[joyos] r303 committed - Added support for detecting which playing board a robot is on

[jo...@googlecode.com]

Revision: 303
Author: vaumnou
Date: Tue Jan 25 00:56:13 2011
Log: Added support for detecting which playing board a robot is on
http://code.google.com/p/joyos/source/detail?r=303

Modified:
/trunk/src/drivers/rf.c

=======================================
--- /trunk/src/drivers/rf.c Thu Jan 20 17:52:14 2011
+++ /trunk/src/drivers/rf.c Tue Jan 25 00:56:13 2011
@@ -271,32 +271,33 @@
return (status & _BV(NRF_BIT_TX_DS)) != 0;
}

+uint8_t rf_which_board = 0xFF;
void rf_process_packet (packet_buffer *rx, uint8_t size, uint8_t pipe) {
uint8_t type = rx->type;
- //uint8_t address = rx->address;

switch (type) {
case POSITION:
- if (robot_id != 0xFF && rx->payload.coords[0].id != robot_id) {
- uint8_t i;
- for (i=1; i<4; i++) {
- if (rx->payload.coords[i].id == robot_id)
- break;
- }
- if (i != 4) {
- board_coord t;
- t = rx->payload.coords[0];
- rx->payload.coords[0] = rx->payload.coords[i];
- rx->payload.coords[i] = t;
+ if (robot_id != 0xFF) {
+ // if we're in position 1, swap to position 0
+ if (rx->payload.coords[1].id == robot_id) {
+ board_coord t = rx->payload.coords[0];
+ rx->payload.coords[0] = rx->payload.coords[1];
+ rx->payload.coords[1] = t;
+ }
+ // if we don't know which board we're on, look for us in
position 0
+ if (rf_which_board == 0xFF && rx->payload.coords[0].id ==
robot_id)
+ rf_which_board = rx->board;
+ // if this packet is for the board we're on, save it
+ if (rf_which_board == rx->board) {
+ acquire(&objects_lock);
+ int offset = (4*rx->seq_no) % 32;
+ memcpy((char *)&locked_objects[offset],
rx->payload.coords, sizeof(rx->payload.coords));
+ uint32_t time_us = get_time_us();
+ for (uint8_t i=0;i<4;i++)
+ locked_position_microtime[i+offset] = time_us;
+ release(&objects_lock);
}
}
- acquire(&objects_lock);
- int offset = (4*rx->seq_no) % 32;
- memcpy((char *)&locked_objects[offset], rx->payload.coords,
sizeof(rx->payload.coords));
- uint32_t time_us = get_time_us();
- for (uint8_t i=0;i<4;i++)
- locked_position_microtime[i+offset] = time_us;
- release(&objects_lock);
break;

case START: