ByteStream EstFilterMessageFormat::buildCommand_set(const InertialChannels& channels, uint16 sampleRateBase)
{
//container to hold the command's field data
ByteStream fieldData;
//add the command selector byte
fieldData.append_uint8(static_cast<uint8>(Inertial_Commands::cmd_setCurrent));
//add the number of channels
fieldData.append_uint8(static_cast<uint8>(channels.size()));
//loop through each channel in the vector of channels
for(InertialChannel ch : channels)
{
//if we find a channel not in the descriptor set
if(ch.descriptorSet() != DescriptorSet::DESC_SET_DATA_EST_FILTER)
{
throw Error("InertialChannel (" + Utils::toStr(ch.channelField()) + ") is not in the Estimation Filter descriptor set");
}
//validate the sample rate for the channel
ch.validateSampleRate(sampleRateBase);
//add the field descriptor and rate decimation
fieldData.append_uint8(ch.fieldDescriptor());
fieldData.append_uint16(ch.rateDecimation(sampleRateBase));
}
//build and return the command bytes
return GenericInertialCommand::buildCommand(CMD_ID, fieldData.data());
}
ByteStream ReadSingleSensor::buildCommand(NodeAddress nodeAddress, uint8 channelNumber)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(WirelessProtocol::cmdId_readSingleSensor); //Command ID
cmd.append_uint16(nodeAddress); //Node address (2 bytes)
cmd.append_uint8(0x01); //Command Byte
cmd.append_uint8(channelNumber); //Channel number
return cmd;
}
//==========================================================================================
//ESTIMATION FILTER MESSAGE FORMAT
ByteStream EstFilterMessageFormat::buildCommand_get()
{
//container to hold the command's field data
ByteStream fieldData;
//add the command selector byte
fieldData.append_uint8(static_cast<uint8>(Inertial_Commands::cmd_getCurrent));
//"get" has no channels, so add 0
fieldData.append_uint8(0);
//build and return the command bytes
return GenericInertialCommand::buildCommand(CMD_ID, fieldData.data());
}
ByteStream InertialPacketBuilder::buildPacket()
{
uint8 payloadLen = 0;
ByteStream payloadBytes;
//loop through all the fields
for(InertialDataField field : m_fields)
{
//field length = (1 field len byte + 1 field desc byte + n field data bytes)
size_t fieldLen = (1 + 1 + field.fieldData().size());
//increase the payload length
payloadLen += static_cast<uint8>(fieldLen);
//add the field length byte to the payloadBytes
payloadBytes.append_uint8(static_cast<uint8>(fieldLen));
//add the field descriptor byte to the payloadBytes
payloadBytes.append_uint8(field.fieldDescriptor());
//add the field data bytes to the payloadBytes (if any)
payloadBytes.appendByteStream(field.fieldData());
}
ByteStream result;
//add the first two "Sync" bytes
result.append_uint16(InertialPacketInfo::INERTIAL_PACKET_START_OF_PACKET);
//add the descriptor set byte
result.append_uint8(m_descriptorSet);
//add the payload length byte
result.append_uint8(payloadLen);
//add the payloadBytes that we just built up
result.appendByteStream(payloadBytes);
//calculate the checksum for the packet from all the bytes
uint16 checksum = result.calculateFletcherChecksum(0, result.size() - 1);
//add the checksum bytes
result.append_uint16(checksum);
//return the result bytes that we created
return result;
}
ByteStream BaseStation_ReadEeprom_v2::buildCommand(uint16 eepromAddress)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of packet
cmd.append_uint8(0x0E); //Delivery Stop Flag
cmd.append_uint8(0x30); //App Data Type
cmd.append_uint16(WirelessProtocol::BASE_STATION_ADDRESS); //Base Station Address
cmd.append_uint8(0x04); //Payload length
cmd.append_uint16(WirelessProtocol::cmdId_base_readEeprom_v2); //Command ID
cmd.append_uint16(eepromAddress); //eeprom address to read
cmd.append_uint16(cmd.calculateSimpleChecksum(1, 9)); //checksum
//return the built command bytes
return cmd;
}
ByteStream BaseStation_SetBeacon_v2::buildCommand(uint32 utcTime)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of packet
cmd.append_uint8(0x0E); //Delivery Stop Flag
cmd.append_uint8(0x30); //App Data Type
cmd.append_uint16(WirelessProtocol::BASE_STATION_ADDRESS); //Base Station Address
cmd.append_uint8(0x06); //Payload length
cmd.append_uint16(WirelessProtocol::cmdId_base_setBeacon); //Command ID
cmd.append_uint32(utcTime); //Timestamp for Beacon
cmd.append_uint16(cmd.calculateSimpleChecksum(1, 11)); //checksum
//return the built command bytes
return cmd;
}
ByteStream ShortPing::buildCommand(NodeAddress nodeAddress)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(WirelessProtocol::cmdId_shortPing);
cmd.append_uint16(nodeAddress); //Node address (2 bytes)
return cmd;
}
ByteStream LongPing::buildCommand(NodeAddress nodeAddress)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of Packet
cmd.append_uint8(0x05); //Delivery Stop Flag
cmd.append_uint8(0x00); //App Data Type
cmd.append_uint16(nodeAddress); //Node address (2 bytes)
cmd.append_uint8(0x02); //Payload length
cmd.append_uint16(WirelessProtocol::cmdId_longPing); //Command ID (2 bytes)
//calculate the checksum of bytes 2-8
