diff options
| -rw-r--r-- | robot/sercomm.c | 67 | ||||
| -rw-r--r-- | robot/sercomm.h | 1 | ||||
| -rw-r--r-- | shared/bin.c | 2 | ||||
| -rw-r--r-- | shared/protocol.c | 107 | ||||
| -rw-r--r-- | shared/protocol.h | 42 |
5 files changed, 124 insertions, 95 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index a1aa31c..da632b5 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -47,63 +47,36 @@ void w2_sercomm_append_msg(w2_s_bin *data) { g_w2_sercomm_index = next_index; } -void w2_scmd_ping_rx(w2_s_bin *data) { - return; -} +void w2_scmd_ping_rx(w2_s_bin *data) { return; } -void w2_scmd_mode_rx(w2_s_bin *data) { - return; -} +void w2_scmd_mode_rx(w2_s_bin *data) { return; } -void w2_scmd_sped_rx(w2_s_bin *data) { - return; -} +void w2_scmd_sped_rx(w2_s_bin *data) { return; } -void w2_scmd_dirc_rx(w2_s_bin *data) { - return; -} +void w2_scmd_dirc_rx(w2_s_bin *data) { return; } -void w2_scmd_cord_rx(w2_s_bin *data) { - return; -} - -void w2_scmd_bomd_rx(w2_s_bin *data) { - return; -} +void w2_scmd_cord_rx(w2_s_bin *data) { return; } -void w2_scmd_sres_rx(w2_s_bin *data) { - return; -} +void w2_scmd_bomd_rx(w2_s_bin *data) { return; } -void w2_scmd_mcfg_rx(w2_s_bin *data) { - return; -} +void w2_scmd_sres_rx(w2_s_bin *data) { return; } -void w2_scmd_sens_rx(w2_s_bin *data) { - return; -} +void w2_scmd_mcfg_rx(w2_s_bin *data) { return; } -void w2_scmd_info_rx(w2_s_bin *data) { - return; -} +void w2_scmd_sens_rx(w2_s_bin *data) { return; } -void w2_scmd_disp_rx(w2_s_bin *data) { - return; -} +void w2_scmd_info_rx(w2_s_bin *data) { return; } -void w2_scmd_play_rx(w2_s_bin *data) { - return; -} +void w2_scmd_disp_rx(w2_s_bin *data) { return; } -void w2_scmd_cled_rx(w2_s_bin *data) { - return; -} +void w2_scmd_play_rx(w2_s_bin *data) { return; } -void w2_scmd_ping_tx(w2_s_bin *data) { } -void w2_scmd_expt_tx(w2_s_bin *data) { } -void w2_scmd_mode_tx(w2_s_bin *data) { } -void w2_scmd_cord_tx(w2_s_bin *data) { } -void w2_scmd_bomd_tx(w2_s_bin *data) { } -void w2_scmd_sens_tx(w2_s_bin *data) { } -void w2_scmd_info_tx(w2_s_bin *data) { } +void w2_scmd_cled_rx(w2_s_bin *data) { return; } +void w2_scmd_ping_tx(w2_s_bin *data) {} +void w2_scmd_expt_tx(w2_s_bin *data) {} +void w2_scmd_mode_tx(w2_s_bin *data) {} +void w2_scmd_cord_tx(w2_s_bin *data) {} +void w2_scmd_bomd_tx(w2_s_bin *data) {} +void w2_scmd_sens_tx(w2_s_bin *data) {} +void w2_scmd_info_tx(w2_s_bin *data) {} diff --git a/robot/sercomm.h b/robot/sercomm.h index d717f01..b1f69c7 100644 --- a/robot/sercomm.h +++ b/robot/sercomm.h @@ -28,4 +28,3 @@ void w2_sercomm_main(); /** append binary message to send buffer */ void w2_sercomm_append_msg(w2_s_bin *data); - diff --git a/shared/bin.c b/shared/bin.c index dac8415..e9592e6 100644 --- a/shared/bin.c +++ b/shared/bin.c @@ -73,7 +73,7 @@ w2_s_bin *w2_bin_s_cat(w2_s_bin *a, w2_s_bin *b) { uint8_t data[a->bytes + b->bytes]; memcpy(data, a->data, a->bytes); memcpy(data + a->bytes, b->data, b->bytes); - w2_s_bin* c = w2_bin_s_alloc(a->bytes + b->bytes, data); + w2_s_bin *c = w2_bin_s_alloc(a->bytes + b->bytes, data); free(a); free(b); return c; diff --git a/shared/protocol.c b/shared/protocol.c index af38804..18ee227 100644 --- a/shared/protocol.c +++ b/shared/protocol.c @@ -51,29 +51,89 @@ uint8_t