void ArNetPacket::insertHeader()
{
int length = myLength;
myLength = 0;
uByteToBuf(0xF); // 1
uByteToBuf(0xC); // 2
if (myAddedFooter)
uByte2ToBuf(length); // 3 & 4
else
uByte2ToBuf(length+2); // 3 & 4
uByte2ToBuf(myCommand); // 5 & 6
if (myAddedFooter)
myLength = length - 2;
else
myLength = length;
} // end method insertHeader
AREXPORT void ArRobotPacket::finalizePacket(void)
{
int len = myLength;
int chkSum;
myLength = 0;
uByteToBuf(mySync1);
uByteToBuf(mySync2);
uByteToBuf(len - getHeaderLength() + 3);
myLength = len;
chkSum = calcCheckSum();
byteToBuf((chkSum >> 8) & 0xff );
byteToBuf(chkSum & 0xff );
/* Put this in if you want to see the packets being outputted
printf("Output(%3d) ", getID());
printHex();
*/
// or put this in if you just want to see the type
//printf("Output %d\n", getID());
}
AREXPORT void ArLMS2xxPacket::finalizePacket(void)
{
int len = myLength;
int chkSum;
// put in the start of the packet
myLength = 0;
// toss in the header
uByteToBuf(0x02);
// now the laser we want to talk to
uByteToBuf(mySendingAddress);
// dump in the length
uByte2ToBuf(len - myHeaderLength);
myLength = len;
// that lovely CRC
chkSum = calcCRC();
byteToBuf(chkSum & 0xff );
byteToBuf((chkSum >> 8) & 0xff );
//printf("Sending ");
//log();
}
AREXPORT void ArLMS1XXPacket::uByte2ToBuf(ArTypes::UByte2 val)
{
uByteToBuf(val & 0xff);
uByteToBuf((val > 8) & 0xff);
}
