merge dev into master

1 files changed, 131 insertions, 1 deletions

diff --git a/robot/sercomm.c b/robot/sercomm.c
index a0eed3a..2786b85 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -1,3 +1,133 @@
+#include <stdlib.h>
+#include <string.h>
+
+#include "../shared/bin.h"
+#include "../shared/serial_parse.h"
+#include "hypervisor.h"
+#include "mode_dirc.h"
+#include "modes.h"
+#include "orangutan_shim.h"
 #include "sercomm.h"
 
-void w2_sercomm_main() {}
+w2_s_bin *g_w2_sercomm_buffer[W2_SERCOMM_BUFFER_SIZE] = {0};
+uint8_t g_w2_sercomm_index							  = 0;
+uint8_t g_w2_sercomm_offset							  = 0;
+uint8_t g_w2_sercomm_buffer_full					  = 0;
+
+char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE] = {0};
+uint8_t g_w2_serial_buffer_index					= 0;
+uint8_t g_w2_serial_buffer_head						= 0;
+
+void w2_sercomm_main() {
+#ifdef W2_SIM
+	simprintfunc("w2_sercomm_main", "");
+#endif
+	// read and parse data
+	while (serial_get_received_bytes() != g_w2_serial_buffer_index) {
+		w2_serial_parse(g_w2_serial_buffer[g_w2_serial_buffer_index]);
+		g_w2_serial_buffer_index = (g_w2_serial_buffer_index + 1) % W2_SERIAL_READ_BUFFER_SIZE;
+	}
+
+	// send data
+	while (g_w2_sercomm_offset != g_w2_sercomm_index) {
+		w2_s_bin *data	= g_w2_sercomm_buffer[g_w2_sercomm_offset];
+		char *data_cast = malloc(data->bytes);
+		memcpy(data_cast, data->data, data->bytes);
+		serial_send(data_cast, data->bytes);
+		g_w2_sercomm_offset = (g_w2_sercomm_offset + 1) % W2_SERCOMM_BUFFER_SIZE;
+	}
+}
+
+void w2_sercomm_append_msg(w2_s_bin *data) {
+#ifdef W2_SIM
+	simprintfunc("w2_sercomm_append_msg", "");
+#endif
+	uint8_t next_index		 = (g_w2_sercomm_index + 1) % W2_SERCOMM_BUFFER_SIZE;
+	g_w2_sercomm_buffer_full = next_index == g_w2_sercomm_offset;
+	free(g_w2_sercomm_buffer[g_w2_sercomm_index]);
+	g_w2_sercomm_buffer[g_w2_sercomm_index] = w2_bin_s_alloc(data->bytes, data->data);
+	if (g_w2_sercomm_buffer_full) return;
+	g_w2_sercomm_index = next_index;
+}
+
+void w2_cmd_ping_rx(w2_s_bin *data) {
+	w2_s_cmd_ping_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
+	memcpy(message, data->data, data->bytes);
+
+	size_t return_size				 = sizeof(w2_s_cmd_ping_tx);
+	w2_s_cmd_ping_tx *return_message = malloc(return_size);
+	return_message->opcode			 = W2_CMD_PING | W2_CMDDIR_TX;
+	return_message->id				 = message->id;
+
+	w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message);
+
+	w2_sercomm_append_msg(return_message_bin);
+
+	free(message);
+	free(return_message);
+	free(return_message_bin);
+}
+
+void w2_cmd_mode_rx(w2_s_bin *data) {
+	w2_s_cmd_mode_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
+	memcpy(message, data->data, data->bytes);
+
+	w2_modes_swap(message->mode);
+}
+
+void w2_cmd_sped_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_dirc_rx(w2_s_bin *data) {
+	w2_s_cmd_dirc_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
+	memcpy(message, data->data, data->bytes);
+
+	g_w2_mode_dirc_motor_l = w2_bin_ntoh16(message->left);
+	g_w2_mode_dirc_motor_r = w2_bin_ntoh16(message->right);
+}
+
+void w2_cmd_cord_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_bomd_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_sres_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_sens_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_info_rx(w2_s_bin *data) {
+	w2_s_cmd_info_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
+	memcpy(message, data->data, data->bytes);
+
+	size_t return_size				 = sizeof(w2_s_cmd_info_tx);
+	w2_s_cmd_info_tx *return_message = malloc(return_size);
+	return_message->opcode			 = W2_CMD_INFO | W2_CMDDIR_TX;
+	strncpy((char *)return_message->build_str, W2_BUILD_STR, sizeof(return_message->build_str));
+	return_message->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_ms;
+	return_message->io_ms		= (uint8_t)g_w2_hypervisor_ema_io_ms;
+	return_message->sercomm_ms	= (uint8_t)g_w2_hypervisor_ema_sercomm_ms;
+	return_message->mode_ms		= (uint8_t)g_w2_hypervisor_ema_mode_ms;
+	return_message->uptime_s	= w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3));
+
+	w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message);
+
+	w2_sercomm_append_msg(return_message_bin);
+
+	free(message);
+	free(return_message);
+	free(return_message_bin);
+}
+
+void w2_cmd_disp_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_play_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_cled_rx(w2_s_bin *data) { return; }
+
+void w2_cmd_ping_tx(w2_s_bin *data) {}
+void w2_cmd_expt_tx(w2_s_bin *data) {}
+void w2_cmd_mode_tx(w2_s_bin *data) {}
+void w2_cmd_cord_tx(w2_s_bin *data) {}
+void w2_cmd_bomd_tx(w2_s_bin *data) {}
+void w2_cmd_sens_tx(w2_s_bin *data) {}
+void w2_cmd_info_tx(w2_s_bin *data) {}