aigamozu / AigamozuControlPackets_展示会

展示会用です

Dependencies:   VNH5019

Dependents:   Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete

Fork of AigamozuControlPackets by aigamozu

AigamozuControlPackets.cpp@1:80448565c15c, 2014-06-04 (annotated)

Committer:
m5171135
Date:
Wed Jun 04 09:12:20 2014 +0000
Revision:
1:80448565c15c
Parent:
0:2b8b56ac7a82
Child:
2:3f2d4f53ceed
aaa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m5171135 0:2b8b56ac7a82 1 #include "AigamozuControlPackets.h"
m5171135 0:2b8b56ac7a82 2 #include "VNH5019.h"
m5171135 0:2b8b56ac7a82 3
m5171135 0:2b8b56ac7a82 4
m5171135 1:80448565c15c 5
m5171135 1:80448565c15c 6
m5171135 0:2b8b56ac7a82 7 uint8_t* AigamozuControlPackets::createStatusPacket(long latitudeH,long latitudeL,long longitudeH,long longitudeL,uint8_t fromID,uint8_t toID)
m5171135 0:2b8b56ac7a82 8 {
m5171135 0:2b8b56ac7a82 9 uint8_t* data = new uint8_t[RECEIVES_GPS_STATUS_LENGTH];
m5171135 0:2b8b56ac7a82 10
m5171135 0:2b8b56ac7a82 11 //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4]
m5171135 0:2b8b56ac7a82 12 TEST_T latH,latL,lonH,lonL;
m5171135 0:2b8b56ac7a82 13
m5171135 0:2b8b56ac7a82 14 latH.a = latitudeH;
m5171135 0:2b8b56ac7a82 15 latL.a = latitudeL;
m5171135 0:2b8b56ac7a82 16 lonH.a = longitudeH;
m5171135 0:2b8b56ac7a82 17 lonL.a = longitudeL;
m5171135 0:2b8b56ac7a82 18
m5171135 1:80448565c15c 19 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 0:2b8b56ac7a82 20 for(int i = 0; i < RECEIVES_GPS_STATUS_LENGTH; ++i) data[i] = tmp[i];
m5171135 0:2b8b56ac7a82 21 return data;
m5171135 0:2b8b56ac7a82 22 }
m5171135 0:2b8b56ac7a82 23
m5171135 0:2b8b56ac7a82 24 uint8_t* AigamozuControlPackets::createAckPacket(uint8_t fromID,uint8_t toID){
m5171135 0:2b8b56ac7a82 25 uint8_t* data = new uint8_t[RECEIVES_ACK_LENGTH];
m5171135 0:2b8b56ac7a82 26 uint8_t tmp[] = {'A','G','S','c','F',fromID,'T',toID,nowMode,nowStatus,'A','G','E'};
m5171135 0:2b8b56ac7a82 27 for(int i = 0; i < RECEIVES_ACK_LENGTH; ++i) data[i] = tmp[i];
m5171135 0:2b8b56ac7a82 28 return data;
m5171135 0:2b8b56ac7a82 29 }
m5171135 0:2b8b56ac7a82 30
m5171135 0:2b8b56ac7a82 31 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
m5171135 0:2b8b56ac7a82 32 return buf[14];
m5171135 0:2b8b56ac7a82 33 }
m5171135 0:2b8b56ac7a82 34
m5171135 0:2b8b56ac7a82 35
m5171135 0:2b8b56ac7a82 36
m5171135 0:2b8b56ac7a82 37
m5171135 0:2b8b56ac7a82 38
m5171135 0:2b8b56ac7a82 39 /*
m5171135 0:2b8b56ac7a82 40 bool checkCommandAvilable(COMMAND_TYPE requestCommand){
m5171135 0:2b8b56ac7a82 41
m5171135 0:2b8b56ac7a82 42 switch(nowMode){
m5171135 0:2b8b56ac7a82 43 case MANUAL:
m5171135 0:2b8b56ac7a82 44 if(requestCommand == ) return false;
m5171135 0:2b8b56ac7a82 45 break;
m5171135 0:2b8b56ac7a82 46
m5171135 0:2b8b56ac7a82 47
m5171135 0:2b8b56ac7a82 48 default:
m5171135 0:2b8b56ac7a82 49 return true;
m5171135 0:2b8b56ac7a82 50 break;
m5171135 0:2b8b56ac7a82 51
m5171135 0:2b8b56ac7a82 52 }
m5171135 0:2b8b56ac7a82 53
m5171135 0:2b8b56ac7a82 54 return true;
m5171135 0:2b8b56ac7a82 55
m5171135 0:2b8b56ac7a82 56 }
m5171135 0:2b8b56ac7a82 57 */