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authorDimitri Sokolyuk <demon@dim13.org>2017-12-11 21:49:58 +0100
committerDimitri Sokolyuk <demon@dim13.org>2017-12-11 21:49:58 +0100
commitb55a08cd6aba0364d8ef4c450f8aeb057bb936ee (patch)
tree80d216699a6e80badaf974650ada467241fc3651 /elegoo
parent7b489b6abcebff02b699cba8c956b6a582082d0d (diff)
submessages
Diffstat (limited to 'elegoo')
-rw-r--r--elegoo/elegoo.ino22
-rw-r--r--elegoo/elegoo.pb.c54
-rw-r--r--elegoo/elegoo.pb.h58
3 files changed, 94 insertions, 40 deletions
diff --git a/elegoo/elegoo.ino b/elegoo/elegoo.ino
index e354262..b3d1ced 100644
--- a/elegoo/elegoo.ino
+++ b/elegoo/elegoo.ino
@@ -51,16 +51,16 @@ void stop() {
}
void onPacket(const uint8_t* buf, size_t size) {
- Command cmd = Command_init_zero;
+ elegoo_Command cmd = elegoo_Command_init_zero;
pb_istream_t istream = pb_istream_from_buffer(buf, size);
- pb_decode_delimited(&istream, Command_fields, &cmd);
+ pb_decode_delimited(&istream, elegoo_Command_fields, &cmd);
- if (cmd.SpeedR > 0) {
- motorR(cmd.SpeedR);
+ if (cmd.Speed.R > 0) {
+ motorR(cmd.Speed.R);
}
- if (cmd.SpeedL > 0) {
- motorL(cmd.SpeedL);
+ if (cmd.Speed.L > 0) {
+ motorL(cmd.Speed.L);
}
if (cmd.Stop) {
stop();
@@ -76,12 +76,12 @@ void onPacket(const uint8_t* buf, size_t size) {
void events() {
uint8_t buf[64];
- Events evt = Events_init_zero;
+ elegoo_Events evt = elegoo_Events_init_zero;
evt.Distance = readDistance();
- evt.SensorR = digitalRead(SR);
- evt.SensorC = digitalRead(SC);
- evt.SensorL = digitalRead(SL);
+ evt.Sensor.R = digitalRead(SR);
+ evt.Sensor.C = digitalRead(SC);
+ evt.Sensor.L = digitalRead(SL);
if (irrecv.decode(&ir)) {
evt.KeyPress = ir.value;
@@ -92,7 +92,7 @@ void events() {
evt.Time = millis();
pb_ostream_t ostream = pb_ostream_from_buffer(buf, sizeof(buf));
- pb_encode_delimited(&ostream, Events_fields, &evt);
+ pb_encode_delimited(&ostream, elegoo_Events_fields, &evt);
serial.send(buf, ostream.bytes_written);
}
diff --git a/elegoo/elegoo.pb.c b/elegoo/elegoo.pb.c
index 1dd40bf..fad83e8 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 01:03:09 2017. */
+/* Generated by nanopb-0.3.9 at Mon Dec 11 21:46:37 2017. */
#include "elegoo.pb.h"
@@ -10,25 +10,59 @@
-const pb_field_t elegoo_Command_fields[6] = {
- PB_FIELD( 1, SINT32 , SINGULAR, STATIC , FIRST, elegoo_Command, SpeedR, SpeedR, 0),
- PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, SpeedL, SpeedR, 0),
- PB_FIELD( 3, BOOL , SINGULAR, STATIC , OTHER, elegoo_Command, Stop, SpeedL, 0),
+const pb_field_t elegoo_Speed_fields[3] = {
+ PB_FIELD( 1, SINT32 , SINGULAR, STATIC , FIRST, elegoo_Speed, L, L, 0),
+ PB_FIELD( 2, SINT32 , SINGULAR, STATIC , OTHER, elegoo_Speed, R, L, 0),
+ PB_LAST_FIELD
+};
+
+const pb_field_t elegoo_Command_fields[5] = {
+ PB_FIELD( 1, MESSAGE , SINGULAR, STATIC , FIRST, elegoo_Command, Speed, Speed, &elegoo_Speed_fields),
+ PB_FIELD( 3, BOOL , SINGULAR, STATIC , OTHER, elegoo_Command, Stop, Speed, 0),
PB_FIELD( 4, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, Direction, Stop, 0),
PB_FIELD( 5, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Command, StopAfter, Direction, 0),
PB_LAST_FIELD
};
-const pb_field_t elegoo_Events_fields[8] = {
+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),
+ 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, BOOL , SINGULAR, STATIC , OTHER, elegoo_Events, SensorR, Direction, 0),
- PB_FIELD( 4, BOOL , SINGULAR, STATIC , OTHER, elegoo_Events, SensorC, SensorR, 0),
- PB_FIELD( 5, BOOL , SINGULAR, STATIC , OTHER, elegoo_Events, SensorL, SensorC, 0),
- PB_FIELD( 6, UINT32 , SINGULAR, STATIC , OTHER, elegoo_Events, KeyPress, SensorL, 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),
PB_LAST_FIELD
};
+/* Check that field information fits in pb_field_t */
+#if !defined(PB_FIELD_32BIT)
+/* If you get an error here, it means that you need to define PB_FIELD_32BIT
+ * compile-time option. You can do that in pb.h or on compiler command line.
