direct control toy working

5 files changed, 46 insertions, 15 deletions

diff --git a/client/commands.c b/client/commands.c
index 1ab79fb..0d47fcd 100644
--- a/client/commands.c
+++ b/client/commands.c
@@ -2,6 +2,7 @@
 
 #include "../shared/bin.h"
 #include "../shared/protocol.h"
+#include "../shared/modes.h"
 #include "commands.h"
 #include "main.h"
 #include "time.h"
@@ -14,26 +15,42 @@ void w2_send_bin(w2_s_bin *data) {
 	}
 }
 
+w2_s_bin *w2_send_mode(w2_e_mode mode) {
+	W2_CREATE_MSG_BIN(w2_s_cmd_mode_rx, msg, msg_bin);
+
+	msg->opcode = W2_CMD_MODE | W2_CMDDIR_RX;
+	msg->mode = mode;
+
+	w2_send_bin(msg_bin);
+	free(msg_bin);
+	return NULL;
+}
+
+w2_s_bin *w2_send_dirc(uint16_t left, uint16_t right) {
+	W2_CREATE_MSG_BIN(w2_s_cmd_dirc_rx, msg, msg_bin);
+	msg->opcode = W2_CMD_DIRC | W2_CMDDIR_RX;
+	msg->left = w2_bin_hton16(left);
+	msg->right = w2_bin_hton16(right);
+	w2_send_bin(msg_bin);
+	free(msg_bin);
+	return NULL;
+}
+
 w2_s_bin *w2_send_info() {
-	size_t msg_size		  = sizeof(w2_s_cmd_info_rx);
-	w2_s_cmd_info_rx *msg = malloc(msg_size);
-	msg->opcode			  = W2_CMD_INFO | W2_CMDDIR_RX;
-	w2_s_bin *msg_bin	  = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+	W2_CREATE_MSG_BIN(w2_s_cmd_info_rx, msg, msg_bin);
+	msg->opcode = W2_CMD_INFO | W2_CMDDIR_RX;
 	w2_send_bin(msg_bin);
-	free(msg);
 	free(msg_bin);
+	return NULL;
 }
 
 w2_s_bin *w2_send_ping() {
-	g_w2_state.ping_id	  = (uint8_t)rand();
-	size_t msg_size		  = sizeof(w2_s_cmd_ping_rx);
-	w2_s_cmd_ping_rx *msg = malloc(msg_size);
+	W2_CREATE_MSG_BIN(w2_s_cmd_ping_rx, msg, msg_bin);
 	msg->opcode			  = W2_CMD_PING | W2_CMDDIR_RX;
 	msg->id				  = g_w2_state.ping_id;
-	w2_s_bin *msg_bin	  = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
 	w2_send_bin(msg_bin);
-	free(msg);
 	free(msg_bin);
 
 	w2_timer_start(W2_TIMER_PING);
+	return NULL;
 }
diff --git a/client/commands.h b/client/commands.h
index 949360e..cb01189 100644
--- a/client/commands.h
+++ b/client/commands.h
@@ -1,7 +1,10 @@
 #pragma once
 
 #include "../shared/bin.h"
+#include "../shared/modes.h"
 #include "serial.h"
 
+w2_s_bin *w2_send_mode(w2_e_mode mode);
+w2_s_bin *w2_send_dirc(uint16_t left, uint16_t right);
 w2_s_bin *w2_send_info();
 w2_s_bin *w2_send_ping();
diff --git a/client/ui.c b/client/ui.c
index ca96efb..26e2116 100644
--- a/client/ui.c
+++ b/client/ui.c
@@ -13,7 +13,8 @@
 WINDOW *g_w2_ui_win;
 unsigned int g_w2_ui_width	  = 0;
 unsigned int g_w2_ui_height	  = 0;
-void (*g_w2_ui_current_tab)() = &w2_ui_dirc;
+void (*g_w2_ui_current_tab)(bool first) = &w2_ui_dirc;
+void (*g_w2_ui_last_tab)(bool first) = NULL;
 
 void w2_ui_main() {
 	g_w2_ui_width  = getmaxx(g_w2_ui_win);
@@ -25,7 +26,8 @@ void w2_ui_main() {
 void w2_ui_paint() {
 	w2_ui_paint_statusbar();
 	if (w2_timer_end(W2_TIMER_UPDATE) >= (1000 / W2_UI_UPDATE_FPS)) {
-		(*g_w2_ui_current_tab)();
+		(*g_w2_ui_current_tab)(g_w2_ui_last_tab != g_w2_ui_current_tab);
+		g_w2_ui_last_tab = g_w2_ui_current_tab;
 		w2_timer_start(W2_TIMER_UPDATE);
 	}
 	refresh();
diff --git a/client/ui.h b/client/ui.h
index f749fa0..0d375de 100644
--- a/client/ui.h
+++ b/client/ui.h
@@ -8,7 +8,7 @@
 extern WINDOW *g_w2_ui_win;
 extern unsigned int g_w2_ui_width;
 extern unsigned int g_w2_ui_height;
-extern void (*g_w2_ui_current_tab)();
+extern void (*g_w2_ui_current_tab)(bool first);
 
 /** update terminal props */
 void w2_ui_update();
@@ -24,4 +24,4 @@ void w2_ui_paint_statusbar();
 /** draw tab bar */
 void w2_ui_paint_tabbar();
 
-void w2_ui_dirc();
+void w2_ui_dirc(bool first);
diff --git a/client/ui_dirc.c b/client/ui_dirc.c
index 118a3ea..13b2d10 100644
--- a/client/ui_dirc.c
+++ b/client/ui_dirc.c
@@ -1,4 +1,6 @@
 #include "../shared/util.h"
+#include "../shared/protocol.h"
+#include "commands.h"
 #include "ui.h"
 
 void w2_ui_bar_graph(unsigned int percent) {
@@ -45,7 +47,12 @@ int w2_avg(int *samples, unsigned int sample_count) {
 W2_DIRC_MOTOR_DRIVER(l);
 W2_DIRC_MOTOR_DRIVER(r);
 
-void w2_ui_dirc() {
+void w2_ui_dirc_init() {
+	w2_send_mode(W2_M_DIRC);
+}
+
+void w2_ui_dirc(bool first) {
+	if (first) w2_ui_dirc_init();
 	int ch			= 0;
 	unsigned int lb = 0;
 	unsigned int lf = 0;
@@ -64,4 +71,6 @@ void w2_ui_dirc() {
 	char temp[32] = {0};
 	sprintf(temp, "l: %04i, r: %04i", drive_l, drive_r);
 	mvaddstr(4, 0, temp);
+
+	w2_send_dirc(drive_l, drive_r);
 }