int main(void) {
char buffer[MINLENGTH];
int status = 0;
while (status != -1) {
status = readbuff(buffer);
if (status == 1)
status = copyline(buffer);
}
return 0;
}
int get_next_line(int const fd, char ** line)
{
int ret_readbuff;
int ret_read;
ret_read = 1;
*line = ft_strnew(BUFF_SIZE + 1);
while ((ret_readbuff = readbuff(line)) == 0 && ret_read != 0)
{
*line = ft_strnew(BUFF_SIZE + 1);
ret_read = read (fd, *line, BUFF_SIZE);
}
if (ret_read > 0)
return (1);
return (ret_read);
}
void buffer_parse()
{
int8_t temp[8];
int i;
if(buffer[0] == 0xFF)
{
switch(buffer[1])
{
case 0x20: //set pid x
readbuff(temp, buffer, 5, 2);
pid[0].p = ((float)hascii2dec(temp, 5)/100);
readbuff(temp, buffer, 5, 7);
pid[0].i = ((float)hascii2dec(temp, 5)/100);
readbuff(temp, buffer, 5, 12);
pid[0].d = ((float)hascii2dec(temp, 5)/100);
usart_put(0xFF);
usart_put(0x20);
dec2hascii((int)(pid[0].p*100), 5);
dec2hascii((int)(pid[0].i*100), 5);
dec2hascii((int)(pid[0].d*100), 5);
usart_put(0x0A);
break;
case 0x21: //set pid y
readbuff(temp, buffer, 5, 2);
pid[1].p = ((float)hascii2dec(temp, 5)/100);
readbuff(temp, buffer, 5, 7);
pid[1].i = ((float)hascii2dec(temp, 5)/100);
readbuff(temp, buffer, 5, 12);
pid[1].d = ((float)hascii2dec(temp, 5)/100);
usart_put(0xFF);
usart_put(0x21);
dec2hascii((int)(pid[1].p*100), 5);
dec2hascii((int)(pid[1].i*100), 5);
dec2hascii((int)(pid[1].d*100), 5);
usart_put(0x0A);
break;
case 0x22: //set power
readbuff(temp, buffer, 5, 2);
iPower = hascii2dec(temp, 5);
usart_put(0xFF);
usart_put(0x22);
dec2hascii(iPower, 5);
usart_put(0x0A);
break;
case 0x23: //set angle
readbuff(temp, buffer, 8, 2);
dest_angle.x = ((float)hascii2dec(temp, 8)/100);
readbuff(temp, buffer, 8, 10);
dest_angle.y = ((float)hascii2dec(temp, 8)/100);
readbuff(temp, buffer, 8, 18);
dest_angle.z = ((float)hascii2dec(temp, 8)/100);
usart_put(0xFF);
usart_put(0x23);
dec2hascii((int)(dest_angle.x*100), 8);
dec2hascii((int)(dest_angle.y*100), 8);
dec2hascii((int)(dest_angle.z*100), 8);
usart_put(0x0A);
break;
case 0x25:
usart_put(0xFF);
usart_put(0x25);
dec2hascii((int)(pid[0].p*100), 5);
dec2hascii((int)(pid[0].i*100), 5);
dec2hascii((int)(pid[0].d*100), 5);
dec2hascii((int)(pid[1].p*100), 5);
dec2hascii((int)(pid[1].i*100), 5);
dec2hascii((int)(pid[1].d*100), 5);
dec2hascii(iPower, 5);
dec2hascii(ADCVal[0], 5);
dec2hascii(ADCVal[1], 5);
dec2hascii((int)(dest_angle.x*100), 8);
dec2hascii((int)(dest_angle.y*100), 8);
dec2hascii((int)(dest_angle.z*100), 8);
usart_put(0x0A);
break;
case 0x26:
usart_put(0xFF);
usart_put(0x26);
dec2hascii(ADCVal[0], 5);
dec2hascii(ADCVal[1], 5);
usart_put(0x0A);
break;
}
}
buffer_pos = 0;
}