Add request to change controller modes.

Author: Mysticial

ClientSource/Libraries/MessageConverter.cpp

@@ -288,6 +288,29 @@ int register_message_converters_framework_requests(){
             return ss.str();
         }
     );
+    register_message_converter(
+        PABB_MSG_REQUEST_READ_CONTROLLER_MODE,
+        [](const std::string& body){
+            std::ostringstream ss;
+            ss << "PABB_MSG_REQUEST_READ_CONTROLLER_MODE - ";
+            if (body.size() != sizeof(pabb_MsgRequestReadControllerMode)){ ss << "(invalid size)" << std::endl; return ss.str(); }
+            const auto* params = (const pabb_MsgRequestReadControllerMode*)body.c_str();
+            ss << "seqnum = " << (uint64_t)params->seqnum;
+            return ss.str();
+        }
+    );
+    register_message_converter(
+        PABB_MSG_REQUEST_CHANGE_CONTROLLER_MODE,
+        [](const std::string& body){
+            std::ostringstream ss;
+            ss << "PABB_MSG_REQUEST_CHANGE_CONTROLLER_MODE - ";
+            if (body.size() != sizeof(pabb_MsgRequestChangeControllerMode)){ ss << "(invalid size)" << std::endl; return ss.str(); }
+            const auto* params = (const pabb_MsgRequestChangeControllerMode*)body.c_str();
+            ss << "seqnum = " << (uint64_t)params->seqnum;
+            ss << ", mode = " << params->mode;
+            return ss.str();
+        }
+    );
     register_message_converter(
         PABB_MSG_COMMAND_END_PROGRAM_CALLBACK,
         [](const std::string& body){

Common/Microcontroller/DeviceRoutines.cpp

@@ -39,10 +39,17 @@ uint8_t program_id(BotBaseController& botbase){
     ).convert<PABB_MSG_ACK_REQUEST_I8>(botbase.logger(), response);
     return response.data;
 }
-uint32_t controller_mode(BotBaseController& botbase){
+uint32_t read_controller_mode(BotBaseController& botbase){
     pabb_MsgAckRequestI32 response;
     botbase.issue_request_and_wait(
-        DeviceRequest_controller_mode()
+        DeviceRequest_read_controller_mode()
+    ).convert<PABB_MSG_ACK_REQUEST_I32>(botbase.logger(), response);
+    return response.data;
+}
+uint32_t change_controller_mode(BotBaseController& botbase, uint32_t mode){
+    pabb_MsgAckRequestI32 response;
+    botbase.issue_request_and_wait(
+        DeviceRequest_change_controller_mode(mode)
     ).convert<PABB_MSG_ACK_REQUEST_I32>(botbase.logger(), response);
     return response.data;
 }

Common/Microcontroller/DeviceRoutines.h

@@ -18,7 +18,8 @@ uint32_t protocol_version(BotBaseController& botbase);
 uint32_t program_version(BotBaseController& botbase);
 uint8_t device_queue_size(BotBaseController& botbase);
 uint8_t program_id(BotBaseController& botbase);
-uint32_t controller_mode(BotBaseController& botbase);
+uint32_t read_controller_mode(BotBaseController& botbase);
+uint32_t change_controller_mode(BotBaseController& botbase, uint32_t mode);
 
 
 class DeviceRequest_seqnum_reset : public BotBaseRequest{
@@ -91,14 +92,26 @@ class DeviceRequest_program_id : public BotBaseRequest{
         return BotBaseMessage(PABB_MSG_REQUEST_PROGRAM_ID, params);
     }
 };
-class DeviceRequest_controller_mode : public BotBaseRequest{
+class DeviceRequest_read_controller_mode : public BotBaseRequest{
 public:
-    pabb_MsgRequestControllerMode params;
-    DeviceRequest_controller_mode()
+    pabb_MsgRequestReadControllerMode params;
+    DeviceRequest_read_controller_mode()
         : BotBaseRequest(false)
     {}
     virtual BotBaseMessage message() const override{
-        return BotBaseMessage(PABB_MSG_REQUEST_CONTROLLER_MODE, params);
+        return BotBaseMessage(PABB_MSG_REQUEST_READ_CONTROLLER_MODE, params);
+    }
+};
+class DeviceRequest_change_controller_mode : public BotBaseRequest{
+public:
+    pabb_MsgRequestChangeControllerMode params;
+    DeviceRequest_change_controller_mode(uint32_t mode)
+        : BotBaseRequest(false)
+    {
+        params.mode = mode;
+    }
+    virtual BotBaseMessage message() const override{
+        return BotBaseMessage(PABB_MSG_REQUEST_CHANGE_CONTROLLER_MODE, params);
     }
 };
 

Common/Microcontroller/MessageProtocol.h

@@ -322,10 +322,16 @@ typedef struct{
     seqnum_t seqnum;
 } PABB_PACK pabb_MsgRequestQueueSize;
 
-#define PABB_MSG_REQUEST_CONTROLLER_MODE        0x49
+#define PABB_MSG_REQUEST_READ_CONTROLLER_MODE   0x49
 typedef struct{
     seqnum_t seqnum;
-} PABB_PACK pabb_MsgRequestControllerMode;
+} PABB_PACK pabb_MsgRequestReadControllerMode;
+
+#define PABB_MSG_REQUEST_CHANGE_CONTROLLER_MODE 0x4a
+typedef struct{
+    seqnum_t seqnum;
+    uint32_t mode;
+} PABB_PACK pabb_MsgRequestChangeControllerMode;
 
 ////////////////////////////////////////////////////////////////////////////////
 //  Commands

SerialPrograms/Source/Controllers/SerialPABotBase/SerialPABotBase_Connection.cpp

@@ -15,6 +15,7 @@
 #include "ClientSource/Connection/PABotBase.h"
 #include "CommonFramework/GlobalSettingsPanel.h"
 #include "CommonFramework/Options/Environment/ThemeSelectorOption.h"
+#include "Controllers/ControllerTypeStrings.h"
 #include "SerialPABotBase.h"
 #include "SerialPABotBase_Connection.h"
 
@@ -189,13 +190,15 @@ ControllerModeStatus SerialPABotBase_Connection::read_device_specs(){
 
 
     //  Controller Type
+    logger.log("Reading Controller Mode...");
     ControllerType current_controller = ControllerType::None;
     if (program_iter->second.size() == 1){
         current_controller = program_iter->second.begin()->first;
     }else if (program_iter->second.size() > 1){
-        uint32_t type_id = Microcontroller::controller_mode(*m_botbase);
+        uint32_t type_id = Microcontroller::read_controller_mode(*m_botbase);
         current_controller = controller_type(type_id);
     }
+    logger.log("Reading Controller Mode... Mode = " + CONTROLLER_TYPE_STRINGS.get_string(current_controller));
 
     return {current_controller, program_iter->second};
 }