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authorDimitri Sokolyuk <demon@dim13.org>2017-12-11 22:18:31 +0100
committerDimitri Sokolyuk <demon@dim13.org>2017-12-11 22:18:31 +0100
commit4ae462c9e0469dc4572a54e8271ae24404a69db7 (patch)
treeb9fc4be95ae43e9565759c2878525283d2b9aa15
parentb55a08cd6aba0364d8ef4c450f8aeb057bb936ee (diff)
...
-rw-r--r--elegoo.pb.go142
-rw-r--r--elegoo.proto22
-rw-r--r--elegoo/elegoo.ino13
-rw-r--r--elegoo/elegoo.pb.c36
-rw-r--r--elegoo/elegoo.pb.h76
-rw-r--r--fsm.go12
6 files changed, 190 insertions, 111 deletions
diff --git a/elegoo.pb.go b/elegoo.pb.go
index 6ed63d7..9e41ff7 100644
--- a/elegoo.pb.go
+++ b/elegoo.pb.go
@@ -10,8 +10,10 @@ It is generated from these files:
It has these top-level messages:
Speed
Command
- Sensor
- Events
+ UltraSonic
+ InfraRed
+ RemoteControl
+ Event
*/
package main
@@ -94,82 +96,114 @@ func (m *Command) GetStopAfter() uint32 {
return 0
}
-type Sensor struct {
+type UltraSonic struct {
+ Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"`
+ Direction int32 `protobuf:"zigzag32,2,opt,name=Direction" json:"Direction,omitempty"`
+}
+
+func (m *UltraSonic) Reset() { *m = UltraSonic{} }
+func (m *UltraSonic) String() string { return proto.CompactTextString(m) }
+func (*UltraSonic) ProtoMessage() {}
+func (*UltraSonic) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{2} }
+
+func (m *UltraSonic) GetDistance() uint32 {
+ if m != nil {
+ return m.Distance
+ }
+ return 0
+}
+
+func (m *UltraSonic) GetDirection() int32 {
+ if m != nil {
+ return m.Direction
+ }
+ return 0
+}
+
+type InfraRed struct {
R bool `protobuf:"varint,1,opt,name=R" json:"R,omitempty"`
C bool `protobuf:"varint,2,opt,name=C" json:"C,omitempty"`
L bool `protobuf:"varint,3,opt,name=L" json:"L,omitempty"`
}
-func (m *Sensor) Reset() { *m = Sensor{} }
-func (m *Sensor) String() string { return proto.CompactTextString(m) }
-func (*Sensor) ProtoMessage() {}
-func (*Sensor) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{2} }
+func (m *InfraRed) Reset() { *m = InfraRed{} }
+func (m *InfraRed) String() string { return proto.CompactTextString(m) }
+func (*InfraRed) ProtoMessage() {}
+func (*InfraRed) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{3} }
-func (m *Sensor) GetR() bool {
+func (m *InfraRed) GetR() bool {
if m != nil {
return m.R
}
return false
}
-func (m *Sensor) GetC() bool {
+func (m *InfraRed) GetC() bool {
if m != nil {
return m.C
}
return false
}
-func (m *Sensor) GetL() bool {
+func (m *InfraRed) GetL() bool {
if m != nil {
return m.L
}
return false
}
-type Events struct {
- Distance uint32 `protobuf:"varint,1,opt,name=Distance" json:"Distance,omitempty"`
- Direction int32 `protobuf:"zigzag32,2,opt,name=Direction" json:"Direction,omitempty"`
- Sensor *Sensor `protobuf:"bytes,3,opt,name=Sensor" json:"Sensor,omitempty"`
