main.cpp

00001 /*******************************************************************************************
00002  *
00003  * University of York Robot Lab Pi Swarm Robot Library
00004  *
00005  * User Command RF Test Program
00006  *
00007  * Based on the blank program for 0.6 API, this adds handling for user RF messages from the
00008  * table controller
00009  *
00010  * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
00011  * 
00012  * Version 0.6  May 2014
00013  *
00014  * Designed for use with the Pi Swarm Board (enhanced MBED sensor board) v1.2
00015  *
00016  ******************************************************************************************/
00017 
00018 #include "main.h"   // Certain parameters can be set by changing the defines in piswarm.h
00019 
00020 
00021 PiSwarm piswarm;
00022 Serial pc (USBTX,USBRX);
00023 Timeout clear_screen_timeout;
00024 
00025 //This is where the program code goes.  In the simple demo, the outer LEDs are blinked.
00026 int main() {
00027     init();
00028     int step = 0;
00029     int function = 0;
00030     //Each RF message will contain 1 byte: in this case the user ID.  (Note it is note strictly necessary as the
00031     //user ID is already sent seperately and we are also sending the 4-bit function register, so for very simple
00032     //comms the message part can be omitted.)
00033     char message [2];
00034     message[0] = piswarm.get_id() + 48;
00035     
00036     while(1) {
00037         step ++;
00038         //Every 6 steps (1.5 seconds) send an RF message, incrementing the function counter
00039         if(step==6){
00040             step=0;
00041             function ++;
00042             if(function == 16) function = 0;
00043             broadcast_user_rf_command(function,message,1);
00044         }
00045         switch (step%3){
00046             case 0:  piswarm.set_oled_colour(50,0,0); break;
00047             case 1:  piswarm.set_oled_colour(0,50,0); break;
00048             case 2:  piswarm.set_oled_colour(0,0,50); break;
00049         }
00050         switch (step%2){
00051             case 0:  piswarm.set_oleds(1,0,1,0,1,0,1,0,1,0); break;
00052             case 1:  piswarm.set_oleds(0,1,0,1,0,1,0,1,0,1); break;
00053         }
00054         wait(0.25);
00055     }
00056 }
00057 
00058 // This function is used to send the RF message:
00059 void broadcast_user_rf_command(int function, char * message, int length)
00060 {
00061     //This function augments the communications stack
00062     //It sends a 'user' RF command to all members (ie target_id = 0)
00063     //It sends a 'request', not a 'command', meaning it will still be handled if commands are disabled (RF_ALLOW_COMMANDS set to 0, recommended)
00064     //It takes three inputs:
00065     // * function (an integer from 0 to 15)
00066     // * message  (a char array)
00067     // * length   (length of message in bytes)
00068     send_rf_message(0,48+(function % 16),message,length);
00069 }
00070 
00071 void clear_screen(){
00072     piswarm.cls();   
00073 }
00074 
00075 /***************************************************************************************************************************************
00076  *
00077  * Beyond this point, empty code blocks for optional functions is given
00078  *
00079  * These may be left blank if not used, but should not be deleted 
00080  *
00081  **************************************************************************************************************************************/
00082  
00083 // Communications
00084 
00085 // If using the communication stack (USE_COMMUNICATION_STACK = 1), functionality for handling user RF responses should be added to the following functions
00086 // If the communication stack is not being used, all radio data is sent to processRawRFData() instead
00087 
00088 void handleUserRFCommand(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length){
00089     piswarm.cls();
00090     piswarm.locate(0,0);
00091     piswarm.printf("URF:%d",function);
00092     if(length > 0) {
00093         piswarm.locate(0,1);
00094         piswarm.printf("%s",data);   
00095     }
00096     clear_screen_timeout.attach(&clear_screen,0.2);
00097     // A 'user' RF Command has been received:  write the code here to process it
00098     // sender = ID of the sender, range 0 to 31
00099     // broadcast_message = 1 is message sent to all robots, 0 otherwise
00100     // request_response = 1 if a response is expected, 0 otherwise
00101     // id = Message ID, range 0 to 255
00102     // is_command = 1 is message is a command, 0 if it is a request.  If RF_ALLOW_COMMANDS is not selected, only requests will be sent to this block
00103     // function = The function identifier.  Range 0 to 15
00104     // * data = Array containing extra data bytes
00105     // length = Length of extra data bytes held (range 0 to 57)
00106 
00107     //Do something...
00108 }    
00109 
00110 void handleUserRFResponse(char sender, char broadcast_message, char success, char id, char is_command, char function, char * data, char length){
00111     //pc.printf("Response:%s\n",data);
00112     // A 'user' RF Response has been received:  write the code here to process it
00113     // sender = ID of the sender, range 0 to 31
00114     // broadcast_message = 1 is message sent to all robots, 0 otherwise
00115     // success = 1 if operation successful, 0 otherwise
00116     // id = Message ID, range 0 to 255
00117     // is_command = 1 is message is a command, 0 if it is a request.  If RF_ALLOW_COMMANDS is not selected, only requests will be sent to this block
00118     // function = The function identifier.  Range 0 to 15
00119     // * data = Array containing extra data bytes
00120     // length = Length of extra data bytes held (range 0 to 57)
00121 
00122     //Do something...  
00123 }    
00124 
00125 void processRawRFData(char * rstring, char cCount){
00126     // A raw RF packet has been received: write the code here to process it
00127     // rstring = The received packet
00128     // cCount = Packet length
00129     
00130     //Do something...
00131 }
00132 
00133 void switch_pressed() {
00134     //Switch(es) pressed {1 = Center  2 = Right  4 = Left  8 = Down  16 = Up}
00135     char switches = piswarm.get_switches();
00136   
00137     //Do something...
00138 }