private void SetLabels(logoInstructionDef msg)
{
DoFly_label.Visible = false;
UseParam_label.Visible = false;
SubCmd_label.Visible = false;
Argument_label.Visible = false;
switch (Cmd_comboBox.SelectedIndex)
{
// cmd,fly,param,sub,x
case 0: // _REPEAT(n, pr) {1, 0, pr, 0, n},
DoFly_checkBox.Checked = false;
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( n )";
break;
case 1: // _END {1, 0, 0, 1, 0},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 1;
Arg_numericUpDown.Value = 0;
break;
case 2: // _ELSE {1, 0, 0, 3, 0},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 3;
Arg_numericUpDown.Value = 0;
break;
case 3: // _TO(fn) {1, 0, 0, 2, fn},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 2;
Argument_label.Visible = true; Argument_label.Text = "< --- ( fn )";
break;
case 4: // _DO(fn, x, pr) {2, 0, pr, fn, x},
case 5: // _EXEC(fn, x, pr) {10,0, pr, fn, x},
DoFly_checkBox.Checked = false;
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_label.Visible = true; SubCmd_label.Text = "< --- ( fn )";
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 6: // _FD(x, fl, pr) {3, fl, pr, 0, x},
case 11: // _MV_X(x, fl, pr) {5, fl, pr, 0, x},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 2;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 7: // _RT(x, pr) {4, 0, pr, 0, x},
DoFly_checkBox.Checked = false;
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 8: // _SET_ANGLE(x, pr) {4, 0, pr, 1, x},
DoFly_checkBox.Checked = false;
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 1;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 9: // _USE_CURRENT_ANGLE {4, 0, 0, 2, 0},
case 54: // USE_CURRENT_ANGLE _USE_CURRENT_ANGLE
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 2;
Arg_numericUpDown.Value = 0;
break;
case 10: // _USE_ANGLE_TO_GOAL {4, 0, 0, 3, 0},
case 55: // USE_ANGLE_GOAL _USE_ANGLE_TO_GOAL
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 3;
Arg_numericUpDown.Value = 0;
break;
case 12: // _SET_X(x, fl, pr) {5, fl, pr, 1, x},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 1;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 13: // _MV_Y(y, fl, pr) {5, fl, pr, 2, y},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 2;
Argument_label.Visible = true; Argument_label.Text = "< --- ( y )";
break;
case 14: // _SET_Y(y, fl, pr) {5, fl, pr, 3, y},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 3;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 15: // _MV_Z(z, fl, pr) {5, fl, pr, 4, z},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 4;
Argument_label.Visible = true; Argument_label.Text = "< --- ( z )";
break;
case 16: // _SET_Z(z, fl, pr) {5, fl, pr, 5, z},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 5;
Argument_label.Visible = true; Argument_label.Text = "< --- ( z )";
break;
case 17: // _USE_CURRENT_POS(fl) {5, fl, 0, 6, 0},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 6;
Arg_numericUpDown.Value = 0;
break;
case 18: // _HOME(fl) {5, fl, 0, 7, 0},
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 7;
Arg_numericUpDown.Value = 0;
break;
case 19: // _SET_ABS_VAL_HIGH(x) {5, 0, 0, 8, x}, // Set the high and then low words for X and
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 8;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 20: // _SET_ABS_X_LOW(x) {5, 0, 0, 9, x}, // then Y, as 4 consecutive instructions.
