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Diffstat (limited to 'client')
-rw-r--r--client/commands.c43
-rw-r--r--client/commands.h7
-rw-r--r--client/ui.c10
-rw-r--r--client/ui.h4
-rw-r--r--client/ui_dirc.c78
5 files changed, 102 insertions, 40 deletions
diff --git a/client/commands.c b/client/commands.c
index 1ab79fb..62867dd 100644
--- a/client/commands.c
+++ b/client/commands.c
@@ -14,26 +14,41 @@ void w2_send_bin(w2_s_bin *data) {
}
}
-w2_s_bin *w2_send_info() {
- size_t msg_size = sizeof(w2_s_cmd_info_rx);
- w2_s_cmd_info_rx *msg = malloc(msg_size);
- msg->opcode = W2_CMD_INFO | W2_CMDDIR_RX;
- w2_s_bin *msg_bin = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+void w2_send_info() {
+ W2_CREATE_MSG_BIN(w2_s_cmd_info_rx, msg, msg_bin);
+ msg->opcode = W2_CMD_INFO | W2_CMDDIR_RX;
+
w2_send_bin(msg_bin);
- free(msg);
free(msg_bin);
}
-w2_s_bin *w2_send_ping() {
- g_w2_state.ping_id = (uint8_t)rand();
- size_t msg_size = sizeof(w2_s_cmd_ping_rx);
- w2_s_cmd_ping_rx *msg = malloc(msg_size);
- msg->opcode = W2_CMD_PING | W2_CMDDIR_RX;
- msg->id = g_w2_state.ping_id;
- w2_s_bin *msg_bin = w2_bin_s_alloc(msg_size, (uint8_t *)msg);
+void w2_send_ping() {
+ g_w2_state.ping_id = (uint8_t)rand();
+ W2_CREATE_MSG_BIN(w2_s_cmd_ping_rx, msg, msg_bin);
+ msg->opcode = W2_CMD_PING | W2_CMDDIR_RX;
+ msg->id = g_w2_state.ping_id;
+
w2_send_bin(msg_bin);
- free(msg);
free(msg_bin);
w2_timer_start(W2_TIMER_PING);
}
+
+void w2_send_mode(w2_e_mode mode) {
+ W2_CREATE_MSG_BIN(w2_s_cmd_mode_rx, msg, msg_bin);
+ msg->opcode = W2_CMD_MODE | W2_CMDDIR_RX;
+ msg->mode = mode;
+
+ w2_send_bin(msg_bin);
+ free(msg_bin);
+}
+
+void w2_send_dirc(int left, int right) {
+ W2_CREATE_MSG_BIN(w2_s_cmd_dirc_rx, msg, msg_bin);
+ msg->opcode = W2_CMD_DIRC | W2_CMDDIR_RX;
+ msg->left = w2_bin_hton16((uint16_t)left);
+ msg->right = w2_bin_hton16((uint16_t)right);
+
+ w2_send_bin(msg_bin);
+ free(msg_bin);
+}
diff --git a/client/commands.h b/client/commands.h
index 949360e..6768ea1 100644
--- a/client/commands.h
+++ b/client/commands.h
@@ -1,7 +1,10 @@
#pragma once
#include "../shared/bin.h"
+#include "../shared/modes.h"
#include "serial.h"
-w2_s_bin *w2_send_info();
-w2_s_bin *w2_send_ping();
+void w2_send_info();
+void w2_send_ping();
+void w2_send_mode(w2_e_mode mode);
+void w2_send_dirc(int left, int right);
diff --git a/client/ui.c b/client/ui.c
index ca96efb..e6e73f0 100644
--- a/client/ui.c
+++ b/client/ui.c
@@ -11,9 +11,10 @@
#include "ui.h"
WINDOW *g_w2_ui_win;
-unsigned int g_w2_ui_width = 0;
-unsigned int g_w2_ui_height = 0;
-void (*g_w2_ui_current_tab)() = &w2_ui_dirc;
+unsigned int g_w2_ui_width = 0;
+unsigned int g_w2_ui_height = 0;
+void (*g_w2_ui_current_tab)(bool first) = &w2_ui_dirc;
+void (*g_w2_ui_last_tab)(bool first) = NULL;
void w2_ui_main() {
g_w2_ui_width = getmaxx(g_w2_ui_win);
@@ -25,7 +26,8 @@ void w2_ui_main() {
void w2_ui_paint() {
w2_ui_paint_statusbar();
if (w2_timer_end(W2_TIMER_UPDATE) >= (1000 / W2_UI_UPDATE_FPS)) {
- (*g_w2_ui_current_tab)();
+ (*g_w2_ui_current_tab)(g_w2_ui_last_tab != g_w2_ui_current_tab);
+ g_w2_ui_last_tab = g_w2_ui_current_tab;
w2_timer_start(W2_TIMER_UPDATE);
}
refresh();
diff --git a/client/ui.h b/client/ui.h
index f749fa0..0d375de 100644
--- a/client/ui.h
+++ b/client/ui.h
