root / trunk / code / projects / slam.bak2 / computer / data_requests.c @ 722
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#include "data_requests.h" |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include "../../libwireless/lib/wireless.h" |
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#include <string.h> |
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PacketGroupHandler pgh; |
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void receive_handle(char type, int source, unsigned char* packet, int length); |
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void (*bom_handle)(short id, BomNode** head); |
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void (*IR_handle)(short id, short** data); |
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void (*encoder_handle)(short id, unsigned char** data); |
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void data_requests_init(void(*bom_data_handler)(short id, BomNode** head), |
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void(*IR_data_handler)(short id, short** data), |
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void(*encoder_data_handler)(short id, unsigned char** data)){ |
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bom_handle = bom_data_handler; |
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IR_handle = IR_data_handler; |
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encoder_handle = encoder_data_handler; |
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pgh.groupCode = DATA_REQUEST_GROUP; |
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pgh.timeout_handler = NULL;
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pgh.handle_response = NULL;
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pgh.handle_receive = receive_handle; |
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pgh.unregister = NULL;
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wl_register_packet_group(&pgh); |
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} |
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void request_bom_data(int robot_id){ |
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wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,BOM_TYPE,NULL,0,robot_id,0); |
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} |
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void request_IR_data(int robot_id){ |
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wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,IR_TYPE,NULL,0,robot_id,0); |
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} |
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void request_encoder_data(int robot_id){ |
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wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,ENCODER_TYPE,NULL,0,robot_id,0); |
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} |
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void request_all(int robot_id){ |
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wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,ALL_TYPE,NULL,0,robot_id,0); |
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} |
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void receive_handle(char type, int source, unsigned char* packet, int length){ |
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int i=0; |
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BomNode* head; |
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switch(type){
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case BOM_TYPE:
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head = malloc(sizeof(BomNode));
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BomNode* iter = head; |
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while(i<length){
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iter->robot_id = ((short)packet[i]<<8) + ((short)packet[i+1]); |
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i+=2;
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iter->value = packet[i++]; |
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if(i<length){
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iter->next = malloc(sizeof(BomNode));
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iter = iter->next; |
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} |
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} |
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bom_handle(source,&head); |
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break;
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case IR_TYPE:
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/*An IR packet consists of just the 10 bytes representing the IR
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values as shorts, in order.*/
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if(length != 10) break; |
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short* data = malloc(5*sizeof(short)); |
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for(i=0;i<5;i++){ |
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data[i]= ((((short)packet[2*i])<<8)&0xff00 ) | ( (short)(packet[2*i+1])&255); |
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} |
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IR_handle(source, &data); |
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break;
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case ENCODER_TYPE:
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/*I have no idea yet, unsupported.*/
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break;
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case ALL_TYPE:
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short* data = malloc(5*sizeof(short)); |
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for(i=0;i<5;i++) |
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data[i]= ((((short)packet[2*i])<<8)&0xff00 ) | ( (short)(packet[2*i+1])&255); |
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head = malloc(sizeof(BomNode));
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BomNode* iter = head; |
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while(i<length){
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iter->robot_id = ((short)packet[i]<<8) + ((short)packet[i+1]); |
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i+=2;
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iter->value = packet[i++]; |
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if(i<length){
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iter->next = malloc(sizeof(BomNode));
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iter = iter->next; |
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} |
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} |
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bom_handle(source,&head); |
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IR_handle(source, &data); |
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encoder_handle(source,NULL);
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break;
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} |
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} |
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