static void cmdDirDumpRequest(MacPacket packet) {
Payload pld;
MacPacket response;
unsigned int *frame, req_addr, req_pan, i, size;
pld = macGetPayload(packet);
frame = (unsigned int*) payGetData(pld);
req_addr = frame[0];
req_pan = frame[1];
// Send all if both addresses 0
if(req_addr == 0 && req_pan == 0) {
size = dirGetSize();
DirEntry entries[size];
dirGetEntries(entries); // Assume we get size # of entries
i = 0;
while(i < size) {
response = radioRequestPacket(sizeof(DirEntryStruct));
if(response == NULL) { continue; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_DIR_DUMP_RESPONSE);
paySetData(pld, sizeof(DirEntryStruct), (unsigned char*) entries[i]);
while(!radioEnqueueTxPacket(response));
i++;
}
} else {
DirEntry entry;
entry = dirQueryAddress(req_addr, req_pan);
if(entry == NULL) { return; }
while(1) {
response = radioRequestPacket(sizeof(DirEntryStruct));
if(response == NULL) { continue; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_DIR_DUMP_RESPONSE);
//paySetData(pld, sizeof(DirEntryStruct), (unsigned char*) &entry);
memcpy(payGetData(pld), entry, sizeof(DirEntryStruct));
while(!radioEnqueueTxPacket(response));
break;
}
}
}
void clksyncHandleRequest(MacPacket packet) {
Payload pld;
MacPacket response;
unsigned long* frame;
unsigned long s0, m1, m2;
pld = macGetPayload(packet);
frame = (unsigned long*) payGetData(pld);
s0 = frame[0]; // Read requester time of flight
m1 = packet->timestamp + sclockGetOffsetTicks(); // Read local time of reception
response = radioRequestPacket(12); // Sending 3 longs
if(response == NULL) { return; }
macSetDestAddr(response, macGetSrcAddr(packet));
macSetDestPan(response, macGetSrcPan(packet));
pld = macGetPayload(response); // Create response packet
paySetType(pld, CMD_CLOCK_UPDATE_RESPONSE);
paySetData(pld, 4, (unsigned char*) &s0);
payAppendData(pld, 4, 4, (unsigned char*) & m1);
// Empty TX queue to minimize time of flight error
while(!radioTxQueueEmpty()) { radioProcess(); }
m2 = sclockGetGlobalTicks(); // Get approximate time of flight
payAppendData(pld, 8, 4, (unsigned char*) & m2);
while(!radioEnqueueTxPacket(response)) { radioProcess(); }
radioProcess();
}
static void cmdCamParamResponse(MacPacket packet) {
Payload pld;
unsigned char *frame;
CamParamStruct *params;
LStrobeParamStruct lstrobe_params;
DirEntry entry;
unsigned int addr, pan;
pld = macGetPayload(packet);
frame = payGetData(pld);
params = (CamParamStruct*) frame;
addr = macGetSrcAddr(packet);
pan = macGetSrcPan(packet);
entry = dirQueryAddress(addr, pan);
if(entry == NULL) { return; }
entry->frame_period = params->frame_period;
entry->frame_start = params->frame_start;
lstrobe_params.period = 5*(params->frame_period/4);
lstrobe_params.period_offset = (params->frame_start/4) % (params->frame_period/4);
lstrobe_params.on_time = 625/4; // 1 ms
lstrobe_params.off_time = lstrobe_params.period - lstrobe_params.on_time;
lstrobeSetParam(&lstrobe_params);
lstrobeStart();
}
static void cmdGetMemContents(MacPacket packet) {
Payload pld;
MacPacket data_packet;
unsigned char *frame;
DfmemGeometryStruct geo;
pld = macGetPayload(packet);
frame = payGetData(pld);
dfmemGetGeometryParams(&geo);
unsigned int start_page = frame[0] + (frame[1] << 8);
unsigned int end_page = frame[2] + (frame[3] << 8);
unsigned int tx_data_size = frame[4] + (frame[5] << 8);
unsigned int page, j;
unsigned char count = 0;
// Send back memory contents
for (page = start_page; page < end_page; ++page) {
j = 0;
while (j + tx_data_size <= geo.bytes_per_page) {
data_packet = NULL;
while(data_packet == NULL) {
data_packet = radioRequestPacket(tx_data_size);
}
macSetDestAddr(data_packet, macGetSrcAddr(packet));
macSetDestPan(data_packet, macGetSrcPan(packet));
pld = macGetPayload(data_packet);
dfmemRead(page, j, tx_data_size, payGetData(pld));
paySetStatus(pld, count++);
paySetType(pld, CMD_RESPONSE_TELEMETRY);
while(!radioEnqueueTxPacket(data_packet));
j += tx_data_size;
delay_ms(20);
}
}
// Signal end of transfer
LED_GREEN = 0; LED_RED = 0; LED_ORANGE = 0;
}
