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Revision 157

Added by Justin Scheiner over 16 years ago

Sweet stuff. Eugene use this. It's good.
(But not tested yet, should work, modular, works for all server side applications,
even those that aren't explicitly colonet related.)

View differences:

branches/slam/code/projects/colonet/DataRequests/robot/data_response.c
1 1 
#include "data_response.h"
2 
#include <dragonfly_lib.h>
2 
#include "dragonfly_lib.h"
3 3 
#include "wl_token_ring.h"
4 4 
#include "wireless.h"
5 5 

  		




  6
  6
  
    

  		




  7
  7
  
    
PacketGroupHandler pgh;


  		




  8
  8
  
    

  		




  9
  
  
    
void handle_receive(char type, int source, unsigned char * packet, int length);


  		




  
  9
  
    
void handle_receive(char type, int source, unsigned char* packet, int length);


  		




  10
  10
  
    

  		




  11
  11
  
    
int generate_bom_packet(char** buf);


  		




  12
  12
  
    
int generate_IR_packet(char** buf);


  		




  ......




  15
  15
  
    
  range_init();


  		




  16
  16
  
    
  pgh.timeout_handler = NULL;


  		




  17
  17
  
    
  pgh.handle_response = NULL;


  		




  18
  
  
    
  pgh.handle_response = handle_receive;


  		




  
  18
  
    
  pgh.handle_receive = handle_receive;


  		




  19
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  pgh.unregister = NULL;


  		




  
  20
  
    
  wl_register_packet_group(&pgh);


  		




  20
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}


  		




  21
  22
  
    

  		




  22
  23
  
    
void handle_receive(char type, int source, unsigned char* packet, int length){


  		




  ......




  25
  26
  
    
  switch(type){


  		




  26
  27
  
    
  case BOM_TYPE:


  		




  27
  28
  
    
    size = generate_bom_packet(&buf); 


  		




  28
  
  
    
    wl_send_robot_to_robot_packet(DATA_REQUEST_GROUP,BOM_TYPE,data,size,source,0);


  		




  
  29
  
    
    wl_send_robot_to_robot_packet(DATA_REQUEST_GROUP,BOM_TYPE,buf,size,source,0);


  		




  29
  30
  
    
  case IR_TYPE:


  		




  30
  31
  
    
    size = generate_IR_packet(&buf); 


  		




  31
  
  
    
    wl_send_robot_to_robot_packet(DATA_REQUEST_GROUP,IR_TYPE,data,size,source,0);


  		




  
  32
  
    
    wl_send_robot_to_robot_packet(DATA_REQUEST_GROUP,IR_TYPE,buf,size,source,0);


  		




  32
  33
  
    
  case ENCODER_TYPE:


  		




  
  34
  
    
    break; 


  		




  33
  35
  
    
    //Not yet supported.


  		




  34
  
  
    

  		




  35
  36
  
    
  }


  		




  36
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}


  		




  37
  38
  
    

  		




  ......




  41
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  wl_token_iterator_begin();


  		




  42
  43
  
    
  while(wl_token_iterator_has_next() && i<=99){


  		




  43
  44
  
    
    robot_id = wl_token_iterator_next();


  		




  44
  
  
    
    *buf[i++] = (char)((robot_id>>8) & 255);


  		




  45
  
  
    
    *buf[i++] = (char)(robot_id & 255);


  		




  46
  
  
    
    *buf[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));


  		




  
  45
  
    
    (*buf)[i++] = (char)((robot_id>>8) & 0xFF);


  		




  
  46
  
    
    (*buf)[i++] = (char)(robot_id & 0xFF);


  		




  
  47
  
    
    (*buf)[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));


  		




  47
  48
  
    
  }


  		




  48
  49
  
    
  //i is one greater than the index of the last byte... the size.


  		




  49
  50
  
    
  return i;


  		












  

    
      branches/slam/code/projects/colonet/DataRequests/robot/Makefile
    
  





  14
  14
  
    
USE_WIRELESS = 1


  		




  15
  15
  
    

  		




  16
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# com1 = serial port. Use lpt1 to connect to parallel port.


  		




  17
  
  
    
AVRDUDE_PORT = com4


  		




  
  17
  
    
AVRDUDE_PORT = /dev/cu.usbserial-A4001hAU


  		




  18
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#


  		




  19
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#


  		




  20
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###################################


  		












  

    
      branches/slam/code/projects/colonet/DataRequests/server/test_main.c
    
  





  1
  1
  
    
#include <stdlib.h>


  		




  2
  2
  
    
#include <stdio.h>


  		




  
  3
  
    
#include <unistd.h>


  		




  3
  4
  
    
#include "data_requests.h"


  		




  
  5
  
    
#include "wireless.h"


  		




  
  6
  
    
#include "wl_token_ring.h"


  		




  4
  7
  
    

  		




  
  8
  
    
void IR_handler(unsigned char* data);


  		




  
  9
  
    
void bom_handler(BomNode* head);


  		




  
  10
  
    
void encoder_handler(unsigned char* data);


  		




  
  11
  
    

  		




  
  12
  
    
char bom_responded_flag;


  		




  
  13
  
    
char ir_responded_flag;


  		




  
  14
  
    
char encoder_responded_flag;


  		




  
  15
  
    

  		




  5
  16
  
    
int main(void){


  		




  6
  
  
    
  printf("Hello\n");


  		




