Unfinished v0.7, added bearing detection
Fork of Pi_Swarm_Library_v06_alpha by
communications.cpp@4:52b3e4c5a425, 2014-02-02 (annotated)
- Committer:
- jah128
- Date:
- Sun Feb 02 22:30:47 2014 +0000
- Revision:
- 4:52b3e4c5a425
- Parent:
- 3:4c0f2f3de33e
- Child:
- 9:7a4fc1d7e484
Fixed warnings;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 4:52b3e4c5a425 | 1 | /******************************************************************************************* |
jah128 | 4:52b3e4c5a425 | 2 | * |
jah128 | 4:52b3e4c5a425 | 3 | * University of York Robot Lab Pi Swarm Library: Swarm Communications Handler |
jah128 | 0:9ffe8ebd1c40 | 4 | * |
jah128 | 0:9ffe8ebd1c40 | 5 | * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York |
jah128 | 1:b067a08ff54e | 6 | * |
jah128 | 4:52b3e4c5a425 | 7 | * Version 0.5 February 2014 |
jah128 | 0:9ffe8ebd1c40 | 8 | * |
jah128 | 0:9ffe8ebd1c40 | 9 | * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2 |
jah128 | 0:9ffe8ebd1c40 | 10 | * |
jah128 | 4:52b3e4c5a425 | 11 | ******************************************************************************************/ |
jah128 | 1:b067a08ff54e | 12 | |
jah128 | 1:b067a08ff54e | 13 | // Important note: The communication stack is enabled by setting the "USE_COMMUNICATION_STACK" flag to 1 |
jah128 | 1:b067a08ff54e | 14 | // When being used, all received messages are decoded using the decodeMessage() function |
jah128 | 1:b067a08ff54e | 15 | // See manual for more info on using the communication handler |
jah128 | 1:b067a08ff54e | 16 | #include "communications.h" |
jah128 | 1:b067a08ff54e | 17 | #include "piswarm.h" |
jah128 | 1:b067a08ff54e | 18 | #include "main.h" |
jah128 | 1:b067a08ff54e | 19 | |
jah128 | 1:b067a08ff54e | 20 | struct swarm_member swarm[SWARM_SIZE]; // Array to hold received information about other swarm members |
jah128 | 1:b067a08ff54e | 21 | DigitalOut actioning (LED1); |
jah128 | 1:b067a08ff54e | 22 | DigitalOut errorled (LED2); |
jah128 | 1:b067a08ff54e | 23 | DigitalOut tx (LED3); |
jah128 | 1:b067a08ff54e | 24 | DigitalOut rx (LED4); |
jah128 | 1:b067a08ff54e | 25 | Timeout tdma_timeout; |
jah128 | 1:b067a08ff54e | 26 | char tdma_busy = 0; |
jah128 | 1:b067a08ff54e | 27 | char waiting_message [64]; |
jah128 | 1:b067a08ff54e | 28 | char waiting_length = 0; |
jah128 | 1:b067a08ff54e | 29 | int message_id = 0; |
jah128 | 1:b067a08ff54e | 30 | |
jah128 | 2:0a739218ab11 | 31 | |
jah128 | 2:0a739218ab11 | 32 | // Send a structured message over the RF interface |
jah128 | 2:0a739218ab11 | 33 | // @target - The target recipient (1-31 or 0 for broadcast) |
jah128 | 2:0a739218ab11 | 34 | // @command - The command byte (see manual) |
jah128 | 2:0a739218ab11 | 35 | // @*data - Additional data bytes |
jah128 | 2:0a739218ab11 | 36 | // @length - Length of additional data |
jah128 | 1:b067a08ff54e | 37 | void send_rf_message(char target, char command, char * data, char length) |
jah128 | 1:b067a08ff54e | 38 | { |
jah128 | 1:b067a08ff54e | 39 | char message [4+length]; |
jah128 | 2:0a739218ab11 | 40 | message[0]=piswarm.get_id() + 32; |
jah128 | 2:0a739218ab11 | 41 | message[1]=target + 32; |
jah128 | 1:b067a08ff54e | 42 | message_id++; |
jah128 | 1:b067a08ff54e | 43 | message[2]=message_id % 256; |
jah128 | 1:b067a08ff54e | 44 | message[3]=command; |
jah128 | 1:b067a08ff54e | 45 | for(int i=0; i<length; i++) { |
jah128 | 1:b067a08ff54e | 46 | message[4+i]=data[i]; |
jah128 | 1:b067a08ff54e | 47 | } |
jah128 | 1:b067a08ff54e | 48 | piswarm.send_rf_message(message,4+length); |
jah128 | 1:b067a08ff54e | 49 | if(RF_DEBUG==1)pc.printf("RF message sent"); |
jah128 | 1:b067a08ff54e | 50 | } |
jah128 | 1:b067a08ff54e | 51 | |
jah128 | 0:9ffe8ebd1c40 | 52 | |
jah128 | 1:b067a08ff54e | 53 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 1:b067a08ff54e | 54 | // Internal Functions |
jah128 | 1:b067a08ff54e | 55 | // In general these functions should not be called by user code |
jah128 | 1:b067a08ff54e | 56 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:9ffe8ebd1c40 | 57 | |
jah128 | 2:0a739218ab11 | 58 | // Decode the received message header. Check it is min. 4 bytes long, that the sender and target are valid [called in alpha433.cpp] |
jah128 | 1:b067a08ff54e | 59 | void processRadioData(char * data, char length) |
jah128 | 1:b067a08ff54e | 60 | { |
jah128 | 1:b067a08ff54e | 61 | if(RF_USE_LEDS==1) { |
jah128 | 1:b067a08ff54e | 62 | errorled=0; |
jah128 | 1:b067a08ff54e | 63 | rx=1; |
jah128 | 1:b067a08ff54e | 64 | } |
jah128 | 1:b067a08ff54e | 65 | // Decompose the received message |
jah128 | 1:b067a08ff54e | 66 | if(length < 4) errormessage(0); |
jah128 | 1:b067a08ff54e | 67 | else { |
jah128 | 1:b067a08ff54e | 68 | // Establish the sender and target of the packet |
jah128 | 1:b067a08ff54e | 69 | char sender = data[0]; |
jah128 | 1:b067a08ff54e | 70 | char target = data[1]; |
jah128 | 1:b067a08ff54e | 71 | char id = data[2]; |
jah128 | 1:b067a08ff54e | 72 | char command = data[3]; |
jah128 | 1:b067a08ff54e | 73 | if(sender<32 || sender>63)errormessage(1); |
jah128 | 1:b067a08ff54e | 74 | else { |
jah128 | 1:b067a08ff54e | 75 | if(target<32 || target>63)errormessage(2); |
jah128 | 1:b067a08ff54e | 76 | else { |
jah128 | 1:b067a08ff54e | 77 | sender -= 32; |
jah128 | 1:b067a08ff54e | 78 | target -= 32; |
jah128 | 1:b067a08ff54e | 79 | decodeMessage(sender,target,id,command,data+4,length-4); |
jah128 | 1:b067a08ff54e | 80 | } |
jah128 | 1:b067a08ff54e | 81 | } |
jah128 | 1:b067a08ff54e | 82 | } |
jah128 | 1:b067a08ff54e | 83 | if(RF_USE_LEDS==1) rx=0; |
jah128 | 1:b067a08ff54e | 84 | } |
jah128 | 1:b067a08ff54e | 85 | |
jah128 | 2:0a739218ab11 | 86 | //Decode the received message, action it if it is valid and for me |
jah128 | 1:b067a08ff54e | 87 | void decodeMessage(char sender, char target, char id, char command, char * data, char length) |
jah128 | 1:b067a08ff54e | 88 | { |
jah128 | 0:9ffe8ebd1c40 | 89 | char broadcast_message = 0, is_response = 0, request_response = 0, is_user = 0, is_command = 0, function = 0; |
jah128 | 1:b067a08ff54e | 90 | |
jah128 | 1:b067a08ff54e | 91 | if(target==0) broadcast_message = 1; |
jah128 | 0:9ffe8ebd1c40 | 92 | is_response = 0 != (command & (1 << 7)); |
jah128 | 0:9ffe8ebd1c40 | 93 | request_response = 0 != (command & (1 << 6)); |
jah128 | 0:9ffe8ebd1c40 | 94 | is_user = 0 != (command & (1 << 5)); |
jah128 | 0:9ffe8ebd1c40 | 95 | is_command = 0 != (command & (1 << 4)); |
jah128 | 0:9ffe8ebd1c40 | 96 | function = command % 16; |
jah128 | 1:b067a08ff54e | 97 | |
jah128 | 0:9ffe8ebd1c40 | 98 | if (RF_DEBUG==1) { |
jah128 | 0:9ffe8ebd1c40 | 99 | 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 | 0:9ffe8ebd1c40 | 100 | else pc.printf("Message: S:%i T:%i ID:%x C:%x{%s} L:%i", sender, target, id, command, requests_array[function],length); |
jah128 | 0:9ffe8ebd1c40 | 101 | } |
jah128 | 1:b067a08ff54e | 102 | |
jah128 | 0:9ffe8ebd1c40 | 103 | //Action the message only if I am a recipient |
jah128 | 1:b067a08ff54e | 104 | if(target==0 || target==piswarm.get_id()) { |
jah128 | 0:9ffe8ebd1c40 | 105 | if(RF_USE_LEDS==1) actioning = 1; |
jah128 | 1:b067a08ff54e | 106 | if(is_response == 1) { |
jah128 | 1:b067a08ff54e | 107 | if(is_user == 0)handle_response(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 108 | else handleUserRFResponse(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 109 | } else { |
jah128 | 1:b067a08ff54e | 110 | if(is_command == 1) { |
jah128 | 1:b067a08ff54e | 111 | if(RF_ALLOW_COMMANDS == 1) { |
jah128 | 1:b067a08ff54e | 112 | if(is_user == 1)handleUserRFCommand(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 113 | else handle_command(sender, broadcast_message, request_response, id, function, data, length); |
jah128 | 1:b067a08ff54e | 114 | } else if (RF_DEBUG==1) pc.printf(" - Blocked\n"); |
jah128 | 1:b067a08ff54e | 115 | } else { |
jah128 | 0:9ffe8ebd1c40 | 116 | //A information request has no extra parameters |
jah128 | 1:b067a08ff54e | 117 | if(length == 0) { |
jah128 | 1:b067a08ff54e | 118 | if(is_user == 1)handleUserRFCommand(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 119 | else handle_request(sender, broadcast_message, request_response, id, function); |
jah128 | 1:b067a08ff54e | 120 | } else if (RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 121 | } |
jah128 | 1:b067a08ff54e | 122 | } |
jah128 | 1:b067a08ff54e | 123 | if(RF_USE_LEDS==1) actioning = 0; |
jah128 | 0:9ffe8ebd1c40 | 124 | } else if (RF_DEBUG==1) pc.printf(" - Ignored\n"); |
jah128 | 0:9ffe8ebd1c40 | 125 | } |
jah128 | 0:9ffe8ebd1c40 | 126 | |
jah128 | 2:0a739218ab11 | 127 | //Send a predefined response message |
jah128 | 1:b067a08ff54e | 128 | void send_response(char target, char is_broadcast, char success, char id, char is_command, char function, char * data, char length) |
jah128 | 1:b067a08ff54e | 129 | { |
jah128 | 0:9ffe8ebd1c40 | 130 | char message [4+length]; |
jah128 | 0:9ffe8ebd1c40 | 131 | message[0]=piswarm.get_id(); |
jah128 | 0:9ffe8ebd1c40 | 132 | message[1]=target; |
jah128 | 0:9ffe8ebd1c40 | 133 | message[2]=id; |
jah128 | 0:9ffe8ebd1c40 | 134 | message[3]=128 + (success << 6) + (is_command << 4) + function; |
jah128 | 1:b067a08ff54e | 135 | for(int i=0; i<length; i++) { |
jah128 | 1:b067a08ff54e | 136 | message[4+i]=data[i]; |
jah128 | 1:b067a08ff54e | 137 | } |
jah128 | 0:9ffe8ebd1c40 | 138 | //Delay the response if it is broadcast and TDMA mode is on |
jah128 | 1:b067a08ff54e | 139 | if(RF_USE_TDMA == 1 && is_broadcast == 1) { |
jah128 | 1:b067a08ff54e | 140 | if(tdma_busy == 1) { |
jah128 | 0:9ffe8ebd1c40 | 141 | if (RF_DEBUG==1) pc.printf("Cannot respond - TDMA busy\n"); |
jah128 | 1:b067a08ff54e | 142 | } else { |
jah128 | 0:9ffe8ebd1c40 | 143 | tdma_busy = 1; |
jah128 | 0:9ffe8ebd1c40 | 144 | strcpy(waiting_message,message); |
jah128 | 0:9ffe8ebd1c40 | 145 | waiting_length=length; |
jah128 | 0:9ffe8ebd1c40 | 146 | tdma_timeout.attach_us(&tdma_response, RF_TDMA_TIME_PERIOD_US * piswarm.get_id()); |
jah128 | 0:9ffe8ebd1c40 | 147 | if (RF_DEBUG==1) pc.printf("TDMA Response pending\n"); |
jah128 | 0:9ffe8ebd1c40 | 148 | } |
jah128 | 1:b067a08ff54e | 149 | } else { |
jah128 | 0:9ffe8ebd1c40 | 150 | piswarm.send_rf_message(message,4+length); |
jah128 | 0:9ffe8ebd1c40 | 151 | if(RF_DEBUG==1)pc.printf("Response issued"); |
jah128 | 0:9ffe8ebd1c40 | 152 | } |
jah128 | 0:9ffe8ebd1c40 | 153 | } |
jah128 | 0:9ffe8ebd1c40 | 154 | |
jah128 | 0:9ffe8ebd1c40 | 155 | // Send a delayed response |
jah128 | 1:b067a08ff54e | 156 | void tdma_response() |
jah128 | 1:b067a08ff54e | 157 | { |
jah128 | 0:9ffe8ebd1c40 | 158 | piswarm.send_rf_message(waiting_message,4+waiting_length); |
jah128 | 0:9ffe8ebd1c40 | 159 | tdma_busy = 0; |
jah128 | 0:9ffe8ebd1c40 | 160 | if (RF_DEBUG==1) pc.printf("TDMA Response issued\n"); |
jah128 | 0:9ffe8ebd1c40 | 161 | } |
jah128 | 0:9ffe8ebd1c40 | 162 | |
jah128 | 1:b067a08ff54e | 163 | // Handle a message that is a predefined command |
jah128 | 1:b067a08ff54e | 164 | void handle_command(char sender, char is_broadcast, char request_response, char id, char function, char * data, char length) |
jah128 | 1:b067a08ff54e | 165 | { |
jah128 | 0:9ffe8ebd1c40 | 166 | char success = 0; |
jah128 | 1:b067a08ff54e | 167 | switch(function) { |
jah128 | 0:9ffe8ebd1c40 | 168 | case 0: // Stop [0 data] |
jah128 | 0:9ffe8ebd1c40 | 169 | if(length==0) { |
jah128 | 0:9ffe8ebd1c40 | 170 | piswarm.stop(); |
jah128 | 0:9ffe8ebd1c40 | 171 | if(RF_DEBUG==1) pc.printf(" - Stop Command Issued - "); |
jah128 | 0:9ffe8ebd1c40 | 172 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 173 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 174 | break; |
jah128 | 0:9ffe8ebd1c40 | 175 | case 1: // Forward [2 bytes: 16-bit signed short] |
jah128 | 0:9ffe8ebd1c40 | 176 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 177 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 178 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 179 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 180 | piswarm.forward(speed); |
