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/** @file colonet.c
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* @brief Colonet library for DRAGONFLY colony robots
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*
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* @author Eugene Marinelli
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* @date 4/17/07
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*
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* @bug Handler registration not tested
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* @bug Request reponding not implemented - only accepts commands.
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*/
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#include <dragonfly_lib.h> |
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#include <string.h> |
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#include "colonet_dragonfly.h" |
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typedef struct { |
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unsigned char msgId; //is this necessary? |
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void (*handler)(void); |
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} UserHandler; |
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/* Globals (internal) */
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static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
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/* Internal function prototypes */
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static void packet_string_to_struct(ColonetPacket* dest_pkt, char* pkt_buf); |
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static unsigned int two_bytes_to_int(char high, char low); |
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static void fill_packet(ColonetPacket* pkt, unsigned char msg_dest, |
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unsigned char msg_code, unsigned char* data, |
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unsigned char num_robots); |
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static unsigned char compute_checksum(ColonetPacket* pkt); |
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static void send_packet(ColonetPacket* pkt); |
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static int colonet_robot_id; |
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void colonet_set_id(int id) |
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{ |
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colonet_robot_id = id; |
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} |
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/* Public functions */
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int colonet_handle_message(char* pkt_buf) |
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{ |
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ColonetPacket pkt; |
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unsigned char* args; //up to 7 char args |
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unsigned int int_args[3]; //up to 3 int (2-byte) args |
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packet_string_to_struct(&pkt, pkt_buf); |
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if(pkt.msg_dest != GLOBAL_DEST && pkt.msg_dest != colonet_robot_id){
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//message not intended for us
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return 1; |
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} |
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args = pkt.data; |
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int_args[0] = two_bytes_to_int(args[0], args[1]); |
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int_args[1] = two_bytes_to_int(args[2], args[3]); |
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int_args[2] = two_bytes_to_int(args[4], args[5]); |
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if(pkt.msg_type == COLONET_REQUEST){
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printf("got colonet request\n");
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ColonetPacket response_pkt; |
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char response_data[PACKET_DATA_LEN];
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memset(response_data, 0, PACKET_DATA_LEN);
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memset((char*)&response_pkt, 0, PACKET_SIZE); |
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switch(pkt.msg_code){
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//Sharp
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case READ_DISTANCE:
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break;
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case LINEARIZE_DISTANCE:
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break;
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case LOG_DISTANCE:
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break;
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//Analog
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case CALL_ANALOG8:
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break;
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case CALL_ANALOG10:
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break;
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case WHEEL:
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break;
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case BATTERY:
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response_data[0] = battery8();
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printf("battery life: %d\n", response_data[0]); |
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fill_packet(&response_pkt, args[0], BATTERY, response_data,
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((ColonetPacket*)pkt_buf)->num_robots); |
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send_packet(&response_pkt); |
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printf("got battery request and sent packet\n");
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break;
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//BOM
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case GETMAXBOM:
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break;
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//Dio
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case DIGITAL_INPUT:
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break;
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case BUTTON1_READ:
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break;
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case BUTTON2_READ:
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break;
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//Bumper
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case DETECT_BUMP:
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break;
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} |
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}else if(pkt.msg_type == COLONET_COMMAND){ |
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if(pkt.msg_code >= USER_DEFINED_MSG_ID_START &&
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pkt.msg_code <= USER_DEFINED_MSG_ID_END){ |
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if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) {
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/* Call the user's handler function if it the function's address
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* is non-zero (has been set) */
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user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); |
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} |
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return 0; |
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} |
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switch(pkt.msg_code){
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default:
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printf("%s: Error - message code %d not implemented\n", __FUNCTION__,
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pkt.msg_code); |
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return -1; |
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break;
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//Buzzer
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case BUZZER_INIT:
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buzzer_init(); |
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break;
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case BUZZER_SET_VAL:
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buzzer_set_val(args[0]);
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break;
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case BUZZER_SET_FREQ:
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buzzer_set_freq(args[0]);
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break;
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case BUZZER_CHIRP:
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buzzer_chirp(int_args[0], int_args[1]); |
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break;
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case BUZZER_OFF:
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buzzer_off(); |
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break;
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//LCD
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case LCD_INIT:
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lcd_init(); |
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break;
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case LCD_CLEAR_SCREEN:
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lcd_clear_screen(); |
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break;
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case LCD_PUTBYTE:
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lcd_putbyte(args[0]);
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break;
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case LCD_PUTCHAR:
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lcd_putchar((char)args[0]); |
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break;
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case LCD_PUTSTR:
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lcd_putstr((char*)args);
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break;
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case LCD_GOTOXY:
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lcd_gotoxy(int_args[0], int_args[1]); |
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break;
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case LCD_PUTINT:
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lcd_putint(int_args[0]);
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break;
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case ORB_INIT:
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orb_init(); |
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break;
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//Orb
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case ORB_SET:
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orb_set(args[0], args[1], args[2]); |
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break;
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case ORB_SET_COLOR:
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orb_set_color(int_args[0]);
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break;
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case ORB_DISABLE:
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orb_disable(); |
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break;
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case ORB_ENABLE:
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orb_enable(); |
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break;
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case LED_INIT:
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break;
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case LED_USER:
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break;
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case ORB_SEND:
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//orb_send();
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break;
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//Motors
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case MOTORS_INIT:
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motors_init(); |
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break;
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case MOTOR1_SET:
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motor1_set(args[0], args[1]); |
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break;
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case MOTOR2_SET:
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motor2_set(args[0], args[1]); |
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break;
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case MOTORS_OFF:
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motors_off(); |
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break;
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case MOVE_AVOID:
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move_avoid(args[0], args[1], args[2]); |
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break;
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/*
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case MOVE:
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break;
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*/
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case XBEE_INIT:
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xbee_init(); |
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break;
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case XBEE_PUTC:
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xbee_putc((char)args[0]); |
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break;
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case USB_INIT:
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usb_init(); |
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break;
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case USB_PUTC:
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usb_putc((char)args[0]); |
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break;
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case PRINTF:
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printf("%s", pkt.data);
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break;
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case KILL_ROBOT:
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motors_off(); |
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buzzer_off(); |
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exit(0); //kill the robot |
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break;
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//Time
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case DELAY_MS:
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delay_ms(int_args[0]);
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break;
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//Analog
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case ANALOG_INIT:
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analog_init(); |
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break;
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//BOM
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case BOM_ON:
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bom_on(); |
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break;
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case BOM_OFF:
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bom_off(); |
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break;
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case OUTPUT_HIGH:
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output_high(int_args[0]);
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break;
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case OUTPUT_LOW:
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output_low(int_args[0]);
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break;
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//Dio
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case DIGITAL_OUTPUT:
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digital_output(int_args[0], int_args[1]); |
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break;
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} |
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}else{
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printf("%s: Error: Invalid colonet message type", __FUNCTION__);
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return -1; |
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} |
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return 0; |
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} |
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/* colonet_add_message
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* Adds a user-defined message
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*/
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int colonet_add_message(unsigned char msgId, void (*handler)(void)) |
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{ |
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if(msgId < USER_DEFINED_MSG_ID_START || msgId > USER_DEFINED_MSG_ID_END){
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return -1; |
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} |
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/* Register this function in the array */
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
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return 0; |
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} |
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/* Private functions */
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static void packet_string_to_struct(ColonetPacket* dest_pkt, char* pkt_buf) |
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{ |
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int i;
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printf("\npacket:");
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for(i = 0; i < 16; i++){ |
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printf("%d ", pkt_buf[i]);
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} |
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printf("\n");
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dest_pkt->prefix[0] = pkt_buf[0]; |
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dest_pkt->prefix[1] = pkt_buf[1]; |
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dest_pkt->token_src = pkt_buf[2];
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dest_pkt->token_dest = pkt_buf[3];
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dest_pkt->msg_dest = pkt_buf[4];
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dest_pkt->msg_type = pkt_buf[5];
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dest_pkt->msg_code = pkt_buf[6];
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for(i = 0; i < PACKET_DATA_LEN; i++){ |
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dest_pkt->data[i] = pkt_buf[7+i];
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} |
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dest_pkt->num_robots = pkt_buf[PACKET_SIZE-2];
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dest_pkt->checksum = pkt_buf[PACKET_SIZE-1];
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} |
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static void fill_packet(ColonetPacket* pkt, unsigned char msg_dest, |
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unsigned char msg_code, unsigned char* data, |
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unsigned char num_robots) |
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{ |
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int i;
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pkt->prefix[0] = 'R'; |
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pkt->prefix[1] = 'C'; |
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pkt->token_src = 0;
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pkt->token_dest = 0;
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pkt->msg_dest = msg_dest; |
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pkt->msg_code = msg_code; |
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pkt->msg_type = COLONET_RESPONSE; |
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for (i = 0; i < PACKET_DATA_LEN; i++) |
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{ |
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pkt->data[i] = data[i]; |
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} |
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pkt->num_robots = num_robots; |
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pkt->checksum = compute_checksum(pkt); |
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} |
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static unsigned char compute_checksum(ColonetPacket* pkt) |
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{ |
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char checksum = 0; |
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checksum -= pkt->token_src; |
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checksum -= pkt->token_dest; |
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checksum -= pkt->msg_dest; |
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checksum -= pkt->msg_type; |
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checksum -= pkt->msg_code; |
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for (int i = 0; i < PACKET_DATA_LEN; i++) |
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checksum -= pkt->data[i]; |
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checksum -= pkt->num_robots; |
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return checksum;
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} |
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static void send_packet(ColonetPacket* pkt) |
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{ |
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int i;
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for (i = 0; i < PACKET_SIZE; i++) |
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xbee_putc(*((unsigned char*)pkt+i)); |
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} |
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/* two_bytes_to_int(char a, char b)
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* Returns int of form [high][low]
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*/
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static unsigned int two_bytes_to_int(char high, char low) |
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{ |
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return (((unsigned int)high)<<8) + (unsigned int)low; |
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} |