root / trunk / code / projects / hunter_prey / testbench / main.c @ 1442
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1 | 1434 | alevkoy | /* testbench for Lab 2 first checkpoint
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2 | * determine whether robot under test complies with communication standard
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3 | * to be conducted using XBee USB dongle
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4 | */
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5 | 1433 | alevkoy | |
6 | 1434 | alevkoy | /* The tests shall be as follows
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7 | 1438 | alevkoy | * 1. Receive a TAG, send an ACK
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8 | 1434 | alevkoy | * - Robot passes if it sends a tag and changes to prey state
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9 | 1438 | alevkoy | * 2. Send a TAG, receive an ACK
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10 | 1434 | alevkoy | * - Pass if sends ACK, changes to wait state, then hunter state
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11 | 1438 | alevkoy | * 3. Receive TAG, send slightly delayed (< 1s) ACK
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12 | 1434 | alevkoy | * - Pass if sends one and only one TAG packet (and changes state appropriately)
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13 | 1438 | alevkoy | * 4. Receive TAG, do not send ACK
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14 | 1434 | alevkoy | * - Pass if sends one and only one TAG packet (and does not change state)
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15 | 1438 | alevkoy | * 5. Receive TAG, send ACK to incorrect robot
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16 | 1434 | alevkoy | * - Pass if goes to wait state, then back to hunter state
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17 | 1438 | alevkoy | * 6. Simulate TAG from robot A to B, ACK from B to A
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18 | 1434 | alevkoy | * - Pass if ignores TAG, goes to wait then hunter in response to ACK
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19 | */
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20 | |||
21 | 1433 | alevkoy | #include <stdlib.h> |
22 | #include <stdio.h> |
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23 | 1441 | alevkoy | #include <unistd.h> |
24 | #include "../../libwireless/lib/wl_basic.h" |
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25 | 1438 | alevkoy | #include "../../libwireless/lib/wireless.h" |
26 | 1433 | alevkoy | #include "hunter_prey.h" |
27 | |||
28 | 1434 | alevkoy | #define CHANNEL 0xF // channel for wireless communication |
29 | #define TYPE 42 // packet type for wireless communication |
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30 | 1438 | alevkoy | #define ROBOTID 255 // make up a robot id because the PC doesn't have one |
31 | 1434 | alevkoy | |
32 | 1438 | alevkoy | int main(int argc, char *argv[]) |
33 | 1433 | alevkoy | { |
34 | 1434 | alevkoy | char send_buffer[2]; // holds data to send |
35 | int data_length; // length of data received |
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36 | unsigned char *packet_data; // data received |
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37 | 1433 | alevkoy | |
38 | 1434 | alevkoy | // set up wireless
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39 | wl_basic_init_default(); |
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40 | wl_set_channel(CHANNEL); |
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41 | 1438 | alevkoy | wl_set_com_port("/dev/ttyUSB0");
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42 | 1434 | alevkoy | |
43 | printf("Testing communications\n\n");
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44 | |||
45 | // Receive TAG, send ACK
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46 | printf("Receive TAG, send ACK... ");
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47 | 1442 | alevkoy | fflush(stdout); |
48 | 1434 | alevkoy | // Wait until we receive a packet
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49 | while (!(packet_data = wl_basic_do_default(&data_length)));
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50 | |||
51 | if (data_length > 2) |
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52 | 1442 | alevkoy | { |
53 | 1434 | alevkoy | printf("Excessive TAG packet length... ");
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54 | 1442 | alevkoy | fflush(stdout); |
55 | } |
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56 | 1434 | alevkoy | |
57 | if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
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58 | { |
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59 | // send back an ACK
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60 | 1438 | alevkoy | send_buffer[0] = HUNTER_PREY_ACTION_ACK;
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61 | 1434 | alevkoy | send_buffer[1] = packet_data[1]; |
62 | wl_basic_send_global_packet(TYPE, send_buffer, 2);
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63 | |||
64 | 1438 | alevkoy | printf("PASSED\n");
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65 | 1434 | alevkoy | } |
66 | else
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67 | 1438 | alevkoy | printf("FAILED\n");
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68 | |||
69 | // Send a TAG, receive an ACK
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70 | printf("Send TAG, wait for ACK... ");
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71 | 1442 | alevkoy | fflush(stdout); |
72 | 1438 | alevkoy | |
73 | send_buffer[0] = HUNTER_PREY_ACTION_TAG;
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74 | send_buffer[1] = ROBOTID;
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75 | // robot number stays the same
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76 | wl_basic_send_global_packet(TYPE, send_buffer, 2);
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77 | |||
78 | // Wait for an ACK
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79 | 1441 | alevkoy | usleep(800000); // wait for 800 ms before sending ACK |
80 | 1438 | alevkoy | packet_data = wl_basic_do_default(&data_length); |
81 | |||
82 | // Check ACK for presence and correctness
