Table controller for piswarm-office
Fork of PiSwarmTableController by
communications.cpp@5:68a1ce96bfeb, 2014-08-14 (annotated)
- Committer:
- hee502
- Date:
- Thu Aug 14 09:06:31 2014 +0000
- Revision:
- 5:68a1ce96bfeb
- Parent:
- 2:c81f4ef63132
Table controller for piswarm-office
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 2:c81f4ef63132 | 1 | /******************************************************************************************* |
jah128 | 2:c81f4ef63132 | 2 | * |
jah128 | 2:c81f4ef63132 | 3 | * University of York Robot Lab Pi Swarm Library: Swarm Communications Handler |
jah128 | 2:c81f4ef63132 | 4 | * |
jah128 | 2:c81f4ef63132 | 5 | * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York |
jah128 | 2:c81f4ef63132 | 6 | * |
jah128 | 2:c81f4ef63132 | 7 | * Version 0.5 February 2014 |
jah128 | 2:c81f4ef63132 | 8 | * |
jah128 | 2:c81f4ef63132 | 9 | * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2 |
jah128 | 2:c81f4ef63132 | 10 | * |
jah128 | 2:c81f4ef63132 | 11 | ******************************************************************************************/ |
jah128 | 2:c81f4ef63132 | 12 | |
jah128 | 2:c81f4ef63132 | 13 | // Important note: The communication stack is enabled by setting the "USE_COMMUNICATION_STACK" flag to 1 |
jah128 | 2:c81f4ef63132 | 14 | // When being used, all received messages are decoded using the decodeMessage() function |
jah128 | 2:c81f4ef63132 | 15 | // See manual for more info on using the communication handler |
jah128 | 2:c81f4ef63132 | 16 | #include "mbed.h" |
jah128 | 2:c81f4ef63132 | 17 | #include "communications.h" |
jah128 | 2:c81f4ef63132 | 18 | #include "main.h" |
jah128 | 2:c81f4ef63132 | 19 | |
jah128 | 2:c81f4ef63132 | 20 | struct swarm_member swarm[SWARM_SIZE]; // Array to hold received information about other swarm members |
jah128 | 2:c81f4ef63132 | 21 | DigitalOut actioning (LED1); |
jah128 | 2:c81f4ef63132 | 22 | DigitalOut errorled (LED2); |
jah128 | 2:c81f4ef63132 | 23 | DigitalOut tx (LED3); |
jah128 | 2:c81f4ef63132 | 24 | DigitalOut rx (LED4); |
jah128 | 2:c81f4ef63132 | 25 | Timeout tdma_timeout; |
jah128 | 2:c81f4ef63132 | 26 | char tdma_busy = 0; |
jah128 | 2:c81f4ef63132 | 27 | char waiting_message [64]; |
jah128 | 2:c81f4ef63132 | 28 | char waiting_length = 0; |
jah128 | 2:c81f4ef63132 | 29 | int message_id = 0; |
jah128 | 2:c81f4ef63132 | 30 | |
jah128 | 2:c81f4ef63132 | 31 | |
jah128 | 2:c81f4ef63132 | 32 | // Send a structured message over the RF interface |
jah128 | 2:c81f4ef63132 | 33 | // @target - The target recipient (1-31 or 0 for broadcast) |
jah128 | 2:c81f4ef63132 | 34 | // @command - The command byte (see manual) |
jah128 | 2:c81f4ef63132 | 35 | // @*data - Additional data bytes |
jah128 | 2:c81f4ef63132 | 36 | // @length - Length of additional data |
jah128 | 2:c81f4ef63132 | 37 | void send_rf_message(char target, char command, char * data, char length) |
jah128 | 2:c81f4ef63132 | 38 | { |
jah128 | 2:c81f4ef63132 | 39 | char message [5+length]; |
jah128 | 2:c81f4ef63132 | 40 | message_id++; |
jah128 | 2:c81f4ef63132 | 41 | message[0] = 32; |
jah128 | 2:c81f4ef63132 | 42 | message[1] = target+32; |
jah128 | 2:c81f4ef63132 | 43 | message[2] = message_id%256; |
jah128 | 2:c81f4ef63132 | 44 | message[3] = command; |
jah128 | 2:c81f4ef63132 | 45 | for(int i=0;i<length;i++){ |
jah128 | 2:c81f4ef63132 | 46 | message[4+i] = data[i]; |
jah128 | 2:c81f4ef63132 | 47 | } |
jah128 | 2:c81f4ef63132 | 48 | message[4+length]=NULL; |
jah128 | 2:c81f4ef63132 | 49 | rf.sendString(4+length,message); |
hee502 | 5:68a1ce96bfeb | 50 | //if(RF_DEBUG==1)//pc.printf("RF message sent"); |
jah128 | 2:c81f4ef63132 | 51 | } |
jah128 | 2:c81f4ef63132 | 52 | |
jah128 | 2:c81f4ef63132 | 53 | |
jah128 | 2:c81f4ef63132 | 54 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 2:c81f4ef63132 | 55 | // Internal Functions |
jah128 | 2:c81f4ef63132 | 56 | // In general these functions should not be called by user code |
jah128 | 2:c81f4ef63132 | 57 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 2:c81f4ef63132 | 58 | |
jah128 | 2:c81f4ef63132 | 59 | // Decode the received message header. Check it is min. 4 bytes long, that the sender and target are valid [called in alpha433.cpp] |
jah128 | 2:c81f4ef63132 | 60 | void processRadioData(char * data, char length) |
jah128 | 2:c81f4ef63132 | 61 | { |
jah128 | 2:c81f4ef63132 | 62 | if(RF_USE_LEDS==1) { |
jah128 | 2:c81f4ef63132 | 63 | errorled=0; |
jah128 | 2:c81f4ef63132 | 64 | rx=1; |
jah128 | 2:c81f4ef63132 | 65 | } |
jah128 | 2:c81f4ef63132 | 66 | // Decompose the received message |
jah128 | 2:c81f4ef63132 | 67 | if(length < 4) errormessage(0); |
jah128 | 2:c81f4ef63132 | 68 | else { |
jah128 | 2:c81f4ef63132 | 69 | // Establish the sender and target of the packet |
jah128 | 2:c81f4ef63132 | 70 | char sender = data[0]; |
jah128 | 2:c81f4ef63132 | 71 | char target = data[1]; |
jah128 | 2:c81f4ef63132 | 72 | char id = data[2]; |
jah128 | 2:c81f4ef63132 | 73 | char command = data[3]; |
jah128 | 2:c81f4ef63132 | 74 | if(sender<32 || sender>63)errormessage(1); |
jah128 | 2:c81f4ef63132 | 75 | else { |
jah128 | 2:c81f4ef63132 | 76 | if(target<32 || target>63)errormessage(2); |
jah128 | 2:c81f4ef63132 | 77 | else { |
jah128 | 2:c81f4ef63132 | 78 | sender -= 32; |
jah128 | 2:c81f4ef63132 | 79 | target -= 32; |
jah128 | 2:c81f4ef63132 | 80 | decodeMessage(sender,target,id,command,data+4,length-4); |
jah128 | 2:c81f4ef63132 | 81 | } |
jah128 | 2:c81f4ef63132 | 82 | } |
jah128 | 2:c81f4ef63132 | 83 | } |
jah128 | 2:c81f4ef63132 | 84 | if(RF_USE_LEDS==1) rx=0; |
jah128 | 2:c81f4ef63132 | 85 | } |
jah128 | 2:c81f4ef63132 | 86 | |
jah128 | 2:c81f4ef63132 | 87 | //Decode the received message, action it if it is valid and for me |
jah128 | 2:c81f4ef63132 | 88 | void decodeMessage(char sender, char target, char id, char command, char * data, char length) |
jah128 | 2:c81f4ef63132 | 89 | { |
jah128 | 2:c81f4ef63132 | 90 | char broadcast_message = 0, is_response = 0, request_response = 0, is_user = 0, is_command = 0, function = 0; |
jah128 | 2:c81f4ef63132 | 91 | |
jah128 | 2:c81f4ef63132 | 92 | if(target==0) broadcast_message = 1; |
jah128 | 2:c81f4ef63132 | 93 | is_response = 0 != (command & (1 << 7)); |
jah128 | 2:c81f4ef63132 | 94 | request_response = 0 != (command & (1 << 6)); |
jah128 | 2:c81f4ef63132 | 95 | is_user = 0 != (command & (1 << 5)); |
jah128 | 2:c81f4ef63132 | 96 | is_command = 0 != (command & (1 << 4)); |
jah128 | 2:c81f4ef63132 | 97 | function = command % 16; |
jah128 | 2:c81f4ef63132 | 98 | |
jah128 | 2:c81f4ef63132 | 99 | if (RF_DEBUG==1) { |
jah128 | 2:c81f4ef63132 | 100 | if(is_command == 1) pc.printf("Message: S:%i T:%i ID:%x C:%x{%s} L:%i", sender, target, id, command, commands_array[function],length); |
jah128 | 2:c81f4ef63132 | 101 | else pc.printf("Message: S:%i T:%i ID:%x C:%x{%s} L:%i", sender, target, id, command, requests_array[function],length); |
jah128 | 2:c81f4ef63132 | 102 | } |
jah128 | 2:c81f4ef63132 | 103 | |
jah128 | 2:c81f4ef63132 | 104 | //Action the message only if I am a recipient |
jah128 | 2:c81f4ef63132 | 105 | if(target==0) { |
jah128 | 2:c81f4ef63132 | 106 | if(RF_USE_LEDS==1) actioning = 1; |
jah128 | 2:c81f4ef63132 | 107 | if(is_response == 1) { |
jah128 | 2:c81f4ef63132 | 108 | if(is_user == 0)handle_response(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 2:c81f4ef63132 | 109 | else handleUserRFResponse(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 2:c81f4ef63132 | 110 | } else { |
jah128 | 2:c81f4ef63132 | 111 | if(is_command == 1) { |
jah128 | 2:c81f4ef63132 | 112 | if(RF_ALLOW_COMMANDS == 1) { |
jah128 | 2:c81f4ef63132 | 113 | if(is_user == 1)handleUserRFCommand(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 2:c81f4ef63132 | 114 | else handle_command(sender, broadcast_message, request_response, id, function, data, length); |
jah128 | 2:c81f4ef63132 | 115 | } else if (RF_DEBUG==1) pc.printf(" - Blocked\n"); |
jah128 | 2:c81f4ef63132 | 116 | } else { |
jah128 | 2:c81f4ef63132 | 117 | //A information request has no extra parameters |
jah128 | 2:c81f4ef63132 | 118 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 119 | if(is_user == 1)handleUserRFCommand(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 2:c81f4ef63132 | 120 | else handle_request(sender, broadcast_message, request_response, id, function); |
jah128 | 2:c81f4ef63132 | 121 | } else if (RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 122 | } |
jah128 | 2:c81f4ef63132 | 123 | } |
jah128 | 2:c81f4ef63132 | 124 | if(RF_USE_LEDS==1) actioning = 0; |
jah128 | 2:c81f4ef63132 | 125 | } else if (RF_DEBUG==1) pc.printf(" - Ignored\n"); |
jah128 | 2:c81f4ef63132 | 126 | } |
jah128 | 2:c81f4ef63132 | 127 | |
jah128 | 2:c81f4ef63132 | 128 | //Send a predefined response message |
jah128 | 2:c81f4ef63132 | 129 | void send_response(char target, char is_broadcast, char success, char id, char is_command, char function, char * data, char length) |
jah128 | 2:c81f4ef63132 | 130 | { |
jah128 | 2:c81f4ef63132 | 131 | char message [4+length]; |
jah128 | 2:c81f4ef63132 | 132 | message[0]=0; |
jah128 | 2:c81f4ef63132 | 133 | message[1]=target; |
jah128 | 2:c81f4ef63132 | 134 | message[2]=id; |
jah128 | 2:c81f4ef63132 | 135 | message[3]=128 + (success << 6) + (is_command << 4) + function; |
jah128 | 2:c81f4ef63132 | 136 | for(int i=0; i<length; i++) { |
jah128 | 2:c81f4ef63132 | 137 | message[4+i]=data[i]; |
jah128 | 2:c81f4ef63132 | 138 | } |
jah128 | 2:c81f4ef63132 | 139 | /*TDMA not relevant to handheld controller |
jah128 | 2:c81f4ef63132 | 140 | //Delay the response if it is broadcast and TDMA mode is on |
jah128 | 2:c81f4ef63132 | 141 | if(RF_USE_TDMA == 1 && is_broadcast == 1) { |
jah128 | 2:c81f4ef63132 | 142 | if(tdma_busy == 1) { |
jah128 | 2:c81f4ef63132 | 143 | if (RF_DEBUG==1) pc.printf("Cannot respond - TDMA busy\n"); |
jah128 | 2:c81f4ef63132 | 144 | } else { |
jah128 | 2:c81f4ef63132 | 145 | tdma_busy = 1; |
jah128 | 2:c81f4ef63132 | 146 | strcpy(waiting_message,message); |
jah128 | 2:c81f4ef63132 | 147 | waiting_length=length; |
jah128 | 2:c81f4ef63132 | 148 | tdma_timeout.attach_us(&tdma_response, RF_TDMA_TIME_PERIOD_US * piswarm.get_id()); |
jah128 | 2:c81f4ef63132 | 149 | if (RF_DEBUG==1) pc.printf("TDMA Response pending\n"); |
jah128 | 2:c81f4ef63132 | 150 | } |
jah128 | 2:c81f4ef63132 | 151 | } else { |
jah128 | 2:c81f4ef63132 | 152 | */ |
jah128 | 2:c81f4ef63132 | 153 | rf.sendString(4+length,message); |
jah128 | 2:c81f4ef63132 | 154 | if(RF_DEBUG==1)pc.printf("Response issued"); |
jah128 | 2:c81f4ef63132 | 155 | //} |
jah128 | 2:c81f4ef63132 | 156 | } |
jah128 | 2:c81f4ef63132 | 157 | |
jah128 | 2:c81f4ef63132 | 158 | // Send a delayed response |
jah128 | 2:c81f4ef63132 | 159 | void tdma_response() |
jah128 | 2:c81f4ef63132 | 160 | { |
jah128 | 2:c81f4ef63132 | 161 | rf.sendString(4+waiting_length,waiting_message); |
jah128 | 2:c81f4ef63132 | 162 | tdma_busy = 0; |
jah128 | 2:c81f4ef63132 | 163 | if (RF_DEBUG==1) pc.printf("TDMA Response issued\n"); |
jah128 | 2:c81f4ef63132 | 164 | } |
jah128 | 2:c81f4ef63132 | 165 | |
jah128 | 2:c81f4ef63132 | 166 | // Handle a message that is a predefined command |
jah128 | 2:c81f4ef63132 | 167 | void handle_command(char sender, char is_broadcast, char request_response, char id, char function, char * data, char length) |
jah128 | 2:c81f4ef63132 | 168 | { |
jah128 | 2:c81f4ef63132 | 169 | char success = 0; |
jah128 | 2:c81f4ef63132 | 170 | switch(function) { |
jah128 | 2:c81f4ef63132 | 171 | case 0: // Stop [0 data] |
jah128 | 2:c81f4ef63132 | 172 | if(length==0) { |
jah128 | 2:c81f4ef63132 | 173 | //piswarm.stop(); |
hee502 | 5:68a1ce96bfeb | 174 | if(RF_DEBUG==1) //pc.printf(" - Stop Command Issued - "); |
jah128 | 2:c81f4ef63132 | 175 | success = 1; |
jah128 | 2:c81f4ef63132 | 176 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 177 | break; |
jah128 | 2:c81f4ef63132 | 178 | case 1: // Forward [2 bytes: 16-bit signed short] |
