void deviceI2cSlaveDebugHandleRawData(char header, InputStream* inputStream, OutputStream* outputStream) {
// I2C Management
if (header == COMMAND_I2C_DEBUG_SLAVE_DEBUG) {
ackCommand(outputStream, I2C_SLAVE_DEBUG_DEVICE_HEADER, COMMAND_I2C_DEBUG_SLAVE_DEBUG);
printI2cDebugBuffers();
}
else if (header == COMMANG_I2C_DEBUG_SLAVE_ADDRESS) {
ackCommand(outputStream, I2C_SLAVE_DEBUG_DEVICE_HEADER, COMMANG_I2C_DEBUG_SLAVE_ADDRESS);
unsigned char address = slaveDebugDeviceI2cBusConnection->i2cAddress;
appendHex2(outputStream, address);
}
else if (header == COMMAND_I2C_DEBUG_SLAVE_ENABLE_DISABLE) {
ackCommand(outputStream, I2C_SLAVE_DEBUG_DEVICE_HEADER, COMMAND_I2C_DEBUG_SLAVE_ENABLE_DISABLE);
unsigned char enable = readHex2(inputStream);
setDebugI2cEnabled(enable != 0);
}
else if (header == COMMAND_I2C_DEBUG_SLAVE_SEND_CHAR_I2C_TO_MASTER) {
ackCommand(outputStream, I2C_SLAVE_DEBUG_DEVICE_HEADER, COMMAND_I2C_DEBUG_SLAVE_SEND_CHAR_I2C_TO_MASTER);
int c = readHex2(inputStream);
portableSlaveWriteI2C(slaveDebugDeviceI2cBusConnection, c);
}
else if (header == COMMAND_I2C_DEBUG_SLAVE_READ_CHAR_I2C_FROM_MASTER) {
ackCommand(outputStream, I2C_SLAVE_DEBUG_DEVICE_HEADER, COMMAND_I2C_DEBUG_SLAVE_READ_CHAR_I2C_FROM_MASTER);
char c = portableSlaveReadI2C(slaveDebugDeviceI2cBusConnection);
appendHex2(outputStream, c);
}
}
void deviceTestHandleRawData(char header,
InputStream* inputStream,
OutputStream* outputStream) {
if (header == COMMAND_TEST) {
int arg1 = readHex2(inputStream);
int arg2 = readHex2(inputStream);
int result = arg1 + arg2;
// data
appendAck(outputStream);
append(outputStream, COMMAND_TEST);
appendHex2(outputStream, result);
}
/* TODO
else if (header == COMMAND_NOTIFY_TEST) {
int argument = readHex2(inputStream);
argument *= 2;
Buffer* buffer = getI2CSlaveOutputBuffer();
OutputStream* i2cOutputStream = getOutputStream(buffer);
// Add the value to I2C
append(i2cOutputStream, COMMAND_NOTIFY_TEST);
appendHex2(i2cOutputStream, argument);
// Response to the call
appendAck(outputStream);
append(outputStream, COMMAND_NOTIFY_TEST);
appendHex2(outputStream, argument);
}
*/
}
void deviceRobotInfraredDetectorHandleRawData(char header,
InputStream* inputStream,
OutputStream* outputStream) {
// Command to ask
if (header == COMMAND_INFRARED_DETECTOR_DETECTION) {
appendAck(outputStream);
append(outputStream, COMMAND_INFRARED_DETECTOR_DETECTION);
int type = readHex2(inputStream);
BOOL hasDetected;
if (type == DETECTOR_FORWARD_INDEX) {
hasDetected = getRobotInfraredObstacleForward();
}
else {
hasDetected = getRobotInfraredObstacleBackward();
}
// Send argument
if (hasDetected) {
appendHex2(outputStream, 1);
}
else {
appendHex2(outputStream, 0);
}
}
}
void deviceLCDHandleRawData(char commandHeader,
InputStream* inputStream,
OutputStream* outputStream) {
if (commandHeader == COMMAND_LCD) {
ackCommand(outputStream, LCD_DEVICE_HEADER, COMMAND_LCD);
// print character
int i;
for (i = 0; i < LCD_CHAR_COUNT_BY_MESSAGE; i++) {
int c = readHex2(inputStream);
