From 947ce9dea6e1afc8d14ab3423d8f3874688bd4b2 Mon Sep 17 00:00:00 2001
From: Decareme <ngandeca@yahoo.fr>
Date: Mon, 15 Jan 2024 10:29:55 +0100
Subject: [PATCH] Adjusted sendCommand Method

---
 lib/ZumoOta/src/FlashManager.cpp         | 32 ++++++++++++++++++------
 lib/ZumoOta/src/FlashManager.h           |  2 +-
 lib/ZumoOta/src/WebServerCustom.cpp      | 16 ------------
 lib/ZumoOta/src/Zumo32U4Specifications.h |  5 ++--
 4 files changed, 29 insertions(+), 26 deletions(-)

diff --git a/lib/ZumoOta/src/FlashManager.cpp b/lib/ZumoOta/src/FlashManager.cpp
index 18cebbd2..53ed2565 100644
--- a/lib/ZumoOta/src/FlashManager.cpp
+++ b/lib/ZumoOta/src/FlashManager.cpp
@@ -61,7 +61,8 @@ const uint8_t NEXT_SERIAL_SEND_DELAY_MS = 10;
 /******************************************************************************
  * Local Variables
  *****************************************************************************/
-const uint16_t WAIT_TIME_MS = 500U;
+/*Delay before processing the response.
+const uint8_t AWAIT_RESPONSE_DELAY_MS = 50U;*/
 
 /** Specifies the number of bytes stored in one Zumo bootloader/flash memory page.*/
 static const uint16_t PAGE_SIZE_BYTES = 128U;
@@ -80,10 +81,10 @@ FlashManager::~FlashManager()
 {
 }
 
-void FlashManager::readToRobotFlash(size_t expectedsize)
+bool FlashManager::readToRobotFlash(size_t expectedsize)
 {
+    bool retCode = false;
     Stream& deviceStream   = Board::getInstance().getDevice().getStream();
-    Board::getInstance().getDevice().process();
     int     availableBytes = deviceStream.available();
     if (0 < availableBytes)
 
@@ -114,23 +115,40 @@ void FlashManager::readToRobotFlash(size_t expectedsize)
                 Serial.print(" ");
             }
             Serial.println(); 
+            retCode = true;
         }
         else
         {
             LOG_INFO("Failure!");
         }  
     }
+    return retCode;
     
 }
 
 void FlashManager ::sendCommand(const uint8_t command[])
 {
+    const uint16_t WRITE_BUFFER_SIZE = 256;
+    uint8_t writeBuffer[WRITE_BUFFER_SIZE];
     Stream& deviceStream   = Board::getInstance().getDevice().getStream();
-    size_t commandsize = sizeof(command[0]);
-    size_t mysize= deviceStream.write(command, commandsize);
-    
-    readToRobotFlash(mysize);
+    /*Size of array*/
+    size_t commandsize = sizeof(command);
+     /* Copy the command OpCode into buffer */
+    memcpy(writeBuffer, command, commandsize);
+
+    /* Send the OpCode and command data to Zumo robot */
+    size_t bytesWritten= deviceStream.write(command, commandsize);
 
+    if(bytesWritten == commandsize)
+    {
+        /* Await response */
+        delay(50);
+        readToRobotFlash(commandsize);
+    }
+    else
+    {
+        LOG_ERROR("Could not send data packet to Zumo robot. Aborting now");
+    }
 }
 
 void FlashManager:: enterBootloadermode()
diff --git a/lib/ZumoOta/src/FlashManager.h b/lib/ZumoOta/src/FlashManager.h
index b5a0a327..d024ec86 100644
--- a/lib/ZumoOta/src/FlashManager.h
+++ b/lib/ZumoOta/src/FlashManager.h
@@ -63,7 +63,7 @@ class FlashManager
      * This function reads data from the provided stream and writes it to
      * the robot's flash memory.
      */
-    void readToRobotFlash(size_t expectedsize);
+    bool readToRobotFlash(size_t expectedsize);
 
     /**
      * @brief exit the bootloader mode.
diff --git a/lib/ZumoOta/src/WebServerCustom.cpp b/lib/ZumoOta/src/WebServerCustom.cpp
index e4b53aa0..de15317e 100644
--- a/lib/ZumoOta/src/WebServerCustom.cpp
+++ b/lib/ZumoOta/src/WebServerCustom.cpp
@@ -167,15 +167,6 @@ void WebServerCustom::init()
             }
         });
 
-    /*server.on("/changeProfile", HTTP_GET, [](AsyncWebServerRequest *request)
-    {
-
-        request->send(LittleFS, "/login.html","text/html");
-    });*/
-
-   
-   
-   
 
     server.on("/uploadFirmware", HTTP_GET, [](AsyncWebServerRequest *request)
     {
@@ -190,13 +181,6 @@ void WebServerCustom::init()
               });
 
 
-/*server.on("/performFirmwareUpdate", HTTP_POST, [](AsyncWebServerRequest* request)
-{
-    {
-        request->send(200, "text/plain", "Firmware update successful!");
-   
-    }
-});*/
 
 
 
diff --git a/lib/ZumoOta/src/Zumo32U4Specifications.h b/lib/ZumoOta/src/Zumo32U4Specifications.h
index e3975bd5..c88c50ad 100644
--- a/lib/ZumoOta/src/Zumo32U4Specifications.h
+++ b/lib/ZumoOta/src/Zumo32U4Specifications.h
@@ -72,7 +72,7 @@ namespace Zumo32U4Specification
     /** Command for reading the software ID */
     static const uint8_t READ_SW_ID_COMMAND[] = {0x53};
 
-    /** Command for reading the software version *
+    /** Command for reading the software version */
     static const uint8_t READ_SW_VERSION[] = {0x56};
 
     /** Command for reading the hardware version */
@@ -129,7 +129,6 @@ namespace Zumo32U4Specification
     /** The expected bootloader ID string */
     static const uint8_t EXPECTED_SOFTWARE_ID[] = {'C', 'A', 'T', 'E', 'R', 'I', 'N', '\0'};
 
-
     /** The expected bootloader version */
     
     static const uint8_t EXPECTED_SW_VERSION[] = {0x31, 0x30};
@@ -161,4 +160,6 @@ namespace Zumo32U4Specification
     /** The expected signature value */
     static const uint8_t EXPECTED_SIGNATURE[] = {0x87, 0x95, 0x1E};
 };
+
 #endif /** __ZUMO32U4Specification_H__ */
+/** @} */