int deviceTestGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TEST) {
if (fillDeviceArgumentList) {
setFunction("test", 2, 1);
setArgumentUnsignedHex2(0, "a");
setArgumentUnsignedHex2(1, "b");
setResultUnsignedHex2(0, "result");
}
return commandLengthValueForMode(mode, 4, 2);
}
else if (commandHeader == COMMAND_SIMPLE_TEST) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("simpleTest");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_HEAVY_TEST) {
if (fillDeviceArgumentList) {
setFunction("heavyTest", 10, 1);
setArgumentUnsignedHex2(0, "a");
setArgumentUnsignedHex2(1, "b");
setArgumentUnsignedHex4(2, "c");
setArgumentUnsignedHex4(3, "d");
setArgumentUnsignedHex2(4, "e");
setArgumentSeparator(5);
setArgumentUnsignedHex2(6, "f");
setArgumentUnsignedHex4(7, "g");
setArgument(8, DEVICE_ARG_UNSIGNED_HEX_6, "h");
setArgumentUnsignedHex2(9, "i");
setResult(0, DEVICE_ARG_UNSIGNED_HEX_6, "result");
}
return commandLengthValueForMode(mode, 29, 6);
}
// Debug Test
else if (commandHeader == COMMAND_DEBUG_TEST) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("debugTest");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_GENERATE_NOTIFY_TEST) {
if (fillDeviceArgumentList) {
setFunction("generateNotifyTest", 1, 0);
setArgumentUnsignedHex2(0, "notifyTestValue");
}
return commandLengthValueForMode(mode, 2, 0);
}
// Handle a notification test
else if (mode == DEVICE_MODE_NOTIFY) {
if (commandHeader == NOTIFY_TEST) {
if (fillDeviceArgumentList) {
setNotification("notifyTest", 1);
setArgumentUnsignedHex2(0, "notifyArg0");
}
return 2;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
void fillNotifyResults(char* notificationName) {
setNotification(notificationName, 5);
setArgumentUnsignedHex4(0, "x(mm)");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "y(mm)");
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, "ang(1/10)deg");
}
int deviceAccelerometerGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_ACCELEROMETER_GET_SAMPLE_COUNT) {
if (fillDeviceArgumentList) {
setFunction("getSampleCount", 0, 1);
setResultUnsignedHex4(0, "Sample count");
}
return commandLengthValueForMode(mode, 0, 4);
}
else if (commandHeader == COMMAND_ACCELEROMETER_GET_SAMPLE_RAW_DATA) {
if (fillDeviceArgumentList) {
setFunction("Sample Raw Data", 0, 5);
setResultUnsignedHex4(0, "X Raw Data");
setResultSeparator(1);
setResultUnsignedHex4(2, "Y Raw Data");
setResultSeparator(3);
setResultUnsignedHex4(4, "Z Raw Data");
}
return commandLengthValueForMode(mode, 0, 14);
}
else if (commandHeader == COMMAND_ACCELEROMETER_GET_SAMPLE_DATA_MILLIG_G) {
if (fillDeviceArgumentList) {
setFunction("Sample Data MilliG", 0, 5);
setResultUnsignedHex4(0, "X (mG)");
setResultSeparator(1);
setResultUnsignedHex4(2, "Y (mG)");
setResultSeparator(3);
setResultUnsignedHex4(4, "Z (mG)");
}
return commandLengthValueForMode(mode, 0, 14);
}
// TRESHOLD
else if (commandHeader == COMMAND_ACCELEROMETER_GET_THRESHOLD) {
if (fillDeviceArgumentList) {
setFunction("Get Threshold", 0, 1);
setResultUnsignedHex4(0, "Threshold (milli G)");
}
return commandLengthValueForMode(mode, 0, 4);
}
else if (commandHeader == COMMAND_ACCELEROMETER_SET_THRESHOLD) {
if (fillDeviceArgumentList) {
setFunction("Set Threshold", 1, 0);
setArgumentUnsignedHex4(0, "Threshold (milliG)");
}
return commandLengthValueForMode(mode, 4, 0);
}
// DEBUG
else if (commandHeader == COMMAND_ACCELEROMETER_DEBUG_CONFIG) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug Config");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_ACCELEROMETER_DEBUG_VALUES) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug Values");
}
return commandLengthValueForMode(mode, 0, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceRobotConfigGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_GET_CONFIG) {
if (fillDeviceArgumentList) {
setFunction("getConfig", 0, 1);
setResultUnsignedHex4(0, "value");
}
return commandLengthValueForMode(mode, 0, 4);
