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-rw-r--r--client/i18n/en_us.h8
-rw-r--r--client/setup.c4
-rw-r--r--client/strings.c16
-rw-r--r--client/strings.h10
-rw-r--r--client/ui.c17
-rw-r--r--client/ui.h3
-rw-r--r--protocol.md3
-rw-r--r--robot/mode_lcal.c2
-rw-r--r--robot/modes.c32
-rw-r--r--robot/modes.h35
-rw-r--r--robot/sercomm.c1
-rw-r--r--robot/setup.c3
-rw-r--r--shared/modes.h16
-rw-r--r--shared/protocol.h1
14 files changed, 103 insertions, 48 deletions
diff --git a/client/i18n/en_us.h b/client/i18n/en_us.h
index 80b9f09..206e689 100644
--- a/client/i18n/en_us.h
+++ b/client/i18n/en_us.h
@@ -6,3 +6,11 @@
#define W2_UI_BATT_STAT_BATTERY "battery"
#define W2_UI_EXPT_STAT_WARNINGS "warning(s)"
#define W2_UI_EXPT_STAT_ERRORS "error(s)"
+#define W2_UI_MODE_CHRG "charging station"
+#define W2_UI_MODE_DIRC "direct control"
+#define W2_UI_MODE_GRID "grid"
+#define W2_UI_MODE_HALT "emergency stop"
+#define W2_UI_MODE_LCAL "line calibration"
+#define W2_UI_MODE_MAZE "maze"
+#define W2_UI_MODE_SCAL "sensor calibration"
+#define W2_UI_MODE_SPIN "wet floor simulation"
diff --git a/client/setup.c b/client/setup.c
index 59e43d1..a7db057 100644
--- a/client/setup.c
+++ b/client/setup.c
@@ -1,12 +1,13 @@
+#include <ncurses.h>
#include <stdio.h>
#include <stdlib.h>
-#include <ncurses.h>
#include "../shared/bin.h"
#include "../shared/protocol.h"
#include "commands.h"
#include "serial.h"
#include "setup.h"
+#include "strings.h"
#include "ui.h"
// pointers for endianness check
@@ -31,6 +32,7 @@ void w2_client_setup(int argc, char **argv) {
}
noecho();
+ w2_strings_init();
w2_cmd_setup_handlers();
w2_send_info();
diff --git a/client/strings.c b/client/strings.c
new file mode 100644
index 0000000..b97d4b2
--- /dev/null
+++ b/client/strings.c
@@ -0,0 +1,16 @@
+#include "strings.h"
+
+char *g_w2_mode_strings[W2_MODE_COUNT];
+
+void w2_strings_modes_init() {
+ g_w2_mode_strings[W2_M_CHRG] = W2_UI_MODE_CHRG;
+ g_w2_mode_strings[W2_M_DIRC] = W2_UI_MODE_DIRC;
+ g_w2_mode_strings[W2_M_GRID] = W2_UI_MODE_GRID;
+ g_w2_mode_strings[W2_M_HALT] = W2_UI_MODE_HALT;
+ g_w2_mode_strings[W2_M_LCAL] = W2_UI_MODE_LCAL;
+ g_w2_mode_strings[W2_M_MAZE] = W2_UI_MODE_MAZE;
+ g_w2_mode_strings[W2_M_SCAL] = W2_UI_MODE_SCAL;
+ g_w2_mode_strings[W2_M_SPIN] = W2_UI_MODE_SPIN;
+}
+
+void w2_strings_init() { w2_strings_modes_init(); }
diff --git a/client/strings.h b/client/strings.h
new file mode 100644
index 0000000..0085228
--- /dev/null
+++ b/client/strings.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "../shared/modes.h"
+#include "i18n.h"
+
+#define W2_STRINGS_MODE_MAP_BUFFER_SIZE 32
+
+extern char *g_w2_mode_strings[W2_MODE_COUNT];
+
+void w2_strings_init();
diff --git a/client/ui.c b/client/ui.c
index c47e1fb..869a071 100644
--- a/client/ui.c
+++ b/client/ui.c
@@ -1,19 +1,20 @@
-#include <string.h>
#include <ncurses.h>
+#include <string.h>
#include "../shared/bin.h"
#include "../shared/util.h"
#include "i18n.h"
#include "main.h"
+#include "strings.h"
#include "term.h"
#include "ui.h"
WINDOW *g_w2_ui_win;
-unsigned int g_w2_ui_width = 0;
+unsigned int g_w2_ui_width = 0;
unsigned int g_w2_ui_height = 0;
void w2_ui_main() {
- g_w2_ui_width = getmaxx(g_w2_ui_win);
+ g_w2_ui_width = getmaxx(g_w2_ui_win);
g_w2_ui_height = getmaxy(g_w2_ui_win);