jah128 | 2:c81f4ef63132 | 179 | if(length==2) { |
jah128 | 2:c81f4ef63132 | 180 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 181 | float speed = i_speed / 32768.0; |
jah128 | 2:c81f4ef63132 | 182 | speed--; |
jah128 | 2:c81f4ef63132 | 183 | //piswarm.forward(speed); |
jah128 | 2:c81f4ef63132 | 184 | success = 1; |
jah128 | 2:c81f4ef63132 | 185 | if(RF_DEBUG==1) pc.printf(" - Forward %1.2f Command Issued - ",speed); |
jah128 | 2:c81f4ef63132 | 186 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 187 | break; |
jah128 | 2:c81f4ef63132 | 188 | case 2: // Backward [2 bytes: 16-bit signed short] |
jah128 | 2:c81f4ef63132 | 189 | if(length==2) { |
jah128 | 2:c81f4ef63132 | 190 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 191 | float speed = i_speed / 32768.0; |
jah128 | 2:c81f4ef63132 | 192 | speed--; |
jah128 | 2:c81f4ef63132 | 193 | //piswarm.backward(speed); |
jah128 | 2:c81f4ef63132 | 194 | success = 1; |
jah128 | 2:c81f4ef63132 | 195 | if(RF_DEBUG==1) pc.printf(" - Backward %1.2f Command Issued - ",speed); |
jah128 | 2:c81f4ef63132 | 196 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 197 | break; |
jah128 | 2:c81f4ef63132 | 198 | case 3: // Left [2 bytes: 16-bit signed short] |
jah128 | 2:c81f4ef63132 | 199 | if(length==2) { |
jah128 | 2:c81f4ef63132 | 200 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 201 | float speed = i_speed / 32768.0; |
jah128 | 2:c81f4ef63132 | 202 | speed--; |
jah128 | 2:c81f4ef63132 | 203 | //piswarm.left(speed); |
jah128 | 2:c81f4ef63132 | 204 | success = 1; |
jah128 | 2:c81f4ef63132 | 205 | if(RF_DEBUG==1) pc.printf(" - Left %1.2f Command Issued - ",speed); |
jah128 | 2:c81f4ef63132 | 206 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 207 | break; |
jah128 | 2:c81f4ef63132 | 208 | case 4: // Right [2 bytes: 16-bit signed short] |
jah128 | 2:c81f4ef63132 | 209 | if(length==2) { |
jah128 | 2:c81f4ef63132 | 210 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 211 | float speed = i_speed / 32768.0; |
jah128 | 2:c81f4ef63132 | 212 | speed--; |
jah128 | 2:c81f4ef63132 | 213 | //piswarm.right(speed); |
jah128 | 2:c81f4ef63132 | 214 | success = 1; |
jah128 | 2:c81f4ef63132 | 215 | if(RF_DEBUG==1) pc.printf(" - Right %1.2f Command Issued - ",speed); |
jah128 | 2:c81f4ef63132 | 216 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 217 | break; |
jah128 | 2:c81f4ef63132 | 218 | case 5: // Left Motor [2 bytes: 16-bit signed short] |
jah128 | 2:c81f4ef63132 | 219 | if(length==2) { |
jah128 | 2:c81f4ef63132 | 220 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 221 | float speed = i_speed / 32768.0; |
jah128 | 2:c81f4ef63132 | 222 | speed--; |
jah128 | 2:c81f4ef63132 | 223 | //piswarm.left_motor(speed); |
jah128 | 2:c81f4ef63132 | 224 | success = 1; |
jah128 | 2:c81f4ef63132 | 225 | if(RF_DEBUG==1) pc.printf(" - Left Motor %1.2f Command Issued - ",speed); |
jah128 | 2:c81f4ef63132 | 226 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 227 | break; |
jah128 | 2:c81f4ef63132 | 228 | case 6: // Right Motor [2 bytes: 16-bit signed short] |
jah128 | 2:c81f4ef63132 | 229 | if(length==2) { |
jah128 | 2:c81f4ef63132 | 230 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 231 | float speed = i_speed / 32768.0; |
jah128 | 2:c81f4ef63132 | 232 | speed--; |
jah128 | 2:c81f4ef63132 | 233 | //piswarm.right_motor(speed); |
jah128 | 2:c81f4ef63132 | 234 | success = 1; |
jah128 | 2:c81f4ef63132 | 235 | if(RF_DEBUG==1) pc.printf(" - Right Motor %1.2f Command Issued - ",speed); |
jah128 | 2:c81f4ef63132 | 236 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 237 | break; |
jah128 | 2:c81f4ef63132 | 238 | case 7: // Outer LED Colour [3 bytes: R, G, B] |
jah128 | 2:c81f4ef63132 | 239 | if(length==3) { |
jah128 | 2:c81f4ef63132 | 240 | //piswarm.set_oled_colour (data[0],data[1],data[2]); |
jah128 | 2:c81f4ef63132 | 241 | success = 1; |
jah128 | 2:c81f4ef63132 | 242 | if(RF_DEBUG==1) pc.printf(" - Set Outer R%i G%i B%i Command Issued - ",data[0],data[1],data[2]); |
jah128 | 2:c81f4ef63132 | 243 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 244 | break; |
jah128 | 2:c81f4ef63132 | 245 | case 8: // Center LED Colour[3 bytes: R, G, B] |
jah128 | 2:c81f4ef63132 | 246 | if(length==3) { |
jah128 | 2:c81f4ef63132 | 247 | //piswarm.set_cled_colour (data[0],data[1],data[2]); |
jah128 | 2:c81f4ef63132 | 248 | success = 1; |
jah128 | 2:c81f4ef63132 | 249 | if(RF_DEBUG==1) pc.printf(" - Set Center R%i G%i B%i Command Issued - ",data[0],data[1],data[2]); |
jah128 | 2:c81f4ef63132 | 250 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 251 | break; |
jah128 | 2:c81f4ef63132 | 252 | case 9: // Outer LED State [2 bytes: [xxxxxx01][23456789] ] |
jah128 | 2:c81f4ef63132 | 253 | if(length==2) { |
jah128 | 2:c81f4ef63132 | 254 | //piswarm.set_oleds(0 != (data[0] & (1 << 1)),0 != (data[0] & (1 << 0)),0 != (data[1] & (1 << 7)),0 != (data[1] & (1 << 6)),0 != (data[1] & (1 << 5)),0 != (data[1] & (1 << 4)),0 != (data[1] & (1 << 3)),0 != (data[1] & (1 << 2)),0 != (data[1] & (1 << 1)),0 != (data[1] & (1 << 0))); |
jah128 | 2:c81f4ef63132 | 255 | success = 1; |
jah128 | 2:c81f4ef63132 | 256 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 257 | break; |
jah128 | 2:c81f4ef63132 | 258 | case 10: // Center LED State [1 bytes: [xxxxxxxE] E=enabled ] |
jah128 | 2:c81f4ef63132 | 259 | if(length==1) { |
jah128 | 2:c81f4ef63132 | 260 | //piswarm.enable_cled (data[0] % 2); |
jah128 | 2:c81f4ef63132 | 261 | success = 1; |
jah128 | 2:c81f4ef63132 | 262 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 263 | break; |
jah128 | 2:c81f4ef63132 | 264 | case 11: // Set outer LED [1 byte: [xxxEvvvv] E=enabled vvvv=LED] |
jah128 | 2:c81f4ef63132 | 265 | if(length==1) { |
jah128 | 2:c81f4ef63132 | 266 | int led = data[0] % 16; |
jah128 | 2:c81f4ef63132 | 267 | if(led < 10) { |
jah128 | 2:c81f4ef63132 | 268 | // piswarm.set_oled(led, 0!=(data[0] & (1 << 4))); |
jah128 | 2:c81f4ef63132 | 269 | success = 1; |
jah128 | 2:c81f4ef63132 | 270 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 271 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 272 | break; |
jah128 | 2:c81f4ef63132 | 273 | case 12: // Play sound [Minimum 1 byte] |
jah128 | 2:c81f4ef63132 | 274 | if(length>0) { |
jah128 | 2:c81f4ef63132 | 275 | //piswarm.play_tune(data,length); |
jah128 | 2:c81f4ef63132 | 276 | success = 1; |
jah128 | 2:c81f4ef63132 | 277 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 278 | break; |
jah128 | 2:c81f4ef63132 | 279 | case 13: // Sync time |
jah128 | 2:c81f4ef63132 | 280 | if(length==4) { |
jah128 | 2:c81f4ef63132 | 281 | unsigned int new_time = 0; |
jah128 | 2:c81f4ef63132 | 282 | new_time+=((unsigned int)data[0] << 24); |
jah128 | 2:c81f4ef63132 | 283 | new_time+=((unsigned int)data[1] << 16); |
jah128 | 2:c81f4ef63132 | 284 | new_time+=((unsigned int)data[2] << 8); |
jah128 | 2:c81f4ef63132 | 285 | new_time+=(unsigned int)data[3]; |
jah128 | 2:c81f4ef63132 | 286 | set_time(new_time); |
jah128 | 2:c81f4ef63132 | 287 | //display_system_time(); |
jah128 | 2:c81f4ef63132 | 288 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 2:c81f4ef63132 | 289 | break; |
jah128 | 2:c81f4ef63132 | 290 | case 14: // |
jah128 | 2:c81f4ef63132 | 291 | break; |
jah128 | 2:c81f4ef63132 | 292 | case 15: // |
jah128 | 2:c81f4ef63132 | 293 | break; |
jah128 | 2:c81f4ef63132 | 294 | } |
jah128 | 2:c81f4ef63132 | 295 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 296 | send_response(sender, is_broadcast, success, id, 1, function, NULL, 0); |
jah128 | 2:c81f4ef63132 | 297 | } |
jah128 | 2:c81f4ef63132 | 298 | |
jah128 | 2:c81f4ef63132 | 299 | } |
jah128 | 2:c81f4ef63132 | 300 | |
jah128 | 2:c81f4ef63132 | 301 | //Handle a message that is a predefined request |
jah128 | 2:c81f4ef63132 | 302 | void handle_request(char sender, char is_broadcast, char request_response, char id, char function) |
jah128 | 2:c81f4ef63132 | 303 | { |
jah128 | 2:c81f4ef63132 | 304 | int response_length = 0; |
jah128 | 2:c81f4ef63132 | 305 | char * response = NULL; |
jah128 | 2:c81f4ef63132 | 306 | char success = 0; |
jah128 | 2:c81f4ef63132 | 307 | |
jah128 | 2:c81f4ef63132 | 308 | switch(function) { |
jah128 | 2:c81f4ef63132 | 309 | case 0: // Null request |
jah128 | 2:c81f4ef63132 | 310 | success=1; |
jah128 | 2:c81f4ef63132 | 311 | break; |
jah128 | 2:c81f4ef63132 | 312 | case 1: { // Request left motor speed |
jah128 | 2:c81f4ef63132 | 313 | response_length = 2; |
jah128 | 2:c81f4ef63132 | 314 | float speed = 0;//piswarm.get_left_motor() * 32767; |
jah128 | 2:c81f4ef63132 | 315 | int a_speed = 32768 + (int) speed; |
jah128 | 2:c81f4ef63132 | 316 | char msb = (char) (a_speed / 256); |
jah128 | 2:c81f4ef63132 | 317 | char lsb = (char) (a_speed % 256); |
jah128 | 2:c81f4ef63132 | 318 | response = new char[2]; |
jah128 | 2:c81f4ef63132 | 319 | response[0]=msb; |
jah128 | 2:c81f4ef63132 | 320 | response[1]=lsb; |
jah128 | 2:c81f4ef63132 | 321 | success=1; |
jah128 | 2:c81f4ef63132 | 322 | break; |
jah128 | 2:c81f4ef63132 | 323 | } |
jah128 | 2:c81f4ef63132 | 324 | case 2: { // Request right motor speed |
jah128 | 2:c81f4ef63132 | 325 | response_length = 2; |
jah128 | 2:c81f4ef63132 | 326 | float speed = 0;//piswarm.get_right_motor() * 32767; |
jah128 | 2:c81f4ef63132 | 327 | int a_speed = 32768 + (int) speed; |
jah128 | 2:c81f4ef63132 | 328 | char msb = (char) (a_speed / 256); |
jah128 | 2:c81f4ef63132 | 329 | char lsb = (char) (a_speed % 256); |
jah128 | 2:c81f4ef63132 | 330 | response = new char[2]; |
jah128 | 2:c81f4ef63132 | 331 | response[0]=msb; |
jah128 | 2:c81f4ef63132 | 332 | response[1]=lsb; |
jah128 | 2:c81f4ef63132 | 333 | success=1; |
jah128 | 2:c81f4ef63132 | 334 | break; |
jah128 | 2:c81f4ef63132 | 335 | } |
jah128 | 2:c81f4ef63132 | 336 | case 3: { // Request button state |
jah128 | 2:c81f4ef63132 | 337 | response_length = 1; |
jah128 | 2:c81f4ef63132 | 338 | response = new char[1]; |
jah128 | 2:c81f4ef63132 | 339 | response[0]=0;//piswarm.get_switches(); |
jah128 | 2:c81f4ef63132 | 340 | break; |
jah128 | 2:c81f4ef63132 | 341 | } |
jah128 | 2:c81f4ef63132 | 342 | case 4: { // Request LED colours |
jah128 | 2:c81f4ef63132 | 343 | response_length = 6; |
jah128 | 2:c81f4ef63132 | 344 | response = new char[6]; |
jah128 | 2:c81f4ef63132 | 345 | int oled_colour = 0;//piswarm.get_oled_colour(); |
jah128 | 2:c81f4ef63132 | 346 | int cled_colour = 0;//piswarm.get_cled_colour(); |
jah128 | 2:c81f4ef63132 | 347 | response[0] = (char) (oled_colour >> 16); |
jah128 | 2:c81f4ef63132 | 348 | response[1] = (char) ((oled_colour >> 8) % 256); |
jah128 | 2:c81f4ef63132 | 349 | response[2] = (char) (oled_colour % 256); |
jah128 | 2:c81f4ef63132 | 350 | response[3] = (char) (cled_colour >> 16); |
jah128 | 2:c81f4ef63132 | 351 | response[4] = (char) ((cled_colour >> 8) % 256); |
jah128 | 2:c81f4ef63132 | 352 | response[5] = (char) (cled_colour % 256); |
jah128 | 2:c81f4ef63132 | 353 | break; |
jah128 | 2:c81f4ef63132 | 354 | } |
jah128 | 2:c81f4ef63132 | 355 | case 5: { // Request LED states |
jah128 | 2:c81f4ef63132 | 356 | response_length = 2; |
jah128 | 2:c81f4ef63132 | 357 | response = new char[2]; |
jah128 | 2:c81f4ef63132 | 358 | response[0] = 0; |
jah128 | 2:c81f4ef63132 | 359 | response[1] = 0; |
jah128 | 2:c81f4ef63132 | 360 | //if (piswarm.get_cled_state() == 1) response[0] += 4; |
jah128 | 2:c81f4ef63132 | 361 | //if (piswarm.get_oled_state(0) == 1) response[0] += 2; |
jah128 | 2:c81f4ef63132 | 362 | //if (piswarm.get_oled_state(1) == 1) response[0] += 1; |
jah128 | 2:c81f4ef63132 | 363 | //if (piswarm.get_oled_state(2) == 1) response[1] += 128; |
jah128 | 2:c81f4ef63132 | 364 | //if (piswarm.get_oled_state(3) == 1) response[1] += 64; |
jah128 | 2:c81f4ef63132 | 365 | //if (piswarm.get_oled_state(4) == 1) response[1] += 32; |
jah128 | 2:c81f4ef63132 | 366 | //if (piswarm.get_oled_state(5) == 1) response[1] += 16; |
jah128 | 2:c81f4ef63132 | 367 | //if (piswarm.get_oled_state(6) == 1) response[1] += 8; |
