Revision 393
Fixed the BOM response code, needs to be tested.
| data_response.c | ||
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#include "dragonfly_lib.h" |
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#include "data_response.h" |
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#include "dragonfly_lib.h" |
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#include "wl_token_ring.h" |
| 4 | 4 |
#include "wireless.h" |
| 5 | 5 |
#include "serial.h" |
| ... | ... | |
| 7 | 7 |
PacketGroupHandler pgh; |
| 8 | 8 |
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void handle_receive(char type, int source, unsigned char* packet, int length); |
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| 11 | 10 |
int generate_bom_packet(char** buf); |
| 12 | 11 |
int generate_IR_packet(char** buf); |
| 13 | 12 |
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/** |
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* @brief The only function that should be called by user code. |
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Prepares the robot to receive and respond to data requests. |
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*/ |
|
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void data_response_init(void){
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usb_init(); |
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usb_puts("USB initialized!\n\r");
|
| ... | ... | |
| 24 | 28 |
usb_puts("Packet Group Registered!\n\r");
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} |
| 26 | 30 |
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/** |
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* 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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*/ |
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void handle_receive(char type, int source, unsigned char* packet, int length){
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char buf[MAX_PACKET_LENGTH]; |
| 29 | 38 |
int size, i; |
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usb_puts("Got a packet!\n\r");
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switch(type){
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case BOM_TYPE: |
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size = generate_bom_packet(&buf); |
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wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,BOM_TYPE,buf,size,source,0); |
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short int i=0, robot_id; |
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wl_token_iterator_begin(); |
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while(wl_token_iterator_has_next() && i<=96){
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robot_id = wl_token_iterator_next(); |
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(*buf)[i++] = (char)((robot_id>>8) & 255); |
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(*buf)[i++] = (char)(robot_id & 255); |
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//TODO Ensure that wl_token_get.... returns the expected char. |
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(*buf)[i++] = (char)(wl_token_get_my_sensor_reading(robot_id)); |
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} |
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//i is one greater than the index of the last byte... the size. |
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wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,BOM_TYPE,buf,i,source,0); |
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case IR_TYPE: |
| 38 | 57 |
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usb_puts("Generating an IR packet.\n");
|
| ... | ... | |
| 65 | 84 |
} |
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} |
| 67 | 86 |
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/** |
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* @brief Generates a BOM Data packet. **NO LONGER USED** Delete once this code is used often. |
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*/ |
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int generate_bom_packet(char** buf){
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short int i=0, robot_id; |
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wl_token_iterator_begin(); |
| ... | ... | |
| 78 | 100 |
return i; |
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} |
| 80 | 102 |
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/** |
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* @brief Generates an IR Packet **NO LONGER USED** Delete once this code is used often. |
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* |
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*/ |
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int generate_IR_packet(char** buf){
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usb_puts("Generating an IR packet.\n");
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char ranges[] = {IR1,IR2,IR3,IR4,IR5};
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