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数据接收

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xinyang
2019-04-14 22:36:21 +08:00
parent 34ba7df66f
commit d820b639ed
1 changed files with 17 additions and 14 deletions
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21
main.cpp
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@@ -93,22 +93,25 @@ void uartReceive(Uart* uart){
char buffer[100]; char buffer[100];
int cnt=0; int cnt=0;
while(true){ while(true){
unsigned int data; char data;
while(1){ while((data=uart->receive()) != '\n'){
cout << (data=uart->receive()) << endl; buffer[cnt++] = data;
// buffer[cnt++] = data;
}buffer[cnt] = 0; }buffer[cnt] = 0;
if(cnt==1 && buffer[0]=='e'){ if(cnt == 9){
if(buffer[8] == 'e'){
state = ENERGY_STATE; state = ENERGY_STATE;
LOGM("State switch to energy!"); LOGM("Energy state");
}else if(cnt==1 && buffer[0]=='a'){ memcpy(&yaw, buffer, 4);
memcpy(&pitch, buffer+4, 4);
LOGM("Get yaw:%f pitch:%f", yaw, pitch);
}else if(buffer[8] == 'a'){
state = ARMOR_STATE; state = ARMOR_STATE;
LOGM("State switch to armor!"); LOGM("Armor state");
}else if(cnt==8){
memcpy(&yaw, buffer, 4); memcpy(&yaw, buffer, 4);
memcpy(&pitch, buffer+4, 4); memcpy(&pitch, buffer+4, 4);
LOGM("Get yaw:%f pitch:%f", yaw, pitch); LOGM("Get yaw:%f pitch:%f", yaw, pitch);
} }
}
cnt = 0; cnt = 0;
} }
} }