jah128 | 2:c81f4ef63132 | 368 | //if (piswarm.get_oled_state(7) == 1) response[1] += 4; |
jah128 | 2:c81f4ef63132 | 369 | //if (piswarm.get_oled_state(8) == 1) response[1] += 2; |
jah128 | 2:c81f4ef63132 | 370 | //if (piswarm.get_oled_state(9) == 1) response[1] += 1; |
jah128 | 2:c81f4ef63132 | 371 | break; |
jah128 | 2:c81f4ef63132 | 372 | } |
jah128 | 2:c81f4ef63132 | 373 | case 6: { // Request battery power |
jah128 | 2:c81f4ef63132 | 374 | response_length = 2; |
jah128 | 2:c81f4ef63132 | 375 | response = new char[2]; |
jah128 | 2:c81f4ef63132 | 376 | float fbattery = 0;//piswarm.battery() * 1000.0; |
jah128 | 2:c81f4ef63132 | 377 | unsigned short battery = (unsigned short) fbattery; |
jah128 | 2:c81f4ef63132 | 378 | response[0] = battery >> 8; |
jah128 | 2:c81f4ef63132 | 379 | response[1] = battery % 256; |
jah128 | 2:c81f4ef63132 | 380 | break; |
jah128 | 2:c81f4ef63132 | 381 | } |
jah128 | 2:c81f4ef63132 | 382 | case 7: { // Request light sensor reading |
jah128 | 2:c81f4ef63132 | 383 | response_length = 2; |
jah128 | 2:c81f4ef63132 | 384 | response = new char[2]; |
jah128 | 2:c81f4ef63132 | 385 | float flight = 0;//piswarm.read_light_sensor() * 655.0; |
jah128 | 2:c81f4ef63132 | 386 | unsigned short light = (unsigned short) flight; |
jah128 | 2:c81f4ef63132 | 387 | response[0] = light >> 8; |
jah128 | 2:c81f4ef63132 | 388 | response[1] = light % 256; |
jah128 | 2:c81f4ef63132 | 389 | break; |
jah128 | 2:c81f4ef63132 | 390 | } |
jah128 | 2:c81f4ef63132 | 391 | case 8: { // Request accelerometer reading |
jah128 | 2:c81f4ef63132 | 392 | response_length = 6; |
jah128 | 2:c81f4ef63132 | 393 | response = new char[6]; |
jah128 | 2:c81f4ef63132 | 394 | int acc_x = 0;//(int)piswarm.read_accelerometer_x(); |
jah128 | 2:c81f4ef63132 | 395 | int acc_y = 0;//(int)piswarm.read_accelerometer_y(); |
jah128 | 2:c81f4ef63132 | 396 | int acc_z = 0;//(int)piswarm.read_accelerometer_z(); |
jah128 | 2:c81f4ef63132 | 397 | acc_x += 32768; |
jah128 | 2:c81f4ef63132 | 398 | acc_y += 32768; |
jah128 | 2:c81f4ef63132 | 399 | acc_z += 32768; |
jah128 | 2:c81f4ef63132 | 400 | response[0]=acc_x >> 8; |
jah128 | 2:c81f4ef63132 | 401 | response[1]=acc_x % 256; |
jah128 | 2:c81f4ef63132 | 402 | response[2]=acc_y >> 8; |
jah128 | 2:c81f4ef63132 | 403 | response[3]=acc_y % 256; |
jah128 | 2:c81f4ef63132 | 404 | response[4]=acc_z >> 8; |
jah128 | 2:c81f4ef63132 | 405 | response[5]=acc_z % 256; |
jah128 | 2:c81f4ef63132 | 406 | break; |
jah128 | 2:c81f4ef63132 | 407 | } |
jah128 | 2:c81f4ef63132 | 408 | case 9: { // Request gyroscope reading |
jah128 | 2:c81f4ef63132 | 409 | response_length = 2; |
jah128 | 2:c81f4ef63132 | 410 | response = new char[2]; |
jah128 | 2:c81f4ef63132 | 411 | float fgyro = 0;//piswarm.read_gyro(); |
jah128 | 2:c81f4ef63132 | 412 | fgyro += 32768; |
jah128 | 2:c81f4ef63132 | 413 | unsigned short sgyro = (unsigned short) fgyro; |
jah128 | 2:c81f4ef63132 | 414 | response[0] = sgyro >> 8; |
jah128 | 2:c81f4ef63132 | 415 | response[1] = sgyro % 256; |
jah128 | 2:c81f4ef63132 | 416 | break; |
jah128 | 2:c81f4ef63132 | 417 | } |
jah128 | 2:c81f4ef63132 | 418 | case 10: { // Request background IR reading |
jah128 | 2:c81f4ef63132 | 419 | response_length = 16; |
jah128 | 2:c81f4ef63132 | 420 | response = new char[16]; |
jah128 | 2:c81f4ef63132 | 421 | for(int sensor = 0; sensor < 8; sensor ++){ |
jah128 | 2:c81f4ef63132 | 422 | int offset = sensor * 2; |
jah128 | 2:c81f4ef63132 | 423 | unsigned short m_val = 0;//piswarm.read_adc_value(sensor); |
jah128 | 2:c81f4ef63132 | 424 | response[offset]=m_val >> 8; |
jah128 | 2:c81f4ef63132 | 425 | response[offset+1]=m_val % 256; |
jah128 | 2:c81f4ef63132 | 426 | } |
jah128 | 2:c81f4ef63132 | 427 | break; |
jah128 | 2:c81f4ef63132 | 428 | } |
jah128 | 2:c81f4ef63132 | 429 | case 11: { // Request illuminated IR reading |
jah128 | 2:c81f4ef63132 | 430 | response_length = 16; |
jah128 | 2:c81f4ef63132 | 431 | response = new char[16]; |
jah128 | 2:c81f4ef63132 | 432 | for(int sensor = 0; sensor < 8; sensor ++){ |
jah128 | 2:c81f4ef63132 | 433 | int offset = sensor * 2; |
jah128 | 2:c81f4ef63132 | 434 | unsigned short m_val = 0;//piswarm.read_illuminated_raw_ir_value(sensor); |
jah128 | 2:c81f4ef63132 | 435 | response[offset]=m_val >> 8; |
jah128 | 2:c81f4ef63132 | 436 | response[offset+1]=m_val % 256; |
jah128 | 2:c81f4ef63132 | 437 | } |
jah128 | 2:c81f4ef63132 | 438 | break; |
jah128 | 2:c81f4ef63132 | 439 | } |
jah128 | 2:c81f4ef63132 | 440 | |
jah128 | 2:c81f4ef63132 | 441 | case 12: { // Request distance IR reading |
jah128 | 2:c81f4ef63132 | 442 | response_length = 16; |
jah128 | 2:c81f4ef63132 | 443 | response = new char[16]; |
jah128 | 2:c81f4ef63132 | 444 | for(int sensor = 0; sensor < 8; sensor ++){ |
jah128 | 2:c81f4ef63132 | 445 | int offset = sensor * 2; |
jah128 | 2:c81f4ef63132 | 446 | float f_val = 0;//piswarm.read_reflected_ir_distance(sensor); |
jah128 | 2:c81f4ef63132 | 447 | //f_val ranges from 0 to 100.0; |
jah128 | 2:c81f4ef63132 | 448 | f_val *= 655; |
jah128 | 2:c81f4ef63132 | 449 | unsigned short m_val = (unsigned short) f_val; |
jah128 | 2:c81f4ef63132 | 450 | response[offset]=m_val >> 8; |
jah128 | 2:c81f4ef63132 | 451 | response[offset+1]=m_val % 256; |
jah128 | 2:c81f4ef63132 | 452 | } |
jah128 | 2:c81f4ef63132 | 453 | break; |
jah128 | 2:c81f4ef63132 | 454 | } |
jah128 | 2:c81f4ef63132 | 455 | |
jah128 | 2:c81f4ef63132 | 456 | case 13: // Request line-tracking IR reading |
jah128 | 2:c81f4ef63132 | 457 | break; |
jah128 | 2:c81f4ef63132 | 458 | case 14: // Request uptime |
jah128 | 2:c81f4ef63132 | 459 | break; |
jah128 | 2:c81f4ef63132 | 460 | case 15: // |
jah128 | 2:c81f4ef63132 | 461 | break; |
jah128 | 2:c81f4ef63132 | 462 | } |
jah128 | 2:c81f4ef63132 | 463 | send_response(sender, is_broadcast, success, id, 0, function, response, response_length); |
jah128 | 2:c81f4ef63132 | 464 | |
jah128 | 2:c81f4ef63132 | 465 | } |
jah128 | 2:c81f4ef63132 | 466 | |
jah128 | 2:c81f4ef63132 | 467 | |
jah128 | 2:c81f4ef63132 | 468 | void errormessage(int index) |
jah128 | 2:c81f4ef63132 | 469 | { |
jah128 | 2:c81f4ef63132 | 470 | if(RF_USE_LEDS==1) errorled=1; |
jah128 | 2:c81f4ef63132 | 471 | switch(index) { |
jah128 | 2:c81f4ef63132 | 472 | case 0: //Message to short |
jah128 | 2:c81f4ef63132 | 473 | if (RF_DEBUG==1) pc.printf("Bad Message: Too short\n"); |
jah128 | 2:c81f4ef63132 | 474 | break; |
jah128 | 2:c81f4ef63132 | 475 | case 1: //Sender out of valid range |
jah128 | 2:c81f4ef63132 | 476 | if (RF_DEBUG==1) pc.printf("Bad Message: Invalid sender\n"); |
jah128 | 2:c81f4ef63132 | 477 | break; |
jah128 | 2:c81f4ef63132 | 478 | case 2: //Target out of valid range |
jah128 | 2:c81f4ef63132 | 479 | if (RF_DEBUG==1) pc.printf("Bad Message: Invalid target\n"); |
jah128 | 2:c81f4ef63132 | 480 | break; |
jah128 | 2:c81f4ef63132 | 481 | case 3: |
jah128 | 2:c81f4ef63132 | 482 | |
jah128 | 2:c81f4ef63132 | 483 | break; |
jah128 | 2:c81f4ef63132 | 484 | case 4: |
jah128 | 2:c81f4ef63132 | 485 | break; |
jah128 | 2:c81f4ef63132 | 486 | } |
jah128 | 2:c81f4ef63132 | 487 | } |
jah128 | 2:c81f4ef63132 | 488 | |
jah128 | 2:c81f4ef63132 | 489 | |
jah128 | 2:c81f4ef63132 | 490 | |
jah128 | 2:c81f4ef63132 | 491 | |
jah128 | 2:c81f4ef63132 | 492 | |
jah128 | 2:c81f4ef63132 | 493 | void send_rf_request_null ( char target ) |
jah128 | 2:c81f4ef63132 | 494 | { |
jah128 | 2:c81f4ef63132 | 495 | char command = 0x80; |
jah128 | 2:c81f4ef63132 | 496 | char length = 0; |
jah128 | 2:c81f4ef63132 | 497 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 498 | if(target == 0) { //Request broadcast to all recipients |
jah128 | 2:c81f4ef63132 | 499 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 500 | swarm[i].status_rf_request_null = 1; |
jah128 | 2:c81f4ef63132 | 501 | } |
jah128 | 2:c81f4ef63132 | 502 | } else swarm[target].status_rf_request_null = 1; |
jah128 | 2:c81f4ef63132 | 503 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 504 | } |
jah128 | 2:c81f4ef63132 | 505 | |
jah128 | 2:c81f4ef63132 | 506 | |
jah128 | 2:c81f4ef63132 | 507 | void send_rf_request_left_motor_speed ( char target ) |
jah128 | 2:c81f4ef63132 | 508 | { |
jah128 | 2:c81f4ef63132 | 509 | char command = 0x81; |
jah128 | 2:c81f4ef63132 | 510 | char length = 0; |
jah128 | 2:c81f4ef63132 | 511 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 512 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 513 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 514 | swarm[i].status_rf_request_left_motor_speed = 1; |
jah128 | 2:c81f4ef63132 | 515 | } |
jah128 | 2:c81f4ef63132 | 516 | } else swarm[target].status_rf_request_left_motor_speed = 1; |
jah128 | 2:c81f4ef63132 | 517 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 518 | } |
jah128 | 2:c81f4ef63132 | 519 | |
jah128 | 2:c81f4ef63132 | 520 | void send_rf_request_right_motor_speed ( char target ) |
jah128 | 2:c81f4ef63132 | 521 | { |
jah128 | 2:c81f4ef63132 | 522 | char command = 0x82; |
jah128 | 2:c81f4ef63132 | 523 | char length = 0; |
jah128 | 2:c81f4ef63132 | 524 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 525 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 526 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 527 | swarm[i].status_rf_request_right_motor_speed = 1; |
jah128 | 2:c81f4ef63132 | 528 | } |
jah128 | 2:c81f4ef63132 | 529 | } else swarm[target].status_rf_request_right_motor_speed = 1; |
jah128 | 2:c81f4ef63132 | 530 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 531 | } |
jah128 | 2:c81f4ef63132 | 532 | |
jah128 | 2:c81f4ef63132 | 533 | void send_rf_request_button_state ( char target ) |
jah128 | 2:c81f4ef63132 | 534 | { |
jah128 | 2:c81f4ef63132 | 535 | char command = 0x83; |
jah128 | 2:c81f4ef63132 | 536 | char length = 0; |
jah128 | 2:c81f4ef63132 | 537 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 538 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 539 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 540 | swarm[i].status_rf_request_button_state = 1; |
jah128 | 2:c81f4ef63132 | 541 | } |
jah128 | 2:c81f4ef63132 | 542 | } else swarm[target].status_rf_request_button_state = 1; |
jah128 | 2:c81f4ef63132 | 543 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 544 | } |
jah128 | 2:c81f4ef63132 | 545 | |
jah128 | 2:c81f4ef63132 | 546 | void send_rf_request_led_colour ( char target ) |
jah128 | 2:c81f4ef63132 | 547 | { |
jah128 | 2:c81f4ef63132 | 548 | char command = 0x84; |
jah128 | 2:c81f4ef63132 | 549 | char length = 0; |
jah128 | 2:c81f4ef63132 | 550 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 551 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 552 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 553 | swarm[i].status_rf_request_led_colour = 1; |
jah128 | 2:c81f4ef63132 | 554 | } |
jah128 | 2:c81f4ef63132 | 555 | } else swarm[target].status_rf_request_led_colour = 1; |
jah128 | 2:c81f4ef63132 | 556 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 557 | } |
jah128 | 2:c81f4ef63132 | 558 | |
jah128 | 2:c81f4ef63132 | 559 | void send_rf_request_led_states ( char target ) |
jah128 | 2:c81f4ef63132 | 560 | { |
jah128 | 2:c81f4ef63132 | 561 | char command = 0x85; |
jah128 | 2:c81f4ef63132 | 562 | char length = 0; |
jah128 | 2:c81f4ef63132 | 563 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 564 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 565 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 566 | swarm[i].status_rf_request_led_states = 1; |
jah128 | 2:c81f4ef63132 | 567 | } |
jah128 | 2:c81f4ef63132 | 568 | } else swarm[target].status_rf_request_led_states = 1; |
jah128 | 2:c81f4ef63132 | 569 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 570 | } |
jah128 | 2:c81f4ef63132 | 571 | |
jah128 | 2:c81f4ef63132 | 572 | void send_rf_request_battery ( char target ) |
jah128 | 2:c81f4ef63132 | 573 | { |
jah128 | 2:c81f4ef63132 | 574 | char command = 0x86; |
jah128 | 2:c81f4ef63132 | 575 | char length = 0; |
