Revision 479
moved colonet_dragonfly
trunk/code/projects/colonet/robot/colonet_dragonfly/colonet_dragonfly.c | ||
---|---|---|
1 |
/** @file colonet.c |
|
2 |
* @brief Colonet library for DRAGONFLY colony robots |
|
3 |
* |
|
4 |
* @author Eugene Marinelli |
|
5 |
* @date 10/10/07 |
|
6 |
* |
|
7 |
* @bug Handler registration not tested |
|
8 |
* @bug Request reponding not implemented - only accepts commands. |
|
9 |
*/ |
|
10 |
|
|
11 |
#include <assert.h> |
|
12 |
#include <dragonfly_lib.h> |
|
13 |
#include <battery.h> |
|
14 |
#include <string.h> |
|
15 |
#include <wireless.h> |
|
16 |
|
|
17 |
#include <colonet_dragonfly.h> |
|
18 |
|
|
19 |
typedef struct { |
|
20 |
unsigned char msgId; //is this necessary? |
|
21 |
void (*handler)(void); |
|
22 |
} UserHandler; |
|
23 |
|
|
24 |
/* Globals (internal) */ |
|
25 |
static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL]; |
|
26 |
|
|
27 |
static int robot_x, robot_y; |
|
28 |
static int server_xbee_id; // ID of server xbee; set when a colonet packet is received. |
|
29 |
|
|
30 |
/* Internal function prototypes */ |
|
31 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf); |
|
32 |
static unsigned int two_bytes_to_int(char high, char low); |
|
33 |
static void colonet_handle_receive(char type, int source, unsigned char* packet, int length); |
|
34 |
static void request_abs_position(void); |
|
35 |
static void move_to_position_routine(int x, int y); |
|
36 |
|
|
37 |
static PacketGroupHandler colonet_pgh; |
|
38 |
|
|
39 |
/* Public functions */ |
|
40 |
int colonet_init() { |
|
41 |
colonet_pgh.groupCode = COLONET_PACKET_GROUP_ID; |
|
42 |
colonet_pgh.timeout_handler = NULL; |
|
43 |
colonet_pgh.handle_response = NULL; |
|
44 |
colonet_pgh.handle_receive = colonet_handle_receive; |
|
45 |
colonet_pgh.unregister = NULL; |
|
46 |
|
|
47 |
// TODO this should return an error if wl_init has not been called yet. |
|
48 |
wl_register_packet_group(&colonet_pgh); |
|
49 |
|
|
50 |
robot_x = 0; |
|
51 |
robot_y = 0; |
|
52 |
server_xbee_id = -1; |
|
53 |
|
|
54 |
return 0; |
|
55 |
} |
|
56 |
|
|
57 |
/* colonet_add_message |
|
58 |
* Adds a user-defined message |
|
59 |
*/ |
|
60 |
int colonet_add_message(unsigned char msgId, void (*handler)(void)) { |
|
61 |
if(msgId < USER_DEFINED_MSG_ID_START /* || msgId > USER_DEFINED_MSG_ID_END */){ |
|
62 |
return -1; |
|
63 |
} |
|
64 |
|
|
65 |
/* Register this function in the array */ |
|
66 |
user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
|
67 |
user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
|
68 |
|
|
69 |
return 0; |
|
70 |
} |
|
71 |
|
|
72 |
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; |
|
75 |
pkt.client_id = -1; |
|
76 |
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 |
} |
|
79 |
} |
|
80 |
|
|
81 |
static void move_to_position_routine(int x, int y) { |
|
82 |
/* TODO emarinel - control algorithm */ |
|
83 |
motor1_set(1, 200); |
|
84 |
motor2_set(1, 200); |
|
85 |
} |
|
86 |
|
|
87 |
/* Private functions */ |
|
88 |
|
|
89 |
/** @brief Handles colonet packets. Should be called by parse_buffer |
