/ - Diff - Colony - Robotics Club

     			if (recharge_state == NOT_RECHARGING)
     				wl_recharge_begin();
     			break;
     		case 10:
     			if (recharge_state == DOCKED)
     				wl_recharge_depart();
     			break;
     		default:
     			RECHARGE_DEBUG_PRINT("Error packet of unknown type received.\n");
     			break;

branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/departing.c
31	31	**/
32	32	int depart_station(void)
33	33	{
34		//TODO: use rangefinders to depart
35	34	int front_distance = range_read_distance(IR2);
36	35
37	36	if(front_distance != -1 && front_distance < 160)

     	wl_init();
     	usb_puts("Wireless initialized!\n");
     	wl_set_channel(0xE);
     	//orb_set_color(YELLOW);
     	wl_token_ring_register();
     	//wl_token_ring_set_bom_functions(do_nothing2, do_nothing2, get_nothing2);
     	wl_token_ring_join();
     	//usb_puts("Wireless initialized.\n");
     	recharge_init();
     	//usb_puts("Recharging initialized.\n");
     	//run_around_init();
     	usb_puts("Recharging initialized.\n");
     	run_around_init();
     	while (1)
+    	{
     		wl_do();
     		int charging = recharge_do();
     		//if (!charging)
     		//{
     			//analog8(IR1);
     			//run_around_FSM();
     		//}
     		if (!charging)
+    		{
     			run_around_FSM();
+    		}
+    	}
     	return 0;

branches/autonomous_recharging/code/projects/autonomous_recharging/dragonfly/recharge_defs.h
1		#define RECHARGE_DEBUG
	1	//#define RECHARGE_DEBUG
2	2
3	3	#ifdef RECHARGE_DEBUG
4	4	#define RECHARGE_DEBUG_PRINT( s ) usb_puts( s )

     int main(int argc, char** argv)
+    {
     	int robot = atoi(argv[1]);
     	char c = argv[1][0];
     	int robot = atoi(argv[2]);
     	wl_set_com_port("/dev/ttyUSB0");
     	wl_init();
     	wl_set_channel(0xE);
     	printf("Wireless initialized.\n");
     	printf("Packet groups initialized.\n");
     	wl_send_robot_to_robot_global_packet(3, 9, NULL, 0, robot, 0);
     	if (c == 'g')
     		wl_send_robot_to_robot_global_packet(3, 9, NULL, 0, robot, 0);
     	if (c == 'd')
     		wl_send_robot_to_robot_global_packet(3, 10, NULL, 0, robot, 0);
     	wl_terminate();

     all: test
     test: *.c ../lib/*.c
     	$(CC) $(CFLAGS) *.c -L../lib -o test -pthread -lrt -lwireless
     	$(CC) $(CFLAGS) *.c -L../lib -I../lib -o test -pthread -lrt -lwireless
     clean:
     	rm *.o test ../lib/*.o

