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Revision 1655

Added by Ben Wasserman about 14 years ago

Put debug statements back in the code (instead of program space). Done by merging with version 1649, and just copying in the current new functions to send and receive.

View differences:

branches/wireless/code/projects/unit_tests/test_wireless2.c
1 
#include <stdlib.h>
2 
#include <stdio.h>
1 3 
#include <string.h>
2 4 
#include <wireless.h>
3 5 
#include <lights.h>
......
15 17 

  		




  16
  18
  
    
uint16_t friendAddress = 0;


  		




  17
  19
  
    

  		




  18
  
  
    
char debug_output1[] PROGMEM =  "New Wireless Library Test Suite\r\n";


  		




  19
  
  
    
char debug_output2[] PROGMEM =  "Initializing library...\r\n";


  		




  20
  
  
    
char debug_output3[] PROGMEM =  "Library initialization successful\r\n\r\n";


  		




  21
  
  
    
char debug_output4[] PROGMEM =  "Initialization failed: already initialized\r\n\r\n";


  		




  22
  
  
    
char debug_output5[] PROGMEM =  "Initialization failed: XBEE initialization failed\r\n\r\n";


  		




  23
  
  
    
char debug_output6[] PROGMEM =  "Error: Unreconnized status code: ";


  		




  24
  
  
    
char debug_output7[] PROGMEM =  "\r\n\r\n";


  		




  25
  
  
    
char debug_output8[] PROGMEM =  "Testing constants...";


  		




  26
  
  
    
char debug_output9[] PROGMEM =  "\r\nGLOBAL defined as ";


  		




  27
  
  
    
char debug_output10[] PROGMEM = "\r\nPAN defined as ";


  		




  28
  
  
    
char debug_output11[] PROGMEM = "\r\nBROADCAST defined as ";


  		




  29
  
  
    
char debug_output12[] PROGMEM = "\r\nRELIABLE defined as ";


  		




  30
  
  
    
char debug_output13[] PROGMEM = "\r\nFAST defined as ";


  		




  31
  
  
    
char debug_output14[] PROGMEM = "\r\nNORMAL_PRIORITY defined as ";


  		




  32
  
  
    
char debug_output15[] PROGMEM = "\r\nHIGH_PRIORITY defined as ";


  		




  33
  
  
    
char debug_output16[] PROGMEM = ".\r\nConstant test complete. There were ";


  		




  34
  
  
    
char debug_output17[] PROGMEM = " errors\r\n";


  		




  35
  
  
    
char debug_output18[] PROGMEM = "\r\nTesting function registration";


  		




  36
  
  
    
char debug_output19[] PROGMEM = "\r\nFunction registration error: attempt ";


  		




  37
  
  
    
char debug_output20[] PROGMEM = " returned ";


  		




  38
  
  
    
char debug_output21[] PROGMEM = " instead of success\r\n";


  		




  39
  
  
    
char debug_output22[] PROGMEM = "\r\nFunction registration error: attempt ";


  		




  40
  
  
    
char debug_output23[] PROGMEM = " succeeded instead of failing\r\n";


  		




  41
  
  
    
char debug_output24[] PROGMEM = "\r\nFunction registration error: attempt ";


  		




  42
  
  
    
char debug_output25[] PROGMEM = " instead of -5\r\n";


  		




  43
  
  
    
char debug_output26[] PROGMEM = "\r\nCongrats, you let an array write to index -1\r\n";


  		




  44
  
  
    
char debug_output27[] PROGMEM = "Registration test completed. There were ";


  		




  45
  
  
    
char debug_output28[] PROGMEM = " errors\r\n";


  		




  46
  
  
    
char debug_output29[] PROGMEM = "\r\nTesting XBee fuctions...\r\n";


  		




  47
  
  
    
char debug_output30[] PROGMEM = "Pan error: defaulted to non-default Pan id :";


  		




  48
  
  
    
char debug_output31[] PROGMEM = "\r\nPan error: error setting Pan id: ";


  		




  49
  
  
    
char debug_output32[] PROGMEM = "\r\nPan error: Pan id reads different than set value 1: ";


