root / branches / wireless / code / projects / unit_tests / test_wireless2.c @ 1744
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#include <wl_defs.h> |
|---|---|
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#include <string.h> |
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#include <wireless.h> |
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#include <lights.h> |
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#include <dragonfly_lib.h> |
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#include <xbee.h> |
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void group_1_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_2_function(uint8_t* data,uint8_t length,uint8_t source);
|
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void group_3_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_4_function(uint8_t* data,uint8_t length,uint8_t source);
|
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void test_function_1(void); |
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void test_sending();
|
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void test_receiving();
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uint16_t friendAddress = 0;
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/* This function tests out the full functionality of the new wireless library.
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* It must be run on two colony bots simultaneously to properly test all funtions.
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*/
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void testwireless2(void) |
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{
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orb_init(); |
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usb_init(); |
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int status = 0; |
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|
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WL_DEBUG_PRINT_P("New Wireless Library Test Suite\r\n");
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/*Initialize the wirelss library*/
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WL_DEBUG_PRINT_P("Initializing library...\r\n");
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orb1_set_color(BLUE); |
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status = wl_init(); |
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switch(status){
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case 0: |
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WL_DEBUG_PRINT_P("Library initialization successful\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
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case -1: |
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WL_DEBUG_PRINT_P("Initialization failed: already initialized\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
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case -2: |
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WL_DEBUG_PRINT_P("Initialization failed: XBEE initialization failed\r\n\r\n");
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orb1_set_color(RED); |
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break;
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default:
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WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P("\r\n\r\n");
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orb1_set_color(RED); |
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break;
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} |
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while((status!=0) && 1); |
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|
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/*Test all constants defined correctly*/
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status = 0;
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WL_DEBUG_PRINT_P("Testing constants...");
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orb2_set_color(GREEN); |
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if(GLOBAL!=0){ |
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WL_DEBUG_PRINT_P("\r\nGLOBAL defined as ");
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usb_puti(GLOBAL); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(PAN!=1){ |
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WL_DEBUG_PRINT_P("\r\nPAN defined as ");
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usb_puti(PAN); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
|
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if(BROADCAST!=0xFFFF){ |
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WL_DEBUG_PRINT_P("\r\nBROADCAST defined as ");
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usb_puti(BROADCAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(RELIABLE!=0){ |
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WL_DEBUG_PRINT_P("\r\nRELIABLE defined as ");
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usb_puti(RELIABLE); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(FAST!=1){ |
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WL_DEBUG_PRINT_P("\r\nFAST defined as ");
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usb_puti(FAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(NORMAL_PRIORITY!=0){ |
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WL_DEBUG_PRINT_P("\r\nNORMAL_PRIORITY defined as ");
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usb_puti(NORMAL_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(HIGH_PRIORITY!=1){ |
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WL_DEBUG_PRINT_P("\r\nHIGH_PRIORITY defined as ");
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usb_puti(HIGH_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".\r\nConstant test complete. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
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if(status!=0){ |
