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1 | 11 | emarinel | /** @file colonet.c
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2 | * @brief Colonet library for colony robots
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3 | |||
4 | * @author Eugene Marinelli
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5 | * @date 10/26/06
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6 | *
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7 | * @bug Handler registration not tested
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8 | * @bug Request reponding not implemented - only accepts commands.
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9 | */
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10 | |||
11 | #include <firefly+_lib.h> |
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12 | |||
13 | #include "colonet.h" |
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14 | |||
15 | typedef struct { |
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16 | unsigned char msgId; //is this necessary? |
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17 | void (*handler)(void); |
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18 | } UserHandler; |
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19 | |||
20 | /* Globals (internal) */
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21 | static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
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22 | |||
23 | /* Internal function prototypes */
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24 | void packet_string_to_struct(ColonetPacket* dest_pkt, char* pkt_buf); |
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25 | unsigned int two_bytes_to_int(char high, char low); |
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26 | |||
27 | /* Public functions */
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28 | int colonet_handle_message(unsigned char robot_id, char* pkt_buf) |
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29 | { |
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30 | ColonetPacket pkt; |
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31 | unsigned char* args; //up to 7 char args |
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32 | unsigned int int_args[3]; //up to 3 int (2-byte) args |
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33 | |||
34 | packet_string_to_struct(&pkt, pkt_buf); |
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35 | |||
36 | if(pkt.msg_dest != GLOBAL_DEST && pkt.msg_dest != robot_id){
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37 | //message not intended for us
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38 | return 1; |
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39 | } |
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40 | |||
41 | args = pkt.data; |
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42 | |||
43 | /* Hack - could be done more 1337ly with casting, but this way we don't have
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44 | * to worry about little/big endian stuff */
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45 | int_args[0] = two_bytes_to_int(args[0], args[1]); |
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46 | int_args[1] = two_bytes_to_int(args[2], args[3]); |
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47 | int_args[2] = two_bytes_to_int(args[4], args[5]); |
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48 | |||
49 | if(pkt.msg_type == COLONET_REQUEST){
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50 | switch(pkt.msg_code){
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51 | //Sharp
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52 | case READ_DISTANCE:
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53 | break;
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54 | case LINEARIZE_DISTANCE:
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55 | break;
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56 | case LOG_DISTANCE:
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57 | break;
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58 | |||
59 | //Serial
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60 | case SERIAL_GETCHAR:
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61 | break;
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62 | case SERIAL_GETCHAR_NB:
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63 | break;
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64 | case SERIAL1_GETCHAR:
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65 | break;
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66 | case SERIAL1_GETCHAR_NB:
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67 | break;
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68 | |||
69 | //Analog
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70 | case ANALOG8:
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71 | break;
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72 | case ANALOG10:
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73 | break;
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74 | case WHEEL:
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75 | break;
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76 | case BATTERY:
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77 | break;
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78 | |||
79 | //BOM
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80 | case GETMAXBOM:
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81 | break;
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82 | |||
83 | //Dio
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84 | case DIGITAL_INPUT:
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85 | break;
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86 | case BUTTON1_READ:
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87 | break;
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88 | case BUTTON2_READ:
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89 | break;
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90 | |||
91 | //Bumper
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92 | case DETECT_BUMP:
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93 | break;
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94 | } |
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95 | |||
96 | /* TODO - send back data! */
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97 | |||
98 | }else if(pkt.msg_type == COLONET_COMMAND){ |
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99 | if(pkt.msg_code >= USER_DEFINED_MSG_ID_START &&
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100 | pkt.msg_code <= USER_DEFINED_MSG_ID_END){ |
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101 | if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) {
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102 | /* Call the user's handler function if it the function's address
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103 | * is non-zero (has been set) */
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104 | user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); |
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105 | } |
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106 | |||
107 | return 0; |
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108 | } |
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109 | |||
110 | switch(pkt.msg_code){
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111 | default:
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112 | printf("%s: Error - message code %d not implemented\n", __FUNCTION__,
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113 | pkt.msg_code); |
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114 | return -1; |
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115 | break;
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116 | |||
117 | //Buzzer
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118 | case BUZZER_INIT:
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119 | buzzer_init(); |
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120 | break;
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121 | case BUZZER_SET_VAL:
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122 | buzzer_set_val(args[0]);
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123 | break;
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124 | case BUZZER_SET_FREQ:
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125 | buzzer_set_freq(args[0]);
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126 | break;
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127 | case BUZZER_CHIRP:
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128 | buzzer_chirp(int_args[0], int_args[1]); |
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129 | break;
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130 | case BUZZER_OFF:
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131 | buzzer_off(); |
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132 | break;
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133 | |||
134 | //LCD
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135 | case LCD_INIT:
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136 | lcd_init(); |
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137 | break;
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138 | case LCD_CLEAR_SCREEN:
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139 | lcd_clear_screen(); |
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140 | break;
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141 | case LCD_PUTBYTE:
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142 | lcd_putbyte(args[0]);
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143 | break;
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144 | case LCD_PUTCHAR:
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145 | lcd_putchar((char)args[0]); |
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146 | break;
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147 | case LCD_PUTSTR:
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148 | lcd_putstr((char*)args);
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149 | break;
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150 | case LCD_GOTOXY:
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151 | lcd_gotoxy(int_args[0], int_args[1]); |
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152 | break;
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153 | case LCD_PUTINT:
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154 | lcd_putint(int_args[0]);
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155 | break;
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156 | case ORB_INIT:
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157 | orb_init(); |
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158 | break;
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159 | //Orb
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160 | case ORB_SET:
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161 | orb_set(args[0], args[1], args[2]); |
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162 | break;
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163 | case ORB_SET_COLOR:
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164 | orb_set_color(int_args[0]);
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165 | break;
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166 | case ORB_DISABLE:
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167 | orb_disable(); |
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168 | break;
