added TARQ to robot and client

2 files changed, 19 insertions, 1 deletions

diff --git a/shared/protocol.c b/shared/protocol.c
index 02d746a..8aa4a3f 100644
--- a/shared/protocol.c
+++ b/shared/protocol.c
@@ -23,6 +23,7 @@ void w2_cmd_setup_handlers() {
 	g_w2_cmd_handlers[W2_CMD_DISP | W2_CMDDIR_RX] = w2_cmd_disp_rx;
 	g_w2_cmd_handlers[W2_CMD_PLAY | W2_CMDDIR_RX] = w2_cmd_play_rx;
 	g_w2_cmd_handlers[W2_CMD_CLED | W2_CMDDIR_RX] = w2_cmd_cled_rx;
+	g_w2_cmd_handlers[W2_CMD_TARQ | W2_CMDDIR_RX] = w2_cmd_tarq_rx;
 }
 
 size_t w2_cmd_sizeof(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) {
@@ -47,6 +48,8 @@ size_t w2_cmd_sizeof(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_leng
 	if (data[0] == (W2_CMD_INFO | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_info_rx);
 	if (data[0] == (W2_CMD_INFO | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_info_tx);
 
+	if (data[0] == (W2_CMD_TARQ | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_tarq_rx);
+
 	w2_s_bin *copy = w2_bin_s_alloc(data_length, data);
 	uint8_t length = 1;
 
diff --git a/shared/protocol.h b/shared/protocol.h
index ba16d56..c13e56c 100644
--- a/shared/protocol.h
+++ b/shared/protocol.h
@@ -17,7 +17,7 @@
 #define W2_CMD_CODE_MASK (~1)
 #define W2_CMD_DIRECTION_MASK (1)
 
-#define W2_CMD_COUNT 28
+#define W2_CMD_COUNT 30
 typedef enum {
 	/** ping command */
 	W2_CMD_PING = 0x00,
@@ -47,8 +47,16 @@ typedef enum {
 	W2_CMD_PLAY = 0x18,
 	/** control leds command */
 	W2_CMD_CLED = 0x1a,
+	/** target area request */
+	W2_CMD_TARQ = 0x1c,
 } w2_e_scmds;
 
+typedef enum {
+	W2_AREA_MAZE = 0,
+	W2_AREA_GRID = 1,
+	W2_AREA_CHRG = 2,
+} w2_e_target_area;
+
 #pragma pack(push, 1)
 
 typedef struct {
@@ -158,6 +166,11 @@ typedef struct {
 typedef struct {
 } w2_s_cmd_cled_rx;
 
+typedef struct {
+	uint8_t opcode;
+	w2_e_target_area target_area;
+} w2_s_cmd_tarq_rx;
+
 #pragma pack(pop)
 
 /** stores message handlers in array with opcode as index */
@@ -206,6 +219,8 @@ void w2_cmd_disp_rx(w2_s_bin *data);
 void w2_cmd_play_rx(w2_s_bin *data);
 /** handler for cled_rx (on complete message) */
 void w2_cmd_cled_rx(w2_s_bin *data);
+/** handler for tarq_rx (on complete message) */
+void w2_cmd_tarq_rx(w2_s_bin *data);
 
 /** calculate message length for expt_tx (incomplete message) */
 size_t w2_cmd_expt_tx_sizeof(w2_s_bin *data);