jah128 | 2:c81f4ef63132 | 576 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 577 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 578 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 579 | swarm[i].status_rf_request_battery = 1; |
jah128 | 2:c81f4ef63132 | 580 | } |
jah128 | 2:c81f4ef63132 | 581 | } else swarm[target].status_rf_request_battery = 1; |
jah128 | 2:c81f4ef63132 | 582 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 583 | } |
jah128 | 2:c81f4ef63132 | 584 | |
jah128 | 2:c81f4ef63132 | 585 | void send_rf_request_light_sensor ( char target ) |
jah128 | 2:c81f4ef63132 | 586 | { |
jah128 | 2:c81f4ef63132 | 587 | char command = 0x87; |
jah128 | 2:c81f4ef63132 | 588 | char length = 0; |
jah128 | 2:c81f4ef63132 | 589 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 590 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 591 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 592 | swarm[i].status_rf_request_light_sensor = 1; |
jah128 | 2:c81f4ef63132 | 593 | } |
jah128 | 2:c81f4ef63132 | 594 | } else swarm[target].status_rf_request_light_sensor = 1; |
jah128 | 2:c81f4ef63132 | 595 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 596 | } |
jah128 | 2:c81f4ef63132 | 597 | |
jah128 | 2:c81f4ef63132 | 598 | void send_rf_request_accelerometer ( char target ) |
jah128 | 2:c81f4ef63132 | 599 | { |
jah128 | 2:c81f4ef63132 | 600 | char command = 0x88; |
jah128 | 2:c81f4ef63132 | 601 | char length = 0; |
jah128 | 2:c81f4ef63132 | 602 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 603 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 604 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 605 | swarm[i].status_rf_request_accelerometer = 1; |
jah128 | 2:c81f4ef63132 | 606 | } |
jah128 | 2:c81f4ef63132 | 607 | } else swarm[target].status_rf_request_accelerometer = 1; |
jah128 | 2:c81f4ef63132 | 608 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 609 | } |
jah128 | 2:c81f4ef63132 | 610 | |
jah128 | 2:c81f4ef63132 | 611 | void send_rf_request_gyroscope ( char target ) |
jah128 | 2:c81f4ef63132 | 612 | { |
jah128 | 2:c81f4ef63132 | 613 | char command = 0x89; |
jah128 | 2:c81f4ef63132 | 614 | char length = 0; |
jah128 | 2:c81f4ef63132 | 615 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 616 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 617 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 618 | swarm[i].status_rf_request_gyroscope = 1; |
jah128 | 2:c81f4ef63132 | 619 | } |
jah128 | 2:c81f4ef63132 | 620 | } else swarm[target].status_rf_request_gyroscope = 1; |
jah128 | 2:c81f4ef63132 | 621 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 622 | } |
jah128 | 2:c81f4ef63132 | 623 | |
jah128 | 2:c81f4ef63132 | 624 | void send_rf_request_background_ir ( char target ) |
jah128 | 2:c81f4ef63132 | 625 | { |
jah128 | 2:c81f4ef63132 | 626 | char command = 0x8A; |
jah128 | 2:c81f4ef63132 | 627 | char length = 0; |
jah128 | 2:c81f4ef63132 | 628 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 629 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 630 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 631 | swarm[i].status_rf_request_background_ir = 1; |
jah128 | 2:c81f4ef63132 | 632 | } |
jah128 | 2:c81f4ef63132 | 633 | } else swarm[target].status_rf_request_background_ir = 1; |
jah128 | 2:c81f4ef63132 | 634 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 635 | } |
jah128 | 2:c81f4ef63132 | 636 | |
jah128 | 2:c81f4ef63132 | 637 | void send_rf_request_reflected_ir ( char target ) |
jah128 | 2:c81f4ef63132 | 638 | { |
jah128 | 2:c81f4ef63132 | 639 | char command = 0x8B; |
jah128 | 2:c81f4ef63132 | 640 | char length = 0; |
jah128 | 2:c81f4ef63132 | 641 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 642 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 643 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 644 | swarm[i].status_rf_request_reflected_ir = 1; |
jah128 | 2:c81f4ef63132 | 645 | } |
jah128 | 2:c81f4ef63132 | 646 | } else swarm[target].status_rf_request_reflected_ir = 1; |
jah128 | 2:c81f4ef63132 | 647 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 648 | } |
jah128 | 2:c81f4ef63132 | 649 | |
jah128 | 2:c81f4ef63132 | 650 | void send_rf_request_distance_ir ( char target ) |
jah128 | 2:c81f4ef63132 | 651 | { |
jah128 | 2:c81f4ef63132 | 652 | char command = 0x8C; |
jah128 | 2:c81f4ef63132 | 653 | char length = 0; |
jah128 | 2:c81f4ef63132 | 654 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 655 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 656 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 657 | swarm[i].status_rf_request_distance_ir = 1; |
jah128 | 2:c81f4ef63132 | 658 | } |
jah128 | 2:c81f4ef63132 | 659 | } else swarm[target].status_rf_request_distance_ir = 1; |
jah128 | 2:c81f4ef63132 | 660 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 661 | } |
jah128 | 2:c81f4ef63132 | 662 | |
jah128 | 2:c81f4ef63132 | 663 | void send_rf_request_line_following_ir ( char target ) |
jah128 | 2:c81f4ef63132 | 664 | { |
jah128 | 2:c81f4ef63132 | 665 | char command = 0x8D; |
jah128 | 2:c81f4ef63132 | 666 | char length = 0; |
jah128 | 2:c81f4ef63132 | 667 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 668 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 669 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 670 | swarm[i].status_rf_request_line_following_ir = 1; |
jah128 | 2:c81f4ef63132 | 671 | } |
jah128 | 2:c81f4ef63132 | 672 | } else swarm[target].status_rf_request_line_following_ir = 1; |
jah128 | 2:c81f4ef63132 | 673 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 674 | } |
jah128 | 2:c81f4ef63132 | 675 | |
jah128 | 2:c81f4ef63132 | 676 | void send_rf_request_uptime ( char target ) |
jah128 | 2:c81f4ef63132 | 677 | { |
jah128 | 2:c81f4ef63132 | 678 | char command = 0x8E; |
jah128 | 2:c81f4ef63132 | 679 | char length = 0; |
jah128 | 2:c81f4ef63132 | 680 | char * data = NULL; |
jah128 | 2:c81f4ef63132 | 681 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 682 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 683 | swarm[i].status_rf_request_uptime= 1; |
jah128 | 2:c81f4ef63132 | 684 | } |
jah128 | 2:c81f4ef63132 | 685 | } else swarm[target].status_rf_request_uptime = 1; |
jah128 | 2:c81f4ef63132 | 686 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 687 | } |
jah128 | 2:c81f4ef63132 | 688 | |
jah128 | 2:c81f4ef63132 | 689 | void send_rf_command_stop ( char target, char request_response ) |
jah128 | 2:c81f4ef63132 | 690 | { |
jah128 | 2:c81f4ef63132 | 691 | char command = 0x10; |
jah128 | 2:c81f4ef63132 | 692 | char length = 0; |
jah128 | 2:c81f4ef63132 | 693 | char data [0]; |
jah128 | 2:c81f4ef63132 | 694 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 695 | command+=64; |
jah128 | 2:c81f4ef63132 | 696 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 697 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 698 | swarm[i].status_rf_command_stop= 1; |
jah128 | 2:c81f4ef63132 | 699 | } |
jah128 | 2:c81f4ef63132 | 700 | } else swarm[target].status_rf_command_stop = 1; |
jah128 | 2:c81f4ef63132 | 701 | } |
jah128 | 2:c81f4ef63132 | 702 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 703 | } |
jah128 | 2:c81f4ef63132 | 704 | |
jah128 | 2:c81f4ef63132 | 705 | void send_rf_command_forward ( char target, char request_response, float speed ) |
jah128 | 2:c81f4ef63132 | 706 | { |
jah128 | 2:c81f4ef63132 | 707 | char command = 0x11; |
jah128 | 2:c81f4ef63132 | 708 | char length = 2; |
jah128 | 2:c81f4ef63132 | 709 | char data [2]; |
jah128 | 2:c81f4ef63132 | 710 | float qspeed = speed + 1; |
jah128 | 2:c81f4ef63132 | 711 | qspeed *= 32768.0; |
jah128 | 2:c81f4ef63132 | 712 | int ispeed = (int) qspeed; |
jah128 | 2:c81f4ef63132 | 713 | data[0] = (char) (ispeed >> 8); |
jah128 | 2:c81f4ef63132 | 714 | data[1] = (char) (ispeed % 256); |
jah128 | 2:c81f4ef63132 | 715 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 716 | command+=64; |
jah128 | 2:c81f4ef63132 | 717 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 718 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 719 | swarm[i].status_rf_command_forward= 1; |
jah128 | 2:c81f4ef63132 | 720 | } |
jah128 | 2:c81f4ef63132 | 721 | } else swarm[target].status_rf_command_forward = 1; |
jah128 | 2:c81f4ef63132 | 722 | } |
jah128 | 2:c81f4ef63132 | 723 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 724 | } |
jah128 | 2:c81f4ef63132 | 725 | |
jah128 | 2:c81f4ef63132 | 726 | |
jah128 | 2:c81f4ef63132 | 727 | void send_rf_command_backward ( char target, char request_response, float speed ) |
jah128 | 2:c81f4ef63132 | 728 | { |
jah128 | 2:c81f4ef63132 | 729 | char command = 0x12; |
jah128 | 2:c81f4ef63132 | 730 | char length = 2; |
jah128 | 2:c81f4ef63132 | 731 | char data [2]; |
jah128 | 2:c81f4ef63132 | 732 | float qspeed = speed + 1; |
jah128 | 2:c81f4ef63132 | 733 | qspeed *= 32768.0; |
jah128 | 2:c81f4ef63132 | 734 | int ispeed = (int) qspeed; |
jah128 | 2:c81f4ef63132 | 735 | data[0] = (char) (ispeed >> 8); |
jah128 | 2:c81f4ef63132 | 736 | data[1] = (char) (ispeed % 256); |
jah128 | 2:c81f4ef63132 | 737 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 738 | command+=64; |
jah128 | 2:c81f4ef63132 | 739 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 740 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 741 | swarm[i].status_rf_command_backward= 1; |
jah128 | 2:c81f4ef63132 | 742 | } |
jah128 | 2:c81f4ef63132 | 743 | } else swarm[target].status_rf_command_backward = 1; |
jah128 | 2:c81f4ef63132 | 744 | } |
jah128 | 2:c81f4ef63132 | 745 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 746 | } |
jah128 | 2:c81f4ef63132 | 747 | |
jah128 | 2:c81f4ef63132 | 748 | void send_rf_command_left ( char target, char request_response, float speed ) |
jah128 | 2:c81f4ef63132 | 749 | { |
jah128 | 2:c81f4ef63132 | 750 | char command = 0x13; |
jah128 | 2:c81f4ef63132 | 751 | char length = 2; |
jah128 | 2:c81f4ef63132 | 752 | char data [2]; |
jah128 | 2:c81f4ef63132 | 753 | float qspeed = speed + 1; |
jah128 | 2:c81f4ef63132 | 754 | qspeed *= 32768.0; |
jah128 | 2:c81f4ef63132 | 755 | int ispeed = (int) qspeed; |
jah128 | 2:c81f4ef63132 | 756 | data[0] = (char) (ispeed >> 8); |
jah128 | 2:c81f4ef63132 | 757 | data[1] = (char) (ispeed % 256); |
jah128 | 2:c81f4ef63132 | 758 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 759 | command+=64; |
jah128 | 2:c81f4ef63132 | 760 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 761 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 762 | swarm[i].status_rf_command_left = 1; |
jah128 | 2:c81f4ef63132 | 763 | } |
jah128 | 2:c81f4ef63132 | 764 | } else swarm[target].status_rf_command_left = 1; |
jah128 | 2:c81f4ef63132 | 765 | } |
jah128 | 2:c81f4ef63132 | 766 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 767 | } |
jah128 | 2:c81f4ef63132 | 768 | |
jah128 | 2:c81f4ef63132 | 769 | void send_rf_command_right ( char target, char request_response, float speed ) |
jah128 | 2:c81f4ef63132 | 770 | { |
jah128 | 2:c81f4ef63132 | 771 | char command = 0x14; |
jah128 | 2:c81f4ef63132 | 772 | char length = 2; |
jah128 | 2:c81f4ef63132 | 773 | char data [2]; |
jah128 | 2:c81f4ef63132 | 774 | float qspeed = speed + 1; |
jah128 | 2:c81f4ef63132 | 775 | qspeed *= 32768.0; |
jah128 | 2:c81f4ef63132 | 776 | int ispeed = (int) qspeed; |
jah128 | 2:c81f4ef63132 | 777 | data[0] = (char) (ispeed >> 8); |
jah128 | 2:c81f4ef63132 | 778 | data[1] = (char) (ispeed % 256); |
jah128 | 2:c81f4ef63132 | 779 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 780 | command+=64; |
jah128 | 2:c81f4ef63132 | 781 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 782 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 783 | swarm[i].status_rf_command_right = 1; |
jah128 | 2:c81f4ef63132 | 784 | } |
jah128 | 2:c81f4ef63132 | 785 | } else swarm[target].status_rf_command_right = 1; |
jah128 | 2:c81f4ef63132 | 786 | } |
