James Hilder
V0.5 library for the Pi Swarm robot
Diff: communications.cpp
- Revision:
- 2:0a739218ab11
- Parent:
- 1:b067a08ff54e
- Child:
- 3:4c0f2f3de33e
--- a/communications.cpp Sun Feb 02 18:05:58 2014 +0000
+++ b/communications.cpp Sun Feb 02 20:37:48 2014 +0000
@@ -26,11 +26,17 @@
char waiting_length = 0;
int message_id = 0;
+
+// Send a structured message over the RF interface
+// @target - The target recipient (1-31 or 0 for broadcast)
+// @command - The command byte (see manual)
+// @*data - Additional data bytes
+// @length - Length of additional data
void send_rf_message(char target, char command, char * data, char length)
{
char message [4+length];
- message[0]=piswarm.get_id();
- message[1]=target;
+ message[0]=piswarm.get_id() + 32;
+ message[1]=target + 32;
message_id++;
message[2]=message_id % 256;
message[3]=command;
@@ -47,7 +53,7 @@
// In general these functions should not be called by user code
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Decode the received message header. Check it is min. 4 bytes long, that the sender and target are valid
+// Decode the received message header. Check it is min. 4 bytes long, that the sender and target are valid [called in alpha433.cpp]
void processRadioData(char * data, char length)
{
if(RF_USE_LEDS==1) {
@@ -75,7 +81,7 @@
if(RF_USE_LEDS==1) rx=0;
}
-//Decode the received message, action it if it is valid and for me [called in alpha433.cpp]
+//Decode the received message, action it if it is valid and for me
void decodeMessage(char sender, char target, char id, char command, char * data, char length)
{
char broadcast_message = 0, is_response = 0, request_response = 0, is_user = 0, is_command = 0, function = 0;
@@ -116,7 +122,7 @@
} else if (RF_DEBUG==1) pc.printf(" - Ignored\n");
}
-//Send a response message
+//Send a predefined response message
void send_response(char target, char is_broadcast, char success, char id, char is_command, char function, char * data, char length)
{
char message [4+length];
@@ -378,7 +384,20 @@
break;
}
case 8: { // Request accelerometer reading
-
+ response_length = 6;
+ response = new char[6];
+ int acc_x = (int)piswarm.read_accelerometer_x();
+ int acc_y = (int)piswarm.read_accelerometer_y();
+ int acc_z = (int)piswarm.read_accelerometer_z();
+ acc_x += 32768;
+ acc_y += 32768;
+ acc_z += 32768;
+ response[0]=acc_x >> 8;
+ response[1]=acc_x % 256;
+ response[2]=acc_y >> 8;
+ response[3]=acc_y % 256;
+ response[4]=acc_z >> 8;
+ response[5]=acc_z % 256;
break;
}
case 9: { // Request gyroscope reading
@@ -432,253 +451,7 @@
-// Handle a message that is a response
-void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length)
-{
- char outcome = 0;
- if(is_command == 0) {
- // Response is a data_request_response
- switch(function) {
- case 0: {
- if(swarm[sender].status_rf_request_null == 1) {
- if(length == 0) {
- swarm[sender].status_rf_request_null = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_null= 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
- case 1: { //Left motor speed
- if(swarm[sender].status_rf_request_left_motor_speed == 1) {
- if(length == 2) {
- swarm[sender].status_rf_request_left_motor_speed = 2;
- int value = (data [0] << 8) + data[1];
- value -= 32768;
- float val = value;
- val /= 32767.0;
- swarm[sender].left_motor_speed = val;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_left_motor_speed= 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 2: { //Right motor speed
- if(swarm[sender].status_rf_request_right_motor_speed == 1) {
- if(length == 2) {
- swarm[sender].status_rf_request_right_motor_speed = 2;
- int value = (data [0] << 8) + data[1];
- value -= 32768;
- float val = value;
- val /= 32767.0;
- swarm[sender].right_motor_speed = val;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_right_motor_speed = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 3: { //Button state
- if(swarm[sender].status_rf_request_button_state == 1) {
- if(length == 2) {
- swarm[sender].status_rf_request_button_state = 2;
- swarm[sender].button_state = data[0];
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_button_state = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 4: { //LED Colour
- if(swarm[sender].status_rf_request_led_colour == 1) {
- if(length == 6) {
- swarm[sender].status_rf_request_led_colour = 2;
- for(int i=0; i<3; i++) {
- swarm[sender].outer_led_colour[i] = data[i];
- swarm[sender].center_led_colour[i] = data[i+3];
- }
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_led_colour = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 5: { //LED States
- if(swarm[sender].status_rf_request_led_states == 1) {
- if(length == 2) {
- swarm[sender].status_rf_request_led_states = 2;
- for(int i=0; i<3; i++) {
- swarm[sender].led_states[0] = data[0];
- swarm[sender].led_states[1] = data[1];
- }
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_led_states = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
