-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathcommand.c
1279 lines (1194 loc) · 37.2 KB
/
command.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* c't-Bot
*
* This program is free software; you can redistribute it
* and/or modify it under the terms of the GNU General
* Public License as published by the Free Software
* Foundation; either version 2 of the License, or (at your
* option) any later version.
* This program is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
* PURPOSE. See the GNU General Public License for more details.
* You should have received a copy of the GNU General Public
* License along with this program; if not, write to the Free
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
* MA 02111-1307, USA.
*
*/
/**
* \file command.c
* \brief Kommando-Management
* \author Benjamin Benz ([email protected])
* \date 20.12.2005
*/
#include "ct-Bot.h"
#include "command.h"
EEPROM uint8_t bot_address = CMD_BROADCAST; /**< Kommunikations-Adresse des Bots (EEPROM) */
#ifdef COMMAND_AVAILABLE
#include "tcp.h"
#include "uart.h"
#include "led.h"
#include "log.h"
#include "timer.h"
#include "mouse.h"
#include "sensor.h"
#include "rc5.h"
#include "rc5-codes.h"
#include "bot-logic.h"
#include "bot-2-sim.h"
#include "bot-2-atmega.h"
#include "bot-2-bot.h"
#include "os_thread.h"
#include "map.h"
#include "sdfat_fs.h"
#include "botcontrol.h"
#include "init.h"
#include "motor.h"
#include "display.h"
#include "gui.h"
#include "math_utils.h"
#include "bot-2-linux.h"
#include <string.h>
#include <stdio.h>
#include <stddef.h>
#include <stdlib.h>
//#define CRC_CHECK /**< Soll die Kommunikation per CRC-Checksumme abgesichert werden? */
#define CHECK_CMD_ADDRESS /**< soll die Zieladresse der Kommandos ueberprueft werden? */
#define COMMAND_TIMEOUT 15 /**< Anzahl an ms, die maximal auf fehlende Daten gewartet wird */
#ifdef USB_UART_LINUX
#define BOT_2_RPI_TIMEOUT 30000UL /**< Timeout fuer ARM-Boards */
#else
#define BOT_2_RPI_TIMEOUT 20000UL /**< Timeout fuer ARM-Boards */
#endif
/* CRC aktivieren fuer ARM-Boards, Adress-Check deaktivieren */
#ifdef ARM_LINUX_BOARD
#ifndef CRC_CHECK
#define CRC_CHECK
#endif
#endif // ARM_LINUX_BOARD
/* CRC aktivieren fuer ATmega-2-Linux, Adress-Check deaktivieren */
#ifdef BOT_2_RPI_AVAILABLE
#ifndef CRC_CHECK
#define CRC_CHECK
#endif
#undef CHECK_CMD_ADDRESS
#endif // BOT_2_RPI_AVAILABLE
#define RCVBUFSIZE (sizeof(command_t) * 2) /**< Groesse des Empfangspuffers */
command_t received_command; /**< Puffer fuer Kommandos */
static uint8_t count = 1; /**< Zaehler fuer Paket-Sequenznummer */
/** Puffer fuer zu sendendes Kommando */
command_t cmd_to_send = {
CMD_STARTCODE,
{0, 0, 0},
0, 0, 0, 0, 0, 0,
CMD_STOPCODE
};
/** Funktionspointer fuer Kommandoverarbeitung */
cmd_func_t cmd_functions = {
.write = NULL,
.read = NULL,
.crc_check = NULL,
.crc_calc = NULL,
};
//#define DEBUG_COMMAND // Schalter, um auf einmal alle Debugs an oder aus zu machen
//#define DEBUG_COMMAND_NOISY // nun wird es voll im Log, da jedes Command geschrieben wird
#ifndef DEBUG_COMMAND
#undef LOG_AVAILABLE
#undef LOG_DEBUG
#define LOG_DEBUG(...) {}
#endif
/**
* Initialisiert die (High-Level-)Kommunikation
*/
void command_init(void) {
/* eigene Adresse checken */
uint8_t addr = get_bot_address();
if (addr != CMD_BROADCAST && addr > 127) {
/* gespeicherte Adresse ist eine vom Sim Vergebene,
* schalte auf Adressevergabemodus um */
addr = CMD_BROADCAST;
set_bot_address(addr);
}
#ifdef ARM_LINUX_BOARD
/* Start-Synchronisation mit ATmega */
LOG_INFO("Establishing connection to ATmega...");
fflush(stdout);
LOG_DEBUG("command_init(): Sending CMD_DONE to ATmega...");
set_bot_2_atmega();
command_write(CMD_DONE, SUB_CMD_NORM, simultime, 0, 0);
LOG_DEBUG("command_init(): Waiting for CMD_DONE from ATmega...");
const int8_t r = receive_until_frame(CMD_DONE);
if (r != 0) {
LOG_ERROR("command_init(): received invalid command: %d", r);
} else {
LOG_INFO("Connection with ATmega up.");
}
#endif // ARM_LINUX_BOARD
#ifdef MCU
cmd_functions.write = uart_write;
cmd_functions.read = uart_read;
cmd_functions.crc_check = uart_check_crc;
cmd_functions.crc_calc = uart_calc_crc;
#endif // MCU
LOG_DEBUG("command_init() done.");
}
/**
* Liest ein Kommando ein, ist blockierend!
