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1 | 242 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | 309 | emarinel | *
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4 | 242 | bcoltin | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | 309 | emarinel | *
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13 | 242 | bcoltin | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | 309 | emarinel | *
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16 | 242 | bcoltin | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file wireless.c
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28 | * @brief Wireless Library Implementation
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29 | *
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30 | * Implementation of the wireless library.
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31 | *
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32 | * @author Brian Coltin, Colony Project, CMU Robotics Club
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33 | **/
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34 | |||
35 | 17 | bcoltin | #include "wireless.h" |
36 | #include "xbee.h" |
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37 | #include <stdlib.h> |
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38 | #include <stdio.h> |
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39 | |||
40 | #include "wl_defs.h" |
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41 | |||
42 | #ifndef ROBOT
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43 | 109 | bcoltin | #include <sys/time.h> |
44 | 17 | bcoltin | #include <signal.h> |
45 | #else
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46 | #include <time.h> |
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47 | 86 | bcoltin | #ifndef FIREFLY
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48 | 17 | bcoltin | #include <bom.h> |
49 | #endif
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50 | 86 | bcoltin | #endif
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51 | 17 | bcoltin | |
52 | /*Function Prototypes*/
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53 | |||
54 | void wl_do_timeout(void); |
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55 | |||
56 | //Note: the actual frame sent has group as the first four bits and
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57 | //frame as the last four.
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58 | 397 | emarinel | int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame); |
59 | 17 | bcoltin | |
60 | /*Data Members*/
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61 | |||
62 | //used to store incoming and outgoing packets
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63 | unsigned char wl_buf[128]; |
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64 | //1 if we have timed out since we last checked, 0 otherwise.
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65 | int wl_timeout = 0; |
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66 | |||
67 | PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS]; |
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68 | |||
69 | #ifndef ROBOT
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70 | |||
71 | //called when we time out, or receive interrupt
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72 | 346 | bcoltin | void sig_handler(int signo) |
73 | { |
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74 | switch (signo)
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75 | { |
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76 | case SIGALRM:
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77 | wl_timeout = 1;
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78 | break;
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79 | case SIGINT:
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80 | wl_terminate(); |
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81 | exit(1);
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82 | break;
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83 | } |
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84 | return;
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85 | 17 | bcoltin | } |
86 | 166 | bcoltin | #else
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87 | |||
88 | //called when the timer ticks
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89 | 346 | bcoltin | void timer_handler(void) |
90 | { |
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91 | wl_timeout = 1;
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92 | 166 | bcoltin | } |
93 | |||
94 | 17 | bcoltin | #endif
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95 | |||
96 | /**
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97 | * Initializes the wireless library. Must be called before any
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98 | * other function.
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99 | 399 | emarinel | *
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100 | * @param wl_port File descriptor for wireless port, or NULL for default.
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101 | 17 | bcoltin | **/
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102 | 346 | bcoltin | int wl_init()
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103 | { |
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104 | int i;
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105 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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106 | wl_packet_groups[i] = NULL;
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107 | 17 | bcoltin | |
108 | 346 | bcoltin | if (xbee_lib_init() == -1) { |
109 | return -1; |
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110 | } |
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111 | 309 | emarinel | |
112 | 346 | bcoltin | //begin timeout timer
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113 | #ifdef ROBOT
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114 | #ifdef FIREFLY
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115 | rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
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116 | #else
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117 | rtc_init(HALF_SECOND, &timer_handler); |
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118 | #endif
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119 | #else
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120 | 309 | emarinel | |
121 | 346 | bcoltin | //create our timer
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122 | struct itimerval timer_val;
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123 | struct timeval interval;
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124 | interval.tv_sec = 0;
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125 | interval.tv_usec = 500000;
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126 | struct timeval first_time;
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127 | first_time.tv_sec = 0;
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128 | first_time.tv_usec = 500000;
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129 | timer_val.it_interval = interval; |
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130 | timer_val.it_value = first_time; |
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131 | if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1) |
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132 | { |
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133 | WL_DEBUG_PRINT("Error creating a timer.\r\n");
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134 | perror("Failure's cause");
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135 | exit(1);
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136 | } |
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137 | 109 | bcoltin | |
138 | 346 | bcoltin | //create signal handler
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139 | struct sigaction wl_sig_act;
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140 | wl_sig_act.sa_handler = sig_handler; |
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141 | wl_sig_act.sa_flags = 0;
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142 | sigemptyset(&wl_sig_act.sa_mask); |
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143 | sigaction(SIGALRM, &wl_sig_act, 0);
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144 | sigaction(SIGINT, &wl_sig_act, 0);
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145 | #endif
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146 | 309 | emarinel | |
147 | 346 | bcoltin | return 0; |
148 | 17 | bcoltin | } |
149 | |||
150 | /**
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151 | * Uninitializes the wireless library.