  		




  50
  
  
    
char debug_output33[] PROGMEM = "\r\nXBee tests completed. There were ";


  		




  51
  
  
    
char debug_output34[] PROGMEM = " errors.\r\n";


  		




  52
  
  
    
char debug_output35[] PROGMEM = "\r\nTests sending basic packets in fast mode...\r\n";


  		




  53
  
  
    
char debug_output36[] PROGMEM = "Global fast broadcast basic send exit code ";


  		




  54
  
  
    
char debug_output37[] PROGMEM = "\r\nGlobal fast pan send basic exit code ";


  		




  55
  
  
    
char debug_output38[] PROGMEM = "\r\nGlobal fast broadcast basic send exit code ";


  		




  56
  
  
    
char debug_output39[] PROGMEM = "\r\nGlobal fast pan send basic exit code ";


  		




  57
  
  
    
char debug_output40[] PROGMEM = "\r\nGlobal fast broadcast group 1 send exit code ";


  		




  58
  
  
    
char debug_output41[] PROGMEM = "\r\nGlobal fast pan send group 2 exit code ";


  		




  59
  
  
    
char debug_output42[] PROGMEM = "\r\nGlobal fast broadcast group 3 send exit code ";


  		




  60
  
  
    
char debug_output43[] PROGMEM = "\r\nGlobal fast pan send group 4 exit code ";


  		




  61
  
  
    
char debug_output44[] PROGMEM = "\r\nFast send tests successful\r\n";


  		




  62
  
  
    
char debug_output45[] PROGMEM = "Sending basic packets until other robot responds";


  		




  63
  
  
    
char debug_output46[] PROGMEM = "\r\nReceive error code ";


  		




  64
  
  
    
char debug_output47[] PROGMEM = "\r\nReceived packet from robot: ";


  		




  65
  
  
    
char debug_output48[] PROGMEM = "\r\n\r\nTerminating wireless...\r\n";


  		




  66
  
  
    
char debug_output49[] PROGMEM = "Wireless termination successful\r\n\r\n";


  		




  67
  
  
    
char debug_output50[] PROGMEM = "Termination failed: library not initialized\r\n\r\n";


  		




  68
  
  
    
char debug_output51[] PROGMEM = "Termination failed\r\n\r\n";


  		




  69
  
  
    
char debug_output52[] PROGMEM = "Termination failed: function unregistration failed\r\n\r\n";


  		




  70
  
  
    
char debug_output53[] PROGMEM = "Error: Unreconnized status code: ";


  		




  71
  
  
    
char debug_output54[] PROGMEM = "\r\n\r\nWireless Library tests completed";


  		




  72
  
  
    
char debug_output55[] PROGMEM = "\r\nFunction 1 called";


  		




  73
  
  
    
char debug_output56[] PROGMEM = "\r\nFunction 2 called";


  		




  74
  
  
    
char debug_output57[] PROGMEM = "\r\nFunction 3 called";


  		




  75
  
  
    
char debug_output58[] PROGMEM = "\r\nFunction 4 called";


  		




  76
  
  
    

  		




  77
  
  
    

  		




  78
  20
  
    
/* This function tests out the full functionality of the new wireless library.


  		




  79
  21
  
    
 * It must be run on two colony bots simultaneously to properly test all funtions.


  		




  80
  22
  
    
*/


  		




  ......




  82
  24
  
    
{


  		




  83
  25
  
    
	orb_init();


  		




  84
  26
  
    
	usb_init();


  		




  85
  
  
    
	uint8_t status = 0;


  		




  
  27
  
    
	int status = 0;


  		




  86
  28
  
    

  		




  87
  
  
    
	usb_puts((PGM_P)debug_output1);


  		




  
  29
  
    
	usb_puts("New Wireless Library Test Suite\r\n");


  		




  88
  30
  
    
		


  		




  89
  31
  
    
	/*Initialize the wirelss library*/


  		




  90
  
  
    
	usb_puts(debug_output2);


  		




  
  32
  
    
	usb_puts("Initializing library...\r\n");


  		




  91
  33
  
    
	orb1_set_color(BLUE);


