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Revision 1032

Added by Justin Scheiner about 15 years ago

Having trouble with wireless (I think) hopefully this will work by friday.

View differences:

receive.c
12 12 
#include "../../libwireless/lib/wireless.h"
13 13 
#include "../../libwireless/lib/wl_token_ring.h"
14 14 

  		




  15
  
  
    
#define WL_COM_PORT "/dev/ttyUSB0" 


  		




  
  15
  
    
#define WL_COM_PORT "/dev/ttyUSB1" 


  		




  16
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#define WL_CHANNEL 0xE


  		




  17
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  18
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#define MAP_REQUEST_GROUP 23


  		




  19
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  20
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#define DATA_POINT 2 /* packet type for map data points w/ odometry data*/


  		




  21
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#define DATA_REQUEST 3


  		




  22
  
  
    
#define DATA_INIT 4 /*Just to give the robot a target.*/


  		




  
  22
  
    
#define DATA_SERVER_REPLY 4 /*Just to give the robot a target.*/


  		




  
  23
  
    
#define DATA_SERVER_IDENTIFY 5


  		




  23
  24
  
    

  		




  24
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#define BUFFER_SIZE 1000


  		




  25
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#define BUFFER_EMPTY -1


  		




  ......




  109
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			theta = mxGetPr(ret[2]);


  		




  110
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			robot = mxGetPr(ret[3]);


  		




  111
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  112
  
  
    
			for(index = head_index; index <= tail_index; index = (index + 1)%1024){


  		




  
  113
  
    
			for(index = head_index; index <= tail_index; index = (index + 1)%BUFFER_SIZE){


  		




  113
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				point[i][0] = (double)coordinate_buffer[index][0];	


  		




  114
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				point[i][1] = (double)coordinate_buffer[index][1];	


  		




  115
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  ......




  142
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 * number of the server.


  		




  143
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 */


  		




  144
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void* run_wireless(void* arg){


  		




  145
  
  
    
	int robot_num, num_robots,time_out, i;	


  		




  146
  
  
    

  		




  147
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	pthread_detach(pthread_self());


  		




  148
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  149
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	init_wireless();


  		




  ......




  206
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		}


  		




  207
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		pthread_rwlock_unlock(&buffer_lock);


  		




  208
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	}


  		




  209
  
  
    
	if(type == DATA_INIT){


  		




  210
  
  
    
		wl_send_global_packet(MAP_REQUEST_GROUP, DATA_INIT, NULL, 0, 0);


  		




  
  208
  
    
	else if(type == DATA_SERVER_IDENTIFY){


  		




  
  209
  
    
		wl_send_global_packet(MAP_REQUEST_GROUP, DATA_SERVER_REPLY, NULL, 0, 0);


  		




  211
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		printf("Announcing self as server\n");


  		




  212
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	}


  		




  213
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}


  		












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