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Revision 386

Added by Eugene Marinelli about 16 years ago

Added a README for colonet. Removed some unused files. Some other minor cleanup.

View differences:

trunk/code/projects/colonet/followLeader/colonet_defs.h
1 
/* Eugene Marinelli, Fan
2 
 * 10/27/06
3 
 *
4 
 * Colonet Definitions - common definitions and structs used in all colonet
5 
 * applications
6 
 */
7 

  		




  8
  
  
    
#ifndef COLONET_DEFS_H_


  		




  9
  
  
    
#define COLONET_DEFS_H_


  		




  10
  
  
    

  		




  11
  
  
    
// PacketGroup id for wireless library.


  		




  12
  
  
    
#define COLONET_PACKET_GROUP_ID 8


  		




  13
  
  
    
#define COLONET_RESPONSE_PACKET_FRAME_ID COLONET_PACKET_GROUP_ID


  		




  14
  
  
    

  		




  15
  
  
    
// Message types


  		




  16
  
  
    
typedef enum {COLONET_COMMAND = 13, COLONET_REQUEST = 14,


  		




  17
  
  
    
              COLONET_RESPONSE = 15} ColonetMessageType;


  		




  18
  
  
    

  		




  19
  
  
    
//Packet properties


  		




  20
  
  
    
#define PACKET_DATA_LEN 7


  		




  21
  
  
    

  		




  22
  
  
    
#define WL_DEFAULT_PAN 3332


  		




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  24
  
  
    
#define SERIAL_PORT "/dev/ttyS0"


  		




  25
  
  
    
#define USB_PORT "/dev/ttyUSB0"


  		




  26
  
  
    

  		




  27
  
  
    
// Message dests


  		




  28
  
  
    
#define GLOBAL_DEST 200


  		




  29
  
  
    
//#define MAX_NUM_ROBOTS 7


  		




  30
  
  
    
#define COLONET_SERVER_RESPONSE_ADDR 201


  		




  31
  
  
    

  		




  32
  
  
    
#define USER_DEFINED_MSG_ID_START 0xF0


  		




  33
  
  
    
#define USER_DEFINED_MSG_ID_END 0xFF


  		




  34
  
  
    
#define USER_DEFINED_MSG_TOTAL 0x0F


  		




  35
  
  
    

  		




  36
  
  
    
/* This is the packet structure of the data buffer sent from the colonet


  		




  37
  
  
    
 * wireless library to the robots and from the robots to the colonet wireless


  		




  38
  
  
    
 * library. */


  		




  39
  
  
    
typedef struct {


  		




  40
  
  
    
  short client_id; // ID number of the client sending the packet.


  		




  41
  
  
    
                   // Size of short is common to robots and server.


  		




  42
  
  
    
  unsigned char msg_code; // Specific instruction for the robot -- see below.


  		




  43
  
  
    
  unsigned char data[PACKET_DATA_LEN];


  		




  44
  
  
    
} ColonetRobotServerPacket;


  		




  45
  
  
    

  		




  46
  
  
    
/* Message codes */


  		




  47
  
  
    
//BUZZER


  		




  48
  
  
    
#define BUZZER_INIT 0x00


  		




  49
  
  
    
#define BUZZER_SET_VAL 0x01


  		




  50
  
  
    
#define BUZZER_SET_FREQ 0x02


  		




  51
  
  
    
#define BUZZER_CHIRP 0x03


  		




  52
  
  
    
#define BUZZER_OFF 0x04


  		




  53
  
  
    

  		




  54
  
  
    
//LCD


  		




  55
  
  
    
#define LCD_INIT 0x05


  		




  56
  
  
    
#define LCD_CLEAR_SCREEN 0x06


  		




  57
  
  
    
#define LCD_PUTBYTE 0x07


  		




  58
  
  
    
#define LCD_PUTCHAR 0x08


  		




  59
  
  
    
#define LCD_PUTSTR 0x09


  		




  60
  
  
    
#define LCD_GOTOXY 0x0A


  		




  61
  
  
    
#define LCD_PUTINT 0x0B


  		




  62
  
  
    

  		




  63
  
  
    
//ORB


  		




  64
  
  
    
#define ORB_INIT 0x0C


  		




  65
  
  
    
#define ORB_SET 0x0D


  		




  66
  
  
    
#define ORB_SET_COLOR 0x0E


  		




  67
  
  
    
#define ORB_DISABLE 0x0F


  		




  68
  
  
    
#define ORB_ENABLE 0x10


  		




  69
  
  
    
