Revision 904
Compiles now. This code worked a while ago but I haven't touched it since early last semester.
The idea was to do exactly what Abe is doing now... so it might be useful.
| data_response.c | ||
|---|---|---|
| 29 | 29 |
} |
| 30 | 30 |
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| 31 | 31 |
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/** |
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* Sorry for the lack of modularity, I didn't want to deal with memory issues for too long, plus it'll be faster! |
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*/ |
|
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void handle_receive(char type, int source, unsigned char* packet, int length){
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| 36 | 33 |
|
| 37 | 34 |
char buf[MAX_PACKET_LENGTH]; |
| ... | ... | |
| 57 | 54 |
|
| 58 | 55 |
case IR_TYPE: |
| 59 | 56 |
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//usb_puts("Generating an IR packet.\n");
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| 61 | 57 |
for(i=0;i<5;i++){
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| 62 | 58 |
ir_value = (short)range_read_distance(ranges[i]); |
| 63 | 59 |
buf[2*i] = (char)((ir_value>>8)&255); |
| 64 | 60 |
buf[2*i+1] = (ir_value&255); |
| 65 |
//usb_puts("Distance :\t");
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//usb_puti(ir_value); |
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//usb_puts("\n");
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} |
| 69 | 62 |
size = 10; |
| 70 | 63 |
|
| ... | ... | |
| 80 | 73 |
case ENCODER_TYPE: |
| 81 | 74 |
break; |
| 82 | 75 |
//Not yet supported. |
| 83 |
} |
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| 84 | 77 |
case ALL_TYPE: |
| 85 | 78 |
for(i=0;i<5;i++){
|
| 86 | 79 |
ir_value = (short)range_read_distance(ranges[i]); |
| 87 | 80 |
buf[2*i] = (char)((ir_value>>8)&255); |
| 88 | 81 |
buf[2*i+1] = (ir_value&255); |
| 89 | 82 |
} //Buf 0...9 filled. |
| 90 |
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| 91 | 84 |
//Tack on the Encoder data... |
| 92 | 85 |
//Then BOM: |
| 93 | 86 |
wl_token_iterator_begin(); |
| ... | ... | |
| 99 | 92 |
} |
| 100 | 93 |
wl_send_robot_to_robot_global_packet(DATA_REQUEST_GROUP,ALL_TYPE,buf,size,source,0); |
| 101 | 94 |
break; |
| 102 |
} |
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|
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/** |
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* @brief Generates a BOM Data packet. **NO LONGER USED** Delete once this code is used often. |
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*/ |
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int generate_bom_packet(char** buf){
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short int i=0, robot_id; |
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wl_token_iterator_begin(); |
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while(wl_token_iterator_has_next() && i<=96){
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robot_id = wl_token_iterator_next(); |
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(*buf)[i++] = (char)((robot_id>>8) & 0xFF); |
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(*buf)[i++] = (char)(robot_id & 0xFF); |
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(*buf)[i++] = (char)(wl_token_get_my_sensor_reading(robot_id)); |
|
| 115 | 95 |
} |
| 116 |
//i is one greater than the index of the last byte... the size. |
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return i; |
|
| 118 | 96 |
} |
| 119 | 97 |
|
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/** |
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* @brief Generates an IR Packet **NO LONGER USED** Delete once this code is used often. |
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* |
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*/ |
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int generate_IR_packet(char** buf){
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//usb_puts("Generating an IR packet.\n");
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char ranges[] = {IR1,IR2,IR3,IR4,IR5};
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int i; |
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short ir_value; |
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for(i=0;i<5;i++){
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ir_value = (short)range_read_distance(ranges[i]); |
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(*buf)[2*i] = (char)((ir_value>>8)&255); |
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(*buf)[2*i+1] = (ir_value&255); |
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//usb_puts("Distance :\t");
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//usb_puti(ir_value); |
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//usb_puts("\n");
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} |
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return 10; |
|
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} |
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