uint16 checksum = cmd.calculateSimpleChecksum(1, 7);
cmd.append_uint16(checksum); //Checksum (2 bytes)
return cmd;
}
ByteStream StartNonSyncSampling::buildCommand(NodeAddress nodeAddress)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of Packet
cmd.append_uint8(0x05); //Delivery Stop Flag
cmd.append_uint8(0x00); //App Data Type
cmd.append_uint16(nodeAddress); //Node address (2 bytes)
cmd.append_uint8(0x02); //Payload length
cmd.append_uint16(0x38); //Command ID (2 bytes)
//calculate the checksum of bytes 2-10
uint16 checksum = cmd.calculateSimpleChecksum(1, 7);
cmd.append_uint16(checksum); //Checksum (2 bytes)
return cmd;
}
ByteStream BaseStation_Ping_v2::buildCommand()
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of Packet
cmd.append_uint8(0x0E); //Delivery Stop Flag
cmd.append_uint8(0x30); //App Data Type
cmd.append_uint16(WirelessProtocol::BASE_STATION_ADDRESS); //Base Station Address
cmd.append_uint8(0x02); //Payload length
cmd.append_uint16(WirelessProtocol::cmdId_basePing_v2); //Command ID
//calculate the checksum of bytes 2-8
uint16 checksum = cmd.calculateSimpleChecksum(1, 7);
cmd.append_uint16(checksum); //Checksum
return cmd;
}
ByteStream ReadEeprom_v2::buildCommand(NodeAddress nodeAddress, uint16 eepromAddress)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of Packet
cmd.append_uint8(0x05); //Delivery Stop Flag
cmd.append_uint8(0x00); //App Data Type
cmd.append_uint16(nodeAddress); //Node address (2 bytes)
cmd.append_uint8(0x04); //Payload length
cmd.append_uint16(WirelessProtocol::cmdId_readEeprom_v2); //Command ID (2 bytes)
cmd.append_uint16(eepromAddress); //EEPROM Address (2 bytes)
//calculate the checksum of bytes 2-10
uint16 checksum = cmd.calculateSimpleChecksum(1, 9);
cmd.append_uint16(checksum); //Checksum (2 bytes)
return cmd;
}
ByteStream StartNonSyncSampling_v2::buildCommand(NodeAddress nodeAddress)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(WirelessPacket::ASPP_V1_START_OF_PACKET_BYTE); //Start of Packet
cmd.append_uint8(0x05); //Delivery Stop Flag
cmd.append_uint8(0x00); //App Data Type
cmd.append_uint16(nodeAddress); //Node Address
cmd.append_uint8(10); //Payload Length
cmd.append_uint16(WirelessProtocol::cmdId_startLdc_v2); //Command ID
cmd.append_uint64(Utils::getCurrentSystemTime());
//calculate the checksum of bytes 2-16
uint16 checksum = cmd.calculateSimpleChecksum(1, 15);
cmd.append_uint16(checksum); //Checksum (2 bytes)
return cmd;
}
ByteStream AutoBalance_v2::buildCommand(NodeAddress nodeAddress, uint8 channelNumber, float targetPercent)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of Packet
cmd.append_uint8(0x05); //Delivery Stop Flag
cmd.append_uint8(0x00); //App Data Type
cmd.append_uint16(nodeAddress); //Node address
cmd.append_uint8(0x07); //Payload Length
cmd.append_uint16(WirelessProtocol::cmdId_autoBalance_v2); //Command Id
cmd.append_uint8(channelNumber); //Channel Number
cmd.append_float(targetPercent); //Target Percentage Value
//calculate the checksum of bytes 2-13
uint16 checksum = cmd.calculateSimpleChecksum(1, 12);
cmd.append_uint16(checksum); //Checksum
return cmd;
}
ByteStream BaseStation_RfSweepStart::buildCommand(uint32 min, uint32 max, uint32 interval, uint16 options)
{
//build the command ByteStream
ByteStream cmd;
cmd.append_uint8(0xAA); //Start of packet
cmd.append_uint8(0x0E); //Delivery Stop Flag
cmd.append_uint8(WirelessPacket::packetType_baseCommand); //App Data Type
cmd.append_uint16(WirelessProtocol::BASE_STATION_ADDRESS); //Base Station Address
cmd.append_uint8(0x10); //Payload length
cmd.append_uint16(WirelessProtocol::cmdId_base_rfScan); //Command ID
cmd.append_uint16(options);
cmd.append_uint32(min);
cmd.append_uint32(max);
cmd.append_uint32(interval);
cmd.append_uint16(cmd.calculateSimpleChecksum(1, 21)); //checksum
//return the built command bytes
return cmd;
}
WirelessPacket buildAutoCalCompletionResponse(int nodeAddress)
{
ByteStream payload;
payload.append_uint16(0x0064); //cmd id
payload.append_uint8(0x00); //completion flag
payload.append_uint8(0x00); //ch1 error flag
payload.append_float(0.0f); //ch1 offset
payload.append_uint8(0x00); //ch2 error flag
payload.append_float(0.0f); //ch2 offset
payload.append_uint8(0x00); //ch3 error flag
payload.append_float(0.0f); //ch3 offset
payload.append_float(20.5f);//temperature
//build the correct packet response first
WirelessPacket packet;
packet.deliveryStopFlags(DeliveryStopFlags::fromByte(0x07));
packet.type(WirelessPacket::packetType_reply);
packet.nodeAddress(nodeAddress);
packet.payload(payload.data());
return packet;
}
WirelessPacket buildAutoCalNodeRecResponse(int nodeAddress)
{
ByteStream payload;
payload.append_uint16(0x0064); //cmd id
payload.append_uint8(0x00); //status flag
payload.append_float(5.0f); //time to completion
WirelessPacket packet;
packet.deliveryStopFlags(DeliveryStopFlags::fromByte(0x07));
packet.type(WirelessPacket::packetType_NodeReceived);
packet.nodeAddress(nodeAddress);
packet.payload(payload.data());
return packet;
}
