Revision 1621
Made Wireless_test compile and run. Report so far:
Initialization works.
Function registration works.
XBee functions fail (David is fixing this).
Sending packets in fast mode works.
Termination fails with -2. Probably XBee related.
| wireless_test.c | ||
|---|---|---|
| 1 | 1 |
#include <stdlib.h> |
| 2 | 2 |
#include <stdio.h> |
| 3 | 3 |
#include <string.h> |
| 4 |
#include "wireless.h" |
|
| 4 |
#include <wireless.h> |
|
| 5 |
#include <lights.h> |
|
| 6 |
#include <dragonfly_lib.h> |
|
| 7 |
#include <xbee.h> |
|
| 5 | 8 |
|
| 6 |
uint8_t group_1_function(); |
|
| 7 |
uint8_t group_2_function(); |
|
| 8 |
uint8_t group_3_function(); |
|
| 9 |
uint8_t group_4_function(); |
|
| 9 |
uint8_t group_1_function(void);
|
|
| 10 |
uint8_t group_2_function(void);
|
|
| 11 |
uint8_t group_3_function(void);
|
|
| 12 |
uint8_t group_4_function(void);
|
|
| 10 | 13 |
|
| 11 | 14 |
/* This function tests out the full functionality of the new wireless library. |
| 12 | 15 |
* It must be run on two colony bots simultaneously to properly test all funtions. |
| 13 | 16 |
*/ |
| 14 |
int main(char argsc, char* argv[])
|
|
| 17 |
int main(int argsc, char* argv[])
|
|
| 15 | 18 |
{
|
| 16 | 19 |
orb_init(); |
| 17 | 20 |
usb_init(); |
| 18 | 21 |
int status = 0; |
| 19 | 22 |
|
| 20 |
usb_puts("New Wireless Library Test Suite\n";
|
|
| 23 |
usb_puts("New Wireless Library Test Suite\r\n");
|
|
| 21 | 24 |
|
| 22 | 25 |
/*Initialize the wirelss library*/ |
| 23 |
usb_puts("Initializing library...\n\t");
|
|
| 26 |
usb_puts("Initializing library...\r\n");
|
|
| 24 | 27 |
orb1_set_color(BLUE); |
| 25 | 28 |
status = wl_init(); |
| 26 | 29 |
switch(status){
|
| 27 | 30 |
case 0: |
| 28 |
usb_puts("Library initialization successful\n\n");
|
|
| 31 |
usb_puts("Library initialization successful\r\n\r\n");
|
|
| 29 | 32 |
orb1_set_color(GREEN); |
| 30 | 33 |
break; |
| 31 | 34 |
case -1: |
| 32 |
usb_puts("Initialization failed: already initialized\n\n");
|
|
| 35 |
usb_puts("Initialization failed: already initialized\r\n\r\n");
|
|
| 33 | 36 |
orb1_set_color(GREEN); |
| 34 | 37 |
break; |
| 35 | 38 |
case -2: |
| 36 |
usb_puts("Initialization failed: XBEE initialization failed\n\n");
|
|
| 39 |
usb_puts("Initialization failed: XBEE initialization failed\r\n\r\n");
|
|
| 37 | 40 |
orb1_set_color(RED); |
| 38 | 41 |
break; |
| 39 | 42 |
default: |
| 40 |
usb_puts("Error: Unreconnized status code: %d\n\n", status);
|
|
| 43 |
usb_puts("Error: Unreconnized status code: ");
|
|
| 44 |
usb_puti(status); |
|
| 45 |
usb_puts("\r\n\r\n");
|
|
| 41 | 46 |
orb1_set_color(RED); |
| 42 | 47 |
break; |
| 43 | 48 |
} |
| ... | ... | |
| 48 | 53 |
usb_puts("Testing constants...");
|
| 49 | 54 |
orb2_set_color(GREEN); |
| 50 | 55 |
if(GLOBAL!=0){
|
| 51 |
