/branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/wl_recharge_group.c - Diff - Colony - Robotics Club

Revision 105

Recharging code for the robots now compiles. It is entirely untested.

wl_recharge_group.c
14	14	void wl_recharge_cleanup(void);
15	15
16	16	// messgae handlers
17		void wl_recharge_station_available(int source);
	17	void wl_recharge_available_station(int source);
18	18	void wl_recharge_request_accepted(int source);
19	19	void wl_recharge_verify(int source);
20	20	void wl_recharge_cancel(int source);
...	...
51	51
52	52	//global varaibles
53	53	//state variables
54		int state = NOT_RECHARGING;
	54	int recharge_state = NOT_RECHARGING;
55	55	int station = -1;
56	56
57	57	//counter variables
...	...
88	88	**/
89	89	void wl_recharge_begin(void)
90	90	{
91		state = POLLING;
	91	recharge_state = POLLING;
92	92	station = -1;
93	93	pollCount = 0;
94	94	}
...	...
100	100	**/
101	101	void wl_recharge_stop()
102	102	{
103		state = NOT_RECHARGING;
	103	recharge_state = NOT_RECHARGING;
104	104	}
105	105
106	106	/**
...	...
109	109	**/
110	110	void wl_recharge_dock(void)
111	111	{
112		if (state != SEEKING)
	112	if (recharge_state != SEEKING)
113	113	{
114	114	WL_DEBUG_PRINT("Unexpected docking occurred.\n");
115	115	return;
116	116	}
117	117
118		state = DOCKED;
	118	recharge_state = DOCKED;
119	119	}
120	120
121	121	/**
...	...
124	124	**/
125	125	void wl_recharge_depart(void)
126	126	{
127		if (state != DOCKED)
	127	if (recharge_state != DOCKED)
128	128	{
129	129	WL_DEBUG_PRINT("Unexpected departure occurred.\n");
130	130	return;
131	131	}
132	132
133		state = DEPARTING;
	133	recharge_state = DEPARTING;
134	134	}
135	135
136	136	/**
...	...
142	142	**/
143	143	int wl_recharge_get_state(void)
144	144	{
145		return state;
	145	return recharge_state;
146	146	}
147	147
148	148	/**
...	...
162	162	**/
163	163	void wl_recharge_send_poll(void)
164	164	{
165		wl_send_global_packet(RECHARGE_GROUP, WL_RECHARGE_POLL_STATIONS,
	165	wl_send_global_packet(WL_RECHARGE_GROUP, WL_RECHARGE_POLL_STATIONS,
166	166	NULL, 0, 0);
167	167	}
168	168
...	...
173	173	**/
174	174	void wl_recharge_send_request(int dest)
175	175	{
176		wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_REQUEST,
	176	wl_send_robot_to_robot_global_packet(WL_RECHARGE_GROUP, WL_RECHARGE_REQUEST,
177	177	NULL, 0, dest, REQUEST_FRAME);
178	178	}
179	179
...	...
185	185	**/
186	186	void wl_recharge_send_verify(int dest)
187	187	{
188		wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_VERIFY,
	188	wl_send_robot_to_robot_global_packet(WL_RECHARGE_GROUP, WL_RECHARGE_VERIFY,
189	189	NULL, 0, dest, VERIFY_FRAME);
190	190	}
191	191
...	...
195	195	**/
196	196	void wl_recharge_send_cancel(int dest)
197	197	{
198		wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_CANCEL,
	198	wl_send_robot_to_robot_global_packet(WL_RECHARGE_GROUP, WL_RECHARGE_CANCEL,
199	199	NULL, 0, dest, CANCEL_FRAME);
200	200	}
201	201
...	...
207	207	**/
208	208	void wl_recharge_send_seeking(int dest)
209	209	{
210		wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_SEEKING,
	210	wl_send_robot_to_robot_global_packet(WL_RECHARGE_GROUP, WL_RECHARGE_SEEKING,
211	211	NULL, 0, dest, SEEKING_FRAME);
212	212	}
213	213
...	...
219	219	**/
220	220	void wl_recharge_send_docked(int dest)
221	221	{
222		wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_DOCKED,
	222	wl_send_robot_to_robot_global_packet(WL_RECHARGE_GROUP, WL_RECHARGE_DOCKED,
223	223	NULL, 0, dest, DOCKED_FRAME);
224	224	}
225	225
...	...
236	236	**/
237	237	void wl_recharge_timeout_handler(void)
238	238	{
239		switch (state)
	239	switch (recharge_state)
240	240	{
241	241	case POLLING:
242	242	if (pollCount <= 0)
...	...
252	252	{
253	253	//request failed
254	254	station = -1;
255		state = POLLING;
	255	recharge_state = POLLING;
256	256	break;
257	257	}
258	258	requestCount--;
...	...
263	263	{
264	264	//station is down
265	265	station = -1;
266		state = POLLING;
	266	recharge_state = POLLING;
267	267	break;
268	268	}
269	269	if (verifyCount % VERIFY_FREQUENCY == 0 && verifyCount != VERIFY_DELAY)
...	...
322	322	case WL_RECHARGE_STATION_AVAILABLE:
323	323	wl_recharge_available_station(source);
324	324	break;
325		case WL_RECHRAGE_REQUEST:
	325	case WL_RECHARGE_REQUEST:
326	326	WL_DEBUG_PRINT("Only stations should receive WL_RECHARGE_REQUEST.\n");
327	327	break;
328	328	case WL_RECHARGE_REQUEST_ACCEPT:
...	...
354	354	**/
355	355	void wl_recharge_available_station(int source)
356	356	{
357		if (state != POLLING)
	357	if (recharge_state != POLLING)
358	358	return;
359	359	station = source;
360		state = REQUESTING;
	360	recharge_state = REQUESTING;
361	361	requestCount = REQUEST_DELAY;
362	362	wl_recharge_send_request(station);
363	363	}
...	...
370	370	**/
371	371	void wl_recharge_request_accepted(int source)
372	372	{
373		if (state != REQUESTING)
	373	if (recharge_state != REQUESTING)
374	374	{
375	375	WL_DEBUG_PRINT("Accepted when we weren't requesting.\n");
376	376	return;
...	...
381	381	return;
382	382	}
383	383
384		state = SEEKING;
	384	recharge_state = SEEKING;
385	385	verifyCount = VERIFY_DELAY;
386	386	}
387	387
...	...
400	400	return;
401	401	}
402	402
403		switch (state)
	403	switch (recharge_state)
404	404	{
405	405	case SEEKING:
406	406	wl_recharge_send_seeking(station);
...	...
430	430	}
431	431
432	432	verifyCount = VERIFY_DELAY;
433		switch (state)
	433	switch (recharge_state)
434	434	{
435	435	case REQUESTING:
436	436	station = -1;
437		state = POLLING;
	437	recharge_state = POLLING;
438	438	break;
439	439	case SEEKING:
440	440	station = -1;
441		state = POLLING;
	441	recharge_state = POLLING;
442	442	break;
443	443	case DOCKED:
444	444	WL_DEBUG_PRINT("Charging station kicked us out.\n");
...	...
469	469	}
470	470
471	471	verifyCount = VERIFY_DELAY;
472		switch (state)
	472	switch (recharge_state)
473	473	{
474	474	case SEEKING:
475	475	break;
...	...
499	499	}
500	500
501	501	verifyCount = VERIFY_DELAY;
502		switch (state)
	502	switch (recharge_state)
503	503	{
504	504	case DOCKED:
505	505	case DEPARTING:

Also available in: Unified diff

Project

General

Profile

Colony

Revision 105