byte REF_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
if (UTIL1_strcmp((char*)cmd, CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, "ref help")==0) {
*handled = TRUE;
return PrintHelp(io);
} else if ((UTIL1_strcmp((char*)cmd, CLS1_CMD_STATUS)==0) || (UTIL1_strcmp((char*)cmd, "ref status")==0)) {
*handled = TRUE;
return PrintStatus(io);
#if REF_START_STOP_CALIB
} else if (UTIL1_strcmp((char*)cmd, "ref calib start")==0) {
if (refState==REF_STATE_NOT_CALIBRATED || refState==REF_STATE_READY) {
REF_CalibrateStartStop();
} else {
CLS1_SendStr((unsigned char*)"ERROR: cannot start calibration, must not be calibrating or be ready.\r\n", io->stdErr);
return ERR_FAILED;
}
*handled = TRUE;
return ERR_OK;
} else if (UTIL1_strcmp((char*)cmd, "ref calib stop")==0) {
if (refState==REF_STATE_CALIBRATING) {
REF_CalibrateStartStop();
} else {
CLS1_SendStr((unsigned char*)"ERROR: can only stop if calibrating.\r\n", io->stdErr);
return ERR_FAILED;
}
*handled = TRUE;
return ERR_OK;
#endif
}
return ERR_OK;
}
void myEvents(EVNT_Handle event)
{
switch(event)
{
case EVNT_REF_START_STOP_CALIBRATION:
REF_CalibrateStartStop();
break;
}
}
uint8_t REMOTE_HandleRemoteRxMessage(RAPP_MSG_Type type, uint8_t size, uint8_t *data, RNWK_ShortAddrType srcAddr, bool *handled, RPHY_PacketDesc *packet) {
#if PL_CONFIG_HAS_SHELL
uint8_t buf[48];
#endif
uint8_t val;
int16_t x, y, z;
(void)size;
(void)packet;
switch(type) {
#if PL_CONFIG_HAS_MOTOR
case RAPP_MSG_TYPE_JOYSTICK_XY: /* values are -128...127 */
{
int8_t x, y;
int16_t x1000, y1000;
*handled = TRUE;
x = *data; /* get x data value */
y = *(data+1); /* get y data value */
if (REMOTE_isVerbose) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"x/y: ");
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)x);
UTIL1_chcat(buf, sizeof(buf), ',');
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)y);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
SHELL_SendString(buf);
}
#if 0 /* using shell command */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor L duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(x));
SHELL_ParseCmd(buf);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor R duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(y));
SHELL_ParseCmd(buf);
#endif
/* filter noise around zero */
if (x>-5 && x<5) {
x = 0;
}
if (y>-5 && y<5) {
y = 0;
}
x1000 = scaleJoystickTo1K(x);
y1000 = scaleJoystickTo1K(y);
if (REMOTE_useJoystick) {
REMOTE_HandleMotorMsg(y1000, x1000, 0); /* first param is forward/backward speed, second param is direction */
}
}
break;
#endif
case RAPP_MSG_TYPE_JOYSTICK_BTN:
*handled = TRUE;
val = *data; /* get data value */
#if PL_CONFIG_HAS_SHELL && PL_CONFIG_HAS_BUZZER && PL_CONFIG_HAS_REMOTE
if (val=='F') { /* F button, toggle remote*/
SHELL_ParseCmd((unsigned char*)"buzzer buz 300 500");
DRV_SetMode(DRV_MODE_SPEED);
} else if (val=='G') { /* center joystick button: horn*/
SHELL_ParseCmd((unsigned char*)"buzzer buz 2000 300");
} else if (val=='A')
{
MAZE_ClearSolution();
MAZE_SetSolveAlgorithm(STRAIGHT_HAND);
LF_StartFollowing();
} else if (val=='C') { /* 'C' button: motor stop*/
DRV_SetMode(DRV_MODE_STOP);
} else if (val=='B') { /* 'B' button: start right-hand algorithm */
MAZE_ClearSolution();
MAZE_SetSolveAlgorithm(RIGHT_HAND);
LF_StartFollowing();
} else if (val=='D') { /* 'D' button: start left-hand algorithm */
MAZE_ClearSolution();
MAZE_SetSolveAlgorithm(LEFT_HAND);
LF_StartFollowing();
} else if (val=='E') {
REF_CalibrateStartStop();
}
#else
*handled = FALSE; /* no shell and no buzzer? */
#endif
break;
default:
break;
} /* switch */
return ERR_OK;
}
