simon
e95097085d
Centralize protobuf decode, response init/send, registration, and common nanopb encode callbacks; refactor existing cmd_* modules to use them. Co-authored-by: Cursor <cursoragent@cursor.com>
114 lines
3.5 KiB
C
114 lines
3.5 KiB
C
#include "bosch456.h"
|
|
#include "client_registry.h"
|
|
#include "cmd_accel_deadzone.h"
|
|
#include "esp_log.h"
|
|
#include "esp_now_comm.h"
|
|
#include "uart_cmd.h"
|
|
|
|
static const char *TAG = "[ACCEL_DZ]";
|
|
|
|
static void reply(uint32_t deadzone, uint32_t client_id, bool success,
|
|
uint32_t slaves_updated) {
|
|
alox_UartMessage response;
|
|
uart_cmd_init_response(&response, alox_MessageType_ACCEL_DEADZONE,
|
|
alox_UartMessage_accel_deadzone_response_tag);
|
|
response.payload.accel_deadzone_response.deadzone = deadzone;
|
|
response.payload.accel_deadzone_response.client_id = client_id;
|
|
response.payload.accel_deadzone_response.success = success;
|
|
response.payload.accel_deadzone_response.slaves_updated = slaves_updated;
|
|
uart_cmd_send(&response, TAG);
|
|
}
|
|
|
|
static esp_err_t push_deadzone_to_slave(const client_info_t *client,
|
|
uint32_t deadzone) {
|
|
if (client == NULL) {
|
|
return ESP_ERR_INVALID_ARG;
|
|
}
|
|
|
|
esp_err_t err = client_registry_set_accel_deadzone(client->id, deadzone);
|
|
if (err != ESP_OK) {
|
|
return err;
|
|
}
|
|
|
|
return esp_now_comm_send_accel_deadzone(client->mac, client->id, deadzone);
|
|
}
|
|
|
|
static void handle_accel_deadzone(const uint8_t *data, size_t len) {
|
|
alox_UartMessage uart_msg;
|
|
alox_AccelDeadzoneRequest req = alox_AccelDeadzoneRequest_init_zero;
|
|
|
|
if (uart_cmd_decode(data, len, &uart_msg) != ESP_OK) {
|
|
ESP_LOGW(TAG, "decode failed");
|
|
reply(BMA456_DEFAULT_ACCEL_DEADZONE, 0, false, 0);
|
|
return;
|
|
}
|
|
|
|
const alox_AccelDeadzoneRequest *req_ptr = UART_CMD_REQ(
|
|
&uart_msg, alox_UartMessage_accel_deadzone_request_tag,
|
|
accel_deadzone_request);
|
|
if (req_ptr != NULL) {
|
|
req = *req_ptr;
|
|
}
|
|
|
|
if (req.write) {
|
|
if (req.all_clients) {
|
|
size_t n = client_registry_set_accel_deadzone_all(req.deadzone);
|
|
uint32_t sent = 0;
|
|
|
|
for (size_t i = 0; i < client_registry_count(); i++) {
|
|
const client_info_t *client = client_registry_at(i);
|
|
if (client == NULL) {
|
|
continue;
|
|
}
|
|
if (esp_now_comm_send_accel_deadzone(client->mac, client->id,
|
|
req.deadzone) == ESP_OK) {
|
|
sent++;
|
|
}
|
|
}
|
|
|
|
if (bma456_is_ready()) {
|
|
bma456_set_accel_deadzone(req.deadzone);
|
|
}
|
|
|
|
ESP_LOGI(TAG, "set deadzone %lu via unicast to %u/%u slaves",
|
|
(unsigned long)req.deadzone, (unsigned)sent, (unsigned)n);
|
|
reply(req.deadzone, 0, sent > 0 || bma456_is_ready(), sent);
|
|
return;
|
|
}
|
|
|
|
if (req.client_id == 0) {
|
|
bma456_set_accel_deadzone(req.deadzone);
|
|
ESP_LOGI(TAG, "set local deadzone %lu (no ESP-NOW; use -client or -all "
|
|
"for slaves)",
|
|
(unsigned long)req.deadzone);
|
|
reply(req.deadzone, 0, true, 0);
|
|
return;
|
|
}
|
|
|
|
const client_info_t *client = client_registry_find_by_id(req.client_id);
|
|
if (client == NULL) {
|
|
ESP_LOGW(TAG, "client id %lu not found",
|
|
(unsigned long)req.client_id);
|
|
reply(req.deadzone, req.client_id, false, 0);
|
|
return;
|
|
}
|
|
|
|
esp_err_t err = push_deadzone_to_slave(client, req.deadzone);
|
|
reply(req.deadzone, req.client_id, err == ESP_OK, err == ESP_OK);
|
|
return;
|
|
}
|
|
|
|
if (req.all_clients || req.client_id == 0) {
|
|
reply(bma456_get_accel_deadzone(), 0, true, 0);
|
|
return;
|
|
}
|
|
|
|
uint32_t dz = 0;
|
|
esp_err_t err = client_registry_get_accel_deadzone(req.client_id, &dz);
|
|
reply(dz, req.client_id, err == ESP_OK, 0);
|
|
}
|
|
|
|
void cmd_accel_deadzone_register(void) {
|
|
uart_cmd_register(alox_MessageType_ACCEL_DEADZONE, handle_accel_deadzone);
|
|
}
|