add remote cmd to change xbee timeout (ms)

include/global.h

@@ -12,7 +12,7 @@ static constexpr uint32_t WHILL_SERIAL_BAUD = 38400;
 static constexpr uint32_t XBEE_SERIAL_BAUD = 38400;
 static constexpr uint32_t XBEE_SERIAL_BAUD = 38400;
 static constexpr uint16_t WHILL_INFO_INTERVAL_MS = 500;
 static constexpr uint16_t WHILL_INFO_INTERVAL_MS = 500;
 
 
-static constexpr double XBEE_COMMAND_TIMEOUT_MS = 1000.;
+static double xbee_cmd_timeout_ms = 300.;
 
 
 uint8_t HARDWARE_ID = 0xFF;
 uint8_t HARDWARE_ID = 0xFF;
 bool b_need_xbee_init = false;
 bool b_need_xbee_init = false;

include/main.h

@@ -265,7 +265,7 @@ void setVelocity()
     fps.update();
     fps.update();
     if (stopwatch.isRunning())
     if (stopwatch.isRunning())
     {
     {
-        if (stopwatch.ms() < XBEE_COMMAND_TIMEOUT_MS)
+        if (stopwatch.ms() < xbee_cmd_timeout_ms)
         {
         {
             if (b_motor_active)
             if (b_motor_active)
             {
             {

lib/BorderXBeePacketizer/BorderXBeePacketizer.h

@@ -6,6 +6,8 @@
 #include <queue>
 #include <queue>
 #include <array>
 #include <array>
 
 
+#include "../../include/global.h" // TODO: dirty
+
 namespace BorderXBeeProtocol
 namespace BorderXBeeProtocol
 {
 {
     static constexpr uint8_t BYTE_HEDADER = 0xFF;
     static constexpr uint8_t BYTE_HEDADER = 0xFF;
@@ -133,6 +135,30 @@ public:
                         buffer.data[buffer.size] = data;
                         buffer.data[buffer.size] = data;
                         ++buffer.size;
                         ++buffer.size;
                     }
                     }
+                    else if (buffer.id == 252) // change XBee timeout interval
+                    {
+                        if (data == BorderXBeeProtocol::BYTE_FOOTER)
+                        {
+                            if (buffer.size != 2)
+                            {
+                                Serial.print("XBee Timeout Interval recv data size error!!!! size = ");
+                                Serial.println(buffer.size);
+                                ++error_count;
+                            }
+                            else
+                            {
+                                uint16_t ms = (uint16_t)(buffer.data[1] << 8);
+                                ms |= (uint16_t)(buffer.data[0] << 0);
+                                xbee_cmd_timeout_ms = (double)ms;
+                                Serial.print("xbee timeout is changed to ");
+                                Serial.println(xbee_cmd_timeout_ms);
+                            }
+                            clearPacket();
+                            break;
+                        }
+                        buffer.data[buffer.size] = data;
+                        ++buffer.size;
+                    }
                     else
                     else
                     {
                     {
                         Serial.print("undefined CMD error!!!! CMD ID = ");
                         Serial.print("undefined CMD error!!!! CMD ID = ");