jah128 | 2:c81f4ef63132 | 787 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 788 | } |
jah128 | 2:c81f4ef63132 | 789 | |
jah128 | 2:c81f4ef63132 | 790 | void send_rf_command_left_motor ( char target, char request_response, float speed ) |
jah128 | 2:c81f4ef63132 | 791 | { |
jah128 | 2:c81f4ef63132 | 792 | char command = 0x15; |
jah128 | 2:c81f4ef63132 | 793 | char length = 2; |
jah128 | 2:c81f4ef63132 | 794 | char data [2]; |
jah128 | 2:c81f4ef63132 | 795 | float qspeed = speed + 1; |
jah128 | 2:c81f4ef63132 | 796 | qspeed *= 32768.0; |
jah128 | 2:c81f4ef63132 | 797 | int ispeed = (int) qspeed; |
jah128 | 2:c81f4ef63132 | 798 | data[0] = (char) (ispeed >> 8); |
jah128 | 2:c81f4ef63132 | 799 | data[1] = (char) (ispeed % 256); |
jah128 | 2:c81f4ef63132 | 800 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 801 | command+=64; |
jah128 | 2:c81f4ef63132 | 802 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 803 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 804 | swarm[i].status_rf_command_left_motor = 1; |
jah128 | 2:c81f4ef63132 | 805 | } |
jah128 | 2:c81f4ef63132 | 806 | } else swarm[target].status_rf_command_left_motor = 1; |
jah128 | 2:c81f4ef63132 | 807 | } |
jah128 | 2:c81f4ef63132 | 808 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 809 | } |
jah128 | 2:c81f4ef63132 | 810 | |
jah128 | 2:c81f4ef63132 | 811 | void send_rf_command_right_motor ( char target, char request_response, float speed ) |
jah128 | 2:c81f4ef63132 | 812 | { |
jah128 | 2:c81f4ef63132 | 813 | char command = 0x16; |
jah128 | 2:c81f4ef63132 | 814 | char length = 2; |
jah128 | 2:c81f4ef63132 | 815 | char data [2]; |
jah128 | 2:c81f4ef63132 | 816 | float qspeed = speed + 1; |
jah128 | 2:c81f4ef63132 | 817 | qspeed *= 32768.0; |
jah128 | 2:c81f4ef63132 | 818 | int ispeed = (int) qspeed; |
jah128 | 2:c81f4ef63132 | 819 | data[0] = (char) (ispeed >> 8); |
jah128 | 2:c81f4ef63132 | 820 | data[1] = (char) (ispeed % 256); |
jah128 | 2:c81f4ef63132 | 821 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 822 | command+=64; |
jah128 | 2:c81f4ef63132 | 823 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 824 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 825 | swarm[i].status_rf_command_right_motor = 1; |
jah128 | 2:c81f4ef63132 | 826 | } |
jah128 | 2:c81f4ef63132 | 827 | } else swarm[target].status_rf_command_right_motor = 1; |
jah128 | 2:c81f4ef63132 | 828 | } |
jah128 | 2:c81f4ef63132 | 829 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 830 | } |
jah128 | 2:c81f4ef63132 | 831 | |
jah128 | 2:c81f4ef63132 | 832 | void send_rf_command_oled_colour ( char target, char request_response, char red, char green, char blue ) |
jah128 | 2:c81f4ef63132 | 833 | { |
jah128 | 2:c81f4ef63132 | 834 | char command = 0x17; |
jah128 | 2:c81f4ef63132 | 835 | char length = 3; |
jah128 | 2:c81f4ef63132 | 836 | char data [3]; |
jah128 | 2:c81f4ef63132 | 837 | data[0] = red; |
jah128 | 2:c81f4ef63132 | 838 | data[1] = green; |
jah128 | 2:c81f4ef63132 | 839 | data[2] = blue; |
jah128 | 2:c81f4ef63132 | 840 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 841 | command+=64; |
jah128 | 2:c81f4ef63132 | 842 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 843 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 844 | swarm[i].status_rf_command_oled_colour = 1; |
jah128 | 2:c81f4ef63132 | 845 | } |
jah128 | 2:c81f4ef63132 | 846 | } else swarm[target].status_rf_command_oled_colour = 1; |
jah128 | 2:c81f4ef63132 | 847 | } |
jah128 | 2:c81f4ef63132 | 848 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 849 | } |
jah128 | 2:c81f4ef63132 | 850 | |
jah128 | 2:c81f4ef63132 | 851 | void send_rf_command_cled_colour ( char target, char request_response, char red, char green, char blue ) |
jah128 | 2:c81f4ef63132 | 852 | { |
jah128 | 2:c81f4ef63132 | 853 | char command = 0x18; |
jah128 | 2:c81f4ef63132 | 854 | char length = 3; |
jah128 | 2:c81f4ef63132 | 855 | char data [3]; |
jah128 | 2:c81f4ef63132 | 856 | data[0] = red; |
jah128 | 2:c81f4ef63132 | 857 | data[1] = green; |
jah128 | 2:c81f4ef63132 | 858 | data[2] = blue; |
jah128 | 2:c81f4ef63132 | 859 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 860 | command+=64; |
jah128 | 2:c81f4ef63132 | 861 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 862 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 863 | swarm[i].status_rf_command_cled_colour = 1; |
jah128 | 2:c81f4ef63132 | 864 | } |
jah128 | 2:c81f4ef63132 | 865 | } else swarm[target].status_rf_command_cled_colour = 1; |
jah128 | 2:c81f4ef63132 | 866 | } |
jah128 | 2:c81f4ef63132 | 867 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 868 | } |
jah128 | 2:c81f4ef63132 | 869 | |
jah128 | 2:c81f4ef63132 | 870 | 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 ) |
jah128 | 2:c81f4ef63132 | 871 | { |
jah128 | 2:c81f4ef63132 | 872 | char command = 0x19; |
jah128 | 2:c81f4ef63132 | 873 | char length = 2; |
jah128 | 2:c81f4ef63132 | 874 | char data [2]; |
jah128 | 2:c81f4ef63132 | 875 | data[0] = 0; |
jah128 | 2:c81f4ef63132 | 876 | data[1] = 0; |
jah128 | 2:c81f4ef63132 | 877 | if( led0 == 1) data[0] += 2; |
jah128 | 2:c81f4ef63132 | 878 | if( led1 == 1) data[0] += 1; |
jah128 | 2:c81f4ef63132 | 879 | if( led2 == 1) data[1] += 128; |
jah128 | 2:c81f4ef63132 | 880 | if( led3 == 1) data[1] += 64; |
jah128 | 2:c81f4ef63132 | 881 | if( led4 == 1) data[1] += 32; |
jah128 | 2:c81f4ef63132 | 882 | if( led5 == 1) data[1] += 16; |
jah128 | 2:c81f4ef63132 | 883 | if( led6 == 1) data[1] += 8; |
jah128 | 2:c81f4ef63132 | 884 | if( led7 == 1) data[1] += 4; |
jah128 | 2:c81f4ef63132 | 885 | if( led8 == 1) data[1] += 2; |
jah128 | 2:c81f4ef63132 | 886 | if( led9 == 1) data[1] += 1; |
jah128 | 2:c81f4ef63132 | 887 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 888 | command+=64; |
jah128 | 2:c81f4ef63132 | 889 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 890 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 891 | swarm[i].status_rf_command_oled_state = 1; |
jah128 | 2:c81f4ef63132 | 892 | } |
jah128 | 2:c81f4ef63132 | 893 | } else swarm[target].status_rf_command_oled_state = 1; |
jah128 | 2:c81f4ef63132 | 894 | } |
jah128 | 2:c81f4ef63132 | 895 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 896 | } |
jah128 | 2:c81f4ef63132 | 897 | |
jah128 | 2:c81f4ef63132 | 898 | void send_rf_command_cled_state ( char target, char request_response, char enable ) |
jah128 | 2:c81f4ef63132 | 899 | { |
jah128 | 2:c81f4ef63132 | 900 | char command = 0x1A; |
jah128 | 2:c81f4ef63132 | 901 | char length = 1; |
jah128 | 2:c81f4ef63132 | 902 | char data [1]; |
jah128 | 2:c81f4ef63132 | 903 | data[0] = enable; |
jah128 | 2:c81f4ef63132 | 904 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 905 | command+=64; |
jah128 | 2:c81f4ef63132 | 906 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 907 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 908 | swarm[i].status_rf_command_cled_state = 1; |
jah128 | 2:c81f4ef63132 | 909 | } |
jah128 | 2:c81f4ef63132 | 910 | } else swarm[target].status_rf_command_cled_state = 1; |
jah128 | 2:c81f4ef63132 | 911 | } |
jah128 | 2:c81f4ef63132 | 912 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 913 | } |
jah128 | 2:c81f4ef63132 | 914 | |
jah128 | 2:c81f4ef63132 | 915 | void send_rf_command_set_oled ( char target, char request_response, char oled, char enable ) |
jah128 | 2:c81f4ef63132 | 916 | { |
jah128 | 2:c81f4ef63132 | 917 | char command = 0x1B; |
jah128 | 2:c81f4ef63132 | 918 | char length = 1; |
jah128 | 2:c81f4ef63132 | 919 | char data [1]; |
jah128 | 2:c81f4ef63132 | 920 | data[0] = oled; |
jah128 | 2:c81f4ef63132 | 921 | if(enable == 1) oled+= 32; |
jah128 | 2:c81f4ef63132 | 922 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 923 | command+=64; |
jah128 | 2:c81f4ef63132 | 924 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 925 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 926 | swarm[i].status_rf_command_set_oled = 1; |
jah128 | 2:c81f4ef63132 | 927 | } |
jah128 | 2:c81f4ef63132 | 928 | } else swarm[target].status_rf_command_set_oled = 1; |
jah128 | 2:c81f4ef63132 | 929 | } |
jah128 | 2:c81f4ef63132 | 930 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 931 | } |
jah128 | 2:c81f4ef63132 | 932 | |
jah128 | 2:c81f4ef63132 | 933 | void send_rf_command_play_tune ( char target, char request_response, char * data, char length ) |
jah128 | 2:c81f4ef63132 | 934 | { |
jah128 | 2:c81f4ef63132 | 935 | char command = 0x1C; |
jah128 | 2:c81f4ef63132 | 936 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 937 | command+=64; |
jah128 | 2:c81f4ef63132 | 938 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 939 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 940 | swarm[i].status_rf_command_play_tune = 1; |
jah128 | 2:c81f4ef63132 | 941 | } |
jah128 | 2:c81f4ef63132 | 942 | } else swarm[target].status_rf_command_play_tune = 1; |
jah128 | 2:c81f4ef63132 | 943 | } |
jah128 | 2:c81f4ef63132 | 944 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 945 | } |
jah128 | 2:c81f4ef63132 | 946 | |
jah128 | 2:c81f4ef63132 | 947 | void send_rf_command_sync_time ( char target, char request_response ) |
jah128 | 2:c81f4ef63132 | 948 | { |
jah128 | 2:c81f4ef63132 | 949 | char command = 0x1D; |
jah128 | 2:c81f4ef63132 | 950 | char length = 1; |
jah128 | 2:c81f4ef63132 | 951 | char data [1]; |
jah128 | 2:c81f4ef63132 | 952 | data[0] = 0; |
jah128 | 2:c81f4ef63132 | 953 | if(request_response == 1) { |
jah128 | 2:c81f4ef63132 | 954 | command+=64; |
jah128 | 2:c81f4ef63132 | 955 | if(target == 0) { |
jah128 | 2:c81f4ef63132 | 956 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 957 | swarm[i].status_rf_command_sync_time = 1; |
jah128 | 2:c81f4ef63132 | 958 | } |
jah128 | 2:c81f4ef63132 | 959 | } else swarm[target].status_rf_command_sync_time = 1; |
jah128 | 2:c81f4ef63132 | 960 | } |
jah128 | 2:c81f4ef63132 | 961 | send_rf_message(target,command,data,length); |
jah128 | 2:c81f4ef63132 | 962 | } |
jah128 | 2:c81f4ef63132 | 963 | |
jah128 | 2:c81f4ef63132 | 964 | //Resets the recorded swarm data tables |
jah128 | 2:c81f4ef63132 | 965 | void setup_communications() |
jah128 | 2:c81f4ef63132 | 966 | { |
jah128 | 2:c81f4ef63132 | 967 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 2:c81f4ef63132 | 968 | swarm[i].status_rf_request_null = 0; |
jah128 | 2:c81f4ef63132 | 969 | swarm[i].status_rf_request_left_motor_speed = 0; |
jah128 | 2:c81f4ef63132 | 970 | swarm[i].status_rf_request_right_motor_speed = 0; |
jah128 | 2:c81f4ef63132 | 971 | swarm[i].status_rf_request_button_state = 0; |
jah128 | 2:c81f4ef63132 | 972 | swarm[i].status_rf_request_led_colour = 0; |
jah128 | 2:c81f4ef63132 | 973 | swarm[i].status_rf_request_led_states = 0; |
jah128 | 2:c81f4ef63132 | 974 | swarm[i].status_rf_request_battery = 0; |
jah128 | 2:c81f4ef63132 | 975 | swarm[i].status_rf_request_light_sensor = 0; |
jah128 | 2:c81f4ef63132 | 976 | swarm[i].status_rf_request_accelerometer = 0; |
jah128 | 2:c81f4ef63132 | 977 | swarm[i].status_rf_request_gyroscope = 0; |
jah128 | 2:c81f4ef63132 | 978 | swarm[i].status_rf_request_background_ir = 0; |
jah128 | 2:c81f4ef63132 | 979 | swarm[i].status_rf_request_reflected_ir = 0; |
jah128 | 2:c81f4ef63132 | 980 | swarm[i].status_rf_request_distance_ir = 0; |
jah128 | 2:c81f4ef63132 | 981 | swarm[i].status_rf_request_line_following_ir = 0; |
jah128 | 2:c81f4ef63132 | 982 | swarm[i].status_rf_request_uptime = 0; |
jah128 | 2:c81f4ef63132 | 983 | swarm[i].status_rf_command_stop = 0; |
jah128 | 2:c81f4ef63132 | 984 | swarm[i].status_rf_command_forward = 0; |
jah128 | 2:c81f4ef63132 | 985 | swarm[i].status_rf_command_backward = 0; |
jah128 | 2:c81f4ef63132 | 986 | swarm[i].status_rf_command_left = 0; |
jah128 | 2:c81f4ef63132 | 987 | swarm[i].status_rf_command_right = 0; |
jah128 | 2:c81f4ef63132 | 988 | swarm[i].status_rf_command_left_motor = 0; |
jah128 | 2:c81f4ef63132 | 989 | swarm[i].status_rf_command_right_motor = 0; |
