public static byte[] generatepacket(DataMsg msg, MainForm.logoInstructionDef[] logoCmd)
{
byte[] packet = new byte[HEADER_SIZE + (LOGO_INST_SIZE * logoCmd.Length)];
int i = 0;
packet[i++] = (byte)msg.m_cmdtype;
packet[i++] = msg.m_indexMission;
packet[i++] = msg.m_indexCmd;
packet[i++] = (byte)logoCmd.Length; // instructionCount
for (int instIndex = 0; instIndex < logoCmd.Length; instIndex++)
{
packet[i++] = logoCmd[instIndex].cmd;
packet[i++] = Convert.ToByte(logoCmd[instIndex].do_fly);
packet[i++] = Convert.ToByte(logoCmd[instIndex].use_param);
packet[i++] = logoCmd[instIndex].subcmd;
packet[i++] = Convert.ToByte(logoCmd[instIndex].arg >> 8);
packet[i++] = Convert.ToByte(logoCmd[instIndex].arg & 0xFF);
}
return packet;
}
public ClientTCP(MainForm owner)
{
my_owner = owner;
}
public static String ConvertInstrToString(MainForm.logoInstructionDef instr)
{
String result = "UNKNOWN COMMAND";
byte fly = Convert.ToByte(instr.do_fly);
byte param = Convert.ToByte(instr.use_param);
byte sub = instr.subcmd;
short x = instr.arg;
switch (instr.cmd)
{
case 1:
if ((fly == 0) && (sub == 0))
result = "_REPEAT(n=" + x.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (param == 0) && (sub == 1) && (x == 0))
result = "_END";
else if ((fly == 0) && (param == 0) && (sub == 3) && (x == 0))
result = "_ELSE";
else if ((fly == 0) && (param == 0) && (sub == 2))
result = "_TO(fn=" + x.ToString() + ")";
break;
case 2:
if (fly == 0)
result = "_DO(fn=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
case 3:
if (sub == 0)
result = "_FD(x=" + x.ToString() + ", fl=" + fly.ToString() + ", pr=" + param.ToString() + ")";
break;
case 4:
if ((fly == 0) && (sub == 0))
result = "_RT(x=" + x.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 1))
result = "_SET_ANGLE(x=" + x.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 2) && (param == 0) && (x == 0))
result = "_USE_CURRENT_ANGLE";
else if ((fly == 0) && (sub == 3) && (param == 0) && (x == 0))
result = "_USE_ANGLE_TO_GOAL";
break;
case 5:
if ((fly == 0) && (sub == 0))
result = "_MV_X(x=" + x.ToString() + ", fl=" + fly.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 1))
result = "_SET_X(x=" + x.ToString() + ", fl=" + fly.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 2))
result = "_MV_Y(x=" + x.ToString() + ", fl=" + fly.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 3))
result = "_SET_Y(x=" + x.ToString() + ", fl=" + fly.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 4))
result = "_MV_Z(x=" + x.ToString() + ", fl=" + fly.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 5))
result = "_SET_Z(x=" + x.ToString() + ", fl=" + fly.ToString() + ", pr=" + param.ToString() + ")";
else if ((fly == 0) && (sub == 6) && (param == 0) && (x == 0))
result = "_USE_CURRENT_POS(fl=" + fly.ToString() + ")";
else if ((fly == 0) && (sub == 7) && (param == 0) && (x == 0))
result = "_HOME(fl=" + fly.ToString() + ")";
else if ((fly == 0) && (param == 0) && (sub == 8))
result = "_SET_ABS_VAL_HIGH(x=" + x.ToString() + ")";
else if ((fly == 0) && (param == 0) && (sub == 9))
result = "_SET_ABS_X_LOW(x=" + x.ToString() + ")";
else if ((param == 0) && (sub == 10))
result = "_SET_ABS_Y_LOW(y=" + x.ToString() + ", fl=" + fly.ToString() + ")";
break;
case 6:
case 7:
// TODO
break;
case 8:
if ((fly == 0) && (param == 0) && (sub == 0))
result = "_SET_TURTLE(x=" + x.ToString() + ")";
break;
case 9:
// TODO
break;
case 10:
if (fly == 0)
result = "_EXEC(fn=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
case 11:
case 12:
// TODO
break;
case 13:
if ((fly == 0) && (param == 0) && (x == 0))
result = "_LOAD_TO_PARAM(val=" + sub.ToString() + ")";
break;
case 14:
if (fly == 0)
result = "_IF_EO(val=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
case 15:
if (fly == 0)
result = "_IF_NE(val=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
case 16:
if (fly == 0)
result = "_IF_GT(val=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
case 17:
if (fly == 0)
result = "_IF_LT(val=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
case 18:
if (fly == 0)
result = "_IF_GE(val=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
case 19:
if (fly == 0)
result = "_IF_LE(val=" + sub.ToString() + ", x=" + x.ToString() + ", pr=" + param.ToString() + ")";
break;
default:
break;
}
if (result == "UNKNOWN COMMAND")
{
result += " cmd=" + instr.cmd.ToString();
result += " fly=" + fly.ToString();
result += " param=" + param.ToString();
result += " sub=" + sub.ToString();
result += " x=" + x.ToString();
}
return result + "\r\n";
}
