Revision 157
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.)
| test_main.c | ||
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| 1 | 1 |
#include <stdlib.h> |
| 2 | 2 |
#include <stdio.h> |
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#include <unistd.h> |
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| 3 | 4 |
#include "data_requests.h" |
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#include "wireless.h" |
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#include "wl_token_ring.h" |
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void IR_handler(unsigned char* data); |
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void bom_handler(BomNode* head); |
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void encoder_handler(unsigned char* data); |
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char bom_responded_flag; |
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char ir_responded_flag; |
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char encoder_responded_flag; |
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int main(void){
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printf("Hello\n");
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data_requests_init(NULL,NULL,NULL); |
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return -1; |
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wl_init(); |
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wl_token_ring_register(); |
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data_requests_init(bom_handler,IR_handler,encoder_handler); |
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int robot_id; |
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bom_responded_flag = 0; |
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ir_responded_flag = 0; |
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encoder_responded_flag = 0; |
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while(1){
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wl_token_iterator_begin(); |
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printf("This far.\n");
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while(wl_token_iterator_has_next()){
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robot_id = wl_token_iterator_next(); |
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bom_responded_flag = 0; |
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ir_responded_flag = 0; |
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encoder_responded_flag = 0; |
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/* |
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request_bom_data(robot_id); |
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while(!bom_responded_flag){
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delay_ms(50); |
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} |
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*/ |
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request_IR_data(robot_id); |
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while(!ir_responded_flag){
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usleep(50000); |
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} |
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/* |
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request_encoder_data(robot_id); |
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while(!encoder_responded_flag){
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delay_ms(50); |
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} |
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*/ |
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} |
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} |
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} |
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void IR_handler(unsigned char* data){
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char i; |
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for(i=0;i<5;i++){
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printf("IR %i is %u\n\n",i,data[i]);
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} |
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ir_responded_flag=1; |
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} |
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void bom_handler(BomNode* head){
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bom_responded_flag=1; |
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} |
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void encoder_handler(unsigned char* data){
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encoder_responded_flag=1; |
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} |
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