aigamozu / AigamozuControlPackets

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Dependencies:   VNH5019

Dependents:   agz_base_ver2 agz_base_ver2 get_GPS_data_ver1 aigamozu_program_ver2 ... more

AigamozuControlPackets.cpp@3:282dad679fca, 2014-06-18 (annotated)

Committer:
kityann
Date:
Wed Jun 18 13:48:02 2014 +0000
Revision:
3:282dad679fca
Parent:
2:3f2d4f53ceed 
aigamo get data;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m5171135 0:2b8b56ac7a82 1 #include "AigamozuControlPackets.h"
m5171135 0:2b8b56ac7a82 2
m5171135 0:2b8b56ac7a82 3
m5171135 2:3f2d4f53ceed 4 AigamozuControlPackets::AigamozuControlPackets(){
m5171135 2:3f2d4f53ceed 5 packetData = new uint8_t[50];
m5171135 2:3f2d4f53ceed 6 packetLength = 0;
m5171135 2:3f2d4f53ceed 7
m5171135 2:3f2d4f53ceed 8 }
m5171135 2:3f2d4f53ceed 9
m5171135 1:80448565c15c 10
m5171135 1:80448565c15c 11
m5171135 2:3f2d4f53ceed 12 //////////////////////////////
m5171135 2:3f2d4f53ceed 13 // Controller/Base -> Robot //
m5171135 2:3f2d4f53ceed 14 //////////////////////////////
m5171135 2:3f2d4f53ceed 15 void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
m5171135 2:3f2d4f53ceed 16 {
m5171135 2:3f2d4f53ceed 17 uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
m5171135 2:3f2d4f53ceed 18 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 19 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 20 }
m5171135 2:3f2d4f53ceed 21
kityann 3:282dad679fca 22 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID)
m5171135 0:2b8b56ac7a82 23 {
m5171135 2:3f2d4f53ceed 24 uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
m5171135 2:3f2d4f53ceed 25 for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 26 packetLength = REQUEST_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 27 }
m5171135 0:2b8b56ac7a82 28
kityann 3:282dad679fca 29 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,MODE mode){
m5171135 2:3f2d4f53ceed 30 uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
m5171135 2:3f2d4f53ceed 31 for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 32 packetLength = CHANGE_MODE_COMMAND_LENGTH;
m5171135 2:3f2d4f53ceed 33 }
m5171135 2:3f2d4f53ceed 34
m5171135 2:3f2d4f53ceed 35
m5171135 2:3f2d4f53ceed 36 //////////////////////////////
m5171135 2:3f2d4f53ceed 37 // Robot -> Controller/Base //
m5171135 2:3f2d4f53ceed 38 //////////////////////////////
m5171135 2:3f2d4f53ceed 39
m5171135 2:3f2d4f53ceed 40 void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL)
m5171135 2:3f2d4f53ceed 41 {
m5171135 0:2b8b56ac7a82 42 //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4]
m5171135 0:2b8b56ac7a82 43 TEST_T latH,latL,lonH,lonL;
m5171135 0:2b8b56ac7a82 44
m5171135 0:2b8b56ac7a82 45 latH.a = latitudeH;
m5171135 0:2b8b56ac7a82 46 latL.a = latitudeL;
m5171135 0:2b8b56ac7a82 47 lonH.a = longitudeH;
m5171135 0:2b8b56ac7a82 48 lonL.a = longitudeL;
m5171135 0:2b8b56ac7a82 49
m5171135 1:80448565c15c 50 uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S',nowStatus,71,80,83,latH.b[0],latH.b[1],latH.b[2],latH.b[3],latL.b[0],latL.b[1],latL.b[2],latL.b[3],lonH.b[0],lonH.b[1],lonH.b[2],lonH.b[3],lonL.b[0],lonL.b[1],lonL.b[2],lonL.b[3],65,71,69};
m5171135 2:3f2d4f53ceed 51 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 52 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 0:2b8b56ac7a82 53 }
m5171135 0:2b8b56ac7a82 54
m5171135 2:3f2d4f53ceed 55
m5171135 2:3f2d4f53ceed 56 //////////////////////////////
m5171135 2:3f2d4f53ceed 57 // Using createPacket //
m5171135 2:3f2d4f53ceed 58 //////////////////////////////
m5171135 2:3f2d4f53ceed 59
m5171135 2:3f2d4f53ceed 60 uint8_t* AigamozuControlPackets::getPacketData(){
m5171135 2:3f2d4f53ceed 61 return packetData;
m5171135 2:3f2d4f53ceed 62 }
m5171135 2:3f2d4f53ceed 63
m5171135 2:3f2d4f53ceed 64 int AigamozuControlPackets::getPacketLength(){
m5171135 2:3f2d4f53ceed 65 return packetLength;
m5171135 0:2b8b56ac7a82 66 }
m5171135 0:2b8b56ac7a82 67
m5171135 0:2b8b56ac7a82 68 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
m5171135 0:2b8b56ac7a82 69 return buf[14];
m5171135 0:2b8b56ac7a82 70 }
m5171135 2:3f2d4f53ceed 71
m5171135 2:3f2d4f53ceed 72 bool AigamozuControlPackets::changeMode(uint8_t *buf){
m5171135 2:3f2d4f53ceed 73
m5171135 2:3f2d4f53ceed 74 switch(buf[19]){
m5171135 2:3f2d4f53ceed 75
m5171135 2:3f2d4f53ceed 76 case 0:
m5171135 2:3f2d4f53ceed 77 nowMode = STANDBY_MODE;
m5171135 2:3f2d4f53ceed 78 break;
m5171135 2:3f2d4f53ceed 79
m5171135 2:3f2d4f53ceed 80 case 1:
m5171135 2:3f2d4f53ceed 81 nowMode = MANUAL_MODE;
m5171135 2:3f2d4f53ceed 82 break;
m5171135 2:3f2d4f53ceed 83
m5171135 2:3f2d4f53ceed 84 case 2:
m5171135 2:3f2d4f53ceed 85 nowMode = AUTO_MODE;
m5171135 2:3f2d4f53ceed 86 break;
m5171135 2:3f2d4f53ceed 87 }
m5171135 2:3f2d4f53ceed 88 return false;
m5171135 2:3f2d4f53ceed 89 }
m5171135 2:3f2d4f53ceed 90