20150512 Nakazawa
Fork of AigamozuControlPackets by
AigamozuControlPackets.cpp@9:4f675487f06b, 2015-04-10 (annotated)
- Committer:
- s1200058
- Date:
- Fri Apr 10 12:58:42 2015 +0000
- Revision:
- 9:4f675487f06b
- Parent:
- 7:200ce5c1f486
- Child:
- 10:e77c664ee5e2
yokokawa;
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 | 6:f164a716be46 | 4 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 5 | // Init // |
m5171135 | 6:f164a716be46 | 6 | ////////////////////////////// |
m5171135 | 5:3f51eeb5aedc | 7 | AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){ |
m5171135 | 2:3f2d4f53ceed | 8 | packetData = new uint8_t[50]; |
m5171135 | 2:3f2d4f53ceed | 9 | packetLength = 0; |
m5171135 | 7:200ce5c1f486 | 10 | //--init base point--// |
m5171135 | 7:200ce5c1f486 | 11 | basePoint[0].x = 13956.2655; |
m5171135 | 7:200ce5c1f486 | 12 | basePoint[0].y = 3731.5060; |
m5171135 | 7:200ce5c1f486 | 13 | |
m5171135 | 7:200ce5c1f486 | 14 | basePoint[1].x = 13956.2898; |
m5171135 | 7:200ce5c1f486 | 15 | basePoint[1].y = 3731.5055; |
m5171135 | 7:200ce5c1f486 | 16 | |
m5171135 | 7:200ce5c1f486 | 17 | basePoint[2].x = 13956.2915; |
m5171135 | 7:200ce5c1f486 | 18 | basePoint[2].y = 3731.5245; |
m5171135 | 7:200ce5c1f486 | 19 | |
m5171135 | 7:200ce5c1f486 | 20 | basePoint[3].x = 13956.2680; |
m5171135 | 7:200ce5c1f486 | 21 | basePoint[3].y = 3731.5248; |
m5171135 | 2:3f2d4f53ceed | 22 | } |
m5171135 | 2:3f2d4f53ceed | 23 | |
m5171135 | 5:3f51eeb5aedc | 24 | |
m5171135 | 2:3f2d4f53ceed | 25 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 26 | // Controller/Base -> Robot // |
m5171135 | 2:3f2d4f53ceed | 27 | ////////////////////////////// |
m5171135 | 4:04dadf67ecb6 | 28 | |
m5171135 | 2:3f2d4f53ceed | 29 | void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR) |
m5171135 | 2:3f2d4f53ceed | 30 | { |
m5171135 | 2:3f2d4f53ceed | 31 | uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 32 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 33 | packetLength = RECEIVE_STATUS_COMMNAD_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 34 | } |
m5171135 | 2:3f2d4f53ceed | 35 | |
s1200058 | 9:4f675487f06b | 36 | void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID) |
m5171135 | 0:2b8b56ac7a82 | 37 | { |
m5171135 | 2:3f2d4f53ceed | 38 | uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 39 | for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 40 | packetLength = REQUEST_COMMNAD_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 41 | } |
m5171135 | 0:2b8b56ac7a82 | 42 | |
m5171135 | 2:3f2d4f53ceed | 43 | void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){ |
m5171135 | 2:3f2d4f53ceed | 44 | uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 45 | for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 46 | packetLength = CHANGE_MODE_COMMAND_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 47 | } |
m5171135 | 2:3f2d4f53ceed | 48 | |
m5171135 | 2:3f2d4f53ceed | 49 | |