|
90 |
* when it is determined that a colonet message has been received. |
|
91 |
* |
|
92 |
* @param robot_id The robot id |
|
93 |
* @param pkt_buf The packet buffer (e.g. wl_buf) |
|
94 |
* |
|
95 |
* @return -1 on error (invalid msgId), 0 on success |
|
96 |
*/ |
|
97 |
static void colonet_handle_receive(char type, int wl_source, unsigned char* packet, int length) { |
|
98 |
ColonetRobotServerPacket pkt; |
|
99 |
unsigned char* args; //up to 7 char args |
|
100 |
unsigned int int_args[3]; //up to 3 int (2-byte) args |
|
101 |
|
|
102 |
/* Globally store this id. */ |
|
103 |
server_xbee_id = wl_source; |
|
104 |
|
|
105 |
usb_puts("Packet received.\n"); |
|
106 |
char buf[40]; |
|
107 |
sprintf(buf, "length=%d\n", length); |
|
108 |
|
|
109 |
int i; |
|
110 |
for (i = 0; i < length; i++) { |
|
111 |
sprintf(buf, "%d: %d ", i, packet[i]); |
|
112 |
usb_puts(buf); |
|
113 |
} |
|
114 |
usb_puts("\n"); |
|
115 |
|
|
116 |
//printf("received message from %d of length %d\n", source, length); |
|
117 |
|
|
118 |
///assert(length == sizeof(ColonetRobotServerPacket)); |
|
119 |
packet_string_to_struct(&pkt, packet); |
|
120 |
|
|
121 |
char buf2[40]; |
|
122 |
sprintf(buf2, "client_id:%d, msg_code:%d\n", pkt.client_id, pkt.msg_code); |
|
123 |
usb_puts(buf2); |
|
124 |
|
|
125 |
args = pkt.data; |
|
126 |
|
|
127 |
int_args[0] = two_bytes_to_int(args[0], args[1]); |
|
128 |
int_args[1] = two_bytes_to_int(args[2], args[3]); |
|
129 |
int_args[2] = two_bytes_to_int(args[4], args[5]); |
|
130 |
|
|
131 |
if (type == COLONET_REQUEST) { |
|
132 |
usb_puts("type is colonet request\n"); |
|
133 |
|
|
134 |
/* TODO - send back data! */ |
|
135 |
|
|
136 |
switch (pkt.msg_code) { |
|
137 |
//Sharp |
|
138 |
case READ_DISTANCE: |
|
139 |
break; |
|
140 |
case LINEARIZE_DISTANCE: |
|
141 |
break; |
|
142 |
case LOG_DISTANCE: |
|
143 |
break; |
|
144 |
|
|
145 |
//Analog |
|
146 |
case CALL_ANALOG8: |
|
147 |
break; |
|
148 |
case CALL_ANALOG10: |
|
149 |
break; |
|
150 |
case WHEEL: |
|
151 |
break; |
|
152 |
|
|
153 |
case BATTERY: |
|
154 |
sprintf((char*)pkt.data, "%d", (int)battery8()); |
|
155 |
wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), wl_source, 0); |
|
156 |
break; |
|
157 |
|
|
158 |
//BOM |
|
159 |
case GETMAXBOM: |
|
160 |
break; |
|
161 |
|
|
162 |
//Dio |
|
163 |
case DIGITAL_INPUT: |
|
164 |
break; |
|
165 |
case BUTTON1_READ: |
|
166 |
break; |
|
167 |
case BUTTON2_READ: |
|
168 |
break; |
|
169 |
|
|
170 |
//Bumper |
|
171 |
case DETECT_BUMP: |
|
172 |
break; |
|
173 |
} |
|
174 |
} else if (type == COLONET_COMMAND) { |
|
175 |
usb_puts("type is colonet command...\n"); |
|
176 |
|
|
177 |
/* TODO uncomment this stuff */ |
|
178 |
/* if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */ |
|
179 |
/* pkt.msg_code <= USER_DEFINED_MSG_ID_END) { */ |
|
180 |
/* if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) { */ |
|
181 |
/* /\* Call the user's handler function if it the function's address */ |
|
182 |
/* * is non-zero (has been set) *\/ */ |
|
183 |
/* user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); */ |
