Flipper/Applications/Official/DEV_FW/source/xMasterX/flipper-bp/tcode.c

#include "tcode.h"

static TCodeCommandArray decode_device_command(const uint8_t *buffer, uint16_t size) {
    TCodeCommandArray command_array;
    if (size < 2) {
        command_array.size = 0;
        FURI_LOG_W("TCode Parser", "Unexpected code length for device command");
        return command_array;
    }

    command_array.size = 1;
    command_array.commands = malloc(sizeof(TCodeCommand));
    command_array.commands[0].command_type = Device;

    switch (buffer[1]) {
        case '0':
            FURI_LOG_T("TCode Parser", "Device Identification requested");
            command_array.commands[0].data.device_command = DeviceIdentification;
            break;
        case '1':
            FURI_LOG_T("TCode Parser", "TCode version requested");
            command_array.commands[0].data.device_command = TCodeVersion;
            break;
        case '2':
            FURI_LOG_T("TCode Parser", "Preferences list requested");
            command_array.commands[0].data.device_command = ListAxesAndUserRangePreferences;
            break;
        case 'S':
            FURI_LOG_T("TCode Parser", "Stop requested");
            command_array.commands[0].data.device_command = Stop;
            break;
        default:
            command_array.size = 0;
            break;
    }

    return command_array;
}

static TCodeCommandArray decode_general_command(const uint8_t *buffer, uint16_t size) {
    // size of the array = amount of spaces + 1
    uint16_t counter = 1;
    for (uint16_t i = 0; i < size; i++) {
        if (buffer[i] == 32) {
            counter++;
        }
    }

    FURI_LOG_T("TCode Parser", "Found %u commands in the message", counter);

    TCodeCommandArray commands_array;
    commands_array.size = counter;
    commands_array.commands = malloc(commands_array.size * sizeof(TCodeCommand));

    uint16_t position = 0;
    for (uint16_t i = 0; i < counter; i++) {
        TCodeCommand command;
        command.command_type = Unknown;

        TCodeCommandMotionType motion_type;
        switch (buffer[position]) {
            case 'L':
            case 'l':
                motion_type = Linear;
                break;
            case 'R':
            case 'r':
                motion_type = Rotate;
                break;
            case 'V':
            case 'v':
                motion_type = Vibrate;
                break;
            case 'A':
            case 'a':
                motion_type = Auxiliary;
                break;
            default: // error
                FURI_LOG_W("TCode Parser", "Unexpected motion type: %u", buffer[position]);
                return commands_array;
        }
        FURI_LOG_T("TCode Parser", "Parsed motion_type: %u", motion_type);
        position++;

        uint16_t channel = buffer[position] - 48; // single ascii character 0-9
        FURI_LOG_T("TCode Parser", "Parsed channel: %u", channel);
        position++;

        // X characters that are digits
        uint16_t current_position = position;
        while (buffer[position] >= 48 && buffer[position] <= 57 && position < size) {
            position++;
        }

        uint8_t *magnitude = malloc(2 + (position - current_position) + 1);  // "0.XXXX\0"
        magnitude[0] = '0';
        magnitude[1] = '.';
        for (uint16_t x = 0; x < (position - current_position); x++) {
            magnitude[x + 2] = buffer[current_position + x];
        }
        magnitude[position - current_position + 2] = '\0';
        float magnitude_float = strtof((char *) magnitude, NULL);
        free(magnitude);
        FURI_LOG_T("TCode Parser", "Parsed magnitude: %f", (double) magnitude_float);

        FURI_LOG_T("TCode Parser REMOVE ME", "Current position: %u, size: %u", position, size);
        FURI_LOG_T("TCode Parser REMOVE ME", "%u", buffer[position]);
        if (position == size || buffer[position] == ' ' || buffer[position] == '\n') {
            FURI_LOG_T("TCode Parser", "Command type: Magnitude");
            command.command_type = Magnitude;
            command.data.magnitude_command.motion_type = motion_type;
            command.data.magnitude_command.channel_id = channel;
            command.data.magnitude_command.magnitude = magnitude_float;
            commands_array.commands[i] = command;
            position++;
            continue;
        }

        uint8_t current_step = buffer[position];
        position++;

        uint16_t int_value = 0;
        while (buffer[position] >= 48 && buffer[position] <= 57 && position < size) {
            int_value *= 10;
            int_value += buffer[position] - 48;
            position++;
        }

        command.data.magnitude_time_interval_command.motion_type = motion_type;
        command.data.magnitude_time_interval_command.channel_id = channel;
        command.data.magnitude_time_interval_command.magnitude = magnitude_float;

        if (current_step == 'I' || current_step == 'i') {
            FURI_LOG_T("TCode Parser", "Command type: MagnitudeTimeInterval");
            command.command_type = MagnitudeTimeInterval;
            command.data.magnitude_time_interval_command.time_interval_milliseconds = int_value;
        }

        if (current_step == 'S' || current_step == 's') {
            FURI_LOG_T("TCode Parser", "Command type: MagnitudeSpeed");
            command.command_type = MagnitudeSpeed;
            command.data.magnitude_speed_command.speed_per_hundred_milliseconds = int_value;
        }

        if (command.command_type == Unknown) {
            FURI_LOG_W("TCode Parser", "Unknown command type!");
        }

        commands_array.commands[i] = command;
        position++;
        if (position >= size) {
            break;
        }
    }

    return commands_array;
}

TCodeCommandArray tcode_decode(uint8_t *buffer, uint16_t size) {
    switch (buffer[0]) {
        case 'd':
        case 'D':
            FURI_LOG_T("TCode Parser", "Parsing device command...");
            return decode_device_command(buffer, size);
        case 'l':
        case 'L':
        case 'r':
        case 'R':
        case 'v':
        case 'V':
        case 'a':
        case 'A':
            FURI_LOG_T("TCode Parser", "Parsing general command...");
            return decode_general_command(buffer, size);
        default: // error
        {
            TCodeCommandArray error;
            error.size = 0;
            error.commands = NULL;
            return error;
        }
    }
}