Revision 408
added asleep to wl_do loop
| colonet_wireless.cpp | ||
|---|---|---|
| 93 | 93 |
return 0; |
| 94 | 94 |
} |
| 95 | 95 |
|
| 96 |
void colonet_wl_send(short client_source, short dest, ColonetMessageType msg_type, unsigned char msg_code,
|
|
| 96 |
int colonet_wl_send(short client_source, short dest, ColonetMessageType msg_type, unsigned char msg_code,
|
|
| 97 | 97 |
unsigned char* args) {
|
| 98 | 98 |
printf("colonet_wl_send: client_source:%d, dest:%d, msg_code:%d\n", client_source, dest, msg_code);
|
| 99 | 99 |
|
| ... | ... | |
| 107 | 107 |
|
| 108 | 108 |
if (dest == GLOBAL_DEST) {
|
| 109 | 109 |
printf("sending to global dest\n");
|
| 110 |
|
|
| 111 |
wl_send_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt), sizeof(ColonetRobotServerPacket), 0); |
|
| 110 |
if (wl_send_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt), |
|
| 111 |
sizeof(ColonetRobotServerPacket), 0) != 0) {
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|
| 112 |
return -1; |
|
| 113 |
} |
|
| 112 | 114 |
} else {
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| 113 | 115 |
printf("sending to specific robot.\n");
|
| 114 | 116 |
wl_send_robot_to_robot_global_packet(COLONET_PACKET_GROUP_ID, (char)msg_type, (char*)(&pkt), |
| ... | ... | |
| 208 | 210 |
|
| 209 | 211 |
while (1) {
|
| 210 | 212 |
wl_do(); |
| 213 |
usleep(50000); |
|
| 211 | 214 |
} |
| 212 | 215 |
|
| 213 | 216 |
wl_terminate(); |
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