- KeyPress uint32 `protobuf:"varint,6,opt,name=KeyPress" json:"KeyPress,omitempty"`
- Time uint32 `protobuf:"varint,7,opt,name=Time" json:"Time,omitempty"`
+type RemoteControl struct {
+ Key uint32 `protobuf:"varint,1,opt,name=Key" json:"Key,omitempty"`
}
-func (m *Events) Reset() { *m = Events{} }
-func (m *Events) String() string { return proto.CompactTextString(m) }
-func (*Events) ProtoMessage() {}
-func (*Events) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{3} }
+func (m *RemoteControl) Reset() { *m = RemoteControl{} }
+func (m *RemoteControl) String() string { return proto.CompactTextString(m) }
+func (*RemoteControl) ProtoMessage() {}
+func (*RemoteControl) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{4} }
-func (m *Events) GetDistance() uint32 {
+func (m *RemoteControl) GetKey() uint32 {
if m != nil {
- return m.Distance
+ return m.Key
}
return 0
}
-func (m *Events) GetDirection() int32 {
+type Event struct {
+ Head *UltraSonic `protobuf:"bytes,1,opt,name=Head" json:"Head,omitempty"`
+ Sensor *InfraRed `protobuf:"bytes,2,opt,name=Sensor" json:"Sensor,omitempty"`
+ Remote *RemoteControl `protobuf:"bytes,3,opt,name=Remote" json:"Remote,omitempty"`
+ TimeStamp uint32 `protobuf:"varint,4,opt,name=TimeStamp" json:"TimeStamp,omitempty"`
+}
+
+func (m *Event) Reset() { *m = Event{} }
+func (m *Event) String() string { return proto.CompactTextString(m) }
+func (*Event) ProtoMessage() {}
+func (*Event) Descriptor() ([]byte, []int) { return fileDescriptor0, []int{5} }
+
+func (m *Event) GetHead() *UltraSonic {
if m != nil {
- return m.Direction
+ return m.Head
}
- return 0
+ return nil
}
-func (m *Events) GetSensor() *Sensor {
+func (m *Event) GetSensor() *InfraRed {
if m != nil {
return m.Sensor
}
return nil
}
-func (m *Events) GetKeyPress() uint32 {
+func (m *Event) GetRemote() *RemoteControl {
if m != nil {
- return m.KeyPress
+ return m.Remote
}
- return 0
+ return nil
}
-func (m *Events) GetTime() uint32 {
+func (m *Event) GetTimeStamp() uint32 {
if m != nil {
- return m.Time
+ return m.TimeStamp
}
return 0
}
@@ -177,29 +211,35 @@ func (m *Events) GetTime() uint32 {
func init() {
proto.RegisterType((*Speed)(nil), "elegoo.Speed")
proto.RegisterType((*Command)(nil), "elegoo.Command")
- proto.RegisterType((*Sensor)(nil), "elegoo.Sensor")
- proto.RegisterType((*Events)(nil), "elegoo.Events")
+ proto.RegisterType((*UltraSonic)(nil), "elegoo.UltraSonic")
+ proto.RegisterType((*InfraRed)(nil), "elegoo.InfraRed")
+ proto.RegisterType((*RemoteControl)(nil), "elegoo.RemoteControl")
+ proto.RegisterType((*Event)(nil), "elegoo.Event")
}
func init() { proto.RegisterFile("elegoo.proto", fileDescriptor0) }
var fileDescriptor0 = []byte{
- // 268 bytes of a gzipped FileDescriptorProto
- 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x54, 0x91, 0xb1, 0x4e, 0x84, 0x40,
- 0x10, 0x86, 0x33, 0xca, 0xed, 0xe1, 0xde, 0x61, 0xe2, 0x56, 0x9b, 0x8b, 0x05, 0xc1, 0xc4, 0x50,
