Colony

#include "dio.h"

#include "time.h"

#include "serial.h"

#include "xbee.h"

#include <string.h>

/*

 * This function tests the wireless speed, returning the results to teraterm

 *

 * 

 */

#define LARGETESTDATA "abcdefghijklmnopqrstuvwxyz0123456789abcdefghijklmnopqrstuvwxyz0123456789"

#define SMALLTESTDATA "test"

unsigned char buf[100];

int len=0;

void sender(unsigned char options);

void receiver(void);

int main(void) {

  int i=0;  

  //dragonfly_init(ALL_ON);

  rtc_init(1,0);

        usb_init();

        usb_puts("usb turned on, test starting:\r\n");

  if (xbee_lib_init() != 0) {

    usb_puts("xbee_lib_init() failed\r\n");

    return -1;

  } else {

    usb_puts("xbee_lib__init successful\r\n");

  }

        usb_puts("\r\n\r\n");

        delay_ms(1000);

  while (1) {

    if (button1_read()) {

      usb_puts("I am sender\r\n");

      sender(XBEE_OPTIONS_BROADCAST_ALL_PANS);

      sender(XBEE_OPTIONS_BROADCAST_ALL_PANS|XBEE_OPTIONS_DISABLE_RESPONSE);      

      sender(XBEE_OPTIONS_DISABLE_RESPONSE);

      break;

    }

    if (button2_read()) {

      usb_puts("I am receiver\r\n");

      receiver();

      receiver();

      receiver();

      break;

    }  

  }

  // end of tests

  xbee_terminate();

  usb_puts("testxbee done\r\n\r\n");

        return 0;

}

void sender(unsigned char options) {

  unsigned int addr = 0;

  int i=0;  

        // try to link up with other robot

  while(i++ < 10000) {

    xbee_send_packet("GET",strlen("GET"),XBEE_BROADCAST,XBEE_OPTIONS_BROADCAST_ALL_PANS,1);

    if((len = xbee_get_packet(buf)) > 0 && buf[0] == XBEE_RX) {

      usb_puts("got response from xbee - |");

      usb_puts(&(buf[5]));

      usb_puts("|\r\n");      

      addr = (buf[1]<<8) + buf[2];

      if (strcmp("LINK",&buf[5]) == 0)

        break; // we have link

    }

  }

  // start sending data - large, MAC layer ack

  i=1;

  while (i++ < 256) {

    xbee_send_packet(LARGETESTDATA,strlen(LARGETESTDATA),addr,options,i);

    usb_puts("sent message to xbee - |");

    usb_puti(i);

    usb_puts("|\r\n");

  }

  xbee_send_packet("END",strlen("END"),addr,XBEE_OPTIONS_BROADCAST_ALL_PANS,1);

  // wait for response

  while(i++ < 10000) {

    if((len = xbee_get_packet(buf)) > 0 && buf[0] == XBEE_RX) {

      usb_puts("got response from xbee - |");

      usb_puts(&(buf[5]));

      usb_puts("|\r\n");      

      if (strcmp("END",&buf[5]) == 0)

        break; // we have link      

      memset(buf,0,100);

    }

  }

}

void receiver() {

  unsigned int addr = 0;

  int i=0,end=0,frames=0;

  // try to link up with other robot

  i=0;

  while(i++ < 10000) {

    if((len = xbee_get_packet(buf)) > 0 && buf[0] == XBEE_RX) {

      usb_puts("got response from xbee - |");

      usb_puts(&(buf[5]));

      usb_puts("|\r\n");

      addr = (buf[1]<<8) + buf[2];

      if (strcmp("GET",&buf[5]) == 0)

        break; // we have link

    }

  }

  // do link

  xbee_send_packet("LINK",strlen("LINK"),addr,XBEE_OPTIONS_NONE,2);

  // get data

  i=frames=0; 

  memset(buf,0,100);

  rtc_reset();

  while(1) {

    if((len = xbee_get_packet(buf)) > 0 && buf[0] == XBEE_RX) {

      usb_puts("got response from xbee - |");

      usb_puti(frames);

      usb_puts("|\r\n");

      if (strcmp("END",&buf[5]) == 0)

        break; // done with send

      frames++;

      memset(buf,0,100);

    }

  }  

  end = rtc_get();

  xbee_send_packet("END",strlen("END"),addr,XBEE_OPTIONS_NONE,2);

  usb_puts("\r\nFrames received: ");

  usb_puti(frames);

  usb_puts("\r\nTime taken: ");

  usb_puti(end);

  usb_puts("\r\nEstimated bandwidth: ");

  end = frames*72*32/end;

  usb_puti(end);

  usb_puts(" bps\r\n");

}