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file wl_token_ring.c
      * @brief Token Ring Implementation
+     *
      * Implementation of the token ring packet group.
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #include <wl_token_ring.h>
     #include <stdlib.h>
-...
     #include <wl_defs.h>
     #include <wireless.h>
     #include <sensor_matrix.h>
     #include <queue.h>
     #ifdef ROBOT
     #ifndef FIREFLY
-...
     /*Packet Handling Routines*/
     void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength);
     void wl_token_interrupt_request_receive(int source, int robot);
     void wl_token_interrupt_pass_receive(int source, int robot);
     void wl_token_bom_on_receive(int source);
     void wl_token_join_receive(int source);
     void wl_token_join_accept_receive(int source);
-...
     int deathDelay = -1;
     //the counter for joining, before we form our own token ring
     int joinDelay = -1;
     //queue containing ids of interruption requests
     Queue* interrupting = NULL;
     //current robot to check in the iterator
     int iteratorCount = 0;
     // the amount of time a robot has had its BOM on for
     int bom_on_count = 0;
     void do_nothing(void) {}
     int get_nothing(void) {return -1;}
-...
+    	}
     	sensorMatrix = sensor_matrix_create();
     	interrupting = queue_create();
     	//add ourselves to the sensor matrix
     	sensor_matrix_set_in_ring(sensorMatrix, wl_get_xbee_id(), 0);
-...
     void wl_token_ring_cleanup()
+    {
     	sensor_matrix_destroy(sensorMatrix);
     	queue_destroy(interrupting);
+    }
     /**
-...
     			WL_DEBUG_PRINT("Robot ");
     			WL_DEBUG_PRINT_INT(wl_token_next_robot);
     			WL_DEBUG_PRINT(" has died.\r\n");
     			wl_token_next_robot = -1;
     			deathDelay = DEATH_DELAY;
+    		}
     		// we may have been dropped from the ring when this is received
-...
     		deathDelay--;
     	if (joinDelay >= 0)
     		joinDelay--;
     	if (bom_on_count >= 0)
     		bom_on_count++;
+    }
     /**
-...
     			//add the robot to the sensor matrix if it is not already there
     			wl_token_bom_on_receive(source);
     			break;
     		case WL_TOKEN_INTERRUPT_REQUEST:
     			wl_token_interrupt_request_receive(source, packet[0]);
     			break;
     		case WL_TOKEN_INTERRUPT_PASS:
     			wl_token_interrupt_pass_receive(source, packet[0]);
     			break;
     		case WL_TOKEN_JOIN:
     			wl_token_join_receive(source);
     			break;
-...
+    {
     	WL_DEBUG_PRINT("Joining the token ring.\r\n");
     	ringState = JOINING;
     	joinDelay = JOIN_DELAY;
     	joinDelay = DEATH_DELAY * 2;
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN,
     		NULL, 0, 0);
+    }
-...
+    }
     /**
      * Requests that the specified robot be given the token and
      * allowed to flash its BOM. After its BOM is flashed, the
      * token will return to the robot who sent it.
+     *
      * @param robot the ID of the robot which should flash its BOM
      **/
     void wl_token_request(int robot)
+    {
     	char buf[1];
     	buf[0] = robot;
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_INTERRUPT_REQUEST,
     		buf, 1, 0);
+    }
     /**
      * Returns the BOM reading robot source has for robot dest.
+     *
      * @param source the robot that made the BOM reading
-...
      **/
     int wl_token_get_sensor_reading(int source, int dest)
+    {
     	return sensor_matrix_get_reading(sensorMatrix, source, dest);
     	if (wl_token_is_robot_in_ring(dest) &&
     			(source == wl_get_xbee_id() || wl_token_is_robot_in_ring(source)))
     		return sensor_matrix_get_reading(sensorMatrix, source, dest);
     	return -1;
+    }
     /**
-...
     void wl_token_pass_receive(int source, char nextRobot, unsigned char* sensorData, int sensorDataLength)
+    {
     	int i, j;
     	// this prevents two tokens from being passed around at a time (second clause is in case we are joining)
     	if (source != wl_token_next_robot && bom_on_count <= DEATH_DELAY / 2 &&
     		ringState != ACCEPTED)
+    	{
     		WL_DEBUG_PRINT("Received token pass when a robot should not have died yet.\n");
     		WL_DEBUG_PRINT("There are probably two tokens going around, packet ignored.\n");
     		return;
+    	}
     	bom_on_count = -1;
     	deathDelay = -1;
     	WL_DEBUG_PRINT("Received the token, next robot is ");
     	WL_DEBUG_PRINT("Received the token from robot");
     	WL_DEBUG_PRINT_INT(source);
     	WL_DEBUG_PRINT(", next robot is ");
     	WL_DEBUG_PRINT_INT((int)nextRobot);
     	WL_DEBUG_PRINT(" \r\n");
     	sensor_matrix_set_in_ring(sensorMatrix, source, 1);
-...
     	WL_DEBUG_PRINT("Robot ");
     	WL_DEBUG_PRINT_INT(source);
     	WL_DEBUG_PRINT(" has flashed its bom.\r\n");
     	bom_on_count = 0;
     	sensor_matrix_set_reading(sensorMatrix, wl_get_xbee_id(),
     		source, get_max_bom_function());
+    }
-...
     			wl_get_xbee_id(), 1);
