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Revision 433

Added by Eugene Marinelli about 16 years ago

defined robot position interface

View differences:

trunk/code/projects/colonet/lib/colonet_dragonfly/colonet_dragonfly.c
24 24 
/* Globals (internal) */
25 25 
static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
26 26 

  		




  
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static int robot_x, robot_y;


  		




  
  28
  
    
static int server_xbee_id; // ID of server xbee; set when a colonet packet is received.


  		




  
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/* Internal function prototypes */


  		




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static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf);


  		




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static unsigned int two_bytes_to_int(char high, char low);


  		




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static void colonet_handle_receive(char type, int source, unsigned char* packet, int length);


  		




  
  34
  
    
static void request_abs_position(void);


  		




  
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static void move_to_position_routine(int x, int y);


  		




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static PacketGroupHandler colonet_pgh;


  		




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  ......




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  // TODO this should return an error if wl_init has not been called yet.


  		




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  wl_register_packet_group(&colonet_pgh);


  		




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  robot_x = 0;


  		




  
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  robot_y = 0;


  		




  
  52
  
    
  server_xbee_id = -1;


  		




  
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  return 0;


  		




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}


  		




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  ......




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  return 0;


  		




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}


  		




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static void request_abs_position() {


  		




  
  73
  
    
  if (server_xbee_id != -1) { // if -1, then we don't know the server's xbee id yet.


  		




  
  74
  
    
    ColonetRobotServerPacket pkt;


  		




  
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    pkt.client_id = -1;


  		




  
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    pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER;


  		




  
  77
  
    
    wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), server_xbee_id, 0);


  		




  
  78
  
    
  }


  		




  
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}


  		




  
  80
  
    

  		




  
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static void move_to_position_routine(int x, int y) {


  		




  
  82
  
    
  /* TODO emarinel control algorithm */


  		




  
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}


  		




  
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/* Private functions */


  		




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/** @brief Handles colonet packets.  Should be called by parse_buffer


  		




  ......




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  unsigned char* args; //up to 7 char args


  		




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  unsigned int int_args[3]; //up to 3 int (2-byte) args


  		




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  /* Globally store this id. */


  		




  
  102
  
    
  server_xbee_id = wl_source;


  		




  
  103
  
    

  		




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  usb_puts("Packet received.\n");


  		




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  char buf[40];


  		




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  sprintf(buf, "length=%d\n", length);


  		




  ......




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/*              pkt.msg_code); */


  		




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/*       break; */


  		




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    case SERVER_REPORT_POSITION_TO_ROBOT:


  		




  
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      robot_x = int_args[0];


  		




  
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      robot_y = int_args[1];


  		




  
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      break;


  		




  
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    case MOVE_TO_ABSOLUTE_POSITION:


  		




  
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      move_to_position_routine(int_args[0], int_args[1]);


  		




  
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      break;


  		




  
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      //Buzzer


  		




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    case BUZZER_INIT:


  		




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      buzzer_init();


  		












  

    
      trunk/code/projects/colonet/lib/colonet_defs.h
    
  





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#define PRINTF 0x51


  		




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#define KILL_ROBOT 0x52


  		




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#define MOVE_TO_ABSOLUTE_POSITION 0x53


  		




  
  146
  
    
#define ROBOT_REQUEST_POSITION_FROM_SERVER 0x54


  		




  
  147
  
    
#define SERVER_REPORT_POSITION_TO_ROBOT 0x54


  		




  
  148
  
    

  		




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/* End low-level robot commands */


  		




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      trunk/code/projects/colonet/ColonetServer/ColonetServer.cpp
    
  





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    }


  		




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    return -1;


  		




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  }


  		




  
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  return 0;


  		




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}


  		




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  ......




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      }


  		




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      if (optionsG.logging_enabled) {


  		




  129
  
  
    
	char log_buffer[LOG_BUFFER_LENGTH];


  		




  130
  
  
    
	snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s attempting to connect.",


  		




  131
  
  
    
                 inet_ntoa(client_addr.sin_addr));


  		




  132
  
  
    
	logger->log_string(LOG_TYPE_CONNECT, log_buffer);


  		




  
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        char log_buffer[LOG_BUFFER_LENGTH];


  		




  
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        snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s attempting to connect.",


  		




  
  132
  
    
          inet_ntoa(client_addr.sin_addr));


  		




  
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        logger->log_string(LOG_TYPE_CONNECT, log_buffer);


  		




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      }


  		




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      if (connection_pool.add_client(accept_socket) < 0) {


  		




  ......




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      }


  		




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      if (optionsG.logging_enabled) {


  		




  141
  
  
    
	char log_buffer[LOG_BUFFER_LENGTH];


  		




  
  142
  
    
        char log_buffer[LOG_BUFFER_LENGTH];


  		




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        snprintf(log_buffer, LOG_BUFFER_LENGTH, "Client at address %s successfully added to connection pool.",


  		




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                 inet_ntoa(client_addr.sin_addr));


  		




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        logger->log_string(LOG_TYPE_CONNECT, log_buffer);


  		




  ......




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    return -1;


  		




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  }


  		




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  169
  
  
    
  //("Put data in write buffer for client.\n");


  		




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  return 0;


  		




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}


  		




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      trunk/code/projects/colonet/ColonetServer/Makefile
    
  





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COLONETOBJECTS = $(COLONETFILES:.c=.o)


  		




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LOGGINGFILES = Log.cpp


  		




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LOGGINGOBJECTS = $(LOGGINGFILES:.cpp=.o)


  		




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9


  		




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VPATH = ../lib:../lib/colonet_wireless


  		




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INCLUDE_DIRS = ../lib/colonet_wireless ../lib ../../libwireless/lib ../lib/colonet_wireless includes


  		




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LIBRARY_DIRS = ../lib ../../libwireless/lib ../lib/colonet_wireless


  		












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