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#include "protocol.h"
#define DUI_CMD_NULL 0x00
#define DUI_CMD_SIGN_START 0x01
#define DUI_CMD_SIGN_END 0x0f
#define DUI_CMD_SPEED_START 0x10
#define DUI_CMD_SPEED_END 0x1f
#define DUI_CMD_STEER_START 0x20
#define DUI_CMD_STEER_END 0xff
void handle_cmd(unsigned char cmd, dui_state_t *state) {
if (cmd == DUI_CMD_NULL) return;
else if (DUI_CMD_SIGN_START <= cmd && cmd <= DUI_CMD_SIGN_END) {
state->current_sign = (dui_e_sign) (cmd - DUI_CMD_SIGN_START);
} else if (DUI_CMD_SPEED_START <= cmd && cmd <= DUI_CMD_SPEED_END) {
state->speed = (float) (cmd - DUI_CMD_SPEED_START) / (float) (DUI_CMD_SPEED_END - DUI_CMD_SPEED_START);
} else if (DUI_CMD_STEER_START <= cmd && cmd <= DUI_CMD_STEER_END) {
state->steer = (float) (cmd - DUI_CMD_STEER_START) / (float) (DUI_CMD_STEER_END - DUI_CMD_STEER_START) * (float) 2 - (float) 1;
}
}
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