// we only valid write data
if (c == '\0') {
break;
}
writeLCDChar(c);
}
}
else if (commandHeader == COMMAND_LCD_TEST) {
ackCommand(outputStream, LCD_DEVICE_HEADER, COMMAND_LCD_TEST);
writeLCDChar('H');
writeLCDChar('E');
writeLCDChar('L');
writeLCDChar('L');
writeLCDChar('O');
writeLCDChar(' ');
writeLCDChar('W');
writeLCDChar('O');
writeLCDChar('R');
writeLCDChar('L');
writeLCDChar('D');
}
else if (commandHeader == COMMAND_CLEAR_LCD) {
ackCommand(outputStream, LCD_DEVICE_HEADER, COMMAND_CLEAR_LCD);
clearScreen();
}
}
void devicePinHandleRawData(char header, InputStream* inputStream, OutputStream* outputStream) {
if (header == COMMAND_SET_PIN_VALUE) {
int pinIndex = readHex2(inputStream);
int pinValue = readHex2(inputStream);
appendAck(outputStream);
setPinValue(pinIndex, pinValue);
append(outputStream, COMMAND_SET_PIN_VALUE);
} else if (header == COMMAND_GET_PIN_VALUE) {
int pinIndex = readHex2(inputStream);
appendAck(outputStream);
int pinValue = getPinValue(pinIndex);
// Response
append(outputStream, COMMAND_GET_PIN_VALUE);
appendHex2(outputStream, pinValue);
}
}
void mainBoardDeviceHandleNotification(const Device* device, const char commandHeader, InputStream* inputStream) {
appendString(getDebugOutputStreamLogger(), "Notification ! commandHeader=");
append(getDebugOutputStreamLogger(), commandHeader);
appendCRLF(getDebugOutputStreamLogger());
if (commandHeader == NOTIFY_TEST) {
unsigned char value = readHex2(inputStream);
appendStringAndDec(getDebugOutputStreamLogger(), "value=", value);
}
}
void deviceRobotSonarDetectorHandleRawData(char commandHeader,
InputStream* inputStream,
OutputStream* outputStream) {
if (commandHeader == COMMAND_SET_SONAR_STATUS) {
sonarStatus = readHex2(inputStream);
ackCommand(outputStream, ROBOT_SONAR_DETECTOR_DEVICE_HEADER, COMMAND_SET_SONAR_STATUS);
}
}
void readCharArray(InputStream* inputStream, char(*s)[], unsigned char length) {
int i;
char* sPointer = (char*) s;
for (i = 0; i < length; i++) {
char c = (char) readHex2(inputStream);
*sPointer = c;
sPointer++;
}
}
void deviceArm2012HandleRawData(char header,
InputStream* inputStream,
OutputStream* outputStream) {
if (header == COMMAND_ARM_2012_UP) {
int armIndex = readHex2(inputStream);
upArm(armIndex);
appendAck(outputStream);
append(outputStream, COMMAND_ARM_2012_UP);
} else if (header == COMMAND_ARM_2012_DOWN) {
int armIndex = readHex2(inputStream);
downArm(armIndex);
appendAck(outputStream);
append(outputStream, COMMAND_ARM_2012_DOWN);
}
}
void deviceTemperatureSensorHandleRawData(unsigned char header, InputStream* inputStream, OutputStream* outputStream, OutputStream* notificationOutputStream){
if (header == COMMAND_READ_TEMPERATURE_SENSOR) {
ackCommand(outputStream, TEMPERATURE_SENSOR_DEVICE_HEADER, COMMAND_READ_TEMPERATURE_SENSOR);
unsigned char value = (unsigned char) temperature->readSensorValue(temperature);
appendHex2(outputStream, value);
} else if (header == COMMAND_SET_TEMPERATURE_SENSOR_ALERT) {
