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read multiple waypoints from USB

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acki
2025-09-20 19:14:48 +02:00
parent 830cc89558
commit 40bc40d491
2 changed files with 26 additions and 15 deletions
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27
Core/Src/commSTM.cpp
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@@ -116,12 +116,27 @@ void USB_Comm_Process(void) {
USB_Comm_Send("OK;PID\n");
}
else if (strcmp(token, "WAYPOINT") == 0) {
int id = atoi(strtok(NULL, ";"));
int type = atoi(strtok(NULL, ";"));
float x = atof(strtok(NULL, ";"));
float y = atof(strtok(NULL, ";"));
float t = atof(strtok(NULL, ";"));
Comm_AddWaypoint(id, type, x, y, t);
while (true) {
char* idTok = strtok(nullptr, ";");
char* typeTok = strtok(nullptr, ";");
char* xTok = strtok(nullptr, ";");
char* yTok = strtok(nullptr, ";");
char* tTok = strtok(nullptr, ";");
if (!idTok || !typeTok || !xTok || !yTok || !tTok) {
break;
}
int id = atoi(idTok);
int type = atoi(typeTok);
float x = atof(xTok);
float y = atof(yTok);
float theta = atof(tTok);
Comm_AddWaypoint(id, type, x, y, theta);
}
USB_Comm_Send("OK;WAYPOINT\n");
}
else if (strcmp(token, "START") == 0) {