Revision 166
Recharging now works, wireless has been updated.
| trunk/code/lib/include/libwireless/wl_defs.h | ||
|---|---|---|
| 22 | 22 |
#define WL_TOKEN_JOIN_ACCEPT 6 |
| 23 | 23 |
|
| 24 | 24 |
// timing constants |
| 25 |
#ifndef FIREFLY |
|
| 25 | 26 |
#define BOM_DELAY 100 |
| 27 |
#else |
|
| 28 |
#define BOM_DELAY 200 |
|
| 29 |
#endif |
|
| 30 |
|
|
| 26 | 31 |
#define DEATH_DELAY 4 |
| 27 | 32 |
#define JOIN_DELAY 8 |
| 28 | 33 |
|
| trunk/code/lib/src/libwireless/wl_token_ring.c | ||
|---|---|---|
| 585 | 585 |
if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id())) |
| 586 | 586 |
{
|
| 587 | 587 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
| 588 |
return; |
|
| 588 | 589 |
} |
| 589 | 590 |
|
| 590 | 591 |
wl_token_pass_token(); |
| trunk/code/lib/src/libwireless/wireless.c | ||
|---|---|---|
| 50 | 50 |
} |
| 51 | 51 |
return; |
| 52 | 52 |
} |
| 53 |
#else |
|
| 54 |
|
|
| 55 |
//called when the timer ticks |
|
| 56 |
void timer_handler(void) |
|
| 57 |
{
|
|
| 58 |
wl_timeout = 1; |
|
| 59 |
} |
|
| 60 |
|
|
| 53 | 61 |
#endif |
| 54 | 62 |
|
| 55 | 63 |
/** |
| ... | ... | |
| 67 | 75 |
//begin timeout timer |
| 68 | 76 |
#ifdef ROBOT |
| 69 | 77 |
#ifdef FIREFLY |
| 70 |
rtc_init(PRESCALE_DIV_128, 32, &wl_do_timeout);
|
|
| 78 |
rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
|
|
| 71 | 79 |
#else |
| 72 |
rtc_init(HALF_SECOND, &wl_do_timeout);
|
|
| 80 |
rtc_init(HALF_SECOND, &timer_handler);
|
|
| 73 | 81 |
#endif |
| 74 | 82 |
#else |
| 75 | 83 |
|
| trunk/code/projects/libwireless/test/test.c | ||
|---|---|---|
| 31 | 31 |
0); |
| 32 | 32 |
} |
| 33 | 33 |
xbee_terminate();*/ |
| 34 |
printf("Beginning.\n");
|
|
| 34 | 35 |
wl_init(); |
| 35 | 36 |
printf("Wireless initialized.\n");
|
| 36 | 37 |
wl_error_register(); |
| trunk/code/projects/libwireless/lib/wl_token_ring.c | ||
|---|---|---|
| 585 | 585 |
if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id())) |
| 586 | 586 |
{
|
| 587 | 587 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
| 588 |
return; |
|
| 588 | 589 |
} |
| 589 | 590 |
|
| 590 | 591 |
wl_token_pass_token(); |
| trunk/code/projects/libwireless/lib/wl_defs.h | ||
|---|---|---|
| 5 | 5 |
//#define ROBOT |
| 6 | 6 |
|
| 7 | 7 |
//uncomment this line for debug information |
| 8 |
//#define WL_DEBUG
|
|
| 8 |
#define WL_DEBUG |
|
| 9 | 9 |
|
| 10 | 10 |
// Packet Groups and Types |
| 11 | 11 |
|
| ... | ... | |
| 25 | 25 |
#define WL_TOKEN_JOIN_ACCEPT 6 |
| 26 | 26 |
|
| 27 | 27 |
// timing constants |
| 28 |
#ifndef FIREFLY |
|
| 28 | 29 |
#define BOM_DELAY 100 |
| 30 |
#else |
|
| 31 |
#define BOM_DELAY 200 |
|
| 32 |
#endif |
|
| 33 |
|
|
| 29 | 34 |
#define DEATH_DELAY 4 |
| 30 | 35 |
#define JOIN_DELAY 8 |
| 31 | 36 |
|
| trunk/code/projects/libwireless/lib/wireless.c | ||
|---|---|---|
| 50 | 50 |
} |
| 51 | 51 |
return; |
| 52 | 52 |
} |
| 53 |
#else |
|
| 54 |
|
|
| 55 |
//called when the timer ticks |
