Revision 398
Commented a bit, just getting ready to start SLAM work in earnest.
| data_requests.h | ||
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#define IR_TYPE 1 |
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#define ENCODER_TYPE 2 |
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/** |
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* @brief I tried to leave the data in an easy manipulable form, however |
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* the side effect is that you're going to have to reference here sometimes. |
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* The fields are obvious... |
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* robot_id is the id of the robot that was being looked at by robot that the |
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* list encapsulates. |
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* value is the 0-15 value of the IR receiver that saw the robot. (Counter clockwise |
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* from the right side. |
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* next is a pointer to the next BomNode (or NULL). |
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*/ |
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typedef struct {
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short int robot_id; |
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char value; |
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struct BomNode* next; |
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} BomNode; |
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typedef struct{
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/*typedef struct{
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unsigned char* packet; |
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char type; |
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int source; |
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int length; |
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} RawData; |
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} RawData;*/
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/** |
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* @brief Initializes the Data Request functionality on the server side. |
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* |
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* @param void*(bom_data_handler(BomNode** head)) A function that accepts |
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* a BomNode** as an argument and handles the bom data however you would like. |
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* |
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* @param void*(IR_data_handler(short** data)) A function that accepts an |
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* array of shorts for processing. |
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* |
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* @param void*(encoder_data_handler(unsigned char** data)) A function that |
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* accepts an array of unsigned chars (tentatively) as data for processing. |
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*/ |
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void data_requests_init( |
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void(*bom_data_handler)(BomNode** head), |
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void(*IR_data_handler)(short** data), |
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void(*encoder_data_handler)(unsigned char** data)); |
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/** |
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* @brief Pings the robot for BOM data. |
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* |
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* @param robot_id The robot ID of the robot to ping. Typically you will need |
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* to join (if not insert yourself into) the token ring to get a list of robot |
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* id's. |
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*/ |
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void request_bom_data(int robot_id); |
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/** |
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* @brief Pings the robot for BOM data. |
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*/ |
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void request_IR_data(int robot_id); |
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/** |
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* @brief Pings the robot for encoder data. |
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* NOT YET DONE (We don't have encoders yet...) |
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*/ |
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void request_encoder_data(int robot_id); |
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