  		




  92
  34
  
    
	status = wl_init();


  		




  93
  35
  
    
	switch(status){


  		




  94
  36
  
    
		case 0:


  		




  95
  
  
    
			usb_puts((PGM_P)debug_output3);


  		




  
  37
  
    
			usb_puts("Library initialization successful\r\n\r\n");


  		




  96
  38
  
    
			orb1_set_color(GREEN);


  		




  97
  39
  
    
			break;


  		




  98
  40
  
    
		case -1:


  		




  99
  
  
    
			usb_puts((PGM_P)debug_output4);


  		




  
  41
  
    
			usb_puts("Initialization failed: already initialized\r\n\r\n");


  		




  100
  42
  
    
			orb1_set_color(GREEN);


  		




  101
  43
  
    
			break;


  		




  102
  44
  
    
		case -2:


  		




  103
  
  
    
			usb_puts((PGM_P)debug_output5);


  		




  
  45
  
    
			usb_puts("Initialization failed: XBEE initialization failed\r\n\r\n");


  		




  104
  46
  
    
			orb1_set_color(RED);


  		




  105
  47
  
    
			break;


  		




  106
  48
  
    
		default:


  		




  107
  
  
    
			usb_puts((PGM_P)debug_output6);


  		




  
  49
  
    
			usb_puts("Error: Unreconnized status code: ");


  		




  108
  50
  
    
			usb_puti(status);


  		




  109
  
  
    
			usb_puts((PGM_P)debug_output7);


  		




  
  51
  
    
			usb_puts("\r\n\r\n");


  		




  110
  52
  
    
			orb1_set_color(RED);


  		




  111
  53
  
    
			break;


  		




  112
  54
  
    
	}


  		




  ......




  114
  56
  
    

  		




  115
  57
  
    
	/*Test all constants defined correctly*/


  		




  116
  58
  
    
	status = 0;


  		




  117
  
  
    
	usb_puts((PGM_P)debug_output8);


  		




  
  59
  
    
	usb_puts("Testing constants...");


  		




  118
  60
  
    
	orb2_set_color(GREEN);


  		




  119
  61
  
    
	if(GLOBAL!=0){


  		




  120
  
  
    
		usb_puts((PGM_P)debug_output9);


  		




  
  62
  
    
		usb_puts("\r\nGLOBAL defined as ");


  		




  121
  63
  
    
		usb_puti(GLOBAL);


  		




  122
  64
  
    
		status++;


  		




  123
  65
  
    
	}


  		




  124
  66
  
    
	usb_puts(".");


  		




  125
  67
  
    
	if(PAN!=1){


  		




  126
  
  
    
		usb_puts((PGM_P)debug_output10);


  		




  
  68
  
    
		usb_puts("\r\nPAN defined as ");


  		




  127
  69
  
    
		usb_puti(PAN);


  		




  128
  70
  
    
		status++;


  		




  129
  71
  
    
	}


  		




  130
  72
  
    
	usb_puts(".");


  		




  131
  73
  
    
	if(BROADCAST!=0xFFFF){


  		




  132
  
  
    
		usb_puts((PGM_P)debug_output11);


  		




  
  74
  
    
		usb_puts("\r\nBROADCAST defined as ");


  		




  133
  75
  
    
		usb_puti(BROADCAST);


  		




  134
  76
  
    
		status++;


  		




  135
  77
  
    
	}


  		




  136
  78
  
    
	usb_puts(".");


  		




  137
  79
  
    
	if(RELIABLE!=0){


  		




  138
  
  
    
		usb_puts((PGM_P)debug_output12);


  		




  
  80
  
    
		usb_puts("\r\nRELIABLE defined as ");


  		




  139
  81
  
    
		usb_puti(RELIABLE);


  		




  140
  82
  
    
		status++;


  		




  141
  83
  
    
	}


  		




  142
  84
  
    
	usb_puts(".");


  		




  143
  85
  
    
	if(FAST!=1){


  		




  144
  
  
    
		usb_puts((PGM_P)debug_output13);


  		




  
  86
  
    
		usb_puts("\r\nFAST defined as ");