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152 | **/
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153 | 346 | bcoltin | void wl_terminate()
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154 | { |
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155 | int i;
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156 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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157 | if (wl_packet_groups[i] != NULL && |
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158 | wl_packet_groups[i]->unregister != NULL)
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159 | wl_packet_groups[i]->unregister(); |
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160 | 309 | emarinel | |
161 | 346 | bcoltin | xbee_terminate(); |
162 | 17 | bcoltin | } |
163 | |||
164 | /**
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165 | 60 | bcoltin | * Set the PAN for the XBee to join.
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166 | *
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167 | * @param pan the new PAN
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168 | *
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169 | * @see wl_get_pan
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170 | **/
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171 | 346 | bcoltin | void wl_set_pan(int pan) |
172 | { |
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173 | xbee_set_pan_id(pan); |
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174 | 60 | bcoltin | } |
175 | |||
176 | /**
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177 | * Get the PAN the XBee is currently part of.
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178 | *
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179 | * @return the PAN of the XBee
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180 | *
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181 | * @see wl_set_pan
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182 | **/
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183 | 346 | bcoltin | int wl_get_pan(void) |
184 | { |
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185 | return xbee_get_pan_id();
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186 | 60 | bcoltin | } |
187 | |||
188 | /**
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189 | * Set the channel the XBee is listening to.
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190 | *
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191 | * @param channel the new channel to join
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192 | *
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193 | * @see wl_get_channel
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194 | **/
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195 | 346 | bcoltin | void wl_set_channel(int channel) |
196 | { |
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197 | xbee_set_channel(channel); |
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198 | 60 | bcoltin | } |
199 | |||
200 | /**
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201 | * Get the channel the XBee is part of.
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202 | *
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203 | * @return the channel the XBee is part of
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204 | *
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205 | * @see wl_set_channel
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206 | **/
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207 | 346 | bcoltin | int wl_get_channel(void) |
208 | { |
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209 | return xbee_get_channel();
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210 | 60 | bcoltin | } |
211 | |||
212 | /**
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213 | 17 | bcoltin | * Returns the 16-bit address of the XBee module.
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214 | *
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215 | * @return the 16-bit address of the XBee module.
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216 | **/
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217 | 346 | bcoltin | int wl_get_xbee_id()
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218 | { |
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219 | return xbee_get_address();
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220 | 17 | bcoltin | } |
221 | |||
222 | /**
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223 | * Send a packet to a specific XBee without specifying a PAN.
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224 | *
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225 | * @param group the packet group
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226 | * @param type the packet type
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227 | * @param data the packet data
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228 | * @param len the packet length in bytes
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229 | * @param dest the 16-bit address of the XBee to send the packet to
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230 | * @param frame the frame number to see with a TX_STATUS response
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231 | **/
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232 | void wl_send_robot_to_robot_global_packet(char group, char type, |
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233 | 346 | bcoltin | char* data, int len, int dest, char frame) |
234 | { |
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235 | wl_send_packet(group, type, data, len, dest, |
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236 | XBEE_OPTIONS_BROADCAST_ALL_PANS, frame); |
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237 | 17 | bcoltin | } |
238 | |||
239 | /**
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240 | * Send a packet to a specific XBee in the same PAN.
