RBAPI(bool) com_ServoTRX(int com, unsigned char* cmd, int csize, unsigned char* buf, int bsize) {
com_ClearRFIFO(com);
if (com_Send(com, cmd, csize) == false) return false;
if (COM_duplex[com] == COM_HDUPLEX) // discard the first-received csize bytes in case of TX/RX-short
{
int i; unsigned int tmpbyte;
for (i=0; i<csize; i++)
{
if ((tmpbyte = com_Read(com)) == 0xffff) return false;
if ((unsigned char)tmpbyte != cmd[i])
{
err_SetMsg(ERROR_COM_FAIL, "receive a wrong self-feedback byte");
return false;
}
}
} // end if (COM_duplex[com] ...
if (buf != NULL) //&&
if (com_Receive(com, buf, bsize) == false) return false;
return true;
}
int writeFloat(double val)
{
char str[32];
sprintf(str, "%.2f", val);
return com_Send(Serial, (unsigned char*)str, strlen(str));
}
int writeLong(long val)
{
char str[32];
sprintf(str, "%ld", val);
return com_Send(Serial, (unsigned char*)str, strlen(str));
}
RBAPI(bool) com_Write(int com, unsigned char val) {
#if defined(RB_MSVC_WIN32) || defined(RB_MSVC_WINCE) || defined(RB_LINUX)
return com_Send(com, &val, 1);
#else
// TODO ...
err_SetMsg(ERROR_COM_INVALID, "unsupported platform");
return false;
#endif
}
_RBAPI_C(bool) com_printf(int com, char* fmt, ...) {
char buf[512];
va_list args;
va_start(args, fmt);
vsprintf(buf, fmt, args);
va_end(args);
return com_Send(com, (unsigned char*)buf, (int)strlen(buf));
}
int writeString(const char *str)
{
return com_Send(Serial, (unsigned char*)str, strlen(str));
}