* Greift auf cmd_functions.read() zurueck
* Achtung, die Payload wird nicht mitgelesen!
*/
int8_t command_read(void) {
int16_t bytesRcvd;
int8_t start = 0; // Start des Kommandos
int8_t i;
command_t * command; // Pointer zum Casten der empfangegen Daten
uint8_t buffer[RCVBUFSIZE]; // Puffer
#ifdef PC
#if BYTE_ORDER == BIG_ENDIAN
uint16_t store; // Puffer fuer die Endian-Konvertierung
#endif
#endif // PC
#ifdef MCU
uint16_t old_ticks; // alte Systemzeit
#endif
buffer[0] = 0; // Sicherheitshalber mit sauberem Puffer anfangen
/* Daten holen, maximal soviele, wie ein Kommando lang ist */
const uint8_t n = sizeof(command_t);
bytesRcvd = cmd_functions.read(buffer, n);
if (bytesRcvd < 0) {
LOG_ERROR("command_read(): read() returned %d", bytesRcvd);
return -1;
}
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("%d read", bytesRcvd);
LOG_DEBUG("%x %x %x", buffer[0], buffer[1], buffer[2]);
#endif
/* Suche nach dem Beginn des Frames */
while ((start < bytesRcvd) && (buffer[start] != CMD_STARTCODE)) {
LOG_DEBUG("falscher Startcode: 0x%02x (should be 0x%02x), start=%d bytesRcvd=%d", buffer[start], CMD_STARTCODE, start, bytesRcvd);
start++;
}
/* Wenn keine STARTCODE gefunden ==> Daten verwerfen */
if (buffer[start] != CMD_STARTCODE) {
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("kein Startcode");
#endif
return -2;
}
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("Start @%d", start);
#endif
// haben wir noch genug Platz im Puffer, um das Packet ferig zu lesen?
if ((RCVBUFSIZE - (uint8_t) (start)) < n) {
LOG_DEBUG("not enough space");
return -3; // nein? ==> verwerfen
}
i = (int8_t) ((int8_t) n - (bytesRcvd - start));
if (i > 0) { // Fehlen noch Daten ?
LOG_DEBUG("Start @ %d es fehlen %d Bytes ", start, i);
#ifdef MCU
old_ticks = TIMER_GET_TICKCOUNT_16; // Systemzeit erfassen
#endif
/* So lange Daten lesen, bis das Packet vollstaendig ist, oder der Timeout zuschlaegt */
while (i > 0) {
#ifdef MCU
if (timer_ms_passed_16(&old_ticks, COMMAND_TIMEOUT)) {
/* Timeout ueberschritten */
LOG_DEBUG("Timeout beim Nachlesen");
return -4; // ==> Abbruch
}
#endif // MCU
LOG_DEBUG("%d Bytes missing", i);
i = (int8_t) cmd_functions.read(buffer + bytesRcvd, i);
LOG_DEBUG("%d read", i);
bytesRcvd = bytesRcvd + i;
i = (int8_t) ((int8_t) n - (bytesRcvd - start));
}
}
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("%d/%d read/start", bytesRcvd, start);
LOG_DEBUG("%x %x %x", buffer[start], buffer[start+1], buffer[start+2]);
#endif
command = (command_t *) (buffer + start); // Cast in command_t
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("start: %c ", command->startCode);
// command_display(command);
#endif
// validate (Startcode ist bereits ok, sonst waeren wir nicht hier)
if (command->CRC == CMD_STOPCODE) {
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("Command is valid");
#endif
#ifdef CRC_CHECK
if (! cmd_functions.crc_check(command)) {
LOG_ERROR("CRC ungueltig:");
#ifdef DEBUG_COMMAND
command_display(command);
#endif
memcpy(&received_command, command, sizeof(command_t));
return -20;
} else {
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("CRC korrekt");
#endif // DEBUG_COMMAND_NOISY
}
#endif // CRC_CHECK
#ifdef CHECK_CMD_ADDRESS
/* Ist das Paket ueberhaupt fuer uns? */
