Unfinished v0.7, added bearing detection
Fork of Pi_Swarm_Library_v06_alpha by
communications.cpp@1:b067a08ff54e, 2014-02-02 (annotated)
- Committer:
- jah128
- Date:
- Sun Feb 02 18:05:58 2014 +0000
- Revision:
- 1:b067a08ff54e
- Parent:
- 0:9ffe8ebd1c40
- Child:
- 2:0a739218ab11
updated comms library;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:9ffe8ebd1c40 | 1 | /* University of York Robot Lab Pi Swarm Library: Swarm Communications Handler |
jah128 | 0:9ffe8ebd1c40 | 2 | * |
jah128 | 0:9ffe8ebd1c40 | 3 | * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York |
jah128 | 1:b067a08ff54e | 4 | * |
jah128 | 0:9ffe8ebd1c40 | 5 | * Version 0.4 January 2014 |
jah128 | 0:9ffe8ebd1c40 | 6 | * |
jah128 | 0:9ffe8ebd1c40 | 7 | * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2 |
jah128 | 0:9ffe8ebd1c40 | 8 | * |
jah128 | 0:9ffe8ebd1c40 | 9 | */ |
jah128 | 1:b067a08ff54e | 10 | |
jah128 | 1:b067a08ff54e | 11 | // Important note: The communication stack is enabled by setting the "USE_COMMUNICATION_STACK" flag to 1 |
jah128 | 1:b067a08ff54e | 12 | // When being used, all received messages are decoded using the decodeMessage() function |
jah128 | 1:b067a08ff54e | 13 | // See manual for more info on using the communication handler |
jah128 | 1:b067a08ff54e | 14 | #include "communications.h" |
jah128 | 1:b067a08ff54e | 15 | #include "piswarm.h" |
jah128 | 1:b067a08ff54e | 16 | #include "main.h" |
jah128 | 1:b067a08ff54e | 17 | |
jah128 | 1:b067a08ff54e | 18 | struct swarm_member swarm[SWARM_SIZE]; // Array to hold received information about other swarm members |
jah128 | 1:b067a08ff54e | 19 | DigitalOut actioning (LED1); |
jah128 | 1:b067a08ff54e | 20 | DigitalOut errorled (LED2); |
jah128 | 1:b067a08ff54e | 21 | DigitalOut tx (LED3); |
jah128 | 1:b067a08ff54e | 22 | DigitalOut rx (LED4); |
jah128 | 1:b067a08ff54e | 23 | Timeout tdma_timeout; |
jah128 | 1:b067a08ff54e | 24 | char tdma_busy = 0; |
jah128 | 1:b067a08ff54e | 25 | char waiting_message [64]; |
jah128 | 1:b067a08ff54e | 26 | char waiting_length = 0; |
jah128 | 1:b067a08ff54e | 27 | int message_id = 0; |
jah128 | 1:b067a08ff54e | 28 | |
jah128 | 1:b067a08ff54e | 29 | void send_rf_message(char target, char command, char * data, char length) |
jah128 | 1:b067a08ff54e | 30 | { |
jah128 | 1:b067a08ff54e | 31 | char message [4+length]; |
jah128 | 1:b067a08ff54e | 32 | message[0]=piswarm.get_id(); |
jah128 | 1:b067a08ff54e | 33 | message[1]=target; |
jah128 | 1:b067a08ff54e | 34 | message_id++; |
jah128 | 1:b067a08ff54e | 35 | message[2]=message_id % 256; |
jah128 | 1:b067a08ff54e | 36 | message[3]=command; |
jah128 | 1:b067a08ff54e | 37 | for(int i=0; i<length; i++) { |
jah128 | 1:b067a08ff54e | 38 | message[4+i]=data[i]; |
jah128 | 1:b067a08ff54e | 39 | } |
jah128 | 1:b067a08ff54e | 40 | piswarm.send_rf_message(message,4+length); |
jah128 | 1:b067a08ff54e | 41 | if(RF_DEBUG==1)pc.printf("RF message sent"); |
jah128 | 1:b067a08ff54e | 42 | } |
jah128 | 1:b067a08ff54e | 43 | |
jah128 | 0:9ffe8ebd1c40 | 44 | |
jah128 | 1:b067a08ff54e | 45 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 1:b067a08ff54e | 46 | // Internal Functions |
jah128 | 1:b067a08ff54e | 47 | // In general these functions should not be called by user code |
jah128 | 1:b067a08ff54e | 48 | ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
jah128 | 0:9ffe8ebd1c40 | 49 | |
jah128 | 1:b067a08ff54e | 50 | // Decode the received message header. Check it is min. 4 bytes long, that the sender and target are valid |
jah128 | 1:b067a08ff54e | 51 | void processRadioData(char * data, char length) |
jah128 | 1:b067a08ff54e | 52 | { |
jah128 | 1:b067a08ff54e | 53 | if(RF_USE_LEDS==1) { |
jah128 | 1:b067a08ff54e | 54 | errorled=0; |
jah128 | 1:b067a08ff54e | 55 | rx=1; |
jah128 | 1:b067a08ff54e | 56 | } |
jah128 | 1:b067a08ff54e | 57 | // Decompose the received message |
jah128 | 1:b067a08ff54e | 58 | if(length < 4) errormessage(0); |
jah128 | 1:b067a08ff54e | 59 | else { |
jah128 | 1:b067a08ff54e | 60 | // Establish the sender and target of the packet |
jah128 | 1:b067a08ff54e | 61 | char sender = data[0]; |
jah128 | 1:b067a08ff54e | 62 | char target = data[1]; |
jah128 | 1:b067a08ff54e | 63 | char id = data[2]; |
jah128 | 1:b067a08ff54e | 64 | char command = data[3]; |
jah128 | 1:b067a08ff54e | 65 | if(sender<32 || sender>63)errormessage(1); |
jah128 | 1:b067a08ff54e | 66 | else { |
jah128 | 1:b067a08ff54e | 67 | if(target<32 || target>63)errormessage(2); |
jah128 | 1:b067a08ff54e | 68 | else { |
jah128 | 1:b067a08ff54e | 69 | sender -= 32; |
jah128 | 1:b067a08ff54e | 70 | target -= 32; |
jah128 | 1:b067a08ff54e | 71 | decodeMessage(sender,target,id,command,data+4,length-4); |
jah128 | 1:b067a08ff54e | 72 | } |
jah128 | 1:b067a08ff54e | 73 | } |
jah128 | 1:b067a08ff54e | 74 | } |
jah128 | 1:b067a08ff54e | 75 | if(RF_USE_LEDS==1) rx=0; |
jah128 | 1:b067a08ff54e | 76 | } |
jah128 | 1:b067a08ff54e | 77 | |
jah128 | 1:b067a08ff54e | 78 | //Decode the received message, action it if it is valid and for me [called in alpha433.cpp] |
jah128 | 1:b067a08ff54e | 79 | void decodeMessage(char sender, char target, char id, char command, char * data, char length) |
jah128 | 1:b067a08ff54e | 80 | { |
jah128 | 0:9ffe8ebd1c40 | 81 | char broadcast_message = 0, is_response = 0, request_response = 0, is_user = 0, is_command = 0, function = 0; |
jah128 | 1:b067a08ff54e | 82 | |
jah128 | 1:b067a08ff54e | 83 | if(target==0) broadcast_message = 1; |
jah128 | 0:9ffe8ebd1c40 | 84 | is_response = 0 != (command & (1 << 7)); |
jah128 | 0:9ffe8ebd1c40 | 85 | request_response = 0 != (command & (1 << 6)); |
jah128 | 0:9ffe8ebd1c40 | 86 | is_user = 0 != (command & (1 << 5)); |
jah128 | 0:9ffe8ebd1c40 | 87 | is_command = 0 != (command & (1 << 4)); |
jah128 | 0:9ffe8ebd1c40 | 88 | function = command % 16; |
jah128 | 1:b067a08ff54e | 89 | |
jah128 | 0:9ffe8ebd1c40 | 90 | if (RF_DEBUG==1) { |
jah128 | 0:9ffe8ebd1c40 | 91 | 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 | 92 | 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 | 93 | } |
jah128 | 1:b067a08ff54e | 94 | |
jah128 | 0:9ffe8ebd1c40 | 95 | //Action the message only if I am a recipient |
jah128 | 1:b067a08ff54e | 96 | if(target==0 || target==piswarm.get_id()) { |
jah128 | 0:9ffe8ebd1c40 | 97 | if(RF_USE_LEDS==1) actioning = 1; |
jah128 | 1:b067a08ff54e | 98 | if(is_response == 1) { |
jah128 | 1:b067a08ff54e | 99 | if(is_user == 0)handle_response(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 100 | else handleUserRFResponse(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 101 | } else { |
jah128 | 1:b067a08ff54e | 102 | if(is_command == 1) { |
jah128 | 1:b067a08ff54e | 103 | if(RF_ALLOW_COMMANDS == 1) { |
jah128 | 1:b067a08ff54e | 104 | if(is_user == 1)handleUserRFCommand(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 105 | else handle_command(sender, broadcast_message, request_response, id, function, data, length); |
jah128 | 1:b067a08ff54e | 106 | } else if (RF_DEBUG==1) pc.printf(" - Blocked\n"); |
jah128 | 1:b067a08ff54e | 107 | } else { |
jah128 | 0:9ffe8ebd1c40 | 108 | //A information request has no extra parameters |
jah128 | 1:b067a08ff54e | 109 | if(length == 0) { |
jah128 | 1:b067a08ff54e | 110 | if(is_user == 1)handleUserRFCommand(sender, broadcast_message, request_response, id, is_command, function, data, length); |
jah128 | 1:b067a08ff54e | 111 | else handle_request(sender, broadcast_message, request_response, id, function); |
jah128 | 1:b067a08ff54e | 112 | } else if (RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 113 | } |
jah128 | 1:b067a08ff54e | 114 | } |
jah128 | 1:b067a08ff54e | 115 | if(RF_USE_LEDS==1) actioning = 0; |
jah128 | 0:9ffe8ebd1c40 | 116 | } else if (RF_DEBUG==1) pc.printf(" - Ignored\n"); |
jah128 | 0:9ffe8ebd1c40 | 117 | } |
jah128 | 0:9ffe8ebd1c40 | 118 | |
jah128 | 0:9ffe8ebd1c40 | 119 | //Send a response message |
jah128 | 1:b067a08ff54e | 120 | void send_response(char target, char is_broadcast, char success, char id, char is_command, char function, char * data, char length) |
jah128 | 1:b067a08ff54e | 121 | { |
jah128 | 0:9ffe8ebd1c40 | 122 | char message [4+length]; |
jah128 | 0:9ffe8ebd1c40 | 123 | message[0]=piswarm.get_id(); |
jah128 | 0:9ffe8ebd1c40 | 124 | message[1]=target; |
jah128 | 0:9ffe8ebd1c40 | 125 | message[2]=id; |
jah128 | 0:9ffe8ebd1c40 | 126 | message[3]=128 + (success << 6) + (is_command << 4) + function; |
jah128 | 1:b067a08ff54e | 127 | for(int i=0; i<length; i++) { |
jah128 | 1:b067a08ff54e | 128 | message[4+i]=data[i]; |
jah128 | 1:b067a08ff54e | 129 | } |
jah128 | 0:9ffe8ebd1c40 | 130 | //Delay the response if it is broadcast and TDMA mode is on |
jah128 | 1:b067a08ff54e | 131 | if(RF_USE_TDMA == 1 && is_broadcast == 1) { |
jah128 | 1:b067a08ff54e | 132 | if(tdma_busy == 1) { |
jah128 | 0:9ffe8ebd1c40 | 133 | if (RF_DEBUG==1) pc.printf("Cannot respond - TDMA busy\n"); |
jah128 | 1:b067a08ff54e | 134 | } else { |