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 9;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 21: // _SET_ABS_Y_LOW(y, fl) {5, fl, 0, 10, y}, // (as VAL_HIGH, X_LOW, VAL_HIGH, Y_LOW)
DoFly_label.Visible = false; DoFly_label.Text = "< --- ( fl )";
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 10;
Argument_label.Visible = true; Argument_label.Text = "< --- ( y )";
break;
case 22: // _FLAG_ON(f) {6, 0, 0, 0, f},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( f )";
break;
case 23: // _FLAG_OFF(f) {6, 0, 0, 1, f},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 1;
Argument_label.Visible = true; Argument_label.Text = "< --- ( f )";
break;
case 24: // _FLAG_TOGGLE(f) {6, 0, 0, 2, f},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 2;
Argument_label.Visible = true; Argument_label.Text = "< --- ( f )";
break;
case 25: // _PEN_UP {7, 0, 0, 0, 0},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Arg_numericUpDown.Value = 0;
break;
case 26: // _PEN_DOWN {7, 1, 0, 1, 0},
DoFly_checkBox.Checked = true;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 1;
Arg_numericUpDown.Value = 0;
break;
case 27: // _PEN_TOGGLE {7, 0, 0, 2, 0},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 2;
Arg_numericUpDown.Value = 0;
break;
case 28: // _SET_TURTLE(x) {8, 0, 0, 0, x},
case 29: // _PARAM_SET(x) {9, 0, 0, 0, x},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 30: // _PARAM_ADD(x) {9, 0, 0, 1, x},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 1;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 31: // _PARAM_MUL(x) {9, 0, 0, 2, x},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 32: // _PARAM_DIV(x) {9, 0, 0, 3, x},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 3;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 33: // _SPEED_INCREASE(s, pr) {11,0, pr, 0, s},
DoFly_checkBox.Checked = false;
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( s )";
break;
case 34: // _SET_SPEED(s, pr) {11,0, pr, 1, s},
DoFly_checkBox.Checked = false;
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_numericUpDown.Value = 1;
Argument_label.Visible = true; Argument_label.Text = "< --- ( s )";
break;
case 35: // _SET_INTERRUPT(fn) {12,0, 0, 1, fn},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 1;
Argument_label.Visible = true; Argument_label.Text = "< --- ( fn )";
break;
case 36: // _CLEAR_INTERRUPT {12,0, 0, 0, 0},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Arg_numericUpDown.Value = 0;
break;
case 37: // _LOAD_TO_PARAM(val) {13,0, 0, val,0},
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
SubCmd_label.Visible = true; SubCmd_label.Text = "< --- ( val )";
Arg_numericUpDown.Value = 0;
break;
case 38: // _IF_EQ(val, x, pr) {14,0, pr, val,x},
case 39: // _IF_NE(val, x, pr) {15,0, pr, val,x},
case 40: // _IF_GT(val, x, pr) {16,0, pr, val,x},
case 41: // _IF_LT(val, x, pr) {17,0, pr, val,x},
case 42: // _IF_GE(val, x, pr) {18,0, pr, val,x},
case 43: // _IF_LE(val, x, pr) {19,0, pr, val,x},
DoFly_checkBox.Checked = false;
UseParam_label.Visible = true; UseParam_label.Text = "< --- ( pr )";