}
else if (commandHeader == COMMAND_SET_CONFIG) {
if (fillDeviceArgumentList) {
setFunction("setConfig", 1, 0);
setArgumentUnsignedHex4(0, "value");
}
return commandLengthValueForMode(mode, 4, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceTest2GetInterface(char commandHeader, int mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TEST2) {
if (fillDeviceArgumentList) {
setFunction("test2", 2, 1);
setArgumentUnsignedHex2(0, "a");
setArgumentUnsignedHex2(1, "b");
setResultUnsignedHex2(0, "result");
}
return commandLengthValueForMode(mode, 4, 2);
}
else if (commandHeader == COMMAND_INTENSIVE_TEST_DRIVER) {
if (fillDeviceArgumentList) {
setFunction("testDriverIntensive", 1, 0);
setArgumentUnsignedHex4(0, "count");
}
return commandLengthValueForMode(mode, 4, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceRobotConfigGetInterface(char header, int mode, BOOL fillDeviceArgumentList) {
if (mode == DEVICE_MODE_INPUT) {
if (header == COMMAND_CONFIG) {
if (fillDeviceArgumentList) {
setFunctionNoArgument("robotConfig");
}
return 0;
}
} else if (mode == DEVICE_MODE_OUTPUT) {
if (header == COMMAND_CONFIG) {
if (fillDeviceArgumentList) {
setFunction("robotConfig", 1);
setArgumentUnsignedHex4(0, "value");
}
return 4;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceServoGetInterface(char header, int mode, BOOL fillDeviceArgumentList ) {
if (mode == DEVICE_MODE_INPUT) {
if (header == COMMAND_SERVO) {
if (fillDeviceArgumentList) {
setFunction("updateServo", 3);
setArgumentUnsignedHex2(0, "ServoIdx");
setArgumentUnsignedHex2(1, "speed");
setArgumentUnsignedHex4(2, "value");
}
return 8;
}
} else if (mode == DEVICE_MODE_OUTPUT) {
if (header == COMMAND_SERVO) {
if (fillDeviceArgumentList) {
setFunctionNoArgument("updateServo");
}
return 0;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
int commonBeaconDeviceGetInterface(char header, int mode, BOOL fillDeviceArgumentList) {
// Redirection
if (header == COMMAND_REDIRECT_TO_JENNIC) {
// same output / input
if (fillDeviceArgumentList) {
setFunctionNoArgument("redirectToJennic");
}
return 0;
}
else if (header == COMMAND_LOCAL_LIGHT) {
if (mode == DEVICE_MODE_INPUT) {
if (fillDeviceArgumentList) {
setFunctionNoArgument("localLight");
setArgumentUnsignedHex4(2, "on/off");
}
return 2;
} else if (mode == DEVICE_MODE_OUTPUT) {
if (fillDeviceArgumentList) {
setFunction("localLight", 0);
}
return 0;
}
}
else if (header == COMMAND_SHOW_DATA_FROM_JENNIC) {
// both input/output
if (fillDeviceArgumentList) {
setFunctionNoArgument("showDataFromJennic");
}
return 0;
}
else if (header == COMMAND_RESET_JENNIC) {
// both input/output
if (fillDeviceArgumentList) {
setFunctionNoArgument("resetJennic");
}
return 0;
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceSystemGetInterface(char header, int mode, BOOL fillDeviceArgumentList) {
// getPicName()
if (header == COMMAND_PIC_NAME) {
// Same INPUT/OUTPUT
if (fillDeviceArgumentList) {
setFunctionNoArgument("getPicName");
}
return 0;
} else if (header == COMMAND_PING) {
// Same INPUT/OUTPUT
if (fillDeviceArgumentList) {
setFunctionNoArgument("ping");
}
return 0;
}// wait
else if (header == COMMAND_WAIT) {
if (mode == DEVICE_MODE_INPUT) {
if (fillDeviceArgumentList) {
setFunction("wait", 1);
setArgumentUnsignedHex4(0, "ms");
}
return 4;
} else if (mode == DEVICE_MODE_OUTPUT) {
if (fillDeviceArgumentList) {
setFunctionNoArgument("wait");
}
return 0;
}
}// usage
else if (header == COMMAND_USAGE) {
// Same INPUT/OUTPUT
if (fillDeviceArgumentList) {
setFunctionNoArgument("usage");
}
return 0;
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceStartMatchGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_MATCH_IS_STARTED) {
if (fillDeviceArgumentList) {
setFunction("isStarted", 0, 1);
setResultUnsignedHex2(0, "value");
}
return commandLengthValueForMode(mode, 0, 2);
}
else if (commandHeader == COMMAND_MATCH_SET_STARTED) {
if (fillDeviceArgumentList) {
