Colony

#include "hunter_prey.h"

#include <time.h>

#define TYPE 42	// packet type for wireless communication

#define ROBOTID 255 // make up a robot id because the PC doesn't have one

    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();

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

    else

	printf("FAILED\n");

    waitKey();

    // Send a TAG, receive an ACK

    else

	printf("PASSED\n");

    waitKey();

    // Receive a TAG, send a delayed ACK

	printf("FAILED\n");

    waitKey();

    printf("sending courtesy tag...");

    else

	printf("done\n");

    // Receive a TAG, never send an ACK

    printf("Receive TAG, never send ACK... ");

        printf("got TAG, monitoring for 5 seconds\n");

	fflush(stdout);

	if (wl_basic_do_default(&data_length))

	    printf("FAILED, robot is spamming\n");

	else

    else

	printf("FAILED\n");

    waitKey();

    // Receive TAG, send ACK to incorrect robot

    else

	printf("FAILED\n");

    waitKey();

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

    else

	printf("PASSED\n");

    return 0;

}