- 0x5d, 0x81, 0x4f, 0xa0, 0x9c, 0x95, 0x14, 0x66, 0xb0, 0xb2, 0xc3, 0xbb, 0xd1, 0x90, 0xc8, 0x2e,
- 0x81, 0x8d, 0x89, 0x8d, 0x0f, 0xe2, 0xd3, 0x9a, 0x9d, 0x3d, 0x50, 0xbb, 0xf9, 0xfe, 0x19, 0xfe,
- 0xf9, 0x87, 0x95, 0x6b, 0x7a, 0xa7, 0x37, 0x6b, 0xb7, 0xfd, 0x60, 0x9d, 0x55, 0x22, 0x50, 0x76,
- 0x25, 0x17, 0x75, 0x4f, 0x74, 0x50, 0x6b, 0x09, 0x95, 0x86, 0x14, 0xf2, 0x0b, 0x84, 0xca, 0x13,
- 0xea, 0x93, 0x40, 0x98, 0x7d, 0xc9, 0x65, 0x69, 0xbb, 0xae, 0x31, 0x07, 0x35, 0xcd, 0xf3, 0xe8,
- 0xaa, 0x48, 0xb6, 0x47, 0x57, 0x16, 0xf1, 0xe8, 0xa5, 0x64, 0x54, 0x3b, 0xdb, 0xeb, 0xd3, 0x14,
- 0xf2, 0x18, 0xb9, 0x56, 0x97, 0xf2, 0x6c, 0xd7, 0x0e, 0xb4, 0x77, 0xad, 0x35, 0x3a, 0x4a, 0x21,
- 0x4f, 0xf0, 0x57, 0xf0, 0x5d, 0x3f, 0x75, 0xfb, 0xea, 0x68, 0xd0, 0x8b, 0xd0, 0x9d, 0x85, 0xac,
- 0x90, 0xa2, 0x26, 0x33, 0xda, 0x21, 0xe4, 0x02, 0xb6, 0x05, 0xf4, 0x54, 0x72, 0xca, 0x18, 0xa1,
- 0x0c, 0x17, 0x84, 0x95, 0x50, 0x65, 0xdf, 0x20, 0xc5, 0xfd, 0x07, 0x19, 0x37, 0xaa, 0x8d, 0x8c,
- 0x77, 0xed, 0xe8, 0x1a, 0xb3, 0x27, 0xfe, 0x36, 0xc1, 0x99, 0xff, 0xc7, 0x0a, 0x07, 0xff, 0x89,
- 0x75, 0x3d, 0x2d, 0x66, 0xdf, 0x55, 0x71, 0x3e, 0x9f, 0xcb, 0x2a, 0x4e, 0xb1, 0x36, 0x32, 0x7e,
- 0xa0, 0xcf, 0xc7, 0x81, 0xc6, 0x51, 0x8b, 0xb0, 0x61, 0x62, 0xff, 0x33, 0x9e, 0xda, 0x8e, 0xf4,
- 0x92, 0x75, 0xae, 0xef, 0xc4, 0x73, 0xd4, 0x35, 0xad, 0x79, 0x11, 0xfc, 0x18, 0x37, 0x3f, 0x01,
- 0x00, 0x00, 0xff, 0xff, 0x90, 0x19, 0xf0, 0xc2, 0x9c, 0x01, 0x00, 0x00,
+ // 322 bytes of a gzipped FileDescriptorProto
+ 0x1f, 0x8b, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0xff, 0x54, 0x52, 0x4f, 0x4b, 0xc3, 0x30,
+ 0x1c, 0x25, 0xae, 0xab, 0xf5, 0xb7, 0x15, 0x66, 0x40, 0x28, 0xe2, 0x61, 0x56, 0x90, 0x5e, 0xdc,
+ 0x61, 0xfa, 0x05, 0xb4, 0x53, 0x14, 0x77, 0xfa, 0x55, 0x2f, 0xde, 0xe2, 0xf6, 0x9b, 0x14, 0xd6,
+ 0xa4, 0x64, 0x41, 0xf0, 0xe2, 0xc7, 0xf1, 0x73, 0x4a, 0x92, 0x66, 0x65, 0xb7, 0xbc, 0x3f, 0xcd,
+ 0x7b, 0x7d, 0x04, 0xc6, 0xb4, 0xa5, 0x2f, 0xa5, 0x66, 0xad, 0x56, 0x46, 0xf1, 0xd8, 0xa3, 0xfc,
+ 0x0a, 0x86, 0x55, 0x4b, 0xb4, 0xe6, 0x63, 0x60, 0xcb, 0x8c, 0x4d, 0x59, 0x71, 0x8a, 0x6c, 0x69,
+ 0x11, 0x66, 0x47, 0x1e, 0x61, 0xfe, 0x0b, 0xc7, 0xa5, 0x6a, 0x1a, 0x21, 0xd7, 0x3c, 0xf8, 0x9d,
+ 0x75, 0x34, 0x4f, 0x67, 0xdd, 0xad, 0x8e, 0xc4, 0xee, 0x2e, 0x0e, 0x51, 0x65, 0x54, 0x9b, 0x0d,
+ 0xa6, 0xac, 0x48, 0xd0, 0x9d, 0xf9, 0x05, 0x9c, 0x2c, 0x6a, 0x4d, 0x2b, 0x53, 0x2b, 0x99, 0x45,
+ 0x53, 0x56, 0xa4, 0xd8, 0x13, 0x56, 0xb5, 0xae, 0xfb, 0x8d, 0x21, 0x9d, 0x0d, 0xbd, 0xba, 0x27,
+ 0xf2, 0x27, 0x80, 0xf7, 0xad, 0xd1, 0xa2, 0x52, 0xb2, 0x5e, 0xf1, 0x73, 0x48, 0x16, 0xf5, 0xce,
+ 0x08, 0xb9, 0x22, 0xd7, 0x22, 0xc5, 0x3d, 0x3e, 0x4c, 0xf1, 0xfd, 0x7b, 0x22, 0xbf, 0x83, 0xe4,
+ 0x45, 0x6e, 0xb4, 0x40, 0xff, 0xbf, 0xe8, 0x3e, 0x4f, 0x90, 0xa1, 0x45, 0xa5, 0xf3, 0x27, 0xc8,
