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Revision 1968

Added by Alexander Lam about 13 years ago

Added an alternate main that merely outputs the wireless
packets that are being thrown across the air to usb.

It translates Traffic Navigation packet id's into names.

View differences:

trunk/code/projects/traffic_navigation/main-wirelesswatcher.c
1 
#ifdef WIRELESSWATCH
2 
/*
3 
 * main.c for for watching and outputting to console Traffic Navigation wireless
4 
 *        packets
5 
 * Author: Colony Project, CMU Robotics Club
6 
 */
7 
#include "traffic_navigation.h"
8 

  		




  
  9
  
    
	/* Wireless packet parsing */


  		




  
  10
  
    
	int wirelessPacketWatch();


  		




  
  11
  
    

  		




  
  12
  
    
int main (void) {


  		




  
  13
  
    
	


  		




  
  14
  
    
	/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */


  		




  
  15
  
    
	dragonfly_init(ALL_ON);


  		




  
  16
  
    
	xbee_init();


  		




  
  17
  
    
	encoders_init();


  		




  
  18
  
    
	rtc_init(SIXTEENTH_SECOND, NULL);


  		




  
  19
  
    
	wl_basic_init_default();


  		




  
  20
  
    
	wl_set_channel(13);


  		




  
  21
  
    

  		




  
  22
  
    
	int clockval = rtc_get();


  		




  
  23
  
    
	usb_puts("Hello! Ready to Recieve Packets...\n[TIME] Packet: <DATA>\n");


  		




  
  24
  
    
	orb1_set_color(BLUE);


  		




  
  25
  
    
	while(1) {


  		




  
  26
  
    
		wirelessPacketWatch();


  		




  
  27
  
    

  		




  
  28
  
    
		if(clockval != rtc_get()){


  		




  
  29
  
    
			orb2_set_color(ORB_OFF);


  		




  
  30
  
    
			clockval = rtc_get();


  		




  
  31
  
    
		}


  		




  
  32
  
    
	}


  		




  
  33
  
    

  		




  
  34
  
    
}


  		




  
  35
  
    

  		




  
  36
  
    
int wirelessPacketWatch(){


  		




  
  37
  
    
	int dataLength = 0;


  		




  
  38
  
    
	unsigned char *packet = NULL;


  		




  
  39
  
    
	packet = wl_basic_do_default(&dataLength);


  		




  
  40
  
    
	


  		




  
  41
  
    
	/* sanity check */


  		




  
  42
  
    
	if(dataLength == 0 || packet == NULL){ //no packet


  		




  
  43
  
    
		//usb_puts("No Packet\n");


  		




  
  44
  
    
		return ENOPACKET;


  		




  
  45
  
    
	}


  		




  
  46
  
    

  		




  
  47
  
    
	if(dataLength != PACKET_LENGTH){


  		




  
  48
  
    
		usb_puts("Packet wrong length (this is a bad problem...)\n");


  		




  
  49
  
    
		return EPACKETLEN;


  		




  
  50
  
    
	}


  		




  
  51
  
    

  		




  
  52
  
    
	orb2_set_color(GREEN);


  		




  
  53
  
    
	usb_puts("["); usb_puti(rtc_get()); usb_puts("] Packet:");


  		




  
  54
  
    
	switch (packet[0]){


  		




  
  55
  
    
		case WROADENTRY: //[type, bot, road]


  		




  
  56
  
    
			usb_puts("WROADENTRY: bot: ");


  		




  
  57
  
    
			usb_puti(packet[1]);


  		




  
  58
  
    
			usb_puts(" road: ");


  		




  
  59
  
    
			usb_puti(packet[2]);


  		




  
  60
  
    
			usb_puts("\n");


  		




  
  61
  
    
			break;


  		




  
  62
  
    
		case WROADEXIT: //[type, bot, road]


  		




  
  63
  
    
			usb_puts("WROADEXIT: bot: ");


  		




  
  64
  
    
			usb_puti(packet[1]);


  		




  
  65
  
    
			usb_puts(" road: ");


  		




