root / trunk / code / projects / colonet / lib / colonet_wireless / colonet_wireless_test2.cpp @ 11
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1 | 11 | emarinel | /** @file colonet_wireless_test2.cpp
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2 | * @brief colonet_wireless_test2 - tests the colonet_wireless library with
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3 | * manual control.
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4 | *
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5 | * @author Eugene Marinelli
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6 | * @date 2/5/06
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7 | */
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8 | |||
9 | #include <iostream> |
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10 | #include <signal.h> |
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11 | #include <fcntl.h> |
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12 | #include <signal.h> |
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13 | |||
14 | #include "colonet_wireless.h" |
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15 | #include "colonet_defs.h" |
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16 | |||
17 | ColonetWireless* cw; |
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18 | |||
19 | int msg_handler(ColonetPacket* pkt)
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20 | { |
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21 | printf("Handler!\n");
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22 | return 0; |
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23 | } |
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24 | |||
25 | char get_mouse()
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26 | { |
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27 | int fd;
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28 | char buf[10]; |
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29 | |||
30 | fd = open("/dev/input/mouse0", O_RDONLY);
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31 | |||
32 | read(fd, buf, 1);
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33 | |||
34 | close(fd); |
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35 | |||
36 | return buf[0]; |
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37 | } |
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38 | |||
39 | void exit_handler(int sig) |
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40 | { |
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41 | unsigned char data[10]; |
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42 | |||
43 | printf("Sending kill packet...\n");
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44 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTORS_OFF, data); |
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45 | |||
46 | printf("Exiting...\n");
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47 | |||
48 | sleep(2);
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49 | exit(0);
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50 | } |
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51 | |||
52 | int main()
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53 | { |
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54 | unsigned char data[10]; |
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55 | char dir;
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56 | int paused = 0; |
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57 | |||
58 | unsigned char motor_back_args[6] = {0, 0, 0, 0xFF, 0}; |
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59 | unsigned char motor_forward_args[6] = {0, 1, 0, 0xFF, 0}; |
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60 | |||
61 | cw = new ColonetWireless(SERIAL_PORT, msg_handler, NULL, true, true); |
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62 | |||
63 | signal(SIGINT, exit_handler); |
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64 | |||
65 | cw->run_listener_thread(); |
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66 | |||
67 | while(1){ |
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68 | dir = get_mouse(); |
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69 | |||
70 | usleep(300000);
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71 | |||
72 | printf("%d\n", dir);
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73 | |||
74 | switch (dir) {
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75 | case 40: |
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76 | /* Forward */
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77 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR1_SET, motor_forward_args); |
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78 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR2_SET, motor_forward_args); |
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79 | break;
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80 | case 8: |
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81 | /* Back */
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82 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR1_SET, motor_back_args); |
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83 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR2_SET, motor_back_args); |
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84 | break;
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85 | case 24: |
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86 | /* Left */
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87 | //cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTORS_OFF, data);
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88 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR1_SET, motor_forward_args); |
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89 | break;
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90 | case 56: |
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91 | /* Right */
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92 | //cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTORS_OFF, data);
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93 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR2_SET, motor_forward_args); |
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94 | break;
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95 | case 9: |
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96 | /* Left click */
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97 | /* Stop */
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98 | cw->clear_message_queue(); |
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99 | cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTORS_OFF, data); |
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100 | break;
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101 | case 10: |
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102 | /* Right click */
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103 | /* Execute first user-defined function */
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104 | cw->send(GLOBAL_DEST, COLONET_COMMAND, 0xF0, data);
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105 | break;
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106 | } |
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107 | } |
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108 | |||
109 | return 0; |
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110 | } |