Revision 120
Seems to work until we get to seeking, where there may be issues with the motors.
| wireless.c | ||
|---|---|---|
| 6 | 6 |
#include "wl_defs.h" |
| 7 | 7 |
|
| 8 | 8 |
#ifndef ROBOT |
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#include <time.h> |
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#include <sys/time.h>
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|
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#include <signal.h> |
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#else |
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#include <time.h> |
| ... | ... | |
| 34 | 34 |
PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS]; |
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|
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#ifndef ROBOT |
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timer_t wl_timeout_timer; |
|
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|
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//called when we time out, or receive interrupt |
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void sig_handler(int signo) |
| ... | ... | |
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rtc_init(HALF_SECOND, &wl_do_timeout); |
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#endif |
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#else |
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//create a timer to trigger every half second |
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struct sigevent evp; |
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evp.sigev_signo = SIGALRM; |
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evp.sigev_notify = SIGEV_SIGNAL; |
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if (timer_create(CLOCK_REALTIME, &evp, &wl_timeout_timer) == -1) |
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{
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|
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//create our timer |
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struct itimerval timer_val; |
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struct timeval interval; |
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interval.tv_sec = 0; |
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interval.tv_usec = 500000; |
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struct timeval first_time; |
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first_time.tv_sec = 0; |
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first_time.tv_usec = 500000; |
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timer_val.it_interval = interval; |
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timer_val.it_value = first_time; |
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if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1) |
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{
|
|
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WL_DEBUG_PRINT("Error creating a timer.\r\n");
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perror("Failure's cause");
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exit(1); |
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} |
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|
|
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//create signal handler |
|
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struct sigaction wl_sig_act; |
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wl_sig_act.sa_handler = (void *)sig_handler; |
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wl_sig_act.sa_flags = 0; |
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sigemptyset(&wl_sig_act.sa_mask); |
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sigaction(SIGALRM, &wl_sig_act, 0); |
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sigaction(SIGINT, &wl_sig_act, 0); |
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struct itimerspec wl_timeout_time; |
|
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wl_timeout_time.it_interval.tv_sec = 0; |
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wl_timeout_time.it_interval.tv_nsec = 500000000; |
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wl_timeout_time.it_value.tv_sec = 0; |
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wl_timeout_time.it_value.tv_nsec = 500000000; |
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timer_settime(wl_timeout_timer, 0, |
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&wl_timeout_time, NULL); |
|
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#endif |
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} |
| 100 | 102 |
|
| ... | ... | |
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**/ |
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void wl_terminate() |
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{
|
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#ifndef ROBOT |
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timer_delete(wl_timeout_timer); |
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#endif |
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|
|
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int i; |
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for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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if (wl_packet_groups[i] != NULL && |
| ... | ... | |
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{
|
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WL_DEBUG_PRINT("No response received.\r\n");
|
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if (wl_buf[2] == 2) |
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{
|
|
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WL_DEBUG_PRINT("CCA Failure\r\n");
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} |
|
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if (wl_buf[2] == 3) |
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{
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WL_DEBUG_PRINT("Purged\r\n");
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} |
|
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} |
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|
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if (wl_packet_groups[group] != NULL && |
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