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);

}