m5171135 | 2:3f2d4f53ceed | 50 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 51 | // Robot -> Controller/Base // |
m5171135 | 2:3f2d4f53ceed | 52 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 53 | |
m5171135 | 2:3f2d4f53ceed | 54 | void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL) |
m5171135 | 2:3f2d4f53ceed | 55 | { |
m5171135 | 0:2b8b56ac7a82 | 56 | //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4] |
m5171135 | 0:2b8b56ac7a82 | 57 | TEST_T latH,latL,lonH,lonL; |
m5171135 | 0:2b8b56ac7a82 | 58 | |
m5171135 | 0:2b8b56ac7a82 | 59 | latH.a = latitudeH; |
m5171135 | 0:2b8b56ac7a82 | 60 | latL.a = latitudeL; |
m5171135 | 0:2b8b56ac7a82 | 61 | lonH.a = longitudeH; |
m5171135 | 0:2b8b56ac7a82 | 62 | lonL.a = longitudeL; |
m5171135 | 0:2b8b56ac7a82 | 63 | |
m5171135 | 1:80448565c15c | 64 | 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 | 2:3f2d4f53ceed | 65 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 66 | packetLength = RECEIVE_STATUS_COMMNAD_LENGTH; |
m5171135 | 0:2b8b56ac7a82 | 67 | } |
m5171135 | 0:2b8b56ac7a82 | 68 | |
m5171135 | 2:3f2d4f53ceed | 69 | |
m5171135 | 2:3f2d4f53ceed | 70 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 71 | // Using createPacket // |
m5171135 | 2:3f2d4f53ceed | 72 | ////////////////////////////// |
m5171135 | 4:04dadf67ecb6 | 73 | uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){ |
m5171135 | 4:04dadf67ecb6 | 74 | return buf[14]; |
m5171135 | 4:04dadf67ecb6 | 75 | } |
m5171135 | 2:3f2d4f53ceed | 76 | |
m5171135 | 2:3f2d4f53ceed | 77 | uint8_t* AigamozuControlPackets::getPacketData(){ |
m5171135 | 2:3f2d4f53ceed | 78 | return packetData; |
m5171135 | 2:3f2d4f53ceed | 79 | } |
m5171135 | 2:3f2d4f53ceed | 80 | |
m5171135 | 2:3f2d4f53ceed | 81 | int AigamozuControlPackets::getPacketLength(){ |
m5171135 | 2:3f2d4f53ceed | 82 | return packetLength; |
m5171135 | 0:2b8b56ac7a82 | 83 | } |
m5171135 | 0:2b8b56ac7a82 | 84 | |
m5171135 | 5:3f51eeb5aedc | 85 | void AigamozuControlPackets::changeSpeed(uint8_t* buf){ |
m5171135 | 5:3f51eeb5aedc | 86 | if(nowMode == MANUAL_MODE){ |
m5171135 | 5:3f51eeb5aedc | 87 | manualCount =0; |
m5171135 | 5:3f51eeb5aedc | 88 | _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]); |
m5171135 | 5:3f51eeb5aedc | 89 | } |
m5171135 | 5:3f51eeb5aedc | 90 | } |
m5171135 | 4:04dadf67ecb6 | 91 | |
m5171135 | 6:f164a716be46 | 92 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 93 | // each mode interrupt // |
m5171135 | 6:f164a716be46 | 94 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 95 | |
m5171135 | 6:f164a716be46 | 96 | void AigamozuControlPackets::manualMode(){ |
m5171135 | 6:f164a716be46 | 97 | manualCount++; |
m5171135 | 6:f164a716be46 | 98 | if(manualCount > 10){ |
m5171135 | 6:f164a716be46 | 99 | _agzSheild.changeSpeed(0,0,0,0); |
m5171135 | 6:f164a716be46 | 100 | manualCount = 0; |
m5171135 | 6:f164a716be46 | 101 | } |
m5171135 | 6:f164a716be46 | 102 | } |
m5171135 | 6:f164a716be46 | 103 | |
m5171135 | 6:f164a716be46 | 104 | |
