Colony

#ifndef _WL_ADHOC_H_

#define _WL_ADHOC_H_

#include "localization.h"

#define WL_BAUD BAUD115200

/*

 0 - R

 1 - C

 2 - SRC

 3 - DEST

 4 - DATA0          Behavior specific Data

 5 - DATA1

 6 - DATA2

 7 - ROW[0]

 8 - ROW[1] 

 9 - ROW[2]

10 - ROW[3]         make sure that you can fit MAX_ROBOTS bytes

11 - ROW[4]

12 - ROW[5]

13 - ROW[6]

14 - NUM_BOTS

15 - CHK

*/

#define WL_PKT_LEN 16 //0...15

#define WL_SRC_LOC 2   //SRC

#define WL_DEST_LOC 3  //DEST

#define WL_DATA_DATA0 4     //Behavior Specific Data

#define WL_DATA_DATA1 5

#define WL_DATA_DATA2 6

#define WL_DATA_ROW_START 7     //start of sensor row (ROW[0])

#define WL_DATA_ROW_END 13      //end (ROW[6] for now)

//start of wireless data -- not necessarily anything in particular

#define WL_DATA_START 4

#define WL_DATA_END 13

#define NUM_BOTS_LOC 14   //location of number of robots - sent in every packet

#define WL_CHK_LOC 15    //check sum, negative of the sum of the rest of the 

#define WL_TIMEOUT 4

#define WL_TO_INITIAL 2

#define WL_TO_LEADER 2

#define WL_TO_DEATH 5

//if a robot times out WL_TO_DEATH times, it will be considered dead

#define LAST_ROBOT_DELAY 10

#define WL_DELAY_BOM_PRE 100

//How much to delay between turning on BOM and sending a packet

#define WL_DELAY_BOM_POST 100

//How much to delay between completing a packet send and turning off BOM

#define WL_PKT_COLONET_PACKET 254

#define WL_PKT_ERROR 255

#define WL_ERROR_LOC 4

//parse buffer flag

#define NOT_REQUEST_CS 0

#define REQUEST_CS 1

#define DEPART_CS 2

#define ARRIVE_CS 3

//error codes

#define WL_ERRCODE_ROBOTDEATH 123     //For timeouts

#define WL_ERRCODE_NEEDTOCHARGE 250   //For pinging charging station

#define WL_ERRCODE_CHARGE_ACCEPT 251  //Charging station response to ping

#define WL_ERRCODE_CHARGE_DENY 252                //For if charging station is already in use

#define WL_ERRCODE_CHARGE_DOCK 253                //Robot announces docking (battery charging) status to charging station

#define WL_ERRCODE_CHARGE_DEPART 254        //Robot announces departing (battery full) status to charging station

#define WL_ERR_DEAD_LOC 5

char wl_buf[WL_PKT_LEN];

int wl_csloc; //Stores where the last seen Charging Station was relative to you

volatile char wl_input;

unsigned int wl_index;

unsigned char wl_chksum;

unsigned char wl_to_flag;

//Throws 1 if the time since last packet crosses a threshhold

int wl_sent_cs;

int wl_sent_depart;

int wl_sent_dock;

int wl_cs_flag;

//direction from charging station in bom reading

char direction_from_station;

//desired bay in charging station in bom reading

char desired_bay;

unsigned int wl_to_count;

//Counts up for every time unit that you do not recieve 

unsigned int PREV;            //Who's before you in the ring

unsigned int SRC;             //Your ID in the ring

unsigned int DEST;            //Who's after you in the ring

unsigned int NUM_BOTS;        //How many robots are in the ring

unsigned int CHARGESTATION;     //0 If robot, 1 if Charging Station

unsigned int wl_to_max;         //Timeout maximum (threshold)

//Counts how many times the robot before you times out

unsigned int wl_to_death_count;

unsigned char wl_to_death_flag;   //If the one before you times out too much

char first_time;

char wl_wait_for_turn;

#define CHARGE_REQUEST_NO_REPLY 0

#define CHARGE_REQUEST_ACCEPTED 1

#define CHARGE_REQUEST_NOT_ACCEPTED 2

char charge_request_register;        //@bit 0: charge_accepted, @bit 1 charge_not_accepted.

/* Functions */

void bom_test(void);

void wl_adhoc(void);

void wl_init(void);

void wl_send(void);

void parse_buffer(void);

void wl_timeout_handler(void);

//Prints out debug information

void display_debug(void);

void display_debug_usb(void);

//Removes Dead robot from network

void wl_death_handler( void );

//Chooses an error and deals with it

void wl_error_handler(unsigned char ecode);

//Generic Packet

void wl_create_packet(void);

//Data Packet

void wl_create_data_packet(unsigned char d0, unsigned char d1, 

                           unsigned char d2);

void wl_create_charging_error_packet(void);

void wl_create_leaving_packet(void);

void wl_create_docking_packet(void);

//Generic Error Packet

void wl_create_error_packet(unsigned char errcode);

//Compute the checksum and stores it for a packet

void wl_make_checksum( void );

#endif