root / trunk / code / projects / colonet / robot / colonet_dragonfly / colonet_dragonfly.c @ 531
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/** @file colonet.c
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* @brief Colonet library for DRAGONFLY colony robots
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*
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* @author Eugene Marinelli
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* @date 10/10/07
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*
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* @bug Handler registration not tested
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* @bug Request reponding not implemented - only accepts commands.
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*/
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#include <assert.h> |
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#include <battery.h> |
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#include <colonet_defs.h> |
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#include <colonet_dragonfly.h> |
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#include <dragonfly_lib.h> |
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#include <math.h> |
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#include <string.h> |
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#include <wireless.h> |
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#define TARGET_POSITION_STOP_DISTANCE_THRESHOLD (15) |
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typedef struct { |
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unsigned char msgId; //is this necessary? |
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void (*handler)(void); |
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} UserHandler; |
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|
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/* Globals (internal) */
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static UserHandler user_handlers[USER_DEFINED_MSG_TOTAL];
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static int robot_x, robot_y; |
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static volatile int updated_robot_pos_ready; |
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#define ERROR_MAG_TO_MOTOR_DIFFENTIAL_CONST (80) |
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/* Internal function prototypes */
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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); |
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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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/* Public functions */
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int colonet_init() {
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colonet_pgh.groupCode = COLONET_PACKET_GROUP_ID; |
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colonet_pgh.timeout_handler = NULL;
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colonet_pgh.handle_response = NULL;
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colonet_pgh.handle_receive = colonet_handle_receive; |
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colonet_pgh.unregister = NULL;
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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;
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updated_robot_pos_ready = 0;
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return 0; |
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} |
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/* colonet_add_message
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* Adds a user-defined message
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*/
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int colonet_add_message(unsigned char msgId, void (*handler)(void)) { |
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if(msgId < USER_DEFINED_MSG_ID_START /* || msgId > USER_DEFINED_MSG_ID_END */){ |
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return -1; |
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} |
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/* Register this function in the array */
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].msgId = msgId; |
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user_handlers[msgId-USER_DEFINED_MSG_ID_START].handler = handler; |
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return 0; |
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} |
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void get_absolute_position(int* x, int* y) { |
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*x = robot_x; |
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*y = robot_y; |
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} |
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void request_abs_position() {
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usb_puts("requesting_abs_position\n");
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ColonetRobotServerPacket pkt; |
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pkt.client_id = -1;
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pkt.msg_code = ROBOT_REQUEST_POSITION_FROM_SERVER; |
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wl_send_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), 0); |
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} |
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static int distsquared(int x1, int y1,int x2, int y2) { |
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return (x2-x1)*(x2-x1) + (y2-y1)*(y2-y1);
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} |
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/* cubic approximation of arctan. */
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/*static void arctan(float t) {
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float t3 = t*t*t;
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return -0.039 * t3 + 0.74 * t + 0.00011;
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}*/
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/** Differential is the intended left motor speed - right motor speed. */
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static void set_motors_with_differential(int differential) { |
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int ml, mr;
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if (differential >= 0) { |
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/* Going left or straight. */
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ml = 250;
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mr = ml - differential; |
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} else {
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/* Turning right. */
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mr = 250;
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ml = mr + differential; |
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} |
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int motor1_dir = mr < 0 ? 0 : 1; |
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int motor2_dir = ml < 0 ? 0 : 1; |
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motor1_set(motor1_dir, mr); |
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motor2_set(motor2_dir, ml); |
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} |
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static float sqrt_approx(float x) { |
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float x2 = x*x;
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float x3 = x*x2;
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return 0.00014*x3 - 0.0078*x2 + 0.29*x + 0.84; |
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} |
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static void move_to_position_routine(int target_x, int target_y) { |
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int last_x = robot_x, last_y = robot_y;
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char buf[40]; |
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sprintf(buf, "cur dist is %d\n", distsquared(robot_x, robot_y, target_x, target_y));
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usb_puts(buf); |
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sprintf(buf, "radius squared is %d\n", TARGET_POSITION_STOP_DISTANCE_THRESHOLD*TARGET_POSITION_STOP_DISTANCE_THRESHOLD);
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usb_puts(buf); |
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while (distsquared(robot_x, robot_y, target_x, target_y) >
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TARGET_POSITION_STOP_DISTANCE_THRESHOLD*TARGET_POSITION_STOP_DISTANCE_THRESHOLD) { |
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request_abs_position(); // While we're doing this computation, server can be reporting next position.
