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Revision 157

Added by Justin Scheiner almost 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:

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
  19
  
    
  pgh.unregister = NULL;


  		




  
  20
  
    
  wl_register_packet_group(&pgh);


  		




  20
  21
  
    
}


  		




  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
  37
  
    
}


  		




  37
  38
  
    

  		




  ......




  41
  42
  
    
  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;


  		












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