///接收IP，发送自己的IP
void SendMeIPEvent(UartEvent e)
{
sendIP[0]=192;
sendIP[1]=168;
sendIP[2]=1;
sendIP[3]=e->ReadByte();
sprintf((char *)sendIPstr,"%d.%d.%d.%d\0",sendIP[0],sendIP[1],sendIP[2],sendIP[3]);
ConnectSendCode(sendIPstr,2333,0,&meDev.IP[3],1);
e->noack();//不要自动应答
}
void AliveEvent(UartEvent e)
{
u8 i;
u8 l;
u8 s=0;
u8 buf[4];
buf[0]=192;
buf[1]=168;
buf[2]=1;
buf[3]=e->ReadByte();
if (remoteDevCount >= 15) return;
if(remoteDevCount>0)
{
for(i=0;i<remoteDevCount;i++)
{
for(l=0;l<4;l++)
{
if(buf[l]== remoteDev[i].IP[l])
{
s++;
}
}
if(s>=4)
{
break;
}else
s=0;
}
if(i==remoteDevCount)//列表没有相同IP
{
for(l=0;l<4;l++)
{
remoteDev[remoteDevCount].IP[l] =buf[l];
}
sprintf((char *)remoteDev[remoteDevCount].IPstr,"%d.%d.%d.%d\0",remoteDev[remoteDevCount].IP[0],remoteDev[remoteDevCount].IP[1],
remoteDev[remoteDevCount].IP[2],remoteDev[remoteDevCount].IP[3]);
remoteDevCount++;
}
}else
{
for(l=0;l<4;l++)
{
remoteDev[0].IP[l]=buf[l];
}
sprintf((char *)remoteDev[remoteDevCount].IPstr,"%d.%d.%d.%d\0",remoteDev[remoteDevCount].IP[0],remoteDev[remoteDevCount].IP[1],
remoteDev[remoteDevCount].IP[2],remoteDev[remoteDevCount].IP[3]);
remoteDevCount++;
}
// e->ReadBuff(type,4);
// if(strstr((const char*)type,"Tx0")!=NULL)
// {
// e->WriteString("useIP()");
// e->WriteString((u8 *)"Rx0");//设备类型
// e->SendAckPacket();
//
// }
//
}
void SetDataEvent(UartEvent e)
{
u8 id;
id=e->ReadByte();
if(lastCodeID==id)return;
lastCodeID=id;
switch(e->ReadByte())
{
case 0:
RightSpeed.P=LeftSpeed.P=e->ReadByte();
RightSpeed.I=LeftSpeed.I=e->ReadByte();
RightSpeed.D=LeftSpeed.D=e->ReadByte();
break;
case 1:
//e->ReadBuff((u8*)StatsCode,9);
break;
case 2:
//fmaxlen= e->ReadByte();
break;
case 3:
PathPos=e->ReadWord();
PathLen=e->ReadByte();
e->ReadBuff(&pathbuff[PathPos],PathLen);
PathLen+=PathPos;
PathPos=0;
savecount=PathLen;
break;
case 4:
switch(e->ReadByte())
{
case 0:PathSelect|=PathType.Forward; DetectionLogic.Control->ActionRun(Forward,1);lastAction=Forward;
EnableTime=1;
lastTick=TimerTick;
lastTime=0;
if(PathPos<PathLen&&PathLen!=0xffff){
PathPos++;
}
RecvCode++;
break;
case 1:PathSelect|=PathType.Left; DetectionLogic.Control->ActionRun(Left,1000);lastAction=Left;break;
case 2:PathSelect|=PathType.Right; DetectionLogic.Control->ActionRun(Right,1000);lastAction=Right;break;
case 3: DetectionLogic.Control->ActionRun(Back,1000);lastAction=Back;break;
}
break;
case 5:
DetectionLogic.Control->StopRun();
PathSelect=PathType.Forward;
DetectionLogic.Control->ActionRun(Forward,1);