|
184 |
/* } */ |
|
185 |
/* } */ |
|
186 |
|
|
187 |
switch (pkt.msg_code) { |
|
188 |
/* default: */ |
|
189 |
/* printf("%s: Error - message code %d not implemented\n", __FUNCTION__, */ |
|
190 |
/* pkt.msg_code); */ |
|
191 |
/* break; */ |
|
192 |
|
|
193 |
case SERVER_REPORT_POSITION_TO_ROBOT: |
|
194 |
robot_x = int_args[0]; |
|
195 |
robot_y = int_args[1]; |
|
196 |
break; |
|
197 |
|
|
198 |
case MOVE_TO_ABSOLUTE_POSITION: |
|
199 |
move_to_position_routine(int_args[0], int_args[1]); |
|
200 |
break; |
|
201 |
|
|
202 |
//Buzzer |
|
203 |
case BUZZER_INIT: |
|
204 |
buzzer_init(); |
|
205 |
break; |
|
206 |
case BUZZER_SET_VAL: |
|
207 |
buzzer_set_val(args[0]); |
|
208 |
break; |
|
209 |
case BUZZER_SET_FREQ: |
|
210 |
buzzer_set_freq(args[0]); |
|
211 |
break; |
|
212 |
case BUZZER_CHIRP: |
|
213 |
buzzer_chirp(int_args[0], int_args[1]); |
|
214 |
break; |
|
215 |
case BUZZER_OFF: |
|
216 |
buzzer_off(); |
|
217 |
break; |
|
218 |
case ORB_INIT: |
|
219 |
orb_init(); |
|
220 |
break; |
|
221 |
//Orb |
|
222 |
case ORB_SET: |
|
223 |
orb_set(args[0], args[1], args[2]); |
|
224 |
break; |
|
225 |
case ORB_SET_COLOR: |
|
226 |
orb_set_color(int_args[0]); |
|
227 |
break; |
|
228 |
case ORB_DISABLE: |
|
229 |
orb_disable(); |
|
230 |
break; |
|
231 |
case ORB_ENABLE: |
|
232 |
orb_enable(); |
|
233 |
break; |
|
234 |
case LED_INIT: |
|
235 |
break; |
|
236 |
case LED_USER: |
|
237 |
break; |
|
238 |
case ORB_SEND: |
|
239 |
//orb_send(); |
|
240 |
break; |
|
241 |
//Motors |
|
242 |
case MOTORS_INIT: |
|
243 |
usb_puts("calling motors_init\n"); |
|
244 |
motors_init(); |
|
245 |
break; |
|
246 |
case MOTOR1_SET: |
|
247 |
sprintf(buf, "calling motor1_set [%i] [%i]\n", args[0], args[1]); |
|
248 |
usb_puts(buf); |
|
249 |
motor1_set(args[0], args[1]); |
|
250 |
break; |
|
251 |
case MOTOR2_SET: |
|
252 |
sprintf(buf, "calling motor2_set [%i] [%i]\n", args[0], args[1]); |
|
253 |
usb_puts(buf); |
|
254 |
motor2_set(args[0], args[1]); |
|
255 |
break; |
|
256 |
case MOTORS_OFF: |
|
257 |
usb_puts("calling motors_off\n"); |
|
258 |
motors_off(); |
|
259 |
break; |
|
260 |
case MOVE: |
|
261 |
sprintf(buf, "calling move with: %d, %d\n", args[0], args[1]); |
|
262 |
usb_puts(buf); |
|
263 |
move(args[0], args[1]); |
|
264 |
break; |
|
265 |
case XBEE_INIT: |
|
266 |
xbee_init(); |
|
267 |
break; |
|
268 |
|
|
269 |
case XBEE_PUTC: |
|
270 |
xbee_putc((char)args[0]); |
|
271 |
break; |
|
272 |
|
|
273 |
case USB_INIT: |
|
274 |
usb_init(); |
|
275 |
break; |
|
276 |
|
|
277 |
case USB_PUTC: |
|
278 |
usb_putc((char)args[0]); |
|
279 |
break; |
|
280 |
|
|
281 |
case PRINTF: |
|
282 |
printf("%s", pkt.data); |
|
283 |
break; |
|
284 |
case KILL_ROBOT: |
|
285 |
motors_off(); |
|
286 |
buzzer_off(); |
|
287 |
exit(0); //kill the robot |
|
288 |
break; |
|
289 |
//Time |
|
290 |
case DELAY_MS: |
|
291 |
delay_ms(int_args[0]); |
|
292 |
break; |
|
293 |
|
|
294 |
//Analog |
|
295 |
case ANALOG_INIT: |
|
296 |
//TODO: how do we really init the analog? this doesn't work: |
|
297 |
//analog_init(); |
|
298 |
break; |
|