+ 0x4a, 0xbf, 0x85, 0x2f, 0xcf, 0x96, 0xf9, 0x25, 0xa4, 0x48, 0x8d, 0x32, 0x54, 0x2a, 0x69, 0xb4,
+ 0xda, 0xf2, 0x09, 0x0c, 0x5e, 0xe9, 0xa7, 0xcb, 0xb6, 0xc7, 0xfc, 0x8f, 0xc1, 0xf0, 0xf1, 0x9b,
+ 0xa4, 0xe1, 0xd7, 0x10, 0x3d, 0x93, 0x08, 0xf3, 0xf0, 0x30, 0x4f, 0x5f, 0x1f, 0x9d, 0xce, 0x0b,
+ 0x88, 0x2b, 0x92, 0x3b, 0xa5, 0x5d, 0xea, 0x68, 0x3e, 0x09, 0xce, 0x50, 0x10, 0x3b, 0x9d, 0xdf,
+ 0x40, 0xec, 0xe3, 0x5d, 0xa3, 0xd1, 0xfc, 0x2c, 0x38, 0x0f, 0x4a, 0x61, 0x67, 0xb2, 0x0b, 0xbc,
+ 0xd5, 0x0d, 0x55, 0x46, 0x34, 0x6d, 0xd8, 0x79, 0x4f, 0x3c, 0xc4, 0x1f, 0x51, 0x23, 0x6a, 0xf9,
+ 0x19, 0xbb, 0x57, 0x70, 0xfb, 0x1f, 0x00, 0x00, 0xff, 0xff, 0xc2, 0x8f, 0xab, 0x39, 0x15, 0x02,
+ 0x00, 0x00,
}
diff --git a/elegoo.proto b/elegoo.proto
index f553ce8..51a550c 100644
--- a/elegoo.proto
+++ b/elegoo.proto
@@ -16,16 +16,24 @@ message Command {
uint32 StopAfter = 5; // milliseconds
}
-message Sensor {
+message UltraSonic {
+ uint32 Distance = 1; // cm
+ sint32 Direction = 2; // deg
+}
+
+message InfraRed {
bool R = 1;
bool C = 2;
bool L = 3;
}
-message Events {
- uint32 Distance = 1; // cm
- sint32 Direction = 2; // deg
- Sensor Sensor = 3;
- uint32 KeyPress = 6;
- uint32 Time = 7; // milliseconds
+message RemoteControl {
+ uint32 Key = 1;
+}
+
+message Event {
+ UltraSonic Head = 1;
+ InfraRed Sensor = 2;
+ RemoteControl Remote = 3;
+ uint32 TimeStamp = 4; // milliseconds
}
diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino
index b3d1ced..0911979 100644
--- a/elegoo/elegoo.ino
+++ b/elegoo/elegoo.ino
@@ -76,23 +76,24 @@ void onPacket(const uint8_t* buf, size_t size) {
void events() {
uint8_t buf[64];
- elegoo_Events evt = elegoo_Events_init_zero;
+ elegoo_Event evt = elegoo_Event_init_zero;
+
+ evt.Head.Distance = readDistance();
+ evt.Head.Direction = servo.read();
- evt.Distance = readDistance();
evt.Sensor.R = digitalRead(SR);
evt.Sensor.C = digitalRead(SC);
evt.Sensor.L = digitalRead(SL);
if (irrecv.decode(&ir)) {
- evt.KeyPress = ir.value;
+ evt.Remote.Key = ir.value;
irrecv.resume();
}
- evt.Direction = servo.read();
- evt.Time = millis();
+ evt.TimeStamp = millis();
pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf));
- pb_encode_delimited(&ostream, elegoo_Events_fields, &evt);
+ pb_encode_delimited(&ostream, elegoo_Event_fields, &evt);
serial.send(buf, ostream.bytes_written);
}
diff --git a/elegoo/elegoo.pb.c b/elegoo/elegoo.pb.c
index fad83e8..93fd007 100644
--- a/elegoo/elegoo.pb.c
+++ b/elegoo/elegoo.pb.c
@@ -1,5 +1,5 @@
/* Automatically generated nanopb constant definitions */
-/* Generated by nanopb-0.3.9 at Mon Dec 11 21:46:37 2017. */
+/* Generated by nanopb-0.3.9 at Mon Dec 11 22:16:39 2017. */
#include "elegoo.pb.h"
@@ -24,19 +24,29 @@ const pb_field_t elegoo_Command_fields[5] = {
PB_LAST_FIELD
};
-const pb_field_t elegoo_Sensor_fields[4] = {
- PB_FIELD( 1, BOOL , SINGULAR, STATIC , FIRST, elegoo_Sensor, R, R, 0),
