root / branches / wireless / code / projects / unit_tests / test_wireless2.c @ 1658
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#include <wl_defs.h> |
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#include <string.h> |
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#include <wireless.h> |
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#include <lights.h> |
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#include <dragonfly_lib.h> |
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#include <xbee.h> |
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void group_1_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_2_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_3_function(uint8_t* data,uint8_t length,uint8_t source);
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void group_4_function(uint8_t* data,uint8_t length,uint8_t source);
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void test_function_1(void); |
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void test_sending();
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void test_receiving();
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uint16_t friendAddress = 0;
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/* This function tests out the full functionality of the new wireless library.
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* It must be run on two colony bots simultaneously to properly test all funtions.
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*/
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void testwireless2(void) |
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{ |
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orb_init(); |
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usb_init(); |
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int status = 0; |
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WL_DEBUG_PRINT_P("New Wireless Library Test Suite\r\n");
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/*Initialize the wirelss library*/
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WL_DEBUG_PRINT_P("Initializing library...\r\n");
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orb1_set_color(BLUE); |
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status = wl_init(); |
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switch(status){
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case 0: |
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WL_DEBUG_PRINT_P("Library initialization successful\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
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case -1: |
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WL_DEBUG_PRINT_P("Initialization failed: already initialized\r\n\r\n");
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orb1_set_color(GREEN); |
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break;
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case -2: |
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WL_DEBUG_PRINT_P("Initialization failed: XBEE initialization failed\r\n\r\n");
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orb1_set_color(RED); |
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break;
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default:
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WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P("\r\n\r\n");
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orb1_set_color(RED); |
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break;
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} |
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while((status!=0) && 1); |
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/*Test all constants defined correctly*/
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status = 0;
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WL_DEBUG_PRINT_P("Testing constants...");
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orb2_set_color(GREEN); |
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if(GLOBAL!=0){ |
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WL_DEBUG_PRINT_P("\r\nGLOBAL defined as ");
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usb_puti(GLOBAL); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(PAN!=1){ |
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WL_DEBUG_PRINT_P("\r\nPAN defined as ");
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usb_puti(PAN); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(BROADCAST!=0xFFFF){ |
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WL_DEBUG_PRINT_P("\r\nBROADCAST defined as ");
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usb_puti(BROADCAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(RELIABLE!=0){ |
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WL_DEBUG_PRINT_P("\r\nRELIABLE defined as ");
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usb_puti(RELIABLE); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(FAST!=1){ |
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WL_DEBUG_PRINT_P("\r\nFAST defined as ");
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usb_puti(FAST); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(NORMAL_PRIORITY!=0){ |
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WL_DEBUG_PRINT_P("\r\nNORMAL_PRIORITY defined as ");
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usb_puti(NORMAL_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".");
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if(HIGH_PRIORITY!=1){ |
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WL_DEBUG_PRINT_P("\r\nHIGH_PRIORITY defined as ");
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usb_puti(HIGH_PRIORITY); |
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status++; |
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} |
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WL_DEBUG_PRINT_P(".\r\nConstant test complete. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
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if(status!=0){ |
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orb2_set_color(ORANGE); |
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delay_ms(500);
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} |
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/*Tests function registration*/
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WL_DEBUG_PRINT_P("\r\nTesting function registration");
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int registers[8], count; |
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status = 0;
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orb2_set_color(GREEN); |
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registers[0] = wl_register_handler(1, group_1_function, 0); |
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registers[1] = wl_register_handler(2, group_2_function, 1); |
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registers[2] = wl_register_handler(3, group_3_function, 0); |
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registers[3] = wl_register_handler(4, group_4_function, 1); |
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registers[4] = wl_register_handler(0, group_1_function, 0); |
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registers[5] = wl_register_handler(6, NULL, 0); |
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registers[6] = wl_register_handler(30, group_3_function, 0); |
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registers[7] = wl_register_handler(-1, group_4_function, 0); |
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for(count=0; count<=3; count++){ |
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if(registers[count] != 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of success\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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for(count=4; count<=6; count++){ |
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if(registers[count] == 0){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" succeeded instead of failing\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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if(registers[count] != 0 && registers[count] != -5){ |
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WL_DEBUG_PRINT_P("\r\nFunction registration error: attempt ");
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usb_puti(count); |