jah128 | 0:9ffe8ebd1c40 | 181 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 182 | if(RF_DEBUG==1) pc.printf(" - Forward %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 183 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 184 | break; |
jah128 | 0:9ffe8ebd1c40 | 185 | case 2: // Backward [2 bytes: 16-bit signed short] |
jah128 | 0:9ffe8ebd1c40 | 186 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 187 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 188 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 189 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 190 | piswarm.backward(speed); |
jah128 | 0:9ffe8ebd1c40 | 191 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 192 | if(RF_DEBUG==1) pc.printf(" - Backward %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 193 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 194 | break; |
jah128 | 0:9ffe8ebd1c40 | 195 | case 3: // Left [2 bytes: 16-bit signed short] |
jah128 | 0:9ffe8ebd1c40 | 196 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 197 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 198 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 199 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 200 | piswarm.left(speed); |
jah128 | 0:9ffe8ebd1c40 | 201 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 202 | if(RF_DEBUG==1) pc.printf(" - Left %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 203 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 204 | break; |
jah128 | 0:9ffe8ebd1c40 | 205 | case 4: // Right [2 bytes: 16-bit signed short] |
jah128 | 1:b067a08ff54e | 206 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 207 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 208 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 209 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 210 | piswarm.right(speed); |
jah128 | 0:9ffe8ebd1c40 | 211 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 212 | if(RF_DEBUG==1) pc.printf(" - Right %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 213 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 214 | break; |
jah128 | 0:9ffe8ebd1c40 | 215 | case 5: // Left Motor [2 bytes: 16-bit signed short] |
jah128 | 1:b067a08ff54e | 216 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 217 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 218 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 219 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 220 | piswarm.left_motor(speed); |
jah128 | 0:9ffe8ebd1c40 | 221 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 222 | if(RF_DEBUG==1) pc.printf(" - Left Motor %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 223 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 224 | break; |
jah128 | 0:9ffe8ebd1c40 | 225 | case 6: // Right Motor [2 bytes: 16-bit signed short] |
jah128 | 1:b067a08ff54e | 226 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 227 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 228 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 229 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 230 | piswarm.right_motor(speed); |
jah128 | 0:9ffe8ebd1c40 | 231 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 232 | if(RF_DEBUG==1) pc.printf(" - Right Motor %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 233 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 234 | break; |
jah128 | 0:9ffe8ebd1c40 | 235 | case 7: // Outer LED Colour [3 bytes: R, G, B] |
jah128 | 1:b067a08ff54e | 236 | if(length==3) { |
jah128 | 1:b067a08ff54e | 237 | piswarm.set_oled_colour (data[0],data[1],data[2]); |
jah128 | 0:9ffe8ebd1c40 | 238 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 239 | if(RF_DEBUG==1) pc.printf(" - Set Outer R%i G%i B%i Command Issued - ",data[0],data[1],data[2]); |
jah128 | 0:9ffe8ebd1c40 | 240 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 241 | break; |
jah128 | 0:9ffe8ebd1c40 | 242 | case 8: // Center LED Colour[3 bytes: R, G, B] |
jah128 | 1:b067a08ff54e | 243 | if(length==3) { |
jah128 | 1:b067a08ff54e | 244 | piswarm.set_cled_colour (data[0],data[1],data[2]); |
jah128 | 0:9ffe8ebd1c40 | 245 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 246 | if(RF_DEBUG==1) pc.printf(" - Set Center R%i G%i B%i Command Issued - ",data[0],data[1],data[2]); |
jah128 | 0:9ffe8ebd1c40 | 247 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 248 | break; |
jah128 | 0:9ffe8ebd1c40 | 249 | case 9: // Outer LED State [2 bytes: [xxxxxx01][23456789] ] |
jah128 | 0:9ffe8ebd1c40 | 250 | if(length==2) { |
jah128 | 1:b067a08ff54e | 251 | 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 | 0:9ffe8ebd1c40 | 252 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 253 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 254 | break; |
jah128 | 0:9ffe8ebd1c40 | 255 | case 10: // Center LED State [1 bytes: [xxxxxxxE] E=enabled ] |
jah128 | 0:9ffe8ebd1c40 | 256 | if(length==1) { |
jah128 | 1:b067a08ff54e | 257 | piswarm.enable_cled (data[0] % 2); |
jah128 | 0:9ffe8ebd1c40 | 258 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 259 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 260 | break; |
jah128 | 0:9ffe8ebd1c40 | 261 | case 11: // Set outer LED [1 byte: [xxxEvvvv] E=enabled vvvv=LED] |
jah128 | 0:9ffe8ebd1c40 | 262 | if(length==1) { |
jah128 | 0:9ffe8ebd1c40 | 263 | int led = data[0] % 16; |
jah128 | 1:b067a08ff54e | 264 | if(led < 10) { |
jah128 | 0:9ffe8ebd1c40 | 265 | piswarm.set_oled(led, 0!=(data[0] & (1 << 4))); |
jah128 | 0:9ffe8ebd1c40 | 266 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 267 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 268 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 269 | break; |
jah128 | 0:9ffe8ebd1c40 | 270 | case 12: // Play sound [Minimum 1 byte] |
jah128 | 0:9ffe8ebd1c40 | 271 | if(length>0) { |
jah128 | 0:9ffe8ebd1c40 | 272 | piswarm.play_tune(data,length); |
jah128 | 0:9ffe8ebd1c40 | 273 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 274 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 275 | break; |
jah128 | 0:9ffe8ebd1c40 | 276 | case 13: // Sync time |
jah128 | 0:9ffe8ebd1c40 | 277 | if(length==4) { |
jah128 | 0:9ffe8ebd1c40 | 278 | unsigned int new_time = 0; |
jah128 | 0:9ffe8ebd1c40 | 279 | new_time+=((unsigned int)data[0] << 24); |
jah128 | 0:9ffe8ebd1c40 | 280 | new_time+=((unsigned int)data[1] << 16); |
jah128 | 0:9ffe8ebd1c40 | 281 | new_time+=((unsigned int)data[2] << 8); |
jah128 | 0:9ffe8ebd1c40 | 282 | new_time+=(unsigned int)data[3]; |
jah128 | 0:9ffe8ebd1c40 | 283 | set_time(new_time); |
jah128 | 0:9ffe8ebd1c40 | 284 | display_system_time(); |
jah128 | 0:9ffe8ebd1c40 | 285 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 286 | break; |
jah128 | 0:9ffe8ebd1c40 | 287 | case 14: // |
jah128 | 0:9ffe8ebd1c40 | 288 | break; |
jah128 | 0:9ffe8ebd1c40 | 289 | case 15: // |
jah128 | 1:b067a08ff54e | 290 | break; |
jah128 | 0:9ffe8ebd1c40 | 291 | } |
jah128 | 1:b067a08ff54e | 292 | if(request_response == 1) { |
jah128 | 0:9ffe8ebd1c40 | 293 | send_response(sender, is_broadcast, success, id, 1, function, NULL, 0); |
jah128 | 0:9ffe8ebd1c40 | 294 | } |
jah128 | 1:b067a08ff54e | 295 | |
jah128 | 0:9ffe8ebd1c40 | 296 | } |
jah128 | 0:9ffe8ebd1c40 | 297 | |
jah128 | 1:b067a08ff54e | 298 | //Handle a message that is a predefined request |
jah128 | 1:b067a08ff54e | 299 | void handle_request(char sender, char is_broadcast, char request_response, char id, char function) |
jah128 | 1:b067a08ff54e | 300 | { |
jah128 | 0:9ffe8ebd1c40 | 301 | int response_length = 0; |
jah128 | 0:9ffe8ebd1c40 | 302 | char * response = NULL; |
jah128 | 0:9ffe8ebd1c40 | 303 | char success = 0; |
jah128 | 1:b067a08ff54e | 304 | |
jah128 | 1:b067a08ff54e | 305 | switch(function) { |
jah128 | 0:9ffe8ebd1c40 | 306 | case 0: // Null request |
jah128 | 0:9ffe8ebd1c40 | 307 | success=1; |
jah128 | 1:b067a08ff54e | 308 | break; |
jah128 | 1:b067a08ff54e | 309 | case 1: { // Request left motor speed |
jah128 | 0:9ffe8ebd1c40 | 310 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 311 | float speed = piswarm.get_left_motor() * 32767; |
jah128 | 0:9ffe8ebd1c40 | 312 | int a_speed = 32768 + (int) speed; |
jah128 | 0:9ffe8ebd1c40 | 313 | char msb = (char) (a_speed / 256); |
jah128 | 0:9ffe8ebd1c40 | 314 | char lsb = (char) (a_speed % 256); |
jah128 | 0:9ffe8ebd1c40 | 315 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 316 | response[0]=msb; |
jah128 | 0:9ffe8ebd1c40 | 317 | response[1]=lsb; |
jah128 | 0:9ffe8ebd1c40 | 318 | success=1; |
jah128 | 1:b067a08ff54e | 319 | break; |
jah128 | 1:b067a08ff54e | 320 | } |
jah128 | 1:b067a08ff54e | 321 | case 2: { // Request right motor speed |
jah128 | 0:9ffe8ebd1c40 | 322 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 323 | float speed = piswarm.get_right_motor() * 32767; |
jah128 | 0:9ffe8ebd1c40 | 324 | int a_speed = 32768 + (int) speed; |
jah128 | 0:9ffe8ebd1c40 | 325 | char msb = (char) (a_speed / 256); |
jah128 | 0:9ffe8ebd1c40 | 326 | char lsb = (char) (a_speed % 256); |
jah128 | 0:9ffe8ebd1c40 | 327 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 328 | response[0]=msb; |
jah128 | 0:9ffe8ebd1c40 | 329 | response[1]=lsb; |
jah128 | 0:9ffe8ebd1c40 | 330 | success=1; |
jah128 | 1:b067a08ff54e | 331 | break; |
jah128 | 1:b067a08ff54e | 332 | } |
jah128 | 1:b067a08ff54e | 333 | case 3: { // Request button state |
jah128 | 0:9ffe8ebd1c40 | 334 | response_length = 1; |
jah128 | 0:9ffe8ebd1c40 | 335 | response = new char[1]; |
jah128 | 0:9ffe8ebd1c40 | 336 | response[0]=piswarm.get_switches(); |
jah128 | 1:b067a08ff54e | 337 | break; |
jah128 | 1:b067a08ff54e | 338 | } |
jah128 | 1:b067a08ff54e | 339 | case 4: { // Request LED colours |
jah128 | 0:9ffe8ebd1c40 | 340 | response_length = 6; |
jah128 | 0:9ffe8ebd1c40 | 341 | response = new char[6]; |
jah128 | 0:9ffe8ebd1c40 | 342 | int oled_colour = piswarm.get_oled_colour(); |
jah128 | 0:9ffe8ebd1c40 | 343 | int cled_colour = piswarm.get_cled_colour(); |
jah128 | 0:9ffe8ebd1c40 | 344 | response[0] = (char) (oled_colour >> 16); |
jah128 | 0:9ffe8ebd1c40 | 345 | response[1] = (char) ((oled_colour >> 8) % 256); |
jah128 | 0:9ffe8ebd1c40 | 346 | response[2] = (char) (oled_colour % 256); |
jah128 | 0:9ffe8ebd1c40 | 347 | response[3] = (char) (cled_colour >> 16); |
jah128 | 0:9ffe8ebd1c40 | 348 | response[4] = (char) ((cled_colour >> 8) % 256); |
jah128 | 0:9ffe8ebd1c40 | 349 | response[5] = (char) (cled_colour % 256); |
jah128 | 1:b067a08ff54e | 350 | break; |
jah128 | 1:b067a08ff54e | 351 | } |
jah128 | 1:b067a08ff54e | 352 | case 5: { // Request LED states |
jah128 | 1:b067a08ff54e | 353 | response_length = 2; |
jah128 | 1:b067a08ff54e | 354 | response = new char[2]; |
jah128 | 1:b067a08ff54e | 355 | response[0] = 0; |
jah128 | 1:b067a08ff54e | 356 | response[1] = 0; |
jah128 | 1:b067a08ff54e | 357 | if (piswarm.get_cled_state() == 1) response[0] += 4; |
jah128 | 1:b067a08ff54e | 358 | if (piswarm.get_oled_state(0) == 1) response[0] += 2; |
jah128 | 1:b067a08ff54e | 359 | if (piswarm.get_oled_state(1) == 1) response[0] += 1; |
jah128 | 1:b067a08ff54e | 360 | if (piswarm.get_oled_state(2) == 1) response[1] += 128; |
jah128 | 1:b067a08ff54e | 361 | if (piswarm.get_oled_state(3) == 1) response[1] += 64; |
jah128 | 1:b067a08ff54e | 362 | if (piswarm.get_oled_state(4) == 1) response[1] += 32; |
jah128 | 1:b067a08ff54e | 363 | if (piswarm.get_oled_state(5) == 1) response[1] += 16; |
jah128 | 1:b067a08ff54e | 364 | if (piswarm.get_oled_state(6) == 1) response[1] += 8; |
jah128 | 1:b067a08ff54e | 365 | if (piswarm.get_oled_state(7) == 1) response[1] += 4; |
jah128 | 1:b067a08ff54e | 366 | if (piswarm.get_oled_state(8) == 1) response[1] += 2; |
jah128 | 1:b067a08ff54e | 367 | if (piswarm.get_oled_state(9) == 1) response[1] += 1; |
jah128 | 1:b067a08ff54e | 368 | break; |
jah128 | 1:b067a08ff54e | 369 | } |
