bool SendMessage(Rover * rov, CommPacket * pkt) {
if (GetSpanUs(&rov->pktTxTimer)<FROM_uS(200))
return false;
return CommSendPacket(&rov->dataIface, pkt);
}
bool TransmissionInProgress(Rover * rov) {
return CommTransmissionInProgress(&rov->dataIface) || (GetSpanUs(&rov->pktTxTimer)<FROM_uS(200));
}
void TestControllerTick(Rover * rov) {
char dat[2];
char serDat[15];
char len;
if (GetSpanUs(&testController.pingTimer) > FROM_uS(1000000)) {
dat[0]='Z';
dat[1]=testController.inc++;
if (dat[1]=='z')
testController.inc='A';
CommPacket respPkt;
respPkt.target = TARGET_GUI;
respPkt.length = 2;
respPkt.data = dat;
//SendMessage(rov,&respPkt);
StartTimer(&testController.pingTimer);
}
if (USART_RXUsed(&testController.cameraPort)!=0) {
len = USART_Read(&testController.cameraPort, serDat, 15);
CommPacket respPkt;
respPkt.target = TARGET_GUI;
respPkt.length = 2;
respPkt.data = dat;
SendMessage(rov,&respPkt);
dat[0]='S';
dat[1]=serDat[0];
SendMessage(rov,&respPkt);
}
/* char data[2] = { 'X', 'a' };
CommPacket reqPacket;
CommPacket confPacket;
CommPacket * rcvdPacket;
char confdata[6] = {'V','A','L','I','D', 0 };
reqPacket.target = 1;
reqPacket.length = 2;
reqPacket.data = data;
confPacket.target = TARGET_GUI;
confPacket.length = 6;
confPacket.data = confdata;
if (testController.timeoutCounter>15000) { // time to send another message
CommSendPacket(&testController.inf, &reqPacket);
testController.timeoutCounter = 0;
}
else {
testController.timeoutCounter++;
}
if (CommRXPacketsAvailable(&testController.inf)) { // do we have a reply packet to read?
rcvdPacket = CommGetPacket(&testController.inf);
if (rcvdPacket->target==0) {
if (CommRXPacketsAvailable(&testController.inf)==4)
confdata[3] = CommRXPacketsAvailable(&testController.inf);
else
confdata[3] = 'I';
}
confdata[3] = rcvdPacket->data[0];
SendMessage(rov, &confPacket);
CommDeletePacket(rcvdPacket);
free(rcvdPacket);
}*/
}