/ - Diff - Colony - Robotics Club

Revision 1224

Parallelized Master and Server

     #define RD  3
     #define FORWARD 1
     #define BACKWARD 0
     #define SENDER 1
     #define RECEIVER 0
     int main()
     void setAttrib(int file)
+    {
     	int serialFile = open("/dev/ttyUSB0", O_RDWR);
     	if(serialFile < 1)
+    	{
     		printf("Error opening serial\n");
     		return -1;
+    	}
     	struct termios attributes;
         	tcgetattr(serialFile, &attributes);
         	tcgetattr(file, &attributes);
     	cfsetispeed(&attributes, B115200);
     	cfsetospeed(&attributes, B115200);
-...
     //	attributes.c_cc[VTIME] = 50;
     	if (tcsetattr(serialFile, TCSANOW, &attributes) < 0){
     	if (tcsetattr(file, TCSANOW, &attributes) < 0){
     		perror("tcsetattr failed");
     		exit(-1);
+    	}
+    }
     int main()
+    {
     	int serialFileIn = open("/dev/ttyUSB0", O_RDWR);
     	int serialFileOut = open("/dev/ttyUSB1", O_RDWR);
     	if(serialFileIn < 1 || serialFileOut < 1)
+    	{
     		printf("Error opening serial\n");
     		return -1;
+    	}
     	setAttrib(serialFileOut);
     	setAttrib(serialFileIn);
     	unsigned char encoders[4] = {1,1,1,1};
     ///	while(1)
     //		write(serialFile, encoders, 1);
     	char senderNum = SENDER;
     	char receiverNum = RECEIVER;
     	write(serialFileIn, &receiverNum, 1);
     	sleep(1);
     	write(serialFileOut, &senderNum, 1);
     	//Sending velocity as LS LD RS RD
     	int tempCount = 0;
-...
     		int count = 0;
     		do
+    		{
     			tcflush(serialFile, TCIOFLUSH);
     			temp = write(serialFile, encoders + count, 1);
     //			tcflush(serialFile, TCIOFLUSH);
     			temp = write(serialFileOut, encoders + count, 1);
     			if(temp < 0)
     				perror("Write Error");
     			count += temp;
     			printf("sent: %d\n", count);
     			usleep(1000);
     			usleep(100);
     		}while(count < 4);
     		count = 0;
     		printf("READING DATA\n");
     		do
+    		{
     			count += read(serialFile, encoders, 4);
     			count += read(serialFileIn, encoders, 4);
     		}while(count < 4);
     		int leftEncoder = (encoders[0] << 8) | encoders[1];

     //#include <unistd.h>
     #define GROUP 1
     #define TYPE 0
     #define ACK 1
     #define MOTOR 0
     #define ENCODER 1
     #define SENDER 1
     #define RECEIVER 0
     unsigned char data[4];
     sentCount = 0;
     char ack = 0;
     char position = 0;
     void packet_receive (char type, int source, unsigned char* packet, int length);
     PacketGroupHandler packetHandler = {GROUP, 0, 0, &packet_receive, 0};
     void packet_receive (char type, int source, unsigned char* packet, int length) {
     	//orb_set_color(YELLOW);
     	//send to server
     	//lcd_clear_screen();
     	//lcd_puts("Writing to server");
     	usb_putc(packet[0]);
     	//lcd_puti(1);
     	usb_putc(packet[1]);
     	//lcd_puti(2);
     	usb_putc(packet[2]);
     	//lcd_puti(3);
     	usb_putc(packet[3]);
     	//lcd_puti(4);
     	//lcd_clear_screen();
     	//lcd_puts("Reading from server");
     	//Read in from server
     	data[0] = usb_getc();
     	//lcd_puti(1);
     	data[1] = usb_getc();
     	//lcd_puti(2);
     	data[2] = usb_getc();
     	//lcd_puti(3);
     	data[3] = usb_getc();
     	//lcd_puti(4);
     	if(type == ENCODER)
+    	{
     		usb_putc(packet[0]);
     		usb_putc(packet[1]);
     		usb_putc(packet[2]);
     		usb_putc(packet[3]);
+    	}
     	wl_send_global_packet(GROUP, TYPE, data, 4, 0);
     	//lcd_clear_screen();
     	//lcd_puts("Sent ");
     	//lcd_puti(sentCount);
     	//sentCount++;
     	//orb_set_color(GREEN);
+    }
     int main (void) {
       	//dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER);
     	dragonfly_init(ALL_ON);
     	wl_init();
     	lcd_init();
     	lcd_puts("S");
     //	orb_set_color(RED);
     	lcd_puts("STARTING");
     	position = usb_getc();
     	lcd_puts("position is ");
     	lcd_puti(position);
     //  	wl_register_packet_group(&packetHandler);
       //      orb_set_color(YELLOW);
     	//Read in from server
     //	delay_ms(1000);
     	lcd_puts("starting init");
     	data[0] = usb_getc();
     	//motor1_set(0,200);
     	data[1] = usb_getc();
     	//motor2_set(0,200);
     	data[2] = usb_getc();
     	//motor1_set(1,200);
     	data[3] = usb_getc();
     	lcd_puts("Done with init\n");
     	wl_register_packet_group(&packetHandler);
     	//motor2_set(1,200);
     //	orb_set_color(PURPLE);
     	//packet_receive(TYPE, 0, data, 4);
     	if(position == SENDER)
+    	{
     		//Read in from server
     		lcd_puts("starting init");
     		data[0] = usb_getc();
     		data[1] = usb_getc();
     		data[2] = usb_getc();
     		data[3] = usb_getc();
     		lcd_puts("Done with init\n");
     	wl_send_global_packet(GROUP, TYPE, data, 4, 0);
     	lcd_clear_screen();
     	lcd_puts("Sent first wireless Packet");
     	sentCount++;
     //	orb_set_color(GREEN);
     		wl_send_global_packet(GROUP, MOTOR, data, 4, 0);
+    	}
     	else
+    	{
     		wl_register_packet_group(&packetHandler);
+    	}
     //	lcd_clear_screen();
       while (1) {
     	 // char vel[4] = {170, 0, 170, 1};
     	 // wl_send_global_packet(GROUP, TYPE, vel, 4, 0);
       if(position == SENDER)
+      {
     		data[0] = usb_getc();
     		data[1] = usb_getc();
     		data[2] = usb_getc();
     		data[3] = usb_getc();
     		wl_send_global_packet(GROUP, MOTOR, data, 4, 0);
+    }
     	  wl_do();
+      }

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Revision 1224