|
| 56 |
void timer_handler(void) |
|
| 57 |
{
|
|
| 58 |
wl_timeout = 1; |
|
| 59 |
} |
|
| 60 |
|
|
| 53 | 61 |
#endif |
| 54 | 62 |
|
| 55 | 63 |
/** |
| ... | ... | |
| 67 | 75 |
//begin timeout timer |
| 68 | 76 |
#ifdef ROBOT |
| 69 | 77 |
#ifdef FIREFLY |
| 70 |
rtc_init(PRESCALE_DIV_128, 32, &wl_do_timeout);
|
|
| 78 |
rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
|
|
| 71 | 79 |
#else |
| 72 |
rtc_init(HALF_SECOND, &wl_do_timeout);
|
|
| 80 |
rtc_init(HALF_SECOND, &timer_handler);
|
|
| 73 | 81 |
#endif |
| 74 | 82 |
#else |
| 75 | 83 |
|
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/xbee.c | ||
|---|---|---|
| 144 | 144 |
#endif |
| 145 | 145 |
sei(); |
| 146 | 146 |
#else |
| 147 |
xbee_stream = open("/dev/ttyUSB0", O_RDWR);
|
|
| 147 |
xbee_stream = open(XBEE_PORT, O_RDWR);
|
|
| 148 | 148 |
if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
| 149 |
xbee_stream = open("/dev/ttyUSB1", O_RDWR);
|
|
| 149 |
xbee_stream = open(XBEE_PORT2, O_RDWR);
|
|
| 150 | 150 |
if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0) |
| 151 | 151 |
{
|
| 152 | 152 |
printf("Failed to open connection to XBee.\r\n");
|
| ... | ... | |
| 165 | 165 |
exit(0); |
| 166 | 166 |
} |
| 167 | 167 |
#endif |
| 168 |
usb_puts("Entering command mode.\n");
|
|
| 169 | 168 |
xbee_enter_command_mode(); |
| 170 |
usb_puts("Entered command mode.\n");
|
|
| 171 | 169 |
xbee_enter_api_mode(); |
| 172 | 170 |
xbee_exit_command_mode(); |
| 173 | 171 |
xbee_send_read_at_command("MY");
|
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/xbee.h | ||
|---|---|---|
| 11 | 11 |
**/ |
| 12 | 12 |
|
| 13 | 13 |
/** |
| 14 |
* The port to use the XBee from on the computer. |
|
| 15 |
* Also, a backup port if the other is used. |
|
| 16 |
**/ |
|
| 17 |
#ifndef ROBOT |
|
| 18 |
#ifndef XBEE_PORT |
|
| 19 |
#define XBEE_PORT "/dev/ttyUSB0" |
|
| 20 |
#endif |
|
| 21 |
#define XBEE_PORT2 "/dev/tty/USB1" |
|
| 22 |
#endif |
|
| 23 |
|
|
| 24 |
/** |
|
| 14 | 25 |
* @defgroup xbee XBee |
| 15 | 26 |
* @brief Interface with the XBee module |
| 16 | 27 |
* |
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_token_ring.c | ||
|---|---|---|
| 346 | 346 |
int i, j; |
| 347 | 347 |
deathDelay = -1; |
| 348 | 348 |
|
| 349 |
WL_DEBUG_PRINT("Received the token, next robot is ");
|
|
| 349 |
WL_DEBUG_PRINT("Received the token from robot");
|
|
| 350 |
WL_DEBUG_PRINT_INT(source); |
|
| 351 |
WL_DEBUG_PRINT(", next robot is ");
|
|
| 350 | 352 |
WL_DEBUG_PRINT_INT((int)nextRobot); |
| 351 | 353 |
WL_DEBUG_PRINT(" \r\n");
|
| 352 | 354 |
sensor_matrix_set_in_ring(sensorMatrix, source, 1); |
| ... | ... | |
| 516 | 518 |
WL_DEBUG_PRINT("Robot ");
|
| 517 | 519 |
WL_DEBUG_PRINT_INT(source); |
| 518 | 520 |
WL_DEBUG_PRINT(" has flashed its bom.\r\n");
|
| 521 |
|
|
| 522 |
//make sure we don't declare the robot dead if it's |
|
| 523 |
//flashing its BOM |
|
| 524 |