jah128 | 1:b067a08ff54e | 370 | case 6: { // Request battery power |
jah128 | 0:9ffe8ebd1c40 | 371 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 372 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 373 | float fbattery = piswarm.battery() * 1000.0; |
jah128 | 0:9ffe8ebd1c40 | 374 | unsigned short battery = (unsigned short) fbattery; |
jah128 | 0:9ffe8ebd1c40 | 375 | response[0] = battery >> 8; |
jah128 | 0:9ffe8ebd1c40 | 376 | response[1] = battery % 256; |
jah128 | 1:b067a08ff54e | 377 | break; |
jah128 | 1:b067a08ff54e | 378 | } |
jah128 | 1:b067a08ff54e | 379 | case 7: { // Request light sensor reading |
jah128 | 0:9ffe8ebd1c40 | 380 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 381 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 382 | float flight = piswarm.read_light_sensor() * 655.0; |
jah128 | 0:9ffe8ebd1c40 | 383 | unsigned short light = (unsigned short) flight; |
jah128 | 0:9ffe8ebd1c40 | 384 | response[0] = light >> 8; |
jah128 | 0:9ffe8ebd1c40 | 385 | response[1] = light % 256; |
jah128 | 1:b067a08ff54e | 386 | break; |
jah128 | 1:b067a08ff54e | 387 | } |
jah128 | 1:b067a08ff54e | 388 | case 8: { // Request accelerometer reading |
jah128 | 2:0a739218ab11 | 389 | response_length = 6; |
jah128 | 2:0a739218ab11 | 390 | response = new char[6]; |
jah128 | 2:0a739218ab11 | 391 | int acc_x = (int)piswarm.read_accelerometer_x(); |
jah128 | 2:0a739218ab11 | 392 | int acc_y = (int)piswarm.read_accelerometer_y(); |
jah128 | 2:0a739218ab11 | 393 | int acc_z = (int)piswarm.read_accelerometer_z(); |
jah128 | 2:0a739218ab11 | 394 | acc_x += 32768; |
jah128 | 2:0a739218ab11 | 395 | acc_y += 32768; |
jah128 | 2:0a739218ab11 | 396 | acc_z += 32768; |
jah128 | 2:0a739218ab11 | 397 | response[0]=acc_x >> 8; |
jah128 | 2:0a739218ab11 | 398 | response[1]=acc_x % 256; |
jah128 | 2:0a739218ab11 | 399 | response[2]=acc_y >> 8; |
jah128 | 2:0a739218ab11 | 400 | response[3]=acc_y % 256; |
jah128 | 2:0a739218ab11 | 401 | response[4]=acc_z >> 8; |
jah128 | 2:0a739218ab11 | 402 | response[5]=acc_z % 256; |
jah128 | 0:9ffe8ebd1c40 | 403 | break; |
jah128 | 1:b067a08ff54e | 404 | } |
jah128 | 1:b067a08ff54e | 405 | case 9: { // Request gyroscope reading |
jah128 | 1:b067a08ff54e | 406 | response_length = 2; |
jah128 | 1:b067a08ff54e | 407 | response = new char[2]; |
jah128 | 1:b067a08ff54e | 408 | float fgyro = piswarm.read_gyro(); |
jah128 | 1:b067a08ff54e | 409 | fgyro += 32768; |
jah128 | 1:b067a08ff54e | 410 | unsigned short sgyro = (unsigned short) fgyro; |
jah128 | 1:b067a08ff54e | 411 | response[0] = sgyro >> 8; |
jah128 | 1:b067a08ff54e | 412 | response[1] = sgyro % 256; |
jah128 | 1:b067a08ff54e | 413 | break; |
jah128 | 1:b067a08ff54e | 414 | } |
jah128 | 3:4c0f2f3de33e | 415 | case 10: { // Request background IR reading |
jah128 | 3:4c0f2f3de33e | 416 | response_length = 16; |
jah128 | 3:4c0f2f3de33e | 417 | response = new char[16]; |
jah128 | 3:4c0f2f3de33e | 418 | for(int sensor = 0; sensor < 8; sensor ++){ |
jah128 | 3:4c0f2f3de33e | 419 | int offset = sensor * 2; |
jah128 | 3:4c0f2f3de33e | 420 | unsigned short m_val = piswarm.read_adc_value(sensor); |
jah128 | 3:4c0f2f3de33e | 421 | response[offset]=m_val >> 8; |
jah128 | 3:4c0f2f3de33e | 422 | response[offset+1]=m_val % 256; |
jah128 | 3:4c0f2f3de33e | 423 | } |
jah128 | 0:9ffe8ebd1c40 | 424 | break; |
jah128 | 3:4c0f2f3de33e | 425 | } |
jah128 | 3:4c0f2f3de33e | 426 | case 11: { // Request illuminated IR reading |
jah128 | 3:4c0f2f3de33e | 427 | response_length = 16; |
jah128 | 3:4c0f2f3de33e | 428 | response = new char[16]; |
jah128 | 3:4c0f2f3de33e | 429 | for(int sensor = 0; sensor < 8; sensor ++){ |
jah128 | 3:4c0f2f3de33e | 430 | int offset = sensor * 2; |
jah128 | 3:4c0f2f3de33e | 431 | unsigned short m_val = piswarm.read_illuminated_raw_ir_value(sensor); |
jah128 | 3:4c0f2f3de33e | 432 | response[offset]=m_val >> 8; |
jah128 | 3:4c0f2f3de33e | 433 | response[offset+1]=m_val % 256; |
jah128 | 3:4c0f2f3de33e | 434 | } |
jah128 | 1:b067a08ff54e | 435 | break; |
jah128 | 3:4c0f2f3de33e | 436 | } |
jah128 | 3:4c0f2f3de33e | 437 | |
jah128 | 3:4c0f2f3de33e | 438 | case 12: { // Request distance IR reading |
jah128 | 3:4c0f2f3de33e | 439 | response_length = 16; |
jah128 | 3:4c0f2f3de33e | 440 | response = new char[16]; |
jah128 | 3:4c0f2f3de33e | 441 | for(int sensor = 0; sensor < 8; sensor ++){ |
jah128 | 3:4c0f2f3de33e | 442 | int offset = sensor * 2; |
jah128 | 3:4c0f2f3de33e | 443 | float f_val = piswarm.read_reflected_ir_distance(sensor); |
jah128 | 3:4c0f2f3de33e | 444 | //f_val ranges from 0 to 100.0; |
jah128 | 3:4c0f2f3de33e | 445 | f_val *= 655; |
jah128 | 3:4c0f2f3de33e | 446 | unsigned short m_val = (unsigned short) f_val; |
jah128 | 3:4c0f2f3de33e | 447 | response[offset]=m_val >> 8; |
jah128 | 3:4c0f2f3de33e | 448 | response[offset+1]=m_val % 256; |
jah128 | 3:4c0f2f3de33e | 449 | } |
jah128 | 0:9ffe8ebd1c40 | 450 | break; |
jah128 | 3:4c0f2f3de33e | 451 | } |
jah128 | 3:4c0f2f3de33e | 452 | |
jah128 | 3:4c0f2f3de33e | 453 | case 13: // Request line-tracking IR reading |
jah128 | 0:9ffe8ebd1c40 | 454 | break; |
jah128 | 3:4c0f2f3de33e | 455 | case 14: // Request uptime |
jah128 | 0:9ffe8ebd1c40 | 456 | break; |
jah128 | 0:9ffe8ebd1c40 | 457 | case 15: // |
jah128 | 1:b067a08ff54e | 458 | break; |
jah128 | 1:b067a08ff54e | 459 | } |
jah128 | 0:9ffe8ebd1c40 | 460 | send_response(sender, is_broadcast, success, id, 0, function, response, response_length); |
jah128 | 1:b067a08ff54e | 461 | |
jah128 | 0:9ffe8ebd1c40 | 462 | } |
jah128 | 0:9ffe8ebd1c40 | 463 | |
jah128 | 0:9ffe8ebd1c40 | 464 | |
jah128 | 1:b067a08ff54e | 465 | void errormessage(int index) |
jah128 | 1:b067a08ff54e | 466 | { |
jah128 | 0:9ffe8ebd1c40 | 467 | if(RF_USE_LEDS==1) errorled=1; |
jah128 | 1:b067a08ff54e | 468 | switch(index) { |
jah128 | 0:9ffe8ebd1c40 | 469 | case 0: //Message to short |
jah128 | 0:9ffe8ebd1c40 | 470 | if (RF_DEBUG==1) pc.printf("Bad Message: Too short\n"); |
jah128 | 0:9ffe8ebd1c40 | 471 | break; |
jah128 | 0:9ffe8ebd1c40 | 472 | case 1: //Sender out of valid range |
jah128 | 1:b067a08ff54e | 473 | if (RF_DEBUG==1) pc.printf("Bad Message: Invalid sender\n"); |
jah128 | 0:9ffe8ebd1c40 | 474 | break; |
jah128 | 1:b067a08ff54e | 475 | case 2: //Target out of valid range |
jah128 | 0:9ffe8ebd1c40 | 476 | if (RF_DEBUG==1) pc.printf("Bad Message: Invalid target\n"); |
jah128 | 0:9ffe8ebd1c40 | 477 | break; |
jah128 | 0:9ffe8ebd1c40 | 478 | case 3: |
jah128 | 1:b067a08ff54e | 479 | |
jah128 | 1:b067a08ff54e | 480 | break; |
jah128 | 1:b067a08ff54e | 481 | case 4: |
jah128 | 1:b067a08ff54e | 482 | break; |
jah128 | 1:b067a08ff54e | 483 | } |
jah128 | 1:b067a08ff54e | 484 | } |
jah128 | 1:b067a08ff54e | 485 | |
jah128 | 1:b067a08ff54e | 486 | |
jah128 | 1:b067a08ff54e | 487 | |
jah128 | 1:b067a08ff54e | 488 | |
jah128 | 1:b067a08ff54e | 489 | |
jah128 | 1:b067a08ff54e | 490 | void send_rf_request_null ( char target ) |
jah128 | 1:b067a08ff54e | 491 | { |
jah128 | 1:b067a08ff54e | 492 | char command = 0x80; |
jah128 | 1:b067a08ff54e | 493 | char length = 0; |
jah128 | 1:b067a08ff54e | 494 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 495 | if(target == 0) { //Request broadcast to all recipients |
jah128 | 1:b067a08ff54e | 496 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 497 | swarm[i].status_rf_request_null = 1; |
jah128 | 1:b067a08ff54e | 498 | } |
jah128 | 1:b067a08ff54e | 499 | } else swarm[target].status_rf_request_null = 1; |
jah128 | 1:b067a08ff54e | 500 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 501 | } |
jah128 | 1:b067a08ff54e | 502 | |
jah128 | 1:b067a08ff54e | 503 | |
jah128 | 1:b067a08ff54e | 504 | void send_rf_request_left_motor_speed ( char target ) |
jah128 | 1:b067a08ff54e | 505 | { |
jah128 | 1:b067a08ff54e | 506 | char command = 0x81; |
jah128 | 1:b067a08ff54e | 507 | char length = 0; |
jah128 | 1:b067a08ff54e | 508 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 509 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 510 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 511 | swarm[i].status_rf_request_left_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 512 | } |
jah128 | 1:b067a08ff54e | 513 | } else swarm[target].status_rf_request_left_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 514 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 515 | } |
jah128 | 1:b067a08ff54e | 516 | |
jah128 | 1:b067a08ff54e | 517 | void send_rf_request_right_motor_speed ( char target ) |
jah128 | 1:b067a08ff54e | 518 | { |
jah128 | 1:b067a08ff54e | 519 | char command = 0x82; |
jah128 | 1:b067a08ff54e | 520 | char length = 0; |
jah128 | 1:b067a08ff54e | 521 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 522 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 523 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 524 | swarm[i].status_rf_request_right_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 525 | } |
jah128 | 1:b067a08ff54e | 526 | } else swarm[target].status_rf_request_right_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 527 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 528 | } |
jah128 | 1:b067a08ff54e | 529 | |
jah128 | 1:b067a08ff54e | 530 | void send_rf_request_button_state ( char target ) |
jah128 | 1:b067a08ff54e | 531 | { |
jah128 | 1:b067a08ff54e | 532 | char command = 0x83; |
jah128 | 1:b067a08ff54e | 533 | char length = 0; |
jah128 | 1:b067a08ff54e | 534 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 535 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 536 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 537 | swarm[i].status_rf_request_button_state = 1; |
jah128 | 1:b067a08ff54e | 538 | } |
jah128 | 1:b067a08ff54e | 539 | } else swarm[target].status_rf_request_button_state = 1; |
jah128 | 1:b067a08ff54e | 540 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 541 | } |
jah128 | 1:b067a08ff54e | 542 | |
jah128 | 1:b067a08ff54e | 543 | void send_rf_request_led_colour ( char target ) |
jah128 | 1:b067a08ff54e | 544 | { |
jah128 | 1:b067a08ff54e | 545 | char command = 0x84; |
jah128 | 1:b067a08ff54e | 546 | char length = 0; |
jah128 | 1:b067a08ff54e | 547 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 548 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 549 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 550 | swarm[i].status_rf_request_led_colour = 1; |
jah128 | 1:b067a08ff54e | 551 | } |
jah128 | 1:b067a08ff54e | 552 | } else swarm[target].status_rf_request_led_colour = 1; |
jah128 | 1:b067a08ff54e | 553 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 554 | } |
jah128 | 1:b067a08ff54e | 555 | |
jah128 | 1:b067a08ff54e | 556 | void send_rf_request_led_states ( char target ) |
jah128 | 1:b067a08ff54e | 557 | { |
jah128 | 1:b067a08ff54e | 558 | char command = 0x85; |
jah128 | 1:b067a08ff54e | 559 | char length = 0; |
jah128 | 1:b067a08ff54e | 560 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 561 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 562 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 563 | swarm[i].status_rf_request_led_states = 1; |
jah128 | 1:b067a08ff54e | 564 | } |
jah128 | 1:b067a08ff54e | 565 | } else swarm[target].status_rf_request_led_states = 1; |
jah128 | 1:b067a08ff54e | 566 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 567 | } |
jah128 | 1:b067a08ff54e | 568 | |
jah128 | 1:b067a08ff54e | 569 | void send_rf_request_battery ( char target ) |
jah128 | 1:b067a08ff54e | 570 | { |
jah128 | 1:b067a08ff54e | 571 | char command = 0x86; |
jah128 | 1:b067a08ff54e | 572 | char length = 0; |
jah128 | 1:b067a08ff54e | 573 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 574 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 575 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 576 | swarm[i].status_rf_request_battery = 1; |
jah128 | 1:b067a08ff54e | 577 | } |
jah128 | 1:b067a08ff54e | 578 | } else swarm[target].status_rf_request_battery = 1; |
