root / trunk / code / projects / colonet / lib / colonet_dragonfly / colonet_dragonfly.c @ 344
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1 | 11 | emarinel | /** @file colonet.c
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2 | * @brief Colonet library for DRAGONFLY colony robots
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3 | *
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4 | * @author Eugene Marinelli
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5 | 149 | emarinel | * @date 10/10/07
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6 | *
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7 | 11 | emarinel | * @bug Handler registration not tested
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8 | * @bug Request reponding not implemented - only accepts commands.
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9 | */
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10 | |||
11 | 149 | emarinel | #include <assert.h> |
12 | 11 | emarinel | #include <dragonfly_lib.h> |
13 | 149 | emarinel | #include <string.h> |
14 | #include <wireless.h> |
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15 | |||
16 | 11 | emarinel | #include "colonet_dragonfly.h" |
17 | |||
18 | typedef struct { |
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19 | unsigned char msgId; //is this necessary? |
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20 | void (*handler)(void); |
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21 | } UserHandler; |
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22 | |||
23 | /* Globals (internal) */
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24 | static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
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25 | |||
26 | /* Internal function prototypes */
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27 | 125 | emarinel | static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, |
28 | char* pkt_buf);
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29 | 11 | emarinel | static unsigned int two_bytes_to_int(char high, char low); |
30 | 149 | emarinel | static void colonet_handle_receive(char type, int source, |
31 | unsigned char* packet, int length); |
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32 | 11 | emarinel | |
33 | 149 | emarinel | static PacketGroupHandler colonet_pgh;
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34 | |||
35 | 11 | emarinel | /* Public functions */
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36 | 149 | emarinel | int colonet_init() {
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37 | colonet_pgh.groupCode = COLONET_PACKET_GROUP_ID; |
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38 | colonet_pgh.timeout_handler = NULL;
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39 | colonet_pgh.handle_response = NULL;
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40 | colonet_pgh.handle_receive = colonet_handle_receive; |
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41 | colonet_pgh.unregister = NULL;
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42 | |||
43 | // TODO this should return an error if wl_init has not been called yet.
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44 | wl_register_packet_group(&colonet_pgh); |
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45 | |||
46 | return 0; |
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47 | } |
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48 | |||
49 | /* Private functions */
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50 | |||
51 | /** @brief Handles colonet packets. Should be called by parse_buffer
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52 | * when it is determined that a colonet message has been received.
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53 | *
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54 | * @param robot_id The robot id
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55 | * @param pkt_buf The packet buffer (e.g. wl_buf)
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56 | *
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57 | * @return -1 on error (invalid msgId), 0 on success
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58 | */
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59 | 307 | emarinel | static void colonet_handle_receive(char type, int source, unsigned char* packet, |
60 | int length) {
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61 | 125 | emarinel | ColonetRobotServerPacket pkt; |
62 | 11 | emarinel | unsigned char* args; //up to 7 char args |
63 | unsigned int int_args[3]; //up to 3 int (2-byte) args |
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64 | |||
65 | 174 | emarinel | usb_puts("Packet received.\n");
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66 | 175 | emarinel | char buf[40]; |
67 | sprintf(buf, "length=%d\n", length);
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68 | |||
69 | int i;
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70 | for (i = 0; i < length; i++) { |
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71 | sprintf(buf, "%d: %d ", i, packet[i]);
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72 | usb_puts(buf); |
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73 | } |
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74 | usb_puts("\n");
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75 | |||
76 | 174 | emarinel | //printf("received message from %d of length %d\n", source, length);
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77 | 11 | emarinel | |
78 | 174 | emarinel | ///assert(length == sizeof(ColonetRobotServerPacket));
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79 | 149 | emarinel | packet_string_to_struct(&pkt, packet); |
80 | 11 | emarinel | |
81 | 175 | emarinel | char buf2[40]; |
82 | sprintf(buf2, "client_id:%d, msg_code:%d\n", pkt.client_id, pkt.msg_code);
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83 | usb_puts(buf2); |
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84 | |||
85 | 11 | emarinel | args = pkt.data; |
86 | 149 | emarinel | |
87 | 11 | emarinel | int_args[0] = two_bytes_to_int(args[0], args[1]); |
88 | int_args[1] = two_bytes_to_int(args[2], args[3]); |
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89 | int_args[2] = two_bytes_to_int(args[4], args[5]); |
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90 | |||
91 | 149 | emarinel | if (type == COLONET_REQUEST) {
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92 | 175 | emarinel | usb_puts("type is colonet request\n");
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93 | |||
94 | 11 | emarinel | /* TODO - send back data! */
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95 | |||
96 | 149 | emarinel | switch (pkt.msg_code) {
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97 | 11 | emarinel | //Sharp
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98 | case READ_DISTANCE:
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99 | break;
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100 | case LINEARIZE_DISTANCE:
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101 | break;
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102 | case LOG_DISTANCE:
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103 | break;
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104 | |||
105 | |||
106 | //Analog
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107 | case CALL_ANALOG8:
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108 | break;
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109 | case CALL_ANALOG10:
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110 | break;
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111 | case WHEEL:
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112 | break;
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113 | case BATTERY:
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114 | 344 | gtress | wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, BATTERY, |
115 | "brouhaha", 8, 0xA, 0); |
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116 | 11 | emarinel | break;
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117 | |||
118 | //BOM
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119 | case GETMAXBOM:
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120 | break;
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121 | |||
122 | //Dio
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123 | case DIGITAL_INPUT:
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124 | break;
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125 | case BUTTON1_READ:
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126 | break;
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127 | case BUTTON2_READ:
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128 | break;
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129 | |||
130 | //Bumper
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131 | case DETECT_BUMP:
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132 | break;
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133 | } |
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134 | 149 | emarinel | } else if (type == COLONET_COMMAND) { |
135 | 175 | emarinel | usb_puts("type is colonet command...\n");
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136 | 11 | emarinel | |
137 | 175 | emarinel | /* TODO uncomment this stuff */
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138 | /* if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */
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139 | /* pkt.msg_code <= USER_DEFINED_MSG_ID_END) { */
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140 | /* if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) { */
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141 | /* /\* Call the user's handler function if it the function's address */
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142 | /* * is non-zero (has been set) *\/ */
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143 | /* user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); */
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144 | /* } */
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145 | /* } */
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146 | 11 | emarinel | |
147 | 175 | emarinel | switch (pkt.msg_code) {
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148 | /* default: */
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149 | /* printf("%s: Error - message code %d not implemented\n", __FUNCTION__, */
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150 | /* pkt.msg_code); */
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151 | /* break; */
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152 | |||
153 | 11 | emarinel | //Buzzer
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154 | case BUZZER_INIT:
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155 | buzzer_init(); |
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156 | break;
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157 | case BUZZER_SET_VAL:
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158 | buzzer_set_val(args[0]);
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159 | break;
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160 | case BUZZER_SET_FREQ:
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161 | buzzer_set_freq(args[0]);
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162 | break;
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163 | case BUZZER_CHIRP:
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164 | buzzer_chirp(int_args[0], int_args[1]); |
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165 | break;
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166 | case BUZZER_OFF:
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167 | buzzer_off(); |
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168 | break;
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169 | 149 | emarinel | |
170 | 329 | gtress | // Battery
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171 | case BATTERY:
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172 | 334 | gtress | usb_puts("Got battery request.\n");
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173 | int xbeeDongleID = 0xA; // too bad this is hard-coded. |
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174 | char data[20]; |
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175 | data[0] = 0; // client ID specified in bytes 0-3 |
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176 | data[1] = 0; |
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177 | data[2] = 0; |
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178 | data[3] = 0; |
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179 | data[4] = 0; // ??? |
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180 | data[5] = RESPONSE_TO_CLIENT_REQUEST;
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181 | data[6] = ' '; |
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182 | data[7] = BATTERY;
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183 | data[8] = ' '; |
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184 | data[9] = (char) wl_get_xbee_id(); // robot number (self) |
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185 | data[10] = ' '; |
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186 | data[11] = (char) battery8(); // battery reading |
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187 | data[12] = '\0'; |
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188 | |||
189 | wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, COLONET_RESPONSE, |
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190 | data, 13, xbeeDongleID, 0); |
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191 | usb_puts("lol \n");
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192 | |||
193 | 329 | gtress | break;
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194 | |||
195 | 11 | emarinel | case ORB_INIT:
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196 | orb_init(); |
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197 | break;
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198 | //Orb
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199 | case ORB_SET:
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200 | orb_set(args[0], args[1], args[2]); |
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201 | break;
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202 | case ORB_SET_COLOR:
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203 | orb_set_color(int_args[0]);
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204 | break;
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205 | case ORB_DISABLE:
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206 | orb_disable(); |
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207 | break;
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208 | case ORB_ENABLE:
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209 | orb_enable(); |
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210 | break;
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211 | case LED_INIT:
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212 | break;
