From 35cdecc0134b82d69b120533b091b8e5b58415e1 Mon Sep 17 00:00:00 2001 From: lonkaars Date: Wed, 1 Jun 2022 10:02:07 +0200 Subject: direct control toy working --- client/commands.c | 37 +++++++++++++++++++++++++++---------- client/commands.h | 3 +++ client/ui.c | 6 ++++-- client/ui.h | 4 ++-- client/ui_dirc.c | 11 ++++++++++- 5 files changed, 46 insertions(+), 15 deletions(-) diff --git a/client/commands.c b/client/commands.c index 1ab79fb..0d47fcd 100644 --- a/client/commands.c +++ b/client/commands.c @@ -2,6 +2,7 @@ #include "../shared/bin.h" #include "../shared/protocol.h" +#include "../shared/modes.h" #include "commands.h" #include "main.h" #include "time.h" @@ -14,26 +15,42 @@ void w2_send_bin(w2_s_bin *data) { } } +w2_s_bin *w2_send_mode(w2_e_mode mode) { + W2_CREATE_MSG_BIN(w2_s_cmd_mode_rx, msg, msg_bin); + + msg->opcode = W2_CMD_MODE | W2_CMDDIR_RX; + msg->mode = mode; + + w2_send_bin(msg_bin); + free(msg_bin); + return NULL; +} + +w2_s_bin *w2_send_dirc(uint16_t left, uint16_t right) { + W2_CREATE_MSG_BIN(w2_s_cmd_dirc_rx, msg, msg_bin); + msg->opcode = W2_CMD_DIRC | W2_CMDDIR_RX; + msg->left = w2_bin_hton16(left); + msg->right = w2_bin_hton16(right); + w2_send_bin(msg_bin); + free(msg_bin); + return NULL; +} + w2_s_bin *w2_send_info() { - size_t msg_size = sizeof(w2_s_cmd_info_rx); - w2_s_cmd_info_rx *msg = malloc(msg_size); - msg->opcode = W2_CMD_INFO | W2_CMDDIR_RX; - w2_s_bin *msg_bin = w2_bin_s_alloc(msg_size, (uint8_t *)msg); + W2_CREATE_MSG_BIN(w2_s_cmd_info_rx, msg, msg_bin); + msg->opcode = W2_CMD_INFO | W2_CMDDIR_RX; w2_send_bin(msg_bin); - free(msg); free(msg_bin); + return NULL; } w2_s_bin *w2_send_ping() { - g_w2_state.ping_id = (uint8_t)rand(); - size_t msg_size = sizeof(w2_s_cmd_ping_rx); - w2_s_cmd_ping_rx *msg = malloc(msg_size); + W2_CREATE_MSG_BIN(w2_s_cmd_ping_rx, msg, msg_bin); msg->opcode = W2_CMD_PING | W2_CMDDIR_RX; msg->id = g_w2_state.ping_id; - w2_s_bin *msg_bin = w2_bin_s_alloc(msg_size, (uint8_t *)msg); w2_send_bin(msg_bin); - free(msg); free(msg_bin); w2_timer_start(W2_TIMER_PING); + return NULL; } diff --git a/client/commands.h b/client/commands.h index 949360e..cb01189 100644 --- a/client/commands.h +++ b/client/commands.h @@ -1,7 +1,10 @@ #pragma once #include "../shared/bin.h" +#include "../shared/modes.h" #include "serial.h" +w2_s_bin *w2_send_mode(w2_e_mode mode); +w2_s_bin *w2_send_dirc(uint16_t left, uint16_t right); w2_s_bin *w2_send_info(); w2_s_bin *w2_send_ping(); diff --git a/client/ui.c b/client/ui.c index ca96efb..26e2116 100644 --- a/client/ui.c +++ b/client/ui.c @@ -13,7 +13,8 @@ WINDOW *g_w2_ui_win; unsigned int g_w2_ui_width = 0; unsigned int g_w2_ui_height = 0; -void (*g_w2_ui_current_tab)() = &w2_ui_dirc; +void (*g_w2_ui_current_tab)(bool first) = &w2_ui_dirc; +void (*g_w2_ui_last_tab)(bool first) = NULL; void w2_ui_main() { g_w2_ui_width = getmaxx(g_w2_ui_win); @@ -25,7 +26,8 @@ void w2_ui_main() { void w2_ui_paint() { w2_ui_paint_statusbar(); if (w2_timer_end(W2_TIMER_UPDATE) >= (1000 / W2_UI_UPDATE_FPS)) { - (*g_w2_ui_current_tab)(); + (*g_w2_ui_current_tab)(g_w2_ui_last_tab != g_w2_ui_current_tab); + g_w2_ui_last_tab = g_w2_ui_current_tab; w2_timer_start(W2_TIMER_UPDATE); } refresh(); diff --git a/client/ui.h b/client/ui.h index f749fa0..0d375de 100644 --- a/client/ui.h +++ b/client/ui.h @@ -8,7 +8,7 @@ extern WINDOW *g_w2_ui_win; extern unsigned int g_w2_ui_width; extern unsigned int g_w2_ui_height; -extern void (*g_w2_ui_current_tab)(); +extern void (*g_w2_ui_current_tab)(bool first); /** update terminal props */ void w2_ui_update(); @@ -24,4 +24,4 @@ void w2_ui_paint_statusbar(); /** draw tab bar */ void w2_ui_paint_tabbar(); -void w2_ui_dirc(); +void w2_ui_dirc(bool first); diff --git a/client/ui_dirc.c b/client/ui_dirc.c index 118a3ea..13b2d10 100644 --- a/client/ui_dirc.c +++ b/client/ui_dirc.c @@ -1,4 +1,6 @@ #include "../shared/util.h" +#include "../shared/protocol.h" +#include "commands.h" #include "ui.h" void w2_ui_bar_graph(unsigned int percent) { @@ -45,7 +47,12 @@ int w2_avg(int *samples, unsigned int sample_count) { W2_DIRC_MOTOR_DRIVER(l); W2_DIRC_MOTOR_DRIVER(r); -void w2_ui_dirc() { +void w2_ui_dirc_init() { + w2_send_mode(W2_M_DIRC); +} + +void w2_ui_dirc(bool first) { + if (first) w2_ui_dirc_init(); int ch = 0; unsigned int lb = 0; unsigned int lf = 0; @@ -64,4 +71,6 @@ void w2_ui_dirc() { char temp[32] = {0}; sprintf(temp, "l: %04i, r: %04i", drive_l, drive_r); mvaddstr(4, 0, temp); + + w2_send_dirc(drive_l, drive_r); } -- cgit v1.2.3 From e5eeab9dc97c37be905bd616f38e83488dbe2136 Mon Sep 17 00:00:00 2001 From: lonkaars Date: Wed, 1 Jun 2022 10:04:46 +0200 Subject: `make format` --- client/commands.c | 12 ++++++------ client/ui.c | 6 +++--- client/ui_dirc.c | 6 ++---- 3 files changed, 11 insertions(+), 13 deletions(-) diff --git a/client/commands.c b/client/commands.c index 0d47fcd..18373f6 100644 --- a/client/commands.c +++ b/client/commands.c @@ -1,8 +1,8 @@ #include #include "../shared/bin.h" -#include "../shared/protocol.h" #include "../shared/modes.h" +#include "../shared/protocol.h" #include "commands.h" #include "main.h" #include "time.h" @@ -19,7 +19,7 @@ w2_s_bin *w2_send_mode(w2_e_mode mode) { W2_CREATE_MSG_BIN(w2_s_cmd_mode_rx, msg, msg_bin); msg->opcode = W2_CMD_MODE | W2_CMDDIR_RX; - msg->mode = mode; + msg->mode = mode; w2_send_bin(msg_bin); free(msg_bin); @@ -29,8 +29,8 @@ w2_s_bin *w2_send_mode(w2_e_mode mode) { w2_s_bin *w2_send_dirc(uint16_t left, uint16_t right) { W2_CREATE_MSG_BIN(w2_s_cmd_dirc_rx, msg, msg_bin); msg->opcode = W2_CMD_DIRC | W2_CMDDIR_RX; - msg->left = w2_bin_hton16(left); - msg->right = w2_bin_hton16(right); + msg->left = w2_bin_hton16(left); + msg->right = w2_bin_hton16(right); w2_send_bin(msg_bin); free(msg_bin); return NULL; @@ -46,8 +46,8 @@ w2_s_bin *w2_send_info() { w2_s_bin *w2_send_ping() { W2_CREATE_MSG_BIN(w2_s_cmd_ping_rx, msg, msg_bin); - msg->opcode = W2_CMD_PING | W2_CMDDIR_RX; - msg->id = g_w2_state.ping_id; + msg->opcode = W2_CMD_PING | W2_CMDDIR_RX; + msg->id = g_w2_state.ping_id; w2_send_bin(msg_bin); free(msg_bin); diff --git a/client/ui.c b/client/ui.c index 26e2116..e6e73f0 100644 --- a/client/ui.c +++ b/client/ui.c @@ -11,10 +11,10 @@ #include "ui.h" WINDOW *g_w2_ui_win; -unsigned int g_w2_ui_width = 0; -unsigned int g_w2_ui_height = 0; +unsigned int g_w2_ui_width = 0; +unsigned int g_w2_ui_height = 0; void (*g_w2_ui_current_tab)(bool first) = &w2_ui_dirc; -void (*g_w2_ui_last_tab)(bool first) = NULL; +void (*g_w2_ui_last_tab)(bool first) = NULL; void w2_ui_main() { g_w2_ui_width = getmaxx(g_w2_ui_win); diff --git a/client/ui_dirc.c b/client/ui_dirc.c index 13b2d10..dcd4423 100644 --- a/client/ui_dirc.c +++ b/client/ui_dirc.c @@ -1,5 +1,5 @@ -#include "../shared/util.h" #include "../shared/protocol.h" +#include "../shared/util.h" #include "commands.h" #include "ui.h" @@ -47,9 +47,7 @@ int w2_avg(int *samples, unsigned int sample_count) { W2_DIRC_MOTOR_DRIVER(l); W2_DIRC_MOTOR_DRIVER(r); -void w2_ui_dirc_init() { - w2_send_mode(W2_M_DIRC); -} +void w2_ui_dirc_init() { w2_send_mode(W2_M_DIRC); } void w2_ui_dirc(bool first) { if (first) w2_ui_dirc_init(); -- cgit v1.2.3