299 |
|
|
300 |
//BOM |
|
301 |
case BOM_ON: |
|
302 |
bom_on(); |
|
303 |
break; |
|
304 |
case BOM_OFF: |
|
305 |
bom_off(); |
|
306 |
break; |
|
307 |
|
|
308 |
//Dio |
|
309 |
case DIGITAL_OUTPUT: |
|
310 |
digital_output(int_args[0], int_args[1]); |
|
311 |
break; |
|
312 |
} |
|
313 |
} else { |
|
314 |
sprintf(buf, "%s: Error: Invalid colonet message type", __FUNCTION__); |
|
315 |
usb_puts(buf); |
|
316 |
} |
|
317 |
} |
|
318 |
|
|
319 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf) { |
|
320 |
memcpy(dest_pkt, pkt_buf, sizeof(ColonetRobotServerPacket)); |
|
321 |
} |
|
322 |
|
|
323 |
/* two_bytes_to_int(char a, char b) |
|
324 |
* Returns int of form [high][low] |
|
325 |
*/ |
|
326 |
static unsigned int two_bytes_to_int(char high, char low) { |
|
327 |
return (((unsigned int)high)<<8) + (unsigned int)low; |
|
328 |
} |
trunk/code/projects/colonet/robot/colonet_dragonfly/Makefile | ||
---|---|---|
1 |
COLONYROOT = ../../../../.. |
|
2 |
|
|
3 |
# colonet_wireless_test makefile |
|
4 |
MCU = atmega128 |
|
5 |
F_CPU = 8000000 |
|
6 |
CDEFS = -DF_CPU=$(F_CPU)UL |
|
7 |
|
|
8 |
CC = avr-gcc |
|
9 |
CFLAGS = -Wall -Wshadow -Wextra -g -mmcu=$(MCU) |
|
10 |
INCLUDES = -I../ -I../../../libwireless/lib -I../../../../lib/include/libdragonfly -I. |
|
11 |
|
|
12 |
all: colonet_dragonfly.o |
|
13 |
|
|
14 |
#colonet_dragonfly: colonet_dragonfly.o Makefile |
|
15 |
# $(CC) $(CFLAGS) $(INCLUDES) -o colonet_wireless_test colonet_wireless.o |
|
16 |
|
|
17 |
../../../libwireless/lib/libwireless.a: ../../../libwireless/lib/*.c ../../../libwireless/lib/*.h |
|
18 |
cd ../../../libwireless/lib; make |
|
19 |
|
|
20 |
colonet_dragonfly.o: ../../../libwireless/lib/libwireless.a colonet_dragonfly.c colonet_dragonfly.h |
|
21 |
$(CC) $(CDEFS) $(CFLAGS) $(INCLUDES) -c colonet_dragonfly.c |
|
22 |
ar rc libcolonet_dragonfly.a colonet_dragonfly.o |
|
23 |
ranlib libcolonet_dragonfly.a |
|
24 |
cp libcolonet_dragonfly.a $(COLONYROOT)/code/lib/bin/ |
|
25 |
|
|
26 |
clean: |
|
27 |
rm -rf *.o |
trunk/code/projects/colonet/robot/colonet_dragonfly/colonet_dragonfly.h | ||
---|---|---|
1 |
/** @file colonet.h |
|
2 |
* @brief Colonet library for colony robots |
|
3 |
* @author Eugene Marinelli |
|
4 |
* @date 10/26/06 |
|
5 |
*/ |
|
6 |
|
|
7 |
#ifndef COLONET_DRAGONFLY_H_ |
|
8 |
#define COLONET_DRAGONFLY_H_ |
|
9 |
|
|
10 |
#include <colonet_defs.h> |
|
11 |
|
|
12 |
/** |
|
13 |
*/ |
|
14 |
int colonet_init(void); |
|
15 |
|
|
16 |
/** @brief Registers a new colonet message handler function. If a message |
|
17 |
* with msgId is received, then handler will be called. |
|
18 |
* |
|
19 |
* @param msgId The message id of the handler to be registered. Must be |
|
20 |
* between USER_DEFINED_MSG_ID_START and USER_DEFINED_MSG_ID_END |
|
21 |
* @param handler The function to be called if a colonet packet with message |
|
22 |
* id msgId is received |
|
23 |
* |
|
24 |
* @return -1 on error (invalid msgId), 0 on success |
|
25 |
*/ |
|
26 |
int colonet_add_message(unsigned char msgId, void (*handler)(void)); |
|
27 |
|
|
28 |
#endif |