unsigned char temperatureSensorAlert = readHex2(inputStream);
ackCommand(outputStream, TEMPERATURE_SENSOR_DEVICE_HEADER, COMMAND_SET_TEMPERATURE_SENSOR_ALERT);
temperature->writeAlertLimit(temperature, temperatureSensorAlert);
}
}
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;
}
void deviceRelayHandleRawData(char commandHeader, InputStream* inputStream, OutputStream* outputStream) {
if (commandHeader == COMMAND_SET_RELAY) {
int relayIndex = readHex2(inputStream);
unsigned char value = inputStream->readChar(inputStream);
if (relayIndex == 0) {
LATDbits.LATD8 = value;
}
else if (relayIndex == 1) {
LATDbits.LATD9 = value;
}
appendAck(outputStream);
append(outputStream, COMMAND_SET_RELAY);
}
}
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;
}
void deviceAirConditionningBoardHandleRawData(char header, InputStream* inputStream, OutputStream* outputStream) {
if (header == COMMAND_AIR_CONDITIONNING) {
int powerState = readHex2(inputStream);
if (powerState != 0x00) {
pwmServoAll(SERVO_SPEED, SERVO_VALUE_TOUCH);
delaymSec(1000);
pwmServoAll(SERVO_SPEED, SERVO_VALUE_STAND_BY);
} else {
pwmServoAll(SERVO_SPEED, SERVO_VALUE_TOUCH);
delaymSec(1000);
pwmServoAll(SERVO_SPEED, SERVO_VALUE_STAND_BY);
}
appendAck(outputStream);
append(outputStream, COMMAND_AIR_CONDITIONNING);
}
}
bool handleStreamInstruction(Buffer* inputBuffer,
Buffer* outputBuffer,
OutputStream* outputStream,
filterCharFunction* inputFilterChar,
filterCharFunction* outputFilterChar) {
if (inputBuffer == NULL) {
writeError(DRIVER_STREAM_LISTENER_INPUT_BUFFER_NULL);
return false;
}
if (outputBuffer == NULL) {
writeError(DRIVER_STREAM_LISTENER_OUTPUT_BUFFER_NULL);
return false;
}
// Try to clear the buffer if needed ('z' char)
if (clearBufferIfNeeded(inputBuffer)) {
return false;
}
// We received data
int inputBufferCount = getBufferElementsCount(inputBuffer);
if (inputBufferCount > 0) {
if (filterFirstNextChar(inputBuffer, inputFilterChar)) {
return false;
}
// As there is clear of char filtering, we must reload the size of the buffer
int bufferSize = getBufferElementsCount(inputBuffer);
if (bufferSize < DEVICE_HEADER_LENGTH) {
return false;
}
// Get the header
unsigned char deviceHeader = bufferGetCharAtIndex(inputBuffer, DEVICE_HEADER_INDEX);
// Manage the dispatcher specifier (3 chars : Ex j01 before real command ...)
unsigned char specifyDispatcherLength = 0;
if (deviceHeader == DATA_DISPATCHER_DEVICE_HEADER) {
specifyDispatcherLength += DISPATCHER_COMMAND_AND_INDEX_HEADER_LENGTH;
}
// Check if enough data
if (bufferSize < specifyDispatcherLength + DEVICE_AND_COMMAND_HEADER_LENGTH) {
return false;
}
// Reload the deviceHeader to take the dispatcher specifier if any
deviceHeader = bufferGetCharAtIndex(inputBuffer, specifyDispatcherLength + DEVICE_HEADER_INDEX);
unsigned char commandHeader = bufferGetCharAtIndex(inputBuffer, specifyDispatcherLength + COMMAND_HEADER_INDEX);
// find the device corresponding to this header. It must at least be declared in local or in remote !
