jwetzell/free-d-go
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switch to fixed size array

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This commit is contained in:
Joel Wetzell
2026-05-23 07:41:42 -05:00
parent e8b3869048
commit acb6708b80
3 changed files with 28 additions and 25 deletions
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examples/decode/main.go
+1 -1
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@@ -8,7 +8,7 @@ import (
func main() {
messageBytes := []byte{0xd1, 0x01, 0x5a, 0x00, 0x00, 0x2d, 0x00, 0x00, 0xa6, 0x00, 0x00, 0x7f, 0xff, 0x40, 0x7f, 0xff, 0x80, 0x7f, 0xff,
messageBytes := [29]byte{0xd1, 0x01, 0x5a, 0x00, 0x00, 0x2d, 0x00, 0x00, 0xa6, 0x00, 0x00, 0x7f, 0xff, 0x40, 0x7f, 0xff, 0x80, 0x7f, 0xff,
0xc0, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x00, 0x00, 50,
}
examples/udp_client/main.go
+7 -1
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@@ -28,7 +28,13 @@ func main() {
if err != nil {
slog.Error("error reading from UDP", "err", err)
} else if length > 0 {
message, err := freeD.Decode(buffer[0:length])
if length != 29 {
slog.Warn("received UDP packet with unexpected length", "length", length)
continue
}
var messageBytes [29]byte
copy(messageBytes[:], buffer[0:length])
message, err := freeD.Decode(messageBytes)
if err != nil {
slog.Error("error decoding", "err", err)
}
free_d.go
+20 -23
View File
@@ -18,40 +18,37 @@ type FreeDPosition struct {
Focus int32
}
func Encode(message FreeDPosition) []byte {
bytes := []byte{}
func Encode(message FreeDPosition) [29]byte {
var bytes [29]byte
bytes = append(bytes, 0xd1)
bytes = append(bytes, message.ID)
bytes[0] = 0xd1
bytes[1] = message.ID
bytes = append(bytes, rotationToFreeDUnits(message.Pan)...)
bytes = append(bytes, rotationToFreeDUnits(message.Tilt)...)
bytes = append(bytes, rotationToFreeDUnits(message.Roll)...)
copy(bytes[2:5], rotationToFreeDUnits(message.Pan))
copy(bytes[5:8], rotationToFreeDUnits(message.Tilt))
copy(bytes[8:11], rotationToFreeDUnits(message.Roll))
bytes = append(bytes, positionToFreeDUnits(message.PosX)...)
bytes = append(bytes, positionToFreeDUnits(message.PosY)...)
bytes = append(bytes, positionToFreeDUnits(message.PosZ)...)
copy(bytes[11:14], positionToFreeDUnits(message.PosX))
copy(bytes[14:17], positionToFreeDUnits(message.PosY))
copy(bytes[17:20], positionToFreeDUnits(message.PosZ))
bytes = append(bytes, uint8(math.Trunc(float64(message.Zoom/65536))))
bytes = append(bytes, uint8(int64(message.Zoom/256)%256))
bytes = append(bytes, uint8(int32(message.Zoom)%256))
bytes[20] = uint8(math.Trunc(float64(message.Zoom / 65536)))
bytes[21] = uint8(int64(message.Zoom/256) % 256)
bytes[22] = uint8(int32(message.Zoom) % 256)
bytes = append(bytes, uint8(math.Trunc(float64(message.Focus/65536))))
bytes = append(bytes, uint8(int64(message.Focus/256)%256))
bytes = append(bytes, uint8(int32(message.Focus)%256))
bytes[23] = uint8(math.Trunc(float64(message.Focus / 65536)))
bytes[24] = uint8(int64(message.Focus/256) % 256)
bytes[25] = uint8(int32(message.Focus) % 256)
// spare area?
bytes = append(bytes, 0, 0)
bytes[26] = 0
bytes[27] = 0
bytes = append(bytes, checksum(bytes[0:28]))
bytes[28] = checksum(bytes[0:28])
return bytes
}
func Decode(bytes []byte) (FreeDPosition, error) {
if len(bytes) != 29 {
return FreeDPosition{}, errors.New("FreeD packet must be 29 bytes long")
}
func Decode(bytes [29]byte) (FreeDPosition, error) {
if bytes[0] != 0xd1 {
return FreeDPosition{}, errors.New("only FreeD position messages are currently supported")
}