trunk/code/projects/colonet/lib/colonet_dragonfly/colonet_dragonfly.c | ||
---|---|---|
1 |
/** @file colonet.c |
|
2 |
* @brief Colonet library for DRAGONFLY colony robots |
|
3 |
* |
|
4 |
* @author Eugene Marinelli |
|
5 |
* @date 10/10/07 |
|
6 |
* |
|
7 |
* @bug Handler registration not tested |
|
8 |
* @bug Request reponding not implemented - only accepts commands. |
|
9 |
*/ |
|
10 |
|
|
11 |
#include <assert.h> |
|
12 |
#include <dragonfly_lib.h> |
|
13 |
#include <battery.h> |
|
14 |
#include <string.h> |
|
15 |
#include <wireless.h> |
|
16 |
|
|
17 |
#include <colonet_dragonfly.h> |
|
18 |
|
|
19 |
typedef struct { |
|
20 |
unsigned char msgId; //is this necessary? |
|
21 |
void (*handler)(void); |
|
22 |
} UserHandler; |
|
23 |
|
|
24 |
/* Globals (internal) */ |
|
25 |
static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL]; |
|
26 |
|
|
27 |
static int robot_x, robot_y; |
|
28 |
static int server_xbee_id; // ID of server xbee; set when a colonet packet is received. |
|
29 |
|
|
30 |
/* Internal function prototypes */ |
|
31 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf); |
|
32 |
static unsigned int two_bytes_to_int(char high, char low); |
|
33 |
static void colonet_handle_receive(char type, int source, unsigned char* packet, int length); |
|
34 |
static void request_abs_position(void); |
|
35 |
static void move_to_position_routine(int x, int y); |
|
36 |
|
|
37 |
static PacketGroupHandler colonet_pgh; |
|
38 |
|
|
39 |
/* Public functions */ |
|
40 |
int colonet_init() { |
|
41 |
colonet_pgh.groupCode = COLONET_PACKET_GROUP_ID; |
|
42 |
colonet_pgh.timeout_handler = NULL; |
|
43 |
colonet_pgh.handle_response = NULL; |
|
44 |
colonet_pgh.handle_receive = colonet_handle_receive; |
|
45 |
colonet_pgh.unregister = NULL; |
|
46 |
|
|
47 |
// TODO this should return an error if wl_init has not been called yet. |
|
48 |
wl_register_packet_group(&colonet_pgh); |
|
49 |
|
|
50 |
robot_x = 0; |
|
51 |
robot_y = 0; |
|
52 |
server_xbee_id = -1; |
|
53 |
|
|
54 |
return 0; |
|
55 |
} |
|
56 |
|
|
57 |
/* colonet_add_message |
|
58 |
* Adds a user-defined message |
|
59 |
*/ |
|
60 |
int colonet_add_message(unsigned char msgId, void (*handler)(void)) { |
|
61 |
if(msgId < USER_DEFINED_MSG_ID_START /* || msgId > USER_DEFINED_MSG_ID_END */){ |
|
62 |
return -1; |
|
63 |
} |
|
64 |
|
|
65 |
/* Register this function in the array */ |
|
66 |
user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
|
67 |
user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
|
68 |
|
|
69 |
return 0; |
|
70 |
} |
|
71 |
|
|
72 |
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; |
|
75 |
pkt.client_id = -1; |
|
76 |
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 |
} |
|
79 |
} |
|
80 |
|
|
81 |
static void move_to_position_routine(int x, int y) { |
|
82 |
/* TODO emarinel - control algorithm */ |
|
83 |
motor1_set(1, 200); |
|
84 |
motor2_set(1, 200); |
|
85 |
} |
|
86 |
|
|
87 |
/* Private functions */ |
|
88 |
|
|
89 |
/** @brief Handles colonet packets. Should be called by parse_buffer |
|
90 |
* when it is determined that a colonet message has been received. |