jah128 | 2:c81f4ef63132 | 990 | swarm[i].status_rf_command_oled_colour = 0; |
jah128 | 2:c81f4ef63132 | 991 | swarm[i].status_rf_command_cled_colour = 0; |
jah128 | 2:c81f4ef63132 | 992 | swarm[i].status_rf_command_oled_state = 0; |
jah128 | 2:c81f4ef63132 | 993 | swarm[i].status_rf_command_cled_state = 0; |
jah128 | 2:c81f4ef63132 | 994 | swarm[i].status_rf_command_set_oled = 0; |
jah128 | 2:c81f4ef63132 | 995 | swarm[i].status_rf_command_play_tune = 0; |
jah128 | 2:c81f4ef63132 | 996 | swarm[i].status_rf_command_sync_time = 0; |
jah128 | 2:c81f4ef63132 | 997 | swarm[i].left_motor_speed = 0.0; |
jah128 | 2:c81f4ef63132 | 998 | swarm[i].right_motor_speed = 0.0; |
jah128 | 2:c81f4ef63132 | 999 | swarm[i].button_state = 0; |
jah128 | 2:c81f4ef63132 | 1000 | for(int k=0; k<3; k++) { |
jah128 | 2:c81f4ef63132 | 1001 | swarm[i].outer_led_colour [k]=0; |
jah128 | 2:c81f4ef63132 | 1002 | swarm[i].center_led_colour [k]=0; |
jah128 | 2:c81f4ef63132 | 1003 | swarm[i].accelerometer [k]=0; |
jah128 | 2:c81f4ef63132 | 1004 | } |
jah128 | 2:c81f4ef63132 | 1005 | swarm[i].led_states[0]=0; |
jah128 | 2:c81f4ef63132 | 1006 | swarm[i].led_states[1]=0; |
jah128 | 2:c81f4ef63132 | 1007 | swarm[i].battery = 0.0; |
jah128 | 2:c81f4ef63132 | 1008 | swarm[i].light_sensor = 0.0; |
jah128 | 2:c81f4ef63132 | 1009 | swarm[i].gyro = 0.0; |
jah128 | 2:c81f4ef63132 | 1010 | for(int k=0; k<8; k++) { |
jah128 | 2:c81f4ef63132 | 1011 | swarm[i].background_ir[k] = 0; |
jah128 | 2:c81f4ef63132 | 1012 | swarm[i].reflected_ir[k] = 0; |
jah128 | 2:c81f4ef63132 | 1013 | swarm[i].distance_ir[k] = 0; |
jah128 | 2:c81f4ef63132 | 1014 | } |
jah128 | 2:c81f4ef63132 | 1015 | } |
jah128 | 2:c81f4ef63132 | 1016 | } |
jah128 | 2:c81f4ef63132 | 1017 | |
jah128 | 2:c81f4ef63132 | 1018 | |
jah128 | 2:c81f4ef63132 | 1019 | // Handle a message that is a response to a predefined (non-user) command or request |
jah128 | 2:c81f4ef63132 | 1020 | void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length) |
jah128 | 2:c81f4ef63132 | 1021 | { |
jah128 | 2:c81f4ef63132 | 1022 | char outcome = 0; |
jah128 | 2:c81f4ef63132 | 1023 | if(is_command == 0) { |
jah128 | 2:c81f4ef63132 | 1024 | // Response is a data_request_response |
jah128 | 2:c81f4ef63132 | 1025 | switch(function) { |
jah128 | 2:c81f4ef63132 | 1026 | case 0: { |
jah128 | 2:c81f4ef63132 | 1027 | if(swarm[sender].status_rf_request_null == 1) { |
jah128 | 2:c81f4ef63132 | 1028 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1029 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1030 | swarm[sender].status_rf_request_null = 2; |
jah128 | 2:c81f4ef63132 | 1031 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1032 | } else { |
jah128 | 2:c81f4ef63132 | 1033 | swarm[sender].status_rf_request_null= 3; |
jah128 | 2:c81f4ef63132 | 1034 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1035 | } |
jah128 | 2:c81f4ef63132 | 1036 | } else { |
jah128 | 2:c81f4ef63132 | 1037 | swarm[sender].status_rf_request_null = 4; |
jah128 | 2:c81f4ef63132 | 1038 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1039 | } |
jah128 | 2:c81f4ef63132 | 1040 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1041 | } |
jah128 | 2:c81f4ef63132 | 1042 | break; |
jah128 | 2:c81f4ef63132 | 1043 | |
jah128 | 2:c81f4ef63132 | 1044 | case 1: { //Left motor speed |
jah128 | 2:c81f4ef63132 | 1045 | if(swarm[sender].status_rf_request_left_motor_speed == 1) { |
jah128 | 2:c81f4ef63132 | 1046 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1047 | if(length == 2) { |
jah128 | 2:c81f4ef63132 | 1048 | swarm[sender].status_rf_request_left_motor_speed = 2; |
jah128 | 2:c81f4ef63132 | 1049 | int value = (data [0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 1050 | value -= 32768; |
jah128 | 2:c81f4ef63132 | 1051 | float val = value; |
jah128 | 2:c81f4ef63132 | 1052 | val /= 32767.0; |
jah128 | 2:c81f4ef63132 | 1053 | swarm[sender].left_motor_speed = val; |
jah128 | 2:c81f4ef63132 | 1054 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1055 | } else { |
jah128 | 2:c81f4ef63132 | 1056 | swarm[sender].status_rf_request_left_motor_speed= 3; |
jah128 | 2:c81f4ef63132 | 1057 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1058 | } |
jah128 | 2:c81f4ef63132 | 1059 | } else { |
jah128 | 2:c81f4ef63132 | 1060 | swarm[sender].status_rf_request_left_motor_speed = 4; |
jah128 | 2:c81f4ef63132 | 1061 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1062 | } |
jah128 | 2:c81f4ef63132 | 1063 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1064 | } |
jah128 | 2:c81f4ef63132 | 1065 | break; |
jah128 | 2:c81f4ef63132 | 1066 | |
jah128 | 2:c81f4ef63132 | 1067 | case 2: { //Right motor speed |
jah128 | 2:c81f4ef63132 | 1068 | if(swarm[sender].status_rf_request_right_motor_speed == 1) { |
jah128 | 2:c81f4ef63132 | 1069 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1070 | if(length == 2) { |
jah128 | 2:c81f4ef63132 | 1071 | swarm[sender].status_rf_request_right_motor_speed = 2; |
jah128 | 2:c81f4ef63132 | 1072 | int value = (data [0] << 8) + data[1]; |
jah128 | 2:c81f4ef63132 | 1073 | value -= 32768; |
jah128 | 2:c81f4ef63132 | 1074 | float val = value; |
jah128 | 2:c81f4ef63132 | 1075 | val /= 32767.0; |
jah128 | 2:c81f4ef63132 | 1076 | swarm[sender].right_motor_speed = val; |
jah128 | 2:c81f4ef63132 | 1077 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1078 | } else { |
jah128 | 2:c81f4ef63132 | 1079 | swarm[sender].status_rf_request_right_motor_speed = 3; |
jah128 | 2:c81f4ef63132 | 1080 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1081 | } |
jah128 | 2:c81f4ef63132 | 1082 | } else { |
jah128 | 2:c81f4ef63132 | 1083 | swarm[sender].status_rf_request_right_motor_speed = 4; |
jah128 | 2:c81f4ef63132 | 1084 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1085 | } |
jah128 | 2:c81f4ef63132 | 1086 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1087 | } |
jah128 | 2:c81f4ef63132 | 1088 | break; |
jah128 | 2:c81f4ef63132 | 1089 | |
jah128 | 2:c81f4ef63132 | 1090 | case 3: { //Button state |
jah128 | 2:c81f4ef63132 | 1091 | if(swarm[sender].status_rf_request_button_state == 1) { |
jah128 | 2:c81f4ef63132 | 1092 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1093 | if(length == 2) { |
jah128 | 2:c81f4ef63132 | 1094 | swarm[sender].status_rf_request_button_state = 2; |
jah128 | 2:c81f4ef63132 | 1095 | swarm[sender].button_state = data[0]; |
jah128 | 2:c81f4ef63132 | 1096 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1097 | } else { |
jah128 | 2:c81f4ef63132 | 1098 | swarm[sender].status_rf_request_button_state = 3; |
jah128 | 2:c81f4ef63132 | 1099 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1100 | } |
jah128 | 2:c81f4ef63132 | 1101 | } else { |
jah128 | 2:c81f4ef63132 | 1102 | swarm[sender].status_rf_request_button_state = 4; |
jah128 | 2:c81f4ef63132 | 1103 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1104 | } |
jah128 | 2:c81f4ef63132 | 1105 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1106 | } |
jah128 | 2:c81f4ef63132 | 1107 | break; |
jah128 | 2:c81f4ef63132 | 1108 | |
jah128 | 2:c81f4ef63132 | 1109 | case 4: { //LED Colour |
jah128 | 2:c81f4ef63132 | 1110 | if(swarm[sender].status_rf_request_led_colour == 1) { |
jah128 | 2:c81f4ef63132 | 1111 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1112 | if(length == 6) { |
jah128 | 2:c81f4ef63132 | 1113 | swarm[sender].status_rf_request_led_colour = 2; |
jah128 | 2:c81f4ef63132 | 1114 | for(int i=0; i<3; i++) { |
jah128 | 2:c81f4ef63132 | 1115 | swarm[sender].outer_led_colour[i] = data[i]; |
jah128 | 2:c81f4ef63132 | 1116 | swarm[sender].center_led_colour[i] = data[i+3]; |
jah128 | 2:c81f4ef63132 | 1117 | } |
jah128 | 2:c81f4ef63132 | 1118 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1119 | } else { |
jah128 | 2:c81f4ef63132 | 1120 | swarm[sender].status_rf_request_led_colour = 3; |
jah128 | 2:c81f4ef63132 | 1121 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1122 | } |
jah128 | 2:c81f4ef63132 | 1123 | } else { |
jah128 | 2:c81f4ef63132 | 1124 | swarm[sender].status_rf_request_led_colour = 4; |
jah128 | 2:c81f4ef63132 | 1125 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1126 | } |
jah128 | 2:c81f4ef63132 | 1127 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1128 | } |
jah128 | 2:c81f4ef63132 | 1129 | break; |
jah128 | 2:c81f4ef63132 | 1130 | |
jah128 | 2:c81f4ef63132 | 1131 | case 5: { //LED States |
jah128 | 2:c81f4ef63132 | 1132 | if(swarm[sender].status_rf_request_led_states == 1) { |
jah128 | 2:c81f4ef63132 | 1133 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1134 | if(length == 2) { |
jah128 | 2:c81f4ef63132 | 1135 | swarm[sender].status_rf_request_led_states = 2; |
jah128 | 2:c81f4ef63132 | 1136 | for(int i=0; i<3; i++) { |
jah128 | 2:c81f4ef63132 | 1137 | swarm[sender].led_states[0] = data[0]; |
jah128 | 2:c81f4ef63132 | 1138 | swarm[sender].led_states[1] = data[1]; |
jah128 | 2:c81f4ef63132 | 1139 | } |
jah128 | 2:c81f4ef63132 | 1140 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1141 | } else { |
jah128 | 2:c81f4ef63132 | 1142 | swarm[sender].status_rf_request_led_states = 3; |
jah128 | 2:c81f4ef63132 | 1143 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1144 | } |
jah128 | 2:c81f4ef63132 | 1145 | } else { |
jah128 | 2:c81f4ef63132 | 1146 | swarm[sender].status_rf_request_led_states = 4; |
jah128 | 2:c81f4ef63132 | 1147 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1148 | } |
jah128 | 2:c81f4ef63132 | 1149 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1150 | } |
jah128 | 2:c81f4ef63132 | 1151 | break; |
jah128 | 2:c81f4ef63132 | 1152 | |
jah128 | 2:c81f4ef63132 | 1153 | |
jah128 | 2:c81f4ef63132 | 1154 | case 6: { //Battery |
jah128 | 2:c81f4ef63132 | 1155 | if(swarm[sender].status_rf_request_battery == 1) { |
jah128 | 2:c81f4ef63132 | 1156 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1157 | if(length == 2) { |
jah128 | 2:c81f4ef63132 | 1158 | swarm[sender].status_rf_request_battery = 2; |
jah128 | 2:c81f4ef63132 | 1159 | int fbattery = data[0] * 256; |
jah128 | 2:c81f4ef63132 | 1160 | fbattery += data[1]; |
jah128 | 2:c81f4ef63132 | 1161 | swarm[sender].battery = (float) fbattery / 1000.0; |
jah128 | 2:c81f4ef63132 | 1162 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1163 | } else { |
jah128 | 2:c81f4ef63132 | 1164 | swarm[sender].status_rf_request_battery = 3; |
jah128 | 2:c81f4ef63132 | 1165 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1166 | } |
jah128 | 2:c81f4ef63132 | 1167 | } else { |
jah128 | 2:c81f4ef63132 | 1168 | swarm[sender].status_rf_request_battery = 4; |
jah128 | 2:c81f4ef63132 | 1169 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1170 | } |
jah128 | 2:c81f4ef63132 | 1171 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1172 | } |
jah128 | 2:c81f4ef63132 | 1173 | break; |
jah128 | 2:c81f4ef63132 | 1174 | |
jah128 | 2:c81f4ef63132 | 1175 | case 7: { //Light sensor |
jah128 | 2:c81f4ef63132 | 1176 | if(swarm[sender].status_rf_request_light_sensor == 1) { |
jah128 | 2:c81f4ef63132 | 1177 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1178 | if(length == 2) { |
jah128 | 2:c81f4ef63132 | 1179 | swarm[sender].status_rf_request_light_sensor = 2; |
jah128 | 2:c81f4ef63132 | 1180 | int ilight = data[0] * 256; |
jah128 | 2:c81f4ef63132 | 1181 | ilight += data[1]; |
jah128 | 2:c81f4ef63132 | 1182 | float flight = (float) (ilight) / 655.0; |
jah128 | 2:c81f4ef63132 | 1183 | swarm[sender].light_sensor = flight; |
jah128 | 2:c81f4ef63132 | 1184 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1185 | } else { |
jah128 | 2:c81f4ef63132 | 1186 | swarm[sender].status_rf_request_light_sensor = 3; |
jah128 | 2:c81f4ef63132 | 1187 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1188 | } |
jah128 | 2:c81f4ef63132 | 1189 | } else { |
jah128 | 2:c81f4ef63132 | 1190 | swarm[sender].status_rf_request_light_sensor = 4; |
jah128 | 2:c81f4ef63132 | 1191 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1192 | } |
