BOOL sentStrategyRobotPosition(unsigned char status, unsigned int x, unsigned int y, int angleInDeciDegree) {
OutputStream* debugOutputStream = getOutputStreamLogger(INFO);
appendString(debugOutputStream, "sentStrategyRobotPosition:");
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_STRATEGY_SET_ROBOT_POSITION);
appendHex2(outputStream, status);
appendSeparator(outputStream);
appendHex4(outputStream, x);
appendSeparator(outputStream);
appendHex4(outputStream, y);
appendSeparator(outputStream);
appendHex4(outputStream, angleInDeciDegree);
appendStringAndDec(debugOutputStream, "status=", status);
appendStringAndDec(debugOutputStream, ", x=", x);
appendStringAndDec(debugOutputStream, ", y=", y);
appendStringAndDec(debugOutputStream, ", angle=", angleInDeciDegree);
println(debugOutputStream);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
void disableNotificationRobotInfraredDetector(enum InfraredDetectorGroupType type) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, ROBOT_INFRARED_DETECTOR_DEVICE_HEADER);
append(outputStream, DETECTOR_DISABLE_NOTIFICATION_COMMAND);
appendHex2(outputStream, type);
transmitFromDriverRequestBuffer();
}
BOOL motionDriverStop() {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_MOTION_CANCEL);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
BOOL motionDriverObstacle() {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_MOTION_OBSTACLE);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
BOOL motionDriverRight(float rightDeciDegree) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_MOTION_RIGHT_IN_DECI_DEGREE);
appendHex4(outputStream, rightDeciDegree);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
bool clientDistributor2018EjectDirty(void) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, LAUNCHER_2018_DEVICE_HEADER);
append(outputStream, DISTRIBUTOR_EJECT_DIRTY_BALL_COMMAND);
bool result = transmitFromDriverRequestBuffer();
return result;
}
BOOL motionDriverLeftOneWheel(float leftDeciDegree) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_MOTION_LEFT_ONE_WHEEL_IN_DECI_DEGREE);
appendHex4(outputStream, leftDeciDegree);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
BOOL motionDriverBackward(float distanceInMM) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_MOTION_BACKWARD_IN_MM);
appendHex4(outputStream, distanceInMM);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
bool clientLightOn2018(int launcherIndex) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, LAUNCHER_2018_DEVICE_HEADER);
append(outputStream, LAUNCHER_LIGHT_ON_SERVO_MOVE_COMMAND);
appendHex2(outputStream, launcherIndex);
bool result = transmitFromDriverRequestBuffer();
return result;
}
BOOL motionSetParameters(int motionType, int a, int speed) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_SET_MOTION_PARAMETERS);
appendHex2(outputStream, motionType);
appendHex2(outputStream, a);
appendHex2(outputStream, speed);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
bool clientDistributor2018LoadAndSendUnicolorBallList(int direction) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, LAUNCHER_2018_DEVICE_HEADER);
append(outputStream, LAUNCHER_LOAD_AND_SEND_UNICOLOR_BALL_LIST);
appendHex2(outputStream, direction);
bool result = transmitFromDriverRequestBuffer();
return result;
}
BOOL sendStrategyConfiguration(int configuration) {
appendString(getOutputStreamLogger(INFO), "sendStrategyConfiguration\n");
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_STRATEGY_SET_CONFIG);
appendHex4(outputStream, configuration);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
bool robotInfraredDetectorHasObstacle(enum InfraredDetectorGroupType type) {
OutputStream* outputStream = getDriverRequestOutputStream();
InputStream* inputStream = getDriverResponseInputStream();
append(outputStream, ROBOT_INFRARED_DETECTOR_DEVICE_HEADER);
append(outputStream, COMMAND_INFRARED_DETECTOR_DETECTION);
appendHex2(outputStream, type);
bool result = transmitFromDriverRequestBuffer();
if (result) {
int result = readHex2(inputStream);
return result == 0x01;
}
return false;
}
bool clientDistributor2018CleanNext(int direction) {
OutputStream* outputStream = getDriverRequestOutputStream();
InputStream* inputStream = getDriverResponseInputStream();
append(outputStream, LAUNCHER_2018_DEVICE_HEADER);
append(outputStream, DISTRIBUTOR_LOAD_NEXT_BALL_COMMAND);
appendHex2(outputStream, direction);
bool result = transmitFromDriverRequestBuffer();
// Read the distance of detection, but we don't care about
readHex2(inputStream);
return result;
}
bool clientLaunch2018(int launcherIndex, bool prepare) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, LAUNCHER_2018_DEVICE_HEADER);
if (prepare) {
append(outputStream, LAUNCHER_PREPARE_BALL_COMMAND);
appendHex2(outputStream, launcherIndex);
}
else {
append(outputStream, LAUNCHER_SEND_BALL_COMMAND);
appendHex2(outputStream, launcherIndex);
}
bool result = transmitFromDriverRequestBuffer();
return result;
}
BOOL sendStrategyNextStep() {
appendString(getOutputStreamLogger(INFO), "sendStrategyNextStep\n");
OutputStream* outputStream = getDriverRequestOutputStream();
InputStream* inputStream = getDriverResponseInputStream();
append(outputStream, COMMAND_STRATEGY_NEXT_STEP);
BOOL result = transmitFromDriverRequestBuffer();
if (result) {
int result = readHex2(inputStream);
return result;
}
return FALSE;
}
BOOL motionDriverGotoPositionPulse(float left,
float right,
float a,
float s) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_MOTION_GOTO_IN_PULSE);
appendHex4(outputStream, left);
appendHex4(outputStream, right);
appendHex2(outputStream, a);
appendHex2(outputStream, s);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
BOOL sendStrategyOpponentRobotPosition(Point* opponentRobotPosition) {
OutputStream* debugOutputStream = getOutputStreamLogger(INFO);
appendString(debugOutputStream, "sendStrategyOpponentRobotPosition: ");
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_STRATEGY_SET_OPPONENT_ROBOT_POSITION);
appendHex4(outputStream, opponentRobotPosition->x);
appendSeparator(outputStream);
appendHex4(outputStream, opponentRobotPosition->y);
appendStringAndDec(debugOutputStream, " x=", opponentRobotPosition->x);
appendStringAndDec(debugOutputStream, ", y=", opponentRobotPosition->y);
println(debugOutputStream);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
BOOL motionDriverBSplineAbsolute(float x, float y, float angle, float dist0, float dist1, int accelerationFactor, int speedFactor) {
OutputStream* outputStream = getDriverRequestOutputStream();
append(outputStream, COMMAND_MOTION_SPLINE_ABSOLUTE);
appendHex4(outputStream, x);
appendSeparator(outputStream);
appendHex4(outputStream, y);
appendSeparator(outputStream);
appendHex4(outputStream, angle);
appendSeparator(outputStream);
appendHex2(outputStream, dist0);
appendSeparator(outputStream);
appendHex2(outputStream, dist1);
appendSeparator(outputStream);
appendHex(outputStream, accelerationFactor);
appendHex(outputStream, speedFactor);
BOOL result = transmitFromDriverRequestBuffer();
return result;
}
