root / trunk / code / projects / slam.bak2 / robot / data_response.c @ 722
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1 | 722 | justin | #include "dragonfly_lib.h" |
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2 | #include "data_response.h" |
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3 | #include "wl_token_ring.h" |
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4 | #include "wireless.h" |
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5 | #include "serial.h" |
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6 | |||
7 | PacketGroupHandler pgh; |
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8 | |||
9 | void handle_receive(char type, int source, unsigned char* packet, int length); |
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10 | int generate_bom_packet(char** buf); |
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11 | int generate_IR_packet(char** buf); |
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12 | |||
13 | |||
14 | /**
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15 | * @brief The only function that should be called by user code.
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16 | Prepares the robot to receive and respond to data requests.
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17 | */
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18 | void data_response_init(void){ |
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19 | //usb_init();
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20 | //usb_puts("USB initialized!\n\r");
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21 | range_init(); |
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22 | pgh.groupCode=DATA_REQUEST_GROUP; |
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23 | pgh.timeout_handler = NULL;
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24 | pgh.handle_response = NULL;
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25 | pgh.handle_receive = handle_receive; |
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26 | pgh.unregister = NULL;
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27 | wl_register_packet_group(&pgh); |
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28 | //usb_puts("Packet Group Registered!\n\r");
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29 | } |
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30 | |||
31 | |||
32 | /**
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33 | * Sorry for the lack of modularity, I didn't want to deal with memory issues for too long, plus it'll be faster!
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34 | */
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35 | void handle_receive(char type, int source, unsigned char* packet, int length){ |
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36 | |||
37 | char buf[MAX_PACKET_LENGTH];
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38 | int size;
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39 | int i=0; |
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40 | short int robot_id, ir_value; |
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41 | char ranges[] = {IR1,IR2,IR3,IR4,IR5};
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42 | |||
43 | switch(type){
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44 | case BOM_TYPE:
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45 | |||
46 | wl_token_iterator_begin(); |
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47 | while(wl_token_iterator_has_next() && i<=96){ |
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48 | robot_id = wl_token_iterator_next(); |
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49 | buf[i++] = (char)((robot_id>>8) & 255); |
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50 | buf[i++] = (char)(robot_id & 255); |
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51 | buf[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));
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52 | } |
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53 | |||
54 | //i is one greater than the index of the last byte... the size.
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55 | wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,BOM_TYPE,buf,i,source,0);
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56 | break;
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57 | |||
58 | case IR_TYPE:
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59 | |||
60 | //usb_puts("Generating an IR packet.\n");
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61 | for(i=0;i<5;i++){ |
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62 | ir_value = (short)range_read_distance(ranges[i]);
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63 | buf[2*i] = (char)((ir_value>>8)&255); |
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64 | buf[2*i+1] = (ir_value&255); |
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65 | //usb_puts("Distance :\t");
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66 | //usb_puti(ir_value);
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67 | //usb_puts("\n");
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68 | } |
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69 | size = 10;
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70 | |||
71 | //usb_puts("Packet Contents: ");
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72 | /*for(i = 0; i<size;i++){
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73 | //usb_puti(buf[i]);
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74 | usb_putc(' ');
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75 | }*/
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76 | wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,IR_TYPE,buf,size,source,0);
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77 | |||
78 | break;
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79 | |||
80 | case ENCODER_TYPE:
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81 | break;
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82 | //Not yet supported.
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83 | } |
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84 | case ALL_TYPE:
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85 | for(i=0;i<5;i++){ |
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86 | ir_value = (short)range_read_distance(ranges[i]);
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87 | buf[2*i] = (char)((ir_value>>8)&255); |
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88 | buf[2*i+1] = (ir_value&255); |
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89 | } //Buf 0...9 filled.
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90 | |||
91 | //Tack on the Encoder data...
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92 | //Then BOM:
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93 | wl_token_iterator_begin(); |
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94 | while(wl_token_iterator_has_next() && i<=96){ |
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95 | robot_id = wl_token_iterator_next(); |
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96 | buf[i++] = (char)((robot_id>>8) & 255); |
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97 | buf[i++] = (char)(robot_id & 255); |
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98 | buf[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));
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99 | } |
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100 | wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,ALL_TYPE,buf,size,source,0);
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101 | break;
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102 | } |
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103 | |||
104 | /**
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105 | * @brief Generates a BOM Data packet. **NO LONGER USED** Delete once this code is used often.
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106 | */
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107 | int generate_bom_packet(char** buf){ |
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108 | short int i=0, robot_id; |
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109 | wl_token_iterator_begin(); |
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110 | while(wl_token_iterator_has_next() && i<=96){ |
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111 | robot_id = wl_token_iterator_next(); |
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112 | (*buf)[i++] = (char)((robot_id>>8) & 0xFF); |
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113 | (*buf)[i++] = (char)(robot_id & 0xFF); |
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114 | (*buf)[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));
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115 | } |
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116 | //i is one greater than the index of the last byte... the size.
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117 | return i;
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118 | } |
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119 | |||
120 | /**
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121 | * @brief Generates an IR Packet **NO LONGER USED** Delete once this code is used often.
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122 | *
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123 | */
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124 | int generate_IR_packet(char** buf){ |
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125 | //usb_puts("Generating an IR packet.\n");
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126 | char ranges[] = {IR1,IR2,IR3,IR4,IR5};
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127 | int i;
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128 | short ir_value;
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129 | for(i=0;i<5;i++){ |
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130 | ir_value = (short)range_read_distance(ranges[i]);
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131 | (*buf)[2*i] = (char)((ir_value>>8)&255); |
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132 | (*buf)[2*i+1] = (ir_value&255); |
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133 | //usb_puts("Distance :\t");
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134 | //usb_puti(ir_value);
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135 | //usb_puts("\n");
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136 | } |
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137 | return 10; |
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138 | } |