     		WL_DEBUG_PRINT("Now a member of the token ring.\r\n");
     		ringState = MEMBER;
     		joinDelay = -1;
+    	}
     	if (ringState == LEAVING || ringState == NONMEMBER)
-...
     		return;
+    	}
     	//check for interruption requests
     	if (queue_size(interrupting) > 0)
+    	{
     		char buf[1];
     		buf[0] = (char)(int)queue_remove(interrupting);
     		//in case this robot has requested multiple times
     		queue_remove_all(interrupting, (void*)(int)buf[0]);
     		wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_INTERRUPT_PASS,
     			buf, 1, 0);
     		deathDelay = DEATH_DELAY;
     		wl_token_next_robot = buf[0];
     		return;
+    	}
     	WL_DEBUG_PRINT("Our BOM has been flashed.\r\n");
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON,
     		NULL, 0, 0);
-...
     	if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id()))
+    	{
     		WL_DEBUG_PRINT("Removed from sensor matrix while flashing BOM.\r\n");
     		return;
+    	}
     	wl_token_pass_token();
-...
     	WL_DEBUG_PRINT_INT(source);
     	WL_DEBUG_PRINT(" into the token ring.\r\n");
     	joinDelay = -1;
     	// the token ring has not started yet
     	if (sensor_matrix_get_joined(sensorMatrix) == 1)
     		wl_token_pass_token();
-...
     	WL_DEBUG_PRINT("Accepted into the token ring by robot ");
     	WL_DEBUG_PRINT_INT(source);
     	WL_DEBUG_PRINT(".\r\n");
     	joinDelay = -1;
     	joinDelay = JOIN_DELAY;
     	ringState = ACCEPTED;
     	acceptor = source;
-...
+    }
     /**
      * Called when we receive a packet passing the token and interrupting
      * the token ring.
      * If the token has been passed to us, we flash our BOM
      * and pass it back.
+     *
      * @param source the robot who sent the interrupt packet
      * @param robot the robot the token has been passed to
      **/
     void wl_token_interrupt_pass_receive(int source, int robot)
+    {
     	if (wl_get_xbee_id() != robot)
+    	{
     		queue_remove_all(interrupting, (void*)robot);
     		wl_token_next_robot = robot;
     		deathDelay = DEATH_DELAY + rand() / (RAND_MAX / (2 * DEATH_DELAY));
     		return;
+    	}
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_BOM_ON,
     		NULL, 0, 0);
     	bom_on_function();
     	#ifdef ROBOT
     	delay_ms(BOM_DELAY);
     	#endif
     	bom_off_function();
     	//we don't include ourself, only if we are in the ring
     	int packetSize = 1 + 2 * (sensor_matrix_get_joined(sensorMatrix) - 1);
     	if (!sensor_matrix_get_in_ring(sensorMatrix, wl_get_xbee_id()))
     		packetSize += 2;
     	char* buf = (char*)malloc(packetSize * sizeof(char));
     	if (!buf)
+    	{
     		WL_DEBUG_PRINT("Out of memory - pass_receive.\r\n");
     		return;
+    	}
     	//return the token to where we got it from
     	buf[0] = source;
     	int i = 0, j = 0;
     	for (i = 0; i < sensor_matrix_get_size(sensorMatrix); i++)
     		if (sensor_matrix_get_in_ring(sensorMatrix, i) && i != wl_get_xbee_id())
+    		{
     			buf[2*j + 1] = i;
     			buf[2*j + 2] = sensor_matrix_get_reading(sensorMatrix, wl_get_xbee_id(), i);
     			j++;
+    		}
     	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_PASS,
     		buf, packetSize, 0);
     	wl_token_next_robot = source;
     	deathDelay = DEATH_DELAY;
     	free(buf);
+    }
     /**
      * Returns the number of robots in the token ring.
+     *
      * @return the number of robots in the token ring
-...
     		i++;
     	if (i == sensor_matrix_get_size(sensorMatrix))
     		i = -1;
     	iteratorCount = i;
+    }
     /**
-...
      **/
     int wl_token_iterator_has_next(void)
+    {
     	return iteratorCount == -1;
     	return iteratorCount != -1;
+    }
     /**
-...
+    }
     /**
      * Called when we receive a request to interrupt the token ring.
      * We add the robot to our list of interrupt requests,
      * and will send the token to this robot when we next receive the
      * token, unless someone else does so first.
      * Returns the number of robots currently in the token ring.
+     *
      * @param source the robot requesting interruption
      * @param robt the robot requested to interrupt the token ring
      * @return the number of robots in the token ring
      **/
     void wl_token_interrupt_request_receive(int source, int robot)
     int wl_token_get_num_robots(void)
+    {
     	queue_add(interrupting, (void*)robot);
     	return sensor_matrix_get_joined(sensorMatrix);
+    }
     int wl_token_get_num_robots(void){
       return sensor_matrix_get_joined(sensorMatrix);
     /**
      * Returns the number of robots in the sensor matrix.
+     *
      * @return the number of robots in the sensor matrix
      **/
     int wl_token_get_matrix_size(void)
+    {
     	return sensor_matrix_get_size(sensorMatrix);
+    }
     int wl_token_get_matrix_size(void){
       return sensor_matrix_get_size(sensorMatrix);
+    }

