/*

https://forum.arduino.cc/t/integer-to-string-conversion-for-bidirectional-uart-connection-nano-and-esp32-not-working/1263911

*/



typedef struct __attribute__((__packed__)) struct_message {
  int16_t desiredMotor1Speed;
  int16_t desiredMotor2Speed;
  byte desiredDriveMode; // true = autonomous driving
} struct_message;

struct_message responseData;


void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.println("Hello, ESP32!");
  int motor1Speed = -300;
  int motor2Speed = -50;
  bool driveMode = true;

   String dataInputString;
   char dataOutputString[8];
   sprintf(dataOutputString, "%03d,%03d,%d", (motor1Speed), (motor2Speed), driveMode);
   Serial.println(dataOutputString);
   dataInputString = dataOutputString;
   responseData.desiredMotor1Speed = dataInputString.substring(0, dataInputString.indexOf(',')).toInt();
   responseData.desiredMotor2Speed = dataInputString.substring(dataInputString.indexOf(',')+1, dataInputString.lastIndexOf(',')).toInt();
   responseData.desiredDriveMode = (dataInputString.substring(dataInputString.lastIndexOf(',')+1).toInt() ==1); // Konvertiere den char in bool

Serial.println("After conversion");
Serial.print("Motor 1:");Serial.println(responseData.desiredMotor1Speed);
Serial.print("Motor 2:");Serial.println(responseData.desiredMotor2Speed);
Serial.print("Mode  :");Serial.println(responseData.desiredDriveMode);
}

void loop() {
  // put your main code here, to run repeatedly:
  delay(10); // this speeds up the simulation
}