Added acknowledgement packet, of all zeros, to be sent back to the IR…

…C when the PC receives a packet with no status bits assigned.
dscl · May 15, 2020 · 1f87163 · 1f87163
1 parent 8126db8
commit 1f87163
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/msgHandler.m b/msgHandler.m
@@ -25,6 +25,13 @@ function msgHandler(msgData,fsm)
         % Pass the current PoseID to the FSM
         fsm.curPoseID = uint8(msgData(2));
         fsm.ev_Req_Image_Capture();
+
+    % If none of the status bits are set, simply respond with an all-zeros
+    % message acknowledging receipt of the message.
+    else
+        bits = logical(zeros(1,64));
+        msg = uint8(bi2de(reshape(bits,8,[])','left-msb'))';
+        fwrite(fsm.dataStore.tcpConn,msg,'uint8');
     end