if ((command->to != CMD_BROADCAST) && (command->to != CMD_IGNORE_ADDR) && (command->to != get_bot_address()) && (command->request.command != CMD_WELCOME)) {
LOG_DEBUG("Fehler: Paket To= %d statt %u", command->to, get_bot_address());
#ifdef LOG_AVAILABLE
command_display(command);
#endif
return -10;
}
#endif // CHECK_CMD_ADDRESS
// Transfer
memcpy(&received_command, command, sizeof(command_t));
#ifdef PC
#if BYTE_ORDER == BIG_ENDIAN
/* Umwandeln der 16 bit Werte in Big Endian */
store = received_command.data_l;
received_command.data_l = store << 8;
received_command.data_l |= (store >> 8) & 0xff;
store = received_command.data_r;
received_command.data_r = store << 8;
received_command.data_r |= (store >> 8) & 0xff;
#endif // BYTE_ORDER == BIG_ENDIAN
#endif // PC
#ifdef DEBUG_COMMAND_NOISY
LOG_DEBUG("Command received:");
command_display(&received_command);
#endif
return 0;
} else { // Command not valid
LOG_ERROR("Invalid Command:");
command_display(command);
return -6;
}
}
/**
* Schleife, die Kommandos empfaengt und bearbeitet, bis ein Kommando vom Typ frame kommt
* \param frame Kommando zum Abbruch
* \return Fehlercode
*/
int8_t receive_until_frame(uint8_t frame) {
int8_t result;
for (;;) {
result = command_read();
if (result != 0) {
/* Fehler werden in command_read() ausgegeben
* -10 kommt, wenn das Paket nicht fuer unsere Adresse war */
if (result == -20) {
// CRC falsch
} else {
return result;
}
} else {
#ifdef DEBUG_COMMAND
LOG_DEBUG("receive_until_frame(): received valid command:");
command_display(&received_command);
#endif // DEBUG_COMMAND
command_evaluate();
}
if (received_command.request.command == frame) {
return result;
}
}
return 0;
}
/**
* Sendet ein Kommando im Little Endian Format.
* Diese Funktion setzt vorraus, dass die Symbole BYTE_ORDER und BIG_ENDIAN
* bzw. LITTLE_ENDIAN definiert wurden. Damit dies auf Linux/Unix
* funktioniert darf _POSIX_SOURCE nicht definiert werden. Fuer Windows
* wird dies in der Headerdatei tcp.h erledigt.
* Getestet wurde dies bisher auf folgenden Systemen:
* - MacOSX (PPC, big endian, i386 / x86-64 little endian)
* - Linux (hppa, big endian, i386 / x86-64 little endian)
* - OpenBSD (i386, little endian)
* - Windows 2000 - Vista (i386, little endian mit MinGW)
* Sollten in command_t weitere Werte mit mehr bzw. weniger als 8 Bit
* aufgenommen werden muss hier eine entsprechende Anpassung erfolgen.
*
* \param *cmd Zeiger auf das Kommando
* \return Anzahl der gesendete Bytes
*/
static int16_t send_cmd(command_t * cmd) {
if (! cmd_functions.write) {
return 0;
}
#if defined PC && BYTE_ORDER == BIG_ENDIAN
command_t le_cmd;
/* Kopieren des Kommandos und auf Little Endian wandeln */
memcpy(&le_cmd, cmd, sizeof(command_t));
/* Alle 16 Bit Werte in Little Endian wandeln */
le_cmd.data_l = cmd->data_l << 8;
le_cmd.data_l |= (cmd->data_l >> 8) & 0xff;
le_cmd.data_r = cmd->data_r << 8;
le_cmd.data_r |= (cmd->data_r >> 8) & 0xff;
le_cmd.seq = cmd->seq << 8;
le_cmd.seq |= (cmd->seq >> 8) & 0xff;
return cmd_functions.write(&le_cmd, sizeof(command_t));
#else // LITTLE_ENDIAN
return cmd_functions.write(cmd, sizeof(command_t));
#endif // BIG_ENDIAN
}
/**
* Uebertraegt ein KomSDFAT_AVAILABLE
* mando und wartet nicht auf eine Antwort. Interne Version, nicht threadsicher!
