root / trunk / code / projects / test / test_tokenring.c @ 1451
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1 | 848 | dsschult | #include <dragonfly_lib.h> |
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2 | #include <wireless.h> |
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3 | #include <wl_token_ring.h> |
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4 | |||
5 | |||
6 | /**
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7 | * Tests the token ring and BOM
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8 | 858 | dsschult | * - prints table of bom values for every robot in token ring
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9 | * - takes several seconds to initialize token ring
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10 | 848 | dsschult | */
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11 | |||
12 | #define MAX_ROBOTS 16 |
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13 | |||
14 | // set a list of integers to 0
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15 | void clearRobots(int* list) { |
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16 | for(int i=0;i<MAX_ROBOTS;i++) |
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17 | 858 | dsschult | list[i] = 0;
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18 | 848 | dsschult | } |
19 | |||
20 | int testtokenring(void) { |
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21 | usb_init(); |
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22 | usb_puts("usb turned on\r\n");
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23 | wl_init(); |
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24 | usb_puts("wireless turned on\r\n");
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25 | wl_token_ring_register(); |
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26 | wl_token_ring_join(); // join token ring
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27 | usb_puts("token ring joined\r\n");
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28 | int* robotList = (int*)malloc(sizeof(int)*MAX_ROBOTS); |
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29 | int numRobots = 0; |
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30 | delay_ms(1000);
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31 | |||
32 | // start testing wireless/token ring/BOM
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33 | int i=0; |
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34 | while(1) { |
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35 | wl_do(); |
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36 | 858 | dsschult | // only print table every 200 loops
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37 | if (i%200==0) { |
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38 | 848 | dsschult | // get token ring size values
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39 | usb_puts("\r\nnumber of robots in token ring:");
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40 | usb_puti(wl_token_get_robots_in_ring()); |
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41 | usb_puts("\r\nnumber of robots in matrix:");
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42 | usb_puti(wl_token_get_num_robots()); |
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43 | |||
44 | // get list of robots
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45 | numRobots = 0;
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46 | clearRobots(robotList); |
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47 | wl_token_iterator_begin(); |
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48 | while(wl_token_iterator_has_next()) {
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49 | int tmp = wl_token_iterator_next();
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50 | if (tmp < 0) |
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51 | break;
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52 | robotList[tmp] = 1;
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53 | numRobots++; |
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54 | } |
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55 | if (numRobots < 1) { |
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56 | usb_puts("\r\nNo BOM table available.");
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57 | continue; // skip table printing |
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58 | } else {
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59 | usb_puts("\r\nBOM table: (* indicates this robot)");
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60 | } |
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61 | |||
62 | // print table of bom readings between robots
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63 | usb_puts("\r\ns \\ d");
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64 | 858 | dsschult | // print header
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65 | 848 | dsschult | for(int j=0;j<MAX_ROBOTS;j++) |
66 | if (robotList[j]) {
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67 | usb_puts("\t|");
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68 | if (j == wl_get_xbee_id())
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69 | usb_puts("*"); // indicate that this is the current bot |
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70 | usb_puti(j); |
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71 | } |
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72 | usb_puts("\r\n");
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73 | 858 | dsschult | // print body
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74 | 848 | dsschult | for(int l=0;l<MAX_ROBOTS;l++) |
75 | if (robotList[l]) {
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76 | if (l == wl_get_xbee_id())
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77 | usb_puts("*"); // indicate that this is the current bot |
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78 | 858 | dsschult | usb_puti(l); // print label col
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79 | 848 | dsschult | for(int k=0;k<MAX_ROBOTS;k++) |
80 | if (robotList[k]) {
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81 | usb_puts("\t|");
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82 | if (k != l) {
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83 | int bom = wl_token_get_sensor_reading(l,k);
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84 | if (bom >= 0 && bom <= 15) |
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85 | 858 | dsschult | usb_puti(bom); // print bom value
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86 | 848 | dsschult | } |
87 | } |
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88 | usb_puts("\r\n");
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89 | } |
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90 | usb_puts("\r\n");
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91 | } |
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92 | } |
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93 | |||
94 | // end testing token ring and bom
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95 | return 0; |
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96 | } |
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97 |