jah128 | 0:9ffe8ebd1c40 | 135 | tdma_busy = 1; |
jah128 | 0:9ffe8ebd1c40 | 136 | strcpy(waiting_message,message); |
jah128 | 0:9ffe8ebd1c40 | 137 | waiting_length=length; |
jah128 | 0:9ffe8ebd1c40 | 138 | tdma_timeout.attach_us(&tdma_response, RF_TDMA_TIME_PERIOD_US * piswarm.get_id()); |
jah128 | 0:9ffe8ebd1c40 | 139 | if (RF_DEBUG==1) pc.printf("TDMA Response pending\n"); |
jah128 | 0:9ffe8ebd1c40 | 140 | } |
jah128 | 1:b067a08ff54e | 141 | } else { |
jah128 | 0:9ffe8ebd1c40 | 142 | piswarm.send_rf_message(message,4+length); |
jah128 | 0:9ffe8ebd1c40 | 143 | if(RF_DEBUG==1)pc.printf("Response issued"); |
jah128 | 0:9ffe8ebd1c40 | 144 | } |
jah128 | 0:9ffe8ebd1c40 | 145 | } |
jah128 | 0:9ffe8ebd1c40 | 146 | |
jah128 | 0:9ffe8ebd1c40 | 147 | // Send a delayed response |
jah128 | 1:b067a08ff54e | 148 | void tdma_response() |
jah128 | 1:b067a08ff54e | 149 | { |
jah128 | 0:9ffe8ebd1c40 | 150 | piswarm.send_rf_message(waiting_message,4+waiting_length); |
jah128 | 0:9ffe8ebd1c40 | 151 | tdma_busy = 0; |
jah128 | 0:9ffe8ebd1c40 | 152 | if (RF_DEBUG==1) pc.printf("TDMA Response issued\n"); |
jah128 | 0:9ffe8ebd1c40 | 153 | } |
jah128 | 0:9ffe8ebd1c40 | 154 | |
jah128 | 1:b067a08ff54e | 155 | // Handle a message that is a predefined command |
jah128 | 1:b067a08ff54e | 156 | void handle_command(char sender, char is_broadcast, char request_response, char id, char function, char * data, char length) |
jah128 | 1:b067a08ff54e | 157 | { |
jah128 | 0:9ffe8ebd1c40 | 158 | char success = 0; |
jah128 | 1:b067a08ff54e | 159 | switch(function) { |
jah128 | 0:9ffe8ebd1c40 | 160 | case 0: // Stop [0 data] |
jah128 | 0:9ffe8ebd1c40 | 161 | if(length==0) { |
jah128 | 0:9ffe8ebd1c40 | 162 | piswarm.stop(); |
jah128 | 0:9ffe8ebd1c40 | 163 | if(RF_DEBUG==1) pc.printf(" - Stop Command Issued - "); |
jah128 | 0:9ffe8ebd1c40 | 164 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 165 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 166 | break; |
jah128 | 0:9ffe8ebd1c40 | 167 | case 1: // Forward [2 bytes: 16-bit signed short] |
jah128 | 0:9ffe8ebd1c40 | 168 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 169 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 170 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 171 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 172 | piswarm.forward(speed); |
jah128 | 0:9ffe8ebd1c40 | 173 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 174 | if(RF_DEBUG==1) pc.printf(" - Forward %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 175 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 176 | break; |
jah128 | 0:9ffe8ebd1c40 | 177 | case 2: // Backward [2 bytes: 16-bit signed short] |
jah128 | 0:9ffe8ebd1c40 | 178 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 179 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 180 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 181 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 182 | piswarm.backward(speed); |
jah128 | 0:9ffe8ebd1c40 | 183 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 184 | if(RF_DEBUG==1) pc.printf(" - Backward %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 185 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 186 | break; |
jah128 | 0:9ffe8ebd1c40 | 187 | case 3: // Left [2 bytes: 16-bit signed short] |
jah128 | 0:9ffe8ebd1c40 | 188 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 189 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 190 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 191 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 192 | piswarm.left(speed); |
jah128 | 0:9ffe8ebd1c40 | 193 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 194 | if(RF_DEBUG==1) pc.printf(" - Left %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 195 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 196 | break; |
jah128 | 0:9ffe8ebd1c40 | 197 | case 4: // Right [2 bytes: 16-bit signed short] |
jah128 | 1:b067a08ff54e | 198 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 199 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 200 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 201 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 202 | piswarm.right(speed); |
jah128 | 0:9ffe8ebd1c40 | 203 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 204 | if(RF_DEBUG==1) pc.printf(" - Right %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 205 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 206 | break; |
jah128 | 0:9ffe8ebd1c40 | 207 | case 5: // Left Motor [2 bytes: 16-bit signed short] |
jah128 | 1:b067a08ff54e | 208 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 209 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 210 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 211 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 212 | piswarm.left_motor(speed); |
jah128 | 0:9ffe8ebd1c40 | 213 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 214 | if(RF_DEBUG==1) pc.printf(" - Left Motor %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 215 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 216 | break; |
jah128 | 0:9ffe8ebd1c40 | 217 | case 6: // Right Motor [2 bytes: 16-bit signed short] |
jah128 | 1:b067a08ff54e | 218 | if(length==2) { |
jah128 | 0:9ffe8ebd1c40 | 219 | int i_speed = (data[0] << 8) + data[1]; |
jah128 | 0:9ffe8ebd1c40 | 220 | float speed = i_speed / 32768.0; |
jah128 | 0:9ffe8ebd1c40 | 221 | speed--; |
jah128 | 0:9ffe8ebd1c40 | 222 | piswarm.right_motor(speed); |
jah128 | 0:9ffe8ebd1c40 | 223 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 224 | if(RF_DEBUG==1) pc.printf(" - Right Motor %1.2f Command Issued - ",speed); |
jah128 | 0:9ffe8ebd1c40 | 225 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 226 | break; |
jah128 | 0:9ffe8ebd1c40 | 227 | case 7: // Outer LED Colour [3 bytes: R, G, B] |
jah128 | 1:b067a08ff54e | 228 | if(length==3) { |
jah128 | 1:b067a08ff54e | 229 | piswarm.set_oled_colour (data[0],data[1],data[2]); |
jah128 | 0:9ffe8ebd1c40 | 230 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 231 | 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 | 232 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 233 | break; |
jah128 | 0:9ffe8ebd1c40 | 234 | case 8: // Center LED Colour[3 bytes: R, G, B] |
jah128 | 1:b067a08ff54e | 235 | if(length==3) { |
jah128 | 1:b067a08ff54e | 236 | piswarm.set_cled_colour (data[0],data[1],data[2]); |
jah128 | 0:9ffe8ebd1c40 | 237 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 238 | 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 | 239 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 240 | break; |
jah128 | 0:9ffe8ebd1c40 | 241 | case 9: // Outer LED State [2 bytes: [xxxxxx01][23456789] ] |
jah128 | 0:9ffe8ebd1c40 | 242 | if(length==2) { |
jah128 | 1:b067a08ff54e | 243 | 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 | 244 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 245 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 246 | break; |
jah128 | 0:9ffe8ebd1c40 | 247 | case 10: // Center LED State [1 bytes: [xxxxxxxE] E=enabled ] |
jah128 | 0:9ffe8ebd1c40 | 248 | if(length==1) { |
jah128 | 1:b067a08ff54e | 249 | piswarm.enable_cled (data[0] % 2); |
jah128 | 0:9ffe8ebd1c40 | 250 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 251 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 252 | break; |
jah128 | 0:9ffe8ebd1c40 | 253 | case 11: // Set outer LED [1 byte: [xxxEvvvv] E=enabled vvvv=LED] |
jah128 | 0:9ffe8ebd1c40 | 254 | if(length==1) { |
jah128 | 0:9ffe8ebd1c40 | 255 | int led = data[0] % 16; |
jah128 | 1:b067a08ff54e | 256 | if(led < 10) { |
jah128 | 0:9ffe8ebd1c40 | 257 | piswarm.set_oled(led, 0!=(data[0] & (1 << 4))); |
jah128 | 0:9ffe8ebd1c40 | 258 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 259 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 260 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 261 | break; |
jah128 | 0:9ffe8ebd1c40 | 262 | case 12: // Play sound [Minimum 1 byte] |
jah128 | 0:9ffe8ebd1c40 | 263 | if(length>0) { |
jah128 | 0:9ffe8ebd1c40 | 264 | piswarm.play_tune(data,length); |
jah128 | 0:9ffe8ebd1c40 | 265 | success = 1; |
jah128 | 0:9ffe8ebd1c40 | 266 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 0:9ffe8ebd1c40 | 267 | break; |
jah128 | 0:9ffe8ebd1c40 | 268 | case 13: // Sync time |
jah128 | 0:9ffe8ebd1c40 | 269 | if(length==4) { |
jah128 | 0:9ffe8ebd1c40 | 270 | unsigned int new_time = 0; |
jah128 | 0:9ffe8ebd1c40 | 271 | new_time+=((unsigned int)data[0] << 24); |
jah128 | 0:9ffe8ebd1c40 | 272 | new_time+=((unsigned int)data[1] << 16); |
jah128 | 0:9ffe8ebd1c40 | 273 | new_time+=((unsigned int)data[2] << 8); |
jah128 | 0:9ffe8ebd1c40 | 274 | new_time+=(unsigned int)data[3]; |
jah128 | 0:9ffe8ebd1c40 | 275 | set_time(new_time); |
jah128 | 0:9ffe8ebd1c40 | 276 | display_system_time(); |
jah128 | 0:9ffe8ebd1c40 | 277 | } else if(RF_DEBUG==1) pc.printf(" - Invalid\n"); |
