public void RunCmd()
{
TeniboCommandIF cmdPropo = null;
Rte_Receive_cmdFromPropo(out cmdPropo);
if (cmdPropo != null && cmdPropo.cmd == (byte)TeniboCommnd.TC_MODE)
{
isAutoMode = cmdPropo.param1 == 1;
}
TeniboCommandIF cmdAuto = null;
Rte_Receive_cmdFromAuto(out cmdAuto);
if (isAutoMode)
{
if (cmdAuto != null)
{
Rte_Send_cmdToRobo(cmdAuto);
}
}
else
{
if (cmdPropo != null)
{
Rte_Send_cmdToRobo(cmdPropo);
}
}
}
private void CramText(TeniboCommandIF cmd)
{
if (_speechIF != null)
{
if (cmd.param1 != 0)
{
_speechIF.text += (char)cmd.param1;
}
if (cmd.param2 != 0)
{
_speechIF.text += (char)cmd.param2;
}
if (cmd.param3 != 0)
{
_speechIF.text += (char)cmd.param3;
}
if (cmd.param4 != 0)
{
_speechIF.text += (char)cmd.param4;
}
if (cmd.param5 != 0)
{
_speechIF.text += (char)cmd.param5;
}
}
}
bool DispatchCommand(TeniboCommandIF cmd)
{
switch (cmd.cmd)
{
///Arduinoで処理せず、ここで処理したらtrueを返すこと
default:
return(false);
}
}
/// <summary>
/// コマンド解析
/// </summary>
/// <param name="rsvData"></param>
/// <param name="ep"></param>
void ParseRsvBuffer(byte[] rsvData, IPEndPoint ep)
{
if (rsvData.Length != TeniboCommandIF.bufSize)
{
return;
}
TeniboCommandIF cmdIF = new TeniboCommandIF();
cmdIF.FromBuffer(rsvData, 0);
receiveCommand = cmdIF;
}
public void Run()
{
DriveInfoIF driveIF;
if (Rte_Receive_drive(out driveIF) == Std_ReturnType.RTE_E_OK)
{
TeniboCommandIF cmdIF = new TeniboCommandIF();
cmdIF.cmd = (byte)TeniboCommnd.TC_DRIVE;
cmdIF.param1 = (short)driveIF.steer;
cmdIF.param2 = (short)driveIF.accel;
Rte_Send_cmd(cmdIF);
}
}
public void RunToCommand()
{
if (++_counter > 100)
{
_counter = 0;
TeniboCommandIF cmd = new TeniboCommandIF();
cmd.cmd = (byte)TeniboCommnd.TC_LIGHT;
cmd.param1 = ledPattern;
Rte_Send_command(cmd);
Console.WriteLine(" COM--NAVI<-WIFI cmd:{0}", cmd.cmd);
if (++ledPattern > 16)
{
ledPattern = 0;
}
}
}
public void RunToCommand()
{
if (receiveCommand != null)
{
System.Console.WriteLine(" COM--CMD<-WIFI {0}", receiveCommand.ToString());//@@@
DispatchCommand(receiveCommand);
Rte_Send_command(receiveCommand);
receiveCommand = null;
}
if (!isCmdRsving)
{
isCmdRsving = true;
IPEndPoint ep = new IPEndPoint(IPAddress.Any, 0);
UdpState st = new UdpState();
st.client = cmdClient;
st.ep = ep;
cmdClient.BeginReceive(new AsyncCallback(ReceiveCallback), st);
}
}
