Revision 348
fixed some warnings in colonet robot code
| colonet_dragonfly.c | ||
|---|---|---|
| 24 | 24 |
static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL]; |
| 25 | 25 |
|
| 26 | 26 |
/* Internal function prototypes */ |
| 27 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, |
|
| 28 |
char* pkt_buf); |
|
| 27 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf); |
|
| 29 | 28 |
static unsigned int two_bytes_to_int(char high, char low); |
| 30 |
static void colonet_handle_receive(char type, int source, |
|
| 31 |
unsigned char* packet, int length); |
|
| 29 |
static void colonet_handle_receive(char type, int source, unsigned char* packet, int length); |
|
| 32 | 30 |
|
| 33 | 31 |
static PacketGroupHandler colonet_pgh; |
| 34 | 32 |
|
| ... | ... | |
| 56 | 54 |
* |
| 57 | 55 |
* @return -1 on error (invalid msgId), 0 on success |
| 58 | 56 |
*/ |
| 59 |
static void colonet_handle_receive(char type, int source, unsigned char* packet, |
|
| 60 |
int length) {
|
|
| 57 |
static void colonet_handle_receive(char type, int source, unsigned char* packet, int length) {
|
|
| 61 | 58 |
ColonetRobotServerPacket pkt; |
| 62 | 59 |
unsigned char* args; //up to 7 char args |
| 63 | 60 |
unsigned int int_args[3]; //up to 3 int (2-byte) args |
| ... | ... | |
| 170 | 167 |
// Battery |
| 171 | 168 |
case BATTERY: |
| 172 | 169 |
usb_puts("Got battery request.\n");
|
| 170 |
|
|
| 171 |
/* |
|
| 173 | 172 |
int xbeeDongleID = 0xA; // too bad this is hard-coded. |
| 174 | 173 |
char data[20]; |
| 175 | 174 |
data[0] = 0; // client ID specified in bytes 0-3 |
| ... | ... | |
| 186 | 185 |
data[11] = (char) battery8(); // battery reading |
| 187 | 186 |
data[12] = '\0'; |
| 188 | 187 |
|
| 189 |
wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, COLONET_RESPONSE, |
|
| 190 |
data, 13, xbeeDongleID, 0); |
|
| 188 |
wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, COLONET_RESPONSE, data, 13, xbeeDongleID, 0); |
|
| 191 | 189 |
usb_puts("lol \n");
|
| 192 |
|
|
| 190 |
*/ |
|
| 193 | 191 |
break; |
| 194 | 192 |
|
| 195 | 193 |
case ORB_INIT: |
| ... | ... | |
| 235 | 233 |
motors_off(); |
| 236 | 234 |
break; |
| 237 | 235 |
case MOVE: |
| 238 |
buf[40]; |
|
| 239 | 236 |
sprintf(buf, "calling move with: %d, %d\n", args[0], args[1]); |
| 240 | 237 |
usb_puts(buf); |
| 241 | 238 |
move(args[0], args[1]); |
| ... | ... | |
| 298 | 295 |
* Adds a user-defined message |
| 299 | 296 |
*/ |
| 300 | 297 |
int colonet_add_message(unsigned char msgId, void (*handler)(void)) {
|
| 301 |
if(msgId < USER_DEFINED_MSG_ID_START || msgId > USER_DEFINED_MSG_ID_END){
|
|
| 298 |
if(msgId < USER_DEFINED_MSG_ID_START /* || msgId > USER_DEFINED_MSG_ID_END */){
|
|
| 302 | 299 |
return -1; |
| 303 | 300 |
} |
| 304 | 301 |
|
| ... | ... | |
| 309 | 306 |
return 0; |
| 310 | 307 |
} |
| 311 | 308 |
|
| 312 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, |
|
| 313 |
char* pkt_buf) {
|
|
| 309 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf) {
|
|
| 314 | 310 |
memcpy(dest_pkt, pkt_buf, sizeof(ColonetRobotServerPacket)); |
| 315 | 311 |
} |
| 316 | 312 |
|
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