|
91 |
* |
|
92 |
* @param robot_id The robot id |
|
93 |
* @param pkt_buf The packet buffer (e.g. wl_buf) |
|
94 |
* |
|
95 |
* @return -1 on error (invalid msgId), 0 on success |
|
96 |
*/ |
|
97 |
static void colonet_handle_receive(char type, int wl_source, unsigned char* packet, int length) { |
|
98 |
ColonetRobotServerPacket pkt; |
|
99 |
unsigned char* args; //up to 7 char args |
|
100 |
unsigned int int_args[3]; //up to 3 int (2-byte) args |
|
101 |
|
|
102 |
/* Globally store this id. */ |
|
103 |
server_xbee_id = wl_source; |
|
104 |
|
|
105 |
usb_puts("Packet received.\n"); |
|
106 |
char buf[40]; |
|
107 |
sprintf(buf, "length=%d\n", length); |
|
108 |
|
|
109 |
int i; |
|
110 |
for (i = 0; i < length; i++) { |
|
111 |
sprintf(buf, "%d: %d ", i, packet[i]); |
|
112 |
usb_puts(buf); |
|
113 |
} |
|
114 |
usb_puts("\n"); |
|
115 |
|
|
116 |
//printf("received message from %d of length %d\n", source, length); |
|
117 |
|
|
118 |
///assert(length == sizeof(ColonetRobotServerPacket)); |
|
119 |
packet_string_to_struct(&pkt, packet); |
|
120 |
|
|
121 |
char buf2[40]; |
|
122 |
sprintf(buf2, "client_id:%d, msg_code:%d\n", pkt.client_id, pkt.msg_code); |
|
123 |
usb_puts(buf2); |
|
124 |
|
|
125 |
args = pkt.data; |
|
126 |
|
|
127 |
int_args[0] = two_bytes_to_int(args[0], args[1]); |
|
128 |
int_args[1] = two_bytes_to_int(args[2], args[3]); |
|
129 |
int_args[2] = two_bytes_to_int(args[4], args[5]); |
|
130 |
|
|
131 |
if (type == COLONET_REQUEST) { |
|
132 |
usb_puts("type is colonet request\n"); |
|
133 |
|
|
134 |
/* TODO - send back data! */ |
|
135 |
|
|
136 |
switch (pkt.msg_code) { |
|
137 |
//Sharp |
|
138 |
case READ_DISTANCE: |
|
139 |
break; |
|
140 |
case LINEARIZE_DISTANCE: |
|
141 |
break; |
|
142 |
case LOG_DISTANCE: |
|
143 |
break; |
|
144 |
|
|
145 |
//Analog |
|
146 |
case CALL_ANALOG8: |
|
147 |
break; |
|
148 |
case CALL_ANALOG10: |
|
149 |
break; |
|
150 |
case WHEEL: |
|
151 |
break; |
|
152 |
|
|
153 |
case BATTERY: |
|
154 |
sprintf((char*)pkt.data, "%d", (int)battery8()); |
|
155 |
wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), wl_source, 0); |
|
156 |
break; |
|
157 |
|
|
158 |
//BOM |
|
159 |
case GETMAXBOM: |
|
160 |
break; |
|
161 |
|
|
162 |
//Dio |
|
163 |
case DIGITAL_INPUT: |
|
164 |
break; |
|
165 |
case BUTTON1_READ: |
|
166 |
break; |
|
167 |
case BUTTON2_READ: |
|
168 |
break; |
|
169 |
|
|
170 |
//Bumper |
|
171 |
case DETECT_BUMP: |
|
172 |
break; |
|
173 |
} |
|
174 |
} else if (type == COLONET_COMMAND) { |
|
175 |
usb_puts("type is colonet command...\n"); |
|
176 |
|
|
177 |
/* TODO uncomment this stuff */ |
|
178 |
/* if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */ |
|
179 |
/* pkt.msg_code <= USER_DEFINED_MSG_ID_END) { */ |
|
180 |
/* if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) { */ |
|
181 |
/* /\* Call the user's handler function if it the function's address */ |
|
182 |
/* * is non-zero (has been set) *\/ */ |
|
183 |
/* user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); */ |
|
184 |
/* } */ |
|
185 |
/* } */ |