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83 | if (!packet_data || data_length < 2 || |
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84 | packet_data[0] != HUNTER_PREY_ACTION_ACK ||
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85 | packet_data[1] != ROBOTID)
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86 | printf("FAILED\n");
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87 | else
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88 | printf("PASSED\n");
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89 | |||
90 | // Receive a TAG, send a delayed ACK
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91 | printf("Receive a TAG, send a delayed ACK... ");
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92 | 1442 | alevkoy | fflush(stdout); |
93 | 1438 | alevkoy | |
94 | while (!(packet_data = wl_basic_do_default(&data_length)));
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95 | |||
96 | if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
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97 | { |
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98 | // wait before sending ACK back
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99 | 1441 | alevkoy | usleep(900000);
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100 | 1438 | alevkoy | |
101 | if (wl_basic_do_default(&data_length))
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102 | printf("FAILED\n");
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103 | else
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104 | { |
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105 | // send packet
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106 | send_buffer[0] = HUNTER_PREY_ACTION_ACK;
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107 | send_buffer[1] = packet_data[1]; |
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108 | wl_basic_send_global_packet(TYPE, send_buffer, 2);
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109 | |||
110 | printf("PASSED\n");
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111 | } |
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112 | } |
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113 | |||
114 | else
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115 | printf("FAILED\n");
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116 | |||
117 | // Receive a TAG, never send an ACK
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118 | printf("Receive TAG, never send ACK... ");
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119 | 1442 | alevkoy | fflush(stdout); |
120 | 1438 | alevkoy | |
121 | while (!(packet_data = wl_basic_do_default(&data_length)));
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122 | |||
123 | if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
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124 | { |
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125 | 1441 | alevkoy | usleep(5000000); // wait 5 seconds to see if they TAG again |
126 | 1438 | alevkoy | |
127 | if (wl_basic_do_default(&data_length))
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128 | printf("FAILED\n");
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129 | else
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130 | printf("PASSED\n");
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131 | } |
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132 | |||
133 | else
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134 | printf("FAILED\n");
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135 | |||
136 | // Receive TAG, send ACK to incorrect robot
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137 | printf("Receive TAG, send ACK to incorrect robot... ");
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138 | 1442 | alevkoy | fflush(stdout); |
139 | 1438 | alevkoy | |
140 | // Wait until we receive a packet
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141 | while (!(packet_data = wl_basic_do_default(&data_length)));
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142 | |||
143 | if (data_length >= 2 && packet_data[0] == HUNTER_PREY_ACTION_TAG) |
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144 | { |
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145 | // send back an ACK
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146 | send_buffer[0] = HUNTER_PREY_ACTION_ACK;
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147 | send_buffer[1] = packet_data[1] + 1; |
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148 | wl_basic_send_global_packet(TYPE, send_buffer, 2);
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149 | |||
150 | printf("PASSED\n");
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151 | } |
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152 | else
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153 | printf("FAILED\n");
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154 | |||
155 | // Simulate TAG from robot A to B, ACK from robot B to A
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156 | printf("Send TAG from robot A to B, ACK from B to A... ");
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157 | 1442 | alevkoy | fflush(stdout); |
158 | 1438 | alevkoy | |
159 | // TAG
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160 | send_buffer[0] = HUNTER_PREY_ACTION_TAG;
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161 | send_buffer[1] = packet_data[1] - 1; // robot other than testee |
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162 | wl_basic_send_global_packet(TYPE, send_buffer, 2);
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163 | |||
164 | // ACK
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165 | send_buffer[0] = HUNTER_PREY_ACTION_ACK;
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166 | // send_buffer[1] stays the same
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167 | wl_basic_send_global_packet(TYPE, send_buffer, 2);
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168 | |||
169 | if (wl_basic_do_default(&data_length))
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170 | printf("FAILED\n");
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171 | else
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172 | printf("PASSED\n");
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173 | |||
174 | return 0; |
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175 | 1433 | alevkoy | } |