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WL_DEBUG_PRINT_P(" returned ");
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usb_puti(registers[count]); |
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WL_DEBUG_PRINT_P(" instead of -5\r\n");
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orb2_set_color(ORANGE); |
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status++; |
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} |
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} |
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if(registers[7] == 0){ |
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WL_DEBUG_PRINT_P("\r\nCongrats, you let an array write to index -1\r\n");
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orb2_set_color(RED); |
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status++; |
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} |
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WL_DEBUG_PRINT_P("Registration test completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors\r\n");
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delay_ms(500);
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/*Tests XBee functions*/
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WL_DEBUG_PRINT_P("\r\nTesting XBee fuctions...\r\n");
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status = 0;
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orb2_set_color(GREEN); |
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unsigned int pan = xbee_get_pan(); |
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if(pan != 0){ |
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WL_DEBUG_PRINT_P("Pan error: defaulted to non-default Pan id :");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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pan = xbee_set_pan(1);
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if(pan != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: error setting Pan id: ");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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pan = xbee_get_pan(); |
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if(pan != 0){ |
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WL_DEBUG_PRINT_P("\r\nPan error: Pan id reads different than set value 1: ");
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usb_puti(pan); |
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orb2_set_color(ORANGE); |
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status++; |
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} |
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WL_DEBUG_PRINT_P("\r\nXBee tests completed. There were ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P(" errors.\r\n");
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/*Tests sending in fast mode*/
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WL_DEBUG_PRINT_P("\r\nTests sending basic packets in fast mode...\r\n");
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status = 0;
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uint16_t data = xbee_get_address(); |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("Global fast broadcast basic send exit code ");
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usb_puti(status); |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status); |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast basic send exit code ");
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usb_puti(status); |
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status = wl_send((uint8_t*)&data, 2, 0, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send basic exit code ");
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usb_puti(status); |
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status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 1 send exit code ");
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usb_puti(status); |
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status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 2 exit code ");
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usb_puti(status); |
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status = wl_send((uint8_t*)&data, 2, 1, GLOBAL, BROADCAST, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast broadcast group 3 send exit code ");
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usb_puti(status); |
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status = wl_send((uint8_t*)&data, 2, 2, GLOBAL, PAN, FAST); |
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WL_DEBUG_PRINT_P("\r\nGlobal fast pan send group 4 exit code ");
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usb_puti(status); |
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WL_DEBUG_PRINT_P("\r\nFast send tests successful\r\n");
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/*Sends packets in fast mode until other robot responds*/
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status = 0;
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char address[2]; /*will contain a 16 bit address, so length always 2*/ |
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*address = 0;
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orb2_set_color(BLUE); |
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while(status <= 0){ |
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wl_send((uint8_t*)&data, 2, 0, GLOBAL, BROADCAST, FAST); |
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wl_get_basic(address, 2);
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if(address != 0){ |
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orb2_set_color(GREEN); |
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WL_DEBUG_PRINT_P("\r\nFriend address: ");
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usb_puti((uint16_t)address); |
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friendAddress = *address; |
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} |
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if(button1_read){
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test_sending(); |
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break;
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} |
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if(button2_read){
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test_receiving(); |
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break;
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} |
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} |
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/*Terminates wireless functions*/
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WL_DEBUG_PRINT_P("\r\n\r\nTerminating wireless...\r\n");
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status = wl_init(); |
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switch(status){
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case 0: |
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WL_DEBUG_PRINT_P("Wireless termination successful\r\n\r\n");
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orb1_set_color(BLUE); |
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break;
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case -3: |
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WL_DEBUG_PRINT_P("Termination failed: library not initialized\r\n\r\n");
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orb1_set_color(BLUE); |
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break;
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case -5: |
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WL_DEBUG_PRINT_P("Termination failed\r\n\r\n");
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orb1_set_color(RED); |
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break;
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case -6: |
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WL_DEBUG_PRINT_P("Termination failed: function unregistration failed\r\n\r\n");
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orb1_set_color(ORANGE); |
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break;
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default:
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WL_DEBUG_PRINT_P("Error: Unreconnized status code: ");
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usb_puti(status); |
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orb1_set_color(RED); |