  
  66
  
    
			usb_puti(packet[2]);


  		




  
  67
  
    
			usb_puts("\n");


  		




  
  68
  
    
			break;


  		




  
  69
  
    
		case WROADSTOP: //[type, bot, road]


  		




  
  70
  
    
			usb_puts("WROADSTOP: bot: ");


  		




  
  71
  
    
			usb_puti(packet[1]);


  		




  
  72
  
    
			usb_puts(" road: ");


  		




  
  73
  
    
			usb_puti(packet[2]);


  		




  
  74
  
    
			usb_puts("\n");


  		




  
  75
  
    
			break;


  		




  
  76
  
    
		case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir]


  		




  
  77
  
    
			usb_puts("WINTERSECTIONENTRY: bot: ");


  		




  
  78
  
    
			usb_puti(packet[1]);


  		




  
  79
  
    
			usb_puts(" intersection: ");


  		




  
  80
  
    
			usb_puti(packet[2]);


  		




  
  81
  
    
			usb_puts(" fromDir: ");


  		




  
  82
  
    
			usb_puti(packet[3]);


  		




  
  83
  
    
			usb_puts(" toDir: ");


  		




  
  84
  
    
			usb_puti(packet[4]);


  		




  
  85
  
    
			usb_puts("\n");


  		




  
  86
  
    
			break;


  		




  
  87
  
    
		case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot]


  		




  
  88
  
    
			usb_puts("WINTERSECTIONREPLY: bot: ");


  		




  
  89
  
    
			usb_puti(packet[1]);


  		




  
  90
  
    
			usb_puts(" interesction: ");


  		




  
  91
  
    
			usb_puti(packet[2]);


  		




  
  92
  
    
			usb_puts(" tobot: ");


  		




  
  93
  
    
			usb_puti(packet[3]);


  		




  
  94
  
    
			usb_puts("\n");


  		




  
  95
  
    
			break;


  		




  
  96
  
    
		case WINTERSECTIONEXIT: //[type, bot, intersection]


  		




  
  97
  
    
			usb_puts("WINTERSECTIONEXIT: bot: ");


  		




  
  98
  
    
			usb_puti(packet[1]);


  		




  
  99
  
    
			usb_puts(" interesction: ");


  		




  
  100
  
    
			usb_puti(packet[2]);


  		




  
  101
  
    
			usb_puts("\n");


  		




  
  102
  
    
			break;


  		




  
  103
  
    
		case WINTERSECTIONGO: //[type, bot, intersection]


  		




  
  104
  
    
			usb_puts("WINTERSECTIONGO: bot: ");


  		




  
  105
  
    
			usb_puti(packet[1]);


  		




  
  106
  
    
			usb_puts(" interesction: ");


  		




  
  107
  
    
			usb_puti(packet[2]);


  		




  
  108
  
    
			usb_puts("\n");


  		




  
  109
  
    
			break;


  		




  
  110
  
    
		case WINTERSECTIONPOLICEENTRY: //[?]


  		




  
  111
  
    
			break;


  		




  
  112
  
    
		case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num]


  		




  
  113
  
    
			//in the case robots draw the same number these will be


  		




  
  114
  
    
			//arbitrated using the sending robot's id, prefering


  		




  
  115
  
    
			//lower ids


  		




  
  116
  
    
			usb_puts("WINTERSECTIONRESOLVERACE: bot: ");


  		




  
  117
  
    
			usb_puti(packet[1]);


  		




  
  118
  
    
			usb_puts(" intersection: ");


  		




  
  119
  
    
			usb_puti(packet[2]);


  		




  
  120
  
    
			usb_puts(" num: ");


  		




  
  121
  
    
			usb_puti(packet[3]);


  		




  
  122
  
    
			usb_puts("\n");


  		




  
  123
  
    
			break;


  		




  
  124
  
    
		case WHIGHWAYENTRY: //[type, bot, highway]


  		




  
  125
  
    
			usb_puts("WHIGHWAYENTRY: bot: ");


  		




  
  126
  
    
			usb_puti(packet[1]);


