/*
mca_network_cnxn_thread (MCACnxn *cnxn)
Connects to server, wait for commands and executes them.
It retrys to connect to the server in case the connection fails
This function never returns
*/
cnxn_status_t
mca_network_cnxn_thread (MCACnxn *cnxn)
{
gint32 retval = 0;
gint32 cmd;
while (1){
DEBUG_PRINT ("mca_network_cnxn_thread(): Attempt to connect: %d\n", retval);
retval = mca_connect_server(cnxn);
if (!retval){
DEBUG_PRINT("mca_network_cnxn_thread(): failed to connect to %s\n", cnxn->server_name);
cnxn->connected = FALSE;
count_seconds(cnxn->retrysec);
continue;
}
DEBUG_PRINT("mca_network_cnxn_thread(): connected to %s\n", cnxn->server_name);
//identify myself to server
send_signature(cnxn);
//wait for commands and process them when we received
while ((cmd = mca_network_wait_for_cmd(cnxn))){
retval = cnxn->cmd_cb(cmd, cnxn->cmd_data, cnxn->cmd_data_len);
DEBUG_PRINT("mca_network_cnxn_thread(): executed [%08X], returned [%d]\n", cmd, retval);
}
//cmd == 0 - connection must have broken or flow was destroyed
DEBUG_PRINT("mca_network_cnxn_thread(): connection to %s broke\n", cnxn->server_name);
mca_network_close_connection(cnxn);
count_seconds(cnxn->retrysec);
}
return 0;
}
int main()
{
pololu_3pi_init(2000);
play_mode(PLAY_CHECK);
clear();
// start receiving data at 115.2 kbaud
serial_set_baud_rate(115200);
serial_receive_ring(buffer, 100);
while(1)
{
// wait for a command
char command = read_next_byte();
// The list of commands is below: add your own simply by
// choosing a command byte and introducing another case
// statement.
switch(command)
{
case (char)0x00:
// silent error - probable master resetting
break;
case (char)0x81:
send_signature();
break;
case (char)0x86:
send_raw_sensor_values();
break;
case (char)0x87:
send_calibrated_sensor_values(1);
break;
case (char)0xB0:
send_trimpot();
break;
case (char)0xB1:
send_battery_millivolts();
break;
case (char)0xB3:
do_play();
break;
case (char)0xB4:
calibrate_line_sensors(IR_EMITTERS_ON);
send_calibrated_sensor_values(1);
break;
case (char)0xB5:
line_sensors_reset_calibration();
break;
case (char)0xB6:
send_line_position();
break;
case (char)0xB7:
do_clear();
break;
case (char)0xB8:
do_print();
break;
case (char)0xB9:
do_lcd_goto_xy();
break;
case (char)0xBA:
auto_calibrate();
break;
case (char)0xBB:
set_pid();
break;
case (char)0xBC:
stop_pid();
break;
case (char)0xC1:
m1_forward();
break;
case (char)0xC2:
m1_backward();
break;
case (char)0xC5:
m2_forward();
break;
case (char)0xC6:
m2_backward();
break;
default:
clear();
print("Bad cmd");
lcd_goto_xy(0,1);
print_hex_byte(command);
play("o7l16crc");
continue; // bad command
}
}
}