usb_puts("\nGLOBAL defined as %d", GLOBAL);
|
|
| 56 |
usb_puts("\r\nGLOBAL defined as ");
|
|
| 57 |
usb_puti(GLOBAL); |
|
| 52 | 58 |
status++; |
| 53 | 59 |
} |
| 54 | 60 |
usb_puts(".");
|
| 55 | 61 |
if(PAN!=1){
|
| 56 |
usb_puts("\nPAN defined as %d", PAN);
|
|
| 62 |
usb_puts("\r\nPAN defined as ");
|
|
| 63 |
usb_puti(PAN); |
|
| 57 | 64 |
status++; |
| 58 | 65 |
} |
| 59 | 66 |
usb_puts(".");
|
| 60 | 67 |
if(BROADCAST!=0xFFFF){
|
| 61 |
usb_puts("\nBROADCAST defined as %d", BROADCAST);
|
|
| 68 |
usb_puts("\r\nBROADCAST defined as ");
|
|
| 69 |
usb_puti(BROADCAST); |
|
| 62 | 70 |
status++; |
| 63 | 71 |
} |
| 64 | 72 |
usb_puts(".");
|
| 65 | 73 |
if(RELIABLE!=0){
|
| 66 |
usb_puts("\nRELIABLE defined as %d", RELIABLE);
|
|
| 74 |
usb_puts("\r\nRELIABLE defined as ");
|
|
| 75 |
usb_puti(RELIABLE); |
|
| 67 | 76 |
status++; |
| 68 | 77 |
} |
| 69 | 78 |
usb_puts(".");
|
| 70 | 79 |
if(FAST!=1){
|
| 71 |
usb_puts("\nFAST defined as %d", FAST);
|
|
| 80 |
usb_puts("\r\nFAST defined as ");
|
|
| 81 |
usb_puti(FAST); |
|
| 72 | 82 |
status++; |
| 73 | 83 |
} |
| 74 | 84 |
usb_puts(".");
|
| 75 | 85 |
if(NORMAL_PRIORITY!=0){
|
| 76 |
usb_put=s("\nNORMAL_PRIORITY defined as %d", NORMAL_PRIORITY);
|
|
| 86 |
usb_puts("\r\nNORMAL_PRIORITY defined as ");
|
|
| 87 |
usb_puti(NORMAL_PRIORITY); |
|
| 77 | 88 |
status++; |
| 78 | 89 |
} |
| 79 | 90 |
usb_puts(".");
|
| 80 | 91 |
if(HIGH_PRIORITY!=1){
|
| 81 |
usb_puts("\nHIGH_PRIORITY defined as %d", HIGH_PRIORITY);
|
|
| 92 |
usb_puts("\r\nHIGH_PRIORITY defined as ");
|
|
| 93 |
usb_puti(HIGH_PRIORITY); |
|
| 82 | 94 |
status++; |
| 83 | 95 |
} |
| 84 |
usb_puts(".\nConstant test complete. There were %d errors", status);
|
|
| 96 |
usb_puts(".\r\nConstant test complete. There were ");
|
|
| 97 |
usb_puti(status); |
|
| 98 |
usb_puts(" errors\r\n");
|
|
| 85 | 99 |
if(status!=0){
|
| 86 | 100 |
orb2_set_color(ORANGE); |
| 87 | 101 |
delay_ms(500); |
| 88 |
|
|
| 102 |
} |
|
| 89 | 103 |
/*Tests function registration*/ |
| 90 |
usb_puts("\nTesting function registration\n");
|
|
| 104 |
usb_puts("\r\nTesting function registration");
|
|
| 91 | 105 |
int registers[8], count; |
| 92 | 106 |
status = 0; |
| 93 | 107 |
orb2_set_color(GREEN); |
| ... | ... | |
| 101 | 115 |
registers[7] = wl_register_handler(-1, group_4_function(), 0); |
| 102 | 116 |
for(count=0; count<=3; count++){
|
| 103 | 117 |
if(registers[count] != 0){
|
| 104 |
usb_puts("Function registration error: attempt %d returned %d instead of success\n", count, registers[count]);
|
|
| 118 |
usb_puts("\r\nFunction registration error: attempt ");
|
|
| 119 |
usb_puti(count); |
|
| 120 |
usb_puts(" returned ");
|
|
| 121 |
usb_puti(registers[count]); |
|
| 122 |
usb_puts(" instead of success\r\n");
|
|
| 105 | 123 |
