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Create Command<->Control reference doc

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Aadi Desai 2021-06-09 15:25:18 +01:00
parent 65f48f99c3
commit 5411a247bc
1 changed files with 39 additions and 0 deletions
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Control/ref/command.cpp Normal file
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#include <Arduino.h>
#include <ArduinoJson.h>
#include <string>
#define WebSocket 0
int batteryVoltage, totalTripDistance, currentHeading, current_x, current_y, signal_strength, lastCompletedCommand_id; // Info Command ==> Control
int command_id, mode, reqHeading, reqDistance, reqSpeed, reqCharge; // Info Control ==> Command
void setup() {}
void loop()
{
DynamicJsonDocument rdoc(1024); // receive doc, not sure how big this needs to be
deserializeJson(rdoc, WebSocket); // Take JSON input from WebSocket
batteryVoltage = rdoc["bV"];
totalTripDistance = rdoc["tD"];
currentHeading = rdoc["cH"];
current_x = rdoc["pos"][0];
current_y = rdoc["pos"][1];
signal_strength = rdoc["rssi"];
lastCompletedCommand_id = rdoc["LCCid"];
// ResetTelemetry / STOP / M 0 50 1 / C %
// [20] Heading: 0, Distance: 50, Speed: 1 / [20] Charging to: ??%
// {"Cid":20,"rH":0,}
DynamicJsonDocument tdoc(1024); // transmit doc, not sure how big this needs to be
tdoc["Cid"] = command_id;
tdoc["mode"] = mode; // Switch (mode):
// -1 = Add to queue, reset x/y/odometer (telemetry data)
// 0 = Stop immediately, clear command cache
// 1 = Normal movement command, added to end of command cache
// 2 = Normal charge command, results in no motion, added to end of command cache
tdoc["rH"] = reqHeading;
tdoc["rD"] = reqDistance;
tdoc["rS"] = reqSpeed;
tdoc["rC"] = reqCharge;
serializeJson(tdoc, WebSocket, WebSocket); // Build JSON and send on UART1
}