-
- case 6: { //Battery
- if(swarm[sender].status_rf_request_battery == 1) {
- if(length == 2) {
- swarm[sender].status_rf_request_battery = 2;
- int fbattery = data[0] * 256;
- fbattery += data[1];
- swarm[sender].battery = (float) fbattery / 1000.0;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_battery = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 7: { //Light sensor
- if(swarm[sender].status_rf_request_light_sensor == 1) {
- if(length == 2) {
- swarm[sender].status_rf_request_light_sensor = 2;
- int ilight = data[0] * 256;
- ilight += data[1];
- float flight = (float) (ilight) / 655.0;
- swarm[sender].light_sensor = flight;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_light_sensor = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 8: { //Accelerometer
- if(swarm[sender].status_rf_request_accelerometer == 1) {
- if(length == 6) {
- swarm[sender].status_rf_request_accelerometer = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_accelerometer = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 9: { //Gyroscope
- if(swarm[sender].status_rf_request_gyroscope == 1) {
- if(length == 2) {
- swarm[sender].status_rf_request_gyroscope = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_gyroscope = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 10: { //Background IR
- if(swarm[sender].status_rf_request_background_ir == 1) {
- if(length == 16) {
- swarm[sender].status_rf_request_background_ir = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_background_ir = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 11: { //Reflected IR
- if(swarm[sender].status_rf_request_background_ir == 1) {
- if(length == 16) {
- swarm[sender].status_rf_request_background_ir = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_background_ir = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 12: { // Distance IR
- if(swarm[sender].status_rf_request_distance_ir == 1) {
- if(length == 16) {
- swarm[sender].status_rf_request_distance_ir = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_distance_ir = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 13: { // Line following IR
- if(swarm[sender].status_rf_request_line_following_ir == 1) {
- if(length == 10) {
- swarm[sender].status_rf_request_line_following_ir = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_line_following_ir = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- case 14: { // Request uptime
- if(swarm[sender].status_rf_request_uptime == 1) {
- if(length == 4) {
- swarm[sender].status_rf_request_uptime = 2;
- outcome = 1;
- } else {
- swarm[sender].status_rf_request_uptime = 3;
- outcome = 3;
- }
- } else outcome = 2;
- }
- break;
-
- }
- } else {
- // Response to a command
- }
-
- if(RF_DEBUG) {
- switch(outcome) {
- case 0 :
- pc.printf("Unknown RF response received");
- case 1 :
- pc.printf("RF response received, data updated.");
- case 2 :
- pc.printf("Unexpected RF response received, ignored.");
- case 3 :
- pc.printf("Invalid RF response received, ignored.");
- }
- }
-}
void send_rf_request_null ( char target )
{
@@ -1212,3 +985,577 @@
swarm[i].gyro = 0.0;
}
}
+
+
+// Handle a message that is a response to a predefined (non-user) command or request
+void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length)
+{
+ char outcome = 0;
+ if(is_command == 0) {
+ // Response is a data_request_response
+ switch(function) {
+ case 0: {
+ if(swarm[sender].status_rf_request_null == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_request_null = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_null= 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_null = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 1: { //Left motor speed
+ if(swarm[sender].status_rf_request_left_motor_speed == 1) {
+ if(success == 1){
+ if(length == 2) {
+ swarm[sender].status_rf_request_left_motor_speed = 2;
+ int value = (data [0] << 8) + data[1];
+ value -= 32768;
+ float val = value;
+ val /= 32767.0;
+ swarm[sender].left_motor_speed = val;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_left_motor_speed= 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_left_motor_speed = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 2: { //Right motor speed
+ if(swarm[sender].status_rf_request_right_motor_speed == 1) {
+ if(success == 1){
+ if(length == 2) {
+ swarm[sender].status_rf_request_right_motor_speed = 2;
+ int value = (data [0] << 8) + data[1];
+ value -= 32768;
+ float val = value;
+ val /= 32767.0;
+ swarm[sender].right_motor_speed = val;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_right_motor_speed = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_right_motor_speed = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 3: { //Button state
+ if(swarm[sender].status_rf_request_button_state == 1) {
+ if(success == 1){
+ if(length == 2) {