w2_scmd_mcfg_rx_length(w2_s_bin *data) { void w2_scmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) { w2_s_bin *copy = w2_bin_s_alloc(data_length, data); - bool unknown = false; - - switch(data[0]) { - case W2_CMD_PING | W2_CMDDIR_RX: { w2_scmd_ping_rx(copy); break; } - case W2_CMD_PING | W2_CMDDIR_TX: { w2_scmd_ping_tx(copy); break; } - case W2_CMD_EXPT | W2_CMDDIR_TX: { w2_scmd_expt_tx(copy); break; } - case W2_CMD_MODE | W2_CMDDIR_RX: { w2_scmd_mode_rx(copy); break; } - case W2_CMD_MODE | W2_CMDDIR_TX: { w2_scmd_mode_tx(copy); break; } - case W2_CMD_SPED | W2_CMDDIR_RX: { w2_scmd_sped_rx(copy); break; } - case W2_CMD_DIRC | W2_CMDDIR_RX: { w2_scmd_dirc_rx(copy); break; } - case W2_CMD_CORD | W2_CMDDIR_RX: { w2_scmd_cord_rx(copy); break; } - case W2_CMD_CORD | W2_CMDDIR_TX: { w2_scmd_cord_tx(copy); break; } - case W2_CMD_BOMD | W2_CMDDIR_RX: { w2_scmd_bomd_rx(copy); break; } - case W2_CMD_BOMD | W2_CMDDIR_TX: { w2_scmd_bomd_tx(copy); break; } - case W2_CMD_SRES | W2_CMDDIR_RX: { w2_scmd_sres_rx(copy); break; } - case W2_CMD_MCFG | W2_CMDDIR_RX: { w2_scmd_mcfg_rx(copy); break; } - case W2_CMD_SENS | W2_CMDDIR_RX: { w2_scmd_sens_rx(copy); break; } - case W2_CMD_SENS | W2_CMDDIR_TX: { w2_scmd_sens_tx(copy); break; } - case W2_CMD_INFO | W2_CMDDIR_RX: { w2_scmd_info_rx(copy); break; } - case W2_CMD_INFO | W2_CMDDIR_TX: { w2_scmd_info_tx(copy); break; } - case W2_CMD_DISP | W2_CMDDIR_RX: { w2_scmd_disp_rx(copy); break; } - case W2_CMD_PLAY | W2_CMDDIR_RX: { w2_scmd_play_rx(copy); break; } - case W2_CMD_CLED | W2_CMDDIR_RX: { w2_scmd_cled_rx(copy); break; } + bool unknown = false; + + switch (data[0]) { + case W2_CMD_PING | W2_CMDDIR_RX: { + w2_scmd_ping_rx(copy); + break; + } + case W2_CMD_PING | W2_CMDDIR_TX: { + w2_scmd_ping_tx(copy); + break; + } + case W2_CMD_EXPT | W2_CMDDIR_TX: { + w2_scmd_expt_tx(copy); + break; + } + case W2_CMD_MODE | W2_CMDDIR_RX: { + w2_scmd_mode_rx(copy); + break; + } + case W2_CMD_MODE | W2_CMDDIR_TX: { + w2_scmd_mode_tx(copy); + break; + } + case W2_CMD_SPED | W2_CMDDIR_RX: { + w2_scmd_sped_rx(copy); + break; + } + case W2_CMD_DIRC | W2_CMDDIR_RX: { + w2_scmd_dirc_rx(copy); + break; + } + case W2_CMD_CORD | W2_CMDDIR_RX: { + w2_scmd_cord_rx(copy); + break; + } + case W2_CMD_CORD | W2_CMDDIR_TX: { + w2_scmd_cord_tx(copy); + break; + } + case W2_CMD_BOMD | W2_CMDDIR_RX: { + w2_scmd_bomd_rx(copy); + break; + } + case W2_CMD_BOMD | W2_CMDDIR_TX: { + w2_scmd_bomd_tx(copy); + break; + } + case W2_CMD_SRES | W2_CMDDIR_RX: { + w2_scmd_sres_rx(copy); + break; + } + case W2_CMD_MCFG | W2_CMDDIR_RX: { + w2_scmd_mcfg_rx(copy); + break; + } + case W2_CMD_SENS | W2_CMDDIR_RX: { + w2_scmd_sens_rx(copy); + break; + } + case W2_CMD_SENS | W2_CMDDIR_TX: { + w2_scmd_sens_tx(copy); + break; + } + case W2_CMD_INFO | W2_CMDDIR_RX: { + w2_scmd_info_rx(copy); + break; + } + case W2_CMD_INFO | W2_CMDDIR_TX: { + w2_scmd_info_tx(copy); + break; + } + case W2_CMD_DISP | W2_CMDDIR_RX: { + w2_scmd_disp_rx(copy); + break; + } + case W2_CMD_PLAY | W2_CMDDIR_RX: { + w2_scmd_play_rx(copy); + break; + } + case W2_CMD_CLED | W2_CMDDIR_RX: { + w2_scmd_cled_rx(copy); + break; + } default: { #ifdef W2_SIM simwarn("unknown serial message with code 0x%02x\n", data[0]); @@ -88,4 +148,3 @@ void