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Revision 1453

Added by Brad Neuman over 11 years ago

fixed some testbench bugs, added command line argument to specify wireless channel and more helpful output to the tester

View differences:

main.c
26 26
#include "hunter_prey.h"
27 27
#include <time.h>
28 28

  
29
#define CHANNEL 12 //0xF // channel for wireless communication
30 29
#define TYPE 42	// packet type for wireless communication
31 30
#define ROBOTID 255 // make up a robot id because the PC doesn't have one
32 31

  
......
50 49
    unsigned char *packet_data;	// data received
51 50
    int ret;
52 51

  
52
    unsigned int channel = 0xF;
53

  
53 54
    struct timespec delay8, rem;
54 55

  
56
    if(argc > 1) {
57
      channel = atoi(argv[1]);
58
    }
59

  
60
    printf("using wireless channel %d\n", channel);
61

  
55 62
    delay8.tv_sec = 2;
56 63
    delay8.tv_nsec = 800000000;
57 64

  
58 65
    wl_set_com_port("/dev/ttyUSB0");
59 66
    // set up wireless
60 67
    wl_basic_init_default();
61
    wl_set_channel(CHANNEL);
68
    wl_set_channel(channel);
62 69

  
63 70
    printf("Testing communications\n\n");
64 71

  
......
91 98
    else
92 99
	printf("FAILED\n");
93 100

  
94

  
101
    printf("robot should be prey\nPress enter to continue...\n");
95 102
    waitKey();
96 103

  
97 104
    // Send a TAG, receive an ACK
......
126 133
    else
127 134
	printf("PASSED\n");
128 135

  
136
    printf("Robot should be Hunter\nPress enter to continue...\n");
137

  
129 138
    waitKey();
130 139

  
131 140
    // Receive a TAG, send a delayed ACK
......
167 176
	printf("FAILED\n");
168 177

  
169 178

  
179
    printf("robot should be prey.\n Press Enter...\n");
170 180
    waitKey();
171 181

  
172 182
    printf("sending courtesy tag...");
......
187 197
    else
188 198
	printf("done\n");
189 199

  
190
    waitKey();
191 200

  
192 201
    // Receive a TAG, never send an ACK
193 202
    printf("Receive TAG, never send ACK... ");
......
200 209

  
201 210
        printf("got TAG, monitoring for 5 seconds\n");
202 211
	fflush(stdout);
203
	usleep(5000000);    // wait 5 seconds to see if they TAG again
212
	delay8.tv_sec = 5;
213
	delay8.tv_nsec = 0;
204 214

  
215
	ret = nanosleep(&delay8, &rem);  // wait for 5 secs
216
	while(ret) {
217
	  //      printf("nanosleep not done, needs to wait %ld more\n", rem.tv_nsec);
218
	  ret = nanosleep(&rem, &rem);
219
	}
220

  
205 221
	if (wl_basic_do_default(&data_length))
206 222
	    printf("FAILED, robot is spamming\n");
207 223
	else
......
211 227
    else
212 228
	printf("FAILED\n");
213 229

  
230
    printf("robot should be hunter.\nPress enter...\n");
231

  
214 232
    waitKey();
215 233

  
216 234
    // Receive TAG, send ACK to incorrect robot
......
232 250
    else
233 251
	printf("FAILED\n");
234 252

  
253

  
254
    printf("robot should wait and then still be hunter.\nPress Enter...\n");
235 255
    waitKey();
236 256

  
237 257
    // Simulate TAG from robot A to B, ACK from robot B to A
......
253 273
    else
254 274
	printf("PASSED\n");
255 275

  
276
    printf("robot should be waiting\n");
277

  
256 278
    return 0;
257 279
}
258 280

  

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