Colony

/* testbench for Lab 2 first checkpoint

 * determine whether robot under test complies with communication standard

 * to be conducted using XBee USB dongle

 */

/* The tests shall be as follows

 * Receive a TAG, send an ACK

 * - Robot passes if it sends a tag and changes to prey state

 * Send a TAG, receive an ACK

 * - Pass if sends ACK, changes to wait state, then hunter state

 * Receive TAG, send slightly delayed (< 1s) ACK

 * - Pass if sends one and only one TAG packet (and changes state appropriately)

 * Receive TAG, do not send ACK

 * - Pass if sends one and only one TAG packet (and does not change state)

 * Receive TAG, send ACK to incorrect robot

 * - Pass if goes to wait state, then back to hunter state

 * Simulate TAG from robot A to B, ACK from B to A

 * - Pass if ignores TAG, goes to wait then hunter in response to ACK

 */

#define CHANNEL 0xF // channel for wireless communication

#define TYPE 42	// packet type for wireless communication

    char send_buffer[2];    // holds data to send

    int data_length;	// length of data received

    unsigned char *packet_data;	// data received

    // set up wireless

    wl_basic_init_default();

    wl_set_channel(CHANNEL);

    wl_set_com("/dev/ttyUSB0");

    printf("Testing communications\n\n");

    // Receive TAG, send ACK

    printf("Receive TAG, send ACK... ");

    // Wait until we receive a packet

    while (!(packet_data = wl_basic_do_default(&data_length)));

    if (data_length > 2)

	printf("Excessive TAG packet length... ");

    if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG)

    {

	// send back an ACK

	send_buffer[0] = HUNTER_PREY_ACTION_TAG;

	send_buffer[1] = packet_data[1];

	wl_basic_send_global_packet(TYPE, send_buffer, 2);

	printf("PASSED");

    }

    else

	printf("FAILED");