jah128 | 1:b067a08ff54e | 579 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 580 | } |
jah128 | 1:b067a08ff54e | 581 | |
jah128 | 1:b067a08ff54e | 582 | void send_rf_request_light_sensor ( char target ) |
jah128 | 1:b067a08ff54e | 583 | { |
jah128 | 1:b067a08ff54e | 584 | char command = 0x87; |
jah128 | 1:b067a08ff54e | 585 | char length = 0; |
jah128 | 1:b067a08ff54e | 586 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 587 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 588 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 589 | swarm[i].status_rf_request_light_sensor = 1; |
jah128 | 1:b067a08ff54e | 590 | } |
jah128 | 1:b067a08ff54e | 591 | } else swarm[target].status_rf_request_light_sensor = 1; |
jah128 | 1:b067a08ff54e | 592 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 593 | } |
jah128 | 1:b067a08ff54e | 594 | |
jah128 | 1:b067a08ff54e | 595 | void send_rf_request_accelerometer ( char target ) |
jah128 | 1:b067a08ff54e | 596 | { |
jah128 | 1:b067a08ff54e | 597 | char command = 0x88; |
jah128 | 1:b067a08ff54e | 598 | char length = 0; |
jah128 | 1:b067a08ff54e | 599 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 600 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 601 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 602 | swarm[i].status_rf_request_accelerometer = 1; |
jah128 | 1:b067a08ff54e | 603 | } |
jah128 | 1:b067a08ff54e | 604 | } else swarm[target].status_rf_request_accelerometer = 1; |
jah128 | 1:b067a08ff54e | 605 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 606 | } |
jah128 | 1:b067a08ff54e | 607 | |
jah128 | 1:b067a08ff54e | 608 | void send_rf_request_gyroscope ( char target ) |
jah128 | 1:b067a08ff54e | 609 | { |
jah128 | 1:b067a08ff54e | 610 | char command = 0x89; |
jah128 | 1:b067a08ff54e | 611 | char length = 0; |
jah128 | 1:b067a08ff54e | 612 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 613 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 614 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 615 | swarm[i].status_rf_request_gyroscope = 1; |
jah128 | 1:b067a08ff54e | 616 | } |
jah128 | 1:b067a08ff54e | 617 | } else swarm[target].status_rf_request_gyroscope = 1; |
jah128 | 1:b067a08ff54e | 618 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 619 | } |
jah128 | 1:b067a08ff54e | 620 | |
jah128 | 1:b067a08ff54e | 621 | void send_rf_request_background_ir ( char target ) |
jah128 | 1:b067a08ff54e | 622 | { |
jah128 | 1:b067a08ff54e | 623 | char command = 0x8A; |
jah128 | 1:b067a08ff54e | 624 | char length = 0; |
jah128 | 1:b067a08ff54e | 625 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 626 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 627 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 628 | swarm[i].status_rf_request_background_ir = 1; |
jah128 | 1:b067a08ff54e | 629 | } |
jah128 | 1:b067a08ff54e | 630 | } else swarm[target].status_rf_request_background_ir = 1; |
jah128 | 1:b067a08ff54e | 631 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 632 | } |
jah128 | 1:b067a08ff54e | 633 | |
jah128 | 1:b067a08ff54e | 634 | void send_rf_request_reflected_ir ( char target ) |
jah128 | 1:b067a08ff54e | 635 | { |
jah128 | 1:b067a08ff54e | 636 | char command = 0x8B; |
jah128 | 1:b067a08ff54e | 637 | char length = 0; |
jah128 | 1:b067a08ff54e | 638 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 639 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 640 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 641 | swarm[i].status_rf_request_reflected_ir = 1; |
jah128 | 1:b067a08ff54e | 642 | } |
jah128 | 1:b067a08ff54e | 643 | } else swarm[target].status_rf_request_reflected_ir = 1; |
jah128 | 1:b067a08ff54e | 644 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 645 | } |
jah128 | 1:b067a08ff54e | 646 | |
jah128 | 1:b067a08ff54e | 647 | void send_rf_request_distance_ir ( char target ) |
jah128 | 1:b067a08ff54e | 648 | { |
jah128 | 1:b067a08ff54e | 649 | char command = 0x8C; |
jah128 | 1:b067a08ff54e | 650 | char length = 0; |
jah128 | 1:b067a08ff54e | 651 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 652 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 653 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 654 | swarm[i].status_rf_request_distance_ir = 1; |
jah128 | 1:b067a08ff54e | 655 | } |
jah128 | 1:b067a08ff54e | 656 | } else swarm[target].status_rf_request_distance_ir = 1; |
jah128 | 1:b067a08ff54e | 657 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 658 | } |
jah128 | 1:b067a08ff54e | 659 | |
jah128 | 1:b067a08ff54e | 660 | void send_rf_request_line_following_ir ( char target ) |
jah128 | 1:b067a08ff54e | 661 | { |
jah128 | 1:b067a08ff54e | 662 | char command = 0x8D; |
jah128 | 1:b067a08ff54e | 663 | char length = 0; |
jah128 | 1:b067a08ff54e | 664 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 665 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 666 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 667 | swarm[i].status_rf_request_line_following_ir = 1; |
jah128 | 1:b067a08ff54e | 668 | } |
jah128 | 1:b067a08ff54e | 669 | } else swarm[target].status_rf_request_line_following_ir = 1; |
jah128 | 1:b067a08ff54e | 670 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 671 | } |
jah128 | 1:b067a08ff54e | 672 | |
jah128 | 1:b067a08ff54e | 673 | void send_rf_request_uptime ( char target ) |
jah128 | 1:b067a08ff54e | 674 | { |
jah128 | 1:b067a08ff54e | 675 | char command = 0x8E; |
jah128 | 1:b067a08ff54e | 676 | char length = 0; |
jah128 | 1:b067a08ff54e | 677 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 678 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 679 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 680 | swarm[i].status_rf_request_uptime= 1; |
jah128 | 1:b067a08ff54e | 681 | } |
jah128 | 1:b067a08ff54e | 682 | } else swarm[target].status_rf_request_uptime = 1; |
jah128 | 1:b067a08ff54e | 683 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 684 | } |
jah128 | 1:b067a08ff54e | 685 | |
jah128 | 1:b067a08ff54e | 686 | void send_rf_command_stop ( char target, char request_response ) |
jah128 | 1:b067a08ff54e | 687 | { |
jah128 | 1:b067a08ff54e | 688 | char command = 0x10; |
jah128 | 1:b067a08ff54e | 689 | char length = 0; |
jah128 | 1:b067a08ff54e | 690 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 691 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 692 | command+=128; |
jah128 | 1:b067a08ff54e | 693 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 694 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 695 | swarm[i].status_rf_command_stop= 1; |
jah128 | 1:b067a08ff54e | 696 | } |
jah128 | 1:b067a08ff54e | 697 | } else swarm[target].status_rf_command_stop = 1; |
jah128 | 1:b067a08ff54e | 698 | } |
jah128 | 1:b067a08ff54e | 699 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 700 | } |
jah128 | 1:b067a08ff54e | 701 | |
jah128 | 1:b067a08ff54e | 702 | void send_rf_command_forward ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 703 | { |
jah128 | 1:b067a08ff54e | 704 | char command = 0x11; |
jah128 | 1:b067a08ff54e | 705 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 706 | char length = 2; |
jah128 | 1:b067a08ff54e | 707 | char data [2]; |
jah128 | 1:b067a08ff54e | 708 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 709 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 710 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 711 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 712 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 713 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 714 | command+=128; |
jah128 | 1:b067a08ff54e | 715 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 716 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 717 | swarm[i].status_rf_command_forward= 1; |
jah128 | 1:b067a08ff54e | 718 | } |
jah128 | 1:b067a08ff54e | 719 | } else swarm[target].status_rf_command_forward = 1; |
jah128 | 1:b067a08ff54e | 720 | } |
jah128 | 1:b067a08ff54e | 721 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 722 | } |
jah128 | 1:b067a08ff54e | 723 | |
jah128 | 1:b067a08ff54e | 724 | |
jah128 | 1:b067a08ff54e | 725 | void send_rf_command_backward ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 726 | { |
jah128 | 1:b067a08ff54e | 727 | char command = 0x12; |
jah128 | 1:b067a08ff54e | 728 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 729 | char length = 2; |
jah128 | 1:b067a08ff54e | 730 | char data [2]; |
jah128 | 1:b067a08ff54e | 731 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 732 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 733 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 734 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 735 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 736 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 737 | command+=128; |
jah128 | 1:b067a08ff54e | 738 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 739 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 740 | swarm[i].status_rf_command_backward= 1; |
jah128 | 1:b067a08ff54e | 741 | } |
jah128 | 1:b067a08ff54e | 742 | } else swarm[target].status_rf_command_backward = 1; |
jah128 | 0:9ffe8ebd1c40 | 743 | } |
jah128 | 1:b067a08ff54e | 744 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 745 | } |
jah128 | 1:b067a08ff54e | 746 | |
jah128 | 1:b067a08ff54e | 747 | void send_rf_command_left ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 748 | { |
jah128 | 1:b067a08ff54e | 749 | char command = 0x13; |
jah128 | 1:b067a08ff54e | 750 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 751 | char length = 2; |
jah128 | 1:b067a08ff54e | 752 | char data [2]; |
jah128 | 1:b067a08ff54e | 753 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 754 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 755 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 756 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 757 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 758 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 759 | command+=128; |
jah128 | 1:b067a08ff54e | 760 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 761 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 762 | swarm[i].status_rf_command_left = 1; |
jah128 | 1:b067a08ff54e | 763 | } |
jah128 | 1:b067a08ff54e | 764 | } else swarm[target].status_rf_command_left = 1; |
jah128 | 1:b067a08ff54e | 765 | } |
jah128 | 1:b067a08ff54e | 766 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 767 | } |
jah128 | 1:b067a08ff54e | 768 | |
jah128 | 1:b067a08ff54e | 769 | void send_rf_command_right ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 770 | { |
jah128 | 1:b067a08ff54e | 771 | char command = 0x14; |
jah128 | 1:b067a08ff54e | 772 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 773 | char length = 2; |
jah128 | 1:b067a08ff54e | 774 | char data [2]; |
jah128 | 1:b067a08ff54e | 775 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 776 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 777 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 778 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 779 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 780 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 781 | command+=128; |
jah128 | 1:b067a08ff54e | 782 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 783 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 784 | swarm[i].status_rf_command_right = 1; |
jah128 | 1:b067a08ff54e | 785 | } |
jah128 | 1:b067a08ff54e | 786 | } else swarm[target].status_rf_command_right = 1; |
jah128 | 1:b067a08ff54e | 787 | } |
jah128 | 1:b067a08ff54e | 788 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 789 | } |
jah128 | 1:b067a08ff54e | 790 | |
jah128 | 1:b067a08ff54e | 791 | void send_rf_command_left_motor ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 792 | { |
jah128 | 1:b067a08ff54e | 793 | char command = 0x15; |
jah128 | 1:b067a08ff54e | 794 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 795 | char length = 2; |