unsigned char dataSize = bufferSize - specifyDispatcherLength;
const Device* device = deviceDataDispatcherFindDevice(deviceHeader, commandHeader, dataSize, DEVICE_MODE_INPUT);
// if the device was not found
if (device == NULL) {
return false;
}
// At this moment, device Interface is found
DeviceInterface* deviceInterface = device->deviceInterface;
// We must send device specifyDispatcherLength + Header + commandHeader + data => + 2
int dataToTransferCount = deviceInterface->deviceGetInterface(commandHeader, DEVICE_MODE_INPUT, false) + specifyDispatcherLength + DEVICE_AND_COMMAND_HEADER_LENGTH;
if (bufferSize < dataToTransferCount) {
return false;
}
// We must receive ack + device header + command header + data => + 3
int dataToReceiveCount = deviceInterface->deviceGetInterface(commandHeader, DEVICE_MODE_OUTPUT, false) + ACK_LENGTH + DEVICE_AND_COMMAND_HEADER_LENGTH;
InputStream* bufferedInputStream = getInputStream(inputBuffer);
OutputStream* bufferedOutputStream = getOutputStream(outputBuffer);
TransmitMode transmitMode = device->transmitMode;
// we handle locally the request
if (specifyDispatcherLength == 0 && transmitMode == TRANSMIT_LOCAL) {
// We need the implementation for local mode
DeviceDescriptor* deviceDescriptor = device->descriptor;
if (deviceDescriptor == NULL) {
writeError(NO_DEVICE_DESC_FOUND_FOR);
append(getErrorOutputStreamLogger(), deviceHeader);
append(getErrorOutputStreamLogger(), commandHeader);
return false;
}
// remove the first chars corresponding to the device header and command Header
bufferClearLastChars(inputBuffer, DEVICE_AND_COMMAND_HEADER_LENGTH);
// Call to the device
deviceDescriptor->deviceHandleRawData(commandHeader, bufferedInputStream, bufferedOutputStream);
} // we forward the request through Remote Operation with Dispatcher
else if (specifyDispatcherLength > 0 || transmitMode == TRANSMIT_I2C || transmitMode == TRANSMIT_UART || transmitMode == TRANSMIT_ZIGBEE) {
// Find dispatcher
DriverDataDispatcher* dispatcher = NULL;
if (specifyDispatcherLength > 0) {
bufferClearLastChars(inputBuffer, DEVICE_HEADER_LENGTH);
unsigned char dispatcherIndex = readHex2(bufferedInputStream);
dispatcher = getDriverDataDispatcherByIndex(dispatcherIndex);
if (dispatcher == NULL) {
writeError(NO_DISPATCHER_FOUND);
OutputStream* errorOutputStream = getErrorOutputStreamLogger();
appendStringAndDec(errorOutputStream, ", dispatcherIndex=", dispatcherIndex);
return false;
}
}
else {
TransmitMode transmitMode = device->transmitMode;
int address = device->address;
dispatcher = getDriverDataDispatcherByTransmitMode(transmitMode, address);
if (dispatcher == NULL) {
writeError(NO_DISPATCHER_FOUND);
OutputStream* errorOutputStream = getErrorOutputStreamLogger();
appendStringAndDec(errorOutputStream, ", transmitMode=", transmitMode);
append(errorOutputStream, '(');
appendString(errorOutputStream, getTransmitModeAsString(transmitMode));
append(errorOutputStream, ')');
appendStringAndDec(errorOutputStream, ", addr=", address);
return false;
}
}
// copy Driver buffer with remote Call
dispatcher->driverDataDispatcherTransmitData(dispatcher,
inputBuffer,
outputBuffer,
dataToTransferCount,
dataToReceiveCount
);
}
// In All Cases (Local / I2C / UART / Zigbee ...)