m5171135 | 5:3f51eeb5aedc | 105 | void AigamozuControlPackets::randomAuto(){ |
m5171135 | 2:3f2d4f53ceed | 106 | |
m5171135 | 5:3f51eeb5aedc | 107 | randomCount++; |
m5171135 | 5:3f51eeb5aedc | 108 | |
m5171135 | 5:3f51eeb5aedc | 109 | if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128); |
m5171135 | 5:3f51eeb5aedc | 110 | else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128); |
m5171135 | 5:3f51eeb5aedc | 111 | else randomCount = 0; |
m5171135 | 5:3f51eeb5aedc | 112 | |
m5171135 | 5:3f51eeb5aedc | 113 | } |
m5171135 | 6:f164a716be46 | 114 | |
m5171135 | 6:f164a716be46 | 115 | void AigamozuControlPackets::gpsAuto(){ |
m5171135 | 5:3f51eeb5aedc | 116 | |
m5171135 | 7:200ce5c1f486 | 117 | printf("Check Start\n"); |
m5171135 | 7:200ce5c1f486 | 118 | printf("%f %f\n",agzPoint.x,agzPoint.y); |
m5171135 | 7:200ce5c1f486 | 119 | if(AigamozuControlPackets::checkGpsHit(basePoint[0],basePoint[1],basePoint[2],agzPoint)) printf("InArea1\n"); |
m5171135 | 7:200ce5c1f486 | 120 | if(AigamozuControlPackets::checkGpsHit(basePoint[0],basePoint[2],basePoint[3],agzPoint)) printf("InArea2\n"); |
m5171135 | 7:200ce5c1f486 | 121 | |
m5171135 | 7:200ce5c1f486 | 122 | |
m5171135 | 7:200ce5c1f486 | 123 | } |
m5171135 | 7:200ce5c1f486 | 124 | |
m5171135 | 7:200ce5c1f486 | 125 | |
m5171135 | 7:200ce5c1f486 | 126 | |
m5171135 | 7:200ce5c1f486 | 127 | |
m5171135 | 7:200ce5c1f486 | 128 | |
m5171135 | 7:200ce5c1f486 | 129 | |
m5171135 | 7:200ce5c1f486 | 130 | //Update Robot Point |
m5171135 | 7:200ce5c1f486 | 131 | void AigamozuControlPackets::reNewPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){ |
m5171135 | 7:200ce5c1f486 | 132 | agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0); |
m5171135 | 7:200ce5c1f486 | 133 | agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0); |
m5171135 | 7:200ce5c1f486 | 134 | |
m5171135 | 7:200ce5c1f486 | 135 | } |
m5171135 | 7:200ce5c1f486 | 136 | |
m5171135 | 7:200ce5c1f486 | 137 | |
m5171135 | 7:200ce5c1f486 | 138 | //Check Hit Point Area |
m5171135 | 7:200ce5c1f486 | 139 | bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){ |
m5171135 | 7:200ce5c1f486 | 140 | vector2D AB = AigamozuControlPackets::sub_vector(B, A); |
m5171135 | 7:200ce5c1f486 | 141 | vector2D BP = AigamozuControlPackets::sub_vector(P, B); |
m5171135 | 7:200ce5c1f486 | 142 | |
m5171135 | 7:200ce5c1f486 | 143 | vector2D BC = AigamozuControlPackets::sub_vector(C, B); |
m5171135 | 7:200ce5c1f486 | 144 | vector2D CP = AigamozuControlPackets::sub_vector(P, C); |
m5171135 | 7:200ce5c1f486 | 145 | |
m5171135 | 7:200ce5c1f486 | 146 | vector2D CA = AigamozuControlPackets::sub_vector(A, C); |
m5171135 | 7:200ce5c1f486 | 147 | vector2D AP = AigamozuControlPackets::sub_vector(P, A); |
m5171135 | 7:200ce5c1f486 | 148 | |
m5171135 | 7:200ce5c1f486 | 149 | double c1 = AB.x * BP.y - AB.y * BP.x; |
m5171135 | 7:200ce5c1f486 | 150 | double c2 = BC.x * CP.y - BC.y * CP.x; |
m5171135 | 7:200ce5c1f486 | 151 | double c3 = CA.x * AP.y - CA.y * AP.x; |