setFunction("setStarted", 1, 0);
setArgumentUnsignedHex2(0, "value");
}
return commandLengthValueForMode(mode, 2, 0);
}
if (commandHeader == COMMAND_STEP_BY_STEP) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("stepByStep");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_START_MATCH_GET_INITIAL_POSITION) {
if (fillDeviceArgumentList) {
setFunction("getInitialPosition", 1, 7);
setArgumentUnsignedHex2(0, "side");
setResultUnsignedHex2(0, "side");
setResultSeparator(1);
setResultUnsignedHex4(2, "x (mm)");
setResultSeparator(3);
setResultUnsignedHex4(4, "y (mm)");
setResultSeparator(5);
setResultUnsignedHex4(6, "angle (mm)");
}
return commandLengthValueForMode(mode, 2, 17);
}
else if (commandHeader == COMMAND_START_MATCH_SET_INITIAL_POSITION) {
if (fillDeviceArgumentList) {
setFunction("setInitialPosition", 7, 0);
setArgumentUnsignedHex2(0, "side");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "x (mm)");
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, "y (mm)");
setArgumentSeparator(5);
setArgumentUnsignedHex4(6, "angle (mm)");
}
return commandLengthValueForMode(mode, 17, 0);
}
/*
if (mode == DEVICE_MODE_OUTPUT) {
if (header == COMMAND_NOTIFY_MATCH_STARTED) {
if (fillDeviceArgumentList) {
deviceArgumentList->functionName = "notifyMatchStarted";
deviceArgumentList->size = 1;
deviceArgumentList->args[0].type = DEVICE_ARG_UNSIGNED_CHAR_3;
deviceArgumentList->args[0].name = "XyY";
}
return commandLengthValueForMode(mode, 0, 0);
}
}
*/
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceSystemGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
// BoardName
if (commandHeader == COMMAND_BOARD_NAME) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("getBoardName");
}
return commandLengthValueForMode(mode, 0, 0);
}
// lastError
else if (commandHeader == COMMAND_GET_LAST_ERROR) {
if (fillDeviceArgumentList) {
setFunction("getLastError", 0, 1);
setResultUnsignedHex4(0, "error");
}
return commandLengthValueForMode(mode, 0, 4);
}
if (commandHeader == COMMAND_CLEAR_LAST_ERROR) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("clearLastError");
}
return commandLengthValueForMode(mode, 0, 0);
}
// DeviceList
else if (commandHeader == COMMAND_DEVICE_LIST) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("deviceList");
}
return commandLengthValueForMode(mode, 0, 0);
}
// Ping
else if (commandHeader == COMMAND_PING) {
if (fillDeviceArgumentList) {
setFunction("ping", 1, 1);
setArgumentUnsignedHex2(0, "pingIndex");
setResultUnsignedHex2(0, "pingIndex");
}
return commandLengthValueForMode(mode, 2, 2);
}
// wait
else if (commandHeader == COMMAND_WAIT) {
if (fillDeviceArgumentList) {
setFunction("wait", 1, 0);
setArgumentUnsignedHex4(0, "ms");
}
return commandLengthValueForMode(mode, 4, 0);
}
// usage
else if (commandHeader == COMMAND_USAGE) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("usage");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_USAGE_PROBLEM) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("usage (only Problems)");
}
return commandLengthValueForMode(mode, 0, 0);
}
// Usage Specific
else if (commandHeader == COMMAND_USAGE_SPECIFIC_DEVICE) {
if (fillDeviceArgumentList) {
setFunction("usageSpecificDevice", 1, 0);
setArgumentUnsignedChar1(0, "deviceHeaderChar");
}
return commandLengthValueForMode(mode, 1, 0);
}
else if (commandHeader == COMMAND_CLS) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("clearScreen");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_RESET) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("reset MicroController");
}
return commandLengthValueForMode(mode, 0, 0);
}
// Notification
else if (commandHeader == COMMAND_NOTIFICATION) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("notification");
}
return commandLengthValueForMode(mode, 0, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceMotionGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_MOTION_LOAD_DEFAULT_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("loadDefaultParameters");
