/branches/encoders/code/projects/libwireless/lib/wireless.c - Diff - Colony - Robotics Club

Revision 1345

Final spline code for master/slave

updated outdated libdragonfly and libwireless

     /**
      * 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 <signal.h>
     	#include <sys/time.h>
     	#include <signal.h>
     #else
     #include <time.h>
     #ifndef FIREFLY
     #include <bom.h>
     	#include <time.h>
     	#include <bom.h>
     #endif
     #endif
     /*Function Prototypes*/
     void wl_do_timeout(void);
     static void wl_do_timeout(void);
     //Note: the actual frame sent has group as the first four bits and
     //frame as the last four.
     void wl_send_packet(char group, char type, char* data, int len,
     					int dest, char options, char frame);
     static int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame);
     /*Data Members*/
     //used to store incoming and outgoing packets
     unsigned char wl_buf[128];
     //TODO: does this need to be 128?  can it be smaller to save memory?
     //TODO: this shouldn't be hardcoded as 128.  it should be a define.
     static unsigned char wl_buf[128];
     //1 if we have timed out since we last checked, 0 otherwise.
     int wl_timeout = 0;
     static int wl_timeout = 0;
     PacketGroupHandler* wl_packet_groups[WL_MAX_PACKET_GROUPS];
     static 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)
     static void sig_handler(int signo)
+    {
     	switch (signo)
+    	{
-...
+    	}
     	return;
+    }
     #else
     //called when the timer ticks
     static void timer_handler(void)
+    {
     	wl_timeout = 1;
+    }
     #endif
     /**
      * Initializes the wireless library. Must be called before any
      * other function.
+     *
      * @param wl_port File descriptor for wireless port, or NULL for default.
      **/
     void wl_init()
     int wl_init()
+    {
     	int i;
       //TODO: using memset here instead of this loop, *might* be less instructions and *might* reduce code size but not sure
     	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);
     #ifdef ROBOT
     #ifdef FIREFLY
     	rtc_init(PRESCALE_DIV_256, 32, &timer_handler);
     #else
     	//TODO: FIX THIS
     	#ifdef BAYBOARD
     	rtc_init(10 * HALF_SECOND, &timer_handler);
     	#else
     	rtc_init(HALF_SECOND, &wl_do_timeout);
     	rtc_init(HALF_SECOND, &timer_handler);
     	#endif
     	#else
     	//create a timer to trigger every half second
     	struct sigevent evp;
     	evp.sigev_signo = SIGALRM;
     	evp.sigev_notify = SIGEV_SIGNAL;
     	if (timer_create(CLOCK_REALTIME, &evp, &wl_timeout_timer) == -1)
+    	{
     		WL_DEBUG_PRINT("Error creating a timer.\r\n");
     		exit(1);
     #endif
     #else
     	//create our timer
     	struct itimerval timer_val;
     	struct timeval interval;
     	interval.tv_sec = 0;
     	interval.tv_usec = 500000;
     	struct timeval first_time;
     	first_time.tv_sec = 0;
     	first_time.tv_usec = 500000;
     	timer_val.it_interval = interval;
     	timer_val.it_value = first_time;
     	if(setitimer(ITIMER_REAL,&timer_val,NULL)==-1)
+    	{
     		WL_DEBUG_PRINT("Error creating a timer.\r\n");
     		perror("Failure's cause");
     		exit(1);
+    	}
     	//create signal handler
     	struct sigaction wl_sig_act;
     	wl_sig_act.sa_handler = (void *)sig_handler;
     	wl_sig_act.sa_handler = sig_handler;
     	wl_sig_act.sa_flags = 0;
     	sigemptyset(&wl_sig_act.sa_mask);
     	sigaction(SIGALRM, &wl_sig_act, 0);
     	sigaction(SIGINT, &wl_sig_act, 0);
     	struct itimerspec wl_timeout_time;
     	wl_timeout_time.it_interval.tv_sec = 0;
     	wl_timeout_time.it_interval.tv_nsec = 500000000;
     	wl_timeout_time.it_value.tv_sec = 0;
     	wl_timeout_time.it_value.tv_nsec = 500000000;
     	timer_settime(wl_timeout_timer, 0,
                             &wl_timeout_time, NULL);
     	#endif
     #endif
     	return 0;
+    }
     /**
-...
      **/
     void wl_terminate()
+    {
     	#ifndef ROBOT
     	timer_delete(wl_timeout_timer);
     	#endif
     	int i;
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++)
     	for (i = 0; i < WL_MAX_PACKET_GROUPS; i++) {
     		if (wl_packet_groups[i] != NULL &&
     			wl_packet_groups[i]->unregister != NULL)
     			wl_packet_groups[i]->unregister != NULL) {
     			wl_packet_groups[i]->unregister();
+    		}
+    	}
     	xbee_terminate();
+    }
-...
+     *
      * @see wl_get_pan
      **/
     void wl_set_pan(int pan)
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_set_pan(int pan)
+    {
     	xbee_set_pan_id(pan);
     	return xbee_set_pan_id(pan);
+    }
     /**
-...
+     *
      * @see wl_set_pan
      **/
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_get_pan(void)
+    {
     	return xbee_get_pan_id();
-...
+     *
      * @see wl_get_channel
      **/
     void wl_set_channel(int channel)
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_set_channel(int channel)
+    {
     	xbee_set_channel(channel);
     	return xbee_set_channel(channel);
+    }
     /**
-...
+     *
      * @see wl_set_channel
      **/
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_get_channel(void)
+    {
     	return xbee_get_channel();
-...
+     *
      * @return the 16-bit address of the XBee module.
      **/
     unsigned int wl_get_xbee_id()
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_get_xbee_id()
+    {
     	return xbee_get_address();
+    }
-...
      * @param dest the 16-bit address of the XBee to send the packet to
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_robot_to_robot_global_packet(char group, char type,
     		char* data, int len, int dest, char frame)
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame)