jah128 | 1:b067a08ff54e | 796 | char data [2]; |
jah128 | 1:b067a08ff54e | 797 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 798 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 799 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 800 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 801 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 802 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 803 | command+=128; |
jah128 | 1:b067a08ff54e | 804 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 805 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 806 | swarm[i].status_rf_command_left_motor = 1; |
jah128 | 1:b067a08ff54e | 807 | } |
jah128 | 1:b067a08ff54e | 808 | } else swarm[target].status_rf_command_left_motor = 1; |
jah128 | 1:b067a08ff54e | 809 | } |
jah128 | 1:b067a08ff54e | 810 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 811 | } |
jah128 | 1:b067a08ff54e | 812 | |
jah128 | 1:b067a08ff54e | 813 | void send_rf_command_right_motor ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 814 | { |
jah128 | 1:b067a08ff54e | 815 | char command = 0x16; |
jah128 | 1:b067a08ff54e | 816 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 817 | char length = 2; |
jah128 | 1:b067a08ff54e | 818 | char data [2]; |
jah128 | 1:b067a08ff54e | 819 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 820 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 821 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 822 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 823 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 824 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 825 | command+=128; |
jah128 | 1:b067a08ff54e | 826 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 827 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 828 | swarm[i].status_rf_command_right_motor = 1; |
jah128 | 1:b067a08ff54e | 829 | } |
jah128 | 1:b067a08ff54e | 830 | } else swarm[target].status_rf_command_right_motor = 1; |
jah128 | 1:b067a08ff54e | 831 | } |
jah128 | 1:b067a08ff54e | 832 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 833 | } |
jah128 | 1:b067a08ff54e | 834 | |
jah128 | 1:b067a08ff54e | 835 | void send_rf_command_oled_colour ( char target, char request_response, char red, char green, char blue ) |
jah128 | 1:b067a08ff54e | 836 | { |
jah128 | 1:b067a08ff54e | 837 | char command = 0x17; |
jah128 | 1:b067a08ff54e | 838 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 839 | char length = 3; |
jah128 | 1:b067a08ff54e | 840 | char data [3]; |
jah128 | 1:b067a08ff54e | 841 | data[0] = red; |
jah128 | 1:b067a08ff54e | 842 | data[1] = green; |
jah128 | 1:b067a08ff54e | 843 | data[2] = blue; |
jah128 | 1:b067a08ff54e | 844 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 845 | command+=128; |
jah128 | 1:b067a08ff54e | 846 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 847 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 848 | swarm[i].status_rf_command_oled_colour = 1; |
jah128 | 1:b067a08ff54e | 849 | } |
jah128 | 1:b067a08ff54e | 850 | } else swarm[target].status_rf_command_oled_colour = 1; |
jah128 | 1:b067a08ff54e | 851 | } |
jah128 | 1:b067a08ff54e | 852 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 853 | } |
jah128 | 1:b067a08ff54e | 854 | |
jah128 | 1:b067a08ff54e | 855 | void send_rf_command_cled_colour ( char target, char request_response, char red, char green, char blue ) |
jah128 | 1:b067a08ff54e | 856 | { |
jah128 | 1:b067a08ff54e | 857 | char command = 0x18; |
jah128 | 1:b067a08ff54e | 858 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 859 | char length = 3; |
jah128 | 1:b067a08ff54e | 860 | char data [3]; |
jah128 | 1:b067a08ff54e | 861 | data[0] = red; |
jah128 | 1:b067a08ff54e | 862 | data[1] = green; |
jah128 | 1:b067a08ff54e | 863 | data[2] = blue; |
jah128 | 1:b067a08ff54e | 864 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 865 | command+=128; |
jah128 | 1:b067a08ff54e | 866 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 867 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 868 | swarm[i].status_rf_command_cled_colour = 1; |
jah128 | 1:b067a08ff54e | 869 | } |
jah128 | 1:b067a08ff54e | 870 | } else swarm[target].status_rf_command_cled_colour = 1; |
jah128 | 1:b067a08ff54e | 871 | } |
jah128 | 1:b067a08ff54e | 872 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 873 | } |
jah128 | 1:b067a08ff54e | 874 | |
jah128 | 1:b067a08ff54e | 875 | 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 | 1:b067a08ff54e | 876 | { |
jah128 | 1:b067a08ff54e | 877 | char command = 0x19; |
jah128 | 1:b067a08ff54e | 878 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 879 | char length = 2; |
jah128 | 1:b067a08ff54e | 880 | char data [2]; |
jah128 | 1:b067a08ff54e | 881 | data[0] = 0; |
jah128 | 1:b067a08ff54e | 882 | data[1] = 0; |
jah128 | 1:b067a08ff54e | 883 | if( led0 == 1) data[0] += 2; |
jah128 | 1:b067a08ff54e | 884 | if( led1 == 1) data[0] += 1; |
jah128 | 1:b067a08ff54e | 885 | if( led2 == 1) data[1] += 128; |
jah128 | 1:b067a08ff54e | 886 | if( led3 == 1) data[1] += 64; |
jah128 | 1:b067a08ff54e | 887 | if( led4 == 1) data[1] += 32; |
jah128 | 1:b067a08ff54e | 888 | if( led5 == 1) data[1] += 16; |
jah128 | 1:b067a08ff54e | 889 | if( led6 == 1) data[1] += 8; |
jah128 | 1:b067a08ff54e | 890 | if( led7 == 1) data[1] += 4; |
jah128 | 1:b067a08ff54e | 891 | if( led8 == 1) data[1] += 2; |
jah128 | 1:b067a08ff54e | 892 | if( led9 == 1) data[1] += 1; |
jah128 | 1:b067a08ff54e | 893 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 894 | command+=128; |
jah128 | 1:b067a08ff54e | 895 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 896 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 897 | swarm[i].status_rf_command_oled_state = 1; |
jah128 | 1:b067a08ff54e | 898 | } |
jah128 | 1:b067a08ff54e | 899 | } else swarm[target].status_rf_command_oled_state = 1; |
jah128 | 1:b067a08ff54e | 900 | } |
jah128 | 1:b067a08ff54e | 901 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 902 | } |
jah128 | 1:b067a08ff54e | 903 | |
jah128 | 1:b067a08ff54e | 904 | void send_rf_command_cled_state ( char target, char request_response, char enable ) |
jah128 | 1:b067a08ff54e | 905 | { |
jah128 | 1:b067a08ff54e | 906 | char command = 0x1A; |
jah128 | 1:b067a08ff54e | 907 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 908 | char length = 1; |
jah128 | 1:b067a08ff54e | 909 | char data [1]; |
jah128 | 1:b067a08ff54e | 910 | data[0] = enable; |
jah128 | 1:b067a08ff54e | 911 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 912 | command+=128; |
jah128 | 1:b067a08ff54e | 913 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 914 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 915 | swarm[i].status_rf_command_cled_state = 1; |
jah128 | 1:b067a08ff54e | 916 | } |
jah128 | 1:b067a08ff54e | 917 | } else swarm[target].status_rf_command_cled_state = 1; |
jah128 | 1:b067a08ff54e | 918 | } |
jah128 | 1:b067a08ff54e | 919 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 920 | } |
jah128 | 1:b067a08ff54e | 921 | |
jah128 | 1:b067a08ff54e | 922 | void send_rf_command_set_oled ( char target, char request_response, char oled, char enable ) |
jah128 | 1:b067a08ff54e | 923 | { |
jah128 | 1:b067a08ff54e | 924 | char command = 0x1B; |
jah128 | 1:b067a08ff54e | 925 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 926 | char length = 1; |
jah128 | 1:b067a08ff54e | 927 | char data [1]; |
jah128 | 1:b067a08ff54e | 928 | data[0] = oled; |
jah128 | 1:b067a08ff54e | 929 | if(enable == 1) oled+= 32; |
jah128 | 1:b067a08ff54e | 930 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 931 | command+=128; |
jah128 | 1:b067a08ff54e | 932 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 933 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 934 | swarm[i].status_rf_command_set_oled = 1; |
jah128 | 1:b067a08ff54e | 935 | } |
jah128 | 1:b067a08ff54e | 936 | } else swarm[target].status_rf_command_set_oled = 1; |
jah128 | 1:b067a08ff54e | 937 | } |
jah128 | 1:b067a08ff54e | 938 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 939 | } |
jah128 | 1:b067a08ff54e | 940 | |
jah128 | 1:b067a08ff54e | 941 | void send_rf_command_play_tune ( char target, char request_response, char * data, char length ) |
jah128 | 1:b067a08ff54e | 942 | { |
jah128 | 1:b067a08ff54e | 943 | char command = 0x1C; |
jah128 | 1:b067a08ff54e | 944 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 945 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 946 | command+=128; |
jah128 | 1:b067a08ff54e | 947 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 948 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 949 | swarm[i].status_rf_command_play_tune = 1; |
jah128 | 1:b067a08ff54e | 950 | } |
jah128 | 1:b067a08ff54e | 951 | } else swarm[target].status_rf_command_play_tune = 1; |
jah128 | 1:b067a08ff54e | 952 | } |
jah128 | 1:b067a08ff54e | 953 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 954 | } |
jah128 | 1:b067a08ff54e | 955 | |
jah128 | 1:b067a08ff54e | 956 | void send_rf_command_sync_time ( char target, char request_response ) |
jah128 | 1:b067a08ff54e | 957 | { |
jah128 | 1:b067a08ff54e | 958 | char command = 0x1D; |
jah128 | 1:b067a08ff54e | 959 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 960 | char length = 1; |
jah128 | 1:b067a08ff54e | 961 | char data [1]; |
jah128 | 1:b067a08ff54e | 962 | data[0] = 0; |
jah128 | 1:b067a08ff54e | 963 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 964 | command+=128; |
jah128 | 1:b067a08ff54e | 965 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 966 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 967 | swarm[i].status_rf_command_sync_time = 1; |
jah128 | 1:b067a08ff54e | 968 | } |
jah128 | 1:b067a08ff54e | 969 | } else swarm[target].status_rf_command_sync_time = 1; |
jah128 | 1:b067a08ff54e | 970 | } |
jah128 | 1:b067a08ff54e | 971 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 972 | } |
jah128 | 1:b067a08ff54e | 973 | |
jah128 | 1:b067a08ff54e | 974 | //Resets the recorded swarm data tables |
jah128 | 1:b067a08ff54e | 975 | void setup_communications() |
jah128 | 1:b067a08ff54e | 976 | { |
jah128 | 1:b067a08ff54e | 977 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 978 | swarm[i].status_rf_request_null = 0; |
jah128 | 1:b067a08ff54e | 979 | swarm[i].status_rf_request_left_motor_speed = 0; |
jah128 | 1:b067a08ff54e | 980 | swarm[i].status_rf_request_right_motor_speed = 0; |
jah128 | 1:b067a08ff54e | 981 | swarm[i].status_rf_request_button_state = 0; |
jah128 | 1:b067a08ff54e | 982 | swarm[i].status_rf_request_led_colour = 0; |
jah128 | 1:b067a08ff54e | 983 | swarm[i].status_rf_request_led_states = 0; |
jah128 | 1:b067a08ff54e | 984 | swarm[i].status_rf_request_battery = 0; |
jah128 | 1:b067a08ff54e | 985 | swarm[i].status_rf_request_light_sensor = 0; |
jah128 | 1:b067a08ff54e | 986 | swarm[i].status_rf_request_accelerometer = 0; |
jah128 | 1:b067a08ff54e | 987 | swarm[i].status_rf_request_gyroscope = 0; |
jah128 | 1:b067a08ff54e | 988 | swarm[i].status_rf_request_background_ir = 0; |
jah128 | 1:b067a08ff54e | 989 | swarm[i].status_rf_request_reflected_ir = 0; |
jah128 | 1:b067a08ff54e | 990 | swarm[i].status_rf_request_distance_ir = 0; |
jah128 | 1:b067a08ff54e | 991 | swarm[i].status_rf_request_line_following_ir = 0; |
jah128 | 1:b067a08ff54e | 992 | swarm[i].status_rf_request_uptime = 0; |
jah128 | 1:b067a08ff54e | 993 | swarm[i].status_rf_command_stop = 0; |
jah128 | 1:b067a08ff54e | 994 | swarm[i].status_rf_command_forward = 0; |
jah128 | 1:b067a08ff54e | 995 | swarm[i].status_rf_command_backward = 0; |
jah128 | 1:b067a08ff54e | 996 | swarm[i].status_rf_command_left = 0; |
jah128 | 1:b067a08ff54e | 997 | swarm[i].status_rf_command_right = 0; |
jah128 | 1:b067a08ff54e | 998 | swarm[i].status_rf_command_left_motor = 0; |
jah128 | 1:b067a08ff54e | 999 | swarm[i].status_rf_command_right_motor = 0; |