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orb2_set_color(ORANGE); |
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delay_ms(500);
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} |
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/*Tests function registration*/
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WL_DEBUG_PRINT_P("\r\nTesting function registration");
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int registers[8], count; |
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status = 0;
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orb2_set_color(GREEN); |
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registers[0] = wl_register_handler(1, group_1_function, 0); |
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registers[1] = wl_register_handler(2, group_2_function, 1); |
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registers[2] = wl_register_handler(3, group_3_function, 0); |
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registers[3] = wl_register_handler(4, group_4_function, 1); |
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registers[4] = wl_register_handler(0, group_1_function, 0); |
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registers[5] = wl_register_handler(6, NULL, 0); |
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registers[6] = wl_register_handler(30, group_3_function, 0); |
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registers[7] = wl_register_handler(-1, group_4_function, 0); |
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for(count=0; count<=3; count++){ |
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if(registers[count] != 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of success\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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for(count=4; count<=6; count++){ |
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if(registers[count] == 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" succeeded instead of failing\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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if(registers[count] != 0 && registers[count] != -5){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of -5\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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if(registers[7] == 0){ |
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WL_DEBUG_PRINT_P("\r\nCongrats, you let an array write to index -1\r\n");
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orb2_set_color(RED); |
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status++; |
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} |
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WL_DEBUG_PRINT_P("Registration test completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
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delay_ms(500);
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/*Tests XBee functions*/
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WL_DEBUG_PRINT_P("\r\nTesting XBee fuctions...\r\n");
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status = 0;
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orb2_set_color(GREEN); |
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/* while(1){
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uint16_t pan = xbee_get_pan();
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if(pan != 0){
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WL_DEBUG_PRINT_P("Pan error: defaulted to non-default Pan id (0):");
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usb_puti(pan);
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orb2_set_color(ORANGE);
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status++;
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}
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status = xbee_set_pan(0x2B7D);
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if(status != 0){
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WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
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// usb_puth16(pan);
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orb2_set_color(ORANGE);
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status++;
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}
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pan = xbee_get_pan();
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if(pan != 0x2B7D){
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WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 0x2B7D: ");
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usb_puth16(pan);
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orb2_set_color(ORANGE);
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status++;
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}
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status = xbee_set_pan(0);
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if(status != 0){
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WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
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usb_puti(pan);
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orb2_set_color(ORANGE);
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status++;
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}
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pan = xbee_get_pan();
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if(pan != 0){
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WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 0: ");
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usb_puti(pan);
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orb2_set_color(ORANGE);
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status++;
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}
