James Hilder / Pi_Swarm_Library_7

Unfinished v0.7, added bearing detection

Fork of Pi_Swarm_Library_v06_alpha by piswarm

communications.h@11:5ebcb52726cf, 2014-06-30 (annotated)

Committer:
jah128
Date:
Mon Jun 30 07:58:31 2014 +0000
Revision:
11:5ebcb52726cf
Parent:
9:7a4fc1d7e484 
Added prototype bearing detection to pi swarm library;

Who changed what in which revision?

UserRevisionLine numberNew 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 11:5ebcb52726cf 7 * Version 0.7 May 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 0:9ffe8ebd1c40 12
jah128 0:9ffe8ebd1c40 13 #ifndef COMMUNICATIONS_H
jah128 0:9ffe8ebd1c40 14 #define COMMUNICATIONS_H
jah128 1:b067a08ff54e 15
jah128 1:b067a08ff54e 16 // The swarm_member struct is used by the communication stack to store the status and results for RF commands and requests
jah128 1:b067a08ff54e 17 // that have been sent. An array of [SWARM_SIZE] swarm_members is created. This contains a status flag for all of the
jah128 1:b067a08ff54e 18 // standard requests and commands and a set of variables for data which can be collected.
jah128 1:b067a08ff54e 19 //
jah128 1:b067a08ff54e 20 // The status flags are set to the following values:
jah128 1:b067a08ff54e 21 // 0 : "unused" - before any requests are sent
jah128 1:b067a08ff54e 22 // 1 : "waiting" - a request or command has been sent and the result is not yet known
jah128 1:b067a08ff54e 23 // 2 : "received" - a valid response to a request or command has been received
jah128 1:b067a08ff54e 24 // 3 : "invalid" - an invalid response to a request or command has been received
jah128 1:b067a08ff54e 25 struct swarm_member {
jah128 1:b067a08ff54e 26 char status_rf_request_null;
jah128 1:b067a08ff54e 27 char status_rf_request_left_motor_speed;
jah128 1:b067a08ff54e 28 char status_rf_request_right_motor_speed;
jah128 1:b067a08ff54e 29 char status_rf_request_button_state;
jah128 1:b067a08ff54e 30 char status_rf_request_led_colour;
jah128 1:b067a08ff54e 31 char status_rf_request_led_states;
jah128 1:b067a08ff54e 32 char status_rf_request_battery;
jah128 1:b067a08ff54e 33 char status_rf_request_light_sensor;
jah128 1:b067a08ff54e 34 char status_rf_request_accelerometer;
jah128 1:b067a08ff54e 35 char status_rf_request_gyroscope;
jah128 1:b067a08ff54e 36 char status_rf_request_background_ir;
jah128 1:b067a08ff54e 37 char status_rf_request_reflected_ir;
jah128 1:b067a08ff54e 38 char status_rf_request_distance_ir;
jah128 1:b067a08ff54e 39 char status_rf_request_line_following_ir;
jah128 1:b067a08ff54e 40 char status_rf_request_uptime;
jah128 1:b067a08ff54e 41 char status_rf_command_stop;
jah128 1:b067a08ff54e 42 char status_rf_command_forward;
jah128 1:b067a08ff54e 43 char status_rf_command_backward;
jah128 1:b067a08ff54e 44 char status_rf_command_left;
jah128 1:b067a08ff54e 45 char status_rf_command_right;
jah128 1:b067a08ff54e 46 char status_rf_command_left_motor;
jah128 1:b067a08ff54e 47 char status_rf_command_right_motor;
jah128 1:b067a08ff54e 48 char status_rf_command_oled_colour;
jah128 1:b067a08ff54e 49 char status_rf_command_cled_colour;
jah128 1:b067a08ff54e 50 char status_rf_command_oled_state;
jah128 1:b067a08ff54e 51 char status_rf_command_cled_state;
jah128 1:b067a08ff54e 52 char status_rf_command_set_oled;
jah128 1:b067a08ff54e 53 char status_rf_command_play_tune;
jah128 1:b067a08ff54e 54 char status_rf_command_sync_time;
jah128 1:b067a08ff54e 55 float left_motor_speed;
jah128 1:b067a08ff54e 56 float right_motor_speed;
jah128 1:b067a08ff54e 57 char button_state;
jah128 1:b067a08ff54e 58 char outer_led_colour [3];
jah128 1:b067a08ff54e 59 char center_led_colour [3];
jah128 1:b067a08ff54e 60 char led_states[2];
jah128 1:b067a08ff54e 61 float battery;
jah128 1:b067a08ff54e 62 float light_sensor;
jah128 1:b067a08ff54e 63 float accelerometer[3];
jah128 1:b067a08ff54e 64 float gyro;
jah128 3:4c0f2f3de33e 65 unsigned short background_ir[8];
jah128 3:4c0f2f3de33e 66 unsigned short reflected_ir[8];
jah128 3:4c0f2f3de33e 67 float distance_ir[8];
jah128 1:b067a08ff54e 68 };
jah128 1:b067a08ff54e 69
jah128 1:b067a08ff54e 70 void send_rf_message(char target, char command, char * data, char length);
