root / trunk / code / projects / traffic_navigation / main-wirelesswatcher.c @ 1979
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| 1 | 1968 | azl | /*
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| 2 | * main.c for for watching and outputting to console Traffic Navigation wireless
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| 3 | * packets
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| 4 | * Author: Colony Project, CMU Robotics Club
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| 5 | */
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| 6 | #include "traffic_navigation.h" |
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| 7 | 1975 | azl | #ifdef WIRELESSWATCH
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| 8 | 1968 | azl | |
| 9 | /* Wireless packet parsing */
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| 10 | int wirelessPacketWatch();
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| 11 | |||
| 12 | int main (void) { |
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| 13 | |||
| 14 | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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| 15 | dragonfly_init(ALL_ON); |
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| 16 | xbee_init(); |
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| 17 | encoders_init(); |
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| 18 | rtc_init(SIXTEENTH_SECOND, NULL);
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| 19 | wl_basic_init_default(); |
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| 20 | wl_set_channel(13);
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| 21 | |||
| 22 | int clockval = rtc_get();
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| 23 | usb_puts("Hello! Ready to Recieve Packets...\n[TIME] Packet: <DATA>\n");
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| 24 | orb1_set_color(BLUE); |
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| 25 | while(1) { |
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| 26 | wirelessPacketWatch(); |
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| 27 | |||
| 28 | if(clockval != rtc_get()){
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| 29 | orb2_set_color(ORB_OFF); |
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| 30 | clockval = rtc_get(); |
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| 31 | } |
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| 32 | } |
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| 33 | |||
| 34 | } |
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| 35 | |||
| 36 | int wirelessPacketWatch(){
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| 37 | int dataLength = 0; |
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| 38 | unsigned char *packet = NULL; |
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| 39 | packet = wl_basic_do_default(&dataLength); |
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| 40 | |||
| 41 | /* sanity check */
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| 42 | if(dataLength == 0 || packet == NULL){ //no packet |
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| 43 | //usb_puts("No Packet\n");
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| 44 | return ENOPACKET;
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| 45 | } |
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| 46 | |||
| 47 | if(dataLength != PACKET_LENGTH){
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| 48 | usb_puts("Packet wrong length (this is a bad problem...)\n");
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| 49 | return EPACKETLEN;
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| 50 | } |
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| 51 | |||
| 52 | orb2_set_color(GREEN); |
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| 53 | usb_puts("["); usb_puti(rtc_get()); usb_puts("] Packet:"); |
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| 54 | switch (packet[0]){ |
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| 55 | case WROADENTRY: //[type, bot, road] |
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| 56 | usb_puts("WROADENTRY: bot: ");
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| 57 | usb_puti(packet[1]);
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| 58 | usb_puts(" road: ");
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| 59 | usb_puti(packet[2]);
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| 60 | usb_puts("\n");
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| 61 | break;
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| 62 | case WROADEXIT: //[type, bot, road] |
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| 63 | usb_puts("WROADEXIT: bot: ");
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| 64 | usb_puti(packet[1]);
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| 65 | usb_puts(" road: ");
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| 66 | usb_puti(packet[2]);
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| 67 | usb_puts("\n");
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| 68 | break;
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| 69 | case WROADSTOP: //[type, bot, road] |
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| 70 | usb_puts("WROADSTOP: bot: ");
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| 71 | usb_puti(packet[1]);
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| 72 | usb_puts(" road: ");
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| 73 | usb_puti(packet[2]);
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| 74 | usb_puts("\n");
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| 75 | break;
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| 76 | case WINTERSECTIONENTRY: //[type, bot, intersection, fromDir, toDir] |
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| 77 | usb_puts("WINTERSECTIONENTRY: bot: ");
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| 78 | usb_puti(packet[1]);
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| 79 | usb_puts(" intersection: ");
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| 80 | usb_puti(packet[2]);
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| 81 | usb_puts(" fromDir: ");
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| 82 | usb_puti(packet[3]);
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| 83 | usb_puts(" toDir: ");
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| 84 | usb_puti(packet[4]);
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| 85 | usb_puts("\n");
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| 86 | break;
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| 87 | case WINTERSECTIONREPLY: //[type, fromBot, intersection, toBot] |
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| 88 | usb_puts("WINTERSECTIONREPLY: bot: ");
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| 89 | usb_puti(packet[1]);
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| 90 | usb_puts(" interesction: ");
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| 91 | usb_puti(packet[2]);
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| 92 | usb_puts(" tobot: ");
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| 93 | usb_puti(packet[3]);
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| 94 | usb_puts("\n");
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| 95 | break;
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| 96 | case WINTERSECTIONEXIT: //[type, bot, intersection] |
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| 97 | usb_puts("WINTERSECTIONEXIT: bot: ");
