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Revision 424

Added by Eugene Marinelli about 16 years ago

changed various things in colonet dragonfly and server to make stuff work

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colonet_defs.h
12 12 
#define COLONET_PACKET_GROUP_ID 8
13 13 
#define COLONET_RESPONSE_PACKET_FRAME_ID COLONET_PACKET_GROUP_ID
14 14 

  		




  15
  
  
    
// Message types


  		




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


  		




  17
  
  
    
              COLONET_RESPONSE = 15} ColonetMessageType;


  		




  
  15
  
    
//Colonet Client commands


  		




  
  16
  
    
//TODO: renamed these to end in LENGTH


  		




  
  17
  
    
#define MAX_COMMAND_LEN 128


  		




  
  18
  
    
#define MAX_RESPONSE_LEN 1024


  		




  18
  19
  
    

  		




  
  20
  
    
typedef enum {SEND_TO_ROBOT = 0, REQUEST_FROM_SERVER = 1, RESPONSE_TO_CLIENT_REQUEST = 2} ColonetClientMessageType;


  		




  
  21
  
    
typedef enum {COLONET_COMMAND = 13, COLONET_REQUEST = 14, COLONET_RESPONSE = 15} ColonetRobotMessageType;


  		




  
  22
  
    

  		




  19
  23
  
    
//Packet properties


  		




  20
  
  
    
#define PACKET_DATA_LEN 7


  		




  
  24
  
    
#define PACKET_DATA_LEN 16


  		




  21
  25
  
    

  		




  22
  26
  
    
#define WL_DEFAULT_PAN 3332


  		




  23
  27
  
    

  		




  ......




  26
  30
  
    

  		




  27
  31
  
    
// Message dests


  		




  28
  32
  
    
#define GLOBAL_DEST 200


  		




  29
  
  
    
//#define MAX_NUM_ROBOTS 7


  		




  30
  33
  
    
#define COLONET_SERVER_RESPONSE_ADDR 201


  		




  31
  34
  
    

  		




  32
  35
  
    
#define USER_DEFINED_MSG_ID_START 0xF0


  		




  ......




  37
  40
  
    
 * wireless library to the robots and from the robots to the colonet wireless


  		




  38
  41
  
    
 * library. */


  		




  39
  42
  
    
typedef struct {


  		




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


  		




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


  		




  
  43
  
    
  short client_id; // ID number of the client sending the packet. Size of short is common to robots and server.


  		




  42
  44
  
    
  unsigned char msg_code; // Specific instruction for the robot -- see below.


  		




  43
  45
  
    
  unsigned char data[PACKET_DATA_LEN];


  		




  44
  46
  
    
} ColonetRobotServerPacket;


  		




  ......




  157
  159
  
    
//response: RESPONSE_TO_CLIENT_REQUEST REQUEST_XBEE_IDS <numRobots> <id0> <id1> ... <idNumRobots>


  		




  158
  160
  
    

  		




  159
  161
  
    

  		




  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
  
  
    

  		




  171
  162
  
    
#endif


  		












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