mirror of
https://github.com/yoboujon/dumber.git
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134 lines
2.9 KiB
C
134 lines
2.9 KiB
C
/*
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* manage_request.c
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*
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* Created on: 18 avr. 2018
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* Author: senaneuc
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*/
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#include "mRequest.h"
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#include "common.h"
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#include "sharedData.h"
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#include "Motor.h"
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Consigne consigneRotation;
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Consigne consigneForward;
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Consigne nouvelleConsigne;
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char manageMessage(char * mes){
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int cptWd = -1;
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switch(mes[8]){
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case MES_PING:
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return MES_VALID;
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case MES_STOP:
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if(getDumberState() == RUN){
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setDumberState(IDLE);
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if(getDumberWdActive() == WD_ACTIVE){
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setDumberWdActive(WD_INACTIVE);
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setDumberCptWd(0);
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}
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return MES_VALID;
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}
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else{
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return MES_ERROR_PARAM;
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}
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case MES_START_WD:
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if(getDumberState() == IDLE){
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setDumberState(RUN);
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setDumberWdActive(WD_ACTIVE);
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return MES_VALID;
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}
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else
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return MES_UNKNOW_COM;
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case MES_RESET_WD:
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cptWd = getDumberCptWd();
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if((cptWd%WD_BASE_TIME) > WD_WINDOW_LOW && (cptWd%WD_BASE_TIME) < WD_WINDOW_HIGH){ // Condition de remise à zero du compteur de wd ( valeur dans une fenetre)
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setDumberCptWd(0);
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return MES_VALID;
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}
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else{
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return MES_ERROR_PARAM;
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}
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case MES_GET_VERS:
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return VERSION_FIRMWARE;
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case MES_START_WWD:
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if(getDumberState() == IDLE){
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setDumberState(RUN);
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return MES_VALID;
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}
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else{
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return MES_ERROR_PARAM;
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}
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case MES_MOVE:
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if(getDumberState() == RUN){
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distanceR = 0;
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distanceL = 0;
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consigneForward.motorLSpeed = DEFAULT_SPEED_STRAIGHT;
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consigneForward.motorRSpeed = DEFAULT_SPEED_STRAIGHT;
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consigneForward.motorRDistance = (char)mes[9];
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consigneForward.motorLDistance = (char)mes[9];
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setDumberConsigne(&consigneForward);
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return MES_VALID;
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}else{
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return MES_ERROR_PARAM;
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}
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break;
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case MES_ROTATE:
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if(getDumberState() == RUN){
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distanceL = 0;
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distanceR = 0;
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consigneRotation.motorLSpeed = DEFAULT_SPEED_ROTATION;
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consigneRotation.motorRSpeed = DEFAULT_SPEED_ROTATION;
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consigneRotation.motorRDistance = (int)mes[9];
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consigneRotation.motorLDistance = -(int)mes[9];
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setDumberConsigne(&consigneRotation);
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return MES_VALID;
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}
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else{
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return MES_ERROR_PARAM;
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}
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break;
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case MES_TURN_RIGHT:
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if(getDumberState() == RUN){
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nouvelleConsigne = getDumberConsigne();
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nouvelleConsigne.motorRSpeed += (char)mes[9];
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setDumberConsigne(&nouvelleConsigne);
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return MES_VALID;
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}else{
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return MES_ERROR_PARAM;
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}
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break;
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case MES_TURN_LEFT:
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if(getDumberState() == RUN){
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nouvelleConsigne = getDumberConsigne();
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nouvelleConsigne.motorLSpeed += (char)mes[9];
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setDumberConsigne(&nouvelleConsigne);
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return MES_VALID;
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}else{
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return MES_ERROR_PARAM;
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}
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break;
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case MES_BUSY:
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return getDumberActivity();
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break;
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case MES_GET_VOLTAGE:
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return getDumberBattery();
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default:
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return MES_UNKNOW_COM;
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}
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return 0;
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}
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