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Revision 1226

Added by Martin Herrmann almost 15 years ago

Robot/Station communication:
- Implemented timeouts
- Implemented command acknowledgement

View differences:

main.c
71 71 
// ** Request handlers **
72 72 
// **********************
73 73 

  		




  74
  
  
    
static void message_send_encoders (int length, uint8_t *data)


  		




  
  74
  
    
static void message_read_encoders (int length, uint8_t *data)


  		




  75
  75
  
    
{


  		




  76
  76
  
    
	int16_t left, right;


  		




  77
  77
  
    
	


  		




  ......




  90
  90
  
    
	wl_send_global_packet (robot_station_group, robot_station_data_encoders, senddata, 4, 0);


  		




  91
  91
  
    
}


  		




  92
  92
  
    

  		




  
  93
  
    
// ***************************


  		




  
  94
  
    
// ** Message acknowledging **


  		




  
  95
  
    
// ***************************


  		




  93
  96
  
    

  		




  
  97
  
    
static void send_done ()


  		




  
  98
  
    
{


  		




  
  99
  
    
	wl_send_global_packet (robot_station_group, robot_station_done, NULL, 0, 0);


  		




  
  100
  
    
}


  		




  
  101
  
    

  		




  94
  102
  
    
// ***********************


  		




  95
  103
  
    
// ** Receive callbacks **


  		




  96
  104
  
    
// ***********************


  		




  ......




  111
  119
  
    
	switch (type)


  		




  112
  120
  
    
	{


  		




  113
  121
  
    
		// Command messages


  		




  114
  
  
    
		case station_robot_set_orbs:        message_set_orbs        (length, packet); break;


  		




  115
  
  
    
		case station_robot_set_motors:      message_set_motors      (length, packet); break;


  		




  116
  
  
    
		case station_robot_set_bom:         message_set_bom         (length, packet); break;


  		




  117
  
  
    
		case station_robot_set_motors_off:  message_set_motors_off  (length, packet); break;


  		




  118
  
  
    
		case station_robot_set_motors_time: message_set_motors_time (length, packet); break;


  		




  119
  
  
    
		case station_robot_reset_encoders:  message_reset_encoders  (length, packet); break;


  		




  
  122
  
    
		case station_robot_set_orbs:        message_set_orbs        (length, packet); send_done (); break;


  		




  
  123
  
    
		case station_robot_set_motors:      message_set_motors      (length, packet); send_done (); break;


  		




  
  124
  
    
		case station_robot_set_bom:         message_set_bom         (length, packet); send_done (); break;


  		




  
  125
  
    
		case station_robot_set_motors_off:  message_set_motors_off  (length, packet); send_done (); break;


  		




  
  126
  
    
		case station_robot_set_motors_time: message_set_motors_time (length, packet); send_done (); break;


  		




  
  127
  
    
		case station_robot_reset_encoders:  message_reset_encoders  (length, packet); send_done (); break;


  		




  120
  128
  
    
		


  		




  121
  129
  
    
		// Request messages


  		




  122
  
  
    
		case station_robot_read_encoders:	message_send_encoders	(length, packet); break;


  		




  
  130
  
    
		case station_robot_read_encoders:	message_read_encoders	(length, packet); break;


  		




  123
  131
  
    
	}


  		




  124
  132
  
    
	


  		




  125
  133
  
    
	orb_set (255, 127, 0);


  		




  ......




  131
  139
  
    

  		




  132
  140
  
    
int main(void) {


  		




  133
  141
  
    
    dragonfly_init(ALL_ON);


  		




  
  142
  
    
	encoders_init ();


  		




  134
  143
  
    

  		




  135
  144
  
    
    usb_init ();


  		




  136
  145
  
    
    usb_puts ("Diagnostic station robot starting up\r\n");


  		












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