m5171135 | 7:200ce5c1f486 | 152 | |
m5171135 | 7:200ce5c1f486 | 153 | if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) { |
m5171135 | 7:200ce5c1f486 | 154 | return true; |
m5171135 | 5:3f51eeb5aedc | 155 | } |
m5171135 | 6:f164a716be46 | 156 | |
m5171135 | 7:200ce5c1f486 | 157 | return false; |
m5171135 | 7:200ce5c1f486 | 158 | |
m5171135 | 7:200ce5c1f486 | 159 | } |
m5171135 | 7:200ce5c1f486 | 160 | |
m5171135 | 7:200ce5c1f486 | 161 | vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b ) |
m5171135 | 7:200ce5c1f486 | 162 | { |
m5171135 | 7:200ce5c1f486 | 163 | vector2D ret; |
m5171135 | 7:200ce5c1f486 | 164 | ret.x = a.x - b.x; |
m5171135 | 7:200ce5c1f486 | 165 | ret.y = a.y - b.y; |
m5171135 | 7:200ce5c1f486 | 166 | return ret; |
m5171135 | 7:200ce5c1f486 | 167 | } |
m5171135 | 7:200ce5c1f486 | 168 | |
m5171135 | 7:200ce5c1f486 | 169 | |
m5171135 | 7:200ce5c1f486 | 170 | |
m5171135 | 5:3f51eeb5aedc | 171 | |
m5171135 | 6:f164a716be46 | 172 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 173 | // Mode change // |
m5171135 | 6:f164a716be46 | 174 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 175 | bool AigamozuControlPackets::changeMode(uint8_t *buf){ |
m5171135 | 2:3f2d4f53ceed | 176 | |
m5171135 | 6:f164a716be46 | 177 | //reset |
m5171135 | 5:3f51eeb5aedc | 178 | _agzSheild.changeSpeed(0,0,0,0); |
m5171135 | 6:f164a716be46 | 179 | eachModeInt.detach(); |
m5171135 | 5:3f51eeb5aedc | 180 | |
m5171135 | 6:f164a716be46 | 181 | //Select Mode |
m5171135 | 2:3f2d4f53ceed | 182 | switch(buf[19]){ |
m5171135 | 2:3f2d4f53ceed | 183 | case 0: |
m5171135 | 2:3f2d4f53ceed | 184 | nowMode = STANDBY_MODE; |
m5171135 | 2:3f2d4f53ceed | 185 | break; |
m5171135 | 2:3f2d4f53ceed | 186 | |
m5171135 | 2:3f2d4f53ceed | 187 | case 1: |
m5171135 | 6:f164a716be46 | 188 | eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0); |
m5171135 | 2:3f2d4f53ceed | 189 | nowMode = MANUAL_MODE; |
m5171135 | 2:3f2d4f53ceed | 190 | break; |
m5171135 | 2:3f2d4f53ceed | 191 | |
m5171135 | 2:3f2d4f53ceed | 192 | case 2: |
m5171135 | 2:3f2d4f53ceed | 193 | nowMode = AUTO_MODE; |
m5171135 | 6:f164a716be46 | 194 | eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0); |
m5171135 | 2:3f2d4f53ceed | 195 | break; |
m5171135 | 4:04dadf67ecb6 | 196 | |
m5171135 | 4:04dadf67ecb6 | 197 | case 3: |
m5171135 | 7:200ce5c1f486 | 198 | eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,5.0); |
m5171135 | 4:04dadf67ecb6 | 199 | nowMode = AUTO_GPS_MODE; |
m5171135 | 4:04dadf67ecb6 | 200 | break; |
m5171135 | 4:04dadf67ecb6 | 201 | |
m5171135 | 6:f164a716be46 | 202 | default: |
m5171135 | 6:f164a716be46 | 203 | nowMode = STANDBY_MODE; |
m5171135 | 6:f164a716be46 | 204 | break; |
m5171135 | 5:3f51eeb5aedc | 205 | |
m5171135 | 2:3f2d4f53ceed | 206 | } |
m5171135 | 2:3f2d4f53ceed | 207 | return false; |
m5171135 | 2:3f2d4f53ceed | 208 | } |
m5171135 | 5:3f51eeb5aedc | 209 | |
m5171135 | 5:3f51eeb5aedc | 210 | |
m5171135 | 2:3f2d4f53ceed | 211 |