Revision 201
Stuff!
| test_main.c | ||
|---|---|---|
| 9 | 9 |
void bom_handler(BomNode* head); |
| 10 | 10 |
void encoder_handler(unsigned char* data); |
| 11 | 11 |
|
| 12 |
char bom_responded_flag; |
|
| 13 |
char ir_responded_flag; |
|
| 14 |
char encoder_responded_flag; |
|
| 12 |
unsigned char bom_responded_flag;
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| 13 |
unsigned char ir_responded_flag;
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|
| 14 |
unsigned char encoder_responded_flag;
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|
| 15 | 15 |
|
| 16 | 16 |
int main(void){
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| 17 |
wl_set_com_port("/dev/cu.usbserial-A1000Qu6");
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|
| 17 | 18 |
wl_init(); |
| 18 |
wl_token_ring_register();
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| 19 |
wl_token_ring_register(); |
|
| 19 | 20 |
data_requests_init(bom_handler,IR_handler,encoder_handler); |
| 21 |
|
|
| 20 | 22 |
int robot_id; |
| 21 | 23 |
bom_responded_flag = 0; |
| 22 | 24 |
ir_responded_flag = 0; |
| 23 | 25 |
encoder_responded_flag = 0; |
| 26 |
int test_count; |
|
| 24 | 27 |
while(1){
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| 28 |
wl_do(); |
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| 29 |
printf(".");
|
|
| 25 | 30 |
wl_token_iterator_begin(); |
| 26 |
printf("This far.\n");
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|
| 27 | 31 |
while(wl_token_iterator_has_next()){
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| 28 | 32 |
robot_id = wl_token_iterator_next(); |
| 29 | 33 |
|
| ... | ... | |
| 35 | 39 |
while(!bom_responded_flag){
|
| 36 | 40 |
delay_ms(50); |
| 37 | 41 |
} |
| 38 |
*/ |
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| 42 |
*/ |
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| 43 |
printf("Sending a request to %i\n",robot_id);
|
|
| 39 | 44 |
request_IR_data(robot_id); |
| 40 |
while(!ir_responded_flag){
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| 41 |
usleep(50000); |
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| 45 |
test_count=0; |
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| 46 |
while(!(ir_responded_flag)&&(test_count++<20)){
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| 47 |
wl_do(); |
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| 48 |
printf("Waiting on %i..\n",robot_id);
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| 49 |
usleep(500000); |
|
| 42 | 50 |
} |
| 43 | 51 |
/* |
| 44 | 52 |
request_encoder_data(robot_id); |
| ... | ... | |
| 47 | 55 |
} |
| 48 | 56 |
*/ |
| 49 | 57 |
} |
| 58 |
usleep(500000); |
|
| 50 | 59 |
} |
| 51 | 60 |
} |
| 52 | 61 |
|
| 53 | 62 |
void IR_handler(unsigned char* data){
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| 54 |
char i; |
|
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char i = 0; |
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printf("IR Callback occurred.\n");
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| 55 | 65 |
for(i=0;i<5;i++){
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printf("IR %i is %u\n\n",i,data[i]);
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printf("IR %i is %i\n",i+1,(int)data[i]);
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| 57 | 67 |
} |
| 58 | 68 |
ir_responded_flag=1; |
| 59 | 69 |
} |
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