Appendix-606
Real-time external control function
7Appendix
}
break;
case MXT_TYP_POSE:
case MXT_TYP_FPOSE:
case MXT_TYP_FB_POSE:
if(loop==1) {
memcpy(&pos_now, &MXTrecv.dat.pos, sizeof(POSE));
loop = 2;
}
if(disp) {
POSE *p=(POSE*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d Type(POSE)=%d\n
%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f, %04x,%04x (%s)"
,MXTrecv.CCount,MXTrecv.TCount,DispType
,p->w.x, p->w.y, p->w.z, p->w.a, p->w.b, p->w.c
, p->sflg1, p->sflg2, str);
cout << buf << endl;
}
break;
case MXT_TYP_PULSE:
case MXT_TYP_FPULSE:
case MXT_TYP_FB_PULSE:
case MXT_TYP_CMDCUR:
case MXT_TYP_FBKCUR:
if(loop==1) {
memcpy(&pls_now, &MXTrecv.dat.pls, sizeof(PULSE));
loop = 2;
}
if(disp) {
PULSE *l=(PULSE*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d Type(PULSE/OTHER)=%d\n
%ld,%ld,%ld,%ld,%ld,%ld,%ld,%ld (%s)"
,MXTrecv.CCount,MXTrecv.TCount,DispType
,l->p1, l->p2, l->p3, l->p4, l->p5, l->p6, l->p7, l->p8, str);
cout << buf << endl;
}
break;
case MXT_TYP_NULL:
if(loop==1) {
loop = 2;
}
if(disp) {
sprintf(buf, "Receive (%ld): TCount=%d Type(NULL)=%d\n (%s)"
,MXTrecv.CCount,MXTrecv.TCount, DispType, str);
cout << buf << endl;
}
break;
default:
cout << "Bad data type.\n" << endl;
break;
}
+;// Count up only when communication is successful
retry=0;// Leave reception loop
}
else { // Reception timeout
cout << "... Receive Timeout! <Push [Enter] to stop the program>" << endl;