jah128 | 2:c81f4ef63132 | 1193 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1194 | } |
jah128 | 2:c81f4ef63132 | 1195 | break; |
jah128 | 2:c81f4ef63132 | 1196 | |
jah128 | 2:c81f4ef63132 | 1197 | case 8: { //Accelerometer |
jah128 | 2:c81f4ef63132 | 1198 | if(swarm[sender].status_rf_request_accelerometer == 1) { |
jah128 | 2:c81f4ef63132 | 1199 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1200 | if(length == 6) { |
jah128 | 2:c81f4ef63132 | 1201 | swarm[sender].status_rf_request_accelerometer = 2; |
jah128 | 2:c81f4ef63132 | 1202 | int acc_x = (data[0] * 256) + data[1]; |
jah128 | 2:c81f4ef63132 | 1203 | int acc_y = (data[2] * 256) + data[3]; |
jah128 | 2:c81f4ef63132 | 1204 | int acc_z = (data[4] * 256) + data[5]; |
jah128 | 2:c81f4ef63132 | 1205 | swarm[sender].accelerometer[0] = (float) acc_x - 32768; |
jah128 | 2:c81f4ef63132 | 1206 | swarm[sender].accelerometer[1] = (float) acc_y - 32768; |
jah128 | 2:c81f4ef63132 | 1207 | swarm[sender].accelerometer[2] = (float) acc_z - 32768; |
jah128 | 2:c81f4ef63132 | 1208 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1209 | } else { |
jah128 | 2:c81f4ef63132 | 1210 | swarm[sender].status_rf_request_accelerometer = 3; |
jah128 | 2:c81f4ef63132 | 1211 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1212 | } |
jah128 | 2:c81f4ef63132 | 1213 | } else { |
jah128 | 2:c81f4ef63132 | 1214 | swarm[sender].status_rf_request_accelerometer = 4; |
jah128 | 2:c81f4ef63132 | 1215 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1216 | } |
jah128 | 2:c81f4ef63132 | 1217 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1218 | } |
jah128 | 2:c81f4ef63132 | 1219 | break; |
jah128 | 2:c81f4ef63132 | 1220 | |
jah128 | 2:c81f4ef63132 | 1221 | case 9: { //Gyroscope |
jah128 | 2:c81f4ef63132 | 1222 | if(swarm[sender].status_rf_request_gyroscope == 1) { |
jah128 | 2:c81f4ef63132 | 1223 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1224 | if(length == 2) { |
jah128 | 2:c81f4ef63132 | 1225 | swarm[sender].status_rf_request_gyroscope = 2; |
jah128 | 2:c81f4ef63132 | 1226 | int gyro = (data [0] * 256) + data[1]; |
jah128 | 2:c81f4ef63132 | 1227 | swarm[sender].gyro = (float) gyro - 32768; |
jah128 | 2:c81f4ef63132 | 1228 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1229 | } else { |
jah128 | 2:c81f4ef63132 | 1230 | swarm[sender].status_rf_request_gyroscope = 3; |
jah128 | 2:c81f4ef63132 | 1231 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1232 | } |
jah128 | 2:c81f4ef63132 | 1233 | } else { |
jah128 | 2:c81f4ef63132 | 1234 | swarm[sender].status_rf_request_gyroscope = 4; |
jah128 | 2:c81f4ef63132 | 1235 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1236 | } |
jah128 | 2:c81f4ef63132 | 1237 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1238 | } |
jah128 | 2:c81f4ef63132 | 1239 | break; |
jah128 | 2:c81f4ef63132 | 1240 | |
jah128 | 2:c81f4ef63132 | 1241 | case 10: { //Background IR |
jah128 | 2:c81f4ef63132 | 1242 | if(swarm[sender].status_rf_request_background_ir == 1) { |
jah128 | 2:c81f4ef63132 | 1243 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1244 | if(length == 16) { |
jah128 | 2:c81f4ef63132 | 1245 | swarm[sender].status_rf_request_background_ir = 2; |
jah128 | 2:c81f4ef63132 | 1246 | for(int i=0;i<8;i++){ |
jah128 | 2:c81f4ef63132 | 1247 | int offset = i * 2; |
jah128 | 2:c81f4ef63132 | 1248 | unsigned short value = (unsigned short) data[offset] << 8; |
jah128 | 2:c81f4ef63132 | 1249 | value += data[offset+1]; |
jah128 | 2:c81f4ef63132 | 1250 | swarm[sender].background_ir[i]=value; |
jah128 | 2:c81f4ef63132 | 1251 | } |
jah128 | 2:c81f4ef63132 | 1252 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1253 | } else { |
jah128 | 2:c81f4ef63132 | 1254 | swarm[sender].status_rf_request_background_ir = 3; |
jah128 | 2:c81f4ef63132 | 1255 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1256 | } |
jah128 | 2:c81f4ef63132 | 1257 | } else { |
jah128 | 2:c81f4ef63132 | 1258 | swarm[sender].status_rf_request_background_ir = 4; |
jah128 | 2:c81f4ef63132 | 1259 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1260 | } |
jah128 | 2:c81f4ef63132 | 1261 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1262 | } |
jah128 | 2:c81f4ef63132 | 1263 | break; |
jah128 | 2:c81f4ef63132 | 1264 | |
jah128 | 2:c81f4ef63132 | 1265 | case 11: { //Reflected IR |
jah128 | 2:c81f4ef63132 | 1266 | if(swarm[sender].status_rf_request_reflected_ir == 1) { |
jah128 | 2:c81f4ef63132 | 1267 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1268 | if(length == 16) { |
jah128 | 2:c81f4ef63132 | 1269 | swarm[sender].status_rf_request_reflected_ir = 2; |
jah128 | 2:c81f4ef63132 | 1270 | for(int i=0;i<8;i++){ |
jah128 | 2:c81f4ef63132 | 1271 | int offset = i * 2; |
jah128 | 2:c81f4ef63132 | 1272 | unsigned short value = (unsigned short) data[offset] << 8; |
jah128 | 2:c81f4ef63132 | 1273 | value += data[offset+1]; |
jah128 | 2:c81f4ef63132 | 1274 | swarm[sender].reflected_ir[i]=value; |
jah128 | 2:c81f4ef63132 | 1275 | } |
jah128 | 2:c81f4ef63132 | 1276 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1277 | } else { |
jah128 | 2:c81f4ef63132 | 1278 | swarm[sender].status_rf_request_reflected_ir = 3; |
jah128 | 2:c81f4ef63132 | 1279 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1280 | } |
jah128 | 2:c81f4ef63132 | 1281 | } else { |
jah128 | 2:c81f4ef63132 | 1282 | swarm[sender].status_rf_request_reflected_ir = 4; |
jah128 | 2:c81f4ef63132 | 1283 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1284 | } |
jah128 | 2:c81f4ef63132 | 1285 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1286 | } |
jah128 | 2:c81f4ef63132 | 1287 | break; |
jah128 | 2:c81f4ef63132 | 1288 | |
jah128 | 2:c81f4ef63132 | 1289 | case 12: { // Distance IR |
jah128 | 2:c81f4ef63132 | 1290 | if(swarm[sender].status_rf_request_distance_ir == 1) { |
jah128 | 2:c81f4ef63132 | 1291 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1292 | if(length == 16) { |
jah128 | 2:c81f4ef63132 | 1293 | swarm[sender].status_rf_request_distance_ir = 2; |
jah128 | 2:c81f4ef63132 | 1294 | for(int i=0;i<8;i++){ |
jah128 | 2:c81f4ef63132 | 1295 | int offset = i * 2; |
jah128 | 2:c81f4ef63132 | 1296 | unsigned short value = (unsigned short) data[offset] << 8; |
jah128 | 2:c81f4ef63132 | 1297 | value += data[offset+1]; |
jah128 | 2:c81f4ef63132 | 1298 | float adjusted = (float) value / 655.0; |
jah128 | 2:c81f4ef63132 | 1299 | swarm[sender].distance_ir[i]=adjusted; |
jah128 | 2:c81f4ef63132 | 1300 | } |
jah128 | 2:c81f4ef63132 | 1301 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1302 | } else { |
jah128 | 2:c81f4ef63132 | 1303 | swarm[sender].status_rf_request_distance_ir = 3; |
jah128 | 2:c81f4ef63132 | 1304 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1305 | } |
jah128 | 2:c81f4ef63132 | 1306 | } else { |
jah128 | 2:c81f4ef63132 | 1307 | swarm[sender].status_rf_request_distance_ir = 4; |
jah128 | 2:c81f4ef63132 | 1308 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1309 | } |
jah128 | 2:c81f4ef63132 | 1310 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1311 | } |
jah128 | 2:c81f4ef63132 | 1312 | break; |
jah128 | 2:c81f4ef63132 | 1313 | |
jah128 | 2:c81f4ef63132 | 1314 | case 13: { // Line following IR |
jah128 | 2:c81f4ef63132 | 1315 | if(swarm[sender].status_rf_request_line_following_ir == 1) { |
jah128 | 2:c81f4ef63132 | 1316 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1317 | if(length == 10) { |
jah128 | 2:c81f4ef63132 | 1318 | swarm[sender].status_rf_request_line_following_ir = 2; |
jah128 | 2:c81f4ef63132 | 1319 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1320 | } else { |
jah128 | 2:c81f4ef63132 | 1321 | swarm[sender].status_rf_request_line_following_ir = 3; |
jah128 | 2:c81f4ef63132 | 1322 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1323 | } |
jah128 | 2:c81f4ef63132 | 1324 | } else { |
jah128 | 2:c81f4ef63132 | 1325 | swarm[sender].status_rf_request_line_following_ir = 4; |
jah128 | 2:c81f4ef63132 | 1326 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1327 | } |
jah128 | 2:c81f4ef63132 | 1328 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1329 | } |
jah128 | 2:c81f4ef63132 | 1330 | break; |
jah128 | 2:c81f4ef63132 | 1331 | |
jah128 | 2:c81f4ef63132 | 1332 | case 14: { // Request uptime |
jah128 | 2:c81f4ef63132 | 1333 | if(swarm[sender].status_rf_request_uptime == 1) { |
jah128 | 2:c81f4ef63132 | 1334 | if(success == 1) { |
jah128 | 2:c81f4ef63132 | 1335 | if(length == 4) { |
jah128 | 2:c81f4ef63132 | 1336 | swarm[sender].status_rf_request_uptime = 2; |
jah128 | 2:c81f4ef63132 | 1337 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1338 | } else { |
jah128 | 2:c81f4ef63132 | 1339 | swarm[sender].status_rf_request_uptime = 3; |
jah128 | 2:c81f4ef63132 | 1340 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1341 | } |
jah128 | 2:c81f4ef63132 | 1342 | } else { |
jah128 | 2:c81f4ef63132 | 1343 | swarm[sender].status_rf_request_uptime = 4; |
jah128 | 2:c81f4ef63132 | 1344 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1345 | } |
jah128 | 2:c81f4ef63132 | 1346 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1347 | } |
jah128 | 2:c81f4ef63132 | 1348 | break; |
jah128 | 2:c81f4ef63132 | 1349 | |
jah128 | 2:c81f4ef63132 | 1350 | } |
jah128 | 2:c81f4ef63132 | 1351 | } else { |
jah128 | 2:c81f4ef63132 | 1352 | // Response to a command |
jah128 | 2:c81f4ef63132 | 1353 | switch(function) { |
jah128 | 2:c81f4ef63132 | 1354 | case 0: { |
jah128 | 2:c81f4ef63132 | 1355 | if(swarm[sender].status_rf_command_stop == 1) { |
jah128 | 2:c81f4ef63132 | 1356 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1357 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1358 | swarm[sender].status_rf_command_stop = 2; |
jah128 | 2:c81f4ef63132 | 1359 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1360 | } else { |
jah128 | 2:c81f4ef63132 | 1361 | swarm[sender].status_rf_command_stop = 3; |
jah128 | 2:c81f4ef63132 | 1362 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1363 | } |
jah128 | 2:c81f4ef63132 | 1364 | } else { |
jah128 | 2:c81f4ef63132 | 1365 | swarm[sender].status_rf_command_stop = 4; |
jah128 | 2:c81f4ef63132 | 1366 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1367 | } |
jah128 | 2:c81f4ef63132 | 1368 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1369 | } |
jah128 | 2:c81f4ef63132 | 1370 | break; |
jah128 | 2:c81f4ef63132 | 1371 | case 1: { |
jah128 | 2:c81f4ef63132 | 1372 | if(swarm[sender].status_rf_command_forward == 1) { |
jah128 | 2:c81f4ef63132 | 1373 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1374 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1375 | swarm[sender].status_rf_command_forward = 2; |
jah128 | 2:c81f4ef63132 | 1376 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1377 | } else { |
jah128 | 2:c81f4ef63132 | 1378 | swarm[sender].status_rf_command_forward = 3; |
jah128 | 2:c81f4ef63132 | 1379 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1380 | } |
jah128 | 2:c81f4ef63132 | 1381 | } else { |
jah128 | 2:c81f4ef63132 | 1382 | swarm[sender].status_rf_command_forward = 4; |
jah128 | 2:c81f4ef63132 | 1383 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1384 | } |
jah128 | 2:c81f4ef63132 | 1385 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1386 | } |
jah128 | 2:c81f4ef63132 | 1387 | break; |
jah128 | 2:c81f4ef63132 | 1388 | case 2: { |
jah128 | 2:c81f4ef63132 | 1389 | if(swarm[sender].status_rf_command_backward == 1) { |
jah128 | 2:c81f4ef63132 | 1390 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1391 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1392 | swarm[sender].status_rf_command_backward = 2; |
jah128 | 2:c81f4ef63132 | 1393 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1394 | } else { |
jah128 | 2:c81f4ef63132 | 1395 | swarm[sender].status_rf_command_backward = 3; |
jah128 | 2:c81f4ef63132 | 1396 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1397 | } |