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file sensor_matrix.h
      * @brief Definitions for sensor matrices
+     *
-...
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #ifndef SENSOR_MATRIX_H
     #define SENSOR_MATRIX_H
     /**
      * @defgroup sensormatrix Sensor Matrix
      * @brief the robot sensor matrix
-...
     	/**
     	 * The size of the sensor matrix.
     	**/
     	unsigned int size;
     	int size;
     	/**
     	 * The matrix. Each row represents the readings of one
     	 * robot.
-...
     /**@brief Destroy a sensor matrix **/
     void sensor_matrix_destroy(SensorMatrix* m);
     /**@brief Add a robot to a sensor matrix **/
     void sensor_matrix_add_robot(SensorMatrix* m, unsigned int id);
     void sensor_matrix_add_robot(SensorMatrix* m, int id);
     /**@brief Remove a robot from a sensor matrix **/
     void sensor_matrix_remove_robot(SensorMatrix* m, unsigned int id);
     void sensor_matrix_remove_robot(SensorMatrix* m, int id);
     /**@brief Set a reading in a sensor matrix **/
     void sensor_matrix_set_reading(SensorMatrix* m, int observer, int robot, int reading);
     /**@brief Get a reading in a sensor matrix **/
-...
     /** @} **/ //end defgroup
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file wireless.h
      * @brief Contains definitions for the wireless library.
+     *
-...
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #ifndef WIRELESS_H
     #define WIRELESS_H
     //Note: If this is raised above 16, we will need to do
     //something about frame numbers for TX Status packets.
-...
     } PacketGroupHandler;
     /**@brief Initialize the wireless library **/
     void wl_init(void);
     int wl_init(void);
     /**@brief Uninitialize the wireless library **/
     void wl_terminate(void);
     /**@brief Perform wireless library functionality **/
-...
     /**@brief Get the channel we are using **/
     int wl_get_channel(void);
     /**@brief Get the 16-bit address of the XBee module **/
     unsigned int wl_get_xbee_id(void);
     int wl_get_xbee_id(void);
     /**@brief Set the com port on a computer, undefined on the robot.**/
     void wl_set_com_port(char* port);
     /** @} **/ // end defgroup
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file xbee.c
      * @brief XBee Interface
+     *
      * Implementation of low level communication with the XBee in API mode.
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #include "xbee.h"
     #include "wl_defs.h"
-...
     #include <unistd.h>
     #include <pthread.h>
     #include <errno.h>
     #include <termios.h>
     #else
-...
     #include <stdlib.h>
     #include <string.h>
     #include <queue.h>
     #define XBEE_FRAME_START 0x7E
     /*Frame Types*/
-...
     void xbee_enter_command_mode(void);
     void xbee_exit_command_mode(void);
     void xbee_enter_api_mode(void);
     void xbee_exit_api_mode(void);
     void xbee_wait_for_string(char* s, int len);
     void xbee_wait_for_ok(void);
-...
     /*Global Variables*/
     #ifndef ROBOT
     char* xbee_com_port = XBEE_PORT_DEFAULT;
     int xbee_stream;
     pthread_t* xbee_listen_thread;
     #endif
     Queue* xbee_queue;
     // TODO: is this a good size?
     #define XBEE_BUFFER_SIZE	256
     // a buffer for data received from the XBee
     char arrival_buf[XBEE_BUFFER_SIZE];
     // location of last unread byte in buffer
     volatile int buffer_last = 0;
     // first unread byte in buffer
     volatile int buffer_first = 0;
     //used to store packets as they are read
     char xbee_buf[128];
     int currentBufPos = 0;
-...
     /**
      * Interrupt for the robot. Adds bytes received from the xbee
      * to the queue.
      * to the buffer.
      **/
     #ifndef FIREFLY
     ISR(USART1_RX_vect)
+    {
     	char c = UDR1;
     	queue_add(xbee_queue, (void*)(int)c);
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
     		t = 0;
     	if (t == buffer_first)
+    	{
     		WL_DEBUG_PRINT("Out of space in buffer.\n");
+    	}
     	buffer_last = t;
+    }
     #else
     SIGNAL(SIG_USART0_RECV)
+    {
     	char c = UDR0;
     	queue_add(xbee_queue, (void*)(int)c);
     	arrival_buf[buffer_last] = c;
     	int t = buffer_last + 1;
     	if (t == XBEE_BUFFER_SIZE)
     		t = 0;
     	if (t == buffer_first)
+    	{
     		WL_DEBUG_PRINT("Out of space in buffer.\n");
+    	}
     	buffer_last = t;
+    }
     #endif
-...
     	while (1)
+    	{
     		xbee_read(&c, 1);
     		queue_add(xbee_queue, (void*)(int)c);
     		arrival_buf[buffer_last] = c;
     		int t = buffer_last + 1;
     		if (t == XBEE_BUFFER_SIZE)
     			t = 0;
     		if (t == buffer_first)
+    		{
     			WL_DEBUG_PRINT("Out of space in buffer.\n");
+    		}
     		buffer_last = t;
+    	}
     	return 0;
+    }
-...
     /**
      * Initializes the XBee library so that other functions may be used.
+     *
      * @param pan_id the PAN to join initially. Use XBEE_PAN_DEFAULT
      * to leave the PAN as it is initially.
      **/
     void xbee_lib_init(void)
     int xbee_lib_init(void)
+    {
     	xbee_queue = queue_create();
     	arrival_buf[0] = 'A';
     	arrival_buf[1] = 'A';
     	arrival_buf[2] = 'A';
     	#ifdef ROBOT
     	//enable the receiving interrupt
-...
     	#endif
     	sei();
