communications.h

00001 /*******************************************************************************************
00002  *
00003  * University of York Robot Lab Pi Swarm Library: Swarm Communications Handler
00004  *
00005  * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
00006  *
00007  * Version 0.5  February 2014
00008  *
00009  * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
00010  *
00011  ******************************************************************************************/
00012 
00013 #ifndef COMMUNICATIONS_H
00014 #define COMMUNICATIONS_H
00015 
00016 // The swarm_member struct is used by the communication stack to store the status and results for RF commands and requests
00017 // that have been sent.  An array of [SWARM_SIZE] swarm_members is created.  This contains a status flag for all of the 
00018 // standard requests and commands and a set of variables for data which can be collected.  
00019 //
00020 // The status flags are set to the following values:
00021 // 0 : "unused"  - before any requests are sent
00022 // 1 : "waiting" - a request or command has been sent and the result is not yet known
00023 // 2 : "received" - a valid response to a request or command has been received
00024 // 3 : "invalid" - an invalid response to a request or command has been received 
00025 struct swarm_member {
00026     char status_rf_request_null;
00027     char status_rf_request_left_motor_speed;
00028     char status_rf_request_right_motor_speed;
00029     char status_rf_request_button_state;
00030     char status_rf_request_led_colour;
00031     char status_rf_request_led_states;
00032     char status_rf_request_battery;
00033     char status_rf_request_light_sensor;
00034     char status_rf_request_accelerometer;
00035     char status_rf_request_gyroscope;
00036     char status_rf_request_background_ir;
00037     char status_rf_request_reflected_ir;
00038     char status_rf_request_distance_ir;
00039     char status_rf_request_line_following_ir;
00040     char status_rf_request_uptime;
00041     char status_rf_command_stop;
00042     char status_rf_command_forward;
00043     char status_rf_command_backward;
00044     char status_rf_command_left;
00045     char status_rf_command_right;
00046     char status_rf_command_left_motor;
00047     char status_rf_command_right_motor;
00048     char status_rf_command_oled_colour;
00049     char status_rf_command_cled_colour;
00050     char status_rf_command_oled_state;
00051     char status_rf_command_cled_state;
00052     char status_rf_command_set_oled;
00053     char status_rf_command_play_tune;
00054     char status_rf_command_sync_time;
00055     float left_motor_speed;
00056     float right_motor_speed;
00057     char button_state;
00058     char outer_led_colour [3];
00059     char center_led_colour [3];
00060     char led_states[2];
00061     float battery;
00062     float light_sensor;
00063     float accelerometer[3];
00064     float gyro;
00065     unsigned short background_ir[8];
00066     unsigned short reflected_ir[8];
00067     float distance_ir[8];
00068 };
00069 
00070 void send_rf_message(char target, char command, char * data, char length);
00071 void setup_communications(void);
00072 void decodeMessage(char sender, char target, char id, char command, char * data, char length);
00073 void send_response(char target, char is_broadcast, char success, char id, char is_command, char function, char * data, char length);
00074 void tdma_response();
00075 void handle_command(char sender, char is_broadcast, char request_response, char id, char function, char * data, char length);
00076 void handle_request(char sender, char is_broadcast, char request_response, char id, char function);
00077 void processRadioData(char * data, char length);
00078 void errormessage(int index);
00079 void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length);
00080 
00081 void send_rf_request_null ( char target );
00082 void send_rf_request_left_motor_speed ( char target );
00083 void send_rf_request_right_motor_speed ( char target );
00084 void send_rf_request_button_state ( char target );
00085 void send_rf_request_led_colour ( char target );
00086 void send_rf_request_led_states ( char target );
00087 void send_rf_request_battery ( char target );
00088 void send_rf_request_light_sensor ( char target );
00089 void send_rf_request_accelerometer ( char target );
00090 void send_rf_request_gyroscope ( char target );
00091 void send_rf_request_background_ir ( char target );
00092 void send_rf_request_reflected_ir ( char target );
00093 void send_rf_request_distance_ir ( char target );
00094 void send_rf_request_line_following_ir ( char target );
00095 void send_rf_request_uptime ( char target );
00096 void send_rf_command_stop ( char target, char request_response );
00097 void send_rf_command_forward ( char target, char request_response, float speed );
00098 void send_rf_command_backward ( char target, char request_response, float speed );
00099 void send_rf_command_left ( char target, char request_response, float speed );
00100 void send_rf_command_right ( char target, char request_response, float speed );
00101 void send_rf_command_left_motor ( char target, char request_response, float speed );
00102 void send_rf_command_right_motor ( char target, char request_response, float speed );
00103 void send_rf_command_oled_colour ( char target, char request_response, char red, char green, char blue );
00104 void send_rf_command_cled_colour ( char target, char request_response, char red, char green, char blue );
00105 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 );
00106 void send_rf_command_cled_state ( char target, char request_response, char enable );
00107 void send_rf_command_set_oled ( char target, char request_response, char oled, char enable );
00108 void send_rf_command_play_tune ( char target, char request_response, char * data, char length );
00109 void send_rf_command_sync_time ( char target, char request_response );
00110 
00111 
00112 const char * const requests_array[] = { "Req.Ack", "Req.LM", "Req.RM", "Req.But","Req.LEDCol","Req.LED","Req.Lgt","Req.Acc","Req.Gyro","Req.BIR","Req.RIR","Req.DIR","Req.LFS","Req.UpT","Req.???","Req.???"};
00113 const char * const commands_array[] = { "Cm.Stop","Cm.Fward","Cm.Bward","Cm.Left","Cm.Right","Cm.LMot","Cm.RMot","Cm.OLEDC","Cm.CLEDC","Cm.OLEDS","Cm.CLEDS","Cm.SetLED","Cm.Play","Cm.Sync","Cm.???","Cm.???"};
00114 
00115 #endif //COMMUNICATIONS_H