Revision 1272
Added "interactive" command in server mode
Moved hardware_init out of interactive_main
Made calling interactive_main/server_main more consistent
| trunk/code/projects/diagnostic_station/station/comm_interactive.c | ||
|---|---|---|
| 88 | 88 |
|
| 89 | 89 |
void interactive_main (void) |
| 90 | 90 |
{
|
| 91 |
hardware_init(); |
|
| 92 |
|
|
| 93 | 91 |
while (1) |
| 94 | 92 |
{
|
| 95 | 93 |
// Set the orbs to green/green |
| trunk/code/projects/diagnostic_station/station/comm_server.c | ||
|---|---|---|
| 6 | 6 |
#include "global.h" |
| 7 | 7 |
#include "tests.h" |
| 8 | 8 |
|
| 9 |
#include "comm_interactive.h" |
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| 10 |
|
|
| 9 | 11 |
// ############## |
| 10 | 12 |
// ## Settings ## |
| 11 | 13 |
// ############## |
| ... | ... | |
| 33 | 35 |
const char command_emitter [] PROGMEM = "emitter" ; |
| 34 | 36 |
const char command_detector [] PROGMEM = "detector" ; |
| 35 | 37 |
const char command_help [] PROGMEM = "help" ; |
| 38 |
const char command_interactive [] PROGMEM = "interactive"; |
|
| 39 |
const char command_i [] PROGMEM = "i" ; |
|
| 36 | 40 |
|
| 37 | 41 |
// Help |
| 38 | 42 |
const char help_text [] PROGMEM = |
| ... | ... | |
| 287 | 291 |
#endif |
| 288 | 292 |
|
| 289 | 293 |
bool handled=false; |
| 290 |
if (serial_match (command_ping , message)) { handle_message_ping (message); handled=true; }
|
|
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if (serial_match (command_start_test, message)) { handle_message_start_test (message); handled=true; }
|
|
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if (serial_match (command_help , message)) { handle_message_help (message); handled=true; }
|
|
| 294 |
if (serial_match (command_ping , message)) { handle_message_ping (message); handled=true; }
|
|
| 295 |
if (serial_match (command_start_test , message)) { handle_message_start_test (message); handled=true; }
|
|
| 296 |
if (serial_match (command_help , message)) { handle_message_help (message); handled=true; }
|
|
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if (serial_match (command_interactive, message)) { interactive_main () ; handled=true; }
|
|
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if (serial_match (command_i , message)) { interactive_main () ; handled=true; }
|
|
| 293 | 299 |
// More messages go here |
| 294 | 300 |
|
| 295 | 301 |
if (!handled) |
| ... | ... | |
| 334 | 340 |
uint8_t c; |
| 335 | 341 |
uint8_t buffer_fill=0; |
| 336 | 342 |
|
| 343 |
// Set the orbs to green/yellow |
|
| 344 |
orbs_set (0,255,0, 255,127,0); |
|
| 345 |
|
|
| 337 | 346 |
//byte_transmission_test (); // Does not return |
| 338 | 347 |
|
| 339 | 348 |
usb_puts (NL); |
| trunk/code/projects/diagnostic_station/station/main.c | ||
|---|---|---|
| 31 | 31 |
|
| 32 | 32 |
// If button 1 is pressed after initialization of the wireless (which takes about 1s), run all tests. |
| 33 | 33 |
if (button1_read ()) |
| 34 |
test_all ();
|
|
| 34 |
test_all (); |
|
| 35 | 35 |
|
| 36 | 36 |
// If button 2 is pressed, go to interactive mode (green/green). If not, go to server mode (green/yellow). |
| 37 | 37 |
if (button2_read ()) |
| 38 | 38 |
interactive_main (); |
| 39 | 39 |
else |
| 40 |
{
|
|
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// Set the orbs to green/yellow |
|
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orbs_set (0,255,0, 255,127,0); |
|
| 43 |
|
|
| 44 | 40 |
server_main (); |
| 45 |
} |
|
| 46 | 41 |
|
| 47 | 42 |
while (1); |
| 48 | 43 |
return 0; |
| ... | ... | |
| 56 | 51 |
if (!button2_read ()) |
| 57 | 52 |
{
|
| 58 | 53 |
// Initialize before using USB |
| 59 |
comm_server_init (); |
|
| 60 |
|
|
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orb1_set (0, 0, 255); |
|
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comm_robot_init (); |
|
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orb2_set (0, 0, 255); |
|
| 64 |
|
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int16_t left=69, right=105; |
|
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|
|
| 67 |
while (0) |
|
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{
|
|
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robot_set_motors (motor_direction_backward, 250, motor_direction_forward, 250); |
|
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delay_ms (200); |
|
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} |
|
| 72 |
|
|
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// Encoder test |
|
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robot_reset_encoders (); |
|
| 75 |
while (1) |
|
| 76 |
{
|
|
| 77 |
bool result=robot_read_encoders (&left, &right); |
|
| 78 |
usb_puti (result); |
|
| 79 |
usb_puts (" ");
|
|
| 80 |
usb_puti (left); |
|
| 81 |
usb_puts (" ");
|
|
| 82 |
usb_puti (right); |
|
| 83 |
usb_puts (NL); |
|
| 84 |
|
|
| 85 |
delay_ms (200); |
|
| 86 |
} |
|
| 54 |
// Do something else |
|
| 87 | 55 |
} |
| 88 | 56 |
else |
| 89 | 57 |
{
|
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