w2_ui_paint();
@@ -28,8 +29,7 @@ void w2_ui_paint_statusbar() {
char temp[g_w2_ui_width + 1];
sprintf(temp, "%s, %ims %s",
g_w2_state.connected ? W2_UI_CONN_STAT_CONNECTED : W2_UI_CONN_STAT_DISCONNECTED,
- g_w2_state.ping,
- W2_UI_CONN_STAT_PING);
+ g_w2_state.ping, W2_UI_CONN_STAT_PING);
mvaddstr(0, 0, temp);
sprintf(temp, "(%s)", g_w2_state.info.build_str);
@@ -38,12 +38,10 @@ void w2_ui_paint_statusbar() {
sprintf(temp, "%s %i%%", W2_UI_BATT_STAT_BATTERY, g_w2_state.battery_level);
mvaddstr(0, g_w2_ui_width - strlen(temp), temp);
- sprintf(temp, "[mode 0x%02x]", g_w2_state.mode);
+ sprintf(temp, "[%s]", g_w2_mode_strings[g_w2_state.mode]);
mvaddstr(1, 0, temp);
- sprintf(temp, "%i %s, %i %s",
- 0, W2_UI_EXPT_STAT_WARNINGS,
- 0, W2_UI_EXPT_STAT_ERRORS);
+ sprintf(temp, "%i %s, %i %s", 0, W2_UI_EXPT_STAT_WARNINGS, 0, W2_UI_EXPT_STAT_ERRORS);
mvaddstr(1, g_w2_ui_width - strlen(temp), temp);
w2_ui_paint_tabbar();
@@ -58,4 +56,3 @@ void w2_ui_paint_tabbar() {
sprintf(temp, "-- tab bar here --");
mvaddstr(2, g_w2_ui_width / 2 - strlen(temp) / 2, temp);
}
-
diff --git a/client/ui.h b/client/ui.h
index 06a8cea..cac7f46 100644
--- a/client/ui.h
+++ b/client/ui.h
@@ -1,7 +1,7 @@
#pragma once
-#include <stdint.h>
#include <ncurses.h>
+#include <stdint.h>
extern WINDOW *g_w2_ui_win;
extern unsigned int g_w2_ui_width;
@@ -20,4 +20,3 @@ void w2_ui_main();
void w2_ui_paint_statusbar();
/** draw tab bar */
void w2_ui_paint_tabbar();
-
diff --git a/protocol.md b/protocol.md
index bc6a8c0..95ef835 100644
--- a/protocol.md
+++ b/protocol.md
@@ -297,7 +297,7 @@ packet.
requests robot info
-#### robot info response (`r --> c`) (41 bytes)
+#### robot info response (`r --> c`) (42 bytes)
|type|description|
|-:|-|
@@ -308,6 +308,7 @@ requests robot info
|`uint8_t`|exponential moving average sercomm module cycle time (ms)|
|`uint8_t`|exponential moving average modes module cycle time (ms)|
|`uint32_t`|total robot uptime (s)|
+|`uint8_t`|current mode code|
robot info response
diff --git a/robot/mode_lcal.c b/robot/mode_lcal.c
index 6b4e736..896d0f0 100644
--- a/robot/mode_lcal.c
+++ b/robot/mode_lcal.c
@@ -1 +1,3 @@
#include "mode_lcal.h"
+
+void w2_mode_lcal() {}
diff --git a/robot/modes.c b/robot/modes.c
index 928e2b4..f73a809 100644
--- a/robot/modes.c
+++ b/robot/modes.c
@@ -4,13 +4,31 @@
#include "../shared/util.h"
#include "sercomm.h"
-/** function pointer to current mode */
-// static void (*g_w2_current_mode)() = &w2_mode_halt;
-
-static void (*g_w2_mode_history[W2_MODE_HISTORY_BUFFER_SIZE])();
-static uint8_t g_w2_mode_history_index = 0;
+#include "mode_chrg.h"
+#include "mode_dirc.h"
+#include "mode_grid.h"
+#include "mode_halt.h"
+#include "mode_lcal.h"
+#include "mode_maze.h"
+#include "mode_scal.h"
+#include "mode_spin.h"
+
+w2_e_mode g_w2_mode_history[W2_MODE_HISTORY_BUFFER_SIZE];
+uint8_t g_w2_mode_history_index = 0;
+void (*g_w2_modes[W2_MODE_COUNT])();
+
+void w2_modes_init() {
+ g_w2_modes[W2_M_CHRG] = &w2_mode_chrg;
+ g_w2_modes[W2_M_DIRC] = &w2_mode_dirc;
+ g_w2_modes[W2_M_GRID] = &w2_mode_grid;
+ g_w2_modes[W2_M_HALT] = &w2_mode_halt;
+ g_w2_modes[W2_M_LCAL] = &w2_mode_lcal;
+ g_w2_modes[W2_M_MAZE] = &w2_mode_maze;
+ g_w2_modes[W2_M_SCAL] = &w2_mode_scal;
+ g_w2_modes[W2_M_SPIN] = &w2_mode_spin;
+}
