root / branches / autonomous_recharging / code / projects / autonomous_recharging / dragonfly / wl_recharge_group.c @ 93
History | View | Annotate | Download (10.5 KB)
1 |
#include "wl_recharge_group.h" |
---|---|
2 |
|
3 |
#include <wireless.h> |
4 |
#include <wl_defs.h> |
5 |
#include <stdio.h> |
6 |
#include <string.h> |
7 |
|
8 |
|
9 |
// Function prototypes
|
10 |
void wl_recharge_timeout_handler(void); |
11 |
void wl_recharge_response_handler(int frame, int received); |
12 |
void wl_recharge_handle_receive(char type, int source, unsigned char* packet, |
13 |
int length);
|
14 |
void wl_recharge_cleanup(void); |
15 |
|
16 |
// messgae handlers
|
17 |
void wl_recharge_station_available(int source); |
18 |
void wl_recharge_request_accepted(int source); |
19 |
void wl_recharge_verify(int source); |
20 |
void wl_recharge_cancel(int source); |
21 |
void wl_recharge_seeking(int source); |
22 |
void wl_recharge_docked(int source); |
23 |
|
24 |
// sending packets
|
25 |
void wl_recharge_send_poll(void); |
26 |
void wl_recharge_send_request(int dest); |
27 |
void wl_recharge_send_verify(int dest); |
28 |
void wl_recharge_send_cancel(int dest); |
29 |
void wl_recharge_send_seeking(int dest); |
30 |
void wl_recharge_send_docked(int dest); |
31 |
|
32 |
// the handler
|
33 |
PacketGroupHandler wl_recharge_handler = |
34 |
{WL_RECHARGE_GROUP, wl_recharge_timeout_handler, |
35 |
wl_recharge_response_handler, wl_recharge_handle_receive, |
36 |
wl_recharge_cleanup}; |
37 |
|
38 |
//timing
|
39 |
//timer ticks between polls
|
40 |
#define POLL_DELAY 4 |
41 |
#define REQUEST_DELAY 6 |
42 |
#define VERIFY_DELAY 8 |
43 |
#define VERIFY_FREQUENCY 4 |
44 |
|
45 |
//frames
|
46 |
#define REQUEST_FRAME 1 |
47 |
#define VERIFY_FRAME 2 |
48 |
#define CANCEL_FRAME 3 |
49 |
#define SEEKING_FRAME 4 |
50 |
#define DOCKED_FRAME 5 |
51 |
|
52 |
//global varaibles
|
53 |
//state variables
|
54 |
int state = NOT_RECHARGING;
|
55 |
int station = -1; |
56 |
|
57 |
//counter variables
|
58 |
int pollCount = 0; |
59 |
int requestCount = 0; |
60 |
int verifyCount = 0; |
61 |
|
62 |
/**
|
63 |
* Register this packet group with the wireless library.
|
64 |
* This function must be called before any other wl_recharge
|
65 |
* function. Also, wl_token_ring_register must be called
|
66 |
* before this function.
|
67 |
*
|
68 |
* @see wl_recharge_unregister
|
69 |
**/
|
70 |
void wl_recharge_register(void) |
71 |
{ |
72 |
wl_register_packet_group(&wl_recharge_handler); |
73 |
} |
74 |
|
75 |
/**
|
76 |
* Called to unregister this packet group with the wireless
|
77 |
* library.
|
78 |
*
|
79 |
* @see wl_recharge_register
|
80 |
**/
|
81 |
void wl_recharge_unregister(void) |
82 |
{ |
83 |
wl_unregister_packet_group(&wl_recharge_handler); |
84 |
} |
85 |
|
86 |
/**
|
87 |
* Begin the procedure to charge.
|
88 |
**/
|
89 |
void wl_recharge_begin(void) |
90 |
{ |
91 |
state = POLLING; |
92 |
station = -1;
|
93 |
pollCount = 0;
|
94 |
} |
95 |
|
96 |
/**
|
97 |
* Begin the procedure to stop charging. If we are currently docked,
|
98 |
* we wait for departureDelay before alerting the station of our
|
99 |
* departure. This is so that we have time to leave.
|
100 |
**/
|
101 |
void wl_recharge_stop()
|
102 |
{ |
103 |
state = NOT_RECHARGING; |
104 |
} |
105 |
|
106 |
/**
|
107 |
* Call when the robot has docked with the charging station.
|
108 |
* This changes the state to DOCKED.
|
109 |
**/
|
110 |
void wl_recharge_dock(void) |
111 |
{ |
112 |
if (state != SEEKING)
|
113 |
{ |
114 |
WL_DEBUG_PRINT("Unexpected docking occurred.\n");
|
115 |
return;
|
116 |
} |
117 |
|
118 |
state = DOCKED; |
119 |
} |
120 |
|
121 |
/**
|
122 |
* Call this when the robot has departed from the charging
|
123 |
* station. This changes the state to DEPARTING.
