From 4ae462c9e0469dc4572a54e8271ae24404a69db7 Mon Sep 17 00:00:00 2001 From: Dimitri Sokolyuk Date: Mon, 11 Dec 2017 22:18:31 +0100 Subject: ... --- elegoo.pb.go | 142 ++++++++++++++++++++++++++++++++++------------------- elegoo.proto | 22 ++++++--- elegoo/elegoo.ino | 13 ++--- elegoo/elegoo.pb.c | 36 +++++++++----- elegoo/elegoo.pb.h | 76 +++++++++++++++++----------- fsm.go | 12 ++--- 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 } -- cgit v1.2.3