/// <summary>
/// Initialize the instance of AscentPacketHandler held within this class.
/// </summary>
/// <param name="destinationIP">Destination IP to communicate to ROCKS via. By default this is
/// loopback, though an IP can be specified via command line args for Gazebo testing.
/// </param>
public static void Initialize(IPAddress destinationIP)
{
if (instance == null)
{
instance = new AscentPacketHandler(destinationIP);
}
}
/// <summary>
/// Get the instance of AscentPacketHandler held within this class. If the instance has not
/// yet been initialized, this function creates a new instance that communicates on loopback,
/// updates the class's instance, and returns it.
/// </summary>
/// <returns>AscentPacketHandler - the instance of AscentPacketHandler held within this class.
/// If no such instance exists, this function returns a new instance, using loopback to
/// communicate.</returns>
public static AscentPacketHandler GetInstance()
{
if (instance == null)
{
instance = new AscentPacketHandler(IPAddress.Loopback);
}
return(instance);
}
/// <summary>
/// Send a given DriveCommand to ROCKS.
/// </summary>
/// <param name="driveCommand">The DriveCommand to be executed.</param>
/// <returns>bool - If DriveCommand was successfully sent.</returns>
public static void SendDriveCommand(DriveCommand driveCommand)
{
// Form payload for BCL drive command from specified DriveCommand
byte[] bclPayload = DriveCommandToBclPayload(driveCommand);
// Send opcode, payload to AscentPacketHandler to send drive packet to ROCKS
AscentPacketHandler.SendPayloadToROCKS(OPCODE_ALL_WHEEL_SPEED, bclPayload, AscentPacketHandler.ROCKS_AI_SERVICE_ID);
// For debugging
Console.WriteLine("left: " + (sbyte)driveCommand.Left + " | right: " + (sbyte)driveCommand.Right);
}
public static void SendDebugAIPacket(Status status, string debugMessage)
{
List <byte> payload = new List <byte>();
// if debug message is too long, truncate
if (debugMessage.Length >= 150)
{
debugMessage = debugMessage.Substring(0, 150);
}
// convert everything to bytes
payload.Add((byte)status);
payload.AddRange(Encoding.ASCII.GetBytes(debugMessage));
payload.AddRange(new byte[151 - payload.Count]); // zero extend
AscentPacketHandler.SendPayloadToROCKS(AscentPacketHandler.OPCODE_DEBUG_AI, payload.ToArray(), AscentPacketHandler.ROCKS_AI_SERVICE_ID);
}
public bool HandlePacket(byte opcode, byte[] payload)
{
if (opcode == AscentPacketHandler.OPCODE_SIMPLE_AI)
{
// ACK packet
if (payload[0] == (byte)Status.AIS_ACK)
{
AscentPacketHandler.GetInstance().receivedAck = true;
}
}
else if (opcode == AscentPacketHandler.OPCODE_DEBUG_AI)
{
//TODO
}
return(false);
}
public static void SendSimpleAIPacket(Status status, byte[] option = null)
{
// check whether an additional 8 bytes are specified
option = option ?? new byte[8];
// truncate if option is larger than 8 bytes
if (option.Length > 8)
{
option = new byte[8] {
option[0], option[1], option[2], option[3], option[4], option[5], option[6], option[7]
}
}
;
List <byte> payload = new List <byte>(new byte[] { (byte)status });
payload.AddRange(option);
AscentPacketHandler.SendPayloadToROCKS(AscentPacketHandler.OPCODE_SIMPLE_AI, payload.ToArray(), AscentPacketHandler.ROCKS_AI_SERVICE_ID);
}
