TS-code is like G-code but it goes up your butt.

#include "tscode.h"

tscode_command_response_t cmd_callback(tscode_command_t* cmd, char* response, size_t resp_len) {
    switch (cmd->type) {
        case TSCODE_VIBRATE_ON:
            hardware_set_vibration_level(cmd->speed);
            break;
        default:
            return TSCODE_RESPONSE_FAULT;
    }

    return TSCODE_RESPONSE_OK;
}

void app_main(void) {
    for (;;) {
        tscode_process_stream(stdin, stdout, cmd_callback);
        yield();
    }
}

About TS-code

There are T-codes and S-codes. T-codes control movement-based toys, and S-codes are System codes that either control metadata or basic system-level stuff. The majority of these have direct equivalents to G-code counterparts. When determining the control set to present for a TS-code enabled device, you should inspect its capabilities, which will return the capstring. The capstring can be decoded to figure out how to present a UI. Given this, in theory a generic control UI can be presented which operates any TS-code enabled device.

TS-code is extensible, where appropriate new commands can be added in to support future toys while maintaining backwards compatibility with devices that don't care about those features. Additionally, several commands accept a "C" parameter for Channel. The default channel is 0, but commands can target additional channels as needed to control multiple instances of similar things, such as devices with multiple vibrators or linear actuators or lube pumps.

TS-code Format

S70 "Hang on, have fun!"    ' this will make the device show a message
S03 BV255                   ' this sets vibration to byte value 255 (100%, full ON)
T0F60                       ' start reciprocating at 60 RPM, note the leading 0 in command is optional
T0 C1 R100 I1000            ' reciprocate, channel 1, 100 RPM ramp to over 1000 ms
T22                         ' program coordinate in percent (for next example)
T1X1.0F0.5                  ' linear move X to 1.0 (percent, so 100%) at a rate of 0.5 (percent) / second
S07P300                     ' lube mist pump on for 300 ms

Spaces in the commands are optional for readability and discarded by the parser. Parameters start with a letter. To that end, if the parser encounters a S or T token, the previous command's parsing is considered complete and pushed into the operation buffer or holding buffer.

Each command is sent one line at a time, and consists of a series of Letter + Digit combinations to specify the command and its parameters. The TS-code driver has two buffers: The operation buffer, and the holding buffer. In order to synch- ronize movements with realtime data and avoid latency of transmitting and parsing those commands, the S-codes S97-S99 can be used to begin/end a buffer block, and then excute the buffer block. On devices which support multiple buffers, S97 - Start Buffer can accept a Lxxx label, which can be used by S99 - Execute Buffer. The default buffer is S97 L00 which will be executed by S99 L00 or S97/S99 without arguments. The device capstring will indicate how many program buffers it supports.

Conflicting commands for the same channel will overwrite the previous command in the buffer by default. It is therefore advised to issue S116 - Wait for Operation commands if you intended to execute a series of commands which were intended to run one after the other. If you do not desire realtime operation, you can issue S118 - Start Queued Programming to instruct the device to weit until an operation is complete before executing the next command. To return to Realtime mode, use S117 - Start Realtime Programming.

TS-code Commands

T-codes

CMD	Name	Symbol	Arguments
T00	Reciprocating Move	RECIPROCATING_MOVE	C?, V
T01	Linear Move	LINEAR_MOVE	C?, X, Y, Z, F?
T02	Clockwise Circular Move	CW_CIRCULAR_MOVE	C?, I, J, K, R, X, Y, Z, F?
T03	Counter-clockwise Circular Move	CCW_CIRCULAR_MOVE	C?, I, J, K, R, X, Y, Z, F?
T04	Dwell	DWELL	C?, V
T05	Rotational Move	ROTATIONAL_MOVE	C?, X, Y, Z, F?
...
T17	Select X-Y Plane	SELECT_XY_PLANE	C?
T18	Select X-Z Plane	SELECT_XZ_PLANE	C?
T19	Select Y-Z Plane	SELECT_YZ_PLANE	C?
T20	Program Unit: Inches	PROGRAM_UNIT_INCH
T21	Program Unit: Metric (Millimeter)	PROGRAM_UNIT_METRIC
T22	Program Unit: Percentage	PROGRAM_UNIT_PERCENTAGE
T23	Program Unit: Byte	PROGRAM_UNIT_BYTE
...
T28	Return to Home Position	RETURN_HOME
...
T90	Absolute Programming	PROGRAM_POSITION_ABSOLUTE
T91	Relative (Incremental) Programming	PROGRAM_POSITION_RELARIVE

S-codes

CMD	Name	Symbol	Arguments
S00	Program Stop (Immediate)	HALT_IMMEDIATE
S01	Sleep or Conditional Stop	CONDITIONAL_STOP
S02	End of Program	END_OF_PROGRAM
S03	Vibration On	VIBRATE_ON
S04	Vibration Pattern	VIBRATE_PATTERN
S05	Vibration Off	VIBRATE_OFF
S06	Default Channel Select	DEFAULT_CHANNEL_SET	V
S07	Lube Mist Pump ON	LUBE_MIST_ON
S08	Lube Flood Pump ON	LUBE_FLOOD_ON
S09	Lube Pump OFF	LUBE_OFF
S10	Air Out valve Open	AIR_OUT_OPEN
S11	Air In Valve Open	AIR_IN_OPEN
S12	Air Valve Close	AIR_CLOSE
...
S70	Display a Message	DISPLAY_MESSAGE
...
S72	Play a Tone	PLAY_TONE
...
S96	Empty Program Buffer	BUFFER_EMPTY
S97	Start Buffer Programming	BUFFER_START
S98	End Buffer Programming	BUFFER_END
S99	Execute Program Buffer	BUFFER_EXECUTE
...
S104	Enable Heater	ENABLE_HEATER
S105	Get Heater Temperature	GET_HEATER_TEMP
S106	Fan On	FAN_ON
S107	Fan Off	FAN_OFF
S108	Cancel Heating	CANCEL_HEATING
S109	Set Heater and Wait	ENABLE_HEATER_AND_WAIT
...
S113	Ping / Pong	PING
S114	Report Current Positions	GET_CURRENT_POSITIONS
S115	Report Firmware and Capstring	GET_CAPSTRINGS
S116	Wait for Movement	WAIT_MOVEMENT
S117	Start Realtime Programming	START_REALTIME_PROGRAMMING
S118	Start Queued Programming	START_QUEUED_PROGRAMMING
...
S150	Set LED Color	SET_LED_COLOR
...
S199	Exit TS-code Mode	EXIT_TSCODE_MODE

? denotes an optional argument.

Capstrings

Using S115 will report back a capabilities string and firmware version, or capstring. This capstring will contain a number of tokens indicating which features and channels the device supports, as well as its ranges and limits.