn pb_enc_string(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ size_t size = 0;
+ size_t max_size = field->data_size;
+ const char *p = (const char*)src;
+
+ if (PB_ATYPE(field->type) == PB_ATYPE_POINTER)
+ max_size = (size_t)-1;
+
+ if (src == NULL)
+ {
+ size = 0; /* Treat null pointer as an empty string */
+ }
+ else
+ {
+ /* strnlen() is not always available, so just use a loop */
+ while (size < max_size && *p != '\0')
+ {
+ size++;
+ p++;
+ }
+ }
+
+ return pb_encode_string(stream, (const pb_byte_t*)src, size);
+}
+
+static bool checkreturn pb_enc_submessage(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ if (field->ptr == NULL)
+ PB_RETURN_ERROR(stream, "invalid field descriptor");
+
+ return pb_encode_submessage(stream, (const pb_field_t*)field->ptr, src);
+}
+
+static bool checkreturn pb_enc_fixed_length_bytes(pb_ostream_t *stream, const pb_field_t *field, const void *src)
+{
+ return pb_encode_string(stream, (const pb_byte_t*)src, field->data_size);
+}
+
diff --git a/elegoo/pb/pb_encode.h b/elegoo/pb/pb_encode.h
new file mode 100644
index 0000000..8bf78dd
--- /dev/null
+++ b/elegoo/pb/pb_encode.h
@@ -0,0 +1,170 @@
+/* pb_encode.h: Functions to encode protocol buffers. Depends on pb_encode.c.
+ * The main function is pb_encode. You also need an output stream, and the
+ * field descriptions created by nanopb_generator.py.
+ */
+
+#ifndef PB_ENCODE_H_INCLUDED
+#define PB_ENCODE_H_INCLUDED
+
+#include "pb.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Structure for defining custom output streams. You will need to provide
+ * a callback function to write the bytes to your storage, which can be
+ * for example a file or a network socket.
+ *
+ * The callback must conform to these rules:
+ *
+ * 1) Return false on IO errors. This will cause encoding to abort.
+ * 2) You can use state to store your own data (e.g. buffer pointer).
+ * 3) pb_write will update bytes_written after your callback runs.
+ * 4) Substreams will modify max_size and bytes_written. Don't use them
+ * to calculate any pointers.
+ */
+struct pb_ostream_s
+{
+#ifdef PB_BUFFER_ONLY
+ /* Callback pointer is not used in buffer-only configuration.
+ * Having an int pointer here allows binary compatibility but
+ * gives an error if someone tries to assign callback function.
+ * Also, NULL pointer marks a 'sizing stream' that does not
+ * write anything.
+ */
+ int *callback;
+#else
+ bool (*callback)(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
+#endif
+ void *state; /* Free field for use by callback implementation. */
+ size_t max_size; /* Limit number of output bytes written (or use SIZE_MAX). */
+ size_t bytes_written; /* Number of bytes written so far. */
+
+#ifndef PB_NO_ERRMSG
+ const char *errmsg;
+#endif
+};
+
+/***************************
+ * Main encoding functions *
+ ***************************/
+
+/* Encode a single protocol buffers message from C structure into a stream.
+ * Returns true on success, false on any failure.
+ * The actual struct pointed to by src_struct must match the description in fields.
+ * All required fields in the struct are assumed to have been filled in.
+ *
+ * Example usage:
+ * MyMessage msg = {};
+ * uint8_t buffer[64];
+ * pb_ostream_t stream;
+ *
+ * msg.field1 = 42;
+ * stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
+ * pb_encode(&stream, MyMessage_fields, &msg);
+ */
+bool pb_encode(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct);
+
+/* Same as pb_encode, but prepends the length of the message as a varint.
+ * Corresponds to writeDelimitedTo() in Google's protobuf API.
+ */
+bool pb_encode_delimited(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct);
+
+/* Same as pb_encode, but appends a null byte to the message for termination.
+ * NOTE: This behaviour is not supported in most other protobuf implementations, so pb_encode_delimited()
+ * is a better option for compatibility.
+ */
+bool pb_encode_nullterminated(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct);
+
+/* Encode the message to get the size of the encoded data, but do not store
+ * the data. */
+bool pb_get_encoded_size(size_t *size, const pb_field_t fields[], const void *src_struct);
+
+/**************************************
+ * Functions for manipulating streams *
+ **************************************/
+
+/* Create an output stream for writing into a memory buffer.
+ * The number of bytes written can be found in stream.bytes_written after
+ * encoding the message.
+ *
+ * Alternatively, you can use a custom stream that writes directly to e.g.
+ * a file or a network socket.
+ */
+pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize);
+
+/* Pseudo-stream for measuring the size of a message without actually storing
+ * the encoded data.