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213 | case LED_USER:
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214 | break;
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215 | case ORB_SEND:
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216 | //orb_send();
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217 | break;
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218 | //Motors
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219 | case MOTORS_INIT:
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220 | 175 | emarinel | usb_puts("calling motors_init\n");
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221 | 11 | emarinel | motors_init(); |
222 | break;
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223 | case MOTOR1_SET:
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224 | 180 | gtress | sprintf(buf, "calling motor1_set [%i] [%i]\n", args[0], args[1]); |
225 | usb_puts(buf); |
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226 | motor1_set(args[0], args[1]); |
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227 | 11 | emarinel | break;
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228 | case MOTOR2_SET:
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229 | 180 | gtress | sprintf(buf, "calling motor2_set [%i] [%i]\n", args[0], args[1]); |
230 | usb_puts(buf); |
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231 | motor2_set(args[0], args[1]); |
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232 | 11 | emarinel | break;
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233 | case MOTORS_OFF:
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234 | 175 | emarinel | usb_puts("calling motors_off\n");
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235 | 11 | emarinel | motors_off(); |
236 | break;
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237 | case MOVE:
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238 | 175 | emarinel | buf[40];
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239 | 180 | gtress | sprintf(buf, "calling move with: %d, %d\n", args[0], args[1]); |
240 | 175 | emarinel | usb_puts(buf); |
241 | move(args[0], args[1]); |
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242 | 11 | emarinel | break;
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243 | case XBEE_INIT:
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244 | xbee_init(); |
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245 | break;
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246 | |||
247 | case XBEE_PUTC:
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248 | xbee_putc((char)args[0]); |
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249 | break;
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250 | |||
251 | case USB_INIT:
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252 | usb_init(); |
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253 | break;
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254 | |||
255 | case USB_PUTC:
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256 | usb_putc((char)args[0]); |
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257 | break;
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258 | |||
259 | case PRINTF:
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260 | printf("%s", pkt.data);
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261 | break;
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262 | case KILL_ROBOT:
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263 | motors_off(); |
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264 | buzzer_off(); |
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265 | exit(0); //kill the robot |
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266 | break;
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267 | //Time
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268 | case DELAY_MS:
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269 | delay_ms(int_args[0]);
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270 | break;
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271 | |||
272 | //Analog
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273 | case ANALOG_INIT:
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274 | 344 | gtress | //TODO: how do we really init the analog? this doesn't work:
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275 | //analog_init();
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276 | 11 | emarinel | break;
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277 | |||
278 | //BOM
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279 | case BOM_ON:
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280 | bom_on(); |
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281 | break;
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282 | case BOM_OFF:
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283 | bom_off(); |
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284 | break;
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285 | |||
286 | //Dio
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287 | case DIGITAL_OUTPUT:
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288 | digital_output(int_args[0], int_args[1]); |
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289 | break;
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290 | } |
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291 | 149 | emarinel | } else {
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292 | 175 | emarinel | sprintf(buf, "%s: Error: Invalid colonet message type", __FUNCTION__);
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293 | usb_puts(buf); |
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294 | 11 | emarinel | } |
295 | } |
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296 | |||
297 | /* colonet_add_message
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298 | * Adds a user-defined message
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299 | */
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300 | 149 | emarinel | int colonet_add_message(unsigned char msgId, void (*handler)(void)) { |
301 | 11 | emarinel | if(msgId < USER_DEFINED_MSG_ID_START || msgId > USER_DEFINED_MSG_ID_END){
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302 | return -1; |
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303 | } |
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304 | |||
305 | /* Register this function in the array */
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306 | user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
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307 | user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
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308 | |||
309 | return 0; |
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310 | } |
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311 | |||
312 | 125 | emarinel | static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, |
313 | char* pkt_buf) {
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314 | 149 | emarinel | memcpy(dest_pkt, pkt_buf, sizeof(ColonetRobotServerPacket));
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315 | 11 | emarinel | } |
316 | |||
317 | /* two_bytes_to_int(char a, char b)
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318 | * Returns int of form [high][low]
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319 | */
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320 | 149 | emarinel | static unsigned int two_bytes_to_int(char high, char low) { |
321 | 11 | emarinel | return (((unsigned int)high)<<8) + (unsigned int)low; |
322 | } |