jah128 | 2:c81f4ef63132 | 1398 | } else { |
jah128 | 2:c81f4ef63132 | 1399 | swarm[sender].status_rf_command_backward = 4; |
jah128 | 2:c81f4ef63132 | 1400 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1401 | } |
jah128 | 2:c81f4ef63132 | 1402 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1403 | } |
jah128 | 2:c81f4ef63132 | 1404 | break; |
jah128 | 2:c81f4ef63132 | 1405 | case 3: { |
jah128 | 2:c81f4ef63132 | 1406 | if(swarm[sender].status_rf_command_left == 1) { |
jah128 | 2:c81f4ef63132 | 1407 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1408 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1409 | swarm[sender].status_rf_command_left = 2; |
jah128 | 2:c81f4ef63132 | 1410 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1411 | } else { |
jah128 | 2:c81f4ef63132 | 1412 | swarm[sender].status_rf_command_left = 3; |
jah128 | 2:c81f4ef63132 | 1413 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1414 | } |
jah128 | 2:c81f4ef63132 | 1415 | } else { |
jah128 | 2:c81f4ef63132 | 1416 | swarm[sender].status_rf_command_left = 4; |
jah128 | 2:c81f4ef63132 | 1417 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1418 | } |
jah128 | 2:c81f4ef63132 | 1419 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1420 | } |
jah128 | 2:c81f4ef63132 | 1421 | break; |
jah128 | 2:c81f4ef63132 | 1422 | case 4: { |
jah128 | 2:c81f4ef63132 | 1423 | if(swarm[sender].status_rf_command_right == 1) { |
jah128 | 2:c81f4ef63132 | 1424 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1425 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1426 | swarm[sender].status_rf_command_right = 2; |
jah128 | 2:c81f4ef63132 | 1427 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1428 | } else { |
jah128 | 2:c81f4ef63132 | 1429 | swarm[sender].status_rf_command_right = 3; |
jah128 | 2:c81f4ef63132 | 1430 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1431 | } |
jah128 | 2:c81f4ef63132 | 1432 | } else { |
jah128 | 2:c81f4ef63132 | 1433 | swarm[sender].status_rf_command_right = 4; |
jah128 | 2:c81f4ef63132 | 1434 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1435 | } |
jah128 | 2:c81f4ef63132 | 1436 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1437 | } |
jah128 | 2:c81f4ef63132 | 1438 | break; |
jah128 | 2:c81f4ef63132 | 1439 | case 5: { |
jah128 | 2:c81f4ef63132 | 1440 | if(swarm[sender].status_rf_command_left_motor == 1) { |
jah128 | 2:c81f4ef63132 | 1441 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1442 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1443 | swarm[sender].status_rf_command_left_motor = 2; |
jah128 | 2:c81f4ef63132 | 1444 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1445 | } else { |
jah128 | 2:c81f4ef63132 | 1446 | swarm[sender].status_rf_command_left_motor = 3; |
jah128 | 2:c81f4ef63132 | 1447 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1448 | } |
jah128 | 2:c81f4ef63132 | 1449 | } else { |
jah128 | 2:c81f4ef63132 | 1450 | swarm[sender].status_rf_command_left_motor = 4; |
jah128 | 2:c81f4ef63132 | 1451 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1452 | } |
jah128 | 2:c81f4ef63132 | 1453 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1454 | } |
jah128 | 2:c81f4ef63132 | 1455 | break; |
jah128 | 2:c81f4ef63132 | 1456 | case 6: { |
jah128 | 2:c81f4ef63132 | 1457 | if(swarm[sender].status_rf_command_right_motor == 1) { |
jah128 | 2:c81f4ef63132 | 1458 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1459 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1460 | swarm[sender].status_rf_command_right_motor = 2; |
jah128 | 2:c81f4ef63132 | 1461 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1462 | } else { |
jah128 | 2:c81f4ef63132 | 1463 | swarm[sender].status_rf_command_right_motor = 3; |
jah128 | 2:c81f4ef63132 | 1464 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1465 | } |
jah128 | 2:c81f4ef63132 | 1466 | } else { |
jah128 | 2:c81f4ef63132 | 1467 | swarm[sender].status_rf_command_right_motor = 4; |
jah128 | 2:c81f4ef63132 | 1468 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1469 | } |
jah128 | 2:c81f4ef63132 | 1470 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1471 | } |
jah128 | 2:c81f4ef63132 | 1472 | break; |
jah128 | 2:c81f4ef63132 | 1473 | case 7: { |
jah128 | 2:c81f4ef63132 | 1474 | if(swarm[sender].status_rf_command_oled_colour == 1) { |
jah128 | 2:c81f4ef63132 | 1475 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1476 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1477 | swarm[sender].status_rf_command_oled_colour = 2; |
jah128 | 2:c81f4ef63132 | 1478 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1479 | } else { |
jah128 | 2:c81f4ef63132 | 1480 | swarm[sender].status_rf_command_oled_colour = 3; |
jah128 | 2:c81f4ef63132 | 1481 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1482 | } |
jah128 | 2:c81f4ef63132 | 1483 | } else { |
jah128 | 2:c81f4ef63132 | 1484 | swarm[sender].status_rf_command_oled_colour = 4; |
jah128 | 2:c81f4ef63132 | 1485 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1486 | } |
jah128 | 2:c81f4ef63132 | 1487 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1488 | } |
jah128 | 2:c81f4ef63132 | 1489 | break; |
jah128 | 2:c81f4ef63132 | 1490 | case 8: { |
jah128 | 2:c81f4ef63132 | 1491 | if(swarm[sender].status_rf_command_cled_colour == 1) { |
jah128 | 2:c81f4ef63132 | 1492 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1493 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1494 | swarm[sender].status_rf_command_cled_colour = 2; |
jah128 | 2:c81f4ef63132 | 1495 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1496 | } else { |
jah128 | 2:c81f4ef63132 | 1497 | swarm[sender].status_rf_command_cled_colour = 3; |
jah128 | 2:c81f4ef63132 | 1498 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1499 | } |
jah128 | 2:c81f4ef63132 | 1500 | } else { |
jah128 | 2:c81f4ef63132 | 1501 | swarm[sender].status_rf_command_cled_colour = 4; |
jah128 | 2:c81f4ef63132 | 1502 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1503 | } |
jah128 | 2:c81f4ef63132 | 1504 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1505 | } |
jah128 | 2:c81f4ef63132 | 1506 | break; |
jah128 | 2:c81f4ef63132 | 1507 | case 9: { |
jah128 | 2:c81f4ef63132 | 1508 | if(swarm[sender].status_rf_command_oled_state == 1) { |
jah128 | 2:c81f4ef63132 | 1509 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1510 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1511 | swarm[sender].status_rf_command_oled_state = 2; |
jah128 | 2:c81f4ef63132 | 1512 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1513 | } else { |
jah128 | 2:c81f4ef63132 | 1514 | swarm[sender].status_rf_command_oled_state = 3; |
jah128 | 2:c81f4ef63132 | 1515 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1516 | } |
jah128 | 2:c81f4ef63132 | 1517 | } else { |
jah128 | 2:c81f4ef63132 | 1518 | swarm[sender].status_rf_command_oled_state = 4; |
jah128 | 2:c81f4ef63132 | 1519 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1520 | } |
jah128 | 2:c81f4ef63132 | 1521 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1522 | } |
jah128 | 2:c81f4ef63132 | 1523 | break; |
jah128 | 2:c81f4ef63132 | 1524 | case 10: { |
jah128 | 2:c81f4ef63132 | 1525 | if(swarm[sender].status_rf_command_cled_state == 1) { |
jah128 | 2:c81f4ef63132 | 1526 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1527 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1528 | swarm[sender].status_rf_command_cled_state = 2; |
jah128 | 2:c81f4ef63132 | 1529 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1530 | } else { |
jah128 | 2:c81f4ef63132 | 1531 | swarm[sender].status_rf_command_cled_state = 3; |
jah128 | 2:c81f4ef63132 | 1532 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1533 | } |
jah128 | 2:c81f4ef63132 | 1534 | } else { |
jah128 | 2:c81f4ef63132 | 1535 | swarm[sender].status_rf_command_cled_state = 4; |
jah128 | 2:c81f4ef63132 | 1536 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1537 | } |
jah128 | 2:c81f4ef63132 | 1538 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1539 | } |
jah128 | 2:c81f4ef63132 | 1540 | break; |
jah128 | 2:c81f4ef63132 | 1541 | case 11: { |
jah128 | 2:c81f4ef63132 | 1542 | if(swarm[sender].status_rf_command_set_oled == 1) { |
jah128 | 2:c81f4ef63132 | 1543 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1544 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1545 | swarm[sender].status_rf_command_set_oled = 2; |
jah128 | 2:c81f4ef63132 | 1546 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1547 | } else { |
jah128 | 2:c81f4ef63132 | 1548 | swarm[sender].status_rf_command_set_oled = 3; |
jah128 | 2:c81f4ef63132 | 1549 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1550 | } |
jah128 | 2:c81f4ef63132 | 1551 | } else { |
jah128 | 2:c81f4ef63132 | 1552 | swarm[sender].status_rf_command_set_oled = 4; |
jah128 | 2:c81f4ef63132 | 1553 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1554 | } |
jah128 | 2:c81f4ef63132 | 1555 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1556 | } |
jah128 | 2:c81f4ef63132 | 1557 | break; |
jah128 | 2:c81f4ef63132 | 1558 | case 12: { |
jah128 | 2:c81f4ef63132 | 1559 | if(swarm[sender].status_rf_command_play_tune == 1) { |
jah128 | 2:c81f4ef63132 | 1560 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1561 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1562 | swarm[sender].status_rf_command_play_tune = 2; |
jah128 | 2:c81f4ef63132 | 1563 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1564 | } else { |
jah128 | 2:c81f4ef63132 | 1565 | swarm[sender].status_rf_command_play_tune = 3; |
jah128 | 2:c81f4ef63132 | 1566 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1567 | } |
jah128 | 2:c81f4ef63132 | 1568 | } else { |
jah128 | 2:c81f4ef63132 | 1569 | swarm[sender].status_rf_command_play_tune = 4; |
jah128 | 2:c81f4ef63132 | 1570 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1571 | } |
jah128 | 2:c81f4ef63132 | 1572 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1573 | } |
jah128 | 2:c81f4ef63132 | 1574 | break; |
jah128 | 2:c81f4ef63132 | 1575 | case 14: { |
jah128 | 2:c81f4ef63132 | 1576 | if(swarm[sender].status_rf_command_sync_time == 1) { |
jah128 | 2:c81f4ef63132 | 1577 | if(success == 1){ |
jah128 | 2:c81f4ef63132 | 1578 | if(length == 0) { |
jah128 | 2:c81f4ef63132 | 1579 | swarm[sender].status_rf_command_sync_time = 2; |
jah128 | 2:c81f4ef63132 | 1580 | outcome = 1; |
jah128 | 2:c81f4ef63132 | 1581 | } else { |
jah128 | 2:c81f4ef63132 | 1582 | swarm[sender].status_rf_command_sync_time = 3; |
jah128 | 2:c81f4ef63132 | 1583 | outcome = 3; |
jah128 | 2:c81f4ef63132 | 1584 | } |
jah128 | 2:c81f4ef63132 | 1585 | } else { |
jah128 | 2:c81f4ef63132 | 1586 | swarm[sender].status_rf_command_sync_time = 4; |
jah128 | 2:c81f4ef63132 | 1587 | outcome = 4; |
jah128 | 2:c81f4ef63132 | 1588 | } |
jah128 | 2:c81f4ef63132 | 1589 | } else outcome = 2; |
jah128 | 2:c81f4ef63132 | 1590 | } |
jah128 | 2:c81f4ef63132 | 1591 | break; |
jah128 | 2:c81f4ef63132 | 1592 | } |
jah128 | 2:c81f4ef63132 | 1593 | } |
jah128 | 2:c81f4ef63132 | 1594 | |
jah128 | 2:c81f4ef63132 | 1595 | if(RF_DEBUG) { |
jah128 | 2:c81f4ef63132 | 1596 | switch(outcome) { |
jah128 | 2:c81f4ef63132 | 1597 | case 0 : |
jah128 | 2:c81f4ef63132 | 1598 | pc.printf("Unknown RF response received"); |
jah128 | 2:c81f4ef63132 | 1599 | case 1 : |
jah128 | 2:c81f4ef63132 | 1600 | pc.printf("RF response received, data updated."); |
jah128 | 2:c81f4ef63132 | 1601 | case 2 : |
jah128 | 2:c81f4ef63132 | 1602 | pc.printf("Unexpected RF response received, ignored."); |
jah128 | 2:c81f4ef63132 | 1603 | case 3 : |
jah128 | 2:c81f4ef63132 | 1604 | pc.printf("Invalid RF response received, ignored."); |
jah128 | 2:c81f4ef63132 | 1605 | case 4 : |
jah128 | 2:c81f4ef63132 | 1606 | pc.printf("RF response received: unsuccessful operation."); |
jah128 | 2:c81f4ef63132 | 1607 | } |
jah128 | 2:c81f4ef63132 | 1608 | } |
jah128 | 2:c81f4ef63132 | 1609 | } |