Colony

#include <stdlib.h>

#include <stdio.h>

#include <string.h>

#include "wireless.h"

uint8_t group_1_function();

uint8_t group_2_function();

uint8_t group_3_function();

uint8_t group_4_function();

/* This function tests out the full functionality of the new wireless library.

 * It must be run on two colony bots simultaneously to properly test all funtions.

*/

int main(char argsc, char* argv[])

{

	orb_init();

	usb_init();

	int status = 0;

	usb_puts("New Wireless Library Test Suite\n";

	/*Initialize the wirelss library*/

	usb_puts("Initializing library...\n\t");

	orb1_set_color(BLUE);

	status = wl_init();

	switch(status){

		case 0:

			usb_puts("Library initialization successful\n\n");

			orb1_set_color(GREEN);

			break;

		case -1:

			usb_puts("Initialization failed: already initialized\n\n");

			orb1_set_color(GREEN);

			break;

		case -2:

			usb_puts("Initialization failed: XBEE initialization failed\n\n");

			orb1_set_color(RED);

			break;

		default:

			usb_puts("Error: Unreconnized status code: %d\n\n", status);

			orb1_set_color(RED);

			break;

	}

	while((status!=0) && 1);

	/*Test all constants defined correctly*/

	status = 0;

	usb_puts("Testing constants...");

	orb2_set_color(GREEN);

	if(GLOBAL!=0){

		usb_puts("\nGLOBAL defined as %d", GLOBAL);

		status++;

	}

	usb_puts(".");

	if(PAN!=1){

		usb_puts("\nPAN defined as %d", PAN);

		status++;

	}

	usb_puts(".");

	if(BROADCAST!=0xFFFF){

		usb_puts("\nBROADCAST defined as %d", BROADCAST);

		status++;

	}

	usb_puts(".");

	if(RELIABLE!=0){

		usb_puts("\nRELIABLE defined as %d", RELIABLE);

		status++;

	}

	usb_puts(".");

	if(FAST!=1){

		usb_puts("\nFAST defined as %d", FAST);

		status++;

	}

	usb_puts(".");

	if(NORMAL_PRIORITY!=0){

		usb_put=s("\nNORMAL_PRIORITY defined as %d", NORMAL_PRIORITY);

		status++;

	}

	usb_puts(".");

	if(HIGH_PRIORITY!=1){

		usb_puts("\nHIGH_PRIORITY defined as %d", HIGH_PRIORITY);

		status++;

	}

	usb_puts(".\nConstant test complete. There were %d errors", status);

	if(status!=0){

		orb2_set_color(ORANGE);

		delay_ms(500);

	/*Tests function registration*/

	usb_puts("\nTesting function registration\n");

	int registers[8], count;

	status = 0;

	orb2_set_color(GREEN);

	registers[0] = wl_register_handler(1, group_1_function(), 0);

	registers[1] = wl_register_handler(2, group_2_function(), 1);

	registers[2] = wl_register_handler(3, group_3_function(), 0);

	registers[3] = wl_register_handler(4, group_4_function(), 1);

	registers[4] = wl_register_handler(0, group_1_function(), 0);

	registers[5] = wl_register_handler(6, NULL, 0);

	registers[6] = wl_register_handler(30, group_3_function(), 0);

	registers[7] = wl_register_handler(-1, group_4_function(), 0);

	for(count=0; count<=3; count++){

		if(registers[count] != 0){

			usb_puts("Function registration error: attempt %d returned %d instead of success\n", count, registers[count]);

			orb2_set_color(ORANGE);

			status++;

		}

	}

	for(count=4; count<=6; count++){

		if(registers[count] == 0){

			usb_puts("Function registration error: attempt %d succeeded instead of failing\n", count);

			orb2_set_color(ORANGE);

			status++;

		}

		if(registers[count] != 0 && registers[count] != -5){

			usb_puts("Function registration error: attempt %d returned %d instead of -5\n", count, registers[count]);

			orb2_set_color(ORANGE);

			status++;

		}

	}

	if(registers[7] == 0){

		usb_puts("Congrats, you let an array write to index -1\n");

		orb2_set_color(RED);

		status++;

		while(1);

	}

	usb_puts("Registration test completed. There were %d errors", status);

	delay_ms(500);