// Copy the data from bufferOutputStream to the outputStream
if (outputStream != NULL) {
copyInputToOutputStream(&(outputBuffer->inputStream), outputStream, outputFilterChar, dataToReceiveCount);
}
return true;
}
return false;
}
void deviceTimerHandleRawData(char commandHeader, InputStream* inputStream, OutputStream* outputStream) {
if (commandHeader == COMMAND_TIMER_LIST) {
printTimerList(getInfoOutputStreamLogger(), getTimerList());
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_LIST);
}
else if (commandHeader == COMMAND_TIMER_COUNT) {
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_COUNT);
unsigned timerCount = getTimerCount();
appendHex2(outputStream, timerCount);
}
else if (commandHeader == COMMAND_TIMER_READ) {
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_READ);
unsigned char timerIndex = readHex2(inputStream);
Timer* timer = getTimerByIndex(timerIndex);
appendHex2(outputStream, timerIndex);
appendSeparator(outputStream);
appendHex2(outputStream, timer->timerCode);
appendSeparator(outputStream);
appendHex4(outputStream, timer->timeDiviser);
appendSeparator(outputStream);
appendHex4(outputStream, timer->timeInternalCounter);
appendSeparator(outputStream);
appendHex6(outputStream, timer->time);
appendSeparator(outputStream);
appendHex6(outputStream, timer->markTime);
appendSeparator(outputStream);
appendBool(outputStream, timer->enabled);
}
// Enable / Tisable
else if (commandHeader == COMMAND_TIMER_ENABLE_DISABLE) {
unsigned char timerIndex = readHex2(inputStream);
Timer* timer = getTimerByIndex(timerIndex);
checkIsSeparator(inputStream);
unsigned enableAsChar = readHex(inputStream);
bool enabled = enableAsChar != 0;
timer->enabled = enabled;
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_ENABLE_DISABLE);
}
// Mark
else if (commandHeader == COMMAND_TIMER_MARK) {
unsigned char timerIndex = readHex2(inputStream);
Timer* timer = getTimerByIndex(timerIndex);
unsigned long time = markTimer(timer);
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_MARK);
appendHex6(outputStream, time);
}
else if (commandHeader == COMMAND_TIMER_TIME_SINCE_LAST_MARK) {
unsigned char timerIndex = readHex2(inputStream);
Timer* timer = getTimerByIndex(timerIndex);
unsigned long value = getTimeSinceLastMark(timer);
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_TIME_SINCE_LAST_MARK);
appendHex6(outputStream, value);
}
else if (commandHeader == COMMAND_TIMER_TIMEOUT) {
unsigned char timerIndex = readHex2(inputStream);
checkIsSeparator(inputStream);
unsigned long timeToCheck = (unsigned long) readHex6(inputStream);
Timer* timer = getTimerByIndex(timerIndex);
bool value = timeout(timer, timeToCheck);
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_TIMEOUT);
appendHex2(outputStream, timerIndex);
appendSeparator(outputStream);
appendBool(outputStream, value);
}
// Demo
else if (commandHeader == COMMAND_TIMER_DEMO) {
Timer* timer = getTimerByCode(DEMO_TIMER_INDEX);
if (timer == NULL) {
timer = addTimerDemo();
}
// Timer could be null when adding the timerDemo because of limit, we don't want any crash !
if (timer != NULL) {
unsigned enableAsChar = readHex(inputStream);
bool enabled = enableAsChar != 0;
timer->enabled = enabled;
}
ackCommand(outputStream, TIMER_DEVICE_HEADER, COMMAND_TIMER_DEMO);
}
}
void deviceServoHandleRawData(unsigned char commandHeader, InputStream* inputStream, OutputStream* outputStream, OutputStream* notificationOutputStream) {
// WRITE COMMANDS
if (commandHeader == SERVO_COMMAND_WRITE) {
ServoList* servoList = getServoDeviceServoList();
unsigned int servoIndex = readHex2(inputStream);
checkIsSeparator(inputStream);
unsigned int servoSpeed = readHex2(inputStream);
checkIsSeparator(inputStream);
unsigned int servoValue = readHex4(inputStream);
if (servoIndex == SERVO_ALL_INDEX) {
pwmServoAll(servoList, servoSpeed, servoValue);
} else {
Servo* servo = getServo(servoList, servoIndex);
pwmServo(servo, servoSpeed, servoValue, false);
}
