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finished hunter HunterBase::SendRobotCmd()

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This commit is contained in:
Ruixiang Du
2020-06-17 15:03:02 +08:00
parent 19197facc0
commit a768ead9fd
1 changed files with 5 additions and 9 deletions
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14
src/platforms/hunter_base.cpp
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@@ -14,7 +14,10 @@
namespace westonrobot { namespace westonrobot {
void HunterBase::SendRobotCmd() {} void HunterBase::SendRobotCmd() {
static uint8_t cmd_count = 0;
SendMotionCmd(cmd_count++);
}
void HunterBase::SendMotionCmd(uint8_t count) { void HunterBase::SendMotionCmd(uint8_t count) {
// motion control message // motion control message
@@ -42,19 +45,12 @@ void HunterBase::SendMotionCmd(uint8_t count) {
if (can_connected_) if (can_connected_)
m_msg.body.motion_cmd_msg.data.cmd.checksum = CalcHunterCANChecksum( m_msg.body.motion_cmd_msg.data.cmd.checksum = CalcHunterCANChecksum(
CAN_MSG_MOTION_CMD_ID, m_msg.body.motion_cmd_msg.data.raw, 8); CAN_MSG_MOTION_CMD_ID, m_msg.body.motion_cmd_msg.data.raw, 8);
// serial_connected_: checksum will be calculated later when packed into a
// complete serial frame
// send to can bus
if (can_connected_) { if (can_connected_) {
// send to can bus
can_frame m_frame; can_frame m_frame;
EncodeHunterMsgToCAN(&m_msg, &m_frame); EncodeHunterMsgToCAN(&m_msg, &m_frame);
can_if_->send_frame(m_frame); can_if_->send_frame(m_frame);
} else {
// TODO
// send to serial port
// EncodeHunterMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
// serial_if_->send_bytes(tx_buffer_, tx_cmd_len_);
} }
} }