SubCmd_label.Visible = true; SubCmd_label.Text = "< --- ( val )";
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 44: // FD(x) _FD(x, 1, 0)
case 45: // BK(x) _FD(-x, 1, 0)
DoFly_checkBox.Checked = true;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 46: // FD_PARAM _FD(1, 1, 1)
DoFly_checkBox.Checked = true;
UseParam_checkBox.Checked = true;
SubCmd_numericUpDown.Value = 0;
Arg_numericUpDown.Value = 1;
break;
case 47: // BK_PARAM _FD(-1, 1, 1)
DoFly_checkBox.Checked = true;
UseParam_checkBox.Checked = true;
SubCmd_numericUpDown.Value = 0;
Arg_numericUpDown.Value = -1;
break;
case 48: // RT(x) _RT(x, 0)
case 49: // LT(X) _RT(-x, 0)
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 50: // SET_ANGLE(x) _SET_ANGLE(x, 0)
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 51: // RT_PARAM _RT(1, 1)
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = true;
SubCmd_numericUpDown.Value = 0;
Arg_numericUpDown.Value = 1;
break;
case 52: // LT_PARAM _RT(-1, 1)
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = true;
SubCmd_numericUpDown.Value = 0;
Arg_numericUpDown.Value = -1;
break;
case 53: // SET_ANGLE_PARAM _SET_ANGLE(0, 1)
DoFly_checkBox.Checked = false;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Arg_numericUpDown.Value = 0;
break;
case 56: // EAST(x) _MV_X(x, 1, 0)
case 57: // WEST(x) _MV_X(-x, 1, 0)
DoFly_checkBox.Checked = true;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 58: // SET_X_POS(x) _SET_X(x, 1, 0)
DoFly_checkBox.Checked = true;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 1;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 59: // EAST_PARAM _MV_X(1, 1, 1)
case 60: // WEST_PARAM _MV_X(-1, 1, 1)
DoFly_checkBox.Checked = true;
UseParam_checkBox.Checked = false;
SubCmd_numericUpDown.Value = 0;
Argument_label.Visible = true; Argument_label.Text = "< --- ( x )";
break;
case 61: // SET_X_POS_PARAM _SET_X(1, 1, 1)
case 62: // USE_CURRENT_POS _USE_CURRENT_POS(1)
case 63: // NORTH(y) _MV_Y(y, 1, 0)
case 64: // SOUTH(y) _MV_Y(-y, 1, 0)
case 65: // SET_Y_POS(y) _SET_Y(y, 1, 0)
case 66: // NORTH_PARAM _MV_Y(1, 1, 1)
case 67: // SOUTH_PARAM _MV_Y(-1, 1, 1)
case 68: // SET_Y_POS_PARAM _SET_Y(1, 1, 1)
case 69: // ALT_UP(z) _MV_Z(z, 0, 0)
case 70: // ALT_DOWN(z) _MV_Z(-z, 0, 0)
case 71: // SET_ALT(z) _SET_Z(z, 0, 0)
case 72: // ALT_UP_PARAM _MV_Z(1, 0, 1)
case 73: // ALT_DOWN_PARAM _MV_Z(-1, 0, 1)
case 74: // SET_ALT_PARAM _SET_Z(1, 0, 1)
case 75: // SPEED_INCREASE(x) _SPEED_INCREASE(x, 0)
case 76: // SPEED_DECREASE(x) _SPEED_INCREASE(-x, 0)
case 77: // SET_SPEED(x) _SET_SPEED(x, 0)
case 78: // SPEED_INCREASE_PARAM _SPEED_INCREASE(1, 1)
case 79: // SPEED_DECREASE_PARAM _SPEED_INCREASE(-1, 1)
case 80: // SET_SPEED_PARAM _SET_SPEED(0, 1)
case 81: // FLAG_ON(f) _FLAG_ON(f)
case 82: // FLAG_OFF(f) _FLAG_OFF(f)
case 83: // FLAG_TOGGLE(f) _FLAG_TOGGLE(f)
case 84: // PEN_UP _PEN_UP
case 85: // PEN_DOWN _PEN_DOWN
case 86: // PEN_TOGGLE _PEN_TOGGLE
case 87: // SET_TURTLE(x) _SET_TURTLE(x)
case 88: // REPEAT(n) _REPEAT(n, 0)
case 89: // REPEAT_PARAM _REPEAT(1, 1)
case 90: // REPEAT_FOREVER _REPEAT(-1, 0)
case 91: // END _END
case 92: // ELSE _ELSE
