axl minors cont'd

axl @ 0b8fc43e

-Subproject commit d1e3aafd55d1fa784b6f05fce71ee70e5630b3d7
+Subproject commit 0b8fc43e4c0ac860abc96a51eccc5d222ed11bb6

firmware/axl-stepper/src/main.cpp

@@ -105,13 +105,18 @@ Endpoint statesEP(&osap, "states", onStateData);
 
 // -------------------------------------------------------- 4: Axl Queue Addition 
 
-EP_ONDATA_RESPONSES onPlannedMoveData(uint8_t* data, uint16_t len){
+EP_ONDATA_RESPONSES onSegmentData(uint8_t* data, uint16_t len){
+  // careful, if you add a new field in axlPlannedSegment_t, recall you have to copy 
+  // it manually into the buffer (!) 
   axlPlannedSegment_t move;
   uint16_t rptr = 0;
   // location of move-in-sequence, to count continuity, 
   move.segmentNumber = ts_readUint32(data, &rptr);
   // which actuator is requested to ack this mfer, 
-  move.returnActuator = data[rptr ++];
+  move.returnActuator = ts_readUint8(data, &rptr);
+  // is it the end of this stream ?
+  move.isLastSegment = ts_readBoolean(data, &rptr);
+  OSAP::debug("segnum, isLast " + String(move.segmentNumber) + ", " + String(move.isLastSegment));
   // unit vector describing move's direction, 
   for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
     move.unitVector.axis[a] = ts_readFloat32(data, &rptr);
@@ -128,7 +133,7 @@ EP_ONDATA_RESPONSES onPlannedMoveData(uint8_t* data, uint16_t len){
   return EP_ONDATA_REJECT;
 }
 
-Endpoint precalculatedMoveEP(&osap, "plannedMovesIn", onPlannedMoveData);
+Endpoint precalculatedMoveEP(&osap, "segmentsIn", onSegmentData);
 
 // -------------------------------------------------------- 5: Halt Input 
 

osape @ 02d0a15f

-Subproject commit d523fa272285385edd6f2f9aff1c6abbf5a6d439
+Subproject commit 02d0a15f90372e1f15f37ca4e0882b956d2eec70