root / branches / autonomous_recharging / code / projects / colonet / testing / wl_network_colonet / colonet.c @ 1390
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1 | 13 | emarinel | /* Eugene Marinelli, ...
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2 | * 10/26/06
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3 | *
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4 | * colonet.c - Colonet library for colony robots
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5 | */
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6 | |||
7 | #include <firefly+_lib.h> |
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8 | |||
9 | #include "colonet.h" |
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10 | |||
11 | typedef struct { |
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12 | unsigned char msgId; |
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13 | void (*handler)(void); |
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14 | } UserHandler; |
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15 | |||
16 | /* Globals (internal) */
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17 | static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
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18 | |||
19 | /* Internal function prototypes */
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20 | void packet_string_to_struct(ColonetPacket* dest_pkt, char* pkt_buf); |
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21 | unsigned int two_bytes_to_int(char high, char low); |
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22 | |||
23 | /* Public functions */
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24 | int colonet_handle_message(unsigned char robot_id, char* pkt_buf) |
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25 | { |
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26 | ColonetPacket pkt; |
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27 | unsigned char* args; //up to 7 char args |
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28 | unsigned int int_args[3]; //up to 3 int (2-byte) args |
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29 | |||
30 | packet_string_to_struct(&pkt, pkt_buf); |
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31 | |||
32 | if(pkt.msg_dest != GLOBAL_DEST && pkt.msg_dest != robot_id){
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33 | //message not intended for us
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34 | return 1; |
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35 | } |
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36 | |||
37 | args = pkt.data; |
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38 | |||
39 | /* Hack - could be done more 1337ly with casting, but this way we don't have
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40 | * to worry about little/big endian stuff */
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41 | int_args[0] = two_bytes_to_int(args[0], args[1]); |
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42 | int_args[1] = two_bytes_to_int(args[2], args[3]); |
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43 | int_args[2] = two_bytes_to_int(args[4], args[5]); |
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44 | |||
45 | if(pkt.msg_type == COLONET_REQUEST){
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46 | switch(pkt.msg_code){
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47 | //Sharp
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48 | case READ_DISTANCE:
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49 | break;
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50 | case LINEARIZE_DISTANCE:
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51 | break;
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52 | case LOG_DISTANCE:
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53 | break;
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54 | |||
55 | //Serial
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56 | case SERIAL_GETCHAR:
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57 | break;
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58 | case SERIAL_GETCHAR_NB:
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59 | break;
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60 | case SERIAL1_GETCHAR:
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61 | break;
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62 | case SERIAL1_GETCHAR_NB:
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63 | break;
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64 | |||
65 | //Analog
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66 | case ANALOG8:
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67 | break;
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68 | case ANALOG10:
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69 | break;
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70 | case WHEEL:
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71 | break;
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72 | case BATTERY:
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73 | break;
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74 | |||
75 | //BOM
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76 | case GETMAXBOM:
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77 | break;
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78 | |||
79 | //Dio
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80 | case DIGITAL_INPUT:
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81 | break;
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82 | case BUTTON1_READ:
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83 | break;
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84 | case BUTTON2_READ:
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85 | break;
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86 | |||
87 | //Bumper
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88 | case DETECT_BUMP:
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89 | break;
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90 | } |
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91 | |||
92 | /* TODO - send back data! */
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93 | |||
94 | }else if(pkt.msg_type == COLONET_COMMAND){ |
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95 | if(pkt.msg_code >= USER_DEFINED_MSG_ID_START &&
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96 | pkt.msg_code <= USER_DEFINED_MSG_ID_END){ |
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97 | user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); |
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98 | return 0; |
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99 | } |
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100 | |||
101 | switch(pkt.msg_code){
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102 | default:
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103 | printf("%s: Error - message code %d not implemented\n", __FUNCTION__,
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104 | pkt.msg_code); |
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105 | return -1; |
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106 | break;
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107 | |||
108 | //Buzzer
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109 | case BUZZER_INIT:
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110 | buzzer_init(); |
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111 | break;
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112 | case BUZZER_SET_VAL:
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113 | buzzer_set_val(args[0]);
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114 | break;
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115 | case BUZZER_SET_FREQ:
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116 | buzzer_set_freq(args[0]);
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117 | break;
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118 | case BUZZER_CHIRP:
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119 | buzzer_chirp(int_args[0], int_args[1]); |
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120 | break;
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121 | case BUZZER_OFF:
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122 | buzzer_off(); |
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123 | break;
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124 | |||
125 | //LCD
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126 | case LCD_INIT:
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127 | lcd_init(); |
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128 | break;
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129 | case LCD_CLEAR_SCREEN:
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130 | lcd_clear_screen(); |
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131 | break;
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132 | case LCD_PUTBYTE:
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133 | lcd_putbyte(args[0]);
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134 | break;
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135 | case LCD_PUTCHAR:
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136 | lcd_putchar((char)args[0]); |