#define ORB_SET_DIO 0x11


  		




  70
  
  
    
#define LED_INIT 0x12


  		




  71
  
  
    
#define LED_USER 0x13


  		




  72
  
  
    
#define ORB_SET_NUM_NS 0x14


  		




  73
  
  
    
#define ORB_SET_NUM 0x15


  		




  74
  
  
    
#define ORB_SEND 0x16


  		




  75
  
  
    

  		




  76
  
  
    
//MOTORS


  		




  77
  
  
    
#define MOTORS_INIT 0x17


  		




  78
  
  
    
#define MOTOR1_SET 0x18


  		




  79
  
  
    
#define MOTOR2_SET 0x19


  		




  80
  
  
    
#define MOTORS_OFF 0x1A


  		




  81
  
  
    
#define MOVE 0x1B


  		




  82
  
  
    
#define MOVE_AVOID 0x1C


  		




  83
  
  
    

  		




  84
  
  
    
//SHARP


  		




  85
  
  
    
#define READ_DISTANCE 0x24


  		




  86
  
  
    
#define LINEARIZE_DISTANCE 0x25


  		




  87
  
  
    
#define LOG_DISTANCE 0x26


  		




  88
  
  
    
#define ENABLE_IR 0x27


  		




  89
  
  
    
#define DISABLE_IR 0x28


  		




  90
  
  
    

  		




  91
  
  
    
//SERIAL


  		




  92
  
  
    
#define XBEE_INIT 0x29


  		




  93
  
  
    
#define XBEE_PUTC 0x2A


  		




  94
  
  
    
#define XBEE_GETC 0x2B


  		




  95
  
  
    

  		




  96
  
  
    
#define USB_INIT 0x2D


  		




  97
  
  
    
#define USB_PUTC 0x2E


  		




  98
  
  
    
#define USB_GETC 0x2F


  		




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  100
  
  
    

  		




  101
  
  
    

  		




  102
  
  
    
//DELAY_MS


  		




  103
  
  
    
#define DELAY_MS 0x31


  		




  104
  
  
    

  		




  105
  
  
    
//ANALOG


  		




  106
  
  
    
#define ANALOG_INIT 0x32


  		




  107
  
  
    
#define SET_ADC_MUX 0x33


  		




  108
  
  
    
#define ENABLE_ANALOG 0x34


  		




  109
  
  
    
#define CALL_ANALOG8 0x35


  		




  110
  
  
    
#define CALL_ANALOG10 0x36


  		




  111
  
  
    
#define WHEEL 0x37


  		




  112
  
  
    
#define BATTERY 0x38


  		




  113
  
  
    

  		




  114
  
  
    
//BOM


  		




  115
  
  
    
#define GETMAXBOM 0x39


  		




  116
  
  
    
#define BOM_ON 0x3A


  		




  117
  
  
    
#define BOM_OFF 0x3B


  		




  118
  
  
    
#define OUTPUT_HIGH 0x3C


  		




  119
  
  
    
#define OUTPUT_LOW 0x3D


  		




  120
  
  
    

  		




  121
  
  
    
//DIO


  		




  122
  
  
    
#define DIGITAL_INPUT 0x3E


  		




  123
  
  
    
#define DIGITAL_OUTPUT 0x3F


  		




  124
  
  
    
#define BUTTON1_READ 0x41


  		




  125
  
  
    
#define BUTTON1_WAIT 0x42


  		




  126
  
  
    
#define BUTTON1_WAIT_LED 0x43


  		




  127
  
  
    
#define BUTTON2_READ 0x44


  		




  128
  
  
    
#define BUTTON2_WAIT 0x45


  		




  129
  
  
    
#define BUTTON2_WAIT_LED 0x46


  		




  130
  
  
    

  		




  131
  
  
    
//WL


  		




  132
  
  
    
#define WL_INIT 0x47


  		




  133
  
  
    
#define PARSE_BUFFER 0x48


  		




  134
  
  
    
#define WL_SEND 0x49


  		




  135
  
  
    

  		




  136
  
  
    
//BUMPER


  		




  137
  
  
    
#define DETECT_BUMP 0x50


  		




  138
  
  
    

  		




  139
  
  
    
//Other


  		




  140
  
  
    
#define PRINTF 0x51


  		




  141
  
  
    
#define KILL_ROBOT 0x52


  		




  142
  
  
    

  		




  143
  
  
    
/* End low-level robot commands */


  		




  144
  
  
    

  		




  145
  
  
    

  		




  146
  
  
    
///////////////////////////


  		




