Colony - / - Diff - Robotics Club

Revision 1447

     #include "../../libwireless/lib/wl_basic.h"
     #include "../../libwireless/lib/wireless.h"
     #include "hunter_prey.h"
     #include <time.h>
     #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
         int ret;
         struct timespec delay8, rem;
         delay8.tv_sec = 2;
         delay8.tv_nsec = 800000000;
         wl_set_com_port("/dev/ttyUSB0");
         // set up wireless
         wl_basic_init_default();
         wl_set_channel(CHANNEL);
         wl_set_com_port("/dev/ttyUSB0");
         printf("Testing communications\n\n");
-...
         // Wait until we receive a packet
         while (!(packet_data = wl_basic_do_default(&data_length)));
         printf("got packet, validating and sending ack...");
         fflush(stdout);
         if (data_length > 2)
+        {
     	printf("Excessive TAG packet length... ");
-...
     	// send back an ACK
     	send_buffer[0] = HUNTER_PREY_ACTION_ACK;
     	send_buffer[1] = packet_data[1];
     	printf("sending ack intended for robot %d\n", packet_data[1]);
     	fflush(stdout);
     	wl_basic_send_global_packet(TYPE, send_buffer, 2);
     	printf("PASSED\n");
-...
         else
     	printf("FAILED\n");
         sleep(10);
         // Send a TAG, receive an ACK
         printf("Send TAG, wait for ACK... ");
         fflush(stdout);
-...
         wl_basic_send_global_packet(TYPE, send_buffer, 2);
         // Wait for an ACK
         usleep(800000);  // wait for 800 ms before sending ACK
         ret = nanosleep(&delay8, &rem);  // wait for 800 ms before sending ACK
         while(ret) {
           //      printf("nanosleep not done, needs to wait %ld more\n", rem.tv_nsec);
           ret = nanosleep(&rem, &rem);
+        }
         data_length = -1;
         packet_data = wl_basic_do_default(&data_length);
         // Check ACK for presence and correctness
         if (!packet_data || data_length < 2 ||
     	    packet_data[0] != HUNTER_PREY_ACTION_ACK ||
     	    packet_data[1] != ROBOTID)
     	printf("FAILED\n");
           printf("FAILED, packet=%p, len=%d\n", packet_data, data_length);
         else
     	printf("PASSED\n");
-...
         if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG)
+        {
             printf("got TAG, waiting...");
     	fflush(stdout);
     	// wait before sending ACK back
     	usleep(900000);
     	//usleep(900000);
             delay8.tv_sec = 0;
             ret = nanosleep(&delay8, &rem);  // wait for 800 ms before sending ACK
     	while(ret) {
     	  printf(".");
     	  fflush(stdout);//      printf("nanosleep not done, needs to wait %ld more\n", rem.tv_nsec);
     	  ret = nanosleep(&rem, &rem);
+    	}
     	if (wl_basic_do_default(&data_length))
     	    printf("FAILED\n");
     	    printf("FAILED, got another TAG too soon\n");
     	else
+    	{
     	    // send packet
-...
         else
     	printf("FAILED\n");
         printf("sending courtesy tag...");
         fflush(stdout);
         send_buffer[0] = HUNTER_PREY_ACTION_TAG;
         send_buffer[1] = ROBOTID;
         // robot number stays the same
         wl_basic_send_global_packet(TYPE, send_buffer, 2);
         printf("done.\nwaiting for ack...");
         fflush(stdout);
         while (!(packet_data = wl_basic_do_default(&data_length)));
         if (!packet_data || data_length < 2 ||
     	    packet_data[0] != HUNTER_PREY_ACTION_ACK ||
     	    packet_data[1] != ROBOTID)
           printf("FAILED, packet=%p, len=%d\n", packet_data, data_length);
         else
     	printf("done\n");
         // Receive a TAG, never send an ACK
         printf("Receive TAG, never send ACK... ");
         fflush(stdout);
-...
         if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG)
+        {
             printf("got TAG, monitoring for 5 seconds\n");
     	fflush(stdout);
     	usleep(5000000);    // wait 5 seconds to see if they TAG again
     	if (wl_basic_do_default(&data_length))
     	    printf("FAILED\n");
     	    printf("FAILED, robot is spamming\n");
     	else
     	    printf("PASSED\n");
+        }

         if(robotState==ROBOT_TAGGED) {
           usb_puts("tagged, waiting to send ACK\n");
           delay_ms(TAG_PAUSE);
           //delay_ms(TAG_PAUSE);
           move(0,0);
           usb_puts("sending ACK to ");
           usb_puti(tagger);
           usb_putc('\n');
           packet[0] = HUNTER_PREY_ACTION_ACK;
           packet[1] = tagger;
           wl_basic_send_global_packet (0, &packet, 2);
           wl_basic_send_global_packet (42, &packet, 2);
           usb_puts("sent\n");
           robotState = ROBOT_HUNTER; //no longer prey
+        }
-...
           if(hunter_prey_tagged(angle, frontRange)) {
           if(hunter_prey_tagged(angle, frontRange) || button1_read()) {
     	orb_set_color(YELLOW);
     	color1 = YELLOW;
     	color2 = YELLOW;
-...
     	tagAck = 0;
     	packet[0] = HUNTER_PREY_ACTION_TAG;
     	packet[1] = id;
     	wl_basic_send_global_packet (0, &packet, 2);
     	wl_basic_send_global_packet (42, &packet, 2);
     	move(0,0);
     	while(!tagAck)
     	  wl_do();
-...
     void packet_receive(char type, int source, unsigned char* packet, int length)
+    {
       if(type==0 && length>=2){
       if(type==42 && length>=2){
         if(packet[0] == HUNTER_PREY_ACTION_TAG) {
           if(robotState == ROBOT_PREY) {
     	robotState = ROBOT_TAGGED;

+        {
     	case SRA_FORWARD:
     	    orb_set_color(GREEN);
     	    move(FULL_SPD, 0);	// drive straight forward
     	    move(220, 0);	// drive straight forward
     	    break;
     	case SRA_LEFT:
     	    orbs_set_color(GREEN, YELLOW);  // green on left side

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