root / scout / libscout / src / behaviors / wl_test.cpp @ 5755691e
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1 | 26562d0c | Priya | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | #include "wl_test.h" |
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27 | |||
28 | #define DATA_SIZE 10 |
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29 | |||
30 | using namespace std; |
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31 | |||
32 | bool is_receiving = false; |
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33 | uint8_t highest_received = 0;
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34 | |||
35 | void data_callback(std::vector<uint8_t> data)
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36 | { |
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37 | cout << "Wireless callback triggered." << endl;;
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38 | for (int i = 0; i < data.size(); i++) |
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39 | { |
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40 | if (data[i] > highest_received)
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41 | { |
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42 | highest_received = data[i]; |
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43 | } |
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44 | } |
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45 | } |
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46 | |||
47 | void wl_test::run()
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48 | { |
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49 | motors->set_sides(20, 50, MOTOR_ABSOLUTE); |
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50 | wl_receiver->register_callback(data_callback); |
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51 | |||
52 | while(ok())
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53 | { |
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54 | if (!is_receiving)
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55 | { |
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56 | // Fill up a bogus data array
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57 | vector<uint8_t> data; |
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58 | for (int i = 0; i < DATA_SIZE; i++) |
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59 | { |
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60 | data.push_back(highest_received + i); |
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61 | } |
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62 | |||
63 | wl_sender->send(data); |
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64 | cout << "Sent wireless packet." << endl;
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65 | is_receiving = true;
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66 | } |
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67 | |||
68 | spinOnce(); |
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69 | loop_rate->sleep(); |
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70 | } |
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71 | } |