  		




  145
  87
  
    
		usb_puti(FAST);


  		




  146
  88
  
    
		status++;


  		




  147
  89
  
    
	}


  		




  148
  90
  
    
	usb_puts(".");


  		




  149
  91
  
    
	if(NORMAL_PRIORITY!=0){


  		




  150
  
  
    
		usb_puts((PGM_P)debug_output14);


  		




  
  92
  
    
		usb_puts("\r\nNORMAL_PRIORITY defined as ");


  		




  151
  93
  
    
		usb_puti(NORMAL_PRIORITY);


  		




  152
  94
  
    
		status++;


  		




  153
  95
  
    
	}


  		




  154
  96
  
    
	usb_puts(".");


  		




  155
  97
  
    
	if(HIGH_PRIORITY!=1){


  		




  156
  
  
    
		usb_puts((PGM_P)debug_output15);


  		




  
  98
  
    
		usb_puts("\r\nHIGH_PRIORITY defined as ");


  		




  157
  99
  
    
		usb_puti(HIGH_PRIORITY);


  		




  158
  100
  
    
		status++;


  		




  159
  101
  
    
	}


  		




  160
  
  
    
	usb_puts((PGM_P)debug_output16);


  		




  
  102
  
    
	usb_puts(".\r\nConstant test complete. There were ");


  		




  161
  103
  
    
	usb_puti(status);


  		




  162
  
  
    
	usb_puts((PGM_P)debug_output17);


  		




  
  104
  
    
	usb_puts(" errors\r\n");


  		




  163
  105
  
    
	if(status!=0){


  		




  164
  106
  
    
		orb2_set_color(ORANGE);


  		




  165
  107
  
    
		delay_ms(500);


  		




  166
  108
  
    
	}


  		




  167
  109
  
    
	/*Tests function registration*/


  		




  168
  
  
    
	usb_puts((PGM_P)debug_output18);


  		




  169
  
  
    
	int8_t registers[8], count;


  		




  
  110
  
    
	usb_puts("\r\nTesting function registration");


  		




  
  111
  
    
	int registers[8], count;


  		




  170
  112
  
    
	status = 0;


  		




  171
  113
  
    
	orb2_set_color(GREEN);


  		




  172
  114
  
    
	registers[0] = wl_register_handler(1, group_1_function, 0);


  		




  ......




  179
  121
  
    
	registers[7] = wl_register_handler(-1, group_4_function, 0);


  		




  180
  122
  
    
	for(count=0; count<=3; count++){


  		




  181
  123
  
    
		if(registers[count] != 0){


  		




  182
  
  
    
			usb_puts((PGM_P)debug_output19);


  		




  
  124
  
    
			usb_puts("\r\nFunction registration error: attempt ");


  		




  183
  125
  
    
			usb_puti(count);


  		




  184
  
  
    
			usb_puts((PGM_P)debug_output20);


  		




  
  126
  
    
			usb_puts(" returned ");


  		




  185
  127
  
    
			usb_puti(registers[count]);


  		




  186
  
  
    
			usb_puts((PGM_P)debug_output21);


  		




  
  128
  
    
			usb_puts(" instead of success\r\n");


  		




  187
  129
  
    
			orb2_set_color(ORANGE);


  		




  188
  130
  
    
			status++;


  		




  189
  131
  
    
		}


  		




  190
  132
  
    
	}


  		




  191
  133
  
    
	for(count=4; count<=6; count++){


  		




  192
  134
  
    
		if(registers[count] == 0){


  		




  193
  
  
    
			usb_puts((PGM_P)debug_output22);


  		




  
  135
  
    
			usb_puts("\r\nFunction registration error: attempt ");


  		




  194
  136
  
    
			usb_puti(count);


  		




  195
  
  
    
			usb_puts((PGM_P)debug_output23);


  		




  
  137
  
    
			usb_puts(" succeeded instead of failing\r\n");


  		




  196
  138
  
    
			orb2_set_color(ORANGE);


  		




  197
  139
  
    
			status++;


  		




  198
  140
  
    
		}


  		




