root / branches / slam / code / projects / colonet / DataRequests / server / test_main.c @ 157
History | View | Annotate | Download (1.42 KB)
1 |
#include <stdlib.h> |
---|---|
2 |
#include <stdio.h> |
3 |
#include <unistd.h> |
4 |
#include "data_requests.h" |
5 |
#include "wireless.h" |
6 |
#include "wl_token_ring.h" |
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 |
|
16 |
int main(void){ |
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 |
} |
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 |
|