void RunCommandPlugin::configChanged() {
sendConfig();
}
// service a client request; test the opcode and then do appropriate servicing
void CPicoServSession::DispatchMessageL(const RMessage &aMessage)
{
switch (aMessage.Function()) {
case PicoMsgLoadState:
if(!rom_data) User::Leave(-1); // no ROM
User::LeaveIfError(saveLoadGame(1));
gamestate = PGS_Running;
return;
case PicoMsgSaveState:
if(!rom_data) User::Leave(-1);
User::LeaveIfError(saveLoadGame(0));
gamestate = PGS_Running;
return;
case PicoMsgLoadROM:
loadROM();
return;
case PicoMsgResume:
if(rom_data) gamestate = PGS_Running;
return;
case PicoMsgReset:
if(rom_data) {
PicoReset(0);
pico_was_reset = 1;
gamestate = PGS_Running;
}
return;
case PicoMsgKeys:
gamestate = PGS_KeyConfig;
return;
case PicoMsgPause:
gamestate = PGS_Paused;
return;
case PicoMsgQuit:
DEBUGPRINT(_L("got quit msg."));
gamestate = PGS_Quit;
return;
// config change
case PicoMsgConfigChange: // launcher -> emu
changeConfig();
return;
case PicoMsgRetrieveConfig: // emu -> launcher
sendConfig();
return;
case PicoMsgRetrieveDebugStr: // emu -> launcher
sendDebug();
return;
// requests we don't understand at all are a different thing,
// so panic the client here, this function also completes the message
default:
PanicClient(EBadRequest);
return;
}
}
void Telemetry::main(const State& state, Config& config)
{
// Re-initialize variables
cmd_ = 0;
checksum_ = 0;
// Check whether we have a request available
if ((n_bytes_available_ = Serial_Telemetry.available()) > 0)
{
// Read all data to tmp buffer. It is possible that not all the data has arrived yet
Serial_Telemetry.readBytes(&(rx_data_buffer_[ptr_]), n_bytes_available_);
ptr_ += n_bytes_available_;
}
else // No more data to receive
{
if(ptr_ > 0) // We have data to process
{
// Check for the magic word
if (rx_data_buffer_[0] == magic_word_[0] && rx_data_buffer_[1] == magic_word_[1])
{
cmd_ = rx_data_buffer_[2];
}
if (cmd_ == TELEMETRY_CMD_IN_CONFIG)
{
Telemetry::receiveConfig(config);
}
else
{
// Send Magic Word
write8((uint8_t)magic_word_[0]);
write8((uint8_t)magic_word_[1]);
// Send cmd
write8(cmd_);
// Perform desired operation
switch (cmd_)
{
case TELEMETRY_CMD_OUT_STATUS:
sendStatus(state);
break;
case TELEMETRY_CMD_OUT_IMU:
sendIMU(state);
break;
case TELEMETRY_CMD_OUT_MAG:
sendMagnetometer(state);
break;
case TELEMETRY_CMD_OUT_BARO:
sendBarometer(state);
break;
case TELEMETRY_CMD_OUT_TEMP:
sendTemperature(state);
break;
case TELEMETRY_CMD_OUT_RC:
sendRC(state);
break;
case TELEMETRY_CMD_OUT_GPS:
sendGPS(state);
break;
case TELEMETRY_CMD_OUT_SONAR:
sendSonar(state);
break;
case TELEMETRY_CMD_OUT_ATTITUDE:
sendAttitude(state);
break;
case TELEMETRY_CMD_OUT_CONTROL:
sendControl(state);
break;
case TELEMETRY_CMD_OUT_CONFIG:
sendConfig(config);
break;
} // switch cmd
sendCheckSum();
} // config_in
ptr_ = 0; // Prepare for next package
} // ptr_ > 0
} // n_bytes > 0
}
