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#include <stdbool.h>
#include "protocol.h"
#ifdef W2_SIM
#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;
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_SPED | W2_CMDDIR_RX)) return 2;
if (data[0] == (W2_CMD_DIRC | W2_CMDDIR_RX)) return 5;
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_BOMD | W2_CMDDIR_RX)) return 9;
if (data[0] == (W2_CMD_BOMD | W2_CMDDIR_TX)) return 6;
if (data[0] == (W2_CMD_SRES | W2_CMDDIR_RX)) return 2;
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_INFO | W2_CMDDIR_RX)) return 1;
if (data[0] == (W2_CMD_INFO | W2_CMDDIR_TX)) return 41;
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);
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);
}
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);
}
void w2_scmd_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);
break;
}
case W2_CMD_PING | W2_CMDDIR_TX: {
w2_scmd_ping_tx(copy);
break;
}
case W2_CMD_EXPT | W2_CMDDIR_TX: {
w2_scmd_expt_tx(copy);
break;
}
case W2_CMD_MODE | W2_CMDDIR_RX: {
w2_scmd_mode_rx(copy);
break;
}
case W2_CMD_MODE | W2_CMDDIR_TX: {
w2_scmd_mode_tx(copy);
break;
}
case W2_CMD_SPED | W2_CMDDIR_RX: {
w2_scmd_sped_rx(copy);
break;
}
case W2_CMD_DIRC | W2_CMDDIR_RX: {
w2_scmd_dirc_rx(copy);
break;
}
case W2_CMD_CORD | W2_CMDDIR_RX: {
w2_scmd_cord_rx(copy);
break;
}
case W2_CMD_CORD | W2_CMDDIR_TX: {
w2_scmd_cord_tx(copy);
break;
}
case W2_CMD_BOMD | W2_CMDDIR_RX: {
w2_scmd_bomd_rx(copy);
break;
}
case W2_CMD_BOMD | W2_CMDDIR_TX: {
w2_scmd_bomd_tx(copy);
break;
}
case W2_CMD_SRES | W2_CMDDIR_RX: {
w2_scmd_sres_rx(copy);
break;
}
case W2_CMD_MCFG | W2_CMDDIR_RX: {
w2_scmd_mcfg_rx(copy);
break;
}
case W2_CMD_SENS | W2_CMDDIR_RX: {
w2_scmd_sens_rx(copy);
break;
}
case W2_CMD_SENS | W2_CMDDIR_TX: {
w2_scmd_sens_tx(copy);
break;
}
case W2_CMD_INFO | W2_CMDDIR_RX: {
w2_scmd_info_rx(copy);
break;
}
case W2_CMD_INFO | W2_CMDDIR_TX: {
w2_scmd_info_tx(copy);
break;
}
case W2_CMD_DISP | W2_CMDDIR_RX: {
w2_scmd_disp_rx(copy);
break;
}
case W2_CMD_PLAY | W2_CMDDIR_RX: {
w2_scmd_play_rx(copy);
break;
}
case W2_CMD_CLED | W2_CMDDIR_RX: {
w2_scmd_cled_rx(copy);
break;
}
default: {
#ifdef W2_SIM
simwarn("unknown serial message with code 0x%02x\n", data[0]);
#endif
unknown = true;
}
}
#ifdef W2_SIM
if (!unknown) w2_sim_print_serial(copy);
#endif
free(copy);
}
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