+ swarm[sender].status_rf_request_button_state = 2;
+ swarm[sender].button_state = data[0];
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_button_state = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_button_state = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 4: { //LED Colour
+ if(swarm[sender].status_rf_request_led_colour == 1) {
+ if(success == 1) {
+ if(length == 6) {
+ swarm[sender].status_rf_request_led_colour = 2;
+ for(int i=0; i<3; i++) {
+ swarm[sender].outer_led_colour[i] = data[i];
+ swarm[sender].center_led_colour[i] = data[i+3];
+ }
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_led_colour = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_led_colour = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 5: { //LED States
+ if(swarm[sender].status_rf_request_led_states == 1) {
+ if(success == 1) {
+ if(length == 2) {
+ swarm[sender].status_rf_request_led_states = 2;
+ for(int i=0; i<3; i++) {
+ swarm[sender].led_states[0] = data[0];
+ swarm[sender].led_states[1] = data[1];
+ }
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_led_states = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_led_states = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+
+ case 6: { //Battery
+ if(swarm[sender].status_rf_request_battery == 1) {
+ if(success == 1) {
+ if(length == 2) {
+ swarm[sender].status_rf_request_battery = 2;
+ int fbattery = data[0] * 256;
+ fbattery += data[1];
+ swarm[sender].battery = (float) fbattery / 1000.0;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_battery = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_battery = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 7: { //Light sensor
+ if(swarm[sender].status_rf_request_light_sensor == 1) {
+ if(success == 1) {
+ if(length == 2) {
+ swarm[sender].status_rf_request_light_sensor = 2;
+ int ilight = data[0] * 256;
+ ilight += data[1];
+ float flight = (float) (ilight) / 655.0;
+ swarm[sender].light_sensor = flight;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_light_sensor = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_light_sensor = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 8: { //Accelerometer
+ if(swarm[sender].status_rf_request_accelerometer == 1) {
+ if(success == 1) {
+ if(length == 6) {
+ swarm[sender].status_rf_request_accelerometer = 2;
+ int acc_x = (data[0] * 256) + data[1];
+ int acc_y = (data[2] * 256) + data[3];
+ int acc_z = (data[4] * 256) + data[5];
+ swarm[sender].accelerometer[0] = (float) acc_x - 32768;
+ swarm[sender].accelerometer[1] = (float) acc_y - 32768;
+ swarm[sender].accelerometer[2] = (float) acc_z - 32768;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_accelerometer = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_accelerometer = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 9: { //Gyroscope
+ if(swarm[sender].status_rf_request_gyroscope == 1) {
+ if(success == 1) {
+ if(length == 2) {
+ swarm[sender].status_rf_request_gyroscope = 2;
+ int gyro = (data [0] * 256) + data[1];
+ swarm[sender].gyro = (float) gyro - 32768;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_gyroscope = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_gyroscope = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 10: { //Background IR
+ if(swarm[sender].status_rf_request_background_ir == 1) {
+ if(success == 1) {
+ if(length == 16) {
+ swarm[sender].status_rf_request_background_ir = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_background_ir = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_background_ir = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 11: { //Reflected IR
+ if(swarm[sender].status_rf_request_reflected_ir == 1) {
+ if(success == 1) {
+ if(length == 16) {
+ swarm[sender].status_rf_request_reflected_ir = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_reflected_ir = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_reflected_ir = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 12: { // Distance IR
+ if(swarm[sender].status_rf_request_distance_ir == 1) {
+ if(success == 1) {
+ if(length == 16) {
+ swarm[sender].status_rf_request_distance_ir = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_distance_ir = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_distance_ir = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 13: { // Line following IR
+ if(swarm[sender].status_rf_request_line_following_ir == 1) {
+ if(success == 1) {
+ if(length == 10) {
+ swarm[sender].status_rf_request_line_following_ir = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_line_following_ir = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_line_following_ir = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ case 14: { // Request uptime
+ if(swarm[sender].status_rf_request_uptime == 1) {
+ if(success == 1) {
+ if(length == 4) {