  199
  141
  
    
		if(registers[count] != 0 && registers[count] != -5){


  		




  200
  
  
    
			usb_puts((PGM_P)debug_output24);


  		




  
  142
  
    
			usb_puts("\r\nFunction registration error: attempt ");


  		




  201
  143
  
    
			usb_puti(count);


  		




  202
  
  
    
			usb_puts((PGM_P)debug_output20);


  		




  
  144
  
    
			usb_puts(" returned ");


  		




  203
  145
  
    
			usb_puti(registers[count]);


  		




  204
  
  
    
			usb_puts((PGM_P)debug_output25);


  		




  
  146
  
    
			usb_puts(" instead of -5\r\n");


  		




  205
  147
  
    
			orb2_set_color(ORANGE);


  		




  206
  148
  
    
			status++;


  		




  207
  149
  
    
		}


  		




  208
  150
  
    
	}


  		




  209
  151
  
    
	if(registers[7] == 0){


  		




  210
  
  
    
		usb_puts((PGM_P)debug_output26);


  		




  
  152
  
    
		usb_puts("\r\nCongrats, you let an array write to index -1\r\n");


  		




  211
  153
  
    
		orb2_set_color(RED);


  		




  212
  154
  
    
		status++;


  		




  213
  155
  
    
	}


  		




  214
  
  
    
	usb_puts((PGM_P)debug_output27);


  		




  
  156
  
    
	usb_puts("Registration test completed. There were ");


  		




  215
  157
  
    
	usb_puti(status);


  		




  216
  
  
    
	usb_puts((PGM_P)debug_output28);


  		




  
  158
  
    
	usb_puts(" errors\r\n");


  		




  217
  159
  
    
	delay_ms(500);


  		




  218
  160
  
    
	


  		




  219
  161
  
    
	/*Tests XBee functions*/


  		




  220
  
  
    
	usb_puts((PGM_P)debug_output29);


  		




  
  162
  
    
	usb_puts("\r\nTesting XBee fuctions...\r\n");


  		




  221
  163
  
    
	status = 0;


  		




  222
  164
  
    
	orb2_set_color(GREEN);


  		




  223
  165
  
    
	unsigned int pan = xbee_get_pan();


  		




  224
  166
  
    
	if(pan != 0){


  		




  225
  
  
    
		usb_puts((PGM_P)debug_output30);


  		




  
  167
  
    
		usb_puts("Pan error: defaulted to non-default Pan id :");


  		




  226
  168
  
    
		usb_puti(pan);


  		




  227
  169
  
    
		orb2_set_color(ORANGE);


  		




  228
  170
  
    
		status++;


  		




  229
  171
  
    
	}


  		




  230
  172
  
    
	pan = xbee_set_pan(1);


  		




  231
  173
  
    
	if(pan != 0){


  		




  232
  
  
    
		usb_puts((PGM_P)debug_output31);


  		




  
  174
  
    
		usb_puts("\r\nPan error: error setting Pan id: ");


  		




  233
  175
  
    
		usb_puti(pan);


  		




  234
  176
  
    
		orb2_set_color(ORANGE);


  		




  235
  177
  
    
		status++;


  		




  236
  178
  
    
	}


  		




  237
  179
  
    
	pan = xbee_get_pan();


  		




  238
  180
  
    
	if(pan != 0){


  		




  239
  
  
    
		usb_puts((PGM_P)debug_output32);


  		




  
  181
  
    
		usb_puts("\r\nPan error: Pan id reads different than set value 1: ");


  		




  240
  182
  
    
		usb_puti(pan);


  		




  241
  183
  
    
		orb2_set_color(ORANGE);


  		




  242
  184
  
    
		status++;


  		




  243
  185
  
    
	}


  		




  244
  186
  
    
	


  		




  245
  
  
    
	usb_puts((PGM_P)debug_output33);


  		




  
  187
  
    
	usb_puts("\r\nXBee tests completed. There were ");


  		




  246
  188
  
    
	usb_puti(status);


  		




  247
  
  
    
	usb_puts((PGM_P)debug_output34);


  		




  
  189
  
    
	usb_puts(" errors.\r\n");