jah128 1:b067a08ff54e 71 void setup_communications(void);
jah128 0:9ffe8ebd1c40 72 void decodeMessage(char sender, char target, char id, char command, char * data, char length);
jah128 0:9ffe8ebd1c40 73 void send_response(char target, char is_broadcast, char success, char id, char is_command, char function, char * data, char length);
jah128 0:9ffe8ebd1c40 74 void tdma_response();
jah128 0:9ffe8ebd1c40 75 void handle_command(char sender, char is_broadcast, char request_response, char id, char function, char * data, char length);
jah128 0:9ffe8ebd1c40 76 void handle_request(char sender, char is_broadcast, char request_response, char id, char function);
jah128 0:9ffe8ebd1c40 77 void processRadioData(char * data, char length);
jah128 0:9ffe8ebd1c40 78 void errormessage(int index);
jah128 1:b067a08ff54e 79 void handle_response(char sender, char is_broadcast, char success, char id, char is_command, char function, char * data, char length);
jah128 4:52b3e4c5a425 80
jah128 1:b067a08ff54e 81 void send_rf_request_null ( char target );
jah128 1:b067a08ff54e 82 void send_rf_request_left_motor_speed ( char target );
jah128 1:b067a08ff54e 83 void send_rf_request_right_motor_speed ( char target );
jah128 1:b067a08ff54e 84 void send_rf_request_button_state ( char target );
jah128 1:b067a08ff54e 85 void send_rf_request_led_colour ( char target );
jah128 1:b067a08ff54e 86 void send_rf_request_led_states ( char target );
jah128 1:b067a08ff54e 87 void send_rf_request_battery ( char target );
jah128 1:b067a08ff54e 88 void send_rf_request_light_sensor ( char target );
jah128 1:b067a08ff54e 89 void send_rf_request_accelerometer ( char target );
jah128 1:b067a08ff54e 90 void send_rf_request_gyroscope ( char target );
jah128 1:b067a08ff54e 91 void send_rf_request_background_ir ( char target );
jah128 1:b067a08ff54e 92 void send_rf_request_reflected_ir ( char target );
jah128 1:b067a08ff54e 93 void send_rf_request_distance_ir ( char target );
jah128 1:b067a08ff54e 94 void send_rf_request_line_following_ir ( char target );
jah128 1:b067a08ff54e 95 void send_rf_request_uptime ( char target );
jah128 1:b067a08ff54e 96 void send_rf_command_stop ( char target, char request_response );
jah128 1:b067a08ff54e 97 void send_rf_command_forward ( char target, char request_response, float speed );
jah128 1:b067a08ff54e 98 void send_rf_command_backward ( char target, char request_response, float speed );
jah128 1:b067a08ff54e 99 void send_rf_command_left ( char target, char request_response, float speed );
jah128 1:b067a08ff54e 100 void send_rf_command_right ( char target, char request_response, float speed );
jah128 1:b067a08ff54e 101 void send_rf_command_left_motor ( char target, char request_response, float speed );
jah128 1:b067a08ff54e 102 void send_rf_command_right_motor ( char target, char request_response, float speed );
jah128 1:b067a08ff54e 103 void send_rf_command_oled_colour ( char target, char request_response, char red, char green, char blue );
jah128 1:b067a08ff54e 104 void send_rf_command_cled_colour ( char target, char request_response, char red, char green, char blue );
jah128 1:b067a08ff54e 105 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 106 void send_rf_command_cled_state ( char target, char request_response, char enable );
jah128 1:b067a08ff54e 107 void send_rf_command_set_oled ( char target, char request_response, char oled, char enable );
jah128 1:b067a08ff54e 108 void send_rf_command_play_tune ( char target, char request_response, char * data, char length );
jah128 1:b067a08ff54e 109 void send_rf_command_sync_time ( char target, char request_response );
jah128 1:b067a08ff54e 110
jah128 1:b067a08ff54e 111
jah128 1:b067a08ff54e 112 const char * const requests_array[] = { "Req.Ack", "Req.LM", "Req.RM", "Req.But","Req.LEDCol","Req.LED","Req.Lgt","Req.Acc","Req.Gyro","Req.BIR","Req.RIR","Req.DIR","Req.LFS","Req.UpT","Req.???","Req.???"};
jah128 1:b067a08ff54e 113 const char * const commands_array[] = { "Cm.Stop","Cm.Fward","Cm.Bward","Cm.Left","Cm.Right","Cm.LMot","Cm.RMot","Cm.OLEDC","Cm.CLEDC","Cm.OLEDS","Cm.CLEDS","Cm.SetLED","Cm.Play","Cm.Sync","Cm.???","Cm.???"};
jah128 1:b067a08ff54e 114
jah128 0:9ffe8ebd1c40 115 #endif //COMMUNICATIONS_H