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_WRITE);
}
else if (commandHeader == SERVO_COMMAND_WRITE_MAX_SPEED_UNDER_LOAD) {
ServoList* servoList = getServoDeviceServoList();
unsigned int servoIndex = readHex2(inputStream);
checkIsSeparator(inputStream);
int servoMaxSpeedUnderLoad = readHex2(inputStream);
Servo* servo = getServo(servoList, servoIndex);
servo->maxSpeedUnderLoad = servoMaxSpeedUnderLoad;
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_WRITE_MAX_SPEED_UNDER_LOAD);
}
else if (commandHeader == SERVO_COMMAND_WRITE_COMPACT) {
unsigned int servoValue = readHex4(inputStream);
ServoList* servoList = getServoDeviceServoList();
pwmServoAll(servoList, PWM_SERVO_SPEED_MAX, servoValue);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_WRITE_COMPACT);
}
// ENABLE / DISABLE
if (commandHeader == SERVO_COMMAND_WRITE_ENABLE_DISABLE) {
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_WRITE_ENABLE_DISABLE);
ServoList* servoList = getServoDeviceServoList();
unsigned int servoIndex = readHex2(inputStream);
checkIsSeparator(inputStream);
bool enabled = readBool(inputStream);
if (servoIndex == SERVO_ALL_INDEX) {
servoEnableAll(servoList, enabled);
}
else {
Servo* servo = getServo(servoList, servoIndex);
pwmServoSetEnabled(servo, enabled);
}
}
else if (commandHeader == SERVO_COMMAND_ENABLE_DISABLE_ALL) {
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_ENABLE_DISABLE_ALL);
ServoList* servoList = getServoDeviceServoList();
bool enabled = readBool(inputStream);
servoEnableAll(servoList, enabled);
}
// READ COMMANDS
else if (commandHeader == SERVO_COMMAND_GET_COUNT) {
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_GET_COUNT);
ServoList* servoList = getServoDeviceServoList();
unsigned int servoCount = getServoCount(servoList);
appendHex2(outputStream, servoCount);
}
else if (commandHeader == SERVO_COMMAND_READ) {
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_READ);
unsigned int servoIndex = readHex2(inputStream);
ServoList* servoList = getServoDeviceServoList();
Servo* servo = getServo(servoList, servoIndex);
unsigned int speed = pwmServoReadTargetSpeed(servo);
unsigned int currentPosition = pwmServoReadCurrentPosition(servo);
unsigned int targetPosition = pwmServoReadTargetPosition(servo);
appendHex2(outputStream, servoIndex);
appendSeparator(outputStream);
appendHex2(outputStream, speed);
appendSeparator(outputStream);
appendHex4(outputStream, currentPosition);
appendSeparator(outputStream);
appendHex4(outputStream, targetPosition);
}
else if (commandHeader == SERVO_COMMAND_READ_SPEED) {
unsigned int servoIndex = readHex2(inputStream);
ServoList* servoList = getServoDeviceServoList();
Servo* servo = getServo(servoList, servoIndex);
unsigned int speed = pwmServoReadTargetSpeed(servo);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_READ_SPEED);
appendHex2(outputStream, speed);
}
else if (commandHeader == SERVO_COMMAND_READ_MAX_SPEED_UNDER_LOAD) {
unsigned int servoIndex = readHex2(inputStream);
ServoList* servoList = getServoDeviceServoList();
Servo* servo = getServo(servoList, servoIndex);
unsigned int maxSpeedUnderLoad = pwmServoReadMaxSpeedUnderLoad(servo);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_READ_MAX_SPEED_UNDER_LOAD);
appendHex2(outputStream, maxSpeedUnderLoad);
}
else if (commandHeader == SERVO_COMMAND_READ_CURRENT_POSITION) {
unsigned int servoIndex = readHex2(inputStream);
ServoList* servoList = getServoDeviceServoList();
Servo* servo = getServo(servoList, servoIndex);
int currentPosition = pwmServoReadCurrentPosition(servo);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_READ_CURRENT_POSITION);
appendHex4(outputStream, currentPosition);
}
else if (commandHeader == SERVO_COMMAND_READ_TARGET_POSITION) {
unsigned int servoIndex = readHex2(inputStream);
ServoList* servoList = getServoDeviceServoList();
Servo* servo = getServo(servoList, servoIndex);
int targetPosition = pwmServoReadTargetPosition(servo);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_READ_TARGET_POSITION);
