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#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "bin.h"
#include "consts.h"
#define W2_SERIAL_START_BYTE 0xff
#define W2_CMDDIR_RX 0
#define W2_CMDDIR_TX 1
#define W2_CMD_CODE_MASK (~1)
#define W2_CMD_DIRECTION_MASK (1)
#define W2_CMD_COUNT 28
typedef enum {
/** ping command */
W2_CMD_PING = 0x00,
/** exception command */
W2_CMD_EXPT = 0x02,
/** mode command */
W2_CMD_MODE = 0x04,
/** speed command */
W2_CMD_SPED = 0x06,
/** direct control command */
W2_CMD_DIRC = 0x08,
/** coordinate command */
W2_CMD_CORD = 0x0a,
/** backorder modify command */
W2_CMD_BOMD = 0x0c,
/** soft reset command */
W2_CMD_SRES = 0x0e,
/** map config command */
W2_CMD_MCFG = 0x10,
/** sensor data command */
W2_CMD_SENS = 0x12,
/** info command */
W2_CMD_INFO = 0x14,
/** display control command */
W2_CMD_DISP = 0x16,
/** play midi command */
W2_CMD_PLAY = 0x18,
/** control leds command */
W2_CMD_CLED = 0x1a,
} w2_e_scmds;
#pragma pack(push, 1)
/** momentary button input struct */
typedef struct {
bool pressed;
} w2_s_i_push;
/** qtr contrast sensor input struct */
typedef struct {
uint16_t range;
} w2_s_i_contrast;
/** distance sensor input struct */
typedef struct {
uint16_t detection;
} w2_s_i_distance;
/** battery input struct */
typedef struct {
uint16_t charge_level;
} w2_s_i_battery;
/** motor output struct */
typedef struct {
int speed;
} w2_s_o_motor;
/** underside led output struct */
typedef struct {
bool on;
} w2_s_o_led;
/** lcd output struct */
typedef struct {
char text[16];
} w2_s_o_display;
/** struct containing all i/o */
typedef struct {
w2_s_i_push button[5];
w2_s_i_contrast qtr[5];
w2_s_i_distance front_distance;
w2_s_i_distance side_distance;
w2_s_i_battery battery;
w2_s_o_motor motor_left;
w2_s_o_motor motor_right;
w2_s_o_led led_red;
w2_s_o_led led_green;
w2_s_o_display lcd;
} w2_s_io_all;
typedef struct {
uint8_t opcode;
uint8_t id;
} w2_s_cmd_ping_rx;
typedef struct {
uint8_t opcode;
uint8_t id;
} w2_s_cmd_ping_tx;
typedef struct {
uint8_t opcode;
uint8_t error;
uint8_t length;
uint8_t message[];
} w2_s_cmd_expt_tx;
typedef struct {
uint8_t opcode;
uint8_t mode;
} w2_s_cmd_mode_rx;
typedef struct {
uint8_t opcode;
uint8_t mode;
} w2_s_cmd_mode_tx;
typedef struct {
uint8_t opcode;
uint8_t speed;
} w2_s_cmd_sped_rx;
typedef struct {
uint8_t opcode;
uint16_t left;
uint16_t right;
} w2_s_cmd_dirc_rx;
typedef struct {
uint8_t opcode;
uint32_t position;
uint8_t orientation;
} w2_s_cmd_cord_rx;
typedef struct {
uint8_t opcode;
uint32_t position;
uint8_t orientation;
} w2_s_cmd_cord_tx;
typedef struct {
uint8_t opcode;
uint32_t id;
uint32_t position;
} w2_s_cmd_bomd_rx;
typedef struct {
uint8_t opcode;
uint32_t id;
uint8_t status;
} w2_s_cmd_bomd_tx;
typedef struct {
uint8_t opcode;
uint8_t type;
} w2_s_cmd_sres_rx;
typedef struct {
uint16_t position;
uint8_t kind;
} w2_s_cmd_mcfg_feature;
typedef struct {
uint8_t opcode;
uint8_t width;
uint8_t height;