  		




  
  127
  
    
			usb_puts(" highway: ");


  		




  
  128
  
    
			usb_puti(packet[2]);


  		




  
  129
  
    
			usb_puts("\n");


  		




  
  130
  
    
			break;


  		




  
  131
  
    
		case WHIGHWAYREPLY: //[type, fromBot, highway, toBot]


  		




  
  132
  
    
			usb_puts("WHIGHWAYREPLY: bot: ");


  		




  
  133
  
    
			usb_puti(packet[1]);


  		




  
  134
  
    
			usb_puts(" highway: ");


  		




  
  135
  
    
			usb_puti(packet[2]);


  		




  
  136
  
    
			usb_puts(" toBot: ");


  		




  
  137
  
    
			usb_puti(packet[2]);


  		




  
  138
  
    
			usb_puts("\n");


  		




  
  139
  
    
			break;


  		




  
  140
  
    
		case WHIGHWAYEXIT: //[type, bot, highway]


  		




  
  141
  
    
			usb_puts("WHIGHWAYEXIT: bot: ");


  		




  
  142
  
    
			usb_puti(packet[1]);


  		




  
  143
  
    
			usb_puts(" highway: ");


  		




  
  144
  
    
			usb_puti(packet[2]);


  		




  
  145
  
    
			usb_puts("\n");


  		




  
  146
  
    
			break;


  		




  
  147
  
    
		case WPINGGLOBAL: //[type, bot]


  		




  
  148
  
    
			usb_puts("WPINGGLOBAL: bot: ");


  		




  
  149
  
    
			usb_puti(packet[1]);


  		




  
  150
  
    
			usb_puts("\n");


  		




  
  151
  
    
			break;


  		




  
  152
  
    
		case WPINGBOT: //[type, fromBot, toBot]


  		




  
  153
  
    
			usb_puts("WPINGBOT: bot: ");


  		




  
  154
  
    
			usb_puti(packet[1]);


  		




  
  155
  
    
			usb_puts(" tobot: ");


  		




  
  156
  
    
			usb_puti(packet[2]);


  		




  
  157
  
    
			usb_puts("\n");


  		




  
  158
  
    
			break;


  		




  
  159
  
    
		case WPINGQUEUE: //[type, fromBot, toBot]


  		




  
  160
  
    
			usb_puts("WPINGQUEUE: bot: ");


  		




  
  161
  
    
			usb_puti(packet[1]);


  		




  
  162
  
    
			usb_puts(" tobot: ");


  		




  
  163
  
    
			usb_puti(packet[2]);


  		




  
  164
  
    
			usb_puts("\n");


  		




  
  165
  
    
			break;


  		




  
  166
  
    
		case WPINGREPLY: //[type, fromBot, toBot]


  		




  
  167
  
    
			usb_puts("WPINGREPLY: bot: ");


  		




  
  168
  
    
			usb_puti(packet[1]);


  		




  
  169
  
    
			usb_puts(" tobot: ");


  		




  
  170
  
    
			usb_puti(packet[2]);


  		




  
  171
  
    
			usb_puts("\n");


  		




  
  172
  
    
			break;


  		




  
  173
  
    
		case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces


  		




  
  174
  
    
			usb_puts("WCOLLISIONAVOID: bot: ");


  		




  
  175
  
    
			usb_puti(packet[1]);


  		




  
  176
  
    
			usb_puts(" intersection: ");


  		




  
  177
  
    
			usb_puti(packet[2]);


  		




  
  178
  
    
			usb_puts(" collision-int : ");


  		




  
  179
  
    
			usb_puti(packet[3]);


  		




  
  180
  
    
			usb_puts("\n");


  		




  
  181
  
    
			break;


  		




  
  182
  
    
		default:


  		




  
  183
  
    
			usb_puts("Got undefined packet\n");


  		




  
  184
  
    
			break;


  		




  
  185
  
    
	}


  		




  
  186
  
    
	return 0;


  		




  
  187
  
    
}


  		




  
  188
  
    
#endif


  		












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