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 armServo = ac.id;
int servoValue = ac.position;
//// this method
switch (armServo)
{
case armY_id: //Arm Stepper Y
Arm_Y_Servo_Box.Text = (servoValue).ToString();
break;
case armX_id: //Arm Stepper X
Arm_X_Servo_Box.Text = (servoValue).ToString();
break;
case turretServo_id: //Turret Servo
Base_Servo_Box.Text = (servoValue).ToString();
break;
case gripper_id: //Gripper
if (servoValue == 1)
{
Gripper_Servo_Box.Text = "Closed";
}
else
{
Gripper_Servo_Box.Text = "Retracted";
}
break;
default:
// write to none of the servos, the id written was not recognized
break;
}
return((Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET));
}
public int SpeedSteeringCommandCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
NGCP.SpeedSteeringCommand ssc = Comnet.ABSPacket.GetValue <NGCP.SpeedSteeringCommand>(packet);
Speed_Box.Text = ((short)ssc.speed).ToString();
Turning_Box.Text = ((short)ssc.steering * 27 / 1000).ToString();
return((Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET));
}
public int VehicleGlobalPositionCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
//validate who the packet is from 1 is gcs
if (header.GetSourceID() == 7)
{
NGCP.VehicleGlobalPosition vgp = Comnet.ABSPacket.GetValue <NGCP.VehicleGlobalPosition>(packet);
GPS_X_Box.Text = vgp.latitude.ToString();
GPS_Y_Box.Text = vgp.longitude.ToString();
}
//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));
}
/*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 int VehicleModeCommandCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
//validate who the packet is from 1 is gcs
if (header.GetSourceID() == 1)
{
NGCP.VehicleModeCommand twc = Comnet.ABSPacket.GetValue <NGCP.VehicleModeCommand>(packet);
if ((DriveMode)twc.vehicle_mode == DriveMode.LocalControl)
{
Drive_Type_Box.Text = "Local Mode";
}
else if ((DriveMode)twc.vehicle_mode == DriveMode.SemiAutonomous)
{
Drive_Type_Box.Text = "Semi-Auto Mode";
}
else if ((DriveMode)twc.vehicle_mode == DriveMode.Autonomous)
{
Drive_Type_Box.Text = "Auto Mode";
}
//Settings.DriveMode = (DriveMode)twc.vehicle_mode;
}
else if (header.GetSourceID() == 7)
{
NGCP.VehicleModeCommand vmc = Comnet.ABSPacket.GetValue <NGCP.VehicleModeCommand>(packet);
if ((DriveMode)vmc.vehicle_mode == DriveMode.LocalControl)
{
Drive_Type_Box.Text = "Local Mode";
}
else if ((DriveMode)vmc.vehicle_mode == DriveMode.SemiAutonomous)
{
Drive_Type_Box.Text = "Semi-Auto Mode";
}
else if ((DriveMode)vmc.vehicle_mode == DriveMode.Autonomous)
{
Drive_Type_Box.Text = "Auto Mode";
}
}
//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));
}
///<sumary>
///Commprotocol callbacks
///</sumary>
static public int VehicleWaypointCommandCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
//validate who the packet is from 1 is gcs
if (header.GetSourceID() == 1)
{
NGCP.VehicleWaypointCommand twc = Comnet.ABSPacket.GetValue <NGCP.VehicleWaypointCommand>(packet);
//WayPoint commandWayPoint = new WayPoint(twc.latitude, twc.longitude, 1);
//using a queue but want command waypoint in front :(
//maybe want to switch this data type
//Waypoints.Enqueue(commandWayPoint);
}
//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));
}
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;
Console.WriteLine("test armCommand");
//id_servo_GUI = ac.id;
//val_servo_GUI = ac.position;
return((Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET));
}
static public int VehicleModeCommandCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
//validate who the packet is from 1 is gcs
if (header.GetSourceID() == 1)
{
NGCP.VehicleModeCommand twc = Comnet.ABSPacket.GetValue <NGCP.VehicleModeCommand>(packet);
//Settings.DriveMode = (DriveMode)twc.vehicle_mode;
}
//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));
}