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command.c
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command.c
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/*
* 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 (bbe@heise.de)
* \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;