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int chanCount;
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for(chanCount = 0x0B; chanCount <= 0x1A; chanCount++){
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xbee_set_channel(0x10);
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WL_DEBUG_PRINT_P("\r\nChannel: ");
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WL_DEBUG_PRINT_HEX(xbee_get_channel());
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}
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uint16_t data = xbee_get_address();
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uint8_t sendBuffer[2];
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uint16_t address = 0;
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sendBuffer[0] = (data& 0xFF00) >> 8;
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sendBuffer[1] = (data& 0x00FF);
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wl_send((uint8_t*)&sendBuffer, 2, 0, GLOBAL, BROADCAST, FAST);
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}
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*/
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WL_DEBUG_PRINT_P("\r\nXBee tests completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors.\r\n");
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|
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/*Tests sending in fast mode*/
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WL_DEBUG_PRINT_P("\r\nTests sending basic packets in fast mode...\r\n");
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status = 0;
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uint16_t data = xbee_get_address(); |
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/* status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST);
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WL_DEBUG_PRINT_P("Global fast broadcast basic send exit code ");
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usb_puti(status);
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST);
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status);
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST);
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast basic send exit code ");
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usb_puti(status);
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST);
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status);
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status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST);
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 1 send exit code ");
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usb_puti(status);
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status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST);
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 2 exit code ");
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usb_puti(status);
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status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST);
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 3 send exit code ");
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usb_puti(status);
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status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST);
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 4 exit code ");
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usb_puti(status);
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WL_DEBUG_PRINT_P("\r\nFast send tests successful\r\n");
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*/
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/*Sends packets in fast mode until other robot responds*/
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status = 0;
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int len = 0; |
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uint8_t buffer[10];
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uint8_t sendBuffer[2];
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uint16_t address = 0;
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orb2_set_color(BLUE); |
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while(1){ |
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/* WL_DEBUG_PRINT_P("\r\nMy address: ");
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usb_puti(data);
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usb_puti(xbee_get_address());
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sendBuffer[0] = (data& 0xFF00) >> 8;
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sendBuffer[1] = (data& 0x00FF);
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wl_send((uint8_t*)&sendBuffer, 2, 0, GLOBAL, BROADCAST, FAST);
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delay_ms(1000);
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len = wl_get_basic(buffer, 10);
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if(len != 0){
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address = (buffer[0] << 8) + buffer[1];
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orb2_set_color(GREEN);
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WL_DEBUG_PRINT_P("\r\nLength: ");
|
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WL_DEBUG_PRINT_INT(len);
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WL_DEBUG_PRINT_P("\r\nFriend address: ");
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usb_puth16(address);
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friendAddress = address;
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}
|
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*/ if(button1_read()){ |
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test_sending(); |
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break;
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} |
| 277 |
if(button2_read()){
|