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137 | break;
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138 | case LCD_PUTSTR:
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139 | lcd_putstr((char*)args);
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140 | break;
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141 | case LCD_GOTOXY:
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142 | lcd_gotoxy(int_args[0], int_args[1]); |
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143 | break;
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144 | case LCD_PUTINT:
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145 | lcd_putint(int_args[0]);
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146 | break;
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147 | case ORB_INIT:
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148 | orb_init(); |
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149 | break;
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150 | //Orb
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151 | case ORB_SET:
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152 | orb_set(args[0], args[1], args[2]); |
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153 | break;
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154 | case ORB_SET_COLOR:
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155 | orb_set_color(int_args[0]);
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156 | break;
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157 | case ORB_DISABLE:
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158 | orb_disable(); |
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159 | break;
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160 | case ORB_ENABLE:
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161 | orb_enable(); |
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162 | break;
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163 | case ORB_SET_DIO:
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164 | orb_set_dio(int_args[0], int_args[1], int_args[2]); |
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165 | break;
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166 | case LED_INIT:
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167 | led_init(); |
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168 | break;
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169 | case LED_USER:
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170 | led_user(int_args[0]);
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171 | break;
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172 | case ORB_SET_NUM_NS:
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173 | //orb_set_num_ns(args[0], two_bytes_to_int(args[1],args[2]),
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174 | // two_bytes_to_int(args[3],args[4]),
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175 | // two_bytes_to_int(args[5],args[6]));
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176 | break;
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177 | case ORB_SET_NUM:
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178 | //orb_set_num_ns(args[0], two_bytes_to_int(args[1],args[2]),
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179 | // two_bytes_to_int(args[3],args[4]),
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180 | // two_bytes_to_int(args[5],args[6]));
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181 | break;
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182 | case ORB_SEND:
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183 | //orb_send();
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184 | break;
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185 | //Motors
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186 | case MOTORS_INIT:
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187 | motors_init(); |
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188 | break;
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189 | case MOTOR1_SET:
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190 | printf("motor1_set %d %d\n", int_args[0], int_args[1]); |
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191 | motor1_set(int_args[0], int_args[1]); |
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192 | break;
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193 | case MOTOR2_SET:
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194 | motor2_set(int_args[0], int_args[1]); |
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195 | break;
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196 | case MOTORS_OFF:
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197 | motors_off(); |
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198 | break;
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199 | |||
200 | /*
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201 | case MOVE:
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202 | |||
203 | break;
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204 | */
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205 | |||
206 | //OLED
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207 | case DRAWCIRCLE:
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208 | //drawcircle((char)args[0], (char)args[1], (char)args[2],
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209 | // (int)two_bytes_to_int(args[3], args[4]),
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210 | // (int)two_bytes_to_int(args[5], args[6]));
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211 | break;
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212 | /*
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213 | //Packet isn't large enough for args of this function
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214 | case DRAWRECT:
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215 | break;
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216 | */
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217 | case DRAWLINE:
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218 | //drawline((char)args[0], (char)args[1], (char)args[2], (char)args[3],
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219 | // (int)int_args[2]);
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220 | break;
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221 | case DRAWCOPY:
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222 | //drawcopy((char)args[0], (char)args[1], (char)args[2], (char)args[3],
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223 | // (char)args[4], (char)args[5]);
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224 | break;
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225 | case DRAWFILL:
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226 | //drawfill((char)args[0]);
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227 | break;
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228 | case DRAWCLEAR:
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229 | //drawclear();
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230 | break;
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231 | case DRAWSCROLL:
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232 | //drawscroll((char)args[0], (char)args[1], (char)args[2], (char)args[3]);
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233 | break;
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234 | case OLED_INIT:
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235 | //OLED_init();
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236 | break;
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237 | |||
238 | //SHARP
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239 | case ENABLE_IR:
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240 | //enable_IR();
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241 | break;
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242 | case DISABLE_IR:
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243 | //disable_IR();
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244 | break;
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245 | |||
246 | //SERIAL
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247 | case SERIAL_INIT:
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248 | serial_init(int_args[0]);
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249 | break;
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250 | case SERIAL_PUTCHAR:
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251 | serial_putchar((char)args[0]); |
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252 | break;
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253 | case SERIAL1_INIT:
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254 | //serial1_init();
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255 | break;
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256 | case SERIAL1_PUTCHAR:
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257 | serial1_putchar((char)args[0]); |
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258 | break;
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259 | case PRINTF:
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260 | printf("%s", pkt.data);
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261 | break;
