run.c

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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <hidapi/hidapi.h>

#include "defs.h"
#include "packets.h"
#include "error.h"
#include "funcs.h"
#include "ev3_io.h"

static const u8 run1[] = {0xC0, 0x08, 0x82, 0x01, 0x00, 0x84};
static const u8 run2[] = {0x60, 0x64, 0x03, 0x01, 0x60, 0x64, 0x00};

int run(const char *exec, unsigned timeout)
{
    timeout = timeout ?: TIMEOUT;
    int res;
    union {
        VM_REPLY packet;
        u8 bytes[1024];
    }reply;
    size_t exec_sz = strlen(exec) + 1;

    EXECUTE_FILE *run = packet_alloc(EXECUTE_FILE, sizeof (run1) + exec_sz + sizeof (run2));

    // *INDENT-OFF*
    mempcpy(mempcpy(mempcpy((u8 *)&run->bytes, // run->bytes = [run1] + [exec] + [run2]
                run1, sizeof run1),
                exec,  exec_sz),
                run2, sizeof run2);
    // *INDENT-ON*

    //FIXME: inquire whether start succeeded. check communicaton developer manual  pdf (debug mode maybe?)
    res = ev3_write(handle, (u8 *)run, run->packetLen + PREFIX_SIZE);
    if (res < 0)
        return ERR_COMM;

    res = ev3_read_timeout(handle, reply.bytes, sizeof reply + 2, timeout);
    if (res < 0)
        return ERR_COMM;
    else if (res == 0 || (res > 0 && memcmp(&reply.packet, &EXECUTE_FILE_REPLY_SUCCESS, sizeof reply.packet) == 0))
    {
        errmsg = "`exec` has been successful.";
        return ERR_UNK;
    }
    else if (ev3_close == (void (*)())hid_close) //FIXME: to more general solution after ev3 tunnel is fully implemented
        {
            u32 len;
            if (sscanf((const char*)reply.bytes, "\t%08x\n", &len))
            {
                len += 10;
                printf("%.*s", len > 1000 ? 1000 : len, (char*)reply.bytes + 10);
                len-=1000;
                while ((res = hid_read_timeout(handle, reply.bytes,
                                sizeof reply + 2, 100)) > 0 )
                {
                    printf("%.*s", len > 1000 ? 1000 : len, (char*)reply.bytes);
                    len-=1000;
                }
                if (res != 0)
                    return ERR_COMM;
            }
        }

    errmsg = "`exec` status unknown.";
    return ERR_UNK;
}