![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
aigamo get data
Dependencies: AigamozuControlPackets XBee agz_common mbed
agz_base.cpp
- Committer:
- kityann
- Date:
- 2014-06-18
- Revision:
- 1:533008368d76
- Parent:
- 0:0aada4db04db
File content as of revision 1:533008368d76:
#include "mbed.h" #include "XBee.h" #include "agz_common.h" #include "AigamozuControlPackets.h" #define MY_BASE_NUMBER 0 XBee xbee(p13,p14); Serial pc(USBTX, USBRX); // tx, rx Ticker timer; //robot data AGZ_ROBOT robot[AGZ_NUM_ROBOTS]; //function //transform packetdata to robot data void agz_transform_papcket(uint8_t* packet_data,int id){ //set latitude, longitude, state robot[id].set_state(packet_data[9]); robot[id].set_LatitudeH(&packet_data[13]); robot[id].set_LatitudeL(&packet_data[17]); robot[id].set_LongitudeH(&packet_data[21]); robot[id].set_LongitudeL(&packet_data[25]); } /*---------registere robot--------------*/ /* void agz_register_robot(uint8_*t packet_data){ uint8_t robot_id = packet_data[5]; robot[robot_id].set_state(0); send_register_ack(); } */ /*---------timer set----*/ void agz_send_request(){ static uint8_t next_send_address = 0,i; AigamozuControlPackets agz_packet; /*------search next moving robot--------*/ for(i = next_send_address;i < AGZ_NUM_ROBOTS;i++){ if(robot[i].get_state() != 0xFF){ next_send_address = i; break; } } if(i == AGZ_NUM_ROBOTS){ for(i = 0;i < AGZ_NUM_ROBOTS;i++){ if(robot[i].get_state() != 0xFF){ next_send_address = i; break; } } } agz_packet.createRequestCommand(MY_BASE_NUMBER,next_send_address); ZBTxRequest agz_request_packet = ZBTxRequest(Agz_XBee_Remote_Address[next_send_address], agz_packet.packetData, REQUEST_COMMNAD_LENGTH ); xbee.send(agz_request_packet); next_send_address++; } /*---------init---------*/ void agz_base_init(){ xbee.begin(57600); pc.baud(57600); timer.attach(&agz_send_request,2.0); } int main(void){ int sender,reciever; ZBRxResponse xbeeresponse; agz_base_init(); wait(1); printf("start\n"); robot[0].set_state(0); robot[1].set_state(0); robot[2].set_state(0); robot[3].set_state(0); while(1){ xbee.readPacket(); //get packet data if(xbee.getResponse().isAvailable() ){ xbee.getResponse(xbeeresponse); //get data packet if(xbee.getResponse().getApiId() == ZB_RX_RESPONSE){ uint8_t *packet_data = xbeeresponse.getData(); uint8_t packet_kinds = packet_data[3]; //get sensor data if(packet_kinds == 'R'){ sender = packet_data[5] - 'A'; reciever = packet_data[7] - 'a'; agz_transform_papcket(packet_data,sender); printf("%d,%d,%d,%ld.%ld,%ld.%ld\n",robot[sender].get_state(),sender,reciever, robot[sender].get_LatitudeH(),robot[sender].get_LatitudeL(), robot[sender].get_LongitudeH(),robot[sender].get_LongitudeL()); } //get register packet if(packet_kinds == 'E'){ //agz_register_robot(packet_data); } }else{ //get not rx response } }else{ } } }