[WIP] stop on connection lost in dirc

3 files changed, 18 insertions, 18 deletions

diff --git a/client/main.c b/client/main.c
index 00f686a..b5af0e8 100644
--- a/client/main.c
+++ b/client/main.c
@@ -1,15 +1,13 @@
 #include "main.h"
-#include "../shared/errcatch.h"
 #include "../shared/consts.h"
+#include "../shared/errcatch.h"
+#include "commands.h"
 #include "serial.h"
 #include "setup.h"
-#include "ui.h"
 #include "time.h"
-#include "commands.h"
+#include "ui.h"
 
-w2_s_client_state g_w2_state = {
-	.ping_received = true
-};
+w2_s_client_state g_w2_state = {.ping_received = true};
 
 int main(int argc, char **argv) {
 	w2_client_setup(argc, argv);
@@ -21,12 +19,13 @@ int main(int argc, char **argv) {
 
 		if (!g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_TIMEOUT) {
 			g_w2_state.ping_timeout = true;
-			g_w2_state.connected = false;
+			g_w2_state.connected	= false;
 			w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT);
 		}
-		
-		if ((g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_state.ping_timeout) {
-			g_w2_state.ping_timeout = false;
+
+		if ((g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_FREQUENCY) ||
+			g_w2_state.ping_timeout) {
+			g_w2_state.ping_timeout	 = false;
 			g_w2_state.ping_received = false;
 			w2_send_ping();
 		}
diff --git a/client/serial.c b/client/serial.c
index 743fe76..112fd81 100644
--- a/client/serial.c
+++ b/client/serial.c
@@ -2,10 +2,10 @@
 
 #include "../shared/protocol.h"
 #include "../shared/serial_parse.h"
+#include "commands.h"
 #include "main.h"
 #include "serial.h"
 #include "time.h"
-#include "commands.h"
 
 void w2_serial_main() {
 	int temp;
@@ -20,13 +20,11 @@ void w2_cmd_ping_rx(w2_s_bin *data) {
 
 	g_w2_state.ping			 = w2_timer_end(W2_TIMER_PING);
 	g_w2_state.ping_received = true;
-	g_w2_state.ping_timeout = false;
-	g_w2_state.connected = true;
+	g_w2_state.ping_timeout	 = false;
+	g_w2_state.connected	 = true;
 }
 
-void w2_cmd_ping_tx(w2_s_bin *data) {
-	w2_send_bin(data);
-}
+void w2_cmd_ping_tx(w2_s_bin *data) { w2_send_bin(data); }
 
 void w2_cmd_expt_tx(w2_s_bin *data) {}
 void w2_cmd_mode_tx(w2_s_bin *data) {
diff --git a/client/ui_dirc.c b/client/ui_dirc.c
index 675913a..ed69cd2 100644
--- a/client/ui_dirc.c
+++ b/client/ui_dirc.c
@@ -81,7 +81,9 @@ void w2_ui_dirc_paint(int left, int right) {
 			 "\n"
 			 " <q>      <w>       <e>   forward\n"
 			 " <a>      <s>       <d>   backward\n"
-			 "left     both      right\n");
+			 "left     both      right\n"
+			 "\n"
+			 "<space> send dirc mode command");
 }
 
 void w2_ui_dirc(bool first) {
@@ -96,6 +98,7 @@ void w2_ui_dirc(bool first) {
 		if (ch == 'd' || ch == 's') lb++;
 		if (ch == 'q' || ch == 'w') rf++;
 		if (ch == 'a' || ch == 's') rb++;
+		if (ch == ' ') w2_send_mode(W2_M_DIRC);
 	}
 
 	int drive_l = w2_dirc_motor_l(lf, lb);
@@ -104,6 +107,6 @@ void w2_ui_dirc(bool first) {
 	drive_l += drive_r * W2_DIRC_STP;
 	drive_r += drive_l * W2_DIRC_STP;
 
-	// w2_send_dirc(drive_l, drive_r);
+	w2_send_dirc(drive_l, drive_r);
 	w2_ui_dirc_paint(drive_l, drive_r);
 }