/// <summary>
/// Send a given DriveCommand to ROCKS.
/// </summary>
/// <param name="driveCommand">The DriveCommand to be executed.</param>
/// <returns>bool - If DriveCommand was successfully sent.</returns>
public static void SendDriveCommand(DriveCommand driveCommand)
{
// Form payload for BCL drive command from specified DriveCommand
byte[] bclPayload = DriveCommandToBclPayload(driveCommand);
// Send opcode, payload to AscentPacketHandler to send drive packet to ROCKS
AscentPacketHandler.SendPayloadToROCKS(OPCODE_ALL_WHEEL_SPEED, bclPayload, AscentPacketHandler.ROCKS_AI_SERVICE_ID);
// For debugging
Console.WriteLine("left: " + (sbyte)driveCommand.Left + " | right: " + (sbyte)driveCommand.Right);
}
public static void SendDebugAIPacket(Status status, string debugMessage)
{
List <byte> payload = new List <byte>();
// if debug message is too long, truncate
if (debugMessage.Length >= 150)
{
debugMessage = debugMessage.Substring(0, 150);
}
// convert everything to bytes
payload.Add((byte)status);
payload.AddRange(Encoding.ASCII.GetBytes(debugMessage));
payload.AddRange(new byte[151 - payload.Count]); // zero extend
AscentPacketHandler.SendPayloadToROCKS(AscentPacketHandler.OPCODE_DEBUG_AI, payload.ToArray(), AscentPacketHandler.ROCKS_AI_SERVICE_ID);
}
public static void SendSimpleAIPacket(Status status, byte[] option = null)
{
// check whether an additional 8 bytes are specified
option = option ?? new byte[8];
// truncate if option is larger than 8 bytes
if (option.Length > 8)
{
option = new byte[8] {
option[0], option[1], option[2], option[3], option[4], option[5], option[6], option[7]
}
}
;
List <byte> payload = new List <byte>(new byte[] { (byte)status });
payload.AddRange(option);
AscentPacketHandler.SendPayloadToROCKS(AscentPacketHandler.OPCODE_SIMPLE_AI, payload.ToArray(), AscentPacketHandler.ROCKS_AI_SERVICE_ID);
}