orb2_set_color(ORANGE); |
| 106 | 124 |
status++; |
| 107 | 125 |
} |
| 108 | 126 |
} |
| 109 | 127 |
for(count=4; count<=6; count++){
|
| 110 | 128 |
if(registers[count] == 0){
|
| 111 |
usb_puts("Function registration error: attempt %d succeeded instead of failing\n", count);
|
|
| 129 |
usb_puts("\r\nFunction registration error: attempt ");
|
|
| 130 |
usb_puti(count); |
|
| 131 |
usb_puts(" succeeded instead of failing\r\n");
|
|
| 112 | 132 |
orb2_set_color(ORANGE); |
| 113 | 133 |
status++; |
| 114 | 134 |
} |
| 115 | 135 |
if(registers[count] != 0 && registers[count] != -5){
|
| 116 |
usb_puts("Function registration error: attempt %d returned %d instead of -5\n", count, registers[count]);
|
|
| 136 |
usb_puts("\r\nFunction registration error: attempt ");
|
|
| 137 |
usb_puti(count); |
|
| 138 |
usb_puts(" returned ");
|
|
| 139 |
usb_puti(registers[count]); |
|
| 140 |
usb_puts(" instead of -5\r\n");
|
|
| 117 | 141 |
orb2_set_color(ORANGE); |
| 118 | 142 |
status++; |
| 119 | 143 |
} |
| 120 | 144 |
} |
| 121 | 145 |
if(registers[7] == 0){
|
| 122 |
usb_puts("Congrats, you let an array write to index -1\n");
|
|
| 146 |
usb_puts("\r\nCongrats, you let an array write to index -1\r\n");
|
|
| 123 | 147 |
orb2_set_color(RED); |
| 124 | 148 |
status++; |
| 125 |
while(1); |
|
| 126 | 149 |
} |
| 127 |
usb_puts("Registration test completed. There were %d errors", status);
|
|
| 150 |
usb_puts("Registration test completed. There were ");
|
|
| 151 |
usb_puti(status); |
|
| 152 |
usb_puts(" errors\r\n");
|
|
| 128 | 153 |
delay_ms(500); |
| 129 | 154 |
|
| 130 | 155 |
/*Tests XBee functions*/ |
| 131 |
usb_puts("Testing XBee fuctions...\n");
|
|
| 156 |
usb_puts("\r\nTesting XBee fuctions...\r\n");
|
|
| 132 | 157 |
status = 0; |
| 133 | 158 |
orb2_set_color(GREEN); |
| 134 | 159 |
unsigned int pan = xbee_get_pan_id(); |
| 135 | 160 |
if(pan != 0){
|
| 136 |
usb_puts("Pan error: defaulted to non-default Pan id #%d\n", pan);
|
|
| 161 |
usb_puts("Pan error: defaulted to non-default Pan id :");
|
|
| 162 |
usb_puti(pan); |
|
| 137 | 163 |
orb2_set_color(ORANGE); |
| 138 | 164 |
status++; |
| 139 | 165 |
} |
| 140 | 166 |
pan = xbee_set_pan_id(1); |
| 141 | 167 |
if(pan != 0){
|
| 142 |
usb_puts("Pan error: error setting Pan id\n", pan);
|
|
| 168 |
usb_puts("\r\nPan error: error setting Pan id: ");
|
|
| 169 |
usb_puti(pan); |
|
| 143 | 170 |
orb2_set_color(ORANGE); |
| 144 | 171 |
status++; |
| 145 | 172 |
} |
| 146 | 173 |
pan = xbee_get_pan_id(); |
| 147 | 174 |
if(pan != 0){
|
| 148 |
usb_puts("Pan error: Pan id reads different %d than set value 1\n", pan);
|
|
| 175 |
usb_puts("\r\nPan error: Pan id reads different than set value 1: ");
|
|
| 176 |
usb_puti(pan); |
|
| 149 | 177 |
orb2_set_color(ORANGE); |
| 150 | 178 |