w2_scmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_leng free(copy); } - diff --git a/shared/protocol.h b/shared/protocol.h index a9967d7..52ba2bd 100644 --- a/shared/protocol.h +++ b/shared/protocol.h @@ -158,55 +158,53 @@ typedef struct { typedef struct { } w2_s_cmd_cled_rx; - /** global handler for complete messages */ void w2_scmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t length); /** calculate message length */ uint8_t w2_scmd_length(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t length); /** handler for ping_rx (on complete message) */ -void w2_scmd_ping_rx(w2_s_bin *data); +void w2_scmd_ping_rx(w2_s_bin *data); /** handler for ping_tx (on complete message) */ -void w2_scmd_ping_tx(w2_s_bin *data); +void w2_scmd_ping_tx(w2_s_bin *data); /** handler for expt_tx (on complete message) */ -void w2_scmd_expt_tx(w2_s_bin *data); +void w2_scmd_expt_tx(w2_s_bin *data); /** handler for mode_rx (on complete message) */ -void w2_scmd_mode_rx(w2_s_bin *data); +void w2_scmd_mode_rx(w2_s_bin *data); /** handler for mode_tx (on complete message) */ -void w2_scmd_mode_tx(w2_s_bin *data); +void w2_scmd_mode_tx(w2_s_bin *data); /** handler for sped_rx (on complete message) */ -void w2_scmd_sped_rx(w2_s_bin *data); +void w2_scmd_sped_rx(w2_s_bin *data); /** handler for dirc_rx (on complete message) */ -void w2_scmd_dirc_rx(w2_s_bin *data); +void w2_scmd_dirc_rx(w2_s_bin *data); /** handler for cord_rx (on complete message) */ -void w2_scmd_cord_rx(w2_s_bin *data); +void w2_scmd_cord_rx(w2_s_bin *data); /** handler for cord_tx (on complete message) */ -void w2_scmd_cord_tx(w2_s_bin *data); +void w2_scmd_cord_tx(w2_s_bin *data); /** handler for bomd_rx (on complete message) */ -void w2_scmd_bomd_rx(w2_s_bin *data); +void w2_scmd_bomd_rx(w2_s_bin *data); /** handler for bomd_tx (on complete message) */ -void w2_scmd_bomd_tx(w2_s_bin *data); +void w2_scmd_bomd_tx(w2_s_bin *data); /** handler for sres_rx (on complete message) */ -void w2_scmd_sres_rx(w2_s_bin *data); +void w2_scmd_sres_rx(w2_s_bin *data); /** handler for mcfg_rx (on complete message) */ -void w2_scmd_mcfg_rx(w2_s_bin *data); +void w2_scmd_mcfg_rx(w2_s_bin *data); /** handler for sens_rx (on complete message) */ -void w2_scmd_sens_rx(w2_s_bin *data); +void w2_scmd_sens_rx(w2_s_bin *data); /** handler for sens_tx (on complete message) */ -void w2_scmd_sens_tx(w2_s_bin *data); +void w2_scmd_sens_tx(w2_s_bin *data); /** handler for info_rx (on complete message) */ -void w2_scmd_info_rx(w2_s_bin *data); +void w2_scmd_info_rx(w2_s_bin *data); /** handler for info_tx (on complete message) */ -void w2_scmd_info_tx(w2_s_bin *data); +void w2_scmd_info_tx(w2_s_bin *data); /** handler for disp_rx (on complete message) */ -void w2_scmd_disp_rx(w2_s_bin *data); +void w2_scmd_disp_rx(w2_s_bin *data); /** handler for play_rx (on complete message) */ -void w2_scmd_play_rx(w2_s_bin *data); +void w2_scmd_play_rx(w2_s_bin *data); /** handler for cled_rx (on complete message) */ -void w2_scmd_cled_rx(w2_s_bin *data); +void w2_scmd_cled_rx(w2_s_bin *data); /** calculate message length for expt_tx (incomplete message) */ uint8_t w2_scmd_expt_tx_length(w2_s_bin *data); /** calculate message length for mcfg_rx (incomplete message) */ uint8_t w2_scmd_mcfg_rx_length(w2_s_bin *data); - |