|
124 |
**/
|
125 |
void wl_recharge_depart(void) |
126 |
{ |
127 |
if (state != DOCKED)
|
128 |
{ |
129 |
WL_DEBUG_PRINT("Unexpected departure occurred.\n");
|
130 |
return;
|
131 |
} |
132 |
|
133 |
state = DEPARTING; |
134 |
} |
135 |
|
136 |
/**
|
137 |
* Returns the current state of the robot, as one of the constants
|
138 |
* defined for a state -
|
139 |
* NOT_CHARGING, POLLING, REQUESTING, SEEKING, DOCKED, or DEPARTING.
|
140 |
*
|
141 |
* @return the current state of the robot
|
142 |
**/
|
143 |
int wl_recharge_get_state(void) |
144 |
{ |
145 |
return state;
|
146 |
} |
147 |
|
148 |
/**
|
149 |
* Sends a request polling for charging stations.
|
150 |
**/
|
151 |
void wl_recharge_send_poll(void) |
152 |
{ |
153 |
wl_send_global_packet(RECHARGE_GROUP, WL_RECHARGE_POLL_STATIONS, |
154 |
NULL, 0, 0); |
155 |
} |
156 |
|
157 |
/**
|
158 |
* Sends a request to seek a specific charging station.
|
159 |
*
|
160 |
* @param dest the charging station to seek
|
161 |
**/
|
162 |
void wl_recharge_send_request(int dest) |
163 |
{ |
164 |
wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_REQUEST, |
165 |
NULL, 0, dest, REQUEST_FRAME); |
166 |
} |
167 |
|
168 |
/**
|
169 |
* Sends a request to verify what the charging station
|
170 |
* believes we are doing.
|
171 |
*
|
172 |
* @param dest the charging station to check
|
173 |
**/
|
174 |
void wl_recharge_send_verify(int dest) |
175 |
{ |
176 |
wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_VERIFY, |
177 |
NULL, 0, dest, VERIFY_FRAME); |
178 |
} |
179 |
|
180 |
/**
|
181 |
* Sends a packet to the charging station that we are
|
182 |
* no longer attempting to charge from it.
|
183 |
**/
|
184 |
void wl_recharge_send_cancel(int dest) |
185 |
{ |
186 |
wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_CANCEL, |
187 |
NULL, 0, dest, CANCEL_FRAME); |
188 |
} |
189 |
|
190 |
/**
|
191 |
* Sends a packet to the charging station that we are
|
192 |
* attempting to dock with it.
|
193 |
*
|
194 |
* @param dest the charging station
|
195 |
**/
|
196 |
void wl_recharge_send_seeking(int dest) |
197 |
{ |
198 |
wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_SEEKING, |
199 |
NULL, 0, dest, SEEKING_FRAME); |
200 |
} |
201 |
|
202 |
/**
|
203 |
* Sends a packet to the charging station that
|
204 |
* we have docked with it.
|
205 |
*
|
206 |
* @param dest the charging station we have docked with
|
207 |
**/
|
208 |
void wl_recharge_send_docked(int dest) |
209 |
{ |
210 |
wl_send_robot_to_robot_global_packet(RECHARGE_GROUP, WL_RECHARGE_DOCKED, |
211 |
NULL, 0, dest, DOCKED_FRAME); |
212 |
} |
213 |
|
214 |
/**
|
215 |
* Called when this packet is unregistered with the wireless library.
|
216 |
**/
|
217 |
void wl_recharge_cleanup(void) |
218 |
{ |
219 |
|
220 |
} |
221 |
|
222 |
/**
|
223 |
* Called when the timer goes off in the wireless library.
|
224 |
**/
|
225 |
void wl_recharge_timeout_handler(void) |
226 |
{ |
227 |
switch (state)
|
228 |
{ |
229 |
case POLLING:
|
230 |
if (pollCount <= 0) |
231 |
{ |
232 |
wl_recharge_send_poll(); |
233 |
pollCount = POLL_DELAY + 1;
|
234 |
} |
235 |
pollCount--; |
236 |
break;
|
237 |
|
238 |
case REQUESTING:
|
239 |
if (requestCount <= 0) |
240 |
{ |
241 |
//request failed
|
242 |
station = -1;
|
243 |
state = POLLING; |
244 |
break;
|
245 |
} |
246 |
requestCount--; |
247 |
break;
|
248 |
|
249 |
case SEEKING:
|
250 |
if (verifyCount <= 0) |
251 |
{ |
252 |
//station is down
|
253 |
station = -1;
|
254 |
state = POLLING; |
255 |
break;
|
256 |
} |
257 |
if (verifyCount % VERIFY_FREQUENCY == 0 && verifyCount != VERIFY_DELAY) |
258 |
wl_recharge_send_verify(station); |
259 |
verifyCount--; |
260 |
break;
|
261 |
|
262 |
case DEPARTING:
|
263 |
break;
|
264 |
} |
265 |
} |
266 |
|
267 |
/**
|
268 |
* Called when a response is received regarding a packet that was sent.
