odo_STM32/Core/Src/commSTM.cpp

/*
 * commSTM.c
 *
 *  Created on: May 13, 2025
 *      Author: maxch
 */

#include "commSTM.h"
#include "usbd_cdc.h"
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include "CommCallbacks.hpp"

// ⚠️ fourni par CubeMX dans usb_device.c
extern USBD_HandleTypeDef hUsbDeviceFS;

// Buffer de réception circulaire
#define RX_BUFFER_SIZE 256
static char usb_rx_buffer[RX_BUFFER_SIZE];
static volatile uint16_t usb_rx_index = 0;
static volatile uint8_t data_ready = 0;

static char parse_buffer[RX_BUFFER_SIZE]; // Pour parser la ligne complète

// Fonction à appeler depuis CDC_Receive_FS
void USB_Comm_OnReceive(uint8_t* Buf, uint32_t Len) {
    if (Len + usb_rx_index >= RX_BUFFER_SIZE) {
        usb_rx_index = 0;
        return;
    }

    for (uint32_t i = 0; i < Len; i++) {
        char c = Buf[i];
        if (c == '\n' || c == '\r') {
            usb_rx_buffer[usb_rx_index] = '\0';
            memcpy(parse_buffer, usb_rx_buffer, usb_rx_index + 1);
            usb_rx_index = 0;
            data_ready = 1;
            return;
        } else {
            usb_rx_buffer[usb_rx_index++] = c;
        }
    }
}

// Répondre via USB
static void USB_Comm_Send(const char* message) {
    if (message != NULL) {
        CDC_Transmit_FS((uint8_t*)message, strlen(message));
    }
}

// Analyse et réponse aux commandes reçues
void USB_Comm_Process(void) {
    if (!data_ready) return;
    data_ready = 0;

    char *token = strtok(parse_buffer, ";");
    if (!token) return;

    if (strcmp(token, "GET") == 0) {
        token = strtok(NULL, ";");
        if (!token) return;

        if (strcmp(token, "POS") == 0) {
            float x, y, t;
            Comm_GetPosition(&x, &y, &t);
            char response[64];
            snprintf(response, sizeof(response), "SET;POS;%.2f;%.2f;%.2f\n", x, y, t);
            USB_Comm_Send(response);
        }
        else if (strcmp(token, "SPEED") == 0) {
            float vx, vy, omega;
            Comm_GetSpeed(&vx, &vy, &omega);  // 3 valeurs
            char response[64];
            snprintf(response, sizeof(response), "SET;SPEED;%.2f;%.2f;%.2f\n", vx, vy, omega);
            USB_Comm_Send(response);
        }
        else if (strcmp(token, "PID") == 0) {
            float p, i, d;
            Comm_GetPID(&p, &i, &d);
            char response[64];
            snprintf(response, sizeof(response), "SET;PID;%.2f;%.2f;%.2f\n", p, i, d);
            USB_Comm_Send(response);
        }
        else if (strcmp(token, "DIST") == 0) {
            token = strtok(NULL, ";");
            if (!token) return;
            int n = atoi(token);
            float dist = Comm_GetDistance(n);
            char response[64];
            snprintf(response, sizeof(response), "SET;DIST;%d;%.2f\n", n, dist);
            USB_Comm_Send(response);
        }
        else {
            USB_Comm_Send("KO;UNKNOWN\n");
        }
    }
    else if (strcmp(token, "SET") == 0) {
        token = strtok(NULL, ";");
        if (!token) return;

        if (strcmp(token, "POS") == 0) {
            float x = atof(strtok(NULL, ";"));
            float y = atof(strtok(NULL, ";"));
            float t = atof(strtok(NULL, ";"));
            Comm_SetPosition(x, y, t);
            USB_Comm_Send("OK;POS\n");
        }
        else if (strcmp(token, "PID") == 0) {
            float p = atof(strtok(NULL, ";"));
            float i = atof(strtok(NULL, ";"));
            float d = atof(strtok(NULL, ";"));
            Comm_SetPID(p, i, d);
            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);
            USB_Comm_Send("OK;WAYPOINT\n");
        }
        else if (strcmp(token, "START") == 0) {
            int val = atoi(strtok(NULL, ";"));
            Comm_StartOdometry(val != 0);
            USB_Comm_Send("OK;START\n");
        }
        else {
            USB_Comm_Send("KO;UNKNOWN\n");
        }
    }
    else {
        USB_Comm_Send("KO;UNKNOWN\n");
    }
}