jah128 | 1:b067a08ff54e | 278 | break; |
jah128 | 0:9ffe8ebd1c40 | 279 | case 14: // |
jah128 | 0:9ffe8ebd1c40 | 280 | break; |
jah128 | 0:9ffe8ebd1c40 | 281 | case 15: // |
jah128 | 1:b067a08ff54e | 282 | break; |
jah128 | 0:9ffe8ebd1c40 | 283 | } |
jah128 | 1:b067a08ff54e | 284 | if(request_response == 1) { |
jah128 | 0:9ffe8ebd1c40 | 285 | send_response(sender, is_broadcast, success, id, 1, function, NULL, 0); |
jah128 | 0:9ffe8ebd1c40 | 286 | } |
jah128 | 1:b067a08ff54e | 287 | |
jah128 | 0:9ffe8ebd1c40 | 288 | } |
jah128 | 0:9ffe8ebd1c40 | 289 | |
jah128 | 1:b067a08ff54e | 290 | //Handle a message that is a predefined request |
jah128 | 1:b067a08ff54e | 291 | void handle_request(char sender, char is_broadcast, char request_response, char id, char function) |
jah128 | 1:b067a08ff54e | 292 | { |
jah128 | 0:9ffe8ebd1c40 | 293 | int response_length = 0; |
jah128 | 0:9ffe8ebd1c40 | 294 | char * response = NULL; |
jah128 | 0:9ffe8ebd1c40 | 295 | char success = 0; |
jah128 | 1:b067a08ff54e | 296 | |
jah128 | 1:b067a08ff54e | 297 | switch(function) { |
jah128 | 0:9ffe8ebd1c40 | 298 | case 0: // Null request |
jah128 | 0:9ffe8ebd1c40 | 299 | success=1; |
jah128 | 1:b067a08ff54e | 300 | break; |
jah128 | 1:b067a08ff54e | 301 | case 1: { // Request left motor speed |
jah128 | 0:9ffe8ebd1c40 | 302 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 303 | float speed = piswarm.get_left_motor() * 32767; |
jah128 | 0:9ffe8ebd1c40 | 304 | int a_speed = 32768 + (int) speed; |
jah128 | 0:9ffe8ebd1c40 | 305 | char msb = (char) (a_speed / 256); |
jah128 | 0:9ffe8ebd1c40 | 306 | char lsb = (char) (a_speed % 256); |
jah128 | 0:9ffe8ebd1c40 | 307 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 308 | response[0]=msb; |
jah128 | 0:9ffe8ebd1c40 | 309 | response[1]=lsb; |
jah128 | 0:9ffe8ebd1c40 | 310 | success=1; |
jah128 | 1:b067a08ff54e | 311 | break; |
jah128 | 1:b067a08ff54e | 312 | } |
jah128 | 1:b067a08ff54e | 313 | case 2: { // Request right motor speed |
jah128 | 0:9ffe8ebd1c40 | 314 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 315 | float speed = piswarm.get_right_motor() * 32767; |
jah128 | 0:9ffe8ebd1c40 | 316 | int a_speed = 32768 + (int) speed; |
jah128 | 0:9ffe8ebd1c40 | 317 | char msb = (char) (a_speed / 256); |
jah128 | 0:9ffe8ebd1c40 | 318 | char lsb = (char) (a_speed % 256); |
jah128 | 0:9ffe8ebd1c40 | 319 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 320 | response[0]=msb; |
jah128 | 0:9ffe8ebd1c40 | 321 | response[1]=lsb; |
jah128 | 0:9ffe8ebd1c40 | 322 | success=1; |
jah128 | 1:b067a08ff54e | 323 | break; |
jah128 | 1:b067a08ff54e | 324 | } |
jah128 | 1:b067a08ff54e | 325 | case 3: { // Request button state |
jah128 | 0:9ffe8ebd1c40 | 326 | response_length = 1; |
jah128 | 0:9ffe8ebd1c40 | 327 | response = new char[1]; |
jah128 | 0:9ffe8ebd1c40 | 328 | response[0]=piswarm.get_switches(); |
jah128 | 1:b067a08ff54e | 329 | break; |
jah128 | 1:b067a08ff54e | 330 | } |
jah128 | 1:b067a08ff54e | 331 | case 4: { // Request LED colours |
jah128 | 0:9ffe8ebd1c40 | 332 | response_length = 6; |
jah128 | 0:9ffe8ebd1c40 | 333 | response = new char[6]; |
jah128 | 0:9ffe8ebd1c40 | 334 | int oled_colour = piswarm.get_oled_colour(); |
jah128 | 0:9ffe8ebd1c40 | 335 | int cled_colour = piswarm.get_cled_colour(); |
jah128 | 0:9ffe8ebd1c40 | 336 | response[0] = (char) (oled_colour >> 16); |
jah128 | 0:9ffe8ebd1c40 | 337 | response[1] = (char) ((oled_colour >> 8) % 256); |
jah128 | 0:9ffe8ebd1c40 | 338 | response[2] = (char) (oled_colour % 256); |
jah128 | 0:9ffe8ebd1c40 | 339 | response[3] = (char) (cled_colour >> 16); |
jah128 | 0:9ffe8ebd1c40 | 340 | response[4] = (char) ((cled_colour >> 8) % 256); |
jah128 | 0:9ffe8ebd1c40 | 341 | response[5] = (char) (cled_colour % 256); |
jah128 | 1:b067a08ff54e | 342 | break; |
jah128 | 1:b067a08ff54e | 343 | } |
jah128 | 1:b067a08ff54e | 344 | case 5: { // Request LED states |
jah128 | 1:b067a08ff54e | 345 | response_length = 2; |
jah128 | 1:b067a08ff54e | 346 | response = new char[2]; |
jah128 | 1:b067a08ff54e | 347 | response[0] = 0; |
jah128 | 1:b067a08ff54e | 348 | response[1] = 0; |
jah128 | 1:b067a08ff54e | 349 | if (piswarm.get_cled_state() == 1) response[0] += 4; |
jah128 | 1:b067a08ff54e | 350 | if (piswarm.get_oled_state(0) == 1) response[0] += 2; |
jah128 | 1:b067a08ff54e | 351 | if (piswarm.get_oled_state(1) == 1) response[0] += 1; |
jah128 | 1:b067a08ff54e | 352 | if (piswarm.get_oled_state(2) == 1) response[1] += 128; |
jah128 | 1:b067a08ff54e | 353 | if (piswarm.get_oled_state(3) == 1) response[1] += 64; |
jah128 | 1:b067a08ff54e | 354 | if (piswarm.get_oled_state(4) == 1) response[1] += 32; |
jah128 | 1:b067a08ff54e | 355 | if (piswarm.get_oled_state(5) == 1) response[1] += 16; |
jah128 | 1:b067a08ff54e | 356 | if (piswarm.get_oled_state(6) == 1) response[1] += 8; |
jah128 | 1:b067a08ff54e | 357 | if (piswarm.get_oled_state(7) == 1) response[1] += 4; |
jah128 | 1:b067a08ff54e | 358 | if (piswarm.get_oled_state(8) == 1) response[1] += 2; |
jah128 | 1:b067a08ff54e | 359 | if (piswarm.get_oled_state(9) == 1) response[1] += 1; |
jah128 | 1:b067a08ff54e | 360 | break; |
jah128 | 1:b067a08ff54e | 361 | } |
jah128 | 1:b067a08ff54e | 362 | case 6: { // Request battery power |
jah128 | 0:9ffe8ebd1c40 | 363 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 364 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 365 | float fbattery = piswarm.battery() * 1000.0; |
jah128 | 0:9ffe8ebd1c40 | 366 | unsigned short battery = (unsigned short) fbattery; |
jah128 | 0:9ffe8ebd1c40 | 367 | response[0] = battery >> 8; |
jah128 | 0:9ffe8ebd1c40 | 368 | response[1] = battery % 256; |
jah128 | 1:b067a08ff54e | 369 | break; |
jah128 | 1:b067a08ff54e | 370 | } |
jah128 | 1:b067a08ff54e | 371 | case 7: { // Request light sensor reading |
jah128 | 0:9ffe8ebd1c40 | 372 | response_length = 2; |
jah128 | 0:9ffe8ebd1c40 | 373 | response = new char[2]; |
jah128 | 0:9ffe8ebd1c40 | 374 | float flight = piswarm.read_light_sensor() * 655.0; |
jah128 | 0:9ffe8ebd1c40 | 375 | unsigned short light = (unsigned short) flight; |
jah128 | 0:9ffe8ebd1c40 | 376 | response[0] = light >> 8; |
jah128 | 0:9ffe8ebd1c40 | 377 | response[1] = light % 256; |
jah128 | 1:b067a08ff54e | 378 | break; |
jah128 | 1:b067a08ff54e | 379 | } |
jah128 | 1:b067a08ff54e | 380 | case 8: { // Request accelerometer reading |
jah128 | 1:b067a08ff54e | 381 | |
jah128 | 0:9ffe8ebd1c40 | 382 | break; |
jah128 | 1:b067a08ff54e | 383 | } |
jah128 | 1:b067a08ff54e | 384 | case 9: { // Request gyroscope reading |
jah128 | 1:b067a08ff54e | 385 | response_length = 2; |
jah128 | 1:b067a08ff54e | 386 | response = new char[2]; |
jah128 | 1:b067a08ff54e | 387 | float fgyro = piswarm.read_gyro(); |
jah128 | 1:b067a08ff54e | 388 | fgyro += 32768; |
jah128 | 1:b067a08ff54e | 389 | unsigned short sgyro = (unsigned short) fgyro; |
jah128 | 1:b067a08ff54e | 390 | response[0] = sgyro >> 8; |
jah128 | 1:b067a08ff54e | 391 | response[1] = sgyro % 256; |
jah128 | 1:b067a08ff54e | 392 | break; |
jah128 | 1:b067a08ff54e | 393 | } |
jah128 | 0:9ffe8ebd1c40 | 394 | case 10: // Request background IR reading |
jah128 | 0:9ffe8ebd1c40 | 395 | break; |
jah128 | 0:9ffe8ebd1c40 | 396 | case 11: // Request illuminated IR reading |
jah128 | 1:b067a08ff54e | 397 | break; |
jah128 | 0:9ffe8ebd1c40 | 398 | case 12: // Request line-tracking IR reading |
jah128 | 0:9ffe8ebd1c40 | 399 | break; |
jah128 | 0:9ffe8ebd1c40 | 400 | case 13: // Request uptime |
jah128 | 0:9ffe8ebd1c40 | 401 | break; |
jah128 | 1:b067a08ff54e | 402 | case 14: // |
jah128 | 0:9ffe8ebd1c40 | 403 | break; |
jah128 | 0:9ffe8ebd1c40 | 404 | case 15: // |
jah128 | 1:b067a08ff54e | 405 | break; |
jah128 | 1:b067a08ff54e | 406 | } |
jah128 | 0:9ffe8ebd1c40 | 407 | send_response(sender, is_broadcast, success, id, 0, function, response, response_length); |
jah128 | 1:b067a08ff54e | 408 | |
jah128 | 0:9ffe8ebd1c40 | 409 | } |
jah128 | 0:9ffe8ebd1c40 | 410 | |
jah128 | 0:9ffe8ebd1c40 | 411 | |
jah128 | 1:b067a08ff54e | 412 | void errormessage(int index) |
jah128 | 1:b067a08ff54e | 413 | { |
jah128 | 0:9ffe8ebd1c40 | 414 | if(RF_USE_LEDS==1) errorled=1; |
jah128 | 1:b067a08ff54e | 415 | switch(index) { |
jah128 | 0:9ffe8ebd1c40 | 416 | case 0: //Message to short |
jah128 | 0:9ffe8ebd1c40 | 417 | if (RF_DEBUG==1) pc.printf("Bad Message: Too short\n"); |
jah128 | 0:9ffe8ebd1c40 | 418 | break; |
jah128 | 0:9ffe8ebd1c40 | 419 | case 1: //Sender out of valid range |
jah128 | 1:b067a08ff54e | 420 | if (RF_DEBUG==1) pc.printf("Bad Message: Invalid sender\n"); |
jah128 | 0:9ffe8ebd1c40 | 421 | break; |
jah128 | 1:b067a08ff54e | 422 | case 2: //Target out of valid range |
jah128 | 0:9ffe8ebd1c40 | 423 | if (RF_DEBUG==1) pc.printf("Bad Message: Invalid target\n"); |
jah128 | 0:9ffe8ebd1c40 | 424 | break; |
jah128 | 0:9ffe8ebd1c40 | 425 | case 3: |
jah128 | 1:b067a08ff54e | 426 | |