uint8_t length;
w2_s_cmd_mcfg_feature features[];
} w2_s_cmd_mcfg_rx;
typedef struct {
uint8_t opcode;
} w2_s_cmd_sens_rx;
typedef struct {
uint8_t opcode;
w2_s_io_all io;
} w2_s_cmd_sens_tx;
typedef struct {
uint8_t opcode;
} w2_s_cmd_info_rx;
typedef struct {
uint8_t opcode;
uint8_t build_str[32];
uint8_t errcatch_ms;
uint8_t io_ms;
uint8_t sercomm_ms;
uint8_t mode_ms;
uint32_t uptime_s;
} w2_s_cmd_info_tx;
typedef struct {
} w2_s_cmd_disp_rx;
typedef struct {
} w2_s_cmd_play_rx;
typedef struct {
} w2_s_cmd_cled_rx;
#pragma pack(pop)
/** stores message handlers in array with opcode as index */
extern void (*g_w2_cmd_handlers[W2_CMD_COUNT])(w2_s_bin *);
/** fills g_w2_cmd_handlers with functions */
void w2_cmd_setup_handlers();
/** global handler for complete messages */
void w2_cmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t length);
/** calculate message length */
size_t w2_cmd_sizeof(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t length);
/** handler for ping_rx (on complete message) */
void w2_cmd_ping_rx(w2_s_bin *data);
/** handler for ping_tx (on complete message) */
void w2_cmd_ping_tx(w2_s_bin *data);
/** handler for expt_tx (on complete message) */
void w2_cmd_expt_tx(w2_s_bin *data);
/** handler for mode_rx (on complete message) */
void w2_cmd_mode_rx(w2_s_bin *data);
/** handler for mode_tx (on complete message) */
void w2_cmd_mode_tx(w2_s_bin *data);
/** handler for sped_rx (on complete message) */
void w2_cmd_sped_rx(w2_s_bin *data);
/** handler for dirc_rx (on complete message) */
void w2_cmd_dirc_rx(w2_s_bin *data);
/** handler for cord_rx (on complete message) */
void w2_cmd_cord_rx(w2_s_bin *data);
/** handler for cord_tx (on complete message) */
void w2_cmd_cord_tx(w2_s_bin *data);
/** handler for bomd_rx (on complete message) */
void w2_cmd_bomd_rx(w2_s_bin *data);
/** handler for bomd_tx (on complete message) */
void w2_cmd_bomd_tx(w2_s_bin *data);
/** handler for sres_rx (on complete message) */
void w2_cmd_sres_rx(w2_s_bin *data);
/** handler for mcfg_rx (on complete message) */
void w2_cmd_mcfg_rx(w2_s_bin *data);
/** handler for sens_rx (on complete message) */
void w2_cmd_sens_rx(w2_s_bin *data);
/** handler for sens_tx (on complete message) */
void w2_cmd_sens_tx(w2_s_bin *data);
/** handler for info_rx (on complete message) */
void w2_cmd_info_rx(w2_s_bin *data);
/** handler for info_tx (on complete message) */
void w2_cmd_info_tx(w2_s_bin *data);
/** handler for disp_rx (on complete message) */
void w2_cmd_disp_rx(w2_s_bin *data);
/** handler for play_rx (on complete message) */
void w2_cmd_play_rx(w2_s_bin *data);
/** handler for cled_rx (on complete message) */
void w2_cmd_cled_rx(w2_s_bin *data);
/** calculate message length for expt_tx (incomplete message) */
size_t w2_cmd_expt_tx_sizeof(w2_s_bin *data);
/** calculate message length for mcfg_rx (incomplete message) */
size_t w2_cmd_mcfg_rx_sizeof(w2_s_bin *data);
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