|
269 |
*
|
270 |
* @param frame the frame number for the packet
|
271 |
* @param received true if the packet was received, false otherwise
|
272 |
**/
|
273 |
void wl_recharge_response_handler(int frame, int received) |
274 |
{ |
275 |
if (received)
|
276 |
return;
|
277 |
if (!received)
|
278 |
{ |
279 |
WL_DEBUG_PRINT("Sent packet not recieved.\n");
|
280 |
switch (frame)
|
281 |
{ |
282 |
case REQUEST_FRAME:
|
283 |
break;
|
284 |
case VERIFY_FRAME:
|
285 |
break;
|
286 |
case CANCEL_FRAME:
|
287 |
case SEEKING_FRAME:
|
288 |
case DOCKED_FRAME:
|
289 |
break;
|
290 |
} |
291 |
} |
292 |
} |
293 |
|
294 |
/**
|
295 |
* Handles receiving an error packet.
|
296 |
*
|
297 |
* @param type the packet type
|
298 |
* @param source the 16-bit address of the packet's sender
|
299 |
* @param packet the packet data
|
300 |
* @param length the length in bytes of the packet
|
301 |
**/
|
302 |
void wl_recharge_handle_receive(char type, int source, unsigned char* packet, |
303 |
int length)
|
304 |
{ |
305 |
switch (type)
|
306 |
{ |
307 |
case WL_RECHARGE_POLL_STATIONS:
|
308 |
//since we aren't a station, we ignore this packet
|
309 |
break;
|
310 |
case WL_RECHARGE_STATION_AVAILABLE:
|
311 |
wl_recharge_available_station(source); |
312 |
break;
|
313 |
case WL_RECHRAGE_REQUEST:
|
314 |
WL_DEBUG_PRINT("Only stations should receive WL_RECHARGE_REQUEST.\n");
|
315 |
break;
|
316 |
case WL_RECHARGE_REQUEST_ACCEPT:
|
317 |
wl_recharge_request_accepted(source); |
318 |
break;
|
319 |
case WL_RECHARGE_VERIFY:
|
320 |
wl_recharge_verify(source); |
321 |
break;
|
322 |
case WL_RECHARGE_CANCEL:
|
323 |
wl_recharge_cancel(source); |
324 |
break;
|
325 |
case WL_RECHARGE_SEEKING:
|
326 |
wl_recharge_seeking(source); |
327 |
break;
|
328 |
case WL_RECHARGE_DOCKED:
|
329 |
wl_recharge_docked(source); |
330 |
break;
|
331 |
default:
|
332 |
WL_DEBUG_PRINT("Error packet of unknown type received.\n");
|
333 |
break;
|
334 |
} |
335 |
} |
336 |
|
337 |
/**
|
338 |
* Called when we receive a packet alerting us that
|
339 |
* a station is available for charging.
|
340 |
*
|
341 |
* @param source the station which has available bays
|
342 |
**/
|
343 |
void wl_recharge_available_station(int source) |
344 |
{ |
345 |
if (state != POLLING)
|
346 |
return;
|
347 |
station = source; |
348 |
state = REQUESTING; |
349 |
requestCount = REQUEST_DELAY; |
350 |
wl_recharge_send_request(station); |
351 |
} |
352 |
|
353 |
/**
|
354 |
* Called when we receive a packet saying our request
|
355 |
* to charge has been accepted.
|
356 |
*
|
357 |
* @param source the station which has accepted our request
|
358 |
**/
|
359 |
void wl_recharge_request_accepted(int source) |
360 |
{ |
361 |
if (state != REQUESTING)
|
362 |
{ |
363 |
WL_DEBUG_PRINT("Accepted when we weren't requesting.\n");
|
364 |
return;
|
365 |
} |
366 |
if (station != source)
|
367 |
{ |
368 |
WL_DEBUG_PRINT("Accepted by a different station.\n");
|
369 |
return;
|
370 |
} |
371 |
|
372 |
state = SEEKING; |
373 |
verifyCount = VERIFY_DELAY; |
374 |
} |
375 |
|
376 |
/**
|
377 |
* Called when we receive a request to verify our status
|
378 |
* in the docking procedure.