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169 | case ORB_ENABLE:
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170 | orb_enable(); |
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171 | break;
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172 | case ORB_SET_DIO:
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173 | orb_set_dio(int_args[0], int_args[1], int_args[2]); |
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174 | break;
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175 | case LED_INIT:
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176 | led_init(); |
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177 | break;
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178 | case LED_USER:
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179 | led_user(int_args[0]);
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180 | break;
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181 | case ORB_SEND:
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182 | //orb_send();
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183 | break;
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184 | //Motors
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185 | case MOTORS_INIT:
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186 | motors_init(); |
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187 | break;
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188 | case MOTOR1_SET:
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189 | motor1_set(int_args[0], int_args[1]); |
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190 | break;
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191 | case MOTOR2_SET:
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192 | motor2_set(int_args[0], int_args[1]); |
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193 | break;
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194 | case MOTORS_OFF:
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195 | motors_off(); |
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196 | break;
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197 | |||
198 | /*
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199 | case MOVE:
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200 | |||
201 | break;
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202 | */
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203 | |||
204 | //SERIAL
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205 | case SERIAL_INIT:
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206 | serial_init(int_args[0]);
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207 | break;
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208 | case SERIAL_PUTCHAR:
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209 | serial_putchar((char)args[0]); |
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210 | break;
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211 | case SERIAL1_INIT:
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212 | serial1_init(int_args[0]);
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213 | break;
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214 | case SERIAL1_PUTCHAR:
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215 | serial1_putchar((char)args[0]); |
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216 | break;
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217 | case PRINTF:
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218 | printf("%s", pkt.data);
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219 | break;
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220 | case KILL_ROBOT:
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221 | motors_off(); |
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222 | buzzer_off(); |
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223 | exit(0); //kill the robot |
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224 | break;
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225 | //Time
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226 | case DELAY_MS:
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227 | delay_ms(int_args[0]);
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228 | break;
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229 | |||
230 | //Analog
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231 | case ANALOG_INIT:
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232 | analog_init(); |
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233 | break;
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234 | |||
235 | //BOM
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236 | case BOM_ON:
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237 | bom_on(); |
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238 | break;
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239 | case BOM_OFF:
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240 | bom_off(); |
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241 | break;
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242 | case OUTPUT_HIGH:
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243 | output_high(int_args[0]);
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244 | break;
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245 | case OUTPUT_LOW:
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246 | output_low(int_args[0]);
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247 | break;
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248 | |||
249 | //Dio
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250 | case DIGITAL_OUTPUT:
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251 | digital_output(int_args[0], int_args[1]); |
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252 | break;
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253 | case BUTTON1_WAIT:
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254 | button1_wait(); |
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255 | break;
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256 | case BUTTON1_WAIT_LED:
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257 | button1_wait_led(); |
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258 | break;
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259 | case BUTTON2_WAIT:
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260 | button2_wait(); |
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261 | break;
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262 | case BUTTON2_WAIT_LED:
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263 | button2_wait_led(); |
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264 | break;
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265 | |||
266 | //WL
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267 | case WL_INIT:
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268 | wl_init(); |
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269 | break;
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270 | case PARSE_BUFFER:
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271 | parse_buffer(); |
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272 | break;
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273 | case WL_SEND:
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274 | wl_send(); |
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275 | break;
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276 | } |
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277 | }else{
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278 | printf("%s: Error: Invalid colonet message type", __FUNCTION__);
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279 | return -1; |
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280 | } |
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281 | |||
282 | return 0; |
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283 | } |
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284 | |||
285 | /* colonet_add_message
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286 | * Adds a user-defined message
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287 | */
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288 | int colonet_add_message(unsigned char msgId, void (*handler)(void)) |
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289 | { |
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290 | if(msgId < USER_DEFINED_MSG_ID_START || msgId > USER_DEFINED_MSG_ID_END){
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291 | return -1; |
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292 | } |
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293 | |||
294 | /* Register this function in the array */
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295 | user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
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296 | user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
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297 | |||
298 | return 0; |
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299 | } |
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300 | |||
301 | /* Private functions */
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302 | static void packet_string_to_struct(ColonetPacket* dest_pkt, char* pkt_buf) |
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303 | { |
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304 | int i;
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305 | |||
306 | printf("\npacket:");
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307 | for(i = 0; i < 16; i++){ |
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308 | printf("%d ", pkt_buf[i]);
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309 | } |
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310 | |||
311 | printf("\n");
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312 | |||
313 | dest_pkt->prefix[0] = pkt_buf[0]; |
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314 | dest_pkt->prefix[1] = pkt_buf[1]; |
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315 | dest_pkt->token_src = pkt_buf[2];
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316 | dest_pkt->token_dest = pkt_buf[3];
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317 | dest_pkt->msg_dest = pkt_buf[4];
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318 | dest_pkt->msg_type = pkt_buf[5];
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319 | dest_pkt->msg_code = pkt_buf[6];
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320 | |||
321 | for(i = 0; i < PACKET_DATA_LEN; i++){ |
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322 | dest_pkt->data[i] = pkt_buf[7+i];
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323 | } |
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324 | |||
325 | dest_pkt->num_robots = pkt_buf[PACKET_SIZE-2];
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326 | dest_pkt->checksum = pkt_buf[PACKET_SIZE-1];
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327 | } |
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328 | |||
329 | /* two_bytes_to_int(char a, char b)
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330 | * Returns int of form [high][low]
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331 | */
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332 | static unsigned int two_bytes_to_int(char high, char low) |
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333 | { |
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334 | return (((unsigned int)high)<<8) + (unsigned int)low; |
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335 | } |