case 93: // TO(func) _TO(func)
case 94: // DO(func) _DO(func, 0, 0)
case 95: // DO_ARG(func, arg) _DO(func, arg, 0)
case 96: // DO_PARAM(func) _DO(func, 1, 1)
case 97: // EXEC(func) _EXEC(func, 0, 0)
case 98: // EXEC_ARG(func, arg) _EXEC(func, arg, 0)
case 99: // EXEC_PARAM(func) _EXEC(func, 1, 1)
case 100: // PARAM_SET(x) _PARAM_SET(x)
case 101: // PARAM_ADD(x) _PARAM_ADD(x)
case 102: // PARAM_SUB(x) _PARAM_ADD(-x)
case 103: // PARAM_MUL(x) _PARAM_MUL(x)
case 104: // PARAM_DIV(x) _PARAM_DIV(x)
case 105: // SET_INTERRUPT(fn) _SET_INTERRUPT(fn)
case 106: // CLEAR_INTERRUPT _CLEAR_INTERRUPT
case 107: // LOAD_TO_PARAM(val) _LOAD_TO_PARAM(val)
case 108: // IF_EQ(val, x) _IF_EQ(val, x, 0)
case 109: // IF_NE(val, x) _IF_NE(val, x, 0)
case 110: // IF_GT(val, x) _IF_GT(val, x, 0)
case 111: // IF_LT(val, x) _IF_LT(val, x, 0)
case 112: // IF_GE(val, x) _IF_GE(val, x, 0)
case 113: // IF_LE(val, x) _IF_LE(val, x, 0)
case 114: // IF_EQ_PARAM(val) _IF_EQ(val, 1, 1)
case 115: // IF_NE_PARAM(val) _IF_NE(val, 1, 1)
case 116: // IF_GT_PARAM(val) _IF_GT(val, 1, 1)
case 117: // IF_LT_PARAM(val) _IF_LT(val, 1, 1)
case 118: // IF_GE_PARAM(val) _IF_GE(val, 1, 1)
case 119: // IF_LE_PARAM(val) _IF_LE(val, 1, 1)
case 120: // SET_POS(x, y) _SET_X(x, 0, 0) _SET_Y(y, 1, 0)
case 121: // SET_ABS_POS(x, y) _SET_ABS_VAL_HIGH((((uint32_t)(x))>>16)&0xFFFF) _SET_ABS_X_LOW(((uint32_t)(x))&0xFFFF) _SET_ABS_VAL_HIGH((((uint32_t)(y))>>16)&0xFFFF) _SET_ABS_Y_LOW(((uint32_t)(y))&0xFFFF, 1)
case 122: // HOME _HOME(1)
break;
} // switch
}
private byte[] generateDataMsgPacket()
{
// only 1 command is supported right now by this
// app, but you can send up to logoInstructionDef[x]
logoInstructionDef[] inst = new logoInstructionDef[1];
inst[0] = new logoInstructionDef(CreateMsgData());
DataMsg dataMsg = new DataMsg(DataMsgCmd_comboBox.SelectedIndex,
(byte)DataMsgType_IndexMission_numericUpDown.Value,
(byte)DataMsgType_IndexCmd_numericUpDown.Value);
return DataMsg.generatepacket(dataMsg, inst);
}
private string ConvertMsgToString(logoInstructionDef msg)
{
// For UDB Logo instructions, bytes should be passed in using the following format
// (Below, an X represents a hex digit 0-F. Mulit-digit values are MSB first.)
// L begin remote Logo command
// XX byte: command
// XX byte: subcommand
// X 0-1: do fly
// X 0-1: use param
// XXXX word: argument
// * done with command data
// XX byte: checksum should equal the sum of the 10 bytes before the *, mod 256
//
// For example: "L0201000005*E8" runs:
// the DO command(02) for subroutine 01 with fly and param off(00) and an argument of 0005
// data
StringBuilder hex = new StringBuilder();
hex.AppendFormat("{0:X2}", msg.cmd);
hex.AppendFormat("{0:X2}", msg.subcmd);
hex.AppendFormat("{0:X1}", Convert.ToByte(msg.do_fly));
hex.AppendFormat("{0:X1}", Convert.ToByte(msg.use_param));
hex.AppendFormat("{0:X4}", msg.arg);
// checksum
byte[] ascii = System.Text.Encoding.ASCII.GetBytes(hex.ToString());
byte checksum = 0;
for (int i = 0; i < ascii.Length; i++)
{
checksum += ascii[i];
}
hex.Append("*");
hex.AppendFormat("{0:X2}", checksum);
// Add the header "L" and we're done!
