Diff: AigamozuControlPackets.cpp

Revision:

0:2b8b56ac7a82

Child:

1:80448565c15c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AigamozuControlPackets.cpp	Fri May 30 15:33:50 2014 +0000
@@ -0,0 +1,55 @@
+#include "AigamozuControlPackets.h"
+#include "VNH5019.h"
+
+
+uint8_t* AigamozuControlPackets::createStatusPacket(long latitudeH,long latitudeL,long longitudeH,long longitudeL,uint8_t fromID,uint8_t toID)
+{
+    uint8_t* data = new uint8_t[RECEIVES_GPS_STATUS_LENGTH];
+    
+    //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4] 
+    TEST_T latH,latL,lonH,lonL;
+    
+    latH.a = latitudeH;
+    latL.a = latitudeL;
+    lonH.a = longitudeH;
+    lonL.a = longitudeL;
+    
+    uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'S',nowMode,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};
+    for(int i = 0; i < RECEIVES_GPS_STATUS_LENGTH; ++i) data[i] = tmp[i];
+    return data;
+}
+
+uint8_t* AigamozuControlPackets::createAckPacket(uint8_t fromID,uint8_t toID){ 
+    uint8_t* data = new uint8_t[RECEIVES_ACK_LENGTH];
+    uint8_t tmp[] = {'A','G','S','c','F',fromID,'T',toID,nowMode,nowStatus,'A','G','E'};
+    for(int i = 0; i < RECEIVES_ACK_LENGTH; ++i) data[i] = tmp[i];
+    return data;
+    }
+
+uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
+    return buf[14];
+    }
+
+
+
+
+
+/*
+bool checkCommandAvilable(COMMAND_TYPE requestCommand){
+         
+         switch(nowMode){
+            case MANUAL:
+            if(requestCommand == ) return false;
+            break;
+             
+
+            default:
+            return true;
+            break;
+             
+             }
+             
+            return true;
+             
+    }
+*/
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