diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 26 |
1 files changed, 24 insertions, 2 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index 293e3c6..a3ccdb0 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -3,6 +3,7 @@ #include "../shared/bin.h" #include "../shared/serial_parse.h" +#include "hypervisor.h" #include "orangutan_shim.h" #include "sercomm.h" @@ -53,7 +54,7 @@ void w2_cmd_ping_rx(w2_s_bin *data) { size_t return_size = sizeof(w2_s_cmd_ping_tx); w2_s_cmd_ping_tx *return_message = malloc(return_size); - return_message->opcode = (message->opcode & W2_CMD_DIRECTION_MASK) | W2_CMDDIR_TX; + return_message->opcode = W2_CMD_PING | W2_CMDDIR_TX; return_message->id = message->id; w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message); @@ -81,7 +82,28 @@ void w2_cmd_mcfg_rx(w2_s_bin *data) { return; } void w2_cmd_sens_rx(w2_s_bin *data) { return; } -void w2_cmd_info_rx(w2_s_bin *data) { return; } +void w2_cmd_info_rx(w2_s_bin *data) { + w2_s_cmd_info_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes)); + memcpy(message, data->data, data->bytes); + + size_t return_size = sizeof(w2_s_cmd_info_tx); + w2_s_cmd_info_tx *return_message = malloc(return_size); + return_message->opcode = W2_CMD_INFO | W2_CMDDIR_TX; + strncpy((char *)return_message->build_str, W2_BUILD_STR, sizeof(return_message->build_str)); + return_message->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_ms; + return_message->io_ms = (uint8_t)g_w2_hypervisor_ema_io_ms; + return_message->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_ms; + return_message->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_ms; + return_message->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3)); + + w2_s_bin *return_message_bin = w2_bin_s_alloc(return_size, (uint8_t *)return_message); + + w2_sercomm_append_msg(return_message_bin); + + free(message); + free(return_message); + free(return_message_bin); +} void w2_cmd_disp_rx(w2_s_bin *data) { return; } |