diff options
Diffstat (limited to 'client')
| -rw-r--r-- | client/main.c | 19 | ||||
| -rw-r--r-- | client/serial.c | 10 | ||||
| -rw-r--r-- | client/ui_dirc.c | 7 |
3 files changed, 18 insertions, 18 deletions
diff --git a/client/main.c b/client/main.c index 00f686a..b5af0e8 100644 --- a/client/main.c +++ b/client/main.c @@ -1,15 +1,13 @@ #include "main.h" -#include "../shared/errcatch.h" #include "../shared/consts.h" +#include "../shared/errcatch.h" +#include "commands.h" #include "serial.h" #include "setup.h" -#include "ui.h" #include "time.h" -#include "commands.h" +#include "ui.h" -w2_s_client_state g_w2_state = { - .ping_received = true -}; +w2_s_client_state g_w2_state = {.ping_received = true}; int main(int argc, char **argv) { w2_client_setup(argc, argv); @@ -21,12 +19,13 @@ int main(int argc, char **argv) { if (!g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_TIMEOUT) { g_w2_state.ping_timeout = true; - g_w2_state.connected = false; + g_w2_state.connected = false; w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT); } - - if ((g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_state.ping_timeout) { - g_w2_state.ping_timeout = false; + + if ((g_w2_state.ping_received && w2_timer_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || + g_w2_state.ping_timeout) { + g_w2_state.ping_timeout = false; g_w2_state.ping_received = false; w2_send_ping(); } diff --git a/client/serial.c b/client/serial.c index 743fe76..112fd81 100644 --- a/client/serial.c +++ b/client/serial.c @@ -2,10 +2,10 @@ #include "../shared/protocol.h" #include "../shared/serial_parse.h" +#include "commands.h" #include "main.h" #include "serial.h" #include "time.h" -#include "commands.h" void w2_serial_main() { int temp; @@ -20,13 +20,11 @@ void w2_cmd_ping_rx(w2_s_bin *data) { g_w2_state.ping = w2_timer_end(W2_TIMER_PING); g_w2_state.ping_received = true; - g_w2_state.ping_timeout = false; - g_w2_state.connected = true; + g_w2_state.ping_timeout = false; + g_w2_state.connected = true; } -void w2_cmd_ping_tx(w2_s_bin *data) { - w2_send_bin(data); -} +void w2_cmd_ping_tx(w2_s_bin *data) { w2_send_bin(data); } void w2_cmd_expt_tx(w2_s_bin *data) {} void w2_cmd_mode_tx(w2_s_bin *data) { diff --git a/client/ui_dirc.c b/client/ui_dirc.c index 675913a..ed69cd2 100644 --- a/client/ui_dirc.c +++ b/client/ui_dirc.c @@ -81,7 +81,9 @@ void w2_ui_dirc_paint(int left, int right) { "\n" " <q> <w> <e> forward\n" " <a> <s> <d> backward\n" - "left both right\n"); + "left both right\n" + "\n" + "<space> send dirc mode command"); } void w2_ui_dirc(bool first) { @@ -96,6 +98,7 @@ void w2_ui_dirc(bool first) { if (ch == 'd' || ch == 's') lb++; if (ch == 'q' || ch == 'w') rf++; if (ch == 'a' || ch == 's') rb++; + if (ch == ' ') w2_send_mode(W2_M_DIRC); } int drive_l = w2_dirc_motor_l(lf, lb); @@ -104,6 +107,6 @@ void w2_ui_dirc(bool first) { drive_l += drive_r * W2_DIRC_STP; drive_r += drive_l * W2_DIRC_STP; - // w2_send_dirc(drive_l, drive_r); + w2_send_dirc(drive_l, drive_r); w2_ui_dirc_paint(drive_l, drive_r); } |