  147
  
  
    
//Colonet specific commands


  		




  148
  
  
    
//////////////////////////


  		




  149
  
  
    

  		




  150
  
  
    
#define REQUEST_BOM_MATRIX 0x90


  		




  151
  
  
    
//request: REQUEST_FROM_SERVER REQUEST_BOM_MATRIX


  		




  152
  
  
    
//response: RESPONSE_TO_CLIENT_REQUEST REQUEST_BOM_MATRIX <numRobots> <row by row, values separated by spaces>


  		




  153
  
  
    
// if you don't know a value in the matrix, put -1 in there


  		




  154
  
  
    

  		




  155
  
  
    
#define REQUEST_XBEE_IDS 0x91


  		




  156
  
  
    
//request: REQUEST_FROM_SERVER REQUEST_XBEE_IDS


  		




  157
  
  
    
//response: RESPONSE_TO_CLIENT_REQUEST REQUEST_XBEE_IDS <numRobots> <id0> <id1> ... <idNumRobots>


  		




  158
  
  
    

  		




  159
  
  
    

  		




  160
  
  
    

  		




  161
  
  
    
//Colonet Client commands


  		




  162
  
  
    
//TODO: renamed these to end in LENGTH


  		




  163
  
  
    
#define MAX_COMMAND_LEN 128


  		




  164
  
  
    
#define MAX_RESPONSE_LEN 1024


  		




  165
  
  
    

  		




  166
  
  
    
#define SEND_TO_ROBOT      0x00


  		




  167
  
  
    
#define REQUEST_FROM_SERVER 0x01


  		




  168
  
  
    
#define RESPONSE_TO_CLIENT_REQUEST 0x02


  		




  169
  
  
    

  		




  170
  
  
    

  		




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#endif


  		












  

    
      trunk/code/projects/colonet/ColonetGUI/index.html
    
  





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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"


  		




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   "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">


  		




  
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	  "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">


  		




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<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en">


  		




  5
  
  
    
<head>


  		




  6
  
  
    
	<title>Colony Control Applet - Carnegie Mellon Robotics Club</title>


  		




  7
  
  
    
	<meta http-equiv="content-type" content="text/html; charset=UTF-8" />


  		




  8
  
  
    
	<link rel="stylesheet" type="text/css" href="colonetstyle.css" />


  		




  9
  
  
    
</head>


  		




  
  5
  
    
  <head>


  		




  
  6
  
    
    <title>Colony Control Applet - Carnegie Mellon Robotics Club</title>


  		




  
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    <meta http-equiv="content-type" content="text/html; charset=UTF-8" />


  		




  
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    <link rel="stylesheet" type="text/css" href="colonetstyle.css" />


  		




  
  9
  
    
  </head>


  		




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  11
  
  
    
<body>


  		




  
  11
  
    
  <body>


  		




  12
  12
  
    

  		




  13
  
  
    
<div class="top">


  		




  14
  
  
    
	<h1>Colonet: Robot Graph</h1>


  		




  15
  
  
    
	<p>Carnegie Mellon Robotics Club: Colony Project</p>


  		




  16
  
  
    
	<img src="http://roboclub8.frc.ri.cmu.edu/mainwiki/roboclublogo.png" height="125px" width="110px" alt="RoboClub Logo" />


  		




  17
  
  
    
</div>


  		




  
  13
  
    
    <div class="top">


  		




  
  14
  
    
      <h1>Colonet: Robot Graph</h1>


  		




  
  15
  
    
      <p>Carnegie Mellon Robotics Club: Colony Project</p>


  		




  
  16
  
    
      <img src="http://roboclub8.frc.ri.cmu.edu/mainwiki/roboclublogo.png" height="125px" width="110px" alt="RoboClub Logo" />


  		




  
  17
  
    
    </div>


  		




  18
  18
  
    

  		




  19
  
  
    
<div class="app">


  		




  20
  
  
    
	<p>


  		




  
  19
  
    
    <div class="app">


  		




  
  20
  
    
      <p>


  		




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  21
  
    
	<object


  		




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	    archive = "Colonet.jar"


  		




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		type = "application/x-java-applet"


  		




  24
  
  
    
		width = "950"


  		




  25
  
  
    
		height = "550"


  		




  26
  
  
    
		align = "bottom"


  		




  27
  
  
    
		codebase = "http://roboclub9.frc.ri.cmu.edu/colonet/" 


  		




  28
  
  
    
		name = "Colonet"


  		




  29
  
  
    
		title = "Colonet" >


  		




