root / trunk / code / projects / colonet / lib / colonet_wireless / colonet_wireless_test.cpp @ 11
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/* Eugene Marinelli
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* 11/2/06
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*
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* colonet_wireless_test - tests the colonet_wireless library
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*/
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#include <iostream> |
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#include <signal.h> |
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#include "colonet_wireless.h" |
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int msg_handler(ColonetPacket* pkt)
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{ |
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printf("Handler!\n");
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fprintf(stderr, |
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"token_src:%d\n"
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"token_dest:%d\n"
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"msg_dest:%d\n"
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"msg_type:%d\n"
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"msg_code:%d\n"
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"num_robots:%d\n",
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pkt->token_src, pkt->token_dest, pkt->msg_dest, pkt->msg_type, |
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pkt->msg_code, pkt->num_robots); |
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printf("data: ");
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for(int i = 0; i < PACKET_DATA_LEN; i++){ |
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printf("%d ", pkt->data[i]);
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} |
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printf("\n\n");
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return 0; |
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} |
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int main()
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{ |
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ColonetWireless* cw = new ColonetWireless(SERIAL_PORT, msg_handler, NULL, |
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true, false); |
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/*
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unsigned char orbdata[3] = {0xFF, 0xFF, 0xFF};
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unsigned char motordata[4] = {0, 1, 0, 0xFF};
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unsigned char motordata2[4] = {0, 0, 0, 0xFF};
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unsigned char buzzerdata[5] = {0x01};
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*/
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unsigned char data[10]; |
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unsigned char msgcode; |
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//cw->send(GLOBAL_DEST, 0, 0, "eugene");
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//cw->send(GLOBAL_DEST, COLONET_COMMAND, ORB_SET, orbdata);
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//cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR1_SET, motordata);
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//cw->send(GLOBAL_DEST, COLONET_COMMAND, BUZZER_INIT, (unsigned char*)"");
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//cw->send(GLOBAL_DEST, COLONET_COMMAND, BUZZER_SET_VAL, buzzerdata);
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cw->run_listener_thread(); |
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printf("spawned thread\n");
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while(1){ |
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printf("Code: ");
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scanf("%x", (int*)&msgcode); |
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for (int i = 0; i < 5; i++) { |
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printf("Byte %d: ", i);
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scanf("%x", (int*)&(data[i])); |
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} |
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cw->send(GLOBAL_DEST, COLONET_COMMAND, msgcode, data); |
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/*
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cw->send(GLOBAL_DEST, COLONET_COMMAND, ORB_SET, orbdata);
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cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR1_SET, motordata);
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cw->send(GLOBAL_DEST, COLONET_COMMAND, MOTOR2_SET, motordata2);
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sleep(3);
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*/
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} |
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return 0; |
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} |