static void cmdGetGyroCalibParam(MacPacket packet) {
//Payload pld = macGetPayload(packet);
//unsigned char status = payGetStatus(pld);
//unsigned char* frame = payGetData(pld);
unsigned int srcAddr = macGetSrcAddr(packet);
Payload pld;
MacPacket response;
response = radioRequestPacket(12);
if(response == NULL) { return; }
macSetDestAddr(response, srcAddr);
pld = response->payload;
paySetData(pld, 12, gyroGetCalibParam());
paySetStatus(pld, 0);
paySetType(pld, CMD_GET_GYRO_CALIB_PARAM);
while(!radioEnqueueTxPacket(response));
}
/*-----------------------------------------------------------------------------
* AUX functions
-----------------------------------------------------------------------------*/
static void cmdEcho(MacPacket packet) {
Payload pld = macGetPayload(packet);
unsigned char status = payGetStatus(pld);
unsigned char* frame = payGetData(pld);
unsigned int length = payGetDataLength(pld);
unsigned int srcAddr = macGetSrcAddr(packet);
MacPacket response;
response = radioRequestPacket(length);
if(response == NULL) { return; }
macSetDestAddr(response, srcAddr);
pld = response->payload;
paySetData(pld, length, frame);
paySetStatus(pld, status);
paySetType(pld, CMD_ECHO);
while(!radioEnqueueTxPacket(response));
}
static void cmdCamParamRequest(MacPacket packet) {
Payload pld;
CamParamStruct params;
MacPacket response;
pld = macGetPayload(packet);
camGetParams(¶ms);
response = radioRequestPacket(sizeof(CamParamStruct));
if(response == NULL) { return; }
macSetDestAddr(response, macGetSrcAddr(packet));
pld = macGetPayload(response);
paySetType(pld, CMD_CAM_PARAM_RESPONSE);
paySetStatus(pld, 0);
paySetData(pld, sizeof(CamParamStruct), (unsigned char*)¶ms);
while(!radioEnqueueTxPacket(response));
}
static void cmdRequestAttitude(MacPacket packet) {
telemSendAttitude(macGetSrcAddr(packet));
}
// ====== Camera and Vision ===================================================
// TODO: Use a struct to simplify the packetization
static void cmdRequestRawFrame(MacPacket packet) {
unsigned int srcAddr, srcPan, height, width, i, temp;
unsigned int sent, to_send, block_size = 75;
MacPacket response;
Payload pld;
CamFrame frame;
CamRow *row;
CvResultStruct info;
srcAddr = macGetSrcAddr(packet);
srcPan = macGetSrcPan(packet);
frame = NULL;
while(frame == NULL) {
frame = camGetFrame();
}
cvProcessFrame(frame, &info);
height = DS_IMAGE_ROWS;
width = DS_IMAGE_COLS;
for(i = 0; i < height; i++) {
row = &(frame->pixels[i]);
to_send = width;
while(to_send > 0) {
response = radioRequestPacket(block_size + 6);
if(response == NULL) { continue; }
pld = macGetPayload(response);
paySetType(pld, CMD_RAW_FRAME_RESPONSE);
paySetStatus(pld, 0);
macSetDestAddr(response, srcAddr);
macSetDestPan(response, srcPan);
temp = frame->frame_num;
paySetData(pld, 2, (unsigned char *)&temp);
temp = i;
payAppendData(pld, 2, 2, (unsigned char*)&temp);
temp = width - to_send;
payAppendData(pld, 4, 2, (unsigned char*)&temp);
temp = (block_size < to_send) ? block_size : to_send;
payAppendData(pld, 6, temp, *row + (width - to_send));
while(!radioEnqueueTxPacket(response));
to_send = to_send - temp;
}
}
sent = 0;
while(!sent) {
response = radioRequestPacket(10);
if(response == NULL) { continue; }
pld = macGetPayload(response);
paySetType(pld, CMD_CENTROID_REPORT);
paySetStatus(pld, 1);
macSetDestAddr(response, srcAddr);
macSetDestPan(response, srcPan);
temp = info.centroid[0];
paySetData(pld, 2, (unsigned char*)&temp);
temp = info.centroid[1];
payAppendData(pld, 2, 2, (unsigned char*)&temp);
temp = info.max[0];
payAppendData(pld, 4, 2, (unsigned char*)&temp);
temp = info.max[1];
payAppendData(pld, 6, 2, (unsigned char*)&temp);
temp = info.max_lum;
payAppendData(pld, 8, 1, (unsigned char*)&temp);
temp = info.avg_lum;
payAppendData(pld, 9, 1, (unsigned char*)&temp);
while(!radioEnqueueTxPacket(response));
sent = 1;
}
camReturnFrame(frame);
}
static void cmdToggleStreaming(MacPacket packet) {
telemToggleStreaming(macGetSrcAddr(packet));
}
static void cmdRequestTelemetry(MacPacket packet) {
telemSendB(macGetSrcAddr(packet));
}