}
return commandLengthValueForMode(mode, 0, 0);
}
// goto
else if (commandHeader == COMMAND_MOTION_GOTO_IN_PULSE) {
if (fillDeviceArgumentList) {
setFunction("gotoPulse", 4, 0);
setArgument(0, DEVICE_ARG_SIGNED_HEX_6, "left");
setArgument(1, DEVICE_ARG_SIGNED_HEX_6, "right");
setArgumentUnsignedHex2(2, "a");
setArgumentUnsignedHex2(3, "s");
}
return commandLengthValueForMode(mode, 16, 0);
}// forward MM
else if (commandHeader == COMMAND_MOTION_FORWARD_IN_MM) {
if (fillDeviceArgumentList) {
setFunction("forwardMM", 1, 0);
setArgumentUnsignedHex4(0, "distMM");
}
return commandLengthValueForMode(mode, 4, 0);
}// backward MM
else if (commandHeader == COMMAND_MOTION_BACKWARD_IN_MM) {
if (fillDeviceArgumentList) {
setFunction("backwardMM", 1, 0);
setArgumentUnsignedHex4(0, "distMM");
}
return commandLengthValueForMode(mode, 4, 0);
}// turn left in degree
else if (commandHeader == COMMAND_MOTION_LEFT_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotLeftDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "leftAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}// turn right in degree
else if (commandHeader == COMMAND_MOTION_RIGHT_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotRightDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "rightAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}// ONLY ONE WHEEL
// turn left (only right in degree
else if (commandHeader == COMMAND_MOTION_LEFT_ONE_WHEEL_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotLeft1WheelDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "leftAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}// turn right (only right wheel) in degree
else if (commandHeader == COMMAND_MOTION_RIGHT_ONE_WHEEL_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotRight1WheelDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "rightAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}
// motion : Cancel
else if (commandHeader == COMMAND_MOTION_CANCEL) {
// Same INPUT/OUTPUT
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("cancelMot");
}
return commandLengthValueForMode(mode, 0, 0);
}// motion : Obstacle
else if (commandHeader == COMMAND_MOTION_OBSTACLE) {
// Same INPUT/OUTPUT
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("motionObstacle");
}
return commandLengthValueForMode(mode, 0, 0);
}// Calibration
else if (commandHeader == COMMAND_SQUARE_CALIBRATION) {
if (fillDeviceArgumentList) {
setFunction("squareCalib", 3, 0);
setArgumentUnsignedHex2(0, "left/right");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "length");
}
return commandLengthValueForMode(mode, 7, 0);
}// Parameters
else if (commandHeader == COMMAND_GET_MOTION_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunction("getMotionParam", 1, 2);
setArgumentUnsignedHex2(0, "motionType");
setResultUnsignedHex2(0, "a");
setResultUnsignedHex2(1, "s");
}
return commandLengthValueForMode(mode, 2, 4);
} else if (commandHeader == COMMAND_SET_MOTION_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunction("setMotionParam", 3, 0);
setArgumentUnsignedHex2(0, "motionType");
setArgumentUnsignedHex2(1, "a");
setArgumentUnsignedHex2(2, "s");
}
return commandLengthValueForMode(mode, 6, 0);
}
// MODE REPLACE / ADD
else if (commandHeader == COMMAND_MOTION_MODE_ADD) {
if(fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("motionModeAdd");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_MOTION_MODE_REPLACE) {
if(fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("motionModeReplace");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_MOTION_MODE_GET) {
if (fillDeviceArgumentList) {
setFunction("motionModeGet", 0, 1);
setResultUnsignedChar1(0, "value");
}
return commandLengthValueForMode(mode, 0, 1);
}
// NOTIFICATION
if (DEVICE_MODE_NOTIFY == mode) {
