Unfinished version 0.6 library for the Pi Swarm robot. NOTE: This library is not yet finished or fully tested - it will change.
Dependents: Pi_Swarm_Blank Aggregation-Flocking_2 Pi_Swarm_User_Command_RF_Test
Fork of Pi_Swarm_Library by
communications.h
- Committer:
- jah128
- Date:
- 2014-02-02
- Revision:
- 4:52b3e4c5a425
- Parent:
- 3:4c0f2f3de33e
- Child:
- 9:7a4fc1d7e484
File content as of revision 4:52b3e4c5a425:
/******************************************************************************************* * * University of York Robot Lab Pi Swarm Library: Swarm Communications Handler * * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York * * Version 0.5 February 2014 * * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2 * ******************************************************************************************/ #ifndef COMMUNICATIONS_H #define COMMUNICATIONS_H // The swarm_member struct is used by the communication stack to store the status and results for RF commands and requests // that have been sent. An array of [SWARM_SIZE] swarm_members is created. This contains a status flag for all of the // standard requests and commands and a set of variables for data which can be collected. // // The status flags are set to the following values: // 0 : "unused" - before any requests are sent // 1 : "waiting" - a request or command has been sent and the result is not yet known // 2 : "received" - a valid response to a request or command has been received // 3 : "invalid" - an invalid response to a request or command has been received struct swarm_member { char status_rf_request_null; char status_rf_request_left_motor_speed; char status_rf_request_right_motor_speed; char status_rf_request_button_state; char status_rf_request_led_colour; char status_rf_request_led_states; char status_rf_request_battery; char status_rf_request_light_sensor; char status_rf_request_accelerometer; char status_rf_request_gyroscope; char status_rf_request_background_ir; char status_rf_request_reflected_ir; char status_rf_request_distance_ir; char status_rf_request_line_following_ir; char status_rf_request_uptime; char status_rf_command_stop; char status_rf_command_forward; char status_rf_command_backward; char status_rf_command_left; char status_rf_command_right; char status_rf_command_left_motor; char status_rf_command_right_motor; char status_rf_command_oled_colour; char status_rf_command_cled_colour; char status_rf_command_oled_state; char status_rf_command_cled_state; char status_rf_command_set_oled; char status_rf_command_play_tune; char status_rf_command_sync_time; float left_motor_speed; float right_motor_speed; char button_state; char outer_led_colour [3]; char center_led_colour [3]; char led_states[2]; float battery; float light_sensor; float accelerometer[3]; float gyro; unsigned short background_ir[8]; unsigned short reflected_ir[8]; float distance_ir[8]; }; void send_rf_message(char target, char command, char * data, char length); void setup_communications(void); void decodeMessage(char sender, char target, char id, char command, char * data, char length); void send_response(char target, char is_broadcast, char success, char id, char is_command, char function, char * data, char length); void tdma_response(); void handle_command(char sender, char is_broadcast, char request_response, char id, char function, char * data, char length); void handle_request(char sender, char is_broadcast, char request_response, char id, char function); void processRadioData(char * data, char length); void errormessage(int index); void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length); void send_rf_request_null ( char target ); void send_rf_request_left_motor_speed ( char target ); void send_rf_request_right_motor_speed ( char target ); void send_rf_request_button_state ( char target ); void send_rf_request_led_colour ( char target ); void send_rf_request_led_states ( char target ); void send_rf_request_battery ( char target ); void send_rf_request_light_sensor ( char target ); void send_rf_request_accelerometer ( char target ); void send_rf_request_gyroscope ( char target ); void send_rf_request_background_ir ( char target ); void send_rf_request_reflected_ir ( char target ); void send_rf_request_distance_ir ( char target ); void send_rf_request_line_following_ir ( char target ); void send_rf_request_uptime ( char target ); void send_rf_command_stop ( char target, char request_response ); void send_rf_command_forward ( char target, char request_response, float speed ); void send_rf_command_backward ( char target, char request_response, float speed ); void send_rf_command_left ( char target, char request_response, float speed ); void send_rf_command_right ( char target, char request_response, float speed ); void send_rf_command_left_motor ( char target, char request_response, float speed ); void send_rf_command_right_motor ( char target, char request_response, float speed ); void send_rf_command_oled_colour ( char target, char request_response, char red, char green, char blue ); void send_rf_command_cled_colour ( char target, char request_response, char red, char green, char blue ); void send_rf_command_oled_state ( char target, char request_response, char led0, char led1, char led2, char led3, char led4, char led5, char led6, char led7, char led8, char led9 ); void send_rf_command_cled_state ( char target, char request_response, char enable ); void send_rf_command_set_oled ( char target, char request_response, char oled, char enable ); void send_rf_command_play_tune ( char target, char request_response, char * data, char length ); void send_rf_command_sync_time ( char target, char request_response ); const char * const requests_array[] = { "Req.Ack", "Req.LM", "Req.RM", "Req.But","Req.LEDCol","Req.LED","Req.Lgt","Req.Acc","Req.Gyro","Req.BIR","Req.RIR","Req.DIR","Req.LFS","Req.UpT","Req.???","Req.???"}; const char * const commands_array[] = { "Cm.Stop","Cm.Fward","Cm.Bward","Cm.Left","Cm.Right","Cm.LMot","Cm.RMot","Cm.OLEDC","Cm.CLEDC","Cm.OLEDS","Cm.CLEDS","Cm.SetLED","Cm.Play","Cm.Sync","Cm.???","Cm.???"}; #endif //COMMUNICATIONS_H