|
186 |
|
|
187 |
switch (pkt.msg_code) { |
|
188 |
/* default: */ |
|
189 |
/* printf("%s: Error - message code %d not implemented\n", __FUNCTION__, */ |
|
190 |
/* pkt.msg_code); */ |
|
191 |
/* break; */ |
|
192 |
|
|
193 |
case SERVER_REPORT_POSITION_TO_ROBOT: |
|
194 |
robot_x = int_args[0]; |
|
195 |
robot_y = int_args[1]; |
|
196 |
break; |
|
197 |
|
|
198 |
case MOVE_TO_ABSOLUTE_POSITION: |
|
199 |
move_to_position_routine(int_args[0], int_args[1]); |
|
200 |
break; |
|
201 |
|
|
202 |
//Buzzer |
|
203 |
case BUZZER_INIT: |
|
204 |
buzzer_init(); |
|
205 |
break; |
|
206 |
case BUZZER_SET_VAL: |
|
207 |
buzzer_set_val(args[0]); |
|
208 |
break; |
|
209 |
case BUZZER_SET_FREQ: |
|
210 |
buzzer_set_freq(args[0]); |
|
211 |
break; |
|
212 |
case BUZZER_CHIRP: |
|
213 |
buzzer_chirp(int_args[0], int_args[1]); |
|
214 |
break; |
|
215 |
case BUZZER_OFF: |
|
216 |
buzzer_off(); |
|
217 |
break; |
|
218 |
case ORB_INIT: |
|
219 |
orb_init(); |
|
220 |
break; |
|
221 |
//Orb |
|
222 |
case ORB_SET: |
|
223 |
orb_set(args[0], args[1], args[2]); |
|
224 |
break; |
|
225 |
case ORB_SET_COLOR: |
|
226 |
orb_set_color(int_args[0]); |
|
227 |
break; |
|
228 |
case ORB_DISABLE: |
|
229 |
orb_disable(); |
|
230 |
break; |
|
231 |
case ORB_ENABLE: |
|
232 |
orb_enable(); |
|
233 |
break; |
|
234 |
case LED_INIT: |
|
235 |
break; |
|
236 |
case LED_USER: |
|
237 |
break; |
|
238 |
case ORB_SEND: |
|
239 |
//orb_send(); |
|
240 |
break; |
|
241 |
//Motors |
|
242 |
case MOTORS_INIT: |
|
243 |
usb_puts("calling motors_init\n"); |
|
244 |
motors_init(); |
|
245 |
break; |
|
246 |
case MOTOR1_SET: |
|
247 |
sprintf(buf, "calling motor1_set [%i] [%i]\n", args[0], args[1]); |
|
248 |
usb_puts(buf); |
|
249 |
motor1_set(args[0], args[1]); |
|
250 |
break; |
|
251 |
case MOTOR2_SET: |
|
252 |
sprintf(buf, "calling motor2_set [%i] [%i]\n", args[0], args[1]); |
|
253 |
usb_puts(buf); |
|
254 |
motor2_set(args[0], args[1]); |
|
255 |
break; |
|
256 |
case MOTORS_OFF: |
|
257 |
usb_puts("calling motors_off\n"); |
|
258 |
motors_off(); |
|
259 |
break; |
|
260 |
case MOVE: |
|
261 |
sprintf(buf, "calling move with: %d, %d\n", args[0], args[1]); |
|
262 |
usb_puts(buf); |
|
263 |
move(args[0], args[1]); |
|
264 |
break; |
|
265 |
case XBEE_INIT: |
|
266 |
xbee_init(); |
|
267 |
break; |
|
268 |
|
|
269 |
case XBEE_PUTC: |
|
270 |
xbee_putc((char)args[0]); |
|
271 |
break; |
|
272 |
|
|
273 |
case USB_INIT: |
|
274 |
usb_init(); |
|
275 |
break; |
|
276 |
|
|
277 |
case USB_PUTC: |
|
278 |
usb_putc((char)args[0]); |
|
279 |
break; |
|
280 |
|
|
281 |
case PRINTF: |
|
282 |
printf("%s", pkt.data); |
|
283 |
break; |
|
284 |
case KILL_ROBOT: |
|
285 |
motors_off(); |
|
286 |
buzzer_off(); |
|
287 |
exit(0); //kill the robot |
|
288 |
break; |
|
289 |
//Time |
|
290 |
case DELAY_MS: |
|
291 |
delay_ms(int_args[0]); |
|
292 |
break; |
|
293 |
|
|
294 |
//Analog |
|
295 |
case ANALOG_INIT: |
|
296 |
//TODO: how do we really init the analog? this doesn't work: |
|
297 |
//analog_init(); |
|
298 |
break; |
|
299 |
|
|
300 |
//BOM |
|
301 |
case BOM_ON: |
|
302 |