-void w2_modes_main() { (*g_w2_mode_history[g_w2_mode_history_index])(); }
+void w2_modes_main() { (*g_w2_modes[g_w2_mode_history[g_w2_mode_history_index]])(); }
void w2_modes_switch(w2_e_mode new_mode, bool replace) {
int16_t next_history_index =
@@ -24,7 +42,7 @@ void w2_modes_switch(w2_e_mode new_mode, bool replace) {
g_w2_mode_history_index = next_history_index;
} else {
g_w2_mode_history_index = next_history_index;
- g_w2_mode_history[g_w2_mode_history_index] = W2_MODES[new_mode];
+ g_w2_mode_history[g_w2_mode_history_index] = new_mode;
}
// forward mode change to sercomm
diff --git a/robot/modes.h b/robot/modes.h
index 122be4a..8a53560 100644
--- a/robot/modes.h
+++ b/robot/modes.h
@@ -2,16 +2,16 @@
/** @file modes.h */
+#include <stdint.h>
+
#include "../shared/consts.h"
+#include "../shared/modes.h"
+
+extern w2_e_mode g_w2_mode_history[W2_MODE_HISTORY_BUFFER_SIZE];
+extern uint8_t g_w2_mode_history_index;
-#include "mode_chrg.h"
-#include "mode_dirc.h"
-#include "mode_grid.h"
-#include "mode_halt.h"
-#include "mode_lcal.h"
-#include "mode_maze.h"
-#include "mode_scal.h"
-#include "mode_spin.h"
+/** setup g_w2_modes array */
+void w2_modes_init();
/**
* mode logic
@@ -20,25 +20,6 @@
*/
void w2_modes_main();
-/** mode constants */
-typedef enum {
- W2_M_PREV = -1,
- W2_M_MAZE = 0,
- W2_M_GRID = 1,
- W2_M_HALT = 2,
- W2_M_LCAL = 3,
- W2_M_CHRG = 4,
- W2_M_DIRC = 5,
- W2_M_SPIN = 6,
- W2_M_SCAL = 7,
-} w2_e_mode;
-
-/** array that maps w2_e_mode to mode function pointers */
-static const void(*const W2_MODES[]) = {
- &w2_mode_maze, &w2_mode_grid, &w2_mode_grid, &w2_mode_halt,
- &w2_mode_chrg, &w2_mode_dirc, &w2_mode_spin, &w2_mode_scal,
-};
-
/** switch current mode (allow switching back to previous mode) */
void w2_modes_call(w2_e_mode mode);
/** switch current mode (replace current mode keeping history index) */
diff --git a/robot/sercomm.c b/robot/sercomm.c
index 2317d89..deef39f 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -135,6 +135,7 @@ void w2_cmd_info_rx(w2_s_bin *data) {
res_msg->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_ms;
res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_ms;
res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3));
+ res_msg->mode = g_w2_mode_history[g_w2_mode_history_index];
w2_sercomm_append_msg(res_bin);
free(res_bin);
diff --git a/robot/setup.c b/robot/setup.c
index 95b201e..4706d64 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -19,6 +19,9 @@ void w2_setup_main() {
// clear lcd
clear();
+ // modes array
+ w2_modes_init();
+
// start serial i/o
w2_cmd_setup_handlers();
serial_set_baud_rate(W2_SERIAL_BAUD);
diff --git a/shared/modes.h b/shared/modes.h
new file mode 100644
index 0000000..ff939ea
--- /dev/null
+++ b/shared/modes.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#define W2_MODE_COUNT 8
+
+/** mode constants */
+typedef enum {
+ W2_M_PREV = -1,
+ W2_M_MAZE = 0,
+ W2_M_GRID = 1,
+ W2_M_HALT = 2,
+ W2_M_LCAL = 3,
+ W2_M_CHRG = 4,
+ W2_M_DIRC = 5,
+ W2_M_SPIN = 6,
+ W2_M_SCAL = 7,
+} w2_e_mode;
diff --git a/shared/protocol.h b/shared/protocol.h
index 93e53f4..02d5526 100644
--- a/shared/protocol.h
+++ b/shared/protocol.h
@@ -155,6 +155,7 @@ typedef struct {
uint8_t sercomm_ms;
uint8_t mode_ms;
uint32_t uptime_s;
+ uint8_t mode;
} w2_s_cmd_info_tx;
typedef struct {