appendHex4(outputStream, targetPosition);
}
// DEBUG COMMANDS
else if (commandHeader == SERVO_COMMAND_TEST) {
ServoList* servoList = getServoDeviceServoList();
testAllPwmServos(servoList);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_TEST);
}
else if (commandHeader == SERVO_COMMAND_GET_TIME_TO_REACH_UNDER_LOAD) {
unsigned int servoIndex = readHex2(inputStream);
checkIsSeparator(inputStream);
unsigned int servoTargetPosition = readHex4(inputStream);
ServoList* servoList = getServoDeviceServoList();
Servo* servo = getServo(servoList, servoIndex);
unsigned int timeToReachUnderLoad = pwmServoComputeTimeMilliSecondsToReachTargetPosition(servo, servoTargetPosition);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_GET_TIME_TO_REACH_UNDER_LOAD);
appendHex4(outputStream, timeToReachUnderLoad);
}
else if (commandHeader == SERVO_COMMAND_DEBUG) {
ServoList* servoList = getServoDeviceServoList();
printServoList(getInfoOutputStreamLogger(), servoList);
ackCommand(outputStream, SERVO_DEVICE_HEADER, SERVO_COMMAND_DEBUG);
}
}
void deviceEepromHandleRawData(char commandHeader, InputStream* inputStream, OutputStream* outputStream) {
_deviceEepromCheckInitialized();
if (commandHeader == COMMAND_RELOAD_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_RELOAD_EEPROM);
eeprom_->eepromLoad(eeprom_);
}
else if (commandHeader == COMMAND_DUMP_TO_FILE_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_DUMP_TO_FILE_EEPROM);
eeprom_->eepromDump(eeprom_);
}
else if (commandHeader == COMMAND_DUMP_TO_LOG_OUTPUT_STREAM_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_DUMP_TO_LOG_OUTPUT_STREAM_EEPROM);
OutputStream* debugOutputStream = getInfoOutputStreamLogger();
dumpEepromToOutputStream(eeprom_, debugOutputStream, 0, eeprom_->maxIndex);
}
else if (commandHeader == COMMAND_DUMP_PARTIAL_CONTENT_TO_LOG_OUTPUT_STREAM_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_DUMP_PARTIAL_CONTENT_TO_LOG_OUTPUT_STREAM_EEPROM);
unsigned long startAddress = readHex4(inputStream);
checkIsSeparator(inputStream);
unsigned long length = readHex4(inputStream);
OutputStream* debugOutputStream = getInfoOutputStreamLogger();
dumpEepromToOutputStream(eeprom_, debugOutputStream, startAddress, startAddress + length);
}
else if (commandHeader == COMMAND_CLEAR_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_CLEAR_EEPROM);
unsigned long startAddress = readHex4(inputStream);
checkIsSeparator(inputStream);
unsigned long endAddress = readHex4(inputStream);
clearEeprom(eeprom_, startAddress, endAddress);
}
else if (commandHeader == COMMAND_READ_BYTE_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_READ_BYTE_EEPROM);
unsigned long address = readHex4(inputStream);
char value = eeprom_->eepromReadChar(eeprom_, address);
appendHex2(outputStream, value);
}
else if (commandHeader == COMMAND_READ_INT_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_READ_INT_EEPROM);
unsigned long address = readHex4(inputStream);
int value = eepromReadInt(eeprom_, address);
appendHex4(outputStream, value);
}
else if (commandHeader == COMMAND_WRITE_BYTE_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_WRITE_BYTE_EEPROM);
unsigned long address = readHex4(inputStream);
checkIsSeparator(inputStream);
char data = readHex2(inputStream);
eeprom_->eepromWriteChar(eeprom_, address, data);
}
else if (commandHeader == COMMAND_WRITE_INT_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_WRITE_INT_EEPROM);
unsigned long address = readHex4(inputStream);
checkIsSeparator(inputStream);
int data = readHex4(inputStream);
eepromWriteInt(eeprom_, address, data);
}
else if (commandHeader == COMMAND_READ_BLOCK_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_READ_BLOCK_EEPROM);
unsigned long address = readHex4(inputStream);
int index;
for (index = 0; index < EEPROM_DEVICE_READ_BLOCK_LENGTH; index++) {
char value = eeprom_->eepromReadChar(eeprom_, address + index);
if (index > 0) {