return "L" + hex.ToString();
}
private logoInstructionDef CreateMsgData()
{
logoInstructionDef msg = new logoInstructionDef();
msg.subcmd = Convert.ToByte(SubCmd_numericUpDown.Value);
msg.do_fly = DoFly_checkBox.Checked;
msg.use_param = UseParam_checkBox.Checked;
msg.arg = Convert.ToInt16(Arg_numericUpDown.Value);
switch (Cmd_comboBox.SelectedIndex)
{ // cmd,fly,param,sub,x
case 0: // _REPEAT(n, pr) {1, 0, pr, 0, n},
case 1: // _END {1, 0, 0, 1, 0},
case 2: // _ELSE {1, 0, 0, 3, 0},
case 3: // _TO(fn) {1, 0, 0, 2, fn},
case 88: // REPEAT(n) _REPEAT(n, 0)
case 89: // REPEAT_PARAM _REPEAT(1, 1)
case 90: // REPEAT_FOREVER _REPEAT(-1, 0)
case 91: // END _END
case 92: // ELSE _ELSE
case 93: // TO(func) _TO(func)
msg.cmd = 1;
break;
case 4: // _DO(fn, x, pr) {2, 0, pr, fn, x},
case 94: // DO(func) _DO(func, 0, 0)
case 95: // DO_ARG(func, arg) _DO(func, arg, 0)
case 96: // DO_PARAM(func) _DO(func, 1, 1)
msg.cmd = 2;
break;
case 5: // _EXEC(fn, x, pr) {10,0, pr, fn, x},
case 97: // EXEC(func) _EXEC(func, 0, 0)
case 98: // EXEC_ARG(func, arg) _EXEC(func, arg, 0)
case 99: // EXEC_PARAM(func) _EXEC(func, 1, 1)
msg.cmd = 10;
break;
case 6: // _FD(x, fl, pr) {3, fl, pr, 0, x},
case 44: // FD(x) _FD(x, 1, 0)
case 45: // BK(x) _FD(-x, 1, 0)
case 46: // FD_PARAM _FD(1, 1, 1)
case 47: // BK_PARAM _FD(-1, 1, 1)
msg.cmd = 3;
break;
case 7: // _RT(x, pr) {4, 0, pr, 0, x},
case 8: // _SET_ANGLE(x, pr) {4, 0, pr, 1, x},
case 9: // _USE_CURRENT_ANGLE {4, 0, 0, 2, 0},
case 10: // _USE_ANGLE_TO_GOAL {4, 0, 0, 3, 0},
case 48: // RT(x) _RT(x, 0)
case 49: // LT(X) _RT(-x, 0)
case 50: // SET_ANGLE(x) _SET_ANGLE(x, 0)
case 51: // RT_PARAM _RT(1, 1)
case 52: // LT_PARAM _RT(-1, 1)
case 53: // SET_ANGLE_PARAM _SET_ANGLE(0, 1)
case 54: // USE_CURRENT_ANGLE _USE_CURRENT_ANGLE
case 55: // USE_ANGLE_GOAL _USE_ANGLE_TO_GOAL
msg.cmd = 4;
break;
case 11: // _MV_X(x, fl, pr) {5, fl, pr, 0, x},
case 12: // _SET_X(x, fl, pr) {5, fl, pr, 1, x},
case 13: // _MV_Y(y, fl, pr) {5, fl, pr, 2, y},
case 14: // _SET_Y(y, fl, pr) {5, fl, pr, 3, y},
case 15: // _MV_Z(z, fl, pr) {5, fl, pr, 4, z},
case 16: // _SET_Z(z, fl, pr) {5, fl, pr, 5, z},
case 17: // _USE_CURRENT_POS(fl) {5, fl, 0, 6, 0},
case 18: // _HOME(fl) {5, fl, 0, 7, 0},
case 19: // _SET_ABS_VAL_HIGH(x) {5, 0, 0, 8, x}, // Set the high and then low words for X and
case 20: // _SET_ABS_X_LOW(x) {5, 0, 0, 9, x}, // then Y, as 4 consecutive instructions.
