读取编码器数据指令完成并测试通过

usersrc/udpclient.c

@@ -138,6 +138,21 @@ static void udp_client_clear_encoder_cmd_receipt(protocol_clear_encoder_order_t
     }
 }
 
+static void udp_client_read_encoder_cmd_receipt(protocol_read_encoder_order_t *order)
+{
+    protocol_read_encoder_receipt_t receipt;
+    receipt.index = order->index;
+    receipt.cmd_id = order->cmd_id + ORDER_RECEIPT_INTERCONVERSION;
+    active_report_data_structer_update();
+    receipt.encoder1 = active_report_data_structer.encoder_1_count;
+    receipt.encoder2 = active_report_data_structer.encoder_2_count;
+    receipt.checksum = computesum8((char *)&receipt, sizeof(protocol_read_encoder_receipt_t) - 1);
+    if (sendto(sock_Client, &receipt, sizeof(protocol_read_encoder_receipt_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
+    {
+        printf("send basic_response error\r\n");
+    }
+}
+
 /* ===================================================================== */
 
 void udp_client_recv_data_dump(int recv_datalen)
@@ -311,7 +326,7 @@ void udp_client_parse(int recv_datalen)
         // }
         protocol_basic_t *protocol_basic_cmd = (protocol_basic_t *)s_receBuf;
         protocol_clear_encoder_order_t *protocol_clear_encoder_cmd = (protocol_clear_encoder_order_t *)s_receBuf;
-        // protocol_read_encoder_order_t *protocol_read_encoder_cmd = (protocol_read_encoder_order_t *)s_receBuf;
+        protocol_read_encoder_order_t *protocol_read_encoder_cmd = (protocol_read_encoder_order_t *)s_receBuf;
         // protocol_active_order_t *protocol_active_cmd = (protocol_active_order_t *)s_receBuf;
         // protocol_trigger_order_t *protocol_trigger_cmd = (protocol_trigger_order_t *)s_receBuf;
         // protocol_modify_network_configurations_order_t *protocol_modify_network_configurations_cmd = (protocol_modify_network_configurations_order_t *)s_receBuf;
@@ -333,7 +348,16 @@ void udp_client_parse(int recv_datalen)
 
             break;
         case PROTOCOL_CMD_READ_ENCODER: /* 读取编码器数据指令 */
-
+            cmd_checksum(protocol_read_encoder_cmd);
+            if (checksum_flag)
+            {
+                /* 校验通过 */
+                udp_client_read_encoder_cmd_receipt(protocol_read_encoder_cmd);
+            }
+            else
+            {
+                /* 校验未通过 */
+            }
             break;
         case PROTOCOL_CMD_ACTIVE: /* 配置主动上报指令 */