root / trunk / code / projects / traffic_navigation / sendGraph.c @ 1988
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1 | 1979 | dgurjar | #include <dragonfly_lib.h> |
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2 | #include <wl_basic.h> |
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3 | #include "sendGraph.h" |
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4 | |||
5 | 1988 | bwasserm | #ifdef SENDGRAPH
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6 | |||
7 | 1979 | dgurjar | int main(void){ |
8 | |||
9 | dragonfly_init(ALL_ON); |
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10 | wl_basic_init_default(); |
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11 | wl_set_channel(12);
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12 | |||
13 | node a; |
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14 | node b; |
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15 | |||
16 | edge aTob; |
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17 | edge bToa; |
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18 | |||
19 | //Create the edges
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20 | aTob.to = 'b';
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21 | aTob.dist = 25;
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22 | |||
23 | bToa.to = 'a';
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24 | bToa.dist = 25;
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25 | |||
26 | |||
27 | a.outgoingEdges[0] = aTob;
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28 | b.outgoingEdges[0] = bToa;
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29 | |||
30 | |||
31 | a.type = 1;
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32 | a.intNum = 1;
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33 | a.numOut = 1;
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34 | a.outSeen = 1;
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35 | |||
36 | |||
37 | b.type = 1;
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38 | b.intNum = 2;
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39 | b.numOut = 1;
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40 | b.outSeen = 1;
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41 | |||
42 | intersections[0] = a;
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43 | intersections[1] = b;
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44 | |||
45 | 1988 | bwasserm | while(1){ |
46 | 1979 | dgurjar | sendIntersectionGraph(); |
47 | 1988 | bwasserm | orb1_set_color(BLUE); |
48 | delay_ms(500);
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49 | sendIntersectionGraph(); |
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50 | orb1_set_color(YELLOW); |
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51 | delay_ms(500);
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52 | } |
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53 | |||
54 | return 0; |
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55 | 1979 | dgurjar | } |
56 | |||
57 | |||
58 | |||
59 | |||
60 | |||
61 | /*
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62 | * Uses wireless to send the graph sructure
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63 | * to other robots
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64 | *
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65 | * @return
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66 | *
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67 | */
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68 | void sendIntersectionGraph() {
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69 | int i;
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70 | node_union graph; |
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71 | 1988 | bwasserm | graph.n.packetType = WGRAPHDATA; |
72 | 1979 | dgurjar | |
73 | for(i=0; i< NUM_FEATURES; i++){ |
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74 | graph.n = intersections[i]; |
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75 | 1988 | bwasserm | wl_basic_send_global_packet(42, graph.array, 13); |
76 | // wl_basic_send_global_packet(42, "\r\n", 3);
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77 | 1979 | dgurjar | } |
78 | } |
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79 | 1988 | bwasserm | |
80 | #endif |