Colony

#include <stdlib.h>

#include <stdio.h>

#include <time.h>

#include <unistd.h>

#include "../../libwireless/lib/wl_basic.h"

#include "../../libwireless/lib/wireless.h"

#include "../hunter_prey.h"

#define TYPE 42	// packet type for wireless communication

#define NUM_BOTS 17

#define TOTAL_GAME_TIME 600*5 //in 100 ms intervals

void packet_receive(char type, int source, unsigned char* packet, int length);

volatile unsigned int preyTime[20];

volatile int preyBot=-1;

void waitKey(void) {

  unsigned char buf[10];

  //read from stdin

   while(read(0, buf, 10)==10) {

     printf("!");

     fflush(stdout);

   }

  while(getchar()==-1);

}

void print_stats(void) {

  int i=0;

  for(i=0;i<NUM_BOTS;i++) {

    printf("%5d ", preyTime[i]);

  }

  printf("\n");

}

int main(int argc, char *argv[])

{

    char send_buffer[2];    // holds data to send

    int data_length;	// length of data received

    unsigned char *packet_data;	// data received

    int ret;

    int i;

    int winner, maxTime=0;

    unsigned int channel = 0xF;

    struct timespec delay, rem;

    delay.tv_sec = 0;

    delay.tv_nsec = 100000000;

    if(argc > 1) {

      channel = atoi(argv[1]);

    }

    printf("using wireless channel %d\n", channel);

    wl_set_com_port("/dev/ttyUSB0");

    // set up wireless

    ret = wl_basic_init(&packet_receive);

    if(ret) {

      printf("ERROR: wl_basic_init failed. %d\n", ret);

      return ret;

    }

    //wl_set_channel(channel);

    for(i=0;i<NUM_BOTS;i++) {

      preyTime[i]=0;

    }

    ret = 0;    

    i=0;

    printf("ready\n");

    //TODO: use rtc to make this more accurate

    while(i < TOTAL_GAME_TIME) {

      wl_do();

      if(ret==0) {

	ret = nanosleep(&delay, &rem);

      }

      else {

	ret = nanosleep(&rem, &rem);

      }

      //update counts when we have waited at least enough time

      if(ret == 0 && preyBot >= 0) {

	preyTime[preyBot]++;

	if(i==0) { //time starts on the first real tag

	  printf("\nThe race is on!\n");

	}

	i++;

      }

      if((TOTAL_GAME_TIME - i)%600 == 0) {

	printf("%d minutes remaining!\n", (TOTAL_GAME_TIME - i)/600);

      }

      if(i%10==0) {

	print_stats();

	if( TOTAL_GAME_TIME - i <= 100)

	  printf("%d...\n", (TOTAL_GAME_TIME - i)/10);

      }

    }

    for(i=1;i<NUM_BOTS;i++) {

      if(preyTime[i] > maxTime) {

	maxTime = preyTime[i];

	winner = i;

      }

    }

    printf("\n\GAME OVER!n\nAAAAAAAAAAND the winner is\nBOT %d!!!!\n", winner);

    return 0;

}

void packet_receive(char type, int source, unsigned char* packet, int length)

{

  if(type==42 && length>=2){

    if(packet[0] == HUNTER_PREY_ACTION_TAG) {

      //TODO: check tag

    }

    else if(packet[0] == HUNTER_PREY_ACTION_ACK) {

      preyBot = packet[1];

      printf("bot %d is prey!\n", preyBot);

    }

    else {

      printf("got invalid packet! %c%d\n", packet[0], packet[1]);

    }

  }

  else {

    printf("got unknown packet! type=%d, length=%d\n", type, length);

  }

}

CC = gcc

CFLAGS = -Wall -g

all: ref

ref: *.c ../../libwireless/lib/*.c 

	$(CC) $(CFLAGS) *.c -L../../libwireless/lib -o ref -DWL_DEBUG -lwireless -lpthread -ggdb

clean:

	rm -f *.o ref ../lib/*.o

#define WL_CHANNEL 15

char send_buffer[3];

			motor_l_set(200, BACKWARD);

			motor_r_set(200, BACKWARD);

			delay_ms(1500);

                                        if(data_length == 3 && packet_data[0] == HUNTER_PREY_ACTION_TAG)

												send_buffer[2] = id;

												(42, send_buffer, 3);

				send_buffer[2]=id;

				wl_basic_send_global_packet( 42, send_buffer, 3 );