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int count = 0; |
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while (!updated_robot_pos_ready) { // ghetto condition variable |
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wl_do(); |
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if (count++ == 10000) { // in case the server missed it... |
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request_abs_position(); |
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count = 0;
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} |
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} |
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int cur_robot_x = robot_x;
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int cur_robot_y = robot_y;
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sprintf(buf, "Current position: %d %d\n", cur_robot_x, cur_robot_y);
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usb_puts(buf); |
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sprintf(buf, "Target position: %d %d\n", target_x, target_y);
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usb_puts(buf); |
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updated_robot_pos_ready = 0;
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request_abs_position(); // While we're doing this computation, server can be reporting next position.
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float r_x = (float)target_x - cur_robot_x; |
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float r_y = (float)target_y - cur_robot_y; |
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float r_mag = sqrt_approx(r_x * r_x + r_y * r_y);
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r_x /= r_mag; |
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r_y /= r_mag; |
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float v_x = (float)cur_robot_x - last_x; |
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float v_y = robot_y - last_y;
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float v_mag = sqrt_approx(v_x*v_x + v_y*v_y);
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v_x /= v_mag; |
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v_y /= v_mag; |
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float e_x = r_x - v_x;
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float e_y = r_y - v_y;
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float e_mag = sqrt_approx(e_x * e_x + e_y * e_y);
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sprintf(buf, "Error: <%f,%f>; mag: %f\n", e_x, e_y, e_mag);
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usb_puts(buf); |
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/* Motor differential proportional to magnitude of directional error. */
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int motor_differential = (int)(e_mag * ERROR_MAG_TO_MOTOR_DIFFENTIAL_CONST); |
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/* Determine left or right by transforming error vector to robot axes */
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// Perpendicular
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float p_x = v_y;
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float p_y = -v_x;
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/* Inverse matrix */
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float coeff = 1.0 / (p_x * v_y - v_x * p_y); |
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float mat[2][2]; |
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mat[0][0] = v_y * coeff; |
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mat[0][1] = -v_x * coeff; |
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//mat[1][0] = -p_y * coeff; //Not needed for our purposes.
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//mat[1][1] = p_x * coeff;
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float e_trans_x = mat[0][0] * e_x + mat[0][1] * e_y; |
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//float e_trans_y = mat[1][0] * e_x + mat[1][1] * e_y; //Not needed for our purposes.
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if (e_trans_x < 0) { |
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motor_differential = -motor_differential; |
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} |
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sprintf(buf, "motor_diff: %d\n", motor_differential);
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usb_puts(buf); |
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last_x = cur_robot_x; |
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last_y = cur_robot_y; |
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set_motors_with_differential(motor_differential); |
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} |
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usb_puts("reached destination!\n");
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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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* when it is determined that a colonet message has been received.
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*
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* @param robot_id The robot id
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* @param pkt_buf The packet buffer (e.g. wl_buf)
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*
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* @return -1 on error (invalid msgId), 0 on success
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*/
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static void colonet_handle_receive(char type, int wl_source, unsigned char* packet, int length) { |
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ColonetRobotServerPacket* pkt= (ColonetRobotServerPacket*)packet; |
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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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char buf[40]; |
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length = length; |
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/*
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usb_puts("Packet received.\n");
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sprintf(buf, "length=%d\n", length);
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int i;
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for (i = 0; i < length; i++) {
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sprintf(buf, "%d: %d ", i, packet[i]);
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usb_puts(buf);
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}
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usb_puts("\n");
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*/
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//printf("received message from %d of length %d\n", source, length);
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///assert(length == sizeof(ColonetRobotServerPacket));
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/*
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sprintf(buf, "client_id:%d, msg_code:%d\n", pkt.client_id, pkt.msg_code);
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usb_puts(buf);*/
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args = pkt->data; |
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int_args[0] = two_bytes_to_int(args[0], args[1]); |
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int_args[1] = two_bytes_to_int(args[2], args[3]); |
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int_args[2] = two_bytes_to_int(args[4], args[5]); |
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if (type == COLONET_REQUEST) {
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sprintf(buf, "received colonet request: pkt msgcode is %d\n", pkt->msg_code);
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usb_puts(buf); |
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switch (pkt->msg_code) {
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//Sharp
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case READ_DISTANCE:
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break;
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case LINEARIZE_DISTANCE:
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break;
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case LOG_DISTANCE:
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break;
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//Analog
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case CALL_ANALOG8:
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break;
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case CALL_ANALOG10:
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break;
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case WHEEL:
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break;
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case BATTERY:
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sprintf((char*)pkt->data, "%d", (int)battery8()); |
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wl_send_robot_to_robot_global_packet(colonet_pgh.groupCode, 0, (char*)&pkt, sizeof(pkt), wl_source, 0); |
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break;
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//BOM
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case GETMAXBOM:
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break;
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//Dio
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case DIGITAL_INPUT:
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break;
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case BUTTON1_READ:
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break;
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case BUTTON2_READ:
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break;
