diff options
Diffstat (limited to 'shared/protocol.md')
| -rw-r--r-- | shared/protocol.md | 36 |
1 files changed, 0 insertions, 36 deletions
diff --git a/shared/protocol.md b/shared/protocol.md index 62caded..c3c229f 100644 --- a/shared/protocol.md +++ b/shared/protocol.md @@ -13,39 +13,3 @@ and the starting byte don't count towards message length. opcodes are picked sequentially, and are stored as enum constants inside shared/protocol.h for code readability. -|code|name|implemented|directions|full name| -|--:|---|:-:|:-:|---| -|`0x00`|[PING](#ping)|yes|`r <=> c`|<u>ping</u> -|`0x02`|[EXPT](#expt)|yes|`r --> c`|<u>ex</u>ce<u>pt</u>ion - -### PING - -#### ping (`r <=> c`) (2 bytes) - -|type|description| -|-:|-| -|`uint8_t`|opcode (`0x00 + 0` or `0x00 + 1`)| -|`uint8_t`|ping id| - -**ping** sends back an identical message either way with the **same** direction -bit. _ping id_ is a random 8-bit value that identifies the ping message. this -is the only command that makes either the robot or client send a message with -an opcode not matching the respective sender. the direction bit indicates which -device initiated the ping message. - -### EXPT - -#### exception (`r --> c`) (3+ bytes) - -|type|description| -|-:|-| -|`uint8_t`|opcode (`0x02 + 1`)| -|`uint8_t`|error code| -|`uint8_t`|length| -|`uint8_t[length]`|message contents| - -the **exception** instruction is used by the robot to send errors, warnings, -and other messages back to the client. an error can also optionally contain a -message between 0 and 255 characters long. message length is sent before the -message, and can be 0 in case of no message. - |