appendSeparator(outputStream);
}
appendHex2(outputStream, value);
}
}
else if (commandHeader == COMMAND_WRITE_BLOCK_EEPROM) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_WRITE_BLOCK_EEPROM);
unsigned long address = readHex4(inputStream);
char data;
int index;
for (index = 0; index < EEPROM_DEVICE_WRITE_BLOCK_LENGTH; index++) {
checkIsSeparator(inputStream);
data = readHex2(inputStream);
eeprom_->eepromWriteChar(eeprom_, address + index, data);
}
}
else if (commandHeader == COMMAND_INTENSIVE_TEST) {
ackCommand(outputStream, EEPROM_DEVICE_HEADER, COMMAND_INTENSIVE_TEST);
unsigned long address = readHex4(inputStream);
checkIsSeparator(inputStream);
unsigned long length = readHex4(inputStream);
unsigned int errorCount = 0;
unsigned int index;
// Writes
for (index = 0; index < length; index++) {
unsigned char value = (unsigned char) index;
eeprom_->eepromWriteChar(eeprom_, address + index, value);
}
// Reads
for (index = 0; index < length; index++) {
unsigned char value = (unsigned char) eeprom_->eepromReadChar(eeprom_, address + index);
if (value != (unsigned char)index) {
if (errorCount < 255) {
errorCount++;
}
}
}
appendHex4(outputStream, errorCount);
}
}
void deviceSystemHandleRawData(char header, InputStream* inputStream, OutputStream* outputStream) {
if (header == COMMAND_PING) {
// data
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_PING);
// Read and write in output the pingIndex (to control that it's the right which does the response)
unsigned char pingIndex = readHex2(inputStream);
appendHex2(outputStream, pingIndex);
}
// Last Error
else if (header == COMMAND_GET_LAST_ERROR) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_GET_LAST_ERROR);
unsigned int lastError = getLastError();
appendHex4(outputStream, lastError);
}
else if (header == COMMAND_CLEAR_LAST_ERROR) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_CLEAR_LAST_ERROR);
clearLastError();
}
// Device list
else if (header == COMMAND_DEVICE_LIST) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_DEVICE_LIST);
printDeviceList(getInfoOutputStreamLogger());
// Usage
} else if (header == COMMAND_USAGE) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_USAGE);
printDeviceListUsage(getInfoOutputStreamLogger(), false);
} else if (header == COMMAND_USAGE_PROBLEM) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_USAGE_PROBLEM);
printDeviceListUsage(getInfoOutputStreamLogger(), true);
}
else if (header == COMMAND_USAGE_SPECIFIC_DEVICE) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_USAGE_SPECIFIC_DEVICE);
char deviceHeader = readBinaryChar(inputStream);
int size = getDeviceCount();
int i;
for (i = 0; i < size; i++) {
Device* device = getDevice(i);
if (deviceHeader == device->deviceInterface->deviceHeader) {
println(getInfoOutputStreamLogger());
printDeviceUsage(getInfoOutputStreamLogger(), device, false);
return;
}
}
appendString(getErrorOutputStreamLogger(), "Device Not Found ! ");
}
else if (header == COMMAND_CLS) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_CLS);
#ifdef PC_COMPILER
system("cls");
#else
appendString(outputStream, "Unsupported Operation");
#endif // PC_COMPILER
}
else if (header == COMMAND_RESET) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_RESET);
#ifdef PC_COMPILER
appendString(outputStream, "Unsupported Operation");
#else
// goto 0;
#endif // PC_COMPILER
}
// Notifications
else if (header == COMMAND_NOTIFICATION) {
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_NOTIFICATION);
printDeviceListNotification(getInfoOutputStreamLogger(), false);
} else if (header == COMMAND_WAIT) {
appendAck(outputStream);
int mSec = readHex4(inputStream);
delaymSec(mSec);
append(outputStream, SYSTEM_DEVICE_HEADER);
append(outputStream, COMMAND_WAIT);
} else if (header == COMMAND_BOARD_NAME) {
appendString(getInfoOutputStreamLogger(), getBoardName());
println(getInfoOutputStreamLogger());
ackCommand(outputStream, SYSTEM_DEVICE_HEADER, COMMAND_BOARD_NAME);
}
}