* \param command Kennung zum Command
* \param subcommand Kennung des Subcommand
* \param to Adresse des Empfaengers
* \param data_l Daten fuer den linken Kanal
* \param data_r Daten fuer den rechten Kanal
* \param payload Anzahl der Bytes, die diesem Kommando als Payload folgen
* \return Fehlercode, 0 falls alles ok
*/
uint8_t command_write_to_internal(uint8_t command, uint8_t subcommand, uint8_t to, int16_t data_l, int16_t data_r, uint8_t payload) {
request_t request;
request.command = command;
union {
uint8_t byte;
unsigned bits:7;
} tmp = {subcommand};
request.subcommand = tmp.bits;
request.direction = DIR_REQUEST; // Anfrage
cmd_to_send.startCode = CMD_STARTCODE;
cmd_to_send.CRC = CMD_STOPCODE;
cmd_to_send.request = request;
cmd_to_send.from = get_bot_address();
cmd_to_send.to = to;
cmd_to_send.payload = payload;
cmd_to_send.data_l = data_l;
cmd_to_send.data_r = data_r;
cmd_to_send.seq = count++;
#ifdef DEBUG_COMMAND
LOG_DEBUG("Command written:");
command_display(&cmd_to_send);
#endif
#ifdef CRC_CHECK
cmd_functions.crc_calc(&cmd_to_send);
#endif // CRC_CHECK
if (send_cmd(&cmd_to_send) != sizeof(command_t)) {
return 1;
}
return 0;
}
/**
* Uebertraegt ein Kommando und wartet nicht auf eine Antwort
* \param command Kennung zum Command
* \param subcommand Kennung des Subcommand
* \param to Adresse des Empfaengers
* \param data_l Daten fuer den linken Kanal
* \param data_r Daten fuer den rechten Kanal
* \param payload Anzahl der Bytes, die diesem Kommando als Payload folgen
*/
void command_write_to(uint8_t command, uint8_t subcommand, uint8_t to, int16_t data_l, int16_t data_r, uint8_t payload) {
os_enterCS();
#ifdef ARM_LINUX_BOARD
cmd_func_t old_func = cmd_functions;
if (to != CMD_IGNORE_ADDR) {
set_bot_2_sim();
}
#endif // ARM_LINUX_BOARD
command_write_to_internal(command, subcommand, to, data_l, data_r, payload);
#ifdef PC
if (command == CMD_BOT_2_BOT) {
flushSendBuffer();
}
#endif // PC
#ifdef ARM_LINUX_BOARD
cmd_functions = old_func;
#endif // ARM_LINUX_BOARD
os_exitCS();
}
/**
* Uebertraegt ein Kommando an den ct-Sim und wartet nicht auf eine Antwort
* \param command Kennung zum Command
* \param subcommand Kennung des Subcommand
* \param data_l Daten fuer den linken Kanal
* \param data_r Daten fuer den rechten Kanal
* \param payload Anzahl der Bytes, die diesem Kommando als Payload folgen
*/
void command_write(uint8_t command, uint8_t subcommand, int16_t data_l, int16_t data_r, uint8_t payload) {
os_enterCS();
#ifdef ARM_LINUX_BOARD
cmd_func_t old_func = cmd_functions;
if (command == CMD_MAP || command == CMD_REMOTE_CALL) {
set_bot_2_sim();
}
#endif // ARM_LINUX_BOARD
command_write_to_internal(command, subcommand, CMD_SIM_ADDR, data_l, data_r, payload);
#ifdef ARM_LINUX_BOARD
cmd_functions = old_func;
#endif // ARM_LINUX_BOARD
#ifdef PC
if (command == CMD_DONE) {
flushSendBuffer(); // Flushen hier, bevor das Mutex freigegeben wird!
}
#endif // PC
os_exitCS();
}
/**
* Versendet Daten mit Anhang und wartet nicht auf Antwort
* \param command Kennung zum Command
* \param subcommand Kennung des Subcommand
* \param to Adresse, an die die Daten gesendet werden sollen
* \param data_l Daten fuer den linken Kanal
* \param data_r Daten fuer den rechten Kanal
* \param payload Anzahl der Bytes im Anhang
* \param *data Datenanhang an das eigentliche Command
*/
void command_write_rawdata_to(uint8_t command, uint8_t subcommand, uint8_t to, int16_t data_l, int16_t data_r, uint8_t payload, const void * data) {