  30
  
  
    
		<param name = "code" value = "Colonet.class" />


  		




  31
  
  
    
		<param name = "cache_option" value = "No" />


  		




  
  22
  
    
	   archive = "Colonet.jar"


  		




  
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	   type = "application/x-java-applet"


  		




  
  24
  
    
	   width = "950"


  		




  
  25
  
    
	   height = "550"


  		




  
  26
  
    
	   align = "bottom"


  		




  
  27
  
    

  		




  
  28
  
    
	   name = "Colonet"


  		




  
  29
  
    
	   title = "Colonet" >


  		




  
  30
  
    
	  <param name = "code" value = "Colonet.class" />


  		




  
  31
  
    
	  <param name = "cache_option" value = "No" />


  		




  32
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	</object>


  		




  33
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	<br />


  		




  34
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	Requires Java 5.


  		




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	<br />


  		




  36
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	<br />


  		




  37
  
  
    
	</p>


  		




  38
  
  
    
</div>


  		




  
  37
  
    
      </p>


  		




  
  38
  
    
    </div>


  		




  39
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  40
  
  
    
<div class="bottom">


  		




  41
  
  
    
	<p><b>Colony Project Home page:</b><br />


  		




  
  40
  
    
    <div class="bottom">


  		




  
  41
  
    
      <p><b>Colony Project Home page:</b><br />


  		




  42
  42
  
    
	<a href="http://www.robotcolony.org/">www.robotcolony.org</a></p>


  		




  43
  
  
    
	


  		




  44
  
  
    
	<p><b>Validator:</b><br />


  		




  
  43
  
    
      


  		




  
  44
  
    
      <p><b>Validator:</b><br />


  		




  45
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	<a href="http://validator.w3.org/check?uri=referer">


  		




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	<img src="http://www.w3.org/Icons/valid-xhtml10-blue"


  		




  47
  
  
    
		 alt="Valid XHTML 1.0 Transitional"


  		




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		 height="31"


  		




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		 width="88" 


  		




  50
  
  
    
		 border="0"


  		




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		 />


  		




  
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	  <img src="http://www.w3.org/Icons/valid-xhtml10-blue"


  		




  
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	       alt="Valid XHTML 1.0 Transitional"


  		




  
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	       height="31"


  		




  
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	       width="88" 


  		




  
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	       border="0"


  		




  
  51
  
    
	       />


  		




  52
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	</a>


  		




  53
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	<a href="http://jigsaw.w3.org/css-validator/validator?uri=http://roboclub1.frc.ri.cmu.edu/gui/colonetstyle.css">


  		




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  	<img style="border:0;width:88px;height:31px"


  		




  55
  
  
    
       src="http://www.w3.org/Icons/valid-css-blue" 


  		




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       alt="Valid CSS!" />


  		




  
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	  <img style="border:0;width:88px;height:31px"


  		




  
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	       src="http://www.w3.org/Icons/valid-css-blue" 


  		




  
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	       alt="Valid CSS!" />


  		




  57
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	</a><br />


  		




  58
  
  
    
	</p>


  		




  59
  
  
    
	


  		




  60
  
  
    
</div>


  		




  
  58
  
    
      </p>


  		




  
  59
  
    
      


  		




  
  60
  
    
    </div>


  		




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  64
  
  
    
</body>


  		




  65
  
  
    
</html>


  		




  
  62
  
    
  </body>


  		




  
  63
  
    
</html>


  		












  

    
      trunk/code/projects/colonet/ColonetGUI/Makefile
    
  





  1
  
  
    

  		




  2
  1
  
    
# Colonet GUI Makefile


  		




  3
  2
  
    
# Gregory Tress


  		




  4
  3
  
    
#


  		




  ......




  17
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JCFLAGS = -g -d $(DIR) -target 1.5


  		




  18
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JCWARN = -Xlint:deprecation,unchecked,fallthrough,path,finally


  		




  19
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  20
  
  
    

  		




  21
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# Java file compilation instructions


  		




  22
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  23
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default: $(DIR)/Colonet.class $(DIR)/ColonetServerInterface.class


  		




  ......




