diff options
Diffstat (limited to 'shared/protocol.c')
| -rw-r--r-- | shared/protocol.c | 90 |
1 files changed, 47 insertions, 43 deletions
diff --git a/shared/protocol.c b/shared/protocol.c index 18ee227..73063f3 100644 --- a/shared/protocol.c +++ b/shared/protocol.c @@ -5,133 +5,137 @@ #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; +size_t w2_cmd_sizeof(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) { + if (data[0] == (W2_CMD_PING | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_ping_rx); + if (data[0] == (W2_CMD_PING | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_ping_tx); - 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_MODE | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_mode_rx); + if (data[0] == (W2_CMD_MODE | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_mode_tx); - if (data[0] == (W2_CMD_SPED | W2_CMDDIR_RX)) return 2; + if (data[0] == (W2_CMD_SPED | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sped_rx); - if (data[0] == (W2_CMD_DIRC | W2_CMDDIR_RX)) return 5; + if (data[0] == (W2_CMD_DIRC | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_dirc_rx); - 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_CORD | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_cord_rx); + if (data[0] == (W2_CMD_CORD | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_cord_tx); - 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_BOMD | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_bomd_rx); + if (data[0] == (W2_CMD_BOMD | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_bomd_tx); - if (data[0] == (W2_CMD_SRES | W2_CMDDIR_RX)) return 2; + if (data[0] == (W2_CMD_SRES | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sres_rx); - 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_SENS | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sens_rx); + if (data[0] == (W2_CMD_SENS | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_sens_tx); - if (data[0] == (W2_CMD_INFO | W2_CMDDIR_RX)) return 1; - if (data[0] == (W2_CMD_INFO | W2_CMDDIR_TX)) return 41; + if (data[0] == (W2_CMD_INFO | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_info_rx); + if (data[0] == (W2_CMD_INFO | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_info_tx); w2_s_bin *copy = w2_bin_s_alloc(data_length, data); uint8_t length = 1; - 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); + if (data[0] == (W2_CMD_EXPT | W2_CMDDIR_TX)) length = w2_cmd_expt_tx_sizeof(copy); + if (data[0] == (W2_CMD_MCFG | W2_CMDDIR_RX)) length = w2_cmd_mcfg_rx_sizeof(copy); 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); +#define W2_DYN_MEMBER_SIZEOF(struct_t, length_byte, trailing_type) \ + sizeof(struct_t) + \ + (data->bytes > length_byte ? (sizeof(trailing_type) * data->data[length_byte]) : 0) + +size_t w2_cmd_expt_tx_sizeof(w2_s_bin *data) { + return W2_DYN_MEMBER_SIZEOF(w2_s_cmd_expt_tx, 2, uint8_t); } -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); +size_t w2_cmd_mcfg_rx_sizeof(w2_s_bin *data) { + return W2_DYN_MEMBER_SIZEOF(w2_s_cmd_mcfg_rx, 3, w2_s_cmd_mcfg_feature); } -void w2_scmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) { +void w2_cmd_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); + w2_cmd_ping_rx(copy); break; } case W2_CMD_PING | W2_CMDDIR_TX: { - w2_scmd_ping_tx(copy); + w2_cmd_ping_tx(copy); break; } case W2_CMD_EXPT | W2_CMDDIR_TX: { - w2_scmd_expt_tx(copy); + w2_cmd_expt_tx(copy); break; } case W2_CMD_MODE | W2_CMDDIR_RX: { - w2_scmd_mode_rx(copy); + w2_cmd_mode_rx(copy); break; } case W2_CMD_MODE | W2_CMDDIR_TX: { - w2_scmd_mode_tx(copy); + w2_cmd_mode_tx(copy); break; } case W2_CMD_SPED | W2_CMDDIR_RX: { - w2_scmd_sped_rx(copy); + w2_cmd_sped_rx(copy); break; } case W2_CMD_DIRC | W2_CMDDIR_RX: { - w2_scmd_dirc_rx(copy); + w2_cmd_dirc_rx(copy); break; } case W2_CMD_CORD | W2_CMDDIR_RX: { - w2_scmd_cord_rx(copy); + w2_cmd_cord_rx(copy); break; } case W2_CMD_CORD | W2_CMDDIR_TX: { - w2_scmd_cord_tx(copy); + w2_cmd_cord_tx(copy); break; } case W2_CMD_BOMD | W2_CMDDIR_RX: { - w2_scmd_bomd_rx(copy); + w2_cmd_bomd_rx(copy); break; } case W2_CMD_BOMD | W2_CMDDIR_TX: { - w2_scmd_bomd_tx(copy); + w2_cmd_bomd_tx(copy); break; } case W2_CMD_SRES | W2_CMDDIR_RX: { - w2_scmd_sres_rx(copy); + w2_cmd_sres_rx(copy); break; } case W2_CMD_MCFG | W2_CMDDIR_RX: { - w2_scmd_mcfg_rx(copy); + w2_cmd_mcfg_rx(copy); break; } case W2_CMD_SENS | W2_CMDDIR_RX: { - w2_scmd_sens_rx(copy); + w2_cmd_sens_rx(copy); break; } case W2_CMD_SENS | W2_CMDDIR_TX: { - w2_scmd_sens_tx(copy); + w2_cmd_sens_tx(copy); break; } case W2_CMD_INFO | W2_CMDDIR_RX: { - w2_scmd_info_rx(copy); + w2_cmd_info_rx(copy); break; } case W2_CMD_INFO | W2_CMDDIR_TX: { - w2_scmd_info_tx(copy); + w2_cmd_info_tx(copy); break; } case W2_CMD_DISP | W2_CMDDIR_RX: { - w2_scmd_disp_rx(copy); + w2_cmd_disp_rx(copy); break; } case W2_CMD_PLAY | W2_CMDDIR_RX: { - w2_scmd_play_rx(copy); + w2_cmd_play_rx(copy); break; } case W2_CMD_CLED | W2_CMDDIR_RX: { - w2_scmd_cled_rx(copy); + w2_cmd_cled_rx(copy); break; } default: { |