dn_robotalk.h

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#ifndef DN_ROBOTALK_H_
#define DN_ROBOTALK_H_

#ifndef _DN_EXP_ROBOTALK
#define _DN_EXP_ROBOTALK
#endif /* _DN_EXP_ROBOTALK */

#define RTK_CHECK_TYPE (CHECK_TYPE_UDP | CHECK_TYPE_COM)

#define RTK_CHECK_SEND (RTK_CHECK_TYPE | CHECK_FUNC_SEND)

#define RTK_CHECK_RECV (RTK_CHECK_TYPE | CHECK_FUNC_SEND | CHECK_FUNC_RECV)

#define RTK_ENQ (0x05)

#define RTK_CMD_REJ (0x0E01)

#define RTK_CMD_ACK (0x0E02)

#define RTK_CMD_NAK (0x0E82)

#define RTK_SIZE_PACKET (256)

#define RTK_SIZE_HEADER (6)

#define RTK_SIZE_DATA (RTK_SIZE_PACKET - RTK_SIZE_HEADER)

#define RTK_SIZE_COMMAND (2)

#define RTK_SIZE_CRC (2)

#define RTK_RETRY_FLAG (0x1000)

#define RTK_RETRY_COUNT (0x2000)

#define RTK_RETRY_MASK (0xF000)

#define NativeCommand(cmd) ((cmd) & ~RTK_RETRY_MASK)

union RTK_PACKET
{
  struct
  {
    uint8_t enq;      
    uint8_t len;      
    uint16_t command; 
    uint8_t from_id;  
    uint8_t to_id;    
    uint8_t data[RTK_SIZE_DATA]; 
  };
  uint8_t buf[RTK_SIZE_PACKET];  
};

#ifdef __cplusplus
extern "C"
{
#endif

  _DN_EXP_ROBOTALK HRESULT
  rtk_param2packet(uint16_t command, const uint8_t *data, uint8_t len_data,
      uint8_t from_id, uint8_t to_id, union RTK_PACKET *packet);

  _DN_EXP_ROBOTALK uint16_t
  rtk_calc_crc(const union RTK_PACKET *packet);

  _DN_EXP_ROBOTALK HRESULT
  rtk_send(const struct CONN_PARAM_COMMON *device,
      union RTK_PACKET *packet_send);

  _DN_EXP_ROBOTALK HRESULT
  rtk_recv(const struct CONN_PARAM_COMMON *device,
      union RTK_PACKET *packet_recv, int client, unsigned int retry_nak);

#ifdef __cplusplus
}
#endif

#endif /* DN_ROBOTALK_H_ */