Revision 960
Small changes and comments.
| receive.c | ||
|---|---|---|
| 9 | 9 |
#define WL_COM_PORT "/dev/ttyUSB1" |
| 10 | 10 |
#define WL_CHANNEL 0xE |
| 11 | 11 |
|
| 12 |
#define MAP_RECEIVE_GROUP 1 |
|
| 13 |
#define MAP_REQUEST_GROUP 2 |
|
| 12 |
#define MAP_RECEIVE_GROUP 17
|
|
| 13 |
#define MAP_REQUEST_GROUP 23
|
|
| 14 | 14 |
|
| 15 | 15 |
#define POINT_RAW 1 /* packet type for map data points w/ raw encoder data*/ |
| 16 | 16 |
#define POINT_ODO 2 /* packet type for map data points w/ odometry data*/ |
| ... | ... | |
| 92 | 92 |
} |
| 93 | 93 |
else{
|
| 94 | 94 |
double** point, **ranges, *theta, *robot; |
| 95 |
/*TODO Check for the 'already empty' case.*/ |
|
| 96 |
|
|
| 95 |
|
|
| 97 | 96 |
int num_buffer_elements = tail_index - head_index; |
| 98 | 97 |
if(num_buffer_elements < 0) num_buffer_elements += BUFFER_SIZE; |
| 99 | 98 |
|
| ... | ... | |
| 144 | 143 |
wl_token_ring_register(); |
| 145 | 144 |
|
| 146 | 145 |
/*Continuously iterate over all the robots - buffering data.*/ |
| 146 |
|
|
| 147 | 147 |
while(1){
|
| 148 | 148 |
|
| 149 | 149 |
wl_token_iterator_begin(); |
| ... | ... | |
| 160 | 160 |
wl_send_robot_to_robot_global_packet(MAP_REQUEST_GROUP, |
| 161 | 161 |
POINT_ODO, NULL, 0, robot_num, 0); |
| 162 | 162 |
|
| 163 |
|
|
| 163 |
usleep(10000); /*10ms*/ |
|
| 164 | 164 |
} |
| 165 | 165 |
|
| 166 |
/*Wait for all packets to be received before sending more requests.*/ |
|
| 166 |
/*Wait for all packets to be received |
|
| 167 |
* before sending more requests. |
|
| 168 |
* FIXME this needs to be WAAAAY more robust |
|
| 169 |
* to edge cases (robot enters / leaves token |
|
| 170 |
* ring etc.) For example, if a robot drops |
|
| 171 |
* a packet (highly likely) it is not dealt with |
|
| 172 |
* */ |
|
| 167 | 173 |
while(packets_received < num_robots |
| 168 | 174 |
&& packets_received < wl_token_get_num_robots()){
|
| 169 | 175 |
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