112 lines
3.1 KiB
C
112 lines
3.1 KiB
C
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file bot-2-pc.c
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* @brief Verbindung zwischen c't-Bot und PC
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* @author Benjamin Benz (bbe@heise.de)
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* @date 28.2.06
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*/
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#include "ct-Bot.h"
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#include "command.h"
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#include "uart.h"
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#include "bot-2-pc.h"
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#include "sensor.h"
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#include "motor.h"
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#include "led.h"
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#include "mouse.h"
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#include "log.h"
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#include <stdlib.h>
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#ifdef MCU
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#ifdef BOT_2_PC_AVAILABLE
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/*!
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* Diese Funktion nimmt die Daten vom PC entgegen
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* und wertet sie aus. dazu nutzt er die Funktion command_evaluate()
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*/
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void bot_2_pc_listen(void){
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// LOG_DEBUG(("%d bytes recvd",uart_data_available()));
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if (uart_data_available() >= sizeof(command_t)){
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// LOG_DEBUG(("%d bytes recvd",uart_data_available()));
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if (command_read() ==0){
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LOG_DEBUG(("command received"));
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command_evaluate();
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}else {
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// TODO Fehlerbehandlung
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}
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}
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}
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/*!
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* Diese Funktion informiert den PC ueber alle Sensor und Aktuator-Werte
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*/
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void bot_2_pc_inform(void){
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int16 value1, value2;
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command_write(CMD_AKT_MOT, SUB_CMD_NORM ,(int16*)&speed_l,(int16*)&speed_r,0);
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value1=(int16)led;
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command_write(CMD_AKT_LED, SUB_CMD_NORM ,&value1,&value1,0);
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command_write(CMD_SENS_IR, SUB_CMD_NORM ,(int16*)&sensDistL,(int16*)&sensDistR,0);
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command_write(CMD_SENS_ENC, SUB_CMD_NORM ,(int16*)&sensEncL,(int16*)&sensEncR,0);
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command_write(CMD_SENS_BORDER, SUB_CMD_NORM ,(int16*)&sensBorderL,(int16*)&sensBorderR,0);
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command_write(CMD_SENS_LINE, SUB_CMD_NORM ,(int16*)&sensLineL,(int16*)&sensLineR,0);
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command_write(CMD_SENS_LDR, SUB_CMD_NORM ,(int16*)&sensLDRL,(int16*)&sensLDRR,0);
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value1= (int16) sensTrans; value2=0;
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command_write(CMD_SENS_TRANS, SUB_CMD_NORM ,&value1,&value2,0);
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value1= (int16) sensDoor;
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command_write(CMD_SENS_DOOR, SUB_CMD_NORM ,&value1,&value2,0);
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#ifdef MAUS_AVAILABLE
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value1=(int16)sensMouseDX;
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value2=(int16)sensMouseDY;
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command_write(CMD_SENS_MOUSE, SUB_CMD_NORM ,&value1,&value2,0);
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#endif
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value1=(int16)sensError; value2=0;
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command_write(CMD_SENS_ERROR, SUB_CMD_NORM ,&value1,&value2,0);
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// command_write(CMD_SENS_RC5, SUB_CMD_NORM ,(int16*)&RC5_Code,&value2,0);
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}
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#include <stdio.h>
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#include <string.h>
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/*!
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* Meldet den Bot am c't-Sim an
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*/
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void bot_2_pc_init(void){
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int16 null =0;
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uint8 j;
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uart_init();
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for(j=0;j<5;j++)
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command_write(CMD_WELCOME, SUB_WELCOME_REAL ,&null,&null,0);
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}
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#endif
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#endif
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