if (commandHeader == NOTIFY_MOTION_STATUS_REACHED) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyReached");
}
return 14;
}
else if (commandHeader == NOTIFY_MOTION_STATUS_FAILED) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyFailed");
}
return 14;
}
else if (commandHeader == NOTIFY_MOTION_STATUS_OBSTACLE) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyObstacle");
}
return 14;
}
else if (commandHeader == NOTIFY_MOTION_STATUS_MOVING) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyMoving");
}
return 14;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
int trajectoryGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TRAJECTORY_GET_ABSOLUTE_POSITION) {
if (fillDeviceArgumentList) {
setFunction(GET_ABS_POS_STRING, 0, 5);
setResultFloatHex4(0, X_MM);
setResultSeparator(1);
setResultFloatHex4(2, Y_MM);
setResultSeparator(3);
setResultUnsignedHex4(4, ANGLE_1_10_DEG);
}
return commandLengthValueForMode(mode, 0, 14);
} else if (commandHeader == COMMAND_TRAJECTORY_DEBUG_GET_ABSOLUTE_POSITION) {
// Same return in case of input / output
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult(GET_DEBUG_ABS_POS_STRING);
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_DEBUG_CODERS) {
// Same return in case of input / output
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug Coders History");
}
return commandLengthValueForMode(mode, 0, 0);
} else if (commandHeader == COMMAND_TRAJECTORY_SET_ABSOLUTE_POSITION) {
if (fillDeviceArgumentList) {
setFunction(SET_ABS_POS_STRING, 5, 0);
setArgumentFloatHex6(0, X_MM);
setArgumentSeparator(1);
setArgumentFloatHex6(2, Y_MM);
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, ANGLE_1_10_DEG);
}
return commandLengthValueForMode(mode, 18, 0);
} else if (commandHeader == COMMAND_TRAJECTORY_ADJUST_X) {
if (fillDeviceArgumentList) {
setFunction("Adjust X", 1, 1);
setArgumentFloatHex6(0, X_MM);
setResultUnsignedChar1(0, "Done or not");
}
return commandLengthValueForMode(mode, 6, 1);
} else if (commandHeader == COMMAND_TRAJECTORY_ADJUST_Y) {
if (fillDeviceArgumentList) {
setFunction("Adjust Y", 1, 1);
setArgumentFloatHex6(0, X_MM);
setResultUnsignedChar1(0, "Done or not");
}
return commandLengthValueForMode(mode, 6, 1);
}
// NOTIFY PARAMETERS
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_OFF) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Notify Off");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_ON) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Notify On");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_SET_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunction("Notify Set Param", 3, 0);
setArgumentFloatHex4(0, "Dist (mm)");
setArgumentSeparator(1);
setArgumentFloatHex4(2, "Angle (deciDegree)");
}
return commandLengthValueForMode(mode, 9, 0);
}
// NOTIFICATION
if (DEVICE_MODE_NOTIFY == mode) {
if (commandHeader == NOTIFY_TRAJECTORY_CHANGED) {
if (fillDeviceArgumentList) {
setNotification("Trajectory Changed", 7);
setArgumentUnsignedHex4(0, "x(mm)");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "y(mm)");
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, "ang(1/10)deg");
setArgumentSeparator(5);
setArgumentUnsignedChar1(6, "Trajectory Type");
}
return 16;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceTimerGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TIMER_LIST) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("show Timer List");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TIMER_COUNT) {
if (fillDeviceArgumentList) {
setFunction("timer Count", 0, 1);
setResultUnsignedHex2(0, "count");
}
return commandLengthValueForMode(mode, 0, 2);
}
else if (commandHeader == COMMAND_TIMER_READ) {
if (fillDeviceArgumentList) {
setFunction("timer Read", 1, 13);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex2(0, "Index");
setResultSeparator(1);
setResultUnsignedHex2(2, "Code");
setResultSeparator(3);
setResultUnsignedHex4(4, "Diviser");
setResultSeparator(5);