+    {
     	wl_send_packet(group, type, data, len, dest,
     			XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
     	return wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
+    }
     /**
-...
      * @param dest the 16-bit address of the XBee to send the packet to
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_robot_to_robot_packet(char group, char type,
     		char* data, int len, int dest, char frame)
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame)
+    {
     	wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE,
     			frame);
     	return wl_send_packet(group, type, data, len, dest, XBEE_OPTIONS_NONE, frame);
+    }
     /**
-...
      * @param len the packet length in bytes
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_global_packet(char group, char type,
     		char* data, int len, char frame)
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     int wl_send_global_packet(char group, char type, char* data, int len, char frame)
+    {
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     			XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
     	return wl_send_packet(group, type, data, len, XBEE_BROADCAST, XBEE_OPTIONS_BROADCAST_ALL_PANS, frame);
+    }
     /**
-...
      * @param len the packet length in bytes
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_pan_packet(char group, char type,
     		char* data, int len, char frame)
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     void wl_send_pan_packet(char group, char type, char* data, int len, char frame)
+    {
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     	wl_send_packet(group, type, data, len, XBEE_BROADCAST,
     			XBEE_OPTIONS_NONE, frame);
+    }
-...
      * @param options the options for sending the packet
      * @param frame the frame number to see with a TX_STATUS response
      **/
     void wl_send_packet(char group, char type, char* data, int len,
     					int dest, char options, char frame)
     int wl_send_packet(char group, char type, char* data, int len, int dest, char options, char frame)
+    {
       //TODO: does this need to be 128?  can it be smaller to save memory?
       //TODO: this shouldn't be hardcoded as 128.  it should be a define.
     	char buf[128];
     	int i;
     	if (frame != 0)
     		frame = (frame & 0x0F) | ((group & 0x0F) << 4);
     	buf[0] = group;
     	buf[1] = type;
     	for (i = 0; i < len; i++)
     		buf[2 + i] = data[i];
     	xbee_send_packet(buf, len + 2, dest, options, frame);
     	return xbee_send_packet(buf, len + 2, dest, options, frame);
+    }
     /**
-...
     /**
      * Unregister a packet group from the wireless library.
+     *
+     *
      * @param h the packet group to remove
      **/
     void wl_unregister_packet_group(PacketGroupHandler* h)
-...
     		wl_do_timeout();
     		wl_timeout = 0;
+    	}
     	int len = xbee_get_packet(wl_buf);
     	if (len < 0)//no packet received
     		return;
     	if (wl_buf[0] == XBEE_TX_STATUS)
+    	{
     		if (len != 3)
-...
     			WL_DEBUG_PRINT("Transmit Status packet should be of length 3.\r\n");
     			return;
+    		}
     		//the first four bits are the packet group
     		//this only works with under 16 groups
     		int group = (int)(wl_buf[1] >> 4);
     		int success = 0;
     		if (wl_buf[2] == 0)
+    		{
     			success = 1;
+    		}
     		else
+    		{
     			WL_DEBUG_PRINT("No response received.\r\n");
     			if (wl_buf[2] == 2)
+    			{
     				WL_DEBUG_PRINT("CCA Failure\r\n");
+    			}
     			if (wl_buf[2] == 3)
+    			{
     				WL_DEBUG_PRINT("Purged\r\n");
+    			}
+    		}
     		if (wl_packet_groups[group] != NULL &&
     					wl_packet_groups[group]->handle_response != NULL)
     			wl_packet_groups[group]->handle_response(
     					(int)wl_buf[1] & 0x0F, success);
     		return;
     		if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_response != NULL)
     			wl_packet_groups[group]->handle_response((int)wl_buf[1] & 0x0F, success);
+    	}
     	if (wl_buf[0] == XBEE_RX)
     	else if (wl_buf[0] == XBEE_RX)
+    	{
         //TODO: what does this 7 represent?  It shouldn't be hardcoded.  It should be set as a define
     		if (len < 7)
+    		{
     			WL_DEBUG_PRINT("Packet is too small.\r\n");
     			return;
+    		}
     		int source = ((int)wl_buf[1] << 8) + ((int)wl_buf[2]);
     		/*
     		//unused for now
     		int signalStrength = wl_buf[3];
     		//1 for Address broadcast, 2 for PAN broadcast
     		int options = wl_buf[4];
     		*/
         //TODO: these indices, etc should be defined, not hardcoded
     		int group = wl_buf[5];
     		int type = wl_buf[6];
     		int packetLen = len - 7;
     		if (wl_packet_groups[group] != NULL
     				&& wl_packet_groups[group]->handle_receive != NULL)
     			wl_packet_groups[group]->handle_receive(type, source,
     				wl_buf + 7, packetLen);
     		return;
     		if (wl_packet_groups[group] != NULL && wl_packet_groups[group]->handle_receive != NULL) {
     			wl_packet_groups[group]->handle_receive(type, source, wl_buf + 7, packetLen);
+    		}
+    	}
     	WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
     	return;
     	else
+    	{
     		WL_DEBUG_PRINT("Unexpected packet received from XBee.\r\n");
     		printf("0x%2X\n", wl_buf[0]);
     		printf("%c%c%d\n", wl_buf[2], wl_buf[3], wl_buf[4]);
+    	}
+    }
     #ifndef ROBOT
     //TODO: this function is so simple, it *may* be beneficial to inline this function.  testing of if
     // it reduces code size or not should be done to be sure.
     void wl_set_com_port(char* port)
+    {
     	xbee_set_com_port(port);
+    }
     #endif

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Revision 1345