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#include <stdbool.h>
#include "protocol.h"
#ifdef W2_SIM
#include "../robot/orangutan_shim.h"
#endif
size_t w2_cmd_sizeof(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t data_length) {
if (data[0] == (W2_CMD_PING | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_ping_rx);
if (data[0] == (W2_CMD_PING | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_ping_tx);
if (data[0] == (W2_CMD_MODE | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_mode_rx);
if (data[0] == (W2_CMD_MODE | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_mode_tx);
if (data[0] == (W2_CMD_SPED | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sped_rx);
if (data[0] == (W2_CMD_DIRC | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_dirc_rx);
if (data[0] == (W2_CMD_CORD | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_cord_rx);
if (data[0] == (W2_CMD_CORD | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_cord_tx);
if (data[0] == (W2_CMD_BOMD | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_bomd_rx);
if (data[0] == (W2_CMD_BOMD | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_bomd_tx);
if (data[0] == (W2_CMD_SRES | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sres_rx);
if (data[0] == (W2_CMD_SENS | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_sens_rx);
if (data[0] == (W2_CMD_SENS | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_sens_tx);
if (data[0] == (W2_CMD_INFO | W2_CMDDIR_RX)) return sizeof(w2_s_cmd_info_rx);
if (data[0] == (W2_CMD_INFO | W2_CMDDIR_TX)) return sizeof(w2_s_cmd_info_tx);
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_cmd_expt_tx_sizeof(copy);
if (data[0] == (W2_CMD_MCFG | W2_CMDDIR_RX)) length = w2_cmd_mcfg_rx_sizeof(copy);
free(copy);
return length;
}
#define W2_DYN_MEMBER_SIZEOF(struct_t, length_byte, trailing_type) \
sizeof(struct_t) + \
(data->bytes > length_byte ? (sizeof(trailing_type) * data->data[length_byte]) : 0)
size_t w2_cmd_expt_tx_sizeof(w2_s_bin *data) {
return W2_DYN_MEMBER_SIZEOF(w2_s_cmd_expt_tx, 2, uint8_t);
}
size_t w2_cmd_mcfg_rx_sizeof(w2_s_bin *data) {
return W2_DYN_MEMBER_SIZEOF(w2_s_cmd_mcfg_rx, 3, w2_s_cmd_mcfg_feature);
}
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);
bool unknown = false;
switch (data[0]) {
case W2_CMD_PING | W2_CMDDIR_RX: {
w2_cmd_ping_rx(copy);
break;
}
case W2_CMD_PING | W2_CMDDIR_TX: {
w2_cmd_ping_tx(copy);
break;
}
case W2_CMD_EXPT | W2_CMDDIR_TX: {
w2_cmd_expt_tx(copy);
break;
}
case W2_CMD_MODE | W2_CMDDIR_RX: {
w2_cmd_mode_rx(copy);
break;
}
case W2_CMD_MODE | W2_CMDDIR_TX: {
w2_cmd_mode_tx(copy);
break;
}
case W2_CMD_SPED | W2_CMDDIR_RX: {
w2_cmd_sped_rx(copy);
break;
}
case W2_CMD_DIRC | W2_CMDDIR_RX: {
w2_cmd_dirc_rx(copy);
break;
}
case W2_CMD_CORD | W2_CMDDIR_RX: {
w2_cmd_cord_rx(copy);
break;
}
case W2_CMD_CORD | W2_CMDDIR_TX: {
w2_cmd_cord_tx(copy);
break;
}
case W2_CMD_BOMD | W2_CMDDIR_RX: {
w2_cmd_bomd_rx(copy);
break;
}
case W2_CMD_BOMD | W2_CMDDIR_TX: {
w2_cmd_bomd_tx(copy);
break;
}
case W2_CMD_SRES | W2_CMDDIR_RX: {
w2_cmd_sres_rx(copy);
break;
}
case W2_CMD_MCFG | W2_CMDDIR_RX: {
w2_cmd_mcfg_rx(copy);
break;
}
case W2_CMD_SENS | W2_CMDDIR_RX: {
w2_cmd_sens_rx(copy);
break;
}
case W2_CMD_SENS | W2_CMDDIR_TX: {
w2_cmd_sens_tx(copy);
break;
}
case W2_CMD_INFO | W2_CMDDIR_RX: {
w2_cmd_info_rx(copy);
break;
}
case W2_CMD_INFO | W2_CMDDIR_TX: {
w2_cmd_info_tx(copy);
break;
}
case W2_CMD_DISP | W2_CMDDIR_RX: {
w2_cmd_disp_rx(copy);
break;
}
case W2_CMD_PLAY | W2_CMDDIR_RX: {
w2_cmd_play_rx(copy);
break;
}
case W2_CMD_CLED | W2_CMDDIR_RX: {
w2_cmd_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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