20150512 Nakazawa
Fork of AigamozuControlPackets by
AigamozuControlPackets.cpp@0:2b8b56ac7a82, 2014-05-30 (annotated)
- Committer:
- m5171135
- Date:
- Fri May 30 15:33:50 2014 +0000
- Revision:
- 0:2b8b56ac7a82
- Child:
- 1:80448565c15c
to Mr.watanabe
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:2b8b56ac7a82 | 5 | uint8_t* AigamozuControlPackets::createStatusPacket(long latitudeH,long latitudeL,long longitudeH,long longitudeL,uint8_t fromID,uint8_t toID) |
m5171135 | 0:2b8b56ac7a82 | 6 | { |
m5171135 | 0:2b8b56ac7a82 | 7 | uint8_t* data = new uint8_t[RECEIVES_GPS_STATUS_LENGTH]; |
m5171135 | 0:2b8b56ac7a82 | 8 | |
m5171135 | 0:2b8b56ac7a82 | 9 | //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4] |
m5171135 | 0:2b8b56ac7a82 | 10 | TEST_T latH,latL,lonH,lonL; |
m5171135 | 0:2b8b56ac7a82 | 11 | |
m5171135 | 0:2b8b56ac7a82 | 12 | latH.a = latitudeH; |
m5171135 | 0:2b8b56ac7a82 | 13 | latL.a = latitudeL; |
m5171135 | 0:2b8b56ac7a82 | 14 | lonH.a = longitudeH; |
m5171135 | 0:2b8b56ac7a82 | 15 | lonL.a = longitudeL; |
m5171135 | 0:2b8b56ac7a82 | 16 | |
m5171135 | 0:2b8b56ac7a82 | 17 | uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'S',nowMode,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 | 18 | for(int i = 0; i < RECEIVES_GPS_STATUS_LENGTH; ++i) data[i] = tmp[i]; |
m5171135 | 0:2b8b56ac7a82 | 19 | return data; |
m5171135 | 0:2b8b56ac7a82 | 20 | } |
m5171135 | 0:2b8b56ac7a82 | 21 | |
m5171135 | 0:2b8b56ac7a82 | 22 | uint8_t* AigamozuControlPackets::createAckPacket(uint8_t fromID,uint8_t toID){ |
m5171135 | 0:2b8b56ac7a82 | 23 | uint8_t* data = new uint8_t[RECEIVES_ACK_LENGTH]; |
m5171135 | 0:2b8b56ac7a82 | 24 | uint8_t tmp[] = {'A','G','S','c','F',fromID,'T',toID,nowMode,nowStatus,'A','G','E'}; |
m5171135 | 0:2b8b56ac7a82 | 25 | for(int i = 0; i < RECEIVES_ACK_LENGTH; ++i) data[i] = tmp[i]; |
m5171135 | 0:2b8b56ac7a82 | 26 | return data; |
m5171135 | 0:2b8b56ac7a82 | 27 | } |
m5171135 | 0:2b8b56ac7a82 | 28 | |
m5171135 | 0:2b8b56ac7a82 | 29 | uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){ |
m5171135 | 0:2b8b56ac7a82 | 30 | return buf[14]; |
m5171135 | 0:2b8b56ac7a82 | 31 | } |
m5171135 | 0:2b8b56ac7a82 | 32 | |
m5171135 | 0:2b8b56ac7a82 | 33 | |
m5171135 | 0:2b8b56ac7a82 | 34 | |
m5171135 | 0:2b8b56ac7a82 | 35 | |
m5171135 | 0:2b8b56ac7a82 | 36 | |
m5171135 | 0:2b8b56ac7a82 | 37 | /* |
m5171135 | 0:2b8b56ac7a82 | 38 | bool checkCommandAvilable(COMMAND_TYPE requestCommand){ |
m5171135 | 0:2b8b56ac7a82 | 39 | |
m5171135 | 0:2b8b56ac7a82 | 40 | switch(nowMode){ |
m5171135 | 0:2b8b56ac7a82 | 41 | case MANUAL: |
m5171135 | 0:2b8b56ac7a82 | 42 | if(requestCommand == ) return false; |
m5171135 | 0:2b8b56ac7a82 | 43 | break; |
m5171135 | 0:2b8b56ac7a82 | 44 | |
m5171135 | 0:2b8b56ac7a82 | 45 | |
m5171135 | 0:2b8b56ac7a82 | 46 | default: |
m5171135 | 0:2b8b56ac7a82 | 47 | return true; |
m5171135 | 0:2b8b56ac7a82 | 48 | break; |
m5171135 | 0:2b8b56ac7a82 | 49 | |
m5171135 | 0:2b8b56ac7a82 | 50 | } |
m5171135 | 0:2b8b56ac7a82 | 51 | |
m5171135 | 0:2b8b56ac7a82 | 52 | return true; |
m5171135 | 0:2b8b56ac7a82 | 53 | |
m5171135 | 0:2b8b56ac7a82 | 54 | } |
m5171135 | 0:2b8b56ac7a82 | 55 | */ |