jah128 | 1:b067a08ff54e | 427 | break; |
jah128 | 1:b067a08ff54e | 428 | case 4: |
jah128 | 1:b067a08ff54e | 429 | break; |
jah128 | 1:b067a08ff54e | 430 | } |
jah128 | 1:b067a08ff54e | 431 | } |
jah128 | 1:b067a08ff54e | 432 | |
jah128 | 1:b067a08ff54e | 433 | |
jah128 | 1:b067a08ff54e | 434 | |
jah128 | 1:b067a08ff54e | 435 | // Handle a message that is a response |
jah128 | 1:b067a08ff54e | 436 | void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length) |
jah128 | 1:b067a08ff54e | 437 | { |
jah128 | 1:b067a08ff54e | 438 | char outcome = 0; |
jah128 | 1:b067a08ff54e | 439 | if(is_command == 0) { |
jah128 | 1:b067a08ff54e | 440 | // Response is a data_request_response |
jah128 | 1:b067a08ff54e | 441 | switch(function) { |
jah128 | 1:b067a08ff54e | 442 | case 0: { |
jah128 | 1:b067a08ff54e | 443 | if(swarm[sender].status_rf_request_null == 1) { |
jah128 | 1:b067a08ff54e | 444 | if(length == 0) { |
jah128 | 1:b067a08ff54e | 445 | swarm[sender].status_rf_request_null = 2; |
jah128 | 1:b067a08ff54e | 446 | outcome = 1; |
jah128 | 1:b067a08ff54e | 447 | } else { |
jah128 | 1:b067a08ff54e | 448 | swarm[sender].status_rf_request_null= 3; |
jah128 | 1:b067a08ff54e | 449 | outcome = 3; |
jah128 | 1:b067a08ff54e | 450 | } |
jah128 | 1:b067a08ff54e | 451 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 452 | } |
jah128 | 1:b067a08ff54e | 453 | break; |
jah128 | 1:b067a08ff54e | 454 | |
jah128 | 1:b067a08ff54e | 455 | case 1: { //Left motor speed |
jah128 | 1:b067a08ff54e | 456 | if(swarm[sender].status_rf_request_left_motor_speed == 1) { |
jah128 | 1:b067a08ff54e | 457 | if(length == 2) { |
jah128 | 1:b067a08ff54e | 458 | swarm[sender].status_rf_request_left_motor_speed = 2; |
jah128 | 1:b067a08ff54e | 459 | int value = (data [0] << 8) + data[1]; |
jah128 | 1:b067a08ff54e | 460 | value -= 32768; |
jah128 | 1:b067a08ff54e | 461 | float val = value; |
jah128 | 1:b067a08ff54e | 462 | val /= 32767.0; |
jah128 | 1:b067a08ff54e | 463 | swarm[sender].left_motor_speed = val; |
jah128 | 1:b067a08ff54e | 464 | outcome = 1; |
jah128 | 1:b067a08ff54e | 465 | } else { |
jah128 | 1:b067a08ff54e | 466 | swarm[sender].status_rf_request_left_motor_speed= 3; |
jah128 | 1:b067a08ff54e | 467 | outcome = 3; |
jah128 | 1:b067a08ff54e | 468 | } |
jah128 | 1:b067a08ff54e | 469 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 470 | } |
jah128 | 1:b067a08ff54e | 471 | break; |
jah128 | 1:b067a08ff54e | 472 | |
jah128 | 1:b067a08ff54e | 473 | case 2: { //Right motor speed |
jah128 | 1:b067a08ff54e | 474 | if(swarm[sender].status_rf_request_right_motor_speed == 1) { |
jah128 | 1:b067a08ff54e | 475 | if(length == 2) { |
jah128 | 1:b067a08ff54e | 476 | swarm[sender].status_rf_request_right_motor_speed = 2; |
jah128 | 1:b067a08ff54e | 477 | int value = (data [0] << 8) + data[1]; |
jah128 | 1:b067a08ff54e | 478 | value -= 32768; |
jah128 | 1:b067a08ff54e | 479 | float val = value; |
jah128 | 1:b067a08ff54e | 480 | val /= 32767.0; |
jah128 | 1:b067a08ff54e | 481 | swarm[sender].right_motor_speed = val; |
jah128 | 1:b067a08ff54e | 482 | outcome = 1; |
jah128 | 1:b067a08ff54e | 483 | } else { |
jah128 | 1:b067a08ff54e | 484 | swarm[sender].status_rf_request_right_motor_speed = 3; |
jah128 | 1:b067a08ff54e | 485 | outcome = 3; |
jah128 | 1:b067a08ff54e | 486 | } |
jah128 | 1:b067a08ff54e | 487 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 488 | } |
jah128 | 1:b067a08ff54e | 489 | break; |
jah128 | 1:b067a08ff54e | 490 | |
jah128 | 1:b067a08ff54e | 491 | case 3: { //Button state |
jah128 | 1:b067a08ff54e | 492 | if(swarm[sender].status_rf_request_button_state == 1) { |
jah128 | 1:b067a08ff54e | 493 | if(length == 2) { |
jah128 | 1:b067a08ff54e | 494 | swarm[sender].status_rf_request_button_state = 2; |
jah128 | 1:b067a08ff54e | 495 | swarm[sender].button_state = data[0]; |
jah128 | 1:b067a08ff54e | 496 | outcome = 1; |
jah128 | 1:b067a08ff54e | 497 | } else { |
jah128 | 1:b067a08ff54e | 498 | swarm[sender].status_rf_request_button_state = 3; |
jah128 | 1:b067a08ff54e | 499 | outcome = 3; |
jah128 | 1:b067a08ff54e | 500 | } |
jah128 | 1:b067a08ff54e | 501 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 502 | } |
jah128 | 1:b067a08ff54e | 503 | break; |
jah128 | 1:b067a08ff54e | 504 | |
jah128 | 1:b067a08ff54e | 505 | case 4: { //LED Colour |
jah128 | 1:b067a08ff54e | 506 | if(swarm[sender].status_rf_request_led_colour == 1) { |
jah128 | 1:b067a08ff54e | 507 | if(length == 6) { |
jah128 | 1:b067a08ff54e | 508 | swarm[sender].status_rf_request_led_colour = 2; |
jah128 | 1:b067a08ff54e | 509 | for(int i=0; i<3; i++) { |
jah128 | 1:b067a08ff54e | 510 | swarm[sender].outer_led_colour[i] = data[i]; |
jah128 | 1:b067a08ff54e | 511 | swarm[sender].center_led_colour[i] = data[i+3]; |
jah128 | 1:b067a08ff54e | 512 | } |
jah128 | 1:b067a08ff54e | 513 | outcome = 1; |
jah128 | 1:b067a08ff54e | 514 | } else { |
jah128 | 1:b067a08ff54e | 515 | swarm[sender].status_rf_request_led_colour = 3; |
jah128 | 1:b067a08ff54e | 516 | outcome = 3; |
jah128 | 1:b067a08ff54e | 517 | } |
jah128 | 1:b067a08ff54e | 518 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 519 | } |
jah128 | 1:b067a08ff54e | 520 | break; |
jah128 | 1:b067a08ff54e | 521 | |
jah128 | 1:b067a08ff54e | 522 | case 5: { //LED States |
jah128 | 1:b067a08ff54e | 523 | if(swarm[sender].status_rf_request_led_states == 1) { |
jah128 | 1:b067a08ff54e | 524 | if(length == 2) { |
jah128 | 1:b067a08ff54e | 525 | swarm[sender].status_rf_request_led_states = 2; |
jah128 | 1:b067a08ff54e | 526 | for(int i=0; i<3; i++) { |
jah128 | 1:b067a08ff54e | 527 | swarm[sender].led_states[0] = data[0]; |
jah128 | 1:b067a08ff54e | 528 | swarm[sender].led_states[1] = data[1]; |
jah128 | 1:b067a08ff54e | 529 | } |
jah128 | 1:b067a08ff54e | 530 | outcome = 1; |
jah128 | 1:b067a08ff54e | 531 | } else { |
jah128 | 1:b067a08ff54e | 532 | swarm[sender].status_rf_request_led_states = 3; |
jah128 | 1:b067a08ff54e | 533 | outcome = 3; |
jah128 | 1:b067a08ff54e | 534 | } |
jah128 | 1:b067a08ff54e | 535 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 536 | } |
jah128 | 1:b067a08ff54e | 537 | break; |
jah128 | 1:b067a08ff54e | 538 | |
jah128 | 1:b067a08ff54e | 539 | |
jah128 | 1:b067a08ff54e | 540 | case 6: { //Battery |
jah128 | 1:b067a08ff54e | 541 | if(swarm[sender].status_rf_request_battery == 1) { |
jah128 | 1:b067a08ff54e | 542 | if(length == 2) { |
jah128 | 1:b067a08ff54e | 543 | swarm[sender].status_rf_request_battery = 2; |
jah128 | 1:b067a08ff54e | 544 | int fbattery = data[0] * 256; |
jah128 | 1:b067a08ff54e | 545 | fbattery += data[1]; |
jah128 | 1:b067a08ff54e | 546 | swarm[sender].battery = (float) fbattery / 1000.0; |
jah128 | 1:b067a08ff54e | 547 | outcome = 1; |
jah128 | 1:b067a08ff54e | 548 | } else { |
jah128 | 1:b067a08ff54e | 549 | swarm[sender].status_rf_request_battery = 3; |
jah128 | 1:b067a08ff54e | 550 | outcome = 3; |
jah128 | 1:b067a08ff54e | 551 | } |
jah128 | 1:b067a08ff54e | 552 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 553 | } |
jah128 | 1:b067a08ff54e | 554 | break; |
jah128 | 1:b067a08ff54e | 555 | |
jah128 | 1:b067a08ff54e | 556 | case 7: { //Light sensor |
jah128 | 1:b067a08ff54e | 557 | if(swarm[sender].status_rf_request_light_sensor == 1) { |
jah128 | 1:b067a08ff54e | 558 | if(length == 2) { |
jah128 | 1:b067a08ff54e | 559 | swarm[sender].status_rf_request_light_sensor = 2; |
jah128 | 1:b067a08ff54e | 560 | int ilight = data[0] * 256; |
jah128 | 1:b067a08ff54e | 561 | ilight += data[1]; |
jah128 | 1:b067a08ff54e | 562 | float flight = (float) (ilight) / 655.0; |
jah128 | 1:b067a08ff54e | 563 | swarm[sender].light_sensor = flight; |
jah128 | 1:b067a08ff54e | 564 | outcome = 1; |
jah128 | 1:b067a08ff54e | 565 | } else { |
jah128 | 1:b067a08ff54e | 566 | swarm[sender].status_rf_request_light_sensor = 3; |
jah128 | 1:b067a08ff54e | 567 | outcome = 3; |
jah128 | 1:b067a08ff54e | 568 | } |
jah128 | 1:b067a08ff54e | 569 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 570 | } |
jah128 | 1:b067a08ff54e | 571 | break; |
jah128 | 1:b067a08ff54e | 572 | |
jah128 | 1:b067a08ff54e | 573 | case 8: { //Accelerometer |
jah128 | 1:b067a08ff54e | 574 | if(swarm[sender].status_rf_request_accelerometer == 1) { |
jah128 | 1:b067a08ff54e | 575 | if(length == 6) { |
jah128 | 1:b067a08ff54e | 576 | swarm[sender].status_rf_request_accelerometer = 2; |
jah128 | 1:b067a08ff54e | 577 | outcome = 1; |
jah128 | 1:b067a08ff54e | 578 | } else { |
jah128 | 1:b067a08ff54e | 579 | swarm[sender].status_rf_request_accelerometer = 3; |
jah128 | 1:b067a08ff54e | 580 | outcome = 3; |
jah128 | 1:b067a08ff54e | 581 | } |
jah128 | 1:b067a08ff54e | 582 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 583 | } |
jah128 | 1:b067a08ff54e | 584 | break; |
jah128 | 1:b067a08ff54e | 585 | |
jah128 | 1:b067a08ff54e | 586 | case 9: { //Gyroscope |
jah128 | 1:b067a08ff54e | 587 | if(swarm[sender].status_rf_request_gyroscope == 1) { |