+ *
+ * The reason you need to do this is that some of your messages contain tag
+ * 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)
+#endif
+
+#if !defined(PB_FIELD_16BIT) && !defined(PB_FIELD_32BIT)
+/* If you get an error here, it means that you need to define PB_FIELD_16BIT
+ * compile-time option. You can do that in pb.h or on compiler command line.
+ *
+ * The reason you need to do this is that some of your messages contain tag
+ * 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)
+#endif
+
+
/* @@protoc_insertion_point(eof) */
diff --git a/elegoo/elegoo.pb.h b/elegoo/elegoo.pb.h
index 7ba34f2..3d90f3f 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 01:03:09 2017. */
+/* Generated by nanopb-0.3.9 at Mon Dec 11 21:46:37 2017. */
#ifndef PB_ELEGOO_ELEGOO_PB_H_INCLUDED
#define PB_ELEGOO_ELEGOO_PB_H_INCLUDED
@@ -15,9 +15,21 @@ extern "C" {
#endif
/* Struct definitions */
+typedef struct _elegoo_Sensor {
+ bool R;
+ bool C;
+ bool L;
+/* @@protoc_insertion_point(struct:elegoo_Sensor) */
+} elegoo_Sensor;
+
+typedef struct _elegoo_Speed {
+ int32_t L;
+ int32_t R;
+/* @@protoc_insertion_point(struct:elegoo_Speed) */
+} elegoo_Speed;
+
typedef struct _elegoo_Command {
- int32_t SpeedR;
- int32_t SpeedL;
+ elegoo_Speed Speed;
bool Stop;
uint32_t Direction;
uint32_t StopAfter;
@@ -27,9 +39,7 @@ typedef struct _elegoo_Command {
typedef struct _elegoo_Events {
uint32_t Distance;
int32_t Direction;
- bool SensorR;
- bool SensorC;
- bool SensorL;
+ elegoo_Sensor Sensor;
uint32_t KeyPress;
uint32_t Time;
/* @@protoc_insertion_point(struct:elegoo_Events) */
@@ -38,32 +48,42 @@ typedef struct _elegoo_Events {
/* Default values for struct fields */
/* Initializer values for message structs */
-#define elegoo_Command_init_default {0, 0, 0, 0, 0}
-#define elegoo_Events_init_default {0, 0, 0, 0, 0, 0, 0}
-#define elegoo_Command_init_zero {0, 0, 0, 0, 0}
-#define elegoo_Events_init_zero {0, 0, 0, 0, 0, 0, 0}
+#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_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}
/* Field tags (for use in manual encoding/decoding) */
-#define elegoo_Command_SpeedR_tag 1
-#define elegoo_Command_SpeedL_tag 2
+#define elegoo_Sensor_R_tag 1
+#define elegoo_Sensor_C_tag 2
+#define elegoo_Sensor_L_tag 3
+#define elegoo_Speed_L_tag 1
+#define elegoo_Speed_R_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_SensorR_tag 3
-#define elegoo_Events_SensorC_tag 4
-#define elegoo_Events_SensorL_tag 5
+#define elegoo_Events_Sensor_tag 3
#define elegoo_Events_KeyPress_tag 6
#define elegoo_Events_Time_tag 7
/* Struct field encoding specification for nanopb */
-extern const pb_field_t elegoo_Command_fields[6];
-extern const pb_field_t elegoo_Events_fields[8];
+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];
/* Maximum encoded size of messages (where known) */
-#define elegoo_Command_size 26
-#define elegoo_Events_size 30
+#define elegoo_Speed_size 12
+#define elegoo_Command_size 28
+#define elegoo_Sensor_size 6
+#define elegoo_Events_size 32
/* Message IDs (where set with "msgid" option) */
#ifdef PB_MSGID