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241 | *
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242 | * @param group the packet group
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243 | * @param type the packet type
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244 | * @param data the packet data
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245 | * @param len the packet length in bytes
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246 | * @param dest the 16-bit address of the XBee to send the packet to
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247 | * @param frame the frame number to see with a TX_STATUS response
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248 | **/
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249 | void wl_send_robot_to_robot_packet(char group, char type, |
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250 | 346 | bcoltin | char* data, int len, int dest, char frame) |
251 | { |
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252 | wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, |
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253 | frame); |
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254 | 17 | bcoltin | } |
255 | |||
256 | /**
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257 | * Send a packet to all XBees in all PANs.
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258 | *
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259 | * @param group the packet group
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260 | * @param type the packet type
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261 | * @param data the packet data
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262 | * @param len the packet length in bytes
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263 | * @param frame the frame number to see with a TX_STATUS response
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264 | **/
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265 | 397 | emarinel | int wl_send_global_packet(char group, char type, char* data, int len, char frame) |
266 | 346 | bcoltin | { |
267 | 397 | emarinel | return wl_send_packet(group, type, data, len, XBEE_BROADCAST, XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
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268 | 17 | bcoltin | } |
269 | |||
270 | /**
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271 | * Send a packet to all XBee's in the same PAN.
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272 | *
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273 | * @param group the packet group
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274 | * @param type the packet type
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275 | * @param data the packet data
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276 | * @param len the packet length in bytes
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277 | * @param frame the frame number to see with a TX_STATUS response
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278 | **/
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279 | void wl_send_pan_packet(char group, char type, |
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280 | 346 | bcoltin | char* data, int len, char frame) |
281 | { |
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282 | wl_send_packet(group, type, data, len, XBEE_BROADCAST, |
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283 | XBEE_OPTIONS_NONE, frame); |
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284 | 17 | bcoltin | } |
285 | |||
286 | /**
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287 | * Send a packet.
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288 | *
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289 | * @param group the packet group
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290 | * @param type the packet type
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291 | * @param data the packet data
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292 | * @param len the packet length in bytes
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293 | * @param dest the destination of the packet
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294 | * @param options the options for sending the packet
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295 | * @param frame the frame number to see with a TX_STATUS response
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296 | **/
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297 | 397 | emarinel | int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame) |
298 | 346 | bcoltin | { |
299 | char buf[128]; |
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300 | int i;
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301 | if (frame != 0) |
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302 | frame = (frame & 0x0F) | ((group & 0x0F) << 4); |
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303 | 397 | emarinel | |
304 | 346 | bcoltin | buf[0] = group;
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305 | buf[1] = type;
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306 | for (i = 0; i < len; i++) |
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307 | buf[2 + i] = data[i];
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308 | 397 | emarinel | |
309 | return xbee_send_packet(buf, len + 2, dest, options, frame); |
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310 | 17 | bcoltin | } |
311 | |||
312 | /**
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313 | * Register a packet group with the wireless library. The event
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314 | * handlers in the packet group will be called whenever an
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315 | * event dealing with the packet group's group code occurs.
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316 | *
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317 | * @param h the PacketGroupHandler to register
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318 | **/
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319 | 346 | bcoltin | void wl_register_packet_group(PacketGroupHandler* h)
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320 | { |
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321 | if (h->groupCode >= WL_MAX_PACKET_GROUPS)
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322 | { |
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323 | WL_DEBUG_PRINT("Packet group code too large.\r\n");
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324 | return;
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325 | } |
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326 | if (wl_packet_groups[h->groupCode] != NULL) |
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327 | { |
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328 | WL_DEBUG_PRINT("Packet group code already registered.\r\n");
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329 | return;
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330 | } |
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331 | wl_packet_groups[h->groupCode] = h; |
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332 | 17 | bcoltin | } |
333 | |||
334 | /**
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335 | * Unregister a packet group from the wireless library.
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336 | 309 | emarinel | *
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337 | 17 | bcoltin | * @param h the packet group to remove
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338 | **/
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339 | 346 | bcoltin | void wl_unregister_packet_group(PacketGroupHandler* h)
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340 | { |
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341 | unsigned int groupCode = h->groupCode; |
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342 | PacketGroupHandler* p = wl_packet_groups[groupCode]; |
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343 | if (p != NULL && p->unregister != NULL) |
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344 | p->unregister(); |
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345 | wl_packet_groups[groupCode] = NULL;
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346 | 17 | bcoltin | } |
347 | |||
348 | /**
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349 | * Called when the timer is triggered. This calls the timeout
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350 | * handlers of all the registered packet groups.
