Revision 1447
fixed testbench, now it works!
also fixed hunter prey reference to allow packet type of 42, but there is still a bug in the reference WRT the latest spec because it waits indefinitely for an ACK
main.c | ||
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24 | 24 |
#include "../../libwireless/lib/wl_basic.h" |
25 | 25 |
#include "../../libwireless/lib/wireless.h" |
26 | 26 |
#include "hunter_prey.h" |
27 |
#include <time.h> |
|
27 | 28 |
|
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#define CHANNEL 0xF // channel for wireless communication |
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#define TYPE 42 // packet type for wireless communication |
... | ... | |
34 | 35 |
char send_buffer[2]; // holds data to send |
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int data_length; // length of data received |
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unsigned char *packet_data; // data received |
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int ret; |
|
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|
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struct timespec delay8, rem; |
|
41 |
|
|
42 |
delay8.tv_sec = 2; |
|
43 |
delay8.tv_nsec = 800000000; |
|
44 |
|
|
45 |
wl_set_com_port("/dev/ttyUSB0"); |
|
38 | 46 |
// set up wireless |
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wl_basic_init_default(); |
40 | 48 |
wl_set_channel(CHANNEL); |
41 |
wl_set_com_port("/dev/ttyUSB0"); |
|
42 | 49 |
|
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printf("Testing communications\n\n"); |
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|
... | ... | |
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// Wait until we receive a packet |
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while (!(packet_data = wl_basic_do_default(&data_length))); |
50 | 57 |
|
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printf("got packet, validating and sending ack..."); |
|
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fflush(stdout); |
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60 |
|
|
51 | 61 |
if (data_length > 2) |
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{ |
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printf("Excessive TAG packet length... "); |
... | ... | |
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// send back an ACK |
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send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
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send_buffer[1] = packet_data[1]; |
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printf("sending ack intended for robot %d\n", packet_data[1]); |
|
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fflush(stdout); |
|
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wl_basic_send_global_packet(TYPE, send_buffer, 2); |
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|
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printf("PASSED\n"); |
... | ... | |
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else |
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printf("FAILED\n"); |
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|
81 |
|
|
82 |
sleep(10); |
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83 |
|
|
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// Send a TAG, receive an ACK |
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printf("Send TAG, wait for ACK... "); |
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fflush(stdout); |
... | ... | |
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wl_basic_send_global_packet(TYPE, send_buffer, 2); |
77 | 92 |
|
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// Wait for an ACK |
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usleep(800000); // wait for 800 ms before sending ACK |
|
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ret = nanosleep(&delay8, &rem); // wait for 800 ms before sending ACK |
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|
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while(ret) { |
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// printf("nanosleep not done, needs to wait %ld more\n", rem.tv_nsec); |
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ret = nanosleep(&rem, &rem); |
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} |
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100 |
|
|
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data_length = -1; |
|
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packet_data = wl_basic_do_default(&data_length); |
81 | 103 |
|
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// Check ACK for presence and correctness |
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if (!packet_data || data_length < 2 || |
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packet_data[0] != HUNTER_PREY_ACTION_ACK || |
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packet_data[1] != ROBOTID) |
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printf("FAILED\n");
|
|
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printf("FAILED, packet=%p, len=%d\n", packet_data, data_length);
|
|
87 | 109 |
else |
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printf("PASSED\n"); |
89 | 111 |
|
... | ... | |
95 | 117 |
|
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if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
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{ |
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printf("got TAG, waiting..."); |
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fflush(stdout); |
|
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// wait before sending ACK back |
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usleep(900000); |
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//usleep(900000); |
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delay8.tv_sec = 0; |
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ret = nanosleep(&delay8, &rem); // wait for 800 ms before sending ACK |
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while(ret) { |
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printf("."); |
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fflush(stdout);// printf("nanosleep not done, needs to wait %ld more\n", rem.tv_nsec); |
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ret = nanosleep(&rem, &rem); |
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} |
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|
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|
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if (wl_basic_do_default(&data_length)) |
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printf("FAILED\n"); |
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printf("FAILED, got another TAG too soon\n");
|
|
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else |
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{ |
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// send packet |
... | ... | |
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else |
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printf("FAILED\n"); |
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|
150 |
|
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printf("sending courtesy tag..."); |
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fflush(stdout); |
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send_buffer[0] = HUNTER_PREY_ACTION_TAG; |
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send_buffer[1] = ROBOTID; |
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// robot number stays the same |
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wl_basic_send_global_packet(TYPE, send_buffer, 2); |
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printf("done.\nwaiting for ack..."); |
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fflush(stdout); |
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159 |
|
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while (!(packet_data = wl_basic_do_default(&data_length))); |
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161 |
|
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if (!packet_data || data_length < 2 || |
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packet_data[0] != HUNTER_PREY_ACTION_ACK || |
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packet_data[1] != ROBOTID) |
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printf("FAILED, packet=%p, len=%d\n", packet_data, data_length); |
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else |
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printf("done\n"); |
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168 |
|
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169 |
|
|
117 | 170 |
// Receive a TAG, never send an ACK |
118 | 171 |
printf("Receive TAG, never send ACK... "); |
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fflush(stdout); |
... | ... | |
122 | 175 |
|
123 | 176 |
if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
124 | 177 |
{ |
178 |
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printf("got TAG, monitoring for 5 seconds\n"); |
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fflush(stdout); |
|
125 | 181 |
usleep(5000000); // wait 5 seconds to see if they TAG again |
126 | 182 |
|
127 | 183 |
if (wl_basic_do_default(&data_length)) |
128 |
printf("FAILED\n"); |
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184 |
printf("FAILED, robot is spamming\n");
|
|
129 | 185 |
else |
130 | 186 |
printf("PASSED\n"); |
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} |
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