public GetMotionInfoWithIDRequest(ulong motionID, RobotPacket.PacketID packetID)
{
RequestID = packetID;
MotionID = motionID;
}
public DeleteMotionRequest(RobotPacket.PacketID packetID, ulong motionID)
{
RequestID = packetID;
MotionID = motionID;
}
public GetMotionInfoAtIndexRequest(RobotPacket.PacketID id, int index)
{
RequestID = id;
Index = index;
}
public GetMotionCountRequest(RobotPacket.PacketID id)
{
RequestID = id;
}
public RemoteRequest(RobotPacket.PacketID id, int vol = -1, ulong motionPlay = 0)
{
RequestID = id;
volumeLevel = vol;
motionIDToPlay = motionPlay;
}
public WriteDataRequest(byte[] data, RobotPacket.PacketID packetID)
{
Data = data;
PacketID = packetID;
RequestID = packetID;
}
private int WriteData(byte[] data, RobotPacket.PacketID packetID)
{
crcCount++;
if (CancelProcess)
{
SendCancel();
return(2);
}
var writeMotionDataRequest = new WriteDataRequest(data, packetID);
//var bytes = writeMotionDataRequest.BuildRequest();
//SendData(bytes);
//System.Threading.Thread.Sleep(5);
//return 1;
if (crcCount == WirelessConnection.MaxCrcRetry)
{
crcCount = 0;
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reach max crc");
_logger.Error("WriteData: reach max crc");
}
return(0);
}
var reply = writeMotionDataRequest.Process() as RobotReplyData;
if (reply == null)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reply is null");
_logger.Error("WriteData: reply is null");
}
return(0);
}
// Check reply error
if (reply.Type == RobotReplyData.ReplyType.CRC)
{
DebugHelper.WriteLine("WriteData: CRC error");
_logger.Error("WriteData: CRC error");
return(WriteData(data, packetID));
}
else if (reply.Type != RobotReplyData.ReplyType.Success)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: reply is not success");
_logger.Error("WriteData: reply is not success");
}
return(WriteData(data, packetID));
//return 0;
}
if (reply.Data.Length == 0)
{
if (_writeProcess)
{
_logger.Error("WriteData: reply data is null");
}
return(0);
}
if (GlobalFunction.LE4ToDec(reply.Data) != data.Length)
{
if (_writeProcess)
{
DebugHelper.WriteLine("WriteData: cannot write all data");
_logger.Error("WriteData: cannot write all data");
}
return(0);
}
crcCount = 0;
return(1);
}