status++; |
| 151 | 179 |
} |
| 152 | 180 |
|
| 153 |
usb_puts("XBee tests completed. There were %d errors", status);
|
|
| 154 |
usb_puts("XBee tests completed. There were %d errors", status);
|
|
| 181 |
usb_puts("\r\nXBee tests completed. There were ");
|
|
| 182 |
usb_puti(status); |
|
| 183 |
usb_puts(" errors.\r\n");
|
|
| 155 | 184 |
|
| 156 | 185 |
/*Tests sending in fast mode*/ |
| 157 |
usb_puts("Tests sending basic packets in fast mode...\n
|
|
| 186 |
usb_puts("\r\nTests sending basic packets in fast mode...\r\n");
|
|
| 158 | 187 |
status = 0; |
| 159 |
uint_16 data = xbee_get_address();
|
|
| 188 |
uint16_t data = xbee_get_address();
|
|
| 160 | 189 |
status = wl_send(data, 2, 0, GLOBAL, BROADCAST, FAST); |
| 161 |
usb_puts("Global fast broadcast basic send exit code %d\n", status);
|
|
| 190 |
usb_puts("Global fast broadcast basic send exit code ");
|
|
| 191 |
usb_puti(status); |
|
| 162 | 192 |
status = wl_send(data, 2, 0, GLOBAL, PAN, FAST); |
| 163 |
usb_puts("Global fast pan send basic exit code %d\n", status);
|
|
| 193 |
usb_puts("\r\nGlobal fast pan send basic exit code ");
|
|
| 194 |
usb_puti(status); |
|
| 164 | 195 |
status = wl_send(data, 2, 0, GLOBAL, BROADCAST, FAST); |
| 165 |
usb_puts("Global fast broadcast basic send exit code %d\n", status);
|
|
| 196 |
usb_puts("\r\nGlobal fast broadcast basic send exit code ");
|
|
| 197 |
usb_puti(status); |
|
| 166 | 198 |
status = wl_send(data, 2, 0, GLOBAL, PAN, FAST); |
| 167 |
usb_puts("Global fast pan send basic exit code %d\n", status);
|
|
| 199 |
usb_puts("\r\nGlobal fast pan send basic exit code ");
|
|
| 200 |
usb_puti(status); |
|
| 168 | 201 |
status = wl_send(data, 2, 1, GLOBAL, BROADCAST, FAST); |
| 169 |
usb_puts("Global fast broadcast group 1 send exit code %d\n", status);
|
|
| 202 |
usb_puts("\r\nGlobal fast broadcast group 1 send exit code ");
|
|
| 203 |
usb_puti(status); |
|
| 170 | 204 |
status = wl_send(data, 2, 2, GLOBAL, PAN, FAST); |
| 171 |
usb_puts("Global fast pan send group 2 exit code %d\n", status);
|
|
| 205 |
usb_puts("\r\nGlobal fast pan send group 2 exit code ");
|
|
| 206 |
usb_puti(status); |
|
| 172 | 207 |
status = wl_send(data, 2, 1, GLOBAL, BROADCAST, FAST); |
| 173 |
usb_puts("Global fast broadcast group 3 send exit code %d\n", status);
|
|
| 208 |
usb_puts("\r\nGlobal fast broadcast group 3 send exit code ");
|
|
| 209 |
usb_puti(status); |
|
| 174 | 210 |
status = wl_send(data, 2, 2, GLOBAL, PAN, FAST); |
| 175 |
usb_puts("Global fast pan send group 4 exit code %d\n", status);
|
|
| 176 |
usb_puts("Fast send tests successful\n");
|
|
| 211 |
usb_puts("\r\nGlobal fast pan send group 4 exit code ");
|
|
| 212 |
usb_puti(status); |
|
| 213 |
usb_puts("\r\nFast send tests successful\r\n");
|
|
| 177 | 214 |
|
| 178 | 215 |
