Revision 883
Wireless for bayboard sort of works. I still left in all my debugging information though, and it doesn't seem to work quite as well as the other two. Some more work is needed.
| wl_token_ring.c | ||
|---|---|---|
| 232 | 232 |
**/ |
| 233 | 233 |
static void wl_token_ring_timeout_handler() |
| 234 | 234 |
{
|
| 235 |
usb_putc('t');
|
|
| 235 | 236 |
//someone is not responding, assume they are dead |
| 236 | 237 |
if (deathDelay == 0) |
| 237 | 238 |
{
|
| ... | ... | |
| 239 | 240 |
//also, declare that person dead, as long as it isn't us |
| 240 | 241 |
if (wl_token_next_robot != wl_get_xbee_id()) |
| 241 | 242 |
{
|
| 243 |
usb_puts("Death.\n\r");
|
|
| 244 |
usb_puti(wl_token_next_robot); |
|
| 245 |
usb_puts("\n\r");
|
|
| 242 | 246 |
sensor_matrix_set_in_ring(wl_token_next_robot, 0); |
| 243 | 247 |
WL_DEBUG_PRINT("Robot ");
|
| 244 | 248 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
| ... | ... | |
| 258 | 262 |
{
|
| 259 | 263 |
if (sensor_matrix_get_joined() == 0) |
| 260 | 264 |
{
|
| 265 |
usb_puts("Gave up.\n\r");
|
|
| 261 | 266 |
WL_DEBUG_PRINT("Creating our own token ring, no robots seem to exist.\r\n");
|
| 262 | 267 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1); |
| 263 | 268 |
ringState = MEMBER; |
| ... | ... | |
| 314 | 319 |
switch (type) |
| 315 | 320 |
{
|
| 316 | 321 |
case WL_TOKEN_PASS: |
| 322 |
usb_puts("Got token.\n\r");
|
|
| 317 | 323 |
wl_token_pass_receive(source); |
| 318 | 324 |
break; |
| 319 | 325 |
case WL_TOKEN_SENSOR_MATRIX: |
| 326 |
usb_puts("Got sensor matrix.\n\r");
|
|
| 320 | 327 |
wl_token_sensor_matrix_receive(source, packet, length); |
| 321 | 328 |
break; |
| 322 | 329 |
case WL_TOKEN_BOM_ON: |
| 330 |
usb_puts("Got BOM on.\n\r");
|
|
| 323 | 331 |
//add the robot to the sensor matrix if it is not already there |
| 324 | 332 |
wl_token_bom_on_receive(source); |
| 325 | 333 |
break; |
| 326 | 334 |
case WL_TOKEN_JOIN: |
| 335 |
usb_puts("Got join request.\n\r");
|
|
| 327 | 336 |
wl_token_join_receive(source); |
| 328 | 337 |
break; |
| 329 | 338 |
case WL_TOKEN_JOIN_ACCEPT: |
| 339 |
usb_puts("Got join accept.\n\r");
|
|
| 330 | 340 |
wl_token_join_accept_receive(source); |
| 331 | 341 |
break; |
| 332 | 342 |
default: |
| ... | ... | |
| 505 | 515 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
| 506 | 516 |
WL_DEBUG_PRINT(".\n");
|
| 507 | 517 |
// this prevents two tokens from being passed around at a time (second clause is in case we are joining) |
| 518 |
usb_puti(source); usb_putc(' '); usb_puti(wl_token_next_robot); usb_putc(' '); usb_puti(wl_get_xbee_id());
|
|
| 519 |
usb_putc(' '); usb_puti(bom_on_count); usb_putc(' '); usb_puti(ringState); usb_putc(' '); usb_puts("\n\r");
|
|
| 508 | 520 |
if ((source != wl_token_next_robot && wl_get_xbee_id() != wl_token_next_robot) && bom_on_count <= DEATH_DELAY / 2 && |
| 509 | 521 |
ringState != ACCEPTED) |
| 510 | 522 |
{
|
| ... | ... | |
| 693 | 705 |
} |
| 694 | 706 |
else |
| 695 | 707 |
{
|
| 708 |
usb_puts("Accepting.\n\r");
|
|
| 696 | 709 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n");
|
| 697 | 710 |
//add a new robot to the token ring |
| 698 | 711 |
sensor_matrix_set_in_ring(accepted, 1); |
| ... | ... | |
| 711 | 724 |
buf[2*j] = i; |
| 712 | 725 |
buf[2*j + 1] = sensor_matrix_get_reading(wl_get_xbee_id(), i); |
| 713 | 726 |
j++; |
| 727 |
usb_puti(i); |
|
| 728 |
usb_puts("\n\r");
|
|
| 714 | 729 |
} |
| 715 | 730 |
} |
| 716 |
|
|
| 731 |
usb_puts("\n\r");
|
|
| 717 | 732 |
int packetSize = 2 * j * sizeof(char); |
| 718 | 733 |
WL_DEBUG_PRINT("Passing the token to robot ");
|
| 719 | 734 |
WL_DEBUG_PRINT_INT(nextRobot); |
| 720 | 735 |
WL_DEBUG_PRINT(".\r\n");
|
| 736 |
usb_puts("Passing token ");
|
|
| 737 |
usb_puti(nextRobot); |
|
| 738 |
usb_puts("\n\r");
|
|
| 721 | 739 |
if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0) |
| 722 | 740 |
return -1; |
| 723 | 741 |
if (wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME)) |
| 724 | 742 |
return -1; |
| 725 | 743 |
|
| 726 | 744 |
wl_token_next_robot = nextRobot; |
| 745 |
usb_puti(nextRobot); |
|
| 727 | 746 |
deathDelay = DEATH_DELAY; |
| 728 | 747 |
|
| 729 | 748 |
return 0; |
| ... | ... | |
| 779 | 798 |
WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
|
| 780 | 799 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0); |
| 781 | 800 |
|
| 782 |
bom_on_function(); |
|
| 783 |
#ifdef ROBOT |
|
| 801 |
//bom_on_function(); |
|
| 802 |
//#ifdef ROBOT |
|
| 803 |
usb_puts("BOM ON!\n\r");
|
|
| 784 | 804 |
delay_ms(BOM_DELAY); |
| 785 |
#endif |
|
| 786 |
bom_off_function(); |
|
| 805 |
usb_puts("BOM OFF!\n\r");
|
|
| 806 |
//#endif |
|
| 807 |
//bom_off_function(); |
|
| 787 | 808 |
|
| 788 | 809 |
if (!sensor_matrix_get_in_ring(wl_get_xbee_id())) |
| 789 | 810 |
{
|
| 811 |
usb_puts("FAIL\n\r");
|
|
| 790 | 812 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
| 791 | 813 |
return; |
| 792 | 814 |
} |
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