- PB_FIELD( 2, BOOL , SINGULAR, STATIC , OTHER, elegoo_Sensor, C, R, 0),
- PB_FIELD( 3, BOOL , SINGULAR, STATIC , OTHER, elegoo_Sensor, L, C, 0),
+const pb_field_t elegoo_UltraSonic_fields[3] = {
+ PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_UltraSonic, Distance, Distance, 0),
+ PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_UltraSonic, Direction, Distance, 0),
PB_LAST_FIELD
};
-const pb_field_t elegoo_Events_fields[6] = {
- PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_Events, Distance, Distance, 0),
- PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Events, Direction, Distance, 0),
- PB_FIELD( 3, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Events, Sensor, Direction, &elegoo_Sensor_fields),
- PB_FIELD( 6, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Events, KeyPress, Sensor, 0),
- PB_FIELD( 7, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Events, Time, KeyPress, 0),
+const pb_field_t elegoo_InfraRed_fields[4] = {
+ PB_FIELD( 1, BOOL , SINGULAR, STATIC , FIRST, elegoo_InfraRed, R, R, 0),
+ PB_FIELD( 2, BOOL , SINGULAR, STATIC , OTHER, elegoo_InfraRed, C, R, 0),
+ PB_FIELD( 3, BOOL , SINGULAR, STATIC , OTHER, elegoo_InfraRed, L, C, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_RemoteControl_fields[2] = {
+ PB_FIELD( 1, UINT32 , SINGULAR, STATIC , FIRST, elegoo_RemoteControl, Key, Key, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_Event_fields[5] = {
+ PB_FIELD( 1, MESSAGE , SINGULAR, STATIC , FIRST, elegoo_Event, Head, Head, &elegoo_UltraSonic_fields),
+ PB_FIELD( 2, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Sensor, Head, &elegoo_InfraRed_fields),
+ PB_FIELD( 3, MESSAGE , SINGULAR, STATIC , OTHER, elegoo_Event, Remote, Sensor, &elegoo_RemoteControl_fields),
+ PB_FIELD( 4, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Event, TimeStamp, Remote, 0),
PB_LAST_FIELD
};
@@ -50,7 +60,7 @@ const pb_field_t elegoo_Events_fields[6] = {
* numbers or field sizes that are larger than what can fit in 8 or 16 bit
* field descriptors.
*/
-PB_STATIC_ASSERT((pb_membersize(elegoo_Command, Speed) < 65536 && pb_membersize(elegoo_Events, Sensor) < 65536), YOU_MUST_DEFINE_PB_FIELD_32BIT_FOR_MESSAGES_elegoo_Speed_elegoo_Command_elegoo_Sensor_elegoo_Events)
+PB_STATIC_ASSERT((pb_membersize(elegoo_Command, Speed) < 65536 && pb_membersize(elegoo_Event, Head) < 65536 && pb_membersize(elegoo_Event, Sensor) < 65536 && pb_membersize(elegoo_Event, Remote) < 65536), YOU_MUST_DEFINE_PB_FIELD_32BIT_FOR_MESSAGES_elegoo_Speed_elegoo_Command_elegoo_UltraSonic_elegoo_InfraRed_elegoo_RemoteControl_elegoo_Event)
#endif
#if !defined(PB_FIELD_16BIT) && !defined(PB_FIELD_32BIT)
@@ -61,7 +71,7 @@ PB_STATIC_ASSERT((pb_membersize(elegoo_Command, Speed) < 65536 && pb_membersize(
* numbers or field sizes that are larger than what can fit in the default
* 8 bit descriptors.