case 21: // _SET_ABS_Y_LOW(y, fl) {5, fl, 0, 10, y}, // (as VAL_HIGH, X_LOW, VAL_HIGH, Y_LOW)
case 56: // EAST(x) _MV_X(x, 1, 0)
case 57: // WEST(x) _MV_X(-x, 1, 0)
case 58: // SET_X_POS(x) _SET_X(x, 1, 0)
case 59: // EAST_PARAM _MV_X(1, 1, 1)
case 60: // WEST_PARAM _MV_X(-1, 1, 1)
case 61: // SET_X_POS_PARAM _SET_X(1, 1, 1)
case 62: // USE_CURRENT_POS _USE_CURRENT_POS(1)
case 63: // NORTH(y) _MV_Y(y, 1, 0)
case 64: // SOUTH(y) _MV_Y(-y, 1, 0)
case 65: // SET_Y_POS(y) _SET_Y(y, 1, 0)
case 66: // NORTH_PARAM _MV_Y(1, 1, 1)
case 67: // SOUTH_PARAM _MV_Y(-1, 1, 1)
case 68: // SET_Y_POS_PARAM _SET_Y(1, 1, 1)
case 69: // ALT_UP(z) _MV_Z(z, 0, 0)
case 70: // ALT_DOWN(z) _MV_Z(-z, 0, 0)
case 71: // SET_ALT(z) _SET_Z(z, 0, 0)
case 72: // ALT_UP_PARAM _MV_Z(1, 0, 1)
case 73: // ALT_DOWN_PARAM _MV_Z(-1, 0, 1)
case 74: // SET_ALT_PARAM _SET_Z(1, 0, 1)
case 120: // SET_POS(x, y) _SET_X(x, 0, 0) _SET_Y(y, 1, 0)
case 121: // SET_ABS_POS(x, y) _SET_ABS_VAL_HIGH((((uint32_t)(x))>>16)&0xFFFF) _SET_ABS_X_LOW(((uint32_t)(x))&0xFFFF) _SET_ABS_VAL_HIGH((((uint32_t)(y))>>16)&0xFFFF) _SET_ABS_Y_LOW(((uint32_t)(y))&0xFFFF, 1)
case 122: // HOME _HOME(1)
msg.cmd = 5;
break;
case 22: // _FLAG_ON(f) {6, 0, 0, 0, f},
case 23: // _FLAG_OFF(f) {6, 0, 0, 1, f},
case 24: // _FLAG_TOGGLE(f) {6, 0, 0, 2, f},
case 81: // FLAG_ON(f) _FLAG_ON(f)
case 82: // FLAG_OFF(f) _FLAG_OFF(f)
case 83: // FLAG_TOGGLE(f) _FLAG_TOGGLE(f)
msg.cmd = 6;
break;
case 25: // _PEN_UP {7, 0, 0, 0, 0},
case 26: // _PEN_DOWN {7, 1, 0, 1, 0},
case 27: // _PEN_TOGGLE {7, 0, 0, 2, 0},
case 84: // PEN_UP _PEN_UP
case 85: // PEN_DOWN _PEN_DOWN
case 86: // PEN_TOGGLE _PEN_TOGGLE
msg.cmd = 7;
break;
case 28: // _SET_TURTLE(x) {8, 0, 0, 0, x},
case 87: // SET_TURTLE(x) _SET_TURTLE(x)
msg.cmd = 8;
break;
case 29: // _PARAM_SET(x) {9, 0, 0, 0, x},
case 30: // _PARAM_ADD(x) {9, 0, 0, 1, x},
case 31: // _PARAM_MUL(x) {9, 0, 0, 2, x},
case 32: // _PARAM_DIV(x) {9, 0, 0, 3, x},
case 100: // PARAM_SET(x) _PARAM_SET(x)
case 101: // PARAM_ADD(x) _PARAM_ADD(x)
case 102: // PARAM_SUB(x) _PARAM_ADD(-x)
