From 61c791bf24e9c409c92e368d29cea13933229a7e Mon Sep 17 00:00:00 2001
From: dimercur <dimercur@insa-toulouse.fr>
Date: Thu, 25 Jan 2024 16:22:46 +0100
Subject: [PATCH] =?UTF-8?q?Correction=20d'un=20probleme=20de=20depassement?=
 =?UTF-8?q?=20de=20capacit=C3=A9=20sur=20les=20commandes=20Move=20et=20Tur?=
 =?UTF-8?q?n,=20cot=C3=A9=20robot=20et=20cot=C3=A9=20superviseur?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../raspberry/superviseur-robot/lib/comrobot.cpp  |  8 ++++----
 software/robot/.cproject                          |  2 +-
 software/robot/Application/commands.c             | 11 ++++-------
 software/robot/Application/config.h               |  4 ++--
 software/robot/commands.xml                       | 15 +++++++++++++++
 5 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/software/raspberry/superviseur-robot/lib/comrobot.cpp b/software/raspberry/superviseur-robot/lib/comrobot.cpp
index 28d0200..a10fc73 100644
--- a/software/raspberry/superviseur-robot/lib/comrobot.cpp
+++ b/software/raspberry/superviseur-robot/lib/comrobot.cpp
@@ -284,22 +284,22 @@ string ComRobot::MessageToString(Message *msg) {
         case MESSAGE_ROBOT_GO_FORWARD:
             s += LABEL_ROBOT_MOVE;
             s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(500000));
+            s.append(to_string(32767));
             break;
         case MESSAGE_ROBOT_GO_BACKWARD:
             s += LABEL_ROBOT_MOVE;
             s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(-500000));
+            s.append(to_string(-32768));
             break;
         case MESSAGE_ROBOT_GO_LEFT:
             s += LABEL_ROBOT_TURN;
             s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(-500000));
+            s.append(to_string(32767));
             break;
         case MESSAGE_ROBOT_GO_RIGHT:
             s += LABEL_ROBOT_TURN;
             s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(500000));
+            s.append(to_string(-32768));
             break;
         case MESSAGE_ROBOT_STOP:
             s += LABEL_ROBOT_MOVE;
diff --git a/software/robot/.cproject b/software/robot/.cproject
index 156eed1..a673fd8 100644
--- a/software/robot/.cproject
+++ b/software/robot/.cproject
@@ -98,7 +98,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.405192035" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release" postbuildStep="&quot;cd ..; doxygen Doxyfile&quot;">
+				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.405192035" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release" postbuildStep="">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.405192035." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release.813857126" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release">
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.1816216295" name="MCU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32L071CBTx" valueType="string"/>
diff --git a/software/robot/Application/commands.c b/software/robot/Application/commands.c
index 87b2323..dea9b0e 100644
--- a/software/robot/Application/commands.c
+++ b/software/robot/Application/commands.c
@@ -198,12 +198,12 @@ CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
 		case MoveCMD:
 			decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move));
 			decodedCmd->type = CMD_MOVE;
-			//((CMD_Move*)decodedCmd)->distance = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
 
 			/* verify that command start with "M=" */
 			if ((cmd[0]=='M')&&(cmd[1]=='=')) {
 				cmd = cmd+2; //cmd+2 for removing "M=" at start of the string
-				((CMD_Move*)decodedCmd)->distance=strtoul(cmd , &p, 10);
+				//((CMD_Move*)decodedCmd)->distance=strtoul(cmd , &p, 10);
+				((CMD_Move*)decodedCmd)->distance=(int16_t)strtol(cmd , &p, 10);
 				if (p==cmd)
 					decodedCmd->type = CMD_NONE; /* missing number value xxxxx in "M=xxxxx" */
 			} else
@@ -213,15 +213,12 @@ CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
 		case TurnCMD:
 			decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn));
 			decodedCmd->type = CMD_TURN;
-			//((CMD_Turn*)decodedCmd)->turns = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
-
-			//if (!sscanf(cmd,"T=%hd",&((CMD_Turn*)decodedCmd)->turns ))
-			//	decodedCmd->type = CMD_NONE;
 
 			/* verify that command start with "T=" */
 			if ((cmd[0]=='T')&&(cmd[1]=='=')) {
 				cmd = cmd+2; //cmd+2 for removing "T=" at start of the string
-				((CMD_Turn*)decodedCmd)->turns=strtoul(cmd , &p, 10);
+				//((CMD_Turn*)decodedCmd)->turns=strtoul(cmd , &p, 10);
+				((CMD_Turn*)decodedCmd)->turns=(int16_t)strtol(cmd , &p, 10);
 				if (p==cmd)
 					decodedCmd->type = CMD_NONE; /* missing number value xxxxx in "T=xxxxx" */
 			} else
diff --git a/software/robot/Application/config.h b/software/robot/Application/config.h
index 7632582..7ee5d65 100644
--- a/software/robot/Application/config.h
+++ b/software/robot/Application/config.h
@@ -44,8 +44,8 @@
  *  Version in plain text and as a numeric value
  */
 ///@{
-#define SYSTEM_VERSION_STR			"3.1"
-#define SYSTEM_VERSION				0x0301	// Upper byte: major version, lower byte: minor version
+#define SYSTEM_VERSION_STR			"3.2"
+#define SYSTEM_VERSION				0x0302	// Upper byte: major version, lower byte: minor version
 ///@}
 
 #define STACK_SIZE 					96
diff --git a/software/robot/commands.xml b/software/robot/commands.xml
index 956595c..3d9736e 100644
--- a/software/robot/commands.xml
+++ b/software/robot/commands.xml
@@ -65,5 +65,20 @@
     <packet name="Invalid Checksum">
       <payload>543D2D39303D0D</payload>
     </packet>
+    <packet name="Move backward - limite pos">
+      <payload>4D3D3332373637470D</payload>
+    </packet>
+    <packet name="Move backward - Limite Neg">
+      <payload>4D3D2D3332373638650D</payload>
+    </packet>
+    <packet name="Move backward - Over neg">
+      <payload>4D3D2D3332373639640D</payload>
+    </packet>
+    <packet name="Move backward - Over pos">
+      <payload>4D3D3332373638480D</payload>
+    </packet>
+    <packet name="Move backward - Overkill">
+      <payload>4D3D31323334353637400D</payload>
+    </packet>
   </packets_list>
 </data>