Revision 120
Seems to work until we get to seeking, where there may be issues with the motors.
| wl_charging_station.c | ||
|---|---|---|
| 2 | 2 |
|
| 3 | 3 |
#include <wireless.h> |
| 4 | 4 |
#include <wl_defs.h> |
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#include <stdio.h> |
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#include <string.h> |
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| 5 |
#include <serial.h> |
|
| 7 | 6 |
|
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#include "charging_defs.h" |
| 9 | 8 |
#include "charging.h" |
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|
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#define NULL 0 |
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|
|
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//Possible states for the robot |
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/** The robot is not attempting to recharging. **/ |
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#define NOT_RECHARGING 0 |
| ... | ... | |
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wl_charging_response_handler, wl_charging_handle_receive, |
| 52 | 53 |
wl_charging_cleanup}; |
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|
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//timing |
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//timer ticks between polls |
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#define VERIFY_DELAY 8 |
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#define VERIFY_FREQUENCY 4 |
|
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|
| 59 | 56 |
//frames |
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#define STATION_AVAILABLE_FRAME 1 |
| ... | ... | |
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int c = charging_get_verify_count(robot); |
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if (c <= 0) |
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{
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STATION_DEBUG_PRINT("Robot ");
|
|
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STATION_DEBUG_PUTI(robot); |
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STATION_DEBUG_PRINT(" has timed out.");
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|
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|
|
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charging_cancel(robot); |
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continue; |
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} |
| 189 | 190 |
|
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if (c % VERIFY_FREQUENCY == 0 && c != VERIFY_DELAY) |
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{
|
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STATION_DEBUG_PRINT("Verification sent to robot ");
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STATION_DEBUG_PUTI(robot); |
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STATION_DEBUG_PRINT(".\n");
|
|
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wl_charging_send_verify(robot); |
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} |
|
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|
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charging_set_verify_count(robot, c - 1); |
| 194 | 200 |
} |
| ... | ... | |
| 306 | 312 |
{
|
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int state = charging_get_robot_state(source); |
| 308 | 314 |
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STATION_DEBUG_PRINT("Received verify request from robot ");
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STATION_DEBUG_PUTI(source); |
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STATION_DEBUG_PRINT(".\n");
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|
|
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switch (state) |
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{
|
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case STATE_SEEKING: |
| ... | ... | |
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wl_charging_send_docked(source); |
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break; |
| 317 | 327 |
case STATE_NOT_CHARGING: |
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STATION_DEBUG_PRINT("Received verify from unknown robot.\n");
|
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STATION_DEBUG_PRINT("Received verify from unknown robot ");
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STATION_DEBUG_PUTI(source); |
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STATION_DEBUG_PRINT(".\n");
|
|
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wl_charging_send_cancel(source); |
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break; |
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default: |
| ... | ... | |
| 334 | 346 |
{
|
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int state = charging_get_robot_state(source); |
| 336 | 348 |
|
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STATION_DEBUG_PRINT("Robot ");
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STATION_DEBUG_PUTI(source); |
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STATION_DEBUG_PRINT(" has cancelled charging.\n");
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|
|
| 337 | 353 |
if (state == STATE_NOT_CHARGING) |
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{
|
| 339 | 355 |
STATION_DEBUG_PRINT("Received cancel from unknown robot.\n");
|
| ... | ... | |
| 355 | 371 |
{
|
| 356 | 372 |
int state = charging_get_robot_state(source); |
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STATION_DEBUG_PRINT("Robot ");
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STATION_DEBUG_PUTI(source); |
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STATION_DEBUG_PRINT(" has confirmed it is seeking.\n");
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|
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| 358 | 378 |
if (state == STATE_NOT_CHARGING) |
| 359 | 379 |
{
|
| 360 | 380 |
STATION_DEBUG_PRINT("Received seeking from unknown robot.\n");
|
| ... | ... | |
| 386 | 406 |
void wl_charging_docked(int source) |
| 387 | 407 |
{
|
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int state = charging_get_robot_state(source); |
| 409 |
|
|
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STATION_DEBUG_PRINT("Robot ");
|
|
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STATION_DEBUG_PUTI(source); |
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STATION_DEBUG_PRINT(" has confirmed it is docked.\n");
|
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|
|
| 389 | 414 |
if (state == STATE_NOT_CHARGING) |
| 390 | 415 |
{
|
| 391 | 416 |
STATION_DEBUG_PRINT("Received docked from unknown robot.\n");
|
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