     	#else
     	xbee_stream = open("/dev/ttyUSB0", O_RDWR);
     	if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0)
     		xbee_stream = open("/dev/ttyUSB1", O_RDWR);
     	if (xbee_stream == -1 || lockf(xbee_stream, F_TEST, 0) != 0)
     	printf("Connecting to port %s.\n", xbee_com_port);
     	xbee_stream = open(xbee_com_port, O_RDWR);
     	if (xbee_stream == -1/* || lockf(xbee_stream, F_TEST, 0) != 0*/)
+    	{
     		printf("Failed to open connection to XBee.\r\n");
     		exit(0);
     		printf("Failed to open connection to XBee on port %s\r\n", xbee_com_port);
     		return -1;
+    	}
     	lockf(xbee_stream, F_LOCK, 0);
     	// set baud rate, etc. correctly
     	struct termios options;
     	tcgetattr(xbee_stream, &options);
     	cfsetispeed(&options, B9600);
     	cfsetospeed(&options, B9600);
     	options.c_iflag &= ~ICRNL;
     	options.c_oflag &= ~OCRNL;
     	options.c_cflag |= (CLOCAL | CREAD);
     	options.c_cflag &= ~PARENB;
     	options.c_cflag &= ~CSTOPB;
     	options.c_cflag &= ~CSIZE;
     	options.c_cflag |= CS8;
     	options.c_lflag &= ~ICANON;
     	options.c_cc[VMIN] = 1;
     	options.c_cc[VTIME] = 50;
     	if (tcsetattr(xbee_stream, TCSANOW, &options))
+    	{
     		fprintf(stderr, "Error setting attributes.\n");
     		return -1;
+    	}
     	//lockf(xbee_stream, F_LOCK, 0);
     	xbee_listen_thread =
     		(pthread_t*)malloc(sizeof(pthread_t));
     	if (xbee_listen_thread == NULL)
+    	{
     		fprintf(stderr, "%s: Malloc failed.\n", __FUNCTION__);
     		return -1;
+    	}
     	int ret = pthread_create(xbee_listen_thread, NULL,
     	int ret = pthread_create(xbee_listen_thread, NULL,
     		listen_to_xbee, NULL);
     	if (ret)
+    	{
     		printf("Failed to create listener thread.\r\n");
     		exit(0);
     		fprintf(stderr, "Failed to create listener thread.\r\n");
     		return -1;
+    	}
     	#endif
     	xbee_enter_command_mode();
     	xbee_enter_api_mode();
-...
     	//wait to return until the address is set
     	while (xbee_address == 0) xbee_get_packet(NULL);
     	return 0;
+    }
     /**
-...
     	lockf(xbee_stream, F_ULOCK, 0);
     	close(xbee_stream);
     	#endif
     	queue_destroy(xbee_queue);
+    }
     /**
-...
+    }
     /**
      * Exit API mode. (warning - does not check for response)
      **/
     void xbee_exit_api_mode()
+    {
     	xbee_send_string("ATAP 0\r");
+    }
     /**
      * Wait until the string "OK\r" is received from the XBee.
      **/
     void xbee_wait_for_ok()
-...
     	char* curr = s;
     	while (curr - s < len)
+    	{
     		if (queue_is_empty(xbee_queue))
     		// check if buffer is empty
     		if (buffer_last == buffer_first)
     			continue;
     		char c = (char)(int)queue_remove(xbee_queue);
     		char c = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
     		if (c == *curr)
     			curr++;
     		else
-...
     	if (currentBufPos == 0)
+    	{
     		do
     			if (queue_is_empty(xbee_queue))
+    		{
     			if (buffer_first == XBEE_BUFFER_SIZE)
     				buffer_first = 0;
     			// check if buffer is empty
     			if (buffer_first == buffer_last)
     				return -1;
     		while ((char)(int)queue_remove(xbee_queue) != XBEE_FRAME_START);
+    		}
     		while (arrival_buf[buffer_first++] != XBEE_FRAME_START);
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
     		xbee_buf[0] = XBEE_FRAME_START;
     		currentBufPos++;
+    	}
-...
     			|| currentBufPos < len + 4)
+    	{
     		if (currentBufPos == 3)
+    		{
     			len = (int)xbee_buf[2] + ((int)xbee_buf[1] << 8);
     		if (queue_is_empty(xbee_queue))
     			if (len > 120)
+    			{
     				WL_DEBUG_PRINT("Packet too large. Probably error in XBee transmission.\n");
     				currentBufPos = 0;
     				return -1;
+    			}
+    		}
     		// check if buffer is empty
     		if (buffer_first == buffer_last)
     			return -1;
     		xbee_buf[currentBufPos++] = (char)(int)queue_remove(xbee_queue);
     		xbee_buf[currentBufPos++] = arrival_buf[buffer_first++];
     		if (buffer_first == XBEE_BUFFER_SIZE)
     			buffer_first = 0;
+    	}
     	currentBufPos = 0;
-...
     	return xbee_address;
+    }
     #ifndef ROBOT
     void xbee_set_com_port(char* port)
+    {
     	xbee_com_port = port;
+    }
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file wl_token_ring.h
      * @brief Declarations for the token ring packet group
+     *
-...
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #ifndef WL_TOKEN_RING_H
     #define WL_TOKEN_RING_H
     /**
      * @defgroup tokenring Token Ring
      * @brief Wireless library token ring implementation
-...
     void wl_token_ring_join(void);
     /**@brief Leave the token ring **/
     void wl_token_ring_leave(void);
     /**@brief Request a BOM flash from the specified robot **/
     void wl_token_request(int robot);
     /**@brief Return the number of robots in the token ring **/
     int wl_token_get_robots_in_ring(void);
-...
     /** @} **/ //end token ring group
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file wl_error_group.h
      * @brief Error Packets
+     *
      * A wireless group for sending error packets.
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #include "wl_error_group.h"
     #include <wireless.h>