@@ -8,7 +8,7 @@
extern WINDOW *g_w2_ui_win;
extern unsigned int g_w2_ui_width;
extern unsigned int g_w2_ui_height;
-extern void (*g_w2_ui_current_tab)();
+extern void (*g_w2_ui_current_tab)(bool first);
/** update terminal props */
void w2_ui_update();
@@ -24,4 +24,4 @@ void w2_ui_paint_statusbar();
/** draw tab bar */
void w2_ui_paint_tabbar();
-void w2_ui_dirc();
+void w2_ui_dirc(bool first);
diff --git a/client/ui_dirc.c b/client/ui_dirc.c
index 118a3ea..7720a4c 100644
--- a/client/ui_dirc.c
+++ b/client/ui_dirc.c
@@ -1,21 +1,18 @@
+#include "../shared/protocol.h"
#include "../shared/util.h"
+#include "commands.h"
#include "ui.h"
-void w2_ui_bar_graph(unsigned int percent) {
- unsigned int width = g_w2_ui_width - 7;
- char bar[width];
- for (unsigned int i = 0; i < width - 2; i++) {
- bar[i + 1] = i > (width - 2) * percent / 100 ? ' ' : '*';
- }
- bar[0] = '|';
- bar[width - 1] = '|';
- mvaddnstr(4, 7, bar, width);
-}
-
+/** decay modifier */
#define W2_DIRC_MOD ((double)0.95)
-#define W2_DIRC_ADD ((double)13.0)
-#define W2_DIRC_PAD ((double)1.10)
-#define W2_DIRC_SPL ((unsigned int)20)
+/** add value per key press */
+#define W2_DIRC_ADD ((double)17.0)
+/** padding */
+#define W2_DIRC_PAD ((double)3.00)
+/** average samples */
+#define W2_DIRC_SPL ((unsigned int)14)
+/** steering padding */
+#define W2_DIRC_STP ((double)0.2)
int w2_avg(int *samples, unsigned int sample_count) {
double total = 0;
@@ -45,7 +42,50 @@ int w2_avg(int *samples, unsigned int sample_count) {
W2_DIRC_MOTOR_DRIVER(l);
W2_DIRC_MOTOR_DRIVER(r);
-void w2_ui_dirc() {
+void w2_ui_dirc_init() { w2_send_mode(W2_M_DIRC); }
+
+void w2_ui_bar_graph(unsigned int y, unsigned int x, unsigned int width, double value) {
+ char temp[width];
+ temp[0] = '|';
+ temp[width - 1] = '|';
+ for (unsigned int i = 0; i < width - 2; i++) temp[i + 1] = i < width * value ? '*' : ' ';
+
+ mvaddnstr(y, x, temp, width);
+}
+
+void w2_ui_bar_graph_pm(unsigned int y, unsigned int x, unsigned int width, double value) {
+ char temp[width];
+ temp[0] = '|';
+ temp[width - 1] = '|';
+ width -= 2;
+ unsigned int hw = width / 2;
+ if (value >= 0) {
+ for (unsigned int i = 0; i < width; i++)
+ temp[i + 1] = i < hw ? ' ' : (i - hw) < (hw * value) ? '*' : ' ';
+ } else {
+ for (unsigned int i = 0; i < width; i++)
+ temp[i + 1] = i < hw ? ' ' : (i - hw) < (hw * value) ? '*' : ' ';
+ }
+
+ mvaddnstr(y, x, temp, width);
+}
+
+void w2_ui_dirc_paint(int left, int right) {
+ mvaddstr(4, 0, "left drive: ");
+ w2_ui_bar_graph_pm(4, 13, g_w2_ui_width - 14, (double)left / 255);
+ mvaddstr(5, 0, "right drive: ");
+ w2_ui_bar_graph_pm(5, 13, g_w2_ui_width - 14, (double)right / 255);
+
+ mvaddstr(7, 0,
+ " controls:\n"
+ "\n"
+ " <q> <w> <e> forward\n"
+ " <a> <s> <d> backward\n"
+ "left both right\n");
+}
+
+void w2_ui_dirc(bool first) {
+ if (first) w2_ui_dirc_init();
int ch = 0;
unsigned int lb = 0;
unsigned int lf = 0;
@@ -61,7 +101,9 @@ void w2_ui_dirc() {
int drive_l = w2_dirc_motor_l(lf, lb);
int drive_r = w2_dirc_motor_r(rf, rb);
- char temp[32] = {0};
- sprintf(temp, "l: %04i, r: %04i", drive_l, drive_r);
- mvaddstr(4, 0, temp);
+ drive_l += drive_r * W2_DIRC_STP;
+ drive_r += drive_l * W2_DIRC_STP;
+
+ w2_send_dirc(drive_l, drive_r);
+ w2_ui_dirc_paint(drive_l, drive_r);
}