if (! cmd_functions.write) {
return;
}
os_enterCS();
#ifdef ARM_LINUX_BOARD
cmd_func_t old_func = cmd_functions;
if (command == CMD_MAP || command == CMD_REMOTE_CALL || command == CMD_LOG || command == CMD_BOT_2_BOT) {
set_bot_2_sim();
}
#endif // ARM_LINUX_BOARD
if (! command_write_to_internal(command, subcommand, to, data_l, data_r, payload)) {
cmd_functions.write(data, payload);
}
#ifdef PC
if (command == CMD_BOT_2_BOT) {
flushSendBuffer();
}
#endif // PC
#ifdef ARM_LINUX_BOARD
if (command == CMD_MAP || command == CMD_REMOTE_CALL) {
cmd_functions = old_func;
}
#endif // ARM_LINUX_BOARD
os_exitCS();
}
/**
* Gibt dem Simulator Daten mit Anhang und wartet nicht auf Antwort
* \param command Kennung zum Command
* \param subcommand Kennung des Subcommand
* \param data_l Daten fuer den linken Kanal
* \param data_r Daten fuer den rechten Kanal
* \param payload Anzahl der Bytes im Anhang
* \param *data Datenanhang an das eigentliche Command
*/
void command_write_rawdata(uint8_t command, uint8_t subcommand, int16_t data_l, int16_t data_r, uint8_t payload, const void * data) {
command_write_rawdata_to(command, subcommand, CMD_SIM_ADDR, data_l, data_r, payload, data);
}
/**
* Gibt dem Simulator Daten mit String-Anhang und wartet nicht auf Antwort
* \param command Kennung zum Command
* \param subcommand Kennung des Subcommand
* \param data_l Daten fuer den linken Kanal
* \param data_r Daten fuer den rechten Kanal
* \param *data Datenanhang an das eigentliche Command, null-terminiert
*/
void command_write_data(uint8_t command, uint8_t subcommand, int16_t data_l, int16_t data_r, const char * data) {
size_t len;
uint8_t payload;
if (data != NULL) {
len = strlen(data);
if (len > MAX_PAYLOAD) {
payload = MAX_PAYLOAD;
} else {
payload = (uint8_t) len;
}
} else {
payload = 0;
}
command_write_rawdata_to(command, subcommand, CMD_SIM_ADDR, data_l, data_r, payload, data);
}
#ifdef BOT_2_SIM_AVAILABLE
/**
* Registriert den Bot beim Sim und teilt diesem dabei mit, welche
* Features aktiviert sind
*/
void register_bot(void) {
set_bot_2_sim();
/* aktivierte Komponenten als Integer codieren */
union {
struct { // siehe ctSim.model.bots.components.WelcomeReceiver
unsigned log:1; // | 1
unsigned rc5:1; // | 2
unsigned abl:1; // | 4
unsigned basic:1; // | 8
unsigned map:1; // | 16
unsigned remotecall:1; // | 32
} PACKED_FORCE data;
int16_t raw;
} features = {
{
#ifdef LOG_CTSIM_AVAILABLE
1,
#else
0,
#endif
#ifdef RC5_AVAILABLE
1,
#else
0,
#endif
#if defined BEHAVIOUR_ABL_AVAILABLE
1,
#else
0,
#endif
#if defined BEHAVIOUR_UBASIC_AVAILABLE
1,
#else
0,
#endif
#if defined MAP_AVAILABLE && defined MAP_2_SIM_AVAILABLE
1,
#else
0,
#endif
#ifdef BEHAVIOUR_REMOTECALL_AVAILABLE
1,
#else
0,
#endif
}
};
/* Bot beim Sim anmelden */
#if defined MCU || defined ARM_LINUX_BOARD
command_write(CMD_WELCOME, SUB_WELCOME_REAL, features.raw, 0, 0);
#else
command_write(CMD_WELCOME, SUB_WELCOME_SIM, features.raw, 0, 0);
#endif // ARM_LINUX_BOARD
}
#endif // BOT_2_SIM_AVAILABLE
/**
* Wertet das Kommando im Puffer aus
* \return 1, wenn Kommando schon bearbeitet wurde, 0 sonst
*/
int8_t command_evaluate(void) {
#ifdef RC5_AVAILABLE
static uint16_t RC5_Last_Toggle = 0xffff;
#endif
#if defined BEHAVIOUR_UBASIC_AVAILABLE || defined BEHAVIOUR_ABL_AVAILABLE
#ifdef SDFAT_AVAILABLE
static pFatFile prog_file;
