Revision 1345
Final spline code for master/slave
updated outdated libdragonfly and libwireless
wireless.h | ||
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/** |
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* Copyright (c) 2007 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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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file wireless.h |
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* @brief Contains definitions for the wireless library. |
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* |
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* @author Brian Coltin, Colony Project, CMU Robotics Club |
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**/ |
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#ifndef WIRELESS_H |
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#define WIRELESS_H |
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//Note: If this is raised above 16, we will need to do |
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//something about frame numbers for TX Status packets. |
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/** |
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* The maximum number of packet groups. |
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**/ |
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//TODO: a PacketGroupHandler is at least 10 bytes (I don't know if function pointers are 2 bytes |
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// or 4 bytes). That means that in the c file, your array of packet groups is at least 160 bytes. |
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// Normally that might be fine (the robot's avr chips have 4k SRAM), but austin's chip only has |
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// 1k SRAM, so if this number can be reduced or if the size of the struct could be reduced, that would be a plus. |
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#define WL_MAX_PACKET_GROUPS 16 |
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/** |
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* |
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* Contains functions and definitions for dealing with wireless functionality.<br><br> |
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* |
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* The wireless library provides a modular method for dealing with
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* The wireless library provides a modular method for dealing with |
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* wireless packets, by allowing packet groups to be registered. |
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* A packet group is a collection of packets which share a packet |
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* group code. Each packet in the group also has a type. A packet
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* group code. Each packet in the group also has a type. A packet |
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* group code and type are sent with each packet. When a packet |
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* with a group code registered in the wireless library is
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* with a group code registered in the wireless library is |
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* received, the corresponding event handler is called. The |
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* event handler uses the packet type and other information |
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* stored in the packet to respond.<br><br> |
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/** |
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* @struct PacketGroupHandler |
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* A PacketGroupHandler represents a packet group, and is used to
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* A PacketGroupHandler represents a packet group, and is used to |
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* register a packet group with the wireless library. It contains |
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* handlers for various events which can occur related to a packet |
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* group. |
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**/ |
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//TODO: the order of member variables in this struct should be changed in case the compile packs the struct |
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// In order to achieve the best packing, the variables should be listed in order of decreasing memory size. |
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// Thus, pointers should be first, followed by int, followed by char. |
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typedef struct |
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{ |
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/** |
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* must be unique. The maximum number of packet groups |
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* is defined by WL_MAX_PACKET_GROUPS. |
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**/ |
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//TODO: if this number must be less than or equal to WL_MAX_PACKET_GROUPS, don't you only need |
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// one byte for it and it can be made an unsigned char? |
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unsigned int groupCode; |
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/** |
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* but in wl_do). |
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**/ |
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void (*timeout_handler) (void); |
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/** |
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* Called when a transmit status packet is received |
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* from the XBee where the first four bits of the frame |
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* we did not. |
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**/ |
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void (*handle_response) (int frame, int received); |
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/** |
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* Called when we receive a packet from this group. |
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* |
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* @param packet the packet received |
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* @param length the length of the packet |
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**/ |
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void (*handle_receive) (char type, int source, unsigned char* packet, |
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int length); |
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void (*handle_receive) (char type, int source, unsigned char* packet, int length); |
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/** |
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* Called for any cleanup when the network is turned off. |
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**/ |
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void (*unregister) (void); |
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} PacketGroupHandler; |
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/**@brief Initialize the wireless library **/ |
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void wl_init(void);
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int wl_init(void);
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/**@brief Uninitialize the wireless library **/ |
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void wl_terminate(void); |
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/**@brief Perform wireless library functionality **/ |
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void wl_unregister_packet_group(PacketGroupHandler* h); |
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/**@brief Send a packet to a specific robot in any PAN **/ |
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void wl_send_robot_to_robot_global_packet(char group, char type, |
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char* data, int len, int dest, char frame); |
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int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame); |
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/**@brief Send a packet to a specific robot in our PAN **/ |
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void wl_send_robot_to_robot_packet(char group, char type, |
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char* data, int len, int dest, char frame); |
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int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame); |
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/**@brief Send a packet to all robots **/ |
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void wl_send_global_packet(char group, char type, |
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char* data, int len, char frame); |
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int wl_send_global_packet(char group, char type, char* data, int len, char frame); |
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/**@brief Send a packet to all robots in our PAN **/ |
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void wl_send_pan_packet(char group, char type, |
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char* data, int len, char frame); |
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void wl_send_pan_packet(char group, char type, char* data, int len, char frame); |
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/**@brief Set the PAN we are using **/ |
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void wl_set_pan(int pan);
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int wl_set_pan(int pan);
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/**@brief Get the PAN we are using **/ |
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int wl_get_pan(void); |
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/**@brief Set the channel we are using **/ |
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void wl_set_channel(int channel);
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int wl_set_channel(int channel);
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/**@brief Get the channel we are using **/ |
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int wl_get_channel(void); |
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/**@brief Get the 16-bit address of the XBee module **/ |
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unsigned int wl_get_xbee_id(void); |
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int wl_get_xbee_id(void); |
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/**@brief Set the com port on a computer, undefined on the robot.**/ |
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void wl_set_com_port(char* port); |
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/** @} **/ // end defgroup |
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#endif |
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