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#ifndef _COMMANDS_H
#define _COMMANDS_H
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "type_def.h"
// ----------------------
// Helper stuff
#define MAX_TYPE 6
#define MAX_SUBTYPE 100
enum Message{
BEGIN_CHAR = 0xBE,
END_CHAR = 0xED
};
// This should also have double to avoid confusion with float values.
enum DataType
{
floatType,
intType,
stringType
};
// MESSAGE SUBTYPES
struct MessageSubtype{
char ID;
char cmdText[100];
char cmdDataType;
int (*functionPtr)(unsigned char *command, int dataLen, modular_structs_t *structs);
};
// MESSAGE TYPES
struct MessageType{
char ID;
struct MessageSubtype subtypes[MAX_SUBTYPE];
};
int debug(unsigned char *c, int dataLen, modular_structs_t *structs);
int update(unsigned char *c, int dataLen, modular_structs_t *structs);
int beginupdate(unsigned char *c, int dataLen, modular_structs_t *structs);
int logdata(unsigned char *c, int dataLen, modular_structs_t *structs);
int response(unsigned char *packet, int dataLen, modular_structs_t *structs);
int yawset(unsigned char *c, int dataLen, modular_structs_t *structs);
int yawp(unsigned char *c, int dataLen, modular_structs_t *structs);
int yawd(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollset(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollp(unsigned char *c, int dataLen, modular_structs_t *structs);
int rolld(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchset(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttleset(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttlep(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttlei(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttled(unsigned char *c, int dataLen, modular_structs_t *structs);
int accelreq(unsigned char *c, int dataLen, modular_structs_t *structs);
int gyroresp(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchangleresp(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollangleresp(unsigned char *c, int dataLen, modular_structs_t *structs);
int gyroreq(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchanglereq(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollanglereq(unsigned char *c, int dataLen, modular_structs_t *structs);
int accelresp(unsigned char *c, int dataLen, modular_structs_t *structs);
// TODO add in string to be read from the command line when sending a subtype of message
extern struct MessageType MessageTypes[MAX_TYPE];
#endif