jah128 | 1:b067a08ff54e | 1000 | swarm[i].status_rf_command_oled_colour = 0; |
jah128 | 1:b067a08ff54e | 1001 | swarm[i].status_rf_command_cled_colour = 0; |
jah128 | 1:b067a08ff54e | 1002 | swarm[i].status_rf_command_oled_state = 0; |
jah128 | 1:b067a08ff54e | 1003 | swarm[i].status_rf_command_cled_state = 0; |
jah128 | 1:b067a08ff54e | 1004 | swarm[i].status_rf_command_set_oled = 0; |
jah128 | 1:b067a08ff54e | 1005 | swarm[i].status_rf_command_play_tune = 0; |
jah128 | 1:b067a08ff54e | 1006 | swarm[i].status_rf_command_sync_time = 0; |
jah128 | 1:b067a08ff54e | 1007 | swarm[i].left_motor_speed = 0.0; |
jah128 | 1:b067a08ff54e | 1008 | swarm[i].right_motor_speed = 0.0; |
jah128 | 1:b067a08ff54e | 1009 | swarm[i].button_state = 0; |
jah128 | 1:b067a08ff54e | 1010 | for(int k=0; k<3; k++) { |
jah128 | 1:b067a08ff54e | 1011 | swarm[i].outer_led_colour [k]=0; |
jah128 | 1:b067a08ff54e | 1012 | swarm[i].center_led_colour [k]=0; |
jah128 | 1:b067a08ff54e | 1013 | swarm[i].accelerometer [k]=0; |
jah128 | 1:b067a08ff54e | 1014 | } |
jah128 | 1:b067a08ff54e | 1015 | swarm[i].led_states[0]=0; |
jah128 | 1:b067a08ff54e | 1016 | swarm[i].led_states[1]=0; |
jah128 | 1:b067a08ff54e | 1017 | swarm[i].battery = 0.0; |
jah128 | 1:b067a08ff54e | 1018 | swarm[i].light_sensor = 0.0; |
jah128 | 1:b067a08ff54e | 1019 | swarm[i].gyro = 0.0; |
jah128 | 3:4c0f2f3de33e | 1020 | for(int k=0; k<8; k++) { |
jah128 | 3:4c0f2f3de33e | 1021 | swarm[i].background_ir[k] = 0; |
jah128 | 3:4c0f2f3de33e | 1022 | swarm[i].reflected_ir[k] = 0; |
jah128 | 3:4c0f2f3de33e | 1023 | swarm[i].distance_ir[k] = 0; |
jah128 | 3:4c0f2f3de33e | 1024 | } |
jah128 | 1:b067a08ff54e | 1025 | } |
jah128 | 1:b067a08ff54e | 1026 | } |
jah128 | 2:0a739218ab11 | 1027 | |
jah128 | 2:0a739218ab11 | 1028 | |
jah128 | 2:0a739218ab11 | 1029 | // Handle a message that is a response to a predefined (non-user) command or request |
jah128 | 2:0a739218ab11 | 1030 | void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length) |
jah128 | 2:0a739218ab11 | 1031 | { |
jah128 | 2:0a739218ab11 | 1032 | char outcome = 0; |
jah128 | 2:0a739218ab11 | 1033 | if(is_command == 0) { |
jah128 | 2:0a739218ab11 | 1034 | // Response is a data_request_response |
jah128 | 2:0a739218ab11 | 1035 | switch(function) { |
jah128 | 2:0a739218ab11 | 1036 | case 0: { |
jah128 | 2:0a739218ab11 | 1037 | if(swarm[sender].status_rf_request_null == 1) { |
jah128 | 2:0a739218ab11 | 1038 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1039 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1040 | swarm[sender].status_rf_request_null = 2; |
jah128 | 2:0a739218ab11 | 1041 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1042 | } else { |
jah128 | 2:0a739218ab11 | 1043 | swarm[sender].status_rf_request_null= 3; |
jah128 | 2:0a739218ab11 | 1044 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1045 | } |
jah128 | 2:0a739218ab11 | 1046 | } else { |
jah128 | 2:0a739218ab11 | 1047 | swarm[sender].status_rf_request_null = 4; |
jah128 | 2:0a739218ab11 | 1048 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1049 | } |
jah128 | 2:0a739218ab11 | 1050 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1051 | } |
jah128 | 2:0a739218ab11 | 1052 | break; |
jah128 | 2:0a739218ab11 | 1053 | |
jah128 | 2:0a739218ab11 | 1054 | case 1: { //Left motor speed |
jah128 | 2:0a739218ab11 | 1055 | if(swarm[sender].status_rf_request_left_motor_speed == 1) { |
jah128 | 2:0a739218ab11 | 1056 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1057 | if(length == 2) { |
jah128 | 2:0a739218ab11 | 1058 | swarm[sender].status_rf_request_left_motor_speed = 2; |
jah128 | 2:0a739218ab11 | 1059 | int value = (data [0] << 8) + data[1]; |
jah128 | 2:0a739218ab11 | 1060 | value -= 32768; |
jah128 | 2:0a739218ab11 | 1061 | float val = value; |
jah128 | 2:0a739218ab11 | 1062 | val /= 32767.0; |
jah128 | 2:0a739218ab11 | 1063 | swarm[sender].left_motor_speed = val; |
jah128 | 2:0a739218ab11 | 1064 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1065 | } else { |
jah128 | 2:0a739218ab11 | 1066 | swarm[sender].status_rf_request_left_motor_speed= 3; |
jah128 | 2:0a739218ab11 | 1067 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1068 | } |
jah128 | 2:0a739218ab11 | 1069 | } else { |
jah128 | 2:0a739218ab11 | 1070 | swarm[sender].status_rf_request_left_motor_speed = 4; |
jah128 | 2:0a739218ab11 | 1071 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1072 | } |
jah128 | 2:0a739218ab11 | 1073 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1074 | } |
jah128 | 2:0a739218ab11 | 1075 | break; |
jah128 | 2:0a739218ab11 | 1076 | |
jah128 | 2:0a739218ab11 | 1077 | case 2: { //Right motor speed |
jah128 | 2:0a739218ab11 | 1078 | if(swarm[sender].status_rf_request_right_motor_speed == 1) { |
jah128 | 2:0a739218ab11 | 1079 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1080 | if(length == 2) { |
jah128 | 2:0a739218ab11 | 1081 | swarm[sender].status_rf_request_right_motor_speed = 2; |
jah128 | 2:0a739218ab11 | 1082 | int value = (data [0] << 8) + data[1]; |
jah128 | 2:0a739218ab11 | 1083 | value -= 32768; |
jah128 | 2:0a739218ab11 | 1084 | float val = value; |
jah128 | 2:0a739218ab11 | 1085 | val /= 32767.0; |
jah128 | 2:0a739218ab11 | 1086 | swarm[sender].right_motor_speed = val; |
jah128 | 2:0a739218ab11 | 1087 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1088 | } else { |
jah128 | 2:0a739218ab11 | 1089 | swarm[sender].status_rf_request_right_motor_speed = 3; |
jah128 | 2:0a739218ab11 | 1090 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1091 | } |
jah128 | 2:0a739218ab11 | 1092 | } else { |
jah128 | 2:0a739218ab11 | 1093 | swarm[sender].status_rf_request_right_motor_speed = 4; |
jah128 | 2:0a739218ab11 | 1094 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1095 | } |
jah128 | 2:0a739218ab11 | 1096 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1097 | } |
jah128 | 2:0a739218ab11 | 1098 | break; |
jah128 | 2:0a739218ab11 | 1099 | |
jah128 | 2:0a739218ab11 | 1100 | case 3: { //Button state |
jah128 | 2:0a739218ab11 | 1101 | if(swarm[sender].status_rf_request_button_state == 1) { |
jah128 | 2:0a739218ab11 | 1102 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1103 | if(length == 2) { |
jah128 | 2:0a739218ab11 | 1104 | swarm[sender].status_rf_request_button_state = 2; |
jah128 | 2:0a739218ab11 | 1105 | swarm[sender].button_state = data[0]; |
jah128 | 2:0a739218ab11 | 1106 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1107 | } else { |
jah128 | 2:0a739218ab11 | 1108 | swarm[sender].status_rf_request_button_state = 3; |
jah128 | 2:0a739218ab11 | 1109 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1110 | } |
jah128 | 2:0a739218ab11 | 1111 | } else { |
jah128 | 2:0a739218ab11 | 1112 | swarm[sender].status_rf_request_button_state = 4; |
jah128 | 2:0a739218ab11 | 1113 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1114 | } |
jah128 | 2:0a739218ab11 | 1115 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1116 | } |
jah128 | 2:0a739218ab11 | 1117 | break; |
jah128 | 2:0a739218ab11 | 1118 | |
jah128 | 2:0a739218ab11 | 1119 | case 4: { //LED Colour |
jah128 | 2:0a739218ab11 | 1120 | if(swarm[sender].status_rf_request_led_colour == 1) { |
jah128 | 2:0a739218ab11 | 1121 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1122 | if(length == 6) { |
jah128 | 2:0a739218ab11 | 1123 | swarm[sender].status_rf_request_led_colour = 2; |
jah128 | 2:0a739218ab11 | 1124 | for(int i=0; i<3; i++) { |
jah128 | 2:0a739218ab11 | 1125 | swarm[sender].outer_led_colour[i] = data[i]; |
jah128 | 2:0a739218ab11 | 1126 | swarm[sender].center_led_colour[i] = data[i+3]; |
jah128 | 2:0a739218ab11 | 1127 | } |
jah128 | 2:0a739218ab11 | 1128 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1129 | } else { |
jah128 | 2:0a739218ab11 | 1130 | swarm[sender].status_rf_request_led_colour = 3; |
jah128 | 2:0a739218ab11 | 1131 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1132 | } |
jah128 | 2:0a739218ab11 | 1133 | } else { |
jah128 | 2:0a739218ab11 | 1134 | swarm[sender].status_rf_request_led_colour = 4; |
jah128 | 2:0a739218ab11 | 1135 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1136 | } |
jah128 | 2:0a739218ab11 | 1137 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1138 | } |
jah128 | 2:0a739218ab11 | 1139 | break; |
jah128 | 2:0a739218ab11 | 1140 | |
jah128 | 2:0a739218ab11 | 1141 | case 5: { //LED States |
jah128 | 2:0a739218ab11 | 1142 | if(swarm[sender].status_rf_request_led_states == 1) { |
jah128 | 2:0a739218ab11 | 1143 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1144 | if(length == 2) { |
jah128 | 2:0a739218ab11 | 1145 | swarm[sender].status_rf_request_led_states = 2; |
jah128 | 2:0a739218ab11 | 1146 | for(int i=0; i<3; i++) { |
jah128 | 2:0a739218ab11 | 1147 | swarm[sender].led_states[0] = data[0]; |
jah128 | 2:0a739218ab11 | 1148 | swarm[sender].led_states[1] = data[1]; |
jah128 | 2:0a739218ab11 | 1149 | } |
jah128 | 2:0a739218ab11 | 1150 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1151 | } else { |
jah128 | 2:0a739218ab11 | 1152 | swarm[sender].status_rf_request_led_states = 3; |
jah128 | 2:0a739218ab11 | 1153 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1154 | } |
jah128 | 2:0a739218ab11 | 1155 | } else { |
jah128 | 2:0a739218ab11 | 1156 | swarm[sender].status_rf_request_led_states = 4; |
jah128 | 2:0a739218ab11 | 1157 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1158 | } |
jah128 | 2:0a739218ab11 | 1159 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1160 | } |
jah128 | 2:0a739218ab11 | 1161 | break; |
jah128 | 2:0a739218ab11 | 1162 | |
jah128 | 2:0a739218ab11 | 1163 | |
jah128 | 2:0a739218ab11 | 1164 | case 6: { //Battery |
jah128 | 2:0a739218ab11 | 1165 | if(swarm[sender].status_rf_request_battery == 1) { |
jah128 | 2:0a739218ab11 | 1166 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1167 | if(length == 2) { |
jah128 | 2:0a739218ab11 | 1168 | swarm[sender].status_rf_request_battery = 2; |
jah128 | 2:0a739218ab11 | 1169 | int fbattery = data[0] * 256; |
jah128 | 2:0a739218ab11 | 1170 | fbattery += data[1]; |
jah128 | 2:0a739218ab11 | 1171 | swarm[sender].battery = (float) fbattery / 1000.0; |
jah128 | 2:0a739218ab11 | 1172 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1173 | } else { |
jah128 | 2:0a739218ab11 | 1174 | swarm[sender].status_rf_request_battery = 3; |
jah128 | 2:0a739218ab11 | 1175 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1176 | } |
jah128 | 2:0a739218ab11 | 1177 | } else { |
jah128 | 2:0a739218ab11 | 1178 | swarm[sender].status_rf_request_battery = 4; |
jah128 | 2:0a739218ab11 | 1179 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1180 | } |
jah128 | 2:0a739218ab11 | 1181 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1182 | } |
jah128 | 2:0a739218ab11 | 1183 | break; |
jah128 | 2:0a739218ab11 | 1184 | |
jah128 | 2:0a739218ab11 | 1185 | case 7: { //Light sensor |
jah128 | 2:0a739218ab11 | 1186 | if(swarm[sender].status_rf_request_light_sensor == 1) { |
jah128 | 2:0a739218ab11 | 1187 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1188 | if(length == 2) { |
jah128 | 2:0a739218ab11 | 1189 | swarm[sender].status_rf_request_light_sensor = 2; |
jah128 | 2:0a739218ab11 | 1190 | int ilight = data[0] * 256; |
jah128 | 2:0a739218ab11 | 1191 | ilight += data[1]; |
jah128 | 2:0a739218ab11 | 1192 | float flight = (float) (ilight) / 655.0; |
jah128 | 2:0a739218ab11 | 1193 | swarm[sender].light_sensor = flight; |
jah128 | 2:0a739218ab11 | 1194 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1195 | } else { |
jah128 | 2:0a739218ab11 | 1196 | swarm[sender].status_rf_request_light_sensor = 3; |
jah128 | 2:0a739218ab11 | 1197 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1198 | } |
jah128 | 2:0a739218ab11 | 1199 | } else { |
jah128 | 2:0a739218ab11 | 1200 | swarm[sender].status_rf_request_light_sensor = 4; |
jah128 | 2:0a739218ab11 | 1201 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1202 | } |