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test_receiving(); |
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break;
|
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} |
| 281 |
} |
| 282 |
|
| 283 |
|
| 284 |
/*Terminates wireless functions*/
|
| 285 |
WL_DEBUG_PRINT_P("\r\n\r\nTerminating wireless...\r\n");
|
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status = wl_init(); |
| 287 |
switch(status){
|
| 288 |
case 0: |
| 289 |
WL_DEBUG_PRINT_P("Wireless termination successful\r\n\r\n");
|
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orb1_set_color(BLUE); |
| 291 |
break;
|
| 292 |
case -3: |
| 293 |
WL_DEBUG_PRINT_P("Termination failed: library not initialized\r\n\r\n");
|
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orb1_set_color(BLUE); |
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break;
|
| 296 |
case -5: |
| 297 |
WL_DEBUG_PRINT_P("Termination failed\r\n\r\n");
|
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orb1_set_color(RED); |
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break;
|
| 300 |
case -6: |
| 301 |
WL_DEBUG_PRINT_P("Termination failed: function unregistration failed\r\n\r\n");
|
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orb1_set_color(ORANGE); |
| 303 |
break;
|
| 304 |
default:
|
| 305 |
WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
|
| 306 |
usb_puti(status); |
| 307 |
orb1_set_color(RED); |
| 308 |
break;
|
| 309 |
} |
| 310 |
|
| 311 |
WL_DEBUG_PRINT_P("\r\n\r\nWireless Library tests completed");
|
| 312 |
while(1){} |
| 313 |
} |
| 314 |
|
| 315 |
void test_sending(){
|
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uint8_t count; |
| 317 |
//Testing all wrappers for FAST mode
|
| 318 |
for(count = 0; count < 5; count++){ |
| 319 |
usb_puti(count); |
| 320 |
usb_puti(wl_send_basic(&count, 1));
|
| 321 |
delay_ms(1000);
|
| 322 |
} |
| 323 |
for(count = 5; count < 10; count++){ |
| 324 |
usb_puti(count); |
| 325 |
usb_puti(wl_send_global(&count, 1, 0)); |
| 326 |
delay_ms(1000);
|
| 327 |
} |
| 328 |
for(count = 10; count < 15; count++){ |
| 329 |
usb_puti(count); |
| 330 |
usb_puti(wl_send_pan(&count, 1, xbee_get_pan()));
|
| 331 |
delay_ms(1000);
|
| 332 |
} |
| 333 |
/* for(count = 15; count < 20; count++){
|
| 334 |
usb_puti(count);
|
| 335 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress, FAST));
|
| 336 |
delay_ms(1000);
|
| 337 |
}
|
| 338 |
*/ for(count = 20; count < 25; count++){ |
| 339 |
usb_puti(count); |
| 340 |
usb_puti(wl_send_global(&count, 1, 1)); |
| 341 |
delay_ms(1000);
|
| 342 |
} |
| 343 |
for(count = 25; count < 30; count++){ |
| 344 |
usb_puti(count); |
| 345 |
usb_puti(wl_send_global(&count, 1, 2)); |
| 346 |
delay_ms(1000);
|
| 347 |
} |
| 348 |
for(count = 30; count < 35; count++){ |
| 349 |
usb_puti(count); |
| 350 |
usb_puti(wl_send_global(&count, 1, 3)); |
| 351 |
delay_ms(1000);
|
| 352 |
} |
| 353 |
for(count = 35; count < 40; count++){ |
| 354 |
usb_puti(count); |
| 355 |
usb_puti(wl_send_global(&count, 1, 4)); |
| 356 |
delay_ms(1000);
|
| 357 |
} |
| 358 |
//FAST mode tests completed. Now testing ACK system
|
| 359 |
/* for(count = 40; count < 45; count++){
|
| 360 |
usb_puti(count);
|
| 361 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress, RELIABLE));
|
| 362 |
delay_ms(1000);
|
| 363 |
}
|
| 364 |
for(count = 45; count < 50; count++){
|
| 365 |
usb_puti(count);
|
| 366 |
usb_puti(wl_send_robot(&count, 1, 1, friendAddress, RELIABLE));
|
| 367 |
delay_ms(1000);
|
| 368 |
}
|
| 369 |
for(count = 50; count < 55; count++){
|
| 370 |
usb_puti(count);
|
| 371 |
usb_puti(wl_send_robot(&count, 1, 2, friendAddress, RELIABLE));
|
| 372 |
delay_ms(1000);
|
| 373 |
}
|
| 374 |
for(count = 55; count < 60; count++){
|
| 375 |
usb_puti(count);
|
| 376 |
usb_puti(wl_send_robot(&count, 1, 3, friendAddress, RELIABLE));
|
| 377 |
delay_ms(1000);
|
| 378 |
}
|
| 379 |
for(count = 60; count < 65; count++){
|
| 380 |
usb_puti(count);
|
| 381 |
usb_puti(wl_send_robot(&count, 1, 4, friendAddress, RELIABLE));
|
| 382 |
delay_ms(1000);
|
| 383 |
}
|
| 384 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
| 385 |
usb_puti(wl_ack_error());
|
| 386 |
wl_ack_reset();
|
| 387 |
usb_puti(wl_ack_error());
|
| 388 |
for(count = 65; count < 70; count++){//changed friendAddress, all should fail
|
| 389 |
usb_puti(count);
|
| 390 |
usb_puti(wl_send_robot(&count, 1, 0, friendAddress + 1, RELIABLE));
|
| 391 |
delay_ms(count * 10);
|
| 392 |
}
|
| 393 |
WL_DEBUG_PRINT_P("ACK Errors: ");
|
| 394 |
usb_puti(wl_ack_error());
|
| 395 |
*/}
|
| 396 |
|
| 397 |
void test_receiving(){
|
| 398 |
int8_t result, length; |
| 399 |
char* data[8]; |
| 400 |
while(1){ |
| 401 |
result = wl_get_basic(data, length); |
| 402 |
if(result){
|
| 403 |
WL_DEBUG_PRINT_P("\r\nData length: ");
|
| 404 |
WL_DEBUG_PRINT_INT(result); |
| 405 |
WL_DEBUG_PRINT_P("\r\nData: ");
|
| 406 |
WL_DEBUG_PRINT_HEX(*data); |
| 407 |
}else{
|
| 408 |
delay_ms(100);
|
| 409 |
} |
| 410 |
} |
| 411 |
} |
| 412 |
|
| 413 |
void group_1_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 414 |
WL_DEBUG_PRINT_P("\r\nFunction 1 called");
|
| 415 |
return 0; |
| 416 |
} |
| 417 |
void group_2_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 418 |
WL_DEBUG_PRINT_P("\r\nFunction 2 called");
|
| 419 |
return 0; |
| 420 |
} |
| 421 |
void group_3_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 422 |
WL_DEBUG_PRINT_P("\r\nFunction 3 called");
|
| 423 |
return 0; |
| 424 |
} |
| 425 |
void group_4_function(uint8_t* data,uint8_t length,uint8_t source){
|
| 426 |
WL_DEBUG_PRINT_P("\r\nFunction 4 called");
|
| 427 |
return 0; |
| 428 |
} |
| 429 |
//The first robot to receive the address of another robot will trigger this function.
|
| 430 |
void test_function_1(void){ |
| 431 |
uint16_t myAddress = xbee_get_address(); |
| 432 |
usb_puti(myAddress); |
| 433 |
|
| 434 |
return 0; |
| 435 |
} |
| 436 |
|
| 437 |
//Cheat Functions
|
| 438 |
//These will run instead of the real functions while David fixes the library
|
| 439 |
|