/*Sends packets in fast mode until other robot responds*/ |
| 179 | 216 |
usb_puts("Sending basic packets until other robot responds");
|
| 180 | 217 |
status = 0; |
| 181 | 218 |
char *packet = 0; /*will contain a 16 bit address, so length always 2*/ |
| 182 |
while(status == 0){
|
|
| 183 |
wl_send(data, 2, 0, GLOBAL, BROADCAST, FAST); |
|
| 184 |
status = wl_get_basic(packet, 2); |
|
| 219 |
// while(status == 0){
|
|
| 220 |
// wl_send(data, 2, 0, GLOBAL, BROADCAST, FAST);
|
|
| 221 |
// status = wl_get_basic(packet, 2);
|
|
| 185 | 222 |
|
| 186 |
} |
|
| 223 |
// }
|
|
| 187 | 224 |
|
| 188 | 225 |
|
| 189 | 226 |
/*Terminates wireless functions*/ |
| 190 |
usb_puts("\nTerminating wireless...\n\t");
|
|
| 227 |
usb_puts("\r\n\r\nTerminating wireless...\r\n");
|
|
| 191 | 228 |
status = wl_init(); |
| 192 | 229 |
switch(status){
|
| 193 | 230 |
case 0: |
| 194 |
usb_puts("Wireless termination successful\n\n");
|
|
| 231 |
usb_puts("Wireless termination successful\r\n\r\n");
|
|
| 195 | 232 |
orb1_set_color(BLUE); |
| 196 |
break;Tech19n0
|
|
| 233 |
break; |
|
| 197 | 234 |
case -3: |
| 198 |
usb_puts("Termination failed: library not initialized\n\n");
|
|
| 235 |
usb_puts("Termination failed: library not initialized\r\n\r\n");
|
|
| 199 | 236 |
orb1_set_color(BLUE); |
| 200 | 237 |
break; |
| 201 | 238 |
case -5: |
| 202 |
usb_puts("Termination failed\n\n");
|
|
| 239 |
usb_puts("Termination failed\r\n\r\n");
|
|
| 203 | 240 |
orb1_set_color(RED); |
| 204 | 241 |
break; |
| 205 | 242 |
case -6: |
| 206 |
usb_puts("Termination failed: function unregistration failed\n\n");
|
|
| 243 |
usb_puts("Termination failed: function unregistration failed\r\n\r\n");
|
|
| 207 | 244 |
orb1_set_color(ORANGE); |
| 208 | 245 |
break; |
| 209 | 246 |
default: |
| 210 |
usb_puts("Error: Unreconnized status code: %d\n\n", status);
|
|
| 247 |
usb_puts("Error: Unreconnized status code: ");
|
|
| 248 |
usb_puti(status); |
|
| 211 | 249 |
orb1_set_color(RED); |
| 212 | 250 |
break; |
| 213 | 251 |
} |
| 214 | 252 |
|
| 215 |
usb_puts("Wireless Library tests completed");
|
|
| 216 |
while(1);
|
|
| 253 |
usb_puts("\r\n\r\nWireless Library tests completed");
|
|
| 254 |
while(1){}
|
|
| 217 | 255 |
} |
| 256 |
|
|
| 257 |
uint8_t group_1_function(void){
|
|
| 258 |
usb_puts("\r\nFunction 1 called");
|
|
| 259 |
return 0; |
|
| 260 |
} |
|
| 261 |
uint8_t group_2_function(void){
|
|
| 262 |
usb_puts("\r\nFunction 2 called");
|
|
| 263 |
return 0; |
|
| 264 |
} |
|
| 265 |
uint8_t group_3_function(void){
|
|
| 266 |
usb_puts("\r\nFunction 3 called");
|
|
| 267 |
return 0; |
|
| 268 |
} |
|
| 269 |
uint8_t group_4_function(void){
|
|
| 270 |
usb_puts("\r\nFunction 4 called");
|
|
| 271 |
return 0; |
|
| 272 |
} |
|
Also available in: Unified diff