  		




  248
  190
  
    

  		




  249
  191
  
    
	/*Tests sending in fast mode*/


  		




  250
  
  
    
	usb_puts((PGM_P)debug_output35);


  		




  
  192
  
    
	usb_puts("\r\nTests sending basic packets in fast mode...\r\n");


  		




  251
  193
  
    
	status = 0;


  		




  252
  194
  
    
	uint16_t data = xbee_get_address();


  		




  253
  195
  
    
	status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST);


  		




  254
  
  
    
	usb_puts((PGM_P)debug_output36);


  		




  
  196
  
    
	usb_puts("Global fast broadcast basic send exit code ");


  		




  255
  197
  
    
	usb_puti(status);


  		




  256
  198
  
    
	status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST);


  		




  257
  
  
    
	usb_puts((PGM_P)debug_output37);


  		




  
  199
  
    
	usb_puts("\r\nGlobal fast pan send basic exit code ");


  		




  258
  200
  
    
	usb_puti(status);


  		




  259
  201
  
    
	status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST);


  		




  260
  
  
    
	usb_puts((PGM_P)debug_output38);


  		




  
  202
  
    
	usb_puts("\r\nGlobal fast broadcast basic send exit code ");


  		




  261
  203
  
    
	usb_puti(status);


  		




  262
  204
  
    
	status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST);


  		




  263
  
  
    
	usb_puts((PGM_P)debug_output39);


  		




  
  205
  
    
	usb_puts("\r\nGlobal fast pan send basic exit code ");


  		




  264
  206
  
    
	usb_puti(status);


  		




  265
  207
  
    
	status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST);


  		




  266
  
  
    
	usb_puts((PGM_P)debug_output40);


  		




  
  208
  
    
	usb_puts("\r\nGlobal fast broadcast group 1 send exit code ");


  		




  267
  209
  
    
	usb_puti(status);


  		




  268
  210
  
    
	status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST);


  		




  269
  
  
    
	usb_puts((PGM_P)debug_output41);


  		




  
  211
  
    
	usb_puts("\r\nGlobal fast pan send group 2 exit code ");


  		




  270
  212
  
    
	usb_puti(status);


  		




  271
  213
  
    
	status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST);


  		




  272
  
  
    
	usb_puts((PGM_P)debug_output42);


  		




  
  214
  
    
	usb_puts("\r\nGlobal fast broadcast group 3 send exit code ");


  		




  273
  215
  
    
	usb_puti(status);


  		




  274
  216
  
    
	status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST);


  		




  275
  
  
    
	usb_puts((PGM_P)debug_output43);


  		




  
  217
  
    
	usb_puts("\r\nGlobal fast pan send group 4 exit code ");


  		




  276
  218
  
    
	usb_puti(status);


  		




  277
  
  
    
	usb_puts((PGM_P)debug_output44);


  		




  
  219
  
    
	usb_puts("\r\nFast send tests successful\r\n");


  		




  278
  220
  
    

  		




  279
  221
  
    
	/*Sends packets in fast mode until other robot responds*/


  		




  280
  222
  
    
	usb_puts((PGM_P)debug_output45);


  		




  ......




  301
  243
  
    
		}


  		




  302
  244
  
    
	}


  		




  303
  245
  
    
	


  		




  
  246
  
    

  		




  304
  247
  
    
	/*Terminates wireless functions*/


  		




  305
  
  
    
	usb_puts((PGM_P)debug_output48);


  		




  
  248
  
    
	usb_puts("\r\n\r\nTerminating wireless...\r\n");


  		




  306
  249
  
    
	status = wl_init();


  		




  307
  250
  
    
	switch(status){


  		




  308
  251
  
    
		case 0:


  		




  309
  
  
    
			usb_puts((PGM_P)debug_output49);


  		




  
  252
  
    
			usb_puts("Wireless termination successful\r\n\r\n");


  		




  310
  253
  
    
			orb1_set_color(BLUE);


  		




  311
  254
  
    
			break;


  		




  312
  255
  
    
		case -3:


  		