setResultUnsignedHex4(6, "InternalCounter");
setResultSeparator(7);
setResultUnsignedHex6(8, "time");
setResultSeparator(9);
setResultUnsignedHex6(10, "markTime");
setResultSeparator(11);
setResultUnsignedChar1(12, "enabled");
}
return commandLengthValueForMode(mode, 2, 31);
}
else if (commandHeader == COMMAND_TIMER_ENABLE_DISABLE) {
if (fillDeviceArgumentList) {
setFunction("timer Enable", 3, 0);
setArgumentUnsignedHex2(0, "timerIndex");
setArgumentSeparator(1);
setArgumentUnsignedChar1(2, "enable/disable");
}
return commandLengthValueForMode(mode, 4, 0);
}
// Mark
else if (commandHeader == COMMAND_TIMER_TIME_SINCE_LAST_MARK) {
if (fillDeviceArgumentList) {
setFunction("time Since Last Mark", 1, 1);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex6(0, "mark");
}
return commandLengthValueForMode(mode, 2, 6);
}
else if (commandHeader == COMMAND_TIMER_MARK) {
if (fillDeviceArgumentList) {
setFunction("mark Timer !", 1, 1);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex6(0, "markTime");
}
return commandLengthValueForMode(mode, 2, 6);
}
else if (commandHeader == COMMAND_TIMER_TIMEOUT) {
if (fillDeviceArgumentList) {
setFunction("timeout check", 3, 3);
setArgumentUnsignedHex2(0, "timerIndex");
setArgumentSeparator(1);
setArgumentUnsignedHex6(2, "time to check");
setResultUnsignedHex2(0, "timerIndex");
setResultSeparator(1);
setResultUnsignedChar1(2, "timeout or not");
}
return commandLengthValueForMode(mode, 9, 4);
}
// Demo
else if (commandHeader == COMMAND_TIMER_DEMO) {
if (fillDeviceArgumentList) {
setFunction("Enable/Disable Timer Demo", 1, 0);
setArgumentUnsignedChar1(0, "enable/disable");
}
return commandLengthValueForMode(mode, 1, 0);
}
// wait
else if (commandHeader == COMMAND_TIMER_DELAY_WAIT) {
if (fillDeviceArgumentList) {
setFunction("Timer Delay Wait", 1, 0);
setArgumentUnsignedHex4(0, "milli Seconds");
}
return commandLengthValueForMode(mode, 4, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceStrategyGetInterface(char header, int mode, BOOL fillDeviceArgumentList) {
// Robot opponent position
if (header == COMMAND_STRATEGY_SET_OPPONENT_ROBOT_POSITION) {
if (mode == DEVICE_MODE_INPUT) {
if (fillDeviceArgumentList) {
setFunction("setOpponentRobotPos", 3);
setArgumentUnsignedHex4(0, "x (mm)");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "y (mm)");
}
return 9;
} else if (mode == DEVICE_MODE_OUTPUT) {
if (fillDeviceArgumentList) {
setFunctionNoArgument("setOpponentRobotPos");
}
return 0;
}
}
// Config
else if (header == COMMAND_STRATEGY_SET_CONFIG) {
if (mode == DEVICE_MODE_INPUT) {
if (fillDeviceArgumentList) {
setFunction("setConfig", 1);
setArgumentUnsignedHex4(0, "config");
}
return 4;
} else if (mode == DEVICE_MODE_OUTPUT) {
if (fillDeviceArgumentList) {
setFunctionNoArgument("setConfig");
}
return 0;
}
}
// Print Gameboard
else if (header == COMMAND_STRATEGY_PRINT_GAME_BOARD) {
// same input/output
if (fillDeviceArgumentList) {
setFunctionNoArgument("printGameBoard");
}
return 0;
}
// Next step
else if (header == COMMAND_STRATEGY_NEXT_STEP) {
if (mode == DEVICE_MODE_INPUT) {
// same input/output
if (fillDeviceArgumentList) {
setFunctionNoArgument("nextStep");
}
return 0;
} else if (mode == DEVICE_MODE_OUTPUT) {
if (fillDeviceArgumentList) {
setFunction("nextStep", 1);
setArgumentUnsignedHex2(0, "status");
}
return 2;
}
}
// Notify position
else if (header == COMMAND_STRATEGY_SET_ROBOT_POSITION) {
if (mode == DEVICE_MODE_INPUT) {
if (fillDeviceArgumentList) {
setFunction("strategySetRobotPosition", 7);
setArgumentUnsignedHex2(0, "status");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "x(mm)");
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, "y(mm)");
setArgumentSeparator(5);
setArgumentUnsignedHex4(6, "ang(1/10)deg");
}
return 17;
}
else if (mode == DEVICE_MODE_OUTPUT) {
if (fillDeviceArgumentList) {
setFunctionNoArgument("strategySetRobotPosition");
}
return 0;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
