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Revision 26562d0c

ID26562d0cb25f1fe07da91166173e0b85258bd067
Parent 5d0687a9
Child 53201802, ae21730e

Added by Priya almost 12 years ago

Adding wl_test files that were not added before

View differences:

scout/libscout/src/behaviors/wl_test.cpp
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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
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 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#include "wl_test.h"
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#define DATA_SIZE 10
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using namespace std;
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bool is_receiving = false;
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uint8_t highest_received = 0;
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void data_callback(std::vector<uint8_t> data)
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{
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    cout << "Wireless callback triggered." << endl;;
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    for (int i = 0; i < data.size(); i++)
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    {
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        if (data[i] > highest_received)
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        {
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            highest_received = data[i];
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        }
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    }
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}
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void wl_test::run()
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{
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    motors->set_sides(20, 50, MOTOR_ABSOLUTE);
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    wl_receiver->register_callback(data_callback);
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    while(ok())
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    {
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        if (!is_receiving)
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        {
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            // Fill up a bogus data array
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            vector<uint8_t> data;
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            for (int i = 0; i < DATA_SIZE; i++)
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            {
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                data.push_back(highest_received + i);
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            }
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            wl_sender->send(data);
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            cout << "Sent wireless packet." << endl;
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            is_receiving = true;
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        }
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        spinOnce();
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        loop_rate->sleep();
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    }
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}
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scout/libscout/src/behaviors/wl_test.h
1
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 */
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#ifndef _WL_TEST_H_
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#define _WL_TEST_H_
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#include "../Behavior.h"
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class wl_test : Behavior
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{
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    public:
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        wl_test(std::string scoutname) : Behavior(scoutname, "wl_test") {};
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        /** Actually executes the behavior. */
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        void run();
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};
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#endif

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