direct control toy working

1 files changed, 27 insertions, 10 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;
 }