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Revision 1617

Added by David Schultz over 14 years ago

wl: clean up unit tests

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wl_defs.h
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/**
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 * Copyright (c) 2007 Colony Project
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 * Copyright (c) 2009 Colony Project
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 *
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
......
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 * @file wl_defs.h
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 * @brief Definitions for Wireless
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 *
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 * Contains definitions for wireless packet groups, packet types,
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 * debugging information, etc.
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 * Contains definitions for wireless, debugging information, etc.
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 *
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 * @author Brian Coltin, Colony Project, CMU Robotics Club
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 * @author Colony Project, CMU Robotics Club
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 **/
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#ifndef WL_DEFS_H


  		




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#define WL_DEFS_H


  		




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// create main wireless page documentation


  		




  
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/** @mainpage The Wireless Library


  		




  
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 * 


  		




  
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 * This is the documentation for the Colony wireless library.\n\n


  		




  
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 * Xbee documentation can be found under @ref xbee \n


  		




  
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 * Higher level wireless documentation can be found under @ref wireless \n


  		




  
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 **/


  		




  
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// need this for C99 int types


  		




  
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#ifndef STDINT_H


  		




  
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#define STDINT_H


  		




  
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#include <stdint.h>


  		




  
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#endif


  		




  
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// ***** TODO: these next two defines should be moved to makefile options


  		




  
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//comment out this line if using a computer hooked up to an xbee


  		




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//#define ROBOT


  		




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//uncomment this line for debug information


  		




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//#define WL_DEBUG


  		




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//return value definitions


  		




  
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/**@addtogroup wireless 


  		




  
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 * @{ **/


  		




  
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/**@defgroup wl_error Error Codes


  		




  
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 * @{ **/


  		




  
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/** @brief Success **/


  		




  
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#define WL_SUCCESS INT8_C(0)


  		




  
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/** @brief Error code for init failure **/


  		




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#define WL_ERROR_INIT_FAILED 1


  		




  
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#define WL_ERROR_INIT_FAILED INT8_C(-1) 


  		




  
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/** @brief Error code for duplicate init calls **/


  		




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#define WL_ERROR_INIT_ALREADY_INITD 2


  		




  
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#define WL_ERROR_INIT_ALREADY_INITD INT8_C(-2) 


  		




  
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/** @brief Error code for not calling init **/


  		




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#define WL_ERROR_LIBRARY_NOT_INITD 3


  		




  
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#define WL_ERROR_LIBRARY_NOT_INITD INT8_C(-3) 


  		




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// Packet Groups and Types


  		




  
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/** @brief Error code for failed termination **/


  		




  
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#define WL_ERROR_TERMINATION_FAILED INT8_C(-4)


  		




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// Error group


  		




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#define WL_ERROR_GROUP 1


  		




  
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/** @brief Error code for failed packet group registration **/


  		




  
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#define WL_ERROR_FAILED_REGISTRATION INT8_C(-5)


  		




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#define WL_ERROR_STRING_TYPE 1


  		




  
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/** @brief Error code for failed packet group registration **/


  		




  
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#define WL_ERROR_FAILED_UNREGISTRATION INT8_C(-6)


  		




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// Token Ring group


  		




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#define WL_TOKEN_RING_GROUP 2


  		




  
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/** @brief Error in arguments **/


  		




  
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#define WL_ERROR_ARGUMENT INT8_C(-7)


  		




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#define WL_TOKEN_PASS 1


  		




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#define WL_TOKEN_SENSOR_MATRIX 2


  		




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#define WL_TOKEN_BOM_ON 3


  		




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#define WL_TOKEN_JOIN 4


  		




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#define WL_TOKEN_JOIN_ACCEPT 5


  		




  
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/** @brief Error code for send failure **/


  		




  
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#define WL_ERROR_SEND INT8_C(-10)


  		




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// timing constants


  		




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#ifndef FIREFLY


  		




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#define BOM_DELAY 100


  		




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#else


  		




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#define BOM_DELAY 200


  		




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#endif


  		




  
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/** @brief Error code for a bad group number **/


  		




  
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#define WL_ERROR_BAD_GROUP INT8_C(-11)


  		




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#define DEATH_DELAY 4


  		




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#define JOIN_DELAY 8


  		




  
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/** @brief Error code for a bad scope **/


  		




  
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#define WL_ERROR_SCOPE INT8_C(-12)


  		




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/** @brief Error code for a bad robot address **/


  		




  
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#define WL_ERROR_ADDRESS INT8_C(-13)


  		




  
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/** @brief Error code for a bad mode **/


  		




  
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#define WL_ERROR_MODE INT8_C(-14)


  		




  
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/** @brief Error code for received paacket destination too small for received packet **/


  		




  
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#define WL_ERROR_TOO_SMALL INT8_C(-15)


  		




  
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/** @brief Error code for sending buffer full (the packet was sent, but no retries will be made). **/


  		




  
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#define WL_ERROR_SENDING_BUFFER_FULL INT8_C(-16)


  		




  
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/** @brief Error code for failed xbee command **/


  		




  
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#define WL_ERROR_XBEE_COMMAND INT8_C(-17)


  		




  
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/** @brief Error code for failed 16bit xbee command **/


  		




  
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#define WL_ERROR_XBEE_COMMAND_16BIT 0xFEFE


  		




  
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/** @brief Error code for bad baud rate **/


  		




  
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#define WL_ERROR_BAUD INT8_C(-18)


  		




  
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/**@} */ // end error group


  		




  
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// TODO: is this a good size?


  		




  
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/*Buffer sizes*/


  		




  
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#define PACKET_BUFFER_SIZE	128


  		




  
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/**@} */ // end wireless group


  		




  
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#ifdef WL_DEBUG


  		




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#ifdef ROBOT


  		




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#include <serial.h>


  		




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#endif


  		




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#ifdef ROBOT


  		




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#define WL_DEBUG_PRINT( s ) usb_puts( s )


  		




  
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#define WL_DEBUG_PRINT_CHAR( c ) usb_putc( c )


  		




  
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#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)


  		




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#else


  		




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#define WL_DEBUG_PRINT( s ) printf( s )


  		




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#endif


  		




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#ifdef ROBOT


  		




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#define WL_DEBUG_PRINT_INT( i ) usb_puti(i)


  		




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#else


  		




  
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#define WL_DEBUG_PRINT_CHAR( c ) printf("%c", c)


  		




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#define WL_DEBUG_PRINT_INT( i ) printf("%i", i)


  		




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#endif


  		




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#else


  		




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#define WL_DEBUG_PRINT( s )


  		




  
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#define WL_DEBUG_PRINT_CHAR( c )


  		




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#define WL_DEBUG_PRINT_INT( i )


  		




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#endif


  		




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#endif


  		




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