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262 | |||
263 | //Time
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264 | case DELAY_MS:
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265 | delay_ms(int_args[0]);
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266 | break;
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267 | |||
268 | //Analog
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269 | case ANALOG_INIT:
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270 | analog_init(); |
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271 | break;
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272 | case SET_ADC_MUX:
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273 | //set_adc_mux(int_args[0]);
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274 | break;
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275 | case ENABLE_ANALOG:
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276 | //enable_analog(int_args[0]);
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277 | break;
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278 | |||
279 | //BOM
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280 | case BOM_ON:
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281 | bom_on(); |
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282 | break;
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283 | case BOM_OFF:
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284 | bom_off(); |
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285 | break;
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286 | case OUTPUT_HIGH:
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287 | output_high(int_args[0]);
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288 | break;
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289 | case OUTPUT_LOW:
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290 | output_low(int_args[0]);
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291 | break;
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292 | |||
293 | //Dio
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294 | case DIGITAL_OUTPUT:
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295 | digital_output(int_args[0], int_args[1]); |
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296 | break;
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297 | case BUTTON1_WAIT:
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298 | button1_wait(); |
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299 | break;
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300 | case BUTTON1_WAIT_LED:
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301 | button1_wait_led(); |
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302 | break;
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303 | case BUTTON2_WAIT:
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304 | button2_wait(); |
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305 | break;
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306 | case BUTTON2_WAIT_LED:
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307 | button2_wait_led(); |
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308 | break;
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309 | |||
310 | //WL
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311 | case WL_INIT:
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312 | wl_init(); |
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313 | break;
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314 | case PARSE_BUFFER:
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315 | parse_buffer(); |
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316 | break;
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317 | case WL_SEND:
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318 | wl_send(); |
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319 | break;
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320 | case WL_CREATE_PACKET:
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321 | wl_create_packet(); |
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322 | break;
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323 | case WL_DEATH_HANDLER:
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324 | wl_death_handler(); |
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325 | break;
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326 | case WL_ERROR_HANDLER:
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327 | //wl_error_handler();
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328 | break;
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329 | case WL_TIMEOUT_HANDLER:
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330 | wl_timeout_handler(); |
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331 | break;
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332 | case DISPLAY_DEBUG:
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333 | display_debug(); |
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334 | break;
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335 | case BOM_TEST:
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336 | bom_test(); |
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337 | break;
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338 | } |
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339 | }else{
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340 | printf("%s: Error: Invalid colonet message type", __FUNCTION__);
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341 | return -1; |
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342 | } |
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343 | |||
344 | return 0; |
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345 | } |
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346 | |||
347 | /* colonet_add_message
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348 | * Adds a user-defined message
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349 | */
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350 | int colonet_add_message(unsigned char msgId, void (*handler)(void)) |
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351 | { |
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352 | if(msgId < USER_DEFINED_MSG_ID_START || msgId > USER_DEFINED_MSG_ID_END){
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353 | return -1; |
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354 | } |
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355 | |||
356 | user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
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357 | user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
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358 | |||
359 | return 0; |
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360 | } |
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361 | |||
362 | /* Private functions */
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363 | void packet_string_to_struct(ColonetPacket* dest_pkt, char* pkt_buf) |
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364 | { |
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365 | int i;
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366 | |||
367 | printf("\npacket:");
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368 | for(i = 0; i < 16; i++){ |
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369 | printf("%d ", pkt_buf[i]);
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370 | } |
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371 | |||
372 | printf("\n");
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373 | |||
374 | dest_pkt->prefix[0] = pkt_buf[0]; |
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375 | dest_pkt->prefix[1] = pkt_buf[1]; |
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376 | dest_pkt->token_src = pkt_buf[2];
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377 | dest_pkt->token_dest = pkt_buf[3];
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378 | dest_pkt->msg_dest = pkt_buf[4];
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379 | dest_pkt->msg_type = pkt_buf[5];
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380 | dest_pkt->msg_code = pkt_buf[6];
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381 | |||
382 | for(i = 0; i < PACKET_DATA_LEN; i++){ |
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383 | dest_pkt->data[i] = pkt_buf[7+i];
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384 | } |
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385 | |||
386 | dest_pkt->num_robots = pkt_buf[PACKET_SIZE-2];
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387 | dest_pkt->checksum = pkt_buf[PACKET_SIZE-1];
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388 | } |
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389 | |||
390 | /* two_bytes_to_int(char a, char b)
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391 | * Returns int of form [high][low]
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392 | */
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393 | unsigned int two_bytes_to_int(char high, char low) |
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394 | { |
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395 | return (((unsigned int)high)<<8) + (unsigned int)low; |
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396 | } |