root / trunk / code / projects / hunter_prey / ref / main.c @ 1467
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1 | 1466 | bneuman | #include <stdlib.h> |
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2 | #include <stdio.h> |
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3 | #include <time.h> |
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4 | #include <unistd.h> |
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5 | #include "../../libwireless/lib/wl_basic.h" |
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6 | #include "../../libwireless/lib/wireless.h" |
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7 | #include "../hunter_prey.h" |
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8 | |||
9 | #define TYPE 42 // packet type for wireless communication |
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10 | |||
11 | 1467 | bneuman | #define NUM_BOTS 17 |
12 | #define TOTAL_GAME_TIME 600*5 //in 100 ms intervals |
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13 | |||
14 | 1466 | bneuman | void packet_receive(char type, int source, unsigned char* packet, int length); |
15 | |||
16 | volatile unsigned int preyTime[20]; |
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17 | volatile int preyBot=-1; |
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18 | |||
19 | void waitKey(void) { |
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20 | unsigned char buf[10]; |
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21 | |||
22 | //read from stdin
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23 | while(read(0, buf, 10)==10) { |
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24 | printf("!");
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25 | fflush(stdout); |
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26 | } |
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27 | |||
28 | while(getchar()==-1); |
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29 | } |
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30 | |||
31 | void print_stats(void) { |
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32 | |||
33 | int i=0; |
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34 | |||
35 | 1467 | bneuman | for(i=0;i<NUM_BOTS;i++) { |
36 | 1466 | bneuman | printf("%5d ", preyTime[i]);
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37 | } |
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38 | |||
39 | printf("\n");
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40 | |||
41 | } |
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42 | |||
43 | int main(int argc, char *argv[]) |
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44 | { |
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45 | char send_buffer[2]; // holds data to send |
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46 | int data_length; // length of data received |
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47 | unsigned char *packet_data; // data received |
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48 | int ret;
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49 | int i;
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50 | 1467 | bneuman | int winner, maxTime=0; |
51 | 1466 | bneuman | |
52 | unsigned int channel = 0xF; |
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53 | |||
54 | struct timespec delay, rem;
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55 | |||
56 | delay.tv_sec = 0;
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57 | delay.tv_nsec = 100000000;
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58 | |||
59 | |||
60 | if(argc > 1) { |
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61 | channel = atoi(argv[1]);
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62 | } |
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63 | |||
64 | printf("using wireless channel %d\n", channel);
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65 | |||
66 | wl_set_com_port("/dev/ttyUSB0");
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67 | // set up wireless
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68 | ret = wl_basic_init(&packet_receive); |
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69 | |||
70 | if(ret) {
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71 | printf("ERROR: wl_basic_init failed. %d\n", ret);
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72 | return ret;
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73 | } |
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74 | //wl_set_channel(channel);
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75 | |||
76 | 1467 | bneuman | for(i=0;i<NUM_BOTS;i++) { |
77 | 1466 | bneuman | preyTime[i]=0;
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78 | } |
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79 | |||
80 | ret = 0;
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81 | i=0;
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82 | |||
83 | printf("ready\n");
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84 | |||
85 | //TODO: use rtc to make this more accurate
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86 | 1467 | bneuman | while(i < TOTAL_GAME_TIME) {
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87 | 1466 | bneuman | wl_do(); |
88 | |||
89 | if(ret==0) { |
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90 | ret = nanosleep(&delay, &rem); |
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91 | } |
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92 | else {
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93 | ret = nanosleep(&rem, &rem); |
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94 | } |
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95 | |||
96 | //update counts when we have waited at least enough time
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97 | if(ret == 0 && preyBot >= 0) { |
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98 | preyTime[preyBot]++; |
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99 | 1467 | bneuman | |
100 | if(i==0) { //time starts on the first real tag |
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101 | printf("\nThe race is on!\n");
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102 | } |
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103 | 1466 | bneuman | i++; |
104 | } |
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105 | |||
106 | 1467 | bneuman | if((TOTAL_GAME_TIME - i)%600 == 0) { |
107 | printf("%d minutes remaining!\n", (TOTAL_GAME_TIME - i)/600); |
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108 | } |
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109 | |||
110 | 1466 | bneuman | if(i%10==0) { |
111 | print_stats(); |
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112 | 1467 | bneuman | if( TOTAL_GAME_TIME - i <= 100) |
113 | printf("%d...\n", (TOTAL_GAME_TIME - i)/10); |
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114 | 1466 | bneuman | } |
115 | } |
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116 | |||
117 | 1467 | bneuman | |
118 | for(i=1;i<NUM_BOTS;i++) { |
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119 | if(preyTime[i] > maxTime) {
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120 | maxTime = preyTime[i]; |
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121 | winner = i; |
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122 | } |
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123 | } |
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124 | |||
125 | printf("\n\GAME OVER!n\nAAAAAAAAAAND the winner is\nBOT %d!!!!\n", winner); |
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126 | |||
127 | 1466 | bneuman | return 0; |
128 | } |
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129 | |||
130 | void packet_receive(char type, int source, unsigned char* packet, int length) |
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131 | { |
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132 | |||
133 | if(type==42 && length>=2){ |
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134 | if(packet[0] == HUNTER_PREY_ACTION_TAG) { |
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135 | //TODO: check tag
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136 | |||
137 | } |
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138 | else if(packet[0] == HUNTER_PREY_ACTION_ACK) { |
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139 | |||
140 | preyBot = packet[1];
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141 | printf("bot %d is prey!\n", preyBot);
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142 | |||
143 | } |
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144 | else {
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145 | printf("got invalid packet! %c%d\n", packet[0], packet[1]); |
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146 | } |
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147 | } |
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148 | else {
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149 | printf("got unknown packet! type=%d, length=%d\n", type, length);
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150 | } |
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151 | } |