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break;
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} |
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WL_DEBUG_PRINT_P("\r\n\r\nWireless Library tests completed");
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while(1){} |
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} |
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void test_sending(){
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uint8_t count; |
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//Testing all wrappers for FAST mode
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for(count = 0; count < 5; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_basic(&count, 1));
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delay_ms(count * 10);
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} |
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for(count = 5; count < 10; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_global(&count, 1, 0)); |
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delay_ms(count * 10);
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} |
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for(count = 10; count < 15; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_pan(&count, 1, xbee_get_pan()));
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delay_ms(count * 10);
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} |
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for(count = 15; count < 20; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_robot(&count, 1, 0, friendAddress, FAST)); |
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delay_ms(count * 10);
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} |
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for(count = 20; count < 25; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_global(&count, 1, 1)); |
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delay_ms(count * 10);
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} |
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for(count = 25; count < 30; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_global(&count, 1, 2)); |
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delay_ms(count * 10);
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} |
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for(count = 30; count < 35; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_global(&count, 1, 3)); |
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delay_ms(count * 10);
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} |
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for(count = 35; count < 40; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_global(&count, 1, 4)); |
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delay_ms(count * 10);
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} |
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//FAST mode tests completed. Now testing ACK system
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for(count = 40; count < 45; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_robot(&count, 1, 0, friendAddress, RELIABLE)); |
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delay_ms(count * 10);
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} |
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for(count = 45; count < 50; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_robot(&count, 1, 1, friendAddress, RELIABLE)); |
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delay_ms(count * 10);
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} |
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for(count = 50; count < 55; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_robot(&count, 1, 2, friendAddress, RELIABLE)); |
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delay_ms(count * 10);
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} |
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for(count = 55; count < 60; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_robot(&count, 1, 3, friendAddress, RELIABLE)); |
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delay_ms(count * 10);
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} |
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for(count = 60; count < 65; count++){ |
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usb_puti(count); |
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usb_puti(wl_send_robot(&count, 1, 4, friendAddress, RELIABLE)); |
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delay_ms(count * 10);
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} |
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WL_DEBUG_PRINT_P("ACK Errors: ");
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usb_puti(wl_ack_error()); |
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wl_ack_reset(); |
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usb_puti(wl_ack_error()); |
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for(count = 40; count < 45; count++){//changed friendAddress, all should fail |
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usb_puti(count); |
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usb_puti(wl_send_robot(&count, 1, 0, friendAddress + 1, RELIABLE)); |
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delay_ms(count * 10);
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} |
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WL_DEBUG_PRINT_P("ACK Errors: ");
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usb_puti(wl_ack_error()); |
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} |
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void test_receiving(){
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int8_t result, length; |
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char* data[8]; |
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while(1){ |
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result = wl_get(data, length); |
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if(result){
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usb_puti(*data); |
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} |
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} |
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} |
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void group_1_function(uint8_t* data,uint8_t length,uint8_t source){
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WL_DEBUG_PRINT_P("\r\nFunction 1 called");
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return 0; |
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} |
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void group_2_function(uint8_t* data,uint8_t length,uint8_t source){
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WL_DEBUG_PRINT_P("\r\nFunction 2 called");
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return 0; |
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} |
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void group_3_function(uint8_t* data,uint8_t length,uint8_t source){
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WL_DEBUG_PRINT_P("\r\nFunction 3 called");
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return 0; |
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} |
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void group_4_function(uint8_t* data,uint8_t length,uint8_t source){
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WL_DEBUG_PRINT_P("\r\nFunction 4 called");
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return 0; |
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} |
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//The first robot to receive the address of another robot will trigger this function.
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void test_function_1(void){ |
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uint16_t myAddress = xbee_get_address(); |
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usb_puti(myAddress); |
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return 0; |
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} |
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|
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//Cheat Functions
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//These will run instead of the real functions while David fixes the library
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|