+ swarm[sender].status_rf_request_uptime = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_request_uptime = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_request_uptime = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+
+ }
+ } else {
+ // Response to a command
+ switch(function) {
+ case 0: {
+ if(swarm[sender].status_rf_command_stop == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_stop = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_stop = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_stop = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 1: {
+ if(swarm[sender].status_rf_command_forward == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_forward = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_forward = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_forward = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 2: {
+ if(swarm[sender].status_rf_command_backward == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_backward = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_backward = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_backward = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 3: {
+ if(swarm[sender].status_rf_command_left == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_left = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_left = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_left = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 4: {
+ if(swarm[sender].status_rf_command_right == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_right = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_right = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_right = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 5: {
+ if(swarm[sender].status_rf_command_left_motor == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_left_motor = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_left_motor = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_left_motor = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 6: {
+ if(swarm[sender].status_rf_command_right_motor == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_right_motor = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_right_motor = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_right_motor = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 7: {
+ if(swarm[sender].status_rf_command_oled_colour == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_oled_colour = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_oled_colour = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_oled_colour = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 8: {
+ if(swarm[sender].status_rf_command_cled_colour == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_cled_colour = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_cled_colour = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_cled_colour = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 9: {
+ if(swarm[sender].status_rf_command_oled_state == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_oled_state = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_oled_state = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_oled_state = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 10: {
+ if(swarm[sender].status_rf_command_cled_state == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_cled_state = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_cled_state = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_cled_state = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 11: {
+ if(swarm[sender].status_rf_command_set_oled == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_set_oled = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_set_oled = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_set_oled = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 12: {
+ if(swarm[sender].status_rf_command_play_tune == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_play_tune = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_play_tune = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_play_tune = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ case 14: {
+ if(swarm[sender].status_rf_command_sync_time == 1) {
+ if(success == 1){
+ if(length == 0) {
+ swarm[sender].status_rf_command_sync_time = 2;
+ outcome = 1;
+ } else {
+ swarm[sender].status_rf_command_sync_time = 3;
+ outcome = 3;
+ }
+ } else {
+ swarm[sender].status_rf_command_sync_time = 4;
+ outcome = 4;
+ }
+ } else outcome = 2;
+ }
+ break;
+ }
+ }
+
+ if(RF_DEBUG) {
+ switch(outcome) {
+ case 0 :
+ pc.printf("Unknown RF response received");
+ case 1 :
+ pc.printf("RF response received, data updated.");
+ case 2 :
+ pc.printf("Unexpected RF response received, ignored.");
+ case 3 :
+ pc.printf("Invalid RF response received, ignored.");
+ case 4 :
+ pc.printf("RF response received: unsuccessful operation.");
+ }
+ }
+}
\ No newline at end of file