#endif // SDFAT_AVAILABLE
static uint16_t prog_size = 0;
#endif // BEHAVIOUR_UBASIC_AVAILABLE || BEHAVIOUR_ABL_AVAILABLE
int8_t analyzed = 1;
#if defined LOG_AVAILABLE && defined CHECK_CMD_ADDRESS
if (received_command.from != CMD_SIM_ADDR && received_command.from != CMD_IGNORE_ADDR) {
LOG_DEBUG("Weitergeleitetes Kommando:");
}
#ifdef DEBUG_COMMAND_NOISY
command_display(&received_command);
#endif // DEBUG_COMMAND_NOISY
#endif // LOG_AVAILABLE
/* woher ist das Kommando? */
#ifdef CHECK_CMD_ADDRESS
if (received_command.from == CMD_SIM_ADDR || received_command.from == CMD_IGNORE_ADDR) {
#endif
/* Daten vom ct-Sim */
switch (received_command.request.command) {
#ifdef RC5_AVAILABLE
case CMD_SENS_RC5:
rc5_ir_data.ir_data = (uint16_t) received_command.data_l
#ifndef ARM_LINUX_BOARD
| (RC5_Last_Toggle & RC5_TOGGLE)
#endif
;
if (received_command.data_l != 0) {
RC5_Last_Toggle = 0xffff ^ (RC5_Last_Toggle & RC5_TOGGLE);
}
break;
#endif // RC5_AVAILABLE
case CMD_WELCOME:
#ifdef BOT_2_SIM_AVAILABLE
/* Bot beim Sim anmelden */
register_bot();
if (get_bot_address() == CMD_BROADCAST) {
/* Adresse anfordern */
command_write(CMD_ID, SUB_ID_REQUEST, 0, 0, 0);
}
#ifdef BOT_2_BOT_AVAILABLE
/* hello (bot-)world! */
else {
command_write_to(BOT_CMD_WELCOME, SUB_CMD_NORM, CMD_BROADCAST, 0, 0, 0);
}
#endif // BOT_2_BOT_AVAILABLE
#endif // BOT_2_SIM_AVAILABLE
break;
case CMD_ID:
if (received_command.request.subcommand == SUB_ID_OFFER) {
#ifdef LOG_AVAILABLE
LOG_DEBUG("Bekomme eine Adresse angeboten: %u", (uint8_t) received_command.data_l);
#endif // LOG_AVAILABLE
set_bot_address((uint8_t) received_command.data_l); // Setze Adresse
command_write(CMD_ID, SUB_ID_SET, received_command.data_l, 0, 0); // Und bestaetige dem Sim das ganze
#ifdef BOT_2_BOT_AVAILABLE
/* hello (bot-)world! */
command_write_to(BOT_CMD_WELCOME, SUB_CMD_NORM, CMD_BROADCAST, 0, 0, 0);
#endif // BOT_2_BOT_AVAILABLE
}
break;
#if defined MOUSE_AVAILABLE && defined BOT_2_SIM_AVAILABLE
case CMD_SENS_MOUSE_PICTURE: // Sim fragt nach dem Bild
mouse_transmit_picture();
break;
#endif // MOUSE_AVAILABLE
#ifdef BEHAVIOUR_REMOTECALL_AVAILABLE
case CMD_REMOTE_CALL:
LOG_DEBUG("RemoteCall-CMD:");
switch (received_command.request.subcommand) {
case SUB_REMOTE_CALL_LIST:
LOG_DEBUG(" Liste");
bot_remotecall_list();
break;
case SUB_REMOTE_CALL_ORDER: {
LOG_DEBUG("RemoteCall empfangen. Data=%u Bytes", received_command.payload);
uint8_t buffer[REMOTE_CALL_BUFFER_SIZE];
uint16_t ticks = TIMER_GET_TICKCOUNT_16;
#ifdef MCU
while (uart_data_available() < received_command.payload && (uint16_t) (TIMER_GET_TICKCOUNT_16 - ticks) < MS_TO_TICKS(COMMAND_TIMEOUT));
#endif
cmd_functions.read(buffer, received_command.payload);
if ((uint16_t) (TIMER_GET_TICKCOUNT_16 - ticks) < MS_TO_TICKS(COMMAND_TIMEOUT)) {
bot_remotecall_from_command((char *) &buffer);
} else {
int16_t result = BEHAVIOUR_SUBFAIL;
command_write(CMD_REMOTE_CALL, SUB_REMOTE_CALL_DONE, result, result, 0);
}
break;
}
case SUB_REMOTE_CALL_ABORT: {
LOG_DEBUG("RemoteCalls werden abgebrochen");
bot_remotecall_cancel();
break;
}
default:
LOG_DEBUG("unbekanntes Subkommando: %c", received_command.request.subcommand);
break;
}
break;
#endif // BEHAVIOUR_REMOTECALL_AVAILABLE
#ifdef MAP_2_SIM_AVAILABLE
case CMD_MAP:
switch (received_command.request.subcommand) {
case SUB_MAP_REQUEST:
// FIXME: das ist gefaehrlich so, bei grossen Karten werden die Verhalten zu lange blockiert!
