root / scout / libscout / src / behaviors / wl_test.cpp @ 26562d0c
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include "wl_test.h" |
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#define DATA_SIZE 10 |
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using namespace std; |
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bool is_receiving = false; |
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uint8_t highest_received = 0;
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void data_callback(std::vector<uint8_t> data)
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{ |
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cout << "Wireless callback triggered." << endl;;
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for (int i = 0; i < data.size(); i++) |
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{ |
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if (data[i] > highest_received)
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{ |
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highest_received = data[i]; |
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} |
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} |
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} |
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void wl_test::run()
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{ |
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motors->set_sides(20, 50, MOTOR_ABSOLUTE); |
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wl_receiver->register_callback(data_callback); |
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while(ok())
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{ |
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if (!is_receiving)
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{ |
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// Fill up a bogus data array
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vector<uint8_t> data; |
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for (int i = 0; i < DATA_SIZE; i++) |
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{ |
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data.push_back(highest_received + i); |
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} |
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wl_sender->send(data); |
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cout << "Sent wireless packet." << endl;
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is_receiving = true;
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} |
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spinOnce(); |
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loop_rate->sleep(); |
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} |
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} |
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