  313
  
  
    
			usb_puts((PGM_P)debug_output50);


  		




  
  256
  
    
			usb_puts("Termination failed: library not initialized\r\n\r\n");


  		




  314
  257
  
    
			orb1_set_color(BLUE);


  		




  315
  258
  
    
			break;


  		




  316
  259
  
    
		case -5:


  		




  317
  
  
    
			usb_puts((PGM_P)debug_output51);


  		




  
  260
  
    
			usb_puts("Termination failed\r\n\r\n");


  		




  318
  261
  
    
			orb1_set_color(RED);


  		




  319
  262
  
    
			break;


  		




  320
  263
  
    
		case -6:


  		




  321
  
  
    
			usb_puts((PGM_P)debug_output52);


  		




  
  264
  
    
			usb_puts("Termination failed: function unregistration failed\r\n\r\n");


  		




  322
  265
  
    
			orb1_set_color(ORANGE);


  		




  323
  266
  
    
			break;


  		




  324
  267
  
    
		default:


  		




  325
  
  
    
			usb_puts((PGM_P)debug_output53);


  		




  
  268
  
    
			usb_puts("Error: Unreconnized status code: ");


  		




  326
  269
  
    
			usb_puti(status);


  		




  327
  270
  
    
			orb1_set_color(RED);


  		




  328
  271
  
    
			break;


  		




  329
  272
  
    
	}


  		




  330
  273
  
    

  		




  331
  
  
    
	usb_puts((PGM_P)debug_output54);


  		




  
  274
  
    
	usb_puts("\r\n\r\nWireless Library tests completed");


  		




  332
  275
  
    
	while(1){}


  		




  333
  276
  
    
}


  		




  334
  277
  
    

  		




  335
  
  
    
	void test_sending(){


  		




  
  278
  
    
void test_sending(){


  		




  336
  279
  
    
	uint8_t count;


  		




  337
  280
  
    
	//Testing all wrappers for FAST mode


  		




  338
  281
  
    
	for(count = 0; count < 5; count++){


  		




  ......




  426
  369
  
    
}


  		




  427
  370
  
    

  		




  428
  371
  
    
void group_1_function(uint8_t* data,uint8_t length,uint8_t source){


  		




  429
  
  
    
	usb_puts((PGM_P)debug_output55);


  		




  
  372
  
    
	usb_puts("\r\nFunction 1 called");


  		




  430
  373
  
    
	return 0;


  		




  431
  374
  
    
}


  		




  432
  375
  
    
void group_2_function(uint8_t* data,uint8_t length,uint8_t source){


  		




  433
  
  
    
	usb_puts((PGM_P)debug_output56);


  		




  
  376
  
    
	usb_puts("\r\nFunction 2 called");


  		




  434
  377
  
    
	return 0;


  		




  435
  378
  
    
}


  		




  436
  379
  
    
void group_3_function(uint8_t* data,uint8_t length,uint8_t source){


  		




  437
  
  
    
	usb_puts((PGM_P)debug_output57);


  		




  
  380
  
    
	usb_puts("\r\nFunction 3 called");


  		




  438
  381
  
    
	return 0;


  		




  439
  382
  
    
}


  		




  440
  383
  
    
void group_4_function(uint8_t* data,uint8_t length,uint8_t source){


  		




  441
  
  
    
	usb_puts((PGM_P)debug_output58);


  		




  
  384
  
    
	usb_puts("\r\nFunction 4 called");


  		




  442
  385
  
    
	return 0;


  		




  443
  386
  
    
}


  		




  444
  387
  
    
//The first robot to receive the address of another robot will trigger this function.


  		




  445
  
  
    
void test_function_1(void){


  		




  
  388
  
    
uint8_t test_function_1(void){


  		




  446
  389
  
    
	uint16_t myAddress = xbee_get_address();


  		




  447
  390
  
    
	usb_puti(myAddress);


  		




  
  391
  
    
	


  		




  
  392
  
    
	return 0;


  		




  448
  393
  
    
}


  		




  449
  394
  
    

  		




  450
  395
  
    
//Cheat Functions


  		












Also available in:  Unified diff