map_2_sim_send();
break;
}
break;
#endif // MAP_2_SIM_AVAILABLE
case CMD_SHUTDOWN:
ctbot_shutdown();
break;
#if defined BEHAVIOUR_UBASIC_AVAILABLE || defined BEHAVIOUR_ABL_AVAILABLE
case CMD_PROGRAM: {
LOG_DEBUG("Programm-Empfang:");
switch (received_command.request.subcommand) {
case SUB_PROGRAM_PREPARE: {
/* Vorbereitung auf neues Programm */
const uint8_t type = (uint8_t) received_command.data_l;
prog_size = (uint16_t) received_command.data_r;
LOG_DEBUG(" Typ=%u Laenge=%u", type, prog_size);
const uint8_t len = received_command.payload;
LOG_DEBUG(" len=%u", len);
char filename[len + 1];
uint16_t ticks = TIMER_GET_TICKCOUNT_16;
#ifdef MCU
while (uart_data_available() < len &&
(uint16_t) (TIMER_GET_TICKCOUNT_16 - ticks) < MS_TO_TICKS(COMMAND_TIMEOUT));
#endif
cmd_functions.read(filename, len);
if ((uint16_t) (TIMER_GET_TICKCOUNT_16 - ticks) < MS_TO_TICKS(COMMAND_TIMEOUT)) {
/* OK */
filename[len] = 0;
LOG_DEBUG(" Datei:\"%s\"", filename);
void* buffer = type == 0 ? GET_MMC_BUFFER(ubasic_buffer) : GET_MMC_BUFFER(abl_buffer);
#ifdef SDFAT_AVAILABLE
/* Datei anlegen */
LOG_DEBUG(" prog_size=%u", prog_size);
if (sdfat_open(filename, &prog_file, SDFAT_O_RDWR | SDFAT_O_TRUNC | SDFAT_O_CREAT)) {
LOG_ERROR("Fehler beim Dateizugriff");
prog_size = 0;
break;
}
#endif // SDFAT_AVAILABLE
memset(buffer, 0, SD_BLOCK_SIZE);
/* falls uBasic / ABL laeuft, abbrechen */
#if defined BEHAVIOUR_UBASIC_AVAILABLE && defined BEHAVIOUR_ABL_AVAILABLE
Behaviour_t* const beh = type == 0 ? get_behaviour(bot_ubasic_behaviour) : get_behaviour(bot_abl_behaviour);
#elif defined BEHAVIOUR_UBASIC_AVAILABLE
Behaviour_t* const beh = type == 0 ? get_behaviour(bot_ubasic_behaviour) : NULL;
#elif defined BEHAVIOUR_ABL_AVAILABLE
Behaviour_t* const beh = type == 0 ? NULL : get_behaviour(bot_abl_behaviour);
#endif
deactivate_called_behaviours(beh);
deactivate_behaviour(beh);
/* evtl. hatte uBasic / ABL einen RemoteCall gestartet, daher dort aufraeumen */
activateBehaviour(NULL, bot_remotecall_behaviour);
/* Datei laden */
switch (type) {
#ifdef BEHAVIOUR_UBASIC_AVAILABLE
case 0:
/* uBasic */
bot_ubasic_load_file(filename, &prog_file);
break;
#endif // BEHAVIOUR_UBASIC_AVAILABLE
#ifdef BEHAVIOUR_ABL_AVAILABLE
case 1:
/* ABL */
abl_load(filename);
break;
#endif // BEHAVIOUR_ABL_AVAILABLE
}
} else {
/* Fehler */
LOG_ERROR("Timeout beim Programmempfang");
prog_size = 0;
}
break;
}
case SUB_PROGRAM_DATA: {
/* Datenteil eines Programms */
if (prog_size == 0) {
LOG_DEBUG(" Datenempfang fehlerhaft");
break;
}
const uint16_t done = (uint16_t) received_command.data_r;
const uint8_t type = (uint8_t) received_command.data_l;
LOG_DEBUG(" type=%u %u Bytes (%u Bytes insgesamt)", type, received_command.payload, received_command.payload + done);
uint8_t* buffer = type == 0 ? GET_MMC_BUFFER(ubasic_buffer) : GET_MMC_BUFFER(abl_buffer);
const uint16_t index = (uint16_t) done % SD_BLOCK_SIZE;
buffer += index;
uint16_t ticks = TIMER_GET_TICKCOUNT_16;
#ifdef MCU
while (uart_data_available() < received_command.payload && (uint16_t) (TIMER_GET_TICKCOUNT_16 - ticks) < MS_TO_TICKS(COMMAND_TIMEOUT));
#endif
const int16_t n = cmd_functions.read(buffer, received_command.payload);
if (n != received_command.payload) {
LOG_DEBUG(" Datenempfang fehlerhaft");
prog_size = 0;
break;
}
prog_size -= (uint16_t) n;
LOG_DEBUG(" prog_size=%u", prog_size);
if ((uint16_t) (TIMER_GET_TICKCOUNT_16 - ticks) < MS_TO_TICKS(COMMAND_TIMEOUT)) {
/* OK */
// puts(buffer);