*/
-PB_STATIC_ASSERT((pb_membersize(elegoo_Command, Speed) < 256 && pb_membersize(elegoo_Events, Sensor) < 256), YOU_MUST_DEFINE_PB_FIELD_16BIT_FOR_MESSAGES_elegoo_Speed_elegoo_Command_elegoo_Sensor_elegoo_Events)
+PB_STATIC_ASSERT((pb_membersize(elegoo_Command, Speed) < 256 && pb_membersize(elegoo_Event, Head) < 256 && pb_membersize(elegoo_Event, Sensor) < 256 && pb_membersize(elegoo_Event, Remote) < 256), YOU_MUST_DEFINE_PB_FIELD_16BIT_FOR_MESSAGES_elegoo_Speed_elegoo_Command_elegoo_UltraSonic_elegoo_InfraRed_elegoo_RemoteControl_elegoo_Event)
#endif
diff --git a/elegoo/elegoo.pb.h b/elegoo/elegoo.pb.h
index 3d90f3f..9160145 100644
--- a/elegoo/elegoo.pb.h
+++ b/elegoo/elegoo.pb.h
@@ -1,5 +1,5 @@
/* Automatically generated nanopb header */
-/* Generated by nanopb-0.3.9 at Mon Dec 11 21:46:37 2017. */
+/* Generated by nanopb-0.3.9 at Mon Dec 11 22:16:39 2017. */
#ifndef PB_ELEGOO_ELEGOO_PB_H_INCLUDED
#define PB_ELEGOO_ELEGOO_PB_H_INCLUDED
@@ -15,12 +15,17 @@ extern "C" {
#endif
/* Struct definitions */
-typedef struct _elegoo_Sensor {
+typedef struct _elegoo_InfraRed {
bool R;
bool C;
bool L;
-/* @@protoc_insertion_point(struct:elegoo_Sensor) */
-} elegoo_Sensor;
+/* @@protoc_insertion_point(struct:elegoo_InfraRed) */
+} elegoo_InfraRed;
+
+typedef struct _elegoo_RemoteControl {
+ uint32_t Key;
+/* @@protoc_insertion_point(struct:elegoo_RemoteControl) */
+} elegoo_RemoteControl;
typedef struct _elegoo_Speed {
int32_t L;
@@ -28,6 +33,12 @@ typedef struct _elegoo_Speed {
/* @@protoc_insertion_point(struct:elegoo_Speed) */
} elegoo_Speed;
+typedef struct _elegoo_UltraSonic {
+ uint32_t Distance;
+ int32_t Direction;
+/* @@protoc_insertion_point(struct:elegoo_UltraSonic) */
+} elegoo_UltraSonic;
+
typedef struct _elegoo_Command {
elegoo_Speed Speed;
bool Stop;
@@ -36,54 +47,63 @@ typedef struct _elegoo_Command {
/* @@protoc_insertion_point(struct:elegoo_Command) */
} elegoo_Command;
-typedef struct _elegoo_Events {
- uint32_t Distance;
- int32_t Direction;
- elegoo_Sensor Sensor;
- uint32_t KeyPress;
- uint32_t Time;
-/* @@protoc_insertion_point(struct:elegoo_Events) */
-} elegoo_Events;
+typedef struct _elegoo_Event {
+ elegoo_UltraSonic Head;
+ elegoo_InfraRed Sensor;
+ elegoo_RemoteControl Remote;
+ uint32_t TimeStamp;
+/* @@protoc_insertion_point(struct:elegoo_Event) */
+} elegoo_Event;
/* Default values for struct fields */
/* Initializer values for message structs */
#define elegoo_Speed_init_default {0, 0}
#define elegoo_Command_init_default {elegoo_Speed_init_default, 0, 0, 0}
-#define elegoo_Sensor_init_default {0, 0, 0}
-#define elegoo_Events_init_default {0, 0, elegoo_Sensor_init_default, 0, 0}
+#define elegoo_UltraSonic_init_default {0, 0}
+#define elegoo_InfraRed_init_default {0, 0, 0}
+#define elegoo_RemoteControl_init_default {0}
+#define elegoo_Event_init_default {elegoo_UltraSonic_init_default, elegoo_InfraRed_init_default, elegoo_RemoteControl_init_default, 0}
#define elegoo_Speed_init_zero {0, 0}
#define elegoo_Command_init_zero {elegoo_Speed_init_zero, 0, 0, 0}
-#define elegoo_Sensor_init_zero {0, 0, 0}
-#define elegoo_Events_init_zero {0, 0, elegoo_Sensor_init_zero, 0, 0}
