9659196825

Committed 25 Jun 2024 08:35AM UTC coverage: 56.592% (+10.5%) from 46.065%

Build # 9659196825

Build Type

push

github

Committed by

laurensvalk

Commit Message

pybricks.hubs: Add update_heading_correction method to imu.

Run Details

3760 of 6644 relevant lines covered (56.59%)

20292085.46 hits per line

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52.94

/lib/pbio/sys/command.c

// SPDX-License-Identifier: MIT
// Copyright (c) 2022-2023 The Pybricks Authors

#include <assert.h>
#include <stdint.h>

#include <pbdrv/reset.h>
#include <pbio/protocol.h>

#include <pbsys/storage.h>

#include "./bluetooth.h"
#include "./storage.h"
#include "./program_stop.h"
#include "./user_program.h"

/**
 * Parses binary data for command and dispatches handler for command.
 * @param [in]  data    The raw command data.
 * @param [in]  size    The size of @p data in bytes.
 */
pbio_pybricks_error_t pbsys_command(const uint8_t *data, uint32_t size) {
    assert(data);
    assert(size);

    pbio_pybricks_command_t cmd = data[0];

    switch (cmd) {
        case PBIO_PYBRICKS_COMMAND_STOP_USER_PROGRAM:
            pbsys_program_stop(false);
            return PBIO_PYBRICKS_ERROR_OK;
        case PBIO_PYBRICKS_COMMAND_START_USER_PROGRAM:
            return pbio_pybricks_error_from_pbio_error(pbsys_user_program_start_program());
        case PBIO_PYBRICKS_COMMAND_START_REPL:
            return pbio_pybricks_error_from_pbio_error(pbsys_user_program_start_repl());
        case PBIO_PYBRICKS_COMMAND_WRITE_USER_PROGRAM_META:
            return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_size(
                pbio_get_uint32_le(&data[1])));
        case PBIO_PYBRICKS_COMMAND_WRITE_USER_RAM:
            return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_data(
                pbio_get_uint32_le(&data[1]), &data[5], size - 5));
        case PBIO_PYBRICKS_COMMAND_REBOOT_TO_UPDATE_MODE:
            pbdrv_reset(PBDRV_RESET_ACTION_RESET_IN_UPDATE_MODE);
            return PBIO_PYBRICKS_ERROR_OK;
        case PBIO_PYBRICKS_COMMAND_WRITE_STDIN:
            #if PBSYS_CONFIG_BLUETOOTH
            if (pbsys_bluetooth_rx_get_free() < size - 1) {
                return PBIO_PYBRICKS_ERROR_BUSY;
            }
            pbsys_bluetooth_rx_write(&data[1], size - 1);
            #endif
            // If no consumers are configured, goes to "/dev/null" without error
            return PBIO_PYBRICKS_ERROR_OK;
        default:
            return PBIO_PYBRICKS_ERROR_INVALID_COMMAND;
    }
}

1	// SPDX-License-Identifier: MIT
2	// Copyright (c) 2022-2023 The Pybricks Authors
3
4	#include <assert.h>
5	#include <stdint.h>
6
7	#include <pbdrv/reset.h>
8	#include <pbio/protocol.h>
9
10	#include <pbsys/storage.h>
11
12	#include "./bluetooth.h"
13	#include "./storage.h"
14	#include "./program_stop.h"
15	#include "./user_program.h"
16
17	/**
18	* Parses binary data for command and dispatches handler for command.
19	* @param [in] data The raw command data.
20	* @param [in] size The size of @p data in bytes.
21	*/
22	pbio_pybricks_error_t pbsys_command(const uint8_t *data, uint32_t size) {	1✔
23	assert(data);	1✔
24	assert(size);	1✔
25
26	pbio_pybricks_command_t cmd = data[0];	1✔
27
28	switch (cmd) {	1✔
29	case PBIO_PYBRICKS_COMMAND_STOP_USER_PROGRAM:
30	pbsys_program_stop(false);
31	return PBIO_PYBRICKS_ERROR_OK;
32	case PBIO_PYBRICKS_COMMAND_START_USER_PROGRAM:
33	return pbio_pybricks_error_from_pbio_error(pbsys_user_program_start_program());	×
34	case PBIO_PYBRICKS_COMMAND_START_REPL:
35	return pbio_pybricks_error_from_pbio_error(pbsys_user_program_start_repl());	×
36	case PBIO_PYBRICKS_COMMAND_WRITE_USER_PROGRAM_META:	×
37	return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_size(	×
38	pbio_get_uint32_le(&data[1])));
39	case PBIO_PYBRICKS_COMMAND_WRITE_USER_RAM:	×
40	return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_data(	×
41	pbio_get_uint32_le(&data[1]), &data[5], size - 5));
42	case PBIO_PYBRICKS_COMMAND_REBOOT_TO_UPDATE_MODE:
43	pbdrv_reset(PBDRV_RESET_ACTION_RESET_IN_UPDATE_MODE);
44	return PBIO_PYBRICKS_ERROR_OK;
45	case PBIO_PYBRICKS_COMMAND_WRITE_STDIN:	1✔
46	#if PBSYS_CONFIG_BLUETOOTH
47	if (pbsys_bluetooth_rx_get_free() < size - 1) {	1✔
48	return PBIO_PYBRICKS_ERROR_BUSY;
49	}
50	pbsys_bluetooth_rx_write(&data[1], size - 1);	1✔
51	#endif
52	// If no consumers are configured, goes to "/dev/null" without error
53	return PBIO_PYBRICKS_ERROR_OK;	1✔
54	default:	×
55	return PBIO_PYBRICKS_ERROR_INVALID_COMMAND;	×
56	}
57	}

pybricks / pybricks-micropython / 9659196825

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