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#include <stdlib.h>
#include <string.h>
#include "../shared/bin.h"
#include "../shared/errcatch.h"
#include "../shared/serial_parse.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;
}
// check time-out
if (!g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_TIMEOUT) {
g_w2_ping_timeout = true;
g_w2_connected = false;
w2_errcatch_throw(W2_E_WARN_PING_TIMEOUT);
}
// send ping every W2_TIMER_PING ms
if ((g_w2_ping_received && w2_hypervisor_time_end(W2_TIMER_PING) > W2_PING_FREQUENCY) || g_w2_ping_timeout) {
g_w2_ping_timeout = false;
g_w2_ping_received = false;
g_w2_ping_id = (uint8_t) rand();
W2_CREATE_MSG_BIN(w2_s_cmd_ping_tx, msg, bin);
msg->opcode = W2_CMD_PING | W2_CMDDIR_TX;
msg->id = g_w2_ping_id;
w2_sercomm_append_msg(bin);
free(bin);
w2_hypervisor_time_start(W2_TIMER_PING);
}
// 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
if (DBG_ENABLE_SERIAL) w2_sim_print_serial(data);
#endif
serial_send_blocking("\xff", 1);
for (uint8_t i = 0; i < data->bytes; i++) {
uint8_t byte = data->data[i];
byte == 0xff ? serial_send_blocking("\xff\xff", 2)
: serial_send_blocking((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;
}
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Warray-bounds"
#include <stdlib.h>
#include <string.h>
void w2_cmd_ping_tx(w2_s_bin *data) {
g_w2_ping_ms = w2_hypervisor_time_end(W2_TIMER_PING);
g_w2_ping_received = true;
g_w2_ping_timeout = false;
g_w2_connected = true;
}
void w2_cmd_ping_rx(w2_s_bin *data) {
w2_sercomm_append_msg(data);
}
void w2_cmd_mode_rx(w2_s_bin *data) {
W2_CAST_BIN(w2_s_cmd_mode_rx, data, req);
w2_modes_swap(req->mode);
}
void w2_cmd_sped_rx(w2_s_bin *data) { return; }
void w2_cmd_dirc_rx(w2_s_bin *data) {
W2_CAST_BIN(w2_s_cmd_dirc_rx, data, req);
g_w2_mode_dirc_motor_l = w2_bin_ntoh16(req->left);
g_w2_mode_dirc_motor_r = w2_bin_ntoh16(req->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_CAST_BIN(w2_s_cmd_sres_rx, data, req);
switch (req->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_CREATE_MSG_BIN(w2_s_cmd_sens_tx, res_msg, res_bin);
res_msg->opcode = W2_CMD_SENS | W2_CMDDIR_TX;
memcpy((uint8_t *)&res_msg->io, (uint8_t *)&g_w2_io, sizeof(w2_s_io_all));
for (int i = 0; i < 5; i++) w2_bin_repl_hton16(&res_msg->io.qtr[i].range);
w2_bin_repl_hton16(&res_msg->io.front_distance.detection);
w2_bin_repl_hton16(&res_msg->io.side_distance.detection);
w2_bin_repl_hton16(&res_msg->io.battery.charge_level);
w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_left.speed);
w2_bin_repl_hton16((uint16_t *)&res_msg->io.motor_right.speed);
w2_sercomm_append_msg(res_bin);
free(res_bin);
}
void w2_cmd_info_rx(w2_s_bin *data) {
W2_CREATE_MSG_BIN(w2_s_cmd_info_tx, res_msg, res_bin);
res_msg->opcode = W2_CMD_INFO | W2_CMDDIR_TX;
strncpy((char *)res_msg->build_str, W2_BUILD_STR, sizeof(res_msg->build_str));
res_msg->errcatch_ms = (uint8_t)g_w2_hypervisor_ema_errcatch_ms;
res_msg->io_ms = (uint8_t)g_w2_hypervisor_ema_io_ms;
res_msg->sercomm_ms = (uint8_t)g_w2_hypervisor_ema_sercomm_ms;
res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_ms;
res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3));
res_msg->mode = g_w2_mode_history[g_w2_mode_history_index];
w2_sercomm_append_msg(res_bin);
free(res_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; }
#pragma GCC diagnostic pop
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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