Kelder/obus
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Implementing hello handshake

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This commit is contained in:
Timo De Waele 2020-08-10 20:46:41 +02:00
parent 245f2c80ae
commit 91bececb39
1 changed files with 19 additions and 3 deletions
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22
src/controller/controller.ino
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@ -1,4 +1,5 @@
#include <mcp2515.h>
#include <assert.h>
#define STATE_INACTIVE 0
#define STATE_HELLO 1
@ -55,19 +56,34 @@ uint16_t make_id(uint8_t id, bool priority, uint8_t type) {
void start_hello() {
state = STATE_HELLO;
char message[OBUS_MSG_LENGTH + 1];
message[OBUS_MSG_LENGTH] = '\0';
struct can_frame send_frame;
send_frame.can_id = make_id(OBUS_CONTROLLER_ID, false, OBUS_TYPE_CONTROLLER);
send_frame.can_dlc = OBUS_MSG_LENGTH;
send_frame.data[0] = OBUS_MSGTYPE_C_HELLO;
mcp2515.sendMessage(&send_frame);
Serial.println("sent");
}
void receive_hello() {
struct can_frame receive_frame;
if (mcp2515.readMessage(&receive_frame) == MCP2515::ERROR_OK) {
Serial.println("Received message");
if (receive_frame.data[0] == OBUS_MSGTYPE_M_HELLO) {
Serial.println("Hello");
} else {
Serial.println("Not implemented");
}
}
}
void loop() {
if (state == STATE_INACTIVE) {
start_hello();
} else if (state == STATE_HELLO) {
// Group hello messages from controllers and register them
receive_hello();
} else if (state == STATE_GAME) {
// Game loop
}