if (source == wl_token_next_robot) |
|
| 525 |
deathDelay = DEATH_DELAY; |
|
| 519 | 526 |
sensor_matrix_set_reading(sensorMatrix, wl_get_xbee_id(), |
| 520 | 527 |
source, get_max_bom_function()); |
| 521 | 528 |
} |
| ... | ... | |
| 578 | 585 |
if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id())) |
| 579 | 586 |
{
|
| 580 | 587 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
| 588 |
return; |
|
| 581 | 589 |
} |
| 582 | 590 |
|
| 583 | 591 |
wl_token_pass_token(); |
| ... | ... | |
| 752 | 760 |
i++; |
| 753 | 761 |
if (i == sensor_matrix_get_size(sensorMatrix)) |
| 754 | 762 |
i = -1; |
| 763 |
iteratorCount = i; |
|
| 755 | 764 |
} |
| 756 | 765 |
|
| 757 | 766 |
/** |
| ... | ... | |
| 765 | 774 |
**/ |
| 766 | 775 |
int wl_token_iterator_has_next(void) |
| 767 | 776 |
{
|
| 768 |
return iteratorCount == -1;
|
|
| 777 |
return iteratorCount != -1;
|
|
| 769 | 778 |
} |
| 770 | 779 |
|
| 771 | 780 |
/** |
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/queue.c | ||
|---|---|---|
| 24 | 24 |
Queue* queue_create() |
| 25 | 25 |
{
|
| 26 | 26 |
Queue* q = (Queue*)malloc(sizeof(Queue)); |
| 27 |
|
|
| 28 |
if (q == NULL) |
|
| 29 |
{
|
|
| 30 |
WL_DEBUG_PRINT("Out of memory.\r\n");
|
|
| 31 |
return NULL; |
|
| 32 |
} |
|
| 33 |
|
|
| 27 | 34 |
q->head = NULL; |
| 28 | 35 |
q->size = 0; |
| 29 | 36 |
return q; |
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wl_defs.h | ||
|---|---|---|
| 22 | 22 |
#define WL_TOKEN_JOIN_ACCEPT 6 |
| 23 | 23 |
|
| 24 | 24 |
// timing constants |
| 25 |
#ifndef FIREFLY |
|
| 26 |
#define BOM_DELAY 100 |
|
| 27 |
#else |
|
| 25 | 28 |
#define BOM_DELAY 200 |
| 26 |
#define DEATH_DELAY 5 |
|
| 29 |
#endif |
|
| 30 |
|
|
| 31 |
#define DEATH_DELAY 4 |
|
| 27 | 32 |
#define JOIN_DELAY 8 |
| 28 | 33 |
|
| 29 | 34 |
// Recharging group |
| branches/autonomous_recharging/code/projects/autonomous_recharging/charging_station/wireless.c | ||
|---|---|---|
| 6 | 6 |
#include "wl_defs.h" |
| 7 | 7 |
|
| 8 | 8 |
#ifndef ROBOT |
| 9 |
#include <time.h> |
|
| 9 |
#include <sys/time.h>
|
|
| 10 | 10 |
#include <signal.h> |
| 11 | 11 |
#else |
| 12 | 12 |
#include <time.h> |
| ... | ... | |
| 34 | 34 |
PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS]; |
| 35 | 35 |
|
| 36 | 36 |
#ifndef ROBOT |
| 37 |
timer_t wl_timeout_timer; |
|
| 38 | 37 |
|
| 39 | 38 |
//called when we time out, or receive interrupt |
| 40 | 39 |
void sig_handler(int signo) |
| ... | ... | |
| 51 | 50 |
} |
| 52 | 51 |
return; |
| 53 | 52 |
} |
| 53 |
#else |
|
| 54 |
|
|
| 55 |
//called when the timer ticks |
|
| 56 |
void timer_handler(void) |
|
| 57 |
{
|
|
| 58 |
wl_timeout = 1; |
|
| 59 |
} |
|
| 60 |
|
|
| 54 | 61 |
#endif |
| 55 | 62 |
|
| 56 | 63 |
/** |
| ... | ... | |
| 68 | 75 |
//begin timeout timer |
| 69 | 76 |
#ifdef ROBOT |
| 70 | 77 |
#ifdef FIREFLY |
| 71 |
rtc_init(PRESCALE_DIV_256, 32, &wl_do_timeout);
|
|
| 78 |
rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
