public SpheroCommandPacket(SpheroCommand commandId,
byte sequenceNumber, params byte[] packetData)
: base()
{
this.data = new byte[7 + (packetData != null ? packetData.Length : 0)];
this.data[0] = 0xFF; // SOP1
this.data[1] = 0xFF; // SOP2
this.data[2] = (byte)DeviceID.DID_SPHERO; // Device ID
this.data[3] = (byte)commandId; // Command ID
this.data[4] = sequenceNumber;
if (packetData != null)
{
this.data[5] = (byte)(packetData.Length + 1);
Array.Copy(packetData, 0, this.data, 6, packetData.Length);
}
else
{
this.data[5] = 0x01;
}
this.data[this.data.Length - 1] = CalculateChecksum(this.data);
}
public static string FullName(this SpheroCommand code)
{
switch (code)
{
case SpheroCommand.CMD_ABORT_MACRO:
return("Abort Macro");
case SpheroCommand.CMD_ABORT_ORBBAS:
return("Abort orbBasic Program");
case SpheroCommand.CMD_ANSWER_INPUT:
return("Return Answer Input");
case SpheroCommand.CMD_APPEND_FRAG:
return("Append orbBasic Fragment");
case SpheroCommand.CMD_APPEND_TEMP_MACRO_CHUNK:
return("Append Macro Chunk");
case SpheroCommand.CMD_BOOST:
return("Boost");
case SpheroCommand.CMD_COMMIT_TO_FLASH:
return("Commit Program to Flash");
case SpheroCommand.CMD_ERASE_ORBBAS:
return("Erase orbBasic Code");
case SpheroCommand.CMD_EXEC_ORBBAS:
return("Execute orbBasic Program");
case SpheroCommand.CMD_GET_CHASSIS_ID:
return("Get Chassis ID");
case SpheroCommand.CMD_GET_CONFIG_BLK:
return("Get Config Block");
case SpheroCommand.CMD_GET_DEVICE_MODE:
return("Get Device Mode");
case SpheroCommand.CMD_GET_OPTIONS_FLAG:
return("Get Options");
case SpheroCommand.CMD_GET_PW_SEED:
return("Set PW Seed");
case SpheroCommand.CMD_GET_RGB_LED:
return("Get RGB LED");
case SpheroCommand.CMD_GET_SSB:
return("Get SSB");
case SpheroCommand.CMD_GET_TEMP_OPTIONS_FLAG:
return("Get Temp Options");
case SpheroCommand.CMD_INIT_MACRO_EXECUTIVE:
return("Init Macro Executive");
case SpheroCommand.CMD_LOCATOR:
return("Locator");
case SpheroCommand.CMD_MACRO_STATUS:
return("Macro Status");
case SpheroCommand.CMD_MOVE:
return("Move");
case SpheroCommand.CMD_READ_LOCATOR:
return("Read Locator");
case SpheroCommand.CMD_REENABLE_DEMO:
return("Re-enable Demo");
case SpheroCommand.CMD_ROLL:
return("Roll");
case SpheroCommand.CMD_RUN_MACRO:
return("Run Macro");
case SpheroCommand.CMD_SAVE_MACRO:
return("Save Macro");
case SpheroCommand.CMD_SAVE_TEMP_MACRO:
return("Save Temp Macro");
case SpheroCommand.CMD_SELF_LEVEL:
return("Self Level");
case SpheroCommand.CMD_SET_ACCELERO:
return("Set Accelerometer");
case SpheroCommand.CMD_SET_BACK_LED:
return("Set Back LED");
case SpheroCommand.CMD_SET_CAL:
return("Set Heading");
case SpheroCommand.CMD_SET_CFG_BLOCK:
return("Set Config Block");
case SpheroCommand.CMD_SET_CHASSIS_ID:
return("Set Chassis ID");
case SpheroCommand.CMD_SET_COLLISION_DET:
return("Set Collision Detection");
case SpheroCommand.CMD_SET_CREATION_DATE:
return("Set Creation Date");
case SpheroCommand.CMD_SET_DATA_STREAMING:
return("Set Data Streaming");
case SpheroCommand.CMD_SET_DEVICE_MODE:
return("Set Device Mode");
case SpheroCommand.CMD_SET_MACRO_PARAM:
return("Set Macro Parameters");
case SpheroCommand.CMD_SET_MOTION_TO:
return("Set Motion To");
case SpheroCommand.CMD_SET_OPTIONS_FLAG:
return("Set Options");
case SpheroCommand.CMD_SET_RAW_MOTORS:
return("Set Raw Motors");
case SpheroCommand.CMD_SET_RGB_LED:
return("Set RGB LED");
case SpheroCommand.CMD_SET_ROTATION_RATE:
return("Set Rotation Rate");
case SpheroCommand.CMD_SET_SSB:
return("Set SSB");
case SpheroCommand.CMD_SET_SSB_PARAMS:
return("Set SSB Params");
case SpheroCommand.CMD_SET_STABILIZ:
return("Set Stabilization");
case SpheroCommand.CMD_SET_TEMP_OPTIONS_FLAG:
return("Set Temp Options");
case SpheroCommand.CMD_SET_VDL:
return("Set VDL");
case SpheroCommand.CMD_SSB_ADD_XP:
return("SSB Add XP");
case SpheroCommand.CMD_SSB_BUY:
return("SSB Buy");
case SpheroCommand.CMD_SSB_ENABLE_ASYNC:
return("SSB Enable Async");
case SpheroCommand.CMD_SSB_GRANT_CORES:
return("SSB Grant Cores");
case SpheroCommand.CMD_SSB_LEVEL_UP_ATTR:
return("SSB Level Up Attribute");
case SpheroCommand.CMD_SSB_REFILL:
return("SSB Refill");
case SpheroCommand.CMD_SSB_USE_CONSUMEABLE:
return("SSB Use Consumable");
default:
return("Unknown Code");
}
}