+#define elegoo_UltraSonic_init_zero {0, 0}
+#define elegoo_InfraRed_init_zero {0, 0, 0}
+#define elegoo_RemoteControl_init_zero {0}
+#define elegoo_Event_init_zero {elegoo_UltraSonic_init_zero, elegoo_InfraRed_init_zero, elegoo_RemoteControl_init_zero, 0}
/* Field tags (for use in manual encoding/decoding) */
-#define elegoo_Sensor_R_tag 1
-#define elegoo_Sensor_C_tag 2
-#define elegoo_Sensor_L_tag 3
+#define elegoo_InfraRed_R_tag 1
+#define elegoo_InfraRed_C_tag 2
+#define elegoo_InfraRed_L_tag 3
+#define elegoo_RemoteControl_Key_tag 1
#define elegoo_Speed_L_tag 1
#define elegoo_Speed_R_tag 2
+#define elegoo_UltraSonic_Distance_tag 1
+#define elegoo_UltraSonic_Direction_tag 2
#define elegoo_Command_Speed_tag 1
#define elegoo_Command_Stop_tag 3
#define elegoo_Command_Direction_tag 4
#define elegoo_Command_StopAfter_tag 5
-#define elegoo_Events_Distance_tag 1
-#define elegoo_Events_Direction_tag 2
-#define elegoo_Events_Sensor_tag 3
-#define elegoo_Events_KeyPress_tag 6
-#define elegoo_Events_Time_tag 7
+#define elegoo_Event_Head_tag 1
+#define elegoo_Event_Sensor_tag 2
+#define elegoo_Event_Remote_tag 3
+#define elegoo_Event_TimeStamp_tag 4
/* Struct field encoding specification for nanopb */
extern const pb_field_t elegoo_Speed_fields[3];
extern const pb_field_t elegoo_Command_fields[5];
-extern const pb_field_t elegoo_Sensor_fields[4];
-extern const pb_field_t elegoo_Events_fields[6];
+extern const pb_field_t elegoo_UltraSonic_fields[3];
+extern const pb_field_t elegoo_InfraRed_fields[4];
+extern const pb_field_t elegoo_RemoteControl_fields[2];
+extern const pb_field_t elegoo_Event_fields[5];
/* Maximum encoded size of messages (where known) */
#define elegoo_Speed_size 12
#define elegoo_Command_size 28
-#define elegoo_Sensor_size 6
-#define elegoo_Events_size 32
+#define elegoo_UltraSonic_size 12
+#define elegoo_InfraRed_size 6
+#define elegoo_RemoteControl_size 6
+#define elegoo_Event_size 36
/* Message IDs (where set with "msgid" option) */
#ifdef PB_MSGID
diff --git a/fsm.go b/fsm.go
index 3e3cb6e..929fe2c 100644
--- a/fsm.go
+++ b/fsm.go
@@ -9,22 +9,22 @@ import (
type stateFn func() stateFn
type FSM struct {
- events chan *Events
+ events chan *Event
command chan *Command
}
func NewFSM(rw io.ReadWriter) *FSM {
- events := make(chan *Events)
+ events := make(chan *Event)
command := make(chan *Command)
go readEvents(rw, events)
go writeCommands(rw, command)
return &FSM{events: events, command: command}
}
-func readEvents(r io.Reader, ch chan<- *Events) {
+func readEvents(r io.Reader, ch chan<- *Event) {
buf := bufio.NewReader(r)
for {
- event := new(Events)
+ event := new(Event)
if err := Recv(buf, event); err != nil {
if err == io.ErrUnexpectedEOF {
continue
@@ -60,14 +60,14 @@ func (f *FSM) initalState() stateFn {
func (f *FSM) readDistance() stateFn {
ev := <-f.events
log.Println(ev)
- if ev.Distance < 20 {
+ if ev.Head.Distance < 20 {
return f.stop
}
return f.moveAhead
}
func (f *FSM) moveAhead() stateFn {
- f.command <- &Command{SpeedL: 200, SpeedR: 200}
+ f.command <- &Command{Speed: &Speed{L: 200, R: 200}}
return f.readDistance
}