diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/sercomm.c | 18 |
1 files changed, 17 insertions, 1 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index da632b5..44bf5f9 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -47,7 +47,23 @@ 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) { + w2_s_cmd_ping_rx *message = malloc(w2_scmd_length(data->data, data->bytes)); + memcpy(message, data->data, data->bytes); + + 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->id = message->id; + + 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_scmd_mode_rx(w2_s_bin *data) { return; } |