root / branches / wireless / code / projects / unit_tests / test_tokenring.c.bak @ 1617
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1 | 848 | dsschult | #include <dragonfly_lib.h> |
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2 | #include <wireless.h> |
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3 | #include <wl_token_ring.h> |
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4 | |||
5 | |||
6 | /** |
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7 | * Tests the token ring and BOM |
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8 | 858 | dsschult | * - prints table of bom values for every robot in token ring |
9 | * - takes several seconds to initialize token ring |
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10 | 848 | dsschult | */ |
11 | |||
12 | #define MAX_ROBOTS 16 |
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13 | |||
14 | // set a list of integers to 0 |
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15 | void clearRobots(int* list) { |
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16 | for(int i=0;i<MAX_ROBOTS;i++) |
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17 | 858 | dsschult | list[i] = 0; |
18 | 848 | dsschult | } |
19 | |||
20 | int testtokenring(void) { |
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21 | usb_init(); |
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22 | usb_puts("usb turned on\r\n"); |
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23 | wl_init(); |
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24 | usb_puts("wireless turned on\r\n"); |
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25 | wl_token_ring_register(); |
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26 | wl_token_ring_join(); // join token ring |
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27 | usb_puts("token ring joined\r\n"); |
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28 | 1452 | dsschult | int robotList[sizeof(int)*MAX_ROBOTS]; |
29 | 848 | dsschult | int numRobots = 0; |
30 | delay_ms(1000); |
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31 | |||
32 | // start testing wireless/token ring/BOM |
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33 | int i=0; |
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34 | while(1) { |
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35 | wl_do(); |
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36 | 858 | dsschult | // only print table every 200 loops |
37 | if (i%200==0) { |
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38 | 848 | dsschult | // get token ring size values |
39 | usb_puts("\r\nnumber of robots in token ring:"); |
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40 | usb_puti(wl_token_get_robots_in_ring()); |
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41 | usb_puts("\r\nnumber of robots in matrix:"); |
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42 | usb_puti(wl_token_get_num_robots()); |
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43 | |||
44 | // get list of robots |
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45 | numRobots = 0; |
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46 | clearRobots(robotList); |
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47 | wl_token_iterator_begin(); |
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48 | while(wl_token_iterator_has_next()) { |
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49 | int tmp = wl_token_iterator_next(); |
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50 | if (tmp < 0) |
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51 | break; |
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52 | robotList[tmp] = 1; |
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53 | numRobots++; |
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54 | } |
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55 | if (numRobots < 1) { |
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56 | usb_puts("\r\nNo BOM table available."); |
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57 | continue; // skip table printing |
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58 | } else { |
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59 | usb_puts("\r\nBOM table: (* indicates this robot)"); |
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60 | } |
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61 | |||
62 | // print table of bom readings between robots |
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63 | usb_puts("\r\ns \\ d"); |
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64 | 858 | dsschult | // print header |
65 | 848 | dsschult | for(int j=0;j<MAX_ROBOTS;j++) |
66 | if (robotList[j]) { |
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67 | usb_puts("\t|"); |
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68 | if (j == wl_get_xbee_id()) |
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69 | usb_puts("*"); // indicate that this is the current bot |
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70 | usb_puti(j); |
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71 | } |
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72 | usb_puts("\r\n"); |
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73 | 858 | dsschult | // print body |
74 | 848 | dsschult | for(int l=0;l<MAX_ROBOTS;l++) |
75 | if (robotList[l]) { |
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76 | if (l == wl_get_xbee_id()) |
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77 | usb_puts("*"); // indicate that this is the current bot |
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78 | 858 | dsschult | usb_puti(l); // print label col |
79 | 848 | dsschult | for(int k=0;k<MAX_ROBOTS;k++) |
80 | if (robotList[k]) { |
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81 | usb_puts("\t|"); |
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82 | if (k != l) { |
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83 | int bom = wl_token_get_sensor_reading(l,k); |
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84 | if (bom >= 0 && bom <= 15) |
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85 | 858 | dsschult | usb_puti(bom); // print bom value |
86 | 848 | dsschult | } |
87 | } |
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88 | usb_puts("\r\n"); |
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89 | } |
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90 | usb_puts("\r\n"); |
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91 | } |
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92 | } |
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93 | |||
94 | // end testing token ring and bom |
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95 | return 0; |
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96 | } |
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97 |