jah128 | 1:b067a08ff54e | 588 | if(length == 2) { |
jah128 | 1:b067a08ff54e | 589 | swarm[sender].status_rf_request_gyroscope = 2; |
jah128 | 1:b067a08ff54e | 590 | outcome = 1; |
jah128 | 1:b067a08ff54e | 591 | } else { |
jah128 | 1:b067a08ff54e | 592 | swarm[sender].status_rf_request_gyroscope = 3; |
jah128 | 1:b067a08ff54e | 593 | outcome = 3; |
jah128 | 1:b067a08ff54e | 594 | } |
jah128 | 1:b067a08ff54e | 595 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 596 | } |
jah128 | 1:b067a08ff54e | 597 | break; |
jah128 | 1:b067a08ff54e | 598 | |
jah128 | 1:b067a08ff54e | 599 | case 10: { //Background IR |
jah128 | 1:b067a08ff54e | 600 | if(swarm[sender].status_rf_request_background_ir == 1) { |
jah128 | 1:b067a08ff54e | 601 | if(length == 16) { |
jah128 | 1:b067a08ff54e | 602 | swarm[sender].status_rf_request_background_ir = 2; |
jah128 | 1:b067a08ff54e | 603 | outcome = 1; |
jah128 | 1:b067a08ff54e | 604 | } else { |
jah128 | 1:b067a08ff54e | 605 | swarm[sender].status_rf_request_background_ir = 3; |
jah128 | 1:b067a08ff54e | 606 | outcome = 3; |
jah128 | 1:b067a08ff54e | 607 | } |
jah128 | 1:b067a08ff54e | 608 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 609 | } |
jah128 | 1:b067a08ff54e | 610 | break; |
jah128 | 1:b067a08ff54e | 611 | |
jah128 | 1:b067a08ff54e | 612 | case 11: { //Reflected IR |
jah128 | 1:b067a08ff54e | 613 | if(swarm[sender].status_rf_request_background_ir == 1) { |
jah128 | 1:b067a08ff54e | 614 | if(length == 16) { |
jah128 | 1:b067a08ff54e | 615 | swarm[sender].status_rf_request_background_ir = 2; |
jah128 | 1:b067a08ff54e | 616 | outcome = 1; |
jah128 | 1:b067a08ff54e | 617 | } else { |
jah128 | 1:b067a08ff54e | 618 | swarm[sender].status_rf_request_background_ir = 3; |
jah128 | 1:b067a08ff54e | 619 | outcome = 3; |
jah128 | 1:b067a08ff54e | 620 | } |
jah128 | 1:b067a08ff54e | 621 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 622 | } |
jah128 | 1:b067a08ff54e | 623 | break; |
jah128 | 1:b067a08ff54e | 624 | |
jah128 | 1:b067a08ff54e | 625 | case 12: { // Distance IR |
jah128 | 1:b067a08ff54e | 626 | if(swarm[sender].status_rf_request_distance_ir == 1) { |
jah128 | 1:b067a08ff54e | 627 | if(length == 16) { |
jah128 | 1:b067a08ff54e | 628 | swarm[sender].status_rf_request_distance_ir = 2; |
jah128 | 1:b067a08ff54e | 629 | outcome = 1; |
jah128 | 1:b067a08ff54e | 630 | } else { |
jah128 | 1:b067a08ff54e | 631 | swarm[sender].status_rf_request_distance_ir = 3; |
jah128 | 1:b067a08ff54e | 632 | outcome = 3; |
jah128 | 1:b067a08ff54e | 633 | } |
jah128 | 1:b067a08ff54e | 634 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 635 | } |
jah128 | 1:b067a08ff54e | 636 | break; |
jah128 | 1:b067a08ff54e | 637 | |
jah128 | 1:b067a08ff54e | 638 | case 13: { // Line following IR |
jah128 | 1:b067a08ff54e | 639 | if(swarm[sender].status_rf_request_line_following_ir == 1) { |
jah128 | 1:b067a08ff54e | 640 | if(length == 10) { |
jah128 | 1:b067a08ff54e | 641 | swarm[sender].status_rf_request_line_following_ir = 2; |
jah128 | 1:b067a08ff54e | 642 | outcome = 1; |
jah128 | 1:b067a08ff54e | 643 | } else { |
jah128 | 1:b067a08ff54e | 644 | swarm[sender].status_rf_request_line_following_ir = 3; |
jah128 | 1:b067a08ff54e | 645 | outcome = 3; |
jah128 | 1:b067a08ff54e | 646 | } |
jah128 | 1:b067a08ff54e | 647 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 648 | } |
jah128 | 1:b067a08ff54e | 649 | break; |
jah128 | 1:b067a08ff54e | 650 | |
jah128 | 1:b067a08ff54e | 651 | case 14: { // Request uptime |
jah128 | 1:b067a08ff54e | 652 | if(swarm[sender].status_rf_request_uptime == 1) { |
jah128 | 1:b067a08ff54e | 653 | if(length == 4) { |
jah128 | 1:b067a08ff54e | 654 | swarm[sender].status_rf_request_uptime = 2; |
jah128 | 1:b067a08ff54e | 655 | outcome = 1; |
jah128 | 1:b067a08ff54e | 656 | } else { |
jah128 | 1:b067a08ff54e | 657 | swarm[sender].status_rf_request_uptime = 3; |
jah128 | 1:b067a08ff54e | 658 | outcome = 3; |
jah128 | 1:b067a08ff54e | 659 | } |
jah128 | 1:b067a08ff54e | 660 | } else outcome = 2; |
jah128 | 1:b067a08ff54e | 661 | } |
jah128 | 0:9ffe8ebd1c40 | 662 | break; |
jah128 | 1:b067a08ff54e | 663 | |
jah128 | 1:b067a08ff54e | 664 | } |
jah128 | 1:b067a08ff54e | 665 | } else { |
jah128 | 1:b067a08ff54e | 666 | // Response to a command |
jah128 | 1:b067a08ff54e | 667 | } |
jah128 | 1:b067a08ff54e | 668 | |
jah128 | 1:b067a08ff54e | 669 | if(RF_DEBUG) { |
jah128 | 1:b067a08ff54e | 670 | switch(outcome) { |
jah128 | 1:b067a08ff54e | 671 | case 0 : |
jah128 | 1:b067a08ff54e | 672 | pc.printf("Unknown RF response received"); |
jah128 | 1:b067a08ff54e | 673 | case 1 : |
jah128 | 1:b067a08ff54e | 674 | pc.printf("RF response received, data updated."); |
jah128 | 1:b067a08ff54e | 675 | case 2 : |
jah128 | 1:b067a08ff54e | 676 | pc.printf("Unexpected RF response received, ignored."); |
jah128 | 1:b067a08ff54e | 677 | case 3 : |
jah128 | 1:b067a08ff54e | 678 | pc.printf("Invalid RF response received, ignored."); |
jah128 | 1:b067a08ff54e | 679 | } |
jah128 | 1:b067a08ff54e | 680 | } |
jah128 | 1:b067a08ff54e | 681 | } |
jah128 | 1:b067a08ff54e | 682 | |
jah128 | 1:b067a08ff54e | 683 | void send_rf_request_null ( char target ) |
jah128 | 1:b067a08ff54e | 684 | { |
jah128 | 1:b067a08ff54e | 685 | char command = 0x80; |
jah128 | 1:b067a08ff54e | 686 | char length = 0; |
jah128 | 1:b067a08ff54e | 687 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 688 | if(target == 0) { //Request broadcast to all recipients |
jah128 | 1:b067a08ff54e | 689 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 690 | swarm[i].status_rf_request_null = 1; |
jah128 | 1:b067a08ff54e | 691 | } |
jah128 | 1:b067a08ff54e | 692 | } else swarm[target].status_rf_request_null = 1; |
jah128 | 1:b067a08ff54e | 693 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 694 | } |
jah128 | 1:b067a08ff54e | 695 | |
jah128 | 1:b067a08ff54e | 696 | |
jah128 | 1:b067a08ff54e | 697 | void send_rf_request_left_motor_speed ( char target ) |
jah128 | 1:b067a08ff54e | 698 | { |
jah128 | 1:b067a08ff54e | 699 | char command = 0x81; |
jah128 | 1:b067a08ff54e | 700 | char length = 0; |
jah128 | 1:b067a08ff54e | 701 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 702 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 703 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 704 | swarm[i].status_rf_request_left_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 705 | } |
jah128 | 1:b067a08ff54e | 706 | } else swarm[target].status_rf_request_left_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 707 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 708 | } |
jah128 | 1:b067a08ff54e | 709 | |
jah128 | 1:b067a08ff54e | 710 | void send_rf_request_right_motor_speed ( char target ) |
jah128 | 1:b067a08ff54e | 711 | { |
jah128 | 1:b067a08ff54e | 712 | char command = 0x82; |
jah128 | 1:b067a08ff54e | 713 | char length = 0; |
jah128 | 1:b067a08ff54e | 714 | char * data = NULL; |
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_request_right_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 718 | } |
jah128 | 1:b067a08ff54e | 719 | } else swarm[target].status_rf_request_right_motor_speed = 1; |
jah128 | 1:b067a08ff54e | 720 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 721 | } |
jah128 | 1:b067a08ff54e | 722 | |
jah128 | 1:b067a08ff54e | 723 | void send_rf_request_button_state ( char target ) |
jah128 | 1:b067a08ff54e | 724 | { |
jah128 | 1:b067a08ff54e | 725 | char command = 0x83; |
jah128 | 1:b067a08ff54e | 726 | char length = 0; |
jah128 | 1:b067a08ff54e | 727 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 728 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 729 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 730 | swarm[i].status_rf_request_button_state = 1; |
jah128 | 1:b067a08ff54e | 731 | } |
jah128 | 1:b067a08ff54e | 732 | } else swarm[target].status_rf_request_button_state = 1; |
jah128 | 1:b067a08ff54e | 733 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 734 | } |
jah128 | 1:b067a08ff54e | 735 | |
jah128 | 1:b067a08ff54e | 736 | void send_rf_request_led_colour ( char target ) |
jah128 | 1:b067a08ff54e | 737 | { |
jah128 | 1:b067a08ff54e | 738 | char command = 0x84; |
jah128 | 1:b067a08ff54e | 739 | char length = 0; |
jah128 | 1:b067a08ff54e | 740 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 741 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 742 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 743 | swarm[i].status_rf_request_led_colour = 1; |
jah128 | 1:b067a08ff54e | 744 | } |
jah128 | 1:b067a08ff54e | 745 | } else swarm[target].status_rf_request_led_colour = 1; |
jah128 | 1:b067a08ff54e | 746 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 747 | } |
jah128 | 1:b067a08ff54e | 748 | |
jah128 | 1:b067a08ff54e | 749 | void send_rf_request_led_states ( char target ) |
jah128 | 1:b067a08ff54e | 750 | { |
jah128 | 1:b067a08ff54e | 751 | char command = 0x85; |