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351 | **/
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352 | 346 | bcoltin | void wl_do_timeout()
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353 | { |
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354 | int i;
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355 | for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) |
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356 | if (wl_packet_groups[i] != NULL && |
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357 | wl_packet_groups[i]->timeout_handler != NULL)
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358 | wl_packet_groups[i]->timeout_handler(); |
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359 | 17 | bcoltin | } |
360 | |||
361 | /**
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362 | * Performs wireless library functionality. This function must
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363 | * be called frequently for wireless to perform effectively.
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364 | * This function will call timeout handlers, as well as
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365 | * received packet and transmit status handlers.
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366 | **/
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367 | 346 | bcoltin | void wl_do()
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368 | { |
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369 | if (wl_timeout)
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370 | { |
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371 | wl_do_timeout(); |
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372 | wl_timeout = 0;
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373 | } |
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374 | 309 | emarinel | |
375 | 346 | bcoltin | int len = xbee_get_packet(wl_buf);
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376 | if (len < 0)//no packet received |
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377 | return;
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378 | 309 | emarinel | |
379 | 346 | bcoltin | if (wl_buf[0] == XBEE_TX_STATUS) |
380 | { |
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381 | if (len != 3) |
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382 | { |
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383 | WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n");
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384 | return;
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385 | } |
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386 | 309 | emarinel | |
387 | 346 | bcoltin | //the first four bits are the packet group
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388 | //this only works with under 16 groups
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389 | int group = (int)(wl_buf[1] >> 4); |
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390 | int success = 0; |
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391 | if (wl_buf[2] == 0) |
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392 | success = 1;
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393 | else
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394 | { |
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395 | WL_DEBUG_PRINT("No response received.\r\n");
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396 | if (wl_buf[2] == 2) |
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397 | { |
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398 | WL_DEBUG_PRINT("CCA Failure\r\n");
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399 | } |
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400 | if (wl_buf[2] == 3) |
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401 | { |
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402 | WL_DEBUG_PRINT("Purged\r\n");
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403 | } |
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404 | } |
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405 | 309 | emarinel | |
406 | 409 | emarinel | if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_response != NULL) |
407 | wl_packet_groups[group]->handle_response((int)wl_buf[1] & 0x0F, success); |
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408 | 346 | bcoltin | return;
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409 | } |
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410 | 309 | emarinel | |
411 | 346 | bcoltin | if (wl_buf[0] == XBEE_RX) |
412 | { |
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413 | if (len < 7) |
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414 | { |
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415 | WL_DEBUG_PRINT("Packet is too small.\r\n");
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416 | return;
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417 | } |
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418 | 309 | emarinel | |
419 | 346 | bcoltin | int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]); |
420 | 309 | emarinel | |
421 | 346 | bcoltin | /*
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422 | //unused for now
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423 | int signalStrength = wl_buf[3];
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424 | //1 for Address broadcast, 2 for PAN broadcast
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425 | int options = wl_buf[4];
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426 | */
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427 | 309 | emarinel | |
428 | 346 | bcoltin | int group = wl_buf[5]; |
429 | int type = wl_buf[6]; |
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430 | int packetLen = len - 7; |
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431 | 309 | emarinel | |
432 | 409 | emarinel | if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_receive != NULL) |
433 | wl_packet_groups[group]->handle_receive(type, source, wl_buf + 7, packetLen);
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434 | 346 | bcoltin | return;
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435 | } |
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436 | 309 | emarinel | |
437 | 346 | bcoltin | WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
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438 | return;
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439 | 17 | bcoltin | } |
440 | |||
441 | 203 | justin | |
442 | #ifndef ROBOT
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443 | 346 | bcoltin | void wl_set_com_port(char* port) |
444 | { |
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445 | xbee_set_com_port(port); |
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446 | 203 | justin | } |
447 | #endif
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