PathLen=0xffff;
PathPos=0;
lastAction=Forward;
DetectionLogic.Control->StopRun();
lastTick=TimerTick;
lastTime=0;
EnableTime=0;
// lastCodeID=255;
break;
case 6:
AveSpeedL=e->ReadByte();
AveSpeedR=e->ReadByte();
break;
case 7:
statusRL = e->ReadByte();
switch(statusRL)
{
case 0:
Motor.Speed(0,MotorLeftSpeed=0);
Motor.Speed(1,MotorRightSpeed=0);
break;
case 1:
Motor.Speed(0,MotorLeftSpeed=AveSpeedL);
Motor.Speed(1,MotorRightSpeed=AveSpeedR);
break;
case 2:
Motor.Speed(0,MotorLeftSpeed=-AveSpeedL);
Motor.Speed(1,MotorRightSpeed=-AveSpeedR);
break;
case 3:
Motor.Speed(0,MotorLeftSpeed=-AveSpeedL);
Motor.Speed(1,MotorRightSpeed=AveSpeedR);
break;
case 4:
Motor.Speed(0,MotorLeftSpeed=AveSpeedL);
Motor.Speed(1,MotorRightSpeed=-AveSpeedR);
break;
}
break;
}
}
//WIFI模块数据，非协议
void DeErrEvent(UartEvent e)
{
u8 buf[50]={0};
u8 bufip[15]={0};
u8 *bufipp;
u8 bufp[4]={0};
char *buf1;
char *buf2;
u8 i;
u8 f;
if(getid==1)
{
getid=0;
memset(meDev.ID,0,12);
memset(meDev.IP,0,4);
e->ReadBuff(buf,packlen);
buf1 = strstr((char *)buf,"id:");
if(buf1==NULL) return ;
buf1+=3;
i=0;
while((*buf1) != ' ')
{
meDev.ID[i++] = *buf1;
buf1++;
}
buf2 = strstr((char *)buf1,"ip:");
if(buf2==NULL) return;
buf2+=3;
i=0;
while((*buf2) != ' ')
{
bufip[i++]=*buf2;
buf2++;
}
bufipp=(u8 *)bufip;
for(f=0;f<3;f++)
{
i=0;
bufp[0]=bufp[1]=bufp[2]=0;
while(*bufipp!='.')
{
bufp[i] = *bufipp;
bufipp++;
i++;
}
bufipp++;
bufp[i]='\0';
meDev.IP[f]=atoi((char *)bufp);
}
i=0;
bufp[0]=bufp[1]=bufp[2]=0;
while(*bufipp!='\0')
{
bufp[i] = *bufipp;
bufipp++;
i++;
}
bufp[i]='\0';
meDev.IP[3] = atoi((char *)bufp);
if(meDev.IP[0]!=0&&meDev.IP[1]!=0&&meDev.IP[2]!=0&&meDev.IP[3]!=0)
Timer.Stop(getIPIDid);
// LCD_Fill(30,20,200,60,WHITE);
// LCD_ShowString(30,20,200,16,16,meDev.ID);
// LCD_ShowString(30,40,200,16,16,bufip);
}
}
void GetDataEvent(UartEvent e)
{
u8 i;
s16 yawvalue;
SensorStatus val=Sensor.Read();
//mpu_dmp_get_data(&pitch,&roll,&yaw);
yawvalue=yaw;
e->WriteDWord(0);
e->WriteDWord(val&0xffffffff);
e->WriteWord(flen);
e->WriteWord(blen);
e->WriteByte(MotorLeftSpeed);//lspeed
e->WriteByte(MotorRightSpeed);//rspeed
e->WriteWord(yawvalue);
e->WriteByte(lastBatteryValue);
e->WriteWord(PathPos);
e->WriteByte(lastAction);
e->WriteByte(PathSelect);
e->WriteByte(lastCodeID);
e->WriteByte(RecvCode);
if(EnableTime)lastTime=TimerTick-lastTick;
e->WriteWord(lastTime);
e->WriteDWord(lastIDCard);
for(i=0;i<MaxSensor;i++)
{
e->WriteWord(Sensor.GetCHValue(i));
}
e->SendAckPacket();
}