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file wl_defs.h
      * @brief Definitions for Wireless
+     *
      * Contains definitions for wireless packet groups, packet types,
      * debugging information, etc.
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #ifndef WL_DEFS_H
     #define WL_DEFS_H
     //comment out this line if using a computer hooked up to an xbee
     //#define ROBOT
     //uncomment this line for debug information
     #define WL_DEBUG
     //#define WL_DEBUG
     // Packet Groups and Types
-...
     #define WL_TOKEN_PASS 1
     #define WL_TOKEN_BOM_ON 2
     #define WL_TOKEN_INTERRUPT_REQUEST 3
     #define WL_TOKEN_INTERRUPT_PASS 4
     #define WL_TOKEN_JOIN 5
     #define WL_TOKEN_JOIN_ACCEPT 6
     #define WL_TOKEN_JOIN 3
     #define WL_TOKEN_JOIN_ACCEPT 4
     // timing constants
     #ifndef FIREFLY
     #define BOM_DELAY 100
     #define DEATH_DELAY 3
     #else
     #define BOM_DELAY 200
     #endif
     #define DEATH_DELAY 4
     #define JOIN_DELAY 8
     // Recharging group
-...
     #endif
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file xbee.h
      * @brief Contains definitions for using the XBee
+     *
-...
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #ifndef XBEE_H
     #define XBEE_H
     /**
      * The port to use the XBee from on the computer.
      * Also, a backup port if the other is used.
      **/
     #ifndef ROBOT
     #define XBEE_PORT_DEFAULT "/dev/ttyUSB1"
     #endif
     /**
      * @defgroup xbee XBee
      * @brief Interface with the XBee module
+     *
-...
     #define XBEE_RX 0x81
     /**@brief Initialize the XBee library **/
     void xbee_lib_init(void);
     int xbee_lib_init(void);
     /**@brief Uninitialize the XBee library **/
     void xbee_terminate(void);
     /**@brief Get a packet from the XBee **/
-...
     int xbee_get_channel(void);
     /**@brief Get the XBee's 16-bit address **/
     unsigned int xbee_get_address(void);
     /**@brief Set the com port on a computer, undefined on the robot**/
     void xbee_set_com_port(char* port);
     /**@}**/ //end defgroup
     #endif