  7
  
  
    
  data_requests_init(NULL,NULL,NULL);


  		




  8
  
  
    
  return -1;


  		




  
  17
  
    
  wl_init();


  		




  
  18
  
    
  wl_token_ring_register(); 


  		




  
  19
  
    
  data_requests_init(bom_handler,IR_handler,encoder_handler);


  		




  
  20
  
    
  int robot_id;


  		




  
  21
  
    
  bom_responded_flag = 0;


  		




  
  22
  
    
  ir_responded_flag = 0;


  		




  
  23
  
    
  encoder_responded_flag = 0;


  		




  
  24
  
    
  while(1){


  		




  
  25
  
    
      wl_token_iterator_begin();


  		




  
  26
  
    
      printf("This far.\n");


  		




  
  27
  
    
      while(wl_token_iterator_has_next()){


  		




  
  28
  
    
        robot_id = wl_token_iterator_next();


  		




  
  29
  
    

  		




  
  30
  
    
        bom_responded_flag = 0;


  		




  
  31
  
    
        ir_responded_flag = 0;


  		




  
  32
  
    
        encoder_responded_flag = 0;


  		




  
  33
  
    
/*


  		




  
  34
  
    
        request_bom_data(robot_id);


  		




  
  35
  
    
        while(!bom_responded_flag){


  		




  
  36
  
    
          delay_ms(50);


  		




  
  37
  
    
        }


  		




  
  38
  
    
*/        


  		




  
  39
  
    
        request_IR_data(robot_id);


  		




  
  40
  
    
        while(!ir_responded_flag){


  		




  
  41
  
    
          usleep(50000);


  		




  
  42
  
    
        }


  		




  
  43
  
    
/*       


  		




  
  44
  
    
        request_encoder_data(robot_id);


  		




  
  45
  
    
        while(!encoder_responded_flag){


  		




  
  46
  
    
          delay_ms(50);


  		




  
  47
  
    
        }


  		




  
  48
  
    
*/


  		




  
  49
  
    
      }


  		




  
  50
  
    
  }


  		




  9
  51
  
    
}


  		




  
  52
  
    

  		




  
  53
  
    
void IR_handler(unsigned char* data){


  		




  
  54
  
    
  char i;


  		




  
  55
  
    
  for(i=0;i<5;i++){


  		




  
  56
  
    
    printf("IR %i is %u\n\n",i,data[i]);


  		




  
  57
  
    
  }


  		




  
  58
  
    
  ir_responded_flag=1;


  		




  
  59
  
    
}


  		




  
  60
  
    

  		




  
  61
  
    
void bom_handler(BomNode* head){


  		




  
  62
  
    
  bom_responded_flag=1;


  		




  
  63
  
    
}


  		




  
  64
  
    

  		




  
  65
  
    
void encoder_handler(unsigned char* data){


  		




  
  66
  
    
  encoder_responded_flag=1;


  		




  
  67
  
    
}


  		




  
  68
  
    

  		












  

    
      branches/slam/code/projects/colonet/DataRequests/server/data_requests.c
    
  





  27
  27
  
    
  wl_register_packet_group(&pgh);


  		




  28
  28
  
    
}


  		




  29
  29
  
    

  		




  
  30
  
    

  		




  30
  31
  
    
void request_bom_data(int robot_id){


  		




  31
  32
  
    
  wl_send_robot_to_robot_packet(DATA_REQUEST_GROUP,BOM_TYPE,NULL,0,robot_id,0);


  		




  32
  33
  
    
}


  		












  

    
      branches/slam/code/projects/colonet/DataRequests/server/data_requests.h
    
  





  1
  
  
    

  		




  2
  
  
    
#ifndef _DATA_REQUESTS_H


  		




  3
  
  
    
#define _DATA_REQUESTS_H 


  		




  4
  
  
    

  		




  5
  1
  
    
#define DATA_REQUEST_GROUP 23


  		




  6
  2
  
    
#define BOM_TYPE 0


  		




  7
  3
  
    
#define IR_TYPE 1


  		




  ......




  22
  18
  
    
void request_IR_data(int robot_id);


  		




  23
  19
  
    
void request_encoder_data(int robot_id);


  		




  24
  20
  
    

  		




  25
  
  
    
#endif


  		












  

    
      branches/slam/code/projects/colonet/DataRequests/server/Makefile
    
  





  8
  8
  
    
COLONYROOT = ../../..


  		




  9
  9
  
    
endif


  		




  10
  10
  
    

  		




  
  11
  
    
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly


  		




  
  12
  
    
CINCS += -L$(COLONYROOT)/code/lib/bin


  		




  
  13
  
    

  		




  
  14
  
    
all: $(TARGET)


  		




  
  15
  
    

  		




  11
  16
  
    
$(TARGET): *.c  *.h


  		




  12
  
  
    
	$(CC) $(CFLAGS) $(TARGET).c -L$(COLONYROOT)/code/lib/bin -o $(TARGET) -lwireless


  		




  
  17
  
    
	$(CC) $(CFLAGS) *.c -I$(COLONYROOT)/code/lib/include/libdragonfly -I$(COLONYROOT)/code/lib/include/libwireless -L$(COLONYROOT)/code/lib/bin -o $(TARGET) -lwireless


  		




  13
  18
  
    

  		




  14
  19
  
    
clean:


  		




  15
  20
  
    
	rm $(TARGET)


  		












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