/// <summary>
/// Sends the given command to the Jumping Sumo. Non-PCMD commands are sent immediately
/// while PCMD commands are sent at the next cycle(see run). cmd is the payload and the
/// method creates a frame by prepending a header
/// </summary>
/// <param name="cmd"></param>
public void Send(byte[] cmd)
{
if (isConnected)
{
if (cmd != null)
{
byte[] frame = this._update_seq(SumoCommandsCustom._pack_frame(cmd));
if (SumoCommandsCustom._is_pcmd(frame))
{
this.cmd = frame;
}
else
{
sumoSocket.Send(frame, frame.Length, SumoRemote);
}
}
}
}
private void SumoSend()
{
try
{
LOGGER.GetInstance.Info("[SumoSender] Thread Started");
while (isConnected)
{
sumoSocket.Send(this.cmd, this.cmd.Length, SumoRemote);
this.cmd = SumoCommandsCustom._pack_frame(SumoCommandsCustom.Move_cmd(0, 0));
Thread.Sleep(40);
}
}
catch (Exception e)
{
LOGGER.GetInstance.Error(e.Message);
}
LOGGER.GetInstance.Info("[SumoSender] Thread Stopped");
}
/// <summary>
/// Apply the given speed and turn to the Jumping Sumo
/// :param speed: [-100, 100]
/// :param turn: [-100, 100]
/// :return:
/// </summary>
/// <param name="speed"></param>
/// <param name="turn"></param>
public void SendMove(sbyte speed, sbyte turn)
{
this.sender.Send(SumoCommandsCustom.Move_cmd(speed, turn));
}