     # Combine all necessary flags and optional flags.
     # Add target processor to flags.
     ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
     ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -Wall $(GENDEPFLAGS)
     ALL_ASFLAGS = rcs
     # Default target.
-...
     	$(AR) $(ALL_ASFLAGS) $(TARGET).a $(OBJ)
     computer:
     	gcc *.c -g -I. -c
     	gcc *.c -Wall -g -I. -c
     	ar rcs $(TARGET).a $(OBJ)
     colonet:
     	g++ -Wall -Wshadow -Wextra *.c -g -I. -c
     	ar rcs $(TARGET).a $(OBJ)
     # Eye candy.
     # AVR Studio 3.x does not check make's exit code but relies on
     # the following magic strings to be generated by the compile job.

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file wl_error_group.h
      * @brief Error Packets
+     *
      * A packet group for sending error packets.
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #ifndef WL_ERROR_GROUP_H
     #define WL_ERROR_GROUP_H
     /**
      * @file wl_error_group.h
      * @brief A packet group for error messages.
+     *
      * A packet group for sending and receiving error
-...
     /** @} **/ // end defgroup
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file sensor_matrix.c
      * @brief Sensor Matrix implementation
+     *
      * Implementation of a sensor matrix for storing localization implementation.
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #include <stdlib.h>
     #include <stdio.h>
     #include <wl_defs.h>
-...
     	SensorMatrix* m;
     	int i;
     	m = malloc(sizeof(SensorMatrix));
     	m = (SensorMatrix*)malloc(sizeof(SensorMatrix));
     	if (!m)
+    	{
     		WL_DEBUG_PRINT("Out of memory - create sensor matrix.\r\n");
     		return NULL;
+    	}
     	m->size = DEFAULT_SENSOR_MATRIX_SIZE;
     	m->matrix = malloc(m->size * sizeof(int*));
     	m->joined = malloc(m->size * sizeof(int));
     	m->matrix = (int**)malloc(m->size * sizeof(int*));
     	m->joined = (int*)malloc(m->size * sizeof(int));
     	m->numJoined = 0;
     	if (!(m->matrix) || !(m->joined))
+    	{
-...
      * @param m the sensor matrix
      * @param id the XBee ID of the robot to add
      **/
     void sensor_matrix_add_robot(SensorMatrix* m, unsigned int id)
     void sensor_matrix_add_robot(SensorMatrix* m, int id)
+    {
     	int i;
     	if (id >= m->size)
-...
     	if (m->matrix[id] != NULL)
     		return;
     	m->matrix[id] = malloc(m->size * sizeof(int));
     	m->matrix[id] = (int*)malloc(m->size * sizeof(int));
     	if (!(m->matrix[id]))
+    	{
     		WL_DEBUG_PRINT("Out of memory - add robot.\r\n");
-...
      * @param m the sensor matrix
      * @param id the XBee ID of the robot to remove
      **/
     void sensor_matrix_remove_robot(SensorMatrix* m, unsigned int id)
     void sensor_matrix_remove_robot(SensorMatrix* m, int id)
+    {
     	int i;
-...
     	int i, j;
     	WL_DEBUG_PRINT("Expanding sensor matrix.\r\n");
     	int** tempMatrix = malloc(nextSize * sizeof(int*));
     	int** tempMatrix = (int**)malloc(nextSize * sizeof(int*));
     	if (!tempMatrix)
+    	{
     		WL_DEBUG_PRINT("Out of memory - expand matrix.\r\n");
-...
     	for (i = 0; i < m->size; i++)
     		if (m->matrix[i] != NULL)
+    		{
     			tempMatrix[i] = malloc(nextSize * sizeof(int));
     		  tempMatrix[i] = (int *)malloc(nextSize * sizeof(int));
     			if (!tempMatrix[i])
+    			{
     				WL_DEBUG_PRINT("Out of memory - expand matrix 2.\r\n");
-...
     	m->size = nextSize;
     	//expand the size of joined
     	int* tempJoined = malloc(nextSize * sizeof(int));
     	int* tempJoined = (int *)malloc(nextSize * sizeof(int));
     	if (!tempJoined)
+    	{
     		WL_DEBUG_PRINT("Out of memory - expand matrix 3.\r\n");