|
379 |
*
|
380 |
* @param source the station verifying our request
|
381 |
**/
|
382 |
void wl_recharge_verify(int source) |
383 |
{ |
384 |
if (source != station)
|
385 |
{ |
386 |
WL_DEBUG_PRINT("Received verify from unassociated station.\n");
|
387 |
wl_recharge_send_cancel(source); |
388 |
return;
|
389 |
} |
390 |
|
391 |
switch (state)
|
392 |
{ |
393 |
case SEEKING:
|
394 |
wl_recharge_send_seeking(station); |
395 |
break;
|
396 |
case DOCKED:
|
397 |
wl_recharge_send_docked(station); |
398 |
break;
|
399 |
default:
|
400 |
WL_DEBUG_PRINT("Cancelled docking procedure.\n");
|
401 |
wl_recharge_send_cancel(station); |
402 |
break;
|
403 |
} |
404 |
} |
405 |
|
406 |
/**
|
407 |
* Called when we receive a packet cancelling our
|
408 |
* docking procedure.
|
409 |
*
|
410 |
* @param source the station cancelling the procedure
|
411 |
**/
|
412 |
void wl_recharge_cancel(int source) |
413 |
{ |
414 |
if (station != source)
|
415 |
{ |
416 |
WL_DEBUG_PRINT("Received cancel from station we weren't docking with.\n");
|
417 |
return;
|
418 |
} |
419 |
|
420 |
verifyCount = VERIFY_DELAY; |
421 |
switch (state)
|
422 |
{ |
423 |
case REQUESTING:
|
424 |
station = -1;
|
425 |
state = POLLING; |
426 |
break;
|
427 |
case SEEKING:
|
428 |
station = -1;
|
429 |
state = POLLING; |
430 |
break;
|
431 |
case DOCKED:
|
432 |
WL_DEBUG_PRINT("Charging station kicked us out.\n");
|
433 |
wl_recharge_depart(); |
434 |
break;
|
435 |
case DEPARTING:
|
436 |
//ignore, since we are already departing
|
437 |
break;
|
438 |
default:
|
439 |
WL_DEBUG_PRINT("Received unexpected cancellation.\n");
|
440 |
break;
|
441 |
} |
442 |
} |
443 |
|
444 |
/**
|
445 |
* Called when we receive a packet stating that the
|
446 |
* station believes we are seeking them.
|
447 |
*
|
448 |
* @param source the station we are seeking
|
449 |
**/
|
450 |
void wl_recharge_seeking(int source) |
451 |
{ |
452 |
if (station != source)
|
453 |
{ |
454 |
WL_DEBUG_PRINT("Received seeking alert from station we aren't seeking.\n");
|
455 |
wl_recharge_send_cancel(source); |
456 |
return;
|
457 |
} |
458 |
|
459 |
verifyCount = VERIFY_DELAY; |
460 |
switch (state)
|
461 |
{ |
462 |
case SEEKING:
|
463 |
break;
|
464 |
case DOCKED:
|
465 |
case DEPARTING:
|
466 |
wl_recharge_send_docked(station); |
467 |
break;
|
468 |
default:
|
469 |
WL_DEBUG_PRINT("Received unexpected seeking confirmation.\n");
|
470 |
break;
|
471 |
} |
472 |
} |
473 |
|
474 |
/**
|
475 |
* Called when we receive a packet stating that
|
476 |
* we are docked with a station.
|
477 |
*
|
478 |
* @param source the station we are docked with
|
479 |
**/
|
480 |
void wl_recharge_docked(int source) |
481 |
{ |
482 |
if (station != source)
|
483 |
{ |
484 |
WL_DEBUG_PRINT("Unknown station believes we are docked.\n");
|
485 |
wl_recharge_send_cancel(source); |
486 |
return;
|
487 |
} |
488 |
|
489 |
verifyCount = VERIFY_DELAY; |
490 |
switch (state)
|
491 |
{ |
492 |
case DOCKED:
|
493 |
case DEPARTING:
|
494 |
break;
|
495 |
case SEEKING:
|
496 |
//not good - we can't immediately proceed to seeking again
|
497 |
//we will leave the station and repoll it
|
498 |
WL_DEBUG_PRINT("Seeking, but station believes we are docked. ");
|
499 |
WL_DEBUG_PRINT("Leaving station and repolling.\n");
|
500 |
wl_recharge_send_cancel(source); |
501 |
wl_recharge_begin(); |
502 |
break;
|
503 |
default:
|
504 |
WL_DEBUG_PRINT("Unexpected docking verification received.\n");
|
505 |
break;
|
506 |
} |
507 |
} |
508 |
|