File content as of revision 2:3f2d4f53ceed:

#include "mbed.h"
#include "VNH5019.h"

#ifndef AIGAMOZU_CONTROL_PACKETS
#define AIGAMOZU_CONTROL_PACKETS

#define MANUAL_COMMAND_LENGTH 17
#define REQUEST_COMMNAD_LENGTH 11
#define CHANGE_MODE_COMMAND_LENGTH 12
#define RECEIVE_STATUS_COMMNAD_LENGTH 32

enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'};
enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2};
enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1};

union TEST_T{
    long a;
    uint8_t b[4];
    };
    
/////////////////////////////////////////
//
//Interruption processing 1: time -> 0.1s
//
/////////////////////////////////////////

class AigamozuControlPackets{
    
    public:
    AigamozuControlPackets();
    
    
    Ticker autoInt;
    
    uint8_t* packetData;
    //Create Packet: Controller/Base -> Robot 
    void createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR);
    void createRequestCommand(uint8_t fromID,uint8_t toID,uint8_t);
    void createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode);
    
    //Create Packet: Robot -> Controller/Base 
    void createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL);
    //uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
    
    //using create packet
    uint8_t* getPacketData();
    int getPacketLength();
    
    
    //------
    
    //Change Mode: 
    bool changeMode(uint8_t *buf); 
        
    //
    bool checkCommandAvilable(COMMAND_TYPE requestCommand);
    uint8_t checkCommnadType(uint8_t* buf);
    
    
    MODE nowMode;
    STATUS nowStatus;

    private:
    int packetLength;
     
     
     
    
    };
    
#endif