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#include <stdlib.h>
#include "../shared/bin.h"
#include "../shared/modes.h"
#include "../shared/protocol.h"
#include "commands.h"
#include "main.h"
#include "time.h"
void w2_send_bin(w2_s_bin *data) {
w2_serial_write("\xff", 1);
for (uint8_t i = 0; i < data->bytes; i++) {
uint8_t byte = data->data[i];
byte == 0xff ? w2_serial_write("\xff\xff", 2) : w2_serial_write((char *)&byte, 1);
}
}
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() {
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_bin);
return NULL;
}
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;
w2_send_bin(msg_bin);
free(msg_bin);
w2_timer_start(W2_TIMER_PING);
return NULL;
}
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