jah128 | 2:0a739218ab11 | 1203 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1204 | } |
jah128 | 2:0a739218ab11 | 1205 | break; |
jah128 | 2:0a739218ab11 | 1206 | |
jah128 | 2:0a739218ab11 | 1207 | case 8: { //Accelerometer |
jah128 | 2:0a739218ab11 | 1208 | if(swarm[sender].status_rf_request_accelerometer == 1) { |
jah128 | 2:0a739218ab11 | 1209 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1210 | if(length == 6) { |
jah128 | 2:0a739218ab11 | 1211 | swarm[sender].status_rf_request_accelerometer = 2; |
jah128 | 2:0a739218ab11 | 1212 | int acc_x = (data[0] * 256) + data[1]; |
jah128 | 2:0a739218ab11 | 1213 | int acc_y = (data[2] * 256) + data[3]; |
jah128 | 2:0a739218ab11 | 1214 | int acc_z = (data[4] * 256) + data[5]; |
jah128 | 2:0a739218ab11 | 1215 | swarm[sender].accelerometer[0] = (float) acc_x - 32768; |
jah128 | 2:0a739218ab11 | 1216 | swarm[sender].accelerometer[1] = (float) acc_y - 32768; |
jah128 | 2:0a739218ab11 | 1217 | swarm[sender].accelerometer[2] = (float) acc_z - 32768; |
jah128 | 2:0a739218ab11 | 1218 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1219 | } else { |
jah128 | 2:0a739218ab11 | 1220 | swarm[sender].status_rf_request_accelerometer = 3; |
jah128 | 2:0a739218ab11 | 1221 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1222 | } |
jah128 | 2:0a739218ab11 | 1223 | } else { |
jah128 | 2:0a739218ab11 | 1224 | swarm[sender].status_rf_request_accelerometer = 4; |
jah128 | 2:0a739218ab11 | 1225 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1226 | } |
jah128 | 2:0a739218ab11 | 1227 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1228 | } |
jah128 | 2:0a739218ab11 | 1229 | break; |
jah128 | 2:0a739218ab11 | 1230 | |
jah128 | 2:0a739218ab11 | 1231 | case 9: { //Gyroscope |
jah128 | 2:0a739218ab11 | 1232 | if(swarm[sender].status_rf_request_gyroscope == 1) { |
jah128 | 2:0a739218ab11 | 1233 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1234 | if(length == 2) { |
jah128 | 2:0a739218ab11 | 1235 | swarm[sender].status_rf_request_gyroscope = 2; |
jah128 | 2:0a739218ab11 | 1236 | int gyro = (data [0] * 256) + data[1]; |
jah128 | 2:0a739218ab11 | 1237 | swarm[sender].gyro = (float) gyro - 32768; |
jah128 | 2:0a739218ab11 | 1238 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1239 | } else { |
jah128 | 2:0a739218ab11 | 1240 | swarm[sender].status_rf_request_gyroscope = 3; |
jah128 | 2:0a739218ab11 | 1241 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1242 | } |
jah128 | 2:0a739218ab11 | 1243 | } else { |
jah128 | 2:0a739218ab11 | 1244 | swarm[sender].status_rf_request_gyroscope = 4; |
jah128 | 2:0a739218ab11 | 1245 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1246 | } |
jah128 | 2:0a739218ab11 | 1247 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1248 | } |
jah128 | 2:0a739218ab11 | 1249 | break; |
jah128 | 2:0a739218ab11 | 1250 | |
jah128 | 2:0a739218ab11 | 1251 | case 10: { //Background IR |
jah128 | 2:0a739218ab11 | 1252 | if(swarm[sender].status_rf_request_background_ir == 1) { |
jah128 | 2:0a739218ab11 | 1253 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1254 | if(length == 16) { |
jah128 | 2:0a739218ab11 | 1255 | swarm[sender].status_rf_request_background_ir = 2; |
jah128 | 3:4c0f2f3de33e | 1256 | for(int i=0;i<8;i++){ |
jah128 | 3:4c0f2f3de33e | 1257 | int offset = i * 2; |
jah128 | 3:4c0f2f3de33e | 1258 | unsigned short value = (unsigned short) data[offset] << 8; |
jah128 | 3:4c0f2f3de33e | 1259 | value += data[offset+1]; |
jah128 | 3:4c0f2f3de33e | 1260 | swarm[sender].background_ir[i]=value; |
jah128 | 3:4c0f2f3de33e | 1261 | } |
jah128 | 2:0a739218ab11 | 1262 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1263 | } else { |
jah128 | 2:0a739218ab11 | 1264 | swarm[sender].status_rf_request_background_ir = 3; |
jah128 | 2:0a739218ab11 | 1265 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1266 | } |
jah128 | 2:0a739218ab11 | 1267 | } else { |
jah128 | 2:0a739218ab11 | 1268 | swarm[sender].status_rf_request_background_ir = 4; |
jah128 | 2:0a739218ab11 | 1269 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1270 | } |
jah128 | 2:0a739218ab11 | 1271 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1272 | } |
jah128 | 2:0a739218ab11 | 1273 | break; |
jah128 | 2:0a739218ab11 | 1274 | |
jah128 | 2:0a739218ab11 | 1275 | case 11: { //Reflected IR |
jah128 | 2:0a739218ab11 | 1276 | if(swarm[sender].status_rf_request_reflected_ir == 1) { |
jah128 | 2:0a739218ab11 | 1277 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1278 | if(length == 16) { |
jah128 | 2:0a739218ab11 | 1279 | swarm[sender].status_rf_request_reflected_ir = 2; |
jah128 | 3:4c0f2f3de33e | 1280 | for(int i=0;i<8;i++){ |
jah128 | 3:4c0f2f3de33e | 1281 | int offset = i * 2; |
jah128 | 3:4c0f2f3de33e | 1282 | unsigned short value = (unsigned short) data[offset] << 8; |
jah128 | 3:4c0f2f3de33e | 1283 | value += data[offset+1]; |
jah128 | 3:4c0f2f3de33e | 1284 | swarm[sender].reflected_ir[i]=value; |
jah128 | 3:4c0f2f3de33e | 1285 | } |
jah128 | 2:0a739218ab11 | 1286 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1287 | } else { |
jah128 | 2:0a739218ab11 | 1288 | swarm[sender].status_rf_request_reflected_ir = 3; |
jah128 | 2:0a739218ab11 | 1289 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1290 | } |
jah128 | 2:0a739218ab11 | 1291 | } else { |
jah128 | 2:0a739218ab11 | 1292 | swarm[sender].status_rf_request_reflected_ir = 4; |
jah128 | 2:0a739218ab11 | 1293 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1294 | } |
jah128 | 2:0a739218ab11 | 1295 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1296 | } |
jah128 | 2:0a739218ab11 | 1297 | break; |
jah128 | 2:0a739218ab11 | 1298 | |
jah128 | 2:0a739218ab11 | 1299 | case 12: { // Distance IR |
jah128 | 2:0a739218ab11 | 1300 | if(swarm[sender].status_rf_request_distance_ir == 1) { |
jah128 | 2:0a739218ab11 | 1301 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1302 | if(length == 16) { |
jah128 | 2:0a739218ab11 | 1303 | swarm[sender].status_rf_request_distance_ir = 2; |
jah128 | 3:4c0f2f3de33e | 1304 | for(int i=0;i<8;i++){ |
jah128 | 3:4c0f2f3de33e | 1305 | int offset = i * 2; |
jah128 | 3:4c0f2f3de33e | 1306 | unsigned short value = (unsigned short) data[offset] << 8; |
jah128 | 3:4c0f2f3de33e | 1307 | value += data[offset+1]; |
jah128 | 3:4c0f2f3de33e | 1308 | float adjusted = (float) value / 655.0; |
jah128 | 3:4c0f2f3de33e | 1309 | swarm[sender].distance_ir[i]=adjusted; |
jah128 | 3:4c0f2f3de33e | 1310 | } |
jah128 | 2:0a739218ab11 | 1311 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1312 | } else { |
jah128 | 2:0a739218ab11 | 1313 | swarm[sender].status_rf_request_distance_ir = 3; |
jah128 | 2:0a739218ab11 | 1314 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1315 | } |
jah128 | 2:0a739218ab11 | 1316 | } else { |
jah128 | 2:0a739218ab11 | 1317 | swarm[sender].status_rf_request_distance_ir = 4; |
jah128 | 2:0a739218ab11 | 1318 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1319 | } |
jah128 | 2:0a739218ab11 | 1320 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1321 | } |
jah128 | 2:0a739218ab11 | 1322 | break; |
jah128 | 2:0a739218ab11 | 1323 | |
jah128 | 2:0a739218ab11 | 1324 | case 13: { // Line following IR |
jah128 | 2:0a739218ab11 | 1325 | if(swarm[sender].status_rf_request_line_following_ir == 1) { |
jah128 | 2:0a739218ab11 | 1326 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1327 | if(length == 10) { |
jah128 | 2:0a739218ab11 | 1328 | swarm[sender].status_rf_request_line_following_ir = 2; |
jah128 | 2:0a739218ab11 | 1329 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1330 | } else { |
jah128 | 2:0a739218ab11 | 1331 | swarm[sender].status_rf_request_line_following_ir = 3; |
jah128 | 2:0a739218ab11 | 1332 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1333 | } |
jah128 | 2:0a739218ab11 | 1334 | } else { |
jah128 | 2:0a739218ab11 | 1335 | swarm[sender].status_rf_request_line_following_ir = 4; |
jah128 | 2:0a739218ab11 | 1336 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1337 | } |
jah128 | 2:0a739218ab11 | 1338 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1339 | } |
jah128 | 2:0a739218ab11 | 1340 | break; |
jah128 | 2:0a739218ab11 | 1341 | |
jah128 | 2:0a739218ab11 | 1342 | case 14: { // Request uptime |
jah128 | 2:0a739218ab11 | 1343 | if(swarm[sender].status_rf_request_uptime == 1) { |
jah128 | 2:0a739218ab11 | 1344 | if(success == 1) { |
jah128 | 2:0a739218ab11 | 1345 | if(length == 4) { |
jah128 | 2:0a739218ab11 | 1346 | swarm[sender].status_rf_request_uptime = 2; |
jah128 | 2:0a739218ab11 | 1347 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1348 | } else { |
jah128 | 2:0a739218ab11 | 1349 | swarm[sender].status_rf_request_uptime = 3; |
jah128 | 2:0a739218ab11 | 1350 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1351 | } |
jah128 | 2:0a739218ab11 | 1352 | } else { |
jah128 | 2:0a739218ab11 | 1353 | swarm[sender].status_rf_request_uptime = 4; |
jah128 | 2:0a739218ab11 | 1354 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1355 | } |
jah128 | 2:0a739218ab11 | 1356 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1357 | } |
jah128 | 2:0a739218ab11 | 1358 | break; |
jah128 | 2:0a739218ab11 | 1359 | |
jah128 | 2:0a739218ab11 | 1360 | } |
jah128 | 2:0a739218ab11 | 1361 | } else { |
jah128 | 2:0a739218ab11 | 1362 | // Response to a command |
jah128 | 2:0a739218ab11 | 1363 | switch(function) { |
jah128 | 2:0a739218ab11 | 1364 | case 0: { |
jah128 | 2:0a739218ab11 | 1365 | if(swarm[sender].status_rf_command_stop == 1) { |
jah128 | 2:0a739218ab11 | 1366 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1367 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1368 | swarm[sender].status_rf_command_stop = 2; |
jah128 | 2:0a739218ab11 | 1369 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1370 | } else { |
jah128 | 2:0a739218ab11 | 1371 | swarm[sender].status_rf_command_stop = 3; |
jah128 | 2:0a739218ab11 | 1372 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1373 | } |
jah128 | 2:0a739218ab11 | 1374 | } else { |
jah128 | 2:0a739218ab11 | 1375 | swarm[sender].status_rf_command_stop = 4; |
jah128 | 2:0a739218ab11 | 1376 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1377 | } |
jah128 | 2:0a739218ab11 | 1378 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1379 | } |
jah128 | 2:0a739218ab11 | 1380 | break; |
jah128 | 2:0a739218ab11 | 1381 | case 1: { |
jah128 | 2:0a739218ab11 | 1382 | if(swarm[sender].status_rf_command_forward == 1) { |
jah128 | 2:0a739218ab11 | 1383 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1384 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1385 | swarm[sender].status_rf_command_forward = 2; |
jah128 | 2:0a739218ab11 | 1386 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1387 | } else { |
jah128 | 2:0a739218ab11 | 1388 | swarm[sender].status_rf_command_forward = 3; |
jah128 | 2:0a739218ab11 | 1389 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1390 | } |
jah128 | 2:0a739218ab11 | 1391 | } else { |
jah128 | 2:0a739218ab11 | 1392 | swarm[sender].status_rf_command_forward = 4; |
jah128 | 2:0a739218ab11 | 1393 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1394 | } |
jah128 | 2:0a739218ab11 | 1395 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1396 | } |
jah128 | 2:0a739218ab11 | 1397 | break; |
jah128 | 2:0a739218ab11 | 1398 | case 2: { |
jah128 | 2:0a739218ab11 | 1399 | if(swarm[sender].status_rf_command_backward == 1) { |
jah128 | 2:0a739218ab11 | 1400 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1401 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1402 | swarm[sender].status_rf_command_backward = 2; |
jah128 | 2:0a739218ab11 | 1403 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1404 | } else { |
jah128 | 2:0a739218ab11 | 1405 | swarm[sender].status_rf_command_backward = 3; |
jah128 | 2:0a739218ab11 | 1406 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1407 | } |