  36
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clean:


  		




  37
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	$(RM) $(DIR)/*.class


  		




  38
  36
  
    
	$(RM) $(DIR)/*.jar


  		




  39
  
  
    

  		




  40
  
  
    

  		












  

    
      trunk/code/projects/colonet/ColonetServer/Makefile
    
  





  40
  40
  
    
	@echo "---finish creating object files---"


  		




  41
  41
  
    
	@echo ""


  		




  42
  42
  
    
	@echo "---link files---"


  		




  43
  
  
    
	$(CC) $(CFLAGS) $(COLONETOBJECTS) $(COLONETCPPOBJECTS) $(LOGGINGOBJECTS) $(LIBRARY_DIRS_FOR_GCC) -lpthread -lcolonet_wireless -lwireless  $(INCLUDE_DIRS_FOR_GCC) -o $@


  		




  
  43
  
    
	$(CC) $(CFLAGS) $(COLONETOBJECTS) $(COLONETCPPOBJECTS) $(LOGGINGOBJECTS) $(LIBRARY_DIRS_FOR_GCC) -lpthread -lcolonet_wireless -lwireless_colonet  $(INCLUDE_DIRS_FOR_GCC) -o $@


  		




  44
  44
  
    
	@echo "---finish linking files---"


  		




  45
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	@echo ""


  		




  46
  46
  
    
	@echo "---finish compilation---"


  		












  

    
      trunk/code/projects/colonet/utilities/robot_slave/Makefile
    
  





  14
  14
  
    
USE_WIRELESS = 1


  		




  15
  15
  
    

  		




  16
  16
  
    
# com1 = serial port. Use lpt1 to connect to parallel port.


  		




  17
  
  
    
AVRDUDE_PORT = /dev/ttyUSB1


  		




  
  17
  
    
#AVRDUDE_PORT = /dev/ttyUSB1


  		




  
  18
  
    
AVRDUDE_PORT = /dev/ttyUSB0


  		




  
  19
  
    

  		




  18
  20
  
    
#


  		




  19
  21
  
    
#


  		




  20
  22
  
    
###################################


  		












  

    
      trunk/code/projects/colonet/README
    
  





  
  1
  
    
Eugene Marinelli


  		




  
  2
  
    
1/29/07


  		




  
  3
  
    

  		




  
  4
  
    
How to run Colonet.


  		




  
  5
  
    

  		




  
  6
  
    
Part I - Robot setup.


  		




  
  7
  
    
  1) Go to colony/trunk/code/projects/libwireless/lib and run "make".


  		




  
  8
  
    
  2) Go to colony/trunk/code/projects/colonet/lib/colonet_dragonfly and run "make".


  		




  
  9
  
    
  3) Put a robot in programming mode and plug it into the computer.


  		




  
  10
  
    
  4) Go to colony/trunk/code/projects/colonet/utilities/robot_slave and run "make program".


  		




  
  11
  
    
  Now the robot is ready.


  		




  
  12
  
    

  		




  
  13
  
    
Part II - Server setup.


  		




  
  14
  
    
  1) Go to colony/trunk/code/projects/libwireless/lib and run "make colonet".


  		




  
  15
  
    
  2) Go to colony/trunk/code/projects/colonet/lib/colonet_wireless and run "make".


  		




  
  16
  
    
  3) Go to colony/trunk/code/projects/colonet/ColonetServer and run "make".


  		




  
  17
  
    
  4) In the same directory, run "./ColonetServer".


  		




  
  18
  
    
  Now the server is ready.


  		




  
  19
  
    

  		




  
  20
  
    
Part III - Client (GUI) setup.


  		




  
  21
  
    
  1) Go to colony/trunk/code/projects/colonet/ColonetGUI and run "make".


  		




  
  22
  
    
  2) In the same directory, run "sudo make install" to copy the program to the www directory.


  		




  
  23
  
    
  3) In your browser, to go http://server_hostname/colonet, where server_hostname is the hostname of the computer that


  		




  
  24
  
    
     the server is running and the GUI app is hosted.


  		




  
  25
  
    
  Now the client is ready.


  		












  

    
      trunk/code/projects/libwireless/lib/Makefile
    
  





  6
  6
  
    

  		




  7
  7
  
    
# Target file name (without extension).


  		




  8
  8
  
    
TARGET = libwireless


  		




  
  9
  
    
COLONET_TARGET = libwireless_colonet


  		




  9
  10
  
    

  		




  10
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############################


  		




  11
  12
  
    

  		




  ......




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  182
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colonet:


  		




  183
  184
  
    
	g++ -Wall -Wshadow -Wextra *.c -g -I. -c


  		




  184
  
  
    
	ar rcs $(TARGET).a $(OBJ)


  		




  
  185
  
    
	ar rcs $(COLONET_TARGET).a $(OBJ)


  		




  185
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# Eye candy.


  		




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# AVR Studio 3.x does not check make's exit code but relies on


  		












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