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| 98 | usb_puti(packet[1]);
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| 99 | usb_puts(" interesction: ");
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| 100 | usb_puti(packet[2]);
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| 101 | usb_puts("\n");
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| 102 | break;
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| 103 | case WINTERSECTIONGO: //[type, bot, intersection] |
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| 104 | usb_puts("WINTERSECTIONGO: bot: ");
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| 105 | usb_puti(packet[1]);
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| 106 | usb_puts(" interesction: ");
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| 107 | usb_puti(packet[2]);
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| 108 | usb_puts("\n");
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| 109 | break;
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| 110 | case WINTERSECTIONPOLICEENTRY: //[?] |
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| 111 | break;
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| 112 | case WINTERSECTIONRESOLVERACE: //[type, bot, intersection, num] |
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| 113 | //in the case robots draw the same number these will be
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| 114 | //arbitrated using the sending robot's id, prefering
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| 115 | //lower ids
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| 116 | usb_puts("WINTERSECTIONRESOLVERACE: bot: ");
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| 117 | usb_puti(packet[1]);
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| 118 | usb_puts(" intersection: ");
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| 119 | usb_puti(packet[2]);
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| 120 | usb_puts(" num: ");
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| 121 | usb_puti(packet[3]);
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| 122 | usb_puts("\n");
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| 123 | break;
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| 124 | case WHIGHWAYENTRY: //[type, bot, highway] |
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| 125 | usb_puts("WHIGHWAYENTRY: bot: ");
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| 126 | usb_puti(packet[1]);
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| 127 | usb_puts(" highway: ");
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| 128 | usb_puti(packet[2]);
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| 129 | usb_puts("\n");
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| 130 | break;
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| 131 | case WHIGHWAYREPLY: //[type, fromBot, highway, toBot] |
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| 132 | usb_puts("WHIGHWAYREPLY: bot: ");
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| 133 | usb_puti(packet[1]);
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| 134 | usb_puts(" highway: ");
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| 135 | usb_puti(packet[2]);
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| 136 | usb_puts(" toBot: ");
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| 137 | usb_puti(packet[2]);
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| 138 | usb_puts("\n");
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| 139 | break;
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| 140 | case WHIGHWAYEXIT: //[type, bot, highway] |
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| 141 | usb_puts("WHIGHWAYEXIT: bot: ");
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| 142 | usb_puti(packet[1]);
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| 143 | usb_puts(" highway: ");
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| 144 | usb_puti(packet[2]);
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| 145 | usb_puts("\n");
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| 146 | break;
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| 147 | case WPINGGLOBAL: //[type, bot] |
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| 148 | usb_puts("WPINGGLOBAL: bot: ");
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| 149 | usb_puti(packet[1]);
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| 150 | usb_puts("\n");
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| 151 | break;
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| 152 | case WPINGBOT: //[type, fromBot, toBot] |
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| 153 | usb_puts("WPINGBOT: bot: ");
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| 154 | usb_puti(packet[1]);
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| 155 | usb_puts(" tobot: ");
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| 156 | usb_puti(packet[2]);
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| 157 | usb_puts("\n");
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| 158 | break;
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| 159 | case WPINGQUEUE: //[type, fromBot, toBot] |
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| 160 | usb_puts("WPINGQUEUE: bot: ");
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| 161 | usb_puti(packet[1]);
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| 162 | usb_puts(" tobot: ");
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| 163 | usb_puti(packet[2]);
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| 164 | usb_puts("\n");
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| 165 | break;
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| 166 | case WPINGREPLY: //[type, fromBot, toBot] |
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| 167 | usb_puts("WPINGREPLY: bot: ");
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| 168 | usb_puti(packet[1]);
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| 169 | usb_puts(" tobot: ");
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| 170 | usb_puti(packet[2]);
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| 171 | usb_puts("\n");
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| 172 | break;
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| 173 | case WCOLLISIONAVOID: //[type, bot, intersection, collision-int] //Note: collision is an int and thus takes two spaces |
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| 174 | usb_puts("WCOLLISIONAVOID: bot: ");
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| 175 | usb_puti(packet[1]);
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| 176 | usb_puts(" intersection: ");
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| 177 | usb_puti(packet[2]);
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| 178 | usb_puts(" collision-int : ");
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| 179 | usb_puti(packet[3]);
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| 180 | usb_puts("\n");
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| 181 | break;
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| 182 | default:
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| 183 | usb_puts("Got undefined packet\n");
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| 184 | break;
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| 185 | } |
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| 186 | return 0; |
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| 187 | } |
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| 188 | #endif |