jah128 | 1:b067a08ff54e | 752 | char length = 0; |
jah128 | 1:b067a08ff54e | 753 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 754 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 755 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 756 | swarm[i].status_rf_request_led_states = 1; |
jah128 | 1:b067a08ff54e | 757 | } |
jah128 | 1:b067a08ff54e | 758 | } else swarm[target].status_rf_request_led_states = 1; |
jah128 | 1:b067a08ff54e | 759 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 760 | } |
jah128 | 1:b067a08ff54e | 761 | |
jah128 | 1:b067a08ff54e | 762 | void send_rf_request_battery ( char target ) |
jah128 | 1:b067a08ff54e | 763 | { |
jah128 | 1:b067a08ff54e | 764 | char command = 0x86; |
jah128 | 1:b067a08ff54e | 765 | char length = 0; |
jah128 | 1:b067a08ff54e | 766 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 767 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 768 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 769 | swarm[i].status_rf_request_battery = 1; |
jah128 | 1:b067a08ff54e | 770 | } |
jah128 | 1:b067a08ff54e | 771 | } else swarm[target].status_rf_request_battery = 1; |
jah128 | 1:b067a08ff54e | 772 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 773 | } |
jah128 | 1:b067a08ff54e | 774 | |
jah128 | 1:b067a08ff54e | 775 | void send_rf_request_light_sensor ( char target ) |
jah128 | 1:b067a08ff54e | 776 | { |
jah128 | 1:b067a08ff54e | 777 | char command = 0x87; |
jah128 | 1:b067a08ff54e | 778 | char length = 0; |
jah128 | 1:b067a08ff54e | 779 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 780 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 781 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 782 | swarm[i].status_rf_request_light_sensor = 1; |
jah128 | 1:b067a08ff54e | 783 | } |
jah128 | 1:b067a08ff54e | 784 | } else swarm[target].status_rf_request_light_sensor = 1; |
jah128 | 1:b067a08ff54e | 785 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 786 | } |
jah128 | 1:b067a08ff54e | 787 | |
jah128 | 1:b067a08ff54e | 788 | void send_rf_request_accelerometer ( char target ) |
jah128 | 1:b067a08ff54e | 789 | { |
jah128 | 1:b067a08ff54e | 790 | char command = 0x88; |
jah128 | 1:b067a08ff54e | 791 | char length = 0; |
jah128 | 1:b067a08ff54e | 792 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 793 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 794 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 795 | swarm[i].status_rf_request_accelerometer = 1; |
jah128 | 1:b067a08ff54e | 796 | } |
jah128 | 1:b067a08ff54e | 797 | } else swarm[target].status_rf_request_accelerometer = 1; |
jah128 | 1:b067a08ff54e | 798 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 799 | } |
jah128 | 1:b067a08ff54e | 800 | |
jah128 | 1:b067a08ff54e | 801 | void send_rf_request_gyroscope ( char target ) |
jah128 | 1:b067a08ff54e | 802 | { |
jah128 | 1:b067a08ff54e | 803 | char command = 0x89; |
jah128 | 1:b067a08ff54e | 804 | char length = 0; |
jah128 | 1:b067a08ff54e | 805 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 806 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 807 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 808 | swarm[i].status_rf_request_gyroscope = 1; |
jah128 | 1:b067a08ff54e | 809 | } |
jah128 | 1:b067a08ff54e | 810 | } else swarm[target].status_rf_request_gyroscope = 1; |
jah128 | 1:b067a08ff54e | 811 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 812 | } |
jah128 | 1:b067a08ff54e | 813 | |
jah128 | 1:b067a08ff54e | 814 | void send_rf_request_background_ir ( char target ) |
jah128 | 1:b067a08ff54e | 815 | { |
jah128 | 1:b067a08ff54e | 816 | char command = 0x8A; |
jah128 | 1:b067a08ff54e | 817 | char length = 0; |
jah128 | 1:b067a08ff54e | 818 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 819 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 820 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 821 | swarm[i].status_rf_request_background_ir = 1; |
jah128 | 1:b067a08ff54e | 822 | } |
jah128 | 1:b067a08ff54e | 823 | } else swarm[target].status_rf_request_background_ir = 1; |
jah128 | 1:b067a08ff54e | 824 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 825 | } |
jah128 | 1:b067a08ff54e | 826 | |
jah128 | 1:b067a08ff54e | 827 | void send_rf_request_reflected_ir ( char target ) |
jah128 | 1:b067a08ff54e | 828 | { |
jah128 | 1:b067a08ff54e | 829 | char command = 0x8B; |
jah128 | 1:b067a08ff54e | 830 | char length = 0; |
jah128 | 1:b067a08ff54e | 831 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 832 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 833 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 834 | swarm[i].status_rf_request_reflected_ir = 1; |
jah128 | 1:b067a08ff54e | 835 | } |
jah128 | 1:b067a08ff54e | 836 | } else swarm[target].status_rf_request_reflected_ir = 1; |
jah128 | 1:b067a08ff54e | 837 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 838 | } |
jah128 | 1:b067a08ff54e | 839 | |
jah128 | 1:b067a08ff54e | 840 | void send_rf_request_distance_ir ( char target ) |
jah128 | 1:b067a08ff54e | 841 | { |
jah128 | 1:b067a08ff54e | 842 | char command = 0x8C; |
jah128 | 1:b067a08ff54e | 843 | char length = 0; |
jah128 | 1:b067a08ff54e | 844 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 845 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 846 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 847 | swarm[i].status_rf_request_distance_ir = 1; |
jah128 | 1:b067a08ff54e | 848 | } |
jah128 | 1:b067a08ff54e | 849 | } else swarm[target].status_rf_request_distance_ir = 1; |
jah128 | 1:b067a08ff54e | 850 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 851 | } |
jah128 | 1:b067a08ff54e | 852 | |
jah128 | 1:b067a08ff54e | 853 | void send_rf_request_line_following_ir ( char target ) |
jah128 | 1:b067a08ff54e | 854 | { |
jah128 | 1:b067a08ff54e | 855 | char command = 0x8D; |
jah128 | 1:b067a08ff54e | 856 | char length = 0; |
jah128 | 1:b067a08ff54e | 857 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 858 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 859 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 860 | swarm[i].status_rf_request_line_following_ir = 1; |
jah128 | 1:b067a08ff54e | 861 | } |
jah128 | 1:b067a08ff54e | 862 | } else swarm[target].status_rf_request_line_following_ir = 1; |
jah128 | 1:b067a08ff54e | 863 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 864 | } |
jah128 | 1:b067a08ff54e | 865 | |
jah128 | 1:b067a08ff54e | 866 | void send_rf_request_uptime ( char target ) |
jah128 | 1:b067a08ff54e | 867 | { |
jah128 | 1:b067a08ff54e | 868 | char command = 0x8E; |
jah128 | 1:b067a08ff54e | 869 | char length = 0; |
jah128 | 1:b067a08ff54e | 870 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 871 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 872 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 873 | swarm[i].status_rf_request_uptime= 1; |
jah128 | 1:b067a08ff54e | 874 | } |
jah128 | 1:b067a08ff54e | 875 | } else swarm[target].status_rf_request_uptime = 1; |
jah128 | 1:b067a08ff54e | 876 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 877 | } |
jah128 | 1:b067a08ff54e | 878 | |
jah128 | 1:b067a08ff54e | 879 | void send_rf_command_stop ( char target, char request_response ) |
jah128 | 1:b067a08ff54e | 880 | { |
jah128 | 1:b067a08ff54e | 881 | char command = 0x10; |
jah128 | 1:b067a08ff54e | 882 | char length = 0; |
jah128 | 1:b067a08ff54e | 883 | char * data = NULL; |
jah128 | 1:b067a08ff54e | 884 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 885 | command+=128; |
jah128 | 1:b067a08ff54e | 886 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 887 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 888 | swarm[i].status_rf_command_stop= 1; |
jah128 | 1:b067a08ff54e | 889 | } |
jah128 | 1:b067a08ff54e | 890 | } else swarm[target].status_rf_command_stop = 1; |
jah128 | 1:b067a08ff54e | 891 | } |
jah128 | 1:b067a08ff54e | 892 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 893 | } |
jah128 | 1:b067a08ff54e | 894 | |
jah128 | 1:b067a08ff54e | 895 | void send_rf_command_forward ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 896 | { |
jah128 | 1:b067a08ff54e | 897 | char command = 0x11; |
jah128 | 1:b067a08ff54e | 898 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 899 | char length = 2; |
jah128 | 1:b067a08ff54e | 900 | char data [2]; |
jah128 | 1:b067a08ff54e | 901 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 902 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 903 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 904 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 905 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 906 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 907 | command+=128; |
jah128 | 1:b067a08ff54e | 908 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 909 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 910 | swarm[i].status_rf_command_forward= 1; |