+ *
+ * Example usage:
+ * MyMessage msg = {};
+ * pb_ostream_t stream = PB_OSTREAM_SIZING;
+ * pb_encode(&stream, MyMessage_fields, &msg);
+ * printf("Message size is %d\n", stream.bytes_written);
+ */
+#ifndef PB_NO_ERRMSG
+#define PB_OSTREAM_SIZING {0,0,0,0,0}
+#else
+#define PB_OSTREAM_SIZING {0,0,0,0}
+#endif
+
+/* Function to write into a pb_ostream_t stream. You can use this if you need
+ * to append or prepend some custom headers to the message.
+ */
+bool pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
+
+
+/************************************************
+ * Helper functions for writing field callbacks *
+ ************************************************/
+
+/* Encode field header based on type and field number defined in the field
+ * structure. Call this from the callback before writing out field contents. */
+bool pb_encode_tag_for_field(pb_ostream_t *stream, const pb_field_t *field);
+
+/* Encode field header by manually specifing wire type. You need to use this
+ * if you want to write out packed arrays from a callback field. */
+bool pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number);
+
+/* Encode an integer in the varint format.
+ * This works for bool, enum, int32, int64, uint32 and uint64 field types. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_encode_varint(pb_ostream_t *stream, uint64_t value);
+#else
+bool pb_encode_varint(pb_ostream_t *stream, uint32_t value);
+#endif
+
+/* Encode an integer in the zig-zagged svarint format.
+ * This works for sint32 and sint64. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_encode_svarint(pb_ostream_t *stream, int64_t value);
+#else
+bool pb_encode_svarint(pb_ostream_t *stream, int32_t value);
+#endif
+
+/* Encode a string or bytes type field. For strings, pass strlen(s) as size. */
+bool pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size);
+
+/* Encode a fixed32, sfixed32 or float value.
+ * You need to pass a pointer to a 4-byte wide C variable. */
+bool pb_encode_fixed32(pb_ostream_t *stream, const void *value);
+
+#ifndef PB_WITHOUT_64BIT
+/* Encode a fixed64, sfixed64 or double value.
+ * You need to pass a pointer to a 8-byte wide C variable. */
+bool pb_encode_fixed64(pb_ostream_t *stream, const void *value);
+#endif
+
+/* Encode a submessage field.
+ * You need to pass the pb_field_t array and pointer to struct, just like
+ * with pb_encode(). This internally encodes the submessage twice, first to
+ * calculate message size and then to actually write it out.
+ */
+bool pb_encode_submessage(pb_ostream_t *stream, const pb_field_t fields[], const void *src_struct);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif
diff --git a/elegoo/pb/pb_stream.cpp b/elegoo/pb/pb_stream.cpp
new file mode 100644
index 0000000..41100ed
--- /dev/null
+++ b/elegoo/pb/pb_stream.cpp
@@ -0,0 +1,48 @@
+// From https://github.com/amorellgarcia/arduino-nanopb
+
+#include "pb_stream.h"
+
+#define MAXSZ (size_t)-1
+
+bool
+os_read(pb_istream_t *stream, uint8_t *buf, size_t count)
+{
+ Stream *s = static_cast<Stream *>(stream->state);
+ while (s->available() > 0 && count > 0) {
+ count -= s->readBytes((char *)buf, count);
+ }
+ return count == 0;
+}
+
+
+void
+pb_istream_from_stream(Stream &stream, pb_istream_t &istream)
+{
+ istream.callback = &os_read;
+ istream.state = &stream;
+ istream.bytes_left = MAXSZ;
+#ifndef PB_NO_ERRMSG
+ istream.errmsg = NULL;
+#endif
+}
+
+bool
+os_write(pb_ostream_t *stream, const uint8_t *buf, size_t count)
+{
+ if (stream == NULL || buf == NULL) {
+ return false;
+ }
+ Print *s = static_cast<Print *>(stream->state);
+ return (s->write(buf, count) == count);
+}
+
+void
+pb_ostream_from_stream(Print &stream, pb_ostream_t &ostream) {
+ ostream.callback = &os_write;
+ ostream.state = &stream;
+ ostream.max_size = MAXSZ;
+ ostream.bytes_written = 0;
+#ifndef PB_NO_ERRMSG
+ ostream.errmsg = NULL;
+#endif
+}
diff --git a/elegoo/pb/pb_stream.h b/elegoo/pb/pb_stream.h
new file mode 100644
index 0000000..00be77c
--- /dev/null
+++ b/elegoo/pb/pb_stream.h
@@ -0,0 +1,12 @@
+#ifndef PB_STREAM
+#define PB_STREAM
+
+#include <Stream.h>
+#include <Print.h>
+#include "pb_encode.h"
+#include "pb_decode.h"
+
+void pb_istream_from_stream(Stream &stream, pb_istream_t &istream);
+void pb_ostream_from_stream(Print &stream, pb_ostream_t &ostream);
+
+#endif