status now always reports position

Firmware/common/Commands.h

@@ -1,8 +1,9 @@
 #ifndef COMMANDS_H
 #define COMMANDS_H
 
-constexpr int i2cFloatSize{4}, i2cCmdFloats{7},
-    i2cCmdBytes{i2cFloatSize * i2cCmdFloats};
+#include "common/Util.h"
+
+constexpr int i2cCmdFloats{7}, i2cCmdBytes{i2cFloatSize * i2cCmdFloats};
 
 enum bcAxis {
     X = 1,
@@ -10,13 +11,6 @@ enum bcAxis {
     Z = 3,
 };
 
-enum class I2CStatusMsg {
-    WAIT = 0,
-    NEXT,
-    TIMEOUT,
-    ERR,
-};
-
 enum PosMsg {
     servoRot,
     eggRot,
@@ -43,14 +37,7 @@ struct Command {
 
     Command(CommandType type = CommandType::unk, float arg1 = NAN,
             float arg2 = NAN, float arg3 = NAN, float arg4 = NAN,
-            float arg5 = NAN, float arg6 = NAN)
-        : type(type),
-          arg1(arg1),
-          arg2(arg2),
-          arg3(arg3),
-          arg4(arg4),
-          arg5(arg5),
-          arg6(arg6){};
+            float arg5 = NAN, float arg6 = NAN);
 
     Command(float *floats);
     void fromFloats(float *floats);
@@ -61,7 +48,4 @@ struct Command {
     void toBytes(byte *bytes);
 };
 
-void bytesToFloat(float *target, byte *val);
-void floatToBytes(byte *target, float val);
-
 #endif

Firmware/common/Status.h

@@ -0,0 +1,39 @@
+#ifndef STATUS_H
+#define STATUS_H
+
+#include "common/Util.h"
+
+constexpr int i2cStsFloats{8}, i2cStsBytes{i2cFloatSize * i2cStsFloats};
+
+enum class StatusType {
+    unk = 0,
+    WAIT,
+    NEXT,
+    TIMEOUT,
+    ERR,
+};
+
+struct Status {
+    StatusType type = StatusType::unk;
+    float mmS = NAN;
+    float mmE = NAN;
+    float pEng = NAN;
+    float feedrate = NAN;
+    float eggDia = NAN;
+    float eggLen = NAN;
+    float xLim = NAN;
+
+    Status(StatusType type = StatusType::unk, float mmS = NAN, float mmE = NAN,
+           float pEng = NAN, float feedrate = NAN, float eggDia = NAN,
+           float eggLen = NAN, float xLim = NAN);
+
+    Status(float *floats);
+    void fromFloats(float *floats);
+    void toFloats(float *floats);
+
+    Status(byte *bytes);
+    void fromBytes(byte *bytes);
+    void toBytes(byte *bytes);
+};
+
+#endif

Firmware/common/Util.h

@@ -0,0 +1,17 @@
+#ifndef UTIL_H
+#define UTIL_H
+
+#include <Arduino.h>
+
+constexpr int i2cFloatSize{4};
+
+inline void bytesToFloat(float *target, byte *val) {
+    memcpy(target, val, i2cFloatSize);
+    return;
+}
+
+inline void floatToBytes(byte *target, float val) {
+    memcpy(target, &val, i2cFloatSize);
+    return;
+}
+#endif