	/*Tests XBee functions*/

	usb_puts("Testing XBee fuctions...\n");

	status = 0;

	orb2_set_color(GREEN);

	unsigned int pan = xbee_get_pan_id();

	if(pan != 0){

		usb_puts("Pan error: defaulted to non-default Pan id #%d\n", pan);

		orb2_set_color(ORANGE);

		status++;

	}

	pan = xbee_set_pan_id(1);

	if(pan != 0){

		usb_puts("Pan error: error setting Pan id\n", pan);

		orb2_set_color(ORANGE);

		status++;

	}

	pan = xbee_get_pan_id();

	if(pan != 0){

		usb_puts("Pan error: Pan id reads different %d than set value 1\n", pan);

		orb2_set_color(ORANGE);

		status++;

	}

	usb_puts("XBee tests completed. There were %d errors", status);

	usb_puts("XBee tests completed. There were %d errors", status);

	/*Tests sending in fast mode*/

	usb_puts("Tests sending basic packets in fast mode...\n

	status = 0;

	uint_16 data = xbee_get_address();

	status = wl_send(data, 2, 0, GLOBAL, BROADCAST, FAST);

	usb_puts("Global fast broadcast basic send exit code %d\n", status);

	status = wl_send(data, 2, 0, GLOBAL, PAN, FAST);

	usb_puts("Global fast pan send basic exit code %d\n", status);

	status = wl_send(data, 2, 0, GLOBAL, BROADCAST, FAST);

	usb_puts("Global fast broadcast basic send exit code %d\n", status);

	status = wl_send(data, 2, 0, GLOBAL, PAN, FAST);

	usb_puts("Global fast pan send basic exit code %d\n", status);

	status = wl_send(data, 2, 1, GLOBAL, BROADCAST, FAST);

	usb_puts("Global fast broadcast group 1 send exit code %d\n", status);

	status = wl_send(data, 2, 2, GLOBAL, PAN, FAST);

	usb_puts("Global fast pan send group 2 exit code %d\n", status);

	status = wl_send(data, 2, 1, GLOBAL, BROADCAST, FAST);

	usb_puts("Global fast broadcast group 3 send exit code %d\n", status);

	status = wl_send(data, 2, 2, GLOBAL, PAN, FAST);

	usb_puts("Global fast pan send group 4 exit code %d\n", status);

	usb_puts("Fast send tests successful\n");

	/*Sends packets in fast mode until other robot responds*/

	usb_puts("Sending basic packets until other robot responds");

	status = 0;

	char *packet = 0; /*will contain a 16 bit address, so length always 2*/

	while(status == 0){

		wl_send(data, 2, 0, GLOBAL, BROADCAST, FAST);

		status = wl_get_basic(packet, 2);

	}	

	/*Terminates wireless functions*/

	usb_puts("\nTerminating wireless...\n\t");

	status = wl_init();

	switch(status){

		case 0:

			usb_puts("Wireless termination successful\n\n");

			orb1_set_color(BLUE);

			break;Tech19n0

		case -3:

			usb_puts("Termination failed: library not initialized\n\n");

			orb1_set_color(BLUE);

			break;

		case -5:

			usb_puts("Termination failed\n\n");

			orb1_set_color(RED);

			break;

		case -6:

			usb_puts("Termination failed: function unregistration failed\n\n");

			orb1_set_color(ORANGE);

			break;

		default:

			usb_puts("Error: Unreconnized status code: %d\n\n", status);

			orb1_set_color(RED);

			break;

	}

	usb_puts("Wireless Library tests completed");

	while(1);

}

/**

 * Copyright (c) 2009 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file wireless_ack.h

 * @brief Wireless behavior to confirm ACK of packets

 *

 * Implementation of advanced ACK system, for extra confirmation

 * that packets arrived at destination robot.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <string.h>

#include "wl_defs.h"

#include "wireless.h"

/**

 * Copyright (c) 2009 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file wireless_ack.c

 * @brief Wireless behavior to confirm ACK of packets

 *

 * Implementation of advanced ACK system, for extra confirmation

 * that packets arrived at destination robot.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <string.h>

#include "wl_defs.h"

#include "wireless.h"