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file wireless.c
      * @brief Wireless Library Implementation
+     *
      * Implementation of the wireless library.
+     *
      * @author Brian Coltin, Colony Project, CMU Robotics Club
      **/
     #include "wireless.h"
     #include "xbee.h"
     #include <stdlib.h>
-...
     #include "wl_defs.h"
     #ifndef ROBOT
     #include <time.h>
     #include <sys/time.h>
     #include <signal.h>
     #else
     #include <time.h>
-...
     PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS];
     #ifndef ROBOT
     timer_t wl_timeout_timer;
     //called when we time out, or receive interrupt
     void sig_handler(int signo)
-...
+    	}
     	return;
+    }
     #else
     //called when the timer ticks
     void timer_handler(void)
+    {
     	wl_timeout = 1;
+    }
     #endif
     /**
      * Initializes the wireless library. Must be called before any
      * other function.
      **/
     void wl_init()
     int wl_init()
+    {
     	int i;
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
     		wl_packet_groups[i] = NULL;
     	xbee_lib_init();
     	if (xbee_lib_init() == -1) {
     	  return -1;
+    	}
     	//begin timeout timer
     	#ifdef ROBOT
     	#ifdef FIREFLY
     	rtc_init(PRESCALE_DIV_128, 32, &wl_do_timeout);
     	rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
     	#else

Project

General

Profile

Colony

Revision 340