Colony

/* Eugene Marinelli

 * 11/2/06

 *

 * colonet_wireless_test - tests the colonet_wireless library

 */

#include <iostream>

#include <signal.h>

#include "colonet_wireless.h"

int msg_handler(ColonetPacket* pkt)

{

  printf("Handler!\n");

  fprintf(stderr,

          "token_src:%d\n"

          "token_dest:%d\n"

          "msg_dest:%d\n"

          "msg_type:%d\n"

          "msg_code:%d\n"

          "num_robots:%d\n",

          pkt->token_src, pkt->token_dest, pkt->msg_dest, pkt->msg_type,

          pkt->msg_code, pkt->num_robots);

  printf("data: ");

  for(int i = 0; i < PACKET_DATA_LEN; i++){

    printf("%d ", pkt->data[i]);

  }

  printf("\n\n");

  return 0;

}

int main()

{

  ColonetWireless* cw = new ColonetWireless(SERIAL_PORT, msg_handler, NULL,

                                            true, false);

  /*

  unsigned char orbdata[3] = {0xFF, 0xFF, 0xFF};

  unsigned char motordata[4] = {0, 1, 0, 0xFF};

  unsigned char motordata2[4] = {0, 0, 0, 0xFF};

  unsigned char buzzerdata[5] = {0x01};

  */

  unsigned char data[10];

  unsigned char msgcode;

  //cw->send(GLOBAL_DEST, 0, 0, "eugene");

  //cw->send(GLOBAL_DEST, COLONET_COMMAND, ORB_SET, orbdata);

  //cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR1_SET, motordata);

  //cw->send(GLOBAL_DEST, COLONET_COMMAND, BUZZER_INIT, (unsigned char*)"");

  //cw->send(GLOBAL_DEST, COLONET_COMMAND, BUZZER_SET_VAL, buzzerdata);

  cw->run_listener_thread();

  printf("spawned thread\n");

  while(1){

    printf("Code: ");

    scanf("%x", (int*)&msgcode);

    for (int i = 0; i < 5; i++) {

      printf("Byte %d: ", i);

      scanf("%x", (int*)&(data[i]));

    }

    cw->send(GLOBAL_DEST, COLONET_COMMAND, msgcode, data);

    /*

    cw->send(GLOBAL_DEST, COLONET_COMMAND, ORB_SET, orbdata);

    cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR1_SET, motordata);

    cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR2_SET, motordata2);

    sleep(3);

    */

  }

  return 0;

}