void mainBoardDeviceHandleMotionDeviceNotification(const Device* device, const unsigned char commandHeader, InputStream* notificationInputStream) {
if (device->deviceInterface->deviceHeader == MOTION_DEVICE_HEADER) {
if (
commandHeader == NOTIFY_MOTION_STATUS_FAILED
|| commandHeader == NOTIFY_MOTION_STATUS_MOVING
|| commandHeader == NOTIFY_MOTION_STATUS_OBSTACLE
|| commandHeader == NOTIFY_MOTION_STATUS_REACHED
|| commandHeader == NOTIFY_MOTION_STATUS_BLOCKED
|| commandHeader == NOTIFY_MOTION_STATUS_SHOCKED) {
updateNewPositionFromNotification(notificationInputStream);
// FAKE DATA To Align with TrajectoryDevice
checkIsSeparator(notificationInputStream);
checkIsChar(notificationInputStream, 'F');
gameStrategyContext->trajectoryType = TRAJECTORY_TYPE_NONE;
appendStringCRLF(getDebugOutputStreamLogger(), "Motion Device Notification !");
}
else {
writeError(NOTIFICATION_BAD_DEVICE_COMMAND_HANDLER_NOT_HANDLE);
appendString(getAlwaysOutputStreamLogger(), "header");
append(getAlwaysOutputStreamLogger(), commandHeader);
println(getAlwaysOutputStreamLogger());
}
}
else {
writeError(NOTIFICATION_BAD_DEVICE);
}
}
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;
}
bool checkIsSeparator(InputStream* inputStream) {
return checkIsChar(inputStream, '-');
}