|
|
| 72 | 79 |
#else |
| 73 |
rtc_init(HALF_SECOND, &wl_do_timeout);
|
|
| 80 |
rtc_init(HALF_SECOND, &timer_handler);
|
|
| 74 | 81 |
#endif |
| 75 | 82 |
#else |
| 76 |
//create a timer to trigger every half second |
|
| 77 |
struct sigevent evp; |
|
| 78 |
evp.sigev_signo = SIGALRM; |
|
| 79 |
evp.sigev_notify = SIGEV_SIGNAL; |
|
| 80 |
if (timer_create(CLOCK_REALTIME, &evp, &wl_timeout_timer) == -1) |
|
| 81 |
{
|
|
| 83 |
|
|
| 84 |
//create our timer |
|
| 85 |
struct itimerval timer_val; |
|
| 86 |
struct timeval interval; |
|
| 87 |
interval.tv_sec = 0; |
|
| 88 |
interval.tv_usec = 500000; |
|
| 89 |
struct timeval first_time; |
|
| 90 |
first_time.tv_sec = 0; |
|
| 91 |
first_time.tv_usec = 500000; |
|
| 92 |
timer_val.it_interval = interval; |
|
| 93 |
timer_val.it_value = first_time; |
|
| 94 |
if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1) |
|
| 95 |
{
|
|
| 82 | 96 |
WL_DEBUG_PRINT("Error creating a timer.\r\n");
|
| 97 |
perror("Failure's cause");
|
|
| 83 | 98 |
exit(1); |
| 84 | 99 |
} |
| 100 |
|
|
| 101 |
//create signal handler |
|
| 85 | 102 |
struct sigaction wl_sig_act; |
| 86 | 103 |
wl_sig_act.sa_handler = (void *)sig_handler; |
| 87 | 104 |
wl_sig_act.sa_flags = 0; |
| 88 | 105 |
sigemptyset(&wl_sig_act.sa_mask); |
| 89 | 106 |
sigaction(SIGALRM, &wl_sig_act, 0); |
| 90 | 107 |
sigaction(SIGINT, &wl_sig_act, 0); |
| 91 |
struct itimerspec wl_timeout_time; |
|
| 92 |
wl_timeout_time.it_interval.tv_sec = 0; |
|
| 93 |
wl_timeout_time.it_interval.tv_nsec = 500000000; |
|
| 94 |
wl_timeout_time.it_value.tv_sec = 0; |
|
| 95 |
wl_timeout_time.it_value.tv_nsec = 500000000; |
|
| 96 |
timer_settime(wl_timeout_timer, 0, |
|
| 97 |
&wl_timeout_time, NULL); |
|
| 98 | 108 |
#endif |
| 99 | 109 |
} |
| 100 | 110 |
|
| ... | ... | |
| 103 | 113 |
**/ |
| 104 | 114 |
void wl_terminate() |
| 105 | 115 |
{
|
| 106 |
#ifndef ROBOT |
|
| 107 |
timer_delete(wl_timeout_timer); |
|
| 108 |
#endif |
|
| 109 |
|
|
| 110 | 116 |
int i; |
| 111 | 117 |
for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
| 112 | 118 |
if (wl_packet_groups[i] != NULL && |
| ... | ... | |
| 350 | 356 |
{
|
| 351 | 357 |
WL_DEBUG_PRINT("No response received.\r\n");
|
| 352 | 358 |
if (wl_buf[2] == 2) |
| 359 |
{
|
|
| 353 | 360 |
WL_DEBUG_PRINT("CCA Failure\r\n");
|
| 361 |
} |
|
| 354 | 362 |
if (wl_buf[2] == 3) |
| 363 |
{
|
|
| 355 | 364 |
WL_DEBUG_PRINT("Purged\r\n");
|
| 365 |
} |
|
| 356 | 366 |
} |
| 357 | 367 |
|
| 358 | 368 |
if (wl_packet_groups[group] != NULL && |
| ... | ... | |
| 390 | 400 |
return; |
| 391 | 401 |
} |
| 392 | 402 |
|
| 393 |
usb_puts("Unexpected packet received.\n");
|
|
| 394 |
//WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
|
|
| 403 |
WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
|
|
| 395 | 404 |
return; |
| 396 | 405 |
} |
| 397 | 406 |
|
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