bool robotInfraredDetectorHasObstacle(enum InfraredDetectorGroupType type) {
OutputStream* outputStream = getDriverRequestOutputStream();
InputStream* inputStream = getDriverResponseInputStream();
append(outputStream, ROBOT_INFRARED_DETECTOR_DEVICE_HEADER);
append(outputStream, COMMAND_INFRARED_DETECTOR_DETECTION);
appendHex2(outputStream, type);
bool result = transmitFromDriverRequestBuffer();
if (result) {
int result = readHex2(inputStream);
return result == 0x01;
}
return false;
}
bool clientDistributor2018CleanNext(int direction) {
OutputStream* outputStream = getDriverRequestOutputStream();
InputStream* inputStream = getDriverResponseInputStream();
append(outputStream, LAUNCHER_2018_DEVICE_HEADER);
append(outputStream, DISTRIBUTOR_LOAD_NEXT_BALL_COMMAND);
appendHex2(outputStream, direction);
bool result = transmitFromDriverRequestBuffer();
// Read the distance of detection, but we don't care about
readHex2(inputStream);
return result;
}
BOOL sendStrategyNextStep() {
appendString(getOutputStreamLogger(INFO), "sendStrategyNextStep\n");
OutputStream* outputStream = getDriverRequestOutputStream();
InputStream* inputStream = getDriverResponseInputStream();
append(outputStream, COMMAND_STRATEGY_NEXT_STEP);
BOOL result = transmitFromDriverRequestBuffer();
if (result) {
int result = readHex2(inputStream);
return result;
}
return FALSE;
}
bool transmitFromDriverRequestBuffer() {
// Handle redirection
if (redirectFunction != NULL) {
bool result = redirectFunction();
return result;
}
// We do exactly as if the data was written by a end-user
// requestBuffer must be filled before calling this method
Buffer* requestBuffer = getDriverRequestBuffer();
Buffer* responseBuffer = getDriverResponseBuffer();
InputStream* inputStream = getDriverResponseInputStream();
if (inputStream == NULL) {
writeError(DRIVER_INPUT_STREAM_NULL);
return false;
}
// The first char is the device header
unsigned dataDispacherLength = 0;
unsigned char deviceHeader = bufferGetCharAtIndex(requestBuffer, DEVICE_HEADER_INDEX);
if (deviceHeader == DISPATCHER_COMMAND_HEADER) {
dataDispacherLength = DISPATCHER_COMMAND_AND_INDEX_HEADER_LENGTH;
// Reload the real Device Header
deviceHeader = bufferGetCharAtIndex(requestBuffer, dataDispacherLength + DEVICE_HEADER_INDEX);
}
// The second char is the command header
unsigned char commandHeader = bufferGetCharAtIndex(requestBuffer, dataDispacherLength + COMMAND_HEADER_INDEX);
bool result = handleStreamInstruction(
requestBuffer,
responseBuffer,
// Don't copy to an outputStream, because, we
// want to read the content of responseBuffer
NULL,
// TODO : Check why we don't provide any NotificationOutputStream
NULL,
// No Input Filter
NULL,
// No Output Filter
NULL);
// We need ack
result = checkIsAck(inputStream);
if (!result) {
// The buffer is corrupted, but we would like to avoid further problem
clearInputStream(inputStream);
return false;
}
// Device header answer with the same header as the request
checkIsChar(inputStream, deviceHeader);
if (!result) {
// The buffer is corrupted, but we would like to avoid further problem
clearInputStream(inputStream);
return false;
}
// Command header answer with the same header as the request
checkIsChar(inputStream, commandHeader);
if (!result) {
// The buffer is corrupted, but we would like to avoid further problem
clearInputStream(inputStream);
return false;
}
return result;
}
