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132 lines
4.7 KiB
C
132 lines
4.7 KiB
C
/**
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******************************************************************************
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* @file commands.h
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* @brief commands handler header
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* @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
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* @date December 2023
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*
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******************************************************************************
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* @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
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* @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
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*
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* @copyright This file is part of "Dumber" project
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*
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* @copyright This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* @copyright This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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* @copyright You should have received a copy of the GNU Lesser General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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******************************************************************************
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*/
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#ifndef INC_CMD_H_
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#define INC_CMD_H_
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#include "application.h"
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/** @addtogroup Application_Software
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* @{
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*/
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/** @addtogroup COMMANDS
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* @{
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*/
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/** @addtogroup COMMANDS_Public Public
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* @{
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*/
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/** Enumeration class defining commands to be used in \ref CMD_Generic, \ref CMD_Move, \ref CMD_Turn structures */
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typedef enum {
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CMD_NONE=0x0, /**< Command is unknown */
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CMD_PING, /**< PING command */
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CMD_RESET, /**< RESET command */
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CMD_START_WITH_WATCHDOG, /**< START_WITH_WATCHDOG command */
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CMD_RESET_WATCHDOG, /**< RESET_WATCHDOG command */
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CMD_GET_BATTERY, /**< GET_BATTERY command */
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CMD_GET_VERSION, /**< GET_VERSION command */
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CMD_START_WITHOUT_WATCHDOG, /**< START_WITHOUT_WATCHDOG command */
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CMD_MOVE, /**< MOVE command */
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CMD_TURN, /**< TURN command */
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CMD_GET_BUSY_STATE, /**< GET_BUSY_STATE command */
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CMD_TEST, /**< TEST command (not used yet) */
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CMD_DEBUG, /**< DEBUG command (not used yet) */
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CMD_POWER_OFF, /**< POWER_OFF command */
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CMD_INVALID_CHECKSUM=0xFF /**< Received command string has an invalid checksum*/
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} CMD_CommandsType;
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/** Enumeration class defining possible generic answers */
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typedef enum {
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ANS_OK=0x80, /**< Answer OK, for a correct and processed command */
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ANS_ERR, /**< Answer ERR, for rejected command (not accepted in current state), or invalid parameters */
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ANS_UNKNOWN /**< Answer UNKNOWN, for unknown command */
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} CMD_AnswersType;
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/** Enumeration class defining battery levels */
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typedef enum {
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ANS_BAT_EMPTY=0, /**< Battery is empty, system will power off in seconds */
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ANS_BAT_LOW, /**< Battery is low, should plug charger quickly */
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ANS_BAT_OK /**< Charger is in correct state, charge is not required yet */
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} CMD_BatteryLevelType;
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/** Enumeration class defining busty states */
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typedef enum {
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ANS_STATE_NOT_BUSY=0, /**< Robot is not moving, ready for processing new movement */
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ANS_STATE_BUSY /**< Robot is moving, not accepting new movement requests */
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} CMD_BusyType;
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/** Structure class used by cmdDecode function for generic commands
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*
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* @todo type of "type" field should be \ref CMD_CommandsType and not uint8_t
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*/
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typedef struct __attribute__((packed)) {
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uint8_t type; /**< Command type, as found in \ref CMD_CommandsType enum */
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} CMD_Generic;
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/** Structure class used by cmdDecode function for MOVE command
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*
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* @todo type of "type" field should be \ref CMD_CommandsType and not uint8_t
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*/
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typedef struct __attribute__((packed)) {
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uint8_t type; /**< Command type, as found in \ref CMD_CommandsType enum (should be \ref CMD_MOVE)*/
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int16_t distance; /**< Distance for movement, positive for forward, negative for backward. Expressed in millimeters */
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} CMD_Move;
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/** Structure class used by cmdDecode function for TURN command
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*
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* @todo type of "type" field should be \ref CMD_CommandsType and not uint8_t
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*/
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typedef struct __attribute__((packed)) {
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uint8_t type; /**< Command type, as found in \ref CMD_CommandsType enum (should be \ref CMD_TURN)*/
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int16_t turns; /**< Angle of rotation, positive for clockwise and negative for counter-clockwise. Expressed in degree */
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} CMD_Turn;
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CMD_Generic* cmdDecode(char* cmd, uint8_t length);
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void cmdSendAnswer(uint8_t ans);
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void cmdSendString(char* str);
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void cmdSendBatteryLevel(uint16_t batteryState);
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void cmdSendVersion(void);
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void cmdSendBusyState(uint8_t state);
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/**
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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#endif /* INC_CMD_H_ */
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