/ - Diff - Colony - Robotics Club

trunk/code/projects/colonet/robot/robot_slave/Makefile
14	14	USE_WIRELESS = 1
15	15
16	16	# com1 = serial port. Use lpt1 to connect to parallel port.
17		#AVRDUDE_PORT = /dev/ttyUSB1
18		AVRDUDE_PORT = /dev/ttyUSB0
	17	AVRDUDE_PORT = /dev/ttyUSB1
	18	#AVRDUDE_PORT = /dev/ttyUSB0
19	19
20	20	#
21	21	#

           break;
+        }
       } else if (type == COLONET_COMMAND) {
         usb_puts("type is colonet command...\n");
         usb_puts("colonet command...\n");
     /* TODO uncomment this stuff */
     /*     if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */
-...
         case SERVER_REPORT_POSITION_TO_ROBOT:
           robot_x = int_args[0];
           robot_y = int_args[1];
           sprintf(buf, "my position is: %d %d\n", robot_x, robot_y);
           usb_puts(buf);
           break;
         case MOVE_TO_ABSOLUTE_POSITION:

     #include <stdio.h>
     #include <signal.h>
     #include <ColonetServer.h>
     ColonetServer colonet_server;
     void cleanup(int a) {
       printf("TODO deinit wireless here\n");
       exit(0);
+    }
     /**
      * @brief The main function of the server
+     *
-...
         return -1;
+      }
       signal(SIGINT, cleanup);
       if (colonet_server.start_listening() < 0) {
         fprintf(stderr, "ColonetServer.start_listening failed.\n");
         return -1;
+      }
       colonet_server.run_position_monitor();
       colonet_server.run_server();
       return 0;

trunk/code/projects/colonet/server/includes/ColonetServer.h
22	22	int run_server(void);
23	23	int process_received_wireless_message(int dest, char* data, int len);
24	24	PositionMonitor* getPositionMonitor(void);
	25	int run_position_monitor(void);
25	26
26	27	private:
27	28	ConnectionPool* connection_pool;

       PositionMonitor(void);
       ~PositionMonitor(void);
       int startMonitoring(void);
       void run(void);
       int stopMonitoring(void);
       int updatePositions(void);
-...
       map<int, VisionPosition> positionMap;
       bool isProbablySameRobot(VisionPosition p1, VisionPosition p2);
       int newIdToAssign;
       pthread_mutex_t position_map_lock;
     };
     #endif

       return 0;
+    }
     void* run_thread(void* arg) {
       PositionMonitor* p = (PositionMonitor*) arg;
       p->run();
       return NULL;
+    }
     int ColonetServer::run_position_monitor() {
       pthread_t posmon_thread;
       pthread_create(&posmon_thread, NULL, run_thread, &position_monitor);
       return 0;
+    }
     /**
      * @brief Starts the server running (starts an infinite loop)
      */

trunk/code/projects/colonet/server/PositionMonitor.cpp
22	22	//TODO: check for error returned from init
23	23	vision_init("/var/www/colonet.jpg");
24	24	newIdToAssign = -1;
	25
	26	pthread_mutex_init(&position_map_lock, NULL);
25	27	}
26	28
27	29	PositionMonitor::~PositionMonitor() {
28	30	}
29	31
30		int PositionMonitor::startMonitoring() {
31		//TODO: fill this in when this becomes asynchronous
32		return 0;
	32	void PositionMonitor::run() {
	33	while (1) {
	34	updatePositions();
	35	usleep(500000);
	36	}
33	37	}
34	38
35	39	int PositionMonitor::stopMonitoring() {
...	...
107	111	}
108	112
109	113	map<int, VisionPosition> PositionMonitor::getAllRobotPositions() {
110		//TODO do this in another thread!
111		updatePositions();
112
113	114	return positionMap;
114	115	}
115	116

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