bom_on(); |
|
303 |
break; |
|
304 |
case BOM_OFF: |
|
305 |
bom_off(); |
|
306 |
break; |
|
307 |
|
|
308 |
//Dio |
|
309 |
case DIGITAL_OUTPUT: |
|
310 |
digital_output(int_args[0], int_args[1]); |
|
311 |
break; |
|
312 |
} |
|
313 |
} else { |
|
314 |
sprintf(buf, "%s: Error: Invalid colonet message type", __FUNCTION__); |
|
315 |
usb_puts(buf); |
|
316 |
} |
|
317 |
} |
|
318 |
|
|
319 |
static void packet_string_to_struct(ColonetRobotServerPacket* dest_pkt, unsigned char* pkt_buf) { |
|
320 |
memcpy(dest_pkt, pkt_buf, sizeof(ColonetRobotServerPacket)); |
|
321 |
} |
|
322 |
|
|
323 |
/* two_bytes_to_int(char a, char b) |
|
324 |
* Returns int of form [high][low] |
|
325 |
*/ |
|
326 |
static unsigned int two_bytes_to_int(char high, char low) { |
|
327 |
return (((unsigned int)high)<<8) + (unsigned int)low; |
|
328 |
} |
trunk/code/projects/colonet/lib/colonet_dragonfly/Makefile | ||
---|---|---|
1 |
COLONYROOT = ../../../../.. |
|
2 |
|
|
3 |
# colonet_wireless_test makefile |
|
4 |
MCU = atmega128 |
|
5 |
F_CPU = 8000000 |
|
6 |
CDEFS = -DF_CPU=$(F_CPU)UL |
|
7 |
|
|
8 |
CC = avr-gcc |
|
9 |
CFLAGS = -Wall -Wshadow -Wextra -g -mmcu=$(MCU) |
|
10 |
INCLUDES = -I../ -I../../../libwireless/lib -I../../../../lib/include/libdragonfly -I. |
|
11 |
|
|
12 |
all: colonet_dragonfly.o |
|
13 |
|
|
14 |
#colonet_dragonfly: colonet_dragonfly.o Makefile |
|
15 |
# $(CC) $(CFLAGS) $(INCLUDES) -o colonet_wireless_test colonet_wireless.o |
|
16 |
|
|
17 |
../../../libwireless/lib/libwireless.a: ../../../libwireless/lib/*.c ../../../libwireless/lib/*.h |
|
18 |
cd ../../../libwireless/lib; make |
|
19 |
|
|
20 |
colonet_dragonfly.o: ../../../libwireless/lib/libwireless.a colonet_dragonfly.c colonet_dragonfly.h |
|
21 |
$(CC) $(CDEFS) $(CFLAGS) $(INCLUDES) -c colonet_dragonfly.c |
|
22 |
ar rc libcolonet_dragonfly.a colonet_dragonfly.o |
|
23 |
ranlib libcolonet_dragonfly.a |
|
24 |
cp libcolonet_dragonfly.a $(COLONYROOT)/code/lib/bin/ |
|
25 |
|
|
26 |
clean: |
|
27 |
rm -rf *.o |
trunk/code/projects/colonet/lib/colonet_dragonfly/colonet_dragonfly.h | ||
---|---|---|
1 |
/** @file colonet.h |
|
2 |
* @brief Colonet library for colony robots |
|
3 |
* @author Eugene Marinelli |
|
4 |
* @date 10/26/06 |
|
5 |
*/ |
|
6 |
|
|
7 |
#ifndef COLONET_DRAGONFLY_H_ |
|
8 |
#define COLONET_DRAGONFLY_H_ |
|
9 |
|
|
10 |
#include <colonet_defs.h> |
|
11 |
|
|
12 |
/** |
|
13 |
*/ |
|
14 |
int colonet_init(void); |
|
15 |
|
|
16 |
/** @brief Registers a new colonet message handler function. If a message |
|
17 |
* with msgId is received, then handler will be called. |
|
18 |
* |
|
19 |
* @param msgId The message id of the handler to be registered. Must be |
|
20 |
* between USER_DEFINED_MSG_ID_START and USER_DEFINED_MSG_ID_END |
|
21 |
* @param handler The function to be called if a colonet packet with message |
|
22 |
* id msgId is received |
|
23 |
* |
|
24 |
* @return -1 on error (invalid msgId), 0 on success |
|
25 |
*/ |
|
26 |
int colonet_add_message(unsigned char msgId, void (*handler)(void)); |
|
27 |
|
|
28 |
#endif |
Also available in: Unified diff