void printBeaconSystemConfiguration(OutputStream* outputStream) {
Point* opponentPoint = getOpponentRobotPosition();
Laser* laser1 = getLaser(LASER_INDEX_1);
Laser* laser2 = getLaser(LASER_INDEX_2);
printLaserStruct(outputStream, laser1);
println(outputStream);
printLaserStruct(outputStream, laser2);
appendCRLF(outputStream);
// Last Detection Time
appendStringAndDecf(outputStream, "lastDetectionTime=", getLastDetectionTimeInMillis());
println(outputStream);
// Obsolete Detection Time Threshold
appendStringAndDecf(outputStream, "obsoleteDetectionTimeThreshold=", getObsoleteDetectionTimeThreshold());
println(outputStream);
// Notify Time Delay
appendStringAndDecf(outputStream, "notifyTimeDelay=", getNotifyTimeDelay());
println(outputStream);
// Opponent Position
appendString(outputStream, "opponentPosition:");
printPoint(outputStream, opponentPoint, " mm");
// Distance between beacon
appendStringAndDecf(outputStream, "distanceBetweenBeacon=", getDistanceBetweenBeacon());
appendString(outputStream, " mm");
println(outputStream);
// Calibration Point
appendString(outputStream, "calibrationPoint:");
printPoint(outputStream, &(beaconSystem.calibrationPoint), " mm");
// Opponent Position
appendString(outputStream, "opponentPosition:");
printPoint(outputStream, opponentPoint, " mm");
}
int receiverZigbeeTest(void) {
/*
char *macAdresse = "1";
char *panId = "1620";
char *channel = "100000";
char *function = "0";
char *adresse = "0";
char *data;
char receiveChar;
char valide;
int toto;
*/
TRISB = 0;
TRISB = 0;
// Configure serialBuffer
Buffer zigbeeBuffer;
initBuffer(&zigbeeBuffer, SERIAL_PORT_ZIGBEE);
setAndOpenSerialBuffer(&zigbeeBuffer);
Buffer debugBuffer;
initBuffer(&debugBuffer, SERIAL_PORT_DEBUG);
setAndOpenSerialBuffer(&debugBuffer);
setSerialBuffer(&debugBuffer);
putString("Beacon Receiver start rs232\n");
initPwmForServo(1500);
// Initialization of laserDetector
// Laser 1
initLaserDetectorStruct(
LASER_INDEX_1,
LASER_SERVO_INDEX_1,
&getLaserPin1,
SERVO_LASER_1_MAX_LEFT_POSITION_DEFAULT_VALUE,
SERVO_LASER_1_MAX_RIGHT_POSITION_DEFAULT_VALUE,
SHORT_TRACKING_INTERVAL,
BEACON_SERVO_1_FACTOR,
BEACON_SERVO_1_INIT_COMPUTE_VALUE,
BEACON_SERVO_1_ANGLE_DEGREE
);
// Laser 2
initLaserDetectorStruct(
LASER_INDEX_2,
LASER_SERVO_INDEX_2,
&getLaserPin2,
SERVO_LASER_2_MAX_LEFT_POSITION_DEFAULT_VALUE,
SERVO_LASER_2_MAX_RIGHT_POSITION_DEFAULT_VALUE,
SHORT_TRACKING_INTERVAL,
BEACON_SERVO_2_FACTOR,
BEACON_SERVO_2_INIT_COMPUTE_VALUE,
BEACON_SERVO_2_ANGLE_DEGREE
);
while (1) {
int laserIndex;
for (laserIndex = 0; laserIndex < LASER_COUNT; laserIndex++) {
detectsLaser(laserIndex);
}
delay100us(5);
char c = handleChar(&debugBuffer, false);
if (c != 0) {
putString("---------\n");
Laser* laser1 = getLaser(LASER_INDEX_1);
Laser* laser2 = getLaser(LASER_INDEX_2);
printLaserStruct(&debugBuffer, laser1);
println();
printLaserStruct(&debugBuffer, laser2);
clearBuffer(&debugBuffer);
Point p = getPosition(DISTANCE_BETWEEN_BEACON);
if (p.x != 0 && p.y != 0) {
sendDec(p.x);
putString(", ");
sendDec(p.y);
println();
}
}
}
/*
valide = 0;
while (1) {
if (U2STAbits.URXDA == 1){
valide = getc();
putc1 (valide);
}
if (U1STAbits.URXDA == 1){
valide = getc1();
putc (valide);
}
}
*/
}
