int deviceAccelerometerGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_ACCELEROMETER_GET_SAMPLE_COUNT) {
if (fillDeviceArgumentList) {
setFunction("getSampleCount", 0, 1);
setResultUnsignedHex4(0, "Sample count");
}
return commandLengthValueForMode(mode, 0, 4);
}
else if (commandHeader == COMMAND_ACCELEROMETER_GET_SAMPLE_RAW_DATA) {
if (fillDeviceArgumentList) {
setFunction("Sample Raw Data", 0, 5);
setResultUnsignedHex4(0, "X Raw Data");
setResultSeparator(1);
setResultUnsignedHex4(2, "Y Raw Data");
setResultSeparator(3);
setResultUnsignedHex4(4, "Z Raw Data");
}
return commandLengthValueForMode(mode, 0, 14);
}
else if (commandHeader == COMMAND_ACCELEROMETER_GET_SAMPLE_DATA_MILLIG_G) {
if (fillDeviceArgumentList) {
setFunction("Sample Data MilliG", 0, 5);
setResultUnsignedHex4(0, "X (mG)");
setResultSeparator(1);
setResultUnsignedHex4(2, "Y (mG)");
setResultSeparator(3);
setResultUnsignedHex4(4, "Z (mG)");
}
return commandLengthValueForMode(mode, 0, 14);
}
// TRESHOLD
else if (commandHeader == COMMAND_ACCELEROMETER_GET_THRESHOLD) {
if (fillDeviceArgumentList) {
setFunction("Get Threshold", 0, 1);
setResultUnsignedHex4(0, "Threshold (milli G)");
}
return commandLengthValueForMode(mode, 0, 4);
}
else if (commandHeader == COMMAND_ACCELEROMETER_SET_THRESHOLD) {
if (fillDeviceArgumentList) {
setFunction("Set Threshold", 1, 0);
setArgumentUnsignedHex4(0, "Threshold (milliG)");
}
return commandLengthValueForMode(mode, 4, 0);
}
// DEBUG
else if (commandHeader == COMMAND_ACCELEROMETER_DEBUG_CONFIG) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug Config");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_ACCELEROMETER_DEBUG_VALUES) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug Values");
}
return commandLengthValueForMode(mode, 0, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceBatteryGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList){
if (commandHeader == COMMAND_READ_BATTERY ) {
if (fillDeviceArgumentList) {
setFunction("Battery Read", 0, 1);
setResultUnsignedHex4(0, "Battery Value (mV)");
}
return commandLengthValueForMode(mode, 0, 4);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceTofGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TOF_GET_DISTANCE) {
if (fillDeviceArgumentList) {
setFunction("TOF Get Distance", 1, 1);
setArgumentUnsignedHex2(0, "Tof Index");
setResultUnsignedHex4(0, "distance (mm)");
}
return commandLengthValueForMode(mode, 2, 4);
}
else if (commandHeader == COMMAND_TOF_DEBUG) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("TOF Debug List");
}
return commandLengthValueForMode(mode, 0, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceRobotConfigGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_GET_CONFIG) {
if (fillDeviceArgumentList) {
setFunction("getConfig", 0, 1);
setResultUnsignedHex4(0, "value");
}
return commandLengthValueForMode(mode, 0, 4);
}
else if (commandHeader == COMMAND_SET_CONFIG) {
if (fillDeviceArgumentList) {
setFunction("setConfig", 1, 0);
setArgumentUnsignedHex4(0, "value");
}
return commandLengthValueForMode(mode, 4, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceFileGetInterface(char header, DeviceInterfaceMode mode, bool fillDeviceArgumentList){
if (header == COMMAND_CREATE_FILE_SYSTEM) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Create File System");
}
return 0;
}
else if (header == COMMAND_GET_FREE_SPACE) {
if (fillDeviceArgumentList) {
setFunction("Get Free Space", 0, 1);
setResultUnsignedHex4(0, "result");
}
return commandLengthValueForMode(mode, 0, 4);
}
else if (header == COMMAND_SHOW_LIST_FILE ) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Show File List");
}
return 0;
} else if (header == COMMAND_SHOW_CONTENT_FILE) {
if (fillDeviceArgumentList) {
setFunction("Show File Content", 1, 0);
setArgumentUnsignedHex2(0, "fileIndex");
}
return commandLengthValueForMode(mode, 2, 0);
} else if (header == COMMAND_CREATE_NEW_FILE) {
if (fillDeviceArgumentList) {
setFunction("Create New File", 1, 0);
setArgumentUnsignedHex2(0, "fileIndex");
}
return commandLengthValueForMode(mode, 2, 0);
} else if (header == COMMAND_DELETE_FILE) {
if (fillDeviceArgumentList) {
setFunction("Delete File", 1, 0);
setArgumentUnsignedHex2(0, "fileIndex");
}
return commandLengthValueForMode(mode, 2, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceStartMatchGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_MATCH_IS_STARTED) {
if (fillDeviceArgumentList) {
setFunction("isStarted", 0, 1);
setResultUnsignedHex2(0, "value");
}
return commandLengthValueForMode(mode, 0, 2);
}
else if (commandHeader == COMMAND_MATCH_SET_STARTED) {
if (fillDeviceArgumentList) {
setFunction("setStarted", 1, 0);
setArgumentUnsignedHex2(0, "value");
}
return commandLengthValueForMode(mode, 2, 0);
}
if (commandHeader == COMMAND_STEP_BY_STEP) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("stepByStep");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_START_MATCH_GET_INITIAL_POSITION) {
if (fillDeviceArgumentList) {
setFunction("getInitialPosition", 1, 7);
setArgumentUnsignedHex2(0, "side");
setResultUnsignedHex2(0, "side");
setResultSeparator(1);
setResultUnsignedHex4(2, "x (mm)");
setResultSeparator(3);
setResultUnsignedHex4(4, "y (mm)");
setResultSeparator(5);
setResultUnsignedHex4(6, "angle (mm)");
}
return commandLengthValueForMode(mode, 2, 17);
}
else if (commandHeader == COMMAND_START_MATCH_SET_INITIAL_POSITION) {
if (fillDeviceArgumentList) {
setFunction("setInitialPosition", 7, 0);
setArgumentUnsignedHex2(0, "side");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "x (mm)");
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, "y (mm)");
setArgumentSeparator(5);
setArgumentUnsignedHex4(6, "angle (mm)");
}
return commandLengthValueForMode(mode, 17, 0);
}
/*
if (mode == DEVICE_MODE_OUTPUT) {
if (header == COMMAND_NOTIFY_MATCH_STARTED) {
if (fillDeviceArgumentList) {
deviceArgumentList->functionName = "notifyMatchStarted";
deviceArgumentList->size = 1;
deviceArgumentList->args[0].type = DEVICE_ARG_UNSIGNED_CHAR_3;
deviceArgumentList->args[0].name = "XyY";
}
return commandLengthValueForMode(mode, 0, 0);
}
}
*/
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceSystemGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
// BoardName
if (commandHeader == COMMAND_BOARD_NAME) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("getBoardName");
}
return commandLengthValueForMode(mode, 0, 0);
}
// lastError
else if (commandHeader == COMMAND_GET_LAST_ERROR) {
if (fillDeviceArgumentList) {
setFunction("getLastError", 0, 1);
setResultUnsignedHex4(0, "error");
}
return commandLengthValueForMode(mode, 0, 4);
}
if (commandHeader == COMMAND_CLEAR_LAST_ERROR) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("clearLastError");
}
return commandLengthValueForMode(mode, 0, 0);
}
// DeviceList
else if (commandHeader == COMMAND_DEVICE_LIST) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("deviceList");
}
return commandLengthValueForMode(mode, 0, 0);
}
// Ping
else if (commandHeader == COMMAND_PING) {
if (fillDeviceArgumentList) {
setFunction("ping", 1, 1);
setArgumentUnsignedHex2(0, "pingIndex");
setResultUnsignedHex2(0, "pingIndex");
}
return commandLengthValueForMode(mode, 2, 2);
}
// wait
else if (commandHeader == COMMAND_WAIT) {
if (fillDeviceArgumentList) {
setFunction("wait", 1, 0);
setArgumentUnsignedHex4(0, "ms");
}
return commandLengthValueForMode(mode, 4, 0);
}
// usage
else if (commandHeader == COMMAND_USAGE) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("usage");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_USAGE_PROBLEM) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("usage (only Problems)");
}
return commandLengthValueForMode(mode, 0, 0);
}
// Usage Specific
else if (commandHeader == COMMAND_USAGE_SPECIFIC_DEVICE) {
if (fillDeviceArgumentList) {
setFunction("usageSpecificDevice", 1, 0);
setArgumentUnsignedChar1(0, "deviceHeaderChar");
}
return commandLengthValueForMode(mode, 1, 0);
}
else if (commandHeader == COMMAND_CLS) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("clearScreen");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_RESET) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("reset MicroController");
}
return commandLengthValueForMode(mode, 0, 0);
}
// Notification
else if (commandHeader == COMMAND_NOTIFICATION) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("notification");
}
return commandLengthValueForMode(mode, 0, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int trajectoryGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TRAJECTORY_GET_ABSOLUTE_POSITION) {
if (fillDeviceArgumentList) {
setFunction(GET_ABS_POS_STRING, 0, 5);
setResultFloatHex4(0, X_MM);
setResultSeparator(1);
setResultFloatHex4(2, Y_MM);
setResultSeparator(3);
setResultUnsignedHex4(4, ANGLE_1_10_DEG);
}
return commandLengthValueForMode(mode, 0, 14);
} else if (commandHeader == COMMAND_TRAJECTORY_DEBUG_GET_ABSOLUTE_POSITION) {
// Same return in case of input / output
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult(GET_DEBUG_ABS_POS_STRING);
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_DEBUG_CODERS) {
// Same return in case of input / output
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug Coders History");