case 103: // PARAM_MUL(x) _PARAM_MUL(x)
case 104: // PARAM_DIV(x) _PARAM_DIV(x)
msg.cmd = 9;
break;
case 33: // _SPEED_INCREASE(s, pr) {11,0, pr, 0, s},
case 34: // _SET_SPEED(s, pr) {11,0, pr, 1, s},
case 75: // SPEED_INCREASE(x) _SPEED_INCREASE(x, 0)
case 76: // SPEED_DECREASE(x) _SPEED_INCREASE(-x, 0)
case 77: // SET_SPEED(x) _SET_SPEED(x, 0)
case 78: // SPEED_INCREASE_PARAM _SPEED_INCREASE(1, 1)
case 79: // SPEED_DECREASE_PARAM _SPEED_INCREASE(-1, 1)
case 80: // SET_SPEED_PARAM _SET_SPEED(0, 1)
msg.cmd = 11;
break;
case 35: // _SET_INTERRUPT(fn) {12,0, 0, 1, fn},
case 36: // _CLEAR_INTERRUPT {12,0, 0, 0, 0},
case 105: // SET_INTERRUPT(fn) _SET_INTERRUPT(fn)
case 106: // CLEAR_INTERRUPT _CLEAR_INTERRUPT
msg.cmd = 12;
break;
case 37: // _LOAD_TO_PARAM(val) {13,0, 0, val,0},
case 107: // LOAD_TO_PARAM(val) _LOAD_TO_PARAM(val)
msg.cmd = 13;
break;
case 38: // _IF_EQ(val, x, pr) {14,0, pr, val,x},
case 108: // IF_EQ(val, x) _IF_EQ(val, x, 0)
case 114: // IF_EQ_PARAM(val) _IF_EQ(val, 1, 1)
msg.cmd = 14;
break;
case 39: // _IF_NE(val, x, pr) {15,0, pr, val,x},
case 109: // IF_NE(val, x) _IF_NE(val, x, 0)
case 115: // IF_NE_PARAM(val) _IF_NE(val, 1, 1)
msg.cmd = 15;
break;
case 40: // _IF_GT(val, x, pr) {16,0, pr, val,x},
case 110: // IF_GT(val, x) _IF_GT(val, x, 0)
case 116: // IF_GT_PARAM(val) _IF_GT(val, 1, 1)
msg.cmd = 16;
break;
case 41: // _IF_LT(val, x, pr) {17,0, pr, val,x},
case 111: // IF_LT(val, x) _IF_LT(val, x, 0)
case 117: // IF_LT_PARAM(val) _IF_LT(val, 1, 1)
msg.cmd = 17;
break;
case 42: // _IF_GE(val, x, pr) {18,0, pr, val,x},
case 112: // IF_GE(val, x) _IF_GE(val, x, 0)
case 118: // IF_GE_PARAM(val) _IF_GE(val, 1, 1)
msg.cmd = 18;
break;
case 43: // _IF_LE(val, x, pr) {19,0, pr, val,x},
case 113: // IF_LE(val, x) _IF_LE(val, x, 0)
case 119: // IF_LE_PARAM(val) _IF_LE(val, 1, 1)
msg.cmd = 19;
break;
default:
msg.cmd = 0; // invalid?
break;
}
return msg;
}
public logoInstructionDef(logoInstructionDef that)
{
this.cmd = that.cmd;
this.do_fly = that.do_fly;
this.use_param = that.use_param;
this.subcmd = that.subcmd;
this.arg = that.arg;
}
