File content as of revision 1:80448565c15c:

#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','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};
    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;
             
    }
*/