}
return commandLengthValueForMode(mode, 0, 0);
} else if (commandHeader == COMMAND_TRAJECTORY_SET_ABSOLUTE_POSITION) {
if (fillDeviceArgumentList) {
setFunction(SET_ABS_POS_STRING, 5, 0);
setArgumentFloatHex6(0, X_MM);
setArgumentSeparator(1);
setArgumentFloatHex6(2, Y_MM);
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, ANGLE_1_10_DEG);
}
return commandLengthValueForMode(mode, 18, 0);
} else if (commandHeader == COMMAND_TRAJECTORY_ADJUST_X) {
if (fillDeviceArgumentList) {
setFunction("Adjust X", 1, 1);
setArgumentFloatHex6(0, X_MM);
setResultUnsignedChar1(0, "Done or not");
}
return commandLengthValueForMode(mode, 6, 1);
} else if (commandHeader == COMMAND_TRAJECTORY_ADJUST_Y) {
if (fillDeviceArgumentList) {
setFunction("Adjust Y", 1, 1);
setArgumentFloatHex6(0, X_MM);
setResultUnsignedChar1(0, "Done or not");
}
return commandLengthValueForMode(mode, 6, 1);
}
// NOTIFY PARAMETERS
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_OFF) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Notify Off");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_ON) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Notify On");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_SET_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunction("Notify Set Param", 3, 0);
setArgumentFloatHex4(0, "Dist (mm)");
setArgumentSeparator(1);
setArgumentFloatHex4(2, "Angle (deciDegree)");
}
return commandLengthValueForMode(mode, 9, 0);
}
// NOTIFICATION
if (DEVICE_MODE_NOTIFY == mode) {
if (commandHeader == NOTIFY_TRAJECTORY_CHANGED) {
if (fillDeviceArgumentList) {
setNotification("Trajectory Changed", 7);
setArgumentUnsignedHex4(0, "x(mm)");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "y(mm)");
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, "ang(1/10)deg");
setArgumentSeparator(5);
setArgumentUnsignedChar1(6, "Trajectory Type");
}
return 16;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceTimerGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TIMER_LIST) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("show Timer List");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TIMER_COUNT) {
if (fillDeviceArgumentList) {
setFunction("timer Count", 0, 1);
setResultUnsignedHex2(0, "count");
}
return commandLengthValueForMode(mode, 0, 2);
}
else if (commandHeader == COMMAND_TIMER_READ) {
if (fillDeviceArgumentList) {
setFunction("timer Read", 1, 13);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex2(0, "Index");
setResultSeparator(1);
setResultUnsignedHex2(2, "Code");
setResultSeparator(3);
setResultUnsignedHex4(4, "Diviser");
setResultSeparator(5);
setResultUnsignedHex4(6, "InternalCounter");
setResultSeparator(7);
setResultUnsignedHex6(8, "time");
setResultSeparator(9);
setResultUnsignedHex6(10, "markTime");
setResultSeparator(11);
setResultUnsignedChar1(12, "enabled");
}
return commandLengthValueForMode(mode, 2, 31);
}
else if (commandHeader == COMMAND_TIMER_ENABLE_DISABLE) {
if (fillDeviceArgumentList) {
setFunction("timer Enable", 3, 0);
setArgumentUnsignedHex2(0, "timerIndex");
setArgumentSeparator(1);
setArgumentUnsignedChar1(2, "enable/disable");
}
return commandLengthValueForMode(mode, 4, 0);
}
// Mark
else if (commandHeader == COMMAND_TIMER_TIME_SINCE_LAST_MARK) {
if (fillDeviceArgumentList) {
setFunction("time Since Last Mark", 1, 1);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex6(0, "mark");
}
return commandLengthValueForMode(mode, 2, 6);
}
else if (commandHeader == COMMAND_TIMER_MARK) {
if (fillDeviceArgumentList) {
setFunction("mark Timer !", 1, 1);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex6(0, "markTime");
}
return commandLengthValueForMode(mode, 2, 6);
}
else if (commandHeader == COMMAND_TIMER_TIMEOUT) {
if (fillDeviceArgumentList) {
setFunction("timeout check", 3, 3);
setArgumentUnsignedHex2(0, "timerIndex");
setArgumentSeparator(1);
setArgumentUnsignedHex6(2, "time to check");
setResultUnsignedHex2(0, "timerIndex");
setResultSeparator(1);
setResultUnsignedChar1(2, "timeout or not");
}
return commandLengthValueForMode(mode, 9, 4);
}
// Demo
else if (commandHeader == COMMAND_TIMER_DEMO) {
if (fillDeviceArgumentList) {
setFunction("Enable/Disable Timer Demo", 1, 0);
setArgumentUnsignedChar1(0, "enable/disable");
}
return commandLengthValueForMode(mode, 1, 0);
}
// wait
else if (commandHeader == COMMAND_TIMER_DELAY_WAIT) {
if (fillDeviceArgumentList) {
setFunction("Timer Delay Wait", 1, 0);
setArgumentUnsignedHex4(0, "milli Seconds");
}
return commandLengthValueForMode(mode, 4, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
