diff options
Diffstat (limited to 'shared/protocol.c')
| -rw-r--r-- | shared/protocol.c | 92 |
1 files changed, 87 insertions, 5 deletions
diff --git a/shared/protocol.c b/shared/protocol.c index c634a09..af38804 100644 --- a/shared/protocol.c +++ b/shared/protocol.c @@ -1,9 +1,91 @@ +#include <stdbool.h> + #include "protocol.h" +#ifdef W2_SIM +#include "../robot/orangutan_shim.h" +#endif + +uint8_t w2_scmd_length(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) { + if ((data[0] & W2_CMD_CODE_MASK) == W2_CMD_PING) return 2; + + if (data[0] == (W2_CMD_MODE | W2_CMDDIR_RX)) return 2; + if (data[0] == (W2_CMD_MODE | W2_CMDDIR_TX)) return 2; + + if (data[0] == (W2_CMD_SPED | W2_CMDDIR_RX)) return 2; + + if (data[0] == (W2_CMD_DIRC | W2_CMDDIR_RX)) return 5; + + if (data[0] == (W2_CMD_CORD | W2_CMDDIR_RX)) return 6; + if (data[0] == (W2_CMD_CORD | W2_CMDDIR_TX)) return 6; + + if (data[0] == (W2_CMD_BOMD | W2_CMDDIR_RX)) return 9; + if (data[0] == (W2_CMD_BOMD | W2_CMDDIR_TX)) return 6; + + if (data[0] == (W2_CMD_SRES | W2_CMDDIR_RX)) return 2; + + if (data[0] == (W2_CMD_SENS | W2_CMDDIR_RX)) return 1; + if (data[0] == (W2_CMD_SENS | W2_CMDDIR_TX)) return 0; + + if (data[0] == (W2_CMD_INFO | W2_CMDDIR_RX)) return 1; + if (data[0] == (W2_CMD_INFO | W2_CMDDIR_TX)) return 41; + + w2_s_bin *copy = w2_bin_s_alloc(data_length, data); + uint8_t length = 1; -W2_PROTOCOL_DEFINE(W2_PROTOCOL_CMD_PING_RX) + if (data[0] == (W2_CMD_EXPT | W2_CMDDIR_TX)) length = w2_scmd_expt_tx_length(copy); + if (data[0] == (W2_CMD_MCFG | W2_CMDDIR_RX)) length = w2_scmd_mcfg_rx_length(copy); -w2_s_cmd_ping_rx *w2_protocol_parse_cmd_ping_rx(w2_s_bin *data) { - w2_s_cmd_ping_rx *parsed = malloc(data->bytes); - memcpy(parsed, data->data, data->bytes); - return parsed; + free(copy); + + return length; +} + +uint8_t w2_scmd_expt_tx_length(w2_s_bin *data) { + return 3 + (data->bytes > 2 ? (sizeof(uint8_t) * data->data[2]) : 0); } + +uint8_t w2_scmd_mcfg_rx_length(w2_s_bin *data) { + // TODO 3 = sizeof(feature) -> protocol.md + return 4 + (data->bytes > 3 ? (3 * data->data[3]) : 0); +} + +void w2_scmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) { + w2_s_bin *copy = w2_bin_s_alloc(data_length, data); + bool unknown = false; + + switch(data[0]) { + case W2_CMD_PING | W2_CMDDIR_RX: { w2_scmd_ping_rx(copy); break; } + case W2_CMD_PING | W2_CMDDIR_TX: { w2_scmd_ping_tx(copy); break; } + case W2_CMD_EXPT | W2_CMDDIR_TX: { w2_scmd_expt_tx(copy); break; } + case W2_CMD_MODE | W2_CMDDIR_RX: { w2_scmd_mode_rx(copy); break; } + case W2_CMD_MODE | W2_CMDDIR_TX: { w2_scmd_mode_tx(copy); break; } + case W2_CMD_SPED | W2_CMDDIR_RX: { w2_scmd_sped_rx(copy); break; } + case W2_CMD_DIRC | W2_CMDDIR_RX: { w2_scmd_dirc_rx(copy); break; } + case W2_CMD_CORD | W2_CMDDIR_RX: { w2_scmd_cord_rx(copy); break; } + case W2_CMD_CORD | W2_CMDDIR_TX: { w2_scmd_cord_tx(copy); break; } + case W2_CMD_BOMD | W2_CMDDIR_RX: { w2_scmd_bomd_rx(copy); break; } + case W2_CMD_BOMD | W2_CMDDIR_TX: { w2_scmd_bomd_tx(copy); break; } + case W2_CMD_SRES | W2_CMDDIR_RX: { w2_scmd_sres_rx(copy); break; } + case W2_CMD_MCFG | W2_CMDDIR_RX: { w2_scmd_mcfg_rx(copy); break; } + case W2_CMD_SENS | W2_CMDDIR_RX: { w2_scmd_sens_rx(copy); break; } + case W2_CMD_SENS | W2_CMDDIR_TX: { w2_scmd_sens_tx(copy); break; } + case W2_CMD_INFO | W2_CMDDIR_RX: { w2_scmd_info_rx(copy); break; } + case W2_CMD_INFO | W2_CMDDIR_TX: { w2_scmd_info_tx(copy); break; } + case W2_CMD_DISP | W2_CMDDIR_RX: { w2_scmd_disp_rx(copy); break; } + case W2_CMD_PLAY | W2_CMDDIR_RX: { w2_scmd_play_rx(copy); break; } + case W2_CMD_CLED | W2_CMDDIR_RX: { w2_scmd_cled_rx(copy); break; } + default: { +#ifdef W2_SIM + simwarn("unknown serial message with code 0x%02x\n", data[0]); +#endif + unknown = true; + } + } + +#ifdef W2_SIM + if (!unknown) w2_sim_print_serial(copy); +#endif + + free(copy); +} + |