Revision 885
Removed debugging messages from wireless for bayboard.
| wl_token_ring.c | ||
|---|---|---|
| 232 | 232 |
**/ |
| 233 | 233 |
static void wl_token_ring_timeout_handler() |
| 234 | 234 |
{
|
| 235 |
usb_putc('t');
|
|
| 236 | 235 |
//someone is not responding, assume they are dead |
| 237 | 236 |
if (deathDelay == 0) |
| 238 | 237 |
{
|
| ... | ... | |
| 240 | 239 |
//also, declare that person dead, as long as it isn't us |
| 241 | 240 |
if (wl_token_next_robot != wl_get_xbee_id()) |
| 242 | 241 |
{
|
| 243 |
usb_puts("Death.\n\r");
|
|
| 244 |
usb_puti(wl_token_next_robot); |
|
| 245 |
usb_puts("\n\r");
|
|
| 246 | 242 |
sensor_matrix_set_in_ring(wl_token_next_robot, 0); |
| 247 | 243 |
WL_DEBUG_PRINT("Robot ");
|
| 248 | 244 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
| ... | ... | |
| 262 | 258 |
{
|
| 263 | 259 |
if (sensor_matrix_get_joined() == 0) |
| 264 | 260 |
{
|
| 265 |
usb_puts("Gave up.\n\r");
|
|
| 266 | 261 |
WL_DEBUG_PRINT("Creating our own token ring, no robots seem to exist.\r\n");
|
| 267 | 262 |
sensor_matrix_set_in_ring(wl_get_xbee_id(), 1); |
| 268 | 263 |
ringState = MEMBER; |
| ... | ... | |
| 319 | 314 |
switch (type) |
| 320 | 315 |
{
|
| 321 | 316 |
case WL_TOKEN_PASS: |
| 322 |
usb_puts("Got token.\n\r");
|
|
| 323 | 317 |
wl_token_pass_receive(source); |
| 324 | 318 |
break; |
| 325 | 319 |
case WL_TOKEN_SENSOR_MATRIX: |
| 326 |
usb_puts("Got sensor matrix.\n\r");
|
|
| 327 | 320 |
wl_token_sensor_matrix_receive(source, packet, length); |
| 328 | 321 |
break; |
| 329 | 322 |
case WL_TOKEN_BOM_ON: |
| 330 |
usb_puts("Got BOM on.\n\r");
|
|
| 331 | 323 |
//add the robot to the sensor matrix if it is not already there |
| 332 | 324 |
wl_token_bom_on_receive(source); |
| 333 | 325 |
break; |
| 334 | 326 |
case WL_TOKEN_JOIN: |
| 335 |
usb_puts("Got join request.\n\r");
|
|
| 336 | 327 |
wl_token_join_receive(source); |
| 337 | 328 |
break; |
| 338 | 329 |
case WL_TOKEN_JOIN_ACCEPT: |
| 339 |
usb_puts("Got join accept.\n\r");
|
|
| 340 | 330 |
wl_token_join_accept_receive(source); |
| 341 | 331 |
break; |
| 342 | 332 |
default: |
| ... | ... | |
| 515 | 505 |
WL_DEBUG_PRINT_INT(wl_token_next_robot); |
| 516 | 506 |
WL_DEBUG_PRINT(".\n");
|
| 517 | 507 |
// 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");
|
|
| 520 | 508 |
if ((source != wl_token_next_robot && wl_get_xbee_id() != wl_token_next_robot) && bom_on_count <= DEATH_DELAY / 2 && |
| 521 | 509 |
ringState != ACCEPTED) |
| 522 | 510 |
{
|
| ... | ... | |
| 705 | 693 |
} |
| 706 | 694 |
else |
| 707 | 695 |
{
|
| 708 |
usb_puts("Accepting.\n\r");
|
|
| 709 | 696 |
WL_DEBUG_PRINT("Accepting new robot, sending it the token.\r\n");
|
| 710 | 697 |
//add a new robot to the token ring |
| 711 | 698 |
sensor_matrix_set_in_ring(accepted, 1); |
| ... | ... | |
| 724 | 711 |
buf[2*j] = i; |
| 725 | 712 |
buf[2*j + 1] = sensor_matrix_get_reading(wl_get_xbee_id(), i); |
| 726 | 713 |
j++; |
| 727 |
usb_puti(i); |
|
| 728 |
usb_puts("\n\r");
|
|
| 729 | 714 |
} |
| 730 | 715 |
} |
| 731 |
usb_puts("\n\r");
|
|
| 732 | 716 |
int packetSize = 2 * j * sizeof(char); |
| 733 | 717 |
WL_DEBUG_PRINT("Passing the token to robot ");
|
| 734 | 718 |
WL_DEBUG_PRINT_INT(nextRobot); |
| 735 | 719 |
WL_DEBUG_PRINT(".\r\n");
|
| 736 |
usb_puts("Passing token ");
|
|
| 737 |
usb_puti(nextRobot); |
|
| 738 |
usb_puts("\n\r");
|
|
| 739 | 720 |
if (wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_SENSOR_MATRIX, buf, packetSize, 0) != 0) |
| 740 | 721 |
return -1; |
| 741 | 722 |
if (wl_send_robot_to_robot_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS, NULL, 0, nextRobot, WL_TOKEN_PASS_FRAME)) |
| 742 | 723 |
return -1; |
| 743 | 724 |
|
| 744 | 725 |
wl_token_next_robot = nextRobot; |
| 745 |
usb_puti(nextRobot); |
|
| 746 | 726 |
deathDelay = DEATH_DELAY; |
| 747 | 727 |
|
| 748 | 728 |
return 0; |
| ... | ... | |
| 799 | 779 |
wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON, NULL, 0, 0); |
| 800 | 780 |
|
| 801 | 781 |
//bom_on_function(); |
| 802 |
//#ifdef ROBOT |
|
| 803 |
usb_puts("BOM ON!\n\r");
|
|
| 782 |
#ifdef ROBOT |
|
| 804 | 783 |
delay_ms(BOM_DELAY); |
| 805 |
usb_puts("BOM OFF!\n\r");
|
|
| 806 |
//#endif |
|
| 807 |
//bom_off_function(); |
|
| 784 |
#endif |
|
| 785 |
bom_off_function(); |
|
| 808 | 786 |
|
| 809 | 787 |
if (!sensor_matrix_get_in_ring(wl_get_xbee_id())) |
| 810 | 788 |
{
|
| 811 |
usb_puts("FAIL\n\r");
|
|
| 812 | 789 |
WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
|
| 813 | 790 |
return; |
| 814 | 791 |
} |
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