Revision 1029
Switched wl_init and wl_set_com_port in test.c (again?)
| trunk/code/projects/mapping/server/test.c | ||
|---|---|---|
| 40 | 40 |
|
| 41 | 41 |
char c; |
| 42 | 42 |
int robot = atoi(argv[1]); |
| 43 |
char port[14]; /* port that XBee is on */
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|
| 43 |
char port[14]; /* port that XBee is on */
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| 44 | 44 |
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| 45 |
/* USB port to use is second cmd-line argument */
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| 46 |
strcpy(port, "/dev/ttyUSB");
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| 47 |
strcat(port, argv[2]);
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| 45 |
/* USB port to use is second cmd-line argument */
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| 46 |
strcpy(port, "/dev/ttyUSB");
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| 47 |
strcat(port, argv[2]);
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| 48 | 48 |
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| 49 | 49 |
printf("Beginning: robot=%d\r\n", robot);
|
| 50 |
wl_set_com_port(port); |
|
| 50 | 51 |
wl_init(); |
| 51 |
wl_set_com_port(port); |
|
| 52 |
wl_set_channel(CHAN); |
|
| 53 |
printf("Wireless initialized.\r\n");
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| 54 |
wl_register_packet_group(&cntlHandler); |
|
| 55 |
wl_register_packet_group(&receiveHandler); |
|
| 52 |
wl_set_channel(CHAN); |
|
| 53 |
printf("Wireless initialized.\r\n");
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| 54 |
wl_register_packet_group(&cntlHandler); |
|
| 55 |
wl_register_packet_group(&receiveHandler); |
|
| 56 | 56 |
printf("Packet groups initialized.\r\n");
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| 57 | 57 |
fflush(stdout); |
| 58 | 58 |
|
| 59 |
file = fopen("input.txt", "w");
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| 60 |
if (file == NULL) {
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| 61 |
printf("fopen error\n");
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| 62 |
return 1;
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| 63 |
}
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| 59 |
file = fopen("input.txt", "w");
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| 60 |
if (file == NULL) {
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| 61 |
printf("fopen error\n");
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| 62 |
return 1;
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| 63 |
} |
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| 64 | 64 |
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| 65 |
WINDOW* win = initscr();
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| 66 |
nodelay(win, TRUE);
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| 67 |
while (1) {
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| 68 |
wl_do();
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| 69 |
c = getch();
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| 70 |
if(c != ERR) {
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| 71 |
printf("%c\r\n", c);
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| 72 |
fflush(stdout);
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| 73 |
if (c=='0')
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| 74 |
break;
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| 75 |
switch (c) {
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| 76 |
case 'w':
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| 77 |
send_packet(CNTL_FORWARD, robot);
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| 78 |
break;
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| 79 |
case 's':
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| 80 |
send_packet(CNTL_BACK, robot);
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| 81 |
break;
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| 82 |
case 'a':
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| 83 |
send_packet(CNTL_LEFT, robot);
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| 84 |
break;
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| 85 |
case 'd':
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| 86 |
send_packet(CNTL_RIGHT, robot);
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| 87 |
break;
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| 88 |
case 'q':
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| 89 |
send_packet(CNTL_LEFT_CURVE, robot);
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| 90 |
break;
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| 91 |
case 'e':
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| 92 |
send_packet(CNTL_RIGHT_CURVE, robot);
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| 93 |
break;
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| 94 |
case 'x':
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| 95 |
send_packet(CNTL_STOP, robot);
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| 96 |
break;
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| 97 |
case ']':
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| 98 |
send_packet(CNTL_VEL_UP, robot);
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| 99 |
break;
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| 100 |
case '[':
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| 101 |
send_packet(CNTL_VEL_DOWN, robot);
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| 102 |
break;
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| 103 |
default:
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| 104 |
//send_packet(CNTL_STOP, robot);
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| 105 |
break;
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| 106 |
}
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| 107 |
}
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| 108 |
}
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| 109 |
fclose(file);
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| 110 |
delwin(win);
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| 111 |
endwin();
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| 112 |
refresh();
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| 113 |
return 0;
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| 65 |
WINDOW* win = initscr(); |
|
| 66 |
nodelay(win, TRUE); |
|
| 67 |
while (1) {
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| 68 |
wl_do();
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| 69 |
c = getch();
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| 70 |
if(c != ERR) {
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| 71 |
printf("%c\r\n", c);
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| 72 |
fflush(stdout);
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| 73 |
if (c=='0')
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| 74 |
break;
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| 75 |
switch (c) {
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| 76 |
case 'w':
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| 77 |
send_packet(CNTL_FORWARD, robot);
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| 78 |
break;
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| 79 |
case 's':
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| 80 |
send_packet(CNTL_BACK, robot);
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| 81 |
break;
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| 82 |
case 'a':
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| 83 |
send_packet(CNTL_LEFT, robot);
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| 84 |
break;
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| 85 |
case 'd':
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| 86 |
send_packet(CNTL_RIGHT, robot);
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| 87 |
break;
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| 88 |
case 'q':
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| 89 |
send_packet(CNTL_LEFT_CURVE, robot);
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| 90 |
break;
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| 91 |
case 'e':
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| 92 |
send_packet(CNTL_RIGHT_CURVE, robot);
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| 93 |
break;
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| 94 |
case 'x':
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| 95 |
send_packet(CNTL_STOP, robot);
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| 96 |
break;
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| 97 |
case ']':
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| 98 |
send_packet(CNTL_VEL_UP, robot);
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| 99 |
break;
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| 100 |
case '[':
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| 101 |
send_packet(CNTL_VEL_DOWN, robot);
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| 102 |
break;
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| 103 |
default:
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| 104 |
//send_packet(CNTL_STOP, robot);
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| 105 |
break;
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| 106 |
}
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| 107 |
}
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| 108 |
} |
|
| 109 |
fclose(file); |
|
| 110 |
delwin(win); |
|
| 111 |
endwin(); |
|
| 112 |
refresh(); |
|
| 113 |
return 0;
|
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| 114 | 114 |
} |
| 115 | 115 |
|
| 116 | 116 |
void send_packet (char type, int dst_robot) {
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