if (index + (uint16_t) n == SD_BLOCK_SIZE || prog_size == 0) {
/* Puffer in Datei schreiben */
LOG_DEBUG(" Puffer rausschreiben...");
#ifdef SDFAT_AVAILABLE
if (sdfat_write(prog_file, type == 0 ? GET_MMC_BUFFER(ubasic_buffer) : GET_MMC_BUFFER(abl_buffer), SD_BLOCK_SIZE) != SD_BLOCK_SIZE) {
/* Fehler */
LOG_ERROR("Fehler beim Dateizugriff");
prog_size = 0;
break;
}
#else // EEPROM
const uint16_t block = (uint16_t) done / SD_BLOCK_SIZE;
#if defined __AVR_ATmega1284P__ || defined PC
if (block > 6) {
#else // MCU_ATMEGA644X
if (block > 2) {
#endif // MCU-Typ
break;
}
#ifdef LED_AVAILABLE
LED_on(LED_ROT);
#endif
ctbot_eeprom_write_block(&abl_eeprom_data[block << 9], GET_MMC_BUFFER(abl_buffer), 512);
#ifdef LED_AVAILABLE
LED_off(LED_ROT);
#endif
#endif // SDFAT_AVAILABLE
memset(type == 0 ? GET_MMC_BUFFER(ubasic_buffer) : GET_MMC_BUFFER(abl_buffer), 0, SD_BLOCK_SIZE);
if (prog_size == 0) {
/* Progamm vollstaendig empfangen */
#ifdef SDFAT_AVAILABLE
sdfat_flush(prog_file);
if (type == 1) { // ABL
sdfat_close(prog_file);
}
#endif // SDFAT_AVAILABLE
LOG_DEBUG("->fertig");
}
}
} else {
/* Fehler */
LOG_ERROR("Timeout beim Programmempfang");
prog_size = 0;
}
break;
}
case SUB_PROGRAM_START:
/* Programm starten */
switch ((uint8_t) received_command.data_l) {
#ifdef BEHAVIOUR_UBASIC_AVAILABLE
case 0:
/* uBasic */
bot_ubasic(NULL);
break;
#endif // BEHAVIOUR_UBASIC_AVAILABLE
#ifdef BEHAVIOUR_ABL_AVAILABLE
case 1:
/* ABL */
bot_abl(NULL, NULL);
break;
#endif // BEHAVIOUR_ABL_AVAILABLE
}
break;
case SUB_PROGRAM_STOP:
/* Programm abbrechen */
switch ((uint8_t) received_command.data_l) {
#ifdef BEHAVIOUR_UBASIC_AVAILABLE
case 0:
/* uBasic */
bot_ubasic_break();
break;
#endif // BEHAVIOUR_UBASIC_AVAILABLE
#ifdef BEHAVIOUR_ABL_AVAILABLE
case 1: {
/* ABL */
abl_cancel();
break;
}
#endif // BEHAVIOUR_ABL_AVAILABLE
}
break;
default:
LOG_DEBUG("unbekanntes Subkommando: %c", received_command.request.subcommand);
break;
}
break;
}
#endif // BEHAVIOUR_UBASIC_AVAILABLE || BEHAVIOUR_ABL_AVAILABLE
#ifdef PC
/* Einige Kommandos ergeben nur fuer simulierte Bots Sinn */
case CMD_SENS_IR: {
(*sensor_update_distance)(&sensDistL, &sensDistLToggle, sensDistDataL, received_command.data_l);
(*sensor_update_distance)(&sensDistR, &sensDistRToggle, sensDistDataR, received_command.data_r);
break;
}
case CMD_SENS_ENC:
#ifdef ARM_LINUX_BOARD
sensEncL = received_command.data_l;
sensEncR = received_command.data_r;
#else
sensEncL += received_command.data_l;
sensEncR += received_command.data_r;
#endif // ARM_LINUX_BOARD
break;
case CMD_SENS_BORDER:
sensBorderL = received_command.data_l;
sensBorderR = received_command.data_r;
break;
case CMD_SENS_LINE:
sensLineL = received_command.data_l;
sensLineR = received_command.data_r;
break;
case CMD_SENS_LDR:
sensLDRL = received_command.data_l;
sensLDRR = received_command.data_r;
break;
case CMD_SENS_DOOR:
sensDoor = (uint8_t) received_command.data_l;
break;
case CMD_SENS_TRANS:
sensTrans = (uint8_t) received_command.data_l;
break;
#ifdef MOUSE_AVAILABLE
case CMD_SENS_MOUSE:
sensMouseDX = received_command.data_l;
sensMouseDY = received_command.data_r;
break;
#endif // MOUSE_AVAILABLE
case CMD_SENS_ERROR:
sensError = (uint8_t) received_command.data_l;
break;
#ifdef BPS_AVAILABLE
case CMD_SENS_BPS:
sensBPS = received_command.data_l;
break;
#endif // BPS_AVAILABLE
case CMD_DONE: {
#ifdef ARM_LINUX_BOARD
static uint32_t last = 0;
static uint32_t sum = 0;
static uint16_t cnt = 0;
union {
int16_t s16;
uint16_t u16;