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//Bumper
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case DETECT_BUMP:
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break;
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} |
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} else if (type == COLONET_COMMAND) { |
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sprintf(buf, "colonet command ... pkt->msg_code=%d\n", pkt->msg_code);
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usb_puts(buf); |
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/* TODO uncomment this stuff */
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/* if (pkt.msg_code >= USER_DEFINED_MSG_ID_START && */
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/* pkt.msg_code <= USER_DEFINED_MSG_ID_END) { */
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/* if (user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler) { */
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/* /\* Call the user's handler function if it the function's address */
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/* * is non-zero (has been set) *\/ */
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/* user_handlers[pkt.msg_code - USER_DEFINED_MSG_ID_START].handler(); */
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/* } */
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/* } */
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switch (pkt->msg_code) {
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/* default: */
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/* printf("%s: Error - message code %d not implemented\n", __FUNCTION__, */
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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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updated_robot_pos_ready = 1;
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sprintf(buf, "pos is: %d %d\n", robot_x, robot_y);
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usb_puts(buf); |
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break;
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case MOVE_TO_ABSOLUTE_POSITION:
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usb_puts("move to abs position2!\n");
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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(); |
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break;
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case BUZZER_SET_VAL:
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buzzer_set_val(args[0]);
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break;
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case BUZZER_SET_FREQ:
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buzzer_set_freq(args[0]);
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break;
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case BUZZER_CHIRP:
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buzzer_chirp(int_args[0], int_args[1]); |
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break;
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case BUZZER_OFF:
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buzzer_off(); |
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break;
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case ORB_INIT:
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orb_init(); |
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break;
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//Orb
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case ORB_SET:
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orb_set(args[0], args[1], args[2]); |
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break;
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case ORB_SET_COLOR:
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orb_set_color(int_args[0]);
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break;
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case ORB_DISABLE:
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orb_disable(); |
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break;
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case ORB_ENABLE:
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orb_enable(); |
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break;
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case LED_INIT:
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break;
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case LED_USER:
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break;
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//Motors
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case MOTORS_INIT:
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usb_puts("calling motors_init\n");
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motors_init(); |
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break;
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case MOTOR1_SET:
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sprintf(buf, "calling motor1_set [%i] [%i]\n", args[0], args[1]); |
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usb_puts(buf); |
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motor1_set(args[0], args[1]); |
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break;
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case MOTOR2_SET:
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sprintf(buf, "calling motor2_set [%i] [%i]\n", args[0], args[1]); |
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usb_puts(buf); |
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motor2_set(args[0], args[1]); |
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break;
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case MOTORS_OFF:
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usb_puts("calling motors_off\n");
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motors_off(); |
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break;
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case MOVE:
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sprintf(buf, "calling move with: %d, %d\n", args[0], args[1]); |
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usb_puts(buf); |
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move(args[0], args[1]); |
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break;
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case USB_INIT:
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usb_init(); |
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break;
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case USB_PUTC:
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usb_putc((char)args[0]); |
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break;
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case PRINTF:
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printf("%s", pkt->data);
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break;
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case KILL_ROBOT:
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motors_off(); |
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buzzer_off(); |
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exit(0); //kill the robot |
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break;
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//Time
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case DELAY_MS:
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delay_ms(int_args[0]);
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break;
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|
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//Analog
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case ANALOG_INIT:
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//TODO: how do we really init the analog? this doesn't work:
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//analog_init();
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break;
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|
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//BOM
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case BOM_ON:
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bom_on(); |
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break;
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case BOM_OFF:
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bom_off(); |
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break;
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|
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//Dio
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case DIGITAL_OUTPUT:
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digital_output(int_args[0], int_args[1]); |
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break;
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} |
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} else {
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sprintf(buf, "%s: Error: Invalid colonet message type", __FUNCTION__);
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usb_puts(buf); |
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} |
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} |
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|
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/* two_bytes_to_int(char a, char b)
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* Returns int of form [high][low]
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*/
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static unsigned int two_bytes_to_int(char high, char low) { |
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return (((unsigned int)high)<<8) + (unsigned int)low; |
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} |