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#include <stdlib.h>
#include <string.h>
#include "../shared/bin.h"
#include "../shared/serial_parse.h"
#include "errcatch.h"
#include "hypervisor.h"
#include "io.h"
#include "mode_dirc.h"
#include "modes.h"
#include "orangutan_shim.h"
#include "sercomm.h"
w2_s_bin *g_w2_sercomm_buffer[W2_SERCOMM_BUFFER_SIZE] = {0};
uint8_t g_w2_sercomm_index = 0;
uint8_t g_w2_sercomm_offset = 0;
uint8_t g_w2_sercomm_buffer_full = 0;
char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE] = {0};
uint8_t g_w2_serial_buffer_index = 0;
uint8_t g_w2_serial_buffer_head = 0;
void w2_sercomm_main() {
#ifdef W2_SIM
simprintfunc("w2_sercomm_main", "");
#endif
// read and parse data
while (serial_get_received_bytes() != g_w2_serial_buffer_index) {
if (!w2_serial_parse(g_w2_serial_buffer[g_w2_serial_buffer_index]))
w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
g_w2_serial_buffer_index = (g_w2_serial_buffer_index + 1) % W2_SERIAL_READ_BUFFER_SIZE;
}
// send data
while (g_w2_sercomm_offset != g_w2_sercomm_index) {
w2_s_bin *data = g_w2_sercomm_buffer[g_w2_sercomm_offset];
#ifdef W2_SIM
w2_sim_print_serial(data);
#endif
serial_send("\xff", 1);
for (uint8_t i = 0; i < data->bytes; i++) {
uint8_t byte = data->data[i];
byte == 0xff ? serial_send("\xff\xff", 2) : serial_send((char *)&byte, 1);
}
g_w2_sercomm_offset = (g_w2_sercomm_offset + 1) % W2_SERCOMM_BUFFER_SIZE;
}
}
void w2_sercomm_append_msg(w2_s_bin *data) {
#ifdef W2_SIM
simprintfunc("w2_sercomm_append_msg", "");
#endif
uint8_t next_index = (g_w2_sercomm_index + 1) % W2_SERCOMM_BUFFER_SIZE;
g_w2_sercomm_buffer_full = next_index == g_w2_sercomm_offset;
free(g_w2_sercomm_buffer[g_w2_sercomm_index]);
g_w2_sercomm_buffer[g_w2_sercomm_index] = w2_bin_s_alloc(data->bytes, data->data);
if (g_w2_sercomm_buffer_full) return;
g_w2_sercomm_index = next_index;
}
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);
void (*handler)(w2_s_bin *) = g_w2_cmd_handlers[data[0]];
if (handler == NULL) {
#ifdef W2_SIM
// TODO throw warning
simwarn("unknown serial message with code 0x%02x\n", data[0]);
#endif
w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
} else {
#ifdef W2_SIM
w2_sim_print_serial(copy);
#endif
handler(copy);
}
free(copy);
}
void w2_cmd_ping_rx(w2_s_bin *data) {
w2_s_cmd_ping_rx *message = malloc(w2_cmd_sizeof(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 = W2_CMD_PING | 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_cmd_mode_rx(w2_s_bin *data) {
w2_s_cmd_mode_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
memcpy(message, data->data, data->bytes);
w2_modes_swap(message->mode);
}
void w2_cmd_sped_rx(w2_s_bin *data) { return; }
void w2_cmd_dirc_rx(w2_s_bin *data) {
w2_s_cmd_dirc_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
memcpy(message, data->data, data->bytes);
g_w2_mode_dirc_motor_l = w2_bin_ntoh16(message->left);
g_w2_mode_dirc_motor_r = w2_bin_ntoh16(message->right);
}
void w2_cmd_cord_rx(w2_s_bin *data) { return; }
void w2_cmd_bomd_rx(w2_s_bin *data) { return; }
void w2_cmd_sres_rx(w2_s_bin *data) {
w2_s_cmd_sres_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
memcpy(message, data->data, data->bytes);
switch (message->type) {
case W2_CMD_SRES_RX_TYPE_REINITGS: {
// TODO: soft-reset
break;
}
case W2_CMD_SRES_RX_TYPE_PREVMODE: {
w2_modes_call(W2_M_PREV);
break;
}
default: {
w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
}
}
}
void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
void w2_cmd_sens_rx(w2_s_bin *data) {
w2_s_cmd_sens_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
memcpy(message, data->data, data->bytes);
size_t return_size = sizeof(w2_s_cmd_sens_tx);
w2_s_cmd_sens_tx *return_message = malloc(return_size);
return_message->opcode = W2_CMD_SENS | W2_CMDDIR_TX;
memcpy((uint8_t *)&return_message->io, (uint8_t *)&g_w2_io, sizeof(w2_s_io_all));
for (int i = 0; i < 5; i++) w2_bin_repl_hton16(&return_message->io.qtr[i].range);
w2_bin_repl_hton16(&return_message->io.front_distance.detection);
w2_bin_repl_hton16(&return_message->io.side_distance.detection);
w2_bin_repl_hton16(&return_message->io.battery.charge_level);
w2_bin_repl_hton16((uint16_t *)&return_message->io.motor_left.speed);
w2_bin_repl_hton16((uint16_t *)&return_message->io.motor_right.speed);
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_cmd_info_rx(w2_s_bin *data) {
w2_s_cmd_info_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
memcpy(message, data->data, data->bytes);
size_t return_size = sizeof(w2_s_cmd_info_tx);
w2_s_cmd_info_tx *return_message = malloc(return_size);
return_message->opcode = W2_CMD_INFO | W2_CMDDIR_TX;
strncpy((char *)return_message->build_str, W2_BUILD_STR, sizeof(return_message->build_str));
return_message->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_ms;
return_message->io_ms = (uint8_t)g_w2_hypervisor_ema_io_ms;
return_message->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_ms;
return_message->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_ms;
return_message->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3));
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_cmd_disp_rx(w2_s_bin *data) { return; }
void w2_cmd_play_rx(w2_s_bin *data) { return; }
void w2_cmd_cled_rx(w2_s_bin *data) { return; }
void w2_cmd_ping_tx(w2_s_bin *data) {}
void w2_cmd_expt_tx(w2_s_bin *data) {}
void w2_cmd_mode_tx(w2_s_bin *data) {}
void w2_cmd_cord_tx(w2_s_bin *data) {}
void w2_cmd_bomd_tx(w2_s_bin *data) {}
void w2_cmd_sens_tx(w2_s_bin *data) {}
void w2_cmd_info_tx(w2_s_bin *data) {}
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