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root / branches / wireless / code / projects / unit_tests / test_tokenring.c.bak @ 1617

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#include <dragonfly_lib.h>
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#include <wireless.h>
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#include <wl_token_ring.h>
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/**
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 * Tests the token ring and BOM
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 * - prints table of bom values for every robot in token ring
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 * - takes several seconds to initialize token ring
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 */
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#define MAX_ROBOTS 16
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// set a list of integers to 0
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void clearRobots(int* list) {
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  for(int i=0;i<MAX_ROBOTS;i++)
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    list[i] = 0;
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}
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int testtokenring(void) {
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  usb_init();
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	usb_puts("usb turned on\r\n");
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  wl_init();
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  usb_puts("wireless turned on\r\n");
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  wl_token_ring_register();
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  wl_token_ring_join(); // join token ring
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  usb_puts("token ring joined\r\n");
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  int robotList[sizeof(int)*MAX_ROBOTS];
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  int numRobots = 0;
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  delay_ms(1000);
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  // start testing wireless/token ring/BOM
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  int i=0;
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  while(1) {
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    wl_do();
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    // only print table every 200 loops
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    if (i%200==0) {
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      // get token ring size values
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      usb_puts("\r\nnumber of robots in token ring:");
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      usb_puti(wl_token_get_robots_in_ring());
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      usb_puts("\r\nnumber of robots in matrix:"); 
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      usb_puti(wl_token_get_num_robots());
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      // get list of robots
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      numRobots = 0;
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      clearRobots(robotList);
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      wl_token_iterator_begin();
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      while(wl_token_iterator_has_next()) {
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        int tmp = wl_token_iterator_next();
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        if (tmp < 0)
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          break;
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        robotList[tmp] = 1;
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        numRobots++;
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      }
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      if (numRobots < 1) {
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        usb_puts("\r\nNo BOM table available.");
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        continue; // skip table printing
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      } else {
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        usb_puts("\r\nBOM table: (* indicates this robot)");
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      }
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      // print table of bom readings between robots
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      usb_puts("\r\ns \\ d");
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      // print header
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      for(int j=0;j<MAX_ROBOTS;j++)
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        if (robotList[j]) {
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          usb_puts("\t|");
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          if (j == wl_get_xbee_id())
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            usb_puts("*"); // indicate that this is the current bot
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          usb_puti(j);
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        }
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      usb_puts("\r\n");
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      // print body
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      for(int l=0;l<MAX_ROBOTS;l++) 
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        if (robotList[l]) {        
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          if (l == wl_get_xbee_id())
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            usb_puts("*"); // indicate that this is the current bot
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          usb_puti(l); // print label col
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          for(int k=0;k<MAX_ROBOTS;k++) 
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            if (robotList[k]) {
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              usb_puts("\t|");
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              if (k != l) {
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                int bom = wl_token_get_sensor_reading(l,k);
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                if (bom >= 0 && bom <= 15)
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                  usb_puti(bom); // print bom value
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              }
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            }
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          usb_puts("\r\n");
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        }
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      usb_puts("\r\n");
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    }
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  }
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  // end testing token ring and bom
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	return 0;
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}
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