/*static public int ArmCommandCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
* {
* NGCP.ArmCommand ac = Comnet.ABSPacket.GetValue<NGCP.ArmCommand>(packet);
* //do some kind of switch case
* //@TODO ARM
* int servoPosition = ac.id;
* int servoValue = ac.position;
* //id_servo_GUI = ac.id;
* //val_servo_GUI = ac.position;
*
*
*
* return (Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET);
*
*
* }*/
static public int VehicleSystemStatusCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
NGCP.VehicleSystemStatus vss = Comnet.ABSPacket.GetValue <NGCP.VehicleSystemStatus>(packet);
//State = (UGV.DriveState)vss.vehicle_state;
//make sure you return this way to declare succes and destory the pointer(c++)
return((Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET));
}
public void sendDriveState(UGV.DriveState state, byte id = 1)
{
NGCP.VehicleSystemStatus vss = new NGCP.VehicleSystemStatus((byte)NodeID, 0, (byte)state);
Node.Send(vss, id);
}
public void sendMode(UGV.DriveMode mode, byte id = 1)
{
NGCP.VehicleSystemStatus vss = new NGCP.VehicleSystemStatus((byte)NodeID, (byte)mode);
Node.Send(vss, id);
}