jah128 | 2:0a739218ab11 | 1408 | } else { |
jah128 | 2:0a739218ab11 | 1409 | swarm[sender].status_rf_command_backward = 4; |
jah128 | 2:0a739218ab11 | 1410 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1411 | } |
jah128 | 2:0a739218ab11 | 1412 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1413 | } |
jah128 | 2:0a739218ab11 | 1414 | break; |
jah128 | 2:0a739218ab11 | 1415 | case 3: { |
jah128 | 2:0a739218ab11 | 1416 | if(swarm[sender].status_rf_command_left == 1) { |
jah128 | 2:0a739218ab11 | 1417 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1418 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1419 | swarm[sender].status_rf_command_left = 2; |
jah128 | 2:0a739218ab11 | 1420 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1421 | } else { |
jah128 | 2:0a739218ab11 | 1422 | swarm[sender].status_rf_command_left = 3; |
jah128 | 2:0a739218ab11 | 1423 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1424 | } |
jah128 | 2:0a739218ab11 | 1425 | } else { |
jah128 | 2:0a739218ab11 | 1426 | swarm[sender].status_rf_command_left = 4; |
jah128 | 2:0a739218ab11 | 1427 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1428 | } |
jah128 | 2:0a739218ab11 | 1429 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1430 | } |
jah128 | 2:0a739218ab11 | 1431 | break; |
jah128 | 2:0a739218ab11 | 1432 | case 4: { |
jah128 | 2:0a739218ab11 | 1433 | if(swarm[sender].status_rf_command_right == 1) { |
jah128 | 2:0a739218ab11 | 1434 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1435 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1436 | swarm[sender].status_rf_command_right = 2; |
jah128 | 2:0a739218ab11 | 1437 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1438 | } else { |
jah128 | 2:0a739218ab11 | 1439 | swarm[sender].status_rf_command_right = 3; |
jah128 | 2:0a739218ab11 | 1440 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1441 | } |
jah128 | 2:0a739218ab11 | 1442 | } else { |
jah128 | 2:0a739218ab11 | 1443 | swarm[sender].status_rf_command_right = 4; |
jah128 | 2:0a739218ab11 | 1444 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1445 | } |
jah128 | 2:0a739218ab11 | 1446 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1447 | } |
jah128 | 2:0a739218ab11 | 1448 | break; |
jah128 | 2:0a739218ab11 | 1449 | case 5: { |
jah128 | 2:0a739218ab11 | 1450 | if(swarm[sender].status_rf_command_left_motor == 1) { |
jah128 | 2:0a739218ab11 | 1451 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1452 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1453 | swarm[sender].status_rf_command_left_motor = 2; |
jah128 | 2:0a739218ab11 | 1454 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1455 | } else { |
jah128 | 2:0a739218ab11 | 1456 | swarm[sender].status_rf_command_left_motor = 3; |
jah128 | 2:0a739218ab11 | 1457 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1458 | } |
jah128 | 2:0a739218ab11 | 1459 | } else { |
jah128 | 2:0a739218ab11 | 1460 | swarm[sender].status_rf_command_left_motor = 4; |
jah128 | 2:0a739218ab11 | 1461 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1462 | } |
jah128 | 2:0a739218ab11 | 1463 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1464 | } |
jah128 | 2:0a739218ab11 | 1465 | break; |
jah128 | 2:0a739218ab11 | 1466 | case 6: { |
jah128 | 2:0a739218ab11 | 1467 | if(swarm[sender].status_rf_command_right_motor == 1) { |
jah128 | 2:0a739218ab11 | 1468 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1469 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1470 | swarm[sender].status_rf_command_right_motor = 2; |
jah128 | 2:0a739218ab11 | 1471 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1472 | } else { |
jah128 | 2:0a739218ab11 | 1473 | swarm[sender].status_rf_command_right_motor = 3; |
jah128 | 2:0a739218ab11 | 1474 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1475 | } |
jah128 | 2:0a739218ab11 | 1476 | } else { |
jah128 | 2:0a739218ab11 | 1477 | swarm[sender].status_rf_command_right_motor = 4; |
jah128 | 2:0a739218ab11 | 1478 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1479 | } |
jah128 | 2:0a739218ab11 | 1480 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1481 | } |
jah128 | 2:0a739218ab11 | 1482 | break; |
jah128 | 2:0a739218ab11 | 1483 | case 7: { |
jah128 | 2:0a739218ab11 | 1484 | if(swarm[sender].status_rf_command_oled_colour == 1) { |
jah128 | 2:0a739218ab11 | 1485 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1486 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1487 | swarm[sender].status_rf_command_oled_colour = 2; |
jah128 | 2:0a739218ab11 | 1488 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1489 | } else { |
jah128 | 2:0a739218ab11 | 1490 | swarm[sender].status_rf_command_oled_colour = 3; |
jah128 | 2:0a739218ab11 | 1491 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1492 | } |
jah128 | 2:0a739218ab11 | 1493 | } else { |
jah128 | 2:0a739218ab11 | 1494 | swarm[sender].status_rf_command_oled_colour = 4; |
jah128 | 2:0a739218ab11 | 1495 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1496 | } |
jah128 | 2:0a739218ab11 | 1497 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1498 | } |
jah128 | 2:0a739218ab11 | 1499 | break; |
jah128 | 2:0a739218ab11 | 1500 | case 8: { |
jah128 | 2:0a739218ab11 | 1501 | if(swarm[sender].status_rf_command_cled_colour == 1) { |
jah128 | 2:0a739218ab11 | 1502 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1503 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1504 | swarm[sender].status_rf_command_cled_colour = 2; |
jah128 | 2:0a739218ab11 | 1505 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1506 | } else { |
jah128 | 2:0a739218ab11 | 1507 | swarm[sender].status_rf_command_cled_colour = 3; |
jah128 | 2:0a739218ab11 | 1508 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1509 | } |
jah128 | 2:0a739218ab11 | 1510 | } else { |
jah128 | 2:0a739218ab11 | 1511 | swarm[sender].status_rf_command_cled_colour = 4; |
jah128 | 2:0a739218ab11 | 1512 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1513 | } |
jah128 | 2:0a739218ab11 | 1514 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1515 | } |
jah128 | 2:0a739218ab11 | 1516 | break; |
jah128 | 2:0a739218ab11 | 1517 | case 9: { |
jah128 | 2:0a739218ab11 | 1518 | if(swarm[sender].status_rf_command_oled_state == 1) { |
jah128 | 2:0a739218ab11 | 1519 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1520 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1521 | swarm[sender].status_rf_command_oled_state = 2; |
jah128 | 2:0a739218ab11 | 1522 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1523 | } else { |
jah128 | 2:0a739218ab11 | 1524 | swarm[sender].status_rf_command_oled_state = 3; |
jah128 | 2:0a739218ab11 | 1525 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1526 | } |
jah128 | 2:0a739218ab11 | 1527 | } else { |
jah128 | 2:0a739218ab11 | 1528 | swarm[sender].status_rf_command_oled_state = 4; |
jah128 | 2:0a739218ab11 | 1529 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1530 | } |
jah128 | 2:0a739218ab11 | 1531 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1532 | } |
jah128 | 2:0a739218ab11 | 1533 | break; |
jah128 | 2:0a739218ab11 | 1534 | case 10: { |
jah128 | 2:0a739218ab11 | 1535 | if(swarm[sender].status_rf_command_cled_state == 1) { |
jah128 | 2:0a739218ab11 | 1536 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1537 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1538 | swarm[sender].status_rf_command_cled_state = 2; |
jah128 | 2:0a739218ab11 | 1539 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1540 | } else { |
jah128 | 2:0a739218ab11 | 1541 | swarm[sender].status_rf_command_cled_state = 3; |
jah128 | 2:0a739218ab11 | 1542 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1543 | } |
jah128 | 2:0a739218ab11 | 1544 | } else { |
jah128 | 2:0a739218ab11 | 1545 | swarm[sender].status_rf_command_cled_state = 4; |
jah128 | 2:0a739218ab11 | 1546 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1547 | } |
jah128 | 2:0a739218ab11 | 1548 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1549 | } |
jah128 | 2:0a739218ab11 | 1550 | break; |
jah128 | 2:0a739218ab11 | 1551 | case 11: { |
jah128 | 2:0a739218ab11 | 1552 | if(swarm[sender].status_rf_command_set_oled == 1) { |
jah128 | 2:0a739218ab11 | 1553 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1554 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1555 | swarm[sender].status_rf_command_set_oled = 2; |
jah128 | 2:0a739218ab11 | 1556 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1557 | } else { |
jah128 | 2:0a739218ab11 | 1558 | swarm[sender].status_rf_command_set_oled = 3; |
jah128 | 2:0a739218ab11 | 1559 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1560 | } |
jah128 | 2:0a739218ab11 | 1561 | } else { |
jah128 | 2:0a739218ab11 | 1562 | swarm[sender].status_rf_command_set_oled = 4; |
jah128 | 2:0a739218ab11 | 1563 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1564 | } |
jah128 | 2:0a739218ab11 | 1565 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1566 | } |
jah128 | 2:0a739218ab11 | 1567 | break; |
jah128 | 2:0a739218ab11 | 1568 | case 12: { |
jah128 | 2:0a739218ab11 | 1569 | if(swarm[sender].status_rf_command_play_tune == 1) { |
jah128 | 2:0a739218ab11 | 1570 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1571 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1572 | swarm[sender].status_rf_command_play_tune = 2; |
jah128 | 2:0a739218ab11 | 1573 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1574 | } else { |
jah128 | 2:0a739218ab11 | 1575 | swarm[sender].status_rf_command_play_tune = 3; |
jah128 | 2:0a739218ab11 | 1576 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1577 | } |
jah128 | 2:0a739218ab11 | 1578 | } else { |
jah128 | 2:0a739218ab11 | 1579 | swarm[sender].status_rf_command_play_tune = 4; |
jah128 | 2:0a739218ab11 | 1580 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1581 | } |
jah128 | 2:0a739218ab11 | 1582 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1583 | } |
jah128 | 2:0a739218ab11 | 1584 | break; |
jah128 | 2:0a739218ab11 | 1585 | case 14: { |
jah128 | 2:0a739218ab11 | 1586 | if(swarm[sender].status_rf_command_sync_time == 1) { |
jah128 | 2:0a739218ab11 | 1587 | if(success == 1){ |
jah128 | 2:0a739218ab11 | 1588 | if(length == 0) { |
jah128 | 2:0a739218ab11 | 1589 | swarm[sender].status_rf_command_sync_time = 2; |
jah128 | 2:0a739218ab11 | 1590 | outcome = 1; |
jah128 | 2:0a739218ab11 | 1591 | } else { |
jah128 | 2:0a739218ab11 | 1592 | swarm[sender].status_rf_command_sync_time = 3; |
jah128 | 2:0a739218ab11 | 1593 | outcome = 3; |
jah128 | 2:0a739218ab11 | 1594 | } |
jah128 | 2:0a739218ab11 | 1595 | } else { |
jah128 | 2:0a739218ab11 | 1596 | swarm[sender].status_rf_command_sync_time = 4; |
jah128 | 2:0a739218ab11 | 1597 | outcome = 4; |
jah128 | 2:0a739218ab11 | 1598 | } |
jah128 | 2:0a739218ab11 | 1599 | } else outcome = 2; |
jah128 | 2:0a739218ab11 | 1600 | } |
jah128 | 2:0a739218ab11 | 1601 | break; |
jah128 | 2:0a739218ab11 | 1602 | } |
jah128 | 2:0a739218ab11 | 1603 | } |
jah128 | 2:0a739218ab11 | 1604 | |
jah128 | 2:0a739218ab11 | 1605 | if(RF_DEBUG) { |
jah128 | 2:0a739218ab11 | 1606 | switch(outcome) { |
jah128 | 2:0a739218ab11 | 1607 | case 0 : |
jah128 | 2:0a739218ab11 | 1608 | pc.printf("Unknown RF response received"); |
jah128 | 2:0a739218ab11 | 1609 | case 1 : |
jah128 | 2:0a739218ab11 | 1610 | pc.printf("RF response received, data updated."); |
jah128 | 2:0a739218ab11 | 1611 | case 2 : |
jah128 | 2:0a739218ab11 | 1612 | pc.printf("Unexpected RF response received, ignored."); |
jah128 | 2:0a739218ab11 | 1613 | case 3 : |
jah128 | 2:0a739218ab11 | 1614 | pc.printf("Invalid RF response received, ignored."); |
jah128 | 2:0a739218ab11 | 1615 | case 4 : |
jah128 | 2:0a739218ab11 | 1616 | pc.printf("RF response received: unsuccessful operation."); |
jah128 | 2:0a739218ab11 | 1617 | } |
jah128 | 2:0a739218ab11 | 1618 | } |
jah128 | 2:0a739218ab11 | 1619 | } |