Diff: main.cpp

Revision:

2:e9a8664b52ff

Parent:

1:a5f98c7e1feb

Child:

3:7affc8af6db6

--- a/main.cpp	Sat Apr 11 12:25:34 2015 +0000
+++ b/main.cpp	Mon Apr 13 10:09:42 2015 +0000
@@ -120,7 +120,7 @@
                     //CommandType -> Send Status
                     case STATUS_REQUEST:{
                             //Create GPS Infomation Packet
-                            agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL);
+                            agz.createReceiveStatusCommand('D','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL);
                             //Select Destination
                                 ZBTxRequest tx64request(robot_Address,agz.packetData,agz.getPacketLength());
                             //Send -> Base
@@ -133,12 +133,14 @@
                             
                         printf("Receive Status\n");      
                            
-                        id = buf1[6] - 'A';
+                        id = buf1[5] - 'A';
                         robot[id].set_state(buf1[9]);
                         robot[id].set_LatitudeH(&buf1[13]);
                         robot[id].set_LatitudeL(&buf1[17]);
                         robot[id].set_LongitudeH(&buf1[21]);
                         robot[id].set_LongitudeL(&buf1[25]); 
+                        
+                        agz.reNewBasePoint(id,robot[id].get_LatitudeH(),robot[id].get_LatitudeL(),robot[id].get_LongitudeH(),robot[id].get_LongitudeL());
                             
                         printf("%d\n", id);                    
                         printf("%ld, %ld, %ld, %ld\n", robot[id].get_LatitudeH(), robot[id].get_LatitudeL(), robot[id].get_LongitudeH(), robot[id].get_LongitudeL());
@@ -167,8 +169,8 @@
             refresh_Timer.reset();
             if (myGPS.fix) {
                 agz.nowStatus = GPS_AVAIL;
-                agz.reNewPoint(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL);
-            
+                agz.reNewRobotPoint(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL);
+                printf("state = %d\n",agz.nowMode);
                 printf("my %ld, %ld, %ld, %ld\n", myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL);
             }
             else agz.nowStatus = GPS_UNAVAIL;
@@ -179,7 +181,7 @@
         if( collect_Timer.read_ms() >= collect_Time){
             collect_Timer.reset();
             
-            printf("Send Request\n");
+            printf("Send Request:%d,%d\n",collect_flag,collect_state);
                       
             agz.createRequestCommand('A', collect_state);
             //Select Destination