root / branches / slam / code / projects / colonet / DataRequests / robot / data_response.c @ 393
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1 | 393 | justin | #include "dragonfly_lib.h" |
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2 | 124 | jscheine | #include "data_response.h" |
3 | #include "wl_token_ring.h" |
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4 | #include "wireless.h" |
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5 | 294 | justin | #include "serial.h" |
6 | 122 | jscheine | |
7 | 124 | jscheine | PacketGroupHandler pgh; |
8 | |||
9 | 157 | jscheine | void handle_receive(char type, int source, unsigned char* packet, int length); |
10 | 124 | jscheine | int generate_bom_packet(char** buf); |
11 | int generate_IR_packet(char** buf); |
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12 | |||
13 | 393 | justin | |
14 | /**
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15 | * @brief The only function that should be called by user code.
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16 | Prepares the robot to receive and respond to data requests.
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17 | */
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18 | 294 | justin | void data_response_init(void){ |
19 | usb_init(); |
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20 | usb_puts("USB initialized!\n\r");
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21 | 124 | jscheine | range_init(); |
22 | 294 | justin | pgh.groupCode=DATA_REQUEST_GROUP; |
23 | 124 | jscheine | pgh.timeout_handler = NULL;
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24 | pgh.handle_response = NULL;
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25 | 157 | jscheine | pgh.handle_receive = handle_receive; |
26 | 124 | jscheine | pgh.unregister = NULL;
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27 | 157 | jscheine | wl_register_packet_group(&pgh); |
28 | 294 | justin | usb_puts("Packet Group Registered!\n\r");
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29 | 122 | jscheine | } |
30 | 124 | jscheine | |
31 | 393 | justin | |
32 | /**
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33 | * Sorry for the lack of modularity, I didn't want to deal with memory issues for too long, plus it'll be faster!
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34 | */
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35 | 124 | jscheine | void handle_receive(char type, int source, unsigned char* packet, int length){ |
36 | 393 | justin | |
37 | 124 | jscheine | char buf[MAX_PACKET_LENGTH];
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38 | 366 | justin | int size, i;
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39 | 294 | justin | usb_puts("Got a packet!\n\r");
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40 | 124 | jscheine | switch(type){
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41 | case BOM_TYPE:
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42 | 393 | justin | |
43 | short int i=0, robot_id; |
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44 | wl_token_iterator_begin(); |
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45 | while(wl_token_iterator_has_next() && i<=96){ |
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46 | robot_id = wl_token_iterator_next(); |
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47 | (*buf)[i++] = (char)((robot_id>>8) & 255); |
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48 | (*buf)[i++] = (char)(robot_id & 255); |
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49 | //TODO Ensure that wl_token_get.... returns the expected char.
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50 | (*buf)[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));
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51 | } |
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52 | |||
53 | //i is one greater than the index of the last byte... the size.
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54 | wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,BOM_TYPE,buf,i,source,0);
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55 | 366 | justin | |
56 | 124 | jscheine | case IR_TYPE:
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57 | 366 | justin | |
58 | usb_puts("Generating an IR packet.\n");
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59 | char ranges[] = {IR1,IR2,IR3,IR4,IR5};
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60 | int i;
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61 | short ir_value;
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62 | for(i=0;i<5;i++){ |
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63 | ir_value = (short)range_read_distance(ranges[i]);
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64 | buf[2*i] = (char)((ir_value>>8)&255); |
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65 | buf[2*i+1] = (ir_value&255); |
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66 | usb_puts("Distance :\t");
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67 | usb_puti(ir_value); |
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68 | usb_puts("\n");
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69 | } |
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70 | size = 10;
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71 | |||
72 | usb_puts("Packet Contents: ");
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73 | for(i = 0; i<size;i++){ |
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74 | usb_puti(buf[i]); |
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75 | usb_putc(' ');
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76 | } |
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77 | 294 | justin | wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,IR_TYPE,buf,size,source,0);
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78 | 366 | justin | |
79 | |||
80 | |||
81 | 124 | jscheine | case ENCODER_TYPE:
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82 | 157 | jscheine | break;
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83 | 124 | jscheine | //Not yet supported.
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84 | } |
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85 | } |
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86 | |||
87 | 393 | justin | /**
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88 | * @brief Generates a BOM Data packet. **NO LONGER USED** Delete once this code is used often.
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89 | */
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90 | 124 | jscheine | int generate_bom_packet(char** buf){ |
91 | short int i=0, robot_id; |
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92 | wl_token_iterator_begin(); |
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93 | 294 | justin | while(wl_token_iterator_has_next() && i<=96){ |
94 | 124 | jscheine | robot_id = wl_token_iterator_next(); |
95 | 157 | jscheine | (*buf)[i++] = (char)((robot_id>>8) & 0xFF); |
96 | (*buf)[i++] = (char)(robot_id & 0xFF); |
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97 | (*buf)[i++] = (char)(wl_token_get_my_sensor_reading(robot_id));
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98 | 124 | jscheine | } |
99 | //i is one greater than the index of the last byte... the size.
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100 | return i;
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101 | } |
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102 | |||
103 | 393 | justin | /**
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104 | * @brief Generates an IR Packet **NO LONGER USED** Delete once this code is used often.
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105 | *
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106 | */
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107 | 124 | jscheine | int generate_IR_packet(char** buf){ |
108 | 366 | justin | usb_puts("Generating an IR packet.\n");
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109 | char ranges[] = {IR1,IR2,IR3,IR4,IR5};
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110 | int i;
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111 | short ir_value;
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112 | for(i=0;i<5;i++){ |
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113 | ir_value = (short)range_read_distance(ranges[i]);
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114 | (*buf)[2*i] = (char)((ir_value>>8)&255); |
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115 | (*buf)[2*i+1] = (ir_value&255); |
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116 | usb_puts("Distance :\t");
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117 | usb_puti(ir_value); |
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118 | usb_puts("\n");
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119 | } |
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120 | return 10; |
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121 | 124 | jscheine | } |