jah128 | 1:b067a08ff54e | 911 | } |
jah128 | 1:b067a08ff54e | 912 | } else swarm[target].status_rf_command_forward = 1; |
jah128 | 1:b067a08ff54e | 913 | } |
jah128 | 1:b067a08ff54e | 914 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 915 | } |
jah128 | 1:b067a08ff54e | 916 | |
jah128 | 1:b067a08ff54e | 917 | |
jah128 | 1:b067a08ff54e | 918 | void send_rf_command_backward ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 919 | { |
jah128 | 1:b067a08ff54e | 920 | char command = 0x12; |
jah128 | 1:b067a08ff54e | 921 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 922 | char length = 2; |
jah128 | 1:b067a08ff54e | 923 | char data [2]; |
jah128 | 1:b067a08ff54e | 924 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 925 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 926 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 927 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 928 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 929 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 930 | command+=128; |
jah128 | 1:b067a08ff54e | 931 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 932 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 933 | swarm[i].status_rf_command_backward= 1; |
jah128 | 1:b067a08ff54e | 934 | } |
jah128 | 1:b067a08ff54e | 935 | } else swarm[target].status_rf_command_backward = 1; |
jah128 | 0:9ffe8ebd1c40 | 936 | } |
jah128 | 1:b067a08ff54e | 937 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 938 | } |
jah128 | 1:b067a08ff54e | 939 | |
jah128 | 1:b067a08ff54e | 940 | void send_rf_command_left ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 941 | { |
jah128 | 1:b067a08ff54e | 942 | char command = 0x13; |
jah128 | 1:b067a08ff54e | 943 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 944 | char length = 2; |
jah128 | 1:b067a08ff54e | 945 | char data [2]; |
jah128 | 1:b067a08ff54e | 946 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 947 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 948 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 949 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 950 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 951 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 952 | command+=128; |
jah128 | 1:b067a08ff54e | 953 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 954 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 955 | swarm[i].status_rf_command_left = 1; |
jah128 | 1:b067a08ff54e | 956 | } |
jah128 | 1:b067a08ff54e | 957 | } else swarm[target].status_rf_command_left = 1; |
jah128 | 1:b067a08ff54e | 958 | } |
jah128 | 1:b067a08ff54e | 959 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 960 | } |
jah128 | 1:b067a08ff54e | 961 | |
jah128 | 1:b067a08ff54e | 962 | void send_rf_command_right ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 963 | { |
jah128 | 1:b067a08ff54e | 964 | char command = 0x14; |
jah128 | 1:b067a08ff54e | 965 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 966 | char length = 2; |
jah128 | 1:b067a08ff54e | 967 | char data [2]; |
jah128 | 1:b067a08ff54e | 968 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 969 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 970 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 971 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 972 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 973 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 974 | command+=128; |
jah128 | 1:b067a08ff54e | 975 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 976 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 977 | swarm[i].status_rf_command_right = 1; |
jah128 | 1:b067a08ff54e | 978 | } |
jah128 | 1:b067a08ff54e | 979 | } else swarm[target].status_rf_command_right = 1; |
jah128 | 1:b067a08ff54e | 980 | } |
jah128 | 1:b067a08ff54e | 981 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 982 | } |
jah128 | 1:b067a08ff54e | 983 | |
jah128 | 1:b067a08ff54e | 984 | void send_rf_command_left_motor ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 985 | { |
jah128 | 1:b067a08ff54e | 986 | char command = 0x15; |
jah128 | 1:b067a08ff54e | 987 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 988 | char length = 2; |
jah128 | 1:b067a08ff54e | 989 | char data [2]; |
jah128 | 1:b067a08ff54e | 990 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 991 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 992 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 993 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 994 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 995 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 996 | command+=128; |
jah128 | 1:b067a08ff54e | 997 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 998 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 999 | swarm[i].status_rf_command_left_motor = 1; |
jah128 | 1:b067a08ff54e | 1000 | } |
jah128 | 1:b067a08ff54e | 1001 | } else swarm[target].status_rf_command_left_motor = 1; |
jah128 | 1:b067a08ff54e | 1002 | } |
jah128 | 1:b067a08ff54e | 1003 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1004 | } |
jah128 | 1:b067a08ff54e | 1005 | |
jah128 | 1:b067a08ff54e | 1006 | void send_rf_command_right_motor ( char target, char request_response, float speed ) |
jah128 | 1:b067a08ff54e | 1007 | { |
jah128 | 1:b067a08ff54e | 1008 | char command = 0x16; |
jah128 | 1:b067a08ff54e | 1009 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1010 | char length = 2; |
jah128 | 1:b067a08ff54e | 1011 | char data [2]; |
jah128 | 1:b067a08ff54e | 1012 | float qspeed = speed + 1; |
jah128 | 1:b067a08ff54e | 1013 | qspeed *= 32768.0; |
jah128 | 1:b067a08ff54e | 1014 | int ispeed = (int) qspeed; |
jah128 | 1:b067a08ff54e | 1015 | data[0] = (char) (ispeed >> 8); |
jah128 | 1:b067a08ff54e | 1016 | data[1] = (char) (ispeed % 256); |
jah128 | 1:b067a08ff54e | 1017 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1018 | command+=128; |
jah128 | 1:b067a08ff54e | 1019 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1020 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1021 | swarm[i].status_rf_command_right_motor = 1; |
jah128 | 1:b067a08ff54e | 1022 | } |
jah128 | 1:b067a08ff54e | 1023 | } else swarm[target].status_rf_command_right_motor = 1; |
jah128 | 1:b067a08ff54e | 1024 | } |
jah128 | 1:b067a08ff54e | 1025 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1026 | } |
jah128 | 1:b067a08ff54e | 1027 | |
jah128 | 1:b067a08ff54e | 1028 | void send_rf_command_oled_colour ( char target, char request_response, char red, char green, char blue ) |
jah128 | 1:b067a08ff54e | 1029 | { |
jah128 | 1:b067a08ff54e | 1030 | char command = 0x17; |
jah128 | 1:b067a08ff54e | 1031 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1032 | char length = 3; |
jah128 | 1:b067a08ff54e | 1033 | char data [3]; |
jah128 | 1:b067a08ff54e | 1034 | data[0] = red; |
jah128 | 1:b067a08ff54e | 1035 | data[1] = green; |
jah128 | 1:b067a08ff54e | 1036 | data[2] = blue; |
jah128 | 1:b067a08ff54e | 1037 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1038 | command+=128; |
jah128 | 1:b067a08ff54e | 1039 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1040 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1041 | swarm[i].status_rf_command_oled_colour = 1; |
jah128 | 1:b067a08ff54e | 1042 | } |
jah128 | 1:b067a08ff54e | 1043 | } else swarm[target].status_rf_command_oled_colour = 1; |
jah128 | 1:b067a08ff54e | 1044 | } |
jah128 | 1:b067a08ff54e | 1045 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1046 | } |
jah128 | 1:b067a08ff54e | 1047 | |
jah128 | 1:b067a08ff54e | 1048 | void send_rf_command_cled_colour ( char target, char request_response, char red, char green, char blue ) |
jah128 | 1:b067a08ff54e | 1049 | { |
jah128 | 1:b067a08ff54e | 1050 | char command = 0x18; |
jah128 | 1:b067a08ff54e | 1051 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1052 | char length = 3; |
jah128 | 1:b067a08ff54e | 1053 | char data [3]; |
jah128 | 1:b067a08ff54e | 1054 | data[0] = red; |
jah128 | 1:b067a08ff54e | 1055 | data[1] = green; |
jah128 | 1:b067a08ff54e | 1056 | data[2] = blue; |
jah128 | 1:b067a08ff54e | 1057 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1058 | command+=128; |
jah128 | 1:b067a08ff54e | 1059 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1060 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1061 | swarm[i].status_rf_command_cled_colour = 1; |
jah128 | 1:b067a08ff54e | 1062 | } |
jah128 | 1:b067a08ff54e | 1063 | } else swarm[target].status_rf_command_cled_colour = 1; |
jah128 | 1:b067a08ff54e | 1064 | } |
jah128 | 1:b067a08ff54e | 1065 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1066 | } |
jah128 | 1:b067a08ff54e | 1067 | |
jah128 | 1:b067a08ff54e | 1068 | 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 | 1069 | { |
jah128 | 1:b067a08ff54e | 1070 | char command = 0x19; |
jah128 | 1:b067a08ff54e | 1071 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1072 | char length = 2; |
jah128 | 1:b067a08ff54e | 1073 | char data [2]; |
jah128 | 1:b067a08ff54e | 1074 | data[0] = 0; |
jah128 | 1:b067a08ff54e | 1075 | data[1] = 0; |
jah128 | 1:b067a08ff54e | 1076 | if( led0 == 1) data[0] += 2; |
jah128 | 1:b067a08ff54e | 1077 | if( led1 == 1) data[0] += 1; |
jah128 | 1:b067a08ff54e | 1078 | if( led2 == 1) data[1] += 128; |
jah128 | 1:b067a08ff54e | 1079 | if( led3 == 1) data[1] += 64; |
jah128 | 1:b067a08ff54e | 1080 | if( led4 == 1) data[1] += 32; |
jah128 | 1:b067a08ff54e | 1081 | if( led5 == 1) data[1] += 16; |
jah128 | 1:b067a08ff54e | 1082 | if( led6 == 1) data[1] += 8; |
jah128 | 1:b067a08ff54e | 1083 | if( led7 == 1) data[1] += 4; |
jah128 | 1:b067a08ff54e | 1084 | if( led8 == 1) data[1] += 2; |
jah128 | 1:b067a08ff54e | 1085 | if( led9 == 1) data[1] += 1; |
jah128 | 1:b067a08ff54e | 1086 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1087 | command+=128; |
jah128 | 1:b067a08ff54e | 1088 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1089 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1090 | swarm[i].status_rf_command_oled_state = 1; |
jah128 | 1:b067a08ff54e | 1091 | } |
jah128 | 1:b067a08ff54e | 1092 | } else swarm[target].status_rf_command_oled_state = 1; |
jah128 | 1:b067a08ff54e | 1093 | } |
jah128 | 1:b067a08ff54e | 1094 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1095 | } |
jah128 | 1:b067a08ff54e | 1096 | |
jah128 | 1:b067a08ff54e | 1097 | void send_rf_command_cled_state ( char target, char request_response, char enable ) |
jah128 | 1:b067a08ff54e | 1098 | { |
jah128 | 1:b067a08ff54e | 1099 | char command = 0x1A; |
jah128 | 1:b067a08ff54e | 1100 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1101 | char length = 1; |
jah128 | 1:b067a08ff54e | 1102 | char data [1]; |
jah128 | 1:b067a08ff54e | 1103 | data[0] = enable; |
jah128 | 1:b067a08ff54e | 1104 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1105 | command+=128; |
jah128 | 1:b067a08ff54e | 1106 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1107 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1108 | swarm[i].status_rf_command_cled_state = 1; |
jah128 | 1:b067a08ff54e | 1109 | } |
jah128 | 1:b067a08ff54e | 1110 | } else swarm[target].status_rf_command_cled_state = 1; |
jah128 | 1:b067a08ff54e | 1111 | } |
jah128 | 1:b067a08ff54e | 1112 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1113 | } |
jah128 | 1:b067a08ff54e | 1114 | |
jah128 | 1:b067a08ff54e | 1115 | void send_rf_command_set_oled ( char target, char request_response, char oled, char enable ) |
jah128 | 1:b067a08ff54e | 1116 | { |
jah128 | 1:b067a08ff54e | 1117 | char command = 0x1B; |
jah128 | 1:b067a08ff54e | 1118 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1119 | char length = 1; |
jah128 | 1:b067a08ff54e | 1120 | char data [1]; |
jah128 | 1:b067a08ff54e | 1121 | data[0] = oled; |
jah128 | 1:b067a08ff54e | 1122 | if(enable == 1) oled+= 32; |
jah128 | 1:b067a08ff54e | 1123 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1124 | command+=128; |
jah128 | 1:b067a08ff54e | 1125 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1126 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1127 | swarm[i].status_rf_command_set_oled = 1; |
jah128 | 1:b067a08ff54e | 1128 | } |
jah128 | 1:b067a08ff54e | 1129 | } else swarm[target].status_rf_command_set_oled = 1; |
jah128 | 1:b067a08ff54e | 1130 | } |
jah128 | 1:b067a08ff54e | 1131 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1132 | } |
jah128 | 1:b067a08ff54e | 1133 | |
jah128 | 1:b067a08ff54e | 1134 | void send_rf_command_play_tune ( char target, char request_response, char * data, char length ) |
jah128 | 1:b067a08ff54e | 1135 | { |
jah128 | 1:b067a08ff54e | 1136 | char command = 0x1C; |
jah128 | 1:b067a08ff54e | 1137 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1138 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1139 | command+=128; |
jah128 | 1:b067a08ff54e | 1140 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1141 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1142 | swarm[i].status_rf_command_play_tune = 1; |
jah128 | 1:b067a08ff54e | 1143 | } |
jah128 | 1:b067a08ff54e | 1144 | } else swarm[target].status_rf_command_play_tune = 1; |
jah128 | 1:b067a08ff54e | 1145 | } |
jah128 | 1:b067a08ff54e | 1146 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1147 | } |
jah128 | 1:b067a08ff54e | 1148 | |
jah128 | 1:b067a08ff54e | 1149 | void send_rf_command_sync_time ( char target, char request_response ) |
jah128 | 1:b067a08ff54e | 1150 | { |
jah128 | 1:b067a08ff54e | 1151 | char command = 0x1D; |
jah128 | 1:b067a08ff54e | 1152 | if(request_response == 1) command+=128; |
jah128 | 1:b067a08ff54e | 1153 | char length = 1; |
jah128 | 1:b067a08ff54e | 1154 | char data [1]; |
jah128 | 1:b067a08ff54e | 1155 | data[0] = 0; |
jah128 | 1:b067a08ff54e | 1156 | if(request_response == 1) { |
jah128 | 1:b067a08ff54e | 1157 | command+=128; |
jah128 | 1:b067a08ff54e | 1158 | if(target == 0) { |
jah128 | 1:b067a08ff54e | 1159 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1160 | swarm[i].status_rf_command_sync_time = 1; |
jah128 | 1:b067a08ff54e | 1161 | } |
jah128 | 1:b067a08ff54e | 1162 | } else swarm[target].status_rf_command_sync_time = 1; |
jah128 | 1:b067a08ff54e | 1163 | } |
jah128 | 1:b067a08ff54e | 1164 | send_rf_message(target,command,data,length); |
jah128 | 1:b067a08ff54e | 1165 | } |
jah128 | 1:b067a08ff54e | 1166 | |
jah128 | 1:b067a08ff54e | 1167 | //Resets the recorded swarm data tables |
jah128 | 1:b067a08ff54e | 1168 | void setup_communications() |
jah128 | 1:b067a08ff54e | 1169 | { |
jah128 | 1:b067a08ff54e | 1170 | for(int i=0; i<SWARM_SIZE; i++) { |
jah128 | 1:b067a08ff54e | 1171 | swarm[i].status_rf_request_null = 0; |
jah128 | 1:b067a08ff54e | 1172 | swarm[i].status_rf_request_left_motor_speed = 0; |
jah128 | 1:b067a08ff54e | 1173 | swarm[i].status_rf_request_right_motor_speed = 0; |
jah128 | 1:b067a08ff54e | 1174 | swarm[i].status_rf_request_button_state = 0; |
jah128 | 1:b067a08ff54e | 1175 | swarm[i].status_rf_request_led_colour = 0; |
jah128 | 1:b067a08ff54e | 1176 | swarm[i].status_rf_request_led_states = 0; |
jah128 | 1:b067a08ff54e | 1177 | swarm[i].status_rf_request_battery = 0; |
jah128 | 1:b067a08ff54e | 1178 | swarm[i].status_rf_request_light_sensor = 0; |
jah128 | 1:b067a08ff54e | 1179 | swarm[i].status_rf_request_accelerometer = 0; |
jah128 | 1:b067a08ff54e | 1180 | swarm[i].status_rf_request_gyroscope = 0; |
jah128 | 1:b067a08ff54e | 1181 | swarm[i].status_rf_request_background_ir = 0; |
jah128 | 1:b067a08ff54e | 1182 | swarm[i].status_rf_request_reflected_ir = 0; |
jah128 | 1:b067a08ff54e | 1183 | swarm[i].status_rf_request_distance_ir = 0; |
jah128 | 1:b067a08ff54e | 1184 | swarm[i].status_rf_request_line_following_ir = 0; |
jah128 | 1:b067a08ff54e | 1185 | swarm[i].status_rf_request_uptime = 0; |
jah128 | 1:b067a08ff54e | 1186 | swarm[i].status_rf_command_stop = 0; |
jah128 | 1:b067a08ff54e | 1187 | swarm[i].status_rf_command_forward = 0; |
jah128 | 1:b067a08ff54e | 1188 | swarm[i].status_rf_command_backward = 0; |
jah128 | 1:b067a08ff54e | 1189 | swarm[i].status_rf_command_left = 0; |
jah128 | 1:b067a08ff54e | 1190 | swarm[i].status_rf_command_right = 0; |
jah128 | 1:b067a08ff54e | 1191 | swarm[i].status_rf_command_left_motor = 0; |
jah128 | 1:b067a08ff54e | 1192 | swarm[i].status_rf_command_right_motor = 0; |
jah128 | 1:b067a08ff54e | 1193 | swarm[i].status_rf_command_oled_colour = 0; |
jah128 | 1:b067a08ff54e | 1194 | swarm[i].status_rf_command_cled_colour = 0; |
jah128 | 1:b067a08ff54e | 1195 | swarm[i].status_rf_command_oled_state = 0; |
jah128 | 1:b067a08ff54e | 1196 | swarm[i].status_rf_command_cled_state = 0; |
jah128 | 1:b067a08ff54e | 1197 | swarm[i].status_rf_command_set_oled = 0; |
jah128 | 1:b067a08ff54e | 1198 | swarm[i].status_rf_command_play_tune = 0; |
jah128 | 1:b067a08ff54e | 1199 | swarm[i].status_rf_command_sync_time = 0; |
jah128 | 1:b067a08ff54e | 1200 | swarm[i].left_motor_speed = 0.0; |
jah128 | 1:b067a08ff54e | 1201 | swarm[i].right_motor_speed = 0.0; |
jah128 | 1:b067a08ff54e | 1202 | swarm[i].button_state = 0; |
jah128 | 1:b067a08ff54e | 1203 | for(int k=0; k<3; k++) { |
jah128 | 1:b067a08ff54e | 1204 | swarm[i].outer_led_colour [k]=0; |
jah128 | 1:b067a08ff54e | 1205 | swarm[i].center_led_colour [k]=0; |
jah128 | 1:b067a08ff54e | 1206 | swarm[i].accelerometer [k]=0; |
jah128 | 1:b067a08ff54e | 1207 | } |
jah128 | 1:b067a08ff54e | 1208 | swarm[i].led_states[0]=0; |
jah128 | 1:b067a08ff54e | 1209 | swarm[i].led_states[1]=0; |
jah128 | 1:b067a08ff54e | 1210 | swarm[i].battery = 0.0; |
jah128 | 1:b067a08ff54e | 1211 | swarm[i].light_sensor = 0.0; |
jah128 | 1:b067a08ff54e | 